diff --git a/.dockerignore b/.dockerignore
deleted file mode 100644
index 631ea04840..0000000000
--- a/.dockerignore
+++ /dev/null
@@ -1,18 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/
diff --git a/.gitattributes b/.gitattributes
index 41a7367d84..5cb404146d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -10,14 +10,5 @@
 *.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+openpilot/common/hardware/comma/updater filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/ISSUE_TEMPLATE/enhancement.md b/.github/ISSUE_TEMPLATE/enhancement.md
deleted file mode 100644
index 330b9b1101..0000000000
--- a/.github/ISSUE_TEMPLATE/enhancement.md
+++ /dev/null
@@ -1,8 +0,0 @@
----
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
----
-
diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 711f4597bd..e8d4057bb1 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -8,24 +8,24 @@ chore:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
 
 simulation:
   - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
+    - any-glob-to-all-files: 'openpilot/tools/sim/**'
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'
 
 tools:
   - changed-files:
-    - any-glob-to-all-files: 'tools/**'
+    - any-glob-to-all-files: 'openpilot/tools/**'
 
 multilanguage:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit,openpilot/sunnypilot/modeld*/models/**}"
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
deleted file mode 100644
index 2b4a5ed48f..0000000000
--- a/.github/pull_request_template.md
+++ /dev/null
@@ -1,68 +0,0 @@
-<!-- Please copy and paste the relevant template -->
-
-<!--- ***** Template: Fingerprint *****
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
-
--->
-
-<!--- ***** Template: Car Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-**Route**
-
-Route: [a route with the bug fix]
-
-
--->
-
-<!--- ***** Template: Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-
--->
-
-<!--- ***** Template: Car Port *****
-
-**Checklist**
-
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
-- [ ] route with openpilot:
-- [ ] route with stock system:
-- [ ] car harness used (if comma doesn't sell it, put N/A):
-
-
--->
-
-<!--- ***** Template: Refactor *****
-
-**Description**
-
-A description of the refactor, including the goals it accomplishes. 
-
-**Verification**
-
-Explain how you tested the refactor for regressions. 
-
-
--->
-
diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml
deleted file mode 100644
index 377b1eedcd..0000000000
--- a/.github/workflows/auto-cache/action.yaml
+++ /dev/null
@@ -1,58 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      id: gha-cache-ro
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index edb058d7d1..29149d8652 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -12,7 +12,7 @@ jobs:
       issues: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: false
 
@@ -24,7 +24,7 @@ jobs:
 
     # Check PR target branch
     - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
       if: github.repository == 'sunnypilot/sunnypilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
deleted file mode 100644
index 2d9ba46d0a..0000000000
--- a/.github/workflows/badges.yaml
+++ /dev/null
@@ -1,37 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: sunnypilot-base
-  DOCKER_REGISTRY: ghcr.io/sunnypilot
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Push badges
-      run: |
-        ${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py"
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD
diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index e901baee0c..0eedb04703 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -30,14 +30,14 @@ jobs:
         run: |
           cd sunnypilot
           export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
           echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
           echo "tinygrad_ref is $ref"
 
-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+      - name: Checkout docs repo (sunnypilot-models, gh-pages)
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -120,6 +120,7 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
     secrets: inherit
@@ -157,6 +158,7 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
       artifact_suffix: -retry
@@ -202,7 +204,7 @@ jobs:
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
index fae9d6aa01..cf2d870802 100644
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -12,11 +12,11 @@ on:
         required: false
         type: string
       recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
         required: true
         type: string
       json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
         required: true
         type: string
       artifact_suffix:
@@ -24,6 +24,11 @@ on:
         required: false
         type: string
         default: ''
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
       bypass_push:
         description: 'Bypass pushing to GitLab for build-all'
         required: false
@@ -39,6 +44,11 @@ on:
         description: 'Custom name for the model (no date, only name)'
         required: false
         type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
       recompiled_dir:
         description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
         required: true
@@ -53,12 +63,11 @@ on:
         default: 'None'
         options:
           - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
+          - Master Models
+          - Release Models
+          - 2025 World Models
+          - 2026 World Models
           - Custom Merge Models
-          - FOF series models
           - Other
       custom_model_folder:
         description: 'Custom model folder name (if "Other" selected)'
@@ -82,7 +91,7 @@ jobs:
     with:
       upstream_branch: ${{ inputs.upstream_branch }}
       custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: true
+      is_20hz: ${{ inputs.is_20hz }}
       artifact_suffix: ${{ inputs.artifact_suffix }}
     secrets: inherit
 
@@ -119,7 +128,7 @@ jobs:
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-docs
+          repository: sunnypilot/sunnypilot-models
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 2290481c56..0c87688bf1 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -6,7 +6,7 @@ on:
       - master
   pull_request:
     paths:
-      - 'cereal/**'
+      - 'openpilot/cereal/**'
   workflow_dispatch:
   workflow_call:
     inputs:
@@ -20,57 +20,78 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  CI: 1
 
 jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Generate the log file
-        run: |
-          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
-          ls -la
-          ls -la cereal/messaging/tests
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
   validate_cereal_with_upstream:
     name: Validate cereal with Upstream
     runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
     steps:
-      - uses: actions/checkout@v4
+      - name: Checkout sunnypilot cereal
+        uses: actions/checkout@v6
+        with:
+          sparse-checkout: |
+            openpilot/cereal
+            uv.lock
+          submodules: false
+
+      - name: Init sunnypilot opendbc submodule
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Locate sunnypilot capnp import paths
+        id: locate-sp-capnp
+        run: |
+          SP_IMPORT_ARGS=""
+          SP_CAR_CAPNP=$(find opendbc_repo -maxdepth 4 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$SP_CAR_CAPNP" ]; then
+            SP_IMPORT_ARGS="-I $SP_CAR_CAPNP"
+            echo "Found sunnypilot car.capnp at: $SP_CAR_CAPNP"
+          fi
+          echo "import_args=$SP_IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Checkout upstream openpilot
+        uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
-          submodules: true
+          path: upstream_openpilot
           ref: "refs/heads/master"
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-      - name: 'Run the validation'
+
+      - name: Init upstream opendbc submodule
+        working-directory: upstream_openpilot
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Locate upstream capnp paths
+        id: locate-capnp
         run: |
-          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
+          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
+          if [ -z "$CEREAL_DIR" ]; then
+            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
+            exit 1
+          fi
+          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
+          echo "Found upstream cereal at: $CEREAL_DIR"
+
+          IMPORT_ARGS=""
+          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$CAR_CAPNP" ]; then
+            IMPORT_ARGS="-I $CAR_CAPNP"
+            echo "Found car.capnp at: $CAR_CAPNP"
+          fi
+          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Install pycapnp
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          pip install "pycapnp==${PYCAPNP_VER}"
+
+      - name: Generate sunnypilot schema
+        run: |
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
+            ${{ steps.locate-sp-capnp.outputs.import_args }}
+
+      - name: Validate against upstream
+        run: |
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
+            ${{ steps.locate-capnp.outputs.import_args }}
diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
deleted file mode 100644
index eea3cb3f4d..0000000000
--- a/.github/workflows/ci_weekly_report.yaml
+++ /dev/null
@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always() && github.repository == 'commaai/openpilot'
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v8
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY
diff --git a/.github/workflows/ci_weekly_run.yaml b/.github/workflows/ci_weekly_run.yaml
deleted file mode 100644
index 4b239f201c..0000000000
--- a/.github/workflows/ci_weekly_run.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}
diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
deleted file mode 100644
index 4015746c0e..0000000000
--- a/.github/workflows/compile-openpilot/action.yaml
+++ /dev/null
@@ -1,21 +0,0 @@
-name: 'compile openpilot'
-
-runs:
-  using: "composite"
-  steps:
-    - shell: bash
-      name: Build openpilot with all flags
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - shell: bash
-      name: Cleanup scons cache and rebuild
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/diff_report.yaml b/.github/workflows/diff_report.yaml
new file mode 100644
index 0000000000..202bc0ec79
--- /dev/null
+++ b/.github/workflows/diff_report.yaml
@@ -0,0 +1,58 @@
+name: diff report
+
+on:
+  pull_request_target:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  comment:
+    name: comment
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+    - name: Wait for process replay
+      id: wait
+      continue-on-error: true
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        check-name: process replay
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        allowed-conclusions: success,failure
+        wait-interval: 20
+    - name: Get tests run ID
+      if: steps.wait.outcome == 'success'
+      id: tests-run
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        run_id=$(gh api \
+          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
+          --jq '.workflow_runs[0].id // empty')
+        if [ -z "$run_id" ]; then
+          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
+          exit 1
+        fi
+        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
+    - name: Download diff
+      if: steps.wait.outcome == 'success'
+      continue-on-error: true
+      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        repository: ${{ github.repository }}
+        run-id: ${{ steps.tests-run.outputs.run-id }}
+        name: diff_report_${{ github.event.number }}
+        path: .
+    - name: Comment on PR
+      if: steps.wait.outcome == 'success' && hashFiles('diff_report.txt') != ''
+      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
+      with:
+        file-path: diff_report.txt
+        comment-tag: diff_report
+        pr-number: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index 27d36f9a4e..5c1a8f4dde 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -15,6 +15,11 @@ concurrency:
   group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+
 jobs:
   docs:
     name: build docs
@@ -22,19 +27,18 @@ jobs:
     steps:
     - uses: commaai/timeout@v1
 
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
 
     # Build
     - name: Build docs
       run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
+        git lfs pull
+        python docs/serve.py --build
 
     # Push to docs.comma.ai
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
@@ -45,14 +49,14 @@ jobs:
       run: |
         set -x
 
-        source release/identity.sh
+        source tools/release/identity.sh
 
         cd openpilot-docs
         git checkout --orphan tmp
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs_site/ docs/
+        cp -r ../docs/_site/ docs/
 
         # GitHub pages config
         touch docs/.nojekyll
diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index fdd26253fa..ebb14d5dba 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -11,7 +11,7 @@ jobs:
       contents: write
     steps:
       - name: Delete stale Jenkins branches
-        uses: actions/github-script@v8
+        uses: actions/github-script@v9
         with:
           script: |
             const cutoff = Date.now() - 24 * 60 * 60 * 1000;
@@ -52,7 +52,7 @@ jobs:
     steps:
     - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -72,7 +72,7 @@ jobs:
 
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v6
+      uses: actions/checkout@v7
       with:
         ref: refs/pull/${{ github.event.issue.number }}/head
 
@@ -86,7 +86,7 @@ jobs:
 
     - name: Delete trigger comment
       if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           await github.rest.issues.deleteComment({
diff --git a/.github/workflows/lfs-maintenance.yaml b/.github/workflows/lfs-maintenance.yaml
index 8780abfbb3..3b92996f82 100644
--- a/.github/workflows/lfs-maintenance.yaml
+++ b/.github/workflows/lfs-maintenance.yaml
@@ -65,8 +65,21 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
+      - name: Configure LFS transfer settings
+        run: |
+          git config lfs.activitytimeout 300
+          git config lfs.transfer.maxretries 5
+          git config lfs.concurrenttransfers 4
+
       - name: Push LFS
         id: sync-and-commit
         run: |
           git lfs ls-files -l
-          git lfs push --all origin
\ No newline at end of file
+          for attempt in 1 2 3; do
+            echo "Push attempt $attempt..."
+            git lfs push --all origin && exit 0
+            echo "Attempt $attempt failed, retrying in 30s..."
+            sleep 30
+          done
+          echo "All push attempts failed"
+          exit 1
diff --git a/.github/workflows/mici_raylib_ui_preview.yaml b/.github/workflows/mici_raylib_ui_preview.yaml
deleted file mode 100644
index fa51666bb6..0000000000
--- a/.github/workflows/mici_raylib_ui_preview.yaml
+++ /dev/null
@@ -1,151 +0,0 @@
-name: "mici raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create mici raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
-  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
-  # All report files are pushed here
-  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
-        uses: actions/checkout@v6
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: ${{ env.MASTER_BRANCH_NAME }}
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_mici_raylib
-          git rm -rf *
-          git branch -D ${{ env.MASTER_BRANCH_NAME }}
-          git branch -m ${{ env.MASTER_BRANCH_NAME }}
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for commit ${{ env.SHA }}"
-          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
-
-      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: |
-          # Find the video file from PR
-          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
-          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
-
-          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
-          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
-
-          # Run report
-          export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
-          diff_exit_code=0
-          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
-
-          # Copy diff report files
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
-
-          REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
-          if [ $diff_exit_code -eq 0 ]; then
-            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
-          else
-            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
-          fi
-          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "mici raylib video for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-          # Append diff report to report files branch
-          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
-          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
-          git add diff_pr_${{ github.event.number }}.html
-          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
-          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
-
-      - name: Comment Video on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
-            ## mici raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_video_mici_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml
deleted file mode 100644
index 6b8ce143db..0000000000
--- a/.github/workflows/model_review.yaml
+++ /dev/null
@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v6
-      - name: Checkout master
-        uses: actions/checkout@v6
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - run: pip install onnx
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}
\ No newline at end of file
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
deleted file mode 100644
index a038cdce63..0000000000
--- a/.github/workflows/prebuilt.yaml
+++ /dev/null
@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh prebuilt
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"
diff --git a/.github/workflows/raylib_ui_preview.yaml b/.github/workflows/raylib_ui_preview.yaml
deleted file mode 100644
index 7f569f3bf1..0000000000
--- a/.github/workflows/raylib_ui_preview.yaml
+++ /dev/null
@@ -1,175 +0,0 @@
-name: "raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui generation to start
-        run: sleep 30
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui
-        uses: actions/checkout@v6
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: openpilot_master_ui_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_raylib
-          git rm -rf *
-          git branch -D openpilot_master_ui_raylib
-          git branch -m openpilot_master_ui_raylib
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "raylib screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui_raylib --force
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
-
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
-
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
-
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
-            fi
-          done
-
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "raylib screenshots for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-      - name: Comment Screenshots on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
-            ## raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 3a6cfa59d0..2240713bcb 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -4,39 +4,33 @@ on:
     - cron: '0 9 * * *'
   workflow_dispatch:
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+
 jobs:
   build___nightly:
     name: build __nightly
-    env:
-      ImageOS: ubuntu24
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       checks: read
       contents: write
     steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
       if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v6
+        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
+    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
       with:
         submodules: true
         fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
+    - run: ./tools/op.sh setup
     - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh
+      run: BRANCH=__nightly tools/release/build_stripped.sh
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 9be42cd041..731300512b 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -3,59 +3,52 @@ name: repo maintenance
 on:
   schedule:
     - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  pull_request:
+    types: [closed]
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
-  BUILD: release/ci/docker_build_sp.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  PYTHONPATH: ${{ github.workspace }}
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    steps:
-      - uses: actions/checkout@v6
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
-        with:
-          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: >-
+      github.repository == 'sunnypilot/sunnypilot' &&
+      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
+    - run: ./tools/op.sh setup
     - name: uv lock
-      run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
+      run: uv lock --upgrade
     - name: uv pip tree
       id: pip_tree
       run: |
         echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
         uv pip tree >> $GITHUB_OUTPUT
         echo 'EOF' >> $GITHUB_OUTPUT
+    - name: venv size
+      id: venv_size
+      run: |
+        echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
+        echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
+        echo "" >> $GITHUB_OUTPUT
+        echo "Top 10 by size:" >> $GITHUB_OUTPUT
+        du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
+          | grep -v '\.dist-info' \
+          | grep -v '__pycache__' \
+          | sort -rh \
+          | head -10 \
+          | while IFS=$'\t' read size path; do echo "$size  ${path##*/}"; done >> $GITHUB_OUTPUT
+        echo 'EOF' >> $GITHUB_OUTPUT
     - name: bump submodules
       run: |
-        git config --global --add safe.directory '*'
         git config submodule.msgq.update none
         git config submodule.rednose_repo.update none
         git config submodule.teleoprtc_repo.update none
@@ -64,12 +57,10 @@ jobs:
         git add .
     - name: update car docs
       run: |
-        export PYTHONPATH="$PWD"
-        scons -j$(nproc) --minimal opendbc_repo
-        python selfdrive/car/docs.py
+        python openpilot/selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
       with:
         author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
         token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -82,6 +73,60 @@ jobs:
           Automatic PR from repo-maintenance -> package_updates
 
           ```
+          $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
+          ${{ steps.venv_size.outputs.VENV_SIZE }}
+          ```
+
+          ```
+          $ uv pip tree
           ${{ steps.pip_tree.outputs.PIP_TREE }}
           ```
         labels: bot
+
+  cleanup_closed_branches:
+    if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: read
+    steps:
+      - uses: actions/github-script@v9
+        with:
+          script: |
+            const { owner, repo } = context.repo;
+            const upstream = `${owner}/${repo}`;
+
+            const closed = context.payload.pull_request;
+            if (closed) {
+              if (closed.head.repo?.full_name === upstream) {
+                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
+              }
+              return;
+            }
+
+            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
+              owner,
+              repo,
+              state: 'closed',
+              per_page: 100,
+            })) {
+              for (const pr of response.data) {
+                if (pr.head.repo?.full_name !== upstream) continue;
+
+                const branch = pr.head.ref;
+                try {
+                  await github.rest.git.deleteRef({
+                    owner,
+                    repo,
+                    ref: `heads/${branch}`,
+                  });
+                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
+                } catch (error) {
+                  if (error.status === 422 || error.status === 403) {
+                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
+                    continue;
+                  }
+                  throw error;
+                }
+              }
+            }
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
deleted file mode 100644
index 98a3913600..0000000000
--- a/.github/workflows/setup-with-retry/action.yaml
+++ /dev/null
@@ -1,52 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-outputs:
-  duration:
-    description: 'Duration of the setup process in seconds'
-    value: ${{ steps.get_duration.outputs.duration }}
-
-runs:
-  using: "composite"
-  steps:
-    - id: start_time
-      shell: bash
-      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
-    - id: get_duration
-      shell: bash
-      run: |
-        END_TIME=$(date +%s)
-        DURATION=$((END_TIME - START_TIME))
-        echo "Total duration: $DURATION seconds"
-        echo "duration=$DURATION" >> $GITHUB_OUTPUT
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
deleted file mode 100644
index 70177885a7..0000000000
--- a/.github/workflows/setup/action.yaml
+++ /dev/null
@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index bc4ecfe04b..2c435e58a0 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -6,7 +6,7 @@ env:
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
   TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
+  MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models
 
 on:
   workflow_call:
@@ -30,6 +30,11 @@ on:
         required: false
         type: string
         default: ''
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or usbgpu)'
+        required: false
+        type: string
+        default: 'qcom'
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -46,6 +51,14 @@ on:
         required: false
         type: boolean
         default: true
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: true
+        type: choice
+        options:
+          - qcom
+          - usbgpu
+        default: 'qcom'
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -92,7 +105,7 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
+          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
 
   build_model:
     runs-on: [self-hosted, tici]
@@ -128,7 +141,10 @@ jobs:
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
           printenv >> $GITHUB_ENV
           if [[ "${{ runner.debug }}" == "1" ]]; then
             cat $GITHUB_OUTPUT
@@ -148,6 +164,7 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
           rm -rf ${{ env.MODELS_DIR }}/*.onnx
 
@@ -155,27 +172,80 @@ jobs:
         uses: actions/download-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
+          path: ${{ env.MODELS_DIR }}
       - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
-          # Loop through all .onnx files
+          COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+
+          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
+            echo "USBGPU build"
+            export USBGPU=1
+            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
+          else
+            echo "QCOM build"
+            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
+
+          # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
-
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            echo "Generating metadata: $onnx_file"
+            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
+          # Detect model type and build compile args
+          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
+          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
+          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
+          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
+          SUPERCOMBO_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
+            if [ -f "$f" ]; then
+              SUPERCOMBO_ONNX="$f"
+              break
+            fi
+          done
+
+          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
+          if [ -f "$VISION_ONNX" ]; then
+            ONNX_ARGS="--vision-onnx $VISION_ONNX"
+            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_multi_policy
+              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
+            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_multi_policy
+              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
+            elif [ -f "$POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_policy
+              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+            fi
+          elif [ -f "$SUPERCOMBO_ONNX" ]; then
+            MODEL_TYPE=supercombo
+            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
+          fi
+
+          if [ -n "$MODEL_TYPE" ]; then
+            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
+            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
+              --model-type $MODEL_TYPE \
+              --model-size $MODEL_SIZE \
+              --camera-resolutions $CAMERA_RES \
+              $ONNX_ARGS \
+              --output "$OUTPUT_PKL"
+          fi
+
       - name: Prepare Output
         run: |
           sudo rm -rf ${{ env.OUTPUT_DIR }}
@@ -184,8 +254,9 @@ jobs:
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
-            --include='*.thneed' \
             --include='*.pkl' \
+            --include='*.chunk*' \
+            --include='*.chunkmanifest' \
             --include='*.onnx' \
             --exclude='*' \
             --delete-excluded \
@@ -218,4 +289,5 @@ jobs:
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index dacbacbe26..12a3a7bce0 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -79,7 +79,7 @@ jobs:
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat openpilot/sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
             echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
             echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
           fi
@@ -152,7 +152,10 @@ jobs:
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
           printenv >> $GITHUB_ENV
           if [[ "${{ runner.debug }}" == "1" ]]; then
             cat $GITHUB_OUTPUT
@@ -172,22 +175,26 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
       - name: Build Main Project
         run: |
           export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          ./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
+          ln -sfn msgq_repo/msgq msgq
+          ln -sfn opendbc_repo/opendbc opendbc
+          ln -sfn rednose_repo/rednose rednose
+          ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+          ln -sfn tinygrad_repo/tinygrad tinygrad
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld
           echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
           echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
           echo "Building openpilot's locationd..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
           echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
@@ -210,18 +217,17 @@ jobs:
             --exclude='Jenkinsfile' \
             --exclude='**/release/' \
             --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
+            --exclude='**/openpilot/selfdrive/ui/replay/' \
             --exclude='**/__pycache__/' \
             --exclude='${{env.SCONS_CACHE_DIR}}' \
             --exclude='**/.git/' \
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
-            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
-            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
+            --exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
+            --exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
+            --exclude='openpilot/third_party/*x86*' \
+            --exclude='openpilot/third_party/*Darwin*' \
             --delete-excluded \
             --chown=comma:comma \
             ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -240,6 +246,7 @@ jobs:
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
 
 
@@ -366,7 +373,7 @@ jobs:
               owner: context.repo.owner,
               repo: context.repo.repo,
               issue_number: prNumber,
-              name: process.env.LABEL
+              name: process.env.LABELf
             });
 
             console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
diff --git a/.github/workflows/sunnypilot-master-dev-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
index 8e8e3c3d9d..1cb574764b 100644
--- a/.github/workflows/sunnypilot-master-dev-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -241,10 +241,3 @@ jobs:
           gh run watch "$RUN_ID"
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index 5cd51f9443..b2e4096960 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -18,14 +18,11 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh base
-
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+  CI: 1
+  PYTHONPATH: ${{ github.workspace }}
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
   build_release:
@@ -34,34 +31,33 @@ jobs:
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
+      PYTHONPATH: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
         max_attempts: 3
         command: git lfs pull
     - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - uses: ./.github/workflows/setup-with-retry
+      timeout-minutes: 3
+      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
+    - run: ./tools/op.sh setup
     - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
+      timeout-minutes: 30
+      working-directory: ${{ env.STRIPPED_DIR }}
+      run: python3 openpilot/system/manager/build.py
     - name: Run tests
       timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
+      working-directory: ${{ env.STRIPPED_DIR }}
+      run: tools/release/check-dirty.sh
     - name: Check submodules
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
@@ -81,75 +77,20 @@ jobs:
             export CHECK_PR_REFS=true
           fi
         fi
-        release/check-submodules.sh
-
-  build:
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
+        tools/release/check-submodules.sh
 
   build_mac:
     name: build macOS
-    if: false # tmp disable due to brew install not working
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        save: false # No need save here if we manually save it later conditionally
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ hashFiles('tools/Brewfile') }}
-          brew-macos-
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        PYTHONWARNINGS: default  # package install has DeprecationWarnings
-        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
-    - name: Save Homebrew cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        save: false # No need save here if we manually save it later conditionally
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
+    - uses: actions/checkout@v7
+    - name: Remove Homebrew from environment
+      run: |
+        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
+        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
+    - run: ./tools/op.sh setup
     - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+      run: scons
 
   static_analysis:
     name: static analysis
@@ -157,18 +98,14 @@ jobs:
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      PYTHONWARNINGS: default
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - uses: actions/checkout@v7
+    - run: ./tools/op.sh setup
     - name: Static analysis
       timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
+      run: scripts/lint/lint.sh
 
   unit_tests:
     name: unit tests
@@ -176,91 +113,85 @@ jobs:
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
+    - uses: actions/checkout@v7
+    - run: ./tools/op.sh setup
+    - name: Install raylib headless dependencies
+      if: ${{ !contains(runner.name, 'nsc') }}
+      run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
     - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
+      run: scons
     - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        chmod -R 777 /tmp/comma_download_cache"
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
+      env:
+        RAYLIB_BACKEND: headless
+      run: tools/op.sh test
 
   process_replay:
     name: process replay
-    if: false  # disable process_replay for forks
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v5
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/test_processes.py') }}
+    - uses: actions/checkout@v7
+    - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+      run: scons
     - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
+      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
     - name: Print diff
       id: print-diff
       if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v6
+      run: cat openpilot/selfdrive/test/process_replay/diff.txt
+    - name: Print diff report
+      if: always()
+      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
+    - uses: actions/upload-artifact@v7
       if: always()
       continue-on-error: true
       with:
         name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
+        path: openpilot/selfdrive/test/process_replay/diff.txt
+    - name: Upload diff report
+      uses: actions/upload-artifact@v7
+      if: always() && github.event_name == 'pull_request'
+      continue-on-error: true
       with:
-        repository: commaai/ci-artifacts
+        name: diff_report_${{ github.event.number }}
+        path: openpilot/selfdrive/test/process_replay/diff_report.txt
+    - name: Checkout ci-artifacts
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      uses: actions/checkout@v7
+      with:
+        repository: sunnypilot/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+    - name: Prepare refs
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
-        git checkout --orphan process-replay
-        git rm -rf .
         git config user.name "GitHub Actions Bot"
         git config user.email "<>"
-        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        git fetch origin process-replay || true
+        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
+        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
         echo "${{ github.sha }}" > ref_commit
         git add .
-        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}"
-        git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
+        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
+    - name: Push refs
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
 
   simulator_driving:
     name: simulator driving
@@ -268,73 +199,45 @@ jobs:
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     if: false  # FIXME: Started to timeout recently
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
+    - uses: actions/checkout@v7
+    - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+      run: scons
     - name: Driving test
-      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
+      timeout-minutes: 2
+      env:
+        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
+        EGL_PLATFORM: surfaceless
+      run: python openpilot/tools/sim/tests/test_metadrive_bridge.py
 
-  create_raylib_ui_report:
-    name: Create raylib UI Report
+  create_ui_report:
+    name: Create UI Report
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
       (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
+      - uses: actions/checkout@v7
+      - run: ./tools/op.sh setup
+      - name: Install raylib headless dependencies
+        if: ${{ !contains(runner.name, 'nsc') }}
+        run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
       - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v6
+        run: scons
+      - name: Create UI Report
+        env:
+          RAYLIB_BACKEND: headless
+        run: |
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
+      - name: Upload UI Report
+        uses: actions/upload-artifact@v7
         with:
-          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
-
-  create_mici_raylib_ui_report:
-    name: Create mici raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create mici raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v6
-        with:
-          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report
+          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          path: openpilot/selfdrive/ui/tests/diff/report
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
new file mode 100644
index 0000000000..8b7b63f344
--- /dev/null
+++ b/.github/workflows/ui_preview.yaml
@@ -0,0 +1,175 @@
+name: "ui preview"
+on:
+  push:
+    branches:
+      - master
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'openpilot/selfdrive/assets/**'
+      - 'openpilot/selfdrive/ui/**'
+      - 'openpilot/system/ui/**'
+  workflow_dispatch:
+
+env:
+  UI_JOB_NAME: "Create UI Report"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
+  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
+
+  # variant:video_prefix:master_branch
+  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
+
+jobs:
+  preview:
+    if: github.repository == 'sunnypilot/sunnypilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - uses: actions/checkout@v7
+        with:
+          submodules: true
+
+      - name: Waiting for ui generation to end
+        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
+        with:
+          ref: ${{ env.SHA }}
+          check-name: ${{ env.UI_JOB_NAME }}
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Getting workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Getting proposed ui
+        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: ui-report-1-${{ env.REPORT_NAME }}
+          path: ${{ github.workspace }}/pr_ui
+
+      - name: Getting mici master ui
+        uses: actions/checkout@v7
+        with:
+          repository: sunnypilot/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_mici
+          ref: openpilot_master_ui_mici_raylib
+
+      - name: Getting big master ui
+        uses: actions/checkout@v7
+        with:
+          repository: sunnypilot/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_big
+          ref: openpilot_master_ui_big_raylib
+
+      - name: Saving new master ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        run: |
+          for variant in $VARIANTS; do
+            IFS=':' read -r name video branch <<< "$variant"
+            master_dir="${{ github.workspace }}/master_${name}"
+            cd "$master_dir"
+            git checkout --orphan=new_branch
+            git rm -rf *
+            git branch -D "$branch"
+            git branch -m "$branch"
+            git config user.name "GitHub Actions Bot"
+            git config user.email "<>"
+            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
+            git add .
+            git commit -m "${name} video for commit ${{ env.SHA }}"
+            git push origin "$branch" --force
+          done
+
+      - name: Setup FFmpeg
+        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
+
+      - name: Finding diffs
+        if: github.event_name == 'pull_request_target'
+        id: find_diff
+        run: |
+          export PYTHONPATH=${{ github.workspace }}
+          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+
+          COMMENT=""
+          for variant in $VARIANTS; do
+            IFS=':' read -r name video _ <<< "$variant"
+            diff_name="${name}_diff"
+
+            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
+            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
+
+            diff_exit_code=0
+            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
+              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
+              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
+              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
+
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+
+            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
+            if [ $diff_exit_code -eq 0 ]; then
+              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
+            else
+              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
+            fi
+          done
+
+          {
+            echo "COMMENT<<EOF"
+            echo "$COMMENT"
+            echo "EOF"
+          } >> "$GITHUB_OUTPUT"
+
+      - name: Saving proposed ui
+        if: github.event_name == 'pull_request_target'
+        working-directory: ${{ github.workspace }}/master_mici
+        run: |
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git checkout --orphan=${{ env.BRANCH_NAME }}
+          git rm -rf *
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "ui videos for PR #${{ github.event.number }}"
+          git push origin ${{ env.BRANCH_NAME }} --force
+
+          # Append diff reports to report files branch
+          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
+          for variant in $VARIANTS; do
+            IFS=':' read -r name _ _ <<< "$variant"
+            diff_name="${name}_diff"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            git add "${diff_name}_pr_${{ github.event.number }}.html"
+          done
+          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
+          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+
+      - name: Comment on PR
+        if: github.event_name == 'pull_request_target'
+        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
+        with:
+          message: |
+            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
+            ## UI Preview
+            ${{ steps.find_diff.outputs.COMMENT }}
+          comment-tag: run_id_ui_preview
+          pr-number: ${{ github.event.number }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/vendor_third_party.yaml b/.github/workflows/vendor_third_party.yaml
deleted file mode 100644
index df50cfad23..0000000000
--- a/.github/workflows/vendor_third_party.yaml
+++ /dev/null
@@ -1,51 +0,0 @@
-name: vendor third_party
-
-on:
-  workflow_dispatch:
-
-jobs:
-  build:
-    if: github.ref != 'refs/heads/master'
-    strategy:
-      matrix:
-        os: [ubuntu-24.04, macos-latest]
-    runs-on: ${{ matrix.os }}
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - name: Build
-      run: third_party/build.sh
-    - name: Package artifacts
-      run: |
-        git add -A third_party/
-        git diff --cached --name-only -- third_party/ | tar -cf /tmp/third_party_build.tar -T -
-    - uses: actions/upload-artifact@v4
-      with:
-        name: third-party-${{ runner.os }}
-        path: /tmp/third_party_build.tar
-
-  commit:
-    needs: build
-    runs-on: ubuntu-24.04
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-    - uses: actions/download-artifact@v4
-      with:
-        path: /tmp/artifacts
-    - name: Commit vendored libraries
-      run: |
-        for f in /tmp/artifacts/*/third_party_build.tar; do
-          tar xf "$f"
-        done
-        git add third_party/
-        if git diff --cached --quiet; then
-          echo "No changes to commit"
-          exit 0
-        fi
-        git config user.name "github-actions[bot]"
-        git config user.email "github-actions[bot]@users.noreply.github.com"
-        git commit -m "third_party: rebuild vendor libraries"
-        git push
diff --git a/.gitignore b/.gitignore
index 18f494148d..9dee0af9af 100644
--- a/.gitignore
+++ b/.gitignore
@@ -13,13 +13,20 @@ venv/
 a.out
 .hypothesis
 .cache/
+bin/
 
-/docs_site/
+# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
 
 *.mp4
 *.dylib
 *.DSYM
 *.d
+*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -32,6 +39,8 @@ a.out
 *.os-*
 *.so
 *.a
+st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
+*.unchunked
 *.clb
 *.class
 *.pyxbldc
@@ -39,70 +48,57 @@ a.out
 *.mo
 *_pyx.cpp
 *.stats
+*.pkl
+*.pkl*
 config.json
-clcache
 compile_commands.json
 compare_runtime*.html
+openpilot/selfdrive/modeld/models/tg_input_devices.json
 
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/camerad
-system/camerad/test/ae_gray_test
+# build artifacts
+docs/_site/
+openpilot/selfdrive/pandad/pandad
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
+openpilot/selfdrive/ui/translations/tmp
+openpilot/selfdrive/car/tests/cars_dump
+openpilot/system/camerad/camerad
+openpilot/system/camerad/test/ae_gray_test
 
 .coverage*
 coverage.xml
 htmlcov
-pandaextra
-
-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/models/*.pkl
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
-sunnypilot/modeld*/models/*.pkl
 
 # openpilot log files
 *.bz2
 *.zst
+*.rlog
 
 build/
 
 !**/.gitkeep
 
-poetry.toml
-Pipfile
 
 ### VisualStudioCode ###
+*.vsix
+.history
+.ionide
 .vscode/*
+.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
-
+# agents
 .claude/
 .context/
 PLAN.md
 TASK.md
+CLAUDE.md
+SKILL.md
 
 ### JetBrains ###
 !.idea/customTargets.xml
diff --git a/.gitmodules b/.gitmodules
index 5c5d72a7dc..a2d892d07f 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -6,7 +6,7 @@
   url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = https://github.com/commaai/rednose.git
@@ -17,5 +17,5 @@
   path = tinygrad_repo
   url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
+	path = openpilot/sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git
diff --git a/.python-version b/.python-version
new file mode 100644
index 0000000000..28d9a01b1f
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.12.13
diff --git a/.vscode/launch.json b/.vscode/launch.json
index f090061c42..5a052a112a 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -6,9 +6,9 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
+        "openpilot/selfdrive/controls/controlsd.py",
+        "openpilot/system/timed/timed.py",
+        "openpilot/tools/sim/run_bridge.py"
       ]
     },
     {
@@ -16,7 +16,7 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/ui/ui"
+        "openpilot/selfdrive/ui/ui"
       ]
     },
     {
@@ -52,6 +52,9 @@
       "type": "lldb",
       "request": "attach",
       "pid": "${command:pickMyProcess}",
+      "sourceMap": {
+        ".": "${workspaceFolder}/opendbc/safety"
+      },
       "initCommands": [
         "script import time; time.sleep(3)"
       ]
diff --git a/.vscode/settings.json b/.vscode/settings.json
index f0731c362d..68f6b90371 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -17,11 +17,5 @@
     "**/.git",
     "**/.venv",
     "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "third_party/**",
-    "tools/**",
   ]
 }
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 61bc81bafc..aeb2a969c8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,221 @@
-sunnypilot Version 2025.003.000 (20xx-xx-xx)
+sunnypilot Version 2026.002.000 (2026-06-28)
 ========================
+* What's Changed (sunnypilot/sunnypilot)
+  * ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
+  * release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
+  * sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
+  * ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
+  * modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
+  * Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
+  * sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
+  * ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
+* What's Changed (sunnypilot/opendbc)
+  * Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
+  * Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
+  * safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
+  * Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
+* New Contributors (sunnypilot/sunnypilot)
+  * @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+
+sunnypilot Version 2026.001.000 (2026-05-06)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * Complete rewrite of the user interface from Qt C++ to Raylib Python
+  * comma four support
+  * ui: sunnypilot toggle style by @nayan8teen
+  * ui: fix scroll panel mouse wheel behavior by @nayan8teen
+  * ui: sunnypilot panels by @nayan8teen
+  * sunnylink: centralize key pair handling in sunnylink registration by @devtekve
+  * ui: reimplement sunnypilot branding with Raylib by @sunnyhaibin
+  * ui: Platform Selector by @Discountchubbs
+  * ui: vehicle brand settings by @Discountchubbs
+  * ui: sunnylink client-side implementation by @nayan8teen
+  * ui: `NetworkUISP` by @Discountchubbs
+  * ui: add sunnypilot font by @nayan8teen
+  * ui: sunnypilot sponsor tier color mapping by @sunnyhaibin
+  * ui: sunnylink panel by @nayan8teen
+  * ui: Models panel by @Discountchubbs
+  * ui: software panel by @Discountchubbs
+  * modeld_v2: support planplus outputs by @Discountchubbs
+  * ui: OSM panel by @Discountchubbs
+  * ui: Developer panel extension by @Discountchubbs
+  * sunnylink: Vehicle Selector support by @sunnyhaibin
+  * [TIZI/TICI] ui: Developer Metrics by @rav4kumar
+  * [comma 4] ui: sunnylink panel by @nayan8teen
+  * ui: lateral-only and longitudinal-only UI statuses support by @royjr
+  * sunnylink: elliptic curve keys support and improve key path handling by @nayan8teen
+  * sunnylink: block remote modification of SSH key parameters by @zikeji
+  * [TIZI/TICI] ui: rainbow path by @rav4kumar
+  * [TIZI/TICI] ui: chevron metrics by @rav4kumar
+  * ui: include MADS enabled state to `engaged` check by @sunnyhaibin
+  * Toyota: Enforce Factory Longitudinal Control by @sunnyhaibin
+  * ui: fix malformed dongle ID display on the PC if dongleID is not set by @dzid26
+  * SL: Re enable and validate ingestion of swaglogs by @devtekve
+  * modeld_v2: planplus model tuning by @Discountchubbs
+  * ui: fix Always Offroad button visibility by @nayan8teen
+  * Reimplement sunnypilot Terms of Service & sunnylink Consent Screens by @sunnyhaibin
+  * [TIZI/TICI] ui: update dmoji position and Developer UI adjustments by @rav4kumar
+  * modeld: configurable camera offset by @Discountchubbs
+  * [TIZI/TICI] ui: sunnylink status on sidebar by @Copilot
+  * ui: Global Brightness Override by @nayan8teen
+  * ui: Customizable Interactive Timeout by @sunnyhaibin
+  * sunnylink: add units to param metadata by @nayan8teen
+  * ui: Customizable Onroad Brightness by @sunnyhaibin
+  * [TIZI/TICI] ui: Steering panel by @nayan8teen
+  * [TIZI/TICI] ui: Rocket Fuel by @rav4kumar
+  * [TIZI/TICI] ui: MICI style turn signals by @rav4kumar
+  * [TIZI/TICI] ui: MICI style blindspot indicators by @sunnyhaibin
+  * [MICI] ui: display blindspot indicators when available by @rav4kumar
+  * [TIZI/TICI] ui: Road Name by @rav4kumar
+  * [TIZI/TICI] ui: Blue "Exit Always Offroad" button by @dzid26
+  * [TIZI/TICI] ui: Speed Limit by @rav4kumar
+  * Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" by @sunnyhaibin
+  * [TIZI/TICI] ui: steering arc by @royjr
+  * [TIZI/TICI] ui: Smart Cruise Control elements by @sunnyhaibin
+  * [TIZI/TICI] ui: Green Light and Lead Departure elements by @sunnyhaibin
+  * [TIZI/TICI] ui: standstill timer by @sunnyhaibin
+  * [MICI] ui: driving models selector by @Discountchubbs
+  * [TIZI/TICI] ui: Hide vEgo and True vEgo by @sunnyhaibin
+  * [TIZI/TICI] ui: Visuals panel by @nayan8teen
+  * Device: Retain QuickBoot state after op switch by @nayan8teen
+  * [TIZI/TICI] ui: Trips panel by @sunnyhaibin
+  * [TIZI/TICI] ui: dynamic ICBM status by @sunnyhaibin
+  * [TIZI/TICI] ui: Cruise panel by @sunnyhaibin
+  * ui: better wake mode support by @nayan8teen
+  * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
+  * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
+  * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
+  * [TIZI/TICI] ui: ensure null checks for `CarParams` and `CarParamsSP` by @sunnyhaibin
+  * [TIZI/TICI] ui: use `vCruiseCluster` and `vEgoCluster` for SLA `preActive` by @sunnyhaibin
+  * Fix display of values when using use_float_scaling by @CHaucke89
+  * models: fix default & index "0" by @nayan8teen
+  * [TIZI/TICI] visuals: Improved speed limit by @angaz
+  * ICBM: ensure button timers update on disable to clear stale presses by @jamesmikesell
+  * [TIZI/TICI] ui: simplify Smart Cruise Control text rendering by @sunnyhaibin
+  * controlsd: fix steer_limited_by_safety not updating under MADS by @zephleggett
+  * soundd: trigger timeout warning during MADS lateral-only by @zephleggett
+  * pandad: flasher for Rivian long upgrade module by @lukasloetkolben
+  * modeld_v2: tinygrad transformation warp by @Discountchubbs
+  * tools: block `manage_sunnylinkd` in sim startup script by @sunnyhaibin
+  * [MICI] ui: need superclass `_render` in `HudRendererSP` by @sunnyhaibin
+  * [TIZI/TICI] ui: Speed Limit Assist active status by @sunnyhaibin
+  * ui: reimplement "Screen Off" option to Onroad Brightness by @sunnyhaibin
+  * ui: don't hide steering wheel when blindspot disabled by @royjr
+  * ui: Speed Limit Assist `preActive` improvements  by @sunnyhaibin
+  * ui: consolidate Speed Limit Assist `preActive` status rendering by @sunnyhaibin
+  * [MICI] ui: Speed Limit Assist `preActive` status by @sunnyhaibin
+  * sunnypilot modeld: remove thneed modeld by @Discountchubbs
+  * modeld_v2: decouple planplus scaling from accel by @Discountchubbs
+  * sunnylink: Handle exceptions in `getParamsAllKeysV1` to log crashes by @devtekve
+  * [TIZI/TICI] ui: Developer UI cleanup by @sunnyhaibin
+  * [TIZI/TICI] ui: dynamic alert size by @nayan8teen
+  * i18n(fr): Add French translations by @didlawowo
+  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
+  * ui: `AlertFadeAnimator` for longitudinal-related statuses by @sunnyhaibin
+  * pandad: gate unsupported pandas before flashing by @sunnyhaibin
+  * Rivian: Flash xnor's Longitudinal Upgrade Kit prior supported panda check by @lukasloetkolben
+  * [TIZI/TICI] ui: add back gate steering arc behind toggle by @sunnyhaibin
+  * ui: gate Onroad Brightness Delay on readiness by @sunnyhaibin
+  * ui: add new timer options for Onroad Brightness Delay by @sunnyhaibin
+  * [TIZI/TICI] ui: branch switcher is always available by @sunnyhaibin
+  * pandad: always prioritize internal panda by @sunnyhaibin
+  * sunnylinkd: fetch compressed params schema by @sunnyhaibin
+  * sunnypilot locationd: remove unused car_ekf filter by @sunnyhaibin
+  * modeld_v2: update deprecated temporalPose ref by @sunnyhaibin
+  * NNLC: restore pre-v1 PID gains in torque extension by @mmmorks
+  * MADS safety: enable heartbeat and lateral controls mismatch checks by @sunnyhaibin
+  * [MICI] ui: models panel enhancements by @nayan8teen
+  * [TIZI/TICI] ui: fix unintended selection while scrolling in TreeOptionDialog by @TheSecurityDev
+  * tools: script for video concatenation by @Discountchubbs
+  * tools: profile memory usage by @Discountchubbs
+  * [TIZI/TICI] ui: remove per-frame param sync by @sunnyhaibin
+  * [MICI] ui: always offroad by @nayan8teen
+  * controls: always default Torque Lateral Control to v0 Tune by @sunnyhaibin
+  * Revert "controls: always default Torque Lateral Control to v0 Tune" by @sunnyhaibin
+  * Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) by @sunnyhaibin
+  * [MICI] ui: add sunnylink info & connectivity check by @nayan8teen
+  * sunnylink: Remove unused API endpoint by @devtekve
+  * DM: wheel touch enforcement in MADS by @sunnyhaibin
+  * torque: show static override values in Dev UI & gate `useParams` on custom torque tune by @sunnyhaibin
+  * MADS: suppress espActive event when long is not engaged by @sunnyhaibin
+  * sunnylink: SDUI by @sunnyhaibin
+  * [MICI] ui: align upstream changes with sunnypilot settings buttons by @nayan8teen
+  * ui: fix cellular toggles by @AmyJeanes
+  * sunnylink: switch athena domain by @devtekve
+  * Platform List: dynamically migrate CarPlatformBundle by @sunnyhaibin
+* What's Changed (sunnypilot/opendbc)
+  * Honda: DBC for Accord 9th Generation by @mvl-boston
+  * FCA: update tire stiffness values for `RAM_HD` by @dparring
+  * Honda: Nidec hybrid baseline brake support by @mvl-boston
+  * Subaru Global Gen2: bump steering limits and update tuning by @sunnyhaibin
+  * Toyota: Enforce Stock Longitudinal Control by @rav4kumar
+  * Nissan: use MADS enabled status for LKAS HUD logic by @downquark7
+  * Reapply "Lateral: lower friction threshold (#2915)" (#378) by @sunnyhaibin
+  * HKG: add KIA_FORTE_2019_NON_SCC fingerprint by @royjr
+  * Nissan: Parse cruise control buttons by @downquark7
+  * Rivian: Add stalk down ACC behavior to match stock Rivian by @lukasloetkolben
+  * Tesla: remove `TESLA_MODEL_X` from `dashcamOnly` by @ssysm
+  * Hyundai Longitudinal: refactor tuning by @Discountchubbs
+  * Tesla: add fingerprint for Model 3 Performance HW4 by @sunnyhaibin
+  * Toyota: do not disable radar when smartDSU or CAN Filter detected by @sunnyhaibin
+  * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
+  * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
+  * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
+  * Hyundai Longitudinal: deprecate ramp update for dynamic tune by @Discountchubbs
+  * Rivian: long upgrade messages on bus 1 by @lukasloetkolben
+  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
+  * Toyota: gate Smart DSU behind Alpha Longitudinal by @sunnyhaibin
+  * Toyota: Gas Interceptor always set `standstill_req` by @sunnyhaibin
+  * MADS safety: dedicated `controls_allowed_lateral` by @sunnyhaibin
+  * Platform List: include community supported platforms by @sunnyhaibin
+* New Contributors (sunnypilot/sunnypilot)
+  * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
+  * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
+  * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
+  * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
+  * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
+  * @angaz made their first contribution in "[TIZI/TICI] visuals: Improved speed limit"
+  * @jamesmikesell made their first contribution in "ICBM: ensure button timers update on disable to clear stale presses"
+  * @zephleggett made their first contribution in "controlsd: fix steer_limited_by_safety not updating under MADS"
+  * @lukasloetkolben made their first contribution in "pandad: flasher for Rivian long upgrade module"
+  * @didlawowo made their first contribution in "i18n(fr): Add French translations"
+  * @mmmorks made their first contribution in "NNLC: restore pre-v1 PID gains in torque extension"
+* New Contributors (sunnypilot/opendbc)
+  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
+  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
+  * @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN"
+  * @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support"
+  * @downquark7 made their first contribution in "Nissan: use MADS enabled status for LKAS HUD logic"
+  * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
+  * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+* Improved inter-process communication memory efficiency
+* comma four support
 
 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
deleted file mode 100644
index 106a06e3a2..0000000000
--- a/Dockerfile.openpilot
+++ /dev/null
@@ -1,14 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-ENV PYTHONUNBUFFERED=1
-
-ENV OPENPILOT_PATH=/home/batman/openpilot
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/batman/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
deleted file mode 100644
index 04fb589bf6..0000000000
--- a/Dockerfile.openpilot_base
+++ /dev/null
@@ -1,82 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/Dockerfile.sunnypilot b/Dockerfile.sunnypilot
deleted file mode 100644
index abc207171e..0000000000
--- a/Dockerfile.sunnypilot
+++ /dev/null
@@ -1,14 +0,0 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
-
-ENV PYTHONUNBUFFERED=1
-
-ENV OPENPILOT_PATH=/home/batman/openpilot
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/batman/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
diff --git a/Dockerfile.sunnypilot_base b/Dockerfile.sunnypilot_base
deleted file mode 100644
index ec1e3b6c06..0000000000
--- a/Dockerfile.sunnypilot_base
+++ /dev/null
@@ -1,83 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-    rsync \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/Jenkinsfile b/Jenkinsfile
index c095eda8a9..db18d13ddd 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -12,7 +12,7 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 
 set -e
 
@@ -30,14 +30,14 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
+# only use 1 thread since most require real hardware that can't be shared
 export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 source ~/.bash_profile
-if [ -f /TICI ]; then
+if [ -f /AGNOS ]; then
   source /etc/profile
 
   rm -rf /tmp/tmp*
@@ -63,6 +63,8 @@ if [ -f /data/openpilot/launch_env.sh ]; then
   source /data/openpilot/launch_env.sh
 fi
 
+export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
+
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
@@ -93,7 +95,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
           retry (3) {
             def date = sh(script: 'date', returnStdout: true).trim();
             device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
             def name = item[0]
@@ -166,8 +168,8 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
+                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +181,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
       ])
     }
 
@@ -187,12 +189,12 @@ node {
       parallel (
         'nightly': {
           deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
           deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
       )
@@ -202,61 +204,51 @@ node {
     parallel (
       'onroad tests': {
         deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("check dirty", "tools/release/check-dirty.sh"),
+          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
+          step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test manager", "./openpilot/system/manager/test/test_manager.py"),
         ])
       },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
         deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
         ])
       },
 
diff --git a/RELEASES.md b/RELEASES.md
index 6191c6ba3d..36ddadb431 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,30 @@
-Version 0.10.4 (2026-02-17)
+Version 0.11.2 (2026-08-12)
+=======================
+* New driving model
+  * Big model with 880M parameters
+* Support for big models running on an external GPU
+* Live stream cameras from comma connect
+* Generate dashcam clips from comma connect
+* Remote comma body control from comma connect
+* New alert sounds
+* CUPRA Born 2021-2023 support thanks to DaHansi!
+* Volkswagen ID.4 2021-2025 support thanks to DaHansi!
+
+Version 0.11.1 (2026-05-18)
 ========================
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+
+Version 0.11.0 (2026-03-17)
+========================
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
+* Kia K7 2017 support thanks to royjr!
 * Lexus LS 2018 support thanks to Hacheoy!
 
 Version 0.10.3 (2025-12-17)
@@ -1087,7 +1112,7 @@ Version 0.2.1  (2016-12-14)
 
 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
  * controlsd has been refactored
  * Shipped plant model and testing maneuvers
  * visiond exits more gracefully now
diff --git a/SConstruct b/SConstruct
index 9f54e2a560..4e9dedd947 100644
--- a/SConstruct
+++ b/SConstruct
@@ -4,57 +4,136 @@ import sys
 import sysconfig
 import platform
 import shlex
+import importlib
 import numpy as np
 
 import SCons.Errors
+from SCons.Defaults import _stripixes
+
+COMMA_HARDWARE = os.path.isfile('/AGNOS')
 
 SCons.Warnings.warningAsException(True)
 
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
 
-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
+AddOption('--verbose', action='store_true', default=False, help='show full build commands')
+release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          default=(not COMMA_HARDWARE and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+submodule_python_paths = [
+  Dir("#").abspath,
+  Dir("#msgq_repo").abspath,
+  Dir("#opendbc_repo").abspath,
+  Dir("#rednose_repo").abspath,
+  Dir("#teleoprtc_repo").abspath,
+  Dir("#tinygrad_repo").abspath,
+]
+for p in reversed(submodule_python_paths):
+  if p not in sys.path:
+    sys.path.insert(0, p)
+
+if external_pythonpath := os.environ.get("PYTHONPATH"):
+  submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
+
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and os.path.isfile('/TICI'):
-  arch = "larch64"
+elif arch == "aarch64" and COMMA_HARDWARE:
+  arch = "comma_arm64"
 assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
+  "comma_arm64",  # linux comma hardware (AGNOS) arm64
+  "aarch64",      # linux pc arm64
+  "x86_64",       # linux pc x64
+  "Darwin",       # macOS arm64 (x86 not supported)
 ]
 
+pkg_names = ['acados', 'capnproto', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
+pkgs = [importlib.import_module(name) for name in pkg_names]
+acados = pkgs[pkg_names.index('acados')]
+ffmpeg = pkgs[pkg_names.index('ffmpeg')]
+# Shared package ships .so/.dylib; older device venvs still have static .a only.
+# Keep static link deps (x264/z/va/drm) when the installed package is static so
+# COMMA_HARDWARE CI works without upgrading the device venv yet.
+# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
+_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
+ffmpeg_shared = any(
+  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
+  for n in _ffmpeg_lib_names
+)
+ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
+if not ffmpeg_shared:
+  ffmpeg_libs += ['x264', 'z']
+  if arch != "Darwin":
+    ffmpeg_libs += ['va', 'va-drm', 'drm']
+acados_include_dirs = [
+  acados.INCLUDE_DIR,
+  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
+  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
+]
+
+
+# ***** enforce a whitelist of system libraries *****
+# this prevents silently relying on a 3rd party package,
+# e.g. apt-installed libusb. all libraries should either
+# be distributed with all Linux distros and macOS, or
+# vendored in commaai/dependencies.
+allowed_system_libs = {
+  "EGL", "GLESv2", "GL",
+  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
+  "dl", "drm", "gbm", "m", "pthread",
+}
+
+def _resolve_lib(env, name):
+  for d in env.Flatten(env.get('LIBPATH', [])):
+    p = Dir(str(d)).abspath
+    for ext in ('.a', '.so', '.dylib'):
+      f = File(os.path.join(p, f'lib{name}{ext}'))
+      if f.exists() or f.has_builder():
+        return name
+  if name in allowed_system_libs:
+    return name
+  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
+
+def _libflags(target, source, env, for_signature):
+  libs = []
+  lp = env.subst('$LIBLITERALPREFIX')
+  for lib in env.Flatten(env.get('LIBS', [])):
+    if isinstance(lib, str):
+      if os.sep in lib or lib.startswith('#'):
+        libs.append(File(lib))
+      elif lib.startswith('-') or (lp and lib.startswith(lp)):
+        libs.append(lib)
+      else:
+        libs.append(_resolve_lib(env, lib))
+    else:
+      libs.append(lib)
+  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
+                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
+
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
+    "ACADOS_SOURCE_DIR": acados.DIR,
+    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
+    "TERA_PATH": acados.TERA_PATH
   },
-  CC='clang',
-  CXX='clang++',
   CCFLAGS=[
     "-g",
     "-fPIC",
+    "-pipe",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow",
+    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -64,71 +143,54 @@ env = Environment(
   CFLAGS=["-std=gnu11"],
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
+    "#openpilot",
+    "#msgq_repo",            # #include "msgq/..."
+    "#opendbc_repo",         # #include "opendbc/..."
+    "#rednose_repo",         # #include "rednose/..."
+    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
+    "#openpilot/cereal/gen/cpp",
+    acados_include_dirs,
+    [x.INCLUDE_DIR for x in pkgs],
     "#",
-    "#msgq",
-    "#third_party",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
   ],
   LIBPATH=[
-    "#common",
+    "#openpilot/common",
     "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    f"#third_party/libyuv/{arch}/lib",
-    f"#third_party/acados/{arch}/lib",
+    "#openpilot/selfdrive/pandad",
+    "#rednose_repo/rednose/helpers",
+    [x.LIB_DIR for x in pkgs],
   ],
-  RPATH=[],
+  RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT="#rednose_repo",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
+# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
+if arch == "Darwin":
+  env["RPATHPREFIX"] = "-Wl,-rpath,"
+  env["RPATHSUFFIX"] = ""
+  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
+if arch != "comma_arm64":
+  env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
-if arch == "larch64":
-  env.Append(CPPPATH=["#third_party/opencl/include"])
+if arch == "comma_arm64":
+  env["CC"] = "clang"
+  env["CXX"] = "clang++"
   env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
     "/usr/lib/aarch64-linux-gnu",
   ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
+  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
   env.Append(CCFLAGS=arch_flags)
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
   env.Append(LIBPATH=[
-    f"{brew_prefix}/lib",
-    f"{brew_prefix}/opt/openssl@3.0/lib",
-    f"{brew_prefix}/opt/llvm/lib/c++",
     "/System/Library/Frameworks/OpenGL.framework/Libraries",
   ])
   env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
   env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CPPPATH=[
-    f"{brew_prefix}/include",
-    f"{brew_prefix}/opt/openssl@3.0/include",
-  ])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
-
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])
 
 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -138,21 +200,26 @@ if _extra_cc:
 if arch != "Darwin":
   env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
 
-# progress output
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
+# Shorter build output: show brief descriptions instead of full commands.
+# Full command lines are still printed on failure by scons.
+if not GetOption('verbose'):
+  for action, short in (
+    ("CC",     "CC"),
+    ("CXX",    "CXX"),
+    ("LINK",   "LINK"),
+    ("SHCC",   "CC"),
+    ("SHCXX",  "CXX"),
+    ("SHLINK", "LINK"),
+    ("AR",     "AR"),
+    ("RANLIB", "RANLIB"),
+    ("AS",     "AS"),
+  ):
+    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
 
 # ********** Cython build environment **********
-py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
@@ -164,18 +231,28 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch')
+Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')
 
 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
+def prune_cache_dir(target=None, source=None, env=None):
+  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
+  cache_size = sum(os.path.getsize(f) for f in cache_files)
+  for f in cache_files:
+    if cache_size < cache_size_limit:
+      break
+    cache_size -= os.path.getsize(f)
+    os.unlink(f)
+
 # ********** start building stuff **********
 
 # Build common module
-SConscript(['common/SConscript'])
+SConscript(['openpilot/common/SConscript'])
 Import('_common')
 common = [_common, 'json11', 'zmq']
 Export('common')
@@ -185,9 +262,8 @@ Export('common')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 
-SConscript(['cereal/SConscript'])
+SConscript(['openpilot/cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]
@@ -198,27 +274,79 @@ Export('messaging')
 SConscript(['panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['rednose_repo/rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/loggerd/SConscript',
+  'openpilot/system/loggerd/SConscript',
 ])
 
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
+if arch == "comma_arm64":
+  SConscript(['openpilot/system/camerad/SConscript'])
 
-# Build openpilot
-SConscript(['third_party/SConscript'])
+# Build selfdrive
+SConscript([
+  'openpilot/selfdrive/pandad/SConscript',
+  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'openpilot/selfdrive/locationd/SConscript',
+  'openpilot/selfdrive/modeld/SConscript',
+  'openpilot/selfdrive/ui/SConscript',
+])
 
-SConscript(['selfdrive/SConscript'])
+SConscript(['openpilot/sunnypilot/SConscript'])
 
-SConscript(['sunnypilot/SConscript'])
-
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+# Build desktop-only tools
+if GetOption('extras') and arch != "comma_arm64":
+  SConscript([
+    'openpilot/tools/replay/SConscript',
+    'openpilot/tools/cabana/SConscript',
+    'openpilot/tools/jotpluggler/SConscript',
+  ])
 
 
 env.CompilationDatabase('compile_commands.json')
+
+# progress output
+def count_scons_nodes(nodes):
+  seen = set()
+  stack = list(nodes)
+
+  while stack:
+    node = stack.pop().disambiguate()
+    if node in seen:
+      continue
+    seen.add(node)
+    if hasattr(node, 'has_builder') and node.has_builder():
+      build_product_nodes.add(node)
+    executor = node.get_executor()
+    if executor is not None:
+      stack += executor.get_all_prerequisites() + executor.get_all_children()
+
+  return len(seen)
+
+progress_interval = 5
+progress_count = 0
+build_product_nodes = set()
+progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
+
+def progress_function(node):
+  global progress_count
+  if progress_count >= progress_total:
+    return
+  progress_count = min(progress_count + progress_interval, progress_total)
+  progress = round(100. * progress_count / progress_total, 1)
+  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
+  if progress == 100. and sys.stderr.isatty():
+    sys.stderr.write("\n")
+  sys.stderr.flush()
+
+Progress(progress_function, interval=progress_interval)
+AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
+
+def check_build_product_size(target, source, env):
+  limit = 50 * 1024 * 1024  # GitHub max size
+  for t in target:
+    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
+      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
+if not GetOption('extras'):
+  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))
diff --git a/cereal/SConscript b/cereal/SConscript
deleted file mode 100644
index 73dc61844b..0000000000
--- a/cereal/SConscript
+++ /dev/null
@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
-
-# Build messaging
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')
diff --git a/cereal/__init__.py b/cereal/__init__.py
deleted file mode 100644
index 93f4d77227..0000000000
--- a/cereal/__init__.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import os
-import capnp
-from importlib.resources import as_file, files
-
-capnp.remove_import_hook()
-
-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
diff --git a/cereal/car.capnp b/cereal/car.capnp
deleted file mode 120000
index 4bc7f89b1f..0000000000
--- a/cereal/car.capnp
+++ /dev/null
@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp
\ No newline at end of file
diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
deleted file mode 100644
index 8bfd2ea978..0000000000
--- a/cereal/messaging/tests/test_services.py
+++ /dev/null
@@ -1,21 +0,0 @@
-import os
-import tempfile
-from typing import Dict
-from parameterized import parameterized
-
-import cereal.services as services
-from cereal.services import SERVICE_LIST
-
-
-class TestServices:
-
-  @parameterized.expand(SERVICE_LIST.keys())
-  def test_services(self, s):
-    service = SERVICE_LIST[s]
-    assert service.frequency <= 104
-    assert service.decimation != 0
-
-  def test_generated_header(self):
-    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
-      assert ret == 0, "generated services header is not valid C"
diff --git a/cereal/messaging/tests/validate_sp_cereal_upstream.py b/cereal/messaging/tests/validate_sp_cereal_upstream.py
deleted file mode 100755
index 9ccd6533ce..0000000000
--- a/cereal/messaging/tests/validate_sp_cereal_upstream.py
+++ /dev/null
@@ -1,222 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import sys
-from typing import Any, List, Tuple
-
-DEBUG = False
-
-
-def print_debug(string: str) -> None:
-  if DEBUG:
-    print(string)
-
-
-def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
-  """
-  Create a new instance of a schema type, handling different field types.
-
-  Args:
-      struct: The Cap'n Proto schema structure
-      prop: A tuple containing the field name and field metadata
-
-  Returns:
-      A new initialized schema instance
-  """
-  struct_instance = struct.new_message()
-  field_name, field_metadata = prop
-
-  try:
-    field_type = field_metadata.proto.slot.type.which()
-
-    # Initialize different types of fields
-    if field_type in ('list', 'text', 'data'):
-      struct_instance.init(field_name, 1)
-      print_debug(f"Initialized list/text/data field: {field_name}")
-    elif field_type in ('struct', 'object'):
-      struct_instance.init(field_name)
-      print_debug(f"Initialized struct/object field: {field_name}")
-
-    return struct_instance
-
-  except Exception as e:
-    print(f"Error creating instance for {field_name}: {e}")
-    return None
-
-
-def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
-  """
-  Retrieve all fields from a given schema structure.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of field names and their metadata
-  """
-  try:
-    # Get all fields from the schema
-    schema_fields = list(schema_struct.schema.fields.items())
-
-    print_debug("Discovered schema fields:")
-    for field_name, field_metadata in schema_fields:
-      print_debug(f"- {field_name}")
-
-    return schema_fields
-
-  except Exception as e:
-    print(f"Error retrieving schema fields: {e}")
-    return []
-
-
-def generate_schema_instances(schema_struct: Any) -> List[Any]:
-  """
-  Generate instances for all fields in a given schema.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of schema instances
-  """
-  schema_fields = get_schema_fields(schema_struct)
-  instances = []
-
-  for field_prop in schema_fields:
-    try:
-      instance = create_schema_instance(schema_struct, field_prop)
-      if instance is not None:
-        instances.append(instance)
-    except Exception as e:
-      print(f"Skipping field due to error: {e}")
-
-  print(f"Generated {len(instances)} schema instances")
-  return instances
-
-
-def persist_instances(instances: List[Any], filename: str) -> None:
-  """
-  Write schema instances to a binary file.
-
-  Args:
-      instances: List of schema instances
-      filename: Output file path
-  """
-  try:
-    with open(filename, 'wb') as f:
-      for instance in instances:
-        f.write(instance.to_bytes())
-
-    print(f"Successfully wrote {len(instances)} instances to {filename}")
-
-  except Exception as e:
-    print(f"Error persisting instances: {e}")
-    sys.exit(1)
-
-
-def read_instances(filename: str, schema_type: Any) -> List[Any]:
-  """
-  Read schema instances from a binary file.
-
-  Args:
-      filename: Input file path
-      schema_type: The schema type to use for reading
-
-  Returns:
-      A list of read schema instances
-  """
-  try:
-    with open(filename, 'rb') as f:
-      data = f.read()
-
-    instances = list(schema_type.read_multiple_bytes(data))
-
-    print(f"Read {len(instances)} instances from {filename}")
-    return instances
-
-  except Exception as e:
-    print(f"Error reading instances: {e}")
-    sys.exit(1)
-
-
-def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
-  """
-  Compare original and read-back instances to detect potential breaking changes.
-
-  Args:
-      original_instances: List of originally generated instances
-      read_instances: List of instances read back from file
-
-  Returns:
-      Boolean indicating whether schemas appear compatible
-  """
-  if len(original_instances) != len(read_instances):
-    print("❌ Schema Compatibility Warning: Instance count mismatch")
-    return False
-
-  compatible = True
-  for struct in read_instances:
-    try:
-      getattr(struct, struct.which())  # Attempting to access the field to validate readability
-    except Exception as e:
-      print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
-      compatible = False
-
-  return compatible
-
-
-def main():
-  """
-  CLI entry point for schema compatibility testing.
-  """
-  # Setup argument parser
-  parser = argparse.ArgumentParser(
-    description='Cap\'n Proto Schema Compatibility Testing Tool',
-    epilog='Test schema compatibility by generating and reading back instances.'
-  )
-
-  # Add mutually exclusive group for generation or reading mode
-  mode_group = parser.add_mutually_exclusive_group(required=True)
-  mode_group.add_argument('-g', '--generate', action='store_true',
-                          help='Generate schema instances')
-  mode_group.add_argument('-r', '--read', action='store_true',
-                          help='Read and validate schema instances')
-
-  # Common arguments
-  parser.add_argument('-f', '--file',
-                      default='schema_instances.bin',
-                      help='Output/input binary file (default: schema_instances.bin)')
-
-  # Parse arguments
-  args = parser.parse_args()
-
-  # Import the schema dynamically 
-  try:
-    from cereal import log
-    schema_type = log.Event
-  except ImportError:
-    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
-    sys.exit(1)
-
-  # Execute based on mode
-  if args.generate:
-    print("🔧 Generating Schema Instances")
-    instances = generate_schema_instances(schema_type)
-    persist_instances(instances, args.file)
-    print("✅ Instance generation complete")
-
-  elif args.read:
-    print("🔍 Reading and Validating Schema Instances")
-    generated_instances = generate_schema_instances(schema_type)
-    read_back_instances = read_instances(args.file, schema_type)
-
-    # Compare schemas
-    if compare_schemas(generated_instances, read_back_instances):
-      print("✅ Schema Compatibility: No breaking changes detected")
-      sys.exit(0)
-    else:
-      print("❌ Potential Schema Breaking Changes Detected")
-      sys.exit(1)
-
-
-if __name__ == "__main__":
-  main()
diff --git a/common/.gitignore b/common/.gitignore
deleted file mode 100644
index ce1da4c53c..0000000000
--- a/common/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.cpp
diff --git a/common/SConscript b/common/SConscript
deleted file mode 100644
index 1c68cf05c7..0000000000
--- a/common/SConscript
+++ /dev/null
@@ -1,24 +0,0 @@
-Import('env', 'envCython', 'arch')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'ratekeeper.cc',
-  'clutil.cc',
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-Export('_common')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-common_python = [params_python]
-
-Export('common_python')
diff --git a/common/clutil.cc b/common/clutil.cc
deleted file mode 100644
index f8381a7e09..0000000000
--- a/common/clutil.cc
+++ /dev/null
@@ -1,98 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-}  // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
diff --git a/common/clutil.h b/common/clutil.h
deleted file mode 100644
index b364e79d45..0000000000
--- a/common/clutil.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-#define CL_CHECK(_expr)          \
-  do {                           \
-    assert(CL_SUCCESS == (_expr)); \
-  } while (0)
-
-#define CL_CHECK_ERR(_expr)           \
-  ({                                  \
-    cl_int err = CL_INVALID_VALUE;    \
-    __typeof__(_expr) _ret = _expr;   \
-    assert(_ret&& err == CL_SUCCESS); \
-    _ret;                             \
-  })
-
-cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
diff --git a/common/mat.h b/common/mat.h
deleted file mode 100644
index 8e10d61971..0000000000
--- a/common/mat.h
+++ /dev/null
@@ -1,85 +0,0 @@
-#pragma once
-
-typedef struct vec3 {
-  float v[3];
-} vec3;
-
-typedef struct vec4 {
-  float v[4];
-} vec4;
-
-typedef struct mat3 {
-  float v[3*3];
-} mat3;
-
-typedef struct mat4 {
-  float v[4*4];
-} mat4;
-
-static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
-  mat3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      float v = 0.0;
-      for (int k=0; k<3; k++) {
-        v += a.v[r*3+k] * b.v[k*3+c];
-      }
-      ret.v[r*3+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
-  vec3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      ret.v[r] += a.v[r*3+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-static inline mat4 matmul(const mat4 &a, const mat4 &b) {
-  mat4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      float v = 0.0;
-      for (int k=0; k<4; k++) {
-        v += a.v[r*4+k] * b.v[k*4+c];
-      }
-      ret.v[r*4+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
-  vec4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      ret.v[r] += a.v[r*4+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-// scales the input and output space of a transformation matrix
-// that assumes pixel-center origin.
-static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
-  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
-
-  mat3 transform_out = {{
-    1.0f/s, 0.0f, 0.5f,
-    0.0f, 1.0f/s, 0.5f,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  mat3 transform_in = {{
-    s,  0.0f, -0.5f*s,
-    0.0f, s, -0.5f*s,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  return matmul3(transform_in, matmul3(in, transform_out));
-}
diff --git a/common/mock/generators.py b/common/mock/generators.py
deleted file mode 100644
index 5cd9c88a56..0000000000
--- a/common/mock/generators.py
+++ /dev/null
@@ -1,14 +0,0 @@
-from cereal import messaging
-
-
-def generate_livePose():
-  msg = messaging.new_message('livePose')
-  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
-  msg.livePose.orientationNED = meas
-  msg.livePose.velocityDevice = meas
-  msg.livePose.angularVelocityDevice = meas
-  msg.livePose.accelerationDevice = meas
-  msg.livePose.inputsOK = True
-  msg.livePose.posenetOK = True
-  msg.livePose.sensorsOK = True
-  return msg
diff --git a/common/model.h b/common/model.h
deleted file mode 100644
index 444727be93..0000000000
--- a/common/model.h
+++ /dev/null
@@ -1 +0,0 @@
-#define DEFAULT_MODEL "CD210 (Default)"
diff --git a/common/params.py b/common/params.py
deleted file mode 100644
index 494617200f..0000000000
--- a/common/params.py
+++ /dev/null
@@ -1,19 +0,0 @@
-from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
-assert Params
-assert ParamKeyFlag
-assert ParamKeyType
-assert UnknownKeyName
-
-if __name__ == "__main__":
-  import sys
-
-  params = Params()
-  key = sys.argv[1]
-  assert params.check_key(key), f"unknown param: {key}"
-
-  if len(sys.argv) == 3:
-    val = sys.argv[2]
-    print(f"SET: {key} = {val}")
-    params.put(key, val)
-  elif len(sys.argv) == 2:
-    print(f"GET: {key} = {params.get(key)}")
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
deleted file mode 100644
index bffa89b5d3..0000000000
--- a/common/params_pyx.pyx
+++ /dev/null
@@ -1,197 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-import builtins
-import datetime
-import json
-from libcpp cimport bool
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libcpp.optional cimport optional
-
-from openpilot.common.swaglog import cloudlog
-
-cdef extern from "common/params.h":
-  cpdef enum ParamKeyFlag:
-    PERSISTENT
-    CLEAR_ON_MANAGER_START
-    CLEAR_ON_ONROAD_TRANSITION
-    CLEAR_ON_OFFROAD_TRANSITION
-    DEVELOPMENT_ONLY
-    CLEAR_ON_IGNITION_ON
-    BACKUP
-    ALL
-
-  cpdef enum ParamKeyType:
-    STRING
-    BOOL
-    INT
-    FLOAT
-    TIME
-    JSON
-    BYTES
-
-  cdef cppclass c_Params "Params":
-    c_Params(string) except + nogil
-    string get(string, bool) nogil
-    bool getBool(string, bool) nogil
-    int remove(string) nogil
-    int put(string, string) nogil
-    void putNonBlocking(string, string) nogil
-    void putBoolNonBlocking(string, bool) nogil
-    int putBool(string, bool) nogil
-    bool checkKey(string) nogil
-    ParamKeyType getKeyType(string) nogil
-    optional[string] getKeyDefaultValue(string) nogil
-    string getParamPath(string) nogil
-    void clearAll(ParamKeyFlag)
-    vector[string] allKeys(ParamKeyFlag)
-
-PYTHON_2_CPP = {
-  (str, STRING): lambda v: v,
-  (builtins.bool, BOOL): lambda v: "1" if v else "0",
-  (int, INT): str,
-  (float, FLOAT): str,
-  (datetime.datetime, TIME): lambda v: v.isoformat(),
-  (dict, JSON): json.dumps,
-  (list, JSON): json.dumps,
-  (bytes, BYTES): lambda v: v,
-}
-CPP_2_PYTHON = {
-  STRING: lambda v: v.decode("utf-8"),
-  BOOL: lambda v: v == b"1",
-  INT: int,
-  FLOAT: float,
-  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
-  JSON: json.loads,
-  BYTES: lambda v: v,
-}
-
-def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v
-
-class UnknownKeyName(Exception):
-  pass
-
-cdef class Params:
-  cdef c_Params* p
-  cdef str d
-
-  def __cinit__(self, d=""):
-    cdef string path = <string>d.encode()
-    with nogil:
-      self.p = new c_Params(path)
-    self.d = d
-
-  def __reduce__(self):
-    return (type(self), (self.d,))
-
-  def __dealloc__(self):
-    del self.p
-
-  def clear_all(self, tx_flag=ParamKeyFlag.ALL):
-    self.p.clearAll(tx_flag)
-
-  def check_key(self, key):
-    key = ensure_bytes(key)
-    if not self.p.checkKey(key):
-      raise UnknownKeyName(key)
-    return key
-
-  def python2cpp(self, proposed_type, expected_type, value, key):
-    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
-    if cast:
-      return cast(value)
-    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
-
-  def _cpp2python(self, t, value, default, key):
-    if value is None:
-      return None
-    try:
-      return CPP_2_PYTHON[t](value)
-    except (KeyError, TypeError, ValueError):
-      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
-      return self._cpp2python(t, default, None, key)
-
-  def get(self, key, bool block=False, bool return_default=False):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    cdef string val
-    with nogil:
-      val = self.p.get(k, block)
-
-    default_val = (default.value() if default.has_value() else None) if return_default else None
-    if val == b"":
-      if block:
-        # If we got no value while running in blocked mode
-        # it means we got an interrupt while waiting
-        raise KeyboardInterrupt
-      else:
-        return self._cpp2python(t, default_val, None, key)
-    return self._cpp2python(t, val, default_val, key)
-
-  def get_bool(self, key, bool block=False):
-    cdef string k = self.check_key(key)
-    cdef bool r
-    with nogil:
-      r = self.p.getBool(k, block)
-    return r
-
-  def _put_cast(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
-
-  def put(self, key, dat):
-    """
-    Warning: This function blocks until the param is written to disk!
-    In very rare cases this can take over a second, and your code will hang.
-    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
-    in general try to avoid writing params as much as possible.
-    """
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
-    with nogil:
-      self.p.put(k, dat_bytes)
-
-  def put_bool(self, key, bool val):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.putBool(k, val)
-
-  def put_nonblocking(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
-    with nogil:
-      self.p.putNonBlocking(k, dat_bytes)
-
-  def put_bool_nonblocking(self, key, bool val):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.putBoolNonBlocking(k, val)
-
-  def remove(self, key):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.remove(k)
-
-  def get_param_path(self, key=""):
-    cdef string key_bytes = ensure_bytes(key)
-    return self.p.getParamPath(key_bytes).decode("utf-8")
-
-  def get_type(self, key):
-    return self.p.getKeyType(self.check_key(key))
-
-  def all_keys(self, flag=ParamKeyFlag.ALL):
-    return self.p.allKeys(flag)
-
-  def get_default_value(self, key):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
-
-  def cpp2python(self, key, value):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return self._cpp2python(t, value, None, key)
diff --git a/common/tests/.gitignore b/common/tests/.gitignore
deleted file mode 100644
index 6cddfc7bdf..0000000000
--- a/common/tests/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-test_common
diff --git a/common/tests/test_params.cc b/common/tests/test_params.cc
deleted file mode 100644
index f8d6c79f55..0000000000
--- a/common/tests/test_params.cc
+++ /dev/null
@@ -1,27 +0,0 @@
-#include "catch2/catch.hpp"
-#define private public
-#include "common/params.h"
-#include "common/util.h"
-
-TEST_CASE("params_nonblocking_put") {
-  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
-  const std::string param_path = mkdtemp(tmp_path);
-  auto param_names = {"CarParams", "IsMetric"};
-  {
-    Params params(param_path);
-    for (const auto &name : param_names) {
-      params.putNonBlocking(name, "1");
-      // param is empty
-      REQUIRE(params.get(name).empty());
-    }
-
-    // check if thread is running
-    REQUIRE(params.future.valid());
-    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
-  }
-  // check results
-  Params p(param_path);
-  for (const auto &name : param_names) {
-    REQUIRE(p.get(name) == "1");
-  }
-}
diff --git a/common/tests/test_runner.cc b/common/tests/test_runner.cc
deleted file mode 100644
index 62bf7476a1..0000000000
--- a/common/tests/test_runner.cc
+++ /dev/null
@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
deleted file mode 100644
index c97f907c24..0000000000
--- a/common/tests/test_swaglog.cc
+++ /dev/null
@@ -1,90 +0,0 @@
-#include <zmq.h>
-
-#include <iostream>
-
-#include "catch2/catch.hpp"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-#include "third_party/json11/json11.hpp"
-
-#include "sunnypilot/common/version.h"
-
-std::string daemon_name = "testy";
-std::string dongle_id = "test_dongle_id";
-int LINE_NO = 0;
-
-void log_thread(int thread_id, int msg_cnt) {
-  for (int i = 0; i < msg_cnt; ++i) {
-    LOGD("%d", thread_id);
-    LINE_NO = __LINE__ - 1;
-    usleep(1);
-  }
-}
-
-void recv_log(int thread_cnt, int thread_msg_cnt) {
-  void *zctx = zmq_ctx_new();
-  void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, Path::swaglog_ipc().c_str());
-  std::vector<int> thread_msgs(thread_cnt);
-  int total_count = 0;
-
-  for (auto start = std::chrono::steady_clock::now(), now = start;
-       now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
-       now = std::chrono::steady_clock::now()) {
-    char buf[4096] = {};
-    if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
-      if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
-      break;
-    }
-
-    REQUIRE(buf[0] == CLOUDLOG_DEBUG);
-    std::string err;
-    auto msg = json11::Json::parse(buf + 1, err);
-    REQUIRE(!msg.is_null());
-
-    REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
-    REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
-    REQUIRE(msg["funcname"].string_value() == "log_thread");
-    REQUIRE(msg["lineno"].int_value() == LINE_NO);
-
-    auto ctx = msg["ctx"];
-
-    REQUIRE(ctx["daemon"].string_value() == daemon_name);
-    REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
-    REQUIRE(ctx["dirty"].bool_value() == true);
-
-    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
-
-    std::string device = Hardware::get_name();
-    REQUIRE(ctx["device"].string_value() == device);
-
-    int thread_id = atoi(msg["msg"].string_value().c_str());
-    REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
-    thread_msgs[thread_id]++;
-    total_count++;
-  }
-  for (int i = 0; i < thread_cnt; ++i) {
-    INFO("thread :" << i);
-    REQUIRE(thread_msgs[i] == thread_msg_cnt);
-  }
-  zmq_close(sock);
-  zmq_ctx_destroy(zctx);
-}
-
-TEST_CASE("swaglog") {
-  setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
-  setenv("DONGLE_ID", dongle_id.c_str(), 1);
-  setenv("dirty", "1", 1);
-  const int thread_cnt = 5;
-  const int thread_msg_cnt = 100;
-
-  std::vector<std::thread> log_threads;
-  for (int i = 0; i < thread_cnt; ++i) {
-    log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
-  }
-  for (auto &t : log_threads) t.join();
-
-  recv_log(thread_cnt, thread_msg_cnt);
-}
diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc
deleted file mode 100644
index de87fa3e06..0000000000
--- a/common/tests/test_util.cc
+++ /dev/null
@@ -1,147 +0,0 @@
-
-#include <dirent.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-
-#include <algorithm>
-#include <climits>
-#include <fstream>
-#include <random>
-#include <string>
-
-#include "catch2/catch.hpp"
-#include "common/util.h"
-
-std::string random_bytes(int size) {
-  std::random_device rd;
-  std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
-  std::string bytes(size + 1, '\0');
-  std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
-  return bytes;
-}
-
-TEST_CASE("util::read_file") {
-  SECTION("read /proc/version") {
-    std::string ret = util::read_file("/proc/version");
-    REQUIRE(ret.find("Linux version") != std::string::npos);
-  }
-  SECTION("read from sysfs") {
-    std::string ret = util::read_file("/sys/power/wakeup_count");
-    REQUIRE(!ret.empty());
-  }
-  SECTION("read file") {
-    char filename[] = "/tmp/test_read_XXXXXX";
-    int fd = mkstemp(filename);
-
-    REQUIRE(util::read_file(filename).empty());
-
-    std::string content = random_bytes(64 * 1024);
-    write(fd, content.c_str(), content.size());
-    std::string ret = util::read_file(filename);
-    bool equal = (ret == content);
-    REQUIRE(equal);
-    close(fd);
-  }
-  SECTION("read directory") {
-    REQUIRE(util::read_file(".").empty());
-  }
-  SECTION("read non-existent file") {
-    std::string ret = util::read_file("does_not_exist");
-    REQUIRE(ret.empty());
-  }
-  SECTION("read non-permission") {
-    REQUIRE(util::read_file("/proc/kmsg").empty());
-  }
-}
-
-TEST_CASE("util::file_exists") {
-  char filename[] = "/tmp/test_file_exists_XXXXXX";
-  int fd = mkstemp(filename);
-  REQUIRE(fd != -1);
-  close(fd);
-
-  SECTION("existent file") {
-    REQUIRE(util::file_exists(filename));
-    REQUIRE(util::file_exists("/tmp"));
-  }
-  SECTION("nonexistent file") {
-    std::string fn = filename;
-    REQUIRE(!util::file_exists(fn + "/nonexistent"));
-  }
-  SECTION("file has no access permissions") {
-    std::string fn = "/proc/kmsg";
-    std::ifstream f(fn);
-    REQUIRE(f.good() == false);
-    REQUIRE(util::file_exists(fn));
-  }
-  ::remove(filename);
-}
-
-TEST_CASE("util::read_files_in_dir") {
-  char tmp_path[] = "/tmp/test_XXXXXX";
-  const std::string test_path = mkdtemp(tmp_path);
-  const std::string files[] = {".test1", "'test2'", "test3"};
-  for (auto fn : files) {
-    std::ofstream{test_path + "/" + fn} << fn;
-  }
-  mkdir((test_path + "/dir").c_str(), 0777);
-
-  std::map<std::string, std::string> result = util::read_files_in_dir(test_path);
-  REQUIRE(result.find("dir") == result.end());
-  REQUIRE(result.size() == std::size(files));
-  for (auto& [k, v] : result) {
-    REQUIRE(k == v);
-  }
-}
-
-
-TEST_CASE("util::safe_fwrite") {
-  char filename[] = "/tmp/XXXXXX";
-  int fd = mkstemp(filename);
-  close(fd);
-  std::string dat = random_bytes(1024 * 1024);
-
-  FILE *f = util::safe_fopen(filename, "wb");
-  REQUIRE(f != nullptr);
-  size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f);
-  REQUIRE(size == dat.size());
-  int ret = util::safe_fflush(f);
-  REQUIRE(ret == 0);
-  ret = fclose(f);
-  REQUIRE(ret == 0);
-  bool equal = (dat == util::read_file(filename));
-  REQUIRE(equal);
-}
-
-TEST_CASE("util::create_directories") {
-  system("rm /tmp/test_create_directories -rf");
-  std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
-
-  auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
-    struct stat st = {};
-    return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
-  };
-
-  SECTION("create_directories") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(check_dir_permissions(dir, 0755));
-  }
-  SECTION("dir already exists") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(util::create_directories(dir, 0755));
-  }
-  SECTION("a file exists with the same name") {
-    REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
-    REQUIRE(f != -1);
-    close(f);
-    REQUIRE(util::create_directories(dir + "/file", 0755) == false);
-    REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
-  }
-  SECTION("end with slashes") {
-    REQUIRE(util::create_directories(dir + "/", 0755));
-  }
-  SECTION("empty") {
-    REQUIRE(util::create_directories("", 0755) == false);
-  }
-}
diff --git a/common/transformations/.gitignore b/common/transformations/.gitignore
deleted file mode 100644
index a67290f09a..0000000000
--- a/common/transformations/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-transformations
-transformations.cpp
diff --git a/common/version.h b/common/version.h
deleted file mode 100644
index 7e78d64b22..0000000000
--- a/common/version.h
+++ /dev/null
@@ -1 +0,0 @@
-#define COMMA_VERSION "0.10.4"
diff --git a/conftest.py b/conftest.py
deleted file mode 100644
index 0bd638b87d..0000000000
--- a/conftest.py
+++ /dev/null
@@ -1,112 +0,0 @@
-import contextlib
-import gc
-import os
-import pytest
-
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.system.manager import manager
-from openpilot.system.hardware import TICI, HARDWARE
-
-# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
-# pending https://github.com/pytest-dev/pytest-cpp/pull/147
-collect_ignore = [
-  "selfdrive/ui/tests/test_translations",
-  "selfdrive/test/process_replay/test_processes.py",
-  "selfdrive/test/process_replay/test_regen.py",
-]
-collect_ignore_glob = [
-  "selfdrive/debug/*.py",
-  "selfdrive/modeld/*.py",
-  "sunnypilot/modeld*/*.py",
-]
-
-
-def pytest_sessionstart(session):
-  # TODO: fix tests and enable test order randomization
-  if session.config.pluginmanager.hasplugin('randomly'):
-    session.config.option.randomly_reorganize = False
-
-
-@pytest.hookimpl(hookwrapper=True, trylast=True)
-def pytest_runtest_call(item):
-  # ensure we run as a hook after capturemanager's
-  if item.get_closest_marker("nocapture") is not None:
-    capmanager = item.config.pluginmanager.getplugin("capturemanager")
-    with capmanager.global_and_fixture_disabled():
-      yield
-  else:
-    yield
-
-
-@contextlib.contextmanager
-def clean_env():
-  starting_env = dict(os.environ)
-  yield
-  os.environ.clear()
-  os.environ.update(starting_env)
-
-
-@pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture(request):
-  with clean_env():
-    # setup a clean environment for each test
-    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
-      prefix = os.environ["OPENPILOT_PREFIX"]
-
-      yield
-
-      # ensure the test doesn't change the prefix
-      assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
-
-    # cleanup any started processes
-    manager.manager_cleanup()
-
-    # some processes disable gc for performance, re-enable here
-    if not gc.isenabled():
-      gc.enable()
-      gc.collect()
-
-# If you use setUpClass, the environment variables won't be cleared properly,
-# so we need to hook both the function and class pytest fixtures
-@pytest.fixture(scope="class", autouse=True)
-def openpilot_class_fixture():
-  with clean_env():
-    yield
-
-
-@pytest.fixture(scope="function")
-def tici_setup_fixture(request, openpilot_function_fixture):
-  """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
-  if 'skip_tici_setup' in request.keywords:
-    return
-  HARDWARE.initialize_hardware()
-  HARDWARE.set_power_save(False)
-  os.system("pkill -9 -f athena")
-
-
-@pytest.hookimpl(tryfirst=True)
-def pytest_collection_modifyitems(config, items):
-  skipper = pytest.mark.skip(reason="Skipping tici test on PC")
-  for item in items:
-    if "tici" in item.keywords:
-      if not TICI:
-        item.add_marker(skipper)
-      else:
-        item.fixturenames.append('tici_setup_fixture')
-
-    if "xdist_group_class_property" in item.keywords:
-      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
-      class_property_value = getattr(item.cls, class_property_name)
-      item.add_marker(pytest.mark.xdist_group(class_property_value))
-
-
-@pytest.hookimpl(trylast=True)
-def pytest_configure(config):
-  config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "nocapture: don't capture test output"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "shared_download_cache: share download cache between tests"
-  config.addinivalue_line("markers", config_line)
diff --git a/docs/AI_POLICY.md b/docs/AI_POLICY.md
new file mode 100644
index 0000000000..a32eb96bac
--- /dev/null
+++ b/docs/AI_POLICY.md
@@ -0,0 +1,44 @@
+# AI policy
+
+## Why this exists
+
+We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
+
+If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
+
+## The rule
+
+You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
+
+1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
+
+2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
+
+3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
+
+4. No AI-generated media (images, diagrams, videos) in issues or PRs.
+
+## Disclosure
+
+If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
+
+```
+Assisted-by: GitHub Copilot
+Assisted-by: Claude
+```
+
+Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
+
+## How we review
+
+Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
+
+Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
+
+## What happens
+
+Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
+
+## Maintainers
+
+Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.
diff --git a/docs/CARS.md b/docs/CARS.md
index ab1eabeb13..22c35b9a12 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -1,27 +1,28 @@
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 335 Supported Cars
+# 342 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
@@ -31,34 +32,34 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
@@ -73,36 +74,37 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
@@ -115,15 +117,16 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -134,17 +137,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
@@ -154,8 +157,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -166,40 +169,41 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
-|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
 |Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
 |Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
@@ -220,48 +224,51 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -274,92 +281,94 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
+<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 7583095eaf..dd8d569821 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -1,3 +1,5 @@
+> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
+
 # How to contribute
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
@@ -13,13 +15,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 ## What contributions are we looking for?
 
 **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
-openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
 
 ### What gets merged?
 
 The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
 If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
 
 All of these are examples of good PRs:
 * typo fix: https://github.com/commaai/openpilot/pull/30678
@@ -29,17 +31,18 @@ All of these are examples of good PRs:
 
 ### What doesn't get merged?
 
-* **style changes**: code is art, and it's up to the author to make it beautiful 
+* **style changes**: code is art, and it's up to the author to make it beautiful
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
-* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)
 
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There are a lot of bounties that don't require a comma four or a car.
 
 ## Pull Requests
 
@@ -58,7 +61,7 @@ A good pull request has all of the following:
 
 * Report bugs in GitHub issues.
 * Report driving issues in the `#driving-feedback` Discord channel.
-* Consider opting into driver camera uploads to improve the driver monitoring model.
+* Consider opting into cabin camera uploads to improve the driver monitoring model.
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
@@ -68,6 +71,6 @@ A good pull request has all of the following:
 ### A guide for forks
 
 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.
diff --git a/docs/LIMITATIONS.md b/docs/LIMITATIONS.md
index 8c112659c2..5f9b7517bd 100644
--- a/docs/LIMITATIONS.md
+++ b/docs/LIMITATIONS.md
@@ -52,7 +52,7 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
 
 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver's face is partially or completely outside field of view of the driver facing camera.
-* The driver facing camera is obstructed, covered, or damaged.
+* The driver's face is partially or completely outside field of view of the cabin camera.
+* The cabin camera is obstructed, covered, or damaged.
 
 The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
diff --git a/docs/README.md b/docs/README.md
index 08dd4fa8bc..d6a0126b39 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -1,26 +1,14 @@
-# openpilot docs
+# Docs development
 
-This is the source for [docs.comma.ai](https://docs.comma.ai).
+The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
 The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
 
-## Development
-NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
-
-**1. Install the docs dependencies**
+**1. Build the site**
 ``` bash
-pip install .[docs]
+python docs/serve.py --build
 ```
 
-**2. Build the new site**
+**2. Run the site locally** (rebuilds on change)
 ``` bash
-mkdocs build
+python docs/serve.py
 ```
-
-**3. Run the new site locally**
-``` bash
-mkdocs serve
-```
-
-References:
-* https://www.mkdocs.org/getting-started/
-* https://github.com/ntno/mkdocs-terminal
diff --git a/docs/SAFETY.md b/docs/SAFETY.md
index 25815e3372..5857c6d5b5 100644
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -4,8 +4,8 @@ openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC)
 Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
 driver to be alert and to pay attention at all times.
 
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
+To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
+that alerts when it detects driver distraction.
 
 However, even with an attentive driver, we must make further efforts for the system to be
 safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
@@ -35,8 +35,8 @@ For additional safety implementation details, refer to [panda safety model](http
 
 ### Forks of openpilot
 
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/selfdrived/helpers.py)
 * If your fork modifies any of the code in `opendbc/safety/`:
    * your fork cannot use the openpilot trademark
    * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
diff --git a/docs/assets/comma-logo.png b/docs/assets/comma-logo.png
new file mode 120000
index 0000000000..19b67d0739
--- /dev/null
+++ b/docs/assets/comma-logo.png
@@ -0,0 +1 @@
+../../openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png
\ No newline at end of file
diff --git a/docs/assets/favicon.svg b/docs/assets/favicon.svg
new file mode 100644
index 0000000000..304454837a
--- /dev/null
+++ b/docs/assets/favicon.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e019ed5af500e8820d05934d47e0380728e1b30e01a179f786dc4edb1eccbd7
+size 349
diff --git a/docs/car-porting/brand-port.md b/docs/car-porting/brand-port.md
deleted file mode 100644
index a3daa7a848..0000000000
--- a/docs/car-porting/brand-port.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# Developing a car brand port
-
-A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
diff --git a/docs/car-porting/car-state-signals.md b/docs/car-porting/car-state-signals.md
deleted file mode 100644
index 669bd0ee23..0000000000
--- a/docs/car-porting/car-state-signals.md
+++ /dev/null
@@ -1,65 +0,0 @@
-# CarState signals
-
-## Required for basic lateral control
-
-* `brakePressed`
-* `cruiseState`
-* `doorOpen`
-* `espDisabled`
-* `gasPressed`
-* `gearShifter`
-* `leftBlinker` / `rightBlinker`
-* `seatbeltUnlatched`
-* `standstill`
-* `steeringAngleDeg`
-* `steeringPressed`
-* `steeringTorque`
-* `steerFaultPermanent`
-* `steerFaultTemporary`
-* `vCruise`
-* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
-speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
-
-## Recommended / Required for openpilot longitudinal control
-
-* `accFaulted`
-* `espActive`
-* `parkingBrake`
-
-## Application Dependent
-
-* `blockPcmEnable`
-* `buttonEnable`
-* `brakeHoldActive`
-* `carFaultedNonCritical`
-* `invalidLkasSetting`
-* `lowSpeedAlert`
-* `regenBraking`
-* `steeringAngleOffsetDeg`
-* `steeringDisengage`
-* `steeringTorqueEps`
-* `stockLkas`
-* `vCruiseCluster`
-* `vEgoCluster`
-* `vehicleSensorsInvalid`
-
-## Automatically populated
-
-* `buttonEvents`
-
-These values are populated automatically by `parse_wheel_speeds`:
-
-* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
-* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
-* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
-
-## Optional
-
-* `brake`
-* `charging`
-* `fuelGauge`
-* `leftBlindspot` / `rightBlindspot`
-* `steeringRateDeg`
-* `stockAeb`
-* `stockFcw`
-* `yawRate`
diff --git a/docs/car-porting/model-port.md b/docs/car-porting/model-port.md
deleted file mode 100644
index e148a40ecb..0000000000
--- a/docs/car-porting/model-port.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# Developing a car model port
-
-A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
diff --git a/docs/car-porting/reverse-engineering.md b/docs/car-porting/reverse-engineering.md
deleted file mode 100644
index 128ec8e776..0000000000
--- a/docs/car-porting/reverse-engineering.md
+++ /dev/null
@@ -1,85 +0,0 @@
-# Stimulus-Response Tests
-
-These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
-test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
-
-While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
-necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
-available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
-in loss of the last minute of testing data.
-
-## Stationary ignition-only tests, part 1
-
-1. Ignition on, but don't start engine, remain in Park
-2. Open and close each door in a defined order: driver, passenger, rear left, rear right
-3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
-4. Slowly press and release the accelerator pedal 3 times
-5. Slowly press and release the brake pedal 3 times
-6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
-7. Return to Park, ignition off
-
-Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
-pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
-the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
-
-Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
-Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
-door signal is available, the same signal may follow the driver.
-
-## Stationary ignition-only tests, part 2
-
-1. Ignition on, but don't start engine, remain in Park
-2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
-3. Set the left turn signal for about five seconds
-4. Operate the left turn signal one time in its touch-to-pass mode
-5. Set the right turn signal for about five seconds
-6. Operate the right turn signal one time in its touch-to-pass mode
-7. Set the hazard / emergency indicator switch for about five seconds
-8. Ignition off
-
-Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
-isn't necessary for purposes of detecting the ACC button presses.
-
-## Steering angle and steering torque tests
-
-Power steering should be available. On ICE cars, engine RPM may be present.
-
-1. Ignition on, start engine if applicable, remain in Park
-2. Rotate the steering wheel as follows, with a few seconds pause between each step
-   * Start as close to exact center as possible
-   * Turn to 45 degrees right and hold
-   * Turn to 90 degrees right and hold
-   * Turn to 180 degrees right and hold
-   * Turn to full lock right and hold, with firm pressure against lock
-   * Release the wheel and allow it to bounce back slightly from lock
-   * Turn to 180 degrees left and hold
-   * Return to center and release
-3. Ignition off
-
-Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
-of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
-
-## Low speed / parking lot driving tests
-
-Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
-
-1. Ignition on, start engine if applicable, prepare to drive
-2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
-3. Come to a complete stop
-4. When and where safe, drive in reverse for a short distance (10-15 feet)
-5. Park the car in a safe place, ignition off
-
-## High speed / highway driving tests
-
-Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
-traffic ahead, and safely test the response of your factory lane guidance system.
-
-1. Ignition on, start engine if applicable, prepare to drive
-2. When safely able, engage adaptive cruise control below 50 mph
-3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
-4. Disengage adaptive cruise
-5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
-
-The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
-setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
-and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.
diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
deleted file mode 100644
index a09b0f0785..0000000000
--- a/docs/concepts/glossary.md
+++ /dev/null
@@ -1,9 +0,0 @@
-# openpilot glossary
-
-* **onroad**: openpilot's system state while ignition is on
-* **offroad**: openpilot's system state while ignition is off
-* **route**: a route is a recording of an onroad session
-* **segment**: routes are split into one minute chunks called segments.
-* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
-* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
-* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
diff --git a/docs/concepts/logs.md b/docs/concepts/logs.md
index 46ab2897df..a1e655935d 100644
--- a/docs/concepts/logs.md
+++ b/docs/concepts/logs.md
@@ -2,28 +2,26 @@
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
-## rlog.bz2
+## rlog.zst
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
-## {f,e,d}camera.hevc
+## camera video files
 
 Each camera stream is H.265 encoded and written to its respective file.
 
-* `fcamera.hevc` is the road camera
+* `fcamera.hevc` is the narrow road camera (the main forward camera)
 * `ecamera.hevc` is the wide road camera
-* `dcamera.hevc` is the driver camera
+* `dcamera.hevc` is the cabin camera
 
-## qlog.bz2 & qcamera.ts
-
-qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+## qlog.zst & qcamera.ts
 
+qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.
 
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 
-
-qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.
+qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.
diff --git a/docs/contributing/feedback.md b/docs/contributing/feedback.md
new file mode 100644
index 0000000000..587816d140
--- /dev/null
+++ b/docs/contributing/feedback.md
@@ -0,0 +1,36 @@
+# How to Give Feedback
+
+Feedback is one of the highest leverage ways to contribute to openpilot as a user.
+
+## Driving
+
+Got feedback about how your car drives?
+Join the community Discord, then use the form in `#submit-feedback`.
+
+Before posting feedback, please ensure:
+
+- **openpilot is up to date** you should be on the latest openpilot release or nightly
+- **both road-facing cameras have a clear view** your windshield is clean, lenses are clean, etc.
+- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
+
+## Driver Monitoring
+
+If you find DM annoying while being perfectly attentive, these are likely false positives and we want to fix them!
+In general, driver monitoring feedback is very actionable, and we can fix your complaint within a release cycle.
+
+To post your feedback:
+
+1. Join the [community Discord](https://discord.comma.ai).
+2. If cabin camera recording is toggled off, temporarily enable cabin camera recording in the settings until you reproduce the issue.
+3. Using comma connect, identify the relevant segment and upload the segment's logs and cabin camera.
+4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
+
+Before posting feedback, please ensure:
+
+- **openpilot is up to date** you should be on the latest openpilot release or nightly
+- **the cabin camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
+- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
+
+## Other bugs
+
+Got an issue with something else? Open an issue on our [GitHub issue tracker](https://github.com/commaai/openpilot/issues/new/choose).
diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
index 1262017a0b..ae27a5461c 100644
--- a/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@@ -7,25 +7,11 @@ This is the roadmap for the next major openpilot releases. Also check out
 * [Bounties](https://comma.ai/bounties) for paid individual issues
 * [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
 
-## openpilot 0.10
-
-openpilot 0.10 will be the first release with a driving policy trained in
-a [learned simulator](https://youtu.be/EqQNZXqzFSI).
-
-* Driving model trained in a learned simulator
-* Always-on driver monitoring (behind a toggle)
-* GPS removed from the driving stack
-* 100KB qlogs
-* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
-* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
-* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
-
 ## openpilot 1.0
 
 openpilot 1.0 will feature a fully end-to-end driving policy.
 
 * End-to-end longitudinal control in Chill mode
-* Automatic Emergency Braking (AEB)
 * Driver monitoring with sleep detection
 * Rolling updates/releases pushed out by CI
 * [panda safety 1.0](https://github.com/orgs/commaai/projects/27)
diff --git a/docs/css/tooltip.css b/docs/css/tooltip.css
deleted file mode 100644
index b9a54f793f..0000000000
--- a/docs/css/tooltip.css
+++ /dev/null
@@ -1,44 +0,0 @@
-[data-tooltip] {
-  position: relative;
-  display: inline-block;
-  border-bottom: 1px dotted black;
-}
-
-[data-tooltip] .tooltip-content {
-  width: max-content;
-  max-width: 25em;
-  position: absolute;
-  top: 100%;
-  left: 50%;
-  transform: translateX(-50%);
-  background-color: white;
-  color: #404040;
-  box-shadow: 0 4px 14px 0 rgba(0,0,0,.2), 0 0 0 1px rgba(0,0,0,.05);
-  padding: 10px;
-  font: 14px/1.5 Lato, proxima-nova, Helvetica Neue, Arial, sans-serif;
-  text-decoration: none;
-  opacity: 0;
-  visibility: hidden;
-  transition: opacity 0.1s, visibility 0s;
-  z-index: 1000;
-  pointer-events: none; /* Prevent accidental interaction */
-}
-
-[data-tooltip]:hover .tooltip-content {
-  opacity: 1;
-  visibility: visible;
-  pointer-events: auto; /* Allow interaction when visible */
-}
-
-.tooltip-content .tooltip-glossary-link {
-  display: inline-block;
-  margin-top: 8px;
-  font-size: 12px;
-  color: #007bff;
-  text-decoration: none;
-}
-
-.tooltip-content .tooltip-glossary-link:hover {
-  color: #0056b3;
-  text-decoration: underline;
-}
diff --git a/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md
deleted file mode 100644
index b3c56c8410..0000000000
--- a/docs/getting-started/what-is-openpilot.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# What is openpilot?
-
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
-
-
-## How do I use it?
-
-openpilot is designed to be used on the comma 3X.
-
-## How does it work?
-
-In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
diff --git a/docs/hooks/glossary.py b/docs/hooks/glossary.py
deleted file mode 100644
index e2fa3d51e0..0000000000
--- a/docs/hooks/glossary.py
+++ /dev/null
@@ -1,68 +0,0 @@
-import re
-import tomllib
-
-def load_glossary(file_path="docs/glossary.toml"):
-  with open(file_path, "rb") as f:
-    glossary_data = tomllib.load(f)
-  return glossary_data.get("glossary", {})
-
-def generate_anchor_id(name):
-  return name.replace(" ", "-").replace("_", "-").lower()
-
-def format_markdown_term(name, definition):
-  anchor_id = generate_anchor_id(name)
-  markdown = f"* [**{name.replace('_', ' ').title()}**](#{anchor_id})"
-  if definition.get("abbreviation"):
-    markdown += f" *({definition['abbreviation']})*"
-  if definition.get("description"):
-    markdown += f": {definition['description']}\n"
-  return markdown
-
-def glossary_markdown(vocabulary):
-  markdown = ""
-  for category, terms in vocabulary.items():
-    markdown += f"## {category.replace('_', ' ').title()}\n\n"
-    for name, definition in terms.items():
-      markdown += format_markdown_term(name, definition)
-  return markdown
-
-def format_tooltip_html(term_key, definition, html):
-  display_term = term_key.replace("_", " ").title()
-  clean_description = re.sub(r"\[(.+)]\(.+\)", r"\1", definition["description"])
-  glossary_link = (
-    f"<a href='/concepts/glossary#{term_key}' class='tooltip-glossary-link' title='View in glossary'>Glossary🔗</a>"
-  )
-  return re.sub(
-    re.escape(display_term),
-    lambda
-    match: f"<span data-tooltip>{match.group(0)}<span class='tooltip-content'>{clean_description} {glossary_link}</span></span>",
-    html,
-    flags=re.IGNORECASE,
-  )
-
-def apply_tooltip(_term_key, _definition, pattern, html):
-  return re.sub(
-    pattern,
-    lambda match: format_tooltip_html(_term_key, _definition, match.group(0)),
-    html,
-    flags=re.IGNORECASE,
-  )
-
-def tooltip_html(vocabulary, html):
-  for _category, terms in vocabulary.items():
-    for term_key, definition in terms.items():
-      if definition.get("description"):
-        pattern = rf"(?<!\w){re.escape(term_key.replace('_', ' ').title())}(?![^<]*<\/a>)(?!\([^)]*\))"
-        html = apply_tooltip(term_key, definition, pattern, html)
-  return html
-
-# Page Hooks
-def on_page_markdown(markdown, **kwargs):
-  glossary = load_glossary()
-  return markdown.replace("{{GLOSSARY_DEFINITIONS}}", glossary_markdown(glossary))
-
-def on_page_content(html, **kwargs):
-  if kwargs.get("page").title == "Glossary":
-    return html
-  glossary = load_glossary()
-  return tooltip_html(glossary, html)
diff --git a/docs/car-porting/what-is-a-car-port.md b/docs/how-to/car-port.md
similarity index 62%
rename from docs/car-porting/what-is-a-car-port.md
rename to docs/how-to/car-port.md
index 55cce94da1..c4106f91a7 100644
--- a/docs/car-porting/what-is-a-car-port.md
+++ b/docs/how-to/car-port.md
@@ -8,7 +8,7 @@ A car port enables openpilot support on a particular car. Each car model openpil
 
 # Structure of a car port
 
-Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
+All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
 
 ## opendbc
 
@@ -21,19 +21,31 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 * `values.py`: Limits for actuation, general constants for cars, and supported car documentation
 * `radar_interface.py`: Interface for parsing radar points from the car, if applicable
 
-## panda
+## safety
 
-* `board/safety/safety_[brand].h`: Brand-specific safety logic
-* `tests/safety/test_[brand].py`: Brand-specific safety CI tests
+* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
+* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
 
 ## openpilot
 
 For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
 
-* `selfdrive/car/car_specific.py`: Brand-specific event logic
+* `openpilot/selfdrive/car/car_specific.py`: Brand-specific event logic
 
-# Overview
+# How do I port car?
 
 [Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
 
 https://www.youtube.com/watch?v=XxPS5TpTUnI
+
+## Brand Port
+
+A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
+
+## Model Port
+
+A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 5f02e11599..e4e322f111 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -1,15 +1,15 @@
-# connect to a comma 3X
+# connect to a comma 3X or comma four
 
-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma device is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
-On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+On the comma 3X, the serial console is accessible from the main OBD-C port, forwarded through the panda.
+Access it using `panda/scripts/som_debug.sh`.
 
-On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
+comma four also exposes a serial console, albeit through an internal debug connector. Dedicated debug hardware coming soon to the comma shop.
 
-On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+Login to the default user with:
 
   * Username: `comma`
   * Password: `comma`
@@ -25,7 +25,7 @@ In order to SSH into your device, you'll need a GitHub account with SSH keys. Se
     * Port: `22`
 
 Here's an example command for connecting to your device using its tethered connection:<br />
-`ssh comma@192.168.43.1`
+`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 
@@ -55,7 +55,7 @@ The public keys are only fetched from your GitHub account once. In order to upda
 
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
-#### ssh.comma.ai proxy
+## ssh.comma.ai proxy
 
 With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
 
@@ -79,6 +79,7 @@ Host ssh.comma.ai
 ```
 ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
 ```
+
 (Replace `ffffffffffffffff` with your dongle_id)
 
 ### ssh.comma.ai host key fingerprint
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
index b0db36a46f..129e7b8301 100644
--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@@ -5,10 +5,10 @@ Replaying is a critical tool for openpilot development and debugging.
 ## Replaying a route
 *Hardware required: none*
 
-Just run `tools/replay/replay --demo`.
+Just run `openpilot/tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma four*
 
 1. Connect your PC to a jungle.
 2.
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index 644c35e0ab..5cfa8e176a 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3X, we'll deploy the change to your device for testing.
+And if you have a comma four, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 
@@ -20,7 +20,7 @@ source .venv/bin/activate
 
 Then, compile openpilot:
 ```bash
-scons -j$(nproc)
+scons
 ```
 
 ## 2. Run replay
@@ -28,10 +28,10 @@ scons -j$(nproc)
 We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
 ```bash
 # in terminal 1
-tools/replay/replay --demo
+openpilot/tools/replay/replay --demo
 
 # in terminal 2
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -45,10 +45,10 @@ Now let’s update the speed display color in the UI.
 
 Search for the function responsible for rendering the current speed:
 ```bash
-git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
+git grep "_draw_current_speed" openpilot/selfdrive/ui/onroad/hud_renderer.py
 ```
 
-You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
+You'll find the relevant code inside `openpilot/selfdrive/ui/onroad/hud_renderer.py`, in this function:
 
 ```python
 def _draw_current_speed(self, rect: rl.Rectangle) -> None:
@@ -72,7 +72,7 @@ Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is
 
 After making changes, re-run the UI to see your new UI:
 ```bash
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 
diff --git a/docs/index.md b/docs/index.md
deleted file mode 120000
index 74ea27aeeb..0000000000
--- a/docs/index.md
+++ /dev/null
@@ -1 +0,0 @@
-getting-started/what-is-openpilot.md
\ No newline at end of file
diff --git a/docs/index.md b/docs/index.md
new file mode 100644
index 0000000000..6fab2b979b
--- /dev/null
+++ b/docs/index.md
@@ -0,0 +1,12 @@
+# What is openpilot?
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
+
+
+## How do I use it?
+
+openpilot is designed to be used on the comma four.
+
+## How does it work?
+
+In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
diff --git a/docs/serve.py b/docs/serve.py
new file mode 100644
index 0000000000..5cfff33dec
--- /dev/null
+++ b/docs/serve.py
@@ -0,0 +1,555 @@
+import argparse
+import functools
+import html
+import http.server
+import json
+import posixpath
+import re
+import shutil
+import threading
+import time
+import urllib.parse
+from pathlib import Path
+
+DOCS_DIR = Path(__file__).resolve().parent
+SITE_DIR = DOCS_DIR / "_site"
+TEMPLATE_FILE = DOCS_DIR / "template.html"
+EXCLUDE_DIRS = {"_site", "__pycache__"}
+
+REPO_URL = "https://github.com/commaai/openpilot/"
+
+# (title, target) pairs. target is a page path or an absolute URL.
+# A None target marks a section header.
+NAV: list[tuple[str, str | None]] = [
+  ("What is openpilot?", "index.md"),
+  ("How-to", None),
+  ("Turn the speed blue", "how-to/turn-the-speed-blue.md"),
+  ("Connect to a comma 3X or four", "how-to/connect-to-comma.md"),
+  ("Add support for a car", "how-to/car-port.md"),
+  ("Concepts", None),
+  ("Logs", "concepts/logs.md"),
+  ("Safety", "concepts/safety.md"),
+  ("Glossary", "concepts/glossary.md"),
+  ("Contributing", None),
+  ("Feedback", "contributing/feedback.md"),
+  ("Roadmap", "contributing/roadmap.md"),
+  ("Contributing Guide →", "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md"),
+  ("Links", None),
+  ("Blog →", "https://blog.comma.ai"),
+  ("Bounties →", "https://comma.ai/bounties"),
+  ("GitHub →", "https://github.com/commaai"),
+  ("Discord →", "https://discord.comma.ai"),
+  ("X →", "https://x.com/comma_ai"),
+]
+
+GLOSSARY_DESCRIPTIONS = {
+  "onroad": "openpilot's system state while ignition is on.",
+  "offroad": "openpilot's system state while ignition is off.",
+  "route": "A route is a recording of an onroad session.",
+  "segment": "Routes are split into one minute chunks called segments.",
+  "comma connect": "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).",
+  "panda": "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).",
+  "comma four": "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).",
+}
+GLOSSARY_PAGE = "concepts/glossary.md"
+GLOSSARY_ROUTE = GLOSSARY_PAGE.removesuffix(".md")
+GLOSSARY_SKIP = frozenset("a code h1 h2 h3 h4 h5 h6 kbd pre script style".split())
+
+_ENTITY = re.compile(r"&(?:#x?[0-9a-fA-F]+|[a-zA-Z]+);")
+_LIST = re.compile(r"^(\s*)([*+-]|\d+\.)\s+(.*)$")
+_HEADING = re.compile(r"^(#{1,6})\s+(.*)$")
+_HR = re.compile(r"^(-{3,}|\*{3,}|_{3,})$")
+_ATTR_URL = re.compile(r"""(?P<pre>\b(?:href|src)=(?P<q>["']))(?P<url>.*?)(?P=q)""")
+_VOID = frozenset("br img hr meta link input".split())
+_URL = re.compile(r"https?://[^\s<>\[\]\"']+")
+_ADMONITION = re.compile(r"^\[!(NOTE|TIP|IMPORTANT|WARNING|CAUTION)\]$", re.I)
+
+
+def page_route(path: str) -> str:
+  path = path.removesuffix(".md")
+  return posixpath.dirname(path) or "." if posixpath.basename(path) == "index" else path
+
+
+def page_href(current: str, target: str) -> str:
+  route = posixpath.relpath(page_route(target), page_route(current))
+  return ("." if route == "." else route) + "/"
+
+
+def rewrite_relative_url(value: str, page: str) -> str | None:
+  url = urllib.parse.urlparse(value)
+  if value.startswith(("#", "/")) or url.scheme or url.netloc or not url.path:
+    return None
+  target = posixpath.normpath(posixpath.join(posixpath.dirname(page), url.path))
+  if target == ".." or target.startswith("../"):
+    return None
+  path = page_href(page, target) if target.endswith(".md") else posixpath.relpath(target, page_route(page))
+  return url._replace(path=path).geturl()
+
+
+def rewrite_html_urls(fragment: str, page: str) -> str:
+  def repl(m: re.Match[str]) -> str:
+    r = rewrite_relative_url(m.group("url"), page)
+    return m.group(0) if r is None else f'{m.group("pre")}{r}{m.group("q")}'
+
+  return _ATTR_URL.sub(repl, fragment)
+
+
+def esc(text: str, attr: bool = False) -> str:
+  held: list[str] = []
+
+  def hold(m: re.Match[str]) -> str:
+    held.append(m.group(0))
+    return f"\0{len(held) - 1}\0"
+
+  return re.sub(r"\0(\d+)\0", lambda m: held[int(m.group(1))], html.escape(_ENTITY.sub(hold, text), quote=attr))
+
+
+def clean_tooltip(description: str) -> str:
+  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
+  return re.sub(r"\s+", " ", re.sub(r"[*_~]", "", re.sub(r"`([^`]+)`", r"\1", text))).strip()
+
+
+def glossary_slug(label: str) -> str:
+  return label.replace(" ", "-").replace("_", "-").lower()
+
+
+GLOSSARY_TERMS = [(glossary_slug(l), re.compile(rf"(?<!\w){re.escape(l)}(?!\w)", re.I), clean_tooltip(d)) for l, d in GLOSSARY_DESCRIPTIONS.items()]
+GLOSSARY_DEFINITIONS = "\n".join(f'* <span id="{glossary_slug(l)}"></span>**{l}**: {d}' for l, d in GLOSSARY_DESCRIPTIONS.items())
+
+
+def inject_glossary(body: str, page: str) -> str:
+  if page == GLOSSARY_PAGE:
+    return body
+  route = "." if page == "index.md" else page.removesuffix(".md")
+  base, seen, out, skip, depth = f"{posixpath.relpath(GLOSSARY_ROUTE, route)}/#", set(), [], None, 0
+  for part in re.split(r"(<[^>]+>)", body):
+    if not part:
+      continue
+    if part.startswith("<"):
+      out.append(part)
+      if part.startswith("<!") or not (m := re.match(r"</?\s*([a-zA-Z0-9]+)", part)):
+        continue
+      tag = m.group(1).lower()
+      if tag not in GLOSSARY_SKIP:
+        continue
+      closing, void = part.startswith("</"), part.endswith("/>") or tag in _VOID
+      if closing and skip == tag and depth:
+        depth -= 1
+        skip = None if not depth else skip
+      elif not closing and not void:
+        skip, depth = (tag, 1) if skip is None else (skip, depth + (skip == tag))
+      continue
+    if depth:
+      out.append(part)
+      continue
+    cur, text = 0, part
+    while True:
+      best = None
+      for order, (slug, pat, tip) in enumerate(GLOSSARY_TERMS):
+        if slug in seen or (found := pat.search(text, cur)) is None:
+          continue
+        cand = (found.start(), found.start() - found.end(), order, slug, tip, found.end(), found.group(0))
+        if best is None or cand[:3] < best[:3]:
+          best = cand
+      if best is None:
+        out.append(text[cur:])
+        break
+      start, _, _, slug, tip, end, matched = best
+      out.append(text[cur:start])
+      out.append(
+        f'<a class="glossary-term" data-glossary-term="" href="{base}{slug}">'
+        + f'<span class="glossary-term__label">{matched}</span>'
+        + f'<span class="glossary-term__tooltip" data-search-exclude="">{esc(tip)}</span></a>'
+      )
+      seen.add(slug)
+      cur = end
+  return "".join(out)
+
+
+def slugify(text: str) -> str:
+  text = html.unescape(re.sub(r"<[^>]+>", "", text)).lower()
+  return re.sub(r"[-\s]+", "-", re.sub(r"[^\w\s-]", "", text, flags=re.UNICODE)).strip("-")
+
+
+def _parse_link(text: str, start: int) -> tuple[str, str, int] | None:
+  if start >= len(text) or text[start] != "[":
+    return None
+  depth, i = 0, start
+  while i < len(text):
+    depth += (text[i] == "[") - (text[i] == "]")
+    if text[i] == "]" and depth == 0:
+      label = text[start + 1 : i]
+      if i + 1 >= len(text) or text[i + 1] != "(":
+        return None
+      j, dp = i + 2, 1
+      while j < len(text) and dp:
+        dp += (text[j] == "(") - (text[j] == ")")
+        j += 1
+      return None if dp else (label, text[i + 2 : j - 1], j)
+    i += 1
+  return None
+
+
+def autolink_plain(text: str) -> str:
+  parts: list[str] = []
+  last = 0
+  for m in _URL.finditer(text):
+    start = m.start()
+    if start > 0 and text[start - 1].isalnum():
+      continue
+    parts.append(esc(text[last:start]))
+    url = m.group(0).rstrip(".,;:!?)]")
+    parts.append(f'<a href="{esc(url, True)}">{esc(url)}</a>')
+    last = start + len(url)
+  parts.append(esc(text[last:]))
+  return "".join(parts)
+
+
+def render_inline(text: str, page: str) -> str:
+  out, i, n = [], 0, len(text)
+  while i < n:
+    if text[i] == "\n" and i >= 2 and text[i - 2 : i] == "  " and out and out[-1].endswith("  "):
+      out[-1] = out[-1][:-2]
+      out.append("<br>\n")
+      i += 1
+      continue
+    if text[i] == "`" and (end := text.find("`", i + 1)) != -1:
+      out.append(f"<code>{esc(text[i + 1 : end])}</code>")
+      i = end + 1
+      continue
+    if text[i] == "!" and i + 1 < n and text[i + 1] == "[" and (p := _parse_link(text, i + 1)):
+      label, url, end = p
+      src = rewrite_relative_url(url, page) or url
+      out.append(f'<img alt="{esc(label, True)}" src="{esc(src, True)}">')
+      i = end
+      continue
+    if text[i] == "[" and (p := _parse_link(text, i)):
+      label, url, end = p
+      href = rewrite_relative_url(url, page) or url
+      out.append(f'<a href="{esc(href, True)}">{render_inline(label, page)}</a>')
+      i = end
+      continue
+    if text[i] == "<":
+      if text.startswith("<!--", i):
+        end = text.find("-->", i + 4)
+        end = n if end < 0 else end + 3
+        out.append(rewrite_html_urls(text[i:end], page))
+        i = end
+        continue
+      if m := re.match(r"<[^>]+>", text[i:]):
+        out.append(rewrite_html_urls(m.group(0), page))
+        i += len(m.group(0))
+        continue
+    if (text.startswith("**", i) or text.startswith("__", i)) and (end := text.find(text[i : i + 2], i + 2)) != -1:
+      out.append(f"<strong>{render_inline(text[i + 2 : end], page)}</strong>")
+      i = end + 2
+      continue
+    if text[i] in "*_" and i + 1 < n and text[i + 1] not in " \t\n" and (end := text.find(text[i], i + 1)) > i + 1:
+      out.append(f"<em>{render_inline(text[i + 1 : end], page)}</em>")
+      i = end + 1
+      continue
+    j = i + 1
+    while j < n and text[j] not in "`[<!*_":
+      j += 1
+    out.append(autolink_plain(text[i:j]))
+    i = j
+  return "".join(out)
+
+
+def _trow(line: str) -> list[str]:
+  return [c.strip() for c in line.strip().removeprefix("|").removesuffix("|").split("|")]
+
+
+def _is_sep(line: str) -> bool:
+  return "|" in line and all(re.fullmatch(r":?-{3,}:?", c.strip()) for c in _trow(line))
+
+
+def _align(sep: str) -> str:
+  s = sep.strip()
+  if s.startswith(":") and s.endswith(":"):
+    return ' style="text-align: center;"'
+  if s.endswith(":"):
+    return ' style="text-align: right;"'
+  if s.startswith(":"):
+    return ' style="text-align: left;"'
+  return ""
+
+
+def _list_info(line: str) -> tuple[int, str, str] | None:
+  m = _LIST.match(line)
+  return None if not m else (len(m.group(1)) // 4, "ol" if m.group(2)[-1] == "." else "ul", m.group(3))
+
+
+def _render_blocks(text: str, page: str) -> str:
+  lines, out, i, n = text.splitlines(), [], 0, 0
+  n = len(lines)
+  while i < n:
+    line, s = lines[i], lines[i].strip()
+    if not s:
+      i += 1
+      continue
+
+    if s.startswith("```"):
+      lang, body = s[3:].strip(), []
+      i += 1
+      while i < n and not lines[i].strip().startswith("```"):
+        body.append(lines[i])
+        i += 1
+      if i < n:
+        i += 1
+      code = html.escape("\n".join(body) + ("\n" if body else ""))
+      cls = f' class="language-{html.escape(lang)}"' if lang else ""
+      out.append(f"<pre><code{cls}>{code}</code></pre>")
+      continue
+
+    if m := _HEADING.match(s):
+      content, level = m.group(2).rstrip("#").strip(), len(m.group(1))
+      sid = slugify(content)
+      out.append(f'<h{level} id="{sid}">{render_inline(content, page)}<a class="headerlink" href="#{sid}" title="Permanent link">#</a></h{level}>')
+      i += 1
+      continue
+
+    if _HR.fullmatch(s):
+      out.append("<hr>")
+      i += 1
+      continue
+
+    if "|" in line and i + 1 < n and _is_sep(lines[i + 1]):
+      headers, aligns = _trow(line), [_align(c) for c in _trow(lines[i + 1])]
+      i += 2
+      rows = []
+      while i < n and "|" in lines[i] and lines[i].strip():
+        rows.append(_trow(lines[i]))
+        i += 1
+      parts = (
+        ["<table>", "<thead>", "<tr>"]
+        + [f"<th{aligns[j] if j < len(aligns) else ''}>{render_inline(h, page)}</th>" for j, h in enumerate(headers)]
+        + ["</tr>", "</thead>", "<tbody>"]
+      )
+      for row in rows:
+        parts.append("<tr>")
+        for j in range(len(headers)):
+          parts.append(f"<td{aligns[j] if j < len(aligns) else ''}>{render_inline(row[j] if j < len(row) else '', page)}</td>")
+        parts.append("</tr>")
+      out.append("\n".join(parts + ["</tbody>", "</table>"]))
+      continue
+
+    if _list_info(line):
+      items: list[tuple[int, str, list[str]]] = []
+      while i < n:
+        if not lines[i].strip():
+          if i + 1 < n and _list_info(lines[i + 1]):
+            i += 1
+            continue
+          break
+        info = _list_info(lines[i])
+        if not info:
+          break
+        level, kind, body = info
+        chunk = [body]
+        i += 1
+        while i < n and lines[i].strip() and _list_info(lines[i]) is None:
+          t = lines[i].strip()
+          if t.startswith(("```", ">")) or _HEADING.match(t) or _HR.fullmatch(t):
+            break
+          chunk.append(lines[i])
+          i += 1
+        items.append((level, kind, chunk))
+
+      def render_list(items: list[tuple[int, str, list[str]]], start: int, min_level: int) -> tuple[str, int]:
+        if start >= len(items) or items[start][0] < min_level:
+          return "", start
+        kind, chunks, idx = items[start][1], [f"<{items[start][1]}>"], start
+        while idx < len(items) and items[idx][0] >= min_level:
+          level, ikind, body_lines = items[idx]
+          if level > min_level:
+            nested, idx = render_list(items, idx, level)
+            chunks[-1] = (chunks[-1][:-5] + nested + "</li>") if chunks[-1].endswith("</li>") else chunks[-1] + nested
+            continue
+          if ikind != kind:
+            chunks += [f"</{kind}>", f"<{ikind}>"]
+            kind = ikind
+          idx += 1
+          body = render_inline("\n".join(body_lines), page)
+          nested = ""
+          if idx < len(items) and items[idx][0] > min_level:
+            nested, idx = render_list(items, idx, min_level + 1)
+          chunks.append(f"<li>{body}{nested}\n</li>" if nested else f"<li>{body}</li>")
+        chunks.append(f"</{kind}>")
+        return "\n".join(chunks), idx
+
+      out.append(render_list(items, 0, items[0][0])[0])
+      continue
+
+    if s.startswith(">"):
+      q = []
+      while i < n and lines[i].strip().startswith(">"):
+        q.append(re.sub(r"^>\s?", "", lines[i].strip()))
+        i += 1
+      m = _ADMONITION.match(q[0].strip()) if q else None
+      if m:
+        kind = m.group(1).lower()
+        title = m.group(1).capitalize()
+        body = _render_blocks("\n".join(q[1:]), page)
+        out.append(f'<div class="admonition {kind}">\n<p class="admonition-title">{title}</p>\n{body}\n</div>')
+      else:
+        out.append(f"<blockquote>\n<p>{render_inline(chr(10).join(q), page)}</p>\n</blockquote>")
+      continue
+
+    if s.startswith("<!--"):
+      out.append(rewrite_html_urls(line, page))
+      i += 1
+      # Preserve a blank line after HTML comments (python-markdown does).
+      if i < n and not lines[i].strip():
+        out.append("")
+        while i < n and not lines[i].strip():
+          i += 1
+      continue
+
+    buf = [line]
+    i += 1
+    while i < n and lines[i].strip():
+      t = lines[i].strip()
+      if t.startswith(("```", ">")) or _HEADING.match(t) or _HR.fullmatch(t):
+        break
+      if "|" in lines[i] and i + 1 < n and _is_sep(lines[i + 1]):
+        break
+      buf.append(lines[i])
+      i += 1
+    out.append(f"<p>{render_inline(chr(10).join(buf), page)}</p>")
+
+  return "\n".join(out)
+
+
+def render_markdown(text: str, page: str) -> str:
+  return inject_glossary(_render_blocks(text, page), page)
+
+
+def page_title(source: str) -> str:
+  for line in source.splitlines():
+    if line.startswith("# "):
+      return line[2:].strip()
+  return "openpilot docs"
+
+
+def write_html_redirect(rel: Path) -> None:
+  if rel.name == "index.md":
+    return
+  target = f"{rel.stem}/"
+  out = SITE_DIR / rel.with_suffix(".html")
+  out.parent.mkdir(parents=True, exist_ok=True)
+  out.write_text(
+    "\n".join(
+      [
+        "<!doctype html>",
+        f'<meta http-equiv="refresh" content="0; url={html.escape(target)}">',
+        f'<link rel="canonical" href="{html.escape(target)}">',
+        f"<script>location.replace({json.dumps(target)} + location.search + location.hash)</script>",
+      ]
+    )
+  )
+
+
+def copy_assets() -> None:
+  for src in DOCS_DIR.rglob("*"):
+    if not src.is_file():
+      continue
+    rel = src.relative_to(DOCS_DIR)
+    if any(part in EXCLUDE_DIRS for part in rel.parts):
+      continue
+    if src.suffix == ".md" or src in (Path(__file__).resolve(), TEMPLATE_FILE):
+      continue
+    dest = SITE_DIR / rel
+    dest.parent.mkdir(parents=True, exist_ok=True)
+    shutil.copy2(src, dest)
+
+
+def render_nav_html(current_page: str) -> str:
+  parts: list[str] = []
+  for title, target in NAV:
+    if target is None:
+      parts.append(f'<div class="nav-section">{html.escape(title)}</div>')
+    elif target.startswith(("http://", "https://")):
+      parts.append(f'<a href="{html.escape(target)}">{html.escape(title)}</a>')
+    else:
+      active = ' class="active"' if target == current_page else ""
+      parts.append(f'<a href="{html.escape(page_href(current_page, target))}"{active}>{html.escape(title)}</a>')
+  return "\n".join(parts)
+
+
+def build() -> None:
+  template = TEMPLATE_FILE.read_text()
+  pages = [
+    (path.relative_to(DOCS_DIR), path.read_text())
+    for path in sorted(DOCS_DIR.rglob("*.md"))
+    if path != DOCS_DIR / "README.md" and not any(part in EXCLUDE_DIRS for part in path.relative_to(DOCS_DIR).parts)
+  ]
+  pages.append((Path(GLOSSARY_PAGE), f"# openpilot glossary\n\n{GLOSSARY_DEFINITIONS}"))
+  pages.sort()
+
+  if SITE_DIR.exists():
+    shutil.rmtree(SITE_DIR)
+  SITE_DIR.mkdir(parents=True)
+  copy_assets()
+
+  for rel_path, source in pages:
+    rel = rel_path.as_posix()
+    body = render_markdown(source, rel)
+    title = page_title(source)
+    route = page_route(rel)
+    root = "../" * (0 if route == "." else len(route.split("/")))
+    edit_path = "serve.py" if rel == GLOSSARY_PAGE else rel
+    page_html = template
+    for name, value in {
+      "TITLE": html.escape(title),
+      "ROOT": root,
+      "HOME_HREF": page_href(rel, "index.md"),
+      "NAV": render_nav_html(rel),
+      "BODY": body,
+      "EDIT_URL": html.escape(f"{REPO_URL}blob/master/docs/{edit_path}"),
+    }.items():
+      page_html = page_html.replace(f"{{{{{name}}}}}", value)
+    out = SITE_DIR / ("" if route == "." else route) / "index.html"
+    out.parent.mkdir(parents=True, exist_ok=True)
+    out.write_text(page_html)
+    write_html_redirect(rel_path)
+
+  print(f"docs: built {len(pages)} pages into {SITE_DIR}")
+
+
+def _watched_files() -> list[Path]:
+  return [p for p in DOCS_DIR.rglob("*") if p.is_file() and not any(part in EXCLUDE_DIRS for part in p.relative_to(DOCS_DIR).parts)]
+
+
+def serve() -> None:
+  build()
+  mtimes = {p: p.stat().st_mtime for p in _watched_files()}
+  handler = functools.partial(http.server.SimpleHTTPRequestHandler, directory=str(SITE_DIR))
+  httpd = http.server.ThreadingHTTPServer(("", 0), handler)
+  print(f"docs: serving on http://localhost:{httpd.server_port}/ (watching for changes)")
+  try:
+    threading.Thread(target=httpd.serve_forever, daemon=True).start()
+    while True:
+      time.sleep(0.5)
+      new_mtimes = {p: p.stat().st_mtime for p in _watched_files()}
+      if new_mtimes != mtimes:
+        mtimes = new_mtimes
+        print("docs: change detected, rebuilding...")
+        try:
+          build()
+        except Exception as e:
+          print(f"docs: build failed: {e}")
+  except KeyboardInterrupt:
+    pass
+  finally:
+    httpd.shutdown()
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Build or serve the openpilot documentation site.")
+  parser.add_argument("--build", action="store_true", help="Build the site and exit.")
+  args = parser.parse_args()
+  if args.build:
+    build()
+  else:
+    serve()
diff --git a/docs/template.html b/docs/template.html
new file mode 100644
index 0000000000..2ac9d2cc88
--- /dev/null
+++ b/docs/template.html
@@ -0,0 +1,224 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>{{TITLE}} · openpilot docs</title>
+  <link rel="icon" href="{{ROOT}}assets/favicon.svg">
+
+  <style>
+:root {
+  --bg: #fff;
+  --bg-elev: #f5f5f5;
+  --bg-hover: #eef0ff;
+  --fg: #262626;
+  --fg-dim: #666;
+  --accent: #4051b5;
+  --border: #e5e5e5;
+  --max-width: 76rem;
+}
+
+* { box-sizing: border-box; }
+html { scrollbar-gutter: stable; }
+html, body { margin: 0; padding: 0; }
+body {
+  background: var(--bg);
+  color: var(--fg);
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, Helvetica, Arial, sans-serif;
+  line-height: 1.6;
+  font-size: 15px;
+}
+
+a { color: var(--accent); text-decoration: none; }
+a:hover { text-decoration: underline; }
+
+header.site {
+  display: flex; align-items: center; gap: 0.75rem;
+  min-height: 3rem;
+  padding: 0.5rem max(1.25rem, calc((100% - var(--max-width)) / 2));
+  background: var(--bg);
+  border-bottom: 1px solid var(--border);
+  position: sticky; top: 0; z-index: 10;
+}
+header.site img { display: block; height: 24px; filter: invert(1); }
+header.site .brand { display: flex; align-items: center; gap: 0.75rem; color: var(--fg); }
+header.site .brand:hover { text-decoration: none; }
+header.site .site-name { font-weight: 600; font-size: 1.05rem; }
+header.site .spacer { flex: 1; }
+header.site .social { display: flex; gap: 1rem; }
+header.site .social a { display: flex; color: var(--fg); }
+header.site .social a:hover { color: var(--accent); }
+header.site .social svg { width: 1.75rem; height: 1.75rem; fill: currentColor; }
+header.site .social a[aria-label="Discord"] svg { transform: scale(1.15); }
+
+.layout { display: flex; width: 100%; max-width: var(--max-width); margin: 0 auto; }
+
+nav.sidebar {
+  width: 14rem; flex-shrink: 0;
+  padding: 3.3rem 1.25rem 2rem 0;
+  position: sticky; top: 3rem; align-self: start;
+  max-height: calc(100vh - 3rem); overflow-y: auto;
+}
+nav.sidebar .nav-section { font-weight: 600; margin: 1.15rem 0.8rem 0.45rem; }
+nav.sidebar a {
+  display: block; padding: 0.28rem 0.8rem; border-radius: 0.45rem;
+  color: var(--fg); line-height: 1.35;
+}
+nav.sidebar a:hover { background: var(--bg-hover); text-decoration: none; }
+nav.sidebar a.active { background: var(--bg-hover); color: var(--accent); font-weight: 600; }
+
+main.content { width: min(100%, 46.5rem); min-width: 0; padding: 2.7rem 2rem 5rem; }
+main.content h1, main.content h2, main.content h3 { line-height: 1.25; margin-top: 1.8rem; }
+main.content h1 { margin-top: 0; }
+main.content img { max-width: 100%; }
+main.content table { border-collapse: collapse; display: block; overflow-x: auto; }
+main.content th, main.content td { border: 1px solid var(--border); padding: 0.4rem 0.6rem; text-align: left; }
+main.content th { background: var(--bg-elev); }
+main.content pre {
+  position: relative;
+  background: var(--bg-elev);
+  padding: 0.9rem 1rem;
+  border-radius: 0.25rem;
+  overflow-x: auto;
+}
+main.content code { font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; }
+main.content :not(pre) > code { background: var(--bg-elev); padding: 0.1rem 0.35rem; border-radius: 0.2rem; font-size: 0.88em; }
+main.content blockquote { border-left: 3px solid var(--border); margin: 1rem 0; padding: 0.2rem 1rem; color: var(--fg-dim); }
+main.content .admonition {
+  margin: 1rem 0; padding: 0.5rem 1rem; border-radius: 0.3rem; border-left: 3px solid var(--border);
+  background: var(--bg-elev);
+}
+main.content .admonition .admonition-title { margin: 0.2rem 0 0.4rem; font-weight: 600; }
+main.content .admonition.note { border-left-color: #0969da; }
+main.content .admonition.note .admonition-title { color: #0969da; }
+main.content .admonition.tip { border-left-color: #1a7f37; }
+main.content .admonition.tip .admonition-title { color: #1a7f37; }
+main.content .admonition.important { border-left-color: #8250df; }
+main.content .admonition.important .admonition-title { color: #8250df; }
+main.content .admonition.warning { border-left-color: #9a6700; }
+main.content .admonition.warning .admonition-title { color: #9a6700; }
+main.content .admonition.caution { border-left-color: #cf222e; }
+main.content .admonition.caution .admonition-title { color: #cf222e; }
+main.content details { margin: 0.5rem 0; }
+main.content hr { border: none; border-top: 1px solid var(--border); margin: 2rem 0; }
+.headerlink { margin-left: 0.25rem; opacity: 0; font-size: 0.7em; }
+h1:hover .headerlink, h2:hover .headerlink, h3:hover .headerlink { opacity: 1; }
+
+.edit-link { margin-top: 3rem; font-size: 0.85rem; }
+
+.copy-btn {
+  position: absolute; top: 0.4rem; right: 0.4rem;
+  background: var(--bg); color: var(--fg-dim);
+  border: 1px solid var(--border); border-radius: 0.35rem;
+  padding: 0.2rem 0.5rem; font-size: 0.78rem; cursor: pointer;
+  opacity: 0; transition: opacity 120ms;
+}
+main.content pre:hover .copy-btn { opacity: 1; }
+
+@media (max-width: 48rem) {
+  nav.sidebar { display: none; }
+  main.content { padding: 2rem 1.25rem 4rem; }
+}
+
+.glossary-term {
+  position: relative;
+  color: inherit;
+}
+
+.glossary-term__label {
+  border-bottom: 1px dotted currentColor;
+}
+
+.glossary-term__tooltip {
+  position: absolute;
+  top: calc(100% + 0.4rem);
+  left: 50%;
+  width: max-content;
+  max-width: min(30rem, 80vw);
+  padding: 0.65rem 0.8rem;
+  border-radius: 0.6rem;
+  background: rgb(26 26 26 / 96%);
+  color: white;
+  box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
+  font-size: 0.85rem;
+  line-height: 1.45;
+  opacity: 0;
+  pointer-events: none;
+  transform: translateX(-50%) translateY(-0.15rem);
+  transition: opacity 120ms ease, transform 120ms ease;
+  visibility: hidden;
+  z-index: 20;
+}
+
+.glossary-term:hover .glossary-term__tooltip,
+.glossary-term:focus-visible .glossary-term__tooltip,
+.glossary-term:focus-within .glossary-term__tooltip {
+  opacity: 1;
+  transform: translateX(-50%) translateY(0);
+  visibility: visible;
+}
+  </style>
+</head>
+<body>
+  <header class="site">
+    <a class="brand" href="{{HOME_HREF}}">
+      <img src="{{ROOT}}assets/comma-logo.png" alt="">
+      <span class="site-name">openpilot docs</span>
+    </a>
+    <span class="spacer"></span>
+    <div class="social">
+      <a href="https://github.com/commaai" aria-label="GitHub">
+        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
+          M12 .7A11.5 11.5 0 0 0 8.4 23c.6.1.8-.2.8-.5v-2c-3.3.7-4-1.4-4-1.4-.5-1.4-1.3-1.8-1.3-1.8-1.1-.7.1-.7.1-.7
+          1.2.1 1.8 1.2 1.8 1.2 1.1 1.8 2.8 1.3 3.5 1 .1-.8.4-1.3.8-1.6-2.7-.3-5.5-1.3-5.5-5.7 0-1.3.5-2.3 1.2-3.1
+          -.1-.3-.5-1.6.1-3.1 0 0 1-.3 3.2 1.2a11 11 0 0 1 5.8 0C15.8 6 16.8 6.3 16.8 6.3c.6 1.5.2 2.8.1 3.1
+          .8.8 1.2 1.8 1.2 3.1 0 4.4-2.8 5.4-5.5 5.7.4.4.8 1.1.8 2.2v2.1c0 .3.2.6.8.5A11.5 11.5 0 0 0 12 .7Z"/></svg>
+      </a>
+      <a href="https://discord.comma.ai" aria-label="Discord">
+        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
+          M20.3 4.4A16 16 0 0 0 16.3 3l-.5 1.1a15 15 0 0 0-7.6 0L7.7 3a16 16 0 0 0-4 1.4C1.1 8.2.4 11.9.8 15.5
+          a16 16 0 0 0 4.9 2.6l1.2-1.7-1.8-.9.4-.3c3.5 1.6 9.4 1.6 13 0l.4.3-1.8.9 1.2 1.7a16 16 0 0 0 4.9-2.6
+          c.5-4.2-.8-7.8-2.9-11.1ZM8.3 13.3c-1.1 0-1.9-1-1.9-2.2 0-1.3.8-2.3 1.9-2.3s2 1 1.9 2.3c0 1.2-.8 2.2-1.9 2.2Z
+          m7.4 0c-1.1 0-1.9-1-1.9-2.2 0-1.3.8-2.3 1.9-2.3s2 1 1.9 2.3c0 1.2-.8 2.2-1.9 2.2Z"/></svg>
+      </a>
+      <a href="https://x.com/comma_ai" aria-label="X">
+        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
+          M18.2 2.3h3.3l-7.2 8.3 8.5 11.2h-6.7l-5.2-6.8-6 6.8H1.6l7.8-8.9L1.2 2.3h6.8l4.7 6.2 5.5-6.2Z
+          m-1.2 17.5h1.8L7 4.2H5Z"/></svg>
+      </a>
+    </div>
+  </header>
+
+  <div class="layout">
+    <nav class="sidebar">
+      {{NAV}}
+    </nav>
+
+    <main class="content">
+      {{BODY}}
+      <div class="edit-link">
+        <a href="{{EDIT_URL}}">Edit this page on GitHub</a>
+      </div>
+    </main>
+  </div>
+
+  <script>
+    document.addEventListener('DOMContentLoaded', function () {
+      document.querySelectorAll('pre').forEach(function (el) {
+        var btn = document.createElement('button');
+        btn.className = 'copy-btn';
+        btn.textContent = 'copy';
+        btn.addEventListener('click', function () {
+          var code = el.querySelector('code');
+          if (!code) return;
+          navigator.clipboard.writeText(code.innerText).then(function () {
+            btn.textContent = 'copied';
+            setTimeout(function () { btn.textContent = 'copy'; }, 1200);
+          });
+        });
+        el.appendChild(btn);
+      });
+    });
+  </script>
+</body>
+</html>
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index d4689aae53..62ebffd27b 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -7,6 +7,7 @@ source "$DIR/launch_env.sh"
 function agnos_init {
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+  rm -f /data/scons_cache/config.lock
 
   # set success flag for current boot slot
   sudo abctl --set_success
@@ -18,12 +19,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
-    MANIFEST="$DIR/system/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/openpilot/common/hardware/comma/agnos.py"
+    MANIFEST="$DIR/openpilot/system/hardware/comma/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
   fi
 }
 
@@ -69,6 +70,14 @@ function launch {
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"
 
+  # submodule package symlinks for PYTHONPATH imports on device.
+  # on PC these come from editable installs via pyproject.toml / uv.
+  ln -sfn msgq_repo/msgq msgq
+  ln -sfn opendbc_repo/opendbc opendbc
+  ln -sfn rednose_repo/rednose rednose
+  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+  ln -sfn tinygrad_repo/tinygrad tinygrad
+
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
@@ -78,7 +87,7 @@ function launch {
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd system/manager
+  cd openpilot/system/manager
   if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi
diff --git a/launch_env.sh b/launch_env.sh
index 314366f429..094622005a 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="16"
+  export AGNOS_VERSION="19.6"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/launch_openpilot.sh b/launch_openpilot.sh
index d4841b601f..d6e3424c34 100755
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh
diff --git a/mkdocs.yml b/mkdocs.yml
deleted file mode 100644
index 550f807aca..0000000000
--- a/mkdocs.yml
+++ /dev/null
@@ -1,44 +0,0 @@
-site_name: openpilot docs
-repo_url: https://github.com/commaai/openpilot/
-site_url: https://docs.comma.ai
-
-exclude_docs: README.md
-
-strict: true
-docs_dir: docs
-site_dir: docs_site/
-
-hooks:
-  - docs/hooks/glossary.py
-extra_css:
-  - css/tooltip.css
-theme:
-  name: readthedocs
-  navigation_depth: 3
-
-nav:
-  - Getting Started:
-    - What is openpilot?: getting-started/what-is-openpilot.md
-  - How-to:
-    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3X: how-to/connect-to-comma.md
-    # - Make your first pull request: how-to/make-first-pr.md
-    #- Replay a drive: how-to/replay-a-drive.md
-  - Concepts:
-    - Logs: concepts/logs.md
-    - Safety: concepts/safety.md
-    - Glossary: concepts/glossary.md
-  - Car Porting:
-    - What is a car port?: car-porting/what-is-a-car-port.md
-    - Porting a car brand: car-porting/brand-port.md
-    - Porting a car model: car-porting/model-port.md
-  - Contributing:
-    - Roadmap: contributing/roadmap.md
-    #- Architecture: contributing/architecture.md
-    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
-  - Links:
-    - Blog →: https://blog.comma.ai
-    - Bounties →: https://comma.ai/bounties
-    - GitHub →: https://github.com/commaai
-    - Discord →: https://discord.comma.ai
-    - X →: https://x.com/comma_ai
diff --git a/msgq b/msgq
deleted file mode 120000
index df09146f62..0000000000
--- a/msgq
+++ /dev/null
@@ -1 +0,0 @@
-msgq_repo/msgq
\ No newline at end of file
diff --git a/msgq_repo b/msgq_repo
index 4c4e814ed5..e7396e76da 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 4c4e814ed592db52431bb53d37f0bb93299e960c
+Subproject commit e7396e76dadbb49e374d4b664ff6bbb43a39bcb0
diff --git a/opendbc b/opendbc
deleted file mode 120000
index 7cd9a5bd1e..0000000000
--- a/opendbc
+++ /dev/null
@@ -1 +0,0 @@
-opendbc_repo/opendbc
\ No newline at end of file
diff --git a/cereal/README.md b/openpilot/cereal/README.md
similarity index 86%
rename from cereal/README.md
rename to openpilot/cereal/README.md
index 45e859c09c..17f27fd742 100644
--- a/cereal/README.md
+++ b/openpilot/cereal/README.md
@@ -24,17 +24,17 @@ things are not. Read more details [here](https://capnproto.org/language.html).
 ### Custom forks
 
 Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+spec, however this could conflict with future changes made in mainline openpilot's cereal spec. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
+[custom.capnp](custom.capnp) that we will leave empty in mainline openpilot's cereal spec. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
 
 An example of compatible changes:
 ```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
 index 3348e859e..3365c7b98 100644
---- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
+--- a/openpilot/cereal/custom.capnp
++++ b/openpilot/cereal/custom.capnp
 @@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
  # DO rename the structs
  # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
@@ -48,10 +48,10 @@ index 3348e859e..3365c7b98 100644
  }
 
  struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
+diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
 index 1209f3fd9..b189f58b6 100644
---- a/cereal/log.capnp
-+++ b/cereal/log.capnp
+--- a/openpilot/cereal/log.capnp
++++ b/openpilot/cereal/log.capnp
 @@ -2558,14 +2558,14 @@ struct Event {
 
      # DO change the name of the field
@@ -76,7 +76,7 @@ index 1209f3fd9..b189f58b6 100644
 Example
 ---
 ```python
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 # in subscriber
 sm = messaging.SubMaster(['sensorEvents'])
diff --git a/openpilot/cereal/SConscript b/openpilot/cereal/SConscript
new file mode 100644
index 0000000000..bee7620b1e
--- /dev/null
+++ b/openpilot/cereal/SConscript
@@ -0,0 +1,22 @@
+Import('env', 'common', 'msgq')
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+
+# Build cereal
+schema_files = ['log.capnp', 'deprecated.capnp', 'custom.capnp']
+car_capnp = '#opendbc_repo/opendbc/car/car.capnp'
+all_output = schema_files + ['car.capnp']
+env.Command([f'gen/cpp/{s}.c++' for s in all_output] + [f'gen/cpp/{s}.h' for s in all_output],
+            schema_files + [car_capnp],
+            f"capnpc --src-prefix={cereal_dir.path} --src-prefix=opendbc_repo/opendbc/car --import-path=opendbc_repo/opendbc/car $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in all_output])
+
+# Build messaging
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+
+Export('cereal', 'socketmaster')
diff --git a/openpilot/cereal/__init__.py b/openpilot/cereal/__init__.py
new file mode 100644
index 0000000000..d4a43a8474
--- /dev/null
+++ b/openpilot/cereal/__init__.py
@@ -0,0 +1,11 @@
+import os
+import capnp
+from importlib.resources import as_file, files
+
+capnp.remove_import_hook()
+
+with as_file(files("openpilot.cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
+  CEREAL_PATH = fspath.as_posix()
+  opendbc_import_path = os.path.join(os.path.realpath(opendbc_path.as_posix()), 'car')
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"), imports=[opendbc_import_path])
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"), imports=[opendbc_import_path])
diff --git a/cereal/custom.capnp b/openpilot/cereal/custom.capnp
similarity index 96%
rename from cereal/custom.capnp
rename to openpilot/cereal/custom.capnp
index 53986262ec..c20bf923be 100644
--- a/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0xb526ba661d550a59;
@@ -69,6 +69,8 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
   intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+  buttonsPressed @2 :UInt16;
+  buttonsReleaseToggle @3 :UInt16;
 
   enum AudibleAlert {
     none @0;
@@ -137,10 +139,16 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     eta @2 :UInt32;
   }
 
+  struct Chunk {
+    fileName @0 :Text;
+    sha256 @1 :Text;
+  }
+
   struct Artifact {
     fileName @0 :Text;
     downloadUri @1 :DownloadUri;
     downloadProgress @2 :DownloadProgress;
+    chunks @3 :List(Chunk);
   }
 
   struct Model {
@@ -154,6 +162,8 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       vision @2;
       policy @3;
       offPolicy @4;
+      onPolicy @5;
+      chunked @6;
     }
   }
 
@@ -341,6 +351,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
   }
 }
 
@@ -447,6 +458,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;
diff --git a/cereal/legacy.capnp b/openpilot/cereal/deprecated.capnp
similarity index 71%
rename from cereal/legacy.capnp
rename to openpilot/cereal/deprecated.capnp
index a8fa5e4a1f..b119e7091f 100644
--- a/cereal/legacy.capnp
+++ b/openpilot/cereal/deprecated.capnp
@@ -1,9 +1,9 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;
 
-# legacy.capnp: a home for deprecated structs
+# deprecated.capnp: a home for deprecated structs
 
 struct LogRotate @0x9811e1f38f62f2d1 {
   segmentNum @0 :Int32;
@@ -571,4 +571,217 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
   pkt @4 :Data;
 }
 
+struct LiveTracksDEPRECATED @0xb16f60103159415a {
+  trackId @0 :Int32;
+  dRel @1 :Float32;
+  yRel @2 :Float32;
+  vRel @3 :Float32;
+  aRel @4 :Float32;
+  timeStamp @5 :Float32;
+  status @6 :Float32;
+  currentTime @7 :Float32;
+  stationary @8 :Bool;
+  oncoming @9 :Bool;
+}
 
+struct LiveMpcData @0x92a5e332a85f32a0 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  psi @2 :List(Float32);
+  curvature @3 :List(Float32);
+  qpIterations @4 :UInt32;
+  calculationTime @5 :UInt64;
+  cost @6 :Float64;
+}
+
+struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
+  xEgo @0 :List(Float32);
+  vEgo @1 :List(Float32);
+  aEgo @2 :List(Float32);
+  xLead @3 :List(Float32);
+  vLead @4 :List(Float32);
+  aLead @5 :List(Float32);
+  aLeadTau @6 :Float32;    # lead accel time constant
+  qpIterations @7 :UInt32;
+  mpcId @8 :UInt32;
+  calculationTime @9 :UInt64;
+  cost @10 :Float64;
+}
+
+struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
+  frameId @0 :UInt32;
+  modelExecutionTime @14 :Float32;
+  dspExecutionTime @16 :Float32;
+  rawPredictions @15 :Data;
+
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
+  faceOrientationStd @11 :List(Float32);
+  facePositionStd @12 :List(Float32);
+  sunglassesProb @13 :Float32;
+  poorVision @17 :Float32;
+  partialFace @18 :Float32;
+  distractedPose @19 :Float32;
+  distractedEyes @20 :Float32;
+  eyesOnRoad @21 :Float32;
+  phoneUse @22 :Float32;
+  occludedProb @23 :Float32;
+
+  readyProb @24 :List(Float32);
+  notReadyProb @25 :List(Float32);
+
+  irPwrDEPRECATED @10 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+}
+
+struct NavModelData @0xac3de5c437be057a {
+  frameId @0 :UInt32;
+  locationMonoTime @6 :UInt64;
+  modelExecutionTime @1 :Float32;
+  dspExecutionTime @2 :Float32;
+  features @3 :List(Float32);
+  # predicted future position
+  position @4 :XYData;
+  desirePrediction @5 :List(Float32);
+
+  # All SI units and in device frame
+  struct XYData @0xbe09e615b2507e26 {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    xStd @2 :List(Float32);
+    yStd @3 :List(Float32);
+  }
+}
+
+struct AndroidBuildInfo @0xfe2919d5c21f426c {
+  board @0 :Text;
+  bootloader @1 :Text;
+  brand @2 :Text;
+  device @3 :Text;
+  display @4 :Text;
+  fingerprint @5 :Text;
+  hardware @6 :Text;
+  host @7 :Text;
+  id @8 :Text;
+  manufacturer @9 :Text;
+  model @10 :Text;
+  product @11 :Text;
+  radioVersion @12 :Text;
+  serial @13 :Text;
+  supportedAbis @14 :List(Text);
+  tags @15 :Text;
+  time @16 :Int64;
+  type @17 :Text;
+  user @18 :Text;
+
+  versionCodename @19 :Text;
+  versionRelease @20 :Text;
+  versionSdk @21 :Int32;
+  versionSecurityPatch @22 :Text;
+}
+
+struct AndroidSensor @0x9b513b93a887dbcd {
+  id @0 :Int32;
+  name @1 :Text;
+  vendor @2 :Text;
+  version @3 :Int32;
+  handle @4 :Int32;
+  type @5 :Int32;
+  maxRange @6 :Float32;
+  resolution @7 :Float32;
+  power @8 :Float32;
+  minDelay @9 :Int32;
+  fifoReservedEventCount @10 :UInt32;
+  fifoMaxEventCount @11 :UInt32;
+  stringType @12 :Text;
+  maxDelay @13 :Int32;
+}
+
+struct IosBuildInfo @0xd97e3b28239f5580 {
+  appVersion @0 :Text;
+  appBuild @1 :UInt32;
+  osVersion @2 :Text;
+  deviceModel @3 :Text;
+}
+
+enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
+  unknown @0;
+  neo @1;
+  chffrAndroid @2;
+  front @3;
+}
+
+struct AndroidCaptureResult @0xbcc3efbac41d2048 {
+  sensitivity @0 :Int32;
+  frameDuration @1 :Int64;
+  exposureTime @2 :Int64;
+  rollingShutterSkew @3 :UInt64;
+  colorCorrectionTransform @4 :List(Int32);
+  colorCorrectionGains @5 :List(Float32);
+  displayRotation @6 :Int8;
+}
+
+enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
+  none @0;
+  client @1;
+  cdp @2;
+  dcp @3;
+}
+
+struct LateralINDIState @0x939463348632375e {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  steeringRateDeg @2 :Float32;
+  steeringAccelDeg @3 :Float32;
+  rateSetPoint @4 :Float32;
+  accelSetPoint @5 :Float32;
+  accelError @6 :Float32;
+  delayedOutput @7 :Float32;
+  delta @8 :Float32;
+  output @9 :Float32;
+  saturated @10 :Bool;
+  steeringAngleDesiredDeg @11 :Float32;
+  steeringRateDesiredDeg @12 :Float32;
+}
+
+struct LateralLQRState @0x9024e2d790c82ade {
+  active @0 :Bool;
+  steeringAngleDeg @1 :Float32;
+  i @2 :Float32;
+  output @3 :Float32;
+  lqrOutput @4 :Float32;
+  saturated @5 :Bool;
+  steeringAngleDesiredDeg @6 :Float32;
+}
+
+struct LateralPlannerSolution @0x84caeca5a6b4acfe {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  yaw @2 :List(Float32);
+  yawRate @3 :List(Float32);
+  xStd @4 :List(Float32);
+  yStd @5 :List(Float32);
+  yawStd @6 :List(Float32);
+  yawRateStd @7 :List(Float32);
+}
+
+struct GpsTrajectory @0x8cfeb072f5301000 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+}
+
+struct AudioFeedbackDEPRECATED @0xed47e3c075be372a {
+  audio @0 :AudioData;
+  blockNum @1 :UInt16;
+
+  struct AudioData {
+    data @0 :Data;
+    sampleRate @1 :UInt32;
+  }
+}
diff --git a/cereal/include/c++.capnp b/openpilot/cereal/include/c++.capnp
similarity index 100%
rename from cereal/include/c++.capnp
rename to openpilot/cereal/include/c++.capnp
diff --git a/cereal/log.capnp b/openpilot/cereal/log.capnp
similarity index 74%
rename from cereal/log.capnp
rename to openpilot/cereal/log.capnp
index 343b7a97fa..b87499806f 100644
--- a/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -1,8 +1,8 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Car = import "car.capnp";
-using Legacy = import "legacy.capnp";
+using Car = import "/car.capnp";
+using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";
 
 @0xf3b1f17e25a4285b;
@@ -68,14 +68,13 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     longitudinalManeuver @30;
     steerTempUnavailableSilent @31;
     resumeRequired @32;
-    preDriverDistracted @33;
-    promptDriverDistracted @34;
-    driverDistracted @35;
-    preDriverUnresponsive @36;
-    promptDriverUnresponsive @37;
-    driverUnresponsive @38;
+    driverDistracted1 @33;
+    driverDistracted2 @34;
+    driverDistracted3 @35;
+    driverUnresponsive1 @36;
+    driverUnresponsive2 @37;
+    driverUnresponsive3 @38;
     belowSteerSpeed @39;
-    lowBattery @40;
     accFaulted @41;
     sensorDataInvalid @42;
     commIssue @43;
@@ -88,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     lowMemory @51;
     stockAeb @52;
     stockLkas @98;
+    lateralManeuver @99;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -106,18 +106,17 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     noGps @68;
     wrongCruiseMode @69;
     modeldLagging @70;
-    deviceFalling @71;
     fanMalfunction @72;
     cameraMalfunction @73;
     cameraFrameRate @74;
     processNotRunning @75;
     dashcamMode @76;
     selfdriveInitializing @77;
-    usbError @78;
     cruiseMismatch @79;
     canBusMissing @80;
     selfdrivedLagging @81;
     resumeBlocked @82;
+    carNotReady @103;
     steerTimeLimit @83;
     vehicleSensorsInvalid @84;
     locationdTemporaryError @85;
@@ -130,9 +129,15 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     aeb @92;
     userBookmark @95;
     excessiveActuation @96;
-    audioFeedback @97;
+    bigModelLoading @100;
+    bigModelFailed @102;
 
+    lowBatteryDEPRECATED @40;
     soundsUnavailableDEPRECATED @47;
+    deviceFallingDEPRECATED @71;
+    usbErrorDEPRECATED @78;
+    audioFeedbackDEPRECATED @97;
+    bigModelReadyDEPRECATED @101;
   }
 }
 
@@ -175,13 +180,13 @@ struct InitData {
 
   enum DeviceType {
     unknown @0;
-    neo @1;
+    neo @1;   # NEO, EON, & comma two
     chffrAndroid @2;
     chffrIos @3;
-    tici @4;
+    tici @4;  # comma three
     pc @5;
-    tizi @6;
-    mici @7;
+    tizi @6;  # comma 3X
+    mici @7;  # comma four
   }
 
   struct PandaInfo {
@@ -191,66 +196,16 @@ struct InitData {
     espVersion @3 :Text;
   }
 
-  # ***** deprecated stuff *****
-  gctxDEPRECATED @1 :Text;
-  androidBuildInfo @5 :AndroidBuildInfo;
-  androidSensorsDEPRECATED @6 :List(AndroidSensor);
-  chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra;
-  iosBuildInfoDEPRECATED @14 :IosBuildInfo;
-
-  struct AndroidBuildInfo {
-    board @0 :Text;
-    bootloader @1 :Text;
-    brand @2 :Text;
-    device @3 :Text;
-    display @4 :Text;
-    fingerprint @5 :Text;
-    hardware @6 :Text;
-    host @7 :Text;
-    id @8 :Text;
-    manufacturer @9 :Text;
-    model @10 :Text;
-    product @11 :Text;
-    radioVersion @12 :Text;
-    serial @13 :Text;
-    supportedAbis @14 :List(Text);
-    tags @15 :Text;
-    time @16 :Int64;
-    type @17 :Text;
-    user @18 :Text;
-
-    versionCodename @19 :Text;
-    versionRelease @20 :Text;
-    versionSdk @21 :Int32;
-    versionSecurityPatch @22 :Text;
-  }
-
-  struct AndroidSensor {
-    id @0 :Int32;
-    name @1 :Text;
-    vendor @2 :Text;
-    version @3 :Int32;
-    handle @4 :Int32;
-    type @5 :Int32;
-    maxRange @6 :Float32;
-    resolution @7 :Float32;
-    power @8 :Float32;
-    minDelay @9 :Int32;
-    fifoReservedEventCount @10 :UInt32;
-    fifoMaxEventCount @11 :UInt32;
-    stringType @12 :Text;
-    maxDelay @13 :Int32;
-  }
-
   struct ChffrAndroidExtra {
     allCameraCharacteristics @0 :Map(Text, Text);
   }
 
-  struct IosBuildInfo {
-    appVersion @0 :Text;
-    appBuild @1 :UInt32;
-    osVersion @2 :Text;
-    deviceModel @3 :Text;
+  deprecated :group {
+    gctx @1 :Text;
+    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
+    androidSensors @6 :List(Deprecated.AndroidSensor);
+    chffrAndroidExtra @7 :ChffrAndroidExtra;
+    iosBuildInfo @14 :Deprecated.IosBuildInfo;
   }
 }
 
@@ -279,13 +234,6 @@ struct FrameData {
 
   temperaturesC @24 :List(Float32);
 
-  enum FrameTypeDEPRECATED {
-    unknown @0;
-    neo @1;
-    chffrAndroid @2;
-    front @3;
-  }
-
   sensor @26 :ImageSensor;
   enum ImageSensor {
     unknown @0;
@@ -294,26 +242,19 @@ struct FrameData {
     os04c10 @3;
   }
 
-  frameLengthDEPRECATED @3 :Int32;
-  globalGainDEPRECATED @5 :Int32;
-  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
-  androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
-  lensPosDEPRECATED @11 :Int32;
-  lensSagDEPRECATED @12 :Float32;
-  lensErrDEPRECATED @13 :Float32;
-  lensTruePosDEPRECATED @14 :Float32;
-  focusValDEPRECATED @16 :List(Int16);
-  focusConfDEPRECATED @17 :List(UInt8);
-  sharpnessScoreDEPRECATED @18 :List(UInt16);
-  recoverStateDEPRECATED @19 :Int32;
-  struct AndroidCaptureResult {
-    sensitivity @0 :Int32;
-    frameDuration @1 :Int64;
-    exposureTime @2 :Int64;
-    rollingShutterSkew @3 :UInt64;
-    colorCorrectionTransform @4 :List(Int32);
-    colorCorrectionGains @5 :List(Float32);
-    displayRotation @6 :Int8;
+  deprecated :group {
+    frameLength @3 :Int32;
+    globalGain @5 :Int32;
+    frameType @7 :Deprecated.FrameTypeDEPRECATED;
+    androidCaptureResult @9 :Deprecated.AndroidCaptureResult;
+    lensPos @11 :Int32;
+    lensSag @12 :Float32;
+    lensErr @13 :Float32;
+    lensTruePos @14 :Float32;
+    focusVal @16 :List(Int16);
+    focusConf @17 :List(UInt8);
+    sharpnessScore @18 :List(UInt16);
+    recoverState @19 :Int32;
   }
 }
 
@@ -336,13 +277,8 @@ struct GPSNMEAData {
   nmea @2 :Text;
 }
 
-# android sensor_event_t
 struct SensorEventData {
-  version @0 :Int32;
-  sensor @1 :Int32;
-  type @2 :Int32;
   timestamp @3 :Int64;
-  uncalibratedDEPRECATED @10 :Bool;
 
   union {
     acceleration @4 :SensorVec;
@@ -360,7 +296,10 @@ struct SensorEventData {
 
   struct SensorVec {
     v @0 :List(Float32);
-    status @1 :Int8;
+
+    deprecated :group {
+      status @1 :Int8;
+    }
   }
 
   enum SensorSource {
@@ -377,6 +316,14 @@ struct SensorEventData {
     lsm6ds3trc @10;
     mmc5603nj @11;
   }
+
+  # formerly based on android sensor_event_t
+  deprecated :group {
+    version @0 :Int32;
+    sensor @1 :Int32;
+    type @2 :Int32;
+    uncalibrated @10 :Bool;
+  }
 }
 
 # android struct GpsLocation
@@ -462,12 +409,19 @@ struct CanData {
   address @0 :UInt32;
   dat     @2 :Data;
   src     @3 :UInt8;
-  busTimeDEPRECATED @1 :UInt16;
+
+  deprecated :group {
+    busTime @1 :UInt16;
+  }
 }
 
 struct DeviceState @0xa4d8b5af2aa492eb {
   deviceType @45 :InitData.DeviceType;
 
+  # usb
+  chestnutPresent @51 :Bool;
+  usbState @52 :UsbState;
+
   networkType @22 :NetworkType;
   networkInfo @31 :NetworkInfo;
   networkStrength @24 :NetworkStrength;
@@ -499,7 +453,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   pmicTempC @39 :List(Float32);
   intakeTempC @46 :Float32;
   exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
+  gnssTempC @48 :Float32;
+  bottomSocTempC @50 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
@@ -513,10 +468,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   }
 
   enum ThermalStatus {
-    green @0;
-    yellow @1;
-    red @2;
-    danger @3;
+    ok @0;
+    warmDEPRECATED @1;
+    overheated @2;
+    critical @3;
   }
 
   enum NetworkType {
@@ -551,26 +506,27 @@ struct DeviceState @0xa4d8b5af2aa492eb {
     wwanRx @1 :Int64;
   }
 
-  # deprecated
-  cpu0DEPRECATED @0 :UInt16;
-  cpu1DEPRECATED @1 :UInt16;
-  cpu2DEPRECATED @2 :UInt16;
-  cpu3DEPRECATED @3 :UInt16;
-  memDEPRECATED @4 :UInt16;
-  gpuDEPRECATED @5 :UInt16;
-  batDEPRECATED @6 :UInt32;
-  pa0DEPRECATED @21 :UInt16;
-  cpuUsagePercentDEPRECATED @20 :Int8;
-  batteryStatusDEPRECATED @9 :Text;
-  batteryVoltageDEPRECATED @16 :Int32;
-  batteryTempCDEPRECATED @29 :Float32;
-  batteryPercentDEPRECATED @8 :Int16;
-  batteryCurrentDEPRECATED @15 :Int32;
-  chargingErrorDEPRECATED @17 :Bool;
-  chargingDisabledDEPRECATED @18 :Bool;
-  usbOnlineDEPRECATED @12 :Bool;
-  ambientTempCDEPRECATED @30 :Float32;
-  nvmeTempCDEPRECATED @35 :List(Float32);
+  deprecated :group {
+    cpu0 @0 :UInt16;
+    cpu1 @1 :UInt16;
+    cpu2 @2 :UInt16;
+    cpu3 @3 :UInt16;
+    mem @4 :UInt16;
+    gpu @5 :UInt16;
+    bat @6 :UInt32;
+    pa0 @21 :UInt16;
+    cpuUsagePercent @20 :Int8;
+    batteryStatus @9 :Text;
+    batteryVoltage @16 :Int32;
+    batteryTempC @29 :Float32;
+    batteryPercent @8 :Int16;
+    batteryCurrent @15 :Int32;
+    chargingError @17 :Bool;
+    chargingDisabled @18 :Bool;
+    usbOnline @12 :Bool;
+    ambientTempC @30 :Float32;
+    nvmeTempC @35 :List(Float32);
+  }
 }
 
 struct PandaState @0xa7649e2575e4591e {
@@ -592,6 +548,7 @@ struct PandaState @0xa7649e2575e4591e {
   harnessStatus @21 :HarnessStatus;
   sbu1Voltage @35 :Float32;
   sbu2Voltage @36 :Float32;
+  soundOutputLevel @37 :UInt16;
 
   # can health
   canState0 @29 :PandaCanState;
@@ -610,6 +567,11 @@ struct PandaState @0xa7649e2575e4591e {
   voltage @0 :UInt32;
   current @1 :UInt32;
 
+  # these fields are not used by openpilot, but they're
+  # reserved for forks building alternate experiences.
+  controlsAllowedLateral @38 :Bool;
+  controlsAllowedLongitudinal @39 :Bool;
+
   enum FaultStatus {
     none @0;
     faultTemp @1;
@@ -706,15 +668,17 @@ struct PandaState @0xa7649e2575e4591e {
     }
   }
 
-  gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
-  hasGpsDEPRECATED @6 :Bool;
-  gmlanSendErrsDEPRECATED @9 :UInt32;
-  fanSpeedRpmDEPRECATED @11 :UInt16;
-  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
-  safetyParamDEPRECATED @20 :Int16;
-  safetyParam2DEPRECATED @26 :UInt32;
-  fanStallCountDEPRECATED @34 :UInt8;
+  deprecated :group {
+    gasInterceptorDetected @4 :Bool;
+    startedSignalDetected @5 :Bool;
+    hasGps @6 :Bool;
+    gmlanSendErrs @9 :UInt32;
+    fanSpeedRpm @11 :UInt16;
+    usbPowerMode @12 :Deprecated.UsbPowerModeDEPRECATED;
+    safetyParam @20 :Int16;
+    safetyParam2 @26 :UInt32;
+    fanStallCount @34 :UInt8;
+  }
 }
 
 struct PeripheralState {
@@ -723,56 +687,90 @@ struct PeripheralState {
   current @2 :UInt32;
   fanSpeedRpm @3 :UInt16;
 
-  usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED;
-  enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
-    none @0;
-    client @1;
-    cdp @2;
-    dcp @3;
+  deprecated :group {
+    usbPowerMode @4 :Deprecated.UsbPowerModeDEPRECATED;
   }
 }
 
+struct UsbState {
+  devices @0 :List(Device);
+
+  struct Device {
+    busnum @0 :UInt8;
+    devnum @1 :UInt8;
+    vendorId @2 :UInt16;
+    productId @3 :UInt16;
+    speedMbps @4 :UInt16;
+    manufacturer @6 :Text;
+    product @5 :Text;
+    linkErrorCount @7 :UInt16;
+    usb3Lane @8 :Usb3Lane;
+
+    enum Usb3Lane {
+      unknown @0;
+      a @1;
+      b @2;
+    }
+  }
+}
+
+struct ChestnutState {
+  tempC @0 :Float32;
+  memoryTempC @1 :Float32;
+  powerDrawW @2 :Float32;
+  powerLimitW @3 :Float32;
+  gpuUsagePercent @4 :UInt8;
+  gpuClockMhz @5 :UInt16;
+  fanSpeedRpm @6 :UInt16;
+  pcieLtssm @7 :UInt8;
+  supplyVoltage @8 :UInt16;  # mV
+  supplyCurrent @9 :Int16;  # mA
+}
+
 struct RadarState @0x9a185389d6fdd05f {
-  mdMonoTime @6 :UInt64;
-  carStateMonoTime @11 :UInt64;
+  mdMonoTime @6 :UInt64;  # for debugging
   radarErrors @13 :Car.RadarData.Error;
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
 
   struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    aRel @3 :Float32;
-    vLead @4 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
-    status @11 :Bool;
-    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
-    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;
+    dRel @0 :Float32;  # m from the front bumper of the car
+    yRel @1 :Float32;  # m in car frame, left positive
+    vRel @2 :Float32;  # m/s relative longitudinal speed
+    vLead @4 :Float32;  # m/s absolute lead speed
+    vLeadK @8 :Float32;  # kalman-filtered lead speed
+    aLeadK @9 :Float32;  # kalman-filtered lead accel
+    present @11 :Bool;  # true if a lead is present
+    aLeadTau @12 :Float32;  # lead accel time constant
+    modelProb @13 :Float32;  # vision model lead probability
+    radar @14 :Bool;  # true if lead is radar-matched (vs vision-only)
+    radarTrackId @15 :Int32 = -1;  # for debugging
 
-    aLeadDEPRECATED @5 :Float32;
+    deprecated :group {
+      aRel @3 :Float32;
+      aLead @5 :Float32;
+      dPath @6 :Float32;
+      vLat @7 :Float32;
+      fcw @10 :Bool;
+    }
   }
 
-  # deprecated
-  ftMonoTimeDEPRECATED @7 :UInt64;
-  warpMatrixDEPRECATED @0 :List(Float32);
-  angleOffsetDEPRECATED @1 :Float32;
-  calStatusDEPRECATED @2 :Int8;
-  calCycleDEPRECATED @8 :Int32;
-  calPercDEPRECATED @9 :Int8;
-  canMonoTimesDEPRECATED @10 :List(UInt64);
-  cumLagMsDEPRECATED @5 :Float32;
-  radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
+  deprecated :group {
+    ftMonoTime @7 :UInt64;
+    warpMatrix @0 :List(Float32);
+    angleOffset @1 :Float32;
+    calStatus @2 :Int8;
+    calCycle @8 :Int32;
+    calPerc @9 :Int8;
+    canMonoTimes @10 :List(UInt64);
+    cumLagMs @5 :Float32;
+    carStateMonoTime @11 :UInt64;
+    radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED);
+  }
 }
 
-struct LiveCalibrationData {
+struct ExtrinsicsCalibration @0x96df70754d8390bc {
   calStatus @11 :Status;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
@@ -787,10 +785,6 @@ struct LiveCalibrationData {
   wideFromDeviceEuler @10 :List(Float32);
   height @12 :List(Float32);
 
-  warpMatrixDEPRECATED @0 :List(Float32);
-  calStatusDEPRECATED @1 :Int8;
-  warpMatrix2DEPRECATED @5 :List(Float32);
-  warpMatrixBigDEPRECATED @6 :List(Float32);
 
   enum Status {
     uncalibrated @0;
@@ -798,19 +792,13 @@ struct LiveCalibrationData {
     invalid @2;
     recalibrating @3;
   }
-}
 
-struct LiveTracksDEPRECATED {
-  trackId @0 :Int32;
-  dRel @1 :Float32;
-  yRel @2 :Float32;
-  vRel @3 :Float32;
-  aRel @4 :Float32;
-  timeStamp @5 :Float32;
-  status @6 :Float32;
-  currentTime @7 :Float32;
-  stationary @8 :Bool;
-  oncoming @9 :Bool;
+  deprecated :group {
+    warpMatrix @0 :List(Float32);
+    calStatus @1 :Int8;
+    warpMatrix2 @5 :List(Float32);
+    warpMatrixBig @6 :List(Float32);
+  }
 }
 
 struct SelfdriveState {
@@ -826,13 +814,31 @@ struct SelfdriveState {
   alertStatus @5 :AlertStatus;
   alertSize @6 :AlertSize;
   alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertSound @13 :AudibleAlert;
   alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
 
   # configurable driving settings
   experimentalMode @10 :Bool;
   personality @11 :LongitudinalPersonality;
 
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    preAlert @9;
+    complete @10;
+  }
+
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
@@ -853,6 +859,10 @@ struct SelfdriveState {
     mid @2;
     full @3;
   }
+
+  deprecated :group {
+    alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  }
 }
 
 struct ControlsState @0x97ff69c53601abf1 {
@@ -873,25 +883,9 @@ struct ControlsState @0x97ff69c53601abf1 {
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
 
-    curvatureStateDEPRECATED @65 :LateralCurvatureState;
-    lqrStateDEPRECATED @55 :LateralLQRState;
-    indiStateDEPRECATED @52 :LateralINDIState;
-  }
-
-  struct LateralINDIState {
-    active @0 :Bool;
-    steeringAngleDeg @1 :Float32;
-    steeringRateDeg @2 :Float32;
-    steeringAccelDeg @3 :Float32;
-    rateSetPoint @4 :Float32;
-    accelSetPoint @5 :Float32;
-    accelError @6 :Float32;
-    delayedOutput @7 :Float32;
-    delta @8 :Float32;
-    output @9 :Float32;
-    saturated @10 :Bool;
-    steeringAngleDesiredDeg @11 :Float32;
-    steeringRateDesiredDeg @12 :Float32;
+    curvatureState @65 :LateralCurvatureState;
+    lqrStateDEPRECATED @55 :Deprecated.LateralLQRState;
+    indiStateDEPRECATED @52 :Deprecated.LateralINDIState;
   }
 
   struct LateralPIDState {
@@ -923,16 +917,6 @@ struct ControlsState @0x97ff69c53601abf1 {
     version @12 :Int32;
    }
 
-  struct LateralLQRState {
-    active @0 :Bool;
-    steeringAngleDeg @1 :Float32;
-    i @2 :Float32;
-    output @3 :Float32;
-    lqrOutput @4 :Float32;
-    saturated @5 :Bool;
-    steeringAngleDesiredDeg @6 :Float32;
-  }
-
   struct LateralAngleState {
     active @0 :Bool;
     steeringAngleDeg @1 :Float32;
@@ -941,7 +925,14 @@ struct ControlsState @0x97ff69c53601abf1 {
     steeringAngleDesiredDeg @4 :Float32;
   }
 
-  struct LateralCurvatureState {
+  struct LateralDebugState {
+    active @0 :Bool;
+    steeringAngleDeg @1 :Float32;
+    output @2 :Float32;
+    saturated @3 :Bool;
+  }
+
+  struct LateralCurvatureState @0xad9d8095c06f7c61 {
     active @0 :Bool;
     actualCurvature @1 :Float32;
     desiredCurvature @2 :Float32;
@@ -953,65 +944,59 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @8 :Bool;
   }
 
-  struct LateralDebugState {
-    active @0 :Bool;
-    steeringAngleDeg @1 :Float32;
-    output @2 :Float32;
-    saturated @3 :Bool;
+  deprecated :group {
+    vEgo @0 :Float32;
+    vEgoRaw @32 :Float32;
+    aEgo @1 :Float32;
+    canMonoTime @16 :UInt64;
+    radarStateMonoTime @17 :UInt64;
+    mdMonoTime @18 :UInt64;
+    yActual @6 :Float32;
+    yDes @7 :Float32;
+    upSteer @8 :Float32;
+    uiSteer @9 :Float32;
+    ufSteer @34 :Float32;
+    aTargetMin @10 :Float32;
+    aTargetMax @11 :Float32;
+    rearViewCam @23 :Bool;
+    driverMonitoringOn @43 :Bool;
+    hudLead @14 :Int32;
+    alertSound @45 :Text;
+    angleModelBias @27 :Float32;
+    gpsPlannerActive @40 :Bool;
+    decelForTurn @47 :Bool;
+    decelForModel @54 :Bool;
+    awarenessStatus @26 :Float32;
+    angleSteers @13 :Float32;
+    vCurvature @46 :Float32;
+    mapValid @49 :Bool;
+    jerkFactor @12 :Float32;
+    steerOverride @20 :Bool;
+    steeringAngleDesiredDeg @29 :Float32;
+    canMonoTimes @21 :List(UInt64);
+    desiredCurvatureRate @62 :Float32;
+    canErrorCounter @57 :UInt32;
+    vPid @2 :Float32;
+    alertBlinkingRate @42 :Float32;
+    alertText1 @24 :Text;
+    alertText2 @25 :Text;
+    alertStatus @38 :SelfdriveState.AlertStatus;
+    alertSize @39 :SelfdriveState.AlertSize;
+    alertType @44 :Text;
+    alertSound2 @56 :SelfdriveState.AudibleAlert;
+    engageable @41 :Bool;  # can OP be engaged?
+    state @31 :SelfdriveState.OpenpilotState;
+    enabled @19 :Bool;
+    active @36 :Bool;
+    experimentalMode @64 :Bool;
+    personality @66 :LongitudinalPersonality;
+    vCruise @22 :Float32;  # actual set speed
+    vCruiseCluster @63 :Float32;  # set speed to display in the UI
+    startMonoTime @48 :UInt64;
+    cumLagMs @15 :Float32;
+    aTarget @35 :Float32;
+    vTargetLead @3 :Float32;
   }
-
-  # deprecated
-  vEgoDEPRECATED @0 :Float32;
-  vEgoRawDEPRECATED @32 :Float32;
-  aEgoDEPRECATED @1 :Float32;
-  canMonoTimeDEPRECATED @16 :UInt64;
-  radarStateMonoTimeDEPRECATED @17 :UInt64;
-  mdMonoTimeDEPRECATED @18 :UInt64;
-  yActualDEPRECATED @6 :Float32;
-  yDesDEPRECATED @7 :Float32;
-  upSteerDEPRECATED @8 :Float32;
-  uiSteerDEPRECATED @9 :Float32;
-  ufSteerDEPRECATED @34 :Float32;
-  aTargetMinDEPRECATED @10 :Float32;
-  aTargetMaxDEPRECATED @11 :Float32;
-  rearViewCamDEPRECATED @23 :Bool;
-  driverMonitoringOnDEPRECATED @43 :Bool;
-  hudLeadDEPRECATED @14 :Int32;
-  alertSoundDEPRECATED @45 :Text;
-  angleModelBiasDEPRECATED @27 :Float32;
-  gpsPlannerActiveDEPRECATED @40 :Bool;
-  decelForTurnDEPRECATED @47 :Bool;
-  decelForModelDEPRECATED @54 :Bool;
-  awarenessStatusDEPRECATED @26 :Float32;
-  angleSteersDEPRECATED @13 :Float32;
-  vCurvatureDEPRECATED @46 :Float32;
-  mapValidDEPRECATED @49 :Bool;
-  jerkFactorDEPRECATED @12 :Float32;
-  steerOverrideDEPRECATED @20 :Bool;
-  steeringAngleDesiredDegDEPRECATED @29 :Float32;
-  canMonoTimesDEPRECATED @21 :List(UInt64);
-  desiredCurvatureRateDEPRECATED @62 :Float32;
-  canErrorCounterDEPRECATED @57 :UInt32;
-  vPidDEPRECATED @2 :Float32;
-  alertBlinkingRateDEPRECATED @42 :Float32;
-  alertText1DEPRECATED @24 :Text;
-  alertText2DEPRECATED @25 :Text;
-  alertStatusDEPRECATED @38 :SelfdriveState.AlertStatus;
-  alertSizeDEPRECATED @39 :SelfdriveState.AlertSize;
-  alertTypeDEPRECATED @44 :Text;
-  alertSound2DEPRECATED @56 :Car.CarControl.HUDControl.AudibleAlert;
-  engageableDEPRECATED @41 :Bool;  # can OP be engaged?
-  stateDEPRECATED @31 :SelfdriveState.OpenpilotState;
-  enabledDEPRECATED @19 :Bool;
-  activeDEPRECATED @36 :Bool;
-  experimentalModeDEPRECATED @64 :Bool;
-  personalityDEPRECATED @66 :LongitudinalPersonality;
-  vCruiseDEPRECATED @22 :Float32;  # actual set speed
-  vCruiseClusterDEPRECATED @63 :Float32;  # set speed to display in the UI
-  startMonoTimeDEPRECATED @48 :UInt64;
-  cumLagMsDEPRECATED @15 :Float32;
-  aTargetDEPRECATED @35 :Float32;
-  vTargetLeadDEPRECATED @3 :Float32;
 }
 
 struct DrivingModelData {
@@ -1065,6 +1050,7 @@ struct ModelDataV2 {
   timestampEof @3 :UInt64;
   modelExecutionTime @15 :Float32;
   rawPredictions @16 :Data;
+  big @27 :Bool;
 
   # predicted future position, orientation, etc..
   position @4 :XYZTData;
@@ -1081,24 +1067,18 @@ struct ModelDataV2 {
   roadEdgeStds @14 :List(Float32);
 
   # predicted lead cars
-  leads @11 :List(LeadDataV2);
   leadsV3 @18 :List(LeadDataV3);
 
   meta @12 :MetaData;
   confidence @23: ConfidenceClass;
 
-  # Model perceived motion
-  temporalPoseDEPRECATED @21 :Pose;
-
   # e2e lateral planner
   action @26: Action;
 
-  gpuExecutionTimeDEPRECATED @17 :Float32;
-  navEnabledDEPRECATED @22 :Bool;
-  locationMonoTimeDEPRECATED @24 :UInt64;
-  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
+  lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution;
+  leadsDEPRECATED @11 :List(LeadDataV2DEPRECATED);
 
-  struct LeadDataV2 {
+  struct LeadDataV2DEPRECATED {
     prob @0 :Float32; # probability that car is your lead at time t
     t @1 :Float32;
 
@@ -1138,10 +1118,11 @@ struct ModelDataV2 {
     laneChangeDirection @9 :LaneChangeDirection;
 
 
-    # deprecated
-    brakeDisengageProbDEPRECATED @2 :Float32;
-    gasDisengageProbDEPRECATED @3 :Float32;
-    steerOverrideProbDEPRECATED @4 :Float32;
+    deprecated :group {
+      brakeDisengageProb @2 :Float32;
+      gasDisengageProb @3 :Float32;
+      steerOverrideProb @4 :Float32;
+    }
   }
 
   enum ConfidenceClass {
@@ -1169,22 +1150,18 @@ struct ModelDataV2 {
     rotStd @3 :List(Float32); # std rad/s in device frame
   }
 
-  struct LateralPlannerSolution {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    yaw @2 :List(Float32);
-    yawRate @3 :List(Float32);
-    xStd @4 :List(Float32);
-    yStd @5 :List(Float32);
-    yawStd @6 :List(Float32);
-    yawRateStd @7 :List(Float32);
-  }
-
   struct Action {
     desiredCurvature @0 :Float32;
     desiredAcceleration @1 :Float32;
     shouldStop @2 :Bool;
   }
+
+  deprecated :group {
+    temporalPose @21 :Pose;
+    gpuExecutionTime @17 :Float32;
+    navEnabled @22 :Bool;
+    locationMonoTime @24 :UInt64;
+  }
 }
 
 struct EncodeIndex {
@@ -1221,7 +1198,7 @@ struct EncodeIndex {
   }
 }
 
-struct AndroidLogEntry {
+struct OperatingSystemLogEntry {
   id @0 :UInt8;
   ts @1 :UInt64;
   priority @2 :UInt8;
@@ -1239,6 +1216,10 @@ struct DriverAssistance {
   # FCW, AEB, etc. will go here
 }
 
+struct LateralManeuverPlan {
+  desiredCurvature @0 :Float32;  # 1/m
+}
+
 struct LongitudinalPlan @0xe00b5b3eba12876c {
   modelMonoTime @9 :UInt64;
   hasLead @7 :Bool;
@@ -1266,38 +1247,35 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
     e2e @4;
   }
 
-  # deprecated
-  vCruiseDEPRECATED @16 :Float32;
-  aCruiseDEPRECATED @17 :Float32;
-  vTargetDEPRECATED @3 :Float32;
-  vTargetFutureDEPRECATED @14 :Float32;
-  vStartDEPRECATED @26 :Float32;
-  aStartDEPRECATED @27 :Float32;
-  vMaxDEPRECATED @20 :Float32;
-  radarStateMonoTimeDEPRECATED @10 :UInt64;
-  jerkFactorDEPRECATED @6 :Float32;
-  hasLeftLaneDEPRECATED @23 :Bool;
-  hasRightLaneDEPRECATED @24 :Bool;
-  aTargetMinDEPRECATED @4 :Float32;
-  aTargetMaxDEPRECATED @5 :Float32;
-  lateralValidDEPRECATED @0 :Bool;
-  longitudinalValidDEPRECATED @2 :Bool;
-  dPolyDEPRECATED @1 :List(Float32);
-  laneWidthDEPRECATED @11 :Float32;
-  vCurvatureDEPRECATED @21 :Float32;
-  decelForTurnDEPRECATED @22 :Bool;
-  mapValidDEPRECATED @25 :Bool;
-  radarValidDEPRECATED @28 :Bool;
-  radarCanErrorDEPRECATED @30 :Bool;
-  commIssueDEPRECATED @31 :Bool;
-  eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
-  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
-  gpsPlannerActiveDEPRECATED @19 :Bool;
-  personalityDEPRECATED @36 :LongitudinalPersonality;
 
-  struct GpsTrajectory {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
+  deprecated :group {
+    vCruise @16 :Float32;
+    aCruise @17 :Float32;
+    vTarget @3 :Float32;
+    vTargetFuture @14 :Float32;
+    vStart @26 :Float32;
+    aStart @27 :Float32;
+    vMax @20 :Float32;
+    radarStateMonoTime @10 :UInt64;
+    jerkFactor @6 :Float32;
+    hasLeftLane @23 :Bool;
+    hasRightLane @24 :Bool;
+    aTargetMin @4 :Float32;
+    aTargetMax @5 :Float32;
+    lateralValid @0 :Bool;
+    longitudinalValid @2 :Bool;
+    dPoly @1 :List(Float32);
+    laneWidth @11 :Float32;
+    vCurvature @21 :Float32;
+    decelForTurn @22 :Bool;
+    mapValid @25 :Bool;
+    radarValid @28 :Bool;
+    radarCanError @30 :Bool;
+    commIssue @31 :Bool;
+    events @13 :List(Car.OnroadEventDEPRECATED);
+    gpsTrajectory @12 :Deprecated.GpsTrajectory;
+    gpsPlannerActive @19 :Bool;
+    personality @36 :LongitudinalPersonality;
   }
 }
 struct UiPlan {
@@ -1308,11 +1286,7 @@ struct UiPlan {
 
 struct LateralPlan @0xe1e9318e2ae8b51e {
   modelMonoTime @31 :UInt64;
-  laneWidthDEPRECATED @0 :Float32;
-  lProbDEPRECATED @5 :Float32;
-  rProbDEPRECATED @7 :Float32;
   dPathPoints @20 :List(Float32);
-  dProbDEPRECATED @21 :Float32;
 
   mpcSolutionValid @9 :Bool;
   desire @17 :Desire;
@@ -1334,30 +1308,35 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
     u @1 :List(Float32);
   }
 
-  # deprecated
-  curvatureDEPRECATED @22 :Float32;
-  curvatureRateDEPRECATED @23 :Float32;
-  rawCurvatureDEPRECATED @24 :Float32;
-  rawCurvatureRateDEPRECATED @25 :Float32;
-  cProbDEPRECATED @3 :Float32;
-  dPolyDEPRECATED @1 :List(Float32);
-  cPolyDEPRECATED @2 :List(Float32);
-  lPolyDEPRECATED @4 :List(Float32);
-  rPolyDEPRECATED @6 :List(Float32);
-  modelValidDEPRECATED @12 :Bool;
-  commIssueDEPRECATED @15 :Bool;
-  posenetValidDEPRECATED @16 :Bool;
-  sensorValidDEPRECATED @14 :Bool;
-  paramsValidDEPRECATED @10 :Bool;
-  steeringAngleDegDEPRECATED @8 :Float32; # deg
-  steeringRateDegDEPRECATED @13 :Float32; # deg/s
-  angleOffsetDegDEPRECATED @11 :Float32;
+  deprecated :group {
+    laneWidth @0 :Float32;
+    lProb @5 :Float32;
+    rProb @7 :Float32;
+    dProb @21 :Float32;
+    curvature @22 :Float32;
+    curvatureRate @23 :Float32;
+    rawCurvature @24 :Float32;
+    rawCurvatureRate @25 :Float32;
+    cProb @3 :Float32;
+    dPoly @1 :List(Float32);
+    cPoly @2 :List(Float32);
+    lPoly @4 :List(Float32);
+    rPoly @6 :List(Float32);
+    modelValid @12 :Bool;
+    commIssue @15 :Bool;
+    posenetValid @16 :Bool;
+    sensorValid @14 :Bool;
+    paramsValid @10 :Bool;
+    steeringAngleDeg @8 :Float32;  # deg
+    steeringRateDeg @13 :Float32;  # deg/s
+    angleOffsetDeg @11 :Float32;
+  }
 }
 
 struct LiveLocationKalman {
 
   # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
 
   positionECEF @0 : Measurement;
   positionGeodetic @1 : Measurement;
@@ -1412,9 +1391,9 @@ struct LiveLocationKalman {
 }
 
 
-struct LivePose {
+struct DeviceMotion @0xc24ca2b57206b44d {
   # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
   orientationNED @0 :XYZMeasurement;
   velocityDevice @1 :XYZMeasurement;
   accelerationDevice @2 :XYZMeasurement;
@@ -1424,6 +1403,8 @@ struct LivePose {
   posenetOK @5 :Bool = false;
   sensorsOK @6 :Bool = false;
 
+  timestamp @8 :UInt64;
+
   debugFilterState @7 :FilterState;
 
   struct XYZMeasurement {
@@ -1544,7 +1525,10 @@ struct GnssMeasurements {
     # Satellite position and velocity [x,y,z]
     satPos @7 :List(Float64);
     satVel @8 :List(Float64);
-    ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
+
+    deprecated :group {
+      ephemerisSource @9 :EphemerisSourceDEPRECATED;
+    }
   }
 
   struct EphemerisSourceDEPRECATED {
@@ -1699,7 +1683,6 @@ struct UbloxGnss {
 
     iDot @26 :Float64;
     codesL2 @27 :Float64;
-    gpsWeekDEPRECATED @28 :Float64;
     l2 @29 :Float64;
 
     svAcc @30 :Float64;
@@ -1719,6 +1702,10 @@ struct UbloxGnss {
     towCount @40 :UInt32;
     toeWeek @41 :UInt16;
     tocWeek @42 :UInt16;
+
+    deprecated :group {
+      gpsWeek @28 :Float64;
+    }
   }
 
   struct IonoData {
@@ -1797,7 +1784,6 @@ struct UbloxGnss {
     age @17 :UInt8;
 
     svHealth @18 :UInt8;
-    tkDEPRECATED @19 :UInt16;
     tb @20 :UInt16;
 
     tauN @21 :Float64;
@@ -1809,12 +1795,16 @@ struct UbloxGnss {
     p3 @26 :UInt8;
     p4 @27 :UInt8;
 
-    freqNumDEPRECATED @28 :UInt32;
 
     n4 @29 :UInt8;
     nt @30 :UInt16;
     freqNum @31 :Int16;
     tkSeconds @32 :UInt32;
+
+    deprecated :group {
+      tk @19 :UInt16;
+      freqNum @28 :UInt32;
+    }
   }
 }
 
@@ -2115,34 +2105,12 @@ struct QcomGnss @0xde94674b07ae51c1 {
 struct Clocks {
   wallTimeNanos @3 :UInt64;  # unix epoch time
 
-  bootTimeNanosDEPRECATED @0 :UInt64;
-  monotonicNanosDEPRECATED @1 :UInt64;
-  monotonicRawNanosDEPRECATD @2 :UInt64;
-  modemUptimeMillisDEPRECATED @4 :UInt64;
-}
-
-struct LiveMpcData {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  psi @2 :List(Float32);
-  curvature @3 :List(Float32);
-  qpIterations @4 :UInt32;
-  calculationTime @5 :UInt64;
-  cost @6 :Float64;
-}
-
-struct LiveLongitudinalMpcData {
-  xEgo @0 :List(Float32);
-  vEgo @1 :List(Float32);
-  aEgo @2 :List(Float32);
-  xLead @3 :List(Float32);
-  vLead @4 :List(Float32);
-  aLead @5 :List(Float32);
-  aLeadTau @6 :Float32;    # lead accel time constant
-  qpIterations @7 :UInt32;
-  mpcId @8 :UInt32;
-  calculationTime @9 :UInt64;
-  cost @10 :Float64;
+  deprecated :group {
+    bootTimeNanos @0 :UInt64;
+    monotonicNanos @1 :UInt64;
+    monotonicRawNanos @2 :UInt64;
+    modemUptimeMillis @4 :UInt64;
+  }
 }
 
 struct Joystick {
@@ -2173,48 +2141,22 @@ struct DriverStateV2 {
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
-    notReadyProbDEPRECATED @12 :List(Float32);
-    occludedProbDEPRECATED @10 :Float32;
-    readyProbDEPRECATED @11 :List(Float32);
+    sleepProb @14 :Float32;
+
+    deprecated :group {
+      notReadyProb @12 :List(Float32);
+      occludedProb @10 :Float32;
+      readyProb @11 :List(Float32);
+    }
   }
 
-  dspExecutionTimeDEPRECATED @2 :Float32;
-  poorVisionProbDEPRECATED @4 :Float32;
+  deprecated :group {
+    dspExecutionTime @2 :Float32;
+    poorVisionProb @4 :Float32;
+  }
 }
 
-struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
-  frameId @0 :UInt32;
-  modelExecutionTime @14 :Float32;
-  dspExecutionTime @16 :Float32;
-  rawPredictions @15 :Data;
-
-  faceOrientation @3 :List(Float32);
-  facePosition @4 :List(Float32);
-  faceProb @5 :Float32;
-  leftEyeProb @6 :Float32;
-  rightEyeProb @7 :Float32;
-  leftBlinkProb @8 :Float32;
-  rightBlinkProb @9 :Float32;
-  faceOrientationStd @11 :List(Float32);
-  facePositionStd @12 :List(Float32);
-  sunglassesProb @13 :Float32;
-  poorVision @17 :Float32;
-  partialFace @18 :Float32;
-  distractedPose @19 :Float32;
-  distractedEyes @20 :Float32;
-  eyesOnRoad @21 :Float32;
-  phoneUse @22 :Float32;
-  occludedProb @23 :Float32;
-
-  readyProb @24 :List(Float32);
-  notReadyProb @25 :List(Float32);
-
-  irPwrDEPRECATED @10 :Float32;
-  descriptorDEPRECATED @1 :List(Float32);
-  stdDEPRECATED @2 :Float32;
-}
-
-struct DriverMonitoringState @0xb83cda094a1da284 {
+struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
   events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
@@ -2232,12 +2174,91 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   isActiveMode @16 :Bool;
   isRHD @4 :Bool;
   uncertainCount @19 :UInt32;
-  phoneProbOffset @20 :Float32;
-  phoneProbValidCount @21 :UInt32;
 
-  isPreviewDEPRECATED @15 :Bool;
-  rhdCheckedDEPRECATED @5 :Bool;
-  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
+  deprecated :group {
+    phoneProbOffset @20 :Float32;
+    phoneProbValidCount @21 :UInt32;
+    isPreview @15 :Bool;
+    rhdChecked @5 :Bool;
+    events @0 :List(Car.OnroadEventDEPRECATED);
+  }
+}
+
+struct DriverMonitoringState {
+  lockout @0 :Bool;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
+  alert3Count @12 :Int8;
+  noResponseCount @13 :Int8;
+  noResponseForceDecel @14 :Bool;
+
+  alwaysOn @3 :Bool;
+  alwaysOnLockout @4 :Bool;
+
+  alertLevel @5 :AlertLevel;
+  activePolicy @6 :MonitoringPolicy;
+  isRHD @7 :Bool;
+  rhdCalibration @8 :CalibrationState;
+
+  visionPolicyState @9 :VisionPolicyState;
+  wheeltouchPolicyState @10 :WheeltouchPolicyState;
+
+  enum AlertLevel {
+    # ordinal must match the name to prevent bugs
+    # comparing against the raw ordinal value
+    none @0;
+    one @1;
+    two @2;
+    three @3;
+  }
+
+  enum MonitoringPolicy {
+    wheeltouch @0;
+    vision @1;
+  }
+
+  struct VisionPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    isDistracted @2 :Bool;
+    distractedTypes @3 :DistractedTypes;
+
+    faceDetected @4 :Bool;
+    pose @5 :Pose;
+    wheeltouchFallbackPercent @6 :Int8;
+    uncertainOffroadAlertPercent @7 :Int8;
+
+    struct DistractedTypes {
+      pose @0: Bool;
+      eye @1: Bool;
+      phone @2: Bool;
+    }
+
+    struct Pose {
+      pitch @0 :Float32;
+      yaw @1 :Float32;
+      pitchCalib @2 :CalibrationState;
+      yawCalib @3 :CalibrationState;
+      calibrated @4 :Bool;
+      uncertainty @5 :Float32;
+    }
+  }
+
+  struct WheeltouchPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    driverInteracting @2 :Bool;
+  }
+
+  struct CalibrationState {
+    calibratedPercent @0 :Int8;
+    offset @1 :Float32;
+  }
+
+  deprecated :group {
+    alertCountLockoutPercent @1 :Int8;
+    alertTimeLockoutPercent @2 :Int8;
+  }
 }
 
 struct Boot {
@@ -2246,11 +2267,13 @@ struct Boot {
   commands @5 :Map(Text, Data);
   launchLog @3 :Text;
 
-  lastKmsgDEPRECATED @1 :Data;
-  lastPmsgDEPRECATED @2 :Data;
+  deprecated :group {
+    lastKmsg @1 :Data;
+    lastPmsg @2 :Data;
+  }
 }
 
-struct LiveParametersData {
+struct VehicleParameters @0xd9058dcb967c2753 {
   valid @0 :Bool;
   gyroBias @1 :Float32;
   angleOffsetDeg @2 :Float32;
@@ -2272,17 +2295,20 @@ struct LiveParametersData {
   steerRatioValid @19 :Bool = true;
   stiffnessFactorValid @20 :Bool = true;
 
-  yawRateDEPRECATED @7 :Float32;
-  filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
 
   struct FilterState {
     value @0 : List(Float64);
     std @1 : List(Float64);
   }
+
+  deprecated :group {
+    yawRate @7 :Float32;
+    filterState @15 :LiveLocationKalman.Measurement;
+  }
 }
 
-struct LiveTorqueParametersData {
-  liveValid @0 :Bool;
+struct LateralTorqueParameters @0xe61690eb0b091692 {
+  valid @0 :Bool;
   latAccelFactorRaw @1 :Float32;
   latAccelOffsetRaw @2 :Float32;
   frictionCoefficientRaw @3 :Float32;
@@ -2298,7 +2324,7 @@ struct LiveTorqueParametersData {
   calPerc @13 :Int8;
 }
 
-struct LiveDelayData {
+struct LateralDelay @0x98dfdb22c44df8d4 {
   lateralDelay @0 :Float32;
   validBlocks @1 :Int32;
   status @2 :Status;
@@ -2307,6 +2333,7 @@ struct LiveDelayData {
   lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
   calPerc @6 :Int8;
+  version @7 :Int32;
 
   enum Status {
     unestimated @0;
@@ -2360,7 +2387,8 @@ struct Sentinel {
 }
 
 struct UIDebug {
-  drawTimeMillis @0 :Float32;
+  cpuTimeMillis @0 :Float32;
+  frameTimeMillis @1 :Float32;
 }
 
 struct ManagerState {
@@ -2448,25 +2476,6 @@ struct MapRenderState {
   frameId @2: UInt32;
 }
 
-struct NavModelData {
-  frameId @0 :UInt32;
-  locationMonoTime @6 :UInt64;
-  modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
-  features @3 :List(Float32);
-  # predicted future position
-  position @4 :XYData;
-  desirePrediction @5 :List(Float32);
-
-  # All SI units and in device frame
-  struct XYData {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    xStd @2 :List(Float32);
-    yStd @3 :List(Float32);
-  }
-}
-
 struct EncodeData {
   idx @0 :EncodeIndex;
   data @1 :Data;
@@ -2491,7 +2500,9 @@ struct SoundPressure @0xdc24138990726023 {
   soundPressureWeighted @3 :Float32;
   soundPressureWeightedDb @1 :Float32;
 
-  filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
+  deprecated :group {
+    filteredSoundPressureWeightedDb @2 :Float32;
+  }
 }
 
 struct AudioData {
@@ -2499,11 +2510,6 @@ struct AudioData {
   sampleRate @1 :UInt32;
 }
 
-struct AudioFeedback {
-  audio @0 :AudioData;
-  blockNum @1 :UInt16;
-}
-
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2525,7 +2531,6 @@ struct Event {
     boot @60 :Boot;
 
     # ********** openpilot daemon msgs **********
-    gpsNMEA @3 :GPSNMEAData;
     can @5 :List(CanData);
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
@@ -2537,9 +2542,9 @@ struct Event {
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
-    liveTracks @131 :Car.RadarData;
+    radarTracks @131 :Car.RadarData;
     sendcan @17 :List(CanData);
-    liveCalibration @19 :LiveCalibrationData;
+    extrinsicsCalibration @19 :ExtrinsicsCalibration;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     carOutput @127 :Car.CarOutput;
@@ -2550,75 +2555,69 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gpsLocation @21 :GpsLocationData;
-    gnssMeasurements @91 :GnssMeasurements;
-    liveParameters @61 :LiveParametersData;
-    liveTorqueParameters @94 :LiveTorqueParametersData;
-    liveDelay @146 : LiveDelayData;
+    vehicleParameters @61 :VehicleParameters;
+    lateralTorqueParameters @94 :LateralTorqueParameters;
+    lateralDelay @146 : LateralDelay;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
-    driverMonitoringState @71: DriverMonitoringState;
-    livePose @129 :LivePose;
+    driverMonitoringState @151 :DriverMonitoringState;
+    deviceMotion @129 :DeviceMotion;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
-    roadCameraState @2 :FrameData;
-    driverCameraState @70: FrameData;
+    narrowRoadCameraState @2 :FrameData;
+    cabinCameraState @70: FrameData;
     wideRoadCameraState @74: FrameData;
-    roadEncodeIdx @15 :EncodeIndex;
-    driverEncodeIdx @76 :EncodeIndex;
+    narrowRoadEncodeIdx @15 :EncodeIndex;
+    cabinEncodeIdx @76 :EncodeIndex;
     wideRoadEncodeIdx @77 :EncodeIndex;
-    qRoadEncodeIdx @90 :EncodeIndex;
+    qNarrowRoadEncodeIdx @90 :EncodeIndex;
 
-    livestreamRoadEncodeIdx @117 :EncodeIndex;
+    livestreamNarrowRoadEncodeIdx @117 :EncodeIndex;
     livestreamWideRoadEncodeIdx @118 :EncodeIndex;
-    livestreamDriverEncodeIdx @119 :EncodeIndex;
+    livestreamCabinEncodeIdx @119 :EncodeIndex;
 
     # microphone data
     soundPressure @103 :SoundPressure;
     rawAudioData @147 :AudioData;
 
     # systems stuff
-    androidLog @20 :AndroidLogEntry;
+    operatingSystemLog @20 :OperatingSystemLogEntry;
     managerState @78 :ManagerState;
-    uploaderState @79 :UploaderState;
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
+    chestnutState @152 :ChestnutState;
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
     # touch frame
     touch @135 :List(Touch);
 
-    # navigation
-    navInstruction @82 :NavInstruction;
-    navRoute @83 :NavRoute;
-    navThumbnail @84: Thumbnail;
-    mapRenderState @105: MapRenderState;
-
     # UI services
     uiDebug @102 :UIDebug;
 
     # driving feedback
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
-    audioFeedback @149 :AudioFeedback;
+
+    lateralManeuverPlan @150 :LateralManeuverPlan;
 
     # *********** debug ***********
     testJoystick @52 :Joystick;
-    roadEncodeData @86 :EncodeData;
-    driverEncodeData @87 :EncodeData;
+    narrowRoadEncodeData @86 :EncodeData;
+    cabinEncodeData @87 :EncodeData;
     wideRoadEncodeData @88 :EncodeData;
-    qRoadEncodeData @89 :EncodeData;
+    qNarrowRoadEncodeData @89 :EncodeData;
     alertDebug @133 :DebugAlert;
 
-    livestreamRoadEncodeData @120 :EncodeData;
+    livestreamNarrowRoadEncodeData @120 :EncodeData;
     livestreamWideRoadEncodeData @121 :EncodeData;
-    livestreamDriverEncodeData @122 :EncodeData;
+    livestreamCabinEncodeData @122 :EncodeData;
 
     # *********** Custom: reserved for forks ***********
 
@@ -2653,51 +2652,60 @@ struct Event {
     customReserved19 @145 :Custom.CustomReserved19;
 
     # *********** legacy + deprecated ***********
-    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
-    liveMpcDEPRECATED @36 :LiveMpcData;
-    liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
-    liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData;
-    orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
-    liveUIDEPRECATED @14 :Legacy.LiveUI;
+    model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    audioFeedbackDEPRECATED @149 :Deprecated.AudioFeedbackDEPRECATED;
+    liveMpcDEPRECATED @36 :Deprecated.LiveMpcData;
+    liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData;
+    liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;
+    orbslamCorrectionDEPRECATED @45 :Deprecated.OrbslamCorrection;
+    liveUIDEPRECATED @14 :Deprecated.LiveUI;
     sensorEventDEPRECATED @4 :SensorEventData;
-    liveEventDEPRECATED @8 :List(Legacy.LiveEventData);
-    liveLocationDEPRECATED @25 :Legacy.LiveLocationData;
-    ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket);
-    cellInfoDEPRECATED @28 :List(Legacy.CellInfo);
-    wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
-    uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
+    liveEventDEPRECATED @8 :List(Deprecated.LiveEventData);
+    liveLocationDEPRECATED @25 :Deprecated.LiveLocationData;
+    ethernetDataDEPRECATED @26 :List(Deprecated.EthernetPacket);
+    cellInfoDEPRECATED @28 :List(Deprecated.CellInfo);
+    wifiScanDEPRECATED @29 :List(Deprecated.WifiScan);
+    uiNavigationEventDEPRECATED @50 :Deprecated.UiNavigationEvent;
     liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
-    gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
-    gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
+    gpsPlannerPointsDEPRECATED @40 :Deprecated.GPSPlannerPoints;
+    gpsPlannerPlanDEPRECATED @41 :Deprecated.GPSPlannerPlan;
     applanixRawDEPRECATED @42 :Data;
-    androidGnssDEPRECATED @30 :Legacy.AndroidGnss;
-    lidarPtsDEPRECATED @32 :Legacy.LidarPts;
-    navStatusDEPRECATED @38 :Legacy.NavStatus;
-    trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent);
-    liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData;
-    liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData;
-    navUpdateDEPRECATED @27 :Legacy.NavUpdate;
-    orbObservationDEPRECATED @47 :List(Legacy.OrbObservation);
-    locationDEPRECATED @49 :Legacy.LiveLocationData;
-    orbOdometryDEPRECATED @53 :Legacy.OrbOdometry;
-    orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures;
-    applanixLocationDEPRECATED @55 :Legacy.LiveLocationData;
-    orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame;
-    orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
-    featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
-    kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
-    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
+    androidGnssDEPRECATED @30 :Deprecated.AndroidGnss;
+    lidarPtsDEPRECATED @32 :Deprecated.LidarPts;
+    navStatusDEPRECATED @38 :Deprecated.NavStatus;
+    trafficEventsDEPRECATED @43 :List(Deprecated.TrafficEvent);
+    liveLocationTimingDEPRECATED @44 :Deprecated.LiveLocationData;
+    liveLocationCorrectedDEPRECATED @46 :Deprecated.LiveLocationData;
+    navUpdateDEPRECATED @27 :Deprecated.NavUpdate;
+    orbObservationDEPRECATED @47 :List(Deprecated.OrbObservation);
+    locationDEPRECATED @49 :Deprecated.LiveLocationData;
+    orbOdometryDEPRECATED @53 :Deprecated.OrbOdometry;
+    orbFeaturesDEPRECATED @54 :Deprecated.OrbFeatures;
+    applanixLocationDEPRECATED @55 :Deprecated.LiveLocationData;
+    orbKeyFrameDEPRECATED @56 :Deprecated.OrbKeyFrame;
+    orbFeaturesSummaryDEPRECATED @58 :Deprecated.OrbFeaturesSummary;
+    featuresDEPRECATED @10 :Deprecated.CalibrationFeatures;
+    kalmanOdometryDEPRECATED @65 :Deprecated.KalmanOdometry;
+    uiLayoutStateDEPRECATED @57 :Deprecated.UiLayoutState;
     pandaStateDEPRECATED @12 :PandaState;
-    driverStateDEPRECATED @59 :DriverStateDEPRECATED;
+    driverStateDEPRECATED @59 :Deprecated.DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
-    navModelDEPRECATED @104 :NavModelData;
+    navModelDEPRECATED @104 :Deprecated.NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
     liveLocationKalman @72 :LiveLocationKalman;
-    liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
+    liveTracksDEPRECATED @16 :List(Deprecated.LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
     gyroscope2DEPRECATED @100 :SensorEventData;
     accelerometer2DEPRECATED @101 :SensorEventData;
     temperatureSensor2DEPRECATED @123 :SensorEventData;
+    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
+    gpsNMEADEPRECATED @3 :GPSNMEAData;
+    uploaderStateDEPRECATED @79 :UploaderState;
+    navInstructionDEPRECATED @82 :NavInstruction;
+    navRouteDEPRECATED @83 :NavRoute;
+    navThumbnailDEPRECATED @84 :Thumbnail;
+    gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
+    mapRenderStateDEPRECATED @105: MapRenderState;
   }
 }
diff --git a/cereal/messaging/__init__.py b/openpilot/cereal/messaging/__init__.py
similarity index 75%
rename from cereal/messaging/__init__.py
rename to openpilot/cereal/messaging/__init__.py
index 2c925b4cc4..dcc54baeb0 100644
--- a/cereal/messaging/__init__.py
+++ b/openpilot/cereal/messaging/__init__.py
@@ -7,12 +7,43 @@ import os
 import capnp
 import time
 
-from typing import Optional, List, Union, Dict
+from typing import Union
 
-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage
 
+__all__ = (
+  "NO_TRAVERSAL_LIMIT",
+  "Context",
+  "FrequencyTracker",
+  "IpcError",
+  "MultiplePublishersError",
+  "Poller",
+  "PubMaster",
+  "PubSocket",
+  "SocketEventHandle",
+  "SubMaster",
+  "SubSocket",
+  "delete_fake_prefix",
+  "drain_sock",
+  "drain_sock_raw",
+  "fake_event_handle",
+  "get_fake_prefix",
+  "log_from_bytes",
+  "new_message",
+  "pub_sock",
+  "recv_one",
+  "recv_one_or_none",
+  "recv_one_retry",
+  "recv_sock",
+  "reset_context",
+  "set_fake_prefix",
+  "sub_sock",
+  "toggle_fake_events",
+  "wait_for_one_event",
+)
+
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
@@ -22,8 +53,8 @@ def pub_sock(endpoint: str) -> PubSocket:
   return msgq.pub_sock(endpoint, segment_size)
 
 
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+def sub_sock(endpoint: str, poller: Poller | None = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: int | None = None) -> SubSocket:
   service = SERVICE_LIST.get(endpoint)
   segment_size = service.queue_size if service else 0
   return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
@@ -39,7 +70,7 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
     return msg
 
 
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
   args = {
     'valid': False,
     'logMonoTime': int(time.monotonic() * 1e9),
@@ -54,14 +85,14 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
   return dat
 
 
-def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> list[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
   msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
   return [log_from_bytes(m) for m in msgs]
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_sock(sock: SubSocket, wait: bool = False) -> capnp.lib.capnp._DynamicStructReader | None:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
@@ -82,14 +113,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
   return dat
 
 
-def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive()
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
 
-def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one_or_none(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
     dat = log_from_bytes(dat)
@@ -148,27 +179,27 @@ class FrequencyTracker:
 
 
 class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
-               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+  def __init__(self, services: list[str], poll: str | None = None,
+               ignore_alive: list[str] | None = None, ignore_avg_freq: list[str] | None = None,
+               ignore_valid: list[str] | None = None, addr: str = "127.0.0.1", frequency: float | None = None):
     self.frame = -1
     self.services = services
-    self.seen = {s: False for s in services}
-    self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
+    self.seen = dict.fromkeys(services, False)
+    self.updated = dict.fromkeys(services, False)
+    self.recv_time = dict.fromkeys(services, 0.0)
+    self.recv_frame = dict.fromkeys(services, 0)
     self.sock = {}
     self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
+    self.logMonoTime = dict.fromkeys(services, 0)
 
     # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
     on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.static_freq_services = {s for s in services if not on_demand[s]}
     self.alive = {s: on_demand[s] for s in services}
     self.freq_ok = {s: on_demand[s] for s in services}
     self.valid = {s: on_demand[s] for s in services}
 
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
+    self.freq_tracker: dict[str, FrequencyTracker] = {}
     self.poller = Poller()
     polled_services = set([poll, ] if poll is not None else services)
     self.non_polled_services = set(services) - polled_services
@@ -211,7 +242,7 @@ class SubMaster:
       msgs.append(recv_one_or_none(self.sock[s]))
     self.update_msgs(time.monotonic(), msgs)
 
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+  def update_msgs(self, cur_time: float, msgs: list[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
     self.updated = dict.fromkeys(self.services, False)
     for msg in msgs:
@@ -234,21 +265,21 @@ class SubMaster:
       self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
       self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_alive(self, service_list: list[str] | None = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
 
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_freq_ok(self, service_list: list[str] | None = None) -> bool:
     return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
 
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_valid(self, service_list: list[str] | None = None) -> bool:
     return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
 
-  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_checks(self, service_list: list[str] | None = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
 
 class PubMaster:
-  def __init__(self, services: List[str]):
+  def __init__(self, services: list[str]):
     self.sock = {}
     for s in services:
       self.sock[s] = pub_sock(s)
@@ -259,11 +290,11 @@ class PubMaster:
     self.sock[s].send(dat)
 
   def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    for _ in range(int(timeout*(1./dt))):
-      if self.sock[s].all_readers_updated():
-        return True
-      time.sleep(dt)
-    return False
+    try:
+      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
+      return True
+    except TimeoutError:
+      return False
 
   def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()  # type: ignore
+    return self.sock[s].all_readers_updated()
diff --git a/cereal/messaging/bridge.cc b/openpilot/cereal/messaging/bridge.cc
similarity index 95%
rename from cereal/messaging/bridge.cc
rename to openpilot/cereal/messaging/bridge.cc
index 77823c413a..ee3d5e93ca 100644
--- a/cereal/messaging/bridge.cc
+++ b/openpilot/cereal/messaging/bridge.cc
@@ -1,7 +1,7 @@
 #include <cassert>
 
-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 ExitHandler do_exit;
diff --git a/cereal/messaging/bridge_zmq.cc b/openpilot/cereal/messaging/bridge_zmq.cc
similarity index 98%
rename from cereal/messaging/bridge_zmq.cc
rename to openpilot/cereal/messaging/bridge_zmq.cc
index 5c56673b47..72d4345d03 100644
--- a/cereal/messaging/bridge_zmq.cc
+++ b/openpilot/cereal/messaging/bridge_zmq.cc
@@ -1,4 +1,4 @@
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"
 
 #include <cassert>
 #include <cstring>
diff --git a/cereal/messaging/bridge_zmq.h b/openpilot/cereal/messaging/bridge_zmq.h
similarity index 100%
rename from cereal/messaging/bridge_zmq.h
rename to openpilot/cereal/messaging/bridge_zmq.h
diff --git a/cereal/messaging/messaging.h b/openpilot/cereal/messaging/messaging.h
similarity index 98%
rename from cereal/messaging/messaging.h
rename to openpilot/cereal/messaging/messaging.h
index fb9c261f2b..933e0b9f15 100644
--- a/cereal/messaging/messaging.h
+++ b/openpilot/cereal/messaging/messaging.h
@@ -8,7 +8,7 @@
 
 #include <capnp/serialize.h>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "common/timing.h"
 #include "msgq/ipc.h"
 
diff --git a/cereal/messaging/msgq_to_zmq.cc b/openpilot/cereal/messaging/msgq_to_zmq.cc
similarity index 98%
rename from cereal/messaging/msgq_to_zmq.cc
rename to openpilot/cereal/messaging/msgq_to_zmq.cc
index 5e7ea22273..adea00f923 100644
--- a/cereal/messaging/msgq_to_zmq.cc
+++ b/openpilot/cereal/messaging/msgq_to_zmq.cc
@@ -1,8 +1,8 @@
-#include "cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
 
 #include <cassert>
 
-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
diff --git a/cereal/messaging/msgq_to_zmq.h b/openpilot/cereal/messaging/msgq_to_zmq.h
similarity index 94%
rename from cereal/messaging/msgq_to_zmq.h
rename to openpilot/cereal/messaging/msgq_to_zmq.h
index 64f3a2173e..a34f0ebbf0 100644
--- a/cereal/messaging/msgq_to_zmq.h
+++ b/openpilot/cereal/messaging/msgq_to_zmq.h
@@ -8,7 +8,7 @@
 #include <vector>
 
 #include "msgq/impl_msgq.h"
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"
 
 class MsgqToZmq {
 public:
diff --git a/cereal/messaging/socketmaster.cc b/openpilot/cereal/messaging/socketmaster.cc
similarity index 98%
rename from cereal/messaging/socketmaster.cc
rename to openpilot/cereal/messaging/socketmaster.cc
index dfeeb807ee..dd285a0c8e 100644
--- a/cereal/messaging/socketmaster.cc
+++ b/openpilot/cereal/messaging/socketmaster.cc
@@ -3,8 +3,8 @@
 #include <string>
 #include <mutex>
 
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
+#include "openpilot/cereal/messaging/messaging.h"
 
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
diff --git a/cereal/messaging/tests/__init__.py b/openpilot/cereal/messaging/tests/__init__.py
similarity index 100%
rename from cereal/messaging/tests/__init__.py
rename to openpilot/cereal/messaging/tests/__init__.py
diff --git a/cereal/messaging/tests/test_messaging.py b/openpilot/cereal/messaging/tests/test_messaging.py
similarity index 78%
rename from cereal/messaging/tests/test_messaging.py
rename to openpilot/cereal/messaging/tests/test_messaging.py
index 583eb8b0d8..462f9dc2a7 100644
--- a/cereal/messaging/tests/test_messaging.py
+++ b/openpilot/cereal/messaging/tests/test_messaging.py
@@ -1,16 +1,16 @@
-import os
 import capnp
 import multiprocessing
 import numbers
 import random
 import threading
 import time
-from parameterized import parameterized
-import pytest
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized
 
-from cereal import log, car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 
 events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
 
@@ -23,14 +23,10 @@ def random_socks(num_socks=10):
 def random_bytes(length=1000):
   return bytes([random.randrange(0xFF) for _ in range(length)])
 
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
   msg = messaging.new_message("carState")
   cs = msg.carState
   for f in fields:
@@ -51,17 +47,7 @@ def delayed_send(delay, sock, dat):
   threading.Timer(delay, send_func).start()
 
 
-class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
+class TestMessaging(OpenpilotTestCase):
   @parameterized.expand(events)
   def test_new_message(self, evt):
     try:
@@ -88,7 +74,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
@@ -96,10 +81,11 @@ class TestMessaging:
     assert len(msgs) == 0
 
     # no wait but msgs are queued up
+    pub_sock.send(messaging.new_message(sock).to_bytes())
+    assert sub_sock.receive() is not None  # synchronize the PUB/SUB connection
     num_msgs = random.randrange(3, 10)
     for _ in range(num_msgs):
       pub_sock.send(messaging.new_message(sock).to_bytes())
-    time.sleep(0.1)
     msgs = func(sub_sock)
     assert isinstance(msgs, list)
     assert all(isinstance(msg, expected_type) for msg in msgs)
@@ -109,7 +95,6 @@ class TestMessaging:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
@@ -127,8 +112,7 @@ class TestMessaging:
   def test_recv_one(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
+    sub_sock = messaging.sub_sock(sock, timeout=10)
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
@@ -141,12 +125,10 @@ class TestMessaging:
     assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
@@ -161,19 +143,16 @@ class TestMessaging:
 
   def test_recv_one_retry(self):
     sock = "carState"
-    sock_timeout = 0.1
+    sock_timeout = 0.005
     pub_sock = messaging.pub_sock(sock)
     sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
 
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # wait 5 socket timeouts and make sure it's still retrying
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      p.start()
-      time.sleep(sock_timeout*5)
-      assert p.is_alive()
-      p.terminate()
+    # wait 5 socket timeouts and make sure it's still retrying
+    p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
+    p.start()
+    time.sleep(sock_timeout*5)
+    assert p.is_alive()
+    p.terminate()
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
similarity index 80%
rename from cereal/messaging/tests/test_pub_sub_master.py
rename to openpilot/cereal/messaging/tests/test_pub_sub_master.py
index 5e26b49701..24ee68d4fd 100644
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/openpilot/cereal/messaging/tests/test_pub_sub_master.py
@@ -1,20 +1,16 @@
 import random
 import time
-from typing import Sized, cast
+from typing import cast
+from collections.abc import Sized
 
-import cereal.messaging as messaging
-from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
-                                                  random_bytes, random_carstate, assert_carstate, \
-                                                  zmq_sleep
-from cereal.services import SERVICE_LIST
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
+                                                  random_bytes, random_carstate, assert_carstate
+from openpilot.cereal.services import SERVICE_LIST
 
 
-class TestSubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
+class TestSubMaster(OpenpilotTestCase):
 
   def test_init(self):
     sm = messaging.SubMaster(events)
@@ -42,7 +38,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
@@ -54,7 +49,6 @@ class TestSubMaster:
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
-    zmq_sleep()
 
     for i in range(10):
       msg = messaging.new_message(sock)
@@ -66,17 +60,17 @@ class TestSubMaster:
   def test_update_timeout(self):
     sock = random_sock()
     sm = messaging.SubMaster([sock,])
-    timeout = random.randrange(1000, 3000)
+    timeout = random.randrange(10, 30)
     start_time = time.monotonic()
     sm.update(timeout)
     t = time.monotonic() - start_time
     assert t >= timeout/1000.
-    assert t < 3
+    assert t < 0.1
     assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
-      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
+      sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "extrinsicsCalibration"],
                                poll=("modelV2" if poll else None),
                                frequency=(20. if not poll else None))
 
@@ -84,50 +78,39 @@ class TestSubMaster:
         "carState": (20, 20),
         "modelV2": (20, 20 if poll else 10),
         "cameraOdometry": (20, 10),
-        "liveCalibration": (4, 4),
+        "extrinsicsCalibration": (4, 4),
         "carParams": (None, None),
         "userBookmark": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():
         if max_freq is not None:
+          assert min_freq is not None
           assert sm._check_avg_freq(service)
           assert sm.freq_tracker[service].max_freq == max_freq*1.2
           assert sm.freq_tracker[service].min_freq == min_freq*0.8
         else:
           assert not sm._check_avg_freq(service)
 
-  def test_alive(self):
-    pass
-
-  def test_ignore_alive(self):
-    pass
-
-  def test_valid(self):
-    pass
-
   # SubMaster should always conflate
   def test_conflate(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
     sm = messaging.SubMaster([sock,])
 
+    pub_sock.send(messaging.new_message(sock).to_bytes())
+    sm.update(1000)  # synchronize the PUB/SUB connection
+
     n = 10
     for i in range(n+1):
       msg = messaging.new_message(sock)
       msg.carState.vEgo = i
       pub_sock.send(msg.to_bytes())
-      time.sleep(0.01)
     sm.update(1000)
     assert sm[sock].vEgo == n
 
 
-class TestPubMaster:
-
-  def setup_method(self):
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep(3)
+class TestPubMaster(OpenpilotTestCase):
 
   def test_init(self):
     messaging.PubMaster(events)
@@ -136,7 +119,6 @@ class TestPubMaster:
     socks = random_socks()
     pm = messaging.PubMaster(socks)
     sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
-    zmq_sleep()
 
     # PubMaster accepts either a capnp msg builder or bytes
     for capnp in [True, False]:
diff --git a/openpilot/cereal/messaging/tests/test_services.py b/openpilot/cereal/messaging/tests/test_services.py
new file mode 100644
index 0000000000..f4c1b81e4f
--- /dev/null
+++ b/openpilot/cereal/messaging/tests/test_services.py
@@ -0,0 +1,22 @@
+import subprocess
+import tempfile
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized
+
+import openpilot.cereal.services as services
+from openpilot.cereal.services import SERVICE_LIST
+
+
+class TestServices(OpenpilotTestCase):
+
+  @parameterized.expand(SERVICE_LIST.keys())
+  def test_services(self, s):
+    service = SERVICE_LIST[s]
+    assert service.frequency <= 104
+    assert service.decimation != 0
+
+  def test_generated_header(self):
+    with tempfile.NamedTemporaryFile(suffix=".h") as f:
+      ret = subprocess.run(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11", shell=True).returncode
+      assert ret == 0, "generated services header is not valid C"
diff --git a/openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py b/openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py
new file mode 100755
index 0000000000..543b8b1b3e
--- /dev/null
+++ b/openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py
@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+"""Validate sunnypilot routes are parseable by stock commaai/openpilot.
+
+Cap'n Proto is wire-compatible across renames, type relocations, and
+additive fields. The only breaking change is a union variant that
+upstream doesn't recognize — an unknown discriminant makes the entire
+union unreadable.
+
+This script checks: for every struct with a union that exists in both
+schemas, does sunnypilot introduce union variants upstream doesn't have?
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+from typing import Any
+
+NO_DISCRIMINANT = 0xFFFF
+
+
+def hex_id(value: int) -> str:
+  return f"0x{value:016x}"
+
+
+def encode_struct(schema: Any) -> dict:
+  node = schema.node
+  fields = []
+  for name, field in schema.fields.items():
+    proto = field.proto
+    ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
+    discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+    fields.append({"name": name, "ordinal": ordinal, "discriminant": discriminant})
+  return {
+    "typeId": hex_id(node.id),
+    "displayName": node.displayName,
+    "hasUnion": node.struct.discriminantCount > 0,
+    "fields": fields,
+  }
+
+
+def _child_struct_schema(field: Any) -> Any:
+  proto = field.proto
+  if proto.which() == "group":
+    return field.schema
+  type_node = proto.slot.type
+  which = type_node.which()
+  if which == "struct":
+    return field.schema
+  if which == "list":
+    container = field.schema
+    element_type = type_node.list.elementType
+    while element_type.which() == "list":
+      container = container.elementType
+      element_type = element_type.list.elementType
+    if element_type.which() == "struct":
+      return container.elementType
+  return None
+
+
+def collect_schema(root: Any) -> dict[str, dict]:
+  structs: dict[str, dict] = {}
+  stack = [root]
+  while stack:
+    schema = stack.pop()
+    type_id = hex_id(schema.node.id)
+    if type_id in structs:
+      continue
+    structs[type_id] = encode_struct(schema)
+    for _name, field in schema.fields.items():
+      try:
+        child = _child_struct_schema(field)
+      except Exception:
+        child = None
+      if child is not None:
+        stack.append(child)
+  return structs
+
+
+def load_log(cereal_dir: str, extra_imports: list[str] | None = None) -> Any:
+  import capnp
+  cereal_dir = os.path.abspath(cereal_dir)
+  capnp.remove_import_hook()
+  imports = [cereal_dir] + [os.path.abspath(p) for p in (extra_imports or [])]
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=imports)
+
+
+def dump_schema(cereal_dir: str, path: str, extra_imports: list[str] | None = None) -> None:
+  log = load_log(cereal_dir, extra_imports)
+  payload = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  with open(path, "w", encoding="utf-8") as handle:
+    json.dump(payload, handle, indent=2, sort_keys=True)
+  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
+
+
+def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
+  violations: list[str] = []
+  sunnypilot_structs = sunnypilot_dump["structs"]
+  upstream_structs = upstream_dump["structs"]
+
+  for type_id, sp_struct in sunnypilot_structs.items():
+    if not sp_struct["hasUnion"]:
+      continue
+    up_struct = upstream_structs.get(type_id)
+    if up_struct is None:
+      continue
+
+    up_ordinals = {f["ordinal"] for f in up_struct["fields"] if f.get("discriminant") is not None}
+    display = sp_struct["displayName"]
+
+    for field in sp_struct["fields"]:
+      if field.get("discriminant") is None:
+        continue
+      if field["ordinal"] not in up_ordinals:
+        violations.append(
+          f"{display} @{field['ordinal']} '{field['name']}': "
+          f"union variant not present upstream (discriminant={field['discriminant']})"
+        )
+
+  return violations
+
+
+def run_read(cereal_dir: str, peer_path: str, extra_imports: list[str] | None = None) -> int:
+  log = load_log(cereal_dir, extra_imports)
+  with open(peer_path, "r", encoding="utf-8") as f:
+    peer_dump = json.load(f)
+  local_dump = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
+
+  if not violations:
+    print("cereal compat OK: upstream can parse sunnypilot routes.")
+    return 0
+
+  print(f"cereal compat FAIL ({len(violations)} leaked union variant(s)):")
+  for v in violations:
+    print(f"  {v}")
+  return 1
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="sunnypilot cereal upstream compat check")
+  mode = parser.add_mutually_exclusive_group(required=True)
+  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
+  mode.add_argument("-r", "--read", action="store_true", help="validate against peer schema")
+  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory")
+  parser.add_argument("-I", "--import-path", action="append", default=[], help="extra capnp import paths")
+  args = parser.parse_args()
+
+  if args.generate:
+    dump_schema(args.cereal_dir, args.file, args.import_path)
+    return 0
+  return run_read(args.cereal_dir, args.file, args.import_path)
+
+
+if __name__ == "__main__":
+  sys.exit(main())
diff --git a/cereal/services.py b/openpilot/cereal/services.py
similarity index 72%
rename from cereal/services.py
rename to openpilot/cereal/services.py
index a2fd5f7dce..ed718506f3 100755
--- a/cereal/services.py
+++ b/openpilot/cereal/services.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from enum import IntEnum
-from typing import Optional
 
 
 # TODO: this should be automatically determined using the capnp schema
@@ -11,7 +10,7 @@ class QueueSize(IntEnum):
 
 
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+  def __init__(self, should_log: bool, frequency: float, decimation: int | None = None,
                queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
@@ -24,11 +23,9 @@ _services: dict[str, tuple] = {
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
   "accelerometer": (True, 104., 104),
-  "magnetometer": (True, 25.),
-  "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
-  "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
+  "chestnutState": (True, 10., 10),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10, QueueSize.MEDIUM),
@@ -36,37 +33,37 @@ _services: dict[str, tuple] = {
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
-  "liveTracks": (True, 20.),
+  "narrowRoadEncodeIdx": (False, 20., 1),
+  "radarTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0.),
-  "errorLogMessage": (True, 0., 1),
-  "liveCalibration": (True, 4., 4),
-  "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
-  "androidLog": (True, 0.),
+  "logMessage": (True, 0., None, QueueSize.BIG),
+  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
+  "extrinsicsCalibration": (True, 4., 4),
+  "lateralTorqueParameters": (True, 4., 1),
+  "lateralDelay": (True, 4., 1),
+  "operatingSystemLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
+  "lateralManeuverPlan": (True, 20.),
   "driverAssistance": (True, 20., 20),
   "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "livePose": (True, 20., 4),
-  "liveParameters": (True, 20., 5),
+  "deviceMotion": (True, 20., 4),
+  "vehicleParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 1 / 60., 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
-  "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 1),
+  "narrowRoadCameraState": (True, 20., 20),
+  "cabinCameraState": (True, 20., 20),
+  "cabinEncodeIdx": (False, 20., 1),
   "driverStateV2": (True, 20., 10),
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
@@ -74,20 +71,15 @@ _services: dict[str, tuple] = {
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
-  "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 1., 10),
-  "navRoute": (True, 0.),
-  "navThumbnail": (True, 0.),
-  "qRoadEncodeIdx": (False, 20.),
+  "qNarrowRoadEncodeIdx": (False, 20.),
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),
-  "roadEncodeData": (False, 20., None, QueueSize.BIG),
-  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "narrowRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "cabinEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
-  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qNarrowRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # sunnypilot
   "modelManagerSP": (False, 1., 1, QueueSize.BIG),
@@ -107,14 +99,12 @@ _services: dict[str, tuple] = {
   "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
   "livestreamWideRoadEncodeIdx": (False, 20.),
-  "livestreamRoadEncodeIdx": (False, 20.),
-  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamNarrowRoadEncodeIdx": (False, 20.),
+  "livestreamCabinEncodeIdx": (False, 20.),
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamNarrowRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamCabinEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
-  "customReservedRawData1": (True, 0.),
-  "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}
@@ -134,8 +124,7 @@ def build_header():
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation, v.queue_size)
+    h += f'  {{ "{k}", {{"{k}", {should_log}, {v.frequency:f}, {decimation:d}, {v.queue_size:d}}}}},\n'
   h += "};\n"
 
   h += "#endif\n"
diff --git a/openpilot/cereal/visionipc.py b/openpilot/cereal/visionipc.py
new file mode 100644
index 0000000000..74439babb9
--- /dev/null
+++ b/openpilot/cereal/visionipc.py
@@ -0,0 +1,8 @@
+from enum import IntEnum
+
+
+class VisionStreamType(IntEnum):
+  VISION_STREAM_NARROW_ROAD = 0
+  VISION_STREAM_CABIN = 1
+  VISION_STREAM_WIDE_ROAD = 2
+  VISION_STREAM_MAP = 3
diff --git a/openpilot/cereal/visionstream.h b/openpilot/cereal/visionstream.h
new file mode 100644
index 0000000000..adaff7b477
--- /dev/null
+++ b/openpilot/cereal/visionstream.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include "msgq/visionipc/visionbuf.h"
+
+enum VisionStreamValues : VisionStreamType {
+  VISION_STREAM_NARROW_ROAD = 0,
+  VISION_STREAM_CABIN = 1,
+  VISION_STREAM_WIDE_ROAD = 2,
+  VISION_STREAM_MAP = 3,
+};
diff --git a/openpilot/common b/openpilot/common
deleted file mode 120000
index 60d3b0a6a8..0000000000
--- a/openpilot/common
+++ /dev/null
@@ -1 +0,0 @@
-../common
\ No newline at end of file
diff --git a/openpilot/common/SConscript b/openpilot/common/SConscript
new file mode 100644
index 0000000000..4e06ae88a1
--- /dev/null
+++ b/openpilot/common/SConscript
@@ -0,0 +1,19 @@
+Import('env')
+
+common_libs = [
+  'params.cc',
+  'swaglog.cc',
+  'util.cc',
+  'ratekeeper.cc',
+  'yuv.cc',
+]
+
+_common = env.Library('common', common_libs, LIBS="json11")
+Export('_common')
+
+params_python = env.SharedLibrary('params_c', 'params_c.cc', LIBS=[_common, 'zmq', 'json11'])
+common_python = [params_python]
+Export('common_python')
+
+if GetOption('extras'):
+  env.Program('tests/test_swaglog', 'tests/test_swaglog.cc', LIBS=[_common, 'json11', 'zmq', 'pthread'])
diff --git a/common/__init__.py b/openpilot/common/__init__.py
similarity index 100%
rename from common/__init__.py
rename to openpilot/common/__init__.py
diff --git a/common/api/__init__.py b/openpilot/common/api/__init__.py
similarity index 100%
rename from common/api/__init__.py
rename to openpilot/common/api/__init__.py
diff --git a/common/api/base.py b/openpilot/common/api/base.py
similarity index 95%
rename from common/api/base.py
rename to openpilot/common/api/base.py
index 5cb59347ad..32dd5a1ed7 100644
--- a/common/api/base.py
+++ b/openpilot/common/api/base.py
@@ -3,8 +3,8 @@ import os
 import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.version import get_version
 
 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",
@@ -38,6 +38,7 @@ class BaseApi:
     }
     if payload_extra is not None:
       payload.update(payload_extra)
+    assert self.private_key is not None
     token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
     if isinstance(token, bytes):
       token = token.decode('utf8')
diff --git a/common/api/comma_connect.py b/openpilot/common/api/comma_connect.py
similarity index 100%
rename from common/api/comma_connect.py
rename to openpilot/common/api/comma_connect.py
diff --git a/common/basedir.py b/openpilot/common/basedir.py
similarity index 71%
rename from common/basedir.py
rename to openpilot/common/basedir.py
index 6b4811e53c..49b092d930 100644
--- a/common/basedir.py
+++ b/openpilot/common/basedir.py
@@ -1,4 +1,4 @@
 import os
 
 
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../.."))
diff --git a/common/constants.py b/openpilot/common/constants.py
similarity index 100%
rename from common/constants.py
rename to openpilot/common/constants.py
diff --git a/openpilot/common/esim/__init__.py b/openpilot/common/esim/__init__.py
new file mode 100644
index 0000000000..5f83412c07
--- /dev/null
+++ b/openpilot/common/esim/__init__.py
@@ -0,0 +1,3 @@
+from openpilot.common.esim.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+
+__all__ = ["LPABase", "LPAError", "LPAProfileNotFoundError", "Profile"]
diff --git a/openpilot/common/esim/base.py b/openpilot/common/esim/base.py
new file mode 100644
index 0000000000..b783a630b2
--- /dev/null
+++ b/openpilot/common/esim/base.py
@@ -0,0 +1,55 @@
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+
+
+class LPAError(RuntimeError):
+  pass
+
+
+class LPAProfileNotFoundError(LPAError):
+  pass
+
+
+@dataclass
+class Profile:
+  iccid: str
+  nickname: str
+  enabled: bool
+  provider: str
+
+  @property
+  def is_comma(self) -> bool:
+    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+
+
+class LPABase(ABC):
+  @abstractmethod
+  def list_profiles(self) -> list[Profile]:
+    pass
+
+  @abstractmethod
+  def get_active_profile(self) -> Profile | None:
+    pass
+
+  @abstractmethod
+  def delete_profile(self, iccid: str) -> None:
+    pass
+
+  @abstractmethod
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    pass
+
+  @abstractmethod
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    pass
+
+  @abstractmethod
+  def switch_profile(self, iccid: str) -> None:
+    pass
+
+  def process_notifications(self) -> None:
+    pass
+
+  @abstractmethod
+  def is_euicc(self) -> bool:
+    pass
diff --git a/openpilot/common/esim/esim.py b/openpilot/common/esim/esim.py
new file mode 100755
index 0000000000..1a05fbe85d
--- /dev/null
+++ b/openpilot/common/esim/esim.py
@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+
+import argparse
+import sys
+import time
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.esim.base import LPABase, Profile
+
+
+def sorted_profiles(lpa: LPABase) -> list[Profile]:
+  return sorted(lpa.list_profiles(), key=lambda p: p.iccid)
+
+
+def resolve_iccid(lpa: LPABase, ref: str) -> str:
+  # ref is either a 1-based index into the sorted list, or a literal iccid
+  if ref.isdigit():
+    profiles = sorted_profiles(lpa)
+    idx = int(ref) - 1
+    if not 0 <= idx < len(profiles):
+      raise SystemExit(f'no profile at index {ref} (have {len(profiles)})')
+    return profiles[idx].iccid
+  return ref
+
+
+def print_profiles(lpa: LPABase) -> None:
+  profiles = sorted_profiles(lpa)
+  print(f'\n{len(profiles)} profile{"s" if len(profiles) != 1 else ""}:')
+  for i, p in enumerate(profiles, start=1):
+    print(f'{i}. {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
+
+
+def execute_and_process_notifications(lpa: LPABase, operation) -> None:
+  try:
+    operation()
+  finally:
+    time.sleep(1)  # Need to wait for 1s after the operation is finished so the eUICC/modem can settle down.
+    try:
+      lpa.process_notifications()
+    except Exception as e:
+      print(f'failed to process eSIM notifications: {e}', file=sys.stderr)
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
+  sub = parser.add_subparsers(dest='cmd')
+
+  sub.add_parser('list', help='list profiles')
+
+  p_switch = sub.add_parser('switch', help='switch to profile')
+  p_switch.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_delete = sub.add_parser('delete', help='delete profile (warning: this cannot be undone)')
+  p_delete.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_download = sub.add_parser('download', help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
+  p_download.add_argument('qr')
+  p_download.add_argument('name')
+
+  p_nickname = sub.add_parser('nickname', help='update the nickname for a profile')
+  p_nickname.add_argument('profile', help='iccid or 1-based index from `list`')
+  p_nickname.add_argument('name')
+
+  args = parser.parse_args()
+
+  lpa = HARDWARE.get_sim_lpa()
+  if not lpa.is_euicc():
+    raise SystemExit("no eUICC detected")
+  if args.cmd == 'switch':
+    iccid = resolve_iccid(lpa, args.profile)
+    execute_and_process_notifications(lpa, lambda: lpa.switch_profile(iccid))
+  elif args.cmd == 'delete':
+    iccid = resolve_iccid(lpa, args.profile)
+    confirm = input(f'are you sure you want to delete profile {iccid}? (y/N) ')
+    if confirm == 'y':
+      execute_and_process_notifications(lpa, lambda: lpa.delete_profile(iccid))
+    else:
+      print('cancelled')
+      exit(0)
+  elif args.cmd == 'download':
+    execute_and_process_notifications(lpa, lambda: lpa.download_profile(args.qr, args.name))
+  elif args.cmd == 'nickname':
+    lpa.nickname_profile(resolve_iccid(lpa, args.profile), args.name)
+  else:
+    if args.cmd is None:
+      parser.print_help()
+    print_profiles(lpa)
diff --git a/openpilot/common/esim/gsma_ci_bundle.pem b/openpilot/common/esim/gsma_ci_bundle.pem
new file mode 100644
index 0000000000..3ee7fd1252
--- /dev/null
+++ b/openpilot/common/esim/gsma_ci_bundle.pem
@@ -0,0 +1,133 @@
+# GSMA Certificate Issuer (CI) bundle for eSIM RSP
+# Source: https://euicc-manual.osmocom.org/docs/pki/ci/bundle.pem
+
+issuer=
+    countryName = CH
+    organizationName = OISTE Foundation
+    commonName = OISTE GSMA CI G1
+notBefore=2024-01-16 23:17:39Z
+notAfter=2059-01-07 23:17:38Z
+-----BEGIN CERTIFICATE-----
+MIIB9zCCAZ2gAwIBAgIUSpBSCCDYPOEG/IFHUCKpZ2pIAQMwCgYIKoZIzj0EAwIw
+QzELMAkGA1UEBhMCQ0gxGTAXBgNVBAoMEE9JU1RFIEZvdW5kYXRpb24xGTAXBgNV
+BAMMEE9JU1RFIEdTTUEgQ0kgRzEwIBcNMjQwMTE2MjMxNzM5WhgPMjA1OTAxMDcy
+MzE3MzhaMEMxCzAJBgNVBAYTAkNIMRkwFwYDVQQKDBBPSVNURSBGb3VuZGF0aW9u
+MRkwFwYDVQQDDBBPSVNURSBHU01BIENJIEcxMFkwEwYHKoZIzj0CAQYIKoZIzj0D
+AQcDQgAEvZ3s3PFC4NgrCcCMmHJ6DJ66uzAHuLcvjJnOn+TtBNThS7YHLDyHCa2v
+7D+zTP+XTtgqgcLoB56Gha9EQQQ4xKNtMGswDwYDVR0TAQH/BAUwAwEB/zAQBgNV
+HREECTAHiAVghXQFDjAXBgNVHSABAf8EDTALMAkGB2eBEgECAQAwHQYDVR0OBBYE
+FEwnlnrSDBSzkelgHkHmBK1XwCIvMA4GA1UdDwEB/wQEAwIBBjAKBggqhkjOPQQD
+AgNIADBFAiBVcywTj017jKpAQ+gwy4MqK2hQvzve6lkvQkgSP6ykHwIhAI0KFwCD
+jnPbmcJsG41hUrWNlf+IcrMvFuYii0DasBNi
+-----END CERTIFICATE-----
+issuer=
+    organizationName = GSM Association
+    commonName = GSM Association - RSP2 Root CI1
+notBefore=2017-02-22 00:00:00Z
+notAfter=2052-02-21 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICSTCCAe+gAwIBAgIQbmhWeneg7nyF7hg5Y9+qejAKBggqhkjOPQQDAjBEMRgw
+FgYDVQQKEw9HU00gQXNzb2NpYXRpb24xKDAmBgNVBAMTH0dTTSBBc3NvY2lhdGlv
+biAtIFJTUDIgUm9vdCBDSTEwIBcNMTcwMjIyMDAwMDAwWhgPMjA1MjAyMjEyMzU5
+NTlaMEQxGDAWBgNVBAoTD0dTTSBBc3NvY2lhdGlvbjEoMCYGA1UEAxMfR1NNIEFz
+c29jaWF0aW9uIC0gUlNQMiBSb290IENJMTBZMBMGByqGSM49AgEGCCqGSM49AwEH
+A0IABJ1qutL0HCMX52GJ6/jeibsAqZfULWj/X10p/Min6seZN+hf5llovbCNuB2n
+unLz+O8UD0SUCBUVo8e6n9X1TuajgcAwgb0wDgYDVR0PAQH/BAQDAgEGMA8GA1Ud
+EwEB/wQFMAMBAf8wEwYDVR0RBAwwCogIKwYBBAGC6WAwFwYDVR0gAQH/BA0wCzAJ
+BgdngRIBAgEAME0GA1UdHwRGMEQwQqBAoD6GPGh0dHA6Ly9nc21hLWNybC5zeW1h
+dXRoLmNvbS9vZmZsaW5lY2EvZ3NtYS1yc3AyLXJvb3QtY2kxLmNybDAdBgNVHQ4E
+FgQUgTcPUSXQsdQI1MOyMubSXnlb6/swCgYIKoZIzj0EAwIDSAAwRQIgIJdYsOMF
+WziPK7l8nh5mu0qiRiVf25oa9ullG/OIASwCIQDqCmDrYf+GziHXBOiwJwnBaeBO
+aFsiLzIEOaUuZwdNUw==
+-----END CERTIFICATE-----
+issuer=
+    countryName = US
+    organizationName = Entrust, Inc.
+    organizationalUnitName = See www.entrust.net/legal-terms
+    organizationalUnitName = (c) 2016 Entrust, Inc. - for authorized use only
+    commonName = Entrust eSIM Certification Authority
+notBefore=2016-11-16 16:04:02Z
+notAfter=2051-10-16 16:34:02Z
+-----BEGIN CERTIFICATE-----
+MIIC6DCCAo2gAwIBAgIRAIy4GT7M5nHsAAAAAFgsinowCgYIKoZIzj0EAwIwgbkx
+CzAJBgNVBAYTAlVTMRYwFAYDVQQKEw1FbnRydXN0LCBJbmMuMSgwJgYDVQQLEx9T
+ZWUgd3d3LmVudHJ1c3QubmV0L2xlZ2FsLXRlcm1zMTkwNwYDVQQLEzAoYykgMjAx
+NiBFbnRydXN0LCBJbmMuIC0gZm9yIGF1dGhvcml6ZWQgdXNlIG9ubHkxLTArBgNV
+BAMTJEVudHJ1c3QgZVNJTSBDZXJ0aWZpY2F0aW9uIEF1dGhvcml0eTAgFw0xNjEx
+MTYxNjA0MDJaGA8yMDUxMTAxNjE2MzQwMlowgbkxCzAJBgNVBAYTAlVTMRYwFAYD
+VQQKEw1FbnRydXN0LCBJbmMuMSgwJgYDVQQLEx9TZWUgd3d3LmVudHJ1c3QubmV0
+L2xlZ2FsLXRlcm1zMTkwNwYDVQQLEzAoYykgMjAxNiBFbnRydXN0LCBJbmMuIC0g
+Zm9yIGF1dGhvcml6ZWQgdXNlIG9ubHkxLTArBgNVBAMTJEVudHJ1c3QgZVNJTSBD
+ZXJ0aWZpY2F0aW9uIEF1dGhvcml0eTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IA
+BAdzwGHeQ1Wb2f4DmHTByR5/IWL3JugQ1U3908a++bHdlt+TTA7K4c5cYZ+51Yz/
+hg/bacxguPDh9uQUK6Wg3a6jcjBwMA8GA1UdEwEB/wQFMAMBAf8wDgYDVR0PAQH/
+BAQDAgEGMBcGA1UdIAEB/wQNMAswCQYHZ4ESAQIBADAVBgNVHREEDjAMiApghkgB
+hvpsFAoAMB0GA1UdDgQWBBQWcEt/NR42B/GMS3AAXDoAPf1BSjAKBggqhkjOPQQD
+AgNJADBGAiEAspjXMvaBZyAg86Z0AAtT0yBRAi1EyaAfNz9kDJeAE04CIQC3efj8
+ATL7/tDBOhANy3cK8PS/1NIlu9vqMLCZsZvJ0Q==
+-----END CERTIFICATE-----
+issuer=
+    countryName = FR
+    organizationName = OBERTHUR TECHNOLOGIES
+    organizationalUnitName = TELECOM
+    commonName = MC4 OT ROOT CI v1
+notBefore=2016-11-15 00:00:01Z
+notAfter=2046-11-08 23:59:59Z
+-----BEGIN CERTIFICATE-----
+MIICOjCCAeGgAwIBAgIBATAKBggqhkjOPQQDAjBbMQswCQYDVQQGEwJGUjEeMBwG
+A1UEChMVT0JFUlRIVVIgVEVDSE5PTE9HSUVTMRAwDgYDVQQLEwdURUxFQ09NMRow
+GAYDVQQDExFNQzQgT1QgUk9PVCBDSSB2MTAeFw0xNjExMTUwMDAwMDFaFw00NjEx
+MDgyMzU5NTlaMFsxCzAJBgNVBAYTAkZSMR4wHAYDVQQKExVPQkVSVEhVUiBURUNI
+Tk9MT0dJRVMxEDAOBgNVBAsTB1RFTEVDT00xGjAYBgNVBAMTEU1DNCBPVCBST09U
+IENJIHYxMFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAEHb/Gajt3OZxuaDSklBQE
+D4lOd6PGPLSvtfkM952ubdyy45tJwAeA0eEii0CLrFT6tcfXkW+H/5mQyMRXaAUk
+T6OBlTCBkjAfBgNVHSMEGDAWgBTNbmC3LXoGPLyEYluR6A/jBAbhPjAdBgNVHQ4E
+FgQUzW5gty16Bjy8hGJbkegP4wQG4T4wDgYDVR0PAQH/BAQDAgAGMBcGA1UdIAEB
+/wQNMAswCQYHZ4ESAQIBADAWBgNVHREEDzANiAsrBgEEAYHvb7OITTAPBgNVHRMB
+Af8EBTADAQH/MAoGCCqGSM49BAMCA0cAMEQCIEw4Nc7f2fDtoH+6ON/bknfDQxmT
+ikThXjhpLtSrSKN2AiAxHxgC87L0FDnH8dJNlkdGX9c0JIx6oLheIplfS6k+jg==
+-----END CERTIFICATE-----
+issuer=
+    commonName =  SubMan V4.2 CI Google Pixel
+    organizationName = Giesecke and Devrient GmbH
+    organizationalUnitName = Mobile Security
+    countryName = DE
+notBefore=2017-05-10 00:00:00Z
+notAfter=2027-05-10 00:00:00Z
+-----BEGIN CERTIFICATE-----
+MIICaTCCAg6gAwIBAgICASwwCgYIKoZIzj0EAwIwczElMCMGA1UEAxMcIFN1Yk1h
+biBWNC4yIENJIEdvb2dsZSBQaXhlbDEjMCEGA1UEChMaR2llc2Vja2UgYW5kIERl
+dnJpZW50IEdtYkgxGDAWBgNVBAsTD01vYmlsZSBTZWN1cml0eTELMAkGA1UEBhMC
+REUwHhcNMTcwNTEwMDAwMDAwWhcNMjcwNTEwMDAwMDAwWjBzMSUwIwYDVQQDExwg
+U3ViTWFuIFY0LjIgQ0kgR29vZ2xlIFBpeGVsMSMwIQYDVQQKExpHaWVzZWNrZSBh
+bmQgRGV2cmllbnQgR21iSDEYMBYGA1UECxMPTW9iaWxlIFNlY3VyaXR5MQswCQYD
+VQQGEwJERTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IABHNorfaJsGzqWNawyAhl
+IAv9QL2/+b9RsUoso06t/dKX1MRr5CUJ51acvv5TAFhQKIml+dwLbFnV5aO+8W6Z
+wxajgZEwgY4wHwYDVR0jBBgwFoAUtg8LiX/WMLiM/tYWH46oCMU4KsMwHQYDVR0O
+BBYEFLYPC4l/1jC4jP7WFh+OqAjFOCrDMA4GA1UdDwEB/wQEAwIBBjAXBgNVHSAB
+Af8EDTALMAkGB2eBEgECAQAwDwYDVR0TAQH/BAUwAwEB/zASBgNVHREECzAJiAcr
+BgEEAdwPMAoGCCqGSM49BAMCA0kAMEYCIQDpoZcuAQrjATW8U+AWqMUJ0dY6nWW1
+R1QmFzVZ1yMXSwIhALCvRqkCtgiavdeFeSgsSNbY5Fhd+QoCltuSh1U4TE7A
+-----END CERTIFICATE-----
+issuer=
+    countryName = DE
+    commonName = SubMan V4.2 CI
+    organizationName = Giesecke and Devrient
+    organizationalUnitName = Mobile Security
+notBefore=2016-08-12 13:51:48Z
+notAfter=2026-08-12 13:51:48Z
+-----BEGIN CERTIFICATE-----
+MIICUjCCAfigAwIBAgIDQgAAMAoGCCqGSM49BAMCMGAxCzAJBgNVBAYTAkRFMRcw
+FQYDVQQDEw5TdWJNYW4gVjQuMiBDSTEeMBwGA1UEChMVR2llc2Vja2UgYW5kIERl
+dnJpZW50MRgwFgYDVQQLEw9Nb2JpbGUgU2VjdXJpdHkwHhcNMTYwODEyMTM1MTQ4
+WhcNMjYwODEyMTM1MTQ4WjBgMQswCQYDVQQGEwJERTEXMBUGA1UEAxMOU3ViTWFu
+IFY0LjIgQ0kxHjAcBgNVBAoTFUdpZXNlY2tlIGFuZCBEZXZyaWVudDEYMBYGA1UE
+CxMPTW9iaWxlIFNlY3VyaXR5MFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAEYIgl
+VQr9wbXOlwPp8qMg5Df08Cli9Mc+lpr3Lwa9PlVA3QWlLeX4GfD4H3phLBqVIa17
+yHttmtheTxi0KoEqhKOBoDCBnTAdBgNVHQ4EFgQU6lOt7zMpuVCa/XVf1Ei4LcG8
+7P8wDgYDVR0PAQH/BAQDAgEGMBcGA1UdIAEB/wQNMAswCQYHZ4ESAQIBADAPBgNV
+HRMBAf8EBTADAQH/MBIGA1UdEQQLMAmIBysGAQQB3A8wLgYDVR0fBCcwJTAjoCGg
+H4YdaHR0cDovL2dpLWRlLmNvbS90ZXN0LmNybC5wZW0wCgYIKoZIzj0EAwIDSAAw
+RQIhAMMx2L/VHDiOW+Fl/OuFmhCdizYM17Yn9zAVieKO2T0iAiANWtCMmY+DzkqK
+yHxBFX0U2tBd682zP4DpgRt8j3Ylew==
+-----END CERTIFICATE-----
diff --git a/openpilot/common/esim/lpa.py b/openpilot/common/esim/lpa.py
new file mode 100644
index 0000000000..fb128c32e1
--- /dev/null
+++ b/openpilot/common/esim/lpa.py
@@ -0,0 +1,791 @@
+# SGP.22 v2.3: https://www.gsma.com/solutions-and-impact/technologies/esim/wp-content/uploads/2021/07/SGP.22-v2.3.pdf
+
+import atexit
+import base64
+import fcntl
+import hashlib
+import os
+import requests
+import subprocess
+import sys
+import termios
+import time
+
+from collections.abc import Callable, Generator
+from contextlib import contextmanager
+from typing import Any
+
+from pathlib import Path
+
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.common.esim.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+from openpilot.common.serial import Serial, SerialException
+
+GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")
+
+DEFAULT_DEVICE = "/dev/modem_at0"
+DEFAULT_BAUD = 9600
+DEFAULT_TIMEOUT = 5.0
+# https://euicc-manual.osmocom.org/docs/lpa/applet-id/
+ISDR_AID = "A0000005591010FFFFFFFF8900000100"
+ES10X_MSS = 120
+HTTP_TIMEOUT = 30
+OPEN_ISDR_RETRIES = 10
+OPEN_ISDR_RETRY_DELAY_S = 0.25
+OPEN_ISDR_RESET_ATTEMPT = 5
+SEND_APDU_RETRIES = 3
+LOCK_FILE = '/dev/shm/modem.lock'
+DEBUG = os.environ.get("DEBUG") == "1"
+
+
+# TLV Tags
+TAG_ICCID = 0x5A
+TAG_STATUS = 0x80
+TAG_EUICC_INFO = 0xBF20
+TAG_PREPARE_DOWNLOAD = 0xBF21
+TAG_BPP_COMMAND = 0xBF23
+TAG_PROFILE_METADATA = 0xBF25
+TAG_INSTALL_RESULT_DATA = 0xBF27
+TAG_LIST_NOTIFICATION = 0xBF28
+TAG_SET_NICKNAME = 0xBF29
+TAG_RETRIEVE_NOTIFICATION = 0xBF2B
+TAG_PROFILE_INFO_LIST = 0xBF2D
+TAG_EUICC_CHALLENGE = 0xBF2E
+TAG_NOTIFICATION_METADATA = 0xBF2F
+TAG_NOTIFICATION_SENT = 0xBF30
+TAG_ENABLE_PROFILE = 0xBF31
+TAG_DELETE_PROFILE = 0xBF33
+TAG_BPP = 0xBF36
+TAG_PROFILE_INSTALL_RESULT = 0xBF37
+TAG_AUTH_SERVER = 0xBF38
+TAG_CANCEL_SESSION = 0xBF41
+TAG_OK = 0xA0
+
+PROFILE_OK = 0x00
+PROFILE_NOT_IN_DISABLED_STATE = 0x02
+PROFILE_CAT_BUSY = 0x05
+
+PROFILE_ERROR_CODES = {
+  0x01: "iccidOrAidNotFound", PROFILE_NOT_IN_DISABLED_STATE: "profileNotInDisabledState",
+  0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling",
+  PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError",
+}
+AUTH_SERVER_ERROR_CODES = {
+  0x01: "eUICCVerificationFailed", 0x02: "eUICCCertificateExpired",
+  0x03: "eUICCCertificateRevoked", 0x05: "invalidServerSignature",
+  0x06: "euiccCiPKUnknown", 0x0A: "matchingIdRefused",
+  0x10: "insufficientMemory",
+}
+BPP_COMMAND_NAMES = {
+  0: "initialiseSecureChannel", 1: "configureISDP", 2: "storeMetadata",
+  3: "storeMetadata2", 4: "replaceSessionKeys", 5: "loadProfileElements",
+}
+BPP_ERROR_REASONS = {
+  1: "incorrectInputValues", 2: "invalidSignature", 3: "invalidTransactionId",
+  4: "unsupportedCrtValues", 5: "unsupportedRemoteOperationType",
+  6: "unsupportedProfileClass", 7: "scp03tStructureError", 8: "scp03tSecurityError",
+  9: "iccidAlreadyExistsOnEuicc", 10: "insufficientMemoryForProfile",
+  11: "installInterrupted", 12: "peProcessingError", 13: "dataMismatch",
+  14: "invalidNAA",
+}
+BPP_ERROR_MESSAGES = {
+  9: "This eSIM profile is already installed on this device.",
+  10: "Not enough memory on the eUICC to install this profile.",
+  12: "Profile installation failed. The QR code may have already been used.",
+}
+
+# SGP.22 §5.2.6 SM-DP+ reason/subject codes mapped to user-friendly messages
+ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
+  ('3.8', '8.2.6'): "This eSIM profile is already installed on another device. Please use a new QR code.",
+  ('3.8', '8.2.1'): "This eSIM profile has expired. Please request a new QR code.",
+  ('3.8', '8.1'): "The SM-DP+ server refused this request.",
+  ('3.1', '8.2.6'): "This eSIM profile has been revoked by the carrier.",
+  ('3.9', '8.2.6'): "This eSIM profile download has already been completed.",
+  ('2.1', '8.8'): "The device is not compatible with this eSIM profile.",
+  ('1.2', '8.1'): "The SM-DP+ server is temporarily unavailable. Try again later.",
+}
+
+NOTIFICATION_OPERATIONS = {0x80: "install", 0x40: "enable", 0x20: "disable", 0x10: "delete"}
+
+STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
+ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
+CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}
+
+# TLV tag -> (field_name, decoder)
+FieldMap = dict[int, tuple[str, Callable[[bytes], Any]]]
+
+
+def b64e(data: bytes) -> str:
+  return base64.b64encode(data).decode("ascii")
+
+
+def base64_trim(s: str) -> str:
+  return "".join(c for c in s if c not in "\n\r \t")
+
+
+def b64d(s: str) -> bytes:
+  return base64.b64decode(base64_trim(s))
+
+
+class AtClient:
+  def __init__(self, device: str, baud: int, timeout: float) -> None:
+    self.channel: str | None = None
+    self._device = device
+    self._baud = baud
+    self._timeout = timeout
+    self._serial: Serial | None = None
+
+  def send_raw(self, data: bytes) -> None:
+    self._ensure_serial()
+    self._serial.reset_input_buffer()
+    self._serial.write(data)
+    self._serial.flush()
+
+  def close(self) -> None:
+    try:
+      if self.channel:
+        try:
+          self.query(f"AT+CCHC={self.channel}")
+        except (RuntimeError, TimeoutError):
+          pass
+        self.channel = None
+    finally:
+      if self._serial:
+        self._serial.close()
+
+  def _send(self, cmd: str) -> None:
+    if DEBUG:
+      print(f"SER >> {cmd}", file=sys.stderr)
+    self._serial.write((cmd + "\r").encode("ascii"))
+
+  def _expect(self) -> list[str]:
+    lines: list[str] = []
+    while True:
+      raw = self._serial.readline()
+      if not raw:
+        raise TimeoutError("AT command timed out")
+      line = raw.decode(errors="ignore").strip()
+      if not line:
+        continue
+      if DEBUG:
+        print(f"SER << {line}", file=sys.stderr)
+      if line == "OK":
+        return lines
+      if line == "ERROR" or line.startswith("+CME ERROR"):
+        raise RuntimeError(f"AT command failed: {line}")
+      lines.append(line)
+
+  def _ensure_serial(self, reconnect: bool = False) -> None:
+    if reconnect:
+      self.channel = None
+      try:
+        if self._serial:
+          self._serial.close()
+      except Exception:
+        pass
+      self._serial = None
+    if self._serial is None:
+      self._serial = Serial(self._device, baudrate=self._baud, timeout=self._timeout)
+
+  def query(self, cmd: str) -> list[str]:
+    self._ensure_serial()
+    try:
+      self._send(cmd)
+      return self._expect()
+    except SerialException:
+      self._ensure_serial(reconnect=True)
+      self._send(cmd)
+      return self._expect()
+
+  def _open_isdr_once(self) -> None:
+    if self.channel:
+      try:
+        self.query(f"AT+CCHC={self.channel}")
+      except RuntimeError:
+        pass
+      self.channel = None
+    # drain any unsolicited responses before opening
+    if self._serial:
+      try:
+        self._serial.reset_input_buffer()
+      except (OSError, SerialException, termios.error):
+        self._ensure_serial(reconnect=True)
+    for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
+      if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
+        self.channel = ch
+        return
+    raise RuntimeError("Failed to open ISD-R application")
+
+  def _reset_modem(self) -> None:
+    if self._serial:
+      try:
+        self._serial.close()
+      except Exception:
+        pass
+      self._serial = None
+    subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True)
+
+  def open_isdr(self) -> None:
+    for attempt in range(OPEN_ISDR_RETRIES):
+      try:
+        self._open_isdr_once()
+        return
+      except (RuntimeError, TimeoutError, termios.error, SerialException):
+        time.sleep(OPEN_ISDR_RETRY_DELAY_S)
+        if attempt == OPEN_ISDR_RESET_ATTEMPT:
+          self._reset_modem()
+    raise RuntimeError("Failed to open ISD-R after retries")
+
+  def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]:
+    for attempt in range(SEND_APDU_RETRIES):
+      try:
+        if not self.channel:
+          self.open_isdr()
+        hex_payload = apdu.hex().upper()
+        for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
+          if line.startswith("+CGLA:"):
+            parts = line.split(":", 1)[1].split(",", 1)
+            if len(parts) == 2:
+              data = bytes.fromhex(parts[1].strip().strip('"'))
+              if len(data) >= 2:
+                return data[:-2], data[-2], data[-1]
+        raise RuntimeError("Missing +CGLA response")
+      except (RuntimeError, ValueError):
+        self.channel = None
+        if attempt == SEND_APDU_RETRIES - 1:
+          raise
+    raise RuntimeError("send_apdu failed")
+
+
+# --- TLV utilities ---
+
+def iter_tlv(data: bytes, with_positions: bool = False) -> Generator:
+  idx, length = 0, len(data)
+  while idx < length:
+    start_pos = idx
+    tag = data[idx]
+    idx += 1
+    if tag & 0x1F == 0x1F:  # Multi-byte tag
+      tag_value = tag
+      while idx < length:
+        next_byte = data[idx]
+        idx += 1
+        tag_value = (tag_value << 8) | next_byte
+        if not (next_byte & 0x80):
+          break
+    else:
+      tag_value = tag
+    if idx >= length:
+      break
+    size = data[idx]
+    idx += 1
+    if size & 0x80:  # Multi-byte length
+      num_bytes = size & 0x7F
+      if idx + num_bytes > length:
+        break
+      size = int.from_bytes(data[idx : idx + num_bytes], "big")
+      idx += num_bytes
+    if idx + size > length:
+      break
+    value = data[idx : idx + size]
+    idx += size
+    yield (tag_value, value, start_pos, idx) if with_positions else (tag_value, value)
+
+
+def find_tag(data: bytes, target: int) -> bytes | None:
+  return next((v for t, v in iter_tlv(data) if t == target), None)
+
+
+def require_tag(data: bytes, target: int, label: str = "") -> bytes:
+  v = find_tag(data, target)
+  if v is None:
+    raise RuntimeError(f"Missing {label or f'tag 0x{target:X}'}")
+  return v
+
+
+def tbcd_to_string(raw: bytes) -> str:
+  return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9)
+
+
+def string_to_tbcd(s: str) -> bytes:
+  digits = [int(c) for c in s if c.isdigit()]
+  return bytes(digits[i] | ((digits[i + 1] if i + 1 < len(digits) else 0xF) << 4) for i in range(0, len(digits), 2))
+
+
+def encode_tlv(tag: int, value: bytes) -> bytes:
+  tag_bytes = bytes([(tag >> 8) & 0xFF, tag & 0xFF]) if tag > 255 else bytes([tag])
+  vlen = len(value)
+  if vlen <= 127:
+    return tag_bytes + bytes([vlen]) + value
+  length_bytes = vlen.to_bytes((vlen.bit_length() + 7) // 8, "big")
+  return tag_bytes + bytes([0x80 | len(length_bytes)]) + length_bytes + value
+
+
+def int_bytes(n: int) -> bytes:
+  """Encode a positive integer as minimal big-endian bytes (at least 1 byte)."""
+  return n.to_bytes((n.bit_length() + 7) // 8 or 1, "big")
+
+
+PROFILE: FieldMap = {
+  TAG_ICCID: ("iccid", tbcd_to_string),
+  0x4F: ("isdpAid", lambda v: v.hex().upper()),
+  0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")),
+  0x90: ("profileNickname", lambda v: v.decode("utf-8", errors="ignore") or None),
+  0x91: ("serviceProviderName", lambda v: v.decode("utf-8", errors="ignore") or None),
+  0x92: ("profileName", lambda v: v.decode("utf-8", errors="ignore") or None),
+  0x93: ("iconType", lambda v: ICON_LABELS.get(v[0], "unknown")),
+  0x94: ("icon", b64e),
+  0x95: ("profileClass", lambda v: CLASS_LABELS.get(v[0], "unknown")),
+}
+
+
+def decode_struct(data: bytes, field_map: FieldMap) -> dict[str, Any]:
+  """Parse TLV data using a {tag: (field_name, decoder)} map into a dict."""
+  result: dict[str, Any] = {name: None for name, _ in field_map.values()}
+  for tag, value in iter_tlv(data):
+    if (field := field_map.get(tag)):
+      result[field[0]] = field[1](value)
+  return result
+
+
+# --- ES10x command transport ---
+
+def es10x_command(client: AtClient, data: bytes) -> bytes:
+  response = bytearray()
+  sequence = 0
+  offset = 0
+  while offset < len(data):
+    chunk = data[offset : offset + ES10X_MSS]
+    offset += len(chunk)
+    is_last = offset == len(data)
+    apdu = bytes([0x80, 0xE2, 0x91 if is_last else 0x11, sequence & 0xFF, len(chunk)]) + chunk
+    segment, sw1, sw2 = client.send_apdu(apdu)
+    response.extend(segment)
+    while True:
+      if sw1 == 0x61:  # More data available
+        segment, sw1, sw2 = client.send_apdu(bytes([0x80, 0xC0, 0x00, 0x00, sw2 or 0]))
+        response.extend(segment)
+        continue
+      if (sw1 & 0xF0) == 0x90:
+        break
+      raise RuntimeError(f"APDU failed with SW={sw1:02X}{sw2:02X}")
+    sequence += 1
+  return bytes(response)
+
+
+# --- Profile operations ---
+
+NOTIFICATION: FieldMap = {
+  TAG_STATUS: ("seqNumber", lambda v: int.from_bytes(v, "big")),
+  0x81: ("profileManagementOperation",
+         lambda v: NOTIFICATION_OPERATIONS.get(next((m for m in NOTIFICATION_OPERATIONS if len(v) >= 2 and v[1] & m), 0), "unknown")),
+  0x0C: ("notificationAddress", lambda v: v.decode("utf-8", errors="ignore")),
+  TAG_ICCID: ("iccid", tbcd_to_string),
+}
+
+
+def decode_profiles(blob: bytes) -> list[dict]:
+  root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList")
+  list_ok = find_tag(root, TAG_OK)
+  if list_ok is None:
+    return []
+  return [decode_struct(value, PROFILE) for tag, value in iter_tlv(list_ok) if tag == 0xE3]
+
+
+def list_profiles(client: AtClient) -> list[dict]:
+  return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00"))
+
+
+def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None:
+  nickname_bytes = nickname.encode("utf-8")
+  if len(nickname_bytes) > 64:
+    raise ValueError("Profile nickname must be 64 bytes or less")
+  content = encode_tlv(TAG_ICCID, string_to_tbcd(iccid)) + encode_tlv(0x90, nickname_bytes)
+  response = es10x_command(client, encode_tlv(TAG_SET_NICKNAME, content))
+  code = require_tag(require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse"), TAG_STATUS, "SetNickname status")[0]
+  if code == 0x01:
+    raise LPAError(f"profile {iccid} not found")
+  if code != 0x00:
+    raise RuntimeError(f"SetNickname failed with status 0x{code:02X}")
+
+
+# --- ES9P HTTP ---
+
+def es9p_request(smdp_address: str, endpoint: str, payload: dict, error_prefix: str = "Request", session: requests.Session | None = None) -> dict:
+  url = f"https://{smdp_address}/gsma/rsp2/es9plus/{endpoint}"
+  headers = {"User-Agent": "gsma-rsp-lpad", "X-Admin-Protocol": "gsma/rsp/v2.3.0", "Content-Type": "application/json"}
+  http = session or requests
+  resp = http.post(url, json=payload, headers=headers, timeout=HTTP_TIMEOUT, verify=GSMA_CI_BUNDLE)
+  resp.raise_for_status()
+  if not resp.content:
+    return {}
+  data = resp.json()
+  if "header" in data and "functionExecutionStatus" in data["header"]:
+    status = data["header"]["functionExecutionStatus"]
+    if status.get("status") == "Failed":
+      sd = status.get("statusCodeData", {})
+      reason = sd.get("reasonCode", "unknown")
+      subject = sd.get("subjectCode", "unknown")
+      msg = ES9P_ERROR_MESSAGES.get((reason, subject),
+            f"{error_prefix} failed: {reason}/{subject} - {sd.get('message', 'unknown')}")
+      raise RuntimeError(msg)
+  return data
+
+
+# --- Notifications ---
+
+def list_notifications(client: AtClient) -> list[dict]:
+  response = es10x_command(client, encode_tlv(TAG_LIST_NOTIFICATION, b""))
+  root = require_tag(response, TAG_LIST_NOTIFICATION, "ListNotificationResponse")
+  metadata_list = find_tag(root, TAG_OK)
+  if metadata_list is None:
+    return []
+  return [decode_struct(value, NOTIFICATION) for tag, value in iter_tlv(metadata_list) if tag == TAG_NOTIFICATION_METADATA]
+
+
+def process_notifications(client: AtClient) -> None:
+  for notification in list_notifications(client):
+    seq_number, smdp_address = notification["seqNumber"], notification["notificationAddress"]
+    try:
+      request = encode_tlv(TAG_RETRIEVE_NOTIFICATION, encode_tlv(TAG_OK, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
+      response = es10x_command(client, request)
+      content = require_tag(require_tag(response, TAG_RETRIEVE_NOTIFICATION, "RetrieveNotificationsListResponse"),
+                            TAG_OK, "RetrieveNotificationsListResponse")
+      pending_notif = next((content[start:end] for t, _, start, end in iter_tlv(content, with_positions=True) if t in (TAG_PROFILE_INSTALL_RESULT, 0x30)), None)
+      if pending_notif is None:
+        raise RuntimeError("Missing PendingNotification")
+
+      es9p_request(smdp_address, "handleNotification", {"pendingNotification": b64e(pending_notif)}, "HandleNotification")
+
+      response = es10x_command(client, encode_tlv(TAG_NOTIFICATION_SENT, encode_tlv(TAG_STATUS, int_bytes(seq_number))))
+      root = require_tag(response, TAG_NOTIFICATION_SENT, "NotificationSentResponse")
+      if int.from_bytes(require_tag(root, TAG_STATUS, "RemoveNotificationFromList status"), "big") != 0:
+        raise RuntimeError("RemoveNotificationFromList failed")
+    except Exception as e:
+      print(f"notification {seq_number} failed: {e}", file=sys.stderr)
+
+
+# --- Authentication & Download ---
+
+def get_challenge_and_info(client: AtClient) -> tuple[bytes, bytes]:
+  challenge_resp = es10x_command(client, encode_tlv(TAG_EUICC_CHALLENGE, b""))
+  challenge = require_tag(require_tag(challenge_resp, TAG_EUICC_CHALLENGE, "GetEuiccDataResponse"),
+                          TAG_STATUS, "challenge in response")
+  info_resp = es10x_command(client, encode_tlv(TAG_EUICC_INFO, b""))
+  require_tag(info_resp, TAG_EUICC_INFO, "GetEuiccInfo1Response")
+  return challenge, info_resp
+
+
+def authenticate_server(client: AtClient, b64_signed1: str, b64_sig1: str, b64_pk_id: str, b64_cert: str, matching_id: str) -> str:
+  tac = bytes([0x35, 0x29, 0x06, 0x11])
+  device_info = encode_tlv(TAG_STATUS, tac) + encode_tlv(0xA1, b"")
+  ctx_inner = encode_tlv(TAG_STATUS, matching_id.encode("utf-8")) + encode_tlv(0xA1, device_info)
+  content = b64d(b64_signed1) + b64d(b64_sig1) + b64d(b64_pk_id) + b64d(b64_cert) + encode_tlv(0xA0, ctx_inner)
+  response = es10x_command(client, encode_tlv(TAG_AUTH_SERVER, content))
+  root = require_tag(response, TAG_AUTH_SERVER, "AuthenticateServerResponse")
+  error_tag = find_tag(root, 0xA1)
+  if error_tag is not None:
+    code = int.from_bytes(error_tag, "big") if error_tag else 0
+    raise RuntimeError(f"AuthenticateServer rejected by eUICC: {AUTH_SERVER_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+  return b64e(response)
+
+
+def prepare_download(client: AtClient, b64_signed2: str, b64_sig2: str, b64_cert: str, cc: str | None = None) -> str:
+  smdp_signed2 = b64d(b64_signed2)
+  smdp_signature2 = b64d(b64_sig2)
+  smdp_certificate = b64d(b64_cert)
+  smdp_signed2_root = find_tag(smdp_signed2, 0x30)
+  if smdp_signed2_root is None:
+    raise RuntimeError("Invalid smdpSigned2")
+  transaction_id = find_tag(smdp_signed2_root, TAG_STATUS)
+  cc_required_flag = find_tag(smdp_signed2_root, 0x01)
+  if transaction_id is None or cc_required_flag is None:
+    raise RuntimeError("Invalid smdpSigned2")
+  content = smdp_signed2 + smdp_signature2
+  if int.from_bytes(cc_required_flag, "big") != 0:
+    if not cc:
+      raise RuntimeError("Confirmation code required but not provided")
+    content += encode_tlv(0x04, hashlib.sha256(hashlib.sha256(cc.encode("utf-8")).digest() + transaction_id).digest())
+  content += smdp_certificate
+  response = es10x_command(client, encode_tlv(TAG_PREPARE_DOWNLOAD, content))
+  require_tag(response, TAG_PREPARE_DOWNLOAD, "PrepareDownloadResponse")
+  return b64e(response)
+
+
+def _parse_tlv_header_len(data: bytes) -> int:
+  tag_len = 2 if data[0] & 0x1F == 0x1F else 1
+  length_byte = data[tag_len]
+  return tag_len + (1 + (length_byte & 0x7F) if length_byte & 0x80 else 1)
+
+
+def _split_bpp(bpp: bytes) -> list[bytes]:
+  """Split a BoundProfilePackage into APDU chunks per SGP.22 §5.7.6."""
+  root_value = None
+  for tag, value, start, end in iter_tlv(bpp, with_positions=True):
+    if tag == TAG_BPP:
+      root_value = value
+      val_start = start + _parse_tlv_header_len(bpp[start:end])
+      break
+  if root_value is None:
+    raise RuntimeError("Invalid BoundProfilePackage")
+
+  chunks: list[bytes] = []
+  for tag, value, start, end in iter_tlv(root_value, with_positions=True):
+    if tag == TAG_BPP_COMMAND:
+      chunks.append(bpp[0 : val_start + end])
+    elif tag in (0xA0, 0xA2):
+      chunks.append(bpp[val_start + start : val_start + end])
+    elif tag in (0xA1, 0xA3):
+      hdr_len = _parse_tlv_header_len(root_value[start:end])
+      chunks.append(bpp[val_start + start : val_start + start + hdr_len])
+      for _, _, cs, ce in iter_tlv(value, with_positions=True):
+        chunks.append(value[cs:ce])
+  return chunks
+
+
+def _parse_install_result(response: bytes) -> dict[str, Any] | None:
+  """Parse a ProfileInstallResult from an APDU response, or None if not present."""
+  root = find_tag(response, TAG_PROFILE_INSTALL_RESULT)
+  if not root:
+    return None
+  result_data = find_tag(root, TAG_INSTALL_RESULT_DATA)
+  if not result_data:
+    return None
+  result: dict[str, Any] = {"seqNumber": 0, "success": False, "bppCommandId": None, "errorReason": None}
+  notif_meta = find_tag(result_data, TAG_NOTIFICATION_METADATA)
+  if notif_meta:
+    seq_num = find_tag(notif_meta, TAG_STATUS)
+    if seq_num:
+      result["seqNumber"] = int.from_bytes(seq_num, "big")
+  final_result = find_tag(result_data, 0xA2)
+  if final_result:
+    for tag, value in iter_tlv(final_result):
+      if tag == 0xA0:
+        result["success"] = True
+      elif tag == 0xA1:
+        bpp_cmd = find_tag(value, TAG_STATUS)
+        if bpp_cmd:
+          result["bppCommandId"] = int.from_bytes(bpp_cmd, "big")
+        err = find_tag(value, 0x81)
+        if err:
+          result["errorReason"] = int.from_bytes(err, "big")
+  return result
+
+
+def load_bpp(client: AtClient, b64_bpp: str) -> dict:
+  bpp = b64d(b64_bpp)
+  result = None
+  for chunk in _split_bpp(bpp):
+    response = es10x_command(client, chunk)
+    if response and (parsed := _parse_install_result(response)):
+      result = parsed
+      break
+
+  if result is None:
+    raise RuntimeError("Profile installation failed: no result from eUICC")
+  if not result["success"] and result["errorReason"] is not None:
+    msg = BPP_ERROR_MESSAGES.get(result["errorReason"])
+    if not msg:
+      cmd_name = BPP_COMMAND_NAMES.get(result["bppCommandId"], f"unknown({result['bppCommandId']})")
+      err_name = BPP_ERROR_REASONS.get(result["errorReason"], f"unknown({result['errorReason']})")
+      msg = f"Profile installation failed at {cmd_name}: {err_name}"
+    raise RuntimeError(msg)
+  if not result["success"]:
+    raise RuntimeError("Profile installation failed: no result from eUICC")
+  return result
+
+
+def parse_metadata(b64_metadata: str) -> dict:
+  root = find_tag(b64d(b64_metadata), TAG_PROFILE_METADATA)
+  if root is None:
+    raise RuntimeError("Invalid profileMetadata")
+  return decode_struct(root, PROFILE)
+
+
+def cancel_session(client: AtClient, transaction_id: bytes, reason: int = 127) -> str:
+  content = encode_tlv(0x80, transaction_id) + encode_tlv(0x81, bytes([reason]))
+  response = es10x_command(client, encode_tlv(TAG_CANCEL_SESSION, content))
+  return b64e(response)
+
+
+def parse_lpa_activation_code(activation_code: str) -> tuple[str, str]:
+  """Parse 'LPA:1$smdp.example.com$MATCHING-ID' into (smdp_address, matching_id)."""
+  if not activation_code.startswith("LPA:"):
+    raise ValueError("Invalid activation code format")
+  parts = activation_code[4:].split("$")
+  if len(parts) != 3:
+    raise ValueError("Invalid activation code format")
+  return parts[1], parts[2]
+
+
+def _b64_field(data: dict, key: str) -> str:
+  return base64_trim(data[key])
+
+
+def _cancel_session_safe(client: AtClient, smdp: str, tx_id: str, session: requests.Session) -> None:
+  b64_cancel = ""
+  try:
+    b64_cancel = cancel_session(client, b64d(tx_id))
+  except Exception:
+    pass
+  try:
+    es9p_request(smdp, "cancelSession", {"transactionId": tx_id, "cancelSessionResponse": b64_cancel}, "CancelSession", session=session)
+  except Exception:
+    pass
+
+
+def download_profile(client: AtClient, activation_code: str) -> str:
+  """Download and install an eSIM profile. Returns the ICCID of the installed profile."""
+  if not system_time_valid():
+    raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
+  smdp, matching_id = parse_lpa_activation_code(activation_code)
+  challenge, euicc_info = get_challenge_and_info(client)
+  session = requests.Session()
+  tx_id = None
+
+  try:
+    # step 1: initiate authentication
+    auth = es9p_request(smdp, "initiateAuthentication", {
+      "smdpAddress": smdp, "euiccChallenge": b64e(challenge),
+      "euiccInfo1": b64e(euicc_info), "matchingId": matching_id,
+    }, "Authentication", session=session)
+    tx_id = _b64_field(auth, "transactionId")
+
+    # step 2: authenticate server
+    b64_auth = authenticate_server(client,
+      _b64_field(auth, "serverSigned1"), _b64_field(auth, "serverSignature1"),
+      _b64_field(auth, "euiccCiPKIdToBeUsed"), _b64_field(auth, "serverCertificate"),
+      matching_id)
+
+    # step 3: authenticate client + get metadata
+    cli = es9p_request(smdp, "authenticateClient", {
+      "transactionId": tx_id, "authenticateServerResponse": b64_auth,
+    }, "Authentication", session=session)
+    iccid = parse_metadata(_b64_field(cli, "profileMetadata"))["iccid"]
+
+    # step 4: prepare download
+    b64_prep = prepare_download(client,
+      _b64_field(cli, "smdpSigned2"), _b64_field(cli, "smdpSignature2"),
+      _b64_field(cli, "smdpCertificate"))
+
+    # step 5: get and install bound profile package
+    bpp = es9p_request(smdp, "getBoundProfilePackage", {
+      "transactionId": tx_id, "prepareDownloadResponse": b64_prep,
+    }, "GetBoundProfilePackage", session=session)
+    load_bpp(client, _b64_field(bpp, "boundProfilePackage"))
+    return iccid
+  except Exception:
+    if tx_id:
+      _cancel_session_safe(client, smdp, tx_id, session)
+    raise
+  finally:
+    session.close()
+
+
+class LPA(LPABase):
+  def __init__(self):
+    if hasattr(self, '_client'):
+      return
+    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT)
+    atexit.register(self._client.close)
+
+  @contextmanager
+  def _acquire_lock(self):
+    fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
+    try:
+      fcntl.flock(fd, fcntl.LOCK_EX)
+      yield
+    finally:
+      fcntl.flock(fd, fcntl.LOCK_UN)
+      os.close(fd)
+
+  @contextmanager
+  def _acquire_channel(self):
+    with self._acquire_lock():
+      try:
+        self._client.open_isdr()
+        yield
+      finally:
+        if self._client.channel:
+          try:
+            self._client.query(f"AT+CCHC={self._client.channel}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+
+  def list_profiles(self) -> list[Profile]:
+    with self._acquire_channel():
+      return [
+        Profile(
+          iccid=p.get("iccid", ""),
+          nickname=p.get("profileNickname") or "",
+          enabled=p.get("profileState") == "enabled",
+          provider=p.get("serviceProviderName") or "",
+        )
+        for p in list_profiles(self._client)
+      ]
+
+  def get_active_profile(self) -> Profile | None:
+    return None
+
+  def process_notifications(self) -> None:
+    if not system_time_valid():
+      raise RuntimeError("System time is not set; TLS certificate validation requires a valid clock")
+    with self._acquire_channel():
+      process_notifications(self._client)
+
+  def delete_profile(self, iccid: str) -> None:
+    profile = next((p for p in self.list_profiles() if p.iccid == iccid), None)
+    if profile is None:
+      raise LPAProfileNotFoundError(f"profile not found: {iccid}")
+    if profile.is_comma:
+      raise LPAError("refusing to delete a comma profile")
+    with self._acquire_channel():
+      request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+      response = es10x_command(self._client, request)
+      code = require_tag(require_tag(response, TAG_DELETE_PROFILE, "DeleteProfileResponse"), TAG_STATUS, "DeleteProfile status")[0]
+    if code != PROFILE_OK:
+      raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    with self._acquire_channel():
+      iccid = download_profile(self._client, qr)
+      if nickname and iccid:
+        set_profile_nickname(self._client, iccid, nickname)
+
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    with self._acquire_channel():
+      set_profile_nickname(self._client, iccid, nickname)
+
+  def _enable_profile(self, iccid: str) -> int:
+    inner = encode_tlv(TAG_OK, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
+    inner += b'\x01\x01\x01'  # refreshFlag=1
+    response = es10x_command(self._client, encode_tlv(TAG_ENABLE_PROFILE, inner))
+    return require_tag(require_tag(response, TAG_ENABLE_PROFILE, "EnableProfileResponse"), TAG_STATUS, "EnableProfile status")[0]
+
+  def switch_profile(self, iccid: str) -> None:
+    with self._acquire_channel():
+      code = self._enable_profile(iccid)
+      if code == PROFILE_CAT_BUSY:  # stale eUICC transaction, reset and retry
+        self._client._reset_modem()
+        self._client.open_isdr()
+        code = self._enable_profile(iccid)
+      if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
+        raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
+
+  def is_euicc(self) -> bool:
+    # +CCHO:<n> -> ISD-R applet present, eUICC. Any error -> non-eUICC.
+    with self._acquire_lock():
+      try:
+        lines = self._client.query(f'AT+CCHO="{ISDR_AID}"')
+      except RuntimeError:
+        return False
+      for line in lines:
+        if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
+          try:
+            self._client.query(f"AT+CCHC={ch}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+          return True
+      return False
diff --git a/openpilot/common/file_chunker.py b/openpilot/common/file_chunker.py
new file mode 100755
index 0000000000..2d080c3fff
--- /dev/null
+++ b/openpilot/common/file_chunker.py
@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import io
+import sys
+import math
+import os
+from pathlib import Path
+
+CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
+
+def get_chunk_name(name, idx, num_chunks):
+  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
+
+def get_manifest_path(name):
+  return f"{name}.chunkmanifest"
+
+def _chunk_paths(path, num_chunks):
+  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+
+def get_chunk_targets(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return _chunk_paths(path, num_chunks)
+
+def chunk_file(path, targets):
+  manifest_path, *chunk_paths = targets
+  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
+  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
+  with open(path, 'rb') as f:
+    for chunk_path in chunk_paths:
+      with open(chunk_path, 'wb') as out:
+        out.write(f.read(CHUNK_SIZE))
+  Path(manifest_path).write_text(str(len(chunk_paths)))
+  os.remove(path)
+
+def get_existing_chunks(path):
+  if os.path.isfile(path):
+    return [path]
+  if os.path.isfile(manifest := get_manifest_path(path)):
+    num_chunks = int(Path(manifest).read_text().strip())
+    return _chunk_paths(path, num_chunks)
+  raise FileNotFoundError(path)
+
+class ChunkStream(io.RawIOBase):
+  def __init__(self, paths):
+    self._paths = iter(paths)
+    self._f = None
+
+  def readable(self):
+    return True
+
+  def readinto(self, b):
+    n = 0
+    view = memoryview(b)
+    while n < len(b):
+      if self._f is None:
+        p = next(self._paths, None)
+        if p is None:
+          break
+        self._f = open(p, 'rb')
+      count = self._f.readinto(view[n:])
+      if not count:
+        self._f.close()
+        self._f = None
+        continue
+      n += count
+    return n
+
+def open_file_chunked(path):
+  manifest_path = get_manifest_path(path)
+  if os.path.isfile(manifest_path):
+    num_chunks = int(Path(manifest_path).read_text().strip())
+    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+  elif os.path.isfile(path):
+    paths = [path]
+  else:
+    raise FileNotFoundError(path)
+  return io.BufferedReader(ChunkStream(paths))
+
+
+if __name__ == "__main__":
+  path = sys.argv[1]
+  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
+  chunk_file(path, chunk_paths)
diff --git a/common/filter_simple.py b/openpilot/common/filter_simple.py
similarity index 96%
rename from common/filter_simple.py
rename to openpilot/common/filter_simple.py
index 212e1a8f40..b28c3d68f5 100644
--- a/common/filter_simple.py
+++ b/openpilot/common/filter_simple.py
@@ -28,7 +28,7 @@ class BounceFilter(FirstOrderFilter):
     scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
     self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
     self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-5:
+    if abs(self.velocity.x) < 1e-3:
       self.velocity.x = 0.0
     self.x += self.velocity.x
     return self.x
diff --git a/openpilot/common/fuzzy.py b/openpilot/common/fuzzy.py
new file mode 100644
index 0000000000..08b9901e9b
--- /dev/null
+++ b/openpilot/common/fuzzy.py
@@ -0,0 +1,240 @@
+import math
+import os
+import random
+import secrets
+import struct
+from collections.abc import Callable, Sequence
+from functools import wraps
+from typing import Any, TypeVar
+
+import capnp
+
+
+T = TypeVar("T")
+
+_EDGE_SLOTS = 16
+_MINIMAL_EXAMPLES = 10
+_INTEGER_RANGES = {
+  "int8": (-2**7, 2**7 - 1),
+  "int16": (-2**15, 2**15 - 1),
+  "int32": (-2**31, 2**31 - 1),
+  "int64": (-2**63, 2**63 - 1),
+  "uint8": (0, 2**8 - 1),
+  "uint16": (0, 2**16 - 1),
+  "uint32": (0, 2**32 - 1),
+  "uint64": (0, 2**64 - 1),
+}
+
+# One seed is shared by the whole test process. Individual tests derive their seed
+# from their unittest ID, so FUZZ_SEED is reproducible under the parallel runner too.
+FUZZ_SEED = int(os.environ.get("FUZZ_SEED", secrets.randbits(64)))
+
+
+class Fuzzy:
+  """Fast, deterministic data generator with systematic boundary coverage."""
+
+  def __init__(self, seed: int | str, example_index: int):
+    self.example_index = example_index
+    self._random = random.Random(seed)
+    self._draw_index = 0
+
+  def _draw(self, edges: Sequence[T], random_value: Callable[[], T]) -> T:
+    draw_index = self._draw_index
+    self._draw_index += 1
+
+    # Preserve the cheap minimal prefix Hypothesis produced, then interleave
+    # systematic boundaries and random values at every draw site.
+    if self.example_index < _MINIMAL_EXAMPLES:
+      return edges[0]
+    search_example = self.example_index - _MINIMAL_EXAMPLES
+    if search_example < _EDGE_SLOTS * 2 and search_example % 2 == 0:
+      return edges[(search_example // 2 + draw_index) % len(edges)]
+    if self._random.randrange(4) == 0:
+      return self._random.choice(edges)
+    return random_value()
+
+  def boolean(self) -> bool:
+    return self._draw((False, True), lambda: bool(self._random.getrandbits(1)))
+
+  def choice(self, values: Sequence[T]) -> T:
+    if not values:
+      raise ValueError("cannot choose from an empty sequence")
+    return self._draw(values, lambda: self._random.choice(values))
+
+  def integer(self, min_value: int, max_value: int) -> int:
+    if min_value > max_value:
+      raise ValueError(f"{min_value=} must not exceed {max_value=}")
+
+    edges = [
+      0, 1, -1, min_value, max_value,
+      min_value + 1, max_value - 1,
+    ]
+    edges.extend(1 << bit for bit in range(max_value.bit_length()))
+    edges.extend(-(1 << bit) for bit in range((-min_value).bit_length()))
+    valid_edges = tuple(dict.fromkeys(v for v in edges if min_value <= v <= max_value))
+    return self._draw(valid_edges, lambda: self._random.randint(min_value, max_value))
+
+  def floating(self, width: int = 64, *, allow_nan: bool = True, allow_infinity: bool = True) -> float:
+    if width not in (32, 64):
+      raise ValueError("float width must be 32 or 64")
+
+    if width == 32:
+      unpack_format = "!f"
+      finite_edges = (
+        0.0, -0.0, 1.0, -1.0,
+        struct.unpack(unpack_format, b"\x00\x00\x00\x01")[0],
+        struct.unpack(unpack_format, b"\x80\x00\x00\x01")[0],
+        struct.unpack(unpack_format, b"\x7f\x7f\xff\xff")[0],
+        struct.unpack(unpack_format, b"\xff\x7f\xff\xff")[0],
+        struct.unpack(unpack_format, b"\x00\x80\x00\x00")[0],
+        struct.unpack(unpack_format, b"\x80\x80\x00\x00")[0],
+      )
+    else:
+      unpack_format = "!d"
+      finite_edges = (
+        0.0, -0.0, 1.0, -1.0,
+        math.ulp(0.0), -math.ulp(0.0),
+        float.fromhex("0x1.fffffffffffffp+1023"), -float.fromhex("0x1.fffffffffffffp+1023"),
+        float.fromhex("0x1p-1022"), -float.fromhex("0x1p-1022"),
+      )
+
+    edges = list(finite_edges)
+    if allow_infinity:
+      edges.extend((math.inf, -math.inf))
+    if allow_nan:
+      edges.append(math.nan)
+
+    def random_float() -> float:
+      while True:
+        value = struct.unpack(unpack_format, self._random.randbytes(width // 8))[0]
+        if (allow_nan or not math.isnan(value)) and (allow_infinity or not math.isinf(value)):
+          return value
+
+    return self._draw(tuple(edges), random_float)
+
+  def _length(self, min_length: int, max_length: int | None) -> int:
+    if min_length < 0:
+      raise ValueError("minimum length must be non-negative")
+    if max_length is not None and min_length > max_length:
+      raise ValueError(f"{min_length=} must not exceed {max_length=}")
+    if max_length == min_length:
+      return min_length
+
+    offsets = (0, 1, 2, 4, 8, 16, 32)
+    edges = tuple(min_length + offset for offset in offsets if max_length is None or min_length + offset <= max_length)
+
+    def random_length() -> int:
+      # A geometric tail keeps ordinary examples small without placing an
+      # artificial ceiling on an unbounded list.
+      length = min_length
+      while max_length is None or length < max_length:
+        if self._random.randrange(8) == 0:
+          break
+        length += 1
+      return length
+
+    return self._draw(edges, random_length)
+
+  def binary(self, min_size: int = 0, max_size: int | None = None) -> bytes:
+    size = self._length(min_size, max_size)
+    patterns = (
+      bytes(size),
+      b"\xff" * size,
+      (b"\xaa\x55" * ((size + 1) // 2))[:size],
+      bytes(i & 0xff for i in range(size)),
+    )
+    return self._draw(patterns, lambda: self._random.randbytes(size))
+
+  def text(self, min_size: int = 0, max_size: int | None = None) -> str:
+    size = self._length(min_size, max_size)
+
+    def scalar() -> str:
+      value = self._random.randrange(0x110000 - 0x800)
+      if value >= 0xd800:
+        value += 0x800
+      return chr(value)
+
+    patterns = (
+      "",
+      "a" * size,
+      "\0" * size,
+      "\U0010ffff" * size,
+    )
+    valid_patterns = tuple(value for value in patterns if len(value) == size)
+    return self._draw(valid_patterns, lambda: "".join(scalar() for _ in range(size)))
+
+  def list(self, generate: Callable[[], T], min_size: int = 0, max_size: int | None = None) -> list[T]:
+    return [generate() for _ in range(self._length(min_size, max_size))]
+
+
+def fuzzy_test(max_examples: int) -> Callable[[Callable[..., None]], Callable[..., None]]:
+  """Run a unittest method repeatedly with independent, reproducible fuzzy data."""
+  max_examples = int(os.environ.get("MAX_EXAMPLES", max_examples))
+  assert max_examples >= 1
+
+  def decorator(fn: Callable[..., None]) -> Callable[..., None]:
+    @wraps(fn)
+    def wrapper(*args: Any, **kwargs: Any) -> None:
+      test_seed = f"{FUZZ_SEED}:{args[0].id()}"
+      selected_example = os.environ.get("FUZZ_EXAMPLE")
+      examples = [int(selected_example, 0)] if selected_example is not None else range(max_examples)
+
+      for example_index in examples:
+        if not 0 <= example_index < max_examples:
+          raise ValueError(f"FUZZ_EXAMPLE={example_index} is outside [0, {max_examples})")
+        try:
+          fn(*args, **kwargs, fuzzy=Fuzzy(f"{test_seed}:{example_index}", example_index))
+        except Exception as exc:
+          exc.add_note(f"reproduce with FUZZ_SEED={FUZZ_SEED} FUZZ_EXAMPLE={example_index}")
+          raise
+
+    return wrapper
+  return decorator
+
+
+def capnp_random_dict(fuzzy: Fuzzy, schema: Any, event: str | None = None, *, real_floats: bool = False) -> dict[str, Any]:
+  """Generate a dictionary accepted by a pycapnp struct constructor."""
+
+  def native(type_name: str) -> bool | int | float | str | bytes:
+    if type_name == "bool":
+      return fuzzy.boolean()
+    if type_name in _INTEGER_RANGES:
+      return fuzzy.integer(*_INTEGER_RANGES[type_name])
+    if type_name in ("float32", "float64"):
+      return fuzzy.floating(width=int(type_name[-2:]), allow_nan=not real_floats, allow_infinity=not real_floats)
+    if type_name == "text":
+      return fuzzy.text(max_size=1000)
+    if type_name == "anyPointer":
+      return fuzzy.text()
+    if type_name == "data":
+      return fuzzy.binary(max_size=1000)
+    raise NotImplementedError(f"invalid Cap'n Proto type: {type_name}")
+
+  def generate_field(field: Any) -> Any:
+    def rec(field_type: Any, base_type: str) -> Any:
+      type_name = field_type.which()
+      if type_name == "struct":
+        struct_schema = field.schema.elementType if base_type == "list" else field.schema
+        return capnp_random_dict(fuzzy, struct_schema, real_floats=real_floats)
+      if type_name == "list":
+        return fuzzy.list(lambda: rec(field_type.list.elementType, "list"))
+      if type_name == "enum":
+        enum_schema = field.schema.elementType if base_type == "list" else field.schema
+        return fuzzy.choice(tuple(enum_schema.enumerants))
+      return native(type_name)
+
+    try:
+      if hasattr(field.proto, "slot"):
+        slot_type = field.proto.slot.type
+        return rec(slot_type, slot_type.which())
+      return capnp_random_dict(fuzzy, field.schema, real_floats=real_floats)
+    except capnp.lib.capnp.KjException:
+      return capnp_random_dict(fuzzy, field.schema, real_floats=real_floats)
+
+  union_field = event or (fuzzy.choice(tuple(schema.union_fields)) if schema.union_fields else None)
+  fields = schema.non_union_fields + ((union_field,) if union_field else ())
+  return {
+    field_name: generate_field(schema.fields[field_name])
+    for field_name in fields
+    if not field_name.endswith("DEPRECATED") and field_name != "deprecated"
+  }
diff --git a/common/git.py b/openpilot/common/git.py
similarity index 84%
rename from common/git.py
rename to openpilot/common/git.py
index 6b662e5719..d285116957 100644
--- a/common/git.py
+++ b/openpilot/common/git.py
@@ -31,12 +31,3 @@ def get_origin(cwd: str | None = None) -> str:
     return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
   except subprocess.CalledProcessError:  # Not on a branch, fallback
     return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
-
-
-@cache
-def get_normalized_origin(cwd: str | None = None) -> str:
-  return get_origin(cwd) \
-    .replace("git@", "", 1) \
-    .replace(".git", "", 1) \
-    .replace("https://", "", 1) \
-    .replace(":", "/", 1)
diff --git a/common/gpio.py b/openpilot/common/gpio.py
similarity index 100%
rename from common/gpio.py
rename to openpilot/common/gpio.py
diff --git a/common/gps.py b/openpilot/common/gps.py
similarity index 100%
rename from common/gps.py
rename to openpilot/common/gps.py
diff --git a/openpilot/common/hardware/__init__.py b/openpilot/common/hardware/__init__.py
new file mode 100644
index 0000000000..58e18736fd
--- /dev/null
+++ b/openpilot/common/hardware/__init__.py
@@ -0,0 +1,16 @@
+import os
+from typing import cast
+
+from openpilot.common.hardware.base import HardwareBase
+from openpilot.common.hardware.comma.hardware import HardwareComma
+from openpilot.common.hardware.pc.hardware import HardwarePc
+
+AGNOS = os.path.isfile('/AGNOS')
+COMMA_HARDWARE = AGNOS
+PC = not COMMA_HARDWARE
+
+
+if COMMA_HARDWARE:
+  HARDWARE = cast(HardwareBase, HardwareComma())
+else:
+  HARDWARE = cast(HardwareBase, HardwarePc())
diff --git a/system/hardware/base.h b/openpilot/common/hardware/base.h
similarity index 72%
rename from system/hardware/base.h
rename to openpilot/common/hardware/base.h
index 3eded659ac..f4546adfa8 100644
--- a/system/hardware/base.h
+++ b/openpilot/common/hardware/base.h
@@ -5,15 +5,13 @@
 #include <map>
 #include <string>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 
 // no-op base hw class
 class HardwareNone {
 public:
   static std::string get_name() { return ""; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
-  static int get_voltage() { return 0; }
-  static int get_current() { return 0; }
 
   static std::string get_serial() { return "cccccc"; }
 
@@ -24,6 +22,4 @@ public:
   static void set_ir_power(int percentage) {}
 
   static bool PC() { return false; }
-  static bool TICI() { return false; }
-  static bool AGNOS() { return false; }
 };
diff --git a/system/hardware/base.py b/openpilot/common/hardware/base.py
similarity index 74%
rename from system/hardware/base.py
rename to openpilot/common/hardware/base.py
index c12c0758f5..5d8f7770dc 100644
--- a/system/hardware/base.py
+++ b/openpilot/common/hardware/base.py
@@ -2,24 +2,12 @@ import os
 from abc import abstractmethod, ABC
 from dataclasses import dataclass, fields
 
-from cereal import log
+from openpilot.cereal import log
+from openpilot.common.esim.base import LPABase
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
 
-class LPAError(RuntimeError):
-  pass
-
-class LPAProfileNotFoundError(LPAError):
-  pass
-
-@dataclass
-class Profile:
-  iccid: str
-  nickname: str
-  enabled: bool
-  provider: str
-
 @dataclass
 class ThermalZone:
   # a zone from /sys/class/thermal/thermal_zone*
@@ -52,7 +40,8 @@ class ThermalConfig:
   memory: ThermalZone | None = None
   intake: ThermalZone | None = None
   exhaust: ThermalZone | None = None
-  case: ThermalZone | None = None
+  gnss: ThermalZone | None = None
+  bottomSoc: ThermalZone | None = None
 
   def get_msg(self):
     ret = {}
@@ -65,34 +54,6 @@ class ThermalConfig:
           ret[f.name + "TempC"] = v.read()
     return ret
 
-class LPABase(ABC):
-  @abstractmethod
-  def list_profiles(self) -> list[Profile]:
-    pass
-
-  @abstractmethod
-  def get_active_profile(self) -> Profile | None:
-    pass
-
-  @abstractmethod
-  def delete_profile(self, iccid: str) -> None:
-    pass
-
-  @abstractmethod
-  def download_profile(self, qr: str, nickname: str | None = None) -> None:
-    pass
-
-  @abstractmethod
-  def nickname_profile(self, iccid: str, nickname: str) -> None:
-    pass
-
-  @abstractmethod
-  def switch_profile(self, iccid: str) -> None:
-    pass
-
-  def is_comma_profile(self, iccid: str) -> bool:
-    return any(iccid.startswith(prefix) for prefix in ('8985235',))
-
 class HardwareBase(ABC):
   @staticmethod
   def get_cmdline() -> dict[str, str]:
@@ -124,7 +85,7 @@ class HardwareBase(ABC):
   def get_device_type(self):
     pass
 
-  def get_imei(self, slot) -> str:
+  def get_imei(self) -> str:
     return ""
 
   def get_serial(self):
@@ -181,27 +142,12 @@ class HardwareBase(ABC):
   def get_gpu_usage_percent(self):
     return 0
 
-  def get_modem_version(self):
-    return None
-
   def get_modem_temperatures(self):
     return []
 
   def initialize_hardware(self):
     pass
 
-  def configure_modem(self):
-    pass
-
-  def reboot_modem(self):
-    pass
-
-  def get_networks(self):
-    return None
-
-  def has_internal_panda(self) -> bool:
-    return False
-
   def reset_internal_panda(self):
     pass
 
@@ -211,11 +157,5 @@ class HardwareBase(ABC):
   def get_modem_data_usage(self):
     return -1, -1
 
-  def get_voltage(self) -> float:
-    return 0.
-
-  def get_current(self) -> float:
-    return 0.
-
   def set_ir_power(self, percent: int):
     pass
diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/openpilot/common/hardware/comma/__init__.py
similarity index 100%
rename from third_party/acados/acados_template/gnsf/__init__.py
rename to openpilot/common/hardware/comma/__init__.py
diff --git a/openpilot/common/hardware/comma/agnos.json b/openpilot/common/hardware/comma/agnos.json
new file mode 100644
index 0000000000..ae1cbbcd38
--- /dev/null
+++ b/openpilot/common/hardware/comma/agnos.json
@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35.img.xz",
+    "hash": "29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35",
+    "hash_raw": "29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "29fd7ed1c012e599420764840f9f11286d34dbff4adaf102a447f06d8c5e0b35"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd.img.xz",
+    "hash": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
+    "hash_raw": "b30f5eef65ec3878f3aa3dcaf2cc95c09e2c1e661cd3a38e94da37dee76f68bd",
+    "size": 46897152,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "6650e4c46df99ae6dfd6ee895a34b8a2a3cc490a8ce18e16cc3c451c3f822b6e"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img.xz",
+    "hash": "b134fd04e9da27fa1d359ea0f2742c216fa21a08b5c47e9be22ab3b0563d9b9b",
+    "hash_raw": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
+    "size": 4718592000,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "91242772af771ae96fe2eebc105f2b80a7e1dbaaf6003c2574b62d51b806f468",
+    "alt": {
+      "hash": "5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-5b6ce7965904a157fd3a134ccfcb854f9ca5c1cc2a26b7cb80a4fa4e1cc4aaa3.img",
+      "size": 4718592000
+    }
+  }
+]
diff --git a/system/hardware/tici/agnos.py b/openpilot/common/hardware/comma/agnos.py
similarity index 80%
rename from system/hardware/tici/agnos.py
rename to openpilot/common/hardware/comma/agnos.py
index f5261953d5..de0fb24551 100755
--- a/system/hardware/tici/agnos.py
+++ b/openpilot/common/hardware/comma/agnos.py
@@ -10,19 +10,16 @@ from collections.abc import Generator
 
 import requests
 
-import openpilot.system.updated.casync.casync as casync
-
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
-CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"
 
-AGNOS_MANIFEST_FILE = "system/hardware/tici/agnos.json"
+AGNOS_MANIFEST_FILE = "openpilot/system/hardware/comma/agnos.json"
 
 
 class StreamingDecompressor:
   def __init__(self, url: str) -> None:
     self.buf = b""
 
-    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
+    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': 'identity'}, timeout=60)
     self.it = self.req.iter_content(chunk_size=1024 * 1024)
     self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
     self.eof = False
@@ -187,50 +184,6 @@ def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog)
     os.sync()
 
 
-def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
-  path = get_partition_path(target_slot_number, partition)
-  seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a')
-
-  target = casync.parse_caibx(partition['casync_caibx'])
-
-  sources: list[tuple[str, casync.ChunkReader, casync.ChunkDict]] = []
-
-  # First source is the current partition.
-  try:
-    raw_hash = get_raw_hash(seed_path, partition['size'])
-    caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx"
-
-    try:
-      cloudlog.info(f"casync fetching {caibx_url}")
-      sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))]
-    except requests.RequestException:
-      cloudlog.error(f"casync failed to load {caibx_url}")
-  except Exception:
-    cloudlog.exception("casync failed to hash seed partition")
-
-  # Second source is the target partition, this allows for resuming
-  sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))]
-
-  # Finally we add the remote source to download any missing chunks
-  sources += [('remote', casync.RemoteChunkReader(partition['casync_store']), casync.build_chunk_dict(target))]
-
-  last_p = 0
-
-  def progress(cur):
-    nonlocal last_p
-    p = int(cur / partition['size'] * 100)
-    if p != last_p:
-      last_p = p
-      print(f"Installing {partition['name']}: {p}", flush=True)
-
-  stats = casync.extract(target, sources, path, progress)
-  cloudlog.error(f'casync done {json.dumps(stats)}')
-
-  os.sync()
-  if not verify_partition(target_slot_number, partition, force_full_check=True):
-    raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'")
-
-
 def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False):
   cloudlog.info(f"Downloading and writing {partition['name']}")
 
@@ -245,10 +198,7 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalo
 
   path = get_partition_path(target_slot_number, partition)
 
-  if ('casync_caibx' in partition) and not standalone:
-    extract_casync_image(target_slot_number, partition, cloudlog)
-  else:
-    extract_compressed_image(target_slot_number, partition, cloudlog)
+  extract_compressed_image(target_slot_number, partition, cloudlog)
 
   # Write hash after successful flash
   if not full_check:
@@ -278,7 +228,7 @@ def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, st
   cloudlog.info(f"Target slot {target_slot_number}")
 
   # set target slot as unbootable
-  os.system(f"abctl --set_unbootable {target_slot_number}")
+  subprocess.run(f"abctl --set_unbootable {target_slot_number}", shell=True)
 
   for partition in update:
     success = False
diff --git a/system/hardware/tici/all-partitions.json b/openpilot/common/hardware/comma/all-partitions.json
similarity index 77%
rename from system/hardware/tici/all-partitions.json
rename to openpilot/common/hardware/comma/all-partitions.json
index b6718fe97d..0e5a16ebed 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/openpilot/common/hardware/comma/all-partitions.json
@@ -130,47 +130,47 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
-    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
-    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
-    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
-    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
-    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
-    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
   },
   {
     "name": "bluetooth",
@@ -207,14 +207,14 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
-    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
-    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
   },
   {
     "name": "devinfo",
@@ -339,62 +339,51 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756.img.xz",
-    "hash": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
-    "hash_raw": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
-    "size": 17496064,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-5463317ca7a231f2ddd55a667a8c2b0d6692982359773ca875a99a0e6fd67fb4.img.xz",
+    "hash": "5463317ca7a231f2ddd55a667a8c2b0d6692982359773ca875a99a0e6fd67fb4",
+    "hash_raw": "5463317ca7a231f2ddd55a667a8c2b0d6692982359773ca875a99a0e6fd67fb4",
+    "size": 46897152,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "0ee1ab104bb46d0f72e7d0b7d3e94629a7644a368896c6d4c558554fb955a08a"
+    "ondevice_hash": "daefa6f897bdcc277e50dbf562fd63e57d50d9fc7a599f2d171208a490e725d9"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz",
-    "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9",
-    "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-2e1ca22762e66898aae384fcc21f488cb015c020b6b588862a64fc8128f0ad1d.img.xz",
+    "hash": "14ab660bb955604ab6c482b3f59e5239e2c40c54e798201afcaed43d5cb0dcfd",
+    "hash_raw": "2e1ca22762e66898aae384fcc21f488cb015c020b6b588862a64fc8128f0ad1d",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da",
+    "ondevice_hash": "18666ca3b529304f5e7a8fc2e3c9dce715b55941e3965a7af43c613f8e18cfce",
     "alt": {
-      "hash": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img",
+      "hash": "2e1ca22762e66898aae384fcc21f488cb015c020b6b588862a64fc8128f0ad1d",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-2e1ca22762e66898aae384fcc21f488cb015c020b6b588862a64fc8128f0ad1d.img",
       "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-ec31b8116125a95755adb32853c401c462a14a74f538535532bf2c34d72c60eb.img.xz",
-    "hash": "aa0f0fe32187493e6135aee9e984d3f9705fc58560d537b34687bb6b51a38428",
-    "hash_raw": "ec31b8116125a95755adb32853c401c462a14a74f538535532bf2c34d72c60eb",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-871adca25cb254ad1704ce427f3faaae1027f74aff43a3e150188c8a1c3d3cb8.img.xz",
+    "hash": "e4f59e5dcf4758759da9284479163e420febf1c118bf33c83b402e80e241608d",
+    "hash_raw": "871adca25cb254ad1704ce427f3faaae1027f74aff43a3e150188c8a1c3d3cb8",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "9c916b7d05543d4608b0401bc867639f44ce9671639a1a6da83b6d58b4eaa1b4"
+    "ondevice_hash": "17b4ec7449e62c52be5df551542684b953e5c7ffc95103008043602f79ae7112"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-7f092cc841124c10300e43574e90e3367e983bfbe4faa0969024e79e5ce90b11.img.xz",
-    "hash": "fa83d4b7096857136820b0b0a8785c90677256b054c5c14039cd7b9b1065a90b",
-    "hash_raw": "7f092cc841124c10300e43574e90e3367e983bfbe4faa0969024e79e5ce90b11",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-9d84bd64ef237a32675f936594c16932f8acbb52cf2dd82373a0e718cd32dfcf.img.xz",
+    "hash": "652e61ecb5b12250dbfeb9f12fd74af16b867b5ea9bf8a08b5731ffd63a76317",
+    "hash_raw": "9d84bd64ef237a32675f936594c16932f8acbb52cf2dd82373a0e718cd32dfcf",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "1699e38de769eb32c21dfa6a5ac21eb3ad620a362c7b8abf1a2c0afe0f717530"
-  },
-  {
-    "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-3df2dcd5e1f426c90b090fdbcd1a95b035d96a4bdaf88d5517245db5ee84f5ed.img.xz",
-    "hash": "890910f20b1ad88a728ee822a47b1234eb3d70cab28ca8a935679c8c2d33cbe9",
-    "hash_raw": "3df2dcd5e1f426c90b090fdbcd1a95b035d96a4bdaf88d5517245db5ee84f5ed",
-    "size": 32212254720,
-    "sparse": true,
-    "full_check": true,
-    "has_ab": false,
-    "ondevice_hash": "8e7cb392dd6e49c7d59fa850be7d1f44901314c86ba9c88be5bb27a0cd1123c9"
+    "ondevice_hash": "acad63821bb48823c871910b1a363ab924d2635a7574cc5045e877c438d3012f"
   }
 ]
\ No newline at end of file
diff --git a/system/hardware/tici/amplifier.py b/openpilot/common/hardware/comma/amplifier.py
similarity index 100%
rename from system/hardware/tici/amplifier.py
rename to openpilot/common/hardware/comma/amplifier.py
diff --git a/system/hardware/tici/hardware.h b/openpilot/common/hardware/comma/hardware.h
similarity index 78%
rename from system/hardware/tici/hardware.h
rename to openpilot/common/hardware/comma/hardware.h
index d59b45efcb..6292183d9d 100644
--- a/system/hardware/tici/hardware.h
+++ b/openpilot/common/hardware/comma/hardware.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <cstdlib>
 #include <cassert>
 #include <fstream>
 #include <map>
@@ -8,29 +7,28 @@
 #include <algorithm>  // for std::clamp
 
 #include "common/util.h"
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 
-class HardwareTici : public HardwareNone {
+class HardwareComma : public HardwareNone {
 public:
   static std::string get_name() {
-    std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return util::strip(model.substr(std::string("comma ").size()));
+    static const std::string name = []() {
+      std::string model = util::read_file("/sys/firmware/devicetree/base/model");
+      return util::strip(model.substr(std::string("comma ").size()));
+    }();
+    return name;
   }
 
   static cereal::InitData::DeviceType get_device_type() {
     static const std::map<std::string, cereal::InitData::DeviceType> device_map = {
-      {"tici", cereal::InitData::DeviceType::TICI},
       {"tizi", cereal::InitData::DeviceType::TIZI},
       {"mici", cereal::InitData::DeviceType::MICI}
     };
-    auto it = device_map.find(get_name());
+    static const auto it = device_map.find(get_name());
     assert(it != device_map.end());
     return it->second;
   }
 
-  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
-  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }
-
   static std::string get_serial() {
     static std::string serial("");
     if (serial.empty()) {
@@ -51,8 +49,7 @@ public:
 
   static void set_ir_power(int percent) {
     auto device = get_device_type();
-    if (device == cereal::InitData::DeviceType::TICI ||
-        device == cereal::InitData::DeviceType::TIZI) {
+    if (device == cereal::InitData::DeviceType::TIZI) {
       return;
     }
 
diff --git a/openpilot/common/hardware/comma/hardware.py b/openpilot/common/hardware/comma/hardware.py
new file mode 100644
index 0000000000..effb4d9dbe
--- /dev/null
+++ b/openpilot/common/hardware/comma/hardware.py
@@ -0,0 +1,429 @@
+import configparser
+import json
+import os
+import socket
+import subprocess
+import time
+from functools import cached_property, lru_cache
+from pathlib import Path
+
+from openpilot.cereal import log
+from openpilot.common.utils import sudo_read, sudo_write
+from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
+from openpilot.common.esim.base import LPABase
+from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
+from openpilot.common.hardware.comma.pins import GPIO
+from openpilot.common.hardware.comma.amplifier import Amplifier
+
+MODEM_STATE_PATH = "/dev/shm/modem"
+
+NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+
+def affine_irq(val, action):
+  irqs = get_irqs_for_action(action)
+  if len(irqs) == 0:
+    print(f"No IRQs found for '{action}'")
+    return
+
+  for i in irqs:
+    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
+
+@lru_cache
+def get_device_type():
+  # lru_cache and cache can cause memory leaks when used in classes
+  with open("/sys/firmware/devicetree/base/model") as f:
+    model = f.read().strip('\x00')
+  return model.split('comma ')[-1]
+
+def wpa_supplicant_cmd(cmd: str, timeout: float = 0.2) -> dict[str, str]:
+  with socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM) as sock:
+    sock.settimeout(timeout)
+    sock.bind(f"\0openpilot-wpa-{os.getpid()}-{time.monotonic_ns()}")
+    sock.connect("/run/wpa_supplicant/wlan0")
+    sock.send(cmd.encode())
+
+    while True:
+      out = sock.recv(8192).decode("utf-8", "replace")
+      if out.startswith("<"):
+        continue
+      if out.startswith("FAIL"):
+        return {}
+      return dict(l.split("=", 1) for l in out.splitlines() if "=" in l)
+
+def get_default_route_iface():
+  with open("/proc/net/route") as f:
+    routes = [(int(route[6]), route[0]) for line in f.readlines()[1:] if (route := line.split())[1] == "00000000" and int(route[3], 16) & 0x1]
+  return min(routes)[1] if routes else None
+
+class HardwareComma(HardwareBase):
+  """
+    This platform covers the Snapdragon 845-based comma devices:
+    - tici = comma three
+    - tizi = comma 3X
+    - mici = comma four
+
+    We strictly use only the device codenames in this codebase for
+    consistency, though all user-facing UI should use the product names.
+  """
+
+  @cached_property
+  def amplifier(self):
+    if self.get_device_type() == "mici":
+      return None
+    return Amplifier()
+
+  def get_modem_state(self) -> dict:
+    try:
+      with open(MODEM_STATE_PATH) as f:
+        return json.load(f)
+    except (FileNotFoundError, json.JSONDecodeError):
+      return {}
+
+  def get_os_version(self):
+    with open("/VERSION") as f:
+      return f.read().strip()
+
+  def get_device_type(self):
+    return get_device_type()
+
+  def reboot(self, reason=None):
+    subprocess.check_output(["sudo", "reboot"])
+
+  def uninstall(self):
+    Path("/data/__system_reset__").touch()
+    os.sync()
+    self.reboot()
+
+  def get_serial(self):
+    return self.get_cmdline()['androidboot.serialno']
+
+  def get_voltage(self):
+    with open("/sys/class/hwmon/hwmon1/in1_input") as f:
+      return int(f.read())
+
+  def get_current(self):
+    with open("/sys/class/hwmon/hwmon1/curr1_input") as f:
+      return int(f.read())
+
+  def set_ir_power(self, percent: int):
+    if self.get_device_type() == "tizi":
+      return
+
+    value = int((percent / 100) * 300)
+    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
+      f.write("0\n")
+    with open("/sys/class/leds/led:torch_2/brightness", "w") as f:
+      f.write(f"{value}\n")
+    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
+      f.write(f"{value}\n")
+
+  def get_network_type(self):
+    try:
+      if (iface := get_default_route_iface()):
+        if iface.startswith('wlan'):
+          return NetworkType.wifi
+        if iface.startswith('eth'):
+          return NetworkType.ethernet
+    except Exception:
+      pass
+
+    ms = self.get_modem_state()
+    if ms.get('connected'):
+      nt = ms.get('network_type', '')
+      if nt == 'nr':
+        return NetworkType.cell5G
+      elif nt == 'lte':
+        return NetworkType.cell4G
+      elif nt in ('utran', 'umts'):
+        return NetworkType.cell3G
+      elif nt == 'gsm':
+        return NetworkType.cell2G
+    return NetworkType.none
+
+  def get_sim_info(self):
+    ms = self.get_modem_state()
+    sim_id = ms.get('iccid', '')
+    return {
+      'sim_id': sim_id,
+      'mcc_mnc': ms.get('mcc_mnc') or None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"] if not sim_id else ["READY"],
+      'data_connected': ms.get('connected', False),
+    }
+
+  def get_sim_lpa(self) -> LPABase:
+    from openpilot.common.esim.lpa import LPA
+    return LPA()
+
+  def get_imei(self):
+    return self.get_modem_state().get('imei', '')
+
+  def get_network_info(self):
+    if self.get_device_type() == "mici":
+      return None
+
+    ms = self.get_modem_state()
+    return {
+      'technology': ms.get('network_type', '').upper() if ms.get('network_type') else '',
+      'operator': ms.get('operator', ''),
+      'band': ms.get('band', ''),
+      'channel': ms.get('channel', 0),
+      'extra': ms.get('extra', ''),
+      'state': ms.get('state', 'UNKNOWN'),
+    }
+
+  def parse_strength(self, percentage):
+    if percentage < 25:
+      return NetworkStrength.poor
+    elif percentage < 50:
+      return NetworkStrength.moderate
+    elif percentage < 75:
+      return NetworkStrength.good
+    else:
+      return NetworkStrength.great
+
+  def get_network_strength(self, network_type):
+    network_strength = NetworkStrength.unknown
+
+    try:
+      if network_type == NetworkType.none:
+        pass
+      elif network_type == NetworkType.ethernet:
+        network_strength = NetworkStrength.great
+      elif network_type == NetworkType.wifi:
+        rssi = wpa_supplicant_cmd("SIGNAL_POLL").get("RSSI")
+        if rssi is not None:
+          dbm = int(rssi)
+          if -100 < dbm <= 0:
+            network_strength = self.parse_strength(120 + max(-100, min(-20, dbm)))
+      else:  # Cellular
+        network_strength = self.parse_strength(self.get_modem_state().get('signal_quality', 0))
+    except Exception:
+      pass
+
+    return network_strength
+
+  def get_network_metered(self, network_type) -> bool:
+    if network_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
+      from openpilot.common.params import Params
+      return Params().get_bool("GsmMetered")
+    try:
+      if network_type == NetworkType.wifi:
+        ssid = wpa_supplicant_cmd("STATUS").get("ssid", "")
+        if ssid:
+          # wpa_supplicant escapes non-printable bytes as \xNN; NM keyfile stores ASCII SSIDs as a literal and others as a byte;byte; list
+          ssid_bytes = ssid.encode().decode('unicode_escape').encode('latin-1')
+          ssid_keyfile_list = ';'.join(str(b) for b in ssid_bytes) + ';'
+
+          nm_dirs = ("/run/NetworkManager/system-connections", "/data/etc/NetworkManager/system-connections")
+          for fpath in (p for d in nm_dirs for p in Path(d).glob("*.nmconnection")):
+            raw = sudo_read(str(fpath))
+            if not raw:
+              continue
+            cp = configparser.ConfigParser(interpolation=None)
+            try:
+              cp.read_string(raw)
+              keyfile_ssid = cp.get("wifi", "ssid", fallback="")
+              if keyfile_ssid != ssid and keyfile_ssid != ssid_keyfile_list:
+                continue
+              metered = cp.getint("connection", "metered", fallback=0)
+            except (configparser.Error, ValueError):
+              continue
+            if metered == 1:  # NM_METERED_YES
+              return True
+            if metered == 2:  # NM_METERED_NO
+              return False
+            break
+    except Exception:
+      pass
+
+    return super().get_network_metered(network_type)
+
+  def get_modem_temperatures(self):
+    return self.get_modem_state().get('temperatures', [])
+
+  def get_current_power_draw(self):
+    return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
+
+  def get_som_power_draw(self):
+    return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
+
+  def shutdown(self):
+    subprocess.run("sudo poweroff", shell=True)
+
+  def get_thermal_config(self):
+    intake, exhaust, gnss, bottomSoc = None, None, None, None
+    if self.get_device_type() == "mici":
+      gnss = ThermalZone("gnss")
+      intake = ThermalZone("intake")
+      exhaust = ThermalZone("exhaust")
+      bottomSoc = ThermalZone("bottom_soc")
+    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
+                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
+                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         dsp=ThermalZone("compute-hvx-usr"),
+                         memory=ThermalZone("ddr-usr"),
+                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
+                         intake=intake,
+                         exhaust=exhaust,
+                         gnss=gnss,
+                         bottomSoc=bottomSoc)
+
+  def set_display_power(self, on):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f:
+        f.write("0" if on else "4")
+    except Exception:
+      pass
+
+  def set_screen_brightness(self, percentage):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
+        max_brightness = float(f.read().strip())
+
+      val = int(percentage * (max_brightness / 100.))
+      with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
+        f.write(str(val))
+    except Exception:
+      pass
+
+  def get_screen_brightness(self):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
+        max_brightness = float(f.read().strip())
+
+      with open("/sys/class/backlight/panel0-backlight/brightness") as f:
+        return int(float(f.read()) / (max_brightness / 100.))
+    except Exception:
+      return 0
+
+  def set_power_save(self, powersave_enabled):
+    # amplifier, 100mW at idle
+    if self.amplifier is not None:
+      self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
+      if not powersave_enabled:
+        self.amplifier.initialize_configuration()
+
+    # *** CPU config ***
+
+    # offline big cluster
+    for i in range(4, 8):
+      val = '0' if powersave_enabled else '1'
+      sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
+
+    for n in ('0', '4'):
+      if powersave_enabled and n == '4':
+        continue
+      gov = 'ondemand' if powersave_enabled else 'performance'
+      sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
+      if not powersave_enabled:
+        # cap max core freq to 1689 Mhz
+        sudo_write('1689600', f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_max_freq')
+
+    # *** IRQ config ***
+
+    # GPU, modeld core
+    affine_irq(7, "kgsl-3d0")
+
+    # camerad core
+    camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
+    for n in camera_irqs:
+      affine_irq(6, n)
+
+  def get_gpu_usage_percent(self):
+    try:
+      with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f:
+        used, total = f.read().strip().split()
+      return 100.0 * int(used) / int(total)
+    except Exception:
+      return 0
+
+  def initialize_hardware(self):
+    if self.amplifier is not None:
+      self.amplifier.initialize_configuration()
+
+    # Allow hardwared to write engagement status to kmsg
+    subprocess.run("sudo chmod a+w /dev/kmsg", shell=True)
+
+    # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
+    gpio_init(GPIO.SOM_ST_IO, True)
+    gpio_set(GPIO.SOM_ST_IO, True)
+
+    # *** IRQ config ***
+
+    # mask off big cluster from default affinity
+    sudo_write("f", "/proc/irq/default_smp_affinity")
+
+    # move these off the default core
+    affine_irq(1, "msm_vidc")  # encoders
+    affine_irq(1, "i2c_geni")  # sensors
+
+    # *** GPU config ***
+    # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
+    affine_irq(5, "fts_ts")    # touch
+    affine_irq(5, "msm_drm")   # display
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
+    sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
+    sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
+    sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
+
+    # setup governors
+    sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
+    sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor")
+    sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor")
+
+    # *** VIDC (encoder) config ***
+    sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
+    sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
+
+    # pandad core
+    affine_irq(3, "spi_geni")         # SPI
+    try:
+      pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
+      subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
+      subprocess.call(["sudo", "taskset", "-pc", "3", pid])
+    except subprocess.CalledProcessError as e:
+      print(str(e))
+
+  def get_modem_data_usage(self):
+    ms = self.get_modem_state()
+    return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
+
+  def reset_internal_panda(self):
+    gpio_init(GPIO.STM_RST_N, True)
+    gpio_init(GPIO.STM_BOOT0, True)
+
+    gpio_set(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_BOOT0, False)
+    time.sleep(0.01)
+    gpio_set(GPIO.STM_RST_N, False)
+
+  def recover_internal_panda(self):
+    gpio_init(GPIO.STM_RST_N, True)
+    gpio_init(GPIO.STM_BOOT0, True)
+
+    gpio_set(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_BOOT0, True)
+    time.sleep(0.01)
+    gpio_set(GPIO.STM_RST_N, False)
+    time.sleep(0.01)
+    gpio_set(GPIO.STM_BOOT0, False)
+
+  def booted(self):
+    # this normally boots within 8s, but on rare occasions takes 30+s
+    encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info")
+    if "Core state: 0" in encoder_state and (time.monotonic() < 60*2):
+      return False
+    return True
+
+if __name__ == "__main__":
+  t = HardwareComma()
+  t.initialize_hardware()
+  t.set_power_save(False)
+  print(t.get_sim_info())
diff --git a/system/hardware/tici/id_rsa b/openpilot/common/hardware/comma/id_rsa
similarity index 100%
rename from system/hardware/tici/id_rsa
rename to openpilot/common/hardware/comma/id_rsa
diff --git a/openpilot/common/hardware/comma/modem.py b/openpilot/common/hardware/comma/modem.py
new file mode 100755
index 0000000000..171ed8c0e4
--- /dev/null
+++ b/openpilot/common/hardware/comma/modem.py
@@ -0,0 +1,630 @@
+#!/usr/bin/env python3
+import fcntl
+import json
+import logging
+import os
+import select
+import signal
+import struct
+import subprocess
+import tempfile
+import termios
+import time
+
+from contextlib import contextmanager
+from ipaddress import IPv4Address, AddressValueError
+
+from enum import Enum
+
+logging.basicConfig(
+  level=logging.INFO,
+  format="%(asctime)s.%(msecs)03d %(levelname)-7s modem: %(message)s",
+  datefmt="%H:%M:%S",
+)
+
+AT_PORT = "/dev/modem_at0"
+PPP_PORT = "/dev/modem_at1"
+STATE_PATH = "/dev/shm/modem"
+AT_LOCK = "/dev/shm/modem.lock"  # shared with LPA
+AT_INIT = [
+  "ATE0",       # disable command echo
+  "ATV1",       # verbose result codes (CONNECT/BUSY/NO CARRIER, not numeric)
+  "AT+CMEE=1",  # numeric +CME ERROR codes on failures (per 3GPP 27.007)
+  "ATX4",       # extended result codes: busy + dial tone detection, line speed in CONNECT
+  "AT&C1",      # DCD pin follows carrier state (V.250 default)
+  "AT+CREG=2",  # registration URCs include location info
+  "AT+CGREG=2", # GPRS registration URCs include location info
+]
+CREG = {0: "not_registered", 1: "home", 2: "searching", 3: "denied", 4: "unknown", 5: "roaming"}
+# 3GPP TS 27.007 +COPS <AcT> -> network type
+NETWORK_TYPE = {0: "gsm", 1: "gsm", 3: "gsm", 8: "gsm",
+                2: "utran", 4: "utran", 5: "utran", 6: "utran",
+                7: "lte", 9: "lte", 10: "lte",
+                11: "nr", 12: "nr", 13: "nr"}
+
+DIAL_CID = 1
+WEBBING_ICCID_PREFIX = "8985235"
+
+PPPD_CMD = [
+  "sudo", "pppd", PPP_PORT, "460800", "noauth", "nodetach", "noipdefault", "usepeerdns",
+  "nodefaultroute", "connect",
+  "/usr/sbin/chat -v ABORT 'NO CARRIER' ABORT 'NO DIALTONE' ABORT 'BUSY' " +
+  f"ABORT 'NO ANSWER' ABORT 'ERROR' TIMEOUT 5 '' AT OK ATD*99***{DIAL_CID}# CONNECT ''",
+  "lcp-echo-interval", "30", "lcp-echo-failure", "4", "mtu", "1500", "mru", "1500",
+  "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
+  "user", '""', "password", '""',
+]
+INITIAL_STATE: dict[str, object] = {
+  "seconds_since_boot": 0,
+  "state": "INITIALIZING",
+  "connected": False, "ip_address": "",
+  "iccid": "", "mcc_mnc": "", "imei": "", "modem_version": "",
+  "signal_strength": 0, "signal_quality": 0,
+  "network_type": "unknown", "operator": "", "band": "", "channel": 0,
+  "registration": "unknown", "temperatures": [], "extra": "",
+  "tx_bytes": 0, "rx_bytes": 0,
+}
+
+
+@contextmanager
+def _serial_port(port: str, baudrate: int):
+  fd = os.open(port, os.O_RDWR | os.O_NOCTTY)
+  try:
+    attrs = termios.tcgetattr(fd)
+    attrs[0] = 0
+    attrs[1] = 0
+    attrs[2] = termios.CLOCAL | termios.CREAD | termios.CS8
+    attrs[3] = 0
+    attrs[4] = attrs[5] = getattr(termios, f"B{baudrate}")
+    attrs[6][termios.VMIN] = 0
+    attrs[6][termios.VTIME] = 0
+    termios.tcsetattr(fd, termios.TCSANOW, attrs)
+    yield fd
+  finally:
+    os.close(fd)
+
+
+def _read_line(fd: int, timeout: float) -> bytes:
+  data = bytearray()
+  deadline = time.monotonic() + timeout
+  while True:
+    readable, _, _ = select.select([fd], [], [], max(0.0, deadline - time.monotonic()))
+    if not readable:
+      return bytes(data)
+    byte = os.read(fd, 1)
+    if not byte:
+      return bytes(data)
+    data.extend(byte)
+    if byte == b"\n":
+      return bytes(data)
+
+
+class State(Enum):
+  INITIALIZING = "INITIALIZING"
+  SEARCHING = "SEARCHING"
+  CONNECTING = "CONNECTING"
+  CONNECTED = "CONNECTED"
+  DISCONNECTING = "DISCONNECTING"
+
+
+STATE_WAIT = 1.0  # seconds to wait after each state handler returns
+
+
+class PPPSession:
+  """Owns pppd lifecycle, fail tracking, and PPP routing."""
+  MAX_FAILS = 3
+
+  def __init__(self):
+    self._proc: subprocess.Popen | None = None
+    self._fails = 0
+    self._peer = ""
+
+  def start(self):
+    self._proc = subprocess.Popen(PPPD_CMD, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+    self._peer = ""
+    logging.info(f"PPP dialing CID {DIAL_CID}")
+
+  def kill(self):
+    subprocess.run(["sudo", "killall", "-9", "pppd"], capture_output=True)
+    self._peer = ""
+
+  @staticmethod
+  def reset_data_port():
+    """Drop DTR on PPP_PORT so the modem terminates any stuck PPP session."""
+    try:
+      with _serial_port(PPP_PORT, 460800) as fd:
+        dtr = struct.pack("I", termios.TIOCM_DTR)
+        fcntl.ioctl(fd, termios.TIOCMBIC, dtr)
+        time.sleep(0.2)
+        fcntl.ioctl(fd, termios.TIOCMBIS, dtr)
+    except Exception as e:
+      logging.warning(f"data port reset failed: {e}")
+
+  def has_exited(self) -> bool:
+    return self._proc is not None and self._proc.poll() is not None
+
+  def reset_fail_counter(self):
+    self._fails = 0
+
+  def record_fail(self) -> bool:
+    """Bump fail counter; return True if at the give-up limit."""
+    self._fails += 1
+    return self._fails >= self.MAX_FAILS
+
+  @property
+  def fails(self) -> int:
+    return self._fails
+
+  def maybe_install_routes(self, ip: str, peer: str) -> bool:
+    """Install routes if peer changed; kill the session on failure so the state machine reconnects."""
+    if not peer or peer == self._peer:
+      return False
+    try:
+      IPv4Address(ip)
+      IPv4Address(peer)
+    except AddressValueError:
+      logging.warning(f"refusing route install with non-IPv4 ip={ip!r} peer={peer!r}")
+      self.kill()
+      return False
+    self.cleanup_routes()
+    cmds = [
+      ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "metric", "1000"],
+      ["sudo", "ip", "route", "add", "default", "via", peer, "dev", "ppp0", "table", "1000"],
+      ["sudo", "ip", "rule", "add", "from", ip, "table", "1000"],
+    ]
+    for cmd in cmds:
+      r = subprocess.run(cmd, capture_output=True, text=True)
+      if r.returncode != 0:
+        logging.warning(f"route install failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
+        self.cleanup_routes()
+        self.kill()
+        return False
+    logging.info(f"route set up for {ip} via {peer}")
+    self._peer = peer
+    return True
+
+  def maybe_install_dns(self, dns_servers: list[str]) -> bool:
+    """Register DNS servers with systemd-resolved; kill the session on failure to force a retry."""
+    if not dns_servers:
+      return False
+    for cmd in (["sudo", "resolvectl", "dns", "ppp0", *dns_servers],
+                ["sudo", "resolvectl", "default-route", "ppp0", "yes"]):
+      r = subprocess.run(cmd, capture_output=True, text=True)
+      if r.returncode != 0:
+        logging.warning(f"resolvectl failed ({' '.join(cmd[1:])}): {r.stderr.strip()}")
+        self.kill()
+        return False
+    logging.info(f"resolvectl: ppp0 DNS = {dns_servers}")
+    return True
+
+  @staticmethod
+  def cleanup_routes():
+    subprocess.run(["sudo", "ip", "route", "del", "default", "dev", "ppp0"], capture_output=True)
+    subprocess.run(["sudo", "ip", "route", "flush", "table", "1000"], capture_output=True)
+    # rules don't have a flush; delete until none remain
+    while subprocess.run(["sudo", "ip", "rule", "del", "table", "1000"], capture_output=True).returncode == 0:
+      pass
+    subprocess.run(["sudo", "resolvectl", "revert", "ppp0"], capture_output=True)
+
+
+class Modem:
+  def __init__(self):
+    self._ppp = PPPSession()
+    self._sim_change = False
+    self._apn = ""  # blank = network-provided via PCO
+    self._roaming_allowed = True
+    self.running = True
+    self.S = INITIAL_STATE.copy()
+
+  @staticmethod
+  def _read_param(key):
+    try:
+      with open(f"/data/params/d/{key}") as f:
+        return f.read().strip()
+    except FileNotFoundError:
+      return ""
+
+  @staticmethod
+  def _parse_reg(v: str) -> str:
+    try:
+      return CREG.get(int(v.split(",")[1].strip('"')), "unknown")
+    except (ValueError, IndexError):
+      return "unknown"
+
+  @staticmethod
+  def _has_modem_manager() -> bool:
+    return os.path.isfile("/lib/systemd/system/ModemManager.service")
+
+  def _is_roaming_allowed(self) -> bool:
+    if self.S["iccid"].startswith(WEBBING_ICCID_PREFIX):
+      return True
+    return self._read_param("GsmRoaming") == "1"
+
+  def _publish_state(self, **kwargs):
+    self.S.update(kwargs)
+    self.S["seconds_since_boot"] = time.monotonic()
+    with tempfile.NamedTemporaryFile(mode="w", dir="/dev/shm", delete=False) as f:
+      json.dump(self.S, f, indent=2)
+    os.chmod(f.name, 0o644)
+    os.replace(f.name, STATE_PATH)
+
+  def _at(self, cmd):
+    """Send AT command, return response lines. [] on error or if LPA holds port."""
+    fd = os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666)
+    try:
+      fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+    except OSError:
+      os.close(fd)
+      return []
+    try:
+      with _serial_port(AT_PORT, 9600) as serial_fd:
+        termios.tcflush(serial_fd, termios.TCIFLUSH)
+        command = (cmd + "\r").encode()
+        while command:
+          command = command[os.write(serial_fd, command):]
+        lines = []
+        while True:
+          raw = _read_line(serial_fd, 5)
+          if not raw:
+            raise TimeoutError("AT timeout")
+          line = raw.decode(errors="ignore").strip()
+          if not line:
+            continue
+          if line == "OK":
+            break
+          if line == "ERROR" or line.startswith("+CME ERROR"):
+            raise RuntimeError(line)
+          lines.append(line)
+        return lines
+    except (RuntimeError, TimeoutError, OSError) as e:
+      logging.info(f"AT {cmd} failed: {e}")
+      return []
+    finally:
+      fcntl.flock(fd, fcntl.LOCK_UN)
+      os.close(fd)
+
+  def _atv(self, cmd, pfx):
+    for line in self._at(cmd):
+      if pfx in line and ":" in line:
+        return line.split(":", 1)[1].strip()
+    return None
+
+  def _init_at_channel(self) -> bool:
+    """Run AT_INIT and confirm ATE0 took effect. Returns False if echo is still on."""
+    for c in AT_INIT:
+      self._at(c)
+    r = self._at("AT+CGMI")
+    return bool(r) and not r[0].startswith("AT")
+
+  def _configure_modem(self, modem_version: str):
+    if not modem_version.startswith("EG25"):
+      return
+    cmds = [
+      # clear initial EPS bearer APN (some carriers reject the default)
+      'AT+CGDCONT=0,"IP",""',
+
+      # SIM hot swap
+      'AT+QSIMDET=1,0',
+      'AT+QSIMSTAT=1',
+
+      # configure modem as data-centric
+      'AT+QNVW=5280,0,"0102000000000000"',
+      'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
+      'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
+    ]
+    for c in cmds:
+      self._at(c)
+
+  def _do_initializing(self):
+    if not os.path.exists(AT_PORT):
+      return State.INITIALIZING
+    logging.info("port found, initializing")
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+
+    if not self._init_at_channel():
+      logging.warning("AT echo still on, retrying")
+      return State.INITIALIZING
+
+    identity = self._read_identity()
+    if not identity["iccid"] or not identity["imei"]:
+      logging.warning(f"identity read incomplete: {identity}, retrying")
+      return State.INITIALIZING
+
+    self._configure_modem(identity["modem_version"])
+
+    self.S.update(identity)
+    self._apn = self._read_param("GsmApn")
+    self._roaming_allowed = self._is_roaming_allowed()
+    # blank APN lets the carrier supply one via PCO
+    self._at(f'AT+CGDCONT={DIAL_CID},"IP","{self._apn}"')
+    logging.info(f"APN '{self._apn or '(network-provided)'}' written to CID {DIAL_CID}, roaming={'on' if self._roaming_allowed else 'off'}")
+
+    self._sim_change = False  # clear since we just re-read identity with the new SIM
+    self._publish_state(**identity)
+    return State.SEARCHING
+
+  def _read_identity(self):
+    def first_line(cmd):
+      r = self._at(cmd)
+      return r[0].strip() if r else ""
+
+    imei = first_line("AT+CGSN")
+    if not (imei.isdigit() and 14 <= len(imei) <= 17):  # 3GPP TS 23.003
+      imei = ""
+
+    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
+    if not iccid.isdigit():
+      iccid = ""
+
+    imsi = first_line("AT+CIMI")
+    mcc_mnc = imsi[:6] if imsi.isdigit() and len(imsi) >= 6 else ""
+
+    modem_version = first_line("AT+GMR")
+
+    logging.info(f"imei={imei} iccid={iccid} mcc_mnc={mcc_mnc} ver={modem_version}")
+    return {"imei": imei, "iccid": iccid, "mcc_mnc": mcc_mnc, "modem_version": modem_version}
+
+  def _do_searching(self):
+    new_roaming = self._is_roaming_allowed()
+    if new_roaming != self._roaming_allowed:
+      logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
+      self._roaming_allowed = new_roaming
+
+    v = self._atv("AT+CREG?", "+CREG:")
+    if not v:
+      return self._searching_idle()
+
+    reg = self._parse_reg(v)
+    greg = self._parse_reg(self._atv("AT+CGREG?", "+CGREG:") or "")
+    logging.debug(f"creg={reg} cgreg={greg} roaming_allowed={self._roaming_allowed}")
+
+    if reg == "roaming" and not self._roaming_allowed:
+      self._publish_state(registration=reg)
+      return State.SEARCHING
+
+    if reg in ("home", "roaming") and greg in ("home", "roaming"):
+      self._publish_state(registration=reg)
+      return State.CONNECTING
+
+    if reg != self.S.get("registration"):
+      self._publish_state(registration=reg)
+    return self._searching_idle()
+
+  def _searching_idle(self):
+    if self._sim_change or not os.path.exists(AT_PORT):
+      logging.info(f"-> reconnecting (sim_change={self._sim_change} port={os.path.exists(AT_PORT)})")
+      return State.DISCONNECTING
+    return State.SEARCHING
+
+  def _do_connecting(self):
+    logging.info("starting pppd")
+    self._ppp.reset_fail_counter()
+    self._sim_change = False
+    self._ppp.start()
+    return State.CONNECTED
+
+  def _handle_pppd_exit(self):
+    if self._sim_change or not os.path.exists(AT_PORT):
+      return State.DISCONNECTING
+    give_up = self._ppp.record_fail()
+    if give_up:
+      logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, reconnecting")
+      return State.DISCONNECTING
+    logging.warning(f"PPP fail {self._ppp.fails}/{self._ppp.MAX_FAILS}, retrying")
+    self._ppp.reset_data_port()
+    if not os.path.exists(AT_PORT):
+      return State.DISCONNECTING
+    self._ppp.start()
+    return State.CONNECTED
+
+  def _params_changed(self) -> bool:
+    new_apn = self._read_param("GsmApn")
+    if new_apn != self._apn:
+      logging.info(f"GsmApn changed: '{self._apn}' -> '{new_apn}'")
+      return True
+    new_roaming = self._is_roaming_allowed()
+    if new_roaming != self._roaming_allowed:
+      logging.info(f"roaming changed: {self._roaming_allowed} -> {new_roaming}")
+      return True
+    return False
+
+  def _check_iccid(self, state):
+    if state in (State.INITIALIZING, State.DISCONNECTING) or not self.S["iccid"]:
+      return
+    iccid = (self._atv("AT+QCCID", "+QCCID:") or "").rstrip("F")
+    if iccid and iccid != self.S["iccid"]:
+      logging.warning(f"iccid changed: {self.S['iccid']} -> {iccid}")
+      self._sim_change = True
+
+  def _do_connected(self):
+    if self._ppp.has_exited():
+      return self._handle_pppd_exit()
+
+    if self._sim_change or not os.path.exists(AT_PORT) or self._params_changed():
+      return State.DISCONNECTING
+
+    self._poll()
+    return State.CONNECTED
+
+  def _do_disconnecting(self):
+    logging.warning("reconnecting")
+    self._publish_state(**INITIAL_STATE)
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+    self._ppp.reset_data_port()
+    self._sim_change = False
+    return State.INITIALIZING
+
+  def _poll_signal(self) -> dict:
+    v = self._atv("AT+CSQ", "+CSQ:")
+    if not v:
+      return {}
+    try:
+      rssi = int(v.split(",")[0])
+      if rssi == 99:
+        return {}
+      return {"signal_strength": rssi, "signal_quality": min(100, int(rssi / 31 * 100))}
+    except (ValueError, IndexError):
+      return {}
+
+  def _poll_operator(self) -> dict:
+    v = self._atv("AT+COPS?", "+COPS:")
+    if not v:
+      return {}
+    p = v.split(",")
+    out: dict = {}
+    try:
+      if len(p) >= 3:
+        out["operator"] = p[2].strip('"')
+      if len(p) >= 4:
+        out["network_type"] = NETWORK_TYPE.get(int(p[3]), "unknown")
+    except (ValueError, IndexError):
+      pass
+    return out
+
+  def _poll_band(self) -> dict:
+    v = self._atv("AT+QNWINFO", "+QNWINFO:")
+    if not v:
+      return {}
+    info = v.replace('"', '').split(",")
+    try:
+      if len(info) >= 4:
+        return {"band": info[2], "channel": int(info[3])}
+    except ValueError:
+      pass
+    return {}
+
+  def _poll_extra(self) -> dict:
+    v = self._atv('AT+QENG="servingcell"', "+QENG:")
+    return {"extra": v.replace('"', '')} if v else {}
+
+  def _poll_temps(self) -> dict:
+    v = self._atv("AT+QTEMP", "+QTEMP:")
+    if not v:
+      return {}
+    try:
+      return {"temperatures": [t for t in (int(x) for x in v.split(",") if x.strip()) if t != 255]}
+    except (ValueError, IndexError):
+      return {}
+
+  def _poll_iface(self) -> dict:
+    try:
+      r = subprocess.run(["ip", "-4", "addr", "show", "ppp0"], capture_output=True, text=True, timeout=2)
+      ip, peer = "", ""
+      for line in r.stdout.splitlines():
+        # `inet 10.x.x.x peer 10.64.64.64/32 ...`
+        parts = line.strip().split()
+        if "inet" in parts:
+          i = parts.index("inet")
+          ip = parts[i + 1].split("/")[0]
+          if "peer" in parts:
+            peer = parts[parts.index("peer") + 1].split("/")[0]
+          break
+      if ip:
+        if self._ppp.maybe_install_routes(ip, peer):
+          self._ppp.maybe_install_dns(self._read_cellular_dns())
+        return {"ip_address": ip, "connected": True}
+      if self.S["connected"]:
+        return {"connected": False, "ip_address": ""}
+    except Exception:
+      pass
+    return {}
+
+  def _read_cellular_dns(self) -> list[str]:
+    v = self._atv(f"AT+CGCONTRDP={DIAL_CID}", "+CGCONTRDP:")
+    if not v:
+      return []
+    # +CGCONTRDP: <cid>,<bearer_id>,<apn>,<local_addr>,<gw_addr>,<dns_prim>,<dns_sec>,...
+    fields = [f.strip().strip('"') for f in v.split(",")]
+    dns_servers = []
+    for d in fields[5:7]:
+      try:
+        dns_servers.append(str(IPv4Address(d)))
+      except (AddressValueError, ValueError):
+        pass
+    if not dns_servers:
+      dns_servers = [
+        "8.8.8.8",  # Google
+        "1.1.1.1",  # Cloudflare
+      ]
+      logging.warning(f"no cellular DNS servers reported by modem: {v!r}; using fallback {dns_servers}")
+    return dns_servers
+
+  def _poll_byte_counters(self) -> dict:
+    try:
+      with open("/sys/class/net/ppp0/statistics/tx_bytes") as f:
+        tx = int(f.read().strip())
+      with open("/sys/class/net/ppp0/statistics/rx_bytes") as f:
+        rx = int(f.read().strip())
+    except Exception:
+      return {}
+    return {"tx_bytes": tx, "rx_bytes": rx}
+
+  def _poll(self):
+    s: dict = {}
+    for fn in (self._poll_signal, self._poll_operator, self._poll_band,
+               self._poll_extra, self._poll_temps, self._poll_iface,
+               self._poll_byte_counters):
+      s.update(fn())
+    if s:
+      self._publish_state(**s)
+
+  def run(self):
+    logging.info("starting")
+    self._publish_state(state=State.INITIALIZING.value)
+    if self._has_modem_manager():
+      subprocess.run(["sudo", "systemctl", "mask", "--runtime", "ModemManager"], capture_output=True)
+      subprocess.run(["sudo", "systemctl", "stop", "ModemManager"], capture_output=True)
+    self._ppp.kill()
+
+    state = State.INITIALIZING
+
+    handlers = {
+      State.INITIALIZING: self._do_initializing,
+      State.SEARCHING: self._do_searching,
+      State.CONNECTING: self._do_connecting,
+      State.CONNECTED: self._do_connected,
+      State.DISCONNECTING: self._do_disconnecting,
+    }
+
+    while self.running:
+      try:
+        self._check_iccid(state)
+        prev = state
+        state = handlers[state]()
+        if state != prev:
+          self._publish_state(state=state.value)
+          logging.info(f"{prev.value} -> {state.value}")
+      except Exception:
+        logging.exception(f"error in {state.value}")
+        state = State.DISCONNECTING
+      time.sleep(STATE_WAIT)
+
+  def stop(self):
+    self.running = False
+    self._ppp.kill()
+    self._ppp.cleanup_routes()
+    try:
+      os.remove(STATE_PATH)
+    except FileNotFoundError:
+      pass
+    if self._has_modem_manager():
+      subprocess.run(["sudo", "systemctl", "unmask", "--runtime", "ModemManager"], capture_output=True)
+      subprocess.run(["sudo", "systemctl", "start", "ModemManager"], capture_output=True)
+
+
+def main():
+  m = Modem()
+
+  def _sig(*_):
+    m.running = False
+
+  signal.signal(signal.SIGINT, _sig)
+  signal.signal(signal.SIGTERM, _sig)
+  m.run()
+  m.stop()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/hardware/tici/pins.py b/openpilot/common/hardware/comma/pins.py
similarity index 100%
rename from system/hardware/tici/pins.py
rename to openpilot/common/hardware/comma/pins.py
diff --git a/system/hardware/tici/power_monitor.py b/openpilot/common/hardware/comma/power_monitor.py
similarity index 100%
rename from system/hardware/tici/power_monitor.py
rename to openpilot/common/hardware/comma/power_monitor.py
diff --git a/openpilot/common/hardware/comma/tests/__init__.py b/openpilot/common/hardware/comma/tests/__init__.py
new file mode 100644
index 0000000000..8b13789179
--- /dev/null
+++ b/openpilot/common/hardware/comma/tests/__init__.py
@@ -0,0 +1 @@
+
diff --git a/system/hardware/tici/tests/test_agnos_updater.py b/openpilot/common/hardware/comma/tests/test_agnos_updater.py
similarity index 83%
rename from system/hardware/tici/tests/test_agnos_updater.py
rename to openpilot/common/hardware/comma/tests/test_agnos_updater.py
index a1bbd363fd..f096426707 100644
--- a/system/hardware/tici/tests/test_agnos_updater.py
+++ b/openpilot/common/hardware/comma/tests/test_agnos_updater.py
@@ -6,7 +6,8 @@ TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
 MANIFEST = os.path.join(TEST_DIR, "../agnos.json")
 
 
-class TestAgnosUpdater:
+from openpilot.common.test import OpenpilotTestCase
+class TestAgnosUpdater(OpenpilotTestCase):
 
   def test_manifest(self):
     with open(MANIFEST) as f:
diff --git a/system/hardware/tici/tests/test_amplifier.py b/openpilot/common/hardware/comma/tests/test_amplifier.py
old mode 100644
new mode 100755
similarity index 79%
rename from system/hardware/tici/tests/test_amplifier.py
rename to openpilot/common/hardware/comma/tests/test_amplifier.py
index 9ce00c3ff2..1752bf6e5e
--- a/system/hardware/tici/tests/test_amplifier.py
+++ b/openpilot/common/hardware/comma/tests/test_amplifier.py
@@ -1,19 +1,17 @@
-import pytest
+#!/usr/bin/env python3
+
 import time
-import random
 import subprocess
+import unittest
 
 from panda import Panda
-from openpilot.system.hardware import TICI, HARDWARE
-from openpilot.system.hardware.tici.amplifier import Amplifier
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.hardware.comma.amplifier import Amplifier
 
 
-class TestAmplifier:
-
-  @classmethod
-  def setup_class(cls):
-    if not TICI:
-      pytest.skip()
+class TestAmplifier(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   def setup_method(self):
     # clear dmesg
@@ -57,7 +55,7 @@ class TestAmplifier:
       time.sleep(0.1)
 
       self.panda.set_siren(True)
-      time.sleep(random.randint(0, 5))
+      time.sleep(0.1)
 
       amp = Amplifier(debug=True)
       r = amp.initialize_configuration()
@@ -66,4 +64,8 @@ class TestAmplifier:
       if self._check_for_i2c_errors(True):
         break
     else:
-      pytest.fail("didn't hit any i2c errors")
+      self.fail("didn't hit any i2c errors")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/common/hardware/comma/updater b/openpilot/common/hardware/comma/updater
new file mode 100755
index 0000000000..44b82d0c54
--- /dev/null
+++ b/openpilot/common/hardware/comma/updater
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
+size 24709205
diff --git a/system/hardware/hw.h b/openpilot/common/hardware/hw.h
similarity index 88%
rename from system/hardware/hw.h
rename to openpilot/common/hardware/hw.h
index c9af7e8a33..5bf8905cdf 100644
--- a/system/hardware/hw.h
+++ b/openpilot/common/hardware/hw.h
@@ -2,14 +2,14 @@
 
 #include <string>
 
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 #include "common/util.h"
 
-#if __TICI__
-#include "system/hardware/tici/hardware.h"
-#define Hardware HardwareTici
+#if __COMMA_HARDWARE__
+#include "common/hardware/comma/hardware.h"
+#define Hardware HardwareComma
 #else
-#include "system/hardware/pc/hardware.h"
+#include "common/hardware/pc/hardware.h"
 #define Hardware HardwarePC
 #endif
 
diff --git a/system/hardware/hw.py b/openpilot/common/hardware/hw.py
similarity index 98%
rename from system/hardware/hw.py
rename to openpilot/common/hardware/hw.py
index 3527aac872..245856fa16 100644
--- a/system/hardware/hw.py
+++ b/openpilot/common/hardware/hw.py
@@ -2,7 +2,7 @@ import os
 import platform
 from pathlib import Path
 
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 
 DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache"
 
diff --git a/common/tests/__init__.py b/openpilot/common/hardware/pc/__init__.py
similarity index 100%
rename from common/tests/__init__.py
rename to openpilot/common/hardware/pc/__init__.py
diff --git a/system/hardware/pc/hardware.h b/openpilot/common/hardware/pc/hardware.h
similarity index 63%
rename from system/hardware/pc/hardware.h
rename to openpilot/common/hardware/pc/hardware.h
index 71f58b188b..2c43b43292 100644
--- a/system/hardware/pc/hardware.h
+++ b/openpilot/common/hardware/pc/hardware.h
@@ -2,13 +2,11 @@
 
 #include <string>
 
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 
 class HardwarePC : public HardwareNone {
 public:
   static std::string get_name() { return "pc"; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }
-  static bool TICI() { return util::getenv("TICI", 0) == 1; }
-  static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
 };
diff --git a/openpilot/common/hardware/pc/hardware.py b/openpilot/common/hardware/pc/hardware.py
new file mode 100644
index 0000000000..417d2db37d
--- /dev/null
+++ b/openpilot/common/hardware/pc/hardware.py
@@ -0,0 +1,10 @@
+from openpilot.cereal import log
+from openpilot.common.hardware.base import HardwareBase
+
+class HardwarePc(HardwareBase):
+  def get_device_type(self):
+    return "pc"
+
+  def get_network_type(self):
+    # some stuff is gated on wifi, so just assume for now
+    return log.DeviceState.NetworkType.wifi
diff --git a/openpilot/common/hardware/usb.py b/openpilot/common/hardware/usb.py
new file mode 100644
index 0000000000..b9f6db2757
--- /dev/null
+++ b/openpilot/common/hardware/usb.py
@@ -0,0 +1,87 @@
+import os
+from pathlib import Path
+
+CHESTNUT_FW_VERSION = "ed4e39b7"
+CHESTNUT_USB_IDS = ((0xADD1, 0x0001), (0x3801, 0x0001))
+CHESTNUT_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
+USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
+TYPEC_CC_ORIENTATION_PATH = Path("/sys/class/power_supply/usb/typec_cc_orientation")
+PRIMARY_USB_CONTROLLER = "a600000.ssusb"
+
+
+def get_usb_topology() -> set[str]:
+  try:
+    return set(os.listdir(USB_DEVICES_PATH))
+  except OSError:
+    return set()
+
+
+def read(path: Path) -> str | None:
+  try:
+    return path.read_text().strip()
+  except OSError:
+    return None
+
+
+def read_int(path: Path, base: int = 10) -> int:
+  try:
+    return int(path.read_text(), base)
+  except (OSError, ValueError, TypeError):
+    return 0
+
+
+def usb_devices() -> list[Path]:
+  try:
+    devices = (d for d in USB_DEVICES_PATH.glob("*") if (d / "idVendor").exists())
+    return sorted(devices, key=lambda p: p.name)
+  except OSError:
+    return []
+
+
+def controller(device: Path) -> Path | None:
+  try:
+    return next((parent for parent in device.resolve().parents if parent.name.endswith(".ssusb")), None)
+  except OSError:
+    return None
+
+
+def get_usb_state() -> list[dict]:
+  devices = []
+  typec_orientation = read_int(TYPEC_CC_ORIENTATION_PATH)
+  for device in usb_devices():
+    vendor_id = read_int(device / "idVendor", 16)
+    product_id = read_int(device / "idProduct", 16)
+    ctrl = controller(device)
+    devices.append({
+      "busnum": read_int(device / "busnum"),
+      "devnum": read_int(device / "devnum"),
+      "vendorId": vendor_id,
+      "productId": product_id,
+      "speedMbps": read_int(device / "speed"),
+      "manufacturer": read(device / "manufacturer") or "",
+      "product": read(device / "product") or "",
+      "linkErrorCount": read_int(ctrl / "portli", 0) & 0xFFFF if ctrl is not None else 0,
+      "usb3Lane": {1: "a", 2: "b"}.get(typec_orientation, "unknown") if ctrl is not None and ctrl.name == PRIMARY_USB_CONTROLLER else "unknown",
+    })
+  return devices
+
+
+def set_usb_state(device_state, devices: list[dict]) -> None:
+  entries = device_state.usbState.init('devices', len(devices))
+
+  chestnut_present = False
+  for entry, device in zip(entries, devices, strict=True):
+    entry.busnum = device["busnum"]
+    entry.devnum = device["devnum"]
+    entry.vendorId = device["vendorId"]
+    entry.productId = device["productId"]
+    entry.speedMbps = device["speedMbps"]
+    entry.manufacturer = device["manufacturer"]
+    entry.product = device["product"]
+    entry.linkErrorCount = device["linkErrorCount"]
+    entry.usb3Lane = device.get("usb3Lane", "unknown")
+
+    if (entry.vendorId, entry.productId) in CHESTNUT_USB_IDS:
+      chestnut_present = True
+
+  device_state.chestnutPresent = chestnut_present
diff --git a/common/i2c.py b/openpilot/common/i2c.py
similarity index 100%
rename from common/i2c.py
rename to openpilot/common/i2c.py
diff --git a/openpilot/common/linux.py b/openpilot/common/linux.py
new file mode 100644
index 0000000000..73ea77b509
--- /dev/null
+++ b/openpilot/common/linux.py
@@ -0,0 +1,50 @@
+class LinuxSystemStats:
+  def __init__(self) -> None:
+    self._last_cpu_times = self._read_cpu_times()
+
+  @staticmethod
+  def _read_cpu_times() -> dict[int, tuple[int, int]]:
+    cpu_times = {}
+    with open('/proc/stat') as f:
+      for line in f:
+        name, *values = line.split()
+        if not name.startswith('cpu') or not name[3:].isdigit():
+          continue
+
+        times = [int(value) for value in values]
+        idle = sum(times[3:5])
+        total = sum(times[:8])
+        cpu_times[int(name[3:])] = (idle, total)
+    return cpu_times
+
+  def cpu_usage_percent(self) -> list[float]:
+    current_cpu_times = self._read_cpu_times()
+    usage = []
+    for cpu, (idle, total) in sorted(current_cpu_times.items()):
+      last_times = self._last_cpu_times.get(cpu)
+      if last_times is None:
+        usage.append(0.)
+        continue
+
+      last_idle, last_total = last_times
+      idle_delta = idle - last_idle
+      total_delta = total - last_total
+      if idle_delta < 0 or total_delta <= 0:
+        usage.append(0.)
+      else:
+        usage.append(max(0., min(100., 100. * (total_delta - idle_delta) / total_delta)))
+
+    self._last_cpu_times = current_cpu_times
+    return usage
+
+  @staticmethod
+  def memory_usage_percent() -> float:
+    memory = {}
+    with open('/proc/meminfo') as f:
+      for line in f:
+        key, value, *_ = line.split()
+        if key in ('MemTotal:', 'MemAvailable:'):
+          memory[key] = int(value)
+
+    total = memory['MemTotal:']
+    return max(0., min(100., 100. * (total - memory['MemAvailable:']) / total))
diff --git a/common/logging_extra.py b/openpilot/common/logging_extra.py
similarity index 100%
rename from common/logging_extra.py
rename to openpilot/common/logging_extra.py
diff --git a/common/markdown.py b/openpilot/common/markdown.py
similarity index 100%
rename from common/markdown.py
rename to openpilot/common/markdown.py
diff --git a/common/mock/__init__.py b/openpilot/common/mock/__init__.py
similarity index 79%
rename from common/mock/__init__.py
rename to openpilot/common/mock/__init__.py
index 4b01dfe841..9fa1e4b4d7 100644
--- a/common/mock/__init__.py
+++ b/openpilot/common/mock/__init__.py
@@ -1,19 +1,19 @@
 """
 Utilities for generating mock messages for testing.
-example in common/tests/test_mock.py
+example in openpilot/common/tests/test_mock.py
 """
 
 
 import functools
 import threading
-from cereal.messaging import PubMaster
-from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.cereal.messaging import PubMaster
+from openpilot.cereal.services import SERVICE_LIST
+from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.common.realtime import Ratekeeper
 
 
 MOCK_GENERATOR = {
-  "livePose": generate_livePose
+  "deviceMotion": generate_deviceMotion
 }
 
 
diff --git a/openpilot/common/mock/generators.py b/openpilot/common/mock/generators.py
new file mode 100644
index 0000000000..176471f1ab
--- /dev/null
+++ b/openpilot/common/mock/generators.py
@@ -0,0 +1,14 @@
+from openpilot.cereal import messaging
+
+
+def generate_deviceMotion():
+  msg = messaging.new_message('deviceMotion')
+  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
+  msg.deviceMotion.orientationNED = meas
+  msg.deviceMotion.velocityDevice = meas
+  msg.deviceMotion.angularVelocityDevice = meas
+  msg.deviceMotion.accelerationDevice = meas
+  msg.deviceMotion.inputsOK = True
+  msg.deviceMotion.posenetOK = True
+  msg.deviceMotion.sensorsOK = True
+  return msg
diff --git a/openpilot/common/parameterized.py b/openpilot/common/parameterized.py
new file mode 100644
index 0000000000..16b89553c5
--- /dev/null
+++ b/openpilot/common/parameterized.py
@@ -0,0 +1,93 @@
+import re
+import sys
+import inspect
+import unittest
+
+
+def _to_safe_name(s):
+  return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
+
+
+class parameterized:
+  @staticmethod
+  def expand(cases, names=None, ids=None, serial=False):
+    cases = list(cases)
+
+    if not cases:
+      return lambda func: unittest.skip("no parameterized cases")(func)
+
+    if serial:
+      def decorator(func):
+        normalized = [case if isinstance(case, tuple) else (case,) for case in cases]
+
+        def wrapper(self):
+          for case in normalized:
+            with self.subTest():
+              func(self, *case)
+
+        wrapper.__name__ = func.__name__
+        wrapper.__doc__ = func.__doc__
+        return wrapper
+
+      return decorator
+
+    return lambda func: _Expanded(func, cases, names, ids)
+
+
+class _Expanded:
+  """Descriptor that turns every parameter case into a real unittest method."""
+
+  def __init__(self, func, cases, names, ids):
+    self.func = func
+    self.cases = [c if isinstance(c, tuple) else (c,) for c in cases]
+    self.names = names
+    self.ids = ids
+
+  def __set_name__(self, owner, name):
+    params = [p for p in inspect.signature(self.func).parameters if p != "self"]
+
+    for index, case in enumerate(self.cases):
+      label = self.ids(*case) if self.ids is not None else None
+      method_name = f"{name}_{index}" + (f"_{_to_safe_name(label)}" if label is not None else "")
+
+      def test_method(test_case, current_case=case):
+        if self.names is None:
+          self.func(test_case, *current_case)
+        else:
+          values = dict(zip(self.names, current_case, strict=True))
+          values.update({param: test_case._fixture(param) for param in params if param not in values})
+          self.func(test_case, **values)
+
+      test_method.__name__ = method_name
+      test_method.__doc__ = self.func.__doc__
+      setattr(owner, method_name, test_method)
+
+    # The descriptor itself is only a method factory, not a test.
+    setattr(owner, name, None)
+
+
+def parameterized_class(attrs, input_list=None):
+  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
+    params_list = attrs
+  else:
+    assert input_list is not None
+    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
+    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
+
+  def decorator(cls):
+    globs = sys._getframe(1).f_globals
+    for i, params in enumerate(params_list):
+      # Append sanitized values so unittest's -k can filter by them.
+      suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
+      name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
+      new_cls = type(name, (cls,), dict(params))
+      new_cls.__module__ = cls.__module__
+      new_cls.__unittest_skip__ = False
+      new_cls.__unittest_skip_why__ = ""  # else inherited from the base and the collector drops it
+      globs[name] = new_cls
+    # Don't collect the un-parametrised base.
+    cls.__unittest_skip__ = True
+    cls.__unittest_skip_why__ = "parameterized base class"
+    return cls
+
+  return decorator
diff --git a/common/params.cc b/openpilot/common/params.cc
similarity index 99%
rename from common/params.cc
rename to openpilot/common/params.cc
index 39592cb905..bed6827e5a 100644
--- a/common/params.cc
+++ b/openpilot/common/params.cc
@@ -12,7 +12,7 @@
 #include "common/queue.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 namespace {
 
diff --git a/common/params.h b/openpilot/common/params.h
similarity index 100%
rename from common/params.h
rename to openpilot/common/params.h
diff --git a/openpilot/common/params.py b/openpilot/common/params.py
new file mode 100644
index 0000000000..e14937207a
--- /dev/null
+++ b/openpilot/common/params.py
@@ -0,0 +1,221 @@
+import sys
+import json
+import ctypes
+import weakref
+import builtins
+import datetime
+from pathlib import Path
+from enum import IntEnum, IntFlag
+
+from openpilot.common.swaglog import cloudlog
+
+
+class ParamKeyFlag(IntFlag):
+  PERSISTENT = 0x02
+  CLEAR_ON_MANAGER_START = 0x04
+  CLEAR_ON_ONROAD_TRANSITION = 0x08
+  CLEAR_ON_OFFROAD_TRANSITION = 0x10
+  DEVELOPMENT_ONLY = 0x40
+  CLEAR_ON_IGNITION_ON = 0x80
+  BACKUP = 0x100
+  ALL = 0xFFFFFFFF
+
+
+class ParamKeyType(IntEnum):
+  STRING = 0
+  BOOL = 1
+  INT = 2
+  FLOAT = 3
+  TIME = 4
+  JSON = 5
+  BYTES = 6
+
+
+_suffix = ".dylib" if sys.platform == "darwin" else ".so"
+lib = ctypes.CDLL(Path(__file__).with_name(f"libparams_c{_suffix}"))
+
+ParamsHandle = ctypes.c_void_p
+
+
+class ParamsBuffer(ctypes.Structure):
+  _fields_ = [("data", ctypes.c_void_p), ("size", ctypes.c_size_t)]
+
+
+def _bind_raw(name, args, result=None):
+  function = getattr(lib, name)
+  function.argtypes = args
+  function.restype = result
+  return function
+
+
+params_last_error = _bind_raw("params_last_error", [], ctypes.c_char_p)
+
+
+def _bind(name, args, result=None):
+  function = _bind_raw(name, args, result)
+
+  def checked(*call_args):
+    value = function(*call_args)
+    if error := params_last_error():
+      raise RuntimeError(error.decode())
+    return value
+
+  return checked
+
+
+params_create = _bind("params_create", [ctypes.c_char_p, ctypes.c_size_t], ParamsHandle)
+params_destroy = _bind("params_destroy", [ParamsHandle])
+params_clear_all = _bind("params_clear_all", [ParamsHandle, ctypes.c_uint])
+params_check_key = _bind("params_check_key", [ParamsHandle, ctypes.c_char_p], ctypes.c_bool)
+params_get_key_type = _bind("params_get_key_type", [ParamsHandle, ctypes.c_char_p], ctypes.c_int)
+params_get_default = _bind("params_get_default", [ParamsHandle, ctypes.c_char_p], ParamsBuffer)
+params_get = _bind("params_get", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool], ParamsBuffer)
+params_get_bool = _bind("params_get_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool], ctypes.c_bool)
+params_put = _bind("params_put", [ParamsHandle, ctypes.c_char_p, ctypes.c_char_p, ctypes.c_size_t, ctypes.c_bool], ctypes.c_int)
+params_put_bool = _bind("params_put_bool", [ParamsHandle, ctypes.c_char_p, ctypes.c_bool, ctypes.c_bool], ctypes.c_int)
+params_remove = _bind("params_remove", [ParamsHandle, ctypes.c_char_p], ctypes.c_int)
+params_get_path = _bind("params_get_path", [ParamsHandle, ctypes.c_char_p, ctypes.c_size_t], ParamsBuffer)
+params_keys_size = _bind("params_keys_size", [ParamsHandle], ctypes.c_size_t)
+params_key_at = _bind("params_key_at", [ParamsHandle, ctypes.c_size_t], ParamsBuffer)
+params_keys_by_flag = _bind("params_keys_by_flag", [ParamsHandle, ctypes.c_uint, ctypes.POINTER(ParamsBuffer), ctypes.c_size_t], ctypes.c_size_t)
+
+PYTHON_2_CPP = {
+  (str, ParamKeyType.STRING): lambda v: v,
+  (builtins.bool, ParamKeyType.BOOL): lambda v: "1" if v else "0",
+  (int, ParamKeyType.INT): str,
+  (float, ParamKeyType.FLOAT): str,
+  (datetime.datetime, ParamKeyType.TIME): lambda v: v.isoformat(),
+  (dict, ParamKeyType.JSON): json.dumps,
+  (list, ParamKeyType.JSON): json.dumps,
+  (bytes, ParamKeyType.BYTES): lambda v: v,
+}
+CPP_2_PYTHON = {
+  ParamKeyType.STRING: lambda v: v.decode("utf-8"),
+  ParamKeyType.BOOL: lambda v: v == b"1",
+  ParamKeyType.INT: int,
+  ParamKeyType.FLOAT: float,
+  ParamKeyType.TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
+  ParamKeyType.JSON: json.loads,
+  ParamKeyType.BYTES: lambda v: v,
+}
+
+
+def ensure_bytes(v):
+  return v.encode() if isinstance(v, str) else v
+
+
+def _copy_string(value):
+  if value.data is None:
+    return None
+  return ctypes.string_at(value.data, value.size)
+
+
+class UnknownKeyName(Exception):
+  pass
+
+
+class Params:
+  def __init__(self, d=""):
+    path = ensure_bytes(d)
+    self.p = params_create(path, len(path))
+    self._finalizer = weakref.finalize(self, params_destroy, self.p)
+    self._finalizer.atexit = False  # daemon threads can still be using live Params handles during interpreter shutdown
+    self.d = d
+
+  def __reduce__(self):
+    return (type(self), (self.d,))
+
+  def clear_all(self, tx_flag=ParamKeyFlag.ALL):
+    params_clear_all(self.p, int(tx_flag))
+
+  def check_key(self, key):
+    key = ensure_bytes(key)
+    if b"\0" in key or not params_check_key(self.p, key):
+      raise UnknownKeyName(key)
+    return key
+
+  def python2cpp(self, proposed_type, expected_type, value, key):
+    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
+    if cast:
+      return cast(value)
+    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
+
+  def _cpp2python(self, t, value, default, key):
+    if value is None:
+      return None
+    try:
+      return CPP_2_PYTHON[t](value)
+    except (KeyError, TypeError, ValueError):
+      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
+      return self._cpp2python(t, default, None, key)
+
+  def _default(self, key):
+    return _copy_string(params_get_default(self.p, key))
+
+  def get(self, key, block=False, return_default=False):
+    k = self.check_key(key)
+    t = self.get_type(k)
+    default = self._default(k) if return_default else None
+    value = _copy_string(params_get(self.p, k, block))
+    if value == b"":
+      if block:
+        raise KeyboardInterrupt
+      return self._cpp2python(t, default, None, key)
+    return self._cpp2python(t, value, default, key)
+
+  def get_bool(self, key, block=False):
+    return bool(params_get_bool(self.p, self.check_key(key), block))
+
+  def _put_cast(self, key, dat):
+    return ensure_bytes(self.python2cpp(type(dat), self.get_type(key), dat, key))
+
+  def put(self, key, dat, block=False):
+    """Write a parameter. block=True waits until it is persisted to disk."""
+    k = self.check_key(key)
+    value = self._put_cast(k, dat)
+    params_put(self.p, k, value, len(value), block)
+
+  def put_bool(self, key, val, block=False):
+    params_put_bool(self.p, self.check_key(key), val, block)
+
+  def remove(self, key):
+    params_remove(self.p, self.check_key(key))
+
+  def get_param_path(self, key=""):
+    key = ensure_bytes(key)
+    return _copy_string(params_get_path(self.p, key, len(key))).decode()
+
+  def get_type(self, key):
+    return ParamKeyType(params_get_key_type(self.p, self.check_key(key)))
+
+  def all_keys(self, flag=ParamKeyFlag.ALL):
+    if flag == ParamKeyFlag.ALL:
+      keys = []
+      for i in range(params_keys_size(self.p)):
+        keys.append(_copy_string(params_key_at(self.p, i)))
+      return keys
+    max_keys = 1024
+    buf = (ParamsBuffer * max_keys)()
+    count = params_keys_by_flag(self.p, int(flag), buf, max_keys)
+    return [_copy_string(buf[i]) for i in range(min(count, max_keys))]
+
+  def get_default_value(self, key):
+    k = self.check_key(key)
+    return self._cpp2python(self.get_type(k), self._default(k), None, key)
+
+  def cpp2python(self, key, value):
+    return self._cpp2python(self.get_type(key), value, None, key)
+
+
+if __name__ == "__main__":
+  import sys
+
+  params = Params()
+  key = sys.argv[1]
+  params.check_key(key)
+  if len(sys.argv) == 3:
+    val = sys.argv[2]
+    print(f"SET: {key} = {val}")
+    params.put(key, val, block=True)
+  elif len(sys.argv) == 2:
+    print(f"GET: {key} = {params.get(key)}")
diff --git a/openpilot/common/params_c.cc b/openpilot/common/params_c.cc
new file mode 100644
index 0000000000..a52adb09da
--- /dev/null
+++ b/openpilot/common/params_c.cc
@@ -0,0 +1,174 @@
+#include <cstddef>
+#include <cstdio>
+#include <exception>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "common/params.h"
+
+typedef struct {
+  const char *data;
+  size_t size;
+} ParamsBuffer;
+
+struct ParamsHandle {
+  ParamsHandle(const char *path, size_t path_size) : params(std::string(path, path_size)), keys(params.allKeys()) {
+  }
+
+  Params params;
+  const std::vector<std::string> keys;
+};
+
+namespace {
+thread_local char last_error[512] = {};
+thread_local std::string result;
+
+void set_error(const char *error) {
+  snprintf(last_error, sizeof(last_error), "%s", error);
+}
+
+ParamsBuffer return_string(std::string value) {
+  result = std::move(value);
+  return {result.data(), result.size()};
+}
+
+template <typename Result, typename Callable>
+Result translate_exceptions(Result failure, Callable &&callable) noexcept {
+  last_error[0] = '\0';
+  try {
+    return callable();
+  } catch (const std::exception &e) {
+    set_error(e.what());
+  } catch (...) {
+    set_error("unknown C++ exception");
+  }
+  return failure;
+}
+
+template <typename Callable>
+void translate_exceptions(Callable &&callable) noexcept {
+  translate_exceptions(false, [&]() {
+    callable();
+    return true;
+  });
+}
+}  // namespace
+
+extern "C" {
+
+ParamsHandle *params_create(const char *path, size_t path_size) noexcept {
+  return translate_exceptions(static_cast<ParamsHandle *>(nullptr), [&]() {
+    return new ParamsHandle(path, path_size);
+  });
+}
+
+void params_destroy(ParamsHandle *handle) noexcept {
+  translate_exceptions([&]() {
+    delete handle;
+  });
+}
+
+const char *params_last_error() noexcept {
+  return last_error;
+}
+
+void params_clear_all(ParamsHandle *handle, unsigned int flag) noexcept {
+  translate_exceptions([&]() {
+    handle->params.clearAll(static_cast<ParamKeyFlag>(flag));
+  });
+}
+
+bool params_check_key(ParamsHandle *handle, const char *key) noexcept {
+  return translate_exceptions(false, [&]() {
+    return handle->params.checkKey(key);
+  });
+}
+
+int params_get_key_type(ParamsHandle *handle, const char *key) noexcept {
+  return translate_exceptions(-1, [&]() {
+    return static_cast<int>(handle->params.getKeyType(key));
+  });
+}
+
+ParamsBuffer params_get_default(ParamsHandle *handle, const char *key) noexcept {
+  return translate_exceptions(ParamsBuffer{nullptr, 0}, [&]() {
+    auto value = handle->params.getKeyDefaultValue(key);
+    if (!value.has_value()) {
+      return ParamsBuffer{nullptr, 0};
+    }
+    return return_string(*value);
+  });
+}
+
+ParamsBuffer params_get(ParamsHandle *handle, const char *key, bool block) noexcept {
+  return translate_exceptions(ParamsBuffer{nullptr, 0}, [&]() {
+    return return_string(handle->params.get(key, block));
+  });
+}
+
+bool params_get_bool(ParamsHandle *handle, const char *key, bool block) noexcept {
+  return translate_exceptions(false, [&]() {
+    return handle->params.getBool(key, block);
+  });
+}
+
+int params_put(ParamsHandle *handle, const char *key, const char *value, size_t size, bool block) noexcept {
+  return translate_exceptions(-1, [&]() {
+    if (block) {
+      return handle->params.put(key, value, size);
+    }
+    handle->params.putNonBlocking(key, std::string(value, size));
+    return 0;
+  });
+}
+
+int params_put_bool(ParamsHandle *handle, const char *key, bool value, bool block) noexcept {
+  return translate_exceptions(-1, [&]() {
+    if (block) {
+      return handle->params.putBool(key, value);
+    }
+    handle->params.putBoolNonBlocking(key, value);
+    return 0;
+  });
+}
+
+int params_remove(ParamsHandle *handle, const char *key) noexcept {
+  return translate_exceptions(-1, [&]() {
+    return handle->params.remove(key);
+  });
+}
+
+ParamsBuffer params_get_path(ParamsHandle *handle, const char *key, size_t key_size) noexcept {
+  return translate_exceptions(ParamsBuffer{nullptr, 0}, [&]() {
+    return return_string(handle->params.getParamPath(std::string(key, key_size)));
+  });
+}
+
+size_t params_keys_size(ParamsHandle *handle) noexcept {
+  return translate_exceptions(size_t{0}, [&]() {
+    return handle->keys.size();
+  });
+}
+
+ParamsBuffer params_key_at(ParamsHandle *handle, size_t index) noexcept {
+  return translate_exceptions(ParamsBuffer{nullptr, 0}, [&]() {
+    if (index >= handle->keys.size()) {
+      return ParamsBuffer{nullptr, 0};
+    }
+    return return_string(handle->keys[index]);
+  });
+}
+
+size_t params_keys_by_flag(ParamsHandle *handle, uint32_t flag, ParamsBuffer *out, size_t out_size) noexcept {
+  return translate_exceptions(size_t{0}, [&]() {
+    auto filtered = handle->params.allKeys(static_cast<ParamKeyFlag>(flag));
+    size_t count = std::min(filtered.size(), out_size);
+    for (size_t i = 0; i < count; i++) {
+      out[i] = return_string(filtered[i]);
+    }
+    return filtered.size();
+  });
+}
+
+}  // extern "C"
diff --git a/common/params_keys.h b/openpilot/common/params_keys.h
similarity index 91%
rename from common/params_keys.h
rename to openpilot/common/params_keys.h
index 9ecf13f6d5..c325d4443f 100644
--- a/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -3,7 +3,7 @@
 #include <string>
 #include <unordered_map>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 
 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
@@ -37,6 +37,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
     {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
     {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
     {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
@@ -58,12 +59,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
     {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsOnroad", {PERSISTENT, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
     {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
@@ -80,8 +80,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
+    {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
+    {"LivestreamRequestKeyframe", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
+    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
     {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
@@ -91,7 +94,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
-    {"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
@@ -102,11 +104,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
     {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
     {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
@@ -131,6 +130,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"UsbGpuActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"UsbGpuLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
@@ -170,12 +171,17 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
     {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadScreenOffTimerMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ScreenSaverEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"ScreenSaverTimeout", {PERSISTENT | BACKUP, INT, "300"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -191,7 +197,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // Model Manager params
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
@@ -202,6 +208,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // sunnylink params
     {"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
     {"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
+    {"ParamsVersion", {PERSISTENT, INT}},
     {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
     {"SunnylinkCache_Users", {PERSISTENT, STRING}},
     {"SunnylinkDongleId", {PERSISTENT, STRING}},
@@ -218,7 +225,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -267,8 +276,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // Torque lateral control custom params
     {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
     {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
+    {"LateralJerkTorqueController", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
     {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
     {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
diff --git a/common/pid.py b/openpilot/common/pid.py
similarity index 76%
rename from common/pid.py
rename to openpilot/common/pid.py
index b3d64d6fcd..f541baf05c 100644
--- a/common/pid.py
+++ b/openpilot/common/pid.py
@@ -1,11 +1,13 @@
 import numpy as np
-from numbers import Number
+from collections.abc import Sequence
+
+Gain = int | float | tuple[Sequence[float], Sequence[float]] | list[list[float]]
 
 class PIDController:
-  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
-    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
-    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
+  def __init__(self, k_p: Gain, k_i: Gain, k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
+    self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
+    self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
 
     self.set_limits(pos_limit, neg_limit)
 
diff --git a/common/prefix.h b/openpilot/common/prefix.h
similarity index 69%
rename from common/prefix.h
rename to openpilot/common/prefix.h
index 30ee18f637..89f346b9e5 100644
--- a/common/prefix.h
+++ b/openpilot/common/prefix.h
@@ -5,7 +5,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 class OpenpilotPrefix {
 public:
@@ -27,14 +27,14 @@ public:
     auto param_path = Params().getParamPath();
     if (util::file_exists(param_path)) {
       std::string real_path = util::readlink(param_path);
-      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
       unlink(param_path.c_str());
     }
     if (getenv("COMMA_CACHE") == nullptr) {
-      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
     }
-    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
-    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
+    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
+    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
     unsetenv("OPENPILOT_PREFIX");
   }
 
diff --git a/common/prefix.py b/openpilot/common/prefix.py
similarity index 92%
rename from common/prefix.py
rename to openpilot/common/prefix.py
index d0a5f92628..d0be8997ae 100644
--- a/common/prefix.py
+++ b/openpilot/common/prefix.py
@@ -5,9 +5,9 @@ import uuid
 
 
 from openpilot.common.params import Params
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+from openpilot.common.hardware import PC
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
   def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
diff --git a/openpilot/common/qrcode.py b/openpilot/common/qrcode.py
new file mode 100644
index 0000000000..b6b345c227
--- /dev/null
+++ b/openpilot/common/qrcode.py
@@ -0,0 +1,218 @@
+"""Small QR encoder for the UI's byte-mode, error-correction-level-L codes."""
+
+import numpy as np
+import pyray as rl
+
+
+# Indexes are QR versions. These are the only two Reed-Solomon parameters needed
+# for error-correction level L.
+_ECC_LEN = (0, 7, 10, 15, 20, 26, 18, 20, 24, 30, 18, 20, 24, 26, 30, 22, 24, 28, 30, 28, 28)
+_NUM_BLOCKS = (0, 1, 1, 1, 1, 1, 2, 2, 2, 2, 4, 4, 4, 4, 4, 6, 6, 6, 6, 7, 8)
+
+# 15 format-info bits for level L (01) with mask 0: ((0x08 << 10) | bch_remainder) ^ 0x5412
+_FORMAT_BITS = 0b111011111000100
+
+
+def _raw_modules(version: int) -> int:
+  result = (16 * version + 128) * version + 64
+  if version >= 2:
+    align = version // 7 + 2
+    result -= (25 * align - 10) * align - 55
+  return result - (36 if version >= 7 else 0)
+
+
+def _capacity(version: int) -> int:
+  return _raw_modules(version) // 8 - _ECC_LEN[version] * _NUM_BLOCKS[version]
+
+
+def _append_bits(bits: list[int], value: int, length: int) -> None:
+  bits.extend((value >> i) & 1 for i in range(length - 1, -1, -1))
+
+
+def _data_codewords(data: bytes, version: int) -> bytes:
+  """Byte-mode-encode the payload, terminated and padded to the version's capacity."""
+  capacity = _capacity(version)
+  bits: list[int] = []
+  _append_bits(bits, 4, 4)  # byte mode
+  _append_bits(bits, len(data), 8 if version <= 9 else 16)
+  for value in data:
+    _append_bits(bits, value, 8)
+  bits.extend([0] * min(4, capacity * 8 - len(bits)))  # terminator
+  bits.extend([0] * (-len(bits) % 8))  # byte alignment
+  result = bytearray(sum(bits[i + j] << (7 - j) for j in range(8)) for i in range(0, len(bits), 8))
+  pad = (0xEC, 0x11)
+  while len(result) < capacity:
+    result.append(pad[(len(result) - (len(bits) // 8)) & 1])
+  return bytes(result)
+
+
+def _codewords(data: bytes, version: int) -> bytes:
+  """Split data codewords into Reed-Solomon blocks and interleave data + ECC."""
+  data = _data_codewords(data, version)
+  num_blocks = _NUM_BLOCKS[version]
+  ecc_len = _ECC_LEN[version]
+  raw_codewords = _raw_modules(version) // 8
+  short_len = raw_codewords // num_blocks
+  num_short = num_blocks - raw_codewords % num_blocks
+  divisor = _divisor(ecc_len)
+  blocks: list[tuple[bytes, bytes]] = []
+  offset = 0
+  for i in range(num_blocks):
+    length = short_len - ecc_len + (0 if i < num_short else 1)
+    block = data[offset:offset + length]
+    blocks.append((block, _remainder(block, divisor)))
+    offset += length
+  result = bytearray()
+  for i in range(short_len - ecc_len + 1):
+    for block, _ in blocks:
+      result.extend(block[i:i + 1])
+  for i in range(ecc_len):
+    for _, ecc in blocks:
+      result.append(ecc[i])
+  return bytes(result)
+
+
+def _multiply(x: int, y: int) -> int:
+  result = 0
+  for _ in range(8):
+    result = (result << 1) ^ (0x11D if result & 0x80 else 0)
+    if y & 0x80:
+      result ^= x
+    y <<= 1
+  return result
+
+
+def _divisor(degree: int) -> bytes:
+  result = bytearray([0] * (degree - 1) + [1])
+  root = 1
+  for _ in range(degree):
+    for j in range(degree):
+      result[j] = _multiply(result[j], root)
+      if j + 1 < degree:
+        result[j] ^= result[j + 1]
+    root = _multiply(root, 2)
+  return bytes(result)
+
+
+def _remainder(data: bytes, divisor: bytes) -> bytes:
+  result = bytearray(len(divisor))
+  for value in data:
+    factor = value ^ result.pop(0)
+    result.append(0)
+    for i, coefficient in enumerate(divisor):
+      result[i] ^= _multiply(coefficient, factor)
+  return bytes(result)
+
+
+def _alignment_positions(version: int) -> list[int]:
+  if version == 1:
+    return []
+  count = version // 7 + 2
+  step = ((version * 4 + count * 2 + 1) // (count * 2 - 2)) * 2
+  return [6] + [version * 4 + 10 - step * i for i in range(count - 1)][::-1]
+
+
+class _Qr:
+  def __init__(self, version: int, data: bytes):
+    self.version = version
+    self.size = version * 4 + 17
+    self.modules = [[False] * self.size for _ in range(self.size)]
+    self.function = [[False] * self.size for _ in range(self.size)]
+    self._draw_functions()
+    self._draw_data(_codewords(data, version))
+    for y in range(self.size):
+      for x in range(self.size):
+        if not self.function[y][x]:
+          self.modules[y][x] ^= (x + y) % 2 == 0
+    self._format()
+
+  def _set_function(self, x: int, y: int, dark: bool) -> None:
+    if 0 <= x < self.size and 0 <= y < self.size:
+      self.modules[y][x] = dark
+      self.function[y][x] = True
+
+  def _finder(self, x: int, y: int) -> None:
+    for dy in range(-4, 5):
+      for dx in range(-4, 5):
+        distance = max(abs(dx), abs(dy))
+        self._set_function(x + dx, y + dy, distance != 2 and distance != 4)
+
+  def _alignment(self, x: int, y: int) -> None:
+    for dy in range(-2, 3):
+      for dx in range(-2, 3):
+        self._set_function(x + dx, y + dy, max(abs(dx), abs(dy)) != 1)
+
+  def _draw_functions(self) -> None:
+    for i in range(self.size):
+      self._set_function(6, i, i % 2 == 0)
+      self._set_function(i, 6, i % 2 == 0)
+    self._finder(3, 3)
+    self._finder(self.size - 4, 3)
+    self._finder(3, self.size - 4)
+    positions = _alignment_positions(self.version)
+    for y in positions:
+      for x in positions:
+        if not ((x == 6 and y in (6, self.size - 7)) or (x == self.size - 7 and y == 6)):
+          self._alignment(x, y)
+    # reserve the format-info modules before the data is placed; the real
+    # values are written by the second _format call after masking
+    self._format()
+    if self.version >= 7:
+      value = self.version
+      for _ in range(12):
+        value = (value << 1) ^ ((value >> 11) * 0x1F25)
+      value = self.version << 12 | value
+      for i in range(18):
+        bit = ((value >> i) & 1) != 0
+        a = self.size - 11 + i % 3
+        b = i // 3
+        self._set_function(a, b, bit)
+        self._set_function(b, a, bit)
+
+  def _format(self) -> None:
+    for i in range(15):
+      bit = ((_FORMAT_BITS >> i) & 1) != 0
+      y_pos = i if i < 6 else i + 1 if i < 8 else self.size - 15 + i
+      self._set_function(8, y_pos, bit)
+      x_pos = self.size - 1 - i if i < 8 else 15 - i if i < 9 else 14 - i
+      self._set_function(x_pos, 8, bit)
+    self._set_function(8, self.size - 8, True)
+
+  def _draw_data(self, data: bytes) -> None:
+    bits = ((byte >> s) & 1 for byte in data for s in reversed(range(8)))
+    upward = True
+    right = self.size - 1
+    while right >= 1:
+      if right == 6:  # skip the vertical timing column
+        right = 5
+      for vert in range(self.size):
+        y = self.size - 1 - vert if upward else vert
+        for x in (right, right - 1):
+          if not self.function[y][x]:
+            self.modules[y][x] = bool(next(bits, 0))
+      upward = not upward
+      right -= 2
+
+
+def make_texture(data: str, inverted: bool = False) -> rl.Texture:
+  """Render a URL as the RGBA QR texture used by the UI. The texture upload
+  copies the pixels, so the intermediate image/array don't need to outlive it."""
+  raw = data.encode()
+  for version in range(1, 21):
+    count_bits = 8 if version <= 9 else 16
+    if 4 + count_bits + len(raw) * 8 <= _capacity(version) * 8:
+      break
+  else:
+    raise ValueError("QR URL is too long")
+  modules = np.pad(_Qr(version, raw).modules, 0 if inverted else 4)
+  modules = np.repeat(np.repeat(modules, 10, axis=0), 10, axis=1)
+  gray = ((modules == inverted) * 255).astype(np.uint8)
+  img_array = np.dstack((gray, gray, gray, np.full_like(gray, 255)))
+
+  rl_image = rl.Image()
+  rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+  rl_image.width = img_array.shape[1]
+  rl_image.height = img_array.shape[0]
+  rl_image.mipmaps = 1
+  rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+  return rl.load_texture_from_image(rl_image)
diff --git a/common/queue.h b/openpilot/common/queue.h
similarity index 100%
rename from common/queue.h
rename to openpilot/common/queue.h
diff --git a/common/ratekeeper.cc b/openpilot/common/ratekeeper.cc
similarity index 82%
rename from common/ratekeeper.cc
rename to openpilot/common/ratekeeper.cc
index 7e63815168..a79acd7d51 100644
--- a/common/ratekeeper.cc
+++ b/openpilot/common/ratekeeper.cc
@@ -6,9 +6,9 @@
 #include "common/timing.h"
 #include "common/util.h"
 
-RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
-    : name(name),
-      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
+RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
+    : name(name_),
+      print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
   interval = 1 / rate;
   last_monitor_time = seconds_since_boot();
   next_frame_time = last_monitor_time + interval;
diff --git a/common/ratekeeper.h b/openpilot/common/ratekeeper.h
similarity index 100%
rename from common/ratekeeper.h
rename to openpilot/common/ratekeeper.h
diff --git a/common/realtime.py b/openpilot/common/realtime.py
similarity index 93%
rename from common/realtime.py
rename to openpilot/common/realtime.py
index 0b14681021..e0b9e8a3a5 100644
--- a/common/realtime.py
+++ b/openpilot/common/realtime.py
@@ -7,7 +7,7 @@ import time
 from setproctitle import getproctitle
 
 from openpilot.common.utils import MovingAverage
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 
 
 # time step for each process
@@ -28,6 +28,11 @@ class Priority:
   CTRL_HIGH = 53
 
 
+def drop_realtime() -> None:
+  if sys.platform == 'linux' and not PC:
+    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
+
+
 def set_core_affinity(cores: list[int]) -> None:
   if sys.platform == 'linux' and not PC:
     os.sched_setaffinity(0, cores)
diff --git a/openpilot/common/serial.py b/openpilot/common/serial.py
new file mode 100644
index 0000000000..68083f40a6
--- /dev/null
+++ b/openpilot/common/serial.py
@@ -0,0 +1,272 @@
+import errno
+import fcntl
+import os
+import select
+import struct
+import termios
+import time
+
+
+# Modem control lines (linux/termios.h); fall back to common x86_64 values.
+TIOCMBIS = getattr(termios, "TIOCMBIS", 0x5416)
+TIOCMBIC = getattr(termios, "TIOCMBIC", 0x5417)
+TIOCM_DTR = getattr(termios, "TIOCM_DTR", 0x002)
+TIOCM_RTS = getattr(termios, "TIOCM_RTS", 0x004)
+_TIOCM_DTR = struct.pack("I", TIOCM_DTR)
+_TIOCM_RTS = struct.pack("I", TIOCM_RTS)
+
+
+class SerialException(OSError):
+  pass
+
+
+class Serial:
+  def __init__(self, port: str, baudrate: int = 9600, timeout: float | None = None, *,
+               rtscts: bool = False, dsrdtr: bool = False, exclusive: bool = False):
+    self._port = port
+    self._baudrate = baudrate
+    self._timeout = timeout
+    self._rtscts = rtscts
+    self._dsrdtr = dsrdtr
+    self._exclusive = exclusive
+    self._dtr = True
+    self._fd = -1
+    self.open()
+
+  def __enter__(self):
+    return self
+
+  def __exit__(self, *args) -> None:
+    self.close()
+
+  @property
+  def fd(self) -> int:
+    self._ensure_open()
+    return self._fd
+
+  @property
+  def baudrate(self) -> int:
+    return self._baudrate
+
+  @baudrate.setter
+  def baudrate(self, value: int) -> None:
+    self._baudrate = int(value)
+    if self._fd >= 0:
+      self._configure()
+
+  @property
+  def dtr(self) -> bool:
+    return self._dtr
+
+  @dtr.setter
+  def dtr(self, value: bool) -> None:
+    self._dtr = bool(value)
+    if self._fd >= 0:
+      self._set_line(TIOCM_DTR, _TIOCM_DTR, self._dtr)
+
+  def open(self) -> None:
+    if self._fd >= 0:
+      return
+    try:
+      self._fd = os.open(self._port, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
+    except OSError as e:
+      self._fd = -1
+      raise SerialException(e.errno, f"could not open port {self._port}: {e}") from e
+
+    try:
+      if self._exclusive:
+        try:
+          fcntl.flock(self._fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+        except OSError as e:
+          raise SerialException(e.errno, f"could not exclusively lock port {self._port}: {e}") from e
+
+      self._configure()
+
+      # When not using hardware DSR/DTR handshaking, drive lines ourselves.
+      if not self._dsrdtr:
+        try:
+          self._set_line(TIOCM_DTR, _TIOCM_DTR, self._dtr)
+          if not self._rtscts:
+            self._set_line(TIOCM_RTS, _TIOCM_RTS, True)
+        except OSError as e:
+          if e.errno not in (errno.EINVAL, errno.ENOTTY):
+            raise
+
+      self.reset_input_buffer()
+    except BaseException:
+      self._close_fd()
+      raise
+
+  def close(self) -> None:
+    self._close_fd()
+
+  def read(self, size: int = 1) -> bytes:
+    self._ensure_open()
+    if size <= 0:
+      return b""
+
+    buf = bytearray()
+    deadline = self._deadline()
+    while len(buf) < size:
+      remaining = None if deadline is None else max(0.0, deadline - time.monotonic())
+      if not self._wait_readable(remaining):
+        break
+      try:
+        chunk = os.read(self._fd, size - len(buf))
+      except InterruptedError:
+        continue
+      except OSError as e:
+        if e.errno in (errno.EAGAIN, errno.EWOULDBLOCK):
+          if self._timeout == 0:
+            break
+          continue
+        raise SerialException(e.errno, f"read failed: {e}") from e
+      if not chunk:
+        break
+      buf.extend(chunk)
+    return bytes(buf)
+
+  def readline(self) -> bytes:
+    self._ensure_open()
+    buf = bytearray()
+    deadline = self._deadline()
+    while True:
+      remaining = None if deadline is None else max(0.0, deadline - time.monotonic())
+      if deadline is not None and remaining == 0.0 and not buf:
+        # match pyserial: timed-out readline returns empty
+        if not self._wait_readable(0.0):
+          return b""
+      elif not self._wait_readable(remaining):
+        return bytes(buf)
+
+      try:
+        chunk = os.read(self._fd, 1)
+      except InterruptedError:
+        continue
+      except OSError as e:
+        if e.errno in (errno.EAGAIN, errno.EWOULDBLOCK):
+          if self._timeout == 0:
+            return bytes(buf)
+          continue
+        raise SerialException(e.errno, f"read failed: {e}") from e
+      if not chunk:
+        return bytes(buf)
+      buf.extend(chunk)
+      if chunk == b"\n":
+        return bytes(buf)
+
+  def write(self, data: bytes) -> int:
+    self._ensure_open()
+    if not data:
+      return 0
+    view = memoryview(data)
+    total = 0
+    while total < len(data):
+      try:
+        n = os.write(self._fd, view[total:])
+      except InterruptedError:
+        continue
+      except OSError as e:
+        if e.errno in (errno.EAGAIN, errno.EWOULDBLOCK):
+          select.select([], [self._fd], [], None)
+          continue
+        raise SerialException(e.errno, f"write failed: {e}") from e
+      if n == 0:
+        raise SerialException("write returned 0")
+      total += n
+    return total
+
+  def flush(self) -> None:
+    self._ensure_open()
+    termios.tcdrain(self._fd)
+
+  def reset_input_buffer(self) -> None:
+    self._ensure_open()
+    termios.tcflush(self._fd, termios.TCIFLUSH)
+
+  def reset_output_buffer(self) -> None:
+    self._ensure_open()
+    termios.tcflush(self._fd, termios.TCOFLUSH)
+
+  def _close_fd(self) -> None:
+    if self._fd >= 0:
+      try:
+        if self._exclusive:
+          fcntl.flock(self._fd, fcntl.LOCK_UN)
+      except OSError:
+        pass
+      try:
+        os.close(self._fd)
+      except OSError:
+        pass
+      self._fd = -1
+
+  def _ensure_open(self) -> None:
+    if self._fd < 0:
+      raise SerialException("port is not open")
+
+  def _deadline(self) -> float | None:
+    if self._timeout is None:
+      return None
+    if self._timeout == 0:
+      return time.monotonic()
+    return time.monotonic() + self._timeout
+
+  def _wait_readable(self, timeout: float | None) -> bool:
+    """Return True if fd is readable. timeout None blocks; 0 polls."""
+    if timeout is not None and timeout < 0:
+      timeout = 0.0
+    try:
+      ready, _, _ = select.select([self._fd], [], [], timeout)
+    except InterruptedError:
+      return False
+    return bool(ready)
+
+  def _baud_constant(self, baudrate: int) -> int:
+    try:
+      return getattr(termios, f"B{baudrate}")
+    except AttributeError as e:
+      raise ValueError(f"unsupported baud rate: {baudrate}") from e
+
+  def _configure(self) -> None:
+    self._ensure_open()
+    try:
+      attrs = termios.tcgetattr(self._fd)
+    except termios.error as e:
+      raise SerialException(f"could not get port attributes: {e}") from e
+
+    iflag, oflag, cflag, lflag, _ispeed, _ospeed, cc = attrs
+
+    # raw binary 8N1
+    iflag = 0
+    oflag = 0
+    lflag = 0
+    cflag |= termios.CLOCAL | termios.CREAD
+    cflag &= ~termios.CSIZE
+    cflag |= termios.CS8
+    cflag &= ~(termios.PARENB | termios.PARODD | termios.CSTOPB)
+
+    if hasattr(termios, "CRTSCTS"):
+      if self._rtscts:
+        cflag |= termios.CRTSCTS
+      else:
+        cflag &= ~termios.CRTSCTS
+
+    speed = self._baud_constant(self._baudrate)
+    cc = list(cc)
+    # Non-blocking reads are handled via select + O_NONBLOCK; keep VMIN/VTIME at 0.
+    cc[termios.VMIN] = 0
+    cc[termios.VTIME] = 0
+
+    try:
+      termios.tcsetattr(self._fd, termios.TCSANOW, [iflag, oflag, cflag, lflag, speed, speed, cc])
+    except termios.error as e:
+      raise SerialException(f"could not configure port: {e}") from e
+
+    # Keep the fd non-blocking so timeout=0 and select work consistently.
+    flags = fcntl.fcntl(self._fd, fcntl.F_GETFL)
+    fcntl.fcntl(self._fd, fcntl.F_SETFL, flags | os.O_NONBLOCK)
+
+  def _set_line(self, _bit: int, packed: bytes, enabled: bool) -> None:
+    request = TIOCMBIS if enabled else TIOCMBIC
+    fcntl.ioctl(self._fd, request, packed)
diff --git a/common/simple_kalman.py b/openpilot/common/simple_kalman.py
similarity index 100%
rename from common/simple_kalman.py
rename to openpilot/common/simple_kalman.py
diff --git a/common/spinner.py b/openpilot/common/spinner.py
similarity index 97%
rename from common/spinner.py
rename to openpilot/common/spinner.py
index 12a816eaf8..f152285138 100755
--- a/common/spinner.py
+++ b/openpilot/common/spinner.py
@@ -8,7 +8,7 @@ class Spinner:
     try:
       self.spinner_proc = subprocess.Popen(["./spinner.py"],
                                            stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "system", "ui"),
+                                           cwd=os.path.join(BASEDIR, "openpilot/system", "ui"),
                                            close_fds=True)
     except OSError:
       self.spinner_proc = None
diff --git a/common/stat_live.py b/openpilot/common/stat_live.py
similarity index 96%
rename from common/stat_live.py
rename to openpilot/common/stat_live.py
index 3901c448d8..db0919b993 100644
--- a/common/stat_live.py
+++ b/openpilot/common/stat_live.py
@@ -48,9 +48,6 @@ class RunningStat:
   def std(self):
     return np.sqrt(self.variance())
 
-  def params_to_save(self):
-    return [self.M, self.S, self.n]
-
 class RunningStatFilter:
   def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
     self.raw_stat = RunningStat(raw_priors, -1)
diff --git a/common/swaglog.cc b/openpilot/common/swaglog.cc
similarity index 98%
rename from common/swaglog.cc
rename to openpilot/common/swaglog.cc
index d73f0c1a59..9834098929 100644
--- a/common/swaglog.cc
+++ b/openpilot/common/swaglog.cc
@@ -11,9 +11,9 @@
 
 #include <zmq.h>
 #include <stdarg.h>
-#include "third_party/json11/json11.hpp"
+#include "json11/json11.hpp"
 #include "common/version.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 #include "sunnypilot/common/version.h"
 
diff --git a/common/swaglog.h b/openpilot/common/swaglog.h
similarity index 100%
rename from common/swaglog.h
rename to openpilot/common/swaglog.h
diff --git a/common/swaglog.py b/openpilot/common/swaglog.py
similarity index 94%
rename from common/swaglog.py
rename to openpilot/common/swaglog.py
index d009f00e76..7a8c119c6b 100644
--- a/common/swaglog.py
+++ b/openpilot/common/swaglog.py
@@ -8,7 +8,7 @@ from logging.handlers import BaseRotatingHandler
 import zmq
 
 from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def get_file_handler():
@@ -27,7 +27,7 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
     self.log_files = self.get_existing_logfiles()
     log_indexes = [f.split(".")[-1] for f in self.log_files]
     self.last_file_idx = max([int(i) for i in log_indexes if i.isdigit()] or [-1])
-    self.last_rollover = None
+    self.last_rollover = 0.0
     self.doRollover()
 
   def _open(self):
@@ -39,13 +39,14 @@ class SwaglogRotatingFileHandler(BaseRotatingHandler):
     return stream
 
   def get_existing_logfiles(self):
-    log_files = list()
+    log_files = []
     base_dir = os.path.dirname(self.base_filename)
     for fn in os.listdir(base_dir):
       fp = os.path.join(base_dir, fn)
       if fp.startswith(self.base_filename) and os.path.isfile(fp):
         log_files.append(fp)
-    return sorted(log_files)
+    # newest first, matching _open()'s insert(0, ...) so doRollover()'s pop() deletes the oldest
+    return sorted(log_files, reverse=True)
 
   def shouldRollover(self, record):
     size_exceeded = self.max_bytes > 0 and self.stream.tell() >= self.max_bytes
diff --git a/openpilot/common/test.py b/openpilot/common/test.py
new file mode 100644
index 0000000000..23b934bfd5
--- /dev/null
+++ b/openpilot/common/test.py
@@ -0,0 +1,166 @@
+import contextlib
+import gc
+import inspect
+import os
+import subprocess
+import unittest
+from unittest import mock
+
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.system.manager import manager
+
+
+@contextlib.contextmanager
+def clean_env():
+  starting_env = dict(os.environ)
+  try:
+    yield
+  finally:
+    os.environ.clear()
+    os.environ.update(starting_env)
+
+
+class OpenpilotTestCase(unittest.TestCase):
+  """TestCase with openpilot's per-test isolation."""
+
+  COMMA_HARDWARE_TEST = False
+  SHARED_DOWNLOAD_CACHE = False
+
+  def __init_subclass__(cls, **kwargs):
+    super().__init_subclass__(**kwargs)
+    # Preserve legacy xunit hooks and invoke them inside the prefix below.
+    for name in ("setup_method", "teardown_method"):
+      hook = cls.__dict__.get(name)
+      if hook is not None:
+        setattr(cls, f"openpilot_{name}", hook)
+        setattr(cls, name, None)
+
+  def _fixture(self, name):
+    if name == "mocker":
+      return Mocker(self.addCleanup)
+    if name == "monkeypatch":
+      return MonkeyPatch(self.addCleanup)
+    if name == "subtests":
+      return SubTests(self)
+
+    fixture = getattr(inspect.getmodule(type(self)), name)
+    kwargs = {p: self._fixture(p) for p in inspect.signature(fixture).parameters}
+    value = fixture(**kwargs)
+    if inspect.isgenerator(value):
+      generator = value
+      value = next(generator)
+      self.addCleanup(lambda: next(generator, None))
+    return value
+
+  def _callTestMethod(self, method):
+    params = [name for name, param in inspect.signature(method).parameters.items()
+              if param.default is inspect.Parameter.empty]
+    return method(**{name: self._fixture(name) for name in params})
+
+  def run(self, result=None):
+    # This boundary cannot live in setUp/tearDown: existing unittest classes
+    # are allowed to override those hooks without calling super().
+    if (self.COMMA_HARDWARE_TEST and not COMMA_HARDWARE) or getattr(type(self), "__unittest_skip__", False):
+      return super().run(result)
+    test_env = clean_env()
+    test_env.__enter__()
+    prefix = OpenpilotPrefix(shared_download_cache=self.SHARED_DOWNLOAD_CACHE)
+    prefix.__enter__()
+    try:
+      return super().run(result)
+    finally:
+      prefix.__exit__(None, None, None)
+      manager.manager_cleanup()
+      if not gc.isenabled():
+        gc.enable()
+        gc.collect()
+      test_env.__exit__(None, None, None)
+
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    if cls.COMMA_HARDWARE_TEST and not COMMA_HARDWARE:
+      raise unittest.SkipTest("Skipping comma hardware test on PC")
+    cls._class_env = clean_env()
+    cls._class_env.__enter__()
+    setup_class = getattr(cls, "setup_class", None)
+    if setup_class is not None:
+      setup_class()
+
+  @classmethod
+  def tearDownClass(cls):
+    try:
+      teardown_class = getattr(cls, "teardown_class", None)
+      if teardown_class is not None:
+        teardown_class()
+    finally:
+      cls._class_env.__exit__(None, None, None)
+      super().tearDownClass()
+
+  def setUp(self):
+    super().setUp()
+    if self.COMMA_HARDWARE_TEST and not COMMA_HARDWARE:
+      self.skipTest("Skipping comma hardware test on PC")
+
+    if self.COMMA_HARDWARE_TEST:
+      HARDWARE.initialize_hardware()
+      HARDWARE.set_power_save(False)
+      subprocess.run(["pkill", "-9", "-f", "athena"], check=False)
+
+    setup_method = getattr(self, "openpilot_setup_method", None)
+    if setup_method is not None:
+      setup_method()
+
+  def tearDown(self):
+    try:
+      teardown_method = getattr(self, "openpilot_teardown_method", None)
+      if teardown_method is not None:
+        teardown_method()
+    finally:
+      super().tearDown()
+
+
+class Mocker:
+  Mock = mock.Mock
+  MagicMock = mock.MagicMock
+  call = mock.call
+  ANY = mock.ANY
+
+  def __init__(self, add_cleanup):
+    self._add_cleanup = add_cleanup
+    self.patch = Patch(self._start)
+
+  def _start(self, patcher):
+    value = patcher.start()
+    self._add_cleanup(patcher.stop)
+    return value
+
+
+class Patch:
+  def __init__(self, start):
+    self._start = start
+
+  def __call__(self, *args, **kwargs):
+    return self._start(mock.patch(*args, **kwargs))
+
+  def object(self, *args, **kwargs):
+    return self._start(mock.patch.object(*args, **kwargs))
+
+
+class MonkeyPatch:
+  def __init__(self, add_cleanup):
+    self._add_cleanup = add_cleanup
+
+  def setattr(self, target, name, value):
+    patcher = mock.patch.object(target, name, value)
+    patcher.start()
+    self._add_cleanup(patcher.stop)
+
+
+class SubTests:
+  def __init__(self, test_case):
+    self._test_case = test_case
+
+  def test(self, label=None, **kwargs):
+    return self._test_case.subTest(**kwargs) if label is None else self._test_case.subTest(label, **kwargs)
diff --git a/openpilot/common/tests/.gitignore b/openpilot/common/tests/.gitignore
new file mode 100644
index 0000000000..74a3bbc977
--- /dev/null
+++ b/openpilot/common/tests/.gitignore
@@ -0,0 +1,2 @@
+test_common
+test_swaglog
diff --git a/common/transformations/__init__.py b/openpilot/common/tests/__init__.py
similarity index 100%
rename from common/transformations/__init__.py
rename to openpilot/common/tests/__init__.py
diff --git a/openpilot/common/tests/native_test.h b/openpilot/common/tests/native_test.h
new file mode 100644
index 0000000000..d3dfbb9ce1
--- /dev/null
+++ b/openpilot/common/tests/native_test.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+inline void native_test_check(bool condition, const char *expression, const char *file, int line) {
+  if (!condition) {
+    throw std::runtime_error(std::string(file) + ":" + std::to_string(line) + ": check failed: " + expression);
+  }
+}
+
+#define CHECK(condition) native_test_check(static_cast<bool>(condition), #condition, __FILE__, __LINE__)
+#define REQUIRE(...) CHECK((__VA_ARGS__))
+
+template <typename Function>
+int run_native_test(Function &&function) {
+  try {
+    function();
+    return 0;
+  } catch (const std::exception &error) {
+    std::cerr << error.what() << '\n';
+    return 1;
+  }
+}
diff --git a/common/tests/test_file_helpers.py b/openpilot/common/tests/test_file_helpers.py
similarity index 81%
rename from common/tests/test_file_helpers.py
rename to openpilot/common/tests/test_file_helpers.py
index c2b880f873..09b6990ed6 100644
--- a/common/tests/test_file_helpers.py
+++ b/openpilot/common/tests/test_file_helpers.py
@@ -1,10 +1,11 @@
 import os
 from uuid import uuid4
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.utils import atomic_write
 
 
-class TestFileHelpers:
+class TestFileHelpers(OpenpilotTestCase):
   def run_atomic_write_func(self, atomic_write_func):
     path = f"/tmp/tmp{uuid4()}"
     with atomic_write_func(path) as f:
diff --git a/common/tests/test_markdown.py b/openpilot/common/tests/test_markdown.py
similarity index 80%
rename from common/tests/test_markdown.py
rename to openpilot/common/tests/test_markdown.py
index 7e04bf2920..c9d4f62391 100644
--- a/common/tests/test_markdown.py
+++ b/openpilot/common/tests/test_markdown.py
@@ -1,10 +1,11 @@
 import os
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.markdown import parse_markdown
 
 
-class TestMarkdown:
+class TestMarkdown(OpenpilotTestCase):
   def test_all_release_notes(self):
     with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
       release_notes = f.read().split("\n\n")
diff --git a/common/tests/test_params.py b/openpilot/common/tests/test_params.py
similarity index 67%
rename from common/tests/test_params.py
rename to openpilot/common/tests/test_params.py
index 592bf2c4b2..a81d346b06 100644
--- a/common/tests/test_params.py
+++ b/openpilot/common/tests/test_params.py
@@ -1,28 +1,28 @@
-import pytest
 import datetime
 import os
 import threading
 import time
 import uuid
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
 
-class TestParams:
+class TestParams(OpenpilotTestCase):
   def setup_method(self):
     self.params = Params()
 
   def test_params_put_and_get(self):
-    self.params.put("DongleId", "cb38263377b873ee")
+    self.params.put("DongleId", "cb38263377b873ee", block=True)
     assert self.params.get("DongleId") == "cb38263377b873ee"
 
   def test_params_non_ascii(self):
     st = b"\xe1\x90\xff"
-    self.params.put("CarParams", st)
+    self.params.put("CarParams", st, block=True)
     assert self.params.get("CarParams") == st
 
   def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", b"test")
-    self.params.put("DongleId", "cb38263377b873ee")
+    self.params.put("CarParams", b"test", block=True)
+    self.params.put("DongleId", "cb38263377b873ee", block=True)
     assert self.params.get("CarParams") == b"test"
 
     undefined_param = self.params.get_param_path(uuid.uuid4().hex)
@@ -36,31 +36,36 @@ class TestParams:
     assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
-    self.params.put("DongleId", "bob")
-    self.params.put("AthenadPid", 123)
+    self.params.put("DongleId", "bob", block=True)
+    self.params.put("AthenadPid", 123, block=True)
     assert self.params.get("DongleId") == "bob"
     assert self.params.get("AthenadPid") == 123
 
   def test_params_get_block(self):
     def _delayed_writer():
       time.sleep(0.1)
-      self.params.put("CarParams", b"test")
+      self.params.put("CarParams", b"test", block=True)
     threading.Thread(target=_delayed_writer).start()
     assert self.params.get("CarParams") is None
     assert self.params.get("CarParams", block=True) == b"test"
 
   def test_params_unknown_key_fails(self):
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.get("swag")
 
-    with pytest.raises(UnknownKeyName):
+    with self.assertRaises(UnknownKeyName):
       self.params.get_bool("swag")
 
-    with pytest.raises(UnknownKeyName):
-      self.params.put("swag", "abc")
+    with self.assertRaises(UnknownKeyName):
+      self.params.put("swag", "abc", block=True)
 
-    with pytest.raises(UnknownKeyName):
-      self.params.put_bool("swag", True)
+    with self.assertRaises(UnknownKeyName):
+      self.params.put_bool("swag", True, block=True)
+
+    with self.assertRaises(UnknownKeyName):
+      self.params.put(b"DongleId\0suffix", "abc", block=True)
+
+    assert self.params.get_param_path(b"key\0suffix").endswith("/key\0suffix")
 
   def test_remove_not_there(self):
     assert self.params.get("CarParams") is None
@@ -71,23 +76,23 @@ class TestParams:
     self.params.remove("IsMetric")
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", True)
+    self.params.put_bool("IsMetric", True, block=True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", False)
+    self.params.put_bool("IsMetric", False, block=True)
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", True)
+    self.params.put("IsMetric", True, block=True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", False)
+    self.params.put("IsMetric", False, block=True)
     assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_nonblocking("CarParams", b"test")
+      Params().put("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
@@ -96,7 +101,7 @@ class TestParams:
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_bool_nonblocking("CarParams", True)
+      Params().put_bool("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
@@ -112,30 +117,30 @@ class TestParams:
   def test_params_default_value(self):
     self.params.remove("LanguageSetting")
     self.params.remove("LongitudinalPersonality")
-    self.params.remove("LiveParameters")
+    self.params.remove("LiveParametersV2")
 
     assert self.params.get("LanguageSetting") is None
     assert self.params.get("LanguageSetting", return_default=False) is None
     assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
     assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
-    assert self.params.get("LiveParameters") is None
-    assert self.params.get("LiveParameters", return_default=True) is None
+    assert self.params.get("LiveParametersV2") is None
+    assert self.params.get("LiveParametersV2", return_default=True) is None
 
   def test_params_get_type(self):
     # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0})
+    self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)
     assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
 
     # int
-    self.params.put("BootCount", 1441)
+    self.params.put("BootCount", 1441, block=True)
     assert self.params.get("BootCount") == 1441
 
     # bool
-    self.params.put("AdbEnabled", True)
+    self.params.put("AdbEnabled", True, block=True)
     assert self.params.get("AdbEnabled")
     assert isinstance(self.params.get("AdbEnabled"), bool)
 
     # time
     now = datetime.datetime.now(datetime.UTC)
-    self.params.put("InstallDate", now)
+    self.params.put("InstallDate", now, block=True)
     assert self.params.get("InstallDate") == now
diff --git a/common/tests/test_simple_kalman.py b/openpilot/common/tests/test_simple_kalman.py
similarity index 86%
rename from common/tests/test_simple_kalman.py
rename to openpilot/common/tests/test_simple_kalman.py
index e44ac2cc57..ca0f7ece7d 100644
--- a/common/tests/test_simple_kalman.py
+++ b/openpilot/common/tests/test_simple_kalman.py
@@ -1,7 +1,8 @@
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.simple_kalman import KF1D
 
 
-class TestSimpleKalman:
+class TestSimpleKalman(OpenpilotTestCase):
   def setup_method(self):
     dt = 0.01
     x0_0 = 0.0
diff --git a/openpilot/common/tests/test_swaglog.cc b/openpilot/common/tests/test_swaglog.cc
new file mode 100644
index 0000000000..71c881175f
--- /dev/null
+++ b/openpilot/common/tests/test_swaglog.cc
@@ -0,0 +1,102 @@
+#include <cstdlib>
+#include <string>
+
+#include <zmq.h>
+
+#include "common/hardware/hw.h"
+#include "common/swaglog.h"
+#include "common/tests/native_test.h"
+#include "json11/json11.hpp"
+
+#include "sunnypilot/common/version.h"
+
+std::string daemon_name = "testy";
+std::string dongle_id = "test_dongle_id";
+int LINE_NO = 0;
+
+void test_swaglog() {
+  setenv("MANAGER_DAEMON", "swaglog_test", 1);
+  setenv("DONGLE_ID", "test_dongle_id", 1);
+  setenv("CLEAN", "1", 1);
+
+  void *context = zmq_ctx_new();
+  CHECK(context != nullptr);
+  void *socket = zmq_socket(context, ZMQ_PULL);
+  CHECK(socket != nullptr);
+  int timeout = 5000;
+  CHECK(zmq_setsockopt(socket, ZMQ_RCVTIMEO, &timeout, sizeof(timeout)) == 0);
+  CHECK(zmq_bind(socket, Path::swaglog_ipc().c_str()) == 0);
+
+  LOGD("native-cpp-log");
+
+  char buffer[4096] = {};
+  const int size = zmq_recv(socket, buffer, sizeof(buffer), 0);
+  CHECK(size > 1);
+  CHECK(buffer[0] == CLOUDLOG_DEBUG);
+  std::string error;
+  const auto message = json11::Json::parse(std::string(buffer + 1, size - 1), error);
+  CHECK(error.empty());
+  CHECK(message["levelnum"].int_value() == CLOUDLOG_DEBUG);
+  CHECK(message["msg"].string_value() == "native-cpp-log");
+  CHECK(message["funcname"].string_value() == "test_swaglog");
+  CHECK(message["filename"].string_value().find("test_swaglog.cc") != std::string::npos);
+  CHECK(message["ctx"]["daemon"].string_value() == "swaglog_test");
+  CHECK(message["ctx"]["dongle_id"].string_value() == "test_dongle_id");
+  CHECK(message["ctx"]["dirty"].bool_value() == false);
+
+  CHECK(zmq_close(socket) == 0);
+  CHECK(zmq_ctx_destroy(context) == 0);
+}
+
+void recv_log(int thread_cnt, int thread_msg_cnt) {
+  void *zctx = zmq_ctx_new();
+  void *sock = zmq_socket(zctx, ZMQ_PULL);
+  zmq_bind(sock, Path::swaglog_ipc().c_str());
+  std::vector<int> thread_msgs(thread_cnt);
+  int total_count = 0;
+
+  for (auto start = std::chrono::steady_clock::now(), now = start;
+       now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
+       now = std::chrono::steady_clock::now()) {
+    char buf[4096] = {};
+    if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
+      if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
+      break;
+    }
+
+    CHECK(buf[0] == CLOUDLOG_DEBUG);
+    std::string err;
+    auto msg = json11::Json::parse(buf + 1, err);
+    CHECK(!msg.is_null());
+
+    CHECK(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
+    CHECK(msg["filename"].string_value().find("test_swaglog.cc") != std::string::npos);
+    CHECK(msg["funcname"].string_value() == "log_thread");
+    CHECK(msg["lineno"].int_value() == LINE_NO);
+
+    auto ctx = msg["ctx"];
+
+    CHECK(ctx["daemon"].string_value() == daemon_name);
+    CHECK(ctx["dongle_id"].string_value() == dongle_id);
+    CHECK(ctx["dirty"].bool_value() == true);
+
+    CHECK(ctx["version"].string_value() == SUNNYPILOT_VERSION);
+
+    std::string device = Hardware::get_name();
+    CHECK(ctx["device"].string_value() == device);
+
+    int thread_id = atoi(msg["msg"].string_value().c_str());
+    CHECK((thread_id >= 0 && thread_id < thread_cnt));
+    thread_msgs[thread_id]++;
+    total_count++;
+  }
+  for (int i = 0; i < thread_cnt; ++i) {
+    CHECK(thread_msgs[i] == thread_msg_cnt);
+  }
+  zmq_close(sock);
+  zmq_ctx_destroy(zctx);
+}
+
+int main() {
+  return run_native_test(test_swaglog);
+}
diff --git a/common/text_window.py b/openpilot/common/text_window.py
similarity index 98%
rename from common/text_window.py
rename to openpilot/common/text_window.py
index 358243d1f1..94cfa7811e 100755
--- a/common/text_window.py
+++ b/openpilot/common/text_window.py
@@ -10,7 +10,7 @@ class TextWindow:
     try:
       self.text_proc = subprocess.Popen(["./text.py", text],
                                         stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "system", "ui"),
+                                        cwd=os.path.join(BASEDIR, "openpilot/system", "ui"),
                                         close_fds=True)
     except OSError:
       self.text_proc = None
diff --git a/common/time_helpers.py b/openpilot/common/time_helpers.py
similarity index 79%
rename from common/time_helpers.py
rename to openpilot/common/time_helpers.py
index 8564e270c2..c709182d45 100644
--- a/common/time_helpers.py
+++ b/openpilot/common/time_helpers.py
@@ -2,6 +2,7 @@ import datetime
 from pathlib import Path
 
 MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
+MAX_DATE = datetime.datetime(year=2035, month=1, day=1)
 
 def min_date():
   # on systemd systems, the default time is the systemd build time
@@ -12,4 +13,4 @@ def min_date():
   return MIN_DATE
 
 def system_time_valid():
-  return datetime.datetime.now() > min_date()
+  return min_date() < datetime.datetime.now() < MAX_DATE
diff --git a/common/timeout.py b/openpilot/common/timeout.py
similarity index 100%
rename from common/timeout.py
rename to openpilot/common/timeout.py
diff --git a/common/timing.h b/openpilot/common/timing.h
similarity index 100%
rename from common/timing.h
rename to openpilot/common/timing.h
diff --git a/common/transformations/README.md b/openpilot/common/transformations/README.md
similarity index 100%
rename from common/transformations/README.md
rename to openpilot/common/transformations/README.md
diff --git a/common/transformations/tests/__init__.py b/openpilot/common/transformations/__init__.py
similarity index 100%
rename from common/transformations/tests/__init__.py
rename to openpilot/common/transformations/__init__.py
diff --git a/common/transformations/camera.py b/openpilot/common/transformations/camera.py
similarity index 96%
rename from common/transformations/camera.py
rename to openpilot/common/transformations/camera.py
index 2e68b5e37c..17ac226cdb 100644
--- a/common/transformations/camera.py
+++ b/openpilot/common/transformations/camera.py
@@ -37,12 +37,12 @@ class _NoneCameraConfig(CameraConfig):
 
 @dataclass(frozen=True)
 class DeviceCameraConfig:
-  fcam: CameraConfig
-  dcam: CameraConfig
-  ecam: CameraConfig
+  narrow_road: CameraConfig
+  cabin: CameraConfig
+  wide_road: CameraConfig
 
   def all_cams(self):
-    for cam in ['fcam', 'dcam', 'ecam']:
+    for cam in ['narrow_road', 'cabin', 'wide_road']:
       if not isinstance(getattr(self, cam), _NoneCameraConfig):
         yield cam, getattr(self, cam)
 
@@ -52,7 +52,7 @@ _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fish
 _os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
-DEVICE_CAMERAS = {
+DEVICE_CAMERAS: dict[tuple[str, str], DeviceCameraConfig] = {
   # A "device camera" is defined by a device type and sensor
 
   # sensor type was never set on eon/neo/two
@@ -176,4 +176,3 @@ def img_from_device(pt_device):
 
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
-
diff --git a/common/transformations/coordinates.py b/openpilot/common/transformations/coordinates.py
similarity index 100%
rename from common/transformations/coordinates.py
rename to openpilot/common/transformations/coordinates.py
diff --git a/common/transformations/model.py b/openpilot/common/transformations/model.py
similarity index 100%
rename from common/transformations/model.py
rename to openpilot/common/transformations/model.py
diff --git a/common/transformations/orientation.py b/openpilot/common/transformations/orientation.py
similarity index 95%
rename from common/transformations/orientation.py
rename to openpilot/common/transformations/orientation.py
index 86e6a6c347..d2ccda13a5 100644
--- a/common/transformations/orientation.py
+++ b/openpilot/common/transformations/orientation.py
@@ -25,11 +25,10 @@ def numpy_wrap(function, input_shape, output_shape) -> Callable[..., np.ndarray]
 
     # Add empty dimension if inputs is not a list
     if len(shape) == len(input_shape):
-      inp.shape = (1, ) + inp.shape
+      inp = inp.reshape((1, ) + inp.shape)
 
     result = np.asarray([function(*args, i) for i in inp])
-    result.shape = out_shape
-    return result
+    return result.reshape(out_shape)
   return f
 
 
diff --git a/selfdrive/__init__.py b/openpilot/common/transformations/tests/__init__.py
similarity index 100%
rename from selfdrive/__init__.py
rename to openpilot/common/transformations/tests/__init__.py
diff --git a/common/transformations/tests/test_coordinates.py b/openpilot/common/transformations/tests/test_coordinates.py
similarity index 98%
rename from common/transformations/tests/test_coordinates.py
rename to openpilot/common/transformations/tests/test_coordinates.py
index 0b5d1c36df..febc566a53 100644
--- a/common/transformations/tests/test_coordinates.py
+++ b/openpilot/common/transformations/tests/test_coordinates.py
@@ -1,5 +1,6 @@
 import numpy as np
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.common.transformations.coordinates as coord
 
 geodetic_positions = np.array([[37.7610403, -122.4778699, 115],
@@ -41,7 +42,7 @@ ned_offsets_batch = np.array([[  53.88103168,   43.83445935,  -46.27488057],
                               [  78.56272609,   18.53100158,  -43.25290759]])
 
 
-class TestNED:
+class TestNED(OpenpilotTestCase):
   def test_small_distances(self):
     start_geodetic = np.array([33.8042184, -117.888593, 0.0])
     local_coord = coord.LocalCoord.from_geodetic(start_geodetic)
diff --git a/common/transformations/tests/test_orientation.py b/openpilot/common/transformations/tests/test_orientation.py
similarity index 94%
rename from common/transformations/tests/test_orientation.py
rename to openpilot/common/transformations/tests/test_orientation.py
index 1bf94115c8..7acf16dadf 100644
--- a/common/transformations/tests/test_orientation.py
+++ b/openpilot/common/transformations/tests/test_orientation.py
@@ -1,6 +1,6 @@
 import numpy as np
-import pytest
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
                                                ned_euler_from_ecef
@@ -30,7 +30,7 @@ ned_eulers = np.array([[ 0.46806039, -0.4881889 ,  1.65697808],
                     [ 2.50450101,  0.36304151,  0.33136365]])
 
 
-class TestOrientation:
+class TestOrientation(OpenpilotTestCase):
   def test_quat_euler(self):
     for i, eul in enumerate(eulers):
       np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7)
@@ -62,13 +62,13 @@ class TestOrientation:
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
 
   def test_inputs(self):
-    with pytest.raises(ValueError):
+    with self.assertRaises(ValueError):
       euler2quat([1, 2])
 
-    with pytest.raises(ValueError):
+    with self.assertRaises(ValueError):
       quat2rot([1, 2, 3])
 
-    with pytest.raises(IndexError):
+    with self.assertRaises(IndexError):
       rot2quat(np.zeros((2, 2)))
 
   def test_euler_rot_consistency(self):
diff --git a/common/transformations/transformations.py b/openpilot/common/transformations/transformations.py
similarity index 100%
rename from common/transformations/transformations.py
rename to openpilot/common/transformations/transformations.py
diff --git a/common/util.cc b/openpilot/common/util.cc
similarity index 96%
rename from common/util.cc
rename to openpilot/common/util.cc
index 26a2bd60bc..84b47e187e 100644
--- a/common/util.cc
+++ b/openpilot/common/util.cc
@@ -181,9 +181,9 @@ bool file_exists(const std::string& fn) {
 }
 
 static bool createDirectory(std::string dir, mode_t mode) {
-  auto verify_dir = [](const std::string& dir) -> bool {
+  auto verify_dir = [](const std::string& path) -> bool {
     struct stat st = {};
-    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
+    return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
   };
   // remove trailing /'s
   while (dir.size() > 1 && dir.back() == '/') {
@@ -288,7 +288,7 @@ std::string strip(const std::string &str) {
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
-  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
+  std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
 
   if (!pipe) {
     return "";
@@ -303,7 +303,7 @@ std::string check_output(const std::string& command) {
 
 bool system_time_valid() {
   // Default to August 26, 2024
-  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
+  tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
   time_t min_date = mktime(&min_tm);
 
   struct stat st;
diff --git a/common/util.h b/openpilot/common/util.h
similarity index 96%
rename from common/util.h
rename to openpilot/common/util.h
index 6d28e3ccbc..98c2883538 100644
--- a/common/util.h
+++ b/openpilot/common/util.h
@@ -97,6 +97,13 @@ bool create_directories(const std::string &dir, mode_t mode);
 
 std::string check_output(const std::string& command);
 
+inline void check_system(const std::string& cmd) {
+  int ret = std::system(cmd.c_str());
+  if (ret != 0) {
+    fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
+  }
+}
+
 bool system_time_valid();
 
 inline void sleep_for(const int milliseconds) {
diff --git a/common/utils.py b/openpilot/common/utils.py
similarity index 92%
rename from common/utils.py
rename to openpilot/common/utils.py
index faaa96ecbc..a73d2b8226 100644
--- a/common/utils.py
+++ b/openpilot/common/utils.py
@@ -37,18 +37,18 @@ def sudo_write(val: str, path: str) -> None:
     with open(path, 'w') as f:
       f.write(str(val))
   except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
+    subprocess.run(f"sudo chmod a+w {path}", shell=True)
     try:
       with open(path, 'w') as f:
         f.write(str(val))
     except PermissionError:
       # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
+      subprocess.run(f"sudo su -c 'echo {val} > {path}'", shell=True)
 
 
 def sudo_read(path: str) -> str:
   try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+    return subprocess.check_output(["sudo", "cat", "--", path], encoding='utf8').strip()
   except Exception:
     return ""
 
@@ -108,10 +108,14 @@ def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str
   if not overwrite and os.path.exists(path):
     raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
 
-  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
-    yield tmp_file
-    tmp_file_name = tmp_file.name
-  os.replace(tmp_file_name, path)
+  tmp_file = tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False)
+  try:
+    with tmp_file:
+      yield tmp_file
+    os.replace(tmp_file.name, path)
+  finally:
+    with contextlib.suppress(FileNotFoundError):
+      os.unlink(tmp_file.name)
 
 
 def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
@@ -131,11 +135,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
     return compressed_stream, compressed_size
 
 
-# remove all keys that end in DEPRECATED
+# remove all keys that end in DEPRECATED, plus any "deprecated" group
 def strip_deprecated_keys(d):
   for k in list(d.keys()):
     if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
+      if k.endswith('DEPRECATED') or k == 'deprecated':
         d.pop(k)
       elif isinstance(d[k], dict):
         strip_deprecated_keys(d[k])
diff --git a/openpilot/common/version.h b/openpilot/common/version.h
new file mode 100644
index 0000000000..5a09588e22
--- /dev/null
+++ b/openpilot/common/version.h
@@ -0,0 +1 @@
+#define COMMA_VERSION "0.11.2"
diff --git a/system/version.py b/openpilot/common/version.py
similarity index 95%
rename from system/version.py
rename to openpilot/common/version.py
index ae6ac1b13a..f1514aa3cd 100755
--- a/system/version.py
+++ b/openpilot/common/version.py
@@ -24,6 +24,10 @@ SP_BRANCH_MIGRATIONS = {
   ("tizi", "staging-c3-new"): "staging",
   ("tizi", "dev-c3-new"): "dev",
   ("tizi", "master-dev-c3-new"): "master-dev",
+  ("tizi", "release3"): "release-tizi",
+  ("tizi", "release3-staging"): "release-tizi-staging",
+  ("mici", "release3"): "release-mici",
+  ("mici", "release3-staging"): "release-mici-staging",
 }
 
 BUILD_METADATA_FILENAME = "build.json"
@@ -36,7 +40,7 @@ sunnylink_consent_declined: str = "-1"
 
 
 def get_version(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "sunnypilot", "common", "version.h")) as _versionf:
+  with open(os.path.join(path, "openpilot", "sunnypilot", "common", "version.h")) as _versionf:
     version = _versionf.read().split('"')[1]
   return version
 
diff --git a/openpilot/common/yuv.cc b/openpilot/common/yuv.cc
new file mode 100644
index 0000000000..a7a64fb594
--- /dev/null
+++ b/openpilot/common/yuv.cc
@@ -0,0 +1,132 @@
+#include "common/yuv.h"
+
+#include <algorithm>
+#include <cstring>
+
+namespace yuv {
+
+namespace {
+
+inline uint8_t clamp_u8(int v) {
+  return static_cast<uint8_t>(std::clamp(v, 0, 255));
+}
+
+void copy_plane(const uint8_t *src, int src_stride,
+                uint8_t *dst, int dst_stride,
+                int width, int height) {
+  if (src_stride == width && dst_stride == width) {
+    std::memcpy(dst, src, static_cast<size_t>(width) * height);
+    return;
+  }
+  for (int y = 0; y < height; ++y) {
+    std::memcpy(dst + y * dst_stride, src + y * src_stride, width);
+  }
+}
+
+void scale_plane_point(const uint8_t *src, int src_stride, int src_width, int src_height,
+                       uint8_t *dst, int dst_stride, int dst_width, int dst_height) {
+  if (src_width == dst_width && src_height == dst_height) {
+    copy_plane(src, src_stride, dst, dst_stride, dst_width, dst_height);
+    return;
+  }
+  for (int y = 0; y < dst_height; ++y) {
+    const int sy = y * src_height / dst_height;
+    const uint8_t *src_row = src + sy * src_stride;
+    uint8_t *dst_row = dst + y * dst_stride;
+    for (int x = 0; x < dst_width; ++x) {
+      dst_row[x] = src_row[x * src_width / dst_width];
+    }
+  }
+}
+
+// BT.601 limited range → RGB (integer form used widely, incl. similar to libyuv).
+inline void yuv_to_rgb(int y, int u, int v, uint8_t *r, uint8_t *g, uint8_t *b) {
+  const int c = (y - 16) * 298;
+  const int d = u - 128;
+  const int e = v - 128;
+  *r = clamp_u8((c + 409 * e + 128) >> 8);
+  *g = clamp_u8((c - 100 * d - 208 * e + 128) >> 8);
+  *b = clamp_u8((c + 516 * d + 128) >> 8);
+}
+
+}  // namespace
+
+void nv12_to_i420(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_uv, int src_stride_uv,
+                  uint8_t *dst_y, int dst_stride_y,
+                  uint8_t *dst_u, int dst_stride_u,
+                  uint8_t *dst_v, int dst_stride_v,
+                  int width, int height) {
+  copy_plane(src_y, src_stride_y, dst_y, dst_stride_y, width, height);
+
+  const int uv_width = width / 2;
+  const int uv_height = height / 2;
+  for (int y = 0; y < uv_height; ++y) {
+    const uint8_t *uv = src_uv + y * src_stride_uv;
+    uint8_t *u = dst_u + y * dst_stride_u;
+    uint8_t *v = dst_v + y * dst_stride_v;
+    for (int x = 0; x < uv_width; ++x) {
+      u[x] = uv[2 * x];
+      v[x] = uv[2 * x + 1];
+    }
+  }
+}
+
+void i420_to_nv12(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_u, int src_stride_u,
+                  const uint8_t *src_v, int src_stride_v,
+                  uint8_t *dst_y, int dst_stride_y,
+                  uint8_t *dst_uv, int dst_stride_uv,
+                  int width, int height) {
+  copy_plane(src_y, src_stride_y, dst_y, dst_stride_y, width, height);
+
+  const int uv_width = width / 2;
+  const int uv_height = height / 2;
+  for (int y = 0; y < uv_height; ++y) {
+    const uint8_t *u = src_u + y * src_stride_u;
+    const uint8_t *v = src_v + y * src_stride_v;
+    uint8_t *uv = dst_uv + y * dst_stride_uv;
+    for (int x = 0; x < uv_width; ++x) {
+      uv[2 * x] = u[x];
+      uv[2 * x + 1] = v[x];
+    }
+  }
+}
+
+void i420_scale(const uint8_t *src_y, int src_stride_y,
+                const uint8_t *src_u, int src_stride_u,
+                const uint8_t *src_v, int src_stride_v,
+                int src_width, int src_height,
+                uint8_t *dst_y, int dst_stride_y,
+                uint8_t *dst_u, int dst_stride_u,
+                uint8_t *dst_v, int dst_stride_v,
+                int dst_width, int dst_height) {
+  scale_plane_point(src_y, src_stride_y, src_width, src_height,
+                    dst_y, dst_stride_y, dst_width, dst_height);
+  scale_plane_point(src_u, src_stride_u, src_width / 2, src_height / 2,
+                    dst_u, dst_stride_u, dst_width / 2, dst_height / 2);
+  scale_plane_point(src_v, src_stride_v, src_width / 2, src_height / 2,
+                    dst_v, dst_stride_v, dst_width / 2, dst_height / 2);
+}
+
+void nv12_to_rgba(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_uv, int src_stride_uv,
+                  uint8_t *dst_rgba, int dst_stride_rgba,
+                  int width, int height) {
+  for (int y = 0; y < height; ++y) {
+    const uint8_t *y_row = src_y + y * src_stride_y;
+    const uint8_t *uv_row = src_uv + (y / 2) * src_stride_uv;
+    uint8_t *dst = dst_rgba + y * dst_stride_rgba;
+    for (int x = 0; x < width; ++x) {
+      const int uv_x = (x & ~1);
+      uint8_t r, g, b;
+      yuv_to_rgb(y_row[x], uv_row[uv_x], uv_row[uv_x + 1], &r, &g, &b);
+      dst[4 * x + 0] = r;
+      dst[4 * x + 1] = g;
+      dst[4 * x + 2] = b;
+      dst[4 * x + 3] = 255;
+    }
+  }
+}
+
+}  // namespace yuv
diff --git a/openpilot/common/yuv.h b/openpilot/common/yuv.h
new file mode 100644
index 0000000000..7ab096f764
--- /dev/null
+++ b/openpilot/common/yuv.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include <cstdint>
+
+// NV12: Y plane + interleaved UV. I420: planar Y, U, V.
+
+namespace yuv {
+
+// Deinterleave NV12 UV into planar I420.
+void nv12_to_i420(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_uv, int src_stride_uv,
+                  uint8_t *dst_y, int dst_stride_y,
+                  uint8_t *dst_u, int dst_stride_u,
+                  uint8_t *dst_v, int dst_stride_v,
+                  int width, int height);
+
+// Interleave planar I420 UV into NV12.
+void i420_to_nv12(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_u, int src_stride_u,
+                  const uint8_t *src_v, int src_stride_v,
+                  uint8_t *dst_y, int dst_stride_y,
+                  uint8_t *dst_uv, int dst_stride_uv,
+                  int width, int height);
+
+// Point-sample scale I420 (equivalent to libyuv::I420Scale + kFilterNone).
+void i420_scale(const uint8_t *src_y, int src_stride_y,
+                const uint8_t *src_u, int src_stride_u,
+                const uint8_t *src_v, int src_stride_v,
+                int src_width, int src_height,
+                uint8_t *dst_y, int dst_stride_y,
+                uint8_t *dst_u, int dst_stride_u,
+                uint8_t *dst_v, int dst_stride_v,
+                int dst_width, int dst_height);
+
+// Convert NV12 to packed RGBA (R,G,B,A bytes — suitable for GL_RGBA).
+// BT.601 limited-range, matching common libyuv defaults.
+void nv12_to_rgba(const uint8_t *src_y, int src_stride_y,
+                  const uint8_t *src_uv, int src_stride_uv,
+                  uint8_t *dst_rgba, int dst_stride_rgba,
+                  int width, int height);
+
+}
diff --git a/openpilot/selfdrive b/openpilot/selfdrive
deleted file mode 120000
index e005fd0d04..0000000000
--- a/openpilot/selfdrive
+++ /dev/null
@@ -1 +0,0 @@
-../selfdrive/
\ No newline at end of file
diff --git a/selfdrive/car/__init__.py b/openpilot/selfdrive/__init__.py
similarity index 100%
rename from selfdrive/car/__init__.py
rename to openpilot/selfdrive/__init__.py
diff --git a/openpilot/selfdrive/assets/.gitignore b/openpilot/selfdrive/assets/.gitignore
new file mode 100644
index 0000000000..2d97f8b111
--- /dev/null
+++ b/openpilot/selfdrive/assets/.gitignore
@@ -0,0 +1,2 @@
+fonts/*.fnt
+fonts/*.png
diff --git a/selfdrive/assets/assets.qrc b/openpilot/selfdrive/assets/assets.qrc
similarity index 87%
rename from selfdrive/assets/assets.qrc
rename to openpilot/selfdrive/assets/assets.qrc
index 26a7d998ed..72e2f7f3c0 100644
--- a/selfdrive/assets/assets.qrc
+++ b/openpilot/selfdrive/assets/assets.qrc
@@ -1,6 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
+  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
   <file>images/button_continue_triangle.svg</file>
   <file>icons/circled_check.svg</file>
   <file>icons/circled_slash.svg</file>
diff --git a/selfdrive/assets/body/awake.gif b/openpilot/selfdrive/assets/body/awake.gif
similarity index 100%
rename from selfdrive/assets/body/awake.gif
rename to openpilot/selfdrive/assets/body/awake.gif
diff --git a/selfdrive/assets/body/sleep.gif b/openpilot/selfdrive/assets/body/sleep.gif
similarity index 100%
rename from selfdrive/assets/body/sleep.gif
rename to openpilot/selfdrive/assets/body/sleep.gif
diff --git a/selfdrive/assets/compress-images.sh b/openpilot/selfdrive/assets/compress-images.sh
similarity index 100%
rename from selfdrive/assets/compress-images.sh
rename to openpilot/selfdrive/assets/compress-images.sh
diff --git a/selfdrive/assets/fonts/Audiowide-Regular.ttf b/openpilot/selfdrive/assets/fonts/Audiowide-Regular.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Audiowide-Regular.ttf
rename to openpilot/selfdrive/assets/fonts/Audiowide-Regular.ttf
diff --git a/selfdrive/assets/fonts/Inter-Black.ttf b/openpilot/selfdrive/assets/fonts/Inter-Black.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Inter-Black.ttf
rename to openpilot/selfdrive/assets/fonts/Inter-Black.ttf
diff --git a/selfdrive/assets/fonts/Inter-Bold.ttf b/openpilot/selfdrive/assets/fonts/Inter-Bold.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Inter-Bold.ttf
rename to openpilot/selfdrive/assets/fonts/Inter-Bold.ttf
diff --git a/selfdrive/assets/fonts/Inter-ExtraBold.ttf b/openpilot/selfdrive/assets/fonts/Inter-ExtraBold.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Inter-ExtraBold.ttf
rename to openpilot/selfdrive/assets/fonts/Inter-ExtraBold.ttf
diff --git a/selfdrive/assets/fonts/Inter-ExtraLight.ttf b/openpilot/selfdrive/assets/fonts/Inter-ExtraLight.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Inter-ExtraLight.ttf
rename to openpilot/selfdrive/assets/fonts/Inter-ExtraLight.ttf
diff --git a/selfdrive/assets/fonts/Inter-Light.ttf b/openpilot/selfdrive/assets/fonts/Inter-Light.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Inter-Light.ttf
rename to openpilot/selfdrive/assets/fonts/Inter-Light.ttf
diff --git a/selfdrive/assets/fonts/Inter-Medium.ttf b/openpilot/selfdrive/assets/fonts/Inter-Medium.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Inter-Medium.ttf
rename to openpilot/selfdrive/assets/fonts/Inter-Medium.ttf
diff --git a/selfdrive/assets/fonts/Inter-Regular.ttf b/openpilot/selfdrive/assets/fonts/Inter-Regular.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Inter-Regular.ttf
rename to openpilot/selfdrive/assets/fonts/Inter-Regular.ttf
diff --git a/selfdrive/assets/fonts/Inter-SemiBold.ttf b/openpilot/selfdrive/assets/fonts/Inter-SemiBold.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Inter-SemiBold.ttf
rename to openpilot/selfdrive/assets/fonts/Inter-SemiBold.ttf
diff --git a/selfdrive/assets/fonts/Inter-Thin.ttf b/openpilot/selfdrive/assets/fonts/Inter-Thin.ttf
similarity index 100%
rename from selfdrive/assets/fonts/Inter-Thin.ttf
rename to openpilot/selfdrive/assets/fonts/Inter-Thin.ttf
diff --git a/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf b/openpilot/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf
similarity index 100%
rename from selfdrive/assets/fonts/JetBrainsMono-Medium.ttf
rename to openpilot/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf
diff --git a/openpilot/selfdrive/assets/fonts/NotoSansCJKjp-Regular.otf b/openpilot/selfdrive/assets/fonts/NotoSansCJKjp-Regular.otf
new file mode 100644
index 0000000000..045f73ba40
--- /dev/null
+++ b/openpilot/selfdrive/assets/fonts/NotoSansCJKjp-Regular.otf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80135e7ab71496c3b744047ef9100f5d24edaa275d248a3e0488bc769e453baa
+size 240500
diff --git a/openpilot/selfdrive/assets/fonts/NotoSansCJKkr-Regular.otf b/openpilot/selfdrive/assets/fonts/NotoSansCJKkr-Regular.otf
new file mode 100644
index 0000000000..f06e31bae8
--- /dev/null
+++ b/openpilot/selfdrive/assets/fonts/NotoSansCJKkr-Regular.otf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e86fb33e127558b845aec3016d46c36118811a1e30fd9dacc374840ad3001221
+size 109356
diff --git a/openpilot/selfdrive/assets/fonts/NotoSansCJKsc-Regular.otf b/openpilot/selfdrive/assets/fonts/NotoSansCJKsc-Regular.otf
new file mode 100644
index 0000000000..ccd161ef62
--- /dev/null
+++ b/openpilot/selfdrive/assets/fonts/NotoSansCJKsc-Regular.otf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71933d4233b691fb499524cbf9b3d74ccdf6465c81791687e661667aefa8e660
+size 196068
diff --git a/openpilot/selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf b/openpilot/selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf
new file mode 100644
index 0000000000..fec43d0c6f
--- /dev/null
+++ b/openpilot/selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:292f8ad096fd0a47e4016bd3607cb4edcd3b1f97634f67a115c0b0973ba5002f
+size 245884
diff --git a/openpilot/selfdrive/assets/fonts/NotoSansThai-Regular.ttf b/openpilot/selfdrive/assets/fonts/NotoSansThai-Regular.ttf
new file mode 100644
index 0000000000..c0a05b3965
--- /dev/null
+++ b/openpilot/selfdrive/assets/fonts/NotoSansThai-Regular.ttf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8656eb9e4e182333e58c59cd07ae0dd82c913d31c29b0d2726887ffbbef137a2
+size 26536
diff --git a/selfdrive/assets/fonts/unifont.otf b/openpilot/selfdrive/assets/fonts/unifont.otf
similarity index 100%
rename from selfdrive/assets/fonts/unifont.otf
rename to openpilot/selfdrive/assets/fonts/unifont.otf
diff --git a/selfdrive/assets/icons/arrow-right.png b/openpilot/selfdrive/assets/icons/arrow-right.png
similarity index 100%
rename from selfdrive/assets/icons/arrow-right.png
rename to openpilot/selfdrive/assets/icons/arrow-right.png
diff --git a/selfdrive/assets/icons/backspace.png b/openpilot/selfdrive/assets/icons/backspace.png
similarity index 100%
rename from selfdrive/assets/icons/backspace.png
rename to openpilot/selfdrive/assets/icons/backspace.png
diff --git a/selfdrive/assets/icons/calibration.png b/openpilot/selfdrive/assets/icons/calibration.png
similarity index 100%
rename from selfdrive/assets/icons/calibration.png
rename to openpilot/selfdrive/assets/icons/calibration.png
diff --git a/selfdrive/assets/icons/capslock-fill.png b/openpilot/selfdrive/assets/icons/capslock-fill.png
similarity index 100%
rename from selfdrive/assets/icons/capslock-fill.png
rename to openpilot/selfdrive/assets/icons/capslock-fill.png
diff --git a/selfdrive/assets/icons/checkmark.png b/openpilot/selfdrive/assets/icons/checkmark.png
similarity index 100%
rename from selfdrive/assets/icons/checkmark.png
rename to openpilot/selfdrive/assets/icons/checkmark.png
diff --git a/selfdrive/assets/icons/checkmark.svg b/openpilot/selfdrive/assets/icons/checkmark.svg
similarity index 100%
rename from selfdrive/assets/icons/checkmark.svg
rename to openpilot/selfdrive/assets/icons/checkmark.svg
diff --git a/selfdrive/assets/icons/chevron_right.png b/openpilot/selfdrive/assets/icons/chevron_right.png
similarity index 100%
rename from selfdrive/assets/icons/chevron_right.png
rename to openpilot/selfdrive/assets/icons/chevron_right.png
diff --git a/selfdrive/assets/icons/chffr_wheel.png b/openpilot/selfdrive/assets/icons/chffr_wheel.png
similarity index 100%
rename from selfdrive/assets/icons/chffr_wheel.png
rename to openpilot/selfdrive/assets/icons/chffr_wheel.png
diff --git a/selfdrive/assets/icons/circled_check.png b/openpilot/selfdrive/assets/icons/circled_check.png
similarity index 100%
rename from selfdrive/assets/icons/circled_check.png
rename to openpilot/selfdrive/assets/icons/circled_check.png
diff --git a/selfdrive/assets/icons/circled_check.svg b/openpilot/selfdrive/assets/icons/circled_check.svg
similarity index 100%
rename from selfdrive/assets/icons/circled_check.svg
rename to openpilot/selfdrive/assets/icons/circled_check.svg
diff --git a/selfdrive/assets/icons/circled_slash.png b/openpilot/selfdrive/assets/icons/circled_slash.png
similarity index 100%
rename from selfdrive/assets/icons/circled_slash.png
rename to openpilot/selfdrive/assets/icons/circled_slash.png
diff --git a/selfdrive/assets/icons/circled_slash.svg b/openpilot/selfdrive/assets/icons/circled_slash.svg
similarity index 100%
rename from selfdrive/assets/icons/circled_slash.svg
rename to openpilot/selfdrive/assets/icons/circled_slash.svg
diff --git a/selfdrive/assets/icons/close.png b/openpilot/selfdrive/assets/icons/close.png
similarity index 100%
rename from selfdrive/assets/icons/close.png
rename to openpilot/selfdrive/assets/icons/close.png
diff --git a/selfdrive/assets/icons/close.svg b/openpilot/selfdrive/assets/icons/close.svg
similarity index 100%
rename from selfdrive/assets/icons/close.svg
rename to openpilot/selfdrive/assets/icons/close.svg
diff --git a/selfdrive/assets/icons/close2.png b/openpilot/selfdrive/assets/icons/close2.png
similarity index 100%
rename from selfdrive/assets/icons/close2.png
rename to openpilot/selfdrive/assets/icons/close2.png
diff --git a/selfdrive/assets/icons/close2.svg b/openpilot/selfdrive/assets/icons/close2.svg
similarity index 100%
rename from selfdrive/assets/icons/close2.svg
rename to openpilot/selfdrive/assets/icons/close2.svg
diff --git a/selfdrive/assets/icons/couch.png b/openpilot/selfdrive/assets/icons/couch.png
similarity index 100%
rename from selfdrive/assets/icons/couch.png
rename to openpilot/selfdrive/assets/icons/couch.png
diff --git a/selfdrive/assets/icons/couch.svg b/openpilot/selfdrive/assets/icons/couch.svg
similarity index 100%
rename from selfdrive/assets/icons/couch.svg
rename to openpilot/selfdrive/assets/icons/couch.svg
diff --git a/selfdrive/assets/icons/disengage_on_accelerator.png b/openpilot/selfdrive/assets/icons/disengage_on_accelerator.png
similarity index 100%
rename from selfdrive/assets/icons/disengage_on_accelerator.png
rename to openpilot/selfdrive/assets/icons/disengage_on_accelerator.png
diff --git a/selfdrive/assets/icons/disengage_on_accelerator.svg b/openpilot/selfdrive/assets/icons/disengage_on_accelerator.svg
similarity index 100%
rename from selfdrive/assets/icons/disengage_on_accelerator.svg
rename to openpilot/selfdrive/assets/icons/disengage_on_accelerator.svg
diff --git a/selfdrive/assets/icons/driver_face.png b/openpilot/selfdrive/assets/icons/driver_face.png
similarity index 100%
rename from selfdrive/assets/icons/driver_face.png
rename to openpilot/selfdrive/assets/icons/driver_face.png
diff --git a/selfdrive/assets/icons/experimental.png b/openpilot/selfdrive/assets/icons/experimental.png
similarity index 100%
rename from selfdrive/assets/icons/experimental.png
rename to openpilot/selfdrive/assets/icons/experimental.png
diff --git a/selfdrive/assets/icons/experimental.svg b/openpilot/selfdrive/assets/icons/experimental.svg
similarity index 100%
rename from selfdrive/assets/icons/experimental.svg
rename to openpilot/selfdrive/assets/icons/experimental.svg
diff --git a/selfdrive/assets/icons/experimental_grey.png b/openpilot/selfdrive/assets/icons/experimental_grey.png
similarity index 100%
rename from selfdrive/assets/icons/experimental_grey.png
rename to openpilot/selfdrive/assets/icons/experimental_grey.png
diff --git a/selfdrive/assets/icons/experimental_grey.svg b/openpilot/selfdrive/assets/icons/experimental_grey.svg
similarity index 100%
rename from selfdrive/assets/icons/experimental_grey.svg
rename to openpilot/selfdrive/assets/icons/experimental_grey.svg
diff --git a/selfdrive/assets/icons/experimental_white.png b/openpilot/selfdrive/assets/icons/experimental_white.png
similarity index 100%
rename from selfdrive/assets/icons/experimental_white.png
rename to openpilot/selfdrive/assets/icons/experimental_white.png
diff --git a/selfdrive/assets/icons/experimental_white.svg b/openpilot/selfdrive/assets/icons/experimental_white.svg
similarity index 100%
rename from selfdrive/assets/icons/experimental_white.svg
rename to openpilot/selfdrive/assets/icons/experimental_white.svg
diff --git a/selfdrive/assets/icons/eye_closed.png b/openpilot/selfdrive/assets/icons/eye_closed.png
similarity index 100%
rename from selfdrive/assets/icons/eye_closed.png
rename to openpilot/selfdrive/assets/icons/eye_closed.png
diff --git a/selfdrive/assets/icons/eye_closed.svg b/openpilot/selfdrive/assets/icons/eye_closed.svg
similarity index 100%
rename from selfdrive/assets/icons/eye_closed.svg
rename to openpilot/selfdrive/assets/icons/eye_closed.svg
diff --git a/selfdrive/assets/icons/eye_open.png b/openpilot/selfdrive/assets/icons/eye_open.png
similarity index 100%
rename from selfdrive/assets/icons/eye_open.png
rename to openpilot/selfdrive/assets/icons/eye_open.png
diff --git a/selfdrive/assets/icons/eye_open.svg b/openpilot/selfdrive/assets/icons/eye_open.svg
similarity index 100%
rename from selfdrive/assets/icons/eye_open.svg
rename to openpilot/selfdrive/assets/icons/eye_open.svg
diff --git a/selfdrive/assets/icons/eyes_crossed.png b/openpilot/selfdrive/assets/icons/eyes_crossed.png
similarity index 100%
rename from selfdrive/assets/icons/eyes_crossed.png
rename to openpilot/selfdrive/assets/icons/eyes_crossed.png
diff --git a/selfdrive/assets/icons/eyes_open.png b/openpilot/selfdrive/assets/icons/eyes_open.png
similarity index 100%
rename from selfdrive/assets/icons/eyes_open.png
rename to openpilot/selfdrive/assets/icons/eyes_open.png
diff --git a/openpilot/selfdrive/assets/icons/fire.png b/openpilot/selfdrive/assets/icons/fire.png
new file mode 100644
index 0000000000..a9a1a9babe
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons/fire.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ae6b5f666de71c8af94e8dcace3c4ca0259070cb6e8b2bbb9ba648c28a80e1
+size 5926
diff --git a/selfdrive/assets/icons/link.png b/openpilot/selfdrive/assets/icons/link.png
similarity index 100%
rename from selfdrive/assets/icons/link.png
rename to openpilot/selfdrive/assets/icons/link.png
diff --git a/selfdrive/assets/icons/lock_closed.png b/openpilot/selfdrive/assets/icons/lock_closed.png
similarity index 100%
rename from selfdrive/assets/icons/lock_closed.png
rename to openpilot/selfdrive/assets/icons/lock_closed.png
diff --git a/selfdrive/assets/icons/lock_closed.svg b/openpilot/selfdrive/assets/icons/lock_closed.svg
similarity index 100%
rename from selfdrive/assets/icons/lock_closed.svg
rename to openpilot/selfdrive/assets/icons/lock_closed.svg
diff --git a/selfdrive/assets/icons/menu.png b/openpilot/selfdrive/assets/icons/menu.png
similarity index 100%
rename from selfdrive/assets/icons/menu.png
rename to openpilot/selfdrive/assets/icons/menu.png
diff --git a/selfdrive/assets/icons/metric.png b/openpilot/selfdrive/assets/icons/metric.png
similarity index 100%
rename from selfdrive/assets/icons/metric.png
rename to openpilot/selfdrive/assets/icons/metric.png
diff --git a/selfdrive/assets/icons/microphone.png b/openpilot/selfdrive/assets/icons/microphone.png
similarity index 100%
rename from selfdrive/assets/icons/microphone.png
rename to openpilot/selfdrive/assets/icons/microphone.png
diff --git a/selfdrive/assets/icons/minus.png b/openpilot/selfdrive/assets/icons/minus.png
similarity index 100%
rename from selfdrive/assets/icons/minus.png
rename to openpilot/selfdrive/assets/icons/minus.png
diff --git a/selfdrive/assets/icons/monitoring.png b/openpilot/selfdrive/assets/icons/monitoring.png
similarity index 100%
rename from selfdrive/assets/icons/monitoring.png
rename to openpilot/selfdrive/assets/icons/monitoring.png
diff --git a/selfdrive/assets/icons/network.png b/openpilot/selfdrive/assets/icons/network.png
similarity index 100%
rename from selfdrive/assets/icons/network.png
rename to openpilot/selfdrive/assets/icons/network.png
diff --git a/selfdrive/assets/icons/road.png b/openpilot/selfdrive/assets/icons/road.png
similarity index 100%
rename from selfdrive/assets/icons/road.png
rename to openpilot/selfdrive/assets/icons/road.png
diff --git a/selfdrive/assets/icons/settings.png b/openpilot/selfdrive/assets/icons/settings.png
similarity index 100%
rename from selfdrive/assets/icons/settings.png
rename to openpilot/selfdrive/assets/icons/settings.png
diff --git a/selfdrive/assets/icons/shell.png b/openpilot/selfdrive/assets/icons/shell.png
similarity index 100%
rename from selfdrive/assets/icons/shell.png
rename to openpilot/selfdrive/assets/icons/shell.png
diff --git a/selfdrive/assets/icons/shift-fill.png b/openpilot/selfdrive/assets/icons/shift-fill.png
similarity index 100%
rename from selfdrive/assets/icons/shift-fill.png
rename to openpilot/selfdrive/assets/icons/shift-fill.png
diff --git a/selfdrive/assets/icons/shift.png b/openpilot/selfdrive/assets/icons/shift.png
similarity index 100%
rename from selfdrive/assets/icons/shift.png
rename to openpilot/selfdrive/assets/icons/shift.png
diff --git a/selfdrive/assets/icons/speed_limit.png b/openpilot/selfdrive/assets/icons/speed_limit.png
similarity index 100%
rename from selfdrive/assets/icons/speed_limit.png
rename to openpilot/selfdrive/assets/icons/speed_limit.png
diff --git a/selfdrive/assets/icons/triangle.png b/openpilot/selfdrive/assets/icons/triangle.png
similarity index 100%
rename from selfdrive/assets/icons/triangle.png
rename to openpilot/selfdrive/assets/icons/triangle.png
diff --git a/selfdrive/assets/icons/triangle.svg b/openpilot/selfdrive/assets/icons/triangle.svg
similarity index 100%
rename from selfdrive/assets/icons/triangle.svg
rename to openpilot/selfdrive/assets/icons/triangle.svg
diff --git a/selfdrive/assets/icons/warning.png b/openpilot/selfdrive/assets/icons/warning.png
similarity index 100%
rename from selfdrive/assets/icons/warning.png
rename to openpilot/selfdrive/assets/icons/warning.png
diff --git a/selfdrive/assets/icons/wifi_strength_full.png b/openpilot/selfdrive/assets/icons/wifi_strength_full.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_full.png
rename to openpilot/selfdrive/assets/icons/wifi_strength_full.png
diff --git a/selfdrive/assets/icons/wifi_strength_full.svg b/openpilot/selfdrive/assets/icons/wifi_strength_full.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_full.svg
rename to openpilot/selfdrive/assets/icons/wifi_strength_full.svg
diff --git a/selfdrive/assets/icons/wifi_strength_high.png b/openpilot/selfdrive/assets/icons/wifi_strength_high.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_high.png
rename to openpilot/selfdrive/assets/icons/wifi_strength_high.png
diff --git a/selfdrive/assets/icons/wifi_strength_high.svg b/openpilot/selfdrive/assets/icons/wifi_strength_high.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_high.svg
rename to openpilot/selfdrive/assets/icons/wifi_strength_high.svg
diff --git a/selfdrive/assets/icons/wifi_strength_low.png b/openpilot/selfdrive/assets/icons/wifi_strength_low.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_low.png
rename to openpilot/selfdrive/assets/icons/wifi_strength_low.png
diff --git a/selfdrive/assets/icons/wifi_strength_low.svg b/openpilot/selfdrive/assets/icons/wifi_strength_low.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_low.svg
rename to openpilot/selfdrive/assets/icons/wifi_strength_low.svg
diff --git a/selfdrive/assets/icons/wifi_strength_medium.png b/openpilot/selfdrive/assets/icons/wifi_strength_medium.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_medium.png
rename to openpilot/selfdrive/assets/icons/wifi_strength_medium.png
diff --git a/selfdrive/assets/icons/wifi_strength_medium.svg b/openpilot/selfdrive/assets/icons/wifi_strength_medium.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_strength_medium.svg
rename to openpilot/selfdrive/assets/icons/wifi_strength_medium.svg
diff --git a/selfdrive/assets/icons/wifi_uploading.png b/openpilot/selfdrive/assets/icons/wifi_uploading.png
similarity index 100%
rename from selfdrive/assets/icons/wifi_uploading.png
rename to openpilot/selfdrive/assets/icons/wifi_uploading.png
diff --git a/selfdrive/assets/icons/wifi_uploading.svg b/openpilot/selfdrive/assets/icons/wifi_uploading.svg
similarity index 100%
rename from selfdrive/assets/icons/wifi_uploading.svg
rename to openpilot/selfdrive/assets/icons/wifi_uploading.svg
diff --git a/openpilot/selfdrive/assets/icons/yellow_warning.png b/openpilot/selfdrive/assets/icons/yellow_warning.png
new file mode 100644
index 0000000000..4300b5728a
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons/yellow_warning.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3f14ff386f5e3e8e01ac64231b77154729516aa96a8baf85fdd98fa6be20839
+size 2341
diff --git a/selfdrive/assets/icons_mici/adb_short.png b/openpilot/selfdrive/assets/icons_mici/adb_short.png
similarity index 100%
rename from selfdrive/assets/icons_mici/adb_short.png
rename to openpilot/selfdrive/assets/icons_mici/adb_short.png
diff --git a/openpilot/selfdrive/assets/icons_mici/alerts_bell.png b/openpilot/selfdrive/assets/icons_mici/alerts_bell.png
new file mode 100644
index 0000000000..5d775425eb
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/alerts_bell.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce1d357acadd798939b398cce1761ceb05564b44f2a5bc6865c7842e60e79f2
+size 1474
diff --git a/openpilot/selfdrive/assets/icons_mici/alerts_pill.png b/openpilot/selfdrive/assets/icons_mici/alerts_pill.png
new file mode 100644
index 0000000000..29ab2ad5b3
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/alerts_pill.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fe73cd1a24c05346a9b4a02e4f900a314c83a422beb38b0f88f91389582cd4
+size 3960
diff --git a/openpilot/selfdrive/assets/icons_mici/body.png b/openpilot/selfdrive/assets/icons_mici/body.png
new file mode 100644
index 0000000000..2f7bb779d1
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/body.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b45f88128430fb50ef51c8e08b8e2a1c8fbe0b5c3a08de9f5d9d59bc1edc82e
+size 4545
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_circle.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_circle.png
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_disabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_circle_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_circle_disabled.png
diff --git a/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png
new file mode 100644
index 0000000000..9db0c2cd81
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_pressed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d4236bcfd3aa8f100b81179c1e0f193c6ffbd84769c4a516be4381e62b270a
+size 18666
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_red.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_red.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/button_circle_red.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/button_circle_red.png
diff --git a/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png
new file mode 100644
index 0000000000..e61a678c1c
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/buttons/button_circle_red_pressed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed07f72339cf1c3926a2cb7314f9baa099bcdb3f8bc89a9084661b71334b0526
+size 32599
diff --git a/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle.png
new file mode 100644
index 0000000000..4ccf6995b1
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dedb4139a7ddeafcdaf050144769e490643820db726201a15250e1042eb6d15
+size 7982
diff --git a/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
new file mode 100644
index 0000000000..5e891588f5
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d527dcff61fa66902681706b4916586244b8cf0520086ac980ff782ab2d99ce7
+size 4778
diff --git a/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png b/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
new file mode 100644
index 0000000000..2cbf1cedb8
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6b1b0f1270a596b5ac150dee8ade54794de55b2033a529d4a17176f688aa6f0
+size 56738
diff --git a/selfdrive/assets/icons_mici/buttons/slider_bg.png b/openpilot/selfdrive/assets/icons_mici/buttons/slider_bg.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/slider_bg.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/slider_bg.png
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_pill_disabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/toggle_pill_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/toggle_pill_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/toggle_pill_disabled.png
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png b/openpilot/selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png
rename to openpilot/selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png
diff --git a/openpilot/selfdrive/assets/icons_mici/egpu.png b/openpilot/selfdrive/assets/icons_mici/egpu.png
new file mode 100644
index 0000000000..92df6d0f17
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/egpu.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d05f85ba6e53417260335bb52e2f4c492311a1eb4136e7fa1fc49aa14095bcaf
+size 1914
diff --git a/openpilot/selfdrive/assets/icons_mici/egpu_crossed.png b/openpilot/selfdrive/assets/icons_mici/egpu_crossed.png
new file mode 100644
index 0000000000..4fc5decb59
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/egpu_crossed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a8c5fece2a1c7587feb41cbe04c6aee08e768ecd9b5d00da6af9832a4ccc842
+size 2034
diff --git a/openpilot/selfdrive/assets/icons_mici/egpu_gray.png b/openpilot/selfdrive/assets/icons_mici/egpu_gray.png
new file mode 100644
index 0000000000..a6aeb84689
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/egpu_gray.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7409c53d7c72681c24982fd83b56ce70f80797c9c0f936d9296a5c18557ac472
+size 7279
diff --git a/openpilot/selfdrive/assets/icons_mici/egpu_green.png b/openpilot/selfdrive/assets/icons_mici/egpu_green.png
new file mode 100644
index 0000000000..41397eeb2a
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/egpu_green.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:336230790162965fb0b1c88551c4715fe6adea0d7b39940205d7f7b871865ed7
+size 10911
diff --git a/openpilot/selfdrive/assets/icons_mici/egpu_orange.png b/openpilot/selfdrive/assets/icons_mici/egpu_orange.png
new file mode 100644
index 0000000000..c2fc06e34e
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/egpu_orange.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58bd6155433f623b1f75d134bd8ca4745d9aa71f6767eb807cdbcf7deb3089a1
+size 10876
diff --git a/selfdrive/assets/icons_mici/exclamation_point.png b/openpilot/selfdrive/assets/icons_mici/exclamation_point.png
similarity index 100%
rename from selfdrive/assets/icons_mici/exclamation_point.png
rename to openpilot/selfdrive/assets/icons_mici/exclamation_point.png
diff --git a/selfdrive/assets/icons_mici/experimental_mode.png b/openpilot/selfdrive/assets/icons_mici/experimental_mode.png
similarity index 100%
rename from selfdrive/assets/icons_mici/experimental_mode.png
rename to openpilot/selfdrive/assets/icons_mici/experimental_mode.png
diff --git a/selfdrive/assets/icons_mici/microphone.png b/openpilot/selfdrive/assets/icons_mici/microphone.png
similarity index 100%
rename from selfdrive/assets/icons_mici/microphone.png
rename to openpilot/selfdrive/assets/icons_mici/microphone.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/big_alert.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/big_alert.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/big_alert.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/big_alert.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/big_alert_pressed.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/big_alert_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/big_alert_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/big_alert_pressed.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/medium_alert.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/medium_alert.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/medium_alert.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/medium_alert.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/medium_alert_pressed.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/medium_alert_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/medium_alert_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/medium_alert_pressed.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/red_warning.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/small_alert.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/small_alert.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/small_alert.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/small_alert.png
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/small_alert_pressed.png b/openpilot/selfdrive/assets/icons_mici/offroad_alerts/small_alert_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/offroad_alerts/small_alert_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/offroad_alerts/small_alert_pressed.png
diff --git a/selfdrive/assets/icons_mici/onroad/blind_spot_left.png b/openpilot/selfdrive/assets/icons_mici/onroad/blind_spot_left.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/blind_spot_left.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/blind_spot_left.png
diff --git a/selfdrive/assets/icons_mici/onroad/bookmark.png b/openpilot/selfdrive/assets/icons_mici/onroad/bookmark.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/bookmark.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/bookmark.png
diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png b/openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_background.png
diff --git a/openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png b/openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
new file mode 100644
index 0000000000..6974b6d8e2
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5d4b7bd406114945e53f4d56089102ee83ba7d0a4590a371f7acab90c7ad53
+size 1862
diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png b/openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_person.png
diff --git a/selfdrive/assets/icons_mici/onroad/eye_fill.png b/openpilot/selfdrive/assets/icons_mici/onroad/eye_fill.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/eye_fill.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/eye_fill.png
diff --git a/selfdrive/assets/icons_mici/onroad/eye_orange.png b/openpilot/selfdrive/assets/icons_mici/onroad/eye_orange.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/eye_orange.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/eye_orange.png
diff --git a/selfdrive/assets/icons_mici/onroad/glasses.png b/openpilot/selfdrive/assets/icons_mici/onroad/glasses.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/glasses.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/glasses.png
diff --git a/selfdrive/assets/icons_mici/onroad/onroad_fade.png b/openpilot/selfdrive/assets/icons_mici/onroad/onroad_fade.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/onroad_fade.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/onroad_fade.png
diff --git a/selfdrive/assets/icons_mici/onroad/turn_signal_left.png b/openpilot/selfdrive/assets/icons_mici/onroad/turn_signal_left.png
similarity index 100%
rename from selfdrive/assets/icons_mici/onroad/turn_signal_left.png
rename to openpilot/selfdrive/assets/icons_mici/onroad/turn_signal_left.png
diff --git a/selfdrive/assets/icons_mici/settings.png b/openpilot/selfdrive/assets/icons_mici/settings.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings.png
rename to openpilot/selfdrive/assets/icons_mici/settings.png
diff --git a/selfdrive/assets/icons_mici/settings/comma_icon.png b/openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/comma_icon.png
rename to openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png
diff --git a/selfdrive/assets/icons_mici/settings/developer/ssh.png b/openpilot/selfdrive/assets/icons_mici/settings/developer/ssh.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/developer/ssh.png
rename to openpilot/selfdrive/assets/icons_mici/settings/developer/ssh.png
diff --git a/selfdrive/assets/icons_mici/settings/developer_icon.png b/openpilot/selfdrive/assets/icons_mici/settings/developer_icon.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/developer_icon.png
rename to openpilot/selfdrive/assets/icons_mici/settings/developer_icon.png
diff --git a/selfdrive/assets/icons_mici/settings/device/cameras.png b/openpilot/selfdrive/assets/icons_mici/settings/device/cameras.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/cameras.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/cameras.png
diff --git a/selfdrive/assets/icons_mici/settings/device/fcc_logo.png b/openpilot/selfdrive/assets/icons_mici/settings/device/fcc_logo.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/fcc_logo.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/fcc_logo.png
diff --git a/selfdrive/assets/icons_mici/settings/device/info.png b/openpilot/selfdrive/assets/icons_mici/settings/device/info.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/info.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/info.png
diff --git a/selfdrive/assets/icons_mici/settings/device/lkas.png b/openpilot/selfdrive/assets/icons_mici/settings/device/lkas.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/lkas.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/lkas.png
diff --git a/selfdrive/assets/icons_mici/settings/device/pair.png b/openpilot/selfdrive/assets/icons_mici/settings/device/pair.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/pair.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/pair.png
diff --git a/selfdrive/assets/icons_mici/settings/device/power.png b/openpilot/selfdrive/assets/icons_mici/settings/device/power.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/power.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/power.png
diff --git a/selfdrive/assets/icons_mici/settings/device/reboot.png b/openpilot/selfdrive/assets/icons_mici/settings/device/reboot.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/reboot.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/reboot.png
diff --git a/selfdrive/assets/icons_mici/settings/device/uninstall.png b/openpilot/selfdrive/assets/icons_mici/settings/device/uninstall.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/uninstall.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/uninstall.png
diff --git a/selfdrive/assets/icons_mici/settings/device/up_to_date.png b/openpilot/selfdrive/assets/icons_mici/settings/device/up_to_date.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/up_to_date.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/up_to_date.png
diff --git a/selfdrive/assets/icons_mici/settings/device/update.png b/openpilot/selfdrive/assets/icons_mici/settings/device/update.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device/update.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device/update.png
diff --git a/selfdrive/assets/icons_mici/settings/device_icon.png b/openpilot/selfdrive/assets/icons_mici/settings/device_icon.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/device_icon.png
rename to openpilot/selfdrive/assets/icons_mici/settings/device_icon.png
diff --git a/selfdrive/assets/icons_mici/settings/firehose.png b/openpilot/selfdrive/assets/icons_mici/settings/firehose.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/firehose.png
rename to openpilot/selfdrive/assets/icons_mici/settings/firehose.png
diff --git a/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png b/openpilot/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png
rename to openpilot/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/backspace.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/backspace.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/backspace.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/backspace.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/caps_lock.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_lock.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/caps_lock.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_lock.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/caps_lower.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_lower.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/caps_lower.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_lower.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/caps_upper.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_upper.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/caps_upper.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/caps_upper.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/enter.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/enter.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/enter.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/enter.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/keyboard_background.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/keyboard_background.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/keyboard_background.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/keyboard_background.png
diff --git a/selfdrive/assets/icons_mici/settings/keyboard/space.png b/openpilot/selfdrive/assets/icons_mici/settings/keyboard/space.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/keyboard/space.png
rename to openpilot/selfdrive/assets/icons_mici/settings/keyboard/space.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_full.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_full.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_full.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_full.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_high.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_high.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_high.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_high.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_low.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_low.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_low.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_low.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_medium.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_medium.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_medium.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_medium.png
diff --git a/selfdrive/assets/icons_mici/settings/network/cell_strength_none.png b/openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_none.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/cell_strength_none.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/cell_strength_none.png
diff --git a/selfdrive/assets/icons_mici/settings/network/new/forget_button.png b/openpilot/selfdrive/assets/icons_mici/settings/network/new/forget_button.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/new/forget_button.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/new/forget_button.png
diff --git a/selfdrive/assets/icons_mici/settings/network/new/forget_button_pressed.png b/openpilot/selfdrive/assets/icons_mici/settings/network/new/forget_button_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/new/forget_button_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/new/forget_button_pressed.png
diff --git a/openpilot/selfdrive/assets/icons_mici/settings/network/new/lock.png b/openpilot/selfdrive/assets/icons_mici/settings/network/new/lock.png
new file mode 100644
index 0000000000..65bd71f654
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/settings/network/new/lock.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7488c1aa69b728387b2cf300a614cc64e3c2305d2b509c14cf44cad65d20d85c
+size 2509
diff --git a/selfdrive/assets/icons_mici/settings/network/new/trash.png b/openpilot/selfdrive/assets/icons_mici/settings/network/new/trash.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/new/trash.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/new/trash.png
diff --git a/selfdrive/assets/icons_mici/settings/network/tethering.png b/openpilot/selfdrive/assets/icons_mici/settings/network/tethering.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/tethering.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/tethering.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_full.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_full.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_full.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_full.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_low.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_low.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_low.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_low.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_medium.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_medium.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_medium.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_medium.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_none.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_none.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_none.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_none.png
diff --git a/selfdrive/assets/icons_mici/settings/network/wifi_strength_slash.png b/openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_slash.png
similarity index 100%
rename from selfdrive/assets/icons_mici/settings/network/wifi_strength_slash.png
rename to openpilot/selfdrive/assets/icons_mici/settings/network/wifi_strength_slash.png
diff --git a/openpilot/selfdrive/assets/icons_mici/settings/software.png b/openpilot/selfdrive/assets/icons_mici/settings/software.png
new file mode 100644
index 0000000000..5cf528cbdd
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/settings/software.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c38772e6080aa4b8bf5212d3619e949775468c64f3edb88a1a426d767c38d2
+size 1579
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/cancel.png b/openpilot/selfdrive/assets/icons_mici/setup/cancel.png
new file mode 100644
index 0000000000..f50cc9ef3f
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/cancel.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6892bd4d9b14b587fa491a6d608562e38819b4c618b1d7a3e8c384f05d52a2b
+size 1245
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/continue.png b/openpilot/selfdrive/assets/icons_mici/setup/continue.png
new file mode 100644
index 0000000000..7a67bb0c96
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/continue.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3428d8fcf2ecf9542c524706124f82b7fc809453c63418c9234ac9df5d85bd24
+size 10074
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/continue_disabled.png b/openpilot/selfdrive/assets/icons_mici/setup/continue_disabled.png
new file mode 100644
index 0000000000..8a2bcc2ffe
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/continue_disabled.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2810add4943dd4f20a984ed6011b520925919a58d5c0dd0d846fc4d7f8a1d02
+size 7109
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/continue_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/continue_pressed.png
new file mode 100644
index 0000000000..3eaee7bf1c
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/continue_pressed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3a87454a3d2f1ebb327211062c52480de945673dcfd137c5da3df8fa98d731
+size 22400
diff --git a/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png b/openpilot/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png
rename to openpilot/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_check.png
diff --git a/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png b/openpilot/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png
rename to openpilot/selfdrive/assets/icons_mici/setup/driver_monitoring/dm_question.png
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/factory_reset.png b/openpilot/selfdrive/assets/icons_mici/setup/factory_reset.png
new file mode 100644
index 0000000000..bcb3ea92cb
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/factory_reset.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:122a614d1aa26187507951f932160eebfddfebcb4293e78f8d23e350fc97bc0f
+size 11489
diff --git a/selfdrive/assets/icons_mici/setup/green_dm.png b/openpilot/selfdrive/assets/icons_mici/setup/green_dm.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/green_dm.png
rename to openpilot/selfdrive/assets/icons_mici/setup/green_dm.png
diff --git a/selfdrive/assets/icons_mici/setup/green_info.png b/openpilot/selfdrive/assets/icons_mici/setup/green_info.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/green_info.png
rename to openpilot/selfdrive/assets/icons_mici/setup/green_info.png
diff --git a/selfdrive/assets/icons_mici/setup/orange_dm.png b/openpilot/selfdrive/assets/icons_mici/setup/orange_dm.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/orange_dm.png
rename to openpilot/selfdrive/assets/icons_mici/setup/orange_dm.png
diff --git a/selfdrive/assets/icons_mici/setup/red_warning.png b/openpilot/selfdrive/assets/icons_mici/setup/red_warning.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/red_warning.png
rename to openpilot/selfdrive/assets/icons_mici/setup/red_warning.png
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/reset_failed.png b/openpilot/selfdrive/assets/icons_mici/setup/reset_failed.png
new file mode 100644
index 0000000000..680df97cbc
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/reset_failed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d5b8f76e5f47e77e5af3016ebdbe548ad3bc9af83a1111b3214bf4017c95a28
+size 11792
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/restore.png b/openpilot/selfdrive/assets/icons_mici/setup/restore.png
new file mode 100644
index 0000000000..5c62086f64
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/restore.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c1499106621a4d927c21b2b04c87235a927216d9f513a0205f0fe03b8c799b
+size 12320
diff --git a/selfdrive/assets/icons_mici/setup/small_button.png b/openpilot/selfdrive/assets/icons_mici/setup/small_button.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_button.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_button.png
diff --git a/selfdrive/assets/icons_mici/setup/small_button_disabled.png b/openpilot/selfdrive/assets/icons_mici/setup/small_button_disabled.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_button_disabled.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_button_disabled.png
diff --git a/selfdrive/assets/icons_mici/setup/small_button_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/small_button_pressed.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_button_pressed.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_button_pressed.png
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_arrow.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_arrow.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_slider/slider_arrow.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_arrow.png
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_bg_larger.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_bg_larger.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_slider/slider_bg_larger.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_bg_larger.png
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle.png
rename to openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle.png
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png
new file mode 100644
index 0000000000..470bfc50c0
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_black_rounded_rectangle_pressed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1dd642ae4708cc7a837e8ef8b4c75f578654d241f8c854249c2b1ade640ceca
+size 14058
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png
new file mode 100644
index 0000000000..88e6985f12
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba98ab2b75f0c1f8fdffb9eab0a742645b80ef4ca404c007f374a5e0fd48d8c
+size 10254
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png
new file mode 100644
index 0000000000..999cdafcc7
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle_pressed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4545fdbaf67402b28b18644a7353a0620250ece6416c1b0ce0e27c758817b042
+size 26729
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/start_button.png b/openpilot/selfdrive/assets/icons_mici/setup/start_button.png
new file mode 100644
index 0000000000..58d8a8b748
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/start_button.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e993247160edcbc9c3cba3efa93169028568d484bcfd0bf64f3e3a7ec7556c0
+size 18608
diff --git a/openpilot/selfdrive/assets/icons_mici/setup/start_button_pressed.png b/openpilot/selfdrive/assets/icons_mici/setup/start_button_pressed.png
new file mode 100644
index 0000000000..564de0bef7
--- /dev/null
+++ b/openpilot/selfdrive/assets/icons_mici/setup/start_button_pressed.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c4f1002ecde9a2b33779c2e784a39b492b4c8d76abc063e935ce0aa971925dd
+size 65513
diff --git a/selfdrive/assets/icons_mici/setup/warning.png b/openpilot/selfdrive/assets/icons_mici/setup/warning.png
similarity index 100%
rename from selfdrive/assets/icons_mici/setup/warning.png
rename to openpilot/selfdrive/assets/icons_mici/setup/warning.png
diff --git a/selfdrive/assets/icons_mici/ssh_short.png b/openpilot/selfdrive/assets/icons_mici/ssh_short.png
similarity index 100%
rename from selfdrive/assets/icons_mici/ssh_short.png
rename to openpilot/selfdrive/assets/icons_mici/ssh_short.png
diff --git a/selfdrive/assets/icons_mici/turn_intent_left.png b/openpilot/selfdrive/assets/icons_mici/turn_intent_left.png
similarity index 100%
rename from selfdrive/assets/icons_mici/turn_intent_left.png
rename to openpilot/selfdrive/assets/icons_mici/turn_intent_left.png
diff --git a/selfdrive/assets/icons_mici/wheel.png b/openpilot/selfdrive/assets/icons_mici/wheel.png
similarity index 100%
rename from selfdrive/assets/icons_mici/wheel.png
rename to openpilot/selfdrive/assets/icons_mici/wheel.png
diff --git a/selfdrive/assets/icons_mici/wheel_critical.png b/openpilot/selfdrive/assets/icons_mici/wheel_critical.png
similarity index 100%
rename from selfdrive/assets/icons_mici/wheel_critical.png
rename to openpilot/selfdrive/assets/icons_mici/wheel_critical.png
diff --git a/selfdrive/assets/images/button_continue_triangle.png b/openpilot/selfdrive/assets/images/button_continue_triangle.png
similarity index 100%
rename from selfdrive/assets/images/button_continue_triangle.png
rename to openpilot/selfdrive/assets/images/button_continue_triangle.png
diff --git a/selfdrive/assets/images/button_continue_triangle.svg b/openpilot/selfdrive/assets/images/button_continue_triangle.svg
similarity index 100%
rename from selfdrive/assets/images/button_continue_triangle.svg
rename to openpilot/selfdrive/assets/images/button_continue_triangle.svg
diff --git a/selfdrive/assets/images/button_flag.png b/openpilot/selfdrive/assets/images/button_flag.png
similarity index 100%
rename from selfdrive/assets/images/button_flag.png
rename to openpilot/selfdrive/assets/images/button_flag.png
diff --git a/selfdrive/assets/images/button_home.png b/openpilot/selfdrive/assets/images/button_home.png
similarity index 100%
rename from selfdrive/assets/images/button_home.png
rename to openpilot/selfdrive/assets/images/button_home.png
diff --git a/selfdrive/assets/images/button_settings.png b/openpilot/selfdrive/assets/images/button_settings.png
similarity index 100%
rename from selfdrive/assets/images/button_settings.png
rename to openpilot/selfdrive/assets/images/button_settings.png
diff --git a/selfdrive/assets/images/spinner_comma.png b/openpilot/selfdrive/assets/images/spinner_comma.png
similarity index 100%
rename from selfdrive/assets/images/spinner_comma.png
rename to openpilot/selfdrive/assets/images/spinner_comma.png
diff --git a/selfdrive/assets/images/spinner_track.png b/openpilot/selfdrive/assets/images/spinner_track.png
similarity index 100%
rename from selfdrive/assets/images/spinner_track.png
rename to openpilot/selfdrive/assets/images/spinner_track.png
diff --git a/selfdrive/assets/offroad/fcc.html b/openpilot/selfdrive/assets/offroad/fcc.html
similarity index 100%
rename from selfdrive/assets/offroad/fcc.html
rename to openpilot/selfdrive/assets/offroad/fcc.html
diff --git a/selfdrive/assets/offroad/mici_fcc.html b/openpilot/selfdrive/assets/offroad/mici_fcc.html
similarity index 100%
rename from selfdrive/assets/offroad/mici_fcc.html
rename to openpilot/selfdrive/assets/offroad/mici_fcc.html
diff --git a/selfdrive/assets/prep-svg.sh b/openpilot/selfdrive/assets/prep-svg.sh
similarity index 92%
rename from selfdrive/assets/prep-svg.sh
rename to openpilot/selfdrive/assets/prep-svg.sh
index 2332cd25c5..567c17da32 100755
--- a/selfdrive/assets/prep-svg.sh
+++ b/openpilot/selfdrive/assets/prep-svg.sh
@@ -3,7 +3,7 @@ set -e
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ICONS_DIR="$DIR/icons"
-BOOTSTRAP_SVG="$DIR/../../third_party/bootstrap/bootstrap-icons.svg"
+BOOTSTRAP_SVG="$(python3 -c 'import bootstrap_icons; print(bootstrap_icons.SVG_PATH)')"
 
 ICON_IDS=(
   arrow-right
diff --git a/openpilot/selfdrive/assets/sounds/critical.wav b/openpilot/selfdrive/assets/sounds/critical.wav
new file mode 100644
index 0000000000..f36aa1bacd
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/critical.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca29ff46fbd6d00cc02596de8c9abfbf1cacdc6a7b2f98b27a74d24c790da004
+size 52374
diff --git a/openpilot/selfdrive/assets/sounds/disengage.wav b/openpilot/selfdrive/assets/sounds/disengage.wav
new file mode 100644
index 0000000000..7db1d31911
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/disengage.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f47633b5082b911e79dd13fc2d1f4c2a9d44d2fe0860f3d390ffc4e3d772f7d
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/dm_critical.wav b/openpilot/selfdrive/assets/sounds/dm_critical.wav
new file mode 100644
index 0000000000..9a4171444f
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_critical.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538271820d618046009bb456e930598f2736dd1a6174c11925ec3912581b05c1
+size 52374
diff --git a/openpilot/selfdrive/assets/sounds/dm_warning.wav b/openpilot/selfdrive/assets/sounds/dm_warning.wav
new file mode 100644
index 0000000000..52124b0801
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_warning.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634fad6590295ef2e73d5f7e5aecbb5dd245a0f7692f1e300c2ebac95aabb8e3
+size 73026
diff --git a/openpilot/selfdrive/assets/sounds/engage.wav b/openpilot/selfdrive/assets/sounds/engage.wav
new file mode 100644
index 0000000000..a984e2f3da
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/engage.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a380fe0a022856b302841a0dd19b71eab318c6b08ec851f128942758a7f1631a
+size 97120
diff --git a/selfdrive/assets/sounds/make_beeps.py b/openpilot/selfdrive/assets/sounds/make_beeps.py
similarity index 62%
rename from selfdrive/assets/sounds/make_beeps.py
rename to openpilot/selfdrive/assets/sounds/make_beeps.py
index 6161e80e74..e4c10c8d19 100644
--- a/selfdrive/assets/sounds/make_beeps.py
+++ b/openpilot/selfdrive/assets/sounds/make_beeps.py
@@ -6,12 +6,12 @@ sr = 48000
 max_int16 = 2**15 - 1
 
 def harmonic_beep(freq, duration_seconds):
-    n_total = int(sr * duration_seconds)
+  n_total = int(sr * duration_seconds)
 
-    signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
-    x = np.arange(n_total)
-    exp_scale = np.exp(-x/5.5e3)
-    return max_int16 * signal * exp_scale
+  signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
+  x = np.arange(n_total)
+  exp_scale = np.exp(-x/5.5e3)
+  return max_int16 * signal * exp_scale
 
 engage_beep = harmonic_beep(1661.219, 0.5)
 wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
diff --git a/openpilot/selfdrive/assets/sounds/pre_alert.wav b/openpilot/selfdrive/assets/sounds/pre_alert.wav
new file mode 100644
index 0000000000..d8240a1717
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/pre_alert.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc9e67cfaba77e8e4f4049f0add9238660e4cf8f886c6915600d8f47a30c98db
+size 97120
diff --git a/selfdrive/assets/sounds/prompt_single_high.wav b/openpilot/selfdrive/assets/sounds/prompt_single_high.wav
similarity index 100%
rename from selfdrive/assets/sounds/prompt_single_high.wav
rename to openpilot/selfdrive/assets/sounds/prompt_single_high.wav
diff --git a/selfdrive/assets/sounds/prompt_single_low.wav b/openpilot/selfdrive/assets/sounds/prompt_single_low.wav
similarity index 100%
rename from selfdrive/assets/sounds/prompt_single_low.wav
rename to openpilot/selfdrive/assets/sounds/prompt_single_low.wav
diff --git a/openpilot/selfdrive/assets/sounds/refuse.wav b/openpilot/selfdrive/assets/sounds/refuse.wav
new file mode 100644
index 0000000000..10026d7be9
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/refuse.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:081d64ca28a84a59ff5e6aea4732865b8687585938b8a287bc7e6a49d0646508
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/warning.wav b/openpilot/selfdrive/assets/sounds/warning.wav
new file mode 100644
index 0000000000..bb71a0176a
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/warning.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb440f424c989c06e203bfba0b32d39aede8f6c78a9b335e5e778460202b601
+size 73026
diff --git a/selfdrive/assets/training/step0.png b/openpilot/selfdrive/assets/training/step0.png
similarity index 100%
rename from selfdrive/assets/training/step0.png
rename to openpilot/selfdrive/assets/training/step0.png
diff --git a/selfdrive/assets/training/step1.png b/openpilot/selfdrive/assets/training/step1.png
similarity index 100%
rename from selfdrive/assets/training/step1.png
rename to openpilot/selfdrive/assets/training/step1.png
diff --git a/selfdrive/assets/training/step10.png b/openpilot/selfdrive/assets/training/step10.png
similarity index 100%
rename from selfdrive/assets/training/step10.png
rename to openpilot/selfdrive/assets/training/step10.png
diff --git a/selfdrive/assets/training/step11.png b/openpilot/selfdrive/assets/training/step11.png
similarity index 100%
rename from selfdrive/assets/training/step11.png
rename to openpilot/selfdrive/assets/training/step11.png
diff --git a/selfdrive/assets/training/step12.png b/openpilot/selfdrive/assets/training/step12.png
similarity index 100%
rename from selfdrive/assets/training/step12.png
rename to openpilot/selfdrive/assets/training/step12.png
diff --git a/selfdrive/assets/training/step13.png b/openpilot/selfdrive/assets/training/step13.png
similarity index 100%
rename from selfdrive/assets/training/step13.png
rename to openpilot/selfdrive/assets/training/step13.png
diff --git a/selfdrive/assets/training/step14.png b/openpilot/selfdrive/assets/training/step14.png
similarity index 100%
rename from selfdrive/assets/training/step14.png
rename to openpilot/selfdrive/assets/training/step14.png
diff --git a/selfdrive/assets/training/step15.png b/openpilot/selfdrive/assets/training/step15.png
similarity index 100%
rename from selfdrive/assets/training/step15.png
rename to openpilot/selfdrive/assets/training/step15.png
diff --git a/selfdrive/assets/training/step16.png b/openpilot/selfdrive/assets/training/step16.png
similarity index 100%
rename from selfdrive/assets/training/step16.png
rename to openpilot/selfdrive/assets/training/step16.png
diff --git a/selfdrive/assets/training/step17.png b/openpilot/selfdrive/assets/training/step17.png
similarity index 100%
rename from selfdrive/assets/training/step17.png
rename to openpilot/selfdrive/assets/training/step17.png
diff --git a/selfdrive/assets/training/step18.png b/openpilot/selfdrive/assets/training/step18.png
similarity index 100%
rename from selfdrive/assets/training/step18.png
rename to openpilot/selfdrive/assets/training/step18.png
diff --git a/selfdrive/assets/training/step2.png b/openpilot/selfdrive/assets/training/step2.png
similarity index 100%
rename from selfdrive/assets/training/step2.png
rename to openpilot/selfdrive/assets/training/step2.png
diff --git a/selfdrive/assets/training/step3.png b/openpilot/selfdrive/assets/training/step3.png
similarity index 100%
rename from selfdrive/assets/training/step3.png
rename to openpilot/selfdrive/assets/training/step3.png
diff --git a/selfdrive/assets/training/step4.png b/openpilot/selfdrive/assets/training/step4.png
similarity index 100%
rename from selfdrive/assets/training/step4.png
rename to openpilot/selfdrive/assets/training/step4.png
diff --git a/selfdrive/assets/training/step5.png b/openpilot/selfdrive/assets/training/step5.png
similarity index 100%
rename from selfdrive/assets/training/step5.png
rename to openpilot/selfdrive/assets/training/step5.png
diff --git a/selfdrive/assets/training/step6.png b/openpilot/selfdrive/assets/training/step6.png
similarity index 100%
rename from selfdrive/assets/training/step6.png
rename to openpilot/selfdrive/assets/training/step6.png
diff --git a/selfdrive/assets/training/step7.png b/openpilot/selfdrive/assets/training/step7.png
similarity index 100%
rename from selfdrive/assets/training/step7.png
rename to openpilot/selfdrive/assets/training/step7.png
diff --git a/selfdrive/assets/training/step8.png b/openpilot/selfdrive/assets/training/step8.png
similarity index 100%
rename from selfdrive/assets/training/step8.png
rename to openpilot/selfdrive/assets/training/step8.png
diff --git a/selfdrive/assets/training/step9.png b/openpilot/selfdrive/assets/training/step9.png
similarity index 100%
rename from selfdrive/assets/training/step9.png
rename to openpilot/selfdrive/assets/training/step9.png
diff --git a/selfdrive/car/CARS_template.md b/openpilot/selfdrive/car/CARS_template.md
similarity index 76%
rename from selfdrive/car/CARS_template.md
rename to openpilot/selfdrive/car/CARS_template.md
index cd352b2ede..a67fa971a4 100644
--- a/selfdrive/car/CARS_template.md
+++ b/openpilot/selfdrive/car/CARS_template.md
@@ -1,31 +1,16 @@
-{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
-{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %}
-{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
-{# Force hardware column wider by using a blank image with max width. #}
-{% set width_tag = '<a href="##"><img width=2000></a>%s<br>&nbsp;' %}
-{% set hardware_col_name = 'Hardware Needed' %}
-{% set wide_hardware_col_name = width_tag|format(hardware_col_name) -%}
-
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# {{all_car_docs | selectattr('support_type', 'eq', SupportType.UPSTREAM) | list | length}} Supported Cars
-
-|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
-|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
-{% for car_docs in all_car_docs | selectattr('support_type', 'eq', SupportType.UPSTREAM) %}
-|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
-
-{% endfor %}
+# $supported_count Supported Cars
 
+$table_header
+$table_separator
+$table_rows
 ### Footnotes
-{% for footnote in footnotes %}
-<sup>{{loop.index}}</sup>{{footnote | replace('</br>', '')}} <br />
-{% endfor %}
-
+$footnotes
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
 
@@ -71,4 +56,3 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+
-
diff --git a/selfdrive/car/tests/__init__.py b/openpilot/selfdrive/car/__init__.py
similarity index 100%
rename from selfdrive/car/tests/__init__.py
rename to openpilot/selfdrive/car/__init__.py
diff --git a/selfdrive/car/car_specific.py b/openpilot/selfdrive/car/car_events.py
similarity index 95%
rename from selfdrive/car/car_specific.py
rename to openpilot/selfdrive/car/car_events.py
index 86494afc7a..21478e4d55 100644
--- a/selfdrive/car/car_specific.py
+++ b/openpilot/selfdrive/car/car_events.py
@@ -1,4 +1,5 @@
-from cereal import car, log
+from openpilot.cereal import log
+from opendbc.car.structs import car
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import MAX_CTRL_SPEED
@@ -12,7 +13,7 @@ EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
-class CarSpecificEvents:
+class CarEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
 
@@ -55,6 +56,9 @@ class CarSpecificEvents:
       if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
         events.add(EventName.manualRestart)
 
+      if CS.brakeHoldActive and CS.blockPcmEnable: # set by Nidec Hybrid which cannot resume from brakehold
+        events.add(EventName.belowEngageSpeed)
+
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
       if self.CP.openpilotLongitudinalControl:
@@ -73,7 +77,7 @@ class CarSpecificEvents:
     elif self.CP.brand == 'gm':
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
+      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brakePressed and
                                                    self.CP.networkLocation == NetworkLocation.fwdCamera):
         events.add(EventName.belowEngageSpeed)
       if CS.cruiseState.standstill:
@@ -132,6 +136,8 @@ class CarSpecificEvents:
       events.add(EventName.parkBrake)
     if CS.accFaulted:
       events.add(EventName.accFaulted)
+    if CS.carNotReady:
+      events.add(EventName.carNotReady)
     if CS.steeringPressed:
       events.add(EventName.steerOverride)
     if CS.steeringDisengage and not CS_prev.steeringDisengage:
diff --git a/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
similarity index 91%
rename from selfdrive/car/card.py
rename to openpilot/selfdrive/car/card.py
index f9ddbde213..e253788e5e 100755
--- a/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -3,9 +3,10 @@ import os
 import time
 import threading
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
-from cereal import car, log, custom
+from openpilot.cereal import log, custom
+from opendbc.car.structs import car
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
@@ -37,7 +38,7 @@ def obd_callback(params: Params) -> ObdCallback:
     if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
       cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
       params.remove("ObdMultiplexingChanged")
-      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
+      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing, block=True)
       params.get_bool("ObdMultiplexingChanged", block=True)
       cloudlog.warning("OBD multiplexing set successfully")
   return set_obd_multiplexing
@@ -71,7 +72,7 @@ class Car:
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'radarTracks'] + ['carParamsSP', 'carStateSP'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -86,7 +87,7 @@ class Car:
 
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
-    is_release = self.params.get_bool("IsReleaseBranch")
+    is_release = False  # self.params.get_bool("IsReleaseBranch")
     is_release_sp = self.params.get_bool("IsReleaseSpBranch")
 
     if CI is None:
@@ -98,7 +99,6 @@ class Car:
           break
 
       alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
-      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
 
       cached_params = None
       cached_params_raw = self.params.get("CarParamsCache")
@@ -109,7 +109,7 @@ class Car:
       fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
       init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params,
                         fixed_fingerprint, init_params_list_sp, is_release_sp)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
@@ -117,7 +117,7 @@ class Car:
       self.CP_SP = self.CI.CP_SP
 
       # continue onto next fingerprinting step in pandad
-      self.params.put_bool("FirmwareQueryDone", True)
+      self.params.put_bool("FirmwareQueryDone", True, block=True)
     else:
       self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
@@ -144,7 +144,7 @@ class Car:
         with open("/cache/params/SecOCKey") as f:
           user_key = f.readline().strip()
           if len(user_key) == 32:
-            self.params.put("SecOCKey", user_key)
+            self.params.put("SecOCKey", user_key, block=True)
       except Exception:
         pass
 
@@ -162,21 +162,21 @@ class Car:
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
-      self.params.put("CarParamsPrevRoute", prev_cp)
+      self.params.put("CarParamsPrevRoute", prev_cp, block=True)
 
     # Write CarParams for controls and radard
     cp_bytes = self.CP.to_bytes()
-    self.params.put("CarParams", cp_bytes)
-    self.params.put_nonblocking("CarParamsCache", cp_bytes)
-    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
+    self.params.put("CarParams", cp_bytes, block=True)
+    self.params.put("CarParamsCache", cp_bytes)
+    self.params.put("CarParamsPersistent", cp_bytes)
 
     # Write CarParamsSP for controls
     # convert to pycapnp representation for caching and logging
     self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
     cp_sp_bytes = self.CP_SP_capnp.to_bytes()
-    self.params.put("CarParamsSP", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
-    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
+    self.params.put("CarParamsSP", cp_sp_bytes, block=True)
+    self.params.put("CarParamsSPCache", cp_sp_bytes)
+    self.params.put("CarParamsSPPersistent", cp_sp_bytes)
 
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
@@ -250,10 +250,10 @@ class Car:
     self.pm.send('carState', cs_send)
 
     if RD is not None:
-      tracks_msg = messaging.new_message('liveTracks')
+      tracks_msg = messaging.new_message('radarTracks')
       tracks_msg.valid = not any(RD.errors.to_dict().values())
-      tracks_msg.liveTracks = RD
-      self.pm.send('liveTracks', tracks_msg)
+      tracks_msg.radarTracks = RD
+      self.pm.send('radarTracks', tracks_msg)
 
     # carParamsSP - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:
@@ -275,7 +275,7 @@ class Car:
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
       # signal pandad to switch to car safety mode
-      self.params.put_bool_nonblocking("ControlsReady", True)
+      self.params.put_bool("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can
diff --git a/selfdrive/car/cruise.py b/openpilot/selfdrive/car/cruise.py
similarity index 96%
rename from selfdrive/car/cruise.py
rename to openpilot/selfdrive/car/cruise.py
index 9973862b85..b554c1a978 100644
--- a/selfdrive/car/cruise.py
+++ b/openpilot/selfdrive/car/cruise.py
@@ -1,7 +1,7 @@
 import math
 import numpy as np
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.car.cruise_ext import VCruiseHelperSP
 
@@ -48,14 +48,14 @@ class VCruiseHelper(VCruiseHelperSP):
 
     self.get_minimum_set_speed(is_metric)
 
+    _enabled = self.update_enabled_state(CS, enabled)
+
     if CS.cruiseState.available:
-      _enabled = self.update_enabled_state(CS, enabled)
       if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
         self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
-        self.update_button_timers(CS, enabled)
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
@@ -69,6 +69,9 @@ class VCruiseHelper(VCruiseHelperSP):
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
+    if not self.CP.pcmCruise or not self.CP_SP.pcmCruiseSpeed:
+      self.update_button_timers(CS, enabled)
+
   def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
     # would have the effect of both enabling and changing speed is checked after the state transition
diff --git a/openpilot/selfdrive/car/docs.py b/openpilot/selfdrive/car/docs.py
new file mode 100755
index 0000000000..8d135d82ea
--- /dev/null
+++ b/openpilot/selfdrive/car/docs.py
@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+import argparse
+import os
+from string import Template
+
+from openpilot.common.basedir import BASEDIR
+from opendbc.car.docs import get_all_car_docs, get_all_footnotes
+from opendbc.car.docs_definitions import Column, SupportType
+
+CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
+CARS_MD_TEMPLATE = os.path.join(BASEDIR, "openpilot/selfdrive", "car", "CARS_template.md")
+
+FOOTNOTE_TAG = '[<sup>{}</sup>](#footnotes)'
+STAR_ICON = '[![star](assets/icon-star-{}.svg)](##)'
+VIDEO_ICON = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>'
+# Force hardware column wider by using a blank image with max width.
+HARDWARE_COL_NAME = 'Hardware Needed'
+WIDE_HARDWARE_COL_NAME = f'<a href="##"><img width=2000></a>{HARDWARE_COL_NAME}<br>&nbsp;'
+
+
+def _build_cars_table(upstream_cars) -> tuple[str, str, str]:
+  columns = list(Column)
+  header_cells = [
+    WIDE_HARDWARE_COL_NAME if col.value == HARDWARE_COL_NAME else col.value
+    for col in columns
+  ]
+  table_header = "|" + "|".join(header_cells) + "|"
+
+  # First three columns left-aligned (---), remaining centered (:---:)
+  sep_parts = ["---"] * min(3, len(columns)) + [":---:"] * max(0, len(columns) - 3)
+  table_separator = "|" + "|".join(sep_parts) + "|"
+
+  rows = []
+  for car_docs in upstream_cars:
+    cells = [car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in columns]
+    rows.append("|" + "|".join(cells) + "|")
+  table_rows = "\n".join(rows) + ("\n" if rows else "")
+
+  return table_header, table_separator, table_rows
+
+
+def generate_cars_md(all_car_docs, template_fn: str, **kwargs) -> str:
+  del kwargs  # kept for call-site compatibility
+
+  upstream_cars = [c for c in all_car_docs if c.support_type == SupportType.UPSTREAM]
+  table_header, table_separator, table_rows = _build_cars_table(upstream_cars)
+
+  footnotes = [fn.value.text.replace('</br>', '') for fn in get_all_footnotes()]
+  footnotes_md = "\n".join(
+    f"<sup>{i}</sup>{text} <br />"
+    for i, text in enumerate(footnotes, start=1)
+  ) + ("\n" if footnotes else "")
+
+  with open(template_fn) as f:
+    template = Template(f.read())
+
+  return template.substitute(
+    supported_count=len(upstream_cars),
+    table_header=table_header,
+    table_separator=table_separator,
+    table_rows=table_rows,
+    footnotes=footnotes_md,
+  )
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
+  parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
+  args = parser.parse_args()
+
+  with open(args.out, 'w') as f:
+    f.write(generate_cars_md(get_all_car_docs(), args.template))
+  print(f"Generated and written to {args.out}")
diff --git a/selfdrive/car/helpers.py b/openpilot/selfdrive/car/helpers.py
similarity index 98%
rename from selfdrive/car/helpers.py
rename to openpilot/selfdrive/car/helpers.py
index 384152c71b..ec9e3efeeb 100644
--- a/selfdrive/car/helpers.py
+++ b/openpilot/selfdrive/car/helpers.py
@@ -1,7 +1,7 @@
 import capnp
 from typing import Any
 
-from cereal import custom
+from openpilot.cereal import custom
 from opendbc.car import structs
 
 _FIELDS = '__dataclass_fields__'  # copy of dataclasses._FIELDS
diff --git a/selfdrive/controls/__init__.py b/openpilot/selfdrive/car/tests/__init__.py
similarity index 100%
rename from selfdrive/controls/__init__.py
rename to openpilot/selfdrive/car/tests/__init__.py
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/openpilot/selfdrive/car/tests/test_car_interfaces.py
similarity index 50%
rename from selfdrive/car/tests/test_car_interfaces.py
rename to openpilot/selfdrive/car/tests/test_car_interfaces.py
index 61a7906652..bf3e8d8ff6 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/openpilot/selfdrive/car/tests/test_car_interfaces.py
@@ -1,12 +1,16 @@
 import os
-import hypothesis.strategies as st
-from hypothesis import Phase, given, settings
-from parameterized import parameterized
 
-from cereal import car, custom
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized
+from openpilot.common.fuzzy import capnp_random_dict, fuzzy_test
+
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from opendbc.car import DT_CTRL
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.fingerprints import FW_VERSIONS
+from opendbc.car.fw_versions import FW_QUERY_CONFIGS
 from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.car.helpers import convert_carControlSP
@@ -14,28 +18,41 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
-from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
+ALL_ECUS = tuple(sorted({ecu for ecus in FW_VERSIONS.values() for ecu in ecus} |
+                        {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}))
+ALL_REQUESTS = tuple(sorted({tuple(request.request) for config in FW_QUERY_CONFIGS.values() for request in config.requests}))
+DLC_TO_LEN = (0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64)
 
 
-class TestCarInterfaces:
-  # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
-  #  many generated examples to overrun when max_examples > ~20, don't use it
-  @parameterized.expand([(car,) for car in sorted(PLATFORMS)] + [MOCK.MOCK])
-  @settings(max_examples=MAX_EXAMPLES, deadline=None,
-            phases=(Phase.reuse, Phase.generate, Phase.shrink))
-  @given(data=st.data())
-  def test_car_interfaces(self, car_name, data):
-    car_interface = get_fuzzy_car_interface(car_name, data.draw)
+class TestCarInterfaces(OpenpilotTestCase):
+  @parameterized.expand([(car,) for car in sorted(PLATFORMS)] + [MOCK.MOCK], ids=lambda car_name: car_name)
+  @fuzzy_test(max_examples=60)
+  def test_car_interfaces(self, car_name, fuzzy):
+    fingerprint = dict(fuzzy.list(lambda: (fuzzy.integer(0, 0x800), fuzzy.choice(DLC_TO_LEN))))
+    fingerprints = dict.fromkeys(range(7), fingerprint)
+
+    def generate_car_fw():
+      ecu, address, sub_address = fuzzy.choice(ALL_ECUS)
+      return CarParams.CarFw(ecu=ecu, address=address, subAddress=sub_address or 0, request=fuzzy.choice(ALL_REQUESTS))
+
+    CarInterface = interfaces[car_name]
+    car_fw = fuzzy.list(generate_car_fw)
+    alpha_long = fuzzy.boolean()
+    car_params = CarInterface.get_params(car_name, fingerprints, car_fw,
+                                         alpha_long=alpha_long, is_release=False, docs=False)
+    car_params_sp = CarInterface.get_params_sp(car_params, car_name, fingerprints, car_fw,
+                                               alpha_long=alpha_long, is_release_sp=False, docs=False)
+    car_interface = CarInterface(car_params, car_params_sp)
     car_params = car_interface.CP.as_reader()
     car_params_sp = car_interface.CP_SP
     sunnypilot_interfaces.setup_interfaces(car_interface)
 
-    cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
-    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
+    cc_msg = capnp_random_dict(fuzzy, car.CarControl.schema, real_floats=True)
+    cc_sp_msg = capnp_random_dict(fuzzy, custom.CarControlSP.schema, real_floats=True)
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
@@ -58,8 +75,6 @@ class TestCarInterfaces:
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization
-    # TODO: wait until card refactor is merged to run controller a few times,
-    #  hypothesis also slows down significantly with just one more message draw
     LongControl(car_params, car_params_sp)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
       LatControlAngle(car_params, car_params_sp, car_interface, DT_CTRL)
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/openpilot/selfdrive/car/tests/test_cruise_speed.py
similarity index 91%
rename from selfdrive/car/tests/test_cruise_speed.py
rename to openpilot/selfdrive/car/tests/test_cruise_speed.py
index 61bae68931..60af346838 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/openpilot/selfdrive/car/tests/test_cruise_speed.py
@@ -1,11 +1,12 @@
-import pytest
 import itertools
 import numpy as np
 
-from parameterized import parameterized_class
-from cereal import log
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized_class
+from openpilot.cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car, custom
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
@@ -35,18 +36,18 @@ def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
                       [True, False], # e2e
                       log.LongitudinalPersonality.schema.enumerants, # personality
                       [5,35])) # speed
-class TestCruiseSpeed:
+class TestCruiseSpeed(OpenpilotTestCase):
   def test_cruise_speed(self):
     print(f'Testing {self.speed} m/s')
     cruise_speed = float(self.speed)
 
     simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
-    assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
+    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
 
 
 # TODO: test pcmCruise and pcmCruiseSpeed
 @parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
-class TestVCruiseHelper:
+class TestVCruiseHelper(OpenpilotTestCase):
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
     self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
@@ -94,7 +95,7 @@ class TestVCruiseHelper:
         self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
-      assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last
+      assert (not pressed) == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
 
   def test_resume_in_standstill(self):
     """
diff --git a/openpilot/selfdrive/car/tests/test_docs.py b/openpilot/selfdrive/car/tests/test_docs.py
new file mode 100644
index 0000000000..99438b4720
--- /dev/null
+++ b/openpilot/selfdrive/car/tests/test_docs.py
@@ -0,0 +1,12 @@
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE, generate_cars_md
+from opendbc.car.docs import get_all_car_docs
+
+
+class TestCarDocs(OpenpilotTestCase):
+  @classmethod
+  def setup_class(cls):
+    cls.all_cars = get_all_car_docs()
+
+  def test_generator(self):
+    generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
diff --git a/selfdrive/controls/lib/__init__.py b/openpilot/selfdrive/controls/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/__init__.py
rename to openpilot/selfdrive/controls/__init__.py
diff --git a/selfdrive/controls/controlsd.py b/openpilot/selfdrive/controls/controlsd.py
similarity index 78%
rename from selfdrive/controls/controlsd.py
rename to openpilot/selfdrive/controls/controlsd.py
index 9d0e5c9f15..f3c8782cb0 100755
--- a/selfdrive/controls/controlsd.py
+++ b/openpilot/selfdrive/controls/controlsd.py
@@ -2,8 +2,9 @@
 import math
 from numbers import Number
 
-from cereal import car, log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority, Ratekeeper
@@ -15,6 +16,7 @@ from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
+from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
@@ -41,9 +43,9 @@ class Controls(ControlsExt):
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
-    self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
-                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext,
+    self.sm = messaging.SubMaster(['lateralDelay', 'vehicleParameters', 'lateralTorqueParameters', 'modelV2', 'selfdriveState',
+                                   'extrinsicsCalibration', 'deviceMotion', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
@@ -59,24 +61,28 @@ class Controls(ControlsExt):
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI, DT_CTRL)
+    elif self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
+      self.LaC = LatControlCurvature(self.CP, self.CP_SP, self.CI, DT_CTRL)
     elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI, DT_CTRL)
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CP_SP, self.CI, DT_CTRL)
 
+    self.LaC = ControlsExt.initialize_lateral_control(self, self.LaC, self.CI, DT_CTRL)
+
   def update(self):
     self.sm.update(15)
-    if self.sm.updated["liveCalibration"]:
-      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
-    if self.sm.updated["livePose"]:
-      device_pose = Pose.from_live_pose(self.sm['livePose'])
-      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
+    if self.sm.updated["extrinsicsCalibration"]:
+      self.pose_calibrator.feed_extrinsics_calibration(self.sm['extrinsicsCalibration'])
+    if self.sm.updated["deviceMotion"]:
+      device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
+      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)
 
   def state_control(self):
     CS = self.sm['carState']
 
     # Update VehicleModel
-    lp = self.sm['liveParameters']
+    lp = self.sm['vehicleParameters']
     x = max(lp.stiffnessFactor, 0.1)
     sr = max(lp.steerRatio, 0.1)
     self.VM.update_params(x, sr)
@@ -86,9 +92,9 @@ class Controls(ControlsExt):
 
     # Update Torque Params
     if self.CP.lateralTuning.which() == 'torque':
-      torque_params = self.sm['liveTorqueParameters']
-      if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
-        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
+      torque_params = self.sm['lateralTorqueParameters']
+      if self.sm.all_checks(['lateralTorqueParameters']) and torque_params.useParams:
+        self.LaC.update_torque_parameters(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
         self.LaC.extension.update_limits()
@@ -133,16 +139,22 @@ class Controls(ControlsExt):
 
     # Steering PID loop and lateral MPC
     # Reset desired curvature to current to avoid violating the limits on engage
-    new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
+    if self.sm.valid['lateralManeuverPlan']:
+      new_desired_curvature = self.sm['lateralManeuverPlan'].desiredCurvature if CC.latActive else self.curvature
+    else:
+      new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
-    lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lat_delay = self.sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
     actuators.curvature = self.desired_curvature
-    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_safety, self.desired_curvature,
-                                                       self.calibrated_pose, curvature_limited, lat_delay)
+    steer, lateral_output, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
+                                                     self.steer_limited_by_safety, self.desired_curvature,
+                                                     self.calibrated_pose, curvature_limited, lat_delay)
     actuators.torque = float(steer)
-    actuators.steeringAngleDeg = float(steeringAngleDeg)
+    if self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
+      actuators.curvature = float(lateral_output)
+    else:
+      actuators.steeringAngleDeg = float(lateral_output)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
@@ -183,7 +195,7 @@ class Controls(ControlsExt):
       hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
       hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
-    if self.sm['selfdriveState'].active:
+    if self.get_lat_active(self.sm):
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
@@ -207,12 +219,17 @@ class Controls(ControlsExt):
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)
     cs.ufAccelCmd = float(self.LoC.pid.f)
-    cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
+    cs.forceDecel = bool(self.sm['driverMonitoringState'].noResponseForceDecel or
                          (self.sm['selfdriveState'].state == State.softDisabling))
 
+    # trigger the car's stock driver monitoring escalation
+    CC.driverMonitoringEscalation = cs.forceDecel
+
     lat_tuning = self.CP.lateralTuning.which()
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       cs.lateralControlState.angleState = lac_log
+    elif self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
+      cs.lateralControlState.curvatureState = lac_log
     elif lat_tuning == 'pid':
       cs.lateralControlState.pidState = lac_log
     elif lat_tuning == 'torque':
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/__init__.py b/openpilot/selfdrive/controls/lib/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/lateral_mpc_lib/__init__.py
rename to openpilot/selfdrive/controls/lib/__init__.py
diff --git a/selfdrive/controls/lib/desire_helper.py b/openpilot/selfdrive/controls/lib/desire_helper.py
similarity index 58%
rename from selfdrive/controls/lib/desire_helper.py
rename to openpilot/selfdrive/controls/lib/desire_helper.py
index 16908fa3e3..334b360a62 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/openpilot/selfdrive/controls/lib/desire_helper.py
@@ -1,4 +1,4 @@
-from cereal import log, custom
+from openpilot.cereal import log, custom
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
@@ -10,27 +10,7 @@ TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
-
-DESIRES = {
-  LaneChangeDirection.none: {
-    LaneChangeState.off: log.Desire.none,
-    LaneChangeState.preLaneChange: log.Desire.none,
-    LaneChangeState.laneChangeStarting: log.Desire.none,
-    LaneChangeState.laneChangeFinishing: log.Desire.none,
-  },
-  LaneChangeDirection.left: {
-    LaneChangeState.off: log.Desire.none,
-    LaneChangeState.preLaneChange: log.Desire.none,
-    LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
-    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
-  },
-  LaneChangeDirection.right: {
-    LaneChangeState.off: log.Desire.none,
-    LaneChangeState.preLaneChange: log.Desire.none,
-    LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
-    LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
-  },
-}
+LANE_CHANGE_START_TIME = 0.5
 
 TURN_DESIRES = {
   TurnDirection.none: log.Desire.none,
@@ -38,14 +18,11 @@ TURN_DESIRES = {
   TurnDirection.turnRight: log.Desire.turnRight,
 }
 
-
 class DesireHelper:
   def __init__(self):
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
-    self.lane_change_ll_prob = 1.0
-    self.keep_pulse_timer = 0.0
     self.prev_one_blinker = False
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
@@ -56,7 +33,7 @@ class DesireHelper:
   def get_lane_change_direction(CS):
     return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
-  def update(self, carstate, lateral_active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
     self.alc.update_params()
     self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
@@ -71,15 +48,14 @@ class DesireHelper:
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
+      self.lane_change_timer = 0.0
     else:
-      # LaneChangeState.off
       if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
-        self.lane_change_ll_prob = 1.0
+        self.lane_change_timer = 0.0
         # Initialize lane change direction to prevent UI alert flicker
         self.lane_change_direction = self.get_lane_change_direction(carstate)
 
-      # LaneChangeState.preLaneChange
       elif self.lane_change_state == LaneChangeState.preLaneChange:
         # Update lane change direction
         self.lane_change_direction = self.get_lane_change_direction(carstate)
@@ -88,58 +64,41 @@ class DesireHelper:
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                           (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
-        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
-                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
+                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
 
         self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
 
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
+          self.lane_change_timer = 0.0
         elif (torque_applied or self.alc.auto_lane_change_allowed) and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
+          self.lane_change_timer = 0.0
 
-      # LaneChangeState.laneChangeStarting
       elif self.lane_change_state == LaneChangeState.laneChangeStarting:
-        # fade out over .5s
-        self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0)
+        self.lane_change_timer += DT_MDL
 
-        # 98% certainty
-        if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
-          self.lane_change_state = LaneChangeState.laneChangeFinishing
-
-      # LaneChangeState.laneChangeFinishing
-      elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
-        # fade in laneline over 1s
-        self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
-
-        if self.lane_change_ll_prob > 0.99:
-          self.lane_change_direction = LaneChangeDirection.none
+        if lane_change_prob < 0.02 and self.lane_change_timer >= LANE_CHANGE_START_TIME:
+          self.lane_change_timer = 0.0
           if one_blinker:
             self.lane_change_state = LaneChangeState.preLaneChange
+            self.lane_change_direction = self.get_lane_change_direction(carstate)
           else:
             self.lane_change_state = LaneChangeState.off
+            self.lane_change_direction = LaneChangeDirection.none
 
-    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
-      self.lane_change_timer = 0.0
-    else:
-      self.lane_change_timer += DT_MDL
-
-    self.prev_one_blinker = one_blinker
+    self.prev_one_blinker = one_blinker and lateral_active
 
     if self.lane_turn_direction != TurnDirection.none:
       self.desire = TURN_DESIRES[self.lane_turn_direction]
     else:
-      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
-
-    # Send keep pulse once per second during LaneChangeStart.preLaneChange
-    if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
-      self.keep_pulse_timer = 0.0
-    elif self.lane_change_state == LaneChangeState.preLaneChange:
-      self.keep_pulse_timer += DT_MDL
-      if self.keep_pulse_timer > 1.0:
-        self.keep_pulse_timer = 0.0
-      elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
-        self.desire = log.Desire.none
+      self.desire = log.Desire.none
+      if self.lane_change_state == LaneChangeState.laneChangeStarting:
+        if self.lane_change_direction == LaneChangeDirection.left:
+          self.desire = log.Desire.laneChangeLeft
+        elif self.lane_change_direction == LaneChangeDirection.right:
+          self.desire = log.Desire.laneChangeRight
 
     self.alc.update_state()
diff --git a/selfdrive/controls/lib/drive_helpers.py b/openpilot/selfdrive/controls/lib/drive_helpers.py
similarity index 77%
rename from selfdrive/controls/lib/drive_helpers.py
rename to openpilot/selfdrive/controls/lib/drive_helpers.py
index bf6dd04f60..35ca45e56e 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/openpilot/selfdrive/controls/lib/drive_helpers.py
@@ -7,13 +7,16 @@ CONTROL_N = 17
 CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
-MAX_VEL_ERR = 5.0  # m/s
+MIN_STABLE_DELAY = 0.3
 
 # EU guidelines
 MAX_LATERAL_JERK = 5.0  # m/s^3
 MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
 
 
+def should_stop(v_ego: float, a_target: float) -> bool:
+  return bool(v_ego < 0.3 and a_target < 0.1)
+
 def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
@@ -39,20 +42,18 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL):
   if len(speeds) == len(t_idxs):
     v_now = speeds[0]
     a_now = accels[0]
-    v_target = np.interp(action_t, t_idxs, speeds)
+    if action_t < MIN_STABLE_DELAY:
+      v_target = v_now + (action_t / MIN_STABLE_DELAY) * (np.interp(MIN_STABLE_DELAY, t_idxs, speeds) - v_now)
+    else:
+      v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
   else:
-    v_target = 0.0
-    v_target_1sec = 0.0
     a_target = 0.0
-  should_stop = (v_target < vEgoStopping and
-                 v_target_1sec < vEgoStopping)
-  return a_target, should_stop
+  return a_target
 
 def curv_from_psis(psi_target, psi_rate, vego, action_t):
   vego = np.clip(vego, MIN_SPEED, np.inf)
@@ -60,6 +61,9 @@ def curv_from_psis(psi_target, psi_rate, vego, action_t):
   return 2*curv_from_psi - psi_rate / vego
 
 def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
-  psi_target = np.interp(action_t, t_idxs, yaws)
+  if action_t < MIN_STABLE_DELAY:
+    psi_target = (action_t / MIN_STABLE_DELAY) * np.interp(MIN_STABLE_DELAY, t_idxs, yaws)
+  else:
+    psi_target = np.interp(action_t, t_idxs, yaws)
   psi_rate = yaw_rates[0]
   return curv_from_psis(psi_target, psi_rate, vego, action_t)
diff --git a/selfdrive/controls/lib/latcontrol.py b/openpilot/selfdrive/controls/lib/latcontrol.py
similarity index 93%
rename from selfdrive/controls/lib/latcontrol.py
rename to openpilot/selfdrive/controls/lib/latcontrol.py
index 4207a188f4..5519d37296 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/openpilot/selfdrive/controls/lib/latcontrol.py
@@ -14,7 +14,7 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, calibrated_pose: Pose,
+  def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, calibrated_pose: Pose | None,
              curvature_limited: bool, lat_delay: float):
     pass
 
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/openpilot/selfdrive/controls/lib/latcontrol_angle.py
similarity index 93%
rename from selfdrive/controls/lib/latcontrol_angle.py
rename to openpilot/selfdrive/controls/lib/latcontrol_angle.py
index 116d62f85c..18ccbae57b 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/openpilot/selfdrive/controls/lib/latcontrol_angle.py
@@ -1,6 +1,6 @@
 import math
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
 # TODO This is speed dependent
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI, dt):
     super().__init__(CP, CP_SP, CI, dt)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
     angle_log = log.ControlsState.LateralAngleState.new_message()
diff --git a/openpilot/selfdrive/controls/lib/latcontrol_curvature.py b/openpilot/selfdrive/controls/lib/latcontrol_curvature.py
new file mode 100644
index 0000000000..3dfe691e10
--- /dev/null
+++ b/openpilot/selfdrive/controls/lib/latcontrol_curvature.py
@@ -0,0 +1,58 @@
+import math
+
+from openpilot.cereal import log
+from openpilot.common.pid import PIDController
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE
+
+CURVATURE_SATURATION_THRESHOLD = 1e-3  # 1/m
+
+
+class LatControlCurvature(LatControl):
+  def __init__(self, CP, CP_SP, CI, dt):
+    super().__init__(CP, CP_SP, CI, dt)
+    self.sat_check_min_speed = 5.
+    if CP.lateralTuning.which() == 'pid':
+      ct = CP.lateralTuning.pid
+      self.pid = PIDController((ct.kpBP, ct.kpV), (ct.kiBP, ct.kiV),
+                               pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE, rate=1 / dt)
+      self.kf = ct.kf
+    else:
+      self.pid = None
+      self.kf = 1.
+
+  def reset(self):
+    super().reset()
+    if self.pid is not None:
+      self.pid.reset()
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
+    curvature_log = log.ControlsState.LateralCurvatureState.new_message()
+    actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+    error = desired_curvature - actual_curvature
+
+    if not active:
+      output_curvature = 0.0
+      curvature_log.active = False
+      if self.pid is not None:
+        self.pid.reset()
+    elif self.pid is None or CS.steeringPressed:
+      # no PID or override: feedforward only
+      if self.pid is not None:
+        self.pid.reset()
+      output_curvature = self.kf * desired_curvature
+      curvature_log.active = True
+    else:
+      output_curvature = self.pid.update(error, speed=CS.vEgo, feedforward=self.kf * desired_curvature)
+      curvature_log.p = float(self.pid.p)
+      curvature_log.i = float(self.pid.i)
+      curvature_log.f = float(self.pid.f)
+      curvature_log.active = True
+
+    curvature_log.error = float(error)
+    curvature_log.actualCurvature = float(actual_curvature)
+    curvature_log.desiredCurvature = float(desired_curvature)
+    curvature_log.output = float(output_curvature)
+    curvature_log.saturated = bool(self._check_saturation(abs(error) > CURVATURE_SATURATION_THRESHOLD, CS,
+                                                          False, curvature_limited))
+    return 0.0, float(output_curvature), curvature_log
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/openpilot/selfdrive/controls/lib/latcontrol_pid.py
similarity index 98%
rename from selfdrive/controls/lib/latcontrol_pid.py
rename to openpilot/selfdrive/controls/lib/latcontrol_pid.py
index 25b2c8d87e..214f4724d1 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/openpilot/selfdrive/controls/lib/latcontrol_pid.py
@@ -1,6 +1,6 @@
 import math
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/openpilot/selfdrive/controls/lib/latcontrol_torque.py
similarity index 98%
rename from selfdrive/controls/lib/latcontrol_torque.py
rename to openpilot/selfdrive/controls/lib/latcontrol_torque.py
index d0eb40d096..6a9eebe867 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/openpilot/selfdrive/controls/lib/latcontrol_torque.py
@@ -2,7 +2,7 @@ import math
 import numpy as np
 from collections import deque
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -50,7 +50,7 @@ class LatControlTorque(LatControl):
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
-  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+  def update_torque_parameters(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
diff --git a/selfdrive/controls/lib/ldw.py b/openpilot/selfdrive/controls/lib/ldw.py
similarity index 88%
rename from selfdrive/controls/lib/ldw.py
rename to openpilot/selfdrive/controls/lib/ldw.py
index 78a6d6cf6e..6164111190 100644
--- a/selfdrive/controls/lib/ldw.py
+++ b/openpilot/selfdrive/controls/lib/ldw.py
@@ -1,5 +1,5 @@
-from cereal import log
-from openpilot.common.realtime import DT_CTRL
+from openpilot.cereal import log
+from openpilot.common.realtime import DT_MDL
 from openpilot.common.constants import CV
 
 
@@ -17,7 +17,7 @@ class LaneDepartureWarning:
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = frame
 
-    recent_blinker = (frame - self.last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
+    recent_blinker = (frame - self.last_blinker_frame) * DT_MDL < 5.0  # 5s blinker cooldown
     ldw_allowed = CS.vEgo > LDW_MIN_SPEED and not recent_blinker and not CC.latActive
 
     desire_prediction = modelV2.meta.desirePrediction
diff --git a/selfdrive/controls/lib/longcontrol.py b/openpilot/selfdrive/controls/lib/longcontrol.py
similarity index 73%
rename from selfdrive/controls/lib/longcontrol.py
rename to openpilot/selfdrive/controls/lib/longcontrol.py
index ec714f452e..e3b612e79f 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/openpilot/selfdrive/controls/lib/longcontrol.py
@@ -1,5 +1,5 @@
 import numpy as np
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
@@ -10,16 +10,14 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
+def long_control_state_trans(CP_SP, active, long_control_state,
                              should_stop, brake_pressed, cruise_standstill):
   # Gas Interceptor
   cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
 
-  stopping_condition = should_stop
   starting_condition = (not should_stop and
                         not cruise_standstill and
                         not brake_pressed)
-  started_condition = v_ego > CP.vEgoStarting
 
   if not active:
     long_control_state = LongCtrlState.off
@@ -29,22 +27,16 @@ def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
       if not starting_condition:
         long_control_state = LongCtrlState.stopping
       else:
-        if starting_condition and CP.startingState:
-          long_control_state = LongCtrlState.starting
-        else:
-          long_control_state = LongCtrlState.pid
+        long_control_state = LongCtrlState.pid
 
     elif long_control_state == LongCtrlState.stopping:
-      if starting_condition and CP.startingState:
-        long_control_state = LongCtrlState.starting
-      elif starting_condition:
+      if starting_condition:
         long_control_state = LongCtrlState.pid
 
-    elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
-      if stopping_condition:
+    elif long_control_state == LongCtrlState.pid:
+      if should_stop:
         long_control_state = LongCtrlState.stopping
-      elif started_condition:
-        long_control_state = LongCtrlState.pid
+
   return long_control_state
 
 class LongControl:
@@ -65,7 +57,7 @@ class LongControl:
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
+    self.long_control_state = long_control_state_trans(self.CP_SP, active, self.long_control_state,
                                                        should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
     if self.long_control_state == LongCtrlState.off:
@@ -76,11 +68,8 @@ class LongControl:
       output_accel = self.last_output_accel
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
-        output_accel -= self.CP.stoppingDecelRate * DT_CTRL
-      self.reset()
-
-    elif self.long_control_state == LongCtrlState.starting:
-      output_accel = self.CP.startAccel
+        # TODO: can we just go straight to stopAccel?
+        output_accel -= 1.0 * DT_CTRL  # m/s^2/s while trying to stop
       self.reset()
 
     else:  # LongCtrlState.pid
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
similarity index 100%
rename from selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
rename to openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
similarity index 77%
rename from selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
rename to openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 7a6c02a538..636ef0fb21 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
 
 gen = "c_generated_code"
 
@@ -51,18 +51,24 @@ generated_files = [
   f'{gen}/long_cost/long_cost.h',
 ] + build_files
 
-acados_dir = '#third_party/acados'
-acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
+acados_include_dir = Dir(acados.INCLUDE_DIR)
+acados_template_dir = Dir(acados.TEMPLATE_DIR)
 
 source_list = ['long_mpc.py',
-  '#selfdrive/modeld/constants.py',
-  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_templates_dir}/acados_solver.in.c',
+  '#openpilot/selfdrive/modeld/constants.py',
+  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
+  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
 ]
 
 lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
-lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
+copied_acados_libs = []
+if arch != "Darwin":
+  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
+    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
+  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
+else:
+  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
+  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                               source_list,
@@ -82,8 +88,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
 
 # generate cython stuff
-acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
+acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
+acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
@@ -99,4 +105,5 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_long'])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(lib_cython, copied_acados_libs)
 lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
rename to openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
similarity index 90%
rename from selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
rename to openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index efdef9dd71..0a0722fbc6 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -2,7 +2,7 @@
 import os
 import time
 import numpy as np
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 if __name__ == '__main__':  # generating code
-  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
   from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
@@ -23,7 +23,7 @@ EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
 JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
 
 LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
-MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise)
+MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1)
 
 X_DIM = 3
 U_DIM = 1
@@ -55,8 +55,6 @@ FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
-CRUISE_MIN_ACCEL = -1.2
-CRUISE_MAX_ACCEL = 1.6
 MIN_X_LEAD_FACTOR = 0.5
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
@@ -104,7 +102,7 @@ def gen_long_model():
   a_ego_dot = SX.sym('a_ego_dot')
   model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot)
 
-  # live parameters
+  # runtime parameters
   a_min = SX.sym('a_min')
   a_max = SX.sym('a_max')
   x_obstacle = SX.sym('x_obstacle')
@@ -240,14 +238,10 @@ class LongitudinalMpc:
       self.solver.set(i, 'x', np.zeros(X_DIM))
 
     self.last_cloudlog_t = 0
-    self.status = False
     self.crash_cnt = 0.0
     self.solution_status = 0
     # timers
     self.solve_time = 0.0
-    self.time_qp_solution = 0.0
-    self.time_linearization = 0.0
-    self.time_integrator = 0.0
     self.x0 = np.zeros(X_DIM)
     self.set_weights()
 
@@ -292,7 +286,7 @@ class LongitudinalMpc:
 
   def process_lead(self, lead):
     v_ego = self.x0[1]
-    if lead is not None and lead.status:
+    if lead is not None and lead.present:
       x_lead = lead.dRel
       v_lead = lead.vLead
       a_lead = lead.aLeadK
@@ -313,10 +307,8 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
-    v_ego = self.x0[1]
-    self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
@@ -327,15 +319,7 @@ class LongitudinalMpc:
     lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
-    # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
-    # when the leads are no factor.
-    v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
-    # TODO does this make sense when max_a is negative?
-    v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
-    v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper)
-    cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
-
-    x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
+    x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle])
     self.source = MPC_SOURCES[np.argmin(x_obstacles[0])]
 
     self.yref[:,:] = 0.0
@@ -365,9 +349,6 @@ class LongitudinalMpc:
 
     self.solution_status = self.solver.solve()
     self.solve_time = float(self.solver.get_stats('time_tot')[0])
-    self.time_qp_solution = float(self.solver.get_stats('time_qp')[0])
-    self.time_linearization = float(self.solver.get_stats('time_lin')[0])
-    self.time_integrator = float(self.solver.get_stats('time_sim')[0])
 
     for i in range(N+1):
       self.x_sol[i] = self.solver.get(i, 'x')
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
similarity index 58%
rename from selfdrive/controls/lib/longitudinal_planner.py
rename to openpilot/selfdrive/controls/lib/longitudinal_planner.py
index e02b02d2e0..8b62808dc0 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -2,7 +2,7 @@
 import math
 import numpy as np
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan, should_stop
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
@@ -19,6 +19,8 @@ from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import Lon
 
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+J_CRUISE_VALS = [1.6, 1.2, 0.8, 0.6]
+A_CRUISE_MIN = -1.2
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.4
 MIN_ALLOW_THROTTLE_SPEED = 2.5
@@ -33,18 +35,25 @@ def get_max_accel(v_ego):
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
 
-def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
-  """
-  This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
-  this should avoid accelerating when losing the target in turns
-  """
-  # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
-  # The lookup table for turns should also be updated if we do this
-  a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
-  a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
-  a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
+def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, accel_coast, allow_throttle):
+  max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
 
-  return [a_target[0], min(a_target[1], a_x_allowed)]
+  if not e2e:
+    a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+    a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
+    a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
+    max_accel = min(max_accel, a_x_allowed)
+    if not allow_throttle:
+      clipped_accel_coast = max(accel_coast, ACCEL_MIN)
+      coast_limit = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [max_accel, clipped_accel_coast])
+      max_accel = min(max_accel, coast_limit)
+
+  target_accel = np.clip(v_cruise - v_ego, A_CRUISE_MIN, max_accel)
+  if not e2e:
+    j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
+    target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
+
+  return target_accel
 
 
 class LongitudinalPlanner(LongitudinalPlannerSP):
@@ -58,7 +67,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
-    self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
+    self.a_cruise = 0.0
     self.output_a_target = 0.0
     self.output_should_stop = False
 
@@ -66,26 +75,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
 
-  @staticmethod
-  def parse_model(model_msg):
-    if (len(model_msg.position.x) == ModelConstants.IDX_N and
-      len(model_msg.velocity.x) == ModelConstants.IDX_N and
-      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
-      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
-      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
-      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
-      j = np.zeros(len(T_IDXS_MPC))
-    else:
-      x = np.zeros(len(T_IDXS_MPC))
-      v = np.zeros(len(T_IDXS_MPC))
-      a = np.zeros(len(T_IDXS_MPC))
-      j = np.zeros(len(T_IDXS_MPC))
-    if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1:
-      throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
-    else:
-      throttle_prob = 1.0
-    return x, v, a, j, throttle_prob
-
   def update(self, sm):
     LongitudinalPlannerSP.update(self, sm)
 
@@ -97,48 +86,39 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
-    v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
+    if sm['controlsState'].forceDecel:
+      v_cruise = 0.0
 
     long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
-    force_slow_decel = sm['controlsState'].forceDecel
 
     # Reset current state when not engaged, or user is controlling the speed
     reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
     # PCM cruise speed may be updated a few cycles later, check if initialized
+    v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
     reset_state = reset_state or not v_cruise_initialized
 
+    throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
+    throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
+
+    steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['vehicleParameters'].angleOffsetDeg
+
+    if reset_state:
+      self.v_desired_filter.x = v_ego
+      self.a_desired = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
+
+    # Prevent divergence, smooth in current v_ego
+    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
+
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
-    steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-    accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
-
-    if reset_state:
-      self.v_desired_filter.x = v_ego
-      # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = np.clip(sm['carState'].aEgo, accel_clip[0], accel_clip[1])
-
-    # Prevent divergence, smooth in current v_ego
-    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    _, _, _, _, throttle_prob = self.parse_model(sm['modelV2'])
-    # Don't clip at low speeds since throttle_prob doesn't account for creep
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
-
-    if not self.allow_throttle:
-      clipped_accel_coast = max(accel_coast, accel_clip[0])
-      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
-      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
-
     # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
     v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
 
-    if force_slow_decel:
-      v_cruise = 0.0
-
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
+    self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -149,35 +129,39 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     if self.fcw:
       cloudlog.info("FCW triggered")
 
-    # Interpolate 0.05 seconds and save as starting point for next iteration
+    # Save starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
-    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
-                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    output_a_target_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
+                                              action_t=action_t)
+    output_should_stop_mpc = should_stop(v_ego, output_a_target_mpc)
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if self.is_e2e(sm):
-      output_a_target = min(output_a_target_e2e, output_a_target_mpc)
-      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
-      if output_a_target < output_a_target_mpc:
-        self.mpc.source = LongitudinalPlanSource.e2e
-    else:
-      output_a_target = output_a_target_mpc
-      self.output_should_stop = output_should_stop_mpc
+    is_e2e = self.is_e2e(sm)
 
-    for idx in range(2):
-      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
-    self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
-    self.prev_accel_clip = accel_clip
+    self.a_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego,
+                                     self.a_cruise, steer_angle_without_offset, self.CP, self.dt,
+                                     accel_coast, self.allow_throttle)
+    cruise_should_stop = should_stop(v_ego, self.a_cruise)
+
+    candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
+                  (self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop)]
+    if is_e2e:
+      candidates.append((output_a_target_e2e, LongitudinalPlanSource.e2e, output_should_stop_e2e))
+
+    output_a_target, self.mpc.source, _ = min(candidates, key=lambda c: c[0])
+    self.output_should_stop = any(should_stop for _, _, should_stop in candidates)
+    self.output_a_target = np.clip(output_a_target, ACCEL_MIN, ACCEL_MAX)
+
+    self.a_desired = float(self.output_a_target)
+    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.output_a_target + a_prev) / 2.0
 
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
+    plan_send.valid = sm.all_checks()
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
@@ -188,7 +172,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     longitudinalPlan.accels = self.a_desired_trajectory.tolist()
     longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
 
-    longitudinalPlan.hasLead = sm['radarState'].leadOne.status
+    longitudinalPlan.hasLead = sm['radarState'].leadOne.present
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
diff --git a/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
similarity index 71%
rename from selfdrive/controls/plannerd.py
rename to openpilot/selfdrive/controls/plannerd.py
index f7d3370f90..e7f36d3240 100755
--- a/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -1,12 +1,13 @@
 #!/usr/bin/env python3
-from cereal import car, custom
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 
 def main():
@@ -22,24 +23,25 @@ def main():
   cloudlog.info("plannerd got CarParamsSP")
 
   gps_location_service = get_gps_location_service(params)
+  ignore_services = ["liveMapDataSP", "carStateSP", "selfdriveStateSP", gps_location_service]
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='carState')
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'vehicleParameters', 'radarState', 'modelV2', 'selfdriveState',
+                            'liveMapDataSP', 'carStateSP', 'selfdriveStateSP', gps_location_service],
+                           poll='modelV2', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
 
   while True:
     sm.update()
-    longitudinal_planner.sla.update_car_state(sm['carState'])
+    longitudinal_planner.sla.update_buttons(sm['selfdriveStateSP'].buttonsReleaseToggle)
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')
-      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
+      msg.valid = sm.all_checks()
       msg.driverAssistance.leftLaneDeparture = ldw.left
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)
diff --git a/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py
similarity index 84%
rename from selfdrive/controls/radard.py
rename to openpilot/selfdrive/controls/radard.py
index bee4244054..56a193f833 100755
--- a/selfdrive/controls/radard.py
+++ b/openpilot/selfdrive/controls/radard.py
@@ -5,7 +5,8 @@ from collections import deque
 from typing import Any
 
 import capnp
-from cereal import messaging, log, car, custom
+from openpilot.cereal import messaging, log, custom
+from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
@@ -26,7 +27,6 @@ SPEED, ACCEL = 0, 1     # Kalman filter states enum
 # stationary qualification parameters
 V_EGO_STATIONARY = 4.   # no stationary object flag below this speed
 
-RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
 RADAR_TO_CAMERA = 1.52  # RADAR is ~ 1.5m ahead from center of mesh frame
 
 
@@ -62,13 +62,12 @@ class Track:
     self.K_K = kalman_params.K
     self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K)
 
-  def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: float):
+  def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float):
     # relative values, copy
     self.dRel = d_rel   # LONG_DIST
     self.yRel = y_rel   # -LAT_DIST
     self.vRel = v_rel   # REL_SPEED
     self.vLead = v_lead
-    self.measured = measured   # measured or estimate
 
     # computed velocity and accelerations
     if self.cnt > 0:
@@ -94,8 +93,7 @@ class Track:
       "vLeadK": float(self.vLeadK),
       "aLeadK": float(self.aLeadK),
       "aLeadTau": float(self.aLeadTau.x),
-      "status": True,
-      "fcw": self.is_potential_fcw(model_prob),
+      "present": True,
       "modelProb": model_prob,
       "radar": True,
       "radarTrackId": self.identifier,
@@ -106,9 +104,6 @@ class Track:
     # Radar points closer than 0.75, are almost always glitches on toyota radars
     return abs(self.yRel) < 1.0 and (v_ego < V_EGO_STATIONARY) and (0.75 < self.dRel < 25)
 
-  def is_potential_fcw(self, model_prob: float):
-    return model_prob > .9
-
   def __str__(self):
     ret = f"x: {self.dRel:4.1f}  y: {self.yRel:4.1f}  v: {self.vRel:4.1f}  a: {self.aLeadK:4.1f}"
     return ret
@@ -142,7 +137,7 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
     return None
 
 
-def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float):
+def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float, lead_prob: float):
   lead_v_rel_pred = lead_msg.v[0] - model_v_ego
   return {
     "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
@@ -152,28 +147,28 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "vLeadK": float(v_ego + lead_v_rel_pred),
     "aLeadK": float(lead_msg.a[0]),
     "aLeadTau": 0.3,
-    "fcw": False,
-    "modelProb": float(lead_msg.prob),
-    "status": True,
+    "modelProb": float(lead_prob),
+    "present": True,
     "radar": False,
     "radarTrackId": -1,
   }
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, lead_prob: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+             low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
-  if len(tracks) > 0 and ready and lead_msg.prob > .5:
+  if len(tracks) > 0 and ready and lead_prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
   else:
     track = None
 
-  lead_dict = {'status': False}
+  lead_dict = {'present': False}
   if track is not None:
-    lead_dict = track.get_RadarState(lead_msg.prob)
+    lead_dict = track.get_RadarState(lead_prob)
     lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
-  elif (track is None) and ready and (lead_msg.prob > .5):
-    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
+  elif (track is None) and ready and (lead_prob > .5):
+    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_prob)
 
   if low_speed_override:
     low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
@@ -181,7 +176,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
       closest_track = min(low_speed_tracks, key=lambda c: c.dRel)
 
       # Only choose new track if it is actually closer than the previous one
-      if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']):
+      if (not lead_dict['present']) or (closest_track.dRel < lead_dict['dRel']):
         lead_dict = closest_track.get_RadarState()
 
   return lead_dict
@@ -202,9 +197,9 @@ class RadarD:
     self.CP_SP = CP_SP
 
     self.current_time = 0.0
-
     self.tracks: dict[int, Track] = {}
     self.kalman_params = KalmanParams(DT_MDL)
+    self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, DT_MDL) for _ in range(2)]
 
     self.v_ego = 0.0
     self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1)
@@ -217,14 +212,13 @@ class RadarD:
 
   def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
-    self.current_time = 1e-9*max(sm.logMonoTime.values())
 
     if sm.recv_frame['carState'] != self.last_v_ego_frame:
       self.v_ego = sm['carState'].vEgo
       self.v_ego_hist.append(self.v_ego)
       self.last_v_ego_frame = sm.recv_frame['carState']
 
-    ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel, pt.measured] for pt in rr.points}
+    ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel] for pt in rr.points}
 
     # *** remove missing points from meta data ***
     for ids in list(self.tracks.keys()):
@@ -241,14 +235,13 @@ class RadarD:
       # create the track if it doesn't exist or it's a new track
       if ids not in self.tracks:
         self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
-      self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
+      self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead)
 
     # *** publish radarState ***
     self.radar_state_valid = sm.all_checks()
     self.radar_state = log.RadarState.new_message()
     self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
     self.radar_state.radarErrors = rr.errors
-    self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
     if len(sm['modelV2'].velocity.x):
       model_v_ego = sm['modelV2'].velocity.x[0]
@@ -256,8 +249,18 @@ class RadarD:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.CP, self.CP_SP, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.CP, self.CP_SP, low_speed_override=False)
+      for i in range(2):
+        # Asymmetric filter on lead prob to keep lead when uncertain
+        lead_prob = leads_v3[i].prob
+        if lead_prob > self.lead_prob_filters[i].x:
+          self.lead_prob_filters[i].x = lead_prob
+        else:
+          self.lead_prob_filters[i].update(lead_prob)
+
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_prob_filters[0].x,
+                                          self.CP, self.CP_SP, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_prob_filters[1].x,
+                                          self.CP, self.CP_SP, low_speed_override=False)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
@@ -282,7 +285,7 @@ def main() -> None:
   cloudlog.info("radard got CarParamsSP")
 
   # *** setup messaging
-  sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
+  sm = messaging.SubMaster(['modelV2', 'carState', 'radarTracks'], poll='modelV2')
   pm = messaging.PubMaster(['radarState'])
 
   RD = RadarD(CP, CP_SP, CP.radarDelay)
@@ -290,7 +293,7 @@ def main() -> None:
   while 1:
     sm.update()
 
-    RD.update(sm, sm['liveTracks'])
+    RD.update(sm, sm['radarTracks'])
     RD.publish(pm)
 
 
diff --git a/selfdrive/controls/tests/__init__.py b/openpilot/selfdrive/controls/tests/__init__.py
similarity index 100%
rename from selfdrive/controls/tests/__init__.py
rename to openpilot/selfdrive/controls/tests/__init__.py
diff --git a/selfdrive/controls/tests/test_following_distance.py b/openpilot/selfdrive/controls/tests/test_following_distance.py
similarity index 79%
rename from selfdrive/controls/tests/test_following_distance.py
rename to openpilot/selfdrive/controls/tests/test_following_distance.py
index 8f66d89bf8..1914769282 100644
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/openpilot/selfdrive/controls/tests/test_following_distance.py
@@ -1,8 +1,8 @@
-import pytest
 import itertools
-from parameterized import parameterized_class
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized_class
 
-from cereal import log
+from openpilot.cereal import log
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
@@ -36,10 +36,12 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
                        log.LongitudinalPersonality.standard,
                        log.LongitudinalPersonality.aggressive],
                       [0,10,35])) # speed
-class TestFollowingDistance:
+class TestFollowingDistance(OpenpilotTestCase):
   def test_following_distance(self):
     v_lead = float(self.speed)
     simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
     correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
     err_ratio = 0.2 if self.e2e else 0.1
-    assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5)
+    abs_err_margin = 0.5 if v_lead > 0.0 else 1.15
+    self.assertAlmostEqual(simulation_steady_state, correct_steady_state,
+                           delta=err_ratio * correct_steady_state + abs_err_margin)
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/openpilot/selfdrive/controls/tests/test_latcontrol.py
similarity index 82%
rename from selfdrive/controls/tests/test_latcontrol.py
rename to openpilot/selfdrive/controls/tests/test_latcontrol.py
index 4180047617..0dc26887e3 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/openpilot/selfdrive/controls/tests/test_latcontrol.py
@@ -1,6 +1,8 @@
-from parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized
 
-from cereal import car, log
+from openpilot.cereal import log
+from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -13,11 +15,11 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.locationd.helpers import Pose
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 
-class TestLatControl:
+class TestLatControl(OpenpilotTestCase):
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
                          (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
@@ -36,10 +38,10 @@ class TestLatControl:
     CS.vEgo = 30
     CS.steeringPressed = False
 
-    params = log.LiveParametersData.new_message()
+    params = log.VehicleParameters.new_message()
 
-    lp = generate_livePose()
-    pose = Pose.from_live_pose(lp.livePose)
+    lp = generate_deviceMotion()
+    pose = Pose.from_device_motion(lp.deviceMotion)
 
     # Saturate for curvature limited and controller limited
     for _ in range(1000):
diff --git a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/openpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
similarity index 78%
rename from selfdrive/controls/tests/test_latcontrol_torque_buffer.py
rename to openpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
index 52810ff55b..cc6b9aef16 100644
--- a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
+++ b/openpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
@@ -1,6 +1,8 @@
-from parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized
 
-from cereal import car, log
+from openpilot.cereal import log
+from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.vehicle_model import VehicleModel
@@ -9,7 +11,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque,
 
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.locationd.helpers import Pose
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 def get_controller(car_name):
@@ -23,7 +25,7 @@ def get_controller(car_name):
   controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
   return controller, VM
 
-class TestLatControlTorqueBuffer:
+class TestLatControlTorqueBuffer(OpenpilotTestCase):
 
   @parameterized.expand([(TOYOTA.TOYOTA_COROLLA_TSS2,)])
   def test_request_buffer_consistency(self, car_name):
@@ -33,10 +35,10 @@ class TestLatControlTorqueBuffer:
     CS = car.CarState.new_message()
     CS.vEgo = 30
     CS.steeringPressed = False
-    params = log.LiveParametersData.new_message()
+    params = log.VehicleParameters.new_message()
 
-    lp = generate_livePose()
-    pose = Pose.from_live_pose(lp.livePose)
+    lp = generate_deviceMotion()
+    pose = Pose.from_device_motion(lp.deviceMotion)
 
     for _ in range(buffer_steps):
       controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
diff --git a/selfdrive/controls/tests/test_leads.py b/openpilot/selfdrive/controls/tests/test_leads.py
similarity index 85%
rename from selfdrive/controls/tests/test_leads.py
rename to openpilot/selfdrive/controls/tests/test_leads.py
index 77384fea20..45257c545b 100644
--- a/selfdrive/controls/tests/test_leads.py
+++ b/openpilot/selfdrive/controls/tests/test_leads.py
@@ -1,10 +1,11 @@
-import cereal.messaging as messaging
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
 
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.process_replay import replay_process_with_name
 
 
-class TestLeads:
+class TestLeads(OpenpilotTestCase):
   def test_radar_fault(self):
     # if there's no radar-related can traffic, radard should either not respond or respond with an error
     # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check
@@ -25,7 +26,7 @@ class TestLeads:
 
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
     out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
-    states = [m for m in out if m.which() == "liveTracks"]
+    states = [m for m in out if m.which() == "radarTracks"]
     failures = [not state.valid for state in states]
 
     assert len(states) == 0 or all(failures)
diff --git a/openpilot/selfdrive/controls/tests/test_longcontrol.py b/openpilot/selfdrive/controls/tests/test_longcontrol.py
new file mode 100644
index 0000000000..9469545204
--- /dev/null
+++ b/openpilot/selfdrive/controls/tests/test_longcontrol.py
@@ -0,0 +1,44 @@
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import custom
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
+
+
+class TestLongControlStateTransition(OpenpilotTestCase):
+
+  def test_stay_stopped(self):
+    CP_SP = custom.CarParamsSP.new_message()
+    active = True
+    current_state = LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.pid
+    active = False
+    next_state = long_control_state_trans(CP_SP, active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.off
+
+  def test_engage(self):
+    CP_SP = custom.CarParamsSP.new_message()
+    active = True
+    current_state = LongCtrlState.off
+    next_state = long_control_state_trans(CP_SP, active, current_state,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.pid
diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
similarity index 63%
rename from selfdrive/controls/tests/test_torqued_lat_accel_offset.py
rename to openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
index 84389856b6..011713dfb3 100644
--- a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -1,13 +1,13 @@
 import numpy as np
-from cereal import car, messaging
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import messaging
+from opendbc.car.structs import car
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car import structs
 from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
 
-np.random.seed(0)
-
 LA_ERR_STD = 1.0
 INPUT_NOISE_STD = 0.08
 V_EGO = 30.0
@@ -41,7 +41,7 @@ def simulate_straight_road_msgs(est):
   carControl = messaging.new_message('carControl').carControl
   carOutput = messaging.new_message('carOutput').carOutput
   carState = messaging.new_message('carState').carState
-  livePose = messaging.new_message('livePose').livePose
+  deviceMotion = messaging.new_message('deviceMotion').deviceMotion
   carControl.latActive = True
   carState.vEgo = V_EGO
   carState.steeringPressed = False
@@ -50,21 +50,24 @@ def simulate_straight_road_msgs(est):
   lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
   for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
     carOutput.actuatorsOutput.torque = float(-steer_torque)
-    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
-    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
-    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
+    deviceMotion.orientationNED = {'x': float(np.deg2rad(ROLL_BIAS_DEG)), 'valid': True}
+    deviceMotion.angularVelocityDevice = {'z': float(lat_accel / V_EGO), 'valid': True}
+    deviceMotion.inputsOK, deviceMotion.sensorsOK, deviceMotion.posenetOK = True, True, True
+    deviceMotion.timestamp = int(t * 1e9)
+    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('deviceMotion', deviceMotion)):
       est.handle_log(t, which, msg)
 
-def test_estimated_offset():
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
-  msg = est.get_msg()
-  # TODO add lataccelfactor and friction check when we have more accurate estimates
-  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
+class TestTorquedLatAccelOffset(OpenpilotTestCase):
+  def test_estimated_offset(self):
+    steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+    est = get_warmed_up_estimator(steer_torques, lat_accels)
+    msg = est.get_msg()
+    # TODO add lataccelfactor and friction check when we have more accurate estimates
+    assert abs(msg.lateralTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
 
-def test_straight_road_roll_bias():
-  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
-  est = get_warmed_up_estimator(steer_torques, lat_accels)
-  simulate_straight_road_msgs(est)
-  msg = est.get_msg()
-  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
+  def test_straight_road_roll_bias(self):
+    steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+    est = get_warmed_up_estimator(steer_torques, lat_accels)
+    simulate_straight_road_msgs(est)
+    msg = est.get_msg()
+    assert (msg.lateralTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.lateralTorqueParameters.latAccelOffsetRaw)
diff --git a/selfdrive/locationd/SConscript b/openpilot/selfdrive/locationd/SConscript
similarity index 100%
rename from selfdrive/locationd/SConscript
rename to openpilot/selfdrive/locationd/SConscript
diff --git a/selfdrive/debug/__init__.py b/openpilot/selfdrive/locationd/__init__.py
similarity index 100%
rename from selfdrive/debug/__init__.py
rename to openpilot/selfdrive/locationd/__init__.py
diff --git a/selfdrive/locationd/calibrationd.py b/openpilot/selfdrive/locationd/calibrationd.py
similarity index 82%
rename from selfdrive/locationd/calibrationd.py
rename to openpilot/selfdrive/locationd/calibrationd.py
index 036f5822d2..ec9a225634 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/openpilot/selfdrive/locationd/calibrationd.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 '''
 This process finds calibration values. More info on what these calibration values
-are can be found here https://github.com/commaai/openpilot/tree/master/common/transformations
+are can be found here https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
 While the roll calibration is a real value that can be estimated, here we assume it's zero,
 and the image input into the neural network is not corrected for roll.
 '''
@@ -11,9 +11,10 @@ import capnp
 import numpy as np
 from typing import NoReturn
 
-from cereal import log, car
-import cereal.messaging as messaging
-from openpilot.system.hardware import HARDWARE
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
@@ -73,15 +74,15 @@ class Calibrator:
     wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
     height = HEIGHT_INIT
     valid_blocks = 0
-    self.cal_status = log.LiveCalibrationData.Status.uncalibrated
+    self.cal_status = log.ExtrinsicsCalibration.Status.uncalibrated
 
     if param_put and calibration_params:
       try:
         with log.Event.from_bytes(calibration_params) as msg:
-          rpy_init = np.array(msg.liveCalibration.rpyCalib)
-          valid_blocks = msg.liveCalibration.validBlocks
-          wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
-          height = np.array(msg.liveCalibration.height)
+          rpy_init = np.array(msg.extrinsicsCalibration.rpyCalib)
+          valid_blocks = msg.extrinsicsCalibration.validBlocks
+          wide_from_device_euler = np.array(msg.extrinsicsCalibration.wideFromDeviceEuler)
+          height = np.array(msg.extrinsicsCalibration.height)
       except Exception:
         cloudlog.exception("Error reading cached CalibrationParams")
 
@@ -148,26 +149,26 @@ class Calibrator:
       self.calib_spread = np.zeros(3)
 
     if self.valid_blocks < INPUTS_NEEDED:
-      if self.cal_status == log.LiveCalibrationData.Status.recalibrating:
-        self.cal_status = log.LiveCalibrationData.Status.recalibrating
+      if self.cal_status == log.ExtrinsicsCalibration.Status.recalibrating:
+        self.cal_status = log.ExtrinsicsCalibration.Status.recalibrating
       else:
-        self.cal_status = log.LiveCalibrationData.Status.uncalibrated
+        self.cal_status = log.ExtrinsicsCalibration.Status.uncalibrated
     elif is_calibration_valid(self.rpy):
-      self.cal_status = log.LiveCalibrationData.Status.calibrated
+      self.cal_status = log.ExtrinsicsCalibration.Status.calibrated
     else:
-      self.cal_status = log.LiveCalibrationData.Status.invalid
+      self.cal_status = log.ExtrinsicsCalibration.Status.invalid
 
     # If spread is too high, assume mounting was changed and reset to last block.
     # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
     # TODO: add height spread check with smooth transition too
     spread_too_high = self.calib_spread[1] > MAX_ALLOWED_PITCH_SPREAD or self.calib_spread[2] > MAX_ALLOWED_YAW_SPREAD
-    if spread_too_high and self.cal_status == log.LiveCalibrationData.Status.calibrated:
+    if spread_too_high and self.cal_status == log.ExtrinsicsCalibration.Status.calibrated:
       self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
-      self.cal_status = log.LiveCalibrationData.Status.recalibrating
+      self.cal_status = log.ExtrinsicsCalibration.Status.recalibrating
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
+      self.params.put("CalibrationParams", self.get_msg(True).to_bytes())
 
   def handle_v_ego(self, v_ego: float) -> None:
     self.v_ego = v_ego
@@ -233,35 +234,35 @@ class Calibrator:
   def get_msg(self, valid: bool) -> capnp.lib.capnp._DynamicStructBuilder:
     smooth_rpy = self.get_smooth_rpy()
 
-    msg = messaging.new_message('liveCalibration')
+    msg = messaging.new_message('extrinsicsCalibration')
     msg.valid = valid
 
-    liveCalibration = msg.liveCalibration
-    liveCalibration.validBlocks = self.valid_blocks
-    liveCalibration.calStatus = self.cal_status
-    liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
-    liveCalibration.rpyCalib = smooth_rpy.tolist()
-    liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
-    liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()
-    liveCalibration.height = self.height.tolist()
+    extrinsicsCalibration = msg.extrinsicsCalibration
+    extrinsicsCalibration.validBlocks = self.valid_blocks
+    extrinsicsCalibration.calStatus = self.cal_status
+    extrinsicsCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
+    extrinsicsCalibration.rpyCalib = smooth_rpy.tolist()
+    extrinsicsCalibration.rpyCalibSpread = self.calib_spread.tolist()
+    extrinsicsCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()
+    extrinsicsCalibration.height = self.height.tolist()
 
     if self.not_car:
-      liveCalibration.validBlocks = INPUTS_NEEDED
-      liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
-      liveCalibration.calPerc = 100.
-      liveCalibration.rpyCalib = [0, 0, 0]
-      liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
+      extrinsicsCalibration.validBlocks = INPUTS_NEEDED
+      extrinsicsCalibration.calStatus = log.ExtrinsicsCalibration.Status.calibrated
+      extrinsicsCalibration.calPerc = 100.
+      extrinsicsCalibration.rpyCalib = [0, 0, 0]
+      extrinsicsCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
     return msg
 
   def send_data(self, pm: messaging.PubMaster, valid: bool) -> None:
-    pm.send('liveCalibration', self.get_msg(valid))
+    pm.send('extrinsicsCalibration', self.get_msg(valid))
 
 
 def main() -> NoReturn:
   config_realtime_process([0, 1, 2, 3], 5)
 
-  pm = messaging.PubMaster(['liveCalibration'])
+  pm = messaging.PubMaster(['extrinsicsCalibration'])
   sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll='cameraOdometry')
 
   params_reader = Params()
diff --git a/selfdrive/locationd/helpers.py b/openpilot/selfdrive/locationd/helpers.py
similarity index 76%
rename from selfdrive/locationd/helpers.py
rename to openpilot/selfdrive/locationd/helpers.py
index 73c4d8bf35..48e1ee25c2 100644
--- a/selfdrive/locationd/helpers.py
+++ b/openpilot/selfdrive/locationd/helpers.py
@@ -1,36 +1,37 @@
 import numpy as np
+from collections.abc import Sequence
 from typing import Any
 from functools import cache
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 
 
 @cache
 def fft_next_good_size(n: int) -> int:
-    """
-    smallest composite of 2, 3, 5, 7, 11 that is >= n
-    inspired by pocketfft
-    """
-    if n <= 6:
-      return n
-    best, f2 = 2 * n, 1
-    while f2 < best:
-        f23 = f2
-        while f23 < best:
-            f235 = f23
-            while f235 < best:
-                f2357 = f235
-                while f2357 < best:
-                    f235711 = f2357
-                    while f235711 < best:
-                        best = f235711 if f235711 >= n else best
-                        f235711 *= 11
-                    f2357 *= 7
-                f235 *= 5
-            f23 *= 3
-        f2 *= 2
-    return best
+  """
+  smallest composite of 2, 3, 5, 7, 11 that is >= n
+  inspired by pocketfft
+  """
+  if n <= 6:
+    return n
+  best, f2 = 2 * n, 1
+  while f2 < best:
+    f23 = f2
+    while f23 < best:
+      f235 = f23
+      while f235 < best:
+        f2357 = f235
+        while f2357 < best:
+          f235711 = f2357
+          while f235711 < best:
+            best = f235711 if f235711 >= n else best
+            f235711 *= 11
+          f2357 *= 7
+        f235 *= 5
+      f23 *= 3
+    f2 *= 2
+  return best
 
 
 def parabolic_peak_interp(R, max_index):
@@ -68,7 +69,8 @@ class NPQueue:
 
 
 class PointBuckets:
-  def __init__(self, x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
+  def __init__(self, x_bounds: list[tuple[float, float]], min_points: Sequence[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None:
+    self._rng = np.random.default_rng()
     self.x_bounds = x_bounds
     self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds}
     self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
@@ -98,9 +100,9 @@ class PointBuckets:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points
-    return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
+    return points[self._rng.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
 
-  def load_points(self, points: list[list[float]]) -> None:
+  def load_points(self, points: Sequence[Sequence[float]]) -> None:
     for point in points:
       self.add_point(*point)
 
@@ -128,7 +130,7 @@ class Measurement:
     self.xyz_std: np.ndarray = xyz_std
 
   @classmethod
-  def from_measurement_xyz(cls, measurement: log.LivePose.XYZMeasurement) -> 'Measurement':
+  def from_measurement_xyz(cls, measurement: log.DeviceMotion.XYZMeasurement) -> 'Measurement':
     return cls(
       xyz=np.array([measurement.x, measurement.y, measurement.z]),
       xyz_std=np.array([measurement.xStd, measurement.yStd, measurement.zStd])
@@ -143,12 +145,12 @@ class Pose:
     self.angular_velocity = angular_velocity
 
   @classmethod
-  def from_live_pose(cls, live_pose: log.LivePose) -> 'Pose':
+  def from_device_motion(cls, device_motion: log.DeviceMotion) -> 'Pose':
     return Pose(
-      orientation=Measurement.from_measurement_xyz(live_pose.orientationNED),
-      velocity=Measurement.from_measurement_xyz(live_pose.velocityDevice),
-      acceleration=Measurement.from_measurement_xyz(live_pose.accelerationDevice),
-      angular_velocity=Measurement.from_measurement_xyz(live_pose.angularVelocityDevice)
+      orientation=Measurement.from_measurement_xyz(device_motion.orientationNED),
+      velocity=Measurement.from_measurement_xyz(device_motion.velocityDevice),
+      acceleration=Measurement.from_measurement_xyz(device_motion.accelerationDevice),
+      angular_velocity=Measurement.from_measurement_xyz(device_motion.angularVelocityDevice)
     )
 
 
@@ -176,8 +178,8 @@ class PoseCalibrator:
 
     return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
 
-  def feed_live_calib(self, live_calib: log.LiveCalibrationData):
-    calib_rpy = np.array(live_calib.rpyCalib)
+  def feed_extrinsics_calibration(self, extrinsics_calibration: log.ExtrinsicsCalibration):
+    calib_rpy = np.array(extrinsics_calibration.rpyCalib)
     device_from_calib = rot_from_euler(calib_rpy)
     self.calib_from_device = device_from_calib.T
-    self.calib_valid = live_calib.calStatus == log.LiveCalibrationData.Status.calibrated
+    self.calib_valid = extrinsics_calibration.calStatus == log.ExtrinsicsCalibration.Status.calibrated
diff --git a/selfdrive/locationd/lagd.py b/openpilot/selfdrive/locationd/lagd.py
similarity index 76%
rename from selfdrive/locationd/lagd.py
rename to openpilot/selfdrive/locationd/lagd.py
index 7f1d5fd032..c80a18db16 100755
--- a/selfdrive/locationd/lagd.py
+++ b/openpilot/selfdrive/locationd/lagd.py
@@ -5,9 +5,11 @@ import capnp
 from collections import deque
 from functools import partial
 
-import cereal.messaging as messaging
-from cereal import car, log
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+from openpilot.cereal.services import SERVICE_LIST
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -20,18 +22,36 @@ BLOCK_NUM_NEEDED = 5
 MOVING_WINDOW_SEC = 60.0
 MIN_OKAY_WINDOW_SEC = 25.0
 MIN_RECOVERY_BUFFER_SEC = 2.0
-MIN_VEGO = 15.0
+MIN_VEGO = 50.0 * CV.MPH_TO_MS
 MIN_ABS_YAW_RATE = 0.0
 MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
-MAX_LAG = 1.0
+MAX_LAG = 0.65
+MIN_LAG = 0.15
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
 MAX_LAT_ACCEL_DIFF = 0.6
+MIN_LAT_ACCEL_RANGE = 0.5
 MIN_CONFIDENCE = 0.7
 CORR_BORDER_OFFSET = 5
 LAG_CANDIDATE_CORR_THRESHOLD = 0.9
+SMOOTH_K = 5
+SMOOTH_SIGMA = 1.0
 
+VERSION = 1  # bump this to invalidate old parameter caches
+
+
+def masked_symmetric_moving_average(x: np.ndarray, mask: np.ndarray, k: int, sigma: float) -> np.ndarray:
+  assert k >= 1 and k % 2 == 1, "k must be positive and odd"
+  pad = k // 2
+  i = np.arange(k) - pad
+  w = np.exp(-0.5 * (i / sigma) ** 2)
+  w /= w.sum()
+  xp = np.pad(x * mask, pad, mode="edge")
+  mp = np.pad(mask, pad, mode="edge")
+  num = np.convolve(xp, w, mode="valid")
+  den = np.convolve(mp, w, mode="valid")
+  return np.divide(num, den, out=np.full_like(num, np.nan, dtype=np.float64), where=den != 0)
 
 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
   """
@@ -152,7 +172,7 @@ class BlockAverage:
 
 
 class LateralLagEstimator:
-  inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"}
+  inputs = {"carControl", "carState", "controlsState", "extrinsicsCalibration", "deviceMotion"}
 
   def __init__(self, CP: car.CarParams, dt: float,
                block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
@@ -200,38 +220,39 @@ class LateralLagEstimator:
     self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag)
 
   def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
-    msg = messaging.new_message('liveDelay')
+    msg = messaging.new_message('lateralDelay')
 
     msg.valid = valid
 
-    liveDelay = msg.liveDelay
+    lateralDelay = msg.lateralDelay
 
     valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
     if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
       if valid_std > MAX_LAG_STD:
-        liveDelay.status = log.LiveDelayData.Status.invalid
+        lateralDelay.status = log.LateralDelay.Status.invalid
       else:
-        liveDelay.status = log.LiveDelayData.Status.estimated
+        lateralDelay.status = log.LateralDelay.Status.estimated
     else:
-      liveDelay.status = log.LiveDelayData.Status.unestimated
+      lateralDelay.status = log.LateralDelay.Status.unestimated
 
-    if liveDelay.status == log.LiveDelayData.Status.estimated:
-      liveDelay.lateralDelay = valid_mean_lag
+    if lateralDelay.status == log.LateralDelay.Status.estimated:
+      lateralDelay.lateralDelay = min(MAX_LAG, max(MIN_LAG, valid_mean_lag))
     else:
-      liveDelay.lateralDelay = self.initial_lag
+      lateralDelay.lateralDelay = self.initial_lag
 
     if not np.isnan(current_mean_lag) and not np.isnan(current_std):
-      liveDelay.lateralDelayEstimate = current_mean_lag
-      liveDelay.lateralDelayEstimateStd = current_std
+      lateralDelay.lateralDelayEstimate = current_mean_lag
+      lateralDelay.lateralDelayEstimateStd = current_std
     else:
-      liveDelay.lateralDelayEstimate = self.initial_lag
-      liveDelay.lateralDelayEstimateStd = 0.0
+      lateralDelay.lateralDelayEstimate = self.initial_lag
+      lateralDelay.lateralDelayEstimateStd = 0.0
 
-    liveDelay.validBlocks = self.block_avg.valid_blocks
-    liveDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
+    lateralDelay.validBlocks = self.block_avg.valid_blocks
+    lateralDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
                             (self.min_valid_block_count * self.block_size), 100)
     if debug:
-      liveDelay.points = self.block_avg.values.flatten().tolist()
+      lateralDelay.points = self.block_avg.values.flatten().tolist()
+    lateralDelay.version = VERSION
 
     return msg
 
@@ -244,11 +265,11 @@ class LateralLagEstimator:
     elif which == "controlsState":
       self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated
       self.desired_curvature = msg.desiredCurvature
-    elif which == "liveCalibration":
-      self.calibrator.feed_live_calib(msg)
-    elif which == "livePose":
-      device_pose = Pose.from_live_pose(msg)
-      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+    elif which == "extrinsicsCalibration":
+      self.calibrator.feed_extrinsics_calibration(msg)
+    elif which == "deviceMotion":
+      device_motion = Pose.from_device_motion(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_motion)
       self.yaw_rate = calibrated_pose.angular_velocity.yaw
       self.yaw_rate_std = calibrated_pose.angular_velocity.yaw_std
       self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK
@@ -294,12 +315,15 @@ class LateralLagEstimator:
 
     times, desired, actual, okay = self.points.get()
     # check if there are any new valid data points since the last update
-    is_valid = self.points_valid()
+    is_valid = self.points_valid() and (actual.max() - actual.min() >= MIN_LAT_ACCEL_RANGE)
     if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
       new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
       is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))
 
-    delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG)
+    desired = masked_symmetric_moving_average(desired, okay, SMOOTH_K, SMOOTH_SIGMA)
+    actual = masked_symmetric_moving_average(actual, okay, SMOOTH_K, SMOOTH_SIGMA)
+
+    delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MIN_LAG, MAX_LAG)
     if corr < self.min_ncc or confidence < self.min_confidence or not is_valid:
       return
 
@@ -307,27 +331,28 @@ class LateralLagEstimator:
     self.last_estimate_t = self.t
 
   @staticmethod
-  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]:
+  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray,
+                     dt: float, min_lag: float, max_lag: float) -> tuple[float, float, float]:
     assert len(expected_sig) == len(actual_sig)
-    max_lag_samples = int(max_lag / dt)
-    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+    min_lag_samples, max_lag_samples, one_sec_samples = int(round(min_lag / dt)), int(round(max_lag / dt)), int(round(1.0 / dt))
+    padded_size = fft_next_good_size(len(expected_sig) + max(max_lag_samples, one_sec_samples))
 
     ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)
 
-    # only consider lags from 0 to max_lag
-    roi = np.s_[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples]
-    extended_roi = np.s_[roi.start - CORR_BORDER_OFFSET: roi.stop + CORR_BORDER_OFFSET]
-    roi_ncc = ncc[roi]
-    extended_roi_ncc = ncc[extended_roi]
+    # only consider lags from ranges:
+    roi = np.s_[len(expected_sig) - 1 + min_lag_samples: len(expected_sig) - 1 + max_lag_samples] # min_lag - max_lag range
+    threshold_roi = np.s_[len(expected_sig) - 1: len(expected_sig) - 1 + one_sec_samples] # 0 - 1 second range
+    confidence_roi = np.s_[threshold_roi.start - CORR_BORDER_OFFSET: threshold_roi.stop + CORR_BORDER_OFFSET] # threshold range +/- border
+    roi_ncc, confidence_roi_ncc, threshold_roi_ncc = ncc[roi], ncc[confidence_roi], ncc[threshold_roi]
 
     max_corr_index = np.argmax(roi_ncc)
     corr = roi_ncc[max_corr_index]
-    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt
+    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt + min_lag
 
     # to estimate lag confidence, gather all high-correlation candidates and see how spread they are
     # if e.g. 0.8 and 0.4 are both viable, this is an ambiguous case
-    ncc_thresh = (roi_ncc.max() - roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + roi_ncc.min()
-    good_lag_candidate_mask = extended_roi_ncc >= ncc_thresh
+    ncc_thresh = (threshold_roi_ncc.max() - threshold_roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + threshold_roi_ncc.min()
+    good_lag_candidate_mask = confidence_roi_ncc >= ncc_thresh
     good_lag_candidate_edges = np.diff(good_lag_candidate_mask.astype(int), prepend=0, append=0)
     starts, ends = np.where(good_lag_candidate_edges == 1)[0], np.where(good_lag_candidate_edges == -1)[0] - 1
     run_idx = np.searchsorted(starts, max_corr_index + CORR_BORDER_OFFSET, side='right') - 1
@@ -344,13 +369,14 @@ def retrieve_initial_lag(params: Params, CP: car.CarParams):
   if last_lag_data is not None:
     try:
       with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
-        ld = last_lag_msg.liveDelay
+        ld = last_lag_msg.lateralDelay
         if last_CP.carFingerprint != CP.carFingerprint:
           raise Exception("Car model mismatch")
 
-        lag, valid_blocks, status = ld.lateralDelayEstimate, ld.validBlocks, ld.status
+        lag, valid_blocks, status, version = ld.lateralDelayEstimate, ld.validBlocks, ld.status, ld.version
         assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
-        assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid"
+        assert status != log.LateralDelay.Status.invalid, "Lag estimate is invalid"
+        assert version == VERSION, f"Lag estimate is from a different version (got {version}, expected {VERSION})"
         return lag, valid_blocks
     except Exception as e:
       cloudlog.error(f"Failed to retrieve initial lag: {e}")
@@ -364,13 +390,13 @@ def main():
 
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
 
-  pm = messaging.PubMaster(['liveDelay'])
-  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose')
+  pm = messaging.PubMaster(['lateralDelay'])
+  sm = messaging.SubMaster(['deviceMotion', 'extrinsicsCalibration', 'carState', 'controlsState', 'carControl'], poll='deviceMotion')
 
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['deviceMotion'].frequency)
   if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None:
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)
@@ -386,15 +412,15 @@ def main():
           lag_learner.handle_log(t, which, sm[which])
       lag_learner.update_points()
 
-    # 4Hz driven by livePose
+    # 4Hz driven by deviceMotion
     if sm.frame % 5 == 0:
       lag_learner.update_estimate()
       lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG)
       lag_msg_dat = lag_msg.to_bytes()
-      pm.send('liveDelay', lag_msg_dat)
+      pm.send('lateralDelay', lag_msg_dat)
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
-        params.put_nonblocking("LiveDelay", lag_msg_dat)
+        params.put("LiveDelay", lag_msg_dat)
 
       if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
         lagd_toggle.update(lag_msg)
diff --git a/selfdrive/locationd/locationd.py b/openpilot/selfdrive/locationd/locationd.py
similarity index 86%
rename from selfdrive/locationd/locationd.py
rename to openpilot/selfdrive/locationd/locationd.py
index f6a0935ed9..9fbec991d5 100755
--- a/selfdrive/locationd/locationd.py
+++ b/openpilot/selfdrive/locationd/locationd.py
@@ -6,8 +6,8 @@ import numpy as np
 from enum import Enum
 from collections import defaultdict
 
-from cereal import log, messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log, messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.params import Params
@@ -28,6 +28,9 @@ INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
 INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20
+CAM_ODO_POSE_DELAY = 0.1 # dependent on the vision model context frames and temporal frequency (current model is 5 fps with 2 context frames)
+CAM_ODO_ROT_STD_MULT = 10
+CAM_ODO_TRANS_STD_MULT = 4
 
 
 def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
@@ -63,7 +66,7 @@ class LocationEstimator:
     self.observations = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
     self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
 
-  def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
+  def reset(self, t: float | None, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
     self.kf.init_state(x_initial, covs=P_initial, filter_time=t)
 
   def _validate_sensor_source(self, source: log.SensorEventData.SensorSource):
@@ -145,7 +148,7 @@ class LocationEstimator:
     elif which == "carState":
       self.car_speed = abs(msg.vEgo)
 
-    elif which == "liveCalibration":
+    elif which == "extrinsicsCalibration":
       # Note that we use this message during calibration
       if len(msg.rpyCalib) > 0:
         calib = np.array(msg.rpyCalib)
@@ -155,6 +158,8 @@ class LocationEstimator:
         self.device_from_calib = rot_from_euler(calib)
 
     elif which == "cameraOdometry":
+      # camera odometry is delayed depending on the model context frames and temporal frequency
+      t = msg.timestampEof * 1e-9 - CAM_ODO_POSE_DELAY
       if not self._validate_timestamp(t):
         return HandleLogResult.TIMING_INVALID
 
@@ -177,8 +182,8 @@ class LocationEstimator:
       self.posenet_stds[-1] = trans_calib_std[0]
 
       # Multiply by N to avoid to high certainty in kalman filter because of temporally correlated noise
-      rot_calib_std *= 10
-      trans_calib_std *= 2
+      rot_calib_std *= CAM_ODO_ROT_STD_MULT
+      trans_calib_std *= CAM_ODO_TRANS_STD_MULT
 
       rot_device_std = rotate_std(self.device_from_calib, rot_calib_std)
       trans_device_std = rotate_std(self.device_from_calib, trans_calib_std)
@@ -201,28 +206,30 @@ class LocationEstimator:
       self._finite_check(t, new_x, new_P)
     return HandleLogResult.SUCCESS
 
-  def get_msg(self, sensors_valid: bool, inputs_valid: bool, filter_valid: bool):
+  def get_msg(self, sensors_valid: bool, inputs_valid: bool, filter_initialized: bool):
     state, cov = self.kf.x, self.kf.P
     std = np.sqrt(np.diag(cov))
+    filter_time_valid = bool(np.isfinite(self.kf.t))
+    filter_valid = filter_initialized and filter_time_valid
 
     orientation_ned, orientation_ned_std = state[States.NED_ORIENTATION], std[States.NED_ORIENTATION]
     velocity_device, velocity_device_std = state[States.DEVICE_VELOCITY], std[States.DEVICE_VELOCITY]
     angular_velocity_device, angular_velocity_device_std = state[States.ANGULAR_VELOCITY], std[States.ANGULAR_VELOCITY]
     acceleration_device, acceleration_device_std = state[States.ACCELERATION], std[States.ACCELERATION]
 
-    msg = messaging.new_message("livePose")
+    msg = messaging.new_message("deviceMotion")
     msg.valid = filter_valid
 
-    livePose = msg.livePose
-    init_xyz_measurement(livePose.orientationNED, orientation_ned, orientation_ned_std, filter_valid)
-    init_xyz_measurement(livePose.velocityDevice, velocity_device, velocity_device_std, filter_valid)
-    init_xyz_measurement(livePose.angularVelocityDevice, angular_velocity_device, angular_velocity_device_std, filter_valid)
-    init_xyz_measurement(livePose.accelerationDevice, acceleration_device, acceleration_device_std, filter_valid)
+    deviceMotion = msg.deviceMotion
+    init_xyz_measurement(deviceMotion.orientationNED, orientation_ned, orientation_ned_std, filter_valid)
+    init_xyz_measurement(deviceMotion.velocityDevice, velocity_device, velocity_device_std, filter_valid)
+    init_xyz_measurement(deviceMotion.angularVelocityDevice, angular_velocity_device, angular_velocity_device_std, filter_valid)
+    init_xyz_measurement(deviceMotion.accelerationDevice, acceleration_device, acceleration_device_std, filter_valid)
     if self.debug:
-      livePose.debugFilterState.value = state.tolist()
-      livePose.debugFilterState.std = std.tolist()
-      livePose.debugFilterState.valid = filter_valid
-      livePose.debugFilterState.observations = [
+      deviceMotion.debugFilterState.value = state.tolist()
+      deviceMotion.debugFilterState.std = std.tolist()
+      deviceMotion.debugFilterState.valid = filter_valid
+      deviceMotion.debugFilterState.observations = [
         {'kind': k, 'value': self.observations[k].tolist(), 'error': self.observation_errors[k].tolist()}
         for k in self.observations.keys()
       ]
@@ -231,9 +238,10 @@ class LocationEstimator:
     new_mean = np.mean(self.posenet_stds[POSENET_STD_HIST_HALF:])
     std_spike = (new_mean / old_mean) > 4.0 and new_mean > 7.0
 
-    livePose.inputsOK = inputs_valid
-    livePose.posenetOK = not std_spike or self.car_speed <= 5.0
-    livePose.sensorsOK = sensors_valid
+    deviceMotion.inputsOK = inputs_valid
+    deviceMotion.posenetOK = not std_spike or self.car_speed <= 5.0
+    deviceMotion.sensorsOK = sensors_valid
+    deviceMotion.timestamp = int(np.nan_to_num(self.kf.t) * 1e9)
 
     return msg
 
@@ -259,8 +267,8 @@ def main():
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
   SIMULATION = bool(int(os.getenv("SIMULATION", "0")))
 
-  pm = messaging.PubMaster(['livePose'])
-  sm = messaging.SubMaster(['carState', 'liveCalibration', 'cameraOdometry'], poll='cameraOdometry')
+  pm = messaging.PubMaster(['deviceMotion'])
+  sm = messaging.SubMaster(['carState', 'extrinsicsCalibration', 'cameraOdometry'], poll='cameraOdometry')
   # separate sensor sockets for efficiency
   sensor_sockets = [messaging.sub_sock(which, timeout=20) for which in ['accelerometer', 'gyroscope']]
   sensor_alive, sensor_valid, sensor_recv_time = defaultdict(bool), defaultdict(bool), defaultdict(float)
@@ -280,7 +288,7 @@ def main():
   initial_pose_data = params.get("LocationFilterInitialState")
   if initial_pose_data is not None:
     with log.Event.from_bytes(initial_pose_data) as lp_msg:
-      filter_state = lp_msg.livePose.debugFilterState
+      filter_state = lp_msg.deviceMotion.debugFilterState
       x_initial = np.array(filter_state.value, dtype=np.float64) if len(filter_state.value) != 0 else PoseKalman.initial_x
       P_initial = np.diag(np.array(filter_state.std, dtype=np.float64)) if len(filter_state.std) != 0 else PoseKalman.initial_P
       estimator.reset(None, x_initial, P_initial)
@@ -325,7 +333,7 @@ def main():
       sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
       msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
-      pm.send("livePose", msg)
+      pm.send("deviceMotion", msg)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/models/.gitignore b/openpilot/selfdrive/locationd/models/.gitignore
similarity index 100%
rename from selfdrive/locationd/models/.gitignore
rename to openpilot/selfdrive/locationd/models/.gitignore
diff --git a/selfdrive/locationd/__init__.py b/openpilot/selfdrive/locationd/models/__init__.py
similarity index 100%
rename from selfdrive/locationd/__init__.py
rename to openpilot/selfdrive/locationd/models/__init__.py
diff --git a/selfdrive/locationd/models/car_kf.py b/openpilot/selfdrive/locationd/models/car_kf.py
similarity index 100%
rename from selfdrive/locationd/models/car_kf.py
rename to openpilot/selfdrive/locationd/models/car_kf.py
diff --git a/selfdrive/locationd/models/constants.py b/openpilot/selfdrive/locationd/models/constants.py
similarity index 100%
rename from selfdrive/locationd/models/constants.py
rename to openpilot/selfdrive/locationd/models/constants.py
diff --git a/selfdrive/locationd/models/pose_kf.py b/openpilot/selfdrive/locationd/models/pose_kf.py
similarity index 97%
rename from selfdrive/locationd/models/pose_kf.py
rename to openpilot/selfdrive/locationd/models/pose_kf.py
index 020e51ad6e..a8ff80c713 100755
--- a/selfdrive/locationd/models/pose_kf.py
+++ b/openpilot/selfdrive/locationd/models/pose_kf.py
@@ -47,13 +47,13 @@ class PoseKalman(KalmanFilter):
   # process noise
   Q = np.diag([0.001**2, 0.001**2, 0.001**2,
                0.01**2, 0.01**2, 0.01**2,
-               0.1**2, 0.1**2, 0.1**2,
+               0.085**2, 0.085**2, 0.085**2,
                (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
                3**2, 3**2, 3**2,
                0.005**2, 0.005**2, 0.005**2])
 
   obs_noise = {ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
-               ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
+               ObservationKind.PHONE_ACCEL: np.diag([0.75**2, 0.75**2, 0.75**2]),
                ObservationKind.CAMERA_ODO_TRANSLATION: np.diag([0.5**2, 0.5**2, 0.5**2]),
                ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2])}
 
diff --git a/selfdrive/locationd/paramsd.py b/openpilot/selfdrive/locationd/paramsd.py
similarity index 75%
rename from selfdrive/locationd/paramsd.py
rename to openpilot/selfdrive/locationd/paramsd.py
index fd03d3d093..760176bc5c 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/openpilot/selfdrive/locationd/paramsd.py
@@ -3,8 +3,9 @@ import os
 import numpy as np
 import capnp
 
-import cereal.messaging as messaging
-from cereal import car, log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
@@ -64,9 +65,10 @@ class VehicleParamsLearner:
     self.avg_angle_offset = self.angle_offset
 
   def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
-    if which == 'livePose':
-      device_pose = Pose.from_live_pose(msg)
-      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+    if which == 'deviceMotion':
+      t = msg.timestamp * 1e-9
+      device_motion = Pose.from_device_motion(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_motion)
 
       yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
       yaw_rate_valid = msg.angularVelocityDevice.valid
@@ -77,7 +79,7 @@ class VehicleParamsLearner:
         yaw_rate, yaw_rate_std = 0.0, np.radians(10.0)
       self.observed_yaw_rate = yaw_rate
 
-      localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std
+      localizer_roll, localizer_roll_std = device_motion.orientation.x, device_motion.orientation.x_std
       localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std
       roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
       if roll_valid:
@@ -111,15 +113,15 @@ class VehicleParamsLearner:
         self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]]))
         self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]]))
 
-    elif which == 'liveCalibration':
-      self.calibrator.feed_live_calib(msg)
+    elif which == 'extrinsicsCalibration':
+      self.calibrator.feed_extrinsics_calibration(msg)
 
     elif which == 'carState':
       steering_angle = msg.steeringAngleDeg
 
       in_linear_region = abs(steering_angle) < 45
       self.observed_speed = msg.vEgo
-      self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region
+      self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region and msg.gearShifter != car.CarState.GearShifter.reverse
 
       if self.active:
         self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]]))
@@ -134,7 +136,7 @@ class VehicleParamsLearner:
     x = self.kf.x
     P = np.sqrt(self.kf.P.diagonal())
     if not np.all(np.isfinite(x)):
-      cloudlog.error("NaN in liveParameters estimate. Resetting to default values")
+      cloudlog.error("NaN in vehicleParameters estimate. Resetting to default values")
       self.reset(self.kf.t)
       x = self.kf.x
 
@@ -154,38 +156,38 @@ class VehicleParamsLearner:
     self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
     self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX)
 
-    msg = messaging.new_message('liveParameters')
+    msg = messaging.new_message('vehicleParameters')
 
     msg.valid = valid
 
-    liveParameters = msg.liveParameters
-    liveParameters.posenetValid = True
-    liveParameters.sensorValid = sensors_valid
-    liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
-    liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
-    liveParameters.roll = float(self.roll)
-    liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset)
-    liveParameters.angleOffsetDeg = float(self.angle_offset)
-    liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr
-    liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
-    liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid)
-    liveParameters.angleOffsetValid = bool(self.total_offset_valid)
-    liveParameters.valid = all((
-      liveParameters.angleOffsetAverageValid,
-      liveParameters.angleOffsetValid ,
+    vehicleParameters = msg.vehicleParameters
+    vehicleParameters.posenetValid = True
+    vehicleParameters.sensorValid = sensors_valid
+    vehicleParameters.steerRatio = float(x[States.STEER_RATIO].item())
+    vehicleParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
+    vehicleParameters.roll = float(self.roll)
+    vehicleParameters.angleOffsetAverageDeg = float(self.avg_angle_offset)
+    vehicleParameters.angleOffsetDeg = float(self.angle_offset)
+    vehicleParameters.steerRatioValid = self.min_sr <= vehicleParameters.steerRatio <= self.max_sr
+    vehicleParameters.stiffnessFactorValid = 0.2 <= vehicleParameters.stiffnessFactor <= 5.0
+    vehicleParameters.angleOffsetAverageValid = bool(self.avg_offset_valid)
+    vehicleParameters.angleOffsetValid = bool(self.total_offset_valid)
+    vehicleParameters.valid = all((
+      vehicleParameters.angleOffsetAverageValid,
+      vehicleParameters.angleOffsetValid ,
       self.roll_valid,
       roll_std < ROLL_STD_MAX,
-      liveParameters.stiffnessFactorValid,
-      liveParameters.steerRatioValid,
+      vehicleParameters.stiffnessFactorValid,
+      vehicleParameters.steerRatioValid,
     ))
-    liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
-    liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
-    liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())
-    liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item())
+    vehicleParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
+    vehicleParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
+    vehicleParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())
+    vehicleParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item())
     if debug:
-      liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message()
-      liveParameters.debugFilterState.value = x.tolist()
-      liveParameters.debugFilterState.std = P.tolist()
+      vehicleParameters.debugFilterState = log.VehicleParameters.FilterState.new_message()
+      vehicleParameters.debugFilterState.value = x.tolist()
+      vehicleParameters.debugFilterState.std = P.tolist()
 
     return msg
 
@@ -198,25 +200,6 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
   return current_valid
 
 
-# TODO: Remove this function after few releases (added in 0.9.9)
-def migrate_cached_vehicle_params_if_needed(params: Params):
-  last_parameters_data_old = params.get("LiveParameters")
-  last_parameters_data = params.get("LiveParametersV2")
-  if last_parameters_data_old is None or last_parameters_data is not None:
-    return
-
-  try:
-    last_parameters_msg = messaging.new_message('liveParameters')
-    last_parameters_msg.liveParameters.valid = True
-    last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
-    last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
-    last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
-    params.put("LiveParametersV2", last_parameters_msg.to_bytes())
-  except Exception as e:
-    cloudlog.error(f"Failed to perform parameter migration: {e}")
-    params.remove("LiveParameters")
-
-
 def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
   last_parameters_data = params.get("LiveParametersV2")
   last_carparams_data = params.get("CarParamsPrevRoute")
@@ -227,7 +210,7 @@ def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: b
   if last_parameters_data is not None and last_carparams_data is not None:
     try:
       with log.Event.from_bytes(last_parameters_data) as last_lp_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
-        lp = last_lp_msg.liveParameters
+        lp = last_lp_msg.vehicleParameters
         # Check if car model matches
         if last_CP.carFingerprint != CP.carFingerprint:
           raise Exception("Car model mismatch")
@@ -265,14 +248,12 @@ def main():
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
-  pm = messaging.PubMaster(['liveParameters'])
-  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
+  pm = messaging.PubMaster(['vehicleParameters'])
+  sm = messaging.SubMaster(['deviceMotion', 'extrinsicsCalibration', 'carState'], poll='deviceMotion')
 
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  migrate_cached_vehicle_params_if_needed(params)
-
   steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
@@ -284,14 +265,14 @@ def main():
           t = sm.logMonoTime[which] * 1e-9
           learner.handle_log(t, which, sm[which])
 
-    if sm.updated['livePose']:
+    if sm.updated['deviceMotion']:
       msg = learner.get_msg(sm.all_checks(), debug=DEBUG)
 
       msg_dat = msg.to_bytes()
       if sm.frame % 1200 == 0:  # once a minute
-        params.put_nonblocking("LiveParametersV2", msg_dat)
+        params.put("LiveParametersV2", msg_dat)
 
-      pm.send('liveParameters', msg_dat)
+      pm.send('vehicleParameters', msg_dat)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/models/__init__.py b/openpilot/selfdrive/locationd/test/__init__.py
similarity index 100%
rename from selfdrive/locationd/models/__init__.py
rename to openpilot/selfdrive/locationd/test/__init__.py
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/openpilot/selfdrive/locationd/test/test_calibrationd.py
similarity index 81%
rename from selfdrive/locationd/test/test_calibrationd.py
rename to openpilot/selfdrive/locationd/test/test_calibrationd.py
index df61b6a7c7..7afd43b35b 100644
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/openpilot/selfdrive/locationd/test/test_calibrationd.py
@@ -2,8 +2,9 @@ import random
 
 import numpy as np
 
-import cereal.messaging as messaging
-from cereal import log
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from openpilot.common.params import Params
 from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
                                                          MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT, MAX_ALLOWED_PITCH_SPREAD, MAX_ALLOWED_YAW_SPREAD
@@ -29,19 +30,19 @@ def process_messages(c, cam_odo_calib, cycles,
                         [0.0, 0.0, HEIGHT_INIT.item()],
                         [cam_odo_height_std, cam_odo_height_std, cam_odo_height_std])
 
-class TestCalibrationd:
+class TestCalibrationd(OpenpilotTestCase):
 
   def test_read_saved_params(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
-    msg.liveCalibration.height = [random.random() for _ in range(1)]
-    Params().put("CalibrationParams", msg.to_bytes())
+    msg = messaging.new_message('extrinsicsCalibration')
+    msg.extrinsicsCalibration.validBlocks = random.randint(1, 10)
+    msg.extrinsicsCalibration.rpyCalib = [random.random() for _ in range(3)]
+    msg.extrinsicsCalibration.height = [random.random() for _ in range(1)]
+    Params().put("CalibrationParams", msg.to_bytes(), block=True)
     c = Calibrator(param_put=True)
 
-    np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
-    np.testing.assert_allclose(msg.liveCalibration.height, c.height)
-    assert msg.liveCalibration.validBlocks == c.valid_blocks
+    np.testing.assert_allclose(msg.extrinsicsCalibration.rpyCalib, c.rpy)
+    np.testing.assert_allclose(msg.extrinsicsCalibration.height, c.height)
+    assert msg.extrinsicsCalibration.validBlocks == c.valid_blocks
 
 
   def test_calibration_basics(self):
@@ -91,7 +92,7 @@ class TestCalibrationd:
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0], atol=1e-3)
     process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*0.9, MAX_ALLOWED_YAW_SPREAD*0.9], BLOCK_SIZE + 10)
     assert c.valid_blocks == INPUTS_NEEDED + 1
-    assert c.cal_status == log.LiveCalibrationData.Status.calibrated
+    assert c.cal_status == log.ExtrinsicsCalibration.Status.calibrated
 
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
@@ -99,7 +100,7 @@ class TestCalibrationd:
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
     process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], BLOCK_SIZE + 10)
     assert c.valid_blocks == 1
-    assert c.cal_status == log.LiveCalibrationData.Status.recalibrating
+    assert c.cal_status == log.ExtrinsicsCalibration.Status.recalibrating
     np.testing.assert_allclose(c.rpy, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], atol=1e-2)
 
     c = Calibrator(param_put=False)
@@ -108,5 +109,5 @@ class TestCalibrationd:
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
     process_messages(c, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], BLOCK_SIZE + 10)
     assert c.valid_blocks == 1
-    assert c.cal_status == log.LiveCalibrationData.Status.recalibrating
+    assert c.cal_status == log.ExtrinsicsCalibration.Status.recalibrating
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], atol=1e-2)
diff --git a/openpilot/selfdrive/locationd/test/test_lagd.py b/openpilot/selfdrive/locationd/test/test_lagd.py
new file mode 100644
index 0000000000..0acc3e646f
--- /dev/null
+++ b/openpilot/selfdrive/locationd/test/test_lagd.py
@@ -0,0 +1,159 @@
+import random
+import numpy as np
+import time
+import unittest
+from functools import cache
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import messaging, log
+from opendbc.car.structs import car
+from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION, MIN_LAG, MAX_LAG
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
+from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.common.hardware import PC
+
+MAX_ERR_FRAMES = 1
+DT = 0.05
+LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES = int(round(MIN_LAG / DT)), int(round(MAX_LAG / DT))
+
+
+@cache
+def get_test_car_params():
+  lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+  return next(m for m in lr if m.which() == "carParams").carParams
+
+
+def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_threshold=0.0):
+  for i in range(n_frames):
+    t = i * estimator.dt
+    desired_la = np.cos(10 * t) * 0.3
+    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.3
+
+    # if sample is masked out, set it to desired value (no lag)
+    rejected = random.uniform(0, 1) < rejection_threshold
+    if rejected:
+      actual_la = desired_la
+
+    desired_cuvature = float(desired_la / (vego ** 2))
+    actual_yr = float(actual_la / vego)
+    msgs = [
+      (t, "carControl", car.CarControl(latActive=not rejected)),
+      (t, "carState", car.CarState(vEgo=vego, steeringPressed=False)),
+      (t, "controlsState", log.ControlsState(desiredCurvature=desired_cuvature)),
+      (t, "deviceMotion", log.DeviceMotion(angularVelocityDevice=log.DeviceMotion.XYZMeasurement(z=actual_yr, valid=True),
+                                   posenetOK=True, inputsOK=True)),
+      (t, "extrinsicsCalibration", log.ExtrinsicsCalibration(rpyCalib=[0, 0, 0], calStatus=log.ExtrinsicsCalibration.Status.calibrated)),
+    ]
+    for t, w, m in msgs:
+      estimator.handle_log(t, w, m)
+    estimator.update_points()
+    estimator.update_estimate()
+
+
+class TestLagd(OpenpilotTestCase):
+  def test_read_saved_params(self):
+    params = Params()
+
+    CP = get_test_car_params()
+
+    msg = messaging.new_message('lateralDelay')
+    msg.lateralDelay.lateralDelayEstimate = random.random()
+    msg.lateralDelay.validBlocks = random.randint(1, 10)
+    msg.lateralDelay.version = VERSION
+    params.put("LiveDelay", msg.to_bytes(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
+
+    saved_lag_params = retrieve_initial_lag(params, CP)
+    assert saved_lag_params is not None
+
+    lag, valid_blocks = saved_lag_params
+    assert lag == msg.lateralDelay.lateralDelayEstimate
+    assert valid_blocks == msg.lateralDelay.validBlocks
+
+  def test_read_invalid_saved_params(self, subtests):
+    params = Params()
+
+    CP = get_test_car_params()
+
+    for msg_dict in [{'version': 0}, {'status': 'invalid'}, {'validBlocks': 100}]:
+      with subtests.test(msg=f"lateralDelay={msg_dict}"):
+        msg = messaging.new_message('lateralDelay')
+        msg.lateralDelay = msg_dict
+        params.put("LiveDelay", msg.to_bytes(), block=True)
+        params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
+        assert retrieve_initial_lag(params, CP) is None
+
+  def test_ncc(self):
+    rng = np.random.default_rng()
+    lag_frames = random.randint(1, 19)
+
+    desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
+    actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1)
+    mask = np.ones(len(desired_sig), dtype=bool)
+
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) == lag_frames
+
+    # add some noise
+    desired_sig += rng.normal(0, 0.05, len(desired_sig))
+    actual_sig += rng.normal(0, 0.05, len(actual_sig))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+    # mask out 40% of the values, and make them noise
+    mask = rng.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
+    desired_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
+    actual_sig[~mask] = rng.normal(0, 1, size=np.sum(~mask))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+  def test_empty_estimator(self):
+    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+    msg = estimator.get_msg(True)
+    assert msg.lateralDelay.status == 'unestimated'
+    assert np.allclose(msg.lateralDelay.lateralDelay, estimator.initial_lag)
+    assert np.allclose(msg.lateralDelay.lateralDelayEstimate, estimator.initial_lag)
+    assert msg.lateralDelay.validBlocks == 0
+    assert msg.lateralDelay.calPerc == 0
+
+  def test_estimator_basics(self, subtests):
+    for lag_frames in range(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1):
+      with subtests.test(msg=f"lag_frames={lag_frames}"):
+        mocked_CP = car.CarParams(steerActuatorDelay=0.5)
+        estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
+        process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
+        msg = estimator.get_msg(True)
+        assert msg.lateralDelay.status == 'estimated'
+        assert np.allclose(msg.lateralDelay.lateralDelay, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.lateralDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.lateralDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+        assert msg.lateralDelay.validBlocks == BLOCK_NUM_NEEDED
+        assert msg.lateralDelay.calPerc == 100
+
+  def test_estimator_masking(self):
+    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.5), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
+    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
+    process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
+    msg = estimator.get_msg(True)
+    assert np.allclose(msg.lateralDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+    assert np.allclose(msg.lateralDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+    assert msg.lateralDelay.calPerc == 100
+
+  @unittest.skipIf(PC, "only on device")
+  def test_estimator_performance(self):
+    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+
+    ds = []
+    for _ in range(1000):
+      st = time.perf_counter()
+      estimator.update_points()
+      estimator.update_estimate()
+      d = time.perf_counter() - st
+      ds.append(d)
+
+    assert np.mean(ds) < DT
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
similarity index 84%
rename from selfdrive/locationd/test/test_locationd_scenarios.py
rename to openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
index 0ea7ac183f..01fc3f1177 100644
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -1,8 +1,13 @@
+import fcntl
 import numpy as np
+import os
+import tempfile
 from collections import defaultdict
 from enum import Enum
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.locationd.lagd import masked_symmetric_moving_average
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
 
@@ -15,6 +20,7 @@ SELECT_COMPARE_FIELDS = {
   'inputs_flag': ['inputsOK'],
   'sensors_flag': ['sensorsOK'],
 }
+SMOOTH_FIELDS = ['yaw_rate', 'roll']
 JUNK_IDX = 100
 CONSISTENT_SPIKES_COUNT = 10
 
@@ -32,18 +38,22 @@ class Scenario(Enum):
 
 
 def get_select_fields_data(logs):
+  def sig_smooth(signal):
+    return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
   def get_nested_keys(msg, keys):
-    val = None
+    val = msg
     for key in keys:
-      val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
+      val = getattr(val, key) if isinstance(key, str) else val[key]
     return val
-  lp = [x.livePose for x in logs if x.which() == 'livePose']
+  lp = [x.deviceMotion for x in logs if x.which() == 'deviceMotion']
   data = defaultdict(list)
   for msg in lp:
     for key, fields in SELECT_COMPARE_FIELDS.items():
       data[key].append(get_nested_keys(msg, fields))
   for key in data:
     data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
+    if key in SMOOTH_FIELDS:
+      data[key] = sig_smooth(data[key])
   return data
 
 
@@ -90,7 +100,7 @@ def run_scenarios(scenario, logs):
   return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
 
 
-class TestLocationdScenarios:
+class TestLocationdScenarios(OpenpilotTestCase):
   """
   Test locationd with different scenarios. In all these scenarios, we expect the following:
     - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK)
@@ -99,7 +109,20 @@ class TestLocationdScenarios:
 
   @classmethod
   def setup_class(cls):
-    cls.logs = migrate_all(LogReader(TEST_ROUTE))
+    # xdist can initialize this class in several workers at once. URLFile's
+    # cache writes are atomic, but cache misses are not locked, so every worker
+    # otherwise downloads the same route concurrently.
+    lock_path = os.path.join(tempfile.gettempdir(), "openpilot-locationd-scenarios.lock")
+    ready_path = f"{lock_path}.ready"
+    logs = None
+    with open(lock_path, "w") as lock:
+      fcntl.flock(lock, fcntl.LOCK_EX)
+      if not os.path.exists(ready_path):
+        logs = list(LogReader(TEST_ROUTE))
+        open(ready_path, "w").close()
+    if logs is None:
+      logs = list(LogReader(TEST_ROUTE))
+    cls.logs = migrate_all(logs)
 
   def test_base(self):
     """
@@ -110,7 +133,7 @@ class TestLocationdScenarios:
     """
     orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
 
   def test_gyro_off(self):
     """
@@ -135,7 +158,7 @@ class TestLocationdScenarios:
     """
     orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
     assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
     assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
 
@@ -169,7 +192,7 @@ class TestLocationdScenarios:
     """
     orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
     assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
 
   def test_single_timing_spike(self):
     """
diff --git a/openpilot/selfdrive/locationd/test/test_paramsd.py b/openpilot/selfdrive/locationd/test/test_paramsd.py
new file mode 100644
index 0000000000..515c7a814a
--- /dev/null
+++ b/openpilot/selfdrive/locationd/test/test_paramsd.py
@@ -0,0 +1,39 @@
+import random
+import numpy as np
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import messaging
+from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params
+from openpilot.selfdrive.locationd.models.car_kf import CarKalman
+from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+
+
+def get_random_vehicle_parameters(CP):
+  msg = messaging.new_message("vehicleParameters")
+  msg.vehicleParameters.steerRatio = (random.random() + 0.5) * CP.steerRatio
+  msg.vehicleParameters.stiffnessFactor = random.random()
+  msg.vehicleParameters.angleOffsetAverageDeg = random.random()
+  msg.vehicleParameters.debugFilterState.std = [random.random() for _ in range(CarKalman.P_initial.shape[0])]
+  return msg
+
+
+class TestParamsd(OpenpilotTestCase):
+  def test_read_saved_params(self):
+    params = Params()
+
+    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+    CP = next(m for m in lr if m.which() == "carParams").carParams
+
+    msg = get_random_vehicle_parameters(CP)
+    params.put("LiveParametersV2", msg.to_bytes(), block=True)
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
+
+    sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
+    np.testing.assert_allclose(sr, msg.vehicleParameters.steerRatio)
+    np.testing.assert_allclose(sf, msg.vehicleParameters.stiffnessFactor)
+    np.testing.assert_allclose(offset, msg.vehicleParameters.angleOffsetAverageDeg)
+    np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
+    np.testing.assert_allclose(np.diagonal(p_init), msg.vehicleParameters.debugFilterState.std)
diff --git a/openpilot/selfdrive/locationd/test/test_torqued.py b/openpilot/selfdrive/locationd/test/test_torqued.py
new file mode 100644
index 0000000000..3c5cb29bfc
--- /dev/null
+++ b/openpilot/selfdrive/locationd/test/test_torqued.py
@@ -0,0 +1,27 @@
+from opendbc.car.structs import car
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.selfdrive.locationd.torqued import TorqueEstimator
+
+
+class TestTorqued(OpenpilotTestCase):
+  def test_cal_percent(self):
+    est = TorqueEstimator(car.CarParams())
+    msg = est.get_msg()
+    assert msg.lateralTorqueParameters.calPerc == 0
+
+    for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
+                                    est.filtered_points.buckets_min_points.values(), strict=True):
+      for _ in range(int(min_pts)):
+        est.filtered_points.add_point((low + high) / 2.0, 0.0)
+
+    # enough bucket points, but not enough total points
+    msg = est.get_msg()
+    assert msg.lateralTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+
+    # add enough points to bucket with most capacity
+    key = list(est.filtered_points.buckets)[0]
+    for _ in range(est.min_points_total - len(est.filtered_points)):
+      est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
+
+    msg = est.get_msg()
+    assert msg.lateralTorqueParameters.calPerc == 100
diff --git a/selfdrive/locationd/torqued.py b/openpilot/selfdrive/locationd/torqued.py
similarity index 79%
rename from selfdrive/locationd/torqued.py
rename to openpilot/selfdrive/locationd/torqued.py
index 2140ee603c..1b5653510c 100755
--- a/selfdrive/locationd/torqued.py
+++ b/openpilot/selfdrive/locationd/torqued.py
@@ -3,8 +3,9 @@ import os
 import numpy as np
 from collections import deque, defaultdict
 
-import cereal.messaging as messaging
-from cereal import car, log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
@@ -61,14 +62,14 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
     self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
-      self.min_bucket_points = MIN_BUCKET_POINTS / 10
+      self.min_bucket_points: list[float] = (MIN_BUCKET_POINTS / 10).tolist()
       self.min_points_total = MIN_POINTS_TOTAL_QLOG
       self.fit_points = FIT_POINTS_TOTAL_QLOG
       self.factor_sanity = FACTOR_SANITY_QLOG
       self.friction_sanity = FRICTION_SANITY_QLOG
 
     else:
-      self.min_bucket_points = MIN_BUCKET_POINTS
+      self.min_bucket_points = MIN_BUCKET_POINTS.tolist()
       self.min_points_total = MIN_POINTS_TOTAL
       self.fit_points = FIT_POINTS_TOTAL
       self.factor_sanity = FACTOR_SANITY
@@ -109,19 +110,20 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
     if params_cache is not None and torque_cache is not None:
       try:
         with log.Event.from_bytes(torque_cache) as log_evt:
-          cache_ltp = log_evt.liveTorqueParameters
+          cache_ltp = log_evt.lateralTorqueParameters
         with car.CarParams.from_bytes(params_cache) as msg:
           cache_CP = msg
         if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION):
-          if cache_ltp.liveValid:
+          if cache_ltp.valid:
             initial_params = {
               'latAccelFactor': cache_ltp.latAccelFactorFiltered,
               'latAccelOffset': cache_ltp.latAccelOffsetFiltered,
               'frictionCoefficient': cache_ltp.frictionCoefficientFiltered
             }
-          initial_params['points'] = cache_ltp.points
+          cached_points: list[list[float]] = [list(point) for point in cache_ltp.points]
+          initial_params['points'] = cached_points
           self.decay = cache_ltp.decay
-          self.filtered_points.load_points(initial_params['points'])
+          self.filtered_points.load_points(cached_points)
           cloudlog.info("restored torque params from cache")
       except Exception:
         cloudlog.exception("failed to restore cached torque params")
@@ -160,7 +162,7 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
       _, spread = np.matmul(points[:, [0, 2]], slope2rot(slope)).T
       friction_coeff = np.std(spread) * FRICTION_FACTOR
     except np.linalg.LinAlgError as e:
-      cloudlog.exception(f"Error computing live torque params: {e}")
+      cloudlog.exception(f"Error computing lateral torque parameters: {e}")
       slope = offset = friction_coeff = np.nan
     return slope, offset, friction_coeff
 
@@ -182,19 +184,21 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
       # TODO: check if high aEgo affects resulting lateral accel
       self.raw_points["vego"].append(msg.vEgo)
       self.raw_points["steer_override"].append(msg.steeringPressed)
-    elif which == "liveCalibration":
-      self.calibrator.feed_live_calib(msg)
-    elif which == "liveDelay":
+    elif which == "extrinsicsCalibration":
+      self.calibrator.feed_extrinsics_calibration(msg)
+    elif which == "lateralDelay":
       self.lag = get_lat_delay(self.params, msg.lateralDelay)
     # calculate lateral accel from past steering torque
-    elif which == "livePose":
-      if len(self.raw_points['steer_torque']) == self.hist_len:
-        device_pose = Pose.from_live_pose(msg)
-        calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+    elif which == "deviceMotion":
+      is_valid = msg.angularVelocityDevice.valid and msg.orientationNED.valid and msg.inputsOK and msg.sensorsOK and msg.posenetOK
+      if len(self.raw_points['steer_torque']) == self.hist_len and is_valid:
+        t = msg.timestamp * 1e-9
+        device_motion = Pose.from_device_motion(msg)
+        calibrated_pose = self.calibrator.build_calibrated_pose(device_motion)
         angular_velocity_calibrated = calibrated_pose.angular_velocity
 
         yaw_rate = angular_velocity_calibrated.yaw
-        roll = device_pose.orientation.roll
+        roll = device_motion.orientation.roll
         # check lat active up to now (without lag compensation)
         lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
                                self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
@@ -211,40 +215,40 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
             self.all_torque_points.append([steer, lateral_acc])
 
   def get_msg(self, valid=True, with_points=False):
-    msg = messaging.new_message('liveTorqueParameters')
+    msg = messaging.new_message('lateralTorqueParameters')
     msg.valid = valid
-    liveTorqueParameters = msg.liveTorqueParameters
-    liveTorqueParameters.version = VERSION
-    liveTorqueParameters.useParams = self.use_params
+    lateralTorqueParameters = msg.lateralTorqueParameters
+    lateralTorqueParameters.version = VERSION
+    lateralTorqueParameters.useParams = self.use_params
 
     # Calculate raw estimates when possible, only update filters when enough points are gathered
     if self.filtered_points.is_calculable():
       latAccelFactor, latAccelOffset, frictionCoeff = self.estimate_params()
-      liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor)
-      liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset)
-      liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff)
+      lateralTorqueParameters.latAccelFactorRaw = float(latAccelFactor)
+      lateralTorqueParameters.latAccelOffsetRaw = float(latAccelOffset)
+      lateralTorqueParameters.frictionCoefficientRaw = float(frictionCoeff)
 
       if self.filtered_points.is_valid():
         if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]):
-          cloudlog.exception("Live torque parameters are invalid.")
-          liveTorqueParameters.liveValid = False
+          cloudlog.exception("Lateral torque parameters are invalid.")
+          lateralTorqueParameters.valid = False
           self.reset()
         else:
-          liveTorqueParameters.liveValid = True
+          lateralTorqueParameters.valid = True
           latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor)
           frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction)
           self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff})
 
     if with_points:
-      liveTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist()
+      lateralTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist()
 
-    liveTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x)
-    liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
-    liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
-    liveTorqueParameters.totalBucketPoints = len(self.filtered_points)
-    liveTorqueParameters.calPerc = self.filtered_points.get_valid_percent()
-    liveTorqueParameters.decay = self.decay
-    liveTorqueParameters.maxResets = self.resets
+    lateralTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x)
+    lateralTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
+    lateralTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
+    lateralTorqueParameters.totalBucketPoints = len(self.filtered_points)
+    lateralTorqueParameters.calPerc = self.filtered_points.get_valid_percent()
+    lateralTorqueParameters.decay = self.decay
+    lateralTorqueParameters.maxResets = self.resets
     return msg
 
 
@@ -253,8 +257,8 @@ def main(demo=False):
 
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
 
-  pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose')
+  pm = messaging.PubMaster(['lateralTorqueParameters'])
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'extrinsicsCalibration', 'deviceMotion', 'lateralDelay'], poll='deviceMotion')
 
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
@@ -269,14 +273,14 @@ def main(demo=False):
 
     TorqueEstimatorExt.update_use_params(estimator)
 
-    # 4Hz driven by livePose
+    # 4Hz driven by deviceMotion
     if sm.frame % 5 == 0:
-      pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks(), with_points=DEBUG))
+      pm.send('lateralTorqueParameters', estimator.get_msg(valid=sm.all_checks(), with_points=DEBUG))
 
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0:
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
-      params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
+      params.put("LiveTorqueParameters", msg.to_bytes())
 
 
 if __name__ == "__main__":
diff --git a/openpilot/selfdrive/modeld/SConscript b/openpilot/selfdrive/modeld/SConscript
new file mode 100644
index 0000000000..30b008078e
--- /dev/null
+++ b/openpilot/selfdrive/modeld/SConscript
@@ -0,0 +1,143 @@
+import glob
+import json
+import os
+import time
+from SCons.Script import Action, Value
+from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
+
+
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
+
+Import('env', 'arch')
+chunker_file = File("#openpilot/common/file_chunker.py")
+lenv = env.Clone()
+
+tinygrad_root = env.Dir("#").abspath
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
+                  if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
+
+def estimate_pickle_max_size(onnx_size):
+  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
+
+if arch == 'comma_arm64':
+  tg_backend = 'QCOM'
+  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
+else:
+  tg_backend = 'CPU'
+  tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'
+
+tg_devices = { # which device to put jit inputs to at runtime
+  'openpilot.selfdrive.modeld.modeld': {
+    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
+    'usbgpu': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
+  },
+  'openpilot.selfdrive.modeld.dmonitoringmodeld': {
+    'default': {'DEV': tg_backend}
+  },
+}
+
+USBGPU = usbgpu_present()
+if USBGPU:
+  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2'
+  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
+  usbgpu_lock = File("models/.usb_gpu.lock").abspath
+
+def write_tg_devices(target, source, env):
+  with open(str(target[0]), "w") as f:
+    json.dump(tg_devices, f)
+    f.write("\n")
+
+tg_devices_node = lenv.Command(
+  str(TG_INPUT_DEVICES_PATH),
+  [Value(tg_devices)],
+  write_tg_devices,
+)
+
+# tinygrad calls brew which needs a $HOME in the env
+mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
+
+modeld_dir = Dir("#openpilot/selfdrive/modeld").abspath
+compile_modeld_script = [
+  File(f"{modeld_dir}/compile_modeld.py"),
+  File(f"{modeld_dir}/get_model_metadata.py"),
+  File("#openpilot/system/camerad/cameras/nv12_info.py"),
+  File("#openpilot/common/hardware/hw.py"),
+]
+model_w, model_h = MEDMODEL_INPUT_SIZE
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+
+for usbgpu in [False, True] if USBGPU else [False]:
+  target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
+  # BIG_INTO_SMALL=1 builds the default target from the big model, e.g. to test it without a USB GPU
+  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
+  driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
+  camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
+        f'--model-size {model_w}x{model_h} '
+        f'--camera-resolutions {camera_res_args} '
+        f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} '
+        f'--output {target_pkl_path} --frame-skip {frame_skip}')
+  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
+  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
+  def do_compile(target, source, env, command=cmd, pkl=target_pkl_path, chunks=chunk_targets):
+    from openpilot.system.hardware.chestnut.flash import link_up
+    # chestnut can enumerate before its PCIe link is up due to varying 12V power behavior across cars
+    for _ in range(10):
+      if link_up():
+        break
+      time.sleep(1)
+    else:
+      print("Chestnut not ready, skipping big model build")
+      return
+    if ret := env.Execute(command):
+      return ret
+    chunk_file(pkl, chunks)
+  def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
+    chunk_file(pkl, chunks)
+  actions = Action(do_compile, "  [USBGPU] $TARGET") if usbgpu else [cmd, Action(do_chunk, "  [CHUNK] $TARGET")]
+  node = lenv.Command(
+    chunk_targets,
+    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
+    actions,
+  )
+  if usbgpu:
+    lenv.SideEffect(usbgpu_lock, node)
+
+# get model metadata
+fn = File(f"models/dmonitoring_model").abspath
+script_files = [File(Dir("#openpilot/selfdrive/modeld").File("get_model_metadata.py").abspath)]
+cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#openpilot/selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [tg_devices_node], cmd)
+
+dm_w, dm_h = DM_INPUT_SIZE
+compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
+for cam_w, cam_h in CAMERA_CONFIGS:
+  dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
+  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
+         f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
+         f'--output {dm_pkl_path}')
+  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)
+
+def tg_compile(flags, model_name):
+  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+  fn = File(f"models/{model_name}").abspath
+  pkl = fn + "_tinygrad.pkl"
+  onnx_path = fn + ".onnx"
+  chunk_targets = get_chunk_targets(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  def do_chunk(target, source, env):
+    chunk_file(pkl, chunk_targets)
+  return lenv.Command(
+    chunk_targets,
+    [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
+    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+     Action(do_chunk, "  [CHUNK] $TARGET")],
+  )
+
+tg_compile(tg_flags, 'dmonitoring_model')
diff --git a/selfdrive/locationd/test/__init__.py b/openpilot/selfdrive/modeld/__init__.py
similarity index 100%
rename from selfdrive/locationd/test/__init__.py
rename to openpilot/selfdrive/modeld/__init__.py
diff --git a/openpilot/selfdrive/modeld/compile_dm_warp.py b/openpilot/selfdrive/modeld/compile_dm_warp.py
new file mode 100755
index 0000000000..16e0d39fbb
--- /dev/null
+++ b/openpilot/selfdrive/modeld/compile_dm_warp.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+import time
+
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size
+
+
+def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
+  cam_w, cam_h, stride, _, _, _ = nv12
+  stride_pad = stride - cam_w
+
+  def warp_dm(input_frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT).realize()
+    return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
+                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=16).reshape(-1, dm_h * dm_w) # Y
+  return warp_dm
+
+
+def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
+  print(f"Compiling DM warp for {nv12.width}x{nv12.height} -> {dm_w}x{dm_h}...")
+
+  warp_dm_jit = TinyJit(make_warp_dm(nv12, dm_w, dm_h), prune=True)
+
+  for i in range(10):
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    M_inv = Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')
+    Device.default.synchronize()
+    st = time.perf_counter()
+    warp_dm_jit(frame, M_inv).realize()
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  with open(pkl_path, "wb") as f:
+    pickle.dump(warp_dm_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+
+if __name__ == "__main__":
+  p = argparse.ArgumentParser()
+  p.add_argument('--camera-resolution', type=_parse_size, required=True, help='camera resolution WxH')
+  p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
+  p.add_argument('--output', required=True)
+  args = p.parse_args()
+
+  cam_w, cam_h = args.camera_resolution
+  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+  dm_w, dm_h = args.warp_to
+  compile_dm_warp(nv12, dm_w, dm_h, args.output)
diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
new file mode 100755
index 0000000000..2d27a41496
--- /dev/null
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -0,0 +1,319 @@
+#!/usr/bin/env python3
+import argparse
+import atexit
+import math
+import os
+import tempfile
+import time
+import shutil
+from functools import partial
+from collections import namedtuple
+
+import numpy as np
+
+from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
+
+def _patch_tinygrad_fetch_fw():
+  import hashlib
+  import pathlib
+  import zstandard
+  from tinygrad import helpers
+  _orig = helpers.fetch_fw
+  def fetch_fw(path, name, sha256):
+    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
+    if p.is_file():
+      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
+    return _orig(path, name, sha256)
+  helpers.fetch_fw = fetch_fw
+_patch_tinygrad_fetch_fw()
+
+
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import Context
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+
+NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
+WARP_INPUTS = ['tfm', 'big_tfm']
+POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
+
+UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
+UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
+
+WARP_DEV = os.getenv('WARP_DEV')
+
+
+def make_random_images(keys, shape, device=None):
+  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
+
+
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
+  w_dst, h_dst = dst_shape
+  h_src, w_src = src_shape
+
+  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
+
+  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
+  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
+  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
+  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
+
+  src_x = src_x / src_w
+  src_y = src_y / src_w
+
+  x_round = Tensor.round(src_x)
+  y_round = Tensor.round(src_y)
+  x_nn_clipped = x_round.clip(0, w_src - 1).cast('int')
+  y_nn_clipped = y_round.clip(0, h_src - 1).cast('int')
+  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
+  sampled = src_flat[idx]
+
+  if border_fill_val is None:
+    return sampled
+
+  in_bounds = ((x_round >= 0) & (x_round <= w_src - 1) &
+               (y_round >= 0) & (y_round <= h_src - 1)).cast(sampled.dtype)
+  return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds)
+
+
+def frames_to_tensor(frames):
+  H = (frames.shape[0] * 2) // 3
+  W = frames.shape[1]
+  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
+                       frames[1:H:2, 0::2],
+                       frames[0:H:2, 1::2],
+                       frames[1:H:2, 1::2],
+                       frames[H:H+H//4].reshape((H//2, W//2)),
+                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
+  return in_img1
+
+
+def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
+  cam_w, cam_h, stride, y_height, uv_height, _ = nv12
+  uv_offset = stride * y_height
+  stride_pad = stride - cam_w
+
+  def frame_prepare_tinygrad(input_frame, M_inv):
+    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
+    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
+    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
+    with Context(SPLIT_REDUCEOP=0):
+      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
+                                    M_inv, (model_w, model_h),
+                                    (cam_h, cam_w), stride_pad).realize()
+      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
+    tensor = frames_to_tensor(yuv)
+    return tensor
+  return frame_prepare_tinygrad
+
+
+def make_warp_input_queues(vision_input_shapes, frame_skip, device):
+  img = vision_input_shapes['img']  # (1, 12, 128, 256)
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+
+  npy = {
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
+  }
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
+  return input_queues, npy
+
+
+def get_policy_npy_shapes(input_shapes):
+  dp = input_shapes['desire_pulse']  # (1, 25, 8)
+  tc = input_shapes['traffic_convention']  # (1, 2)
+  at = input_shapes['action_t']  # (1, 2)
+  fb = input_shapes['features_buffer']  # (1, 24, 512)
+  # TODO prev_feat shouldn't exist and be handled inside the JIT, but corrupt on QCOM for now
+  shapes = {'desire': (dp[2],), 'traffic_convention': tuple(tc), 'action_t': tuple(at), 'prev_feat': (fb[0], fb[2])}
+  return shapes, [math.prod(s) for s in shapes.values()]
+
+
+def make_input_queues(input_shapes, frame_skip, device):
+  input_queues, npy = make_warp_input_queues(input_shapes, frame_skip, device)
+
+  fb = input_shapes['features_buffer']  # (1, 24, 512), past features only; the model appends the current frame's feature
+  dp = input_shapes['desire_pulse']  # (1, 25, 8)
+
+  shapes, sizes = get_policy_npy_shapes(input_shapes)
+  packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+  # views into the packed inputs, to be refilled at runtime
+  npy.update({k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed_npy_inputs, np.cumsum(sizes[:-1])), strict=True)})
+  input_queues.update({
+    'feat_q': Tensor(np.zeros((frame_skip * fb[1], fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
+    'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+  })
+  return input_queues, npy
+
+
+def shift_and_sample(buf, new_val, sample_fn):
+  buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
+  return sample_fn(buf)
+
+
+def sample_skip(buf, frame_skip):
+  return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
+
+
+def sample_desire(buf, frame_skip):
+  return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
+
+
+def make_warp(nv12, model_w, model_h, frame_skip):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+
+  def warp(tfm, big_tfm, frame, big_frame):
+    tfm = tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(WARP_DEV)
+    Tensor.realize(tfm, big_tfm)
+
+    warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
+    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
+    return Tensor.cat(warped_frame, warped_big_frame)
+
+  return warp
+
+
+def make_run_policy(model_runner, model_metadata, frame_skip):
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  npy_shapes, npy_sizes = get_policy_npy_shapes(model_metadata['input_shapes'])
+
+  def run_policy(warped, img_q, big_img_q, feat_q, desire_q, packed_npy_inputs):
+    packed_npy_inputs = packed_npy_inputs.to(Device.DEFAULT)
+    warped = warped.to(Device.DEFAULT)
+    Tensor.realize(packed_npy_inputs, warped)
+
+    img = shift_and_sample(img_q, warped[0:1], sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped[1:2], sample_skip_fn)
+
+    desire, traffic_convention, action_t, prev_feat = (t.reshape(s) for t, s in zip(packed_npy_inputs.split(npy_sizes), npy_shapes.values(), strict=True))
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+    feat_buf = shift_and_sample(feat_q, prev_feat.reshape(1, 1, -1), sample_skip_fn)
+
+    inputs = {
+      'img': img,
+      'big_img': big_img,
+      'features_buffer': feat_buf,
+      'desire_pulse': desire_buf,
+      'traffic_convention': traffic_convention,
+      'action_t': action_t,
+    }
+    out = next(iter(model_runner(inputs).values())).cast('float32')
+    return out,
+  return run_policy
+
+
+def compile_jit(jit, make_random_inputs, input_keys, make_queues):
+  SEED = 42
+  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_queues(Device.DEFAULT)
+    rng = np.random.default_rng(seed)
+    Tensor.manual_seed(seed)
+
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
+    for i in range(n_runs):
+      for v in npy.values():
+        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
+      Device.default.synchronize()
+      random_inputs = make_random_inputs()
+      st = time.perf_counter()
+      outs = fn(**{k: input_queues[k] for k in input_keys}, **random_inputs)
+      mt = time.perf_counter()
+      Device.default.synchronize()
+      et = time.perf_counter()
+      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+      if i == 0:
+        val = [np.copy(v.numpy()) for v in outs]
+        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+
+    if test_val is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    if test_buffers is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    return val, buffers
+
+  print('capture + replay')
+  test_val, test_buffers = random_inputs_run(jit, SEED)
+  print('pickle round trip')
+  with tempfile.TemporaryFile(dir=".") as f:
+    dump_oob(jit, f)
+    f.seek(0)
+    jit = load_oob(f)
+  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return jit
+
+
+def _parse_size(s):
+  w, h = s.lower().split('x')
+  return int(w), int(h)
+
+
+def read_file_chunked_to_disk(path):
+  from openpilot.common.file_chunker import open_file_chunked
+  tmp_path = f'{path}.unchunked'
+  with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
+    shutil.copyfileobj(src, f)
+  atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
+  return tmp_path
+
+
+if __name__ == "__main__":
+  from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+  p = argparse.ArgumentParser()
+  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
+                 help='camera resolutions WxH (one or more)')
+  p.add_argument('--onnx', required=True)
+  p.add_argument('--output', required=True)
+  p.add_argument('--frame-skip', type=int, required=True)
+  args = p.parse_args()
+
+  model_path = read_file_chunked_to_disk(args.onnx)
+  model_w, model_h = args.model_size
+
+  model_runner = OnnxRunner(model_path)
+  out = {'metadata': make_metadata_dict(model_path)}
+
+  run_policy_jit = TinyJit(make_run_policy(model_runner, out['metadata'], args.frame_skip), prune=True)
+
+  make_policy_queues = partial(make_input_queues, out['metadata']['input_shapes'], args.frame_skip)
+  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, *out['metadata']['input_shapes']['img'][2:]), device=WARP_DEV)
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
+                                  make_policy_queues)
+
+  for cam_w, cam_h in args.camera_resolutions:
+    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
+    warp = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    make_warp_queues = partial(make_warp_input_queues, out['metadata']['input_shapes'], args.frame_skip)
+    out[(cam_w,cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
+
+  with open(args.output, "wb") as f:
+    dump_oob(out, f)
+  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
diff --git a/selfdrive/modeld/constants.py b/openpilot/selfdrive/modeld/constants.py
similarity index 99%
rename from selfdrive/modeld/constants.py
rename to openpilot/selfdrive/modeld/constants.py
index ff7e1d8600..0fb09262d0 100644
--- a/selfdrive/modeld/constants.py
+++ b/openpilot/selfdrive/modeld/constants.py
@@ -38,6 +38,7 @@ class ModelConstants:
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
+  ACTION_WIDTH = 2
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
   DESIRED_CURV_WIDTH = 1
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
similarity index 70%
rename from selfdrive/modeld/dmonitoringmodeld.py
rename to openpilot/selfdrive/modeld/dmonitoringmodeld.py
index 7177998571..67161c35bd 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,63 +1,65 @@
 #!/usr/bin/env python3
 import os
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
 from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
 import time
 import pickle
 import numpy as np
-from pathlib import Path
 
-from cereal import messaging
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal import messaging
+from openpilot.cereal.messaging import PubMaster, SubMaster
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
-from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
 
-PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
+PROCESS_NAME = "openpilot.selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
+MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
+METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
 
 
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
 
-  def __init__(self, cl_ctx):
+  def __init__(self, cam_w: int, cam_h: int):
+    self.DEV = get_tg_input_devices(PROCESS_NAME, usbgpu=False)['DEV']
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']
       self.output_slices = model_metadata['output_slices']
 
-    self.frame = MonitoringModelFrame(cl_ctx)
     self.numpy_inputs = {
       'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32),
     }
 
+    self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
+    self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
+    self.frame_buf_params = get_nv12_info(cam_w, cam_h)
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-    with open(MODEL_PKL_PATH, "rb") as f:
-      self.model_run = pickle.load(f)
+    self._blob_cache : dict[int, Tensor] = {}
+    self.model_run = pickle.load(open_file_chunked(str(MODEL_PKL_PATH)))
+    with open(MODELS_DIR / f'dm_warp_{cam_w}x{cam_h}_tinygrad.pkl', "rb") as f:
+      self.image_warp = pickle.load(f)
 
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
 
-    input_img_cl = self.frame.prepare(buf, transform.flatten())
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      if 'input_img' not in self.tensor_inputs:
-        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8)
-    else:
-      self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize()
+    ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
+    # There is a ringbuffer of imgs, just cache tensors pointing to all of them
+    if ptr not in self._blob_cache:
+      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8', device=self.DEV)
 
+    self.warp_inputs_np['transform'][:] = transform[:]
+    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform'])
 
     output = self.model_run(**self.tensor_inputs).numpy().flatten()
 
@@ -74,7 +76,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob', 'sleep_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -90,6 +92,7 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
   msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
+  msg.sleepProb = model_output[f'sleep_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
   msg = messaging.new_message('driverStateV2', valid=True)
@@ -107,18 +110,17 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
 def main():
   config_realtime_process(7, 5)
 
-  cl_context = CLContext()
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, dmonitoringmodeld starting")
-
-  cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
+  cloudlog.warning("connecting to cabin stream")
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_CABIN, True)
   while not vipc_client.connect(False):
     time.sleep(0.1)
   assert vipc_client.is_connected()
   cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
 
-  sm = SubMaster(["liveCalibration"])
+  model = ModelState(vipc_client.width, vipc_client.height)
+  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+
+  sm = SubMaster(["extrinsicsCalibration"])
   pm = PubMaster(["driverStateV2"])
 
   calib = np.zeros(model.numpy_inputs['calib'].size, dtype=np.float32)
@@ -134,8 +136,8 @@ def main():
       model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
 
     sm.update(0)
-    if sm.updated["liveCalibration"]:
-      calib[:] = np.array(sm["liveCalibration"].rpyCalib)
+    if sm.updated["extrinsicsCalibration"]:
+      calib[:] = np.array(sm["extrinsicsCalibration"].rpyCalib)
 
     t1 = time.perf_counter()
     model_output, gpu_execution_time = model.run(buf, calib, model_transform)
diff --git a/selfdrive/modeld/fill_model_msg.py b/openpilot/selfdrive/modeld/fill_model_msg.py
similarity index 89%
rename from selfdrive/modeld/fill_model_msg.py
rename to openpilot/selfdrive/modeld/fill_model_msg.py
index 7273745c7b..4d0069c878 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/openpilot/selfdrive/modeld/fill_model_msg.py
@@ -1,7 +1,7 @@
 import os
 import capnp
 import numpy as np
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
 from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 
@@ -56,26 +56,29 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
   builder.rightY = lane_lines[2].y[0]
   builder.rightProb = lane_line_probs[2]
 
-def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
+def fill_driving_model_data(msg: capnp._DynamicStructBuilder, modelv2_send: capnp._DynamicStructBuilder) -> None:
+  msg.valid = modelv2_send.valid
+  modelV2 = modelv2_send.modelV2
+  driving_model_data = msg.drivingModelData
+  driving_model_data.frameId = modelV2.frameId
+  driving_model_data.frameIdExtra = modelV2.frameIdExtra
+  driving_model_data.frameDropPerc = modelV2.frameDropPerc
+  driving_model_data.modelExecutionTime = modelV2.modelExecutionTime
+  driving_model_data.action = modelV2.action
+  driving_model_data.meta.laneChangeState = modelV2.meta.laneChangeState
+  driving_model_data.meta.laneChangeDirection = modelV2.meta.laneChangeDirection
+  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)
+  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, modelV2.position.x, modelV2.position.y, modelV2.position.z)
+
+def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
                    valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   frame_drop_perc = frame_drop * 100
-  extended_msg.valid = valid
-  base_msg.valid = valid
+  msg.valid = valid
 
-  driving_model_data = base_msg.drivingModelData
-
-  driving_model_data.frameId = vipc_frame_id
-  driving_model_data.frameIdExtra = vipc_frame_id_extra
-  driving_model_data.frameDropPerc = frame_drop_perc
-  driving_model_data.modelExecutionTime = model_execution_time
-
-  driving_model_data.action = action
-
-  modelV2 = extended_msg.modelV2
+  modelV2 = msg.modelV2
   modelV2.frameId = vipc_frame_id
   modelV2.frameIdExtra = vipc_frame_id_extra
   modelV2.frameAge = frame_age
@@ -90,9 +93,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
-  # poly path
-  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
-
   # action
   modelV2.action = action
 
@@ -107,8 +107,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
-  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)
-
   # road edges
   modelV2.init('roadEdges', 2)
   for i in range(2):
@@ -177,8 +175,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
     modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
 
 def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
-                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
-  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
+                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, extrinsics_calibration_seen: bool) -> None:
+  msg.valid = extrinsics_calibration_seen & (vipc_dropped_frames < 1)
   cameraOdometry = msg.cameraOdometry
 
   cameraOdometry.frameId = vipc_frame_id
diff --git a/openpilot/selfdrive/modeld/get_model_metadata.py b/openpilot/selfdrive/modeld/get_model_metadata.py
new file mode 100755
index 0000000000..e4c173957a
--- /dev/null
+++ b/openpilot/selfdrive/modeld/get_model_metadata.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+import sys
+import pathlib
+import codecs
+import pickle
+from typing import Any
+
+from tinygrad.nn.onnx import OnnxPBParser
+
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 7:
+          obj["graph"] = self._parse_GraphProto()
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
+def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]:
+  shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape)
+  name = value_info["name"]
+  return name, shape
+
+
+def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
+  for prop in model["metadata_props"]:
+    if prop["key"] == name:
+      return prop["value"]
+  return None
+
+
+def make_metadata_dict(model_path):
+  model = MetadataOnnxPBParser(model_path).parse()
+  output_slices = get_metadata_value_by_name(model, 'output_slices')
+  assert output_slices is not None, 'output_slices not found in metadata'
+  return {
+    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+    'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+    'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
+  }
+
+
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  with open(metadata_path, 'wb') as f:
+    pickle.dump(make_metadata_dict(model_path), f)
+  print(f'saved metadata to {metadata_path}')
diff --git a/openpilot/selfdrive/modeld/helpers.py b/openpilot/selfdrive/modeld/helpers.py
new file mode 100644
index 0000000000..37ab0b26d7
--- /dev/null
+++ b/openpilot/selfdrive/modeld/helpers.py
@@ -0,0 +1,60 @@
+import io
+import json
+import pickle
+import shutil
+import struct
+import tempfile
+from pathlib import Path
+
+from openpilot.common.file_chunker import get_manifest_path
+from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_USB_IDS, USB_DEVICES_PATH
+
+MODELS_DIR = Path(__file__).resolve().parent / 'models'
+TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
+
+
+def get_tg_input_devices(process_name: str, usbgpu: bool):
+  with open(TG_INPUT_DEVICES_PATH) as f:
+    return json.load(f)[process_name]['default' if not usbgpu else 'usbgpu']
+
+def modeld_pkl_path(usbgpu: bool):
+  prefix = 'big_' if usbgpu else ''
+  return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
+
+def dump_oob(obj, f):
+  with tempfile.TemporaryFile(dir=".") as tmp:
+    def buffer_callback(pb: pickle.PickleBuffer):
+      m = pb.raw()
+      tmp.write(struct.pack('<q', m.nbytes))
+      tmp.write(m)
+      pb.release() # keep peak ram at ~1 buffer
+    stream = io.BytesIO()
+    pickle.Pickler(stream, protocol=5, buffer_callback=buffer_callback).dump(obj)
+    opcodes = stream.getvalue()
+    f.write(struct.pack('<q', len(opcodes)))
+    f.write(opcodes)
+    tmp.seek(0)
+    shutil.copyfileobj(tmp, f)
+
+def load_oob(f):
+  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
+  def buffers():
+    while (h := f.read(8)):
+      pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
+      f.readinto(pb)
+      yield pb
+  return pickle.load(io.BytesIO(opcodes), buffers=buffers())
+
+def usbgpu_present() -> bool:
+  for d in USB_DEVICES_PATH.glob("*"):
+    try:
+      usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
+      product = (d / "product").read_text().strip()
+      if usb_id in CHESTNUT_USB_IDS and product == f"custom {CHESTNUT_FW_VERSION}-CLEAN":
+        return True
+    except Exception:
+      pass
+  return False
+
+def usbgpu_compiled() -> bool:
+  return Path(get_manifest_path(modeld_pkl_path(usbgpu=True))).is_file()
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
new file mode 100755
index 0000000000..790ae7b167
--- /dev/null
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -0,0 +1,456 @@
+#!/usr/bin/env python3
+from functools import cached_property
+import os
+os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+import struct
+import threading
+import time
+import numpy as np
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+from openpilot.cereal.messaging import PubMaster, SubMaster
+from openpilot.cereal.services import SERVICE_LIST
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
+from opendbc.car.car_helpers import get_demo_car_params
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import config_realtime_process, DT_MDL
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
+from openpilot.selfdrive.modeld.parse_model_outputs import Parser
+from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
+from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
+from openpilot.common.file_chunker import open_file_chunked
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, usbgpu_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
+
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
+
+PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+
+LAT_SMOOTH_SECONDS = 0.0
+LONG_SMOOTH_SECONDS = 0.3
+MIN_LAT_CONTROL_SPEED = 0.3
+BIG_MODEL_TIMEOUT = 60
+
+
+def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+  if 'action' not in model_output:
+    plan = model_output['plan'][0]
+    desired_accel = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                        plan[:,Plan.ACCELERATION][:,0],
+                                        ModelConstants.T_IDXS,
+                                        action_t=long_action_t)
+    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                                plan[:,Plan.ORIENTATION_RATE][:,2],
+                                                ModelConstants.T_IDXS,
+                                                v_ego,
+                                                lat_action_t)
+  else:
+    desired_accel = model_output['action'][0,1]
+    desired_curvature = model_output['action'][0,0] / (max(1.0, v_ego))**2
+  stop = should_stop(v_ego, desired_accel)
+  desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+  if v_ego > MIN_LAT_CONTROL_SPEED:
+    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+  else:
+    desired_curvature = prev_action.desiredCurvature
+
+  return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                desiredAcceleration=float(desired_accel),
+                                shouldStop=bool(stop))
+
+
+class ChestnutState:
+  # only modeld can access chestnut
+  def __init__(self, pm: PubMaster, big: bool):
+    self.pm = pm
+    self.big = big
+    self.valid = True
+    self.sends = 0
+    self.metrics = {}
+
+  @cached_property
+  def power_limit(self) -> int:
+    smu = Device["AMD"].iface.dev_impl.smu
+    return smu._send_msg(smu.smu_mod.PPSMC_MSG_GetPptLimit, 0, read_back_arg=True, timeout=100)
+
+  def send(self) -> None:
+    msg = messaging.new_message('chestnutState')
+    state = msg.chestnutState
+    self.sends += 1
+    if self.big and "AMD" in Device._opened_devices and self.sends % 100 == 1:
+      try:
+        smu = Device["AMD"].iface.dev_impl.smu
+        smu._send_msg(smu.smu_mod.PPSMC_MSG_TransferTableSmu2Dram, smu.smu_mod.TABLE_SMU_METRICS, timeout=100)
+        metrics = smu.read_table(smu.smu_mod.SmuMetricsExternal_t, smu.smu_mod.TABLE_SMU_METRICS).SmuMetrics
+        self.metrics = {'tempC': metrics.AvgTemperature[smu.smu_mod.TEMP_HOTSPOT],
+                        'memoryTempC': metrics.AvgTemperature[smu.smu_mod.TEMP_MEM],
+                        'powerDrawW': metrics.AverageSocketPower,
+                        'powerLimitW': self.power_limit,
+                        'gpuUsagePercent': metrics.AverageGfxActivity,
+                        'gpuClockMhz': metrics.AverageGfxclkFrequencyPostDs,
+                        'fanSpeedRpm': metrics.AvgFanRpm}
+        self.valid = True
+      except Exception:
+        if self.valid:
+          cloudlog.exception("chestnut state read failed")
+        self.valid = False
+        self.metrics.clear()
+    if self.big:
+      for k, v in self.metrics.items():
+        setattr(state, k, v)
+
+    asm_valid = False
+    if "AMD" in Device._opened_devices:
+      try:
+        # ASM runs on USB-C power, these still read without a gpu
+        asm = Device["AMD"].iface.pci_dev.usb
+        state.pcieLtssm = asm.read(0xB450, 1)[0]
+        state.supplyVoltage, state.supplyCurrent = struct.unpack('<Hh', bytes(asm.usb.control_read(0xC0, 5))[:4])
+        asm_valid = True
+      except Exception:
+        pass
+
+    msg.valid = asm_valid and (not self.big or self.valid)
+    self.pm.send('chestnutState', msg)
+
+
+class FrameMeta:
+  frame_id: int = 0
+  timestamp_sof: int = 0
+  timestamp_eof: int = 0
+
+  def __init__(self, vipc=None):
+    if vipc is not None:
+      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
+
+
+class ModelState(ModelStateBase):
+  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+
+  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
+    ModelStateBase.__init__(self)
+    input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
+    self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
+    jits = load_oob(open_file_chunked(modeld_pkl_path(usbgpu)))
+    metadata = jits['metadata']
+    self.input_shapes = metadata['input_shapes']
+    self.vision_input_names = [k for k in self.input_shapes if 'img' in k]
+    self.output_slices = metadata['output_slices']
+
+    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    self.usbgpu = usbgpu
+
+    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
+    self.full_frames: dict[str, Tensor] = {}
+    self._blob_cache: dict[tuple[str, int], Tensor] = {}
+    self.parser = Parser()
+    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
+    self.run_policy = jits['run_policy']
+    self.warp = jits[(cam_w,cam_h)]
+
+  def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
+    return parsed_model_outputs
+
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
+          inputs: dict[str, np.ndarray]) -> dict[str, np.ndarray] | None:
+    for key in bufs.keys():
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      # There is a ringbuffer of imgs, just cache tensors pointing to all of them
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
+      self.full_frames[key] = self._blob_cache[cache_key]
+
+    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
+    inputs['desire_pulse'][0] = 0
+    self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.prev_desire[:] = inputs['desire_pulse']
+    self.npy['traffic_convention'][:] = inputs['traffic_convention']
+    self.npy['action_t'][:] = inputs['action_t']
+    self.npy['tfm'][:,:] = transforms['img'][:,:]
+    self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
+
+    warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+
+    outs, = self.run_policy(
+      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped
+    )
+    model_output = outs.numpy()[0]
+    if self.usbgpu and not np.all(np.isfinite(model_output)):
+      # TODO remove with prev_feat
+      cloudlog.error("model output not finite, dropping frame")
+      return None
+    outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))
+    self.npy['prev_feat'][:] = model_output[self.output_slices['hidden_state']]
+
+    if SEND_RAW_PRED:
+      outputs_dict['raw_pred'] = model_output.copy()
+    return outputs_dict
+
+  def warmup(self) -> None:
+    dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self.vision_input_names}
+    eye = np.eye(3, dtype=np.float32)
+    dims = {'desire_pulse': ModelConstants.DESIRE_LEN, 'traffic_convention': 2, 'action_t': 2}
+    self.run(dummy_frames, dict.fromkeys(self.vision_input_names, eye), {k: np.zeros(v, dtype=np.float32) for k, v in dims.items()})
+    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
+    self.prev_desire[:] = 0
+    self.full_frames.clear()
+    self._blob_cache.clear()
+
+
+def main(demo=False):
+  cloudlog.warning("modeld init")
+
+  USBGPU = usbgpu_present() and usbgpu_compiled()
+  if USBGPU:
+    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
+  params = Params()
+  params.put_bool("UsbGpuLoading", USBGPU)
+  params.remove("UsbGpuActive")
+
+  config_realtime_process(7, 54)
+
+  # visionipc clients
+  while True:
+    available_streams = VisionIpcClient.available_streams("camerad", block=False)
+    if available_streams:
+      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_NARROW_ROAD in available_streams
+      main_wide_camera = VisionStreamType.VISION_STREAM_NARROW_ROAD not in available_streams
+      break
+    time.sleep(.1)
+
+  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_NARROW_ROAD
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
+  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
+
+  while not vipc_client_main.connect(False):
+    time.sleep(0.1)
+  while use_extra_client and not vipc_client_extra.connect(False):
+    time.sleep(0.1)
+
+  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
+  if use_extra_client:
+    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
+
+  st = time.monotonic()
+  cloudlog.warning("loading model")
+  model = None
+  if USBGPU:
+    big_model = None
+    def load_big():
+      nonlocal big_model
+      try:
+        m = ModelState(vipc_client_main.width, vipc_client_main.height, True)
+        m.warmup()
+        big_model = m
+      except Exception:
+        cloudlog.exception("big model load failed")
+    loader = threading.Thread(target=load_big, daemon=True)
+    loader.start()
+    loader.join(BIG_MODEL_TIMEOUT)
+    model = big_model
+    params.put_bool("UsbGpuActive", model is not None)
+
+  small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or USBGPU else None
+  if model is None:
+    model = small_model
+  params.put_bool("UsbGpuLoading", False)
+  assert model is not None
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
+
+  # messaging
+  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
+  pm = PubMaster(pub_socks)
+  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
+
+  publish_state = PublishState()
+  params = Params()
+  chestnut_state = ChestnutState(pm, model.usbgpu) if USBGPU else None
+
+  # setup filter to track dropped frames
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
+  frame_id = 0
+  last_vipc_frame_id = 0
+  run_count = 0
+
+  model_transform_main = np.zeros((3, 3), dtype=np.float32)
+  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
+  extrinsics_calibration_seen = False
+  buf_main, buf_extra = None, None
+  meta_main = FrameMeta()
+  meta_extra = FrameMeta()
+
+  if demo:
+    CP = get_demo_car_params()
+  else:
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)
+
+  # TODO this needs more thought, use .2s extra for now to estimate other delays
+  # TODO Move smooth seconds to action function
+  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
+
+  DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController()
+
+  while True:
+    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
+    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+      buf_main = vipc_client_main.recv()
+      meta_main = FrameMeta(vipc_client_main)
+      if buf_main is None:
+        break
+
+    if buf_main is None:
+      cloudlog.debug("vipc_client_main no frame")
+      continue
+
+    if use_extra_client:
+      # Keep receiving extra frames until frame id matches main camera
+      while True:
+        buf_extra = vipc_client_extra.recv()
+        meta_extra = FrameMeta(vipc_client_extra)
+        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+          break
+
+      if buf_extra is None:
+        cloudlog.debug("vipc_client_extra no frame")
+        continue
+
+      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
+        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
+                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
+
+    else:
+      # Use single camera
+      buf_extra = buf_main
+      meta_extra = meta_main
+
+    sm.update(0)
+    desire = DH.desire
+    is_rhd = sm["driverMonitoringState"].isRHD
+    frame_id = sm["narrowRoadCameraState"].frameId
+    v_ego = max(sm["carState"].vEgo, 0.)
+    model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
+    lat_delay = sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
+      device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
+      main_intrinsics = dc.wide_road.intrinsics if main_wide_camera else dc.narrow_road.intrinsics
+      model_transform_main = get_warp_matrix(device_from_calib_euler, main_intrinsics, False).astype(np.float32)
+      has_wide_camera = use_extra_client or main_wide_camera
+      extra_intrinsics = dc.wide_road.intrinsics if has_wide_camera else dc.narrow_road.intrinsics
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, extra_intrinsics, True).astype(np.float32)
+      extrinsics_calibration_seen = True
+
+    traffic_convention = np.zeros(2)
+    traffic_convention[int(is_rhd)] = 1
+
+    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
+      vec_desire[desire] = 1
+
+    # tracked dropped frames
+    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
+    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
+    if run_count < 10: # let frame drops warm up
+      frame_dropped_filter.x = 0.
+      frames_dropped = 0.
+    run_count = run_count + 1
+
+    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
+
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
+    frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+    action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+    lat_action_t = lat_delay + frame_delay + action_delay
+    long_action_t = long_delay + frame_delay + action_delay
+    inputs: dict[str, np.ndarray] = {
+      'desire_pulse': vec_desire,
+      'traffic_convention': traffic_convention,
+      'action_t': np.array([lat_action_t, long_action_t], dtype=np.float32),
+    }
+
+    mt1 = time.perf_counter()
+    try:
+      model_output = model.run(bufs, transforms, inputs)
+    except Exception:
+      if not params.get_bool("UsbGpuActive"):
+        raise
+      # fallback to small model
+      cloudlog.exception("big model failed, fall back to small")
+      params.put_bool("UsbGpuActive", False)
+      assert small_model is not None
+      model = small_model
+      if chestnut_state is not None:
+        chestnut_state.big = False
+      run_count = 0
+      model_output = None
+    mt2 = time.perf_counter()
+    model_execution_time = mt2 - mt1
+
+    if model_output is not None:
+      modelv2_send = messaging.new_message('modelV2')
+      drivingdata_send = messaging.new_message('drivingModelData')
+      posenet_send = messaging.new_message('cameraOdometry')
+
+      action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
+      prev_action = action
+      fill_model_msg(modelv2_send, model_output, action,
+                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, extrinsics_calibration_seen)
+      modelv2_send.modelV2.big = model.usbgpu
+
+      desire_state = modelv2_send.modelV2.meta.desireState
+      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
+      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
+      lane_change_prob = l_lane_change_prob + r_lane_change_prob
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
+      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
+      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
+
+      fill_driving_model_data(drivingdata_send, modelv2_send)
+      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, extrinsics_calibration_seen)
+      pm.send('modelV2', modelv2_send)
+      pm.send('drivingModelData', drivingdata_send)
+      pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
+    last_vipc_frame_id = meta_main.frame_id
+
+    if chestnut_state is not None and run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
+      chestnut_state.send()
+
+
+if __name__ == "__main__":
+  try:
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
+    args = parser.parse_args()
+    main(demo=args.demo)
+  except KeyboardInterrupt:
+    cloudlog.warning("got SIGINT")
diff --git a/openpilot/selfdrive/modeld/models/README.md b/openpilot/selfdrive/modeld/models/README.md
new file mode 100644
index 0000000000..0055a0f1e3
--- /dev/null
+++ b/openpilot/selfdrive/modeld/models/README.md
@@ -0,0 +1,2 @@
+## Neural networks in openpilot
+To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
diff --git a/selfdrive/modeld/__init__.py b/openpilot/selfdrive/modeld/models/__init__.py
similarity index 100%
rename from selfdrive/modeld/__init__.py
rename to openpilot/selfdrive/modeld/models/__init__.py
diff --git a/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx b/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
new file mode 100644
index 0000000000..a74573ca29
--- /dev/null
+++ b/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10926f2c0911821ca0e72439c1c3bf3ec11f0a08789aa14b7ee8f25379b2afa4
+size 1753235978
diff --git a/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx b/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
new file mode 100644
index 0000000000..1e592e2192
--- /dev/null
+++ b/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd299afabe7a3e0d04cbe2bd97fdb0c93bba8ad6d3cc3663a0e0ededaf243ac2
+size 7497335
diff --git a/openpilot/selfdrive/modeld/models/driving_supercombo.onnx b/openpilot/selfdrive/modeld/models/driving_supercombo.onnx
new file mode 100644
index 0000000000..f0672eab48
--- /dev/null
+++ b/openpilot/selfdrive/modeld/models/driving_supercombo.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659727c4d4839adc4992a254409a54259a8756a743f2d567bf5fdc6579f8009b
+size 60881999
diff --git a/selfdrive/modeld/parse_model_outputs.py b/openpilot/selfdrive/modeld/parse_model_outputs.py
similarity index 92%
rename from selfdrive/modeld/parse_model_outputs.py
rename to openpilot/selfdrive/modeld/parse_model_outputs.py
index 038f51ca9c..839c20f7cc 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/openpilot/selfdrive/modeld/parse_model_outputs.py
@@ -41,7 +41,7 @@ class Parser:
     raw = outs[name]
     outs[name] = sigmoid(raw)
 
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=()):
     if self.check_missing(outs, name):
       return
     raw = outs[name]
@@ -110,9 +110,7 @@ class Parser:
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
-    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('plan', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
diff --git a/selfdrive/monitoring/dmonitoringd.py b/openpilot/selfdrive/monitoring/dmonitoringd.py
similarity index 70%
rename from selfdrive/monitoring/dmonitoringd.py
rename to openpilot/selfdrive/monitoring/dmonitoringd.py
index 022415af6d..caff23baa0 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/openpilot/selfdrive/monitoring/dmonitoringd.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring
 
 
 def dmonitoringd_thread():
@@ -10,7 +10,7 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
+  sm = messaging.SubMaster(['driverStateV2', 'extrinsicsCalibration', 'carState', 'selfdriveState', 'modelV2',
                             'carControl'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
@@ -25,7 +25,7 @@ def dmonitoringd_thread():
 
     valid = sm.all_checks()
     if demo_mode and sm.valid['driverStateV2']:
-      DM.run_step(sm, demo=demo_mode)
+      DM.run_step(sm, demo=True)
     elif valid:
       DM.run_step(sm, demo=demo_mode)
 
@@ -40,9 +40,9 @@ def dmonitoringd_thread():
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
-      params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
+     DM.wheelpos_offsetter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos_offsetter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+      params.put_bool("IsRhdDetected", DM.wheel_on_right)
 
 def main():
   dmonitoringd_thread()
diff --git a/openpilot/selfdrive/monitoring/policy.py b/openpilot/selfdrive/monitoring/policy.py
new file mode 100644
index 0000000000..bd698214ac
--- /dev/null
+++ b/openpilot/selfdrive/monitoring/policy.py
@@ -0,0 +1,468 @@
+from collections import defaultdict
+from math import atan2, radians
+import numpy as np
+
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
+from openpilot.common.realtime import DT_DMON
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
+from openpilot.common.stat_live import RunningStatFilter
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
+
+def to_percent(v):
+  return int(min(max(v * 100., 0.), 100.))
+
+# ******************************************************************************************
+#  NOTE: To fork maintainers.
+#  Disabling or nerfing safety features will get you and your users banned from our servers.
+#  We recommend that you do not change these numbers from the defaults.
+# ******************************************************************************************
+
+class DRIVER_MONITOR_SETTINGS:
+  def __init__(self):
+    # https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=OJ:L_202501899
+    self._ALERT_MIN_SPEED = 2.8  # 10 km/h
+
+    self._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT = 5.
+    self._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT = 15.
+    self._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT = 25.
+    self._VISION_POLICY_ALERT_1_TIMEOUT = 5.
+    self._VISION_POLICY_ALERT_2_TIMEOUT = 8.
+    self._VISION_POLICY_ALERT_3_TIMEOUT = 13.
+
+    # no response = alert_3 sustained for certain amount of time
+    self._NO_RESPONSE_TIMEOUT = 5.
+
+    # lockout specs
+    self._MAX_ALERT_3 = 2
+    self._MAX_NO_RESPONSE = 1
+    self._LOCKOUT_TIMES = [int(60 * n_min / DT_DMON) for n_min in [1, 5, 15, 30]]
+
+    self._TIMEOUT_RECOVERY_FACTOR_MAX = 5.
+    self._TIMEOUT_RECOVERY_FACTOR_MIN = 1.25
+
+    self._FACE_THRESHOLD = 0.7
+    self._EYE_THRESHOLD = 0.65
+    self._SG_THRESHOLD = 0.9
+    self._BLINK_THRESHOLD = 0.865
+    self._PHONE_THRESH = 0.5
+    self._POSE_PITCH_THRESHOLD = 0.3133
+    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
+    self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
+    self._POSE_YAW_THRESHOLD = 0.4020
+    self._POSE_YAW_THRESHOLD_SLACK = 0.5042
+    self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
+    self._POSE_YAW_MIN_STEER_DEG = 30
+    self._POSE_YAW_STEER_FACTOR = 0.15
+    self._POSE_YAW_STEER_MAX_OFFSET = 0.3927
+    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
+    self._PITCH_NATURAL_THRESHOLD = 0.449
+    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
+    self._PITCH_NATURAL_VAR = 3*0.01
+    self._YAW_NATURAL_VAR = 3*0.05
+    self._PITCH_MAX_OFFSET = 0.124
+    self._PITCH_MIN_OFFSET = -0.0881
+    self._YAW_MAX_OFFSET = 0.289
+    self._YAW_MIN_OFFSET = -0.0246
+
+    self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
+    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / DT_DMON)
+    self._DCAM_UNCERTAIN_RESET_COUNT = int(2  / DT_DMON)
+    self._HI_STD_THRESHOLD = 0.3
+    self._HI_STD_FALLBACK_TIME = int(10  / DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
+    self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
+
+    self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
+    self._POSE_OFFSET_MIN_COUNT = int(60 / DT_DMON)  # valid data counts before calibration completes, 1min cumulative
+    self._POSE_OFFSET_MAX_COUNT = int(360 / DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
+    self._WHEELPOS_CALIB_MIN_SPEED = 11
+    self._WHEELPOS_THRESHOLD = 0.5
+    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / DT_DMON) # allow 15 seconds to converge wheel side
+    self._WHEELPOS_DATA_AVG = 0.03
+    self._WHEELPOS_DATA_VAR = 3*5.5e-5
+    self._WHEELPOS_MAX_COUNT = -1
+
+class DriverPose:
+  def __init__(self, settings):
+    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
+    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
+    self.yaw = 0.
+    self.pitch = 0.
+    self.pitch_offsetter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offsetter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.calibrated = False
+    self.low_std = True
+    self.cfactor_pitch = 1.
+    self.cfactor_yaw = 1.
+    self.steer_yaw_offset = 0.
+
+class DriverBlink:
+  def __init__(self):
+    self.left = 0.
+    self.right = 0.
+
+# model output refers to center of undistorted+leveled image
+ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].cabin
+cabin_undistorted_FL = 598.0
+cabin_undistorted_W, cabin_undistorted_H = (ref_undistorted_cam.width, ref_undistorted_cam.height)
+
+def face_orientation_from_model(orient_model, pos_model, rpy_calib):
+  pitch_model = orient_model[0]
+  yaw_model = orient_model[1]
+
+  face_pixel_position = ((pos_model[0]+0.5)*cabin_undistorted_W, (pos_model[1]+0.5)*cabin_undistorted_H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - cabin_undistorted_W//2, cabin_undistorted_FL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - cabin_undistorted_H//2, cabin_undistorted_FL)
+
+  pitch = pitch_model + pitch_focal_angle
+  yaw = -yaw_model + yaw_focal_angle
+
+  pitch -= rpy_calib[1]
+  yaw -= rpy_calib[2]
+  return pitch, yaw
+
+
+class DriverMonitoring:
+  def __init__(self, rhd_saved=False, settings=None, always_on=False):
+    # init policy settings
+    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS()
+
+    # init driver status
+    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
+    self.wheelpos_offsetter = RunningStatFilter(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.pose = DriverPose(settings=self.settings)
+    self.blink = DriverBlink()
+    self.phone_prob = 0.
+
+    self.alert_level = AlertLevel.none
+    self.always_on = always_on
+    self.distracted_types = defaultdict(bool)
+    self.driver_distracted = False
+    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, DT_DMON)
+    self.wheel_on_right = False
+    self.wheel_on_right_last = None
+    self.wheel_on_right_default = rhd_saved
+    self.face_detected = False
+    self.alert_3_cnt = 0
+    self.cnt_since_alert_3 = 0
+    self.no_response_timeout = int(self.settings._NO_RESPONSE_TIMEOUT / DT_DMON)
+    self.no_response_cnt = 0
+    self.lockout_active = Params().get_bool("DriverTooDistracted")
+    self.lockout_count = Params().get("DriverLockoutCount") or 0
+    self.lockout_duration = self.settings._LOCKOUT_TIMES[min(max(self.lockout_count - 1, 0), len(self.settings._LOCKOUT_TIMES) - 1)]
+    self.lockout_time_elapsed = 0
+    self.step_change = 0.
+    self.active_policy = MonitoringPolicy.vision
+    self.driver_interacting = False
+    self.is_model_uncertain = False
+    self.hi_stds = 0
+    self.model_std_max = 0.
+    self.threshold_alert_1 = 0.
+    self.threshold_alert_2 = 0.
+    self.dcam_uncertain_cnt = 0
+    self.dcam_reset_cnt = 0
+
+    self._reset_awareness()
+    self._set_policy(MonitoringPolicy.vision)
+
+  def _reset_awareness(self):
+    self.awareness = 1.
+    self.last_vision_awareness = 1.
+    self.last_wheeltouch_awareness = 1.
+
+  def _set_policy(self, target_policy):
+    if self.active_policy == MonitoringPolicy.vision and self.awareness <= self.threshold_alert_2:
+      if target_policy == MonitoringPolicy.vision:
+        self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      else:
+        self.step_change = 0.
+      return  # no exploit after orange alert
+    elif self.awareness <= 0.:
+      return
+
+    if target_policy == MonitoringPolicy.vision:
+      # when falling back from passive mode to active mode, reset awareness to avoid false alert
+      if self.active_policy != MonitoringPolicy.vision:
+        self.last_wheeltouch_awareness = self.awareness
+        self.awareness = self.last_vision_awareness
+
+      self.threshold_alert_1 = 1. - self.settings._VISION_POLICY_ALERT_1_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._VISION_POLICY_ALERT_2_TIMEOUT / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._VISION_POLICY_ALERT_3_TIMEOUT
+      self.active_policy = MonitoringPolicy.vision
+    else:
+      if self.active_policy == MonitoringPolicy.vision:
+        self.last_vision_awareness = self.awareness
+        self.awareness = self.last_wheeltouch_awareness
+
+      self.threshold_alert_1 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.threshold_alert_2 = 1. - self.settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.step_change = DT_DMON / self.settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT
+      self.active_policy = MonitoringPolicy.wheeltouch
+
+  def _set_pose_strictness(self, brake_disengage_prob, car_speed):
+    bp = brake_disengage_prob
+    k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
+    bp_normal = max(min(bp / k1, 0.5),0)
+    self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
+                                           [self.settings._POSE_PITCH_THRESHOLD_SLACK,
+                                            self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
+    self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
+                                           [self.settings._POSE_YAW_THRESHOLD_SLACK,
+                                            self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
+
+  def _get_distracted_types(self):
+    self.distracted_types = defaultdict(bool)
+
+    if not self.pose.calibrated:
+      pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
+      yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
+    else:
+      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offsetter.filtered_stat.mean(),
+                                                       self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
+      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offsetter.filtered_stat.mean(),
+                                                    self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
+    pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
+
+    if yaw_error * self.pose.steer_yaw_offset > 0: # unidirectional
+      yaw_error = max(abs(yaw_error) - min(abs(self.pose.steer_yaw_offset), self.settings._POSE_YAW_STEER_MAX_OFFSET), 0.)
+    else:
+      yaw_error = abs(yaw_error)
+
+    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
+    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
+
+    self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
+    self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
+    self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
+
+  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, lowspeed, demo_mode=False, steering_angle_deg=0.):
+    rhd_pred = driver_state.wheelOnRightProb
+    # calibrates only when there's movement and either face detected
+    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
+                                          driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
+      self.wheelpos_offsetter.push_and_update(rhd_pred)
+
+    wheelpos_calibrated = self.wheelpos_offsetter.filtered_stat.n >= self.settings._WHEELPOS_FILTER_MIN_COUNT
+
+    if wheelpos_calibrated or demo_mode:
+      self.wheel_on_right = self.wheelpos_offsetter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+    else:
+      self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
+    # make sure no switching when engaged
+    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
+      self.wheel_on_right = self.wheel_on_right_last
+    driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
+    if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
+                                    driver_data.faceOrientationStd, driver_data.facePositionStd)):
+      return
+
+    self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
+    self.pose.pitch, self.pose.yaw = face_orientation_from_model(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
+    steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
+    self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
+    if self.wheel_on_right:
+      self.pose.yaw *= -1
+      self.pose.steer_yaw_offset *= -1
+    self.wheel_on_right_last = self.wheel_on_right
+    self.model_std_max = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
+    self.pose.low_std = self.model_std_max < self.settings._HI_STD_THRESHOLD
+    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.phone_prob = driver_data.phoneProb
+
+    self._get_distracted_types()
+    self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+    self.driver_distraction_filter.update(self.driver_distracted)
+
+    # only update offsetter when driver is actively driving the car above a certain speed
+    if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
+      self.pose.pitch_offsetter.push_and_update(self.pose.pitch)
+      self.pose.yaw_offsetter.push_and_update(self.pose.yaw)
+
+    self.pose.calibrated = self.pose.pitch_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT and \
+                           self.pose.yaw_offsetter.filtered_stat.n >= self.settings._POSE_OFFSET_MIN_COUNT
+
+    if self.face_detected and not self.driver_distracted:
+      dcam_uncertain = self.model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD
+      if dcam_uncertain and not lowspeed:
+        self.dcam_uncertain_cnt += 1
+        self.dcam_reset_cnt = 0
+      else:
+        self.dcam_reset_cnt += 1
+        if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
+          self.dcam_uncertain_cnt = 0
+
+    self.is_model_uncertain = self.hi_stds >= self.settings._HI_STD_FALLBACK_TIME
+    self._set_policy(MonitoringPolicy.vision if self.face_detected and not self.is_model_uncertain else MonitoringPolicy.wheeltouch)
+    if self.face_detected and not self.pose.low_std and not self.driver_distracted:
+      self.hi_stds += 1
+    elif self.face_detected and self.pose.low_std:
+      self.hi_stds = 0
+
+  def _update_events(self, driver_engaged, op_engaged, lowspeed, wrong_gear):
+    self.alert_level = AlertLevel.none
+    self.driver_interacting = driver_engaged
+
+    if self.alert_3_cnt >= self.settings._MAX_ALERT_3 or self.no_response_cnt >= self.settings._MAX_NO_RESPONSE:
+      if not self.lockout_active:
+        self.lockout_count += 1
+        self.lockout_duration = self.settings._LOCKOUT_TIMES[min(self.lockout_count - 1, len(self.settings._LOCKOUT_TIMES) - 1)]
+        Params().put("DriverLockoutCount", self.lockout_count)
+      self.lockout_active = True
+
+    if self.lockout_active:
+      self.lockout_time_elapsed += 1
+      if self.lockout_time_elapsed > self.lockout_duration:
+        self.lockout_active = False
+        self.alert_3_cnt = 0
+        self.cnt_since_alert_3 = 0
+        self.no_response_cnt = 0
+        self.lockout_time_elapsed = 0
+
+    always_on_valid = self.always_on and not wrong_gear
+    if (self.driver_interacting and self.awareness > 0 and self.active_policy == MonitoringPolicy.wheeltouch) or \
+       (not always_on_valid and not op_engaged) or \
+       (always_on_valid and not op_engaged and self.awareness <= 0):
+      # always reset on disengage with normal mode; disengage resets only on red if always on
+      self._reset_awareness()
+      return
+
+    awareness_prev = self.awareness
+    _reaching_alert_1 = self.awareness - self.step_change <= self.threshold_alert_1
+    _reaching_alert_3 = self.awareness - self.step_change <= 0
+    lowspeed_exemption = lowspeed and _reaching_alert_1
+    always_on_exemption = always_on_valid and not op_engaged and _reaching_alert_3
+
+    if self.awareness > 0 and \
+       ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or lowspeed_exemption):
+      if self.driver_interacting:
+        self._reset_awareness()
+        return
+      # only restore awareness when paying attention and alert is not red
+      self.awareness = min(self.awareness + ((self.settings._TIMEOUT_RECOVERY_FACTOR_MAX-self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*
+                                             (1.-self.awareness)+self.settings._TIMEOUT_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      if self.awareness == 1.:
+        self.last_wheeltouch_awareness = min(self.last_wheeltouch_awareness + self.step_change, 1.)
+      # don't display alert banner when awareness is recovering and has cleared orange
+      if self.awareness > self.threshold_alert_2:
+        return
+
+    certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
+    maybe_distracted = self.is_model_uncertain or not self.face_detected
+
+    if certainly_distracted or maybe_distracted:
+      # should always be counting if distracted unless at low speed and reaching green
+      # also will not be reaching 0 if DM is active when not engaged
+      if not (lowspeed_exemption or always_on_exemption):
+        self.awareness = max(self.awareness - self.step_change, -0.1)
+
+    if self.awareness <= 0.:
+      # terminal alert: disengagement required
+      self.alert_level = AlertLevel.three
+      if awareness_prev > 0.:
+        self.alert_3_cnt += 1
+        self.cnt_since_alert_3 = 0
+      else:
+        self.cnt_since_alert_3 += 1
+      if self.cnt_since_alert_3 == self.no_response_timeout:
+        self.no_response_cnt += 1
+    else:
+      if self.awareness <= self.threshold_alert_2:
+        self.alert_level = AlertLevel.two
+      elif self.awareness <= self.threshold_alert_1:
+        self.alert_level = AlertLevel.one
+
+  def get_state_packet(self, valid=True):
+    # build driverMonitoringState packet
+    dat = messaging.new_message('driverMonitoringState', valid=valid)
+    dm = dat.driverMonitoringState
+
+    dm.lockout = self.lockout_active
+    dm.lockoutCount = self.lockout_count
+    if self.lockout_active:
+      dm.lockoutMinutesRemaining = max(1, round((self.lockout_duration - self.lockout_time_elapsed) * DT_DMON / 60.))
+    dm.alert3Count = self.alert_3_cnt
+    dm.noResponseCount = self.no_response_cnt
+    dm.noResponseForceDecel = self.alert_level == AlertLevel.three and self.cnt_since_alert_3 >= self.no_response_timeout
+    dm.alwaysOn = self.always_on
+    dm.alwaysOnLockout = self.always_on and self.awareness <= self.threshold_alert_2
+    dm.alertLevel = self.alert_level
+    dm.activePolicy = self.active_policy
+    dm.isRHD = self.wheel_on_right
+    dm.rhdCalibration.calibratedPercent = to_percent(self.wheelpos_offsetter.filtered_stat.n / self.settings._WHEELPOS_FILTER_MIN_COUNT)
+    dm.rhdCalibration.offset = self.wheelpos_offsetter.filtered_stat.M
+
+    dm.visionPolicyState.awarenessPercent = to_percent(self.last_vision_awareness if self.active_policy != MonitoringPolicy.vision else self.awareness)
+    dm.visionPolicyState.awarenessStep = self.step_change if self.active_policy == MonitoringPolicy.vision else 0.
+    dm.visionPolicyState.isDistracted = self.driver_distracted
+    dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
+    dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
+    dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone']
+    dm.visionPolicyState.faceDetected = self.face_detected
+    dm.visionPolicyState.pose.pitch = self.pose.pitch
+    dm.visionPolicyState.pose.yaw = self.pose.yaw
+    dm.visionPolicyState.pose.calibrated = self.pose.calibrated
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = to_percent(self.pose.pitch_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.pitchCalib.offset = self.pose.pitch_offsetter.filtered_stat.M
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = to_percent(self.pose.yaw_offsetter.filtered_stat.n / self.settings._POSE_OFFSET_MIN_COUNT)
+    dm.visionPolicyState.pose.yawCalib.offset = self.pose.yaw_offsetter.filtered_stat.M
+    dm.visionPolicyState.pose.uncertainty = self.model_std_max
+    dm.visionPolicyState.wheeltouchFallbackPercent = to_percent(self.hi_stds / self.settings._HI_STD_FALLBACK_TIME)
+    dm.visionPolicyState.uncertainOffroadAlertPercent = to_percent(self.dcam_uncertain_cnt / self.settings._DCAM_UNCERTAIN_ALERT_COUNT)
+
+    dm.wheeltouchPolicyState.awarenessPercent = to_percent(self.last_wheeltouch_awareness if self.active_policy == MonitoringPolicy.vision else self.awareness)
+    dm.wheeltouchPolicyState.awarenessStep = 0. if self.active_policy == MonitoringPolicy.vision else self.step_change
+    dm.wheeltouchPolicyState.driverInteracting = self.driver_interacting
+    return dat
+
+  def run_step(self, sm, demo=False):
+    if demo:
+      car_speed = 30
+      enabled = True
+      wrong_gear = False
+      lowspeed = False
+      driver_engaged = False
+      brake_disengage_prob = 1.0
+      steering_angle_deg = 0.0
+      rpyCalib = [0., 0., 0.]
+    else:
+      car_speed = sm['carState'].vEgo
+      enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
+      wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
+      lowspeed = car_speed < self.settings._ALERT_MIN_SPEED
+      driver_engaged = sm['carState'].steeringPressed or (sm['selfdriveState'].enabled and sm['carState'].gasPressed)
+      brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
+      steering_angle_deg = sm['carState'].steeringAngleDeg
+      rpyCalib = sm['extrinsicsCalibration'].rpyCalib
+
+    self._set_pose_strictness(
+      brake_disengage_prob=brake_disengage_prob,
+      car_speed=car_speed,
+    )
+
+    # Parse data from dmonitoringmodeld
+    self._update_states(
+      driver_state=sm['driverStateV2'],
+      cal_rpy=rpyCalib,
+      car_speed=car_speed,
+      op_engaged=enabled,
+      lowspeed=lowspeed,
+      demo_mode=demo,
+      steering_angle_deg=steering_angle_deg,
+    )
+
+    # Update distraction events
+    self._update_events(
+      driver_engaged=driver_engaged,
+      op_engaged=enabled,
+      lowspeed=lowspeed,
+      wrong_gear=wrong_gear,
+    )
diff --git a/openpilot/selfdrive/monitoring/test_monitoring.py b/openpilot/selfdrive/monitoring/test_monitoring.py
new file mode 100644
index 0000000000..d9889860f5
--- /dev/null
+++ b/openpilot/selfdrive/monitoring/test_monitoring.py
@@ -0,0 +1,280 @@
+from openpilot.common.parameterized import parameterized
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import log
+from opendbc.car.structs import car
+from openpilot.common.realtime import DT_DMON
+from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
+
+EventName = log.OnroadEvent.EventName
+dm_settings = DRIVER_MONITOR_SETTINGS()
+
+TEST_TIMESPAN = 120  # seconds
+DISTRACTED_SECONDS_TO_ORANGE = dm_settings._VISION_POLICY_ALERT_2_TIMEOUT + 1
+DISTRACTED_SECONDS_TO_RED = dm_settings._VISION_POLICY_ALERT_3_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_ORANGE = dm_settings._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + 1
+INVISIBLE_SECONDS_TO_RED = dm_settings._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + 1
+
+def make_msg(face_detected, distracted=False, model_uncertain=False):
+  ds = log.DriverStateV2.new_message()
+  ds.leftDriverData.faceOrientation = [0., 0., 0.]
+  ds.leftDriverData.facePosition = [0., 0.]
+  ds.leftDriverData.faceProb = 1. * face_detected
+  ds.leftDriverData.leftEyeProb = 1.
+  ds.leftDriverData.rightEyeProb = 1.
+  ds.leftDriverData.leftBlinkProb = 1. * distracted
+  ds.leftDriverData.rightBlinkProb = 1. * distracted
+  ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
+  ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
+  # TODO: test both separately when e2e is used
+  ds.leftDriverData.phoneProb = 0.
+  return ds
+
+
+# driver state from neural net, 10Hz
+msg_NO_FACE_DETECTED = make_msg(False)
+msg_ATTENTIVE = make_msg(True)
+msg_DISTRACTED = make_msg(True, distracted=True)
+msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True)
+msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True)
+msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._HI_STD_THRESHOLD*1.5)
+
+# driver interaction with car
+car_interaction_DETECTED = True
+car_interaction_NOT_DETECTED = False
+
+# some common state vectors
+always_no_face = [msg_NO_FACE_DETECTED] * int(TEST_TIMESPAN / DT_DMON)
+always_attentive = [msg_ATTENTIVE] * int(TEST_TIMESPAN / DT_DMON)
+always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON)
+always_true = [True] * int(TEST_TIMESPAN / DT_DMON)
+always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
+
+class TestMonitoring(OpenpilotTestCase):
+  def _run_seq(self, msgs, interaction, engaged, lowspeed):
+    DM = DriverMonitoring()
+    alert_lvls = []
+    for idx in range(len(msgs)):
+      DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], lowspeed[idx])
+      # cal_rpy and car_speed don't matter here
+
+      # evaluate events at 10Hz for tests
+      DM._update_events(interaction[idx], engaged[idx], lowspeed[idx], 0)
+      alert_lvls.append(DM.alert_level)
+    assert len(alert_lvls) == len(msgs), f"got {len(alert_lvls)} for {len(msgs)} driverState input msgs"
+    return alert_lvls, DM
+
+
+  # engaged, driver is attentive all the time
+  def test_fully_aware_driver(self):
+    alert_lvls, d_status = self._run_seq(always_attentive, always_false, always_true, always_false)
+    assert all(a == 0 for a in alert_lvls)
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.vision
+
+  # engaged, driver is distracted and does nothing
+  def test_fully_distracted_driver(self):
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._VISION_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_1_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_2_TIMEOUT + \
+                    (s._VISION_POLICY_ALERT_3_TIMEOUT - s._VISION_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._VISION_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._VISION_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
+    assert isinstance(d_status.awareness, float)
+
+  # engaged, distracted past red and beyond the no-response window -> unavailability response + lockout
+  def test_distracted_lockout(self):
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_RED / DT_DMON)] == 3
+    assert d_status.lockout_active
+    assert d_status.lockout_time_elapsed > 0
+    assert d_status.lockout_count >= 1
+
+  # no face -> wheeltouch red, sustained past the no-response timeout -> unavailability response + lockout
+  def test_invisible_lockout(self):
+    _, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
+    assert d_status.lockout_active
+    assert d_status.lockout_count >= 1
+
+  # engaged, no face detected the whole time, no action
+  def test_fully_invisible_driver(self):
+    alert_lvls, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int(s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT / 2 / DT_DMON)] == 0
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT) / 2) / DT_DMON)] == 1
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT + \
+                    (s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT - s._WHEELTOUCH_POLICY_ALERT_2_TIMEOUT) / 2) / DT_DMON)] == 2
+    assert alert_lvls[int((s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT + \
+                    (TEST_TIMESPAN - 10 - s._WHEELTOUCH_POLICY_ALERT_3_TIMEOUT) / 2) / DT_DMON)] == 3
+    assert d_status.active_policy == log.DriverMonitoringState.MonitoringPolicy.wheeltouch
+
+  # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
+  #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
+  def test_normal_driver(self):
+    ds_vector = [msg_DISTRACTED] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
+                [msg_ATTENTIVE] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
+                [msg_DISTRACTED] * int((DISTRACTED_SECONDS_TO_ORANGE+2)/DT_DMON) + \
+                [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
+    interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
+                         [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)] == 0
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)] == 0
+
+  # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
+  #                          driver dodges, and then touches wheel to no avail, disengages and reengages
+  #  - orange/red alert should remain after disappearance, and only disengaging clears red
+  def test_biggest_comma_fan(self):
+    _invisible_time = 2  # seconds
+    ds_vector = always_distracted[:]
+    interaction_vector = always_false[:]
+    op_vector = always_true[:]
+    ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \
+                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \
+                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \
+                                                        = [True] * int(1/DT_DMON)
+    op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
+                                                        = [False] * int(0.5/DT_DMON)
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)] == 2
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] == 3
+    assert alert_lvls[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)] == 0
+
+  # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
+  #  - both actions should clear the alert, but momentary appearance should not
+  def test_sometimes_transparent_commuter(self):
+    for _visible_time in (0.5, 10):
+      ds_vector = always_no_face[:]*2
+      interaction_vector = always_false[:]*2
+      ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
+                                                                                               [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
+      interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
+      alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
+      assert alert_lvls[int(dm_settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT/2/DT_DMON)] == 0
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+      assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)] == 0
+      if _visible_time == 0.5:
+        assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+        assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 2
+      elif _visible_time == 10:
+        assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)] == 2
+        assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)] == 0
+
+  # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
+  #  - only disengage will clear the alert
+  def test_last_second_responder(self):
+    _visible_time = 2  # seconds
+    ds_vector = always_no_face[:]
+    interaction_vector = always_false[:]
+    op_vector = always_true[:]
+    ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
+    interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
+    op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
+    alert_lvls, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
+    assert alert_lvls[int(dm_settings._WHEELTOUCH_POLICY_ALERT_1_TIMEOUT/2/DT_DMON)] == 0
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] == 3
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)] == 0
+
+  # disengaged, always distracted driver
+  #  - dm should stay quiet when not engaged
+  def test_pure_dashcam_user(self):
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
+    assert all(a == 0 for a in alert_lvls)
+
+  # engaged, car stops at traffic light, down to orange, no action, then car starts moving
+  #  - should only reach green when stopped, but continues counting down on launch
+  def test_long_traffic_light_victim(self):
+    _redlight_time = 60  # seconds
+    lowspeed_vector = always_true[:]
+    lowspeed_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
+    alert_lvls, d_status = self._run_seq(always_distracted, always_false, always_true, lowspeed_vector)
+    s = d_status.settings
+    assert alert_lvls[int((_redlight_time-0.1)/DT_DMON)] == 0
+    _alert_1_to_2 = s._VISION_POLICY_ALERT_2_TIMEOUT - s._VISION_POLICY_ALERT_1_TIMEOUT
+    assert alert_lvls[int((_redlight_time+0.5)/DT_DMON)] == 1
+    assert alert_lvls[int((_redlight_time+_alert_1_to_2+0.5)/DT_DMON)] == 2
+
+  # engaged, distracted while moving, then car stops after reaching orange
+  #  - should reset timer to pre green at low speed
+  def test_distracted_then_stops(self):
+    _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1  # stop 1 second after reaching orange
+    lowspeed_vector = always_false[:]
+    lowspeed_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON)
+    alert_lvls, _ = self._run_seq(always_distracted, always_false, always_true, lowspeed_vector)
+    # just before and briefly after stopping: orange alert; goes away quickly after stopped
+    assert alert_lvls[int((_stop_time+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((_stop_time+0.5)/DT_DMON)] == 0
+
+  # engaged, model is somehow uncertain and driver is distracted
+  #  - should fall back to wheel touch after uncertain alert
+  def test_somehow_indecisive_model(self):
+    ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
+    interaction_vector = always_false[:]
+    alert_lvls, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
+    s = d_status.settings
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)] == 1
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 2
+    assert alert_lvls[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*s._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)] == 3
+
+
+def _build_sm(selfdrive_enabled, lat_active, steering_pressed, gas_pressed):
+  cs = car.CarState.new_message()
+  cs.vEgo = 30.0
+  cs.gearShifter = car.CarState.GearShifter.drive
+  cs.steeringPressed = steering_pressed
+  cs.gasPressed = gas_pressed
+  ss = log.SelfdriveState.new_message()
+  ss.enabled = selfdrive_enabled
+  cc = car.CarControl.new_message()
+  cc.latActive = lat_active
+  mv2 = log.ModelDataV2.new_message()
+  mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0]
+  lc = log.ExtrinsicsCalibration.new_message()
+  lc.rpyCalib = [0.0, 0.0, 0.0]
+  return {
+    'carState': cs, 'selfdriveState': ss, 'carControl': cc,
+    'modelV2': mv2, 'extrinsicsCalibration': lc, 'driverStateV2': make_msg(False),
+  }
+
+
+class TestRunStepEngagement(OpenpilotTestCase):
+  @parameterized.expand([
+    (False, False, False, False, False, False),  # disabled
+    (True,  False, False, False, True,  False),  # OP enabled
+    (False, True,  False, False, True,  False),  # MADS lat-only
+    (True,  True,  False, False, True,  False),  # both active
+    (False, True,  False, True,  True,  False),  # MADS lat-only + gas
+    (True,  True,  False, True,  True,  True),   # full op + gas: override
+    (False, True,  True,  False, True,  True),   # MADS lat-only + wheel touch: override
+  ], names=["selfdrive_enabled", "lat_active", "steering", "gas",
+            "expected_op_engaged", "expected_driver_engaged"])
+  def test_run_step_engagement(self, selfdrive_enabled, lat_active, steering, gas,
+                               expected_op_engaged, expected_driver_engaged):
+    sm = _build_sm(selfdrive_enabled, lat_active, steering, gas)
+    dm = DriverMonitoring()
+    captured = {}
+    orig = dm._update_events
+
+    def spy(driver_engaged, op_engaged, lowspeed, wrong_gear):
+      captured['driver_engaged'] = driver_engaged
+      captured['op_engaged'] = op_engaged
+      return orig(driver_engaged, op_engaged, lowspeed, wrong_gear)
+
+    object.__setattr__(dm, '_update_events', spy)
+    dm.run_step(sm, demo=False)
+    assert captured['op_engaged'] == expected_op_engaged
+    assert captured['driver_engaged'] == expected_driver_engaged
diff --git a/openpilot/selfdrive/pandad/.gitignore b/openpilot/selfdrive/pandad/.gitignore
new file mode 100644
index 0000000000..cb292405c9
--- /dev/null
+++ b/openpilot/selfdrive/pandad/.gitignore
@@ -0,0 +1,3 @@
+pandad
+pandad_api_impl.cpp
+tests/test_pandad_canprotocol
diff --git a/openpilot/selfdrive/pandad/SConscript b/openpilot/selfdrive/pandad/SConscript
new file mode 100644
index 0000000000..fd59db9853
--- /dev/null
+++ b/openpilot/selfdrive/pandad/SConscript
@@ -0,0 +1,10 @@
+Import('env', 'arch', 'common', 'messaging')
+
+if arch != "Darwin":
+  libs = [common, messaging, 'pthread']
+  panda = env.Library('panda', ['panda.cc', 'spi.cc'])
+
+  env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
+
+  if GetOption('extras'):
+    env.Program('tests/test_pandad_canprotocol', ['tests/test_pandad_canprotocol.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/pandad/__init__.py b/openpilot/selfdrive/pandad/__init__.py
similarity index 100%
rename from selfdrive/pandad/__init__.py
rename to openpilot/selfdrive/pandad/__init__.py
diff --git a/selfdrive/pandad/main.cc b/openpilot/selfdrive/pandad/main.cc
similarity index 74%
rename from selfdrive/pandad/main.cc
rename to openpilot/selfdrive/pandad/main.cc
index b63d884a45..08e88b6163 100644
--- a/selfdrive/pandad/main.cc
+++ b/openpilot/selfdrive/pandad/main.cc
@@ -3,7 +3,7 @@
 #include "selfdrive/pandad/pandad.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   LOGW("starting pandad");
@@ -16,7 +16,7 @@ int main(int argc, char *argv[]) {
     assert(err == 0);
   }
 
-  std::vector<std::string> serials(argv + 1, argv + argc);
-  pandad_main_thread(serials);
+  std::string serial = (argc > 1) ? argv[1] : "";
+  pandad_main_thread(serial);
   return 0;
 }
diff --git a/selfdrive/pandad/panda.cc b/openpilot/selfdrive/pandad/panda.cc
similarity index 88%
rename from selfdrive/pandad/panda.cc
rename to openpilot/selfdrive/pandad/panda.cc
index 72b8ddcf81..cb5266d253 100644
--- a/selfdrive/pandad/panda.cc
+++ b/openpilot/selfdrive/pandad/panda.cc
@@ -6,25 +6,15 @@
 #include <stdexcept>
 #include <vector>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
 const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
 
-Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
-  // try USB first, then SPI
-  try {
-    handle = std::make_unique<PandaUsbHandle>(serial);
-    LOGW("connected to %s over USB", serial.c_str());
-  } catch (std::exception &e) {
-#ifndef __APPLE__
-    handle = std::make_unique<PandaSpiHandle>(serial);
-    LOGW("connected to %s over SPI", serial.c_str());
-#else
-    throw e;
-#endif
-  }
+Panda::Panda(std::string serial) {
+  handle = std::make_unique<PandaSpiHandle>(serial);
+  LOGW("connected to %s over SPI", serial.c_str());
 
   hw_type = get_hw_type();
   can_reset_communications();
@@ -42,20 +32,8 @@ std::string Panda::hw_serial() {
   return handle->hw_serial;
 }
 
-std::vector<std::string> Panda::list(bool usb_only) {
-  std::vector<std::string> serials = PandaUsbHandle::list();
-
-#ifndef __APPLE__
-  if (!usb_only) {
-    for (const auto &s : PandaSpiHandle::list()) {
-      if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
-        serials.push_back(s);
-      }
-    }
-  }
-#endif
-
-  return serials;
+std::vector<std::string> Panda::list() {
+  return PandaSpiHandle::list();
 }
 
 void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
@@ -138,7 +116,7 @@ std::optional<std::string> Panda::get_serial() {
 bool Panda::up_to_date() {
   if (auto fw_sig = get_firmware_version()) {
     for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
-      auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
+      auto content = util::read_file(std::string("../../../panda/board/obj/") + fn);
       if (content.size() >= fw_sig->size() &&
           memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
         return true;
@@ -195,7 +173,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   for (const auto &cmsg : can_data_list) {
     // check if the message is intended for this panda
     uint8_t bus = cmsg.getSrc();
-    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
+    if (bus >= PANDA_BUS_OFFSET) {
       continue;
     }
     auto can_data = cmsg.getDat();
@@ -207,7 +185,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
     header.addr = cmsg.getAddress();
     header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
     header.data_len_code = data_len_code;
-    header.bus = bus - bus_offset;
+    header.bus = bus;
     header.checksum = 0;
 
     memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header));
@@ -283,7 +261,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
 
     can_frame &canData = out_vec.emplace_back();
     canData.address = header.addr;
-    canData.src = header.bus + bus_offset;
+    canData.src = header.bus;
     if (header.rejected) {
       canData.src += CAN_REJECTED_BUS_OFFSET;
     }
diff --git a/selfdrive/pandad/panda.h b/openpilot/selfdrive/pandad/panda.h
similarity index 89%
rename from selfdrive/pandad/panda.h
rename to openpilot/selfdrive/pandad/panda.h
index 8545b558a9..1c5e4a5504 100644
--- a/selfdrive/pandad/panda.h
+++ b/openpilot/selfdrive/pandad/panda.h
@@ -9,8 +9,8 @@
 #include <string>
 #include <vector>
 
-#include "cereal/gen/cpp/car.capnp.h"
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/car.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
 #include "panda/board/can.h"
 #include "selfdrive/pandad/panda_comms.h"
@@ -45,20 +45,19 @@ struct can_frame {
 
 class Panda {
 private:
-  std::unique_ptr<PandaCommsHandle> handle;
+  std::unique_ptr<PandaSpiHandle> handle;
 
 public:
-  Panda(std::string serial="", uint32_t bus_offset=0);
+  Panda(std::string serial);
 
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
-  const uint32_t bus_offset;
 
   bool connected();
   bool comms_healthy();
   std::string hw_serial();
 
   // Static functions
-  static std::vector<std::string> list(bool usb_only=false);
+  static std::vector<std::string> list();
 
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
@@ -91,7 +90,7 @@ protected:
   uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
   uint32_t receive_buffer_size = 0;
 
-  Panda(uint32_t bus_offset) : bus_offset(bus_offset) {}
+  Panda() {}
   void pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
                          std::function<void(uint8_t *, size_t)> write_func);
   bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
diff --git a/openpilot/selfdrive/pandad/panda_comms.h b/openpilot/selfdrive/pandad/panda_comms.h
new file mode 100644
index 0000000000..cdfb5019b6
--- /dev/null
+++ b/openpilot/selfdrive/pandad/panda_comms.h
@@ -0,0 +1,52 @@
+#pragma once
+
+#include <atomic>
+#include <cstdint>
+#include <mutex>
+#include <string>
+#include <vector>
+
+
+#define TIMEOUT 0
+#define SPI_BUF_SIZE 2048
+
+
+class PandaSpiHandle {
+public:
+  std::string hw_serial;
+  std::atomic<bool> connected = true;
+  std::atomic<bool> comms_healthy = true;
+
+  PandaSpiHandle(std::string serial);
+  ~PandaSpiHandle();
+
+  int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
+  int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
+  int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  void cleanup();
+
+  static std::vector<std::string> list();
+
+private:
+  int spi_fd = -1;
+  uint8_t tx_buf[SPI_BUF_SIZE];
+  uint8_t rx_buf[SPI_BUF_SIZE];
+  inline static std::recursive_mutex hw_lock;
+
+  struct __attribute__((packed)) spi_header {
+    uint8_t sync;
+    uint8_t endpoint;
+    uint16_t tx_len;
+    uint16_t max_rx_len;
+  };
+
+  int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
+  int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
+  int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
+  int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
+  int lltransfer(struct spi_ioc_transfer &t);
+
+  spi_header header;
+  uint32_t xfer_count = 0;
+};
diff --git a/selfdrive/pandad/panda_safety.cc b/openpilot/selfdrive/pandad/panda_safety.cc
similarity index 68%
rename from selfdrive/pandad/panda_safety.cc
rename to openpilot/selfdrive/pandad/panda_safety.cc
index 29e96032bf..bcec99190a 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/openpilot/selfdrive/pandad/panda_safety.cc
@@ -1,5 +1,5 @@
 #include "selfdrive/pandad/pandad.h"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 
 void PandaSafety::configureSafetyMode(bool is_onroad) {
@@ -24,19 +24,15 @@ void PandaSafety::updateMultiplexingMode() {
   // Initialize to ELM327 without OBD multiplexing for initial fingerprinting
   if (!initialized_) {
     prev_obd_multiplexing_ = false;
-    for (int i = 0; i < pandas_.size(); ++i) {
-      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
-    }
+    panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
     initialized_ = true;
   }
 
   // Switch between multiplexing modes based on the OBD multiplexing request
   bool obd_multiplexing_requested = params_.getBool("ObdMultiplexingEnabled");
   if (obd_multiplexing_requested != prev_obd_multiplexing_) {
-    for (int i = 0; i < pandas_.size(); ++i) {
-      const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
-      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
-    }
+    const uint16_t safety_param = obd_multiplexing_requested ? 0U : 1U;
+    panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
     prev_obd_multiplexing_ = obd_multiplexing_requested;
     params_.putBool("ObdMultiplexingChanged", true);
   }
@@ -74,19 +70,12 @@ void PandaSafety::setSafetyMode(const std::vector<std::string> &params_string) {
   uint16_t alternative_experience = car_params.getAlternativeExperience();
   uint16_t safety_param_sp = car_params_sp.getSafetyParam();
 
-  for (int i = 0; i < pandas_.size(); ++i) {
-    // Default to SILENT safety model if not specified
-    cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT;
-    uint16_t safety_param = 0U;
-    if (i < safety_configs.size()) {
-      safety_model = safety_configs[i].getSafetyModel();
-      safety_param = safety_configs[i].getSafetyParam();
-    }
+  cereal::CarParams::SafetyModel safety_model = safety_configs[0].getSafetyModel();
+  uint16_t safety_param = safety_configs[0].getSafetyParam();
 
-    LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d, param_sp: %d", i, (int)safety_model, safety_param, alternative_experience, safety_param_sp);
-    pandas_[i]->set_alternative_experience(alternative_experience, safety_param_sp);
-    pandas_[i]->set_safety_model(safety_model, safety_param);
-  }
+  LOGW("setting safety model: %d, param: %d, alternative experience: %d, param_sp: %d", (int)safety_model, safety_param, alternative_experience, safety_param_sp);
+  panda_->set_alternative_experience(alternative_experience, safety_param_sp);
+  panda_->set_safety_model(safety_model, safety_param);
 }
 
 bool PandaSafety::getOffroadMode() {
diff --git a/openpilot/selfdrive/pandad/pandad.cc b/openpilot/selfdrive/pandad/pandad.cc
new file mode 100644
index 0000000000..ac87804bc8
--- /dev/null
+++ b/openpilot/selfdrive/pandad/pandad.cc
@@ -0,0 +1,468 @@
+#include "selfdrive/pandad/pandad.h"
+
+#include <array>
+#include <bitset>
+#include <cassert>
+#include <cerrno>
+#include <memory>
+#include <thread>
+#include <utility>
+
+#include "openpilot/cereal/gen/cpp/car.capnp.h"
+#include "openpilot/cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
+#include "common/ratekeeper.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+#include "common/hardware/hw.h"
+
+#define MAX_IR_PANDA_VAL 50
+#define CUTOFF_IL 400
+#define SATURATE_IL 1000
+
+ExitHandler do_exit;
+
+bool check_connected(Panda *panda) {
+  if (!panda->connected()) {
+    do_exit = true;
+    return false;
+  }
+  return true;
+}
+
+bool process_mads_heartbeat(SubMaster *sm) {
+  const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
+  return sm->allAliveAndValid({"selfdriveStateSP"}) && mads.getEnabled();
+}
+
+Panda *connect(std::string serial) {
+  std::unique_ptr<Panda> panda;
+  try {
+    panda = std::make_unique<Panda>(serial);
+  } catch (std::exception &e) {
+    return nullptr;
+  }
+
+  // common panda config
+  if (getenv("BOARDD_LOOPBACK")) {
+    panda->set_loopback(true);
+  }
+  //panda->enable_deepsleep();
+
+  for (int i = 0; i < PANDA_CAN_CNT; i++) {
+    panda->set_can_fd_auto(i, true);
+  }
+
+  bool is_supported_panda = std::find(SUPPORTED_PANDA_TYPES.begin(), SUPPORTED_PANDA_TYPES.end(), panda->hw_type) != SUPPORTED_PANDA_TYPES.end();
+
+  if (!is_supported_panda) {
+    LOGW("panda %s is not supported (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
+    return panda.release();
+  }
+
+  if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
+    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
+  }
+
+  return panda.release();
+}
+
+void can_send_thread(Panda *panda, bool fake_send) {
+  util::set_thread_name("pandad_can_send");
+
+  AlignedBuffer aligned_buf;
+  std::unique_ptr<Context> context(Context::create());
+  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan", "127.0.0.1", false, true, services.at("sendcan").queue_size));
+  assert(subscriber != NULL);
+  subscriber->setTimeout(100);
+
+  // run as fast as messages come in
+  while (!do_exit && check_connected(panda)) {
+    std::unique_ptr<Message> msg(subscriber->receive());
+    if (!msg) {
+      continue;
+    }
+
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
+    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+
+    // Don't send if older than 1 second
+    if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
+      LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
+      panda->can_send(event.getSendcan());
+      LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
+    } else {
+      LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
+    }
+  }
+}
+
+void can_recv(Panda *panda, PubMaster *pm) {
+  static std::vector<can_frame> raw_can_data;
+  {
+    raw_can_data.clear();
+    bool comms_healthy = panda->can_receive(raw_can_data);
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    evt.setValid(comms_healthy);
+    auto canData = evt.initCan(raw_can_data.size());
+    for (size_t i = 0; i < raw_can_data.size(); ++i) {
+      canData[i].setAddress(raw_can_data[i].address);
+      canData[i].setDat(kj::arrayPtr((uint8_t*)raw_can_data[i].dat.data(), raw_can_data[i].dat.size()));
+      canData[i].setSrc(raw_can_data[i].src);
+    }
+    pm->send("can", msg);
+  }
+}
+
+void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::PandaType hw_type, const health_t &health) {
+  ps.setVoltage(health.voltage_pkt);
+  ps.setCurrent(health.current_pkt);
+  ps.setUptime(health.uptime_pkt);
+  ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
+  ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
+  ps.setIgnitionLine(health.ignition_line_pkt);
+  ps.setIgnitionCan(health.ignition_can_pkt);
+  ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
+  ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
+  ps.setPandaType(hw_type);
+  ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
+  ps.setSafetyParam(health.safety_param_pkt);
+  ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
+  ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
+  ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
+  ps.setAlternativeExperience(health.alternative_experience_pkt);
+  ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
+  ps.setInterruptLoad(health.interrupt_load_pkt);
+  ps.setFanPower(health.fan_power);
+  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
+  ps.setSpiErrorCount(health.spi_error_count_pkt);
+  ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
+  ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
+  ps.setSoundOutputLevel(health.sound_output_level_pkt);
+  ps.setControlsAllowedLateral(health.controls_allowed_sp_pkt & 1);
+  ps.setControlsAllowedLongitudinal((health.controls_allowed_sp_pkt >> 1) & 1);
+}
+
+void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
+  cs.setBusOff((bool)can_health.bus_off);
+  cs.setBusOffCnt(can_health.bus_off_cnt);
+  cs.setErrorWarning((bool)can_health.error_warning);
+  cs.setErrorPassive((bool)can_health.error_passive);
+  cs.setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error));
+  cs.setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error));
+  cs.setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error));
+  cs.setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error));
+  cs.setReceiveErrorCnt(can_health.receive_error_cnt);
+  cs.setTransmitErrorCnt(can_health.transmit_error_cnt);
+  cs.setTotalErrorCnt(can_health.total_error_cnt);
+  cs.setTotalTxLostCnt(can_health.total_tx_lost_cnt);
+  cs.setTotalRxLostCnt(can_health.total_rx_lost_cnt);
+  cs.setTotalTxCnt(can_health.total_tx_cnt);
+  cs.setTotalRxCnt(can_health.total_rx_cnt);
+  cs.setTotalFwdCnt(can_health.total_fwd_cnt);
+  cs.setCanSpeed(can_health.can_speed);
+  cs.setCanDataSpeed(can_health.can_data_speed);
+  cs.setCanfdEnabled(can_health.canfd_enabled);
+  cs.setBrsEnabled(can_health.brs_enabled);
+  cs.setCanfdNonIso(can_health.canfd_non_iso);
+  cs.setIrq0CallRate(can_health.irq0_call_rate);
+  cs.setIrq1CallRate(can_health.irq1_call_rate);
+  cs.setIrq2CallRate(can_health.irq2_call_rate);
+  cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
+}
+
+std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroad, bool spoofing_started, bool always_offroad) {
+  // build msg
+  MessageBuilder msg;
+  auto evt = msg.initEvent();
+  auto pss = evt.initPandaStates(1);
+
+  auto health_opt = panda->get_state();
+  if (!health_opt) {
+    return std::nullopt;
+  }
+
+  health_t health = *health_opt;
+
+  std::array<can_health_t, PANDA_CAN_CNT> can_health{};
+  for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) {
+    auto can_health_opt = panda->get_can_state(i);
+    if (!can_health_opt) {
+      return std::nullopt;
+    }
+    can_health[i] = *can_health_opt;
+  }
+
+  if (spoofing_started) {
+    health.ignition_line_pkt = 1;
+  }
+
+  bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
+
+  // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
+  if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
+    panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+  }
+
+  bool power_save_desired = !ignition_local;
+  if (health.power_save_enabled_pkt != power_save_desired) {
+    panda->set_power_saving(power_save_desired);
+  }
+
+  // set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect
+  bool should_close_relay = !ignition_local || !is_onroad;
+  if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
+    panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+  }
+
+  if (!panda->comms_healthy()) {
+    evt.setValid(false);
+  }
+
+  auto ps = pss[0];
+  fill_panda_state(ps, panda->hw_type, health);
+
+  auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
+  for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) {
+    fill_panda_can_state(cs[j], can_health[j]);
+  }
+
+  // Convert faults bitset to capnp list
+  std::bitset<sizeof(health.faults_pkt) * 8> fault_bits(health.faults_pkt);
+  auto faults = ps.initFaults(fault_bits.count());
+
+  size_t j = 0;
+  for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
+       f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
+    if (fault_bits.test(f)) {
+      faults.set(j, cereal::PandaState::FaultType(f));
+      j++;
+    }
+  }
+
+  pm->send("pandaStates", msg);
+  return ignition_local;
+}
+
+void send_peripheral_state(Panda *panda, PubMaster *pm) {
+  auto health_opt = panda->get_state();
+  if (!health_opt) {
+    return;
+  }
+
+  // build msg
+  MessageBuilder msg;
+  auto evt = msg.initEvent();
+  evt.setValid(panda->comms_healthy());
+
+  auto ps = evt.initPeripheralState();
+  ps.setPandaType(panda->hw_type);
+
+  health_t health = *health_opt;
+  ps.setVoltage(health.voltage_pkt);
+  ps.setCurrent(health.current_pkt);
+
+  uint16_t fan_speed_rpm = panda->get_fan_speed();
+  ps.setFanSpeedRpm(fan_speed_rpm);
+
+  pm->send("peripheralState", msg);
+}
+
+void process_panda_state(Panda *panda, PubMaster *pm, bool engaged, bool engaged_mads, bool is_onroad, bool spoofing_started, bool always_offroad) {
+  auto ignition_opt = send_panda_states(pm, panda, is_onroad, spoofing_started, always_offroad);
+  if (!ignition_opt) {
+    LOGE("Failed to get ignition_opt");
+    return;
+  }
+
+  // check if we should have pandad reconnect
+  if (!ignition_opt.value()) {
+    if (!panda->comms_healthy()) {
+      LOGE("Reconnecting, communication to panda not healthy");
+      do_exit = true;
+    }
+  }
+
+  panda->send_heartbeat(engaged, engaged_mads);
+}
+
+void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control, bool is_onroad) {
+  static Params params;
+  static SubMaster sm({"deviceState", "cabinCameraState"});
+
+  static uint64_t last_cabin_camera_t = 0;
+  static uint16_t prev_fan_speed = 999;
+  static int ir_pwr = 0;
+  static int prev_ir_pwr = 999;
+  static uint32_t prev_frame_id = UINT32_MAX;
+  static bool driver_view = false;
+  static bool not_car = false;
+  static bool not_car_checked = false;
+
+  // TODO: can we merge these?
+  static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
+  static FirstOrderFilter integ_lines_filter_driver_view(0, 5.0, 0.05);
+
+  {
+    sm.update(0);
+    if (sm.updated("deviceState") && !no_fan_control) {
+      // Fan speed
+      uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
+      if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) {
+        panda->set_fan_speed(fan_speed);
+        prev_fan_speed = fan_speed;
+      }
+    }
+
+    if (sm.updated("cabinCameraState")) {
+      auto event = sm["cabinCameraState"];
+      int cur_integ_lines = event.getCabinCameraState().getIntegLines();
+
+      // reset the filter when camerad restarts
+      if (event.getCabinCameraState().getFrameId() < prev_frame_id) {
+        integ_lines_filter.reset(0);
+        integ_lines_filter_driver_view.reset(0);
+        driver_view = params.getBool("IsDriverViewEnabled");
+      }
+      prev_frame_id = event.getCabinCameraState().getFrameId();
+
+      cur_integ_lines = (driver_view ? integ_lines_filter_driver_view : integ_lines_filter).update(cur_integ_lines);
+      last_cabin_camera_t = event.getLogMonoTime();
+
+      if (cur_integ_lines <= CUTOFF_IL) {
+        ir_pwr = 0;
+      } else if (cur_integ_lines > SATURATE_IL) {
+        ir_pwr = 100;
+      } else {
+        ir_pwr = 100 * (cur_integ_lines - CUTOFF_IL) / (SATURATE_IL - CUTOFF_IL);
+      }
+    }
+
+    // Disable IR on input timeout
+    if (nanos_since_boot() - last_cabin_camera_t > 1e9) {
+      ir_pwr = 0;
+    }
+
+    // turn off IR leds if body
+    if (!not_car_checked && is_onroad) {
+      std::string cp_bytes = params.get("CarParams");
+      if (cp_bytes.size() > 0) {
+        AlignedBuffer aligned_buf;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+        cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+        not_car = CP.getNotCar();
+        not_car_checked = true;
+      }
+    }
+    if (not_car) {
+      ir_pwr = 0;
+    }
+
+    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
+      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
+      panda->set_ir_pwr(ir_panda);
+      Hardware::set_ir_power(ir_pwr);
+      prev_ir_pwr = ir_pwr;
+    }
+  }
+}
+
+void pandad_run(Panda *panda) {
+  const bool no_fan_control = getenv("NO_FAN_CONTROL") != nullptr;
+  const bool spoofing_started = getenv("STARTED") != nullptr;
+  const bool fake_send = getenv("FAKESEND") != nullptr;
+
+  // Start helper thread for event-driven sendcan.
+  std::thread send_thread(can_send_thread, panda, fake_send);
+
+  RateKeeper rk("pandad", 100);
+  SubMaster sm({"selfdriveState", "deviceState", "selfdriveStateSP"});
+  PubMaster pm({"can", "pandaStates", "peripheralState"});
+  PandaSafety panda_safety(panda);
+  bool engaged = false;
+  bool engaged_mads = false;
+  bool is_onroad = false;
+  bool always_offroad = false;
+
+  // Main loop: receive CAN first, then process lower priority panda and peripheral state.
+  while (!do_exit && check_connected(panda)) {
+    can_recv(panda, &pm);
+
+    // Process peripheral state at 20 Hz
+    if (rk.frame() % 5 == 0) {
+      process_peripheral_state(panda, &pm, no_fan_control, is_onroad);
+    }
+
+    // Process panda state at 10 Hz
+    if (rk.frame() % 10 == 0) {
+      sm.update(0);
+      engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
+      if (sm.updated("deviceState")) {
+        is_onroad = sm["deviceState"].getDeviceState().getStarted();
+      }
+      engaged_mads = process_mads_heartbeat(&sm);
+      always_offroad = panda_safety.getOffroadMode();
+      process_panda_state(panda, &pm, engaged, engaged_mads, is_onroad, spoofing_started, always_offroad);
+      panda_safety.configureSafetyMode(is_onroad);
+    }
+
+    // Send out peripheralState at 2Hz
+    if (rk.frame() % 50 == 0) {
+      send_peripheral_state(panda, &pm);
+    }
+
+    // Forward logs from panda to cloudlog if available
+    std::string log = panda->serial_read();
+    if (!log.empty()) {
+      if (log.find("Register 0x") != std::string::npos) {
+        // Log register divergent faults as errors
+        LOGE("%s", log.c_str());
+      } else {
+        LOGD("%s", log.c_str());
+      }
+    }
+
+    rk.keepTime();
+  }
+
+  // Close relay on exit to prevent a fault
+  if (is_onroad && !engaged) {
+    if (panda->connected()) {
+      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+    }
+  }
+
+  send_thread.join();
+}
+
+void pandad_main_thread(std::string serial) {
+  if (serial.empty()) {
+    auto serials = Panda::list();
+
+    if (serials.empty()) {
+      LOGW("no pandas found, exiting");
+      return;
+    }
+    serial = serials[0];
+  }
+
+  LOGW("connecting to panda: %s", serial.c_str());
+
+  Panda *panda = nullptr;
+  while (!do_exit) {
+    panda = connect(serial);
+    if (panda) break;
+    util::sleep_for(100);
+  }
+
+  if (!do_exit) {
+    LOGW("connected to panda");
+    pandad_run(panda);
+  }
+
+  delete panda;
+}
diff --git a/selfdrive/pandad/pandad.h b/openpilot/selfdrive/pandad/pandad.h
similarity index 80%
rename from selfdrive/pandad/pandad.h
rename to openpilot/selfdrive/pandad/pandad.h
index 954851b613..1558d0469e 100644
--- a/selfdrive/pandad/pandad.h
+++ b/openpilot/selfdrive/pandad/pandad.h
@@ -1,12 +1,11 @@
 #pragma once
 
 #include <string>
-#include <vector>
 
 #include "common/params.h"
 #include "selfdrive/pandad/panda.h"
 
-void pandad_main_thread(std::vector<std::string> serials);
+void pandad_main_thread(std::string serial);
 
 // deprecated devices
 static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES = {
@@ -18,7 +17,7 @@ static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES =
 
 class PandaSafety {
 public:
-  PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
+  PandaSafety(Panda *panda) : panda_(panda) {}
   void configureSafetyMode(bool is_onroad);
   bool getOffroadMode();
 
@@ -31,6 +30,6 @@ private:
   bool log_once_ = false;
   bool safety_configured_ = false;
   bool prev_obd_multiplexing_ = false;
-  std::vector<Panda *> pandas_;
+  Panda *panda_;
   Params params_;
 };
diff --git a/openpilot/selfdrive/pandad/pandad.py b/openpilot/selfdrive/pandad/pandad.py
new file mode 100755
index 0000000000..a618dacccd
--- /dev/null
+++ b/openpilot/selfdrive/pandad/pandad.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python3
+# simple pandad wrapper that updates the panda first
+import os
+import usb1
+import time
+import signal
+import subprocess
+
+from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, FW_PATH
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.swaglog import cloudlog
+
+from openpilot.sunnypilot.selfdrive.pandad.rivian_long_flasher import flash_rivian_long
+
+
+def get_expected_signature() -> bytes:
+  fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
+  return Panda.get_signature_from_firmware(fn)
+
+def flash_panda(panda_serial: str):
+  panda = Panda(panda_serial)
+
+  # skip flashing if the detected panda is not supported
+  if panda.get_type() not in Panda.SUPPORTED_DEVICES:
+    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
+    panda.close()
+    return
+
+  fw_signature = get_expected_signature()
+  internal_panda = panda.is_internal()
+
+  panda_version = "bootstub" if panda.bootstub else panda.get_version()
+  panda_signature = b"" if panda.bootstub else panda.get_signature()
+  cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
+
+  if panda.bootstub or panda_signature != fw_signature:
+    cloudlog.info("Panda firmware out of date, update required")
+    panda.flash()
+    cloudlog.info("Done flashing")
+
+  if panda.bootstub:
+    bootstub_version = panda.get_version()
+    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}")
+    if internal_panda:
+      HARDWARE.recover_internal_panda()
+    panda.recover(reset=(not internal_panda))
+    cloudlog.info("Done flashing bootstub")
+
+  if panda.bootstub:
+    cloudlog.info("Panda still not booting, exiting")
+    raise AssertionError
+
+  panda_signature = panda.get_signature()
+  if panda_signature != fw_signature:
+    cloudlog.info("Version mismatch after flashing, exiting")
+    raise AssertionError
+
+  panda.close()
+
+
+def check_panda_support(panda_serials: list[str]) -> list[str]:
+  spi_serials = set(Panda.spi_list())
+  for serial in panda_serials:
+    if serial in spi_serials:
+      return [serial]
+
+  for serial in panda_serials:
+    panda = Panda(serial)
+    is_internal = panda.is_internal()
+    panda.close()
+    if is_internal:
+      return [serial]
+
+  return []
+
+
+def main() -> None:
+  # signal pandad to close the relay and exit
+  def signal_handler(signum, frame):
+    cloudlog.info(f"Caught signal {signum}, exiting")
+    nonlocal do_exit
+    do_exit = True
+    if process is not None:
+      process.send_signal(signal.SIGINT)
+
+  process = None
+  do_exit = False
+  signal.signal(signal.SIGINT, signal_handler)
+
+  # check health for lost heartbeat
+  try:
+    for s in Panda.list():
+      with Panda(s) as p:
+        health = p.health()
+        if p.is_internal() and health["heartbeat_lost"]:
+          Params().put_bool("PandaHeartbeatLost", True, block=True)
+          cloudlog.event("heartbeat lost", deviceState=health)
+  except Exception:
+    cloudlog.exception("pandad.uncaught_exception")
+
+  count = 0
+  while not do_exit:
+    try:
+      cloudlog.event("pandad.flash_and_connect", count=count)
+      if (count % 2) == 0:
+        HARDWARE.reset_internal_panda()
+      else:
+        HARDWARE.recover_internal_panda()
+      count += 1
+
+      # Flash all Pandas in DFU mode
+      for serial in PandaDFU.list():
+        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+        PandaDFU(serial).recover()
+        time.sleep(1)
+
+      panda_serials = Panda.list()
+      if len(panda_serials):
+        # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+        flash_rivian_long(panda_serials)
+        # find the internal supported panda (e.g. skip external Black Panda)
+        panda_serials = check_panda_support(panda_serials)
+
+        assert len(panda_serials) == 1
+        cloudlog.info(f"{len(panda_serials)} panda found, connecting - {panda_serials}")
+        flash_panda(panda_serials[0])
+
+        # run real pandad
+        os.environ['MANAGER_DAEMON'] = 'pandad'
+        process = subprocess.Popen(["./pandad"], cwd=os.path.join(BASEDIR, "openpilot/selfdrive/pandad"))
+        process.wait()
+    # TODO: wrap all panda exceptions in a base panda exception
+    except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
+      # a panda was disconnected while setting everything up. let's try again
+      cloudlog.exception("Panda USB exception while setting up")
+    except PandaProtocolMismatch:
+      cloudlog.exception("pandad.protocol_mismatch")
+    except Exception:
+      cloudlog.exception("pandad.uncaught_exception")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/pandad/pandad_api_impl.py b/openpilot/selfdrive/pandad/pandad_api_impl.py
similarity index 98%
rename from selfdrive/pandad/pandad_api_impl.py
rename to openpilot/selfdrive/pandad/pandad_api_impl.py
index 75a7ba484e..9da277d73a 100644
--- a/selfdrive/pandad/pandad_api_impl.py
+++ b/openpilot/selfdrive/pandad/pandad_api_impl.py
@@ -1,5 +1,5 @@
 import time
-from cereal import log
+from openpilot.cereal import log
 
 NO_TRAVERSAL_LIMIT = 2**64 - 1
 
diff --git a/selfdrive/pandad/spi.cc b/openpilot/selfdrive/pandad/spi.cc
similarity index 94%
rename from selfdrive/pandad/spi.cc
rename to openpilot/selfdrive/pandad/spi.cc
index b6ee57801a..369032a533 100644
--- a/selfdrive/pandad/spi.cc
+++ b/openpilot/selfdrive/pandad/spi.cc
@@ -1,4 +1,3 @@
-#ifndef __APPLE__
 #include <sys/file.h>
 #include <sys/ioctl.h>
 #include <linux/spi/spidev.h>
@@ -30,10 +29,16 @@ enum SpiError {
 
 const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
 const std::string SPI_DEVICE = "/dev/spidev0.0";
+// TODO: fix SPI turnaround synchronization at the protocol level.
+static uint64_t spi_last_bus_activity_ns = 0;  // protected by hw_lock
+
+static void wait_for_spi_turnaround(uint64_t start_ns) {
+  while ((nanos_since_boot() - start_ns) < 400000) {}
+}
 
 class LockEx {
 public:
-  LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) {
+  LockEx(int fd_, std::recursive_mutex &m_) : fd(fd_), m(m_) {
     m.lock();
     flock(fd, LOCK_EX);
   }
@@ -55,7 +60,7 @@ private:
          util::hexdump(tx_buf, std::min((int)header.tx_len, 8)).c_str()); \
       } while (0)
 
-PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
+PandaSpiHandle::PandaSpiHandle(std::string serial) {
   int ret;
   const int uid_len = 12;
   uint8_t uid[uid_len] = {0};
@@ -320,6 +325,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   assert(tx_len < SPI_BUF_SIZE);
   assert(max_rx_len < SPI_BUF_SIZE);
 
+  wait_for_spi_turnaround(spi_last_bus_activity_ns);
+
   xfer_count++;
   header = {
     .sync = SPI_SYNC,
@@ -348,6 +355,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   if (ret < 0) {
     goto fail;
   }
+  wait_for_spi_turnaround(nanos_since_boot());
 
   // Send data
   if (tx_data != NULL) {
@@ -390,6 +398,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
     memcpy(rx_data, rx_buf + 3, rx_data_len);
   }
 
+  spi_last_bus_activity_ns = nanos_since_boot();
   return rx_data_len;
 
 fail:
@@ -404,7 +413,7 @@ fail:
     }
   }
 
+  spi_last_bus_activity_ns = nanos_since_boot();
   if (ret >= 0) ret = -1;
   return ret;
 }
-#endif
diff --git a/selfdrive/modeld/models/__init__.py b/openpilot/selfdrive/pandad/tests/__init__.py
similarity index 100%
rename from selfdrive/modeld/models/__init__.py
rename to openpilot/selfdrive/pandad/tests/__init__.py
diff --git a/selfdrive/pandad/tests/bootstub.panda_h7.bin b/openpilot/selfdrive/pandad/tests/bootstub.panda_h7.bin
similarity index 100%
rename from selfdrive/pandad/tests/bootstub.panda_h7.bin
rename to openpilot/selfdrive/pandad/tests/bootstub.panda_h7.bin
diff --git a/selfdrive/pandad/tests/test_pandad.py b/openpilot/selfdrive/pandad/tests/test_pandad.py
old mode 100644
new mode 100755
similarity index 54%
rename from selfdrive/pandad/tests/test_pandad.py
rename to openpilot/selfdrive/pandad/tests/test_pandad.py
index 88d3939a6a..891508f2d7
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/openpilot/selfdrive/pandad/tests/test_pandad.py
@@ -1,25 +1,29 @@
-import os
-import pytest
-import time
+#!/usr/bin/env python3
 
-import cereal.messaging as messaging
-from cereal import log
+import os
+import time
+import unittest
+
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.hardware.comma.pins import GPIO
 
 HERE = os.path.dirname(os.path.realpath(__file__))
 
 
-@pytest.mark.tici
-class TestPandad:
+class TestPandad(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
-  def setup_method(self):
-    # ensure panda is up
-    if len(Panda.list()) == 0:
-      self._run_test(60)
+  def setUp(self):
+    super().setUp()
+    managed_processes['pandad'].stop()
+    if not Panda.list():
+      self._run_test()
 
   def teardown_method(self):
     managed_processes['pandad'].stop()
@@ -30,7 +34,7 @@ class TestPandad:
 
     managed_processes['pandad'].start()
     while (time.monotonic() - st) < timeout:
-      sm.update(100)
+      sm.update(10)
       if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
         break
     dt = time.monotonic() - st
@@ -45,10 +49,6 @@ class TestPandad:
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
 
-  def _assert_no_panda(self):
-    assert not Panda.wait_for_dfu(None, 3)
-    assert not Panda.wait_for_panda(None, 3)
-
   def _flash_bootstub(self, fn):
     self._go_to_dfu()
     pd = PandaDFU(None)
@@ -56,12 +56,11 @@ class TestPandad:
       fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
     with open(fn, "rb") as f:
       pd.program_bootstub(f.read())
-    pd.reset()
     HARDWARE.reset_internal_panda()
 
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
-    self._run_test(60)
+    self._run_test()
 
   def test_in_bootstub(self):
     with Panda() as p:
@@ -69,46 +68,28 @@ class TestPandad:
       assert p.bootstub
     self._run_test()
 
-  def test_internal_panda_reset(self):
+  def test_in_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
-    gpio_set(GPIO.STM_RST_N, 1)
-    time.sleep(0.5)
-    assert all(not Panda(s).is_internal() for s in Panda.list())
+    gpio_set(GPIO.STM_RST_N, True)
+    assert not Panda.list()
     self._run_test()
 
-    assert any(Panda(s).is_internal() for s in Panda.list())
-
-  def test_best_case_startup_time(self):
-    # run once so we're up to date
-    self._run_test(60)
-
-    ts = []
-    for _ in range(10):
-      # should be nearly instant this time
-      dt = self._run_test(5)
-      ts.append(dt)
-
-    # 5s for USB (due to enumeration)
-    # - 0.2s pandad -> pandad
-    # - plus some buffer
-    print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < 0.7
-
-  def test_old_spi_protocol(self):
-    # flash firmware with old SPI protocol
-    self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
-    self._run_test(45)
-
   def test_release_to_devel_bootstub(self):
+    st = time.monotonic()
     self._flash_bootstub(None)
-    self._run_test(45)
+    print("flash done", time.monotonic() - st)
+    self._run_test()
 
   def test_recover_from_bad_bootstub(self):
     self._go_to_dfu()
     with PandaDFU(None) as pd:
-      pd.program_bootstub(b"\x00"*1024)
-      pd.reset()
+      pd._handle.program(pd.get_mcu_type().config.bootstub_address, b"\x00"*100)
     HARDWARE.reset_internal_panda()
-    self._assert_no_panda()
+    assert not Panda.list()
+    assert not PandaDFU.list()
 
-    self._run_test(60)
+    self._run_test()
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/selfdrive/pandad/tests/test_pandad_canprotocol.cc b/openpilot/selfdrive/pandad/tests/test_pandad_canprotocol.cc
new file mode 100644
index 0000000000..50bbc51f49
--- /dev/null
+++ b/openpilot/selfdrive/pandad/tests/test_pandad_canprotocol.cc
@@ -0,0 +1,115 @@
+#include <climits>
+
+#include "common/tests/native_test.h"
+#include "openpilot/cereal/messaging/messaging.h"
+#include "selfdrive/pandad/panda.h"
+
+struct PandaTest : public Panda {
+  PandaTest(int can_list_size, cereal::PandaState::PandaType hw_type);
+  void test_can_send();
+  void test_can_recv(uint32_t chunk_size = 0);
+  void test_chunked_can_recv();
+
+  std::map<int, std::string> test_data;
+  int can_list_size = 0;
+  int total_pakets_size = 0;
+  MessageBuilder msg;
+  capnp::List<cereal::CanData>::Reader can_data_list;
+};
+
+PandaTest::PandaTest(int can_list_size_, cereal::PandaState::PandaType hw_type_) : can_list_size(can_list_size_), Panda() {
+  this->hw_type = hw_type_;
+  int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8);
+  // prepare test data
+  for (int i = 0; i < data_limit; ++i) {
+    int data_len = dlc_to_len[i];
+    std::string bytes(data_len, '\0');
+    for (int j = 0; j < data_len; ++j) bytes[j] = static_cast<char>((i * 31 + j) & 0xff);
+    test_data[data_len] = bytes;
+  }
+
+  // generate can messages for this panda
+  auto can_list = msg.initEvent().initSendcan(can_list_size);
+  for (uint8_t i = 0; i < can_list_size; ++i) {
+    auto can = can_list[i];
+    uint32_t id = i % data_limit;
+    const std::string &dat = test_data[dlc_to_len[id]];
+    can.setAddress(i);
+    can.setSrc(i % 3);
+    can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
+    total_pakets_size += sizeof(can_header) + dat.size();
+  }
+
+  can_data_list = can_list.asReader();
+}
+
+void PandaTest::test_can_send() {
+  std::vector<uint8_t> unpacked_data;
+  this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) {
+    unpacked_data.insert(unpacked_data.end(), chunk, &chunk[size]);
+  });
+  CHECK(unpacked_data.size() == total_pakets_size);
+
+  int cnt = 0;
+  for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) {
+    can_header header;
+    memcpy(&header, &unpacked_data[pos], sizeof(can_header));
+    const uint8_t data_len = dlc_to_len[header.data_len_code];
+    pckt_len = sizeof(can_header) + data_len;
+
+    CHECK(header.addr == cnt);
+    CHECK(test_data.find(data_len) != test_data.end());
+    const std::string &dat = test_data[data_len];
+    CHECK(memcmp(dat.data(), &unpacked_data[pos + sizeof(can_header)], dat.size()) == 0);
+    ++cnt;
+  }
+  CHECK(cnt == can_list_size);
+}
+
+void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
+  std::vector<can_frame> frames;
+  this->pack_can_buffer(can_data_list, [&](uint8_t *data, uint32_t size) {
+    if (rx_chunk_size == 0) {
+      CHECK(this->unpack_can_buffer(data, size, frames));
+    } else {
+      this->receive_buffer_size = 0;
+      uint32_t pos = 0;
+
+      while (pos < size) {
+        uint32_t chunk_size = std::min(rx_chunk_size, size - pos);
+        memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size);
+        this->receive_buffer_size += chunk_size;
+        pos += chunk_size;
+
+        CHECK(this->unpack_can_buffer(this->receive_buffer, this->receive_buffer_size, frames));
+      }
+    }
+  });
+
+  CHECK(frames.size() == can_list_size);
+  for (int i = 0; i < frames.size(); ++i) {
+    CHECK(frames[i].address == i);
+    CHECK(test_data.find(frames[i].dat.size()) != test_data.end());
+    const std::string &dat = test_data[frames[i].dat.size()];
+    CHECK(memcmp(dat.data(), frames[i].dat.data(), dat.size()) == 0);
+  }
+}
+
+void test_can_protocol() {
+  for (auto hw_type : {cereal::PandaState::PandaType::DOS, cereal::PandaState::PandaType::RED_PANDA}) {
+    for (int can_list_size : {1, 3, 5, 10, 30, 60, 100, 200}) {
+      PandaTest send_test(can_list_size, hw_type);
+      send_test.test_can_send();
+
+      PandaTest receive_test(can_list_size, hw_type);
+      receive_test.test_can_recv();
+
+      PandaTest chunked_receive_test(can_list_size, hw_type);
+      chunked_receive_test.test_can_recv(0x40);
+    }
+  }
+}
+
+int main() {
+  return run_native_test(test_can_protocol);
+}
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/openpilot/selfdrive/pandad/tests/test_pandad_loopback.py
old mode 100644
new mode 100755
similarity index 75%
rename from selfdrive/pandad/tests/test_pandad_loopback.py
rename to openpilot/selfdrive/pandad/tests/test_pandad_loopback.py
index eff70d2544..ad35018f5f
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/openpilot/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -1,60 +1,67 @@
+#!/usr/bin/env python3
+
 import os
 import copy
 import random
 import time
-import pytest
+import unittest
 from collections import defaultdict
 from pprint import pprint
 
-import cereal.messaging as messaging
-from cereal import car, log
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
 from opendbc.car.can_definitions import CanData
 from openpilot.common.utils import retry
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import with_processes
 
 
+def publish_device_state(pm, started):
+  msg = messaging.new_message('deviceState')
+  msg.deviceState.started = started
+  pm.send('deviceState', msg)
+
 @retry(attempts=3)
-def setup_pandad(num_pandas):
+def setup_pandad():
   params = Params()
   params.clear_all()
-  params.put_bool("IsOnroad", False)
 
+  pm = messaging.PubMaster(['deviceState'])
   sm = messaging.SubMaster(['pandaStates'])
+  publish_device_state(pm, False)
   with Timeout(90, "pandad didn't start"):
     while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
         any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
-      sm.update(1000)
-
-  found_pandas = len(sm['pandaStates'])
-  assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \
-                                      connect another panda for multipanda tests."
+      publish_device_state(pm, False)
+      sm.update(100)
 
   # pandad safety setting relies on these params
   cp = car.CarParams.new_message()
 
   safety_config = car.CarParams.SafetyConfig.new_message()
   safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
-  cp.safetyConfigs = [safety_config]*num_pandas
+  cp.safetyConfigs = [safety_config]
 
-  params.put_bool("IsOnroad", True)
-  params.put_bool("FirmwareQueryDone", True)
-  params.put_bool("ControlsReady", True)
-  params.put("CarParams", cp.to_bytes())
+  params.put_bool("FirmwareQueryDone", True, block=True)
+  params.put_bool("ControlsReady", True, block=True)
+  params.put("CarParams", cp.to_bytes(), block=True)
 
+  publish_device_state(pm, True)
   with Timeout(90, "pandad didn't set safety mode"):
     while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']):
-      sm.update(1000)
+      publish_device_state(pm, True)
+      sm.update(100)
 
-def send_random_can_messages(sendcan, count, num_pandas=1):
+def send_random_can_messages(sendcan, count):
   sent_msgs = defaultdict(set)
   for _ in range(count):
     to_send = []
     for __ in range(random.randrange(20)):
-      bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
+      bus = random.choice(range(3))
       addr = random.randrange(1, 1<<29)
       dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
       if (addr, dat) in sent_msgs[bus]:
@@ -65,8 +72,8 @@ def send_random_can_messages(sendcan, count, num_pandas=1):
   return sent_msgs
 
 
-@pytest.mark.tici
-class TestBoarddLoopback:
+class TestBoarddLoopback(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
   @classmethod
   def setup_class(cls):
     os.environ['STARTED'] = '1'
@@ -74,8 +81,7 @@ class TestBoarddLoopback:
 
   @with_processes(['pandad'])
   def test_loopback(self):
-    num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
-    setup_pandad(num_pandas)
+    setup_pandad()
 
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
@@ -86,7 +92,7 @@ class TestBoarddLoopback:
     for i in range(n):
       print(f"pandad loopback {i}/{n}")
 
-      sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas)
+      sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100))
 
       sent_loopback = copy.deepcopy(sent_msgs)
       sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
@@ -111,3 +117,7 @@ class TestBoarddLoopback:
       pprint(sm['pandaStates'])  # may drop messages due to RX buffer overflow
       for bus in sent_loopback.keys():
         assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
old mode 100644
new mode 100755
similarity index 80%
rename from selfdrive/pandad/tests/test_pandad_spi.py
rename to openpilot/selfdrive/pandad/tests/test_pandad_spi.py
index da4b181993..ba2e31ce82
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
@@ -1,18 +1,22 @@
+#!/usr/bin/env python3
+
 import os
 import time
+import unittest
 import numpy as np
-import pytest
 import random
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
+from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
 JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 
-@pytest.mark.tici
-class TestBoarddSpi:
+class TestBoarddSpi(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
   @classmethod
   def setup_class(cls):
     os.environ['STARTED'] = '1'
@@ -22,20 +26,25 @@ class TestBoarddSpi:
 
   @with_processes(['pandad'])
   def test_spi_corruption(self, subtests):
-    setup_pandad(1)
+    setup_pandad()
 
     sendcan = messaging.pub_sock('sendcan')
     socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
-    time.sleep(2)
-    for s in socks.values():
-      messaging.drain_sock_raw(s)
+    readiness_services = {'pandaStates', 'peripheralState'}
+    ready = set()
+    with Timeout(2, "pandad services didn't become ready"):
+      while not readiness_services <= ready:
+        for service, sock in socks.items():
+          if messaging.drain_sock_raw(sock):
+            ready.add(service)
+        time.sleep(0.01)
 
     total_recv_count = 0
     total_sent_count = 0
-    sent_msgs = {bus: list() for bus in range(3)}
+    sent_msgs = {bus: [] for bus in range(3)}
 
     st = time.monotonic()
-    ts = {s: list() for s in socks.keys()}
+    ts = {s: [] for s in socks.keys()}
     for _ in range(int(os.getenv("TEST_TIME", "20"))):
       # send some CAN messages
       if not JUNGLE_SPAM:
@@ -80,7 +89,6 @@ class TestBoarddSpi:
             ps = m.peripheralState
             assert ps.pandaType == "tres"
             assert 4000 < ps.voltage < 14000
-            assert 50 < ps.current < 1000
             assert ps.fanSpeedRpm < 10000
 
       time.sleep(0.5)
@@ -100,3 +108,7 @@ class TestBoarddSpi:
     with subtests.test(msg="CAN traffic"):
       print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received")
       assert total_recv_count > 20
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/selfdrived/alertmanager.py b/openpilot/selfdrive/selfdrived/alertmanager.py
similarity index 93%
rename from selfdrive/selfdrived/alertmanager.py
rename to openpilot/selfdrive/selfdrived/alertmanager.py
index 34db27c7a4..3be56381cf 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/openpilot/selfdrive/selfdrived/alertmanager.py
@@ -10,7 +10,7 @@ from openpilot.selfdrive.selfdrived.events import Alert
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
 
 
-with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
+with open(os.path.join(BASEDIR, "openpilot/selfdrive/selfdrived/alerts_offroad.json")) as f:
   OFFROAD_ALERTS = json.load(f)
 
 
@@ -18,7 +18,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = Non
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''
-    Params().put(alert, a)
+    Params().put(alert, a, block=True)
   else:
     Params().remove(alert)
 
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/openpilot/selfdrive/selfdrived/alerts_offroad.json
similarity index 89%
rename from selfdrive/selfdrived/alerts_offroad.json
rename to openpilot/selfdrive/selfdrived/alerts_offroad.json
index 917b0b6ab7..8a77bd29a4 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/openpilot/selfdrive/selfdrived/alerts_offroad.json
@@ -17,10 +17,6 @@
     "severity": 1,
     "_comment": "Set extra field to the failed reason."
   },
-  "Offroad_IsTakingSnapshot": {
-    "text": "Taking camera snapshots. System won't start until finished.",
-    "severity": 0
-  },
   "Offroad_NeosUpdate": {
     "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
     "severity": 0
@@ -30,7 +26,7 @@
     "severity": 1
   },
   "Offroad_CarUnrecognized": {
-    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
+    "text": "sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please select your vehicle manually at https://www.sunnylink.ai/. Need help? Visit https://community.sunnypilot.ai/",
     "severity": 0
   },
   "Offroad_Recalibration": {
@@ -46,7 +42,7 @@
     "severity": 0
   },
   "Offroad_ExcessiveActuation": {
-    "text": "Excessive %1 actuation detected on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
+    "text": "Excessive %1 actuation detected on your last drive. Please visit https://community.sunnypilot.ai/ and share your device's Dongle ID for troubleshooting.",
     "severity": 1,
     "_comment": "Set extra field to lateral or longitudinal."
   },
diff --git a/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py
similarity index 91%
rename from selfdrive/selfdrived/events.py
rename to openpilot/selfdrive/selfdrived/events.py
index 62f4553bff..139f416e72 100755
--- a/selfdrive/selfdrived/events.py
+++ b/openpilot/selfdrive/selfdrived/events.py
@@ -2,15 +2,14 @@
 import math
 import os
 
-from cereal import log, car
-import cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
-from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
@@ -20,7 +19,7 @@ from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Pr
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 EventName = log.OnroadEvent.EventName
 
 
@@ -88,20 +87,19 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
 
 
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
+  first_word = 'Recalibrating' if sm['extrinsicsCalibration'].calStatus == log.ExtrinsicsCalibration.Status.recalibrating else 'Calibrating'
   return Alert(
-    f"{first_word}: {sm['liveCalibration'].calPerc:.0f}%",
+    f"{first_word}: {sm['extrinsicsCalibration'].calPerc:.0f}%",
     f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
 
-def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
-  return NormalPermanentAlert(
-    "Recording Audio Feedback",
-    f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.",
-    priority=Priority.LOW)
+def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  if sm['driverMonitoringState'].lockout:
+    mins_left = sm['driverMonitoringState'].lockoutMinutesRemaining
+    return NoEntryAlert("Too Distracted", f"{mins_left} minute{'s' if mins_left != 1 else ''} Left", priority=Priority.HIGH)
+  return NoEntryAlert("Pay Attention to Engage", priority=Priority.HIGH)
 
 
 # *** debug alerts ***
@@ -131,13 +129,13 @@ def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaste
 
 
 def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+  all_cams = ('narrowRoadCameraState', 'cabinCameraState', 'wideRoadCameraState')
   bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
   return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
 
 
 def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  rpy = sm['liveCalibration'].rpyCalib
+  rpy = sm['extrinsicsCalibration'].rpyCalib
   yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
   pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
   angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)"
@@ -145,16 +143,16 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
 
 
 def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  if not sm['liveParameters'].angleOffsetValid:
-    angle_offset_deg = sm['liveParameters'].angleOffsetDeg
+  if not sm['vehicleParameters'].angleOffsetValid:
+    angle_offset_deg = sm['vehicleParameters'].angleOffsetDeg
     title = "Steering misalignment detected"
     text = f"Angle offset too high (Offset: {angle_offset_deg:.1f}°)"
-  elif not sm['liveParameters'].steerRatioValid:
-    steer_ratio = sm['liveParameters'].steerRatio
+  elif not sm['vehicleParameters'].steerRatioValid:
+    steer_ratio = sm['vehicleParameters'].steerRatio
     title = "Steer ratio mismatch"
     text = f"Steering rack geometry may be off (Ratio: {steer_ratio:.1f})"
-  elif not sm['liveParameters'].stiffnessFactorValid:
-    stiffness_factor = sm['liveParameters'].stiffnessFactor
+  elif not sm['vehicleParameters'].stiffnessFactorValid:
+    stiffness_factor = sm['vehicleParameters'].stiffnessFactor
     title = "Abnormal tire stiffness"
     text = f"Check tires, pressure, or alignment (Factor: {stiffness_factor:.1f})"
   else:
@@ -173,11 +171,6 @@ def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaste
   return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
 
 
-def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  x = max(sm['deviceState'].cpuUsagePercent, default=0.)
-  return NormalPermanentAlert("High CPU Usage", f"{x}% used")
-
-
 def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
 
@@ -219,6 +212,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
 
+  EventName.noGps: {},
   EventName.stockFcw: {},
   EventName.actuatorsApiUnavailable: {},
 
@@ -235,6 +229,19 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                                        "Ensure road ahead is clear"),
   },
 
+  EventName.bigModelLoading: {
+    ET.NO_ENTRY: NoEntryAlert("Big Model Loading"),
+  },
+
+  EventName.bigModelFailed: {
+    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nnow driving on small model", duration=20.),
+  },
+
+  EventName.lateralManeuver: {
+    ET.WARNING: longitudinal_maneuver_alert,
+    ET.PERMANENT: NormalPermanentAlert("Lateral Maneuver Mode"),
+  },
+
   EventName.selfdriveInitializing: {
     ET.NO_ENTRY: NoEntryAlert("System Initializing"),
   },
@@ -333,15 +340,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
   },
 
-  EventName.preDriverDistracted: {
+  EventName.driverDistracted1: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "",
       AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+      Priority.LOW, VisualAlert.none, AudibleAlert.preAlert, .1),
   },
 
-  EventName.promptDriverDistracted: {
+  EventName.driverDistracted2: {
     ET.PERMANENT: Alert(
       "Pay Attention",
       "Driver Distracted",
@@ -349,7 +356,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverDistracted: {
+  EventName.driverDistracted3: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Distracted",
@@ -357,7 +364,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
   },
 
-  EventName.preDriverUnresponsive: {
+  EventName.driverUnresponsive1: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel: No Face Detected",
       "",
@@ -365,7 +372,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
   },
 
-  EventName.promptDriverUnresponsive: {
+  EventName.driverUnresponsive2: {
     ET.PERMANENT: Alert(
       "Touch Steering Wheel",
       "Driver Unresponsive",
@@ -373,7 +380,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
-  EventName.driverUnresponsive: {
+  EventName.driverUnresponsive3: {
     ET.PERMANENT: Alert(
       "DISENGAGE IMMEDIATELY",
       "Driver Unresponsive",
@@ -443,7 +450,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   # Thrown when the fan is driven at >50% but is not rotating
   EventName.fanMalfunction: {
-    ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Likely Hardware Issue"),
+    ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Contact comma.ai/support"),
   },
 
   # Camera is not outputting frames
@@ -567,6 +574,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"),
   },
 
+  EventName.carNotReady: {
+    ET.NO_ENTRY: NoEntryAlert("Car Not Ready"),
+  },
+
   EventName.wrongCruiseMode: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
     ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"),
@@ -594,18 +605,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
       "Sensor Data Invalid",
-      "Possible Hardware Issue",
+      "Contact comma.ai/support",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
     ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"),
   },
 
-  EventName.noGps: {
-  },
-
   EventName.tooDistracted: {
-    ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
+    ET.NO_ENTRY: too_distracted_alert,
   },
 
   EventName.excessiveActuation: {
@@ -662,11 +670,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Disabled"),
   },
 
-  EventName.lowBattery: {
-    ET.SOFT_DISABLE: soft_disable_alert("Low Battery"),
-    ET.NO_ENTRY: NoEntryAlert("Low Battery"),
-  },
-
   # Different openpilot services communicate between each other at a certain
   # interval. If communication does not follow the regular schedule this alert
   # is thrown. This can mean a service crashed, did not broadcast a message for
@@ -720,13 +723,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: posenet_invalid_alert,
   },
 
-  # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we
-  # alert the driver the device might have fallen from the windshield.
-  EventName.deviceFalling: {
-    ET.SOFT_DISABLE: soft_disable_alert("Device Fell Off Mount"),
-    ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"),
-  },
-
   EventName.lowMemory: {
     ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
     ET.PERMANENT: low_memory_alert,
@@ -749,14 +745,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
   },
 
-  # Sometimes the USB stack on the device can get into a bad state
-  # causing the connection to the panda to be lost
-  EventName.usbError: {
-    ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"),
-    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device"),
-    ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
-  },
-
   # This alert can be thrown for the following reasons:
   # - No CAN data received at all
   # - CAN data is received, but some message are not received at the right frequency
@@ -809,7 +797,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # and this alert is thrown.
   EventName.relayMalfunction: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Relay Malfunction"),
-    ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Check Hardware"),
+    ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Contact comma.ai/support"),
     ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"),
   },
 
@@ -844,23 +832,19 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   EventName.userBookmark: {
     ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
   },
-
-  EventName.audioFeedback: {
-    ET.PERMANENT: audio_feedback_alert,
-  },
 }
 
 
 if HARDWARE.get_device_type() == 'mici':
   EVENTS.update({
-    EventName.preDriverDistracted: {
+    EventName.driverDistracted1: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "",
         AlertStatus.normal, AlertSize.small,
-        Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
+        Priority.LOW, VisualAlert.none, AudibleAlert.preAlert, 2),
     },
-    EventName.promptDriverDistracted: {
+    EventName.driverDistracted2: {
       ET.PERMANENT: Alert(
         "Pay Attention",
         "Driver Distracted",
@@ -921,7 +905,7 @@ if HARDWARE.get_device_type() == 'mici':
 
 if __name__ == '__main__':
   # print all alerts by type and priority
-  from cereal.services import SERVICE_LIST
+  from openpilot.cereal.services import SERVICE_LIST
   from collections import defaultdict
 
   event_names = {v: k for k, v in EventName.schema.enumerants.items()}
@@ -933,7 +917,7 @@ if __name__ == '__main__':
 
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():
-      if callable(alert):
+      if not isinstance(alert, Alert):
         alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard)
       alerts_by_type[et][alert.priority].append(event_names[i])
 
diff --git a/selfdrive/selfdrived/helpers.py b/openpilot/selfdrive/selfdrived/helpers.py
similarity index 81%
rename from selfdrive/selfdrived/helpers.py
rename to openpilot/selfdrive/selfdrived/helpers.py
index f7468cbe43..e7dca0f9d5 100644
--- a/selfdrive/selfdrived/helpers.py
+++ b/openpilot/selfdrive/selfdrived/helpers.py
@@ -1,7 +1,8 @@
 import math
 from enum import StrEnum, auto
 
-from cereal import car, messaging
+from openpilot.cereal import messaging
+from opendbc.car.structs import car
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.helpers import Pose
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
@@ -30,7 +31,7 @@ class ExcessiveActuationCheck:
 
     # lateral
     yaw_rate = calibrated_pose.angular_velocity.yaw
-    roll = sm['liveParameters'].roll
+    roll = sm['vehicleParameters'].roll
     roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
 
     # Prevent false positives after overriding
@@ -40,9 +41,9 @@ class ExcessiveActuationCheck:
       if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2:
         excessive_lat_actuation = True
 
-    # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
-    livepose_valid = abs(CS.aEgo - accel_calibrated) < 2
-    self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
+    # deviceMotion acceleration can be noisy due to bad mounting or aliased deviceMotion measurements
+    device_motion_valid = abs(CS.aEgo - accel_calibrated) < 2
+    self._excessive_counter = self._excessive_counter + 1 if device_motion_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
 
     excessive_type = None
     if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT:
diff --git a/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
similarity index 78%
rename from selfdrive/selfdrived/selfdrived.py
rename to openpilot/selfdrive/selfdrived/selfdrived.py
index 7b546f3780..672fee9b48 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -3,10 +3,12 @@ import os
 import time
 import threading
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
-from cereal import car, log, custom
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.cereal import log, custom
+from opendbc.car.structs import car
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient
 
 
 from openpilot.common.params import Params
@@ -14,21 +16,22 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gps import get_gps_location_service
 
-from openpilot.selfdrive.car.car_specific import CarSpecificEvents
+from openpilot.selfdrive.car.car_events import CarEvents
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
-from openpilot.system.version import get_build_metadata
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.version import get_build_metadata
+from openpilot.common.hardware import HARDWARE
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
+from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
@@ -45,6 +48,8 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+AlertLevel = log.DriverMonitoringState.AlertLevel
+MonitoringPolicy = log.DriverMonitoringState.MonitoringPolicy
 TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -71,12 +76,16 @@ class SelfdriveD(CruiseHelper):
     else:
       self.CP_SP = CP_SP
 
-    self.car_events = CarSpecificEvents(self.CP)
+    self.car_events = CarEvents(self.CP)
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
     self.excessive_actuation_check = ExcessiveActuationCheck()
     self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
+    self.big_model_loading = False
+    self.big_model_active = False
+    self.big_model_failed = False
+    self.big_model_ready_t = 0.
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
@@ -84,22 +93,22 @@ class SelfdriveD(CruiseHelper):
     self.gps_location_service = get_gps_location_service(self.params)
     self.gps_packets = [self.gps_location_service]
     self.sensor_packets = ["accelerometer", "gyroscope"]
-    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
+    self.camera_packets = ["narrowRoadCameraState", "cabinCameraState", "wideRoadCameraState"]
 
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP', 'longitudinalPlanSP']
     if SIMULATION:
-      ignore += ['driverCameraState', 'managerState']
+      ignore += ['cabinCameraState', 'managerState']
     if REPLAY:
       # no vipc in replay will make them ignored anyways
-      ignore += ['roadCameraState', 'wideRoadCameraState']
-    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
-                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
+      ignore += ['narrowRoadCameraState', 'wideRoadCameraState']
+    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'extrinsicsCalibration',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'deviceMotion', 'lateralDelay',
+                                   'managerState', 'vehicleParameters', 'radarState', 'lateralTorqueParameters',
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark',
+                                   'lateralManeuverPlan', 'modelDataV2SP', 'longitudinalPlanSP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -140,6 +149,8 @@ class SelfdriveD(CruiseHelper):
       self.params
     )
     self.recalibrating_seen = False
+    self.dm_lockout_set = False
+    self.dm_uncertain_alerted = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
@@ -172,6 +183,7 @@ class SelfdriveD(CruiseHelper):
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
 
     CruiseHelper.__init__(self, self.CP)
+    self.button_state_tracker = ButtonStateTracker()
 
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
@@ -183,7 +195,31 @@ class SelfdriveD(CruiseHelper):
       self.events.add(EventName.joystickDebug)
       self.startup_event = None
 
-    if self.sm.recv_frame['alertDebug'] > 0:
+    loading = self.params.get_bool("UsbGpuLoading")
+    if self.big_model_loading and not loading:
+      self.big_model_ready_t = time.monotonic()
+    self.big_model_loading = loading
+    if self.big_model_loading:
+      self.events.add(EventName.bigModelLoading)
+
+    big_active = self.params.get("UsbGpuActive")
+    usbgpu_present = self.sm['deviceState'].chestnutPresent
+    model_unavailable = big_active is True and self.sm.seen['modelV2'] and not self.sm.alive['modelV2']
+    big_failed = big_active is False or model_unavailable or (self.big_model_active and not usbgpu_present)
+    if big_failed and not self.big_model_failed:
+      self.events.add(EventName.bigModelFailed)
+    self.big_model_failed = big_failed
+
+    # soft disable if the big model fails
+    if big_active:
+      self.big_model_active = True
+    if not self.enabled and not model_unavailable:
+      self.big_model_active = False
+
+    if self.sm.recv_frame['lateralManeuverPlan'] > 0:
+      self.events.add(EventName.lateralManeuver)
+      self.startup_event = None
+    elif self.sm.recv_frame['alertDebug'] > 0:
       self.events.add(EventName.longitudinalManeuver)
       self.startup_event = None
 
@@ -197,13 +233,10 @@ class SelfdriveD(CruiseHelper):
       self.events.add(EventName.selfdriveInitializing)
       return
 
-    # Check for user bookmark press (bookmark button or end of LKAS button feedback)
+    # Check for user bookmark press
     if self.sm.updated['userBookmark']:
       self.events.add(EventName.userBookmark)
 
-    if self.sm.updated['audioFeedback']:
-      self.events.add(EventName.audioFeedback)
-
     # Don't add any more events while in dashcam mode
     if self.CP.passive:
       return
@@ -213,8 +246,30 @@ class SelfdriveD(CruiseHelper):
     if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed:
       self.events.add(EventName.resumeBlocked)
 
+    # Handle DM
     if not self.CP.notCar:
-      self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      # Block engaging until lockout times out or ignition reset
+      if self.sm['driverMonitoringState'].lockout and not self.dm_lockout_set:
+        self.params.put_bool("DriverTooDistracted", True)
+        self.dm_lockout_set = True
+      elif not self.sm['driverMonitoringState'].lockout and self.dm_lockout_set:
+        self.params.remove("DriverTooDistracted")
+        self.dm_lockout_set = False
+      # No entry conditions
+      if self.sm['driverMonitoringState'].lockout or self.sm['driverMonitoringState'].alwaysOnLockout:
+        self.events.add(EventName.tooDistracted)
+      # Alerts
+      vision_dm = self.sm['driverMonitoringState'].activePolicy == MonitoringPolicy.vision
+      if self.sm['driverMonitoringState'].alertLevel == AlertLevel.one:
+        self.events.add(EventName.driverDistracted1 if vision_dm else EventName.driverUnresponsive1)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.two:
+        self.events.add(EventName.driverDistracted2 if vision_dm else EventName.driverUnresponsive2)
+      elif self.sm['driverMonitoringState'].alertLevel == AlertLevel.three:
+        self.events.add(EventName.driverDistracted3 if vision_dm else EventName.driverUnresponsive3)
+      # Warn consistent DM uncertainty
+      if self.sm['driverMonitoringState'].visionPolicyState.uncertainOffroadAlertPercent >= 100 and not self.dm_uncertain_alerted:
+        set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
+        self.dm_uncertain_alerted = True
       self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
@@ -227,7 +282,7 @@ class SelfdriveD(CruiseHelper):
 
       if self.CP.notCar:
         # wait for everything to init first
-        if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
+        if self.sm.frame > int(2. / DT_CTRL) and self.initialized:
           # body always wants to enable
           self.events.add(EventName.pcmEnable)
 
@@ -238,7 +293,7 @@ class SelfdriveD(CruiseHelper):
         self.events.add(EventName.pedalPressed)
 
     # Create events for temperature, disk space, and memory
-    if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
+    if self.sm['deviceState'].thermalStatus >= ThermalStatus.overheated:
       self.events.add(EventName.overheat)
     if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
       self.events.add(EventName.outOfSpace)
@@ -255,11 +310,11 @@ class SelfdriveD(CruiseHelper):
         self.last_functional_fan_frame = self.sm.frame
 
     # Handle calibration status
-    cal_status = self.sm['liveCalibration'].calStatus
-    if cal_status != log.LiveCalibrationData.Status.calibrated:
-      if cal_status == log.LiveCalibrationData.Status.uncalibrated:
+    cal_status = self.sm['extrinsicsCalibration'].calStatus
+    if cal_status != log.ExtrinsicsCalibration.Status.calibrated:
+      if cal_status == log.ExtrinsicsCalibration.Status.uncalibrated:
         self.events.add(EventName.calibrationIncomplete)
-      elif cal_status == log.LiveCalibrationData.Status.recalibrating:
+      elif cal_status == log.ExtrinsicsCalibration.Status.recalibrating:
         if not self.recalibrating_seen:
           set_offroad_alert("Offroad_Recalibration", True)
         self.recalibrating_seen = True
@@ -276,11 +331,11 @@ class SelfdriveD(CruiseHelper):
     #  NOTE: To fork maintainers.
     #  Disabling or nerfing safety features will get you and your users banned from our servers.
     #  We recommend that you do not change these numbers from the defaults.
-    if self.sm.updated['liveCalibration']:
-      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
-    if self.sm.updated['livePose']:
-      device_pose = Pose.from_live_pose(self.sm['livePose'])
-      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
+    if self.sm.updated['extrinsicsCalibration']:
+      self.pose_calibrator.feed_extrinsics_calibration(self.sm['extrinsicsCalibration'])
+    if self.sm.updated['deviceMotion']:
+      device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
+      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)
 
     if self.calibrated_pose is not None:
       excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
@@ -295,9 +350,16 @@ class SelfdriveD(CruiseHelper):
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
+      mdv2sp = self.sm['modelDataV2SP']
+
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
          (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
+
+      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
+           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
+        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
+
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)
@@ -350,14 +412,13 @@ class SelfdriveD(CruiseHelper):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if self.sm['radarState'].radarErrors.canError:
-      self.events.add(EventName.canError)
-    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
-      self.events.add(EventName.radarTempUnavailable)
-    elif any(self.sm['radarState'].radarErrors.to_dict().values()):
-      self.events.add(EventName.radarFault)
-    if not self.sm.valid['pandaStates']:
-      self.events.add(EventName.usbError)
+    if self.CP.openpilotLongitudinalControl:
+      if self.sm['radarState'].radarErrors.canError:
+        self.events.add(EventName.canError)
+      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+        self.events.add(EventName.radarTempUnavailable)
+      elif any(self.sm['radarState'].radarErrors.to_dict().values()):
+        self.events.add(EventName.radarFault)
     if CS.canTimeout:
       self.events.add(EventName.canBusMissing)
     elif not CS.canValid:
@@ -366,7 +427,9 @@ class SelfdriveD(CruiseHelper):
     # generic catch-all. ideally, a more specific event should be added above instead
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if not self.sm.all_checks() and no_system_errors:
+    warmup_sec = 5.
+    big_model_settling = self.big_model_loading or time.monotonic() < self.big_model_ready_t + warmup_sec
+    if not self.sm.all_checks() and no_system_errors and not big_model_settling:  # the load holds modelV2 and friends back on purpose
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -385,12 +448,13 @@ class SelfdriveD(CruiseHelper):
     else:
       self.logged_comm_issue = None
 
-    if not self.CP.notCar:
-      if not self.sm['livePose'].posenetOK:
+    if not self.CP.notCar and not big_model_settling:  # localization has nothing to work with during the load
+      if not self.sm['deviceMotion'].posenetOK:
         self.events.add(EventName.posenetInvalid)
-      if not self.sm['livePose'].inputsOK:
+      if not self.sm['deviceMotion'].inputsOK:
         self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and cal_status == log.LiveCalibrationData.Status.calibrated and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      if (not self.sm['vehicleParameters'].valid and cal_status == log.ExtrinsicsCalibration.Status.calibrated and
+          not TESTING_CLOSET and (not SIMULATION or REPLAY)):
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
@@ -429,7 +493,7 @@ class SelfdriveD(CruiseHelper):
 
     # GPS checks
     gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
-    if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
+    if not gps_ok and self.sm['deviceMotion'].inputsOK and (self.distance_traveled > 1500):
       self.events.add(EventName.noGps)
     if gps_ok:
       self.distance_traveled = 0
@@ -437,7 +501,7 @@ class SelfdriveD(CruiseHelper):
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if self.sm['modelV2'].frameDropPerc > 20:
+      if self.sm['modelV2'].frameDropPerc > 1:
         self.events.add(EventName.modeldLagging)
 
     # mute canBusMissing event if in Park, as it sometimes may trigger a false alarm with MADS in Paused state
@@ -451,7 +515,7 @@ class SelfdriveD(CruiseHelper):
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         if not self.experimental_mode_switched:
           self.personality = (self.personality - 1) % 3
-          self.params.put_nonblocking('LongitudinalPersonality', self.personality)
+          self.params.put('LongitudinalPersonality', self.personality)
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
@@ -468,9 +532,9 @@ class SelfdriveD(CruiseHelper):
       timed_out = self.sm.frame * DT_CTRL > 6.
       if all_valid or timed_out or (SIMULATION and not REPLAY):
         available_streams = VisionIpcClient.available_streams("camerad", block=False)
-        if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
-          self.sm.ignore_alive.append('roadCameraState')
-          self.sm.ignore_valid.append('roadCameraState')
+        if VisionStreamType.VISION_STREAM_NARROW_ROAD not in available_streams:
+          self.sm.ignore_alive.append('narrowRoadCameraState')
+          self.sm.ignore_valid.append('narrowRoadCameraState')
         if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
           self.sm.ignore_alive.append('wideRoadCameraState')
           self.sm.ignore_valid.append('wideRoadCameraState')
@@ -566,6 +630,8 @@ class SelfdriveD(CruiseHelper):
     icbm.sendButton = self.icbm.cruise_button
     icbm.vTarget = self.icbm.v_target
 
+    self.button_state_tracker.publish(ss_sp)
+
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
     # onroadEventsSP - logged every second or on change
@@ -585,6 +651,7 @@ class SelfdriveD(CruiseHelper):
       self.mads.update(CS)
     self.update_alerts(CS)
 
+    self.button_state_tracker.update(CS)
     self.publish_selfdriveState(CS)
 
     self.CS_prev = CS
diff --git a/selfdrive/selfdrived/state.py b/openpilot/selfdrive/selfdrived/state.py
similarity index 96%
rename from selfdrive/selfdrived/state.py
rename to openpilot/selfdrive/selfdrived/state.py
index 073ddb56eb..eca0019503 100644
--- a/selfdrive/selfdrived/state.py
+++ b/openpilot/selfdrive/selfdrived/state.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.common.realtime import DT_CTRL
 
@@ -24,14 +24,14 @@ class StateMachine:
     # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
-      if events.contains(ET.USER_DISABLE):
-        self.state = State.disabled
-        self.current_alert_types.append(ET.USER_DISABLE)
-
-      elif events.contains(ET.IMMEDIATE_DISABLE):
+      if events.contains(ET.IMMEDIATE_DISABLE):
         self.state = State.disabled
         self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
 
+      elif events.contains(ET.USER_DISABLE):
+        self.state = State.disabled
+        self.current_alert_types.append(ET.USER_DISABLE)
+
       else:
         # ENABLED
         if self.state == State.enabled:
diff --git a/selfdrive/selfdrived/tests/test_alertmanager.py b/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
similarity index 95%
rename from selfdrive/selfdrived/tests/test_alertmanager.py
rename to openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
index 8f7c79878c..67cd8f087f 100644
--- a/selfdrive/selfdrived/tests/test_alertmanager.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
@@ -1,12 +1,13 @@
 import random
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
 
 
-class TestAlertManager:
+class TestAlertManager(OpenpilotTestCase):
 
   def test_duration(self):
     """
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/openpilot/selfdrive/selfdrived/tests/test_alerts.py
similarity index 62%
rename from selfdrive/selfdrived/tests/test_alerts.py
rename to openpilot/selfdrive/selfdrived/tests/test_alerts.py
index a1867f2289..9737aa9de7 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_alerts.py
@@ -2,10 +2,11 @@ import copy
 import json
 import os
 import random
-from PIL import Image, ImageDraw, ImageFont
 
-from cereal import log, car
-from cereal.messaging import SubMaster
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import log
+from opendbc.car.structs import car
+from openpilot.cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET
@@ -14,7 +15,7 @@ from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
 
 AlertSize = log.SelfdriveState.AlertSize
 
-OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")
+OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "openpilot/selfdrive/selfdrived/alerts_offroad.json")
 
 # TODO: add callback alerts
 ALERTS = []
@@ -23,7 +24,7 @@ for event_types in EVENTS.values():
     ALERTS.append(alert)
 
 
-class TestAlerts:
+class TestAlerts(OpenpilotTestCase):
 
   @classmethod
   def setup_class(cls):
@@ -45,41 +46,6 @@ class TestAlerts:
         fail_msg = f"{name} @{e} not in EVENTS"
         assert e in EVENTS.keys(), fail_msg
 
-  # ensure alert text doesn't exceed allowed width
-  def test_alert_text_length(self):
-    font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts")
-    regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
-    bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
-    semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
-
-    max_text_width = 2160 - 300  # full screen width is usable, minus sidebar
-    draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
-
-    fonts = {
-      AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
-      AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
-                      ImageFont.truetype(regular_font_path, 66)],
-    }
-
-    for alert in ALERTS:
-      if not isinstance(alert, Alert):
-        alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100, personality=log.LongitudinalPersonality.standard)
-
-      # for full size alerts, both text fields wrap the text,
-      # so it's unlikely that they  would go past the max width
-      if alert.alert_size in (AlertSize.none, AlertSize.full):
-        continue
-
-      for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]):
-        if i >= len(fonts[alert.alert_size]):
-          break
-
-        font = fonts[alert.alert_size][i]
-        left, _, right, _ = draw.textbbox((0, 0), txt, font)
-        width = right - left
-        msg = f"type: {alert.alert_type} msg: {txt}"
-        assert width <= max_text_width, msg
-
   def test_alert_sanity_check(self):
     for event_types in EVENTS.values():
       for event_type, a in event_types.items():
diff --git a/selfdrive/selfdrived/tests/test_state_machine.py b/openpilot/selfdrive/selfdrived/tests/test_state_machine.py
similarity index 92%
rename from selfdrive/selfdrived/tests/test_state_machine.py
rename to openpilot/selfdrive/selfdrived/tests/test_state_machine.py
index b720f48f1e..22f664718e 100644
--- a/selfdrive/selfdrived/tests/test_state_machine.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_state_machine.py
@@ -1,4 +1,5 @@
-from cereal import log
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import log
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
 from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
@@ -13,15 +14,15 @@ ALL_STATES = tuple(State.schema.enumerants.values())
 ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
 
 
-def make_event(event_types):
-  event = {}
+def make_event(event_types: list[str | None]):
+  EVENTS[0] = {}
   for ev in event_types:
-    event[ev] = NormalPermanentAlert("alert")
-  EVENTS[0] = event
+    if ev is not None:
+      EVENTS[0][ev] = NormalPermanentAlert("alert")
   return 0
 
 
-class TestStateMachine:
+class TestStateMachine(OpenpilotTestCase):
   def setup_method(self):
     self.events = Events()
     self.state_machine = StateMachine()
diff --git a/selfdrive/test/.gitignore b/openpilot/selfdrive/test/.gitignore
similarity index 77%
rename from selfdrive/test/.gitignore
rename to openpilot/selfdrive/test/.gitignore
index 5801faadf4..377696afae 100644
--- a/selfdrive/test/.gitignore
+++ b/openpilot/selfdrive/test/.gitignore
@@ -1,9 +1,8 @@
 out/
-docker_out/
 
 process_replay/diff.txt
 process_replay/model_diff.txt
+process_replay/fakedata/
 valgrind_logs.txt
 
-*.bz2
 *.hevc
diff --git a/selfdrive/pandad/tests/__init__.py b/openpilot/selfdrive/test/__init__.py
similarity index 100%
rename from selfdrive/pandad/tests/__init__.py
rename to openpilot/selfdrive/test/__init__.py
diff --git a/selfdrive/test/helpers.py b/openpilot/selfdrive/test/helpers.py
similarity index 64%
rename from selfdrive/test/helpers.py
rename to openpilot/selfdrive/test/helpers.py
index 81635aa31f..71cdcee5e7 100644
--- a/selfdrive/test/helpers.py
+++ b/openpilot/selfdrive/test/helpers.py
@@ -3,14 +3,13 @@ import http.server
 import os
 import threading
 import time
-import pytest
 
 from functools import wraps
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.version import training_version, terms_version
+from openpilot.common.version import training_version, terms_version
 
 
 def set_params_enabled():
@@ -18,25 +17,62 @@ def set_params_enabled():
   os.environ['LOGPRINT'] = "debug"
 
   params = Params()
-  params.put("HasAcceptedTerms", terms_version)
-  params.put("CompletedTrainingVersion", training_version)
-  params.put_bool("OpenpilotEnabledToggle", True)
+  params.put("HasAcceptedTerms", terms_version, block=True)
+  params.put("CompletedTrainingVersion", training_version, block=True)
+  params.put_bool("OpenpilotEnabledToggle", True, block=True)
 
   # valid calib
-  msg = messaging.new_message('liveCalibration')
-  msg.liveCalibration.validBlocks = 20
-  msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
-  params.put("CalibrationParams", msg.to_bytes())
+  msg = messaging.new_message('extrinsicsCalibration')
+  msg.extrinsicsCalibration.validBlocks = 20
+  msg.extrinsicsCalibration.rpyCalib = [0.0, 0.0, 0.0]
+  params.put("CalibrationParams", msg.to_bytes(), block=True)
 
 def release_only(f):
   @wraps(f)
   def wrap(self, *args, **kwargs):
     if "RELEASE" not in os.environ:
-      pytest.skip("This test is only for release branches")
+      self.skipTest("This test is only for release branches")
     f(self, *args, **kwargs)
   return wrap
 
 
+def collect_logs(services, duration):
+  socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
+  logs = []
+  start = time.monotonic()
+  while time.monotonic() - start < duration:
+    for s in socks:
+      logs.extend(messaging.drain_sock(s))
+  return logs
+
+
+@contextlib.contextmanager
+def log_collector(services):
+  """Background thread that continuously drains messages from services.
+     Use when the main thread needs to do blocking work (e.g. capturing images)."""
+  socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
+  raw_logs = []
+  lock = threading.Lock()
+  stop_event = threading.Event()
+
+  def _drain():
+    while not stop_event.is_set():
+      for s in socks:
+        msgs = messaging.drain_sock(s)
+        if msgs:
+          with lock:
+            raw_logs.extend(msgs)
+      time.sleep(0.01)
+
+  thread = threading.Thread(target=_drain, daemon=True)
+  thread.start()
+  try:
+    yield raw_logs, lock
+  finally:
+    stop_event.set()
+    thread.join(timeout=2)
+
+
 @contextlib.contextmanager
 def processes_context(processes, init_time=0, ignore_stopped=None):
   ignore_stopped = [] if ignore_stopped is None else ignore_stopped
diff --git a/selfdrive/test/longitudinal_maneuvers/.gitignore b/openpilot/selfdrive/test/longitudinal_maneuvers/.gitignore
similarity index 100%
rename from selfdrive/test/longitudinal_maneuvers/.gitignore
rename to openpilot/selfdrive/test/longitudinal_maneuvers/.gitignore
diff --git a/selfdrive/test/__init__.py b/openpilot/selfdrive/test/longitudinal_maneuvers/__init__.py
similarity index 100%
rename from selfdrive/test/__init__.py
rename to openpilot/selfdrive/test/longitudinal_maneuvers/__init__.py
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
similarity index 92%
rename from selfdrive/test/longitudinal_maneuvers/maneuver.py
rename to openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
index ba0379f2d7..99a7d8d690 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -43,6 +43,7 @@ class Maneuver:
 
     valid = True
     logs = []
+    not_starting_t = 0.0
     while plant.current_time < self.duration:
       speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values)
       prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
@@ -68,8 +69,13 @@ class Maneuver:
         valid = False
 
       if self.ensure_start and log['v_rel'] > 0 and log['acceleration'] < 1e-3:
-        print('LongitudinalPlanner not starting!')
-        valid = False
+        if not_starting_t == 0.0:
+          not_starting_t = plant.current_time
+        elif plant.current_time - not_starting_t > 0.5:
+          print('LongitudinalPlanner not starting!')
+          valid = False
+      else:
+        not_starting_t = 0.0
 
     if self.ensure_slowdown and log['speed'] > 5.5:
       print('LongitudinalPlanner not slowing down!')
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
similarity index 95%
rename from selfdrive/test/longitudinal_maneuvers/plant.py
rename to openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
index e82ef2f65e..b4e8d76d6d 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -2,8 +2,8 @@
 import time
 import numpy as np
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 from openpilot.common.realtime import Ratekeeper, DT_MDL
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -66,7 +66,7 @@ class Plant:
     control = messaging.new_message('controlsState')
     ss = messaging.new_message('selfdriveState')
     car_state = messaging.new_message('carState')
-    lp = messaging.new_message('liveParameters')
+    lp = messaging.new_message('vehicleParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
     car_state_sp = messaging.new_message('carStateSP')
@@ -94,14 +94,14 @@ class Plant:
     lead.dRel = float(d_rel)
     lead.yRel = 0.0
     lead.vRel = float(v_rel)
-    lead.aRel = float(a_lead - self.acceleration)
     lead.vLead = float(v_lead)
     lead.vLeadK = float(v_lead)
     lead.aLeadK = float(a_lead)
     # TODO use real radard logic for this
     lead.aLeadTau = float(_LEAD_ACCEL_TAU)
-    lead.status = status
+    lead.present = status
     lead.modelProb = float(prob_lead)
+    lead.radar = True
     if not self.only_lead2:
       radar.radarState.leadOne = lead
     radar.radarState.leadTwo = lead
@@ -112,7 +112,7 @@ class Plant:
     position = log.XYZTData.new_message()
     position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
     model.modelV2.position = position
-    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
+    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.5)
     velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
     velocity.x[0] = float(self.speed) # always start at current speed
@@ -137,13 +137,15 @@ class Plant:
           'carControl': car_control.carControl,
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
-          'liveParameters': lp.liveParameters,
+          'vehicleParameters': lp.vehicleParameters,
           'modelV2': model.modelV2,
           'carStateSP': car_state_sp.carStateSP,
           'liveMapDataSP': live_map_data_sp.liveMapDataSP,
           'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
+    if self.planner.output_should_stop:
+      self.acceleration = min(-0.5, self.acceleration)
     self.speed = self.speed + self.acceleration * self.ts
     self.should_stop = self.planner.output_should_stop
     fcw = self.planner.fcw
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/openpilot/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
similarity index 95%
rename from selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
rename to openpilot/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index ab1800b4fb..c8694b6ac2 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -1,5 +1,6 @@
 import itertools
-from parameterized import parameterized_class
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized_class
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
@@ -150,7 +151,9 @@ def create_maneuvers(kwargs):
       enabled=False,
       **kwargs,
     ),
-    Maneuver(
+  ]
+  if not kwargs['e2e']:
+    maneuvers.append(Maneuver(
       "slow to 5m/s with allow_throttle = False and pitch = +0.1",
       duration=30.,
       initial_speed=20.,
@@ -161,7 +164,7 @@ def create_maneuvers(kwargs):
       breakpoints=[0.0, 2., 2.01],
       ensure_slowdown=True,
       **kwargs,
-    )]
+    ))
   if not kwargs['force_decel']:
     # controls relies on planner commanding to move for stock-ACC resume spamming
     maneuvers.append(Maneuver(
@@ -170,7 +173,7 @@ def create_maneuvers(kwargs):
       initial_speed=0.,
       lead_relevancy=True,
       initial_distance_lead=STOP_DISTANCE,
-      speed_lead_values=[0., 0., 2.],
+      speed_lead_values=[0., 0., 7.],
       breakpoints=[1., 10., 15.],
       ensure_start=True,
       **kwargs,
@@ -179,7 +182,7 @@ def create_maneuvers(kwargs):
 
 
 @parameterized_class(("e2e", "force_decel"), itertools.product([True, False], repeat=2))
-class TestLongitudinalControl:
+class TestLongitudinalControl(OpenpilotTestCase):
   e2e: bool
   force_decel: bool
 
diff --git a/selfdrive/debug/mem_usage.py b/openpilot/selfdrive/test/mem_usage.py
old mode 100755
new mode 100644
similarity index 88%
rename from selfdrive/debug/mem_usage.py
rename to openpilot/selfdrive/test/mem_usage.py
index 9bed566e19..02b7934466
--- a/selfdrive/debug/mem_usage.py
+++ b/openpilot/selfdrive/test/mem_usage.py
@@ -1,16 +1,13 @@
-#!/usr/bin/env python3
-import argparse
 import os
 from collections import defaultdict
 
 import numpy as np
-from tabulate import tabulate
 
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.common.utils import tabulate
 
-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 MB = 1024 * 1024
-TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center")
+TABULATE_OPTS = {"tablefmt": "simple_grid", "stralign": "center", "numalign": "center"}
 
 
 def _get_procs():
@@ -210,29 +207,3 @@ def print_report(proc_logs, device_states=None):
 
   print_process_tables(op_procs, other_procs, total_mb, use_pss)
   print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss)
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Analyze memory usage from route logs")
-  parser.add_argument("route", nargs="?", default=None, help="route ID or local rlog path")
-  parser.add_argument("--demo", action="store_true", help=f"use demo route ({DEMO_ROUTE})")
-  args = parser.parse_args()
-
-  if args.demo:
-    route = DEMO_ROUTE
-  elif args.route:
-    route = args.route
-  else:
-    parser.error("provide a route or use --demo")
-
-  print(f"Reading logs from: {route}")
-
-  proc_logs = []
-  device_states = []
-  for msg in LogReader(route):
-    if msg.which() == 'procLog':
-      proc_logs.append(msg)
-    elif msg.which() == 'deviceState':
-      device_states.append(msg)
-
-  print_report(proc_logs, device_states)
diff --git a/selfdrive/test/process_replay/README.md b/openpilot/selfdrive/test/process_replay/README.md
similarity index 91%
rename from selfdrive/test/process_replay/README.md
rename to openpilot/selfdrive/test/process_replay/README.md
index 28f3b7cd2a..36d669dda6 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/openpilot/selfdrive/test/process_replay/README.md
@@ -85,7 +85,7 @@ Supported processes:
 * modeld
 * dmonitoringmodeld
 
-Certain processes may require an initial state, which is usually supplied within `Params` and persisting from segment to segment (e.g CalibrationParams, LiveParameters). The `custom_params` is dictionary  used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files.
+Certain processes may require an initial state, which is usually supplied within `Params` and persists from segment to segment (for example `CalibrationParams` or the learner cache keys like `LiveParametersV2`). The `custom_params` is a dictionary used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files.
 
 ```py
 from openpilot.selfdrive.test.process_replay import get_custom_params_from_lr
@@ -104,9 +104,9 @@ Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require
 from openpilot.tools.lib.framereader import FrameReader
 
 frs = {
-  'roadCameraState': FrameReader(...),
+  'narrowRoadCameraState': FrameReader(...),
   'wideRoadCameraState': FrameReader(...),
-  'driverCameraState': FrameReader(...),
+  'cabinCameraState': FrameReader(...),
 }
 
 output_logs = replay_process_with_name(['modeld', 'dmonitoringmodeld'], lr, frs=frs)
diff --git a/selfdrive/test/process_replay/__init__.py b/openpilot/selfdrive/test/process_replay/__init__.py
similarity index 100%
rename from selfdrive/test/process_replay/__init__.py
rename to openpilot/selfdrive/test/process_replay/__init__.py
diff --git a/selfdrive/test/process_replay/capture.py b/openpilot/selfdrive/test/process_replay/capture.py
similarity index 100%
rename from selfdrive/test/process_replay/capture.py
rename to openpilot/selfdrive/test/process_replay/capture.py
diff --git a/selfdrive/test/process_replay/compare_logs.py b/openpilot/selfdrive/test/process_replay/compare_logs.py
similarity index 65%
rename from selfdrive/test/process_replay/compare_logs.py
rename to openpilot/selfdrive/test/process_replay/compare_logs.py
index 13d51a636f..4c522c9150 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/openpilot/selfdrive/test/process_replay/compare_logs.py
@@ -3,13 +3,16 @@ import sys
 import math
 import capnp
 import numbers
-import dictdiffer
 from collections import Counter
 
 from openpilot.tools.lib.logreader import LogReader
 
 EPSILON = sys.float_info.epsilon
 
+_DynamicStructReader = capnp.lib.capnp._DynamicStructReader
+_DynamicListReader = capnp.lib.capnp._DynamicListReader
+_DynamicEnum = capnp.lib.capnp._DynamicEnum
+
 
 def remove_ignored_fields(msg, ignore):
   msg = msg.as_builder()
@@ -39,6 +42,61 @@ def remove_ignored_fields(msg, ignore):
   return msg
 
 
+def _diff_capnp(r1, r2, path, tolerance):
+  """Walk two capnp struct readers and yield (action, dotted_path, value) diffs.
+
+  Floats are compared with the given tolerance (combined absolute+relative).
+  """
+  schema = r1.schema
+
+  for fname in schema.non_union_fields:
+    child_path = path + (fname,)
+    v1 = getattr(r1, fname)
+    v2 = getattr(r2, fname)
+    yield from _diff_capnp_values(v1, v2, child_path, tolerance)
+
+  if schema.union_fields:
+    w1, w2 = r1.which(), r2.which()
+    if w1 != w2:
+      yield 'change', '.'.join(path), (w1, w2)
+    else:
+      child_path = path + (w1,)
+      v1, v2 = getattr(r1, w1), getattr(r2, w2)
+      yield from _diff_capnp_values(v1, v2, child_path, tolerance)
+
+
+def _diff_capnp_values(v1, v2, path, tolerance):
+  if isinstance(v1, _DynamicStructReader):
+    yield from _diff_capnp(v1, v2, path, tolerance)
+
+  elif isinstance(v1, _DynamicListReader):
+    dot = '.'.join(path)
+    n1, n2 = len(v1), len(v2)
+    n = min(n1, n2)
+    for i in range(n):
+      yield from _diff_capnp_values(v1[i], v2[i], path + (str(i),), tolerance)
+    if n2 > n:
+      yield 'add', dot, [(i, v2[i]) for i in range(n, n2)]
+    if n1 > n:
+      yield 'remove', dot, list(reversed([(i, v1[i]) for i in range(n, n1)]))
+
+  elif isinstance(v1, _DynamicEnum):
+    s1, s2 = str(v1), str(v2)
+    if s1 != s2:
+      yield 'change', '.'.join(path), (s1, s2)
+
+  elif isinstance(v1, float):
+    if not (v1 == v2 or (
+      math.isfinite(v1) and math.isfinite(v2) and
+      abs(v1 - v2) <= max(tolerance, tolerance * max(abs(v1), abs(v2)))
+    )):
+      yield 'change', '.'.join(path), (v1, v2)
+
+  else:
+    if v1 != v2:
+      yield 'change', '.'.join(path), (v1, v2)
+
+
 def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None,):
   if ignore_fields is None:
     ignore_fields = []
@@ -65,26 +123,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
     msg2 = remove_ignored_fields(msg2, ignore_fields)
 
     if msg1.to_bytes() != msg2.to_bytes():
-      msg1_dict = msg1.as_reader().to_dict(verbose=True)
-      msg2_dict = msg2.as_reader().to_dict(verbose=True)
-
-      dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)
-
-      # Dictdiffer only supports relative tolerance, we also want to check for absolute
-      # TODO: add this to dictdiffer
-      def outside_tolerance(diff):
-        try:
-          if diff[0] == "change":
-            a, b = diff[2]
-            finite = math.isfinite(a) and math.isfinite(b)
-            if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number):
-              return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b)))
-        except TypeError:
-          pass
-        return True
-
-      dd = list(filter(outside_tolerance, dd))
-
+      dd = list(_diff_capnp(msg1.as_reader(), msg2.as_reader(), (), tolerance))
       diff.extend(dd)
   return diff
 
diff --git a/openpilot/selfdrive/test/process_replay/diff_report.py b/openpilot/selfdrive/test/process_replay/diff_report.py
new file mode 100644
index 0000000000..c6c1f01abd
--- /dev/null
+++ b/openpilot/selfdrive/test/process_replay/diff_report.py
@@ -0,0 +1,93 @@
+import os
+from collections import defaultdict
+from opendbc.car.tests.car_diff import format_diff, format_numeric_diffs
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+from openpilot.selfdrive.test.process_replay.process_replay import PROC_REPLAY_DIR
+
+
+class MsgWrap:
+  """Adapter so to_dict() includes defaults"""
+  def __init__(self, msg):
+    self._msg = msg
+  def to_dict(self) -> dict:
+    return self._msg.to_dict(verbose=True)
+
+
+def diff_process(cfg, ref_msgs, new_msgs) -> tuple | None:
+  ref = defaultdict(list)
+  new = defaultdict(list)
+  for m in ref_msgs:
+    if m.which() in cfg.subs:
+      ref[m.which()].append(m)
+  for m in new_msgs:
+    if m.which() in cfg.subs:
+      new[m.which()].append(m)
+
+  diffs = []
+  for sub in cfg.subs:
+    if len(ref[sub]) != len(new[sub]):
+      diffs.append((f"{sub} (message count)", 0, (len(ref[sub]), len(new[sub])), 0))
+    for i, (r, n) in enumerate(zip(ref[sub], new[sub], strict=False)):
+      for d in compare_logs([r], [n], cfg.ignore, tolerance=cfg.tolerance):
+        if d[0] == "change":
+          a, b = d[2]
+          if a != a and b != b:
+            continue
+          diffs.append((d[1], i, d[2], r.logMonoTime))
+        elif d[0] in ("add", "remove"):
+          for item in d[2]:
+            if item[1] != item[1]:
+              continue
+            diffs.append((f"{d[1]}.{item[0]}", i, (d[0], item[1]), r.logMonoTime))
+  return (diffs, ref, new) if diffs else None
+
+
+def diff_format(diffs, ref, new, field) -> list[str]:
+  if any(part.isdigit() for part in field.split(".")):
+    return format_numeric_diffs(diffs)
+  msg_type = field.split(".")[0]
+  ref_ts = [(m.logMonoTime, MsgWrap(m)) for m in ref.get(msg_type, [])]
+  new_wrapped = [MsgWrap(m) for m in new.get(msg_type, [])]
+  if not ref_ts or not new_wrapped:
+    return format_numeric_diffs(diffs)
+  return format_diff(diffs, ref_ts, new_wrapped, field)
+
+
+def diff_report(replay_diffs, segments) -> None:
+  seg_to_plat = {seg: plat for plat, seg in segments}
+
+  with_diffs, errors, n_passed = [], [], 0
+  for seg, proc, data in replay_diffs:
+    plat = seg_to_plat.get(seg, "UNKNOWN")
+    if data is None:
+      n_passed += 1
+    elif isinstance(data, str):
+      errors.append((plat, seg, proc, data))
+    else:
+      with_diffs.append((plat, seg, proc, data))
+
+  icon = "⚠️" if with_diffs else "✅"
+  lines = [
+    "## Process replay diff report",
+    "Replays driving segments through this PR and compares the behavior to master.",
+    "Please review any changes carefully to ensure they are expected.\n",
+    f"{icon}  {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors",
+  ]
+
+  for plat, seg, proc, err in errors:
+    lines.append(f"\nERROR {plat} - {seg} [{proc}]: {err}")
+
+  if with_diffs:
+    lines.append("<details><summary><b>Show changes</b></summary>\n\n```")
+    for plat, seg, proc, (diffs, ref, new) in with_diffs:
+      lines.append(f"\n{plat} - {seg} [{proc}]")
+      by_field = defaultdict(list)
+      for d in diffs:
+        by_field[d[0]].append(d)
+      for field, fd in sorted(by_field.items()):
+        lines.append(f"\n  {field} ({len(fd)} diffs)")
+        lines.extend(diff_format(fd, ref, new, field))
+    lines.append("```\n</details>")
+
+  with open(os.path.join(PROC_REPLAY_DIR, "diff_report.txt"), "w") as f:
+    f.write("\n".join(lines))
diff --git a/selfdrive/test/process_replay/migration.py b/openpilot/selfdrive/test/process_replay/migration.py
similarity index 68%
rename from selfdrive/test/process_replay/migration.py
rename to openpilot/selfdrive/test/process_replay/migration.py
index 9dc1392a86..646728e673 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/openpilot/selfdrive/test/process_replay/migration.py
@@ -5,7 +5,8 @@ import capnp
 import functools
 import traceback
 
-from cereal import messaging, car, log
+from openpilot.cereal import messaging, log
+from opendbc.car.structs import car
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
 from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
@@ -14,7 +15,7 @@ from opendbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan, should_stop
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 
@@ -39,6 +40,8 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_carOutput,
     migrate_controlsState,
     migrate_carState,
+    migrate_liveLocationKalman,
+    migrate_deviceMotion,
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
@@ -88,6 +91,10 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
   return lr
 
 
+def as_reader(builder) -> capnp.lib.capnp._DynamicStructReader:
+  return log.Event.from_bytes(builder.to_bytes()).__enter__()  # round-trip through bytes, 2x faster and 30x less memory than builder.as_reader()
+
+
 def migration(inputs: list[str], product: str|None=None):
   def decorator(func):
     @functools.wraps(func)
@@ -99,6 +106,17 @@ def migration(inputs: list[str], product: str|None=None):
   return decorator
 
 
+def migrate_onroad_event(event: capnp.lib.capnp._DynamicStructReader):
+  event_dict = event.to_dict()
+  try:
+    return log.OnroadEvent(**event_dict)
+  except capnp.lib.capnp.KjException as e:
+    # Ignore legacy events the current schema no longer defines.
+    if "enum has no such enumerant" in str(e):
+      return None
+    raise
+
+
 @migration(inputs=["longitudinalPlan", "carParams"])
 def migrate_longitudinalPlan(msgs):
   ops = []
@@ -112,9 +130,11 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
-    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
-    ops.append((index, new_msg.as_reader()))
+    a_target = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, ModelConstants.T_IDXS[:CONTROL_N])
+    v_now = msg.longitudinalPlan.speeds[0] if len(msg.longitudinalPlan.speeds) == CONTROL_N else 0.0
+    stop = should_stop(v_now, a_target)
+    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(stop)
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -123,7 +143,7 @@ def migrate_driverAssistance(msgs):
   add_ops = []
   for _, msg in msgs:
     new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, []
 
 
@@ -140,15 +160,15 @@ def migrate_drivingModelData(msgs):
       fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
     if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
       fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
-    add_ops.append( dmd.as_reader())
+    add_ops.append(as_reader(dmd))
   return [], add_ops, []
 
 
-@migration(inputs=["liveTracksDEPRECATED"], product="liveTracks")
+@migration(inputs=["liveTracksDEPRECATED"], product="radarTracks")
 def migrate_liveTracks(msgs):
   ops = []
   for index, msg in msgs:
-    new_msg = messaging.new_message('liveTracks')
+    new_msg = messaging.new_message('radarTracks')
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
 
@@ -160,31 +180,45 @@ def migrate_liveTracks(msgs):
       pt.dRel = track.dRel
       pt.yRel = track.yRel
       pt.vRel = track.vRel
-      pt.aRel = track.aRel
-      pt.measured = True
       pts.append(pt)
 
-    new_msg.liveTracks.points = pts
-    ops.append((index, new_msg.as_reader()))
+    new_msg.radarTracks.points = pts
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
-@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
+@migration(inputs=["liveLocationKalmanDEPRECATED"], product="deviceMotion")
 def migrate_liveLocationKalman(msgs):
   nans = [float('nan')] * 3
   ops = []
   for index, msg in msgs:
-    m = messaging.new_message('livePose')
+    m = messaging.new_message('deviceMotion')
     m.valid = msg.valid
     m.logMonoTime = msg.logMonoTime
+    m.deviceMotion.timestamp = msg.logMonoTime
     for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
-      lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
+      lp_field, llk_field = getattr(m.deviceMotion, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
       lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
       lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std or nans
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
-      setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
-    ops.append((index, m.as_reader()))
+      setattr(m.deviceMotion, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
+    ops.append((index, as_reader(m)))
+  return ops, [], []
+
+
+@migration(inputs=["deviceMotion"])
+def migrate_deviceMotion(msgs):
+  ops = []
+  needs_migration = all(msg.deviceMotion.timestamp == 0 for _, msg in msgs if msg.which() == 'deviceMotion')
+  if not needs_migration:
+    return [], [], []
+
+  for index, msg in msgs:
+    if msg.which() == "deviceMotion":
+      new_msg = msg.as_builder()
+      new_msg.deviceMotion.timestamp = msg.logMonoTime
+      ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -199,8 +233,8 @@ def migrate_controlsState(msgs):
     for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
                   "alertStatus", "alertSize", "alertType", "experimentalMode",
                   "personality"):
-      setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
-    add_ops.append(m.as_reader())
+      setattr(ss, field, getattr(msg.controlsState.deprecated, field))
+    add_ops.append(as_reader(m))
   return [], add_ops, []
 
 
@@ -212,11 +246,11 @@ def migrate_carState(msgs):
     if msg.which() == 'controlsState':
       last_cs = msg
     elif msg.which() == 'carState' and last_cs is not None:
-      if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
+      if last_cs.controlsState.deprecated.vCruise - msg.carState.vCruise > 0.1:
         msg = msg.as_builder()
-        msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
-        msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
-        ops.append((index, msg.as_reader()))
+        msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
+        msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
+        ops.append((index, as_reader(msg)))
   return ops, [], []
 
 
@@ -226,7 +260,7 @@ def migrate_managerState(msgs):
   for index, msg in msgs:
     new_msg = msg.as_builder()
     new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -239,7 +273,7 @@ def migrate_gpsLocation(msgs):
     # hasFix is a newer field
     if not g.hasFix and g.flags == 1:
       g.hasFix = True
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -255,7 +289,7 @@ def migrate_deviceState(msgs):
     if msg.which() == 'deviceState':
       n = msg.as_builder()
       n.deviceState.deviceType = init_data.deviceType
-      ops.append((i, n.as_reader()))
+      ops.append((i, as_reader(n)))
   return ops, [], []
 
 
@@ -266,8 +300,8 @@ def migrate_carOutput(msgs):
     co = messaging.new_message('carOutput')
     co.valid = msg.valid
     co.logMonoTime = msg.logMonoTime
-    co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
-    add_ops.append(co.as_reader())
+    co.carOutput.actuatorsOutput = msg.carControl.deprecated.actuatorsOutput
+    add_ops.append(as_reader(co))
   return [], add_ops, []
 
 
@@ -277,12 +311,12 @@ def migrate_pandaStates(msgs):
   safety_param_migration = {
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
-    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEER_MSG,
     "CHEVROLET_VOLT": GMSafetyFlags.EV,
     "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }
   # TODO: get new Ford route
-  safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL)
+  safety_param_migration |= dict.fromkeys({p for p in FORD if not (p.config.flags & FordFlags.CANFD)}, FordSafetyFlags.LONG_CONTROL)
 
   # Migrate safety param base on carParams
   CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
@@ -292,10 +326,10 @@ def migrate_pandaStates(msgs):
     safety_param = safety_param_migration[fingerprint].value
   elif len(CP.safetyConfigs):
     safety_param = CP.safetyConfigs[0].safetyParam
-    if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
-      safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED
+    if CP.safetyConfigs[0].deprecated.safetyParam != 0:
+      safety_param = CP.safetyConfigs[0].deprecated.safetyParam
   else:
-    safety_param = CP.safetyParamDEPRECATED
+    safety_param = CP.deprecated.safetyParam
 
   ops = []
   for index, msg in msgs:
@@ -305,13 +339,13 @@ def migrate_pandaStates(msgs):
       new_msg.logMonoTime = msg.logMonoTime
       new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
       new_msg.pandaStates[0].safetyParam = safety_param
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
       # Clear DISABLE_DISENGAGE_ON_GAS bit to fix controls mismatch
       new_msg.pandaStates[-1].alternativeExperience &= ~1
-      ops.append((index, new_msg.as_reader()))
+      ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
@@ -326,11 +360,11 @@ def migrate_peripheralState(msgs):
     new_msg = messaging.new_message("peripheralState")
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, []
 
 
-@migration(inputs=["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx", "roadCameraState", "wideRoadCameraState", "driverCameraState"])
+@migration(inputs=["narrowRoadEncodeIdx", "wideRoadEncodeIdx", "cabinEncodeIdx", "narrowRoadCameraState", "wideRoadCameraState", "cabinCameraState"])
 def migrate_cameraStates(msgs):
   add_ops, del_ops = [], []
   frame_to_encode_id = defaultdict(dict)
@@ -338,7 +372,7 @@ def migrate_cameraStates(msgs):
   min_frame_id = defaultdict(lambda: float('inf'))
 
   for _, msg in msgs:
-    if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
+    if msg.which() not in ["narrowRoadEncodeIdx", "wideRoadEncodeIdx", "cabinEncodeIdx"]:
       continue
 
     encode_index = getattr(msg, msg.which())
@@ -348,7 +382,7 @@ def migrate_cameraStates(msgs):
     frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
 
   for index, msg in msgs:
-    if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
+    if msg.which() not in ["narrowRoadCameraState", "wideRoadCameraState", "cabinCameraState"]:
       continue
 
     camera_state = getattr(msg, msg.which())
@@ -361,7 +395,7 @@ def migrate_cameraStates(msgs):
         del_ops.append(index)
         continue
 
-      # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
+      # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with driver recording disabled)
       # try to fake encode_id by subtracting lowest frameId
       encode_id = camera_state.frameId - min_frame_id[msg.which()]
       print(f"Faking encodeId to {encode_id} for camera feed {msg.which()} with frameId: {camera_state.frameId}")
@@ -381,7 +415,7 @@ def migrate_cameraStates(msgs):
     new_msg.valid = msg.valid
 
     del_ops.append(index)
-    add_ops.append(new_msg.as_reader())
+    add_ops.append(as_reader(new_msg))
   return [], add_ops, del_ops
 
 
@@ -393,7 +427,7 @@ def migrate_carParams(msgs):
     CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
     for car_fw in CP.carParams.carFw:
       car_fw.brand = CP.carParams.brand
-    ops.append((index, CP.as_reader()))
+    ops.append((index, as_reader(CP)))
   return ops, [], []
 
 
@@ -421,14 +455,11 @@ def migrate_sensorEvents(msgs):
       m.logMonoTime = msg.logMonoTime
 
       m_dat = getattr(m, sensor_service)
-      m_dat.version = evt.version
-      m_dat.sensor = evt.sensor
-      m_dat.type = evt.type
       m_dat.source = evt.source
       m_dat.timestamp = evt.timestamp
       setattr(m_dat, evt.which(), getattr(evt, evt.which()))
 
-      add_ops.append(m.as_reader())
+      add_ops.append(as_reader(m))
     del_ops.append(index)
   return [], add_ops, del_ops
 
@@ -441,35 +472,61 @@ def migrate_onroadEvents(msgs):
     for event in msg.onroadEventsDEPRECATED:
       try:
         if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          onroadEvents.append(log.OnroadEvent(**event.to_dict()))
+          migrated_event = migrate_onroad_event(event)
+          if migrated_event is not None:
+            onroadEvents.append(migrated_event)
       except RuntimeError:  # Member was null
         traceback.print_exc()
 
-    new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
+    new_msg = messaging.new_message('onroadEvents', len(onroadEvents))
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
     new_msg.onroadEvents = onroadEvents
-    ops.append((index, new_msg.as_reader()))
+    ops.append((index, as_reader(new_msg)))
 
   return ops, [], []
 
 
-@migration(inputs=["driverMonitoringState"])
+@migration(inputs=["driverMonitoringStateDEPRECATED"])
 def migrate_driverMonitoringState(msgs):
   ops = []
   for index, msg in msgs:
-    msg = msg.as_builder()
-    events = []
-    for event in msg.driverMonitoringState.eventsDEPRECATED:
-      try:
-        if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          events.append(log.OnroadEvent(**event.to_dict()))
-      except RuntimeError:  # Member was null
-        traceback.print_exc()
+    old = msg.driverMonitoringStateDEPRECATED
+    new_msg = messaging.new_message('driverMonitoringState', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    dm = new_msg.driverMonitoringState
+    dm.isRHD = old.isRHD
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision if old.isActiveMode else \
+                          log.DriverMonitoringState.MonitoringPolicy.wheeltouch
 
-    msg.driverMonitoringState.events = events
-    ops.append((index, msg.as_reader()))
+    AlertLevel = log.DriverMonitoringState.AlertLevel
+    event_to_alert_level = {
+      'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
+      'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
+      'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
+    }
+    for event in old.events:
+      level = event_to_alert_level.get(str(event.name))
+      if level is not None:
+        dm.alertLevel = level
+        break
+    dm.lockout = any(str(event.name) == 'tooDistracted' for event in old.events)
+
+    dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
+    dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
+    dm.visionPolicyState.isDistracted = old.isDistracted
+    dm.visionPolicyState.distractedTypes.pose = bool(old.distractedType & 1)
+    dm.visionPolicyState.distractedTypes.eye = bool(old.distractedType & 2)
+    dm.visionPolicyState.distractedTypes.phone = bool(old.distractedType & 4)
+    dm.visionPolicyState.faceDetected = old.faceDetected
+    dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 1200 and old.poseYawValidCount >= 1200
+    dm.visionPolicyState.wheeltouchFallbackPercent = int(min(100, old.hiStdCount / 200 * 100))
+    dm.visionPolicyState.uncertainOffroadAlertPercent = int(min(100, old.uncertainCount / 1200 * 100))
+    dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
+    dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
+    ops.append((index, as_reader(new_msg)))
 
   return ops, [], []
diff --git a/selfdrive/test/process_replay/model_replay.py b/openpilot/selfdrive/test/process_replay/model_replay.py
similarity index 93%
rename from selfdrive/test/process_replay/model_replay.py
rename to openpilot/selfdrive/test/process_replay/model_replay.py
index d35474f373..ba610c6a2b 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/openpilot/selfdrive/test/process_replay/model_replay.py
@@ -12,7 +12,7 @@ import numpy as np
 from openpilot.common.utils import tabulate
 
 from openpilot.common.git import get_commit
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
@@ -34,8 +34,8 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
 EXEC_TIMINGS = [
   # model, instant max, average max
-  ("modelV2", 0.035, 0.025),
-  ("driverStateV2", 0.02, 0.015),
+  ("modelV2", 0.05, 0.028),
+  ("driverStateV2", 0.05, 0.018),
 ]
 
 def get_log_fn(test_route, ref="master"):
@@ -146,16 +146,17 @@ def trim_logs(logs, start_frame, end_frame, frs_types, include_all_types):
 
 def model_replay(lr, frs):
   # modeld is using frame pairs
-  modeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"roadCameraState", "wideRoadCameraState"},
-                                                                         {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl", "can"})
-  dmodeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"driverCameraState"}, {"driverEncodeIdx", "carParams", "can"})
+  camera_states = {"narrowRoadCameraState", "wideRoadCameraState"}
+  modeld_logs = trim_logs(lr, START_FRAME, END_FRAME, camera_states,
+                          {"narrowRoadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl", "can"})
+  dmodeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"cabinCameraState"}, {"cabinEncodeIdx", "carParams", "can"})
 
   if not SEND_EXTRA_INPUTS:
-    modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration']
-    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() != 'liveCalibration']
+    modeld_logs = [msg for msg in modeld_logs if msg.which() != 'extrinsicsCalibration']
+    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() != 'extrinsicsCalibration']
 
   # initial setup
-  for s in ('liveCalibration', 'deviceState'):
+  for s in ('extrinsicsCalibration', 'deviceState'):
     msg = next(msg for msg in lr if msg.which() == s).as_builder()
     msg.logMonoTime = lr[0].logMonoTime
     modeld_logs.insert(1, msg.as_reader())
@@ -209,8 +210,8 @@ def get_frames():
       print(f"Failed to load frames from cache {cache_name}: {e}")
 
   frs = {
-    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
-    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'narrowRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'cabinCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
     'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
   }
   for fr in frs.values():
diff --git a/selfdrive/test/process_replay/process_replay.py b/openpilot/selfdrive/test/process_replay/process_replay.py
similarity index 85%
rename from selfdrive/test/process_replay/process_replay.py
rename to openpilot/selfdrive/test/process_replay/process_replay.py
index 1e59ee7afa..8e5d224ea8 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/openpilot/selfdrive/test/process_replay/process_replay.py
@@ -4,6 +4,7 @@ import time
 import copy
 import heapq
 import signal
+import numpy as np
 from collections import Counter
 from dataclasses import dataclass, field
 from itertools import islice
@@ -11,11 +12,11 @@ from typing import Any
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
 import capnp
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
-import cereal.messaging as messaging
-from cereal import car
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from opendbc.car.structs import car
+from openpilot.cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import get_car, interfaces
@@ -23,8 +24,9 @@ from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car.card import convert_to_capnp
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
@@ -144,6 +146,7 @@ class ProcessContainer:
     self.cfg = copy.deepcopy(cfg)
     self.process = copy.deepcopy(managed_processes[cfg.proc_name])
     self.msg_queue: list[capnp._DynamicStructReader] = []
+    self.last_input_log_mono_time: int = -1
     self.cnt = 0
     self.pm: messaging.PubMaster | None = None
     self.sockets: list[messaging.SubSocket] | None = None
@@ -189,9 +192,9 @@ class ProcessContainer:
     params = Params()
     for k, v in params_config.items():
       if isinstance(v, bool):
-        params.put_bool(k, v)
+        params.put_bool(k, v, block=True)
       else:
-        params.put(k, v)
+        params.put(k, v, block=True)
 
     self.environ_config = environ_config
 
@@ -204,7 +207,8 @@ class ProcessContainer:
       if meta.camera_state in self.cfg.vision_pubs:
         assert frs[meta.camera_state].pix_fmt == 'nv12'
         frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
-        vipc_server.create_buffers(meta.stream, 2, *frame_size)
+        stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1])
+        vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height)
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
@@ -212,8 +216,7 @@ class ProcessContainer:
 
   def _start_process(self):
     if self.capture is not None:
-      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)
-    self.process.prepare()
+      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)  # ty: ignore[invalid-assignment]  # intentional wrapper
     self.process.start()
 
   def start(
@@ -265,6 +268,7 @@ class ProcessContainer:
       ms = messaging.drain_sock(socket)
       for m in ms:
         m = m.as_builder()
+        assert start_time > 0, "start_time must be positive"
         m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
         output_msgs.append(m.as_reader())
     return output_msgs
@@ -291,17 +295,28 @@ class ProcessContainer:
           trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
 
         # get output msgs from previous inputs
-        output_msgs = self.get_output_msgs(msg.logMonoTime)
+        output_msgs = self.get_output_msgs(self.last_input_log_mono_time)
 
         for m in self.msg_queue:
           self.pm.send(m.which(), m.as_builder())
+          self.last_input_log_mono_time = max(self.last_input_log_mono_time, m.logMonoTime)
           # send frames if needed
           if self.vipc_server is not None and m.which() in self.cfg.vision_pubs:
             camera_state = getattr(m, m.which())
             camera_meta = meta_from_camera_state(m.which())
             assert frs is not None
             img = frs[m.which()].get(camera_state.frameId)
-            self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
+
+            h, w = frs[m.which()].h, frs[m.which()].w
+            stride, y_height, _, yuv_size = get_nv12_info(w, h)
+            uv_offset = stride * y_height
+            padded_img = np.zeros(((uv_offset //stride) + (h // 2), stride))
+            padded_img[:h, :w] = img[:h * w].reshape((-1, w))
+            padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w))
+            img_bytes = np.zeros((yuv_size,), dtype=np.uint8)
+            img_bytes[:padded_img.size] = padded_img.flatten()
+
+            self.vipc_server.send(camera_meta.stream, img_bytes.tobytes(),
                                   camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
         self.msg_queue = []
 
@@ -359,8 +374,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     _CI = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
     CP, CP_SP = _CI.CP, _CI.CP_SP
 
-  params.put("CarParams", CP.to_bytes())
-  params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())
+  params.put("CarParams", CP.to_bytes(), block=True)
+  params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes(), block=True)
 
 
 def card_rcv_callback(msg, cfg, frame):
@@ -385,7 +400,7 @@ class ModeldCameraSyncRcvCallback:
 
   def __call__(self, msg, cfg, frame):
     self.is_dual_camera = len(cfg.vision_pubs) == 2
-    if msg.which() == "roadCameraState":
+    if msg.which() == "narrowRoadCameraState":
       self.road_present = True
     elif msg.which() == "wideRoadCameraState":
       self.wide_road_present = True
@@ -421,11 +436,11 @@ CONFIGS = [
   ProcessConfig(
     proc_name="selfdrived",
     pubs=[
-      "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
-      "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
+      "carState", "deviceState", "pandaStates", "peripheralState", "extrinsicsCalibration", "driverMonitoringState",
+      "longitudinalPlan", "deviceMotion", "lateralDelay", "vehicleParameters", "radarState", "modelV2",
+      "cabinCameraState", "narrowRoadCameraState", "wideRoadCameraState", "managerState", "lateralTorqueParameters",
       "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
-      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
+      "carControl", "driverAssistance", "alertDebug",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],
@@ -437,8 +452,8 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="controlsd",
-    pubs=["liveParameters", "liveTorqueParameters", "modelV2", "selfdriveState",
-          "liveCalibration", "livePose", "longitudinalPlan", "carState", "carOutput",
+    pubs=["vehicleParameters", "lateralTorqueParameters", "modelV2", "selfdriveState",
+          "extrinsicsCalibration", "deviceMotion", "longitudinalPlan", "carState", "carOutput",
           "driverMonitoringState", "onroadEvents", "driverAssistance"],
     subs=["carControl", "controlsState"],
     ignore=["logMonoTime", ],
@@ -449,7 +464,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="card",
     pubs=["pandaStates", "carControl", "onroadEvents", "can"],
-    subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"],
+    subs=["sendcan", "carState", "carParams", "carOutput", "radarTracks"],
     ignore=["logMonoTime", "carState.cumLagMs"],
     init_callback=card_fingerprint_callback,
     should_recv_callback=card_rcv_callback,
@@ -460,7 +475,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="radard",
-    pubs=["liveTracks", "carState", "modelV2"],
+    pubs=["radarTracks", "carState", "modelV2"],
     subs=["radarState"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
@@ -468,7 +483,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "vehicleParameters", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
@@ -478,14 +493,14 @@ CONFIGS = [
   ProcessConfig(
     proc_name="calibrationd",
     pubs=["carState", "cameraOdometry"],
-    subs=["liveCalibration"],
+    subs=["extrinsicsCalibration"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True),
   ),
   ProcessConfig(
     proc_name="dmonitoringd",
-    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
+    pubs=["driverStateV2", "extrinsicsCalibration", "carState", "modelV2", "selfdriveState", "carControl"],
     subs=["driverMonitoringState"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
@@ -494,30 +509,31 @@ CONFIGS = [
   ProcessConfig(
     proc_name="locationd",
     pubs=[
-      "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
+      "cameraOdometry", "accelerometer", "gyroscope", "extrinsicsCalibration", "carState"
     ],
-    subs=["liveLocationKalman", "livePose"],
+    subs=["deviceMotion"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,
+    processing_time=0.01,
   ),
   ProcessConfig(
     proc_name="paramsd",
-    pubs=["livePose", "liveCalibration", "carState"],
-    subs=["liveParameters"],
+    pubs=["deviceMotion", "extrinsicsCalibration", "carState"],
+    subs=["vehicleParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    should_recv_callback=MessageBasedRcvCallback("deviceMotion"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
   ProcessConfig(
     proc_name="lagd",
-    pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"],
-    subs=["liveDelay"],
+    pubs=["deviceMotion", "extrinsicsCalibration", "carState", "carControl", "controlsState"],
+    subs=["lateralDelay"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    should_recv_callback=MessageBasedRcvCallback("deviceMotion"),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -528,37 +544,38 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="torqued",
-    pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"],
-    subs=["liveTorqueParameters"],
+    pubs=["deviceMotion", "extrinsicsCalibration", "lateralDelay", "carState", "carControl", "carOutput"],
+    subs=["lateralTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("livePose", True),
+    should_recv_callback=MessageBasedRcvCallback("deviceMotion", True),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"],
+    pubs=["deviceState", "narrowRoadCameraState", "wideRoadCameraState", "extrinsicsCalibration", "lateralDelay",
+          "driverMonitoringState", "carState", "carControl"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
-    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
-    vision_pubs=["roadCameraState", "wideRoadCameraState"],
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("narrowRoadCameraState").stream),
+    vision_pubs=["narrowRoadCameraState", "wideRoadCameraState"],
     ignore_alive_pubs=["wideRoadCameraState"],
     init_callback=get_car_params_callback,
   ),
   ProcessConfig(
     proc_name="dmonitoringmodeld",
-    pubs=["liveCalibration", "driverCameraState"],
+    pubs=["extrinsicsCalibration", "cabinCameraState"],
     subs=["driverStateV2"],
     ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
-    should_recv_callback=MessageBasedRcvCallback("driverCameraState"),
+    should_recv_callback=MessageBasedRcvCallback("cabinCameraState"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
-    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
-    vision_pubs=["driverCameraState"],
-    ignore_alive_pubs=["driverCameraState"],
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("cabinCameraState").stream),
+    vision_pubs=["cabinCameraState"],
+    ignore_alive_pubs=["cabinCameraState"],
   ),
 ]
 
@@ -574,30 +591,30 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
   """
   Use this to get custom params dict based on provided logs.
   Useful when replaying following processes: calibrationd, paramsd, torqued
-  The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs.
+  The params may be based on first or last message of given type (carParams, extrinsicsCalibration, vehicleParameters, lateralTorqueParameters) in the logs.
   """
 
   car_params = [m for m in lr if m.which() == "carParams"]
-  live_calibration = [m for m in lr if m.which() == "liveCalibration"]
-  live_parameters = [m for m in lr if m.which() == "liveParameters"]
-  live_torque_parameters = [m for m in lr if m.which() == "liveTorqueParameters"]
+  extrinsics_calibration = [m for m in lr if m.which() == "extrinsicsCalibration"]
+  vehicle_parameters = [m for m in lr if m.which() == "vehicleParameters"]
+  torque_parameters = [m for m in lr if m.which() == "lateralTorqueParameters"]
 
   assert initial_state in ["first", "last"]
   msg_index = 0 if initial_state == "first" else -1
 
-  assert len(car_params) > 0, "carParams required for initial state of liveParameters and CarParamsPrevRoute"
+  assert len(car_params) > 0, "carParams required for initial state of vehicleParameters and CarParamsPrevRoute"
   CP = car_params[msg_index].carParams
 
   custom_params = {
     "CarParamsPrevRoute": CP.as_builder().to_bytes()
   }
 
-  if len(live_calibration) > 0:
-    custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
-  if len(live_parameters) > 0:
-    custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
-  if len(live_torque_parameters) > 0:
-    custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
+  if len(extrinsics_calibration) > 0:
+    custom_params["CalibrationParams"] = extrinsics_calibration[msg_index].as_builder().to_bytes()
+  if len(vehicle_parameters) > 0:
+    custom_params["LiveParametersV2"] = vehicle_parameters[msg_index].as_builder().to_bytes()
+  if len(torque_parameters) > 0:
+    custom_params["LiveTorqueParameters"] = torque_parameters[msg_index].as_builder().to_bytes()
 
   return custom_params
 
@@ -618,10 +635,10 @@ def replay_process(
   fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
   captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
-  if isinstance(cfg, Iterable):
-    cfgs = list(cfg)
-  else:
+  if isinstance(cfg, ProcessConfig):
     cfgs = [cfg]
+  else:
+    cfgs = list(cfg)
 
   all_msgs = migrate_all(lr,
                          manager_states=True,
@@ -703,7 +720,7 @@ def _replay_multi_process(
 
     # flush last set of messages from each process
     for container in containers:
-      last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
+      last_time = container.last_input_log_mono_time if container.last_input_log_mono_time > 0 else int(time.monotonic() * 1e9)
       log_msgs.extend(container.get_output_msgs(last_time))
   finally:
     for container in containers:
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/openpilot/selfdrive/test/process_replay/test_fuzzy.py
similarity index 55%
rename from selfdrive/test/process_replay/test_fuzzy.py
rename to openpilot/selfdrive/test/process_replay/test_fuzzy.py
index 723112163e..3a87f3a7f8 100644
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/openpilot/selfdrive/test/process_replay/test_fuzzy.py
@@ -1,12 +1,10 @@
 import copy
-import os
-from hypothesis import given, HealthCheck, Phase, settings
-import hypothesis.strategies as st
-from parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized
+from openpilot.common.fuzzy import capnp_random_dict, fuzzy_test
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 import openpilot.selfdrive.test.process_replay.process_replay as pr
 
 # These processes currently fail because of unrealistic data breaking assumptions
@@ -15,17 +13,16 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
-MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "10"))
 
-class TestFuzzProcesses:
+class TestFuzzProcesses(OpenpilotTestCase):
 
   # TODO: make this faster and increase examples
   @parameterized.expand(TEST_CASES)
-  @given(st.data())
-  @settings(phases=[Phase.generate, Phase.target], max_examples=MAX_EXAMPLES, deadline=1000,
-            suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
-  def test_fuzz_process(self, proc_name, cfg, data):
-    msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
+  @fuzzy_test(max_examples=10)
+  def test_fuzz_process(self, proc_name, cfg, fuzzy):
+    msgs = [capnp_random_dict(fuzzy, log.Event.schema, event, real_floats=True) for event in sorted(cfg.pubs)]
+    for i, msg in enumerate(msgs):
+      msg["logMonoTime"] = i * 1_000_000_000
     lr = [log.Event.new_message(**m).as_reader() for m in msgs]
     cfg.timeout = 5
     pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True)
diff --git a/selfdrive/test/process_replay/test_processes.py b/openpilot/selfdrive/test/process_replay/test_processes.py
similarity index 92%
rename from selfdrive/test/process_replay/test_processes.py
rename to openpilot/selfdrive/test/process_replay/test_processes.py
index fbe300a7c9..1627ab0658 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/openpilot/selfdrive/test/process_replay/test_processes.py
@@ -3,14 +3,15 @@ import argparse
 import concurrent.futures
 import os
 import sys
+import traceback
 from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
-
 from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
+from openpilot.selfdrive.test.process_replay.diff_report import diff_process, diff_report
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                    check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
@@ -65,18 +66,23 @@ segments = [
 # dashcamOnly makes don't need to be tested until a full port is done
 excluded_interfaces = ["mock", "body", "psa"]
 
-BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/"
+BASE_URL = "https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
 EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
 
 
 def run_test_process(data):
   segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
+  ref_log_msgs = list(LogReader(ref_log_path))
   lr = LogReader.from_bytes(lr_dat)
-  res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
+  res, log_msgs = test_process(cfg, lr, segment, ref_log_msgs, cur_log_fn, args.ignore_fields, args.ignore_msgs)
   # save logs so we can update refs
   save_log(cur_log_fn, log_msgs)
-  return (segment, cfg.proc_name, res)
+  try:
+    diff_data = diff_process(cfg, ref_log_msgs, log_msgs)
+  except Exception:
+    diff_data = traceback.format_exc()
+  return (segment, cfg.proc_name, res, diff_data)
 
 
 def get_log_data(segment):
@@ -85,14 +91,12 @@ def get_log_data(segment):
     return (segment, f.read())
 
 
-def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
+def test_process(cfg, lr, segment, ref_log_msgs, new_log_path, ignore_fields=None, ignore_msgs=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
     ignore_msgs = []
 
-  ref_log_msgs = list(LogReader(ref_log_path))
-
   try:
     log_msgs = replay_process(cfg, lr, disable_progress=True)
   except Exception as e:
@@ -201,9 +205,11 @@ if __name__ == "__main__":
         log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
 
     results: Any = defaultdict(dict)
+    diffs: list = []
     p2 = pool.map(run_test_process, pool_args)
-    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
+    for (segment, proc, result, diff_data) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
       results[segment][proc] = result
+      diffs.append((segment, proc, diff_data))
 
   diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
   if not args.update_refs:
@@ -211,6 +217,11 @@ if __name__ == "__main__":
       f.write(diff_long)
     print(diff_short)
 
+    try:
+      diff_report(diffs, segments)
+    except Exception:
+      print(f"failed to generate diff report:\n{traceback.format_exc()}")
+
     if failed:
       print("TEST FAILED")
     else:
diff --git a/selfdrive/test/process_replay/vision_meta.py b/openpilot/selfdrive/test/process_replay/vision_meta.py
similarity index 66%
rename from selfdrive/test/process_replay/vision_meta.py
rename to openpilot/selfdrive/test/process_replay/vision_meta.py
index 12deb58724..6942d88367 100644
--- a/selfdrive/test/process_replay/vision_meta.py
+++ b/openpilot/selfdrive/test/process_replay/vision_meta.py
@@ -1,17 +1,17 @@
 from collections import namedtuple
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.common.realtime import DT_MDL, DT_DMON
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
-ROAD_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
-WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.ecam.width, v.ecam.height) for k, v in DEVICE_CAMERAS.items() if v.ecam is not None}
-DRIVER_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
+NARROW_ROAD_CAMERA_FRAME_SIZES = {k: (v.narrow_road.width, v.narrow_road.height) for k, v in DEVICE_CAMERAS.items()}
+WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.wide_road.width, v.wide_road.height) for k, v in DEVICE_CAMERAS.items() if v.wide_road is not None}
+CABIN_CAMERA_FRAME_SIZES = {k: (v.cabin.width, v.cabin.height) for k, v in DEVICE_CAMERAS.items()}
 VIPC_STREAM_METADATA = [
   # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
-  ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
+  ("narrowRoadCameraState", "narrowRoadEncodeIdx", VisionStreamType.VISION_STREAM_NARROW_ROAD, DT_MDL, NARROW_ROAD_CAMERA_FRAME_SIZES),
   ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
-  ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_CAMERA_FRAME_SIZES),
+  ("cabinCameraState", "cabinEncodeIdx", VisionStreamType.VISION_STREAM_CABIN, DT_DMON, CABIN_CAMERA_FRAME_SIZES),
 ]
 
 
diff --git a/selfdrive/test/scons_build_test.sh b/openpilot/selfdrive/test/scons_build_test.sh
similarity index 82%
rename from selfdrive/test/scons_build_test.sh
rename to openpilot/selfdrive/test/scons_build_test.sh
index 5ffdb4379e..6f6eafcad1 100755
--- a/selfdrive/test/scons_build_test.sh
+++ b/openpilot/selfdrive/test/scons_build_test.sh
@@ -2,7 +2,7 @@
 set -e
 
 SCRIPT_DIR=$(dirname "$0")
-BASEDIR=$(realpath "$SCRIPT_DIR/../../")
+BASEDIR=$(realpath "$SCRIPT_DIR/../../../")
 cd $BASEDIR
 
 # tests that our build system's dependencies are configured properly,
@@ -13,7 +13,7 @@ cd $BASEDIR
 
 cd $BASEDIR/opendbc_repo/
 scons --clean
-scons --no-cache --random -j$(nproc)
+scons --no-cache --random
 if ! scons -q; then
   echo "FAILED: all build products not up to date after first pass."
   exit 1
diff --git a/selfdrive/test/setup_device_ci.sh b/openpilot/selfdrive/test/setup_device_ci.sh
similarity index 70%
rename from selfdrive/test/setup_device_ci.sh
rename to openpilot/selfdrive/test/setup_device_ci.sh
index 2a1442a20c..60631ce037 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/openpilot/selfdrive/test/setup_device_ci.sh
@@ -3,6 +3,7 @@
 set -e
 set -x
 
+
 if [ -z "$SOURCE_DIR" ]; then
   echo "SOURCE_DIR must be set"
   exit 1
@@ -48,13 +49,6 @@ while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh
   fi
-
-  #if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
-  #  echo 'starting UI'
-  #  cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
-  #  /data/ciui.py &
-  #fi
-
   sleep 5s
 done
 
@@ -62,6 +56,28 @@ sleep infinity
 EOF
 chmod +x $CONTINUE_PATH
 
+export GIT_LFS_SKIP_SMUDGE=1
+pull_lfs() {
+  # The big driving model is not used on these devices yet. Keep its pointer in
+  # the worktree, but don't download or copy the 1.8 GB LFS object.
+  LFS_EXCLUDE="openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"
+
+  git config --local lfs.fetchexclude "$LFS_EXCLUDE"
+  git lfs pull --exclude="$LFS_EXCLUDE"
+  if git cat-file -e "HEAD:$LFS_EXCLUDE"; then
+    rm -f "$LFS_EXCLUDE"
+    git checkout -- "$LFS_EXCLUDE"
+
+    # `git lfs prune` retains objects referenced by HEAD, even when excluded.
+    # Remove this one explicitly so safe checkout doesn't rsync it either.
+    oid=$(git show "HEAD:$LFS_EXCLUDE" | sed -n 's/^oid sha256://p')
+    lfs_objects=$(git lfs env | sed -n 's/^LocalMediaDir=//p')
+    if [[ "$oid" =~ ^[0-9a-f]{64}$ && -n "$lfs_objects" ]]; then
+      rm -f "$lfs_objects/${oid:0:2}/${oid:2:2}/$oid"
+    fi
+  fi
+}
+
 safe_checkout() {
   # completely clean TEST_DIR
 
@@ -81,8 +97,7 @@ safe_checkout() {
   git submodule update --init --recursive
   git submodule foreach --recursive "git reset --hard && git clean -xdff"
 
-  git lfs pull
-  (ulimit -n 65535 && git lfs prune)
+  pull_lfs
 
   echo "git checkout done, t=$SECONDS"
   du -hs $SOURCE_DIR $SOURCE_DIR/.git
@@ -107,8 +122,7 @@ unsafe_checkout() {( set -e
   git submodule update --init --recursive
   git submodule foreach --recursive "git reset --hard && git clean -df"
 
-  git lfs pull
-  (ulimit -n 65535 && git lfs prune)
+  pull_lfs
 )}
 
 export GIT_PACK_THREADS=8
@@ -131,4 +145,12 @@ else
   safe_checkout
 fi
 
+# submodule package symlinks for PYTHONPATH imports on device (same as launch_chffrplus.sh)
+cd $TEST_DIR
+ln -sfn msgq_repo/msgq msgq
+ln -sfn opendbc_repo/opendbc opendbc
+ln -sfn rednose_repo/rednose rednose
+ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+ln -sfn tinygrad_repo/tinygrad tinygrad
+
 echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"
diff --git a/selfdrive/test/test_onroad.py b/openpilot/selfdrive/test/test_onroad.py
old mode 100644
new mode 100755
similarity index 83%
rename from selfdrive/test/test_onroad.py
rename to openpilot/selfdrive/test/test_onroad.py
index 008b8ebe7f..6768dc1d98
--- a/selfdrive/test/test_onroad.py
+++ b/openpilot/selfdrive/test/test_onroad.py
@@ -1,24 +1,27 @@
+#!/usr/bin/env python3
+
 import math
 import json
 import os
-import pytest
 import shutil
 import subprocess
 import time
+import unittest
 import numpy as np
 from collections import Counter, defaultdict
 from pathlib import Path
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.utils import tabulate
 
-from cereal import log
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 
@@ -35,39 +38,38 @@ LOG_OFFSET = 8
 MAX_TOTAL_CPU = 350.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
-  "selfdrive.controls.controlsd": 16.0,
-  "selfdrive.selfdrived.selfdrived": 16.0,
-  "selfdrive.car.card": 26.0,
+  "openpilot.selfdrive.controls.controlsd": 16.0,
+  "openpilot.selfdrive.selfdrived.selfdrived": 16.0,
+  "openpilot.selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
   "./encoderd": 13.0,
   "./camerad": 10.0,
-  "selfdrive.controls.plannerd": 8.0,
-  "selfdrive.ui.ui": 40.0,
-  "system.sensord.sensord": 13.0,
-  "selfdrive.controls.radard": 2.0,
-  "selfdrive.modeld.modeld": 22.0,
-  "selfdrive.modeld.dmonitoringmodeld": 18.0,
-  "system.hardware.hardwared": 4.0,
-  "selfdrive.locationd.calibrationd": 2.0,
-  "selfdrive.locationd.torqued": 5.0,
-  "selfdrive.locationd.locationd": 25.0,
-  "selfdrive.locationd.paramsd": 9.0,
-  "selfdrive.locationd.lagd": 11.0,
-  "selfdrive.ui.soundd": 3.0,
-  "selfdrive.ui.feedback.feedbackd": 1.0,
-  "selfdrive.monitoring.dmonitoringd": 4.0,
-  "system.proclogd": 7.0,
-  "system.logmessaged": 1.0,
-  "system.tombstoned": 0,
-  "system.journald": 1.0,
-  "system.micd": 5.0,
-  "system.timed": 0,
-  "selfdrive.pandad.pandad": 0,
-  "system.statsd": 1.0,
-  "system.loggerd.uploader": 15.0,
-  "system.loggerd.deleter": 1.0,
+  "openpilot.selfdrive.controls.plannerd": 8.0,
+  "openpilot.selfdrive.ui.ui": 40.0,
+  "openpilot.system.sensord.sensord": 13.0,
+  "openpilot.selfdrive.controls.radard": 2.0,
+  "openpilot.selfdrive.modeld.modeld": 22.0,
+  "openpilot.selfdrive.modeld.dmonitoringmodeld": 18.0,
+  "openpilot.system.hardware.hardwared": 4.0,
+  "openpilot.selfdrive.locationd.calibrationd": 2.0,
+  "openpilot.selfdrive.locationd.torqued": 5.0,
+  "openpilot.selfdrive.locationd.locationd": 25.0,
+  "openpilot.selfdrive.locationd.paramsd": 9.0,
+  "openpilot.selfdrive.locationd.lagd": 11.0,
+  "openpilot.selfdrive.ui.soundd": 3.0,
+  "openpilot.selfdrive.monitoring.dmonitoringd": 4.0,
+  "openpilot.system.proclogd": 7.0,
+  "openpilot.system.logmessaged": 1.0,
+  "openpilot.system.tombstoned": 0,
+  "openpilot.system.journald": 1.0,
+  "openpilot.system.micd": 5.0,
+  "openpilot.system.timed": 0,
+  "openpilot.selfdrive.pandad.pandad": 0,
+  "openpilot.system.loggerd.uploader": 15.0,
+  "openpilot.system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
-  "system.qcomgpsd.qcomgpsd": 1.0,
+  "openpilot.system.qcomgpsd.qcomgpsd": 1.0,
+  "openpilot.common.hardware.comma.modem": 10.0,
 }
 
 TIMINGS = {
@@ -81,12 +83,12 @@ TIMINGS = {
   "controlsState": [2.5, 0.35],
   "longitudinalPlan": [2.5, 0.5],
   "driverAssistance": [2.5, 0.5],
-  "roadCameraState": [2.5, 0.35],
-  "driverCameraState": [2.5, 0.35],
+  "narrowRoadCameraState": [2.5, 0.35],
+  "cabinCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
-  "livePose": [2.5, 0.35],
-  "liveParameters": [2.5, 0.35],
+  "deviceMotion": [2.5, 0.35],
+  "vehicleParameters": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
 
@@ -102,9 +104,8 @@ def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
 
 
-@pytest.mark.tici
-@pytest.mark.skip_tici_setup
-class TestOnroad:
+class TestOnroad(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   @classmethod
   def setup_class(cls):
@@ -118,7 +119,7 @@ class TestOnroad:
     # setup env
     params = Params()
     params.remove("CurrentRoute")
-    params.put_bool("RecordFront", True)
+    params.put_bool("RecordFront", True, block=True)
     set_params_enabled()
     os.environ['REPLAY'] = '1'
     os.environ['MSGQ_PREALLOC'] = '1'
@@ -129,7 +130,7 @@ class TestOnroad:
     # start manager and run openpilot for TEST_DURATION
     proc = None
     try:
-      manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
+      manager_path = os.path.join(BASEDIR, "openpilot/system/manager/manager.py")
       cls.manager_st = time.monotonic()
       proc = subprocess.Popen(["python", manager_path])
 
@@ -175,8 +176,9 @@ class TestOnroad:
       if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'):
         continue
 
+      duration = TEST_DURATION - 5.0  # subtract some selfdrived initializing time
       with subtests.test(service=s):
-        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(duration*0.8))
 
   def test_manager_starting_time(self):
     st = self.ts['managerState']['t'][0]
@@ -209,7 +211,7 @@ class TestOnroad:
 
     # other processes preempt ui while starting up
     offset = int(20 * LOG_OFFSET)
-    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
+    ts = self.ts['uiDebug']['cpuTimeMillis'][offset:]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
@@ -283,7 +285,7 @@ class TestOnroad:
     print("--------------- Memory Usage -------------------")
     print("------------------------------------------------")
 
-    from openpilot.selfdrive.debug.mem_usage import print_report
+    from openpilot.selfdrive.test.mem_usage import print_report
     print_report(self.msgs['procLog'], self.msgs['deviceState'])
 
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
@@ -302,7 +304,7 @@ class TestOnroad:
     result += "------------------------------------------------\n"
     result += "-----------------  SOF Timing ------------------\n"
     result += "------------------------------------------------\n"
-    for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
+    for name in ['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']:
       ts = self.ts[name]['timestampSof']
       d_ms = np.diff(ts) / 1e6
       d50 = np.abs(d_ms-50)
@@ -315,8 +317,8 @@ class TestOnroad:
     print(result)
 
   def test_camera_sync(self, subtests):
-    cam_states = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
-    encode_cams = ['roadEncodeIdx', 'wideRoadEncodeIdx', 'driverEncodeIdx']
+    cam_states = ['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']
+    encode_cams = ['narrowRoadEncodeIdx', 'wideRoadEncodeIdx', 'cabinEncodeIdx']
     for cams in (cam_states, encode_cams):
       with subtests.test(cams=cams):
         # sanity checks within a single cam
@@ -342,15 +344,20 @@ class TestOnroad:
 
         start, end = min(first_fid), min(last_fid)
         for i in range(end-start):
-          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
+          # road and wide cameras (first two) should be synced within 2ms
+          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
           diff = (max(ts.values()) - min(ts.values()))
           assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
 
+          # cabin camera should be staggered ~25ms from road camera
+          offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
+          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
+
   def test_camera_encoder_matches(self, subtests):
     # sanity check that the frame metadata is consistent with the encoded frames
-    pairs = [('roadCameraState', 'roadEncodeIdx'),
+    pairs = [('narrowRoadCameraState', 'narrowRoadEncodeIdx'),
              ('wideRoadCameraState', 'wideRoadEncodeIdx'),
-             ('driverCameraState', 'driverEncodeIdx')]
+             ('cabinCameraState', 'cabinEncodeIdx')]
     for cam, enc in pairs:
       with subtests.test(camera=cam, encoder=enc):
         cam_frames = {fid: (sof, eof) for fid, sof, eof in zip(
@@ -365,23 +372,6 @@ class TestOnroad:
           assert enc_sof == cam_sof, f"SOF mismatch: frameId={fid}, enc_sof={enc_sof}, cam_sof={cam_sof}"
           assert enc_eof == cam_eof, f"EOF mismatch: frameId={fid}, enc_eof={enc_eof}, cam_eof={cam_eof}"
 
-  def test_mpc_execution_timings(self):
-    result = "\n"
-    result += "------------------------------------------------\n"
-    result += "-----------------  MPC Timing ------------------\n"
-    result += "------------------------------------------------\n"
-
-    cfgs = [("longitudinalPlan", 0.05, 0.05),]
-    for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).solverExecutionTime for m in self.msgs[s]]
-      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
-      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
-      result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
-      result += f"'{s}' execution time: max  {max(ts):.5f}s\n"
-      result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
-    result += "------------------------------------------------\n"
-    print(result)
-
   def test_model_execution_timings(self, subtests):
     result = "\n"
     result += "------------------------------------------------\n"
@@ -396,9 +386,7 @@ class TestOnroad:
       ("driverStateV2", 0.3, 0.05),
     ]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
-      # TODO some init can happen in first iteration
-      ts = ts[1:]
+      ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s] if (m.logMonoTime*1e-9 - self.ts[s]['t'][0]) > LOG_OFFSET]
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
       result += f"'{s}' execution time: max {max(ts):.5f}s\n"
       result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
@@ -455,3 +443,7 @@ class TestOnroad:
     eng = [m.selfdriveState.engageable for m in self.msgs['selfdriveState'][offset:]]
     assert all(eng), \
            f"Not engageable for whole segment:\n- selfdriveState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/hardware/tici/tests/test_power_draw.py b/openpilot/selfdrive/test/test_power_draw.py
old mode 100644
new mode 100755
similarity index 84%
rename from system/hardware/tici/tests/test_power_draw.py
rename to openpilot/selfdrive/test/test_power_draw.py
index a92e4c8de8..1d0be24ef0
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/openpilot/selfdrive/test/test_power_draw.py
@@ -1,20 +1,23 @@
+#!/usr/bin/env python3
+
 from collections import defaultdict, deque
-import pytest
 import time
+import unittest
 import numpy as np
 from dataclasses import dataclass
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.utils import tabulate
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
-from openpilot.system.hardware.tici.power_monitor import get_power
+from openpilot.common.hardware.comma.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
 
-SAMPLE_TIME = 8       # seconds to sample power
+SAMPLE_TIME = 2       # seconds to sample power
 MAX_WARMUP_TIME = 30  # seconds to wait for SAMPLE_TIME consecutive valid samples
 
 @dataclass
@@ -31,21 +34,18 @@ class Proc:
 
 
 PROCS = [
-  Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']),
+  Proc(['camerad'], 1.65, atol=0.4, msgs=['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']),
+  Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
 
-@pytest.mark.tici
-class TestPowerDraw:
+class TestPowerDraw(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   def setup_method(self):
-    Params().put("CarParams", get_demo_car_params().to_bytes())
-
-    # wait a bit for power save to disable
-    time.sleep(5)
+    Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
 
   def teardown_method(self):
     manager_cleanup()
@@ -95,7 +95,7 @@ class TestPowerDraw:
 
     return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME
 
-  @mock_messages(['livePose'])
+  @mock_messages(['deviceMotion'])
   def test_camera_procs(self, subtests):
     baseline = get_power()
 
@@ -126,3 +126,7 @@ class TestPowerDraw:
         assert self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W"
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/test/update_ci_routes.py b/openpilot/selfdrive/test/update_ci_routes.py
similarity index 99%
rename from selfdrive/test/update_ci_routes.py
rename to openpilot/selfdrive/test/update_ci_routes.py
index 54e1c88718..40f74ee93c 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/openpilot/selfdrive/test/update_ci_routes.py
@@ -6,7 +6,6 @@ import sys
 from collections.abc import Iterable
 
 from tqdm import tqdm
-
 from opendbc.car.tests.routes import routes as test_car_models_routes
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
 from openpilot.tools.lib.azure_container import AzureContainer
diff --git a/openpilot/selfdrive/ui/.gitignore b/openpilot/selfdrive/ui/.gitignore
new file mode 100644
index 0000000000..30ae77d885
--- /dev/null
+++ b/openpilot/selfdrive/ui/.gitignore
@@ -0,0 +1,4 @@
+installer/installers/*
+
+tests/diff/report
+.coverage
diff --git a/openpilot/selfdrive/ui/SConscript b/openpilot/selfdrive/ui/SConscript
new file mode 100644
index 0000000000..b5c81a9009
--- /dev/null
+++ b/openpilot/selfdrive/ui/SConscript
@@ -0,0 +1,40 @@
+import importlib.util
+from pathlib import Path
+
+Import('env', 'arch', 'common')
+
+if GetOption('extras') and arch == "comma_arm64":
+  # build installers
+  raylib_dir = Path(importlib.util.find_spec("raylib").submodule_search_locations[0]) / "install"
+  raylib_env = env.Clone()
+  raylib_env['CPPPATH'] += [str(raylib_dir / "include")]
+  raylib_env['LIBPATH'] += [str(raylib_dir / "lib")]
+  raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
+
+  raylib_libs = common + ["raylib_comma", "GLESv2", "EGL", "gbm", "drm"]
+
+  release = "release3"
+  installers = [
+    ("openpilot", release),
+    ("openpilot_test", f"{release}-staging"),
+    ("openpilot_nightly", "nightly"),
+    ("openpilot_internal", "nightly-dev"),
+  ]
+
+  cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+                            "ld -r -b binary -o $TARGET $SOURCE")
+  inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
+                             "ld -r -b binary -o $TARGET $SOURCE")
+  inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
+                              "ld -r -b binary -o $TARGET $SOURCE")
+  inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
+                              "ld -r -b binary -o $TARGET $SOURCE")
+  for name, branch in installers:
+    d = {'BRANCH': f"'\"{branch}\"'"}
+    if "internal" in name:
+      d['INTERNAL'] = "1"
+
+    obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+    f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
+    # keep installers small
+    assert f[0].get_size() < 2500*1e3, f[0].get_size()
diff --git a/selfdrive/ui/__init__.py b/openpilot/selfdrive/ui/__init__.py
similarity index 100%
rename from selfdrive/ui/__init__.py
rename to openpilot/selfdrive/ui/__init__.py
diff --git a/selfdrive/test/longitudinal_maneuvers/__init__.py b/openpilot/selfdrive/ui/body/__init__.py
similarity index 100%
rename from selfdrive/test/longitudinal_maneuvers/__init__.py
rename to openpilot/selfdrive/ui/body/__init__.py
diff --git a/openpilot/selfdrive/ui/body/animations.py b/openpilot/selfdrive/ui/body/animations.py
new file mode 100644
index 0000000000..3aecd52e97
--- /dev/null
+++ b/openpilot/selfdrive/ui/body/animations.py
@@ -0,0 +1,262 @@
+from dataclasses import dataclass
+from enum import Enum
+import time
+
+
+class AnimationMode(Enum):
+  ONCE_FORWARD = 1
+  ONCE_FORWARD_BACKWARD = 2
+  REPEAT_FORWARD = 3
+  REPEAT_FORWARD_BACKWARD = 4
+
+
+@dataclass
+class Animation:
+  frames: list[list[tuple[int, int]]]
+  starting_frames: list[list[tuple[int, int]]] | None = None  # played once before the main loop
+  frame_duration: float = 0.15       # seconds each frame is shown
+  mode: AnimationMode = AnimationMode.REPEAT_FORWARD_BACKWARD
+  repeat_interval: float = 5.0      # seconds between animation restarts (only for REPEAT modes)
+  hold_end: float = 0.0             # seconds to hold the last frame before playing backward (only for *_BACKWARD modes)
+  left_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning left
+  right_turn_remove: list[tuple[int, int]] | None = None   # dots to remove from frame when turning right
+
+
+# --- Animation Helper Functions ---
+
+def _mirror(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Mirror a component from the left side of the face to the right"""
+  return [(r, 15 - c) for r, c in dots]
+
+
+def _mirror_no_flip(dots: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  """Move a component to the mirrored position on the right half without flipping its shape."""
+  min_c = min(c for _, c in dots)
+  max_c = max(c for _, c in dots)
+  return [(r, 15 - max_c - min_c + c) for r, c in dots]
+
+
+def _shift(dots: list[tuple[int, int]], rc: tuple[int, int]) -> list[tuple[int, int]]:
+  dr, dc = rc
+  return [(r + dr, c + dc) for r, c in dots]
+
+
+def _make_frame(left_eye: list[tuple[int, int]], right_eye: list[tuple[int, int]],
+                left_brow: list[tuple[int, int]], right_brow: list[tuple[int, int]],
+                mouth: list[tuple[int, int]]) -> list[tuple[int, int]]:
+  return left_eye + left_brow + right_eye + right_brow + mouth
+
+
+# --- Animation Helper Components ---
+
+# Eyes (left side)
+EYE_OPEN = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2), (3, 3), (3, 4),
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_HALF = [
+(4, 1), (4, 2), (4, 3), (4, 4),
+        (5, 2), (5, 3)
+]
+EYE_CLOSED = [
+(4, 1),                 (4, 4),
+        (5, 2), (5, 3),
+]
+EYE_LEFT_LOOK = [
+        (2, 2), (2, 3),
+(3, 1), (3, 2),
+(4, 1), (4, 2),
+        (5, 2), (5, 3),
+]
+EYE_RIGHT_LOOK = [
+        (2, 2), (2, 3),
+                (3, 3), (3, 4),
+                (4, 3), (4, 4),
+        (5, 2), (5, 3),
+]
+
+# Eyebrows (left side)
+BROW_HIGH = [
+        (0, 1), (0, 2),
+(1, 0),
+]
+BROW_LOWERED = [
+        (1, 1), (1, 2),
+(2, 0)
+]
+BROW_STRAIGHT = [(1, 0), (1, 1), (1, 2)]
+# Mouths (centered, not mirrored)
+MOUTH_SMILE = [
+(6, 6),                 (6, 9),
+        (7, 7), (7, 8),
+]
+MOUTH_NORMAL = [(7, 7), (7, 8)]
+
+# --- Animations ---
+
+NORMAL = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_HALF, _mirror(EYE_HALF), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), BROW_LOWERED, _mirror(BROW_LOWERED), MOUTH_SMILE),
+  ],
+  left_turn_remove=[
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ] + _mirror_no_flip([
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ]),
+  right_turn_remove=[
+    (3, 1), (3, 2),
+    (4, 1), (4, 2),
+  ] + _mirror_no_flip([
+    (3, 3), (3, 4),
+    (4, 3), (4, 4),
+  ])
+)
+
+ASLEEP = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), [], [], MOUTH_NORMAL),
+  ],
+)
+
+SLEEPY = Animation(
+  frames=[
+    _make_frame(EYE_CLOSED, _mirror(EYE_CLOSED), _shift(BROW_STRAIGHT, (1, 0)), [], MOUTH_NORMAL),
+    _make_frame(EYE_HALF, _mirror(EYE_CLOSED), BROW_LOWERED, [], MOUTH_NORMAL),
+    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, [], MOUTH_NORMAL)
+  ],
+  frame_duration=0.25,
+  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
+  repeat_interval=10,
+  hold_end=1.5,
+)
+
+INQUISITIVE = Animation(
+  frames=[
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_LEFT_LOOK, (0, -1)), _shift(_mirror(EYE_RIGHT_LOOK), (0, -1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_LEFT_LOOK, _mirror(EYE_RIGHT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(_shift(EYE_RIGHT_LOOK, (0, 1)), _shift(_mirror(EYE_LEFT_LOOK), (0, 1)), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+    _make_frame(EYE_RIGHT_LOOK, _mirror(EYE_LEFT_LOOK), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+
+    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
+  ],
+  mode=AnimationMode.REPEAT_FORWARD,
+  frame_duration=0.15,
+  repeat_interval=10
+)
+
+# --- Face Animator Class ---
+
+class FaceAnimator:
+  def __init__(self, animation: Animation):
+    self._animation = animation
+    self._next: Animation | None = None
+    self._start_time = time.monotonic()
+    self._rewinding = False
+    self._rewind_start: float = 0.0
+    self._rewind_from: int = 0
+    self._seen_nonzero = False
+
+  def set_animation(self, animation: Animation):
+    if animation is not self._animation:
+      self._next = animation
+
+  def get_dots(self) -> list[tuple[int, int]]:
+    now = time.monotonic()
+    elapsed = now - self._start_time
+
+    # Handle rewind for forward-only animations
+    if self._rewinding:
+      rewind_elapsed = now - self._rewind_start
+      frames_back = round(rewind_elapsed / self._animation.frame_duration)
+      frame_index = self._rewind_from - frames_back
+      if frame_index <= 0:
+        if self._next is None:
+          self._rewinding = False
+          return self._animation.frames[0]
+        return self._switch_to_next(now, self._next)
+      return self._animation.frames[frame_index]
+
+    # Play starting frames first (once)
+    starting = self._animation.starting_frames or []
+    starting_duration = len(starting) * self._animation.frame_duration
+    if starting and elapsed < starting_duration:
+      frame_index = min(int(elapsed / self._animation.frame_duration), len(starting) - 1)
+      return starting[frame_index]
+
+    # Main loop
+    loop_elapsed = elapsed - starting_duration if starting else elapsed
+    frame_index = _get_frame_index(self._animation, loop_elapsed, gap_first=bool(starting))
+
+    if frame_index != 0:
+      self._seen_nonzero = True
+
+    if self._next is not None:
+      if frame_index == 0 and (len(self._animation.frames) == 1 or self._seen_nonzero):
+        return self._switch_to_next(now, self._next)
+      # No natural return to frame 0 — start rewinding
+      if self._animation.mode in (AnimationMode.ONCE_FORWARD, AnimationMode.REPEAT_FORWARD):
+        self._rewinding = True
+        self._rewind_start = now
+        self._rewind_from = frame_index
+
+    return self._animation.frames[frame_index]
+
+  def _switch_to_next(self, now: float, animation: Animation) -> list[tuple[int, int]]:
+    self._animation = animation
+    self._next = None
+    self._rewinding = False
+    self._seen_nonzero = False
+    self._start_time = now
+    return self._animation.frames[0]
+
+
+def _get_frame_index(animation: Animation, elapsed: float, gap_first: bool = False) -> int:
+  """Get the current frame index given elapsed time and animation mode."""
+  num_frames = len(animation.frames)
+  if num_frames == 1:
+    return 0
+
+  fd = animation.frame_duration
+  has_backward = animation.mode in (AnimationMode.ONCE_FORWARD_BACKWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+  repeats = animation.mode in (AnimationMode.REPEAT_FORWARD, AnimationMode.REPEAT_FORWARD_BACKWARD)
+
+  forward_duration = num_frames * fd
+  backward_frames = max(num_frames - 2, 0) if has_backward else 0
+  hold = animation.hold_end if has_backward else 0.0
+  cycle_duration = forward_duration + hold + backward_frames * fd
+
+  if not repeats:
+    t = min(elapsed, cycle_duration)
+  else:
+    t = (elapsed + cycle_duration if gap_first else elapsed) % animation.repeat_interval
+
+  # Forward phase
+  if t < forward_duration:
+    return min(int(t / fd), num_frames - 1)
+  t -= forward_duration
+
+  # Hold at last frame
+  if t < hold:
+    return num_frames - 1
+  t -= hold
+
+  # Backward phase
+  if backward_frames and t < backward_frames * fd:
+    return num_frames - 2 - min(int(t / fd), backward_frames - 1)
+
+  return 0 if has_backward else num_frames - 1
diff --git a/selfdrive/ui/layouts/__init__.py b/openpilot/selfdrive/ui/body/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/layouts/__init__.py
rename to openpilot/selfdrive/ui/body/layouts/__init__.py
diff --git a/openpilot/selfdrive/ui/body/layouts/onroad.py b/openpilot/selfdrive/ui/body/layouts/onroad.py
new file mode 100644
index 0000000000..a48e525628
--- /dev/null
+++ b/openpilot/selfdrive/ui/body/layouts/onroad.py
@@ -0,0 +1,93 @@
+import time
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.body.animations import FaceAnimator, ASLEEP, INQUISITIVE, NORMAL, SLEEPY
+
+GRID_COLS = 16
+GRID_ROWS = 8
+DOT_RADIUS = 50 if gui_app.big_ui() else 10
+
+IDLE_TIMEOUT = 30.0        # seconds of no joystick input before playing INQUISITIVE
+IDLE_STEER_THRESH = 0.5    # degrees — below this counts as no input
+IDLE_SPEED_THRESH = 0.01   # m/s — below this counts as no input
+
+
+# This class is used both in BIG (tizi) and small (mici) UIs
+class BodyLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._animator = FaceAnimator(ASLEEP)
+    self._turning_left = False
+    self._turning_right = False
+    self._last_input_time = time.monotonic()
+    self._was_active = False
+    self._offroad_label = UnifiedLabel("turn on ignition to use", 95 if gui_app.big_ui() else 45, FontWeight.DISPLAY,
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def draw_dot_grid(self, rect: rl.Rectangle, dots: list[tuple[int, int]], color: rl.Color):
+    spacing = min(rect.height / GRID_ROWS, rect.width / GRID_COLS)
+
+    grid_w = (GRID_COLS - 1) * spacing
+    grid_h = (GRID_ROWS - 1) * spacing
+
+    offset_x = rect.x + (rect.width - grid_w) / 2
+    offset_y = rect.y + (rect.height - grid_h) / 2
+
+    for row, col in dots:
+      x = int(offset_x + col * spacing)
+      y = int(offset_y + row * spacing)
+      rl.draw_circle(x, y, DOT_RADIUS, color)
+
+  def _update_state(self):
+    super()._update_state()
+
+    sm = ui_state.sm
+
+    if ui_state.is_onroad():
+      if not self._was_active:
+        self._last_input_time = time.monotonic()
+        self._was_active = True
+
+      cs = sm['carState']
+      has_input = abs(cs.steeringAngleDeg) > IDLE_STEER_THRESH or abs(cs.vEgo) > IDLE_SPEED_THRESH
+      if has_input:
+        self._last_input_time = time.monotonic()
+
+      if time.monotonic() - self._last_input_time > IDLE_TIMEOUT:
+        self._animator.set_animation(INQUISITIVE)
+      else:
+        self._animator.set_animation(NORMAL)
+    else:
+      self._was_active = False
+      self._animator.set_animation(ASLEEP)
+
+    steer = sm['testJoystick'].axes[1] if len(sm['testJoystick'].axes) > 1 else 0
+    self._turning_left = steer >= 0.05
+    self._turning_right = steer <= -0.05
+
+  # play animation on screen tap
+  def _handle_mouse_release(self, mouse_pos):
+    super()._handle_mouse_release(mouse_pos)
+    if not self._was_active:
+      self._animator.set_animation(SLEEPY)
+
+  def _render(self, rect: rl.Rectangle):
+    dots = self._animator.get_dots()
+    animation = self._animator._animation
+    if self._turning_left and animation.left_turn_remove:
+      remove_set = set(animation.left_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    elif self._turning_right and animation.right_turn_remove:
+      remove_set = set(animation.right_turn_remove)
+      dots = [d for d in dots if d not in remove_set]
+    self.draw_dot_grid(rect, dots, rl.WHITE)
+
+    if ui_state.is_offroad():
+      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
+      upper_half = rl.Rectangle(rect.x, rect.y, rect.width, rect.height / 2)
+      self._offroad_label.render(upper_half)
diff --git a/selfdrive/ui/installer/continue_openpilot.sh b/openpilot/selfdrive/ui/installer/continue_openpilot.sh
similarity index 100%
rename from selfdrive/ui/installer/continue_openpilot.sh
rename to openpilot/selfdrive/ui/installer/continue_openpilot.sh
diff --git a/selfdrive/ui/installer/installer.cc b/openpilot/selfdrive/ui/installer/installer.cc
similarity index 93%
rename from selfdrive/ui/installer/installer.cc
rename to openpilot/selfdrive/ui/installer/installer.cc
index 072fa4e24b..07e824c649 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/openpilot/selfdrive/ui/installer/installer.cc
@@ -5,8 +5,8 @@
 
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
-#include "third_party/raylib/include/raylib.h"
+#include "common/hardware/hw.h"
+#include "raylib.h"
 
 int freshClone();
 int cachedFetch(const std::string &cache);
@@ -30,7 +30,7 @@ const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
 
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
-const int FONT_SIZE = 120;
+const int FONT_SIZE = 160;
 
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
@@ -48,7 +48,7 @@ Font font_display;
 const bool tici_device = Hardware::get_device_type() == cereal::InitData::DeviceType::TICI ||
                          Hardware::get_device_type() == cereal::InitData::DeviceType::TIZI;
 
-std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tizi", "release3-staging", "nightly", "nightly-dev"};
+std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tici", "release3-staging", "nightly", "nightly-dev"};
 std::string migrated_branch;
 
 void branchMigration() {
@@ -88,7 +88,7 @@ void finishInstall() {
       int text_width = MeasureText(m, FONT_SIZE);
       DrawTextEx(font_display, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
     } else {
-      DrawTextEx(font_display, "finishing setup", (Vector2){8, 10}, 82, 0, WHITE);
+      DrawTextEx(font_display, "finishing setup", (Vector2){12, 0}, 77, 0, (Color){255, 255, 255, (unsigned char)(255 * 0.9)});
     }
   EndDrawing();
   util::sleep_for(60 * 1000);
@@ -106,10 +106,10 @@ void renderProgress(int progress) {
       DrawRectangleRec(bar, (Color){70, 91, 234, 255});
       DrawTextEx(font_inter, (std::to_string(progress) + "%").c_str(), (Vector2){150, 670}, 85, 0, WHITE);
     } else {
-      DrawTextEx(font_display, "installing", (Vector2){8, 10}, 82, 0, WHITE);
+      DrawTextEx(font_display, "installing...", (Vector2){12, 0}, 77, 0, (Color){255, 255, 255, (unsigned char)(255 * 0.9)});
       const std::string percent_str = std::to_string(progress) + "%";
-      DrawTextEx(font_roman, percent_str.c_str(), (Vector2){6, (float)(GetScreenHeight() - 128 + 18)}, 128, 0,
-                 (Color){255, 255, 255, (unsigned char)(255 * 0.9 * 0.35)});
+      DrawTextEx(font_inter, percent_str.c_str(), (Vector2){12, (float)(GetScreenHeight() - 154 + 20)}, 154, 0,
+                 (Color){255, 255, 255, (unsigned char)(255 * 0.9 * 0.65)});
     }
 
   EndDrawing();
@@ -144,6 +144,7 @@ int cachedFetch(const std::string &cache) {
   LOGD("Fetching with cache: %s", cache.c_str());
 
   run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
+  run(util::string_format("cd %s && git remote set-url origin %s", TMP_INSTALL_PATH, GIT_URL.c_str()).c_str());
   run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, migrated_branch.c_str()).c_str());
 
   renderProgress(10);
diff --git a/selfdrive/ui/installer/inter-ascii.ttf b/openpilot/selfdrive/ui/installer/inter-ascii.ttf
similarity index 100%
rename from selfdrive/ui/installer/inter-ascii.ttf
rename to openpilot/selfdrive/ui/installer/inter-ascii.ttf
diff --git a/selfdrive/ui/mici/layouts/__init__.py b/openpilot/selfdrive/ui/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/mici/layouts/__init__.py
rename to openpilot/selfdrive/ui/layouts/__init__.py
diff --git a/selfdrive/ui/layouts/home.py b/openpilot/selfdrive/ui/layouts/home.py
similarity index 99%
rename from selfdrive/ui/layouts/home.py
rename to openpilot/selfdrive/ui/layouts/home.py
index bb4b868f2d..be231dcd4b 100644
--- a/selfdrive/ui/layouts/home.py
+++ b/openpilot/selfdrive/ui/layouts/home.py
@@ -62,6 +62,7 @@ class HomeLayout(Widget):
     self._setup_callbacks()
 
   def show_event(self):
+    super().show_event()
     self._exp_mode_button.show_event()
     self.last_refresh = time.monotonic()
     self._refresh()
diff --git a/selfdrive/ui/layouts/main.py b/openpilot/selfdrive/ui/layouts/main.py
similarity index 62%
rename from selfdrive/ui/layouts/main.py
rename to openpilot/selfdrive/ui/layouts/main.py
index a020a63b55..5b2b9bc9f5 100644
--- a/selfdrive/ui/layouts/main.py
+++ b/openpilot/selfdrive/ui/layouts/main.py
@@ -1,17 +1,20 @@
 import pyray as rl
 from enum import IntEnum
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
+from opendbc.car.structs import car
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
 from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
 from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
+  from openpilot.selfdrive.ui.sunnypilot.layouts.home import HomeLayoutSP as HomeLayout
 
 
 class MainState(IntEnum):
@@ -20,18 +23,30 @@ class MainState(IntEnum):
   ONROAD = 2
 
 
+class CustomButtonAction(IntEnum):
+  NONE = 0
+  BOOKMARK = 1
+  QUIET_MODE = 2
+
+
 class MainLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._pm = messaging.PubMaster(['bookmarkButton'])
+    self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
 
     self._sidebar = Sidebar()
     self._current_mode = MainState.HOME
     self._prev_onroad = False
 
     # Initialize layouts
-    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+    self._home_layout = HomeLayout()
+    self._home_body_layout = BodyLayout()
+    self._layouts: dict[MainState, Widget] = {
+      MainState.HOME: self._home_layout,
+      MainState.SETTINGS: SettingsLayout(),
+      MainState.ONROAD: AugmentedRoadView(),
+    }
 
     self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
     self._content_rect = rl.Rectangle(0, 0, 0, 0)
@@ -39,12 +54,15 @@ class MainLayout(Widget):
     # Set callbacks
     self._setup_callbacks()
 
-    # Start onboarding if terms or training not completed
+    gui_app.push_widget(self)
+
+    # Start onboarding if terms or training not completed, make sure to push after self
     self._onboarding_window = OnboardingWindow()
     if not self._onboarding_window.completed:
-      gui_app.set_modal_overlay(self._onboarding_window)
+      gui_app.push_widget(self._onboarding_window)
 
   def _render(self, _):
+    self._handle_custom_button()
     self._handle_onroad_transition()
     self._render_main_content()
 
@@ -55,14 +73,18 @@ class MainLayout(Widget):
     self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
     self._layouts[MainState.HOME].set_settings_callback(lambda: self.open_settings(PanelType.TOGGLES))
     self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
-    self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
+
+    for layout in (self._layouts[MainState.ONROAD], self._home_body_layout):
+      layout.set_click_callback(self._on_onroad_clicked)
+
     device.add_interactive_timeout_callback(self._set_mode_for_state)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
 
   def _update_layout_rects(self):
     self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
 
     x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
-    self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
+    self._content_rect = rl.Rectangle(self._rect.x + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
 
   def _handle_onroad_transition(self):
     if ui_state.started != self._prev_onroad:
@@ -71,6 +93,12 @@ class MainLayout(Widget):
       self._set_mode_for_state()
 
   def _set_mode_for_state(self):
+    # Don't go onroad if body, home is onroad
+    if ui_state.is_body:
+      self._set_current_layout(MainState.HOME)
+      self._sidebar.set_visible(not ui_state.ignition)
+      return
+
     if ui_state.started:
       # Don't hide sidebar from interactive timeout
       if self._current_mode != MainState.ONROAD:
@@ -95,13 +123,32 @@ class MainLayout(Widget):
     self.open_settings(PanelType.DEVICE)
 
   def _on_bookmark_clicked(self):
-    user_bookmark = messaging.new_message('bookmarkButton')
-    user_bookmark.valid = True
-    self._pm.send('bookmarkButton', user_bookmark)
+    for service in ('bookmarkButton', 'userBookmark'):
+      msg = messaging.new_message(service, valid=True)
+      self._pm.send(service, msg)
+
+  def _handle_custom_button(self):
+    if not ui_state.sm.updated['carState']:
+      return
+
+    custom_pressed = any(be.type == car.CarState.ButtonEvent.Type.altButton2 and be.pressed
+                         for be in ui_state.sm['carState'].buttonEvents)
+    if not custom_pressed:
+      return
+
+    action = CustomButtonAction(ui_state.params.get('SteeringCustomButtonMapping', return_default=True))
+    if action == CustomButtonAction.BOOKMARK:
+      self._on_bookmark_clicked()
+    elif action == CustomButtonAction.QUIET_MODE:
+      ui_state.params.put_bool('QuietMode', not ui_state.params.get_bool('QuietMode'))
 
   def _on_onroad_clicked(self):
     self._sidebar.set_visible(not self._sidebar.is_visible)
 
+  def _on_body_changed(self):
+    self._layouts[MainState.HOME] = self._home_body_layout if ui_state.is_body else self._home_layout
+    self._set_mode_for_state()
+
   def _render_main_content(self):
     # Render sidebar
     if self._sidebar.is_visible:
diff --git a/selfdrive/ui/layouts/onboarding.py b/openpilot/selfdrive/ui/layouts/onboarding.py
similarity index 91%
rename from selfdrive/ui/layouts/onboarding.py
rename to openpilot/selfdrive/ui/layouts/onboarding.py
index c480a3ed9d..df14415c60 100644
--- a/selfdrive/ui/layouts/onboarding.py
+++ b/openpilot/selfdrive/ui/layouts/onboarding.py
@@ -11,7 +11,7 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import Label
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.version import terms_version, training_version, terms_version_sp
+from openpilot.common.version import terms_version, training_version, terms_version_sp
 
 from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkOnboarding
 
@@ -53,9 +53,9 @@ class TrainingGuide(Widget):
     threading.Thread(target=self._preload_thread, daemon=True).start()
 
   def _load_image_paths(self):
-    paths = [fn for fn in os.listdir(os.path.join(BASEDIR, "selfdrive/assets/training")) if re.match(r'^step\d*\.png$', fn)]
+    paths = [fn for fn in os.listdir(os.path.join(BASEDIR, "openpilot/selfdrive/assets/training")) if re.match(r'^step\d*\.png$', fn)]
     paths = sorted(paths, key=lambda x: int(re.search(r'\d+', x).group()))
-    self._image_paths = [os.path.join(BASEDIR, "selfdrive/assets/training", fn) for fn in paths]
+    self._image_paths = [os.path.join(BASEDIR, "openpilot/selfdrive/assets/training", fn) for fn in paths]
 
   def _preload_thread(self):
     # PNG loading is slow in raylib, so we preload in a thread and upload to GPU in main thread
@@ -69,7 +69,7 @@ class TrainingGuide(Widget):
       if self._step == DM_RECORD_STEP:
         yes = rl.check_collision_point_rec(mouse_pos, DM_RECORD_YES_RECT)
         print(f"putting RecordFront to {yes}")
-        ui_state.params.put_bool("RecordFront", yes)
+        ui_state.params.put_bool("RecordFront", yes, block=True)
 
       # Restart training?
       elif self._step == len(self._image_paths) - 1:
@@ -84,6 +84,9 @@ class TrainingGuide(Widget):
         if self._completed_callback:
           self._completed_callback()
 
+        # NOTE: this pops OnboardingWindow during real onboarding
+        gui_app.pop_widget()
+
   def _update_state(self):
     if len(self._image_objs):
       self._textures.append(gui_app._load_texture_from_image(self._image_objs.pop(0)))
@@ -91,7 +94,7 @@ class TrainingGuide(Widget):
   def _render(self, _):
     # Safeguard against fast tapping
     step = min(self._step, len(self._textures) - 1)
-    rl.draw_texture(self._textures[step], 0, 0, rl.WHITE)
+    rl.draw_texture_ex(self._textures[step], rl.Vector2(0, 0), 0.0, 1.0, rl.WHITE)
 
     # progress bar
     if 0 < step < len(STEP_RECTS) - 1:
@@ -153,7 +156,7 @@ class DeclinePage(Widget):
                                  click_callback=self._on_uninstall_clicked)
 
   def _on_uninstall_clicked(self):
-    ui_state.params.put_bool("DoUninstall", True)
+    ui_state.params.put_bool("DoUninstall", True, block=True)
     gui_app.request_close()
 
   def _render(self, _):
@@ -206,18 +209,17 @@ class OnboardingWindow(Widget):
     self._state = OnboardingState.TERMS
 
   def _on_terms_accepted(self):
-    ui_state.params.put("HasAcceptedTerms", terms_version)
-    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
+    ui_state.params.put("HasAcceptedTerms", terms_version, block=True)
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp, block=True)
     if not self._sunnylink.completed:
       self._state = OnboardingState.SUNNYLINK_CONSENT
     elif not self._training_done:
       self._state = OnboardingState.ONBOARDING
     else:
-      gui_app.set_modal_overlay(None)
+      gui_app.pop_widget()
 
   def _on_completed_training(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
-    gui_app.set_modal_overlay(None)
+    ui_state.params.put("CompletedTrainingVersion", training_version, block=True)
 
   def _render(self, _):
     if self._training_guide is None:
@@ -231,12 +233,12 @@ class OnboardingWindow(Widget):
         if not self._training_done:
           self._state = OnboardingState.ONBOARDING
         else:
-          gui_app.set_modal_overlay(None)
+          gui_app.pop_widget()
     elif self._state == OnboardingState.ONBOARDING:
       if not self._training_done:
         self._training_guide.render(self._rect)
       else:
-        gui_app.set_modal_overlay(None)
+        gui_app.pop_widget()
     elif self._state == OnboardingState.DECLINE:
       self._decline_page.render(self._rect)
     return -1
diff --git a/selfdrive/ui/layouts/settings/common.py b/openpilot/selfdrive/ui/layouts/settings/common.py
similarity index 75%
rename from selfdrive/ui/layouts/settings/common.py
rename to openpilot/selfdrive/ui/layouts/settings/common.py
index 5e87a6447a..bba8606e64 100644
--- a/selfdrive/ui/layouts/settings/common.py
+++ b/openpilot/selfdrive/ui/layouts/settings/common.py
@@ -1,5 +1,5 @@
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 
-def restart_needed_callback(_):
+def restart_needed_callback(_=None):
   ui_state.params.put_bool("OnroadCycleRequested", True)
diff --git a/selfdrive/ui/layouts/settings/developer.py b/openpilot/selfdrive/ui/layouts/settings/developer.py
similarity index 74%
rename from selfdrive/ui/layouts/settings/developer.py
rename to openpilot/selfdrive/ui/layouts/settings/developer.py
index 2ff94aa52d..ef9c7f9e03 100644
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/openpilot/selfdrive/ui/layouts/settings/developer.py
@@ -23,7 +23,7 @@ DESCRIPTIONS = {
     "other than your own. A comma employee will NEVER ask you to add their GitHub username."
   ),
   'alpha_longitudinal': tr_noop(
-    "<b>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "<b>WARNING: sunnypilot longitudinal control is in alpha for this car and may disable Automatic Emergency Braking (AEB).</b><br><br>" +
     "On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. " +
     "Enable this to switch to sunnypilot longitudinal control. " +
     "Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. " +
@@ -36,7 +36,7 @@ class DeveloperLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
 
     # Build items and keep references for callbacks/state updates
     self._adb_toggle = toggle_item(
@@ -71,6 +71,13 @@ class DeveloperLayout(Widget):
       callback=self._on_long_maneuver_mode,
     )
 
+    self._lat_maneuver_toggle = toggle_item(
+      lambda: tr("Lateral Maneuver Mode"),
+      description="",
+      initial_state=self._params.get_bool("LateralManeuverMode"),
+      callback=self._on_lat_maneuver_mode,
+    )
+
     self._alpha_long_toggle = toggle_item(
       lambda: tr("sunnypilot Longitudinal Control (Alpha)"),
       description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
@@ -93,6 +100,7 @@ class DeveloperLayout(Widget):
       self._ssh_keys,
       self._joystick_toggle,
       self._long_maneuver_toggle,
+      self._lat_maneuver_toggle,
       self._alpha_long_toggle,
       self._ui_debug_toggle,
     ], line_separator=True, spacing=0)
@@ -104,6 +112,7 @@ class DeveloperLayout(Widget):
     self._scroller.render(rect)
 
   def show_event(self):
+    super().show_event()
     self._scroller.show_event()
     self._update_toggles()
 
@@ -112,7 +121,7 @@ class DeveloperLayout(Widget):
 
     # Hide non-release toggles on release builds
     # TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
-    for item in (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle):
+    for item in (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle):
       item.set_visible(not self._is_release)
 
     # CP gating
@@ -126,11 +135,10 @@ class DeveloperLayout(Widget):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.action_item.set_state(False)
-        self._params.put_bool("LongitudinalManeuverMode", False)
+      self._lat_maneuver_toggle.action_item.set_enabled(ui_state.is_offroad())
     else:
       self._long_maneuver_toggle.action_item.set_enabled(False)
+      self._lat_maneuver_toggle.action_item.set_enabled(False)
       self._alpha_long_toggle.set_visible(False)
 
     # TODO: make a param control list item so we don't need to manage internal state as much here
@@ -140,39 +148,52 @@ class DeveloperLayout(Widget):
       ("SshEnabled", self._ssh_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
       ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("LateralManeuverMode", self._lat_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._ui_debug_toggle),
     ):
       item.action_item.set_state(self._params.get_bool(key))
 
   def _on_enable_ui_debug(self, state: bool):
-    self._params.put_bool("ShowDebugInfo", state)
+    self._params.put_bool("ShowDebugInfo", state, block=True)
     gui_app.set_show_touches(state)
     gui_app.set_show_fps(state)
     gui_app.set_show_mouse_coords(state)
 
   def _on_enable_adb(self, state: bool):
-    self._params.put_bool("AdbEnabled", state)
+    self._params.put_bool("AdbEnabled", state, block=True)
 
   def _on_enable_ssh(self, state: bool):
-    self._params.put_bool("SshEnabled", state)
+    self._params.put_bool("SshEnabled", state, block=True)
 
   def _on_joystick_debug_mode(self, state: bool):
-    self._params.put_bool("JoystickDebugMode", state)
-    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._params.put_bool("JoystickDebugMode", state, block=True)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.action_item.set_state(False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
+    self._lat_maneuver_toggle.action_item.set_state(False)
 
   def _on_long_maneuver_mode(self, state: bool):
-    self._params.put_bool("LongitudinalManeuverMode", state)
-    self._params.put_bool("JoystickDebugMode", False)
+    self._params.put_bool("LongitudinalManeuverMode", state, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.action_item.set_state(False)
+    self._params.put_bool("LateralManeuverMode", False, block=True)
+    self._lat_maneuver_toggle.action_item.set_state(False)
+
+  def _on_lat_maneuver_mode(self, state: bool):
+    self._params.put_bool("LateralManeuverMode", state, block=True)
+    self._params.put_bool("ExperimentalMode", False, block=True)
+    self._params.put_bool("JoystickDebugMode", False, block=True)
+    self._joystick_toggle.action_item.set_state(False)
+    self._params.put_bool("LongitudinalManeuverMode", False, block=True)
+    self._long_maneuver_toggle.action_item.set_state(False)
 
   def _on_alpha_long_enabled(self, state: bool):
     if state:
-      def confirm_callback(result: int):
+      def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
-          self._params.put_bool("AlphaLongitudinalEnabled", True)
-          self._params.put_bool("OnroadCycleRequested", True)
+          self._params.put_bool("AlphaLongitudinalEnabled", True, block=True)
+          self._params.put_bool("OnroadCycleRequested", True, block=True)
           self._update_toggles()
         else:
           self._alpha_long_toggle.action_item.set_state(False)
@@ -181,10 +202,10 @@ class DeveloperLayout(Widget):
       content = (f"<h1>{self._alpha_long_toggle.title}</h1><br>" +
                  f"<p>{self._alpha_long_toggle.description}</p>")
 
-      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
-      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
 
     else:
-      self._params.put_bool("AlphaLongitudinalEnabled", False)
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("AlphaLongitudinalEnabled", False, block=True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
       self._update_toggles()
diff --git a/selfdrive/ui/layouts/settings/device.py b/openpilot/selfdrive/ui/layouts/settings/device.py
similarity index 71%
rename from selfdrive/ui/layouts/settings/device.py
rename to openpilot/selfdrive/ui/layouts/settings/device.py
index 8830ef946f..5be78cf652 100644
--- a/selfdrive/ui/layouts/settings/device.py
+++ b/openpilot/selfdrive/ui/layouts/settings/device.py
@@ -1,15 +1,14 @@
 import os
 import math
 
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.onroad.cabin_camera_dialog import CabinCameraDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.layouts.onboarding import TrainingGuide
 from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
-from openpilot.system.hardware import TICI
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import multilang, tr, tr_noop
 from openpilot.system.ui.widgets import Widget, DialogResult
@@ -37,8 +36,6 @@ class DeviceLayout(Widget):
 
     self._params = Params()
     self._select_language_dialog: MultiOptionDialog | None = None
-    self._driver_camera: DriverCameraDialog | None = None
-    self._pair_device_dialog: PairingDialog | None = None
     self._fcc_dialog: HtmlModal | None = None
     self._training_guide: TrainingGuide | None = None
 
@@ -48,7 +45,8 @@ class DeviceLayout(Widget):
     ui_state.add_offroad_transition_callback(self._offroad_transition)
 
   def _initialize_items(self):
-    self._pair_device_btn = button_item(lambda: tr("Pair Device"), lambda: tr("PAIR"), lambda: tr(DESCRIPTIONS['pair_device']), callback=self._pair_device)
+    self._pair_device_btn = button_item(lambda: tr("Pair Device"), lambda: tr("PAIR"), lambda: tr(DESCRIPTIONS['pair_device']),
+                                        callback=lambda: gui_app.push_widget(PairingDialog()))
     self._pair_device_btn.set_visible(lambda: not ui_state.prime_state.is_paired())
 
     self._reset_calib_btn = button_item(lambda: tr("Reset Calibration"), lambda: tr("RESET"), lambda: tr(DESCRIPTIONS['reset_calibration']),
@@ -63,64 +61,57 @@ class DeviceLayout(Widget):
       text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
       self._pair_device_btn,
       button_item(lambda: tr("Driver Camera"), lambda: tr("PREVIEW"), lambda: tr(DESCRIPTIONS['driver_camera']),
-                  callback=self._show_driver_camera, enabled=ui_state.is_offroad),
+                  callback=lambda: gui_app.push_widget(CabinCameraDialog()), enabled=ui_state.is_offroad),
       self._reset_calib_btn,
       button_item(lambda: tr("Review Training Guide"), lambda: tr("REVIEW"), lambda: tr(DESCRIPTIONS['review_guide']),
                   self._on_review_training_guide, enabled=ui_state.is_offroad),
-      regulatory_btn := button_item(lambda: tr("Regulatory"), lambda: tr("VIEW"), callback=self._on_regulatory, enabled=ui_state.is_offroad),
+      button_item(lambda: tr("Regulatory"), lambda: tr("VIEW"), callback=self._on_regulatory, enabled=ui_state.is_offroad),
       button_item(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog),
       self._power_off_btn,
     ]
-    regulatory_btn.set_visible(TICI)
     return items
 
   def _offroad_transition(self):
     self._power_off_btn.action_item.right_button.set_visible(ui_state.is_offroad())
 
   def show_event(self):
+    super().show_event()
     self._scroller.show_event()
 
   def _render(self, rect):
     self._scroller.render(rect)
 
   def _show_language_dialog(self):
-    def handle_language_selection(result: int):
-      if result == 1 and self._select_language_dialog:
+    def handle_language_selection(result: DialogResult):
+      if result == DialogResult.CONFIRM and self._select_language_dialog:
         selected_language = multilang.languages[self._select_language_dialog.selection]
         multilang.change_language(selected_language)
         self._update_calib_description()
       self._select_language_dialog = None
 
     self._select_language_dialog = MultiOptionDialog(tr("Select a language"), multilang.languages, multilang.codes[multilang.language],
-                                                     option_font_weight=FontWeight.UNIFONT)
-    gui_app.set_modal_overlay(self._select_language_dialog, callback=handle_language_selection)
-
-  def _show_driver_camera(self):
-    if not self._driver_camera:
-      self._driver_camera = DriverCameraDialog()
-
-    gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None))
+                                                     option_font_weight=FontWeight.UNIFONT, callback=handle_language_selection)
+    gui_app.push_widget(self._select_language_dialog)
 
   def _reset_calibration_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Reset Calibration")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reset Calibration")))
       return
 
-    def reset_calibration(result: int):
+    def reset_calibration(result: DialogResult):
       # Check engaged again in case it changed while the dialog was open
       if ui_state.engaged or result != DialogResult.CONFIRM:
         return
 
       self._params.remove("CalibrationParams")
       self._params.remove("LiveTorqueParameters")
-      self._params.remove("LiveParameters")
       self._params.remove("LiveParametersV2")
       self._params.remove("LiveDelay")
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
       self._update_calib_description()
 
-    dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"))
-    gui_app.set_modal_overlay(dialog, callback=reset_calibration)
+    dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration)
+    gui_app.push_widget(dialog)
 
   def _update_calib_description(self):
     desc = tr(DESCRIPTIONS['reset_calibration'])
@@ -128,9 +119,9 @@ class DeviceLayout(Widget):
     calib_bytes = self._params.get("CalibrationParams")
     if calib_bytes:
       try:
-        calib = messaging.log_from_bytes(calib_bytes, log.Event).liveCalibration
+        calib = messaging.log_from_bytes(calib_bytes, log.Event).extrinsicsCalibration
 
-        if calib.calStatus != log.LiveCalibrationData.Status.uncalibrated:
+        if calib.calStatus != log.ExtrinsicsCalibration.Status.uncalibrated:
           pitch = math.degrees(calib.rpyCalib[1])
           yaw = math.degrees(calib.rpyCalib[2])
           desc += tr(" Your device is pointed {:.1f}° {} and {:.1f}° {}.").format(abs(pitch), tr("down") if pitch > 0 else tr("up"),
@@ -142,7 +133,7 @@ class DeviceLayout(Widget):
     lag_bytes = self._params.get("LiveDelay")
     if lag_bytes:
       try:
-        lag_perc = messaging.log_from_bytes(lag_bytes, log.Event).liveDelay.calPerc
+        lag_perc = messaging.log_from_bytes(lag_bytes, log.Event).lateralDelay.calPerc
       except Exception:
         cloudlog.exception("invalid LiveDelay")
     if lag_perc < 100:
@@ -153,7 +144,7 @@ class DeviceLayout(Widget):
     torque_bytes = self._params.get("LiveTorqueParameters")
     if torque_bytes:
       try:
-        torque = messaging.log_from_bytes(torque_bytes, log.Event).liveTorqueParameters
+        torque = messaging.log_from_bytes(torque_bytes, log.Event).lateralTorqueParameters
         # don't add for non-torque cars
         if torque.useParams:
           torque_perc = torque.calPerc
@@ -172,42 +163,34 @@ class DeviceLayout(Widget):
 
   def _reboot_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Reboot")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reboot")))
       return
 
-    dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"))
-    gui_app.set_modal_overlay(dialog, callback=self._perform_reboot)
+    def perform_reboot(result: DialogResult):
+      if not ui_state.engaged and result == DialogResult.CONFIRM:
+        self._params.put_bool("DoReboot", True)
 
-  def _perform_reboot(self, result: int):
-    if not ui_state.engaged and result == DialogResult.CONFIRM:
-      self._params.put_bool_nonblocking("DoReboot", True)
+    dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=perform_reboot)
+    gui_app.push_widget(dialog)
 
   def _power_off_prompt(self):
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Power Off")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Power Off")))
       return
 
-    dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"))
-    gui_app.set_modal_overlay(dialog, callback=self._perform_power_off)
+    def perform_power_off(result: DialogResult):
+      if not ui_state.engaged and result == DialogResult.CONFIRM:
+        self._params.put_bool("DoShutdown", True)
 
-  def _perform_power_off(self, result: int):
-    if not ui_state.engaged and result == DialogResult.CONFIRM:
-      self._params.put_bool_nonblocking("DoShutdown", True)
-
-  def _pair_device(self):
-    if not self._pair_device_dialog:
-      self._pair_device_dialog = PairingDialog()
-    gui_app.set_modal_overlay(self._pair_device_dialog, callback=lambda result: setattr(self, '_pair_device_dialog', None))
+    dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=perform_power_off)
+    gui_app.push_widget(dialog)
 
   def _on_regulatory(self):
     if not self._fcc_dialog:
-      self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
-    gui_app.set_modal_overlay(self._fcc_dialog)
+      self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "openpilot/selfdrive/assets/offroad/fcc.html"))
+    gui_app.push_widget(self._fcc_dialog)
 
   def _on_review_training_guide(self):
     if not self._training_guide:
-      def completed_callback():
-        gui_app.set_modal_overlay(None)
-
-      self._training_guide = TrainingGuide(completed_callback=completed_callback)
-    gui_app.set_modal_overlay(self._training_guide)
+      self._training_guide = TrainingGuide()
+    gui_app.push_widget(self._training_guide)
diff --git a/selfdrive/ui/layouts/settings/firehose.py b/openpilot/selfdrive/ui/layouts/settings/firehose.py
similarity index 88%
rename from selfdrive/ui/layouts/settings/firehose.py
rename to openpilot/selfdrive/ui/layouts/settings/firehose.py
index 18514feeb9..8ac6fe3d23 100644
--- a/selfdrive/ui/layouts/settings/firehose.py
+++ b/openpilot/selfdrive/ui/layouts/settings/firehose.py
@@ -1,7 +1,7 @@
 import pyray as rl
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
+from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
@@ -65,12 +65,13 @@ class FirehoseLayout(FirehoseLayoutBase):
     y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
     y += 20 + 20
 
+    # TODO: add back once reliable
     # Contribution count (if available)
-    if self._segment_count > 0:
-      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
-      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
-      y += 20 + 20
+    #if self._segment_count > 0:
+    #  contrib_text = trn("{} segment of your driving is in the training dataset so far.",
+    #                     "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+    #  y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+    #  y += 20 + 20
 
     # Separator
     rl.draw_rectangle(x, y, w, 2, self.GRAY)
diff --git a/selfdrive/ui/layouts/settings/settings.py b/openpilot/selfdrive/ui/layouts/settings/settings.py
similarity index 97%
rename from selfdrive/ui/layouts/settings/settings.py
rename to openpilot/selfdrive/ui/layouts/settings/settings.py
index 68f45df77d..48b75e5dbd 100644
--- a/selfdrive/ui/layouts/settings/settings.py
+++ b/openpilot/selfdrive/ui/layouts/settings/settings.py
@@ -1,5 +1,5 @@
 import pyray as rl
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import IntEnum
 from collections.abc import Callable
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
@@ -43,7 +43,7 @@ class PanelType(IntEnum):
 class PanelInfo:
   name: str
   instance: Widget
-  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+  button_rect: rl.Rectangle = field(default_factory=lambda: rl.Rectangle(0, 0, 0, 0))
 
 
 class SettingsLayout(Widget):
diff --git a/selfdrive/ui/layouts/settings/software.py b/openpilot/selfdrive/ui/layouts/settings/software.py
similarity index 90%
rename from selfdrive/ui/layouts/settings/software.py
rename to openpilot/selfdrive/ui/layouts/settings/software.py
index e4c3098c2e..d0016797fc 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/openpilot/selfdrive/ui/layouts/settings/software.py
@@ -1,4 +1,4 @@
-import os
+import subprocess
 import time
 import datetime
 from openpilot.common.time_helpers import system_time_valid
@@ -69,7 +69,6 @@ class SoftwareLayout(Widget):
 
     # Branch switcher
     self._branch_btn = button_item(lambda: tr("Target Branch"), lambda: tr("SELECT"), callback=self._on_select_branch)
-    self._branch_btn.set_visible(not ui_state.params.get_bool("IsTestedBranch"))
     self._branch_btn.action_item.set_value(ui_state.params.get("UpdaterTargetBranch") or "")
     self._branch_dialog: MultiOptionDialog | None = None
 
@@ -83,6 +82,7 @@ class SoftwareLayout(Widget):
     ], line_separator=True, spacing=0)
 
   def show_event(self):
+    super().show_event()
     self._scroller.show_event()
 
   def _render(self, rect):
@@ -160,25 +160,25 @@ class SoftwareLayout(Widget):
       # Start checking for updates
       self._waiting_for_updater = True
       self._waiting_start_ts = time.monotonic()
-      os.system("pkill -SIGUSR1 -f system.updated.updated")
+      subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
     else:
       # Start downloading
       self._waiting_for_updater = True
       self._waiting_start_ts = time.monotonic()
-      os.system("pkill -SIGHUP -f system.updated.updated")
+      subprocess.run("pkill -SIGHUP -f openpilot.system.updated.updated", shell=True)
 
   def _on_uninstall(self):
-    def handle_uninstall_confirmation(result):
+    def handle_uninstall_confirmation(result: DialogResult):
       if result == DialogResult.CONFIRM:
-        ui_state.params.put_bool("DoUninstall", True)
+        ui_state.params.put_bool("DoUninstall", True, block=True)
 
-    dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"))
-    gui_app.set_modal_overlay(dialog, callback=handle_uninstall_confirmation)
+    dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"), callback=handle_uninstall_confirmation)
+    gui_app.push_widget(dialog)
 
   def _on_install_update(self):
     # Trigger reboot to install update
     self._install_btn.action_item.set_enabled(False)
-    ui_state.params.put_bool("DoReboot", True)
+    ui_state.params.put_bool("DoReboot", True, block=True)
 
   def _on_select_branch(self):
     # Get available branches and order
@@ -192,15 +192,15 @@ class SoftwareLayout(Widget):
         branches.insert(0, b)
 
     current_target = ui_state.params.get("UpdaterTargetBranch") or ""
-    self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target)
 
-    def handle_selection(result):
+    def handle_selection(result: DialogResult):
       # Confirmed selection
       if result == DialogResult.CONFIRM and self._branch_dialog is not None and self._branch_dialog.selection:
         selection = self._branch_dialog.selection
-        ui_state.params.put("UpdaterTargetBranch", selection)
+        ui_state.params.put("UpdaterTargetBranch", selection, block=True)
         self._branch_btn.action_item.set_value(selection)
-        os.system("pkill -SIGUSR1 -f system.updated.updated")
+        subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
       self._branch_dialog = None
 
-    gui_app.set_modal_overlay(self._branch_dialog, callback=handle_selection)
+    self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target, callback=handle_selection)
+    gui_app.push_widget(self._branch_dialog)
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/openpilot/selfdrive/ui/layouts/settings/toggles.py
similarity index 94%
rename from selfdrive/ui/layouts/settings/toggles.py
rename to openpilot/selfdrive/ui/layouts/settings/toggles.py
index f5f3a4e9c5..ee76b7e4cc 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/openpilot/selfdrive/ui/layouts/settings/toggles.py
@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
@@ -42,7 +42,7 @@ class TogglesLayout(Widget):
   def __init__(self):
     super().__init__()
     self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")
 
     # param, title, desc, icon, needs_restart
     self._toggle_defs = {
@@ -152,6 +152,7 @@ class TogglesLayout(Widget):
       ui_state.personality = personality
 
   def show_event(self):
+    super().show_event()
     self._scroller.show_event()
     self._update_toggles()
 
@@ -218,10 +219,10 @@ class TogglesLayout(Widget):
   def _handle_experimental_mode_toggle(self, state: bool):
     confirmed = self._params.get_bool("ExperimentalModeConfirmed")
     if state and not confirmed:
-      def confirm_callback(result: int):
+      def confirm_callback(result: DialogResult):
         if result == DialogResult.CONFIRM:
-          self._params.put_bool("ExperimentalMode", True)
-          self._params.put_bool("ExperimentalModeConfirmed", True)
+          self._params.put_bool("ExperimentalMode", True, block=True)
+          self._params.put_bool("ExperimentalModeConfirmed", True, block=True)
         else:
           self._toggles["ExperimentalMode"].action_item.set_state(False)
         self._update_experimental_mode_icon()
@@ -229,20 +230,20 @@ class TogglesLayout(Widget):
       # show confirmation dialog
       content = (f"<h1>{self._toggles['ExperimentalMode'].title}</h1><br>" +
                  f"<p>{self._toggles['ExperimentalMode'].description}</p>")
-      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
-      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
     else:
       self._update_experimental_mode_icon()
-      self._params.put_bool("ExperimentalMode", state)
+      self._params.put_bool("ExperimentalMode", state, block=True)
 
   def _toggle_callback(self, state: bool, param: str):
     if param == "ExperimentalMode":
       self._handle_experimental_mode_toggle(state)
       return
 
-    self._params.put_bool(param, state)
+    self._params.put_bool(param, state, block=True)
     if self._toggle_defs[param][3]:
-      self._params.put_bool("OnroadCycleRequested", True)
+      self._params.put_bool("OnroadCycleRequested", True, block=True)
 
   def _set_longitudinal_personality(self, button_index: int):
-    self._params.put("LongitudinalPersonality", button_index)
+    self._params.put("LongitudinalPersonality", button_index, block=True)
diff --git a/selfdrive/ui/layouts/sidebar.py b/openpilot/selfdrive/ui/layouts/sidebar.py
similarity index 92%
rename from selfdrive/ui/layouts/sidebar.py
rename to openpilot/selfdrive/ui/layouts/sidebar.py
index bfa60c88ed..f950edaa46 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/openpilot/selfdrive/ui/layouts/sidebar.py
@@ -2,7 +2,7 @@ import pyray as rl
 import time
 from dataclasses import dataclass
 from collections.abc import Callable
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr, tr_noop
@@ -68,7 +68,7 @@ class Sidebar(Widget, SidebarSP):
   def __init__(self):
     Widget.__init__(self)
     SidebarSP.__init__(self)
-    self._net_type = NETWORK_TYPES.get(NetworkType.none)
+    self._net_type = NETWORK_TYPES[NetworkType.none]
     self._net_strength = 0
 
     self._temp_status = MetricData(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
@@ -125,10 +125,8 @@ class Sidebar(Widget, SidebarSP):
   def _update_temperature_status(self, device_state):
     thermal_status = device_state.thermalStatus
 
-    if thermal_status == ThermalStatus.green:
+    if thermal_status == ThermalStatus.ok:
       self._temp_status.update(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
-    elif thermal_status == ThermalStatus.yellow:
-      self._temp_status.update(tr_noop("TEMP"), tr_noop("OK"), Colors.WARNING)
     else:
       self._temp_status.update(tr_noop("TEMP"), tr_noop("HIGH"), Colors.DANGER)
 
@@ -165,14 +163,14 @@ class Sidebar(Widget, SidebarSP):
     # Settings button
     settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
     tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL
-    rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint)
+    rl.draw_texture_ex(self._settings_img, rl.Vector2(SETTINGS_BTN.x, SETTINGS_BTN.y), 0.0, 1.0, tint)
 
     # Home/Flag button
     flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN)
     button_img = self._flag_img if ui_state.started else self._home_img
 
     tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
-    rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint)
+    rl.draw_texture_ex(button_img, rl.Vector2(HOME_BTN.x, HOME_BTN.y), 0.0, 1.0, tint)
 
     # Microphone button
     if self._recording_audio:
@@ -182,8 +180,8 @@ class Sidebar(Widget, SidebarSP):
       bg_color = rl.Color(Colors.DANGER.r, Colors.DANGER.g, Colors.DANGER.b, int(255 * 0.65)) if mic_pressed else Colors.DANGER
 
       rl.draw_rectangle_rounded(self._mic_indicator_rect, 1, 10, bg_color)
-      rl.draw_texture(self._mic_img, int(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2),
-                      int(self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), Colors.WHITE)
+      rl.draw_texture_ex(self._mic_img, rl.Vector2(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2,
+                         self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), 0.0, 1.0, Colors.WHITE)
 
   def _draw_network_indicator(self, rect: rl.Rectangle):
     # Signal strength dots
diff --git a/selfdrive/ui/lib/api_helpers.py b/openpilot/selfdrive/ui/lib/api_helpers.py
similarity index 100%
rename from selfdrive/ui/lib/api_helpers.py
rename to openpilot/selfdrive/ui/lib/api_helpers.py
diff --git a/selfdrive/ui/lib/prime_state.py b/openpilot/selfdrive/ui/lib/prime_state.py
similarity index 97%
rename from selfdrive/ui/lib/prime_state.py
rename to openpilot/selfdrive/ui/lib/prime_state.py
index 1aed949bee..b57380ac57 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/openpilot/selfdrive/ui/lib/prime_state.py
@@ -6,6 +6,7 @@ import time
 
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
@@ -69,6 +70,7 @@ class PrimeState:
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
+    drop_realtime()
     from openpilot.selfdrive.ui.ui_state import ui_state, device
     while self._running:
       if not ui_state.started and device._awake:
diff --git a/selfdrive/ui/onroad/__init__.py b/openpilot/selfdrive/ui/mici/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/onroad/__init__.py
rename to openpilot/selfdrive/ui/mici/layouts/__init__.py
diff --git a/openpilot/selfdrive/ui/mici/layouts/home.py b/openpilot/selfdrive/ui/mici/layouts/home.py
new file mode 100644
index 0000000000..ff8d350e08
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/home.py
@@ -0,0 +1,262 @@
+import datetime
+import time
+
+from openpilot.cereal import log
+import pyray as rl
+from collections.abc import Callable
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.layouts import HBoxLayout
+from openpilot.system.ui.widgets.icon_widget import IconWidget
+from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.common.version import RELEASE_BRANCHES
+
+HEAD_BUTTON_FONT_SIZE = 40
+HOME_PADDING = 8
+ALERTS_ZONE_WIDTH = 180
+
+NetworkType = log.DeviceState.NetworkType
+
+NETWORK_TYPES = {
+  NetworkType.none: "Offline",
+  NetworkType.wifi: "WiFi",
+  NetworkType.cell2G: "2G",
+  NetworkType.cell3G: "3G",
+  NetworkType.cell4G: "LTE",
+  NetworkType.cell5G: "5G",
+  NetworkType.ethernet: "Ethernet",
+}
+
+
+class AlertsPill(Widget):
+  ICON_OFFSET = 12
+  COUNT_OFFSET = 40
+
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 104, 52))
+
+    self._pill_bg_txt = gui_app.texture("icons_mici/alerts_pill.png", 104, 52)
+    self._icon_red = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", 36, 36)
+    self._icon_orange = gui_app.texture("icons_mici/offroad_alerts/orange_warning.png", 36, 36)
+    self._icon_green = gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", 36, 36)
+    self._alert_count_callback: Callable[[], int] | None = None
+    self._max_severity_callback: Callable[[], int | None] | None = None
+
+  def set_alert_count_callback(self, callback: Callable[[], int] | None,
+                               severity_callback: Callable[[], int | None] | None = None):
+    self._alert_count_callback = callback
+    self._max_severity_callback = severity_callback
+
+  def _render(self, _):
+    alert_count = self._alert_count_callback() if self._alert_count_callback else 0
+    if alert_count > 0:
+      pill_w, pill_h = self._pill_bg_txt.width, self._pill_bg_txt.height
+      rl.draw_texture_ex(self._pill_bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, rl.WHITE)
+
+      severity = self._max_severity_callback() if self._max_severity_callback else None
+      if severity == -1:
+        warning_txt = self._icon_green
+      elif severity is not None and severity > 0:
+        warning_txt = self._icon_red
+      else:
+        warning_txt = self._icon_orange
+
+      warn_x = self.rect.x + self.ICON_OFFSET
+      warn_y = self.rect.y + (pill_h - warning_txt.height) / 2
+      rl.draw_texture_ex(warning_txt, rl.Vector2(warn_x, warn_y), 0.0, 1.0, rl.WHITE)
+
+      count_rect = rl.Rectangle(self.rect.x + self.COUNT_OFFSET, self.rect.y, pill_w - self.COUNT_OFFSET, pill_h)
+      gui_label(count_rect, str(alert_count), font_size=36,
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+
+class NetworkIcon(Widget):
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 54, 44))  # max size of all icons
+    self._net_type = NetworkType.none
+    self._net_strength = 0
+
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44)
+    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 37)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 37)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 37)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 37)
+
+    self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 54, 36)
+    self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 54, 36)
+    self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 54, 36)
+    self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 54, 36)
+    self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 54, 36)
+
+  def _update_state(self):
+    device_state = ui_state.sm['deviceState']
+    self._net_type = device_state.networkType
+    strength = device_state.networkStrength
+    self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0
+
+  def _render(self, _):
+    if self._net_type == NetworkType.wifi:
+      # There is no 1
+      draw_net_txt = {0: self._wifi_none_txt,
+                      2: self._wifi_low_txt,
+                      3: self._wifi_medium_txt,
+                      4: self._wifi_full_txt,
+                      5: self._wifi_full_txt}.get(self._net_strength, self._wifi_low_txt)
+    elif self._net_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
+      draw_net_txt = {0: self._cell_none_txt,
+                      2: self._cell_low_txt,
+                      3: self._cell_medium_txt,
+                      4: self._cell_high_txt,
+                      5: self._cell_full_txt}.get(self._net_strength, self._cell_none_txt)
+    else:
+      draw_net_txt = self._wifi_slash_txt
+
+    draw_x = self._rect.x + (self._rect.width - draw_net_txt.width) / 2
+    draw_y = self._rect.y + (self._rect.height - draw_net_txt.height) / 2
+
+    if draw_net_txt == self._wifi_slash_txt:
+      # Offset by difference in height between slashless and slash icons to make center align match
+      draw_y -= (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2
+
+    rl.draw_texture_ex(draw_net_txt, rl.Vector2(draw_x, draw_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9)))
+
+
+class MiciHomeLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._on_settings_click: Callable | None = None
+    self._on_alerts_click: Callable | None = None
+    self._alert_count_callback: Callable[[], int] | None = None
+
+    self._mouse_down_t: None | float = None
+    self._did_long_press = False
+    self._is_pressed_prev = False
+
+    self._version_text = self._get_version_text()
+
+    self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
+    self._egpu_icon = IconWidget("icons_mici/egpu_green.png", (50, 37))
+    self._egpu_icon_gray = IconWidget("icons_mici/egpu_gray.png", (50, 37))
+    self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
+    self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
+
+    self._alerts_pill = AlertsPill()
+
+    self._status_bar_layout = HBoxLayout([
+      IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
+      NetworkIcon(),
+      self._experimental_icon,
+      self._egpu_icon,
+      self._egpu_icon_gray,
+      self._body_icon,
+      self._mic_icon,
+    ], spacing=18)
+
+    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=96, font_weight=FontWeight.DISPLAY, max_width=480, wrap_text=False)
+    self._version_label = UnifiedLabel("", font_size=36, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+    self._large_version_label = UnifiedLabel("", font_size=64, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+    self._date_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
+    self._version_commit_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, max_width=480, wrap_text=False)
+
+  def _update_state(self):
+    if self.is_pressed and not self._is_pressed_prev:
+      self._mouse_down_t = time.monotonic()
+    elif not self.is_pressed and self._is_pressed_prev:
+      self._mouse_down_t = None
+      self._did_long_press = False
+    self._is_pressed_prev = self.is_pressed
+
+    if self._mouse_down_t is not None:
+      if time.monotonic() - self._mouse_down_t > 0.5:
+        # long gating for experimental mode - only allow toggle if longitudinal control is available
+        if ui_state.has_longitudinal_control and ui_state.experimental_mode_confirmed:
+          ui_state.experimental_mode = not ui_state.experimental_mode
+          ui_state.params.put("ExperimentalMode", ui_state.experimental_mode, block=True)
+        self._mouse_down_t = None
+        self._did_long_press = True
+
+  def set_callbacks(self, on_settings: Callable | None = None, on_alerts: Callable | None = None,
+                    alert_count_callback: Callable[[], int] | None = None,
+                    max_severity_callback: Callable[[], int | None] | None = None):
+    self._on_settings_click = on_settings
+    self._on_alerts_click = on_alerts
+    self._alert_count_callback = alert_count_callback
+    self._alerts_pill.set_alert_count_callback(alert_count_callback, max_severity_callback)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if not self._did_long_press:
+      relative_x = mouse_pos.x - self.rect.x
+      has_alerts = self._alert_count_callback and self._alert_count_callback() > 0
+      if has_alerts and relative_x > self.rect.width - ALERTS_ZONE_WIDTH:
+        if self._on_alerts_click:
+          self._on_alerts_click()
+      elif self._on_settings_click:
+        self._on_settings_click()
+    self._did_long_press = False
+
+  def _get_version_text(self) -> tuple[str, str, str, str] | None:
+    version = ui_state.params.get("Version")
+    branch = ui_state.params.get("GitBranch")
+    commit = ui_state.params.get("GitCommit")
+
+    if not all((version, branch, commit)):
+      return None
+
+    commit_date_raw = ui_state.params.get("GitCommitDate")
+    try:
+      # GitCommitDate format from get_commit_date(): '%ct %ci' e.g. "'1708012345 2024-02-15 ...'"
+      unix_ts = int(commit_date_raw.strip("'").split()[0])
+      date_str = datetime.datetime.fromtimestamp(unix_ts).strftime("%b %d")
+    except (ValueError, IndexError, TypeError, AttributeError):
+      date_str = ""
+
+    return version, branch, commit[:7], date_str
+
+  def _render(self, _):
+    # TODO: why is there extra space here to get it to be flush?
+    text_pos = rl.Vector2(self.rect.x - 2 + HOME_PADDING, self.rect.y - 16)
+    self._openpilot_label.set_position(text_pos.x, text_pos.y)
+    self._openpilot_label.render()
+
+    if self._version_text is not None:
+      # release branch
+      release_branch = self._version_text[1] in RELEASE_BRANCHES
+      version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
+      self._version_label.set_text(self._version_text[0])
+      self._version_label.set_position(version_pos.x, version_pos.y)
+      self._version_label.render()
+
+      self._date_label.set_text(" " + self._version_text[3])
+      self._date_label.set_position(version_pos.x + self._version_label.text_width + 10, version_pos.y)
+      self._date_label.render()
+
+      self._branch_label.set_max_width(gui_app.width - self._version_label.text_width - self._date_label.text_width - 32)
+      self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
+      self._branch_label.set_position(version_pos.x + self._version_label.text_width + self._date_label.text_width + 20, version_pos.y)
+      self._branch_label.render()
+
+      if not release_branch:
+        # 2nd line
+        self._version_commit_label.set_text(self._version_text[2])
+        self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
+        self._version_commit_label.render()
+
+    # ***** Center-aligned bottom section icons *****
+    self._experimental_icon.set_visible(ui_state.experimental_mode)
+    self._egpu_icon.set_visible(ui_state.sm["deviceState"].chestnutPresent and ui_state.usbgpu_compiled)
+    self._egpu_icon_gray.set_visible(ui_state.sm["deviceState"].chestnutPresent and not ui_state.usbgpu_compiled)
+    self._mic_icon.set_visible(ui_state.recording_audio)
+    self._body_icon.set_visible(bool(ui_state.is_body))
+
+    footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
+    self._status_bar_layout.render(footer_rect)
+
+    # TODO: add alignment to hboxlayout and add to there
+    self._alerts_pill.set_position(self.rect.x + self.rect.width - self._alerts_pill.rect.width - HOME_PADDING,
+                                   self.rect.y + self.rect.height - self._alerts_pill.rect.height)
+    self._alerts_pill.render()
diff --git a/openpilot/selfdrive/ui/mici/layouts/main.py b/openpilot/selfdrive/ui/mici/layouts/main.py
new file mode 100644
index 0000000000..7b96366894
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/main.py
@@ -0,0 +1,155 @@
+import pyray as rl
+import openpilot.cereal.messaging as messaging
+from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
+from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
+from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
+from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.lib.application import gui_app
+
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.home import MiciHomeLayoutSP as MiciHomeLayout
+
+ONROAD_DELAY = 2.5  # seconds
+
+
+class MiciMainLayout(Scroller):
+  def __init__(self):
+    super().__init__(snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
+
+    self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
+
+    self._prev_onroad = False
+    self._prev_standstill = False
+    self._onroad_time_delay: float | None = None
+    self._setup = False
+
+    # Initialize widgets
+    self._home_layout = MiciHomeLayout()
+    self._alerts_layout = MiciOffroadAlerts()
+    self._settings_layout = SettingsLayout()
+    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._body_onroad_layout = BodyLayout()
+
+    # Initialize widget rects
+    for widget in (self._home_layout, self._alerts_layout, self._settings_layout,
+                   self._car_onroad_layout, self._body_onroad_layout):
+      # TODO: set parent rect and use it if never passed rect from render (like in Scroller)
+      widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+    self._scroller.add_widgets([
+      self._alerts_layout,
+      self._home_layout,
+      self._car_onroad_layout,
+      self._body_onroad_layout,
+    ])
+    self._scroller.set_reset_scroll_at_show(False)
+
+    # Disable scrolling when onroad is interacting with bookmark
+    self._scroller.set_scrolling_enabled(lambda: not self._car_onroad_layout.is_swiping_left())
+
+    # Set callbacks
+    self._setup_callbacks()
+
+    gui_app.add_nav_stack_tick(self._handle_transitions)
+    gui_app.push_widget(self)
+
+    # Start onboarding if terms or training not completed, make sure to push after self
+    self._onboarding_window = OnboardingWindow(lambda: gui_app.pop_widgets_to(self))
+    if not self._onboarding_window.completed:
+      gui_app.push_widget(self._onboarding_window)
+
+    # initialize correct onroad layout
+    self._on_body_changed()
+
+  @property
+  def _onroad_layout(self) -> Widget:
+    # For scroll_to
+    return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
+
+  def _setup_callbacks(self):
+    self._home_layout.set_callbacks(
+      on_settings=lambda: gui_app.push_widget(self._settings_layout),
+      on_alerts=lambda: self._scroll_to(self._alerts_layout),
+      alert_count_callback=self._alerts_layout.active_alerts,
+      max_severity_callback=self._alerts_layout.max_severity,
+    )
+    for layout in (self._car_onroad_layout, self._body_onroad_layout):
+      layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
+
+    device.add_interactive_timeout_callback(self._on_interactive_timeout)
+    ui_state.add_on_body_changed_callbacks(self._on_body_changed)
+
+  def _scroll_to(self, layout: Widget):
+    layout_x = int(layout.rect.x)
+    self._scroller.scroll_to(layout_x, smooth=True)
+
+  def _update_state(self):
+    super()._update_state()
+    # TODO: Hack to run alert updates while not in view. Add a nav stack tick?
+    self._alerts_layout._update_state()
+
+  def _render(self, _):
+    if not self._setup:
+      if self._alerts_layout.active_alerts() > 0:
+        self._scroller.scroll_to(self._alerts_layout.rect.x)
+      else:
+        self._scroller.scroll_to(self._rect.width)
+      self._setup = True
+
+    # Render
+    super()._render(self._rect)
+
+  def _handle_transitions(self):
+    # Don't pop if onboarding
+    if gui_app.widget_in_stack(self._onboarding_window):
+      return
+
+    if ui_state.started != self._prev_onroad:
+      self._prev_onroad = ui_state.started
+
+      # onroad: after delay, pop nav stack and scroll to onroad
+      # offroad: immediately scroll to home, but don't pop nav stack (can stay in settings)
+      if ui_state.started:
+        self._onroad_time_delay = rl.get_time()
+      else:
+        self._scroll_to(self._home_layout)
+
+    # FIXME: these two pops can interrupt user interacting in the settings
+    if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
+      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      self._onroad_time_delay = None
+
+    # When car leaves standstill, pop nav stack and scroll to onroad
+    CS = ui_state.sm["carState"]
+    if not CS.standstill and self._prev_standstill:
+      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+    self._prev_standstill = CS.standstill
+
+  def _on_interactive_timeout(self):
+    # Don't pop if onboarding
+    if gui_app.widget_in_stack(self._onboarding_window):
+      return
+
+    if ui_state.started:
+      # Don't pop if at standstill
+      if not ui_state.sm["carState"].standstill:
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+    else:
+      # Screen turns off on timeout offroad, so pop immediately without animation
+      gui_app.pop_widgets_to(self, instant=True)
+      self._scroll_to(self._home_layout)
+
+  def _on_bookmark_clicked(self):
+    for service in ('bookmarkButton', 'userBookmark'):
+      msg = messaging.new_message(service, valid=True)
+      self._pm.send(service, msg)
+
+  def _on_body_changed(self):
+    self._car_onroad_layout.set_visible(not ui_state.is_body)
+    self._body_onroad_layout.set_visible(bool(ui_state.is_body))
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py
similarity index 85%
rename from selfdrive/ui/mici/layouts/offroad_alerts.py
rename to openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py
index b01dae6aeb..879ac76df5 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -1,11 +1,13 @@
 import pyray as rl
 import re
+import threading
 import time
 from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller
@@ -144,7 +146,7 @@ class AlertItem(Widget):
       bg_texture = self._bg_small_pressed if self.is_pressed else self._bg_small
 
     # Draw background
-    rl.draw_texture(bg_texture, int(self._rect.x), int(self._rect.y), rl.WHITE)
+    rl.draw_texture_ex(bg_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, rl.WHITE)
 
     # Calculate text area (left side, avoiding icon on right)
     title_width = self.ALERT_WIDTH - (self.ALERT_PADDING * 2) - self.ICON_SIZE - self.ICON_MARGIN
@@ -183,21 +185,18 @@ class AlertItem(Widget):
       icon_texture = self._icon_orange
     icon_x = self._rect.x + self.ALERT_WIDTH - self.ALERT_PADDING - self.ICON_SIZE
     icon_y = self._rect.y + self.ALERT_PADDING
-    rl.draw_texture(icon_texture, int(icon_x), int(icon_y), rl.WHITE)
+    rl.draw_texture_ex(icon_texture, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)
 
 
-class MiciOffroadAlerts(Widget):
+class MiciOffroadAlerts(Scroller):
   """Offroad alerts layout with vertical scrolling."""
 
   def __init__(self):
-    super().__init__()
+    # Create vertical scroller
+    super().__init__(horizontal=False, spacing=12, pad=0)
     self.params = Params()
     self.sorted_alerts: list[AlertData] = []
     self.alert_items: list[AlertItem] = []
-    self._last_refresh = 0.0
-
-    # Create vertical scroller
-    self._scroller = Scroller([], horizontal=False, spacing=12, pad_start=0, pad_end=0, snap_items=False)
 
     # Create empty state label
     self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
@@ -207,9 +206,17 @@ class MiciOffroadAlerts(Widget):
     # Build initial alert list
     self._build_alerts()
 
+    # Start param thread
+    self._pending_params: dict | None = None
+    self._params_thread = threading.Thread(target=self._params_worker, daemon=True)
+    self._params_thread.start()
+
   def active_alerts(self) -> int:
     return sum(alert.visible for alert in self.sorted_alerts)
 
+  def max_severity(self) -> int | None:
+    return max((alert.severity for alert in self.sorted_alerts if alert.visible), default=None)
+
   def scrolling(self):
     return self._scroller.scroll_panel.is_touch_valid()
 
@@ -236,12 +243,19 @@ class MiciOffroadAlerts(Widget):
       self.alert_items.append(alert_item)
       self._scroller.add_widget(alert_item)
 
-  def refresh(self) -> int:
+  def _params_worker(self):
+    drop_realtime()
+    while True:
+      self._pending_params = ({"UpdaterNewDescription": self.params.get("UpdaterNewDescription")} |
+                              {alert_data.key: self.params.get(alert_data.key) for alert_data in self.sorted_alerts})
+      time.sleep(REFRESH_INTERVAL)
+
+  def _refresh(self, pending_params: dict) -> int:
     """Refresh alerts from params and return active count."""
     active_count = 0
 
     # Handle UpdateAvailable alert specially
-    update_available = self.params.get_bool("UpdateAvailable")
+    update_available = pending_params["UpdateAvailable"]
     update_alert_data = next((alert_data for alert_data in self.sorted_alerts if alert_data.key == "UpdateAvailable"), None)
 
     if update_alert_data:
@@ -249,7 +263,7 @@ class MiciOffroadAlerts(Widget):
         version_string = ""
 
         # Get new version description and parse version and date
-        new_desc = self.params.get("UpdaterNewDescription") or ""
+        new_desc = pending_params["UpdaterNewDescription"] or ""
         if new_desc:
           # format: "version / branch / commit / date"
           parts = new_desc.split(" / ")
@@ -270,11 +284,16 @@ class MiciOffroadAlerts(Widget):
         continue  # Skip, already handled above
 
       text = ""
-      alert_json = self.params.get(alert_data.key)
+      alert_json = pending_params[alert_data.key]
 
       if alert_json:
         text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
 
+      if text and not alert_data.visible:
+        # Bump newly visible alerts to the top, severity sort keeps it at the top of its category
+        widget = next(w for w in self._scroller.items if w.alert_data is alert_data)
+        self._scroller.items.remove(widget)
+        self._scroller.items.insert(0, widget)
       alert_data.text = text
       alert_data.visible = bool(text)
 
@@ -285,21 +304,17 @@ class MiciOffroadAlerts(Widget):
     for alert_item in self.alert_items:
       alert_item.update_alert_data(alert_item.alert_data)
 
-    return active_count
+    self._scroller.items.sort(key=lambda w: -w.alert_data.severity)
 
-  def show_event(self):
-    """Reset scroll position when shown and refresh alerts."""
-    self._scroller.show_event()
-    self._last_refresh = time.monotonic()
-    self.refresh()
+    return active_count
 
   def _update_state(self):
     """Periodically refresh alerts."""
-    # Refresh alerts periodically, not every frame
-    current_time = time.monotonic()
-    if current_time - self._last_refresh >= REFRESH_INTERVAL:
-      self.refresh()
-      self._last_refresh = current_time
+    # Refresh alerts when thread updates params
+    pending_params = self._pending_params
+    if pending_params is not None:
+      self._refresh(pending_params)
+      self._pending_params = None
 
   def _render(self, rect: rl.Rectangle):
     """Render the alerts scroller or empty state."""
diff --git a/openpilot/selfdrive/ui/mici/layouts/onboarding.py b/openpilot/selfdrive/ui/mici/layouts/onboarding.py
new file mode 100644
index 0000000000..80483d1b01
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/onboarding.py
@@ -0,0 +1,419 @@
+import math
+import numpy as np
+import pyray as rl
+from collections.abc import Callable
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.qrcode import make_texture
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import SmallCircleIconButton
+from openpilot.system.ui.widgets.scroller import NavScroller, Scroller
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.mici_setup import GreyBigButton, BigPillButton
+from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.common.version import terms_version, training_version, terms_version_sp
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import BaseCabinCameraDialog
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
+
+
+class DriverCameraSetupDialog(BaseCabinCameraDialog):
+  def __init__(self):
+    super().__init__()
+    self.driver_state_renderer = DriverStateRenderer(inset=True)
+    self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 120, 120))
+    self.driver_state_renderer.load_icons()
+    self.driver_state_renderer.set_force_active(True)
+
+  def _render(self, rect):
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._camera_view._render(rect)
+
+    if not self._camera_view.frame:
+      gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD,
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+      rl.end_scissor_mode()
+      return
+
+    # Position dmoji on opposite side from driver
+    is_rhd = self.driver_state_renderer.is_rhd
+    self.driver_state_renderer.set_position(
+      rect.x + 8 if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width - 8,
+      rect.y + 8,
+    )
+    self.driver_state_renderer.render()
+
+    self._draw_face_detection(rect)
+
+    rl.end_scissor_mode()
+
+
+class TrainingGuidePreDMTutorial(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("driver monitoring\ncheck", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Next, we'll check if comma four can detect the driver properly."),
+      GreyBigButton("", "sunnypilot uses the cabin camera to check if the driver is distracted."),
+      GreyBigButton("", "If it does not have a clear view of the driver, unplug and remount before continuing."),
+      continue_button,
+    ])
+
+  def show_event(self):
+    super().show_event()
+    # Get driver monitoring model ready for next step
+    ui_state.params.put_bool("IsDriverViewEnabled", True)
+
+
+class DMBadFaceDetected(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    back_button = BigPillButton("back")
+    back_button.set_click_callback(self.dismiss)
+
+    self._scroller.add_widgets([
+      GreyBigButton("looking for driver", "make sure comma\nfour can see your face",
+                    gui_app.texture("icons_mici/setup/orange_dm.png", 64, 64)),
+      GreyBigButton("", "Remount if your face is blocked, or driver monitoring has difficulty tracking your face."),
+      back_button,
+    ])
+
+
+class TrainingGuideDMTutorial(NavWidget):
+  PROGRESS_DURATION = 4
+  LOOKING_THRESHOLD_DEG = 30.0
+
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48))
+    self._back_button.set_click_callback(lambda: gui_app.push_widget(self._bad_face_page))
+    self._back_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack
+    self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42))
+    self._good_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack
+
+    self._good_button.set_click_callback(continue_callback)
+    self._good_button.set_enabled(False)
+
+    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
+    self._dialog = DriverCameraSetupDialog()
+    self._bad_face_page = DMBadFaceDetected()
+
+    # Disable driver monitoring model when device times out for inactivity
+    def inactivity_callback():
+      ui_state.params.put_bool("IsDriverViewEnabled", False)
+
+    device.add_interactive_timeout_callback(inactivity_callback)
+
+  def show_event(self):
+    super().show_event()
+    self._dialog.show_event()
+    self._progress.x = 0.0
+
+  def _update_state(self):
+    super()._update_state()
+    if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
+      ui_state.params.put_bool("IsDriverViewEnabled", True)
+
+    sm = ui_state.sm
+    if sm.recv_frame.get("driverMonitoringState", 0) == 0:
+      return
+
+    dm_state = sm["driverMonitoringState"]
+    driver_data = self._dialog.driver_state_renderer.get_driver_data()
+
+    if len(driver_data.faceOrientation) == 3:
+      pitch, yaw, _ = driver_data.faceOrientation
+      looking_center = abs(math.degrees(pitch)) < self.LOOKING_THRESHOLD_DEG and abs(math.degrees(yaw)) < self.LOOKING_THRESHOLD_DEG
+    else:
+      looking_center = False
+
+    # stay at 100% once reached
+    in_bad_face = gui_app.get_active_widget() == self._bad_face_page
+    if ((dm_state.visionPolicyState.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
+      slow = self._progress.x < 0.25
+      duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
+      self._progress.x += 1.0 / (duration * gui_app.target_fps)
+      self._progress.x = min(1.0, self._progress.x)
+    else:
+      self._progress.update(0.0)
+
+    self._good_button.set_enabled(self._progress.x >= 0.999)
+
+  def _render(self, _):
+    self._dialog.render(self._rect)
+
+    gradient_y = int(self._rect.y + self._rect.height - 80)
+    gradient_h = int(self._rect.y) + int(self._rect.height) - gradient_y
+    rl.draw_rectangle_gradient_v(int(self._rect.x), gradient_y,
+                                 int(self._rect.width), gradient_h, rl.BLANK, rl.BLACK)
+
+    # draw white ring around dm icon to indicate progress
+    ring_thickness = 8
+
+    # DM icon is 120x120, positioned on opposite side from driver
+    dm_size = 120
+    is_rhd = self._dialog.driver_state_renderer._is_rhd
+    dm_center_x = (self._rect.x + dm_size / 2 + 8) if is_rhd else (self._rect.x + self._rect.width - dm_size / 2 - 8)
+    dm_center_y = self._rect.y + dm_size / 2 + 8
+    icon_edge_radius = dm_size / 2
+    outer_radius = icon_edge_radius + 1  # 2px outward from icon edge
+    inner_radius = outer_radius - ring_thickness  # Inset by ring_thickness
+    start_angle = 90.0  # Start from bottom
+    end_angle = start_angle + self._progress.x * 360.0  # Clockwise
+
+    # Fade in alpha
+    current_angle = end_angle - start_angle
+    alpha = int(np.interp(current_angle, [0.0, 45.0], [0, 255]))
+
+    # White to green
+    color_t = np.clip(np.interp(current_angle, [45.0, 360.0], [0.0, 1.0]), 0.0, 1.0)
+    r = int(np.interp(color_t, [0.0, 1.0], [255, 0]))
+    g = int(np.interp(color_t, [0.0, 1.0], [255, 255]))
+    b = int(np.interp(color_t, [0.0, 1.0], [255, 64]))
+    ring_color = rl.Color(r, g, b, alpha)
+
+    rl.draw_ring(
+      rl.Vector2(dm_center_x, dm_center_y),
+      inner_radius,
+      outer_radius,
+      start_angle,
+      end_angle,
+      36,
+      ring_color,
+    )
+
+    if self._dialog._camera_view.frame:
+      self._back_button.render(rl.Rectangle(
+        self._rect.x + 8,
+        self._rect.y + self._rect.height - self._back_button.rect.height,
+        self._back_button.rect.width,
+        self._back_button.rect.height,
+      ))
+
+      self._good_button.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._good_button.rect.width - 8,
+        self._rect.y + self._rect.height - self._good_button.rect.height,
+        self._good_button.rect.width,
+        self._good_button.rect.height,
+      ))
+
+    # rounded border
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height))
+    rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
+    rl.end_scissor_mode()
+
+
+class TrainingGuideRecordFront(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    def on_accept():
+      ui_state.params.put_bool("RecordFront", True)
+      continue_callback()
+
+    def on_decline():
+      ui_state.params.put_bool("RecordFront", False)
+      continue_callback()
+
+    self._accept_button = BigConfirmationCircleButton("allow data uploading", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                                      on_accept, exit_on_confirm=False)
+
+    self._decline_button = BigConfirmationCircleButton("no, don't upload", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
+                                                       exit_on_confirm=False)
+
+    self._scroller.add_widgets([
+      GreyBigButton("driver camera data", "do you want to share video data for training?",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Sharing your data with comma helps improve openpilot and sunnypilot for everyone."),
+      self._accept_button,
+      self._decline_button,
+    ])
+
+
+class TrainingGuideAttentionNotice(Scroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("what is sunnypilot?", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      GreyBigButton("", "1. sunnypilot is a driver assistance system."),
+      GreyBigButton("", "2. You must pay attention at all times."),
+      GreyBigButton("", "3. You must be ready to take over at any time."),
+      GreyBigButton("", "4. You are fully responsible for driving the car."),
+      continue_button,
+    ])
+
+
+class TrainingGuide(NavWidget):
+  def __init__(self, completed_callback: Callable[[], None]):
+    super().__init__()
+
+    self._steps = [
+      TrainingGuideAttentionNotice(continue_callback=lambda: gui_app.push_widget(self._steps[1])),
+      TrainingGuidePreDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[2])),
+      TrainingGuideDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[3])),
+      TrainingGuideRecordFront(continue_callback=completed_callback),
+    ]
+
+    self._child(self._steps[0])
+    self._steps[0].set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack
+
+  def _render(self, _):
+    self._steps[0].render(self._rect)
+
+
+class QRCodeWidget(Widget):
+  def __init__(self, url: str, size: int = 170):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, size, size))
+    self._size = size
+    self._qr_texture = make_texture(url, inverted=True)
+
+  def _render(self, _):
+    if self._qr_texture:
+      scale = self._size / self._qr_texture.height
+      rl.draw_texture_ex(self._qr_texture, rl.Vector2(round(self._rect.x), round(self._rect.y)), 0.0, scale, rl.WHITE)
+
+  def __del__(self):
+    if self._qr_texture and self._qr_texture.id != 0:
+      rl.unload_texture(self._qr_texture)
+
+
+class TermsPage(Scroller):
+  def __init__(self, on_accept, on_decline):
+    super().__init__()
+
+    self._accept_button = BigConfirmationCircleButton("accept\nterms", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64), on_accept)
+    self._decline_button = BigConfirmationCircleButton("decline &\nuninstall", gui_app.texture("icons_mici/setup/cancel.png", 64, 64), on_decline,
+                                                       red=True, exit_on_confirm=False)
+
+    self._terms_header = GreyBigButton("terms of\nservice", "scroll to continue",
+                                       gui_app.texture("icons_mici/setup/green_info.png", 64, 64))
+    self._must_accept_card = GreyBigButton("", "You must accept the Terms of Service to use sunnypilot.")
+
+    self._scroller.add_widgets([
+      self._terms_header,
+      GreyBigButton("swipe for QR code", "or go to https://sunnypilot.ai/terms",
+                    gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)),
+      QRCodeWidget("https://sunnypilot.ai/terms"),
+      self._must_accept_card,
+      self._accept_button,
+      self._decline_button,
+    ])
+
+  def _render(self, _):
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
+    super()._render(_)
+
+
+class OnboardingWindow(Widget):
+  def __init__(self, completed_callback: Callable[[], None]):
+    super().__init__()
+    self._completed_callback = completed_callback
+    self._accepted_terms: bool = (ui_state.params.get("HasAcceptedTerms") == terms_version and
+                                  ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp)
+    self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version
+    self._sunnylink_consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {
+      sunnylink_consent_version, sunnylink_consent_declined
+    }
+
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+    # Windows — all pushed onto nav stack, _terms is always rendered as base layer
+    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_uninstall)
+    self._terms.set_enabled(lambda: self.enabled)  # for nav stack
+
+    self._sunnylink_consent = SunnylinkConsentPage(
+      on_accept=self._on_sunnylink_accepted,
+      on_decline=self._on_sunnylink_declined,
+    )
+
+    self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
+    self._training_guide.set_enabled(lambda: self.enabled)  # for nav stack
+
+    self._needs_initial_push = False
+
+  def _on_uninstall(self):
+    ui_state.params.put_bool("DoUninstall", True, block=True)
+
+  def show_event(self):
+    super().show_event()
+    device.set_override_interactive_timeout(300)
+    device.set_offroad_brightness(100)
+    self._needs_initial_push = True
+
+  def hide_event(self):
+    super().hide_event()
+    # FIXME: when nav stack sends hide event to widget 2 below on push, this needs to be moved
+    device.set_override_interactive_timeout(None)
+    device.set_offroad_brightness(None)
+
+  @property
+  def completed(self) -> bool:
+    return self._accepted_terms and self._sunnylink_consent_done and self._training_done
+
+  def close(self):
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    self._completed_callback()
+
+  def _on_terms_accepted(self):
+    ui_state.params.put("HasAcceptedTerms", terms_version, block=True)
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp, block=True)
+    self._accepted_terms = True
+    if not self._sunnylink_consent_done:
+      gui_app.push_widget(self._sunnylink_consent)
+    elif not self._training_done:
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_sunnylink_accepted(self):
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version, block=True)
+    ui_state.params.put_bool("SunnylinkEnabled", True)
+    self._sunnylink_consent_done = True
+    if not self._training_done:
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_sunnylink_declined(self):
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined, block=True)
+    ui_state.params.put_bool("SunnylinkEnabled", False)
+    self._sunnylink_consent_done = True
+    if not self._training_done:
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_completed_training(self):
+    ui_state.params.put("CompletedTrainingVersion", training_version, block=True)
+    self._training_done = True
+    self.close()
+
+  def _render(self, _):
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
+
+    # Deferred from show_event to avoid nested push_widget re-enable bug
+    if self._needs_initial_push:
+      self._needs_initial_push = False
+      if self._accepted_terms and not self._sunnylink_consent_done:
+        gui_app.push_widget(self._sunnylink_consent)
+      elif self._accepted_terms and self._sunnylink_consent_done and not self._training_done:
+        gui_app.push_widget(self._training_guide)
+
+    self._terms.render(self._rect)
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/openpilot/selfdrive/ui/mici/layouts/settings/developer.py
similarity index 50%
rename from selfdrive/ui/mici/layouts/settings/developer.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/developer.py
index b6145e042e..2d7dc0899d 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/developer.py
@@ -1,40 +1,65 @@
-import pyray as rl
 from collections.abc import Callable
-
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog, BigConfirmationCircleButton
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import NavWidget
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyAction
+from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyFetcher
 
 
-class DeveloperLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
+class AlphaLongConfirmPage(NavScroller):
+  def __init__(self, on_confirm: Callable[[], None]):
     super().__init__()
-    self.set_back_callback(back_callback)
+
+    accept = BigConfirmationCircleButton("enable alpha\nlongitudinal",
+                                         gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                         lambda: self.dismiss(on_confirm))
+
+    self._scroller.add_widgets([
+      GreyBigButton("enabling alpha longitudinal", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
+      GreyBigButton("", "WARNING: alpha longitudinal control may disable Automatic Emergency Braking (AEB)"),
+      GreyBigButton("", "On this car, openpilot defaults to the stock system's built-in ACC."),
+      GreyBigButton("", "Enabling this will switch to openpilot longitudinal control."),
+      GreyBigButton("", "Using Experimental mode is recommended with openpilot longitudinal control alpha."),
+      GreyBigButton("", "Changing this setting will restart openpilot if the car is powered on."),
+      accept,
+    ])
+
+
+class DeveloperLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self._ssh_fetcher = SshKeyFetcher(ui_state.params)
 
     def github_username_callback(username: str):
       if username:
-        ssh_keys = SshKeyAction()
-        ssh_keys._fetch_ssh_key(username)
-        if not ssh_keys._error_message:
-          self._ssh_keys_btn.set_value(username)
-        else:
-          dlg = BigDialog("", ssh_keys._error_message)
-          gui_app.set_modal_overlay(dlg)
+        self._ssh_keys_btn.set_value("Loading...")
+        self._ssh_keys_btn.set_enabled(False)
+
+        def on_response(error):
+          self._ssh_keys_btn.set_enabled(True)
+          if error is None:
+            self._ssh_keys_btn.set_value(username)
+          else:
+            self._ssh_keys_btn.set_value("Not set")
+            gui_app.push_widget(BigDialog("", error))
+
+        self._ssh_fetcher.fetch(username, on_response)
+      else:
+        self._ssh_fetcher.clear()
+        self._ssh_keys_btn.set_value("Not set")
 
     def ssh_keys_callback():
       github_username = ui_state.params.get("GithubUsername") or ""
-      dlg = BigInputDialog("enter GitHub username", github_username, confirm_callback=github_username_callback)
+      dlg = BigInputDialog("enter GitHub username...", github_username, minimum_length=0, confirm_callback=github_username_callback)
       if not system_time_valid():
-        dlg = BigDialog("Please connect to Wi-Fi to fetch your key", "")
-        gui_app.set_modal_overlay(dlg)
+        dlg = BigDialog("", "Please connect to Wi-Fi to fetch your key.")
+        gui_app.push_widget(dlg)
         return
-      gui_app.set_modal_overlay(dlg)
+      gui_app.push_widget(dlg)
 
     txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 56, 64)
     github_username = ui_state.params.get("GithubUsername") or ""
@@ -43,14 +68,17 @@ class DeveloperLayoutMici(NavWidget):
 
     # adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
     # ******** Main Scroller ********
-    self._adb_toggle = BigCircleParamControl("icons_mici/adb_short.png", "AdbEnabled", icon_size=(82, 82), icon_offset=(0, 12))
-    self._ssh_toggle = BigCircleParamControl("icons_mici/ssh_short.png", "SshEnabled", icon_size=(82, 82), icon_offset=(0, 12))
+    self._adb_toggle = BigCircleParamControl(gui_app.texture("icons_mici/adb_short.png", 82, 82), "AdbEnabled", icon_offset=(0, 12))
+    self._ssh_toggle = BigCircleParamControl(gui_app.texture("icons_mici/ssh_short.png", 82, 82), "SshEnabled", icon_offset=(0, 12))
     self._joystick_toggle = BigToggle("joystick debug mode",
                                       initial_state=ui_state.params.get_bool("JoystickDebugMode"),
                                       toggle_callback=self._on_joystick_debug_mode)
     self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
                                            initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
                                            toggle_callback=self._on_long_maneuver_mode)
+    self._lat_maneuver_toggle = BigToggle("lateral maneuver mode",
+                                          initial_state=ui_state.params.get_bool("LateralManeuverMode"),
+                                          toggle_callback=self._on_lat_maneuver_mode)
     self._alpha_long_toggle = BigToggle("alpha longitudinal",
                                         initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
                                         toggle_callback=self._on_alpha_long_enabled)
@@ -58,15 +86,16 @@ class DeveloperLayoutMici(NavWidget):
                                               toggle_callback=lambda checked: (gui_app.set_show_touches(checked),
                                                                                gui_app.set_show_fps(checked)))
 
-    self._scroller = Scroller([
+    self._scroller.add_widgets([
       self._adb_toggle,
       self._ssh_toggle,
       self._ssh_keys_btn,
       self._joystick_toggle,
       self._long_maneuver_toggle,
+      self._lat_maneuver_toggle,
       self._alpha_long_toggle,
       self._debug_mode_toggle,
-    ], snap_items=False)
+    ])
 
     # Toggle lists
     self._refresh_toggles = (
@@ -74,12 +103,13 @@ class DeveloperLayoutMici(NavWidget):
       ("SshEnabled", self._ssh_toggle),
       ("JoystickDebugMode", self._joystick_toggle),
       ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("LateralManeuverMode", self._lat_maneuver_toggle),
       ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
       ("ShowDebugInfo", self._debug_mode_toggle),
     )
     onroad_blocked_toggles = (self._adb_toggle, self._joystick_toggle)
-    release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle)
-    engaged_blocked_toggles = (self._long_maneuver_toggle, self._alpha_long_toggle)
+    release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
+    engaged_blocked_toggles = (self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
 
     # Hide non-release toggles on release builds
     for item in release_blocked_toggles:
@@ -100,14 +130,14 @@ class DeveloperLayoutMici(NavWidget):
 
     ui_state.add_offroad_transition_callback(self._update_toggles)
 
+  def _update_state(self):
+    super()._update_state()
+    self._ssh_fetcher.update()
+
   def show_event(self):
     super().show_event()
-    self._scroller.show_event()
     self._update_toggles()
 
-  def _render(self, rect: rl.Rectangle):
-    self._scroller.render(rect)
-
   def _update_toggles(self):
     ui_state.update_params()
 
@@ -122,11 +152,10 @@ class DeveloperLayoutMici(NavWidget):
 
       long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
       self._long_maneuver_toggle.set_enabled(long_man_enabled)
-      if not long_man_enabled:
-        self._long_maneuver_toggle.set_checked(False)
-        ui_state.params.put_bool("LongitudinalManeuverMode", False)
+      self._lat_maneuver_toggle.set_enabled(ui_state.is_offroad())
     else:
       self._long_maneuver_toggle.set_enabled(False)
+      self._lat_maneuver_toggle.set_enabled(False)
       self._alpha_long_toggle.set_visible(False)
 
     # Refresh toggles from params to mirror external changes
@@ -134,18 +163,38 @@ class DeveloperLayoutMici(NavWidget):
       item.set_checked(ui_state.params.get_bool(key))
 
   def _on_joystick_debug_mode(self, state: bool):
-    ui_state.params.put_bool("JoystickDebugMode", state)
-    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    ui_state.params.put_bool("JoystickDebugMode", state, block=True)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
     self._long_maneuver_toggle.set_checked(False)
+    ui_state.params.put_bool("LateralManeuverMode", False, block=True)
+    self._lat_maneuver_toggle.set_checked(False)
 
   def _on_long_maneuver_mode(self, state: bool):
-    ui_state.params.put_bool("LongitudinalManeuverMode", state)
-    ui_state.params.put_bool("JoystickDebugMode", False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", state, block=True)
+    ui_state.params.put_bool("JoystickDebugMode", False, block=True)
     self._joystick_toggle.set_checked(False)
-    restart_needed_callback(state)
+    ui_state.params.put_bool("LateralManeuverMode", False, block=True)
+    self._lat_maneuver_toggle.set_checked(False)
+    restart_needed_callback()
+
+  def _on_lat_maneuver_mode(self, state: bool):
+    ui_state.params.put_bool("LateralManeuverMode", state, block=True)
+    ui_state.params.put_bool("ExperimentalMode", False, block=True)
+    ui_state.params.put_bool("JoystickDebugMode", False, block=True)
+    self._joystick_toggle.set_checked(False)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
+    self._long_maneuver_toggle.set_checked(False)
+    restart_needed_callback()
 
   def _on_alpha_long_enabled(self, state: bool):
-    # TODO: show confirmation dialog before enabling
-    ui_state.params.put_bool("AlphaLongitudinalEnabled", state)
-    restart_needed_callback(state)
-    self._update_toggles()
+    def do_toggle(_state: bool):
+      ui_state.params.put_bool("AlphaLongitudinalEnabled", _state, block=True)
+      restart_needed_callback()
+      self._update_toggles()
+
+    if state:
+      # Don't show enabled state until confirm
+      self._alpha_long_toggle.set_checked(False)
+      gui_app.push_widget(AlphaLongConfirmPage(lambda: do_toggle(True)))
+    else:
+      do_toggle(False)
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/device.py b/openpilot/selfdrive/ui/mici/layouts/settings/device.py
new file mode 100644
index 0000000000..6038ff7d35
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/device.py
@@ -0,0 +1,218 @@
+import os
+import pyray as rl
+from collections.abc import Callable
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
+from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
+from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import CabinCameraDialog
+from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.html_render import HtmlRenderer
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+
+
+class ReviewTermsPage(TermsPage, NavScroller):
+  """TermsPage with NavWidget swipe-to-dismiss for reviewing in device settings."""
+  def __init__(self):
+    super().__init__(on_accept=self.dismiss, on_decline=self.dismiss)
+    self._terms_header.set_visible(False)
+    self._must_accept_card.set_visible(False)
+    self._accept_button.set_visible(False)
+    self._decline_button.set_visible(False)
+
+
+class ReviewTrainingGuide(TrainingGuide):
+  def show_event(self):
+    super().show_event()
+    device.set_override_interactive_timeout(300)
+
+  def hide_event(self):
+    super().hide_event()
+    device.set_override_interactive_timeout(None)
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
+
+
+class MiciFccModal(NavRawScrollPanel):
+  def __init__(self, file_path: str | None = None, text: str | None = None):
+    super().__init__()
+    self._content = HtmlRenderer(file_path=file_path, text=text)
+    self._fcc_logo = gui_app.texture("icons_mici/settings/device/fcc_logo.png", 76, 64)
+
+  def _render(self, rect: rl.Rectangle):
+    content_height = self._content.get_total_height(int(rect.width))
+    content_height += self._fcc_logo.height + 20
+
+    scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
+    scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
+
+    fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
+
+    scroll_content_rect.y += scroll_offset + self._fcc_logo.height + 20
+    self._content.render(scroll_content_rect)
+
+    rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE)
+
+
+def _engaged_confirmation_click(callback: Callable, action_text: str, icon: rl.Texture, exit_on_confirm: bool = True, red: bool = False):
+  if not ui_state.engaged:
+    def confirm_callback():
+      # Check engaged again in case it changed while the dialog was open
+      # TODO: if true, we stay on the dialog if not exit_on_confirm until normal onroad timeout
+      if not ui_state.engaged:
+        callback()
+
+    gui_app.push_widget(BigConfirmationDialog(f"slide to\n{action_text.lower()}", icon, confirm_callback, exit_on_confirm=exit_on_confirm, red=red))
+  else:
+    gui_app.push_widget(BigDialog("", f"Disengage to {action_text}"))
+
+
+class EngagedConfirmationCircleButton(BigCircleButton):
+  def __init__(self, title: str, icon: rl.Texture, callback: Callable[[], None], exit_on_confirm: bool = True,
+               red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, red, icon_offset)
+    self.set_click_callback(lambda: _engaged_confirmation_click(callback, title, icon, exit_on_confirm=exit_on_confirm, red=red))
+
+
+class EngagedConfirmationButton(BigButton):
+  def __init__(self, text: str, action_text: str, icon: rl.Texture, callback: Callable[[], None],
+               exit_on_confirm: bool = True, red: bool = False):
+    super().__init__(text, "", icon)
+    self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
+
+
+class DeviceInfoLayoutMici(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.set_rect(rl.Rectangle(0, 0, 360, 180))
+
+    params = Params()
+    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+    max_width = int(self._rect.width - 20)
+    self._dongle_id_label = UnifiedLabel("device ID", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._dongle_id_text_label = UnifiedLabel(params.get("DongleId") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
+                                              font_weight=FontWeight.ROMAN, wrap_text=False)
+
+    self._serial_number_label = UnifiedLabel("serial", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._serial_number_text_label = UnifiedLabel(params.get("HardwareSerial") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
+                                                  font_weight=FontWeight.ROMAN, wrap_text=False)
+
+  def _render(self, _):
+    self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10)
+    self._dongle_id_label.render()
+
+    self._dongle_id_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self._dongle_id_text_label.render()
+
+    self._serial_number_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self._serial_number_label.render()
+
+    self._serial_number_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+    self._serial_number_text_label.render()
+
+
+class PairBigButton(BigButton):
+  def __init__(self):
+    super().__init__("pair", "connect.comma.ai", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60))
+
+  def _get_label_font_size(self):
+    return 64
+
+  def _update_state(self):
+    super()._update_state()
+
+    if ui_state.prime_state.is_paired():
+      self.set_text("paired")
+      if ui_state.prime_state.is_prime():
+        self.set_value("subscribed")
+      else:
+        self.set_value("upgrade to prime")
+    else:
+      self.set_text("pair")
+      self.set_value("connect.comma.ai")
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    # TODO: show ad dialog when clicked if not prime
+    if ui_state.prime_state.is_paired():
+      return
+    dlg: BigDialog | PairingDialog
+    if not system_time_valid():
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to complete initial pairing."))
+    elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID):
+      dlg = BigDialog("", tr("Device must be registered with the comma.ai backend to pair."))
+    else:
+      dlg = PairingDialog()
+    gui_app.push_widget(dlg)
+
+
+class DeviceLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    self._fcc_dialog: MiciFccModal | None = None
+
+    def power_off_callback():
+      ui_state.params.put_bool("DoShutdown", True, block=True)
+
+    def reboot_callback():
+      ui_state.params.put_bool("DoReboot", True, block=True)
+
+    def reset_calibration_callback():
+      params = ui_state.params
+      params.remove("CalibrationParams")
+      params.remove("LiveTorqueParameters")
+      params.remove("LiveParametersV2")
+      params.remove("LiveDelay")
+      params.put_bool("OnroadCycleRequested", True, block=True)
+
+    reset_calibration_btn = EngagedConfirmationButton("reset calibration", "reset", gui_app.texture("icons_mici/settings/device/lkas.png", 122, 64),
+                                                      reset_calibration_callback)
+
+    reboot_btn = EngagedConfirmationCircleButton("reboot", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70),
+                                                 reboot_callback, exit_on_confirm=False)
+
+    self._power_off_btn = EngagedConfirmationCircleButton("power off", gui_app.texture("icons_mici/settings/device/power.png", 64, 66),
+                                                          power_off_callback, exit_on_confirm=False, red=True)
+    self._power_off_btn.set_visible(lambda: not ui_state.ignition)
+
+    regulatory_btn = BigButton("regulatory info", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
+    regulatory_btn.set_click_callback(self._on_regulatory)
+
+    cabin_cam_btn = BigButton("driver\ncamera preview", "", gui_app.texture("icons_mici/settings/device/cameras.png", 64, 64))
+    cabin_cam_btn.set_click_callback(lambda: gui_app.push_widget(CabinCameraDialog()))
+    cabin_cam_btn.set_enabled(lambda: ui_state.is_offroad())
+
+    review_training_guide_btn = BigButton("review\ntraining guide", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
+    review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self))))
+    review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad())
+
+    terms_btn = BigButton("terms &\nconditions", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
+    terms_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTermsPage()))
+
+    self._scroller.add_widgets([
+      DeviceInfoLayoutMici(),
+      PairBigButton(),
+      review_training_guide_btn,
+      cabin_cam_btn,
+      terms_btn,
+      regulatory_btn,
+      reset_calibration_btn,
+      reboot_btn,
+      self._power_off_btn,
+    ])
+
+  def _on_regulatory(self):
+    if not self._fcc_dialog:
+      self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "openpilot/selfdrive/assets/offroad/mici_fcc.html"))
+    gui_app.push_widget(self._fcc_dialog)
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/openpilot/selfdrive/ui/mici/layouts/settings/firehose.py
similarity index 93%
rename from selfdrive/ui/mici/layouts/settings/firehose.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/firehose.py
index 78e5169856..5e3b6da2cc 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -5,6 +5,7 @@ import pyray as rl
 
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -13,7 +14,8 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
-from openpilot.system.ui.widgets import Widget, NavWidget
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller import NavRawScrollPanel
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -80,12 +82,12 @@ class FirehoseLayoutBase(Widget):
   def _render(self, rect: rl.Rectangle):
     # compute total content height for scrolling
     content_height = self._measure_content_height(rect)
-    scroll_offset = round(self._scroll_panel.update(rect, content_height))
+    scroll_offset = self._scroll_panel.update(rect, content_height)
 
     # start drawing with offset
-    x = int(rect.x + 40)
-    y = int(rect.y + 40 + scroll_offset)
-    w = int(rect.width - 80)
+    x = rect.x + 40
+    y = rect.y + 40 + scroll_offset
+    w = rect.width - 80
 
     # Title
     title_text = tr(TITLE)
@@ -99,7 +101,7 @@ class FirehoseLayoutBase(Widget):
     y += 20
 
     # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
     y += 20
 
     # Status
@@ -115,7 +117,7 @@ class FirehoseLayoutBase(Widget):
       y += 20
 
     # Separator
-    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    rl.draw_rectangle_rec(rl.Rectangle(x, y, w, 2), self.GRAY)
     y += 20
 
     # Instructions intro
@@ -132,9 +134,6 @@ class FirehoseLayoutBase(Widget):
       y = self._draw_wrapped_text(x, y, w, tr(answer), gui_app.font(FontWeight.ROMAN), 32, self.LIGHT_GRAY)
       y += 20
 
-    # return value not used by NavWidget
-    return -1
-
   def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
     wrapped = wrap_text(font, text, font_size, width)
     for line in wrapped:
@@ -214,15 +213,12 @@ class FirehoseLayoutBase(Widget):
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
   def _update_loop(self):
+    drop_realtime()
     while self._running:
       if not ui_state.started and device._awake:
         self._fetch_firehose_stats()
       time.sleep(self.UPDATE_INTERVAL)
 
 
-class FirehoseLayout(FirehoseLayoutBase, NavWidget):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
-  def __init__(self, back_callback):
-    super().__init__()
-    self.set_back_callback(back_callback)
+class FirehoseLayout(NavRawScrollPanel, FirehoseLayoutBase):
+  pass
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/network/__init__.py b/openpilot/selfdrive/ui/mici/layouts/settings/network/__init__.py
new file mode 100644
index 0000000000..ddbab4b478
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/network/__init__.py
@@ -0,0 +1,60 @@
+import pyray as rl
+
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiIcon
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.wifi_manager import WifiManager, ConnectStatus, SecurityType, normalize_ssid
+
+
+class WifiNetworkButton(BigButton):
+  def __init__(self, wifi_manager: WifiManager):
+    self._wifi_manager = wifi_manager
+    self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 28, 36)
+    self._draw_lock = False
+
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47)
+
+    super().__init__("wi-fi", "not connected", self._wifi_slash_txt, scroll=True)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # Update wi-fi button with ssid and ip address
+    # TODO: make sure we handle hidden ssids
+    wifi_state = self._wifi_manager.wifi_state
+    display_network = next((n for n in self._wifi_manager.networks if n.ssid == wifi_state.ssid), None)
+    if wifi_state.status == ConnectStatus.CONNECTING:
+      self.set_text(normalize_ssid(wifi_state.ssid or "wi-fi"))
+      self.set_value("starting" if self._wifi_manager.is_tethering_active() else "connecting...")
+    elif wifi_state.status == ConnectStatus.CONNECTED:
+      self.set_text(normalize_ssid(wifi_state.ssid or "wi-fi"))
+      self.set_value(self._wifi_manager.ipv4_address or "obtaining IP...")
+    else:
+      display_network = None
+      self.set_text("wi-fi")
+      self.set_value("not connected")
+
+    if display_network is not None:
+      strength = WifiIcon.get_strength_icon_idx(display_network.strength)
+      self.set_icon(self._wifi_full_txt if strength == 2 else self._wifi_medium_txt if strength == 1 else self._wifi_low_txt)
+      self._draw_lock = display_network.security_type not in (SecurityType.OPEN, SecurityType.UNSUPPORTED)
+    elif self._wifi_manager.is_tethering_active():
+      # takes a while to get Network
+      self.set_icon(self._wifi_full_txt)
+      self._draw_lock = True
+    else:
+      self.set_icon(self._wifi_slash_txt)
+      self._draw_lock = False
+
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
+    # Render lock icon at lower right of wifi icon if secured
+    if self._draw_lock:
+      icon_x = self._rect.x + self._rect.width - 30 - self._txt_icon.width
+      icon_y = btn_y + 30
+      lock_x = icon_x + self._txt_icon.width - self._lock_txt.width + 7
+      lock_y = icon_y + self._txt_icon.height - self._lock_txt.height + 8
+      rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE)
diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py
similarity index 55%
rename from selfdrive/ui/mici/layouts/settings/network/__init__.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py
index fb1d56a1f6..58b3d0c77d 100644
--- a/selfdrive/ui/mici/layouts/settings/network/__init__.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -1,33 +1,21 @@
-import pyray as rl
-from enum import IntEnum
-from collections.abc import Callable
-
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon, normalize_ssid
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.lib.prime_state import PrimeType
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import NavWidget
 from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
 
 
-class NetworkPanelType(IntEnum):
-  NONE = 0
-  WIFI = 1
-
-
-class NetworkLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
+class NetworkLayoutMici(NavScroller):
+  def __init__(self):
     super().__init__()
 
-    self._current_panel = NetworkPanelType.WIFI
-    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
-
     self._wifi_manager = WifiManager()
     self._wifi_manager.set_active(False)
-    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
+    self._wifi_ui = WifiUIMici(self._wifi_manager)
 
     self._wifi_manager.add_callbacks(
       networks_updated=self._on_network_updated,
@@ -36,6 +24,7 @@ class NetworkLayoutMici(NavWidget):
     # ******** Tethering ********
     def tethering_toggle_callback(checked: bool):
       self._tethering_toggle_btn.set_enabled(False)
+      self._tethering_password_btn.set_enabled(False)
       self._network_metered_btn.set_enabled(False)
       self._wifi_manager.set_tethering_active(checked)
 
@@ -43,13 +32,15 @@ class NetworkLayoutMici(NavWidget):
 
     def tethering_password_callback(password: str):
       if password:
+        self._tethering_toggle_btn.set_enabled(False)
+        self._tethering_password_btn.set_enabled(False)
         self._wifi_manager.set_tethering_password(password)
 
     def tethering_password_clicked():
       tethering_password = self._wifi_manager.tethering_password
       dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
                            confirm_callback=tethering_password_callback)
-      gui_app.set_modal_overlay(dlg)
+      gui_app.push_widget(dlg)
 
     txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54)
     self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
@@ -70,27 +61,22 @@ class NetworkLayoutMici(NavWidget):
     self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
     self._network_metered_btn.set_enabled(False)
 
-    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56)
-    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47)
-    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47)
-    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47)
-
-    self._wifi_button = BigButton("wi-fi", "not connected", self._wifi_slash_txt, scroll=True)
-    self._wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
+    self._wifi_button = WifiNetworkButton(self._wifi_manager)
+    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
 
     # ******** Advanced settings ********
     # ******** Roaming toggle ********
-    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming")
 
     # ******** APN settings ********
     self._apn_btn = BigButton("apn settings", "edit")
     self._apn_btn.set_click_callback(self._edit_apn)
 
     # ******** Cellular metered toggle ********
-    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered")
 
     # Main scroller ----------------------------------
-    self._scroller = Scroller([
+    self._scroller.add_widgets([
       self._wifi_button,
       self._network_metered_btn,
       self._tethering_toggle_btn,
@@ -100,15 +86,7 @@ class NetworkLayoutMici(NavWidget):
       self._apn_btn,
       self._cellular_metered_btn,
       # */
-    ], snap_items=False)
-
-    # Set initial config
-    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
-    metered = ui_state.params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
+    ])
 
   def _update_state(self):
     super()._update_state()
@@ -122,16 +100,16 @@ class NetworkLayoutMici(NavWidget):
 
   def show_event(self):
     super().show_event()
-    self._current_panel = NetworkPanelType.NONE
-    self._wifi_ui.show_event()
-    self._scroller.show_event()
+    self._wifi_manager.set_active(True)
+
+    # Process wifi callbacks while at any point in the nav stack
+    gui_app.add_nav_stack_tick(self._wifi_manager.process_callbacks)
 
   def hide_event(self):
     super().hide_event()
-    self._wifi_ui.hide_event()
+    self._wifi_manager.set_active(False)
 
-  def _toggle_roaming(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
+    gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
 
   def _edit_apn(self):
     def update_apn(apn: str):
@@ -141,40 +119,19 @@ class NetworkLayoutMici(NavWidget):
       else:
         ui_state.params.put("GsmApn", apn)
 
-      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
-
     current_apn = ui_state.params.get("GsmApn") or ""
-    dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
-    gui_app.set_modal_overlay(dlg)
-
-  def _toggle_cellular_metered(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
+    dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
+    gui_app.push_widget(dlg)
 
   def _on_network_updated(self, networks: list[Network]):
     # Update tethering state
     tethering_active = self._wifi_manager.is_tethering_active()
     # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
     self._tethering_toggle_btn.set_enabled(True)
+    self._tethering_password_btn.set_enabled(True)
     self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
     self._tethering_toggle_btn.set_checked(tethering_active)
 
-    # Update wi-fi button with ssid and ip address
-    # TODO: make sure we handle hidden ssids
-    connected_network = next((network for network in networks if network.is_connected), None)
-    self._wifi_button.set_text(normalize_ssid(connected_network.ssid) if connected_network is not None else "wi-fi")
-    self._wifi_button.set_value(self._wifi_manager.ipv4_address or "not connected")
-    if connected_network is not None:
-      strength = WifiIcon.get_strength_icon_idx(connected_network.strength)
-      if strength == 2:
-        strength_icon = self._wifi_full_txt
-      elif strength == 1:
-        strength_icon = self._wifi_medium_txt
-      else:
-        strength_icon = self._wifi_low_txt
-      self._wifi_button.set_icon(strength_icon)
-    else:
-      self._wifi_button.set_icon(self._wifi_slash_txt)
-
     # Update network metered
     self._network_metered_btn.set_value(
       {
@@ -182,16 +139,3 @@ class NetworkLayoutMici(NavWidget):
         MeteredType.YES: 'metered',
         MeteredType.NO: 'unmetered'
       }.get(self._wifi_manager.current_network_metered, 'default'))
-
-  def _switch_to_panel(self, panel_type: NetworkPanelType):
-    if panel_type == NetworkPanelType.WIFI:
-      self._wifi_ui.show_event()
-    self._current_panel = panel_type
-
-  def _render(self, rect: rl.Rectangle):
-    self._wifi_manager.process_callbacks()
-
-    if self._current_panel == NetworkPanelType.WIFI:
-      self._wifi_ui.render(rect)
-    else:
-      self._scroller.render(rect)
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
new file mode 100644
index 0000000000..8404faf9f7
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -0,0 +1,391 @@
+import math
+import numpy as np
+import pyray as rl
+from collections.abc import Callable
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationDialog
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, LABEL_COLOR
+from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, normalize_ssid
+
+
+class LoadingAnimation(Widget):
+  RADIUS = 8
+  SPACING = 24  # center-to-center: diameter (16) + gap (8)
+  Y_MAG = 11.2
+
+  def __init__(self):
+    super().__init__()
+    w = self.SPACING * 2 + self.RADIUS * 2
+    h = self.RADIUS * 2 + int(self.Y_MAG)
+    self.set_rect(rl.Rectangle(0, 0, w, h))
+
+  def _render(self, _):
+    # Balls rest at bottom center; bounce upward
+    base_x = int(self._rect.x + self._rect.width / 2)
+    base_y = int(self._rect.y + self._rect.height - self.RADIUS)
+
+    for i in range(3):
+      x = base_x + (i - 1) * self.SPACING
+      y = int(base_y + min(math.sin((rl.get_time() - i * 0.2) * 4) * self.Y_MAG, 0))
+      alpha = int(np.interp(base_y - y, [0, self.Y_MAG], [255 * 0.45, 255 * 0.9]))
+      rl.draw_circle(x, y, self.RADIUS, rl.Color(255, 255, 255, alpha))
+
+
+class WifiIcon(Widget):
+  def __init__(self, network: Network):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 48 + 5, 36 + 5))
+
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 48, 42)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 48, 36)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 48, 36)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 48, 36)
+    self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 21, 27)
+
+    self._network: Network = network
+    self._network_missing = False  # if network disappeared from scan results
+
+  def update_network(self, network: Network):
+    self._network = network
+
+  def set_network_missing(self, missing: bool):
+    self._network_missing = missing
+
+  @staticmethod
+  def get_strength_icon_idx(strength: int) -> int:
+    return round(strength / 100 * 2)
+
+  def _render(self, _):
+    # Determine which wifi strength icon to use
+    strength = self.get_strength_icon_idx(self._network.strength)
+    if self._network_missing:
+      strength_icon = self._wifi_slash_txt
+    elif strength == 2:
+      strength_icon = self._wifi_full_txt
+    elif strength == 1:
+      strength_icon = self._wifi_medium_txt
+    else:
+      strength_icon = self._wifi_low_txt
+
+    rl.draw_texture_ex(strength_icon, (self._rect.x, self._rect.y + self._rect.height - strength_icon.height), 0.0, 1.0, rl.WHITE)
+
+    # Render lock icon at lower right of wifi icon if secured
+    if self._network.security_type not in (SecurityType.OPEN, SecurityType.UNSUPPORTED):
+      lock_x = self._rect.x + self._rect.width - self._lock_txt.width
+      lock_y = self._rect.y + self._rect.height - self._lock_txt.height + 6
+      rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE)
+
+
+class WifiButton(BigButton):
+  LABEL_PADDING = 98
+  LABEL_WIDTH = 402 - 98 - 28  # button width - left padding - right padding
+  SUB_LABEL_WIDTH = 402 - BigButton.LABEL_HORIZONTAL_PADDING * 2
+
+  def __init__(self, network: Network, wifi_manager: WifiManager):
+    super().__init__(normalize_ssid(network.ssid), scroll=True)
+
+    self._network = network
+    self._wifi_manager = wifi_manager
+
+    self._wifi_icon = WifiIcon(network)
+    self._forget_btn = ForgetButton(self._forget_network)
+    self._check_txt = gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 32, 32)
+
+    # Eager state (not sourced from Network)
+    self._network_missing = False
+    self._network_forgetting = False
+    self._wrong_password = False
+
+  def update_network(self, network: Network):
+    self._network = network
+    self._wifi_icon.update_network(network)
+
+    # We can assume network is not missing if got new Network
+    self._network_missing = False
+    self._wifi_icon.set_network_missing(False)
+    if self._is_connected or self._is_connecting:
+      self._wrong_password = False
+
+  @property
+  def network_forgetting(self) -> bool:
+    return self._network_forgetting
+
+  def _forget_network(self):
+    if self._network_forgetting:
+      return
+
+    self._network_forgetting = True
+    self._wifi_manager.forget_connection(self._network.ssid)
+
+  def on_forgotten(self):
+    self._network_forgetting = False
+
+  def set_network_missing(self, missing: bool):
+    self._network_missing = missing
+    self._wifi_icon.set_network_missing(missing)
+
+  def set_wrong_password(self):
+    self._wrong_password = True
+    self.trigger_shake()
+
+  @property
+  def network(self) -> Network:
+    return self._network
+
+  @property
+  def _show_forget_btn(self):
+    if self._network.is_tethering or self._network_forgetting:
+      return False
+
+    return (self._is_saved and not self._wrong_password) or self._is_connecting
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if self._show_forget_btn and rl.check_collision_point_rec(mouse_pos, self._forget_btn.rect):
+      return
+    super()._handle_mouse_release(mouse_pos)
+
+  def _get_label_font_size(self):
+    return 48
+
+  def _draw_content(self, btn_y: float):
+    self._label.set_color(LABEL_COLOR)
+    label_rect = rl.Rectangle(self._rect.x + self.LABEL_PADDING, btn_y + self.LABEL_VERTICAL_PADDING,
+                              self.LABEL_WIDTH, self._rect.height - self.LABEL_VERTICAL_PADDING * 2)
+    self._label.render(label_rect)
+
+    if self.value:
+      sub_label_x = self._rect.x + self.LABEL_HORIZONTAL_PADDING
+      label_y = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING
+      sub_label_w = self.SUB_LABEL_WIDTH - (self._forget_btn.rect.width if self._show_forget_btn else 0)
+      sub_label_height = self._sub_label.get_content_height(sub_label_w)
+
+      if self._is_connected and not self._network_forgetting:
+        check_y = int(label_y - sub_label_height + (sub_label_height - self._check_txt.height) / 2)
+        rl.draw_texture_ex(self._check_txt, rl.Vector2(sub_label_x, check_y), 0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)))
+        sub_label_x += self._check_txt.width + 14
+
+      sub_label_rect = rl.Rectangle(sub_label_x, label_y - sub_label_height, sub_label_w, sub_label_height)
+      self._sub_label.render(sub_label_rect)
+
+    # Wifi icon
+    self._wifi_icon.render(rl.Rectangle(
+      self._rect.x + 30,
+      btn_y + 30,
+      self._wifi_icon.rect.width,
+      self._wifi_icon.rect.height,
+    ))
+
+    # Forget button
+    if self._show_forget_btn:
+      self._forget_btn.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._forget_btn.rect.width,
+        btn_y + self._rect.height - self._forget_btn.rect.height,
+        self._forget_btn.rect.width,
+        self._forget_btn.rect.height,
+      ))
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(lambda: touch_callback() and not self._forget_btn.is_pressed)
+    self._forget_btn.set_touch_valid_callback(touch_callback)
+
+  @property
+  def _is_saved(self):
+    return self._wifi_manager.is_connection_saved(self._network.ssid)
+
+  @property
+  def _is_connecting(self):
+    return self._wifi_manager.connecting_to_ssid == self._network.ssid
+
+  @property
+  def _is_connected(self):
+    return self._wifi_manager.connected_ssid == self._network.ssid
+
+  def _update_state(self):
+    super()._update_state()
+
+    if any((self._network_missing, self._is_connecting, self._is_connected, self._network_forgetting,
+            self._network.security_type == SecurityType.UNSUPPORTED)):
+      self.set_enabled(False)
+      self._sub_label.set_color(rl.Color(255, 255, 255, int(255 * 0.585)))
+      self._sub_label.set_font_weight(FontWeight.ROMAN)
+
+      if self._network_forgetting:
+        self.set_value("forgetting...")
+      elif self._is_connecting:
+        self.set_value("starting..." if self._network.is_tethering else "connecting...")
+      elif self._is_connected:
+        self.set_value("tethering" if self._network.is_tethering else "connected")
+      elif self._network_missing:
+        # after connecting/connected since NM will still attempt to connect/stay connected for a while
+        self.set_value("not in range")
+      else:
+        self.set_value("unsupported")
+
+    else:  # saved, wrong password, or unknown
+      self.set_value("wrong password" if self._wrong_password else "connect")
+      self.set_enabled(True)
+      self._sub_label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
+      self._sub_label.set_font_weight(FontWeight.SEMI_BOLD)
+
+
+class ForgetButton(Widget):
+  MARGIN = 12  # bottom and right
+
+  def __init__(self, forget_network: Callable):
+    super().__init__()
+    self._forget_network = forget_network
+
+    self._bg_txt = gui_app.texture("icons_mici/settings/network/new/forget_button.png", 84, 84)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/forget_button_pressed.png", 84, 84)
+    self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 29, 35)
+    self.set_rect(rl.Rectangle(0, 0, 84 + self.MARGIN * 2, 84 + self.MARGIN * 2))
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    dlg = BigConfirmationDialog("slide to forget", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), self._forget_network, red=True)
+    gui_app.push_widget(dlg)
+
+  def _render(self, _):
+    bg_txt = self._bg_pressed_txt if self.is_pressed else self._bg_txt
+    rl.draw_texture_ex(bg_txt, (self._rect.x + (self._rect.width - self._bg_txt.width) / 2,
+                                self._rect.y + (self._rect.height - self._bg_txt.height) / 2), 0, 1.0, rl.WHITE)
+
+    trash_x = self._rect.x + (self._rect.width - self._trash_txt.width) / 2
+    trash_y = self._rect.y + (self._rect.height - self._trash_txt.height) / 2
+    rl.draw_texture_ex(self._trash_txt, (trash_x, trash_y), 0, 1.0, rl.WHITE)
+
+
+class ScanningButton(BigButton):
+  def __init__(self):
+    super().__init__("", "searching for networks")
+    self.set_enabled(False)
+    self._loading_animation = LoadingAnimation()
+
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
+    anim = self._loading_animation
+    x = self._rect.x + self._rect.width - anim.rect.width - 40
+    y = btn_y + self._rect.height - anim.rect.height - 30
+    anim.set_position(x, y)
+    anim.render()
+
+
+class WifiUIMici(NavScroller):
+  def __init__(self, wifi_manager: WifiManager):
+    super().__init__()
+
+    self._scanning_btn = ScanningButton()
+
+    self._wifi_manager = wifi_manager
+    self._networks: dict[str, Network] = {}
+
+    self._wifi_manager.add_callbacks(
+      need_auth=self._on_need_auth,
+      forgotten=self._on_forgotten,
+      networks_updated=self._on_network_updated,
+    )
+
+  @property
+  def any_network_forgetting(self) -> bool:
+    # TODO: deactivate before forget and add DISCONNECTING state
+    return any(btn.network_forgetting for btn in self._scroller.items if isinstance(btn, WifiButton))
+
+  def show_event(self):
+    # Re-sort scroller items and update from latest scan results
+    super().show_event()
+    self._wifi_manager.set_active(True)
+    self._networks = {n.ssid: n for n in self._wifi_manager.networks}
+    self._update_buttons(re_sort=True)
+
+  def _on_network_updated(self, networks: list[Network]):
+    self._networks = {network.ssid: network for network in networks}
+    self._update_buttons()
+
+  def _update_buttons(self, re_sort: bool = False):
+    # Update existing buttons, add new ones to the end
+    existing = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)}
+
+    for network in self._networks.values():
+      if network.ssid in existing:
+        existing[network.ssid].update_network(network)
+      else:
+        btn = WifiButton(network, self._wifi_manager)
+        btn.set_click_callback(lambda ssid=network.ssid: self._connect_to_network(ssid))
+        self._scroller.add_widget(btn)
+
+    if re_sort:
+      # Remove stale buttons and sort to match scan order, preserving eager state
+      btn_map = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)}
+      self._scroller.items[:] = [btn_map[ssid] for ssid in self._networks if ssid in btn_map]
+    else:
+      # Mark networks no longer in scan results (display handled by _update_state)
+      for btn in self._scroller.items:
+        if isinstance(btn, WifiButton) and btn.network.ssid not in self._networks:
+          btn.set_network_missing(True)
+
+    # Keep scanning button at the end
+    items = self._scroller.items
+    if self._scanning_btn in items:
+      items.append(items.pop(items.index(self._scanning_btn)))
+    else:
+      self._scroller.add_widget(self._scanning_btn)
+
+  def _connect_with_password(self, ssid: str, password: str):
+    self._wifi_manager.connect_to_network(ssid, password)
+    self._move_network_to_front(ssid, scroll=True)
+
+  def _connect_to_network(self, ssid: str):
+    network = self._networks.get(ssid)
+    if network is None:
+      cloudlog.warning(f"Trying to connect to unknown network: {ssid}")
+      return
+
+    if self._wifi_manager.is_connection_saved(network.ssid):
+      self._wifi_manager.activate_connection(network.ssid)
+    elif network.security_type == SecurityType.OPEN:
+      self._wifi_manager.connect_to_network(network.ssid, "")
+    else:
+      self._on_need_auth(network.ssid, False)
+      return
+
+    self._move_network_to_front(ssid, scroll=True)
+
+  def _on_need_auth(self, ssid, incorrect_password=True):
+    if incorrect_password:
+      for btn in self._scroller.items:
+        if isinstance(btn, WifiButton) and btn.network.ssid == ssid:
+          btn.set_wrong_password()
+          break
+      return
+
+    dlg = BigInputDialog("enter password...", "", minimum_length=8,
+                         confirm_callback=lambda _password: self._connect_with_password(ssid, _password))
+    gui_app.push_widget(dlg)
+
+  def _on_forgotten(self, ssid):
+    # For eager UI forget
+    for btn in self._scroller.items:
+      if isinstance(btn, WifiButton) and btn.network.ssid == ssid:
+        btn.on_forgotten()
+
+  def _move_network_to_front(self, ssid: str | None, scroll: bool = False):
+    # Move connecting/connected network to the front with animation
+    front_btn_idx = next((i for i, btn in enumerate(self._scroller.items)
+                          if isinstance(btn, WifiButton) and
+                          btn.network.ssid == ssid), None) if ssid else None
+
+    if front_btn_idx is not None and front_btn_idx > 0:
+      self._scroller.move_item(front_btn_idx, 0)
+
+      if scroll:
+        # Scroll to the new position of the network
+        self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True, block_widget_interaction=True)
+
+  def _update_state(self):
+    super()._update_state()
+
+    self._move_network_to_front(self._wifi_manager.wifi_state.ssid)
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/settings.py b/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
new file mode 100644
index 0000000000..eb7789cba9
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
@@ -0,0 +1,57 @@
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.network.network_layout import NetworkLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
+from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.software import SoftwareLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+
+
+class SettingsBigButton(BigButton):
+  def _get_label_font_size(self):
+    return 64
+
+
+class SettingsLayout(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+
+    toggles_panel = TogglesLayoutMici()
+    toggles_btn = SettingsBigButton("toggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
+    toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))
+
+    network_panel = NetworkLayoutMici()
+    network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
+    network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel))
+
+    device_panel = DeviceLayoutMici()
+    device_btn = SettingsBigButton("device", "", gui_app.texture("icons_mici/settings/device_icon.png", 72, 58))
+    device_btn.set_click_callback(lambda: gui_app.push_widget(device_panel))
+
+    software_panel = SoftwareLayoutMici()
+    software_btn = SettingsBigButton("software", "", gui_app.texture("icons_mici/settings/software.png", 64, 75))
+    software_btn.set_click_callback(lambda: gui_app.push_widget(software_panel))
+
+    developer_panel = DeveloperLayoutMici()
+    developer_btn = SettingsBigButton("developer", "", gui_app.texture("icons_mici/settings/developer_icon.png", 64, 60))
+    developer_btn.set_click_callback(lambda: gui_app.push_widget(developer_panel))
+
+    firehose_panel = FirehoseLayout()
+    firehose_btn = SettingsBigButton("firehose", "", gui_app.texture("icons_mici/settings/firehose.png", 52, 62))
+    firehose_btn.set_click_callback(lambda: gui_app.push_widget(firehose_panel))
+
+    self._scroller.add_widgets([
+      toggles_btn,
+      network_btn,
+      device_btn,
+      software_btn,
+      PairBigButton(),
+      firehose_btn,
+      developer_btn,
+    ])
+
+    self._font_medium = gui_app.font(FontWeight.MEDIUM)
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/software.py b/openpilot/selfdrive/ui/mici/layouts/settings/software.py
new file mode 100644
index 0000000000..d71982ca26
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/software.py
@@ -0,0 +1,274 @@
+import subprocess
+import threading
+import pyray as rl
+from enum import IntEnum
+from collections.abc import Callable
+
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.selfdrive.ui.mici.layouts.settings.device import EngagedConfirmationButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.scroller import NavScroller
+
+UPDATER_TIMEOUT = 10.0  # seconds to wait for updater to respond
+
+
+def _split_description(desc: str) -> tuple[str, str, str, str] | None:
+  # UpdaterCurrentDescription/UpdaterNewDescription format: "version / branch / commit / date"
+  parts = [p.strip() for p in desc.split(" / ")]
+  if len(parts) != 4:
+    return None
+  version, branch, commit, date = parts
+  return version, branch, commit, date
+
+
+class UpdaterState(IntEnum):
+  IDLE = 0
+  WAITING_FOR_UPDATER = 1
+  UPDATER_RESPONDING = 2
+
+
+class SoftwareInfoLayoutMici(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.set_rect(rl.Rectangle(0, 0, 360, 180))
+
+    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+    max_width = int(self._rect.width - 20)
+    self._version_label = UnifiedLabel("version", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._version_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
+                                            font_weight=FontWeight.ROMAN, wrap_text=False)
+
+    self._branch_label = UnifiedLabel("branch", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self._branch_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
+                                           font_weight=FontWeight.ROMAN, wrap_text=False)
+
+  def _update_state(self):
+    desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "")
+    if desc is not None:
+      version, branch, commit, date = desc
+      self._version_text_label.set_text(f"{version} ({date})")
+      self._branch_text_label.set_text(f"{branch} ({commit})")
+    else:
+      self._version_text_label.set_text(ui_state.params.get("Version") or "N/A")
+      self._branch_text_label.set_text(ui_state.params.get("GitBranch") or "N/A")
+
+  def _render(self, _):
+    self._version_label.set_position(self._rect.x + 20, self._rect.y - 10)
+    self._version_label.render()
+
+    self._version_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self._version_text_label.render()
+
+    self._branch_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self._branch_label.render()
+
+    self._branch_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+    self._branch_text_label.render()
+
+
+class CheckUpdateButton(BigButton):
+  def __init__(self):
+    self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
+    self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
+    super().__init__("check for update", "", self._txt_update_icon)
+
+    self._waiting_for_updater_t: float | None = None
+    self._hide_value_t: float | None = None
+    self._state: UpdaterState = UpdaterState.IDLE
+
+    ui_state.add_offroad_transition_callback(self.offroad_transition)
+
+  def offroad_transition(self):
+    if ui_state.is_offroad():
+      self.set_enabled(True)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    if not system_time_valid():
+      dlg = BigDialog("", tr("Please connect to Wi-Fi to update."))
+      gui_app.push_widget(dlg)
+      return
+
+    self.set_enabled(False)
+    self._state = UpdaterState.WAITING_FOR_UPDATER
+    self.set_icon(self._txt_update_icon)
+
+    def run():
+      if self.get_value() == "download update":
+        subprocess.run("pkill -SIGHUP -f openpilot.system.updated.updated", shell=True)
+      else:
+        subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
+
+    threading.Thread(target=run, daemon=True).start()
+
+  def set_value(self, value: str):
+    super().set_value(value)
+    if value:
+      self.set_text("")
+    else:
+      self.set_text("check for update")
+
+  def _update_state(self):
+    super()._update_state()
+
+    if ui_state.started:
+      self.set_enabled(False)
+      return
+
+    updater_state = ui_state.params.get("UpdaterState") or ""
+    failed_count = ui_state.params.get("UpdateFailedCount") or 0
+    failed = int(failed_count) > 0
+
+    if self._state == UpdaterState.WAITING_FOR_UPDATER:
+      self.set_rotate_icon(True)
+      if updater_state != "idle":
+        self._state = UpdaterState.UPDATER_RESPONDING
+
+      # Recover from updater not responding (time invalid shortly after boot)
+      if self._waiting_for_updater_t is None:
+        self._waiting_for_updater_t = rl.get_time()
+
+      if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT:
+        self.set_rotate_icon(False)
+        self.set_value("updater failed\nto respond")
+        self._state = UpdaterState.IDLE
+        self._hide_value_t = rl.get_time()
+
+    elif self._state == UpdaterState.UPDATER_RESPONDING:
+      if updater_state == "idle":
+        self.set_rotate_icon(False)
+        self._state = UpdaterState.IDLE
+        self._hide_value_t = rl.get_time()
+      else:
+        if self.get_value() != updater_state:
+          self.set_value(updater_state)
+
+    elif self._state == UpdaterState.IDLE:
+      self.set_rotate_icon(False)
+      if failed:
+        self.set_enabled(True)  # allow retry when failure came from updater param
+        if self.get_value() != "failed to update":
+          self.set_value("failed to update")
+
+      elif ui_state.params.get_bool("UpdaterFetchAvailable"):
+        self.set_enabled(True)
+        if self.get_value() != "download update":
+          self.set_value("download update")
+
+      elif self._hide_value_t is not None:
+        self.set_enabled(True)
+        if self.get_value() == "checking...":
+          self.set_value("up to date")
+          self.set_icon(self._txt_up_to_date_icon)
+
+        # Hide previous text after short amount of time (up to date or failed)
+        if rl.get_time() - self._hide_value_t > 3.0:
+          self._hide_value_t = None
+          self.set_value("")
+          self.set_icon(self._txt_update_icon)
+      else:
+        if self.get_value() != "":
+          self.set_value("")
+
+    if self._state != UpdaterState.WAITING_FOR_UPDATER:
+      self._waiting_for_updater_t = None
+
+
+class InstallUpdateButton(BigButton):
+  def __init__(self):
+    super().__init__("install update", "", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70))
+    self.set_visible(lambda: ui_state.is_offroad() and ui_state.params.get_bool("UpdateAvailable"))
+
+  def _update_state(self):
+    super()._update_state()
+
+    desc = _split_description(ui_state.params.get("UpdaterNewDescription") or "")
+    value = f"{desc[0]} ({desc[1]})" if desc is not None else ""
+    if self.get_value() != value:
+      self.set_value(value)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    self.set_enabled(False)
+
+    def run():
+      ui_state.params.put_bool("DoReboot", True, block=True)
+
+    threading.Thread(target=run, daemon=True).start()
+
+
+class BranchSelectPage(NavScroller):
+  def __init__(self, on_select: Callable[[str], None]):
+    super().__init__()
+
+    params = ui_state.params
+    current_git_branch = params.get("GitBranch") or ""
+    branches_str = params.get("UpdaterAvailableBranches") or ""
+    branches = [b for b in branches_str.split(",") if b]
+
+    for b in [current_git_branch, "devel-staging", "devel", "nightly", "nightly-dev", "master"]:
+      if b in branches:
+        branches.remove(b)
+        branches.insert(0, b)
+
+    current_target = params.get("UpdaterTargetBranch") or ""
+    check_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
+
+    buttons = []
+    for branch in branches:
+      btn = BigButton(branch, "", check_icon if branch == current_target else None, scroll=True)
+      btn.set_click_callback(lambda b=branch: self.dismiss(lambda: on_select(b)))
+      buttons.append(btn)
+    self._scroller.add_widgets(buttons)
+
+
+class TargetBranchButton(BigButton):
+  def __init__(self):
+    super().__init__("target branch", ui_state.params.get("UpdaterTargetBranch") or "")
+    self.set_click_callback(self._on_click)
+    self.set_visible(not ui_state.params.get_bool("IsTestedBranch"))
+    self.set_enabled(lambda: ui_state.is_offroad())
+
+  def _update_state(self):
+    super()._update_state()
+
+    target = ui_state.params.get("UpdaterTargetBranch") or ""
+    if self.get_value() != target:
+      self.set_value(target)
+
+  def _on_click(self):
+    gui_app.push_widget(BranchSelectPage(self._on_select))
+
+  def _on_select(self, branch: str):
+    ui_state.params.put("UpdaterTargetBranch", branch, block=True)
+    self.set_value(branch)
+    subprocess.run("pkill -SIGUSR1 -f openpilot.system.updated.updated", shell=True)
+
+
+class SoftwareLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    def uninstall_openpilot_callback():
+      ui_state.params.put_bool("DoUninstall", True, block=True)
+
+    uninstall_openpilot_btn = EngagedConfirmationButton("uninstall sunnypilot", "uninstall",
+                                                        gui_app.texture("icons_mici/settings/device/uninstall.png", 64, 64),
+                                                        uninstall_openpilot_callback, exit_on_confirm=False)
+
+    self._scroller.add_widgets([
+      SoftwareInfoLayoutMici(),
+      CheckUpdateButton(),
+      InstallUpdateButton(),
+      TargetBranchButton(),
+      uninstall_openpilot_btn,
+    ])
diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
similarity index 53%
rename from selfdrive/ui/mici/layouts/settings/toggles.py
rename to openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
index 1266311a1b..2dba124df5 100644
--- a/selfdrive/ui/mici/layouts/settings/toggles.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -1,32 +1,57 @@
-import pyray as rl
 from collections.abc import Callable
-from cereal import log
 
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
+from openpilot.cereal import log
+
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle, BigToggle, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import NavWidget
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 
-class TogglesLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
+class ExperimentalModeConfirmPage(NavScroller):
+  def __init__(self, on_confirm: Callable[[], None]):
+    super().__init__()
+
+    accept = BigConfirmationCircleButton("enable\nexperimental mode",
+                                         gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                         lambda: self.dismiss(on_confirm))
+
+    self._scroller.add_widgets([
+      GreyBigButton("enabling\nexperimental mode", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
+      GreyBigButton("", "openpilot defaults to driving in chill mode."),
+      GreyBigButton("", "Experimental mode enables alpha-level features that aren't ready for chill mode."),
+      GreyBigButton("End-to-End Longitudinal Control"),
+      GreyBigButton("", "Let the driving model control the gas and brakes."),
+      GreyBigButton("", "openpilot will drive as it thinks a human would, including stopping for red lights and stop signs."),
+      GreyBigButton("", "The set speed will only act as an upper bound."),
+      GreyBigButton("", "This is an alpha quality feature; mistakes should be expected."),
+      GreyBigButton("New Driving Visualization"),
+      GreyBigButton("", "The path will change colors to communicate acceleration intent."),
+      GreyBigButton("", "Red for braking, green for acceleration, and gray for coasting."),
+      accept,
+    ])
+
+
+class TogglesLayoutMici(NavScroller):
+  def __init__(self):
     super().__init__()
-    self.set_back_callback(back_callback)
 
     self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
-    self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode")
+    self._experimental_btn = BigToggle("experimental mode", initial_state=ui_state.params.get_bool("ExperimentalMode"),
+                                       toggle_callback=self._on_experimental_mode)
     is_metric_toggle = BigParamControl("use metric units", "IsMetric")
     ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
     always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
-    record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
+    record_front = BigParamControl("record & upload cabin camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
 
-    self._scroller = Scroller([
+    self._scroller.add_widgets([
       self._personality_toggle,
       self._experimental_btn,
       is_metric_toggle,
@@ -35,7 +60,7 @@ class TogglesLayoutMici(NavWidget):
       record_front,
       record_mic,
       enable_openpilot,
-    ], snap_items=False)
+    ])
 
     # Toggle lists
     self._refresh_toggles = (
@@ -69,7 +94,6 @@ class TogglesLayoutMici(NavWidget):
 
   def show_event(self):
     super().show_event()
-    self._scroller.show_event()
     self._update_toggles()
 
   def _update_toggles(self):
@@ -91,5 +115,16 @@ class TogglesLayoutMici(NavWidget):
     for key, item in self._refresh_toggles:
       item.set_checked(ui_state.params.get_bool(key))
 
-  def _render(self, rect: rl.Rectangle):
-    self._scroller.render(rect)
+  def _on_experimental_mode(self, state: bool):
+    if state and not ui_state.params.get_bool("ExperimentalModeConfirmed"):
+      # Don't show enabled state until confirm
+      self._experimental_btn.set_checked(False)
+
+      def on_confirm():
+        ui_state.params.put_bool("ExperimentalModeConfirmed", True)
+        ui_state.params.put_bool("ExperimentalMode", True)
+        self._experimental_btn.set_checked(True)
+
+      gui_app.push_widget(ExperimentalModeConfirmPage(on_confirm))
+    else:
+      ui_state.params.put_bool("ExperimentalMode", state)
diff --git a/selfdrive/ui/mici/onroad/__init__.py b/openpilot/selfdrive/ui/mici/onroad/__init__.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/__init__.py
rename to openpilot/selfdrive/ui/mici/onroad/__init__.py
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
similarity index 90%
rename from selfdrive/ui/mici/onroad/alert_renderer.py
rename to openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
index b7a336a35a..4be32459d5 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -5,14 +5,17 @@ import pyray as rl
 import random
 import string
 from dataclasses import dataclass
-from cereal import messaging, log, car
+from openpilot.cereal import messaging, log
+from opendbc.car.structs import car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitAlertRenderer
+
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 
@@ -46,6 +49,7 @@ class IconLayout(NamedTuple):
   side: IconSide
   margin_x: int
   margin_y: int
+  alpha: float = 255.0
 
 
 class AlertLayout(NamedTuple):
@@ -86,9 +90,10 @@ ALERT_CRITICAL_REBOOT = Alert(
 )
 
 
-class AlertRenderer(Widget):
+class AlertRenderer(Widget, SpeedLimitAlertRenderer):
   def __init__(self):
-    super().__init__()
+    Widget.__init__(self)
+    SpeedLimitAlertRenderer.__init__(self)
 
     self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
                                            letter_spacing=-0.02)
@@ -112,9 +117,9 @@ class AlertRenderer(Widget):
 
   def _load_icons(self):
     self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96)
-    self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_right.png', 104, 96)
+    self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96, flip_x=True)
     self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150)
-    self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 134, 150)
+    self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150, flip_x=True)
 
   def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
     """Generate the current alert based on selfdrive state."""
@@ -131,7 +136,7 @@ class AlertRenderer(Widget):
         return ALERT_STARTUP_PENDING
 
       # 2. Lost communication with selfdriveState after receiving it
-      if TICI and not waiting_for_startup:
+      if COMMA_HARDWARE and not waiting_for_startup:
         ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
         if ss_missing > SELFDRIVE_STATE_TIMEOUT:
           if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
@@ -155,6 +160,7 @@ class AlertRenderer(Widget):
   def _icon_helper(self, alert: Alert) -> AlertLayout:
     icon_side = None
     txt_icon = None
+    icon_alpha = 255.0
     icon_margin_x = 20
     icon_margin_y = 18
 
@@ -191,6 +197,9 @@ class AlertRenderer(Widget):
       icon_margin_x = 8
       icon_margin_y = 0
 
+    elif event_name == 'speedLimitPreActive':
+      icon_side, txt_icon, icon_alpha, icon_margin_x, icon_margin_y = SpeedLimitAlertRenderer.speed_limit_pre_active_icon_helper(self)
+
     else:
       self._turn_signal_timer = 0.0
 
@@ -212,7 +221,7 @@ class AlertRenderer(Widget):
       text_width,
       self._rect.height,
     )
-    icon_layout = IconLayout(txt_icon, icon_side, icon_margin_x, icon_margin_y) if txt_icon is not None and icon_side is not None else None
+    icon_layout = IconLayout(txt_icon, icon_side, icon_margin_x, icon_margin_y, icon_alpha) if txt_icon is not None and icon_side is not None else None
     return AlertLayout(text_rect, icon_layout)
 
   def _render(self, rect: rl.Rectangle) -> bool:
@@ -223,7 +232,7 @@ class AlertRenderer(Widget):
     self._alpha_filter.update(0 if alert is None else 1)
 
     if gui_app.sunnypilot_ui():
-      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
+      ui_state.onroad_brightness_handle_alerts(ui_state, alert)
 
     if alert is None:
       # If still animating out, keep the previous alert
@@ -235,6 +244,9 @@ class AlertRenderer(Widget):
 
     self._draw_background(alert)
 
+    # update speed limit UI states
+    SpeedLimitAlertRenderer.update(self)
+
     alert_layout = self._icon_helper(alert)
     self._draw_text(alert, alert_layout)
     self._draw_icons(alert_layout)
@@ -257,12 +269,12 @@ class AlertRenderer(Widget):
       pos_x = int(self._rect.x + self._rect.width - alert_layout.icon.margin_x - alert_layout.icon.texture.width)
 
     if alert_layout.icon.texture not in (self._txt_turn_signal_left, self._txt_turn_signal_right):
-      icon_alpha = 255
+      icon_alpha = alert_layout.icon.alpha
     else:
       icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
 
-    rl.draw_texture(alert_layout.icon.texture, pos_x, int(self._rect.y + alert_layout.icon.margin_y),
-                    rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
+    rl.draw_texture_ex(alert_layout.icon.texture, rl.Vector2(pos_x, self._rect.y + alert_layout.icon.margin_y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
 
   def _draw_background(self, alert: Alert) -> None:
     # draw top gradient for alert text at top
@@ -298,13 +310,10 @@ class AlertRenderer(Widget):
 
     # TODO: hack
     alert_text1 = alert.text1.lower().replace('calibrating: ', 'calibrating:\n')
-    can_draw_second_line = False
     # TODO: there should be a common way to determine font size based on text length to maximize rect
     if len(alert_text1) <= 12:
-      can_draw_second_line = True
       font_size = 92 - 10
     elif len(alert_text1) <= 16:
-      can_draw_second_line = True
       font_size = 70
     else:
       font_size = 64 - 10
@@ -336,13 +345,13 @@ class AlertRenderer(Widget):
         self._text_gen_time = time.monotonic()
       alert_text2 = self._alert_text2_gen or alert_text2
 
-    if can_draw_second_line and alert_text2:
+    if alert_text2:
       last_line_h = self._alert_text1_label.rect.y + self._alert_text1_label.get_content_height(int(alert_layout.text_rect.width))
       last_line_h -= 4
-      if len(alert_text2) > 18:
-        small_font_size = 36
-      elif len(alert_text2) > 24:
+      if len(alert_text2) > 24:
         small_font_size = 32
+      elif len(alert_text2) > 18:
+        small_font_size = 36
       else:
         small_font_size = 40
       text_rect2 = rl.Rectangle(
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
similarity index 79%
rename from selfdrive/ui/mici/onroad/augmented_road_view.py
rename to openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
index f8aee7969f..e37e9b7ea9 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -1,8 +1,8 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import messaging, car, log
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal import log
+from opendbc.car.structs import car
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
 from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
@@ -14,7 +14,7 @@ from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets import Widget
-from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
+from openpilot.common.filter_simple import BounceFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
@@ -24,8 +24,8 @@ if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
 OpState = log.SelfdriveState.OpenpilotState
-CALIBRATED = log.LiveCalibrationData.Status.calibrated
-ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
+CALIBRATED = log.ExtrinsicsCalibration.Status.calibrated
+NARROW_ROAD_CAM = VisionStreamType.VISION_STREAM_NARROW_ROAD
 WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
 DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
 
@@ -50,8 +50,6 @@ class BookmarkIcon(Widget):
     super().__init__()
     self._bookmark_callback = bookmark_callback
     self._icon = gui_app.texture("icons_mici/onroad/bookmark.png", 180, 180)
-    self._icon_fill = gui_app.texture("icons_mici/onroad/bookmark_fill.png", 180, 180)
-    self._active_icon = self._icon
     self._offset_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
     # State
@@ -90,7 +88,6 @@ class BookmarkIcon(Widget):
 
       if self._offset_filter.x < 1e-3:
         self._interacting = False
-        self._active_icon = self._icon
 
   def _handle_mouse_event(self, mouse_event: MouseEvent):
     if not ui_state.started:
@@ -103,7 +100,6 @@ class BookmarkIcon(Widget):
       self._is_swiping = True
       self._is_swiping_left = False
       self._state = BookmarkState.DRAGGING
-      self._active_icon = self._icon
 
     elif mouse_event.left_down and self._is_swiping:
       self._swipe_current_x = mouse_event.pos.x
@@ -120,7 +116,6 @@ class BookmarkIcon(Widget):
         if swipe_distance > self.PEEK_THRESHOLD:
           self._state = BookmarkState.TRIGGERED
           self._triggered_time = rl.get_time()
-          self._active_icon = self._icon_fill
           self._bookmark_callback()
         else:
           # Otherwise, transition back to hidden
@@ -134,12 +129,12 @@ class BookmarkIcon(Widget):
     """Render the bookmark icon."""
     if self._offset_filter.x > 0:
       icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x)
-      icon_y = self.rect.y + (self.rect.height - self._active_icon.height) / 2  # Vertically centered
-      rl.draw_texture(self._active_icon, int(icon_x), int(icon_y), rl.WHITE)
+      icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2  # Vertically centered
+      rl.draw_texture_ex(self._icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)
 
 
 class AugmentedRoadView(CameraView):
-  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_NARROW_ROAD):
     super().__init__("camerad", stream_type)
     self._bookmark_callback = bookmark_callback
     self._set_placeholder_color(rl.BLACK)
@@ -148,9 +143,7 @@ class AugmentedRoadView(CameraView):
     self.view_from_calib = view_frame_from_device_frame.copy()
     self.view_from_wide_calib = view_frame_from_device_frame.copy()
 
-    self._last_calib_time: float = 0
-    self._last_rect_dims = (0.0, 0.0)
-    self._last_stream_type = stream_type
+    self._matrix_cache_key: tuple | None = None
     self._cached_matrix: np.ndarray | None = None
     self._content_rect = rl.Rectangle()
     self._last_click_time = 0.0
@@ -169,10 +162,6 @@ class AugmentedRoadView(CameraView):
                                        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
-    self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
-
-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
 
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
@@ -184,6 +173,8 @@ class AugmentedRoadView(CameraView):
     # update offroad label
     if ui_state.panda_type == log.PandaState.PandaType.unknown:
       self._offroad_label.set_text("system booting")
+    elif ui_state.ignition and not ui_state.started:
+      self._offroad_label.set_text("openpilot can't start\ncheck alerts")
     else:
       self._offroad_label.set_text("start the car to\nuse sunnypilot")
 
@@ -193,7 +184,12 @@ class AugmentedRoadView(CameraView):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
-    start_draw = time.monotonic()
+    # Draw text if not onroad
+    if not ui_state.started:
+      rl.draw_rectangle_rec(self.rect, rl.BLACK)
+      self._offroad_label.render(self._rect)
+      return
+
     self._switch_stream_if_needed(ui_state.sm)
 
     # Update calibration before rendering
@@ -222,16 +218,13 @@ class AugmentedRoadView(CameraView):
     # Draw all UI overlays
     self._model_renderer.render(self._content_rect)
 
-    # Fade out bottom of overlays for looks (only when engaged)
-    fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
-    if fade_alpha > 1e-2:
-      rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0,
-                         rl.Color(255, 255, 255, int(255 * fade_alpha)))
+    # Fade out bottom of overlays for looks
+    rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE)
 
     alert_to_render, not_animating_out = self._alert_renderer.will_render()
 
     # Hide DMoji when disengaged unless AlwaysOnDM is enabled
-    should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and ui_state.is_onroad() and
+    should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and
                          (ui_state.status != UIStatus.DISENGAGED or ui_state.always_on_dm))
     self._driver_state_renderer.set_should_draw(should_draw_dmoji)
     self._driver_state_renderer.set_position(self._rect.x + 16, self._rect.y + 10)
@@ -240,9 +233,7 @@ class AugmentedRoadView(CameraView):
     self._hud_renderer.set_can_draw_top_icons(alert_to_render is None)
     self._hud_renderer.set_wheel_critical_icon(alert_to_render is not None and not not_animating_out and
                                                alert_to_render.visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired)
-    # TODO: have alert renderer draw offroad mici label below
-    if ui_state.started:
-      self._alert_renderer.render(self._content_rect)
+    self._alert_renderer.render(self._content_rect)
     self._hud_renderer.render(self._content_rect)
 
     # Draw fake rounded border
@@ -257,28 +248,18 @@ class AugmentedRoadView(CameraView):
 
     self._bookmark_icon.render(self.rect)
 
-    # Draw darkened background and text if not onroad
-    if not ui_state.started:
-      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
-      self._offroad_label.render(self._content_rect)
-
-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo
       if v_ego < WIDE_CAM_MAX_SPEED:
         target = WIDE_CAM
       elif v_ego > ROAD_CAM_MIN_SPEED:
-        target = ROAD_CAM
+        target = NARROW_ROAD_CAM
       else:
         # Hysteresis zone - keep current stream
         target = self.stream_type
     else:
-      target = ROAD_CAM
+      target = NARROW_ROAD_CAM
 
     if self.stream_type != target:
       self.switch_stream(target)
@@ -286,14 +267,14 @@ class AugmentedRoadView(CameraView):
   def _update_calibration(self):
     # Update device camera if not already set
     sm = ui_state.sm
-    if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+    if not self.device_camera and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
+      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
 
-    # Check if live calibration data is available and valid
-    if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
+    # Check if camera calibration data is available and valid
+    if not (sm.updated["extrinsicsCalibration"] and sm.valid['extrinsicsCalibration']):
       return
 
-    calib = sm['liveCalibration']
+    calib = sm['extrinsicsCalibration']
     if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
       return
 
@@ -307,13 +288,21 @@ class AugmentedRoadView(CameraView):
       self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
 
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    cache_key = (
+      ui_state.sm.recv_frame['extrinsicsCalibration'],
+      int(self._content_rect.width),
+      int(self._content_rect.height),
+      self.stream_type,
+      round(ui_state.sm['carState'].vEgo, 1),
+    )
+
+    if cache_key == self._matrix_cache_key and self._cached_matrix is not None:
+      return self._cached_matrix
+
     # Get camera configuration
-    # TODO: cache with vEgo?
-    calib_time = ui_state.sm.recv_frame['liveCalibration']
-    current_dims = (self._content_rect.width, self._content_rect.height)
     device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
     is_wide_camera = self.stream_type == WIDE_CAM
-    intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
+    intrinsic = device_camera.wide_road.intrinsics if is_wide_camera else device_camera.narrow_road.intrinsics
     calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
     if is_wide_camera:
       zoom = 0.7 * 1.5
@@ -326,14 +315,16 @@ class AugmentedRoadView(CameraView):
     kep = calib_transform @ inf_point
 
     # Calculate center points and dimensions
-    x, y = self._content_rect.x, self._content_rect.y
     w, h = self._content_rect.width, self._content_rect.height
     cx, cy = intrinsic[0, 2], intrinsic[1, 2]
 
+    # Ensure zoom views the whole area
+    zoom = max(zoom, w / (2 * cx), h / (2 * cy))
+
     # Calculate max allowed offsets with margins
     margin = 5
-    max_x_offset = cx * zoom - w / 2 - margin
-    max_y_offset = cy * zoom - h / 2 - margin
+    max_x_offset = max(0.0, cx * zoom - w / 2 - margin)
+    max_y_offset = max(0.0, cy * zoom - h / 2 - margin)
 
     # Calculate and clamp offsets to prevent out-of-bounds issues
     try:
@@ -346,18 +337,17 @@ class AugmentedRoadView(CameraView):
       x_offset, y_offset = 0, 0
 
     # Cache the computed transformation matrix to avoid recalculations
-    self._last_calib_time = calib_time
-    self._last_rect_dims = current_dims
-    self._last_stream_type = self.stream_type
+    self._matrix_cache_key = cache_key
     self._cached_matrix = np.array([
       [zoom * 2 * cx / w, 0, -x_offset / w * 2],
       [0, zoom * 2 * cy / h, -y_offset / h * 2],
       [0, 0, 1.0]
     ])
 
+    # built without rect.x/y so cache stays hot during scroll. ModelRenderer adds offset at draw time
     video_transform = np.array([
-      [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
-      [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+      [zoom, 0.0, (w / 2 - x_offset) - (cx * zoom)],
+      [0.0, zoom, (h / 2 - y_offset) - (cy * zoom)],
       [0.0, 0.0, 1.0]
     ])
     self._model_renderer.set_transform(video_transform @ calib_transform)
@@ -375,14 +365,14 @@ class AugmentedRoadView(CameraView):
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
-  road_camera_view = AugmentedRoadView(ROAD_CAM)
+  road_camera_view = AugmentedRoadView(lambda: None, stream_type=NARROW_ROAD_CAM)
   print("***press space to switch camera view***")
   try:
     for _ in gui_app.render():
       ui_state.update()
       if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
         if WIDE_CAM in road_camera_view.available_streams:
-          stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
+          stream = NARROW_ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
           road_camera_view.switch_stream(stream)
       road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/openpilot/selfdrive/ui/mici/onroad/cabin_camera_dialog.py
similarity index 79%
rename from selfdrive/ui/mici/onroad/driver_camera_dialog.py
rename to openpilot/selfdrive/ui/mici/onroad/cabin_camera_dialog.py
index bab3d6e6f1..e86c0aa739 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/openpilot/selfdrive/ui/mici/onroad/cabin_camera_dialog.py
@@ -1,21 +1,17 @@
 import pyray as rl
-from cereal import log, messaging
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal import log, messaging
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import NavWidget
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.label import gui_label
 
-EventName = log.OnroadEvent.EventName
 
-EVENT_TO_INT = EventName.schema.enumerants
-
-
-class DriverCameraView(CameraView):
+class CabinCameraView(CameraView):
   def _calc_frame_matrix(self, rect: rl.Rectangle):
     base = super()._calc_frame_matrix(rect)
     driver_view_ratio = 1.5
@@ -24,19 +20,15 @@ class DriverCameraView(CameraView):
     return base
 
 
-class DriverCameraDialog(NavWidget):
-  def __init__(self, no_escape=False):
+class BaseCabinCameraDialog(Widget):
+  # Not a NavWidget so training guide can use this without back navigation
+  def __init__(self):
     super().__init__()
-    self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    self._camera_view = CabinCameraView("camerad", VisionStreamType.VISION_STREAM_CABIN)
     self.driver_state_renderer = DriverStateRenderer(lines=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
     self.driver_state_renderer.load_icons()
     self._pm: messaging.PubMaster | None = None
-    if not no_escape:
-      # TODO: this can grow unbounded, should be given some thought
-      device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
-    self.set_back_enabled(not no_escape)
 
     # Load eye icons
     self._eye_fill_texture = None
@@ -87,7 +79,7 @@ class DriverCameraDialog(NavWidget):
                 alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
       rl.end_scissor_mode()
       self._publish_alert_sound(None)
-      return -1
+      return
 
     driver_data = self._draw_face_detection(rect)
     if driver_data is not None:
@@ -105,18 +97,22 @@ class DriverCameraDialog(NavWidget):
     self._render_dm_alerts(rect)
 
     rl.end_scissor_mode()
-    return -1
+    return
 
   def _publish_alert_sound(self, dm_state):
     """Publish selfdriveState with only alertSound field set"""
     if self._pm is None:
       return
 
+    AudibleAlert = log.SelfdriveState.AudibleAlert
+    ALERT_SOUNDS = {
+      'one': AudibleAlert.preAlert,
+      'two': AudibleAlert.promptDistracted,
+      'three': AudibleAlert.warningImmediate,
+    }
     msg = messaging.new_message('selfdriveState')
-    if dm_state is not None and len(dm_state.events):
-      event_name = EVENT_TO_INT[dm_state.events[0].name]
-      if event_name is not None and event_name in EVENTS and ET.PERMANENT in EVENTS[event_name]:
-        msg.selfdriveState.alertSound = EVENTS[event_name][ET.PERMANENT].audible_alert
+    if dm_state is not None:
+      msg.selfdriveState.alertSound = ALERT_SOUNDS.get(str(dm_state.alertLevel), AudibleAlert.none)
     self._pm.send('selfdriveState', msg)
 
   def _render_dm_alerts(self, rect: rl.Rectangle):
@@ -124,29 +120,31 @@ class DriverCameraDialog(NavWidget):
     dm_state = ui_state.sm["driverMonitoringState"]
     self._publish_alert_sound(dm_state)
 
+    is_vision = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
+    awareness_pct = dm_state.visionPolicyState.awarenessPercent if is_vision else dm_state.wheeltouchPolicyState.awarenessPercent
     gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
-              f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+              f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+    gui_label(rect, f"Awareness: {awareness_pct:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
 
-    if not dm_state.events:
+    if dm_state.alertLevel == log.DriverMonitoringState.AlertLevel.none:
       return
 
-    # Show first event (only one should be active at a time)
-    event_name_str = str(dm_state.events[0].name).split('.')[-1]
+    # Show alert level
+    alert_level_str = f"{'Pay Attention' if is_vision else 'Touch Wheel'} - level {dm_state.alertLevel}"
     alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
-    gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(shadow_rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(0, 0, 0, 180))
-    gui_label(rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+    gui_label(rect, alert_level_str, font_size=40, font_weight=FontWeight.BOLD,
               alignment=alignment,
               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
               color=rl.Color(255, 255, 255, int(255 * 0.9)))
@@ -163,7 +161,7 @@ class DriverCameraDialog(NavWidget):
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
     driver_data = self.driver_state_renderer.get_driver_data()
-    if not dm_state.faceDetected:
+    if not dm_state.visionPolicyState.faceDetected:
       return
 
     # Get face position and orientation
@@ -231,13 +229,20 @@ class DriverCameraDialog(NavWidget):
     rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
 
 
-if __name__ == "__main__":
-  gui_app.init_window("Driver Camera View (mici)")
+class CabinCameraDialog(NavWidget, BaseCabinCameraDialog):
+  def __init__(self):
+    super().__init__()
+    # TODO: this can grow unbounded, should be given some thought
+    device.add_interactive_timeout_callback(gui_app.pop_widget)
 
-  driver_camera_view = DriverCameraDialog()
+
+if __name__ == "__main__":
+  gui_app.init_window("Cabin Camera View (mici)")
+
+  cabin_camera_view = CabinCameraDialog()
+  gui_app.push_widget(cabin_camera_view)
   try:
     for _ in gui_app.render():
       ui_state.update()
-      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
-    driver_camera_view.close()
+    cabin_camera_view.close()
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/openpilot/selfdrive/ui/mici/onroad/cameraview.py
similarity index 87%
rename from selfdrive/ui/mici/onroad/cameraview.py
rename to openpilot/selfdrive/ui/mici/onroad/cameraview.py
index 89a4926ce9..8a3e2cbed5 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/openpilot/selfdrive/ui/mici/onroad/cameraview.py
@@ -2,9 +2,10 @@ import platform
 import numpy as np
 import pyray as rl
 
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget
@@ -38,7 +39,7 @@ void main() {
 """
 
 # Choose fragment shader based on platform capabilities
-if TICI:
+if COMMA_HARDWARE:
   FRAME_FRAGMENT_SHADER = """
     #version 300 es
     #extension GL_OES_EGL_image_external_essl3 : enable
@@ -110,7 +111,7 @@ class CameraView(Widget):
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
-    self._stream_type = stream_type
+    self._stream_type: VisionStreamType = stream_type
     self.available_streams: list[VisionStreamType] = []
 
     # Target stream for switching
@@ -121,11 +122,11 @@ class CameraView(Widget):
     self._texture_needs_update = True
     self.last_connection_attempt: float = 0.0
     self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
-    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not COMMA_HARDWARE else -1
     self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
     self._engaged_val = rl.ffi.new("int[1]", [1])
     self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
-    self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_DRIVER else 0])
+    self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_CABIN else 0])
 
     self.frame: VisionBuf | None = None
     self.texture_y: rl.Texture | None = None
@@ -137,8 +138,8 @@ class CameraView(Widget):
 
     self._placeholder_color: rl.Color | None = None
 
-    # Initialize EGL for zero-copy rendering on TICI
-    if TICI:
+    # Initialize EGL for zero-copy rendering on COMMA_HARDWARE
+    if COMMA_HARDWARE:
       if not init_egl():
         raise RuntimeError("Failed to initialize EGL")
 
@@ -150,16 +151,12 @@ class CameraView(Widget):
     ui_state.add_offroad_transition_callback(self._offroad_transition)
 
   def _offroad_transition(self):
-    # Reconnect if not first time going onroad
-    if ui_state.is_onroad() and self.frame is not None:
-      # Prevent old frames from showing when going onroad. Qt has a separate thread
-      # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
-      # and only clears internal buffers, not the message queue.
-      self.frame = None
-      self.available_streams.clear()
-      if self.client:
-        del self.client
-      self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+    # Drain queued SubSocket messages to prevent old frames from showing when going
+    # onroad. Qt had a separate thread which drains the VisionIpcClient SubSocket for us.
+    if self.client and self.client.is_connected():
+      while self.client.recv(timeout_ms=0) is not None:
+        pass
+    self.frame = None
 
   def _set_placeholder_color(self, color: rl.Color):
     """Set a placeholder color to be drawn when no frame is available."""
@@ -189,7 +186,7 @@ class CameraView(Widget):
     self._clear_textures()
 
     # Clean up EGL texture
-    if TICI and self.egl_texture:
+    if COMMA_HARDWARE and self.egl_texture:
       rl.unload_texture(self.egl_texture)
       self.egl_texture = None
 
@@ -223,7 +220,7 @@ class CameraView(Widget):
       [0.0, 0.0, 1.0]
     ])
 
-  def _render(self, rect: rl.Rectangle):
+  def _render(self, rect: rl.Rectangle, /):
     if self._switching:
       self._handle_switch()
 
@@ -246,8 +243,8 @@ class CameraView(Widget):
 
     transform = self._calc_frame_matrix(rect)
     src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
-    # Flip driver camera horizontally
-    if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER:
+    # Flip cabin camera horizontally
+    if self._stream_type == VisionStreamType.VISION_STREAM_CABIN:
       src_rect.width = -src_rect.width
 
     # Calculate scale
@@ -264,7 +261,7 @@ class CameraView(Widget):
     dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
     # Render with appropriate method
-    if TICI:
+    if COMMA_HARDWARE:
       self._render_egl(src_rect, dst_rect)
     else:
       self._render_textures(src_rect, dst_rect)
@@ -312,8 +309,8 @@ class CameraView(Widget):
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader
@@ -374,6 +371,7 @@ class CameraView(Widget):
       del self.client
 
     # Switch to target
+    assert self._target_client is not None and self._target_stream_type is not None
     self.client = self._target_client
     self._stream_type = self._target_stream_type
     self._texture_needs_update = True
@@ -387,12 +385,12 @@ class CameraView(Widget):
     self._initialize_textures()
 
   def _initialize_textures(self):
-      self._clear_textures()
-      if not TICI:
-        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
-          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
-        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
-          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+    self._clear_textures()
+    if not COMMA_HARDWARE:
+      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
 
   def _clear_textures(self):
     if self.texture_y and self.texture_y.id:
@@ -404,7 +402,7 @@ class CameraView(Widget):
       self.texture_uv = None
 
     # Clean up EGL resources
-    if TICI:
+    if COMMA_HARDWARE:
       for data in self.egl_images.values():
         destroy_egl_image(data)
       self.egl_images = {}
@@ -412,6 +410,6 @@ class CameraView(Widget):
 
 if __name__ == "__main__":
   gui_app.init_window("camera view")
-  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_NARROW_ROAD)
   for _ in gui_app.render():
     road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/selfdrive/ui/mici/onroad/confidence_ball.py b/openpilot/selfdrive/ui/mici/onroad/confidence_ball.py
similarity index 100%
rename from selfdrive/ui/mici/onroad/confidence_ball.py
rename to openpilot/selfdrive/ui/mici/onroad/confidence_ball.py
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/openpilot/selfdrive/ui/mici/onroad/driver_state.py
similarity index 75%
rename from selfdrive/ui/mici/onroad/driver_state.py
rename to openpilot/selfdrive/ui/mici/onroad/driver_state.py
index 356d7ac832..ad5a521518 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/openpilot/selfdrive/ui/mici/onroad/driver_state.py
@@ -1,24 +1,30 @@
 import pyray as rl
 import numpy as np
 import math
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import ui_state
 
+
 AlertSize = log.SelfdriveState.AlertSize
 
 DEBUG = False
 
+# TODO: Only left for DM preview, remove
 LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
 LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
 
+CONE_COLOR_GREEN = (0, 255, 64)
+CONE_COLOR_ORANGE = (255, 115, 0)
+
 
 class DriverStateRenderer(Widget):
   BASE_SIZE = 60
   LINES_ANGLE_INCREMENT = 5
   LINES_STALE_ANGLES = 3.0  # seconds
+  AWARENESS_UNFULL_PERCENT = 95  # ~0.5s
 
   def __init__(self, lines: bool = False, inset: bool = False):
     super().__init__()
@@ -33,11 +39,15 @@ class DriverStateRenderer(Widget):
     self._is_active = False
     self._is_rhd = False
     self._face_detected = False
+    self._face_pitch = 0.
+    self._face_yaw = 0.
     self._should_draw = False
     self._force_active = False
     self._looking_center = False
+    self._awareness_unfull = False
 
     self._fade_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    self._color_fade_filter = FirstOrderFilter(1.0, 0.05, 1 / gui_app.target_fps) # 1.0 = full green, 0.0 = full orange
     self._pitch_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
     self._yaw_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
     self._rotation_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps, initialized=False)
@@ -59,9 +69,7 @@ class DriverStateRenderer(Widget):
 
     self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size)
     self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
-    center_size = round(36 / self.BASE_SIZE * self._rect.width)
-    self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
-    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height)
+    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", int(self._rect.width), int(self._rect.height))
 
   def set_should_draw(self, should_draw: bool):
     self._should_draw = should_draw
@@ -88,16 +96,16 @@ class DriverStateRenderer(Widget):
     if DEBUG:
       rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)
 
-    rl.draw_texture(self._dm_background,
-                    int(self._rect.x),
-                    int(self._rect.y),
-                    rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_background,
+                       rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
 
-    rl.draw_texture(self._dm_person,
-                    int(self._rect.x + (self._rect.width - self._dm_person.width) / 2),
-                    int(self._rect.y + (self._rect.height - self._dm_person.height) / 2),
-                    rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
+    rl.draw_texture_ex(self._dm_person,
+                       rl.Vector2(self._rect.x + (self._rect.width - self._dm_person.width) / 2,
+                                  self._rect.y + (self._rect.height - self._dm_person.height) / 2), 0.0, 1.0,
+                       rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
+    green_amount = self._color_fade_filter.update(0.0 if self._awareness_unfull else 1.0)
     if self.effective_active:
       source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
       dest_rect = rl.Rectangle(
@@ -108,22 +116,16 @@ class DriverStateRenderer(Widget):
       )
 
       if not self._lines:
+        r = int(round(CONE_COLOR_GREEN[0] * green_amount + CONE_COLOR_ORANGE[0] * (1 - green_amount)))
+        g = int(round(CONE_COLOR_GREEN[1] * green_amount + CONE_COLOR_ORANGE[1] * (1 - green_amount)))
+        b = int(round(CONE_COLOR_GREEN[2] * green_amount + CONE_COLOR_ORANGE[2] * (1 - green_amount)))
         rl.draw_texture_pro(
           self._dm_cone,
           source_rect,
           dest_rect,
           rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
           self._rotation_filter.x - 90,
-          rl.Color(255, 255, 255, int(255 * self._fade_filter.x * (1 - self._looking_center_filter.x))),
-        )
-
-        rl.draw_texture_ex(
-          self._dm_center,
-          (int(self._rect.x + (self._rect.width - self._dm_center.width) / 2),
-           int(self._rect.y + (self._rect.height - self._dm_center.height) / 2)),
-          0,
-          1.0,
-          rl.Color(255, 255, 255, int(255 * self._fade_filter.x * self._looking_center_filter.x)),
+          rl.Color(r, g, b, int(255 * self._fade_filter.x)),
         )
 
       else:
@@ -163,9 +165,12 @@ class DriverStateRenderer(Widget):
     sm = ui_state.sm
 
     dm_state = sm["driverMonitoringState"]
-    self._is_active = dm_state.isActiveMode
+    self._is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self._is_rhd = dm_state.isRHD
-    self._face_detected = dm_state.faceDetected
+    self._face_detected = dm_state.visionPolicyState.faceDetected
+    self._awareness_unfull = self.effective_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
+    self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6)  # calib or DM pose is not accurate, add a fake upward pitch to bias forward
+    self._face_yaw = dm_state.visionPolicyState.pose.yaw * (1 if self._is_rhd else -1)  # undo sign flip in face_orientation_from_model to match UI convention
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
@@ -173,15 +178,9 @@ class DriverStateRenderer(Widget):
 
   def _update_state(self):
     # Get monitoring state
-    driver_data = self.get_driver_data()
-    driver_orient = driver_data.faceOrientation
-
-    if len(driver_orient) != 3:
-      return
-
-    pitch, yaw, roll = driver_orient
-    pitch = self._pitch_filter.update(pitch)
-    yaw = self._yaw_filter.update(yaw)
+    _ = self.get_driver_data()
+    pitch = self._pitch_filter.update(self._face_pitch)
+    yaw = self._yaw_filter.update(self._face_yaw)
 
     # hysteresis on looking center
     if abs(pitch) < LOOKING_CENTER_THRESHOLD_LOWER and abs(yaw) < LOOKING_CENTER_THRESHOLD_LOWER:
@@ -193,7 +192,6 @@ class DriverStateRenderer(Widget):
     if DEBUG:
       pitchd = math.degrees(pitch)
       yawd = math.degrees(yaw)
-      rolld = math.degrees(roll)
 
       rl.draw_line_ex((0, 100), (200, 100), 3, rl.RED)
       rl.draw_line_ex((0, 120), (200, 120), 3, rl.RED)
@@ -201,13 +199,11 @@ class DriverStateRenderer(Widget):
 
       pitch_x = 100 + pitchd
       yaw_x = 100 + yawd
-      roll_x = 100 + rolld
       rl.draw_circle(int(pitch_x), 100, 5, rl.GREEN)
       rl.draw_circle(int(yaw_x), 120, 5, rl.GREEN)
-      rl.draw_circle(int(roll_x), 140, 5, rl.GREEN)
 
     # filter head rotation, handling wrap-around
-    rotation = math.degrees(math.atan2(pitch, yaw))
+    rotation = math.degrees(math.atan2(pitch * 2, yaw))  # reduce yaw sensitivity
     angle_diff = rotation - self._rotation_filter.x
     angle_diff = ((angle_diff + 180) % 360) - 180
     self._rotation_filter.update(self._rotation_filter.x + angle_diff)
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
similarity index 77%
rename from selfdrive/ui/mici/onroad/hud_renderer.py
rename to openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
index 659d13fad7..2d1f954122 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -1,3 +1,4 @@
+import math
 import pyray as rl
 from dataclasses import dataclass
 from openpilot.common.constants import CV
@@ -8,7 +9,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 from openpilot.common.filter_simple import FirstOrderFilter
-from cereal import log
+from openpilot.cereal import log
 
 EventName = log.OnroadEvent.EventName
 
@@ -50,7 +51,7 @@ class TurnIntent(Widget):
     self._turn_intent_rotation_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
 
     self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20)
-    self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_right.png', 50, 20)
+    self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20, flip_x=True)
 
   def _render(self, _):
     if self._turn_intent_alpha_filter.x > 1e-2:
@@ -106,6 +107,8 @@ class HudRenderer(Widget):
     self.speed: float = 0.0
     self.v_ego_cluster_seen: bool = False
     self._engaged: bool = False
+    self._small_model_engaged: bool = False
+    self._egpu_fade_time: float = 0
 
     self._can_draw_top_icons = True
     self._show_wheel_critical = False
@@ -120,12 +123,18 @@ class HudRenderer(Widget):
 
     self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
     self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
-    self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 44, 44)
+    self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 9, 44)
+    self._txt_egpu: rl.Texture = gui_app.texture('icons_mici/egpu.png', 60, 44)
+    self._txt_egpu_green: rl.Texture = gui_app.texture('icons_mici/egpu_green.png', 60, 44)
+    self._txt_egpu_orange: rl.Texture = gui_app.texture('icons_mici/egpu_orange.png', 60, 44)
+    self._txt_egpu_crossed: rl.Texture = gui_app.texture('icons_mici/egpu_crossed.png', 60, 52)
+    self._egpu_icon: rl.Texture | None = None
 
     self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
     self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
 
     self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._egpu_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
   def set_wheel_critical_icon(self, critical: bool):
     """Set the wheel icon to critical or normal state."""
@@ -153,9 +162,14 @@ class HudRenderer(Widget):
 
     v_cruise_cluster = car_state.vCruiseCluster
     set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     engaged = sm['selfdriveState'].enabled
+    if (engaged and not self._engaged and not ui_state.usbgpu_loading and ui_state.usbgpu_active is not True and
+        ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame):
+      self._small_model_engaged = True
+    if engaged != self._engaged:
+      self._egpu_fade_time = rl.get_time() if engaged else 0
     if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
       self._set_speed_changed_time = rl.get_time()
     self._engaged = engaged
@@ -172,14 +186,51 @@ class HudRenderer(Widget):
   def _render(self, rect: rl.Rectangle) -> None:
     """Render HUD elements to the screen."""
 
-    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
-      self._torque_bar.render(rect)
+    self._torque_bar.render(rect)
 
     if self.is_cruise_set:
       self._draw_set_speed(rect)
 
+    if ui_state.usbgpu and ui_state.usbgpu_compiled:
+      self._draw_model_source(rect)
+
     self._draw_steering_wheel(rect)
 
+  def _draw_model_source(self, rect: rl.Rectangle) -> None:
+    if ui_state.sm.recv_frame['selfdriveState'] < ui_state.started_frame:
+      return
+
+    big_failed = (ui_state.usbgpu_active is False or not ui_state.sm['deviceState'].chestnutPresent or
+                  (ui_state.usbgpu_active is True and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame and
+                   not ui_state.sm.alive['modelV2']) or
+                  (ui_state.usbgpu_active is None and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame))
+    self._small_model_engaged &= big_failed
+    loading = ui_state.usbgpu_loading or (ui_state.usbgpu_active is None and not big_failed)
+    if loading:
+      pulse = 0.5 - 0.5 * math.cos(rl.get_time() * 6.0)
+      icon = self._txt_egpu
+      opacity = 0.35 + 0.65 * pulse
+    elif self._small_model_engaged:
+      icon = self._txt_egpu_crossed
+      opacity = 0.65
+    elif big_failed:
+      icon = self._txt_egpu_orange
+      opacity = 1.0
+    else:
+      icon = self._txt_egpu_green
+      opacity = 1.0
+
+    if icon is not self._egpu_icon:
+      self._egpu_fade_time = rl.get_time()
+      self._egpu_icon = icon
+    alpha = self._egpu_alpha_filter.update(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE)
+    if alpha < 1e-2:
+      return
+
+    pos = rl.Vector2(rect.x + rect.width - 10 - icon.width,
+                     rect.y + rect.height - 14 - (self._txt_wheel.height + icon.height) / 2)
+    rl.draw_texture_ex(icon, pos, 0.0, 1.0, rl.Color(255, 255, 255, int(255 * opacity * alpha)))
+
   def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
     wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
 
@@ -222,7 +273,7 @@ class HudRenderer(Widget):
       EXCLAMATION_POINT_SPACING = 10
       exclamation_pos_x = pos_x - self._txt_exclamation_point.width / 2 + wheel_txt.width / 2 + EXCLAMATION_POINT_SPACING
       exclamation_pos_y = pos_y - self._txt_exclamation_point.height / 2
-      rl.draw_texture(self._txt_exclamation_point, int(exclamation_pos_x), int(exclamation_pos_y), rl.WHITE)
+      rl.draw_texture_ex(self._txt_exclamation_point, rl.Vector2(exclamation_pos_x, exclamation_pos_y), 0.0, 1.0, rl.WHITE)
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""
@@ -236,7 +287,7 @@ class HudRenderer(Widget):
 
     # draw drop shadow
     circle_radius = 162 // 2
-    rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
+    rl.draw_circle_gradient(rl.Vector2(x + circle_radius, y + circle_radius), circle_radius,
                             rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
 
     set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
similarity index 91%
rename from selfdrive/ui/mici/onroad/model_renderer.py
rename to openpilot/selfdrive/ui/mici/onroad/model_renderer.py
index ca051c6d94..805bdcc335 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
@@ -1,7 +1,8 @@
 import colorsys
 import numpy as np
 import pyray as rl
-from cereal import messaging, car
+from openpilot.cereal import messaging
+from opendbc.car.structs import car
 from dataclasses import dataclass, field
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -46,8 +47,8 @@ class ModelPoints:
 
 @dataclass
 class LeadVehicle:
-  glow: list[float] = field(default_factory=list)
-  chevron: list[float] = field(default_factory=list)
+  glow: list[tuple[float, float]] = field(default_factory=list)
+  chevron: list[tuple[float, float]] = field(default_factory=list)
   fill_alpha: int = 0
 
 
@@ -76,7 +77,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
     self._ll_color_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
-    # Transform matrix (3x3 for car space to screen space)
+    # 3x3 car space -> rect-origin space (draw methods add rect.x/y)
     self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
     self._transform_dirty = True
     self._clip_region = None
@@ -110,7 +111,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
 
     # Check if data is up-to-date
-    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
+    if (sm.recv_frame["extrinsicsCalibration"] < ui_state.started_frame or
         sm.recv_frame["modelV2"] < ui_state.started_frame):
       return
 
@@ -122,8 +123,8 @@ class ModelRenderer(Widget, ModelRendererSP):
     # Update state
     self._experimental_mode = sm['selfdriveState'].experimentalMode
 
-    live_calib = sm['liveCalibration']
-    self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
+    extrinsics_calibration = sm['extrinsicsCalibration']
+    self._path_offset_z = extrinsics_calibration.height[0] if extrinsics_calibration.height else HEIGHT_INIT[0]
 
     if sm.updated['carParams']:
       self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
@@ -176,7 +177,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     leads = [radar_state.leadOne, radar_state.leadTwo]
 
     for i, lead_data in enumerate(leads):
-      if lead_data and lead_data.status:
+      if lead_data and lead_data.present:
         d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
         idx = self._get_path_length_idx(path_x_array, d_rel)
 
@@ -205,7 +206,7 @@ class ModelRenderer(Widget, ModelRendererSP):
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
 
     # Update path using raw points
-    if lead and lead.status:
+    if lead and lead.present:
       lead_d = lead.dRel * 2.0
       max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
 
@@ -232,7 +233,8 @@ class ModelRenderer(Widget, ModelRendererSP):
     if not self._experimental_mode:
       return
 
-    max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
+    path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
+    max_len = min(len(path_pts) // 2, len(self._acceleration_x))
 
     segment_colors = []
     gradient_stops = []
@@ -240,7 +242,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     i = 0
     while i < max_len:
       # Some points (screen space) are out of frame (rect space)
-      track_y = self._path.projected_points[i][1]
+      track_y = path_pts[i][1]
       if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
         i += 1
         continue
@@ -316,14 +318,15 @@ class ModelRenderer(Widget, ModelRendererSP):
     return color
 
   def _draw_lane_lines(self):
-    """Draw lane lines and road edges"""
-    """Two closest lines should be green (lane line or road edges)"""
+    """Draw lane lines and road edges. Two closest lines should be green (lane line or road edges)."""
+    offset = np.array([self._rect.x, self._rect.y], dtype=np.float32)
+
     for i, lane_line in enumerate(self._lane_lines):
       if lane_line.projected_points.size == 0:
         continue
 
       color = self._get_ll_color(float(self._lane_line_probs[i]), i in (1, 2), i in (0, 1))
-      draw_polygon(self._rect, lane_line.projected_points, color)
+      draw_polygon(self._rect, lane_line.projected_points + offset, color)
 
     for i, road_edge in enumerate(self._road_edges):
       if road_edge.projected_points.size == 0:
@@ -331,7 +334,7 @@ class ModelRenderer(Widget, ModelRendererSP):
 
       # if closest lane lines are not confident, make road edges green
       color = self._get_ll_color(float(1.0 - self._road_edge_stds[i]), float(self._lane_line_probs[i + 1]) < 0.25, i == 0)
-      draw_polygon(self._rect, road_edge.projected_points, color)
+      draw_polygon(self._rect, road_edge.projected_points + offset, color)
 
   def _draw_path(self, sm):
     """Draw path with dynamic coloring based on mode and throttle state."""
@@ -345,14 +348,16 @@ class ModelRenderer(Widget, ModelRendererSP):
       self.rainbow_path.draw_rainbow_path(self._rect, self._path)
       return
 
+    path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
+
     if self._experimental_mode:
       # Draw with acceleration coloring
       if ui_state.status == UIStatus.DISENGAGED:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+        draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
       elif len(self._exp_gradient.colors) > 1:
-        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
+        draw_polygon(self._rect, path_pts, gradient=self._exp_gradient)
       else:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
+        draw_polygon(self._rect, path_pts, rl.Color(255, 255, 255, 30))
     else:
       # Blend throttle/no throttle colors based on transition
       blend_factor = round(self._blend_filter.x * 100) / 100
@@ -365,9 +370,9 @@ class ModelRenderer(Widget, ModelRendererSP):
       )
 
       if ui_state.status == UIStatus.DISENGAGED:
-        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+        draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
       else:
-        draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
+        draw_polygon(self._rect, path_pts, gradient=gradient)
 
   def _draw_lead_indicator(self):
     # Draw lead vehicles if available
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/openpilot/selfdrive/ui/mici/onroad/torque_bar.py
similarity index 84%
rename from selfdrive/ui/mici/onroad/torque_bar.py
rename to openpilot/selfdrive/ui/mici/onroad/torque_bar.py
index c1de694633..c4ccafa0a3 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/openpilot/selfdrive/ui/mici/onroad/torque_bar.py
@@ -23,9 +23,9 @@ def quantized_lru_cache(maxsize=128):
   def decorator(func):
     cache = OrderedDict()
     @wraps(func)
-    def wrapper(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs):
+    def wrapper(r_mid, thickness, a0_deg, a1_deg, **kwargs):
       # Quantize inputs: balanced for smoothness vs cache effectiveness
-      key = (round(cx), round(cy), round(r_mid),
+      key = (round(r_mid),
              round(thickness),           # 1px precision for smoother height transitions
              round(a0_deg * 10) / 10,    # 0.1° precision for smoother angle transitions
              round(a1_deg * 10) / 10,
@@ -37,7 +37,7 @@ def quantized_lru_cache(maxsize=128):
         if len(cache) >= maxsize:
           cache.popitem(last=False)
 
-        result = func(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs)
+        result = func(r_mid, thickness, a0_deg, a1_deg, **kwargs)
         cache[key] = result
       return cache[key]
     return wrapper
@@ -45,12 +45,11 @@ def quantized_lru_cache(maxsize=128):
 
 
 @quantized_lru_cache(maxsize=256)
-def arc_bar_pts(cx: float, cy: float,
-                r_mid: float, thickness: float,
+def arc_bar_pts(r_mid: float, thickness: float,
                 a0_deg: float, a1_deg: float,
                 *, max_points: int = 100, cap_segs: int = 10,
                 cap_radius: float = 7, px_per_seg: float = 2.0) -> np.ndarray:
-  """Return Nx2 np.float32 points for a single closed polygon (rounded thick arc)."""
+  """Return Nx2 np.float32 points for a single closed polygon (rounded thick arc), centered at origin."""
 
   def get_cap(left: bool, a_deg: float):
     # end cap at a1: center (a1), sweep a1→a1+180 (skip endpoints to avoid dupes)
@@ -59,7 +58,7 @@ def arc_bar_pts(cx: float, cy: float,
     nx, ny = math.cos(math.radians(a_deg)), math.sin(math.radians(a_deg))  # outward normal
     tx, ty = -ny, nx  # tangent (CCW)
 
-    mx, my = cx + nx * r_mid, cy + ny * r_mid  # mid-point at a1
+    mx, my = nx * r_mid, ny * r_mid  # mid-point at a1
     if DEBUG:
       rl.draw_circle(int(mx), int(my), 4, rl.PURPLE)
 
@@ -114,16 +113,16 @@ def arc_bar_pts(cx: float, cy: float,
 
   # outer arc a0→a1
   ang_o = np.deg2rad(np.linspace(a0_deg, a1_deg, arc_segs + 1))
-  outer = np.c_[cx + np.cos(ang_o) * (r_mid + half),
-                cy + np.sin(ang_o) * (r_mid + half)]
+  outer = np.c_[np.cos(ang_o) * (r_mid + half),
+                np.sin(ang_o) * (r_mid + half)]
 
   # end cap at a1
   cap_end = get_cap(False, a1_deg)
 
   # inner arc a1→a0
   ang_i = np.deg2rad(np.linspace(a1_deg, a0_deg, arc_segs + 1))
-  inner = np.c_[cx + np.cos(ang_i) * (r_mid - half),
-                cy + np.sin(ang_i) * (r_mid - half)]
+  inner = np.c_[np.cos(ang_i) * (r_mid - half),
+                np.sin(ang_i) * (r_mid - half)]
 
   # start cap at a0
   cap_start = get_cap(True, a0_deg)
@@ -145,6 +144,9 @@ def arc_bar_pts(cx: float, cy: float,
   return pts
 
 
+DEFAULT_MAX_LAT_ACCEL = 3.0  # m/s^2
+
+
 class TorqueBar(Widget):
   def __init__(self, demo: bool = False, scale: float = 1.0, always: bool = False):
     super().__init__()
@@ -163,20 +165,27 @@ class TorqueBar(Widget):
       return
 
     # torque line
-    if ui_state.sm['controlsState'].lateralControlState.which() == 'angleState':
+    if ui_state.sm['controlsState'].lateralControlState.which() in ('angleState', 'curvatureState'):
       controls_state = ui_state.sm['controlsState']
       car_state = ui_state.sm['carState']
-      live_parameters = ui_state.sm['liveParameters']
-      lateral_acceleration = controls_state.curvature * car_state.vEgo ** 2 - live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY
-      # TODO: pull from carparams
-      max_lateral_acceleration = 3
+      vehicle_parameters = ui_state.sm['vehicleParameters']
+      car_control = ui_state.sm['carControl']
 
-      # from selfdrived
+      # Include lateral accel error in estimated torque utilization
       actual_lateral_accel = controls_state.curvature * car_state.vEgo ** 2
       desired_lateral_accel = controls_state.desiredCurvature * car_state.vEgo ** 2
       accel_diff = (desired_lateral_accel - actual_lateral_accel)
 
-      self._torque_filter.update(min(max(lateral_acceleration / max_lateral_acceleration + accel_diff, -1), 1))
+      # Include road roll in estimated torque utilization
+      # Roll is less accurate near standstill, so reduce its effect at low speed
+      roll_compensation = vehicle_parameters.roll * ACCELERATION_DUE_TO_GRAVITY * np.interp(car_state.vEgo, [5, 15], [0.0, 1.0])
+      lateral_acceleration = actual_lateral_accel - roll_compensation
+      max_lateral_acceleration = ui_state.CP.maxLateralAccel if ui_state.CP else DEFAULT_MAX_LAT_ACCEL
+
+      if not car_control.latActive:
+        self._torque_filter.update(0.0)
+      else:
+        self._torque_filter.update(np.clip((lateral_acceleration + accel_diff) / max_lateral_acceleration, -1, 1))
     else:
       self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
 
@@ -207,15 +216,16 @@ class TorqueBar(Widget):
 
     cx = rect.x + rect.width / 2 + 8  # offset 8px to right of camera feed
     cy = rect.y + rect.height + torque_line_radius - torque_line_offset
+    offset = np.array([cx, cy], dtype=np.float32)
 
     # draw bg torque indicator line
-    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle, cap_radius=7 * self._scale)
+    bg_pts = arc_bar_pts(mid_r, torque_line_height, torque_start_angle, torque_end_angle, cap_radius=7 * self._scale) + offset
     draw_polygon(rect, bg_pts, color=torque_line_bg_color)
 
     # draw torque indicator line
     a0s = top_angle
     a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
-    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s, cap_radius=7 * self._scale)
+    sl_pts = arc_bar_pts(mid_r, torque_line_height, a0s, a1s, cap_radius=7 * self._scale) + offset
 
     # draw beautiful gradient from center to 65% of the bg torque bar width
     start_grad_pt = cx / rect.width
diff --git a/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py b/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
new file mode 100755
index 0000000000..c0f1ac1510
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
@@ -0,0 +1,122 @@
+import gc
+import weakref
+import unittest
+
+# FIXME: known small leaks not worth worrying about at the moment
+KNOWN_LEAKS = {
+  "openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog.CabinCameraView",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.TermsPage",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.TrainingGuide",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.DeclinePage",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.OnboardingWindow",
+  "openpilot.selfdrive.ui.onroad.driver_state.DriverStateRenderer",
+  "openpilot.selfdrive.ui.onroad.cabin_camera_dialog.CabinCameraDialog",
+  "openpilot.selfdrive.ui.layouts.onboarding.TermsPage",
+  "openpilot.selfdrive.ui.layouts.onboarding.DeclinePage",
+  "openpilot.selfdrive.ui.layouts.onboarding.OnboardingWindow",
+  "openpilot.system.ui.widgets.confirm_dialog.ConfirmDialog",
+  "openpilot.system.ui.widgets.label.Label",
+  "openpilot.system.ui.widgets.button.Button",
+  "openpilot.system.ui.widgets.html_render.HtmlRenderer",
+  "openpilot.system.ui.widgets.nav_widget.NavBar",
+  "openpilot.selfdrive.ui.mici.layouts.settings.device.MiciFccModal",
+  "openpilot.system.ui.widgets.inputbox.InputBox",
+  "openpilot.system.ui.widgets.scroller_tici.Scroller",
+  "openpilot.system.ui.widgets.label.UnifiedLabel",
+  "openpilot.system.ui.widgets.mici_keyboard.MiciKeyboard",
+  "openpilot.selfdrive.ui.mici.widgets.dialog.BigConfirmationDialog",
+  "openpilot.system.ui.widgets.keyboard.Keyboard",
+  "openpilot.system.ui.widgets.slider.BigSlider",
+  "openpilot.selfdrive.ui.mici.widgets.dialog.BigInputDialog",
+  "openpilot.system.ui.widgets.option_dialog.MultiOptionDialog",
+}
+
+
+def get_child_widgets(widget) -> list:
+  from openpilot.system.ui.widgets import Widget
+  children = []
+  for val in widget.__dict__.values():
+    items = val if isinstance(val, (list, tuple)) else (val,)
+    children.extend(w for w in items if isinstance(w, Widget))
+  return children
+
+
+from openpilot.common.test import OpenpilotTestCase
+class TestWidgetLeaks(OpenpilotTestCase):
+  @unittest.skip("segfaults")
+  def test_dialogs_do_not_leak(self):
+    import pyray as rl
+    rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+    from openpilot.system.ui.lib.application import gui_app
+
+    # mici dialogs
+    from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
+    from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import CabinCameraDialog as MiciCabinCameraDialog
+    from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
+    from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
+    from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
+
+    # tici dialogs
+    from openpilot.selfdrive.ui.onroad.cabin_camera_dialog import CabinCameraDialog as TiciCabinCameraDialog
+    from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
+    from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
+    from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+    from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+    from openpilot.system.ui.widgets.html_render import HtmlModal
+    from openpilot.system.ui.widgets.keyboard import Keyboard
+
+    gui_app.init_window("ref-test")
+
+    leaked_widgets = set()
+
+    for ctor in (
+      # mici
+      MiciCabinCameraDialog, MiciPairingDialog,
+      lambda: MiciTrainingGuide(lambda: None),
+      lambda: MiciOnboardingWindow(lambda: None),
+      lambda: BigDialog("test", "test"),
+      lambda: BigConfirmationDialog("test", gui_app.texture("icons_mici/settings/network/new/trash.png", 54, 64), lambda: None),
+      lambda: BigInputDialog("test"),
+      lambda: MiciFccModal(text="test"),
+      # tici
+      TiciCabinCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
+      lambda: ConfirmDialog("test", "ok"),
+      lambda: MultiOptionDialog("test", ["a", "b"]),
+      lambda: HtmlModal(text="test"),
+    ):
+      widget = ctor()
+      all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]]
+
+      del widget
+
+      for ref in all_refs:
+        if ref() is not None:
+          obj = ref()
+          name = f"{type(obj).__module__}.{type(obj).__qualname__}"
+          leaked_widgets.add(name)
+
+          print(f"\n===  Widget {name} alive after del")
+          print("  Referrers:")
+          for r in gc.get_referrers(obj):
+            if r is obj:
+              continue
+
+            if hasattr(r, '__self__') and r.__self__ is not obj:
+              print(f"    bound method: {type(r.__self__).__qualname__}.{r.__name__}")
+            elif hasattr(r, '__func__'):
+              print(f"    method: {r.__name__}")
+            else:
+              print(f"    {type(r).__module__}.{type(r).__qualname__}")
+          del obj
+
+    gui_app.close()
+
+    unexpected = leaked_widgets - KNOWN_LEAKS
+    assert not unexpected, f"New leaked widgets: {unexpected}"
+
+    fixed = KNOWN_LEAKS - leaked_widgets
+    assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}"
+
+
+if __name__ == "__main__":
+  TestWidgetLeaks().test_dialogs_do_not_leak()
diff --git a/selfdrive/ui/mici/widgets/button.py b/openpilot/selfdrive/ui/mici/widgets/button.py
similarity index 66%
rename from selfdrive/ui/mici/widgets/button.py
rename to openpilot/selfdrive/ui/mici/widgets/button.py
index 29844ccda1..0ecda6a0c5 100644
--- a/selfdrive/ui/mici/widgets/button.py
+++ b/openpilot/selfdrive/ui/mici/widgets/button.py
@@ -1,5 +1,6 @@
+import math
 import pyray as rl
-from typing import Union
+from typing import TYPE_CHECKING, Union
 from enum import Enum
 from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
@@ -8,16 +9,16 @@ from openpilot.system.ui.widgets.scroller import DO_ZOOM
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.common.filter_simple import BounceFilter
 
-try:
+if TYPE_CHECKING:
   from openpilot.common.params import Params
-except ImportError:
-  Params = None
+else:
+  try:
+    from openpilot.common.params import Params
+  except (ImportError, OSError):
+    Params = None
 
-SCROLLING_SPEED_PX_S = 50
 COMPLICATION_SIZE    = 36
 LABEL_COLOR          = rl.Color(255, 255, 255, int(255 * 0.9))
-LABEL_HORIZONTAL_PADDING = 40
-LABEL_VERTICAL_PADDING = 23  # visually matches 30 in figma
 COMPLICATION_GREY    = rl.Color(0xAA, 0xAA, 0xAA, 255)
 PRESSED_SCALE = 1.15 if DO_ZOOM else 1.07
 
@@ -29,32 +30,29 @@ class ScrollState(Enum):
 
 
 class BigCircleButton(Widget):
-  def __init__(self, icon: str, red: bool = False, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)):
+  def __init__(self, icon: rl.Texture, red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
     super().__init__()
     self._red = red
     self._icon_offset = icon_offset
 
     # State
     self.set_rect(rl.Rectangle(0, 0, 180, 180))
-    self._press_state_enabled = True
     self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._click_delay = 0.075
 
     # Icons
-    self._txt_icon = gui_app.texture(icon, *icon_size)
+    self._txt_icon = icon
     self._txt_btn_disabled_bg = gui_app.texture("icons_mici/buttons/button_circle_disabled.png", 180, 180)
 
     self._txt_btn_bg = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
-    self._txt_btn_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_hover.png", 180, 180)
+    self._txt_btn_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_pressed.png", 180, 180)
 
     self._txt_btn_red_bg = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
-    self._txt_btn_red_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_red_hover.png", 180, 180)
-
-  def set_enable_pressed_state(self, pressed: bool):
-    self._press_state_enabled = pressed
+    self._txt_btn_red_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_red_pressed.png", 180, 180)
 
   def _draw_content(self, btn_y: float):
     # draw icon
-    icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
+    icon_color = rl.Color(255, 255, 255, int(255 * 0.9)) if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
     rl.draw_texture_ex(self._txt_icon, (self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0],
                                         btn_y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), 0, 1.0, icon_color)
 
@@ -63,10 +61,10 @@ class BigCircleButton(Widget):
     txt_bg = self._txt_btn_bg if not self._red else self._txt_btn_red_bg
     if not self.enabled:
       txt_bg = self._txt_btn_disabled_bg
-    elif self.is_pressed and self._press_state_enabled:
+    elif self.is_pressed:
       txt_bg = self._txt_btn_pressed_bg if not self._red else self._txt_btn_red_pressed_bg
 
-    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed and self._press_state_enabled else 1.0)
+    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0)
     btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2
     btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
     rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
@@ -75,8 +73,8 @@ class BigCircleButton(Widget):
 
 
 class BigCircleToggle(BigCircleButton):
-  def __init__(self, icon: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)):
-    super().__init__(icon, False, icon_size=icon_size, icon_offset=icon_offset)
+  def __init__(self, icon: rl.Texture, toggle_callback: Callable | None = None, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, False, icon_offset=icon_offset)
     self._toggle_callback = toggle_callback
 
     # State
@@ -106,19 +104,23 @@ class BigCircleToggle(BigCircleButton):
 
 
 class BigButton(Widget):
+  LABEL_HORIZONTAL_PADDING = 40
+  LABEL_VERTICAL_PADDING = 23  # visually matches 30 in figma
+
   """A lightweight stand-in for the Qt BigButton, drawn & updated each frame."""
 
-  def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64),
-               scroll: bool = False):
+  def __init__(self, text: str, value: str = "", icon: Union[rl.Texture, None] = None, scroll: bool = False):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, 402, 180))
     self.text = text
     self.value = value
-    self._icon_size = icon_size
+    self._txt_icon = icon
     self._scroll = scroll
-    self.set_icon(icon)
 
     self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._click_delay = 0.075
+    self._shake_start: float | None = None
+    self._grow_animation_until: float | None = None
 
     self._rotate_icon_t: float | None = None
 
@@ -131,8 +133,8 @@ class BigButton(Widget):
 
     self._load_images()
 
-  def set_icon(self, icon: Union[str, rl.Texture]):
-    self._txt_icon = gui_app.texture(icon, *self._icon_size) if isinstance(icon, str) and len(icon) else icon
+  def set_icon(self, icon: Union[rl.Texture, None]):
+    self._txt_icon = icon
 
   def set_rotate_icon(self, rotate: bool):
     if rotate and self._rotate_icon_t is not None:
@@ -143,12 +145,14 @@ class BigButton(Widget):
     self._txt_default_bg = gui_app.texture("icons_mici/buttons/button_rectangle.png", 402, 180)
     self._txt_pressed_bg = gui_app.texture("icons_mici/buttons/button_rectangle_pressed.png", 402, 180)
     self._txt_disabled_bg = gui_app.texture("icons_mici/buttons/button_rectangle_disabled.png", 402, 180)
-    self._txt_hover_bg = gui_app.texture("icons_mici/buttons/button_rectangle_hover.png", 402, 180)
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)
 
   def _width_hint(self) -> int:
     # Single line if scrolling, so hide behind icon if exists
-    icon_size = self._icon_size[0] if self._txt_icon and self._scroll and self.value else 0
-    return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - icon_size)
+    icon_size = self._txt_icon.width if self._txt_icon and self._scroll and self.value else 0
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)
 
   def _get_label_font_size(self):
     if len(self.text) <= 18:
@@ -179,20 +183,59 @@ class BigButton(Widget):
   def get_text(self):
     return self.text
 
+  def trigger_shake(self):
+    self._shake_start = rl.get_time()
+
+  def trigger_grow_animation(self, duration: float = 0.65):
+    self._grow_animation_until = rl.get_time() + duration
+
+  @property
+  def _shake_offset(self) -> float:
+    SHAKE_DURATION = 0.5
+    SHAKE_AMPLITUDE = 24.0
+    SHAKE_FREQUENCY = 32.0
+    if self._shake_start is None:
+      return 0.0
+    t = rl.get_time() - self._shake_start
+    if t > SHAKE_DURATION:
+      return 0.0
+    decay = 1.0 - t / SHAKE_DURATION
+    return decay * SHAKE_AMPLITUDE * math.sin(t * SHAKE_FREQUENCY)
+
+  def set_position(self, x: float, y: float) -> None:
+    super().set_position(x + self._shake_offset, y)
+
+  def _handle_background(self) -> tuple[rl.Texture, float, float, float]:
+    if self._grow_animation_until is not None:
+      if rl.get_time() >= self._grow_animation_until:
+        self._grow_animation_until = None
+
+    # draw _txt_default_bg
+    txt_bg = self._txt_default_bg
+    if not self.enabled:
+      txt_bg = self._txt_disabled_bg
+    elif self.is_pressed:
+      txt_bg = self._txt_pressed_bg
+
+    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed or self._grow_animation_until is not None else 1.0)
+    btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2
+    btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
+    return txt_bg, btn_x, btn_y, scale
+
   def _draw_content(self, btn_y: float):
     # LABEL ------------------------------------------------------------------
-    label_x = self._rect.x + LABEL_HORIZONTAL_PADDING
+    label_x = self._rect.x + self.LABEL_HORIZONTAL_PADDING
 
     label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
     self._label.set_color(label_color)
-    label_rect = rl.Rectangle(label_x, btn_y + LABEL_VERTICAL_PADDING, self._width_hint(),
-                              self._rect.height - LABEL_VERTICAL_PADDING * 2)
+    label_rect = rl.Rectangle(label_x, btn_y + self.LABEL_VERTICAL_PADDING, self._width_hint(),
+                              self._rect.height - self.LABEL_VERTICAL_PADDING * 2)
     self._label.render(label_rect)
 
     if self.value:
-      label_y = btn_y + self._rect.height - LABEL_VERTICAL_PADDING
-      sub_label_height = self._sub_label.get_content_height(self._width_hint())
-      sub_label_rect = rl.Rectangle(label_x, label_y - sub_label_height, self._width_hint(), sub_label_height)
+      label_y = btn_y + self.LABEL_VERTICAL_PADDING + self._label.get_content_height(self._width_hint())
+      sub_label_height = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING - label_y
+      sub_label_rect = rl.Rectangle(label_x, label_y, self._width_hint(), sub_label_height)
       self._sub_label.render(sub_label_rect)
 
     # ICON -------------------------------------------------------------------
@@ -207,22 +250,21 @@ class BigButton(Widget):
       source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height)
       dest_rec = rl.Rectangle(x, y, self._txt_icon.width, self._txt_icon.height)
       origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2)
-      rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.WHITE)
+      rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.Color(255, 255, 255, int(255 * 0.9)))
 
   def _render(self, _):
-    # draw _txt_default_bg
-    txt_bg = self._txt_default_bg
-    if not self.enabled:
-      txt_bg = self._txt_disabled_bg
-    elif self.is_pressed:
-      txt_bg = self._txt_hover_bg
+    txt_bg, btn_x, btn_y, scale = self._handle_background()
 
-    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0)
-    btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2
-    btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
-    rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
+    if self._scroll:
+      # draw black background since images are transparent
+      scaled_rect = rl.Rectangle(btn_x, btn_y, self._rect.width * scale, self._rect.height * scale)
+      rl.draw_rectangle_rounded(scaled_rect, 0.4, 7, rl.Color(0, 0, 0, int(255 * 0.5)))
 
-    self._draw_content(btn_y)
+      self._draw_content(btn_y)
+      rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
+    else:
+      rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
+      self._draw_content(btn_y)
 
 
 class BigToggle(BigButton):
@@ -271,7 +313,7 @@ class BigMultiToggle(BigToggle):
     self.set_value(self._options[0])
 
   def _width_hint(self) -> int:
-    return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width)
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width)
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
@@ -295,9 +337,47 @@ class BigMultiToggle(BigToggle):
       y += 35
 
 
+class GreyBigButton(BigButton):
+  """Users should manage newlines with this class themselves"""
+
+  LABEL_HORIZONTAL_PADDING = 30
+
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.set_touch_valid_callback(lambda: False)
+
+    self._rect.width = 476
+
+    self._label.set_font_size(36)
+    self._label.set_font_weight(FontWeight.BOLD)
+    self._label.set_line_height(1.0)
+
+    self._sub_label.set_font_size(36)
+    self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
+    self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
+    self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
+                                           rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._sub_label.set_line_height(0.95)
+
+  @property
+  def LABEL_VERTICAL_PADDING(self):
+    return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
+
+  def _width_hint(self) -> int:
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
+
+  def _get_label_font_size(self):
+    return 36
+
+  def _render(self, _):
+    rl.draw_rectangle_rounded(self._rect, 0.4, 10, rl.Color(255, 255, 255, int(255 * 0.15)))
+    self._draw_content(self._rect.y)
+
+
 class BigMultiParamToggle(BigMultiToggle):
   def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
                select_callback: Callable | None = None):
+    assert Params is not None
     super().__init__(text, options, toggle_callback, select_callback)
     self._param = param
 
@@ -310,11 +390,12 @@ class BigMultiParamToggle(BigMultiToggle):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     new_idx = self._options.index(self.value)
-    self._params.put_nonblocking(self._param, new_idx)
+    self._params.put(self._param, new_idx)
 
 
 class BigParamControl(BigToggle):
   def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
+    assert Params is not None
     super().__init__(text, "", toggle_callback=toggle_callback)
     self.param = param
     self.params = Params()
@@ -322,7 +403,7 @@ class BigParamControl(BigToggle):
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
-    self.params.put_bool(self.param, self._checked)
+    self.params.put_bool(self.param, self._checked, block=True)
 
   def refresh(self):
     self.set_checked(self.params.get_bool(self.param, False))
@@ -330,16 +411,17 @@ class BigParamControl(BigToggle):
 
 # TODO: param control base class
 class BigCircleParamControl(BigCircleToggle):
-  def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53),
+  def __init__(self, icon: rl.Texture, param: str, toggle_callback: Callable | None = None,
                icon_offset: tuple[int, int] = (0, 0)):
-    super().__init__(icon, toggle_callback, icon_size=icon_size, icon_offset=icon_offset)
+    assert Params is not None
+    super().__init__(icon, toggle_callback, icon_offset=icon_offset)
     self._param = param
     self.params = Params()
     self.set_checked(self.params.get_bool(self._param, False))
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
-    self.params.put_bool(self._param, self._checked)
+    self.params.put_bool(self._param, self._checked, block=True)
 
   def refresh(self):
     self.set_checked(self.params.get_bool(self._param, False))
diff --git a/openpilot/selfdrive/ui/mici/widgets/dialog.py b/openpilot/selfdrive/ui/mici/widgets/dialog.py
new file mode 100644
index 0000000000..77dfa3cb97
--- /dev/null
+++ b/openpilot/selfdrive/ui/mici/widgets/dialog.py
@@ -0,0 +1,228 @@
+import abc
+import math
+import pyray as rl
+from typing import Union
+from collections.abc import Callable
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton, GreyBigButton
+
+DEBUG = False
+
+PADDING = 20
+
+
+class BigDialogBase(NavWidget, abc.ABC):
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+
+class BigDialog(BigDialogBase):
+  def __init__(self, title: str, description: str, icon: Union[rl.Texture, None] = None):
+    super().__init__()
+    self._card = GreyBigButton(title, description, icon)
+
+  def _render(self, _):
+    self._card.render(rl.Rectangle(
+      self._rect.x + self._rect.width / 2 - self._card.rect.width / 2,
+      self._rect.y + self._rect.height / 2 - self._card.rect.height / 2,
+      self._card.rect.width,
+      self._card.rect.height,
+    ))
+
+
+class BigConfirmationDialog(BigDialogBase):
+  def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable[[], None],
+               exit_on_confirm: bool = True, red: bool = False):
+    super().__init__()
+    self._confirm_callback = confirm_callback
+    self._exit_on_confirm = exit_on_confirm
+
+    self._slider: BigSlider | RedBigSlider
+    if red:
+      self._slider = self._child(RedBigSlider(title, icon, confirm_callback=self._on_confirm))
+    else:
+      self._slider = self._child(BigSlider(title, icon, confirm_callback=self._on_confirm))
+    self._slider.set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack + NavWidget
+
+  def _on_confirm(self):
+    if self._exit_on_confirm:
+      self.dismiss(self._confirm_callback)
+    elif self._confirm_callback:
+      self._confirm_callback()
+
+  def _update_state(self):
+    super()._update_state()
+    if self.is_dismissing and not self._slider.confirmed:
+      self._slider.reset()
+
+  def _render(self, _):
+    self._slider.render(self._rect)
+
+
+class BigInputDialog(BigDialogBase):
+  BACK_TOUCH_AREA_PERCENTAGE = 0.2
+  BACKSPACE_RATE = 25  # hz
+  TEXT_INPUT_SIZE = 35
+
+  def __init__(self,
+               hint: str,
+               default_text: str = "",
+               minimum_length: int = 1,
+               confirm_callback: Callable[[str], None] | None = None,
+               auto_return_to_letters: str = ""):
+    super().__init__()
+    self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
+                                    font_weight=FontWeight.MEDIUM)
+    self._keyboard = MiciKeyboard(auto_return_to_letters=auto_return_to_letters)
+    self._keyboard.set_text(default_text)
+    self._keyboard.set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack + NavWidget
+    self._minimum_length = minimum_length
+
+    self._backspace_held_time: float | None = None
+
+    self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 42, 36)
+    self._backspace_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    self._enter_img = gui_app.texture("icons_mici/settings/keyboard/enter.png", 76, 62)
+    self._enter_disabled_img = gui_app.texture("icons_mici/settings/keyboard/enter_disabled.png", 76, 62)
+    self._enter_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    # rects for top buttons
+    self._top_left_button_rect = rl.Rectangle(0, 0, 0, 0)
+    self._top_right_button_rect = rl.Rectangle(0, 0, 0, 0)
+
+    def confirm_callback_wrapper():
+      text = self._keyboard.text()
+      self.dismiss((lambda: confirm_callback(text)) if confirm_callback else None)
+    self._confirm_callback = confirm_callback_wrapper
+
+  def _update_state(self):
+    super()._update_state()
+
+    if self.is_dismissing:
+      self._backspace_held_time = None
+      return
+
+    last_mouse_event = gui_app.last_mouse_event
+    if last_mouse_event.left_down and rl.check_collision_point_rec(last_mouse_event.pos, self._top_right_button_rect) and self._backspace_img_alpha.x > 1:
+      if self._backspace_held_time is None:
+        self._backspace_held_time = rl.get_time()
+
+      if rl.get_time() - self._backspace_held_time > 0.5:
+        if gui_app.frame % round(gui_app.target_fps / self.BACKSPACE_RATE) == 0:
+          self._keyboard.backspace()
+
+    else:
+      self._backspace_held_time = None
+
+  def _render(self, _):
+    # draw current text so far below everything. text floats left but always stays in view
+    text = self._keyboard.text()
+    candidate_char = self._keyboard.get_candidate_character()
+    text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, self.TEXT_INPUT_SIZE)
+
+    bg_block_margin = 5
+    text_x = PADDING / 2 + self._enter_img.width + PADDING
+    text_field_rect = rl.Rectangle(text_x, self._rect.y + PADDING - bg_block_margin,
+                                   self._rect.width - text_x * 2,
+                                   text_size.y)
+
+    # draw text input
+    # push text left with a gradient on left side if too long
+    if text_size.x > text_field_rect.width:
+      text_x -= text_size.x - text_field_rect.width
+
+    rl.begin_scissor_mode(int(text_field_rect.x), int(text_field_rect.y), int(text_field_rect.width), int(text_field_rect.height))
+    rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), text, rl.Vector2(text_x, text_field_rect.y), self.TEXT_INPUT_SIZE, 0, rl.WHITE)
+
+    # draw grayed out character user is hovering over
+    if candidate_char:
+      candidate_char_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), candidate_char, self.TEXT_INPUT_SIZE)
+      rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), candidate_char,
+                      rl.Vector2(min(text_x + text_size.x, text_field_rect.x + text_field_rect.width) - candidate_char_size.x, text_field_rect.y),
+                      self.TEXT_INPUT_SIZE, 0, rl.Color(255, 255, 255, 128))
+
+    rl.end_scissor_mode()
+
+    # draw gradient on left side to indicate more text
+    if text_size.x > text_field_rect.width:
+      rl.draw_rectangle_gradient_ex(rl.Rectangle(text_field_rect.x, text_field_rect.y, 80, text_field_rect.height),
+                                    rl.BLACK, rl.BLANK, rl.BLANK, rl.BLACK)
+
+    # draw cursor
+    blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2
+    if text:
+      cursor_x = min(text_x + text_size.x + 3, text_field_rect.x + text_field_rect.width)
+    else:
+      cursor_x = text_field_rect.x - 6
+    rl.draw_rectangle_rounded(rl.Rectangle(cursor_x, text_field_rect.y, 4, text_size.y),
+                              1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha)))
+
+    # draw backspace icon with nice fade
+    self._backspace_img_alpha.update(255 * bool(text))
+    if self._backspace_img_alpha.x > 1:
+      color = rl.Color(255, 255, 255, int(self._backspace_img_alpha.x))
+      rl.draw_texture_ex(self._backspace_img, rl.Vector2(self._rect.width - self._backspace_img.width - 27, self._rect.y + 14), 0.0, 1.0, color)
+
+    if not text and self._hint_label.text and not candidate_char:
+      # draw description if no text entered yet and not drawing candidate char
+      hint_rect = rl.Rectangle(text_field_rect.x, text_field_rect.y,
+                               self._rect.width - text_field_rect.x - PADDING,
+                               text_field_rect.height)
+      self._hint_label.render(hint_rect)
+
+    # TODO: move to update state
+    # make rect take up entire area so it's easier to click
+    self._top_left_button_rect = rl.Rectangle(self._rect.x, self._rect.y, text_field_rect.x, self._rect.height - self._keyboard.get_keyboard_height())
+    self._top_right_button_rect = rl.Rectangle(text_field_rect.x + text_field_rect.width, self._rect.y,
+                                               self._rect.width - (text_field_rect.x + text_field_rect.width), self._top_left_button_rect.height)
+
+    # draw enter button
+    self._enter_img_alpha.update(255 if len(text) >= self._minimum_length else 0)
+    color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x))
+    rl.draw_texture_ex(self._enter_img, rl.Vector2(self._rect.x + PADDING / 2, self._rect.y), 0.0, 1.0, color)
+    color = rl.Color(255, 255, 255, 255 - int(self._enter_img_alpha.x))
+    rl.draw_texture_ex(self._enter_disabled_img, rl.Vector2(self._rect.x + PADDING / 2, self._rect.y), 0.0, 1.0, color)
+
+    # keyboard goes over everything
+    self._keyboard.render(self._rect)
+
+    # draw debugging rect bounds
+    if DEBUG:
+      rl.draw_rectangle_lines_ex(text_field_rect, 1, rl.Color(100, 100, 100, 255))
+      rl.draw_rectangle_lines_ex(self._top_right_button_rect, 1, rl.Color(0, 255, 0, 255))
+      rl.draw_rectangle_lines_ex(self._top_left_button_rect, 1, rl.Color(0, 255, 0, 255))
+
+  def _handle_mouse_press(self, mouse_pos: MousePos):
+    super()._handle_mouse_press(mouse_pos)
+    # TODO: need to track where press was so enter and back can activate on release rather than press
+    #  or turn into icon widgets :eyes_open:
+
+    if self.is_dismissing:
+      return
+
+    # handle backspace icon click
+    if rl.check_collision_point_rec(mouse_pos, self._top_right_button_rect) and self._backspace_img_alpha.x > 254:
+      self._keyboard.backspace()
+    elif rl.check_collision_point_rec(mouse_pos, self._top_left_button_rect) and self._enter_img_alpha.x > 254:
+      # handle enter icon click
+      self._confirm_callback()
+
+
+class BigConfirmationCircleButton(BigCircleButton):
+  def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable[[], None], exit_on_confirm: bool = True,
+               red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, red, icon_offset)
+
+    def show_confirm_dialog():
+      gui_app.push_widget(BigConfirmationDialog(title, icon, confirm_callback,
+                                                exit_on_confirm=exit_on_confirm, red=red))
+
+    self.set_click_callback(show_confirm_dialog)
diff --git a/selfdrive/ui/mici/widgets/pairing_dialog.py b/openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py
similarity index 64%
rename from selfdrive/ui/mici/widgets/pairing_dialog.py
rename to openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py
index 88bab2d001..7e05bc2fa0 100644
--- a/selfdrive/ui/mici/widgets/pairing_dialog.py
+++ b/openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py
@@ -1,15 +1,14 @@
 import pyray as rl
-import qrcode
-import numpy as np
 import time
 
 from openpilot.common.api import Api
+from openpilot.common.qrcode import make_texture
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.widgets import NavWidget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets.label import MiciLabel
+from openpilot.system.ui.widgets.label import UnifiedLabel
 
 
 class PairingDialog(NavWidget):
@@ -19,14 +18,12 @@ class PairingDialog(NavWidget):
 
   def __init__(self):
     super().__init__()
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
     self._params = Params()
     self._qr_texture: rl.Texture | None = None
     self._last_qr_generation = float("-inf")
 
     self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60)
-    self._pair_label = MiciLabel("pair with comma connect", 48, font_weight=FontWeight.BOLD,
-                                 color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
+    self._pair_label = UnifiedLabel("pair with comma connect", font_size=48, font_weight=FontWeight.BOLD, line_height=0.8)
 
   def _get_pairing_url(self) -> str:
     try:
@@ -39,24 +36,9 @@ class PairingDialog(NavWidget):
 
   def _generate_qr_code(self) -> None:
     try:
-      qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
-      qr.add_data(self._get_pairing_url())
-      qr.make(fit=True)
-
-      pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
-      img_array = np.array(pil_img, dtype=np.uint8)
-
       if self._qr_texture and self._qr_texture.id != 0:
         rl.unload_texture(self._qr_texture)
-
-      rl_image = rl.Image()
-      rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
-      rl_image.width = pil_img.width
-      rl_image.height = pil_img.height
-      rl_image.mipmaps = 1
-      rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
-
-      self._qr_texture = rl.load_texture_from_image(rl_image)
+      self._qr_texture = make_texture(self._get_pairing_url(), inverted=True)
     except Exception as e:
       cloudlog.warning(f"QR code generation failed: {e}")
       self._qr_texture = None
@@ -69,24 +51,22 @@ class PairingDialog(NavWidget):
 
   def _update_state(self):
     super()._update_state()
-    if ui_state.prime_state.is_paired():
-      self._playing_dismiss_animation = True
+    if ui_state.prime_state.is_paired() and not self.is_dismissing:
+      self.dismiss()
 
-  def _render(self, rect: rl.Rectangle) -> int:
+  def _render(self, rect: rl.Rectangle):
     self._check_qr_refresh()
 
     self._render_qr_code()
 
     label_x = self._rect.x + 8 + self._rect.height + 24
-    self._pair_label.set_width(int(self._rect.width - label_x))
+    self._pair_label.set_max_width(int(self._rect.width - label_x))
     self._pair_label.set_position(label_x, self._rect.y + 16)
     self._pair_label.render()
 
     rl.draw_texture_ex(self._txt_pair, rl.Vector2(label_x, self._rect.y + self._rect.height - self._txt_pair.height - 16),
                        0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.35)))
 
-    return -1
-
   def _render_qr_code(self) -> None:
     if not self._qr_texture:
       error_font = gui_app.font(FontWeight.BOLD)
@@ -96,7 +76,7 @@ class PairingDialog(NavWidget):
       return
 
     scale = self._rect.height / self._qr_texture.height
-    pos = rl.Vector2(self._rect.x + 8, self._rect.y)
+    pos = rl.Vector2(round(self._rect.x + 8), round(self._rect.y))
     rl.draw_texture_ex(self._qr_texture, pos, 0.0, scale, rl.WHITE)
 
   def __del__(self):
@@ -107,10 +87,9 @@ class PairingDialog(NavWidget):
 if __name__ == "__main__":
   gui_app.init_window("pairing device")
   pairing = PairingDialog()
+  gui_app.push_widget(pairing)
   try:
     for _ in gui_app.render():
-      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-      if result != -1:
-        break
+      pass
   finally:
     del pairing
diff --git a/selfdrive/ui/sunnypilot/__init__.py b/openpilot/selfdrive/ui/onroad/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/__init__.py
rename to openpilot/selfdrive/ui/onroad/__init__.py
diff --git a/selfdrive/ui/onroad/alert_renderer.py b/openpilot/selfdrive/ui/onroad/alert_renderer.py
similarity index 96%
rename from selfdrive/ui/onroad/alert_renderer.py
rename to openpilot/selfdrive/ui/onroad/alert_renderer.py
index 2c21b4006e..64e9fefa9c 100644
--- a/selfdrive/ui/onroad/alert_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/alert_renderer.py
@@ -1,9 +1,9 @@
 import time
 import pyray as rl
 from dataclasses import dataclass
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -96,7 +96,7 @@ class AlertRenderer(Widget):
         return ALERT_STARTUP_PENDING
 
       # 2. Lost communication with selfdriveState after receiving it
-      if TICI and not waiting_for_startup:
+      if COMMA_HARDWARE and not waiting_for_startup:
         ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
         if ss_missing > SELFDRIVE_STATE_TIMEOUT:
           if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
@@ -118,7 +118,7 @@ class AlertRenderer(Widget):
     alert = self.get_alert(ui_state.sm)
 
     if gui_app.sunnypilot_ui():
-      ui_state.onroad_brightness_handle_alerts(ui_state.started, alert)
+      ui_state.onroad_brightness_handle_alerts(ui_state, alert)
 
     if not alert:
       return
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/onroad/augmented_road_view.py
similarity index 86%
rename from selfdrive/ui/onroad/augmented_road_view.py
rename to openpilot/selfdrive/ui/onroad/augmented_road_view.py
index 76e7b078d1..70b75d13bd 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/onroad/augmented_road_view.py
@@ -1,8 +1,7 @@
-import time
 import numpy as np
 import pyray as rl
-from cereal import log, messaging
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal import log
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer
@@ -15,14 +14,15 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCamera
 from openpilot.common.transformations.orientation import rot_from_euler
 
 if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.onroad.alert_renderer import AlertRendererSP as AlertRenderer
   from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP, AugmentedRoadViewSP
   from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
   from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
 OpState = log.SelfdriveState.OpenpilotState
-CALIBRATED = log.LiveCalibrationData.Status.calibrated
-ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
+CALIBRATED = log.ExtrinsicsCalibration.Status.calibrated
+NARROW_ROAD_CAM = VisionStreamType.VISION_STREAM_NARROW_ROAD
 WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
 DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
 
@@ -39,7 +39,7 @@ INF_POINT = np.array([1000.0, 0.0, 0.0])
 
 
 class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
-  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_NARROW_ROAD):
     CameraView.__init__(self, "camerad", stream_type)
     AugmentedRoadViewSP.__init__(self)
     self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
@@ -57,12 +57,8 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     self.alert_renderer = AlertRenderer()
     self.driver_state_renderer = DriverStateRenderer()
 
-    # debug
-    self._pm = messaging.PubMaster(['uiDebug'])
-
   def _render(self, rect):
     # Only render when system is started to avoid invalid data access
-    start_draw = time.monotonic()
     if not ui_state.started:
       return
 
@@ -89,7 +85,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     )
 
     # Render the base camera view
-    super()._render(rect)
+    super()._render(self._content_rect)
 
     # Draw all UI overlays
     self.model_renderer.render(self._content_rect)
@@ -107,11 +103,6 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     # Draw colored border based on driving state
     self._draw_border(rect)
 
-    # publish uiDebug
-    msg = messaging.new_message('uiDebug')
-    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
-    self._pm.send('uiDebug', msg)
-
   def _handle_mouse_press(self, _):
     if not self._hud_renderer.user_interacting() and self._click_callback is not None:
       self._click_callback()
@@ -134,12 +125,12 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
       if v_ego < WIDE_CAM_MAX_SPEED:
         target = WIDE_CAM
       elif v_ego > ROAD_CAM_MIN_SPEED:
-        target = ROAD_CAM
+        target = NARROW_ROAD_CAM
       else:
         # Hysteresis zone - keep current stream
         target = self.stream_type
     else:
-      target = ROAD_CAM
+      target = NARROW_ROAD_CAM
 
     if self.stream_type != target:
       self.switch_stream(target)
@@ -147,14 +138,14 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
   def _update_calibration(self):
     # Update device camera if not already set
     sm = ui_state.sm
-    if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+    if not self.device_camera and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
+      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
 
-    # Check if live calibration data is available and valid
-    if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
+    # Check if camera calibration data is available and valid
+    if not (sm.updated["extrinsicsCalibration"] and sm.valid['extrinsicsCalibration']):
       return
 
-    calib = sm['liveCalibration']
+    calib = sm['extrinsicsCalibration']
     if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
       return
 
@@ -170,7 +161,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     # Check if we can use cached matrix
     cache_key = (
-      ui_state.sm.recv_frame['liveCalibration'],
+      ui_state.sm.recv_frame['extrinsicsCalibration'],
       self._content_rect.width,
       self._content_rect.height,
       self.stream_type
@@ -181,7 +172,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     # Get camera configuration
     device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
     is_wide_camera = self.stream_type == WIDE_CAM
-    intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
+    intrinsic = device_camera.wide_road.intrinsics if is_wide_camera else device_camera.narrow_road.intrinsics
     calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
     zoom = 2.0 if is_wide_camera else 1.1
 
@@ -194,10 +185,13 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     w, h = self._content_rect.width, self._content_rect.height
     cx, cy = intrinsic[0, 2], intrinsic[1, 2]
 
+    # Ensure zoom views the whole area
+    zoom = max(zoom, w / (2 * cx), h / (2 * cy))
+
     # Calculate max allowed offsets with margins
     margin = 5
-    max_x_offset = cx * zoom - w / 2 - margin
-    max_y_offset = cy * zoom - h / 2 - margin
+    max_x_offset = max(0.0, cx * zoom - w / 2 - margin)
+    max_y_offset = max(0.0, cy * zoom - h / 2 - margin)
 
     # Calculate and clamp offsets to prevent out-of-bounds issues
     try:
@@ -237,15 +231,15 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
-  road_camera_view = AugmentedRoadView(ROAD_CAM)
+  road_camera_view = AugmentedRoadView(NARROW_ROAD_CAM)
+  gui_app.push_widget(road_camera_view)
   print("***press space to switch camera view***")
   try:
     for _ in gui_app.render():
       ui_state.update()
       if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
         if WIDE_CAM in road_camera_view.available_streams:
-          stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
+          stream = NARROW_ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
           road_camera_view.switch_stream(stream)
-      road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
     road_camera_view.close()
diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/openpilot/selfdrive/ui/onroad/cabin_camera_dialog.py
similarity index 83%
rename from selfdrive/ui/onroad/driver_camera_dialog.py
rename to openpilot/selfdrive/ui/onroad/cabin_camera_dialog.py
index f69ad8c49c..7bb1917c35 100644
--- a/selfdrive/ui/onroad/driver_camera_dialog.py
+++ b/openpilot/selfdrive/ui/onroad/cabin_camera_dialog.py
@@ -1,6 +1,6 @@
 import numpy as np
 import pyray as rl
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -9,22 +9,22 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.label import gui_label
 
 
-class DriverCameraDialog(CameraView):
+class CabinCameraDialog(CameraView):
   def __init__(self):
-    super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    super().__init__("camerad", VisionStreamType.VISION_STREAM_CABIN)
     self.driver_state_renderer = DriverStateRenderer()
     # TODO: this can grow unbounded, should be given some thought
-    device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
+    device.add_interactive_timeout_callback(gui_app.pop_widget)
+    ui_state.params.put_bool("IsDriverViewEnabled", True, block=True)
 
   def hide_event(self):
     super().hide_event()
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    ui_state.params.put_bool("IsDriverViewEnabled", False, block=True)
     self.close()
 
   def _handle_mouse_release(self, _):
     super()._handle_mouse_release(_)
-    gui_app.set_modal_overlay(None)
+    gui_app.pop_widget()
 
   def __del__(self):
     self.close()
@@ -100,12 +100,12 @@ class DriverCameraDialog(CameraView):
 
 
 if __name__ == "__main__":
-  gui_app.init_window("Driver Camera View")
+  gui_app.init_window("Cabin Camera View")
 
-  driver_camera_view = DriverCameraDialog()
+  cabin_camera_view = CabinCameraDialog()
+  gui_app.push_widget(cabin_camera_view)
   try:
     for _ in gui_app.render():
       ui_state.update()
-      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
-    driver_camera_view.close()
+    cabin_camera_view.close()
diff --git a/selfdrive/ui/onroad/cameraview.py b/openpilot/selfdrive/ui/onroad/cameraview.py
similarity index 92%
rename from selfdrive/ui/onroad/cameraview.py
rename to openpilot/selfdrive/ui/onroad/cameraview.py
index 5443948465..aa4f2271dc 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/openpilot/selfdrive/ui/onroad/cameraview.py
@@ -2,9 +2,10 @@ import platform
 import numpy as np
 import pyray as rl
 
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget
@@ -38,7 +39,7 @@ void main() {
 """
 
 # Choose fragment shader based on platform capabilities
-if TICI:
+if COMMA_HARDWARE:
   FRAME_FRAGMENT_SHADER = """
     #version 300 es
     #extension GL_OES_EGL_image_external_essl3 : enable
@@ -71,7 +72,7 @@ class CameraView(Widget):
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
-    self._stream_type = stream_type
+    self._stream_type: VisionStreamType = stream_type
     self.available_streams: list[VisionStreamType] = []
 
     # Target stream for switching
@@ -82,7 +83,7 @@ class CameraView(Widget):
     self._texture_needs_update = True
     self.last_connection_attempt: float = 0.0
     self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
-    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not COMMA_HARDWARE else -1
 
     self.frame: VisionBuf | None = None
     self.texture_y: rl.Texture | None = None
@@ -94,8 +95,8 @@ class CameraView(Widget):
 
     self._placeholder_color: rl.Color | None = None
 
-    # Initialize EGL for zero-copy rendering on TICI
-    if TICI:
+    # Initialize EGL for zero-copy rendering on COMMA_HARDWARE
+    if COMMA_HARDWARE:
       if not init_egl():
         raise RuntimeError("Failed to initialize EGL")
 
@@ -146,7 +147,7 @@ class CameraView(Widget):
     self._clear_textures()
 
     # Clean up EGL texture
-    if TICI and self.egl_texture:
+    if COMMA_HARDWARE and self.egl_texture:
       rl.unload_texture(self.egl_texture)
       self.egl_texture = None
 
@@ -202,8 +203,8 @@ class CameraView(Widget):
 
     transform = self._calc_frame_matrix(rect)
     src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
-    # Flip driver camera horizontally
-    if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER:
+    # Flip cabin camera horizontally
+    if self._stream_type == VisionStreamType.VISION_STREAM_CABIN:
       src_rect.width = -src_rect.width
 
     # Calculate scale
@@ -220,7 +221,7 @@ class CameraView(Widget):
     dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
     # Render with appropriate method
-    if TICI:
+    if COMMA_HARDWARE:
       self._render_egl(src_rect, dst_rect)
     else:
       self._render_textures(src_rect, dst_rect)
@@ -267,8 +268,8 @@ class CameraView(Widget):
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader
@@ -323,6 +324,7 @@ class CameraView(Widget):
       del self.client
 
     # Switch to target
+    assert self._target_client is not None and self._target_stream_type is not None
     self.client = self._target_client
     self._stream_type = self._target_stream_type
     self._texture_needs_update = True
@@ -337,7 +339,7 @@ class CameraView(Widget):
 
   def _initialize_textures(self):
     self._clear_textures()
-    if not TICI:
+    if not COMMA_HARDWARE:
       self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
         int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
       self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
@@ -353,7 +355,7 @@ class CameraView(Widget):
       self.texture_uv = None
 
     # Clean up EGL resources
-    if TICI:
+    if COMMA_HARDWARE:
       for data in self.egl_images.values():
         destroy_egl_image(data)
       self.egl_images = {}
@@ -361,6 +363,6 @@ class CameraView(Widget):
 
 if __name__ == "__main__":
   gui_app.init_window("camera view")
-  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_NARROW_ROAD)
   for _ in gui_app.render():
     road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/selfdrive/ui/onroad/driver_state.py b/openpilot/selfdrive/ui/onroad/driver_state.py
similarity index 98%
rename from selfdrive/ui/onroad/driver_state.py
rename to openpilot/selfdrive/ui/onroad/driver_state.py
index 7b3181d1ac..6b11f0b10b 100644
--- a/selfdrive/ui/onroad/driver_state.py
+++ b/openpilot/selfdrive/ui/onroad/driver_state.py
@@ -1,6 +1,6 @@
 import numpy as np
 import pyray as rl
-from cereal import log
+from openpilot.cereal import log
 from dataclasses import dataclass
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -114,7 +114,7 @@ class DriverStateRenderer(Widget):
 
     # Get monitoring state
     dm_state = sm["driverMonitoringState"]
-    self.is_active = dm_state.isActiveMode
+    self.is_active = dm_state.activePolicy == log.DriverMonitoringState.MonitoringPolicy.vision
     self.is_rhd = dm_state.isRHD
 
     # Update fade state (smoother transition between active/inactive)
diff --git a/selfdrive/ui/onroad/exp_button.py b/openpilot/selfdrive/ui/onroad/exp_button.py
similarity index 95%
rename from selfdrive/ui/onroad/exp_button.py
rename to openpilot/selfdrive/ui/onroad/exp_button.py
index e5d8171413..9a92ebc3c3 100644
--- a/selfdrive/ui/onroad/exp_button.py
+++ b/openpilot/selfdrive/ui/onroad/exp_button.py
@@ -50,7 +50,7 @@ class ExpButton(Widget):
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
     rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
-    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
+    rl.draw_texture_ex(texture, rl.Vector2(center_x - texture.width / 2, center_y - texture.height / 2), 0.0, 1.0, self._white_color)
 
   def _held_or_actual_mode(self):
     now = time.monotonic()
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/openpilot/selfdrive/ui/onroad/hud_renderer.py
similarity index 98%
rename from selfdrive/ui/onroad/hud_renderer.py
rename to openpilot/selfdrive/ui/onroad/hud_renderer.py
index 79f150deea..73df8b3961 100644
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/hud_renderer.py
@@ -86,7 +86,7 @@ class HudRenderer(Widget):
 
     v_cruise_cluster = car_state.vCruiseCluster
     self.set_speed = (
-      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
     self.is_cruise_available = self.set_speed != -1
diff --git a/selfdrive/ui/onroad/model_renderer.py b/openpilot/selfdrive/ui/onroad/model_renderer.py
similarity index 96%
rename from selfdrive/ui/onroad/model_renderer.py
rename to openpilot/selfdrive/ui/onroad/model_renderer.py
index 353cc5aa40..def1c644af 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/model_renderer.py
@@ -1,7 +1,8 @@
 import colorsys
 import numpy as np
 import pyray as rl
-from cereal import messaging, car
+from openpilot.cereal import messaging
+from opendbc.car.structs import car
 from dataclasses import dataclass, field
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
@@ -38,8 +39,8 @@ class ModelPoints:
 
 @dataclass
 class LeadVehicle:
-  glow: list[float] = field(default_factory=list)
-  chevron: list[float] = field(default_factory=list)
+  glow: list[tuple[float, float]] = field(default_factory=list)
+  chevron: list[tuple[float, float]] = field(default_factory=list)
   fill_alpha: int = 0
 
 
@@ -89,7 +90,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     sm = ui_state.sm
 
     # Check if data is up-to-date
-    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
+    if (sm.recv_frame["extrinsicsCalibration"] < ui_state.started_frame or
         sm.recv_frame["modelV2"] < ui_state.started_frame):
       return
 
@@ -101,8 +102,8 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     # Update state
     self._experimental_mode = sm['selfdriveState'].experimentalMode
 
-    live_calib = sm['liveCalibration']
-    self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
+    extrinsics_calibration = sm['extrinsicsCalibration']
+    self._path_offset_z = extrinsics_calibration.height[0] if extrinsics_calibration.height else HEIGHT_INIT[0]
 
     if self._counter % 60 == 0:
       self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
@@ -159,7 +160,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     leads = [radar_state.leadOne, radar_state.leadTwo]
 
     for i, lead_data in enumerate(leads):
-      if lead_data and lead_data.status:
+      if lead_data and lead_data.present:
         d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
         idx = self._get_path_length_idx(path_x_array, d_rel)
 
@@ -185,7 +186,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx, max_distance)
 
     # Update path using raw points
-    if lead and lead.status:
+    if lead and lead.present:
       lead_d = lead.dRel * 2.0
       max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
 
diff --git a/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
similarity index 66%
rename from selfdrive/ui/soundd.py
rename to openpilot/selfdrive/ui/soundd.py
index c41fec2676..a61e26b0b6 100644
--- a/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -4,7 +4,7 @@ import time
 import wave
 
 
-from cereal import car, messaging, custom
+from openpilot.cereal import log, messaging, custom
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -12,7 +12,7 @@ from openpilot.common.utils import retry
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.system import micd
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 from openpilot.sunnypilot.selfdrive.ui.quiet_mode import QuietMode
 
@@ -20,17 +20,19 @@ SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
+ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
-AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
+AMBIENT_DB = 26 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 VOLUME_BASE = 20
 if HARDWARE.get_device_type() == "tizi":
+  AMBIENT_DB = 30
   VOLUME_BASE = 10
 
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 
 
@@ -46,26 +48,23 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
   AudibleAlert.refuse: ("refuse.wav", 1, MAX_VOLUME),
 
-  AudibleAlert.prompt: ("prompt.wav", 1, MAX_VOLUME),
-  AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME),
-  AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME),
+  AudibleAlert.prompt: ("warning.wav", 1, MAX_VOLUME),
+  AudibleAlert.promptRepeat: ("warning.wav", None, MAX_VOLUME),
+  AudibleAlert.promptDistracted: ("dm_warning.wav", None, MAX_VOLUME),
 
-  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
-  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+  AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
+
+  AudibleAlert.warningSoft: ("critical.wav", None, MAX_VOLUME),
+  AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
 
   **sound_list_sp,
 }
-if HARDWARE.get_device_type() == "tizi":
-  sound_list.update({
-    AudibleAlert.engage: ("engage_tizi.wav", 1, MAX_VOLUME),
-    AudibleAlert.disengage: ("disengage_tizi.wav", 1, MAX_VOLUME),
-  })
 
 def check_selfdrive_timeout_alert(sm):
   ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
 
   if ss_missing > SELFDRIVE_STATE_TIMEOUT:
-    if sm['selfdriveState'].enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
+    if (sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled) and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
       return True
 
   return False
@@ -81,7 +80,11 @@ class Soundd(QuietMode):
     self.current_volume = MIN_VOLUME
     self.current_sound_frame = 0
 
+    self.ramp_start_volume = MIN_VOLUME
+    self.ramp_start_time = 0.
+
     self.selfdrive_timeout_alert = False
+    self.pending_stop = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
@@ -92,7 +95,7 @@ class Soundd(QuietMode):
     for sound in sound_list:
       filename, play_count, volume = sound_list[sound]
 
-      with wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') as wavefile:
+      with wave.open(BASEDIR + "/openpilot/selfdrive/assets/sounds/" + filename, 'r') as wavefile:
         assert wavefile.getnchannels() == 1
         assert wavefile.getsampwidth() == 2
         assert wavefile.getframerate() == SAMPLE_RATE
@@ -118,6 +121,12 @@ class Soundd(QuietMode):
         ret[written_frames:written_frames+frames_to_write] = sound_data[current_sound_frame:current_sound_frame+frames_to_write]
         written_frames += frames_to_write
         self.current_sound_frame += frames_to_write
+        current_sound_frame = self.current_sound_frame % len(sound_data)
+        loops = self.current_sound_frame // len(sound_data)
+        if self.pending_stop and current_sound_frame == 0:
+          self.current_alert = AudibleAlert.none
+          self.pending_stop = False
+          break
 
     return ret * self.current_volume
 
@@ -127,8 +136,20 @@ class Soundd(QuietMode):
     data_out[:frames, 0] = self.get_sound_data(frames)
 
   def update_alert(self, new_alert):
-    current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert])
+    current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
+    # let looping sounds finish the current loop instead of cutting off mid tone
+    if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
+      if current_alert_played_once:
+        self.pending_stop = True
+      else:
+        self.current_alert = AudibleAlert.none
+        self.current_sound_frame = 0
+      return
+    self.pending_stop = False
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
+      if new_alert == AudibleAlert.warningImmediate:
+        self.ramp_start_volume = self.current_volume
+        self.ramp_start_time = time.monotonic()
       self.current_alert = new_alert
       self.current_sound_frame = 0
 
@@ -157,8 +178,9 @@ class Soundd(QuietMode):
   def soundd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
+    micd.patch_sounddevice(sd)
 
-    sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])
+    sm = messaging.SubMaster(['selfdriveState', 'selfdriveStateSP', 'soundPressure'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
@@ -169,12 +191,20 @@ class Soundd(QuietMode):
 
         self.load_param()
 
-        if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+        # freeze volume during alerts to avoid mic feedback increasing volume
+        if sm.updated['soundPressure']:
           self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
-          self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
+          if self.current_alert == AudibleAlert.none:
+            self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         self.get_audible_alert(sm)
 
+        # Ramp up immediate warning sound over 4s
+        if self.current_alert == AudibleAlert.warningImmediate:
+          elapsed = time.monotonic() - self.ramp_start_time
+          ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
+          self.current_volume = max(self.current_volume, ramp_vol)
+
         rk.keep_time()
 
         assert stream.active
diff --git a/selfdrive/ui/sunnypilot/layouts/__init__.py b/openpilot/selfdrive/ui/sunnypilot/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/__init__.py b/openpilot/selfdrive/ui/sunnypilot/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/__init__.py
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/home.py b/openpilot/selfdrive/ui/sunnypilot/layouts/home.py
new file mode 100644
index 0000000000..a8c0790d3f
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/home.py
@@ -0,0 +1,68 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.layouts.home import HomeLayout, HomeLayoutState, HEAD_BUTTON_FONT_SIZE, SPACING
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.multilang import tr, trn
+from openpilot.system.ui.widgets.label import gui_label
+
+BRAND_FONT_SIZE = 48
+BRAND_DESC_SPACING = 12
+
+
+class HomeLayoutSP(HomeLayout):
+  def _render_header(self):
+    font = gui_app.font(FontWeight.MEDIUM)
+
+    version_text_width = self.header_rect.width
+
+    if self.update_available:
+      version_text_width -= self.update_notif_rect.width
+
+      highlight_color = rl.Color(75, 95, 255, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(54, 77, 239, 255)
+      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
+
+      text = tr("UPDATE")
+      text_size = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE)
+      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_size.x) // 2
+      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - text_size.y) // 2
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    if self.alert_count > 0:
+      version_text_width -= self.alert_notif_rect.width
+
+      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
+      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
+
+      alert_text = trn("{} ALERT", "{} ALERTS", self.alert_count).format(self.alert_count)
+      text_size = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE)
+      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_size.x) // 2
+      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - text_size.y) // 2
+      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    if self.update_available or self.alert_count > 0:
+      version_text_width -= SPACING * 1.5
+
+    version_right = self.header_rect.x + self.header_rect.width
+    version_left = version_right - version_text_width
+
+    brand = "sunnypilot"
+    description = self.params.get("UpdaterCurrentDescription") or ""
+
+    desc_width = 0
+    if description:
+      desc_size = measure_text_cached(gui_app.font(FontWeight.NORMAL), description, BRAND_FONT_SIZE)
+      desc_width = desc_size.x
+      desc_rect = rl.Rectangle(version_right - desc_width, self.header_rect.y, desc_width, self.header_rect.height)
+      gui_label(desc_rect, description, BRAND_FONT_SIZE, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+
+    brand_size = measure_text_cached(gui_app.font(FontWeight.AUDIOWIDE), brand, BRAND_FONT_SIZE)
+    spacing = BRAND_DESC_SPACING if description else 0
+    brand_x = version_right - desc_width - spacing - brand_size.x
+    brand_rect = rl.Rectangle(max(version_left, brand_x), self.header_rect.y, brand_size.x, self.header_rect.height)
+    gui_label(brand_rect, brand, BRAND_FONT_SIZE, rl.WHITE, font_weight=FontWeight.AUDIOWIDE)
diff --git a/selfdrive/ui/sunnypilot/layouts/onboarding.py b/openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py
similarity index 82%
rename from selfdrive/ui/sunnypilot/layouts/onboarding.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py
index 9ba9f07494..ee4b479afe 100644
--- a/selfdrive/ui/sunnypilot/layouts/onboarding.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/onboarding.py
@@ -11,7 +11,7 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import Label
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 
 
 class SunnylinkConsentPage(Widget):
@@ -20,7 +20,7 @@ class SunnylinkConsentPage(Widget):
     self._done_callback = done_callback
     self._step = 0
 
-    self._title = Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    self._title = self._child(Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.AUDIOWIDE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
 
     self._content = [
       {
@@ -40,9 +40,10 @@ class SunnylinkConsentPage(Widget):
       }
     ]
 
-    self._primary_btn = Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable"))
-    self._secondary_btn = Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary"))
-    self._danger_btn = Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable"))
+    self._primary_btn = self._child(Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable")))
+    self._secondary_btn = self._child(Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary")))
+    self._danger_btn = self._child(Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable")))
+    self._desc = self._child(Label("", font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT))
 
   def _handle_choice(self, choice):
     if choice == "enable":
@@ -73,8 +74,8 @@ class SunnylinkConsentPage(Widget):
     desc_y = welcome_y + 120
     desc_rect = rl.Rectangle(desc_x, desc_y, self._rect.width - desc_x, self._rect.height - desc_y - 250)
 
-    desc_label = Label(step_data["text"], font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-    desc_label.render(desc_rect)
+    self._desc.set_text(step_data["text"])
+    self._desc.render(desc_rect)
 
     btn_y = self._rect.y + self._rect.height - 160 - 45
 
@@ -96,8 +97,6 @@ class SunnylinkConsentPage(Widget):
       self._primary_btn.set_text(step_data["primary_btn"])
       self._primary_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
 
-    return -1
-
 
 class SunnylinkOnboarding:
   def __init__(self):
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/cruise.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/developer.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/developer.py
similarity index 95%
rename from selfdrive/ui/sunnypilot/layouts/settings/developer.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/developer.py
index f3a2433373..a8768af5be 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/developer.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/developer.py
@@ -10,8 +10,8 @@ from pathlib import Path
 
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware import PC
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult
@@ -69,8 +69,8 @@ class DeveloperLayoutSP(DeveloperLayout):
 
   def _on_error_log_closed(self, result, log_exists):
     if result == DialogResult.CONFIRM and log_exists:
-      dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False)
-      gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm)
+      dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False, callback=self._on_delete_confirm)
+      gui_app.push_widget(dialog2)
 
   def _on_error_log_clicked(self):
     text = ""
@@ -82,7 +82,7 @@ class DeveloperLayoutSP(DeveloperLayout):
       except Exception:
         pass
     dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path)))
-    gui_app.set_modal_overlay(dialog)
+    gui_app.push_widget(dialog)
 
   def _update_state(self):
     disable_updates = ui_state.params.get_bool("DisableUpdates")
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
similarity index 92%
rename from selfdrive/ui/sunnypilot/layouts/settings/device.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
index 8f9d0ae22b..99462dfcec 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/device.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
@@ -5,8 +5,9 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.onroad.cabin_camera_dialog import CabinCameraDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, multiple_button_item_sp, button_item_sp, \
@@ -81,7 +82,7 @@ class DeviceLayoutSP(DeviceLayout):
       left_text=lambda: tr("Quiet Mode"),
       right_text=lambda: tr("Driver Camera Preview"),
       left_callback=lambda: ui_state.params.put_bool("QuietMode", not ui_state.params.get_bool("QuietMode")),
-      right_callback=self._show_driver_camera
+      right_callback=lambda: gui_app.push_widget(CabinCameraDialog())
     )
     self._quiet_mode_and_dcam.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
 
@@ -153,20 +154,20 @@ class DeviceLayoutSP(DeviceLayout):
 
     def _second_confirm(result: int):
       if result == DialogResult.CONFIRM:
-        gui_app.set_modal_overlay(ConfirmDialog(
+        gui_app.push_widget(ConfirmDialog(
           text=tr("The reset cannot be undone. You have been warned."),
-          confirm_text=tr("Confirm")
-        ), callback=_do_reset)
+          confirm_text=tr("Confirm"), callback=_do_reset
+        ))
 
-    gui_app.set_modal_overlay(ConfirmDialog(
+    gui_app.push_widget(ConfirmDialog(
       text=tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."),
-      confirm_text=tr("Reset")
-    ), callback=_second_confirm)
+      confirm_text=tr("Reset"), callback=_second_confirm
+    ))
 
   @staticmethod
   def _handle_always_offroad():
     if ui_state.engaged:
-      gui_app.set_modal_overlay(alert_dialog(tr("Disengage to Enter Always Offroad Mode")))
+      gui_app.push_widget(alert_dialog(tr("Disengage to Enter Always Offroad Mode")))
       return
 
     _offroad_mode_state = ui_state.params.get_bool("OffroadMode")
@@ -177,7 +178,7 @@ class DeviceLayoutSP(DeviceLayout):
       if result == DialogResult.CONFIRM and not ui_state.engaged:
         ui_state.params.put_bool("OffroadMode", not _offroad_mode_state)
 
-    gui_app.set_modal_overlay(ConfirmDialog(_offroad_mode_str, tr("Confirm")), callback=lambda result: _set_always_offroad(result))
+    gui_app.push_widget(ConfirmDialog(_offroad_mode_str, tr("Confirm"), callback=lambda result: _set_always_offroad(result)))
 
   @staticmethod
   def _update_max_time_offroad_label(value: int) -> str:
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
similarity index 69%
rename from selfdrive/ui/sunnypilot/layouts/settings/display.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
index e5f1eba181..897d34085a 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/display.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -6,26 +6,23 @@ See the LICENSE.md file in the root directory for more details.
 """
 from enum import IntEnum
 
-from openpilot.common.params import Params
-from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP
-
-ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 15, 1: 30, **{i: (i - 1) * 60 for i in range(2, 12)}}
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
+from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
 
 
 class OnroadBrightness(IntEnum):
   AUTO = 0
   AUTO_DARK = 1
+  SCREEN_OFF = 2
 
 
 class DisplayLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._params = Params()
     items = self._initialize_items()
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
@@ -35,7 +32,7 @@ class DisplayLayout(Widget):
       title=lambda: tr("Onroad Brightness"),
       description="",
       min_value=0,
-      max_value=21,
+      max_value=22,
       value_change_step=1,
       label_callback=lambda value: self.update_onroad_brightness(value),
       inline=True
@@ -45,7 +42,7 @@ class DisplayLayout(Widget):
       title=lambda: tr("Onroad Brightness Delay"),
       description="",
       min_value=0,
-      max_value=11,
+      max_value=15,
       value_change_step=1,
       value_map=ONROAD_BRIGHTNESS_TIMER_VALUES,
       label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m",
@@ -64,10 +61,26 @@ class DisplayLayout(Widget):
                                     f"{value} s" if value < 60 else f"{int(value/60)} m"),
       inline=True
     )
+    self._screensaver_toggle = toggle_item_sp(
+      param="ScreenSaverEnabled",
+      title=lambda: tr("Screen Saver"),
+      description=lambda: tr("Show a screen saver when the device is offroad and idle, instead of turning the screen off."),
+    )
+    self._screensaver_timeout = option_item_sp(
+      param="ScreenSaverTimeout",
+      title=lambda: tr("Screen Saver Duration"),
+      description=lambda: tr("How long the screen saver runs before the screen turns off."),
+      min_value=60,
+      max_value=600,
+      value_change_step=60,
+      label_callback=lambda value: f"{int(value/60)} m"
+    )
     items = [
       self._onroad_brightness,
       self._onroad_brightness_timer,
       self._interactivity_timeout,
+      self._screensaver_toggle,
+      self._screensaver_timeout,
     ]
     return items
 
@@ -79,20 +92,19 @@ class DisplayLayout(Widget):
     if val == OnroadBrightness.AUTO_DARK:
       return tr("Auto (Dark)")
 
-    return f"{(val - 1) * 5} %"
+    if val == OnroadBrightness.SCREEN_OFF:
+      return tr("Screen Off")
+
+    return f"{(val - 2) * 5} %"
 
   def _update_state(self):
     super()._update_state()
 
-    for _item in self._scroller._items:
-      if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None:
-        _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key))
-      elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None:
-        _item.action_item.set_value(self._params.get(_item.action_item.param_key, return_default=True))
-
-    brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
+    brightness_val = self._onroad_brightness.action_item.current_value
     self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
 
+    self._screensaver_timeout.set_visible(self._screensaver_toggle.action_item.get_state())
+
   def _render(self, rect):
     self._scroller.render(rect)
 
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
similarity index 82%
rename from selfdrive/ui/sunnypilot/layouts/settings/models.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
index 5820b34cc0..ae4ff802f3 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -9,7 +9,8 @@ import re
 import time
 import pyray as rl
 
-from cereal import custom
+from openpilot.cereal import custom
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.lib.multilang import tr
@@ -41,8 +42,8 @@ class ModelsLayout(Widget):
 
     self._initialize_items()
 
-    self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
+    self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
+    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay"), (self.camera_offset, "CameraOffset")]:
       ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
 
     self._scroller = Scroller(self.items, line_separator=True, spacing=0)
@@ -58,10 +59,12 @@ class ModelsLayout(Widget):
     self.supercombo_label = progress_item(tr("Driving Model"))
     self.vision_label = progress_item(tr("Vision Model"))
     self.policy_label = progress_item(tr("Policy Model"))
+    self.off_policy_label = progress_item(tr("Off-Policy Model"))
+    self.on_policy_label = progress_item(tr("On-Policy Model"))
 
     self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
                                     lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
-                                             gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models")))))
+                                             gui_app.push_widget(alert_dialog(tr("Fetching Latest Models")))))
 
     self.clear_cache_item = ListItemSP(
       title=tr("Clear Model Cache"),
@@ -90,16 +93,21 @@ class ModelsLayout(Widget):
 
     self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
 
+    self.camera_offset = option_item_sp(tr("Adjust Camera Offset"), "CameraOffset", -35, 35,
+                                        tr("Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)"),
+                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
+                                        lambda v: f"{v / 100:.2f} m")
+
     self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
-                  self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
-                  self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
+                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item,
+                  self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]
 
   def _update_lagd_description(self, lagd_toggle: bool):
     desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
               "Keeping this on provides the stock openpilot experience.")
     if lagd_toggle:
-      desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
-    elif ui_state.CP:
+      desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['lateralDelay'].lateralDelay:.3f} s"
+    elif ui_state.CP is not None:
       sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
       cp = ui_state.CP.steerActuatorDelay
       desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
@@ -110,7 +118,7 @@ class ModelsLayout(Widget):
             self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
 
   @staticmethod
-  def _calculate_cache_size():
+  def calculate_cache_size():
     cache_size = 0.0
     if os.path.exists(CUSTOM_MODEL_PATH):
       cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
@@ -120,15 +128,18 @@ class ModelsLayout(Widget):
     def _callback(response):
       if response == DialogResult.CONFIRM:
         ui_state.params.put_bool("ModelManager_ClearCache", True)
-        self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+        self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
 
-    gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
-                                            tr("Clear Cache")), callback=_callback)
+    dialog = ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
+                           tr("Clear Cache"), callback=_callback)
+    gui_app.push_widget(dialog)
 
   def _handle_bundle_download_progress(self):
     labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
               custom.ModelManagerSP.Model.Type.vision: self.vision_label,
-              custom.ModelManagerSP.Model.Type.policy: self.policy_label}
+              custom.ModelManagerSP.Model.Type.policy: self.policy_label,
+              custom.ModelManagerSP.Model.Type.offPolicy: self.off_policy_label,
+              custom.ModelManagerSP.Model.Type.onPolicy: self.on_policy_label}
     for label in labels.values():
       label.set_visible(False)
     self.cancel_download_item.set_visible(False)
@@ -146,11 +157,11 @@ class ModelsLayout(Widget):
     status_changed = self.prev_download_status != self.download_status
     self.prev_download_status = self.download_status
 
-    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
+    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and ui_state.params.get("ModelManager_DownloadIndex") is not None)
 
     if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
       self.last_cache_calc_time = current_time
-      self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+      self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
 
     if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
       device._reset_interactive_timeout()
@@ -176,7 +187,8 @@ class ModelsLayout(Widget):
         ui_state.params.remove("CalibrationParams")
         ui_state.params.remove("LiveTorqueParameters")
     msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
-    gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback)
+    dialog = ConfirmDialog(msg, tr("Reset Calibration"), callback=_callback)
+    gui_app.push_widget(dialog)
 
   def _on_model_selected(self, result):
     if result != DialogResult.CONFIRM:
@@ -201,7 +213,7 @@ class ModelsLayout(Widget):
     for bundle in bundles:
       folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
 
-    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
+    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': f"{DEFAULT_MODEL} (Default)", 'short_name': "Default"})])]
     for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
       folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
       name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
@@ -219,25 +231,27 @@ class ModelsLayout(Widget):
     active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
     self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
                                          get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
-    gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected)
+    gui_app.push_widget(self.model_dialog)
 
   def _update_state(self):
     advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
     turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
     live_delay: bool = ui_state.params.get_bool("LagdToggle")
+    camera_offset: bool = ui_state.params.get("ModelManager_ActiveBundle") is not None
 
     self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
     self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
     self.lagd_toggle.action_item.set_state(live_delay)
     self.delay_control.set_visible(not live_delay and advanced_controls)
     new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
-    if self.lane_turn_value_control.action_item.value_change_step != new_step:
+    if self.lane_turn_value_control.action_item is not None and self.lane_turn_value_control.action_item.value_change_step != new_step:
       self.lane_turn_value_control.action_item.value_change_step = new_step
+    self.camera_offset.set_visible(camera_offset)
 
     self._update_lagd_description(live_delay)
     self.model_manager = ui_state.sm["modelManagerSP"]
     self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
+    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
     self.current_model_item.action_item.set_value(active_name)
 
     if not ui_state.is_offroad():
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/navigation.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/navigation.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/navigation.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/navigation.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/network.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/network.py
similarity index 95%
rename from selfdrive/ui/sunnypilot/layouts/settings/network.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/network.py
index 14f573c628..2663607fc8 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/network.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/network.py
@@ -38,8 +38,8 @@ class NetworkUISP(NetworkUI):
       self.scan_button.set_text(tr("Scan"))
       self.scan_button.set_enabled(True)
 
-  def _render(self, rect: rl.Rectangle):
-    super()._render(rect)
+  def _render(self, _):
+    super()._render(_)
 
     if self._current_panel == PanelType.WIFI:
       self.scan_button.set_position(self._rect.x, self._rect.y + 20)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/osm.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/osm.py
similarity index 96%
rename from selfdrive/ui/sunnypilot/layouts/settings/osm.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/osm.py
index f8a3a85042..7b30e880f9 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/osm.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/osm.py
@@ -16,7 +16,7 @@ from time import monotonic
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.layouts.settings.software import time_ago
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult, Widget
@@ -56,7 +56,7 @@ class OSMLayout(Widget):
     self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
 
   def _show_confirm(self, msg, confirm_text, func):
-    gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None)
+    gui_app.push_widget(ConfirmDialog(msg, confirm_text, callback=lambda res: func() if res == DialogResult.CONFIRM else None))
 
   def calculate_size(self):
     total_size = 0
@@ -150,7 +150,7 @@ class OSMLayout(Widget):
 
     dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search")
     dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)
-    gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref))
+    gui_app.push_widget(dialog)
 
   def _update_labels(self):
     downloading = bool(self._mem_params.get("OSMDownloadLocations"))
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/settings.py
similarity index 96%
rename from selfdrive/ui/sunnypilot/layouts/settings/settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/settings.py
index e379a77104..1b85c0923a 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -37,7 +37,7 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller
 OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
 ICON_SIZE = 70
 
-OP.PanelType = IntEnum(
+OP.PanelType = IntEnum(  # type: ignore[assignment] # ty: ignore[invalid-assignment]
   "PanelType",
   [es.name for es in OP.PanelType] + [
     "SUNNYLINK",
@@ -82,8 +82,7 @@ class NavButton(Widget):
 
     if self.panel_info.icon:
       icon_texture = gui_app.texture(self.panel_info.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
-      rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2),
-                      rl.WHITE)
+      rl.draw_texture_ex(icon_texture, rl.Vector2(content_x, rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2), 0.0, 1.0, rl.WHITE)
       content_x += ICON_SIZE + 20
 
     # Draw button text (right-aligned)
@@ -181,20 +180,18 @@ class SettingsLayoutSP(OP.SettingsLayout):
       self._sidebar_scroller.render(nav_rect)
       return
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
     # Check close button
     if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
       if self._close_callback:
         self._close_callback()
-      return True
+      return
 
     # Check navigation buttons
     for panel_type, panel_info in self._panels.items():
       if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect) and self._sidebar_scroller.scroll_panel.is_touch_valid():
         self.set_current_panel(panel_type)
-        return True
-
-    return False
+        return
 
   def show_event(self):
     super().show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/software.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/software.py
similarity index 92%
rename from selfdrive/ui/sunnypilot/layouts/settings/software.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/software.py
index b890dd5b5b..d067f1330d 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/software.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/software.py
@@ -4,11 +4,11 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import os
+import subprocess
 
 from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import DialogResult
@@ -47,8 +47,8 @@ class SoftwareLayoutSP(SoftwareLayout):
       self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates"))
 
   def _on_disable_updates_toggled(self, enabled):
-    dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"))
-    gui_app.set_modal_overlay(dialog, callback=self._handle_reboot)
+    dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"), callback=self._handle_reboot)
+    gui_app.push_widget(dialog)
 
   def _on_select_branch(self):
     current_git_branch = ui_state.params.get("GitBranch") or ""
@@ -78,13 +78,13 @@ class SoftwareLayoutSP(SoftwareLayout):
         if selection:
           ui_state.params.put("UpdaterTargetBranch", selection)
           self._branch_btn.action_item.set_value(selection)
-          os.system("pkill -SIGUSR1 -f system.updated.updated")
+          subprocess.run(["pkill", "-SIGUSR1", "-f", "openpilot.system.updated.updated"], check=False)
       self._branch_dialog = None
 
     self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
                                            on_exit=_on_branch_selected)
 
-    gui_app.set_modal_overlay(self._branch_dialog, callback=_on_branch_selected)
+    gui_app.push_widget(self._branch_dialog)
 
   def _update_state(self):
     super()._update_state()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
similarity index 92%
rename from selfdrive/ui/sunnypilot/layouts/settings/steering.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
index 14d840138e..28d9236361 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 from enum import IntEnum
 
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -120,20 +120,12 @@ class SteeringLayout(Widget):
   def _update_state(self):
     super()._update_state()
 
-    torque_allowed = True
+    torque_allowed = ui_state.CP is not None and ui_state.CP.steerControlType != car.CarParams.SteerControlType.angle
     if ui_state.CP is not None:
       mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc
       self._mads_toggle.set_description(f"<b>{mads_main_desc}</b><br><br>{self._mads_base_desc}")
-
-      if ui_state.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        ui_state.params.remove("EnforceTorqueControl")
-        ui_state.params.remove("NeuralNetworkLateralControl")
-        torque_allowed = False
     else:
       self._mads_toggle.set_description(f"<b>{self._mads_check_compat_desc}</b><br><br>{self._mads_base_desc}")
-      ui_state.params.remove("EnforceTorqueControl")
-      ui_state.params.remove("NeuralNetworkLateralControl")
-      torque_allowed = False
 
     self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
     self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state())
@@ -142,7 +134,13 @@ class SteeringLayout(Widget):
 
     enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
     nnlc_enabled = self._nnlc_toggle.action_item.get_state()
-    self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
+    if enforce_torque_enabled and nnlc_enabled:
+      self._torque_control_toggle.action_item.set_state(False)
+      self._nnlc_toggle.action_item.set_state(False)
+      enforce_torque_enabled = False
+      nnlc_enabled = False
+    jerk_aware_enabled = ui_state.params.get_bool("LateralJerkTorqueController")
+    self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled and not jerk_aware_enabled)
     self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
     self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
 
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
similarity index 89%
rename from selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
index 9a5d5202a5..82419a5567 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
@@ -51,11 +51,18 @@ class LaneChangeSettingsLayout(Widget):
       description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
                              "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
     )
+    self._road_edge_block = toggle_item_sp(
+      param="RoadEdgeLaneChangeEnabled",
+      title=lambda: tr("Block Lane Change: Road Edge Detection"),
+      description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
+    )
 
     items = [
       self._lane_change_timer,
       LineSeparatorSP(40),
       self._bsm_delay,
+      LineSeparatorSP(40),
+      self._road_edge_block,
     ]
 
     return items
@@ -75,7 +82,7 @@ class LaneChangeSettingsLayout(Widget):
     self._scroller.show_event()
 
   def _update_toggles(self):
-    enable_bsm = ui_state.CP and ui_state.CP.enableBsm
+    enable_bsm = ui_state.CP is not None and ui_state.CP.enableBsm
     if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
       ui_state.params.remove("AutoLaneChangeBsmDelay")
     self._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
similarity index 93%
rename from selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
index 3542adf285..4cde489954 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 from collections.abc import Callable
 import pyray as rl
 
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake
 from openpilot.system.ui.lib.multilang import tr, tr_noop
@@ -91,12 +91,15 @@ class MadsSettingsLayout(Widget):
       if bundle:
         brand = bundle.get("brand", "")
     if not brand:
-      brand = ui_state.CP.brand if ui_state.CP else ""
+      brand = ui_state.CP.brand if ui_state.CP is not None else ""
 
     if brand == "rivian":
       return True
     elif brand == "tesla":
-      return not (ui_state.CP_SP and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+      if ui_state.CP_SP is None or not ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
+        return True
+      screen_button = int(ui_state.params.get("TeslaMadsScreenButton", return_default=True))
+      return screen_button == MadsScreenButtonType.OFF
     return False
 
   def _update_steering_mode_description(self, button_index: int):
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
similarity index 58%
rename from selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
index dceee8b518..6dae8308cd 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
@@ -4,15 +4,24 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import json
+import math
+import os
 from collections.abc import Callable
 import pyray as rl
 
+from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeFolder, TreeNode
+from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
+
+TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
 
 
 class TorqueSettingsLayout(Widget):
@@ -20,10 +29,30 @@ class TorqueSettingsLayout(Widget):
     super().__init__()
     self._back_button = NavButton(tr("Back"))
     self._back_button.set_click_callback(back_btn_callback)
+    self._torque_version_dialog: TreeOptionDialog | None = None
+    self.cached_torque_versions = {}
+    self._load_versions()
     items = self._initialize_items()
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
+  def _load_versions(self):
+    with open(TORQUE_VERSIONS_PATH) as f:
+      self.cached_torque_versions = json.load(f)
+
   def _initialize_items(self):
+    self._jerk_aware_toggle = toggle_item_sp(
+      param="LateralJerkTorqueController",
+      title=lambda: tr("Lateral Jerk Torque Controller"),
+      description=lambda: tr("Looks ahead at planned steering to reduce sudden corrections, so the wheel moves " +
+                             "more smoothly through turns. Works with Self-Tune and custom tuning. " +
+                             "Thanks to @twilsonco for the implementation."),
+    )
+    self._torque_control_versions = ListItemSP(
+      title=tr("Torque Control Tune Version"),
+      description="Select the version of Torque Control Tune to use.",
+      action_item=NoElideButtonAction(tr("SELECT")),
+      callback=self._show_torque_version_dialog,
+    )
     self._self_tune_toggle = toggle_item_sp(
       param="LiveTorqueParamsToggle",
       title=lambda: tr("Self-Tune"),
@@ -73,6 +102,8 @@ class TorqueSettingsLayout(Widget):
     )
 
     items = [
+      self._jerk_aware_toggle,
+      self._torque_control_versions,
       self._self_tune_toggle,
       self._relaxed_tune_toggle,
       self._custom_tune_toggle,
@@ -84,6 +115,8 @@ class TorqueSettingsLayout(Widget):
 
   def _update_state(self):
     super()._update_state()
+    nnlc_enabled = ui_state.params.get_bool("NeuralNetworkLateralControl")
+    self._jerk_aware_toggle.action_item.set_enabled(ui_state.is_offroad() and not nnlc_enabled)
     if not ui_state.params.get_bool("LiveTorqueParamsToggle"):
       ui_state.params.remove("LiveTorqueParamsRelaxedToggle")
       self._relaxed_tune_toggle.action_item.set_state(False)
@@ -103,6 +136,7 @@ class TorqueSettingsLayout(Widget):
     title_text = tr("Real-Time & Offline") if ui_state.params.get("TorqueParamsOverrideEnabled") else tr("Offline Only")
     self._torque_lat_accel_factor.set_title(lambda: tr("Lateral Acceleration Factor") + " (" + title_text + ")")
     self._torque_friction.set_title(lambda: tr("Friction") + " (" + title_text + ")")
+    self._torque_control_versions.action_item.set_value(self._get_current_torque_version_label())
 
   def _render(self, rect):
     self._back_button.set_position(self._rect.x, self._rect.y + 20)
@@ -113,3 +147,55 @@ class TorqueSettingsLayout(Widget):
 
   def show_event(self):
     self._scroller.show_event()
+
+  def _get_current_torque_version_label(self):
+    current_val_bytes = ui_state.params.get("TorqueControlTune")
+    if current_val_bytes is None:
+      return tr("Default")
+
+    try:
+      current_val = float(current_val_bytes)
+      for label, info in self.cached_torque_versions.items():
+        if math.isclose(float(info["version"]), current_val, rel_tol=1e-5):
+          return label
+    except (ValueError, KeyError):
+      pass
+
+    return tr("Default")
+
+  def _show_torque_version_dialog(self):
+    options_map = {}
+    for label, info in self.cached_torque_versions.items():
+      try:
+        options_map[label] = float(info["version"])
+      except (ValueError, KeyError):
+        pass
+
+    # Sort options by label in descending order
+    sorted_labels = sorted(options_map.keys(), key=lambda k: options_map[k], reverse=True)
+
+    nodes = [TreeNode(tr("Default"))]
+    for label in sorted_labels:
+      nodes.append(TreeNode(label))
+
+    folders = [TreeFolder("", nodes)]
+
+    current_label = self._get_current_torque_version_label()
+
+    def handle_selection(result: int):
+      if result == DialogResult.CONFIRM and self._torque_version_dialog:
+        selected_ref = self._torque_version_dialog.selection_ref
+        if selected_ref == tr("Default"):
+          ui_state.params.remove("TorqueControlTune")
+        elif selected_ref in options_map:
+          ui_state.params.put("TorqueControlTune", options_map[selected_ref])
+      self._torque_version_dialog = None
+
+    self._torque_version_dialog = TreeOptionDialog(
+      tr("Select Torque Control Tune Version"),
+      folders,
+      current_ref=current_label,
+      option_font_weight=FontWeight.UNIFONT,
+      on_exit=handle_selection,
+    )
+    gui_app.push_widget(self._torque_version_dialog)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
similarity index 93%
rename from selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
index 7955f13202..5e75e797cb 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
@@ -20,7 +20,7 @@ from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDial
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.list_view import dual_button_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-from openpilot.system.version import sunnylink_consent_version
+from openpilot.common.version import sunnylink_consent_version
 
 
 class SunnylinkHeader(Widget):
@@ -41,7 +41,7 @@ class SunnylinkHeader(Widget):
     self._description = UnifiedLabel(
       text=tr("For secure backup, restore, and remote configuration"),
       font_size=40,
-      font_weight=FontWeight.LIGHT,
+      font_weight=FontWeight.NORMAL,
       text_color=rl.Color(0, 255, 0, 255),  # Green
       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
@@ -53,7 +53,7 @@ class SunnylinkHeader(Widget):
       text=tr("Sponsorship isn't required for basic backup/restore") + "\n" +
            tr("Click the Sponsor button for more details"),
       font_size=35,
-      font_weight=FontWeight.LIGHT,
+      font_weight=FontWeight.NORMAL,
       text_color=rl.Color(255, 165, 0, 255),  # Orange
       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
@@ -107,7 +107,7 @@ class SunnylinkDescriptionItem(Widget):
     self._description = UnifiedLabel(
       text="",
       font_size=40,
-      font_weight=FontWeight.LIGHT,
+      font_weight=FontWeight.NORMAL,
       text_color=rl.WHITE,
       alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
@@ -215,21 +215,23 @@ class SunnylinkLayout(Widget):
   def _handle_pair_btn(self, sponsor_pairing: bool = False):
     sunnylink_dongle_id = self._get_sunnylink_dongle_id()
     if sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
-      gui_app.set_modal_overlay(alert_dialog(message=tr("sunnylink Dongle ID not found. ") +
+      gui_app.push_widget(alert_dialog(message=tr("sunnylink Dongle ID not found. ") +
                                                      tr("This may be due to weak internet connection or sunnylink registration issue. ") +
                                                      tr("Please reboot and try again.")))
     elif not self._sunnylink_pairing_dialog:
       self._sunnylink_pairing_dialog = SunnylinkPairingDialog(sponsor_pairing)
-      gui_app.set_modal_overlay(self._sunnylink_pairing_dialog, callback=lambda result: setattr(self, '_sunnylink_pairing_dialog', None))
+      gui_app.push_widget(self._sunnylink_pairing_dialog)
 
   def _handle_backup_btn(self):
-    backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup")
-    gui_app.set_modal_overlay(backup_dialog, callback=self._backup_handler)
+    backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup",
+                                  callback=self._backup_handler)
+    gui_app.push_widget(backup_dialog)
 
   def _handle_restore_btn(self):
     self._restore_btn.set_enabled(False)
-    restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"), confirm_text="Restore")
-    gui_app.set_modal_overlay(restore_dialog, callback=self._restore_handler)
+    restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"),
+                                   confirm_text="Restore", callback=self._restore_handler)
+    gui_app.push_widget(restore_dialog)
 
   def _backup_handler(self, dialog_result: int):
     if dialog_result == DialogResult.CONFIRM:
@@ -269,7 +271,7 @@ class SunnylinkLayout(Widget):
             (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
         self._backup_in_progress = False
         dialog = alert_dialog(tr("Settings backup completed."))
-        gui_app.set_modal_overlay(dialog)
+        gui_app.push_widget(dialog)
         self._backup_btn.set_enabled(not ui_state.is_onroad())
 
     elif self._restore_in_progress:
@@ -286,13 +288,13 @@ class SunnylinkLayout(Widget):
         self._restore_btn.set_enabled(not ui_state.is_onroad())
         self._restore_btn.set_text(tr("Restore Failed"))
         dialog = alert_dialog(tr("Unable to restore the settings, try again later."))
-        gui_app.set_modal_overlay(dialog)
+        gui_app.push_widget(dialog)
 
       elif (restore_status == custom.BackupManagerSP.Status.completed or
             (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
         self._restore_in_progress = False
-        dialog = alert_dialog(tr("Settings restored. Confirm to restart the interface."))
-        gui_app.set_modal_overlay(dialog, callback=lambda: gui_app.request_close())
+        dialog = ConfirmDialog(tr("Settings restored. Confirm to restart the interface."), tr("OK"), cancel_text="", callback=lambda _: gui_app.request_close())
+        gui_app.push_widget(dialog)
 
     else:
       can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
@@ -309,10 +311,10 @@ class SunnylinkLayout(Widget):
       def on_consent_done():
         enabled = ui_state.params.get_bool("SunnylinkEnabled")
         self._update_description(enabled)
-        gui_app.set_modal_overlay(None)
+        gui_app.pop_widget()
 
       sl_terms_dlg = SunnylinkConsentPage(done_callback=on_consent_done)
-      gui_app.set_modal_overlay(sl_terms_dlg)
+      gui_app.push_widget(sl_terms_dlg)
     else:
       ui_state.params.put_bool("SunnylinkEnabled", state)
       self._update_description(state)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/trips.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/trips.py
similarity index 96%
rename from selfdrive/ui/sunnypilot/layouts/settings/trips.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/trips.py
index b389892d5d..066f52507f 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/trips.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/trips.py
@@ -93,7 +93,7 @@ class TripsLayout(Widget):
 
     # Values
     number_font = gui_app.font(FontWeight.BOLD)
-    unit_font = gui_app.font(FontWeight.LIGHT)
+    unit_font = gui_app.font(FontWeight.NORMAL)
     number_base_size = 92
     unit_base_size = 55
     number_size = number_base_size * FONT_SCALE
@@ -112,9 +112,9 @@ class TripsLayout(Widget):
       center_x = col_x + (col_width / 2)
 
       # Icon
-      icon_x = int(center_x - (icon.width / 2))
-      icon_y = int(content_y + 60)
-      rl.draw_texture(icon, icon_x, icon_y, rl.WHITE)
+      icon_x = center_x - (icon.width / 2)
+      icon_y = content_y + 60
+      rl.draw_texture_ex(icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)
 
       # Value
       val_size = measure_text_cached(number_font, value, number_base_size)
@@ -147,5 +147,3 @@ class TripsLayout(Widget):
     y = self._render_stat_group(x, y, w, card_height, tr("ALL TIME"), all_time, is_metric)
     y += spacing
     y = self._render_stat_group(x, y, w, card_height, tr("PAST WEEK"), week, is_metric)
-
-    return -1
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
similarity index 97%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
index 0dd12d76f4..d8fdd61e72 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
@@ -35,7 +35,7 @@ class VehicleLayout(Widget):
   def get_brand():
     if bundle := ui_state.params.get("CarPlatformBundle"):
       return bundle.get("brand", "")
-    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
+    elif ui_state.CP is not None and ui_state.CP.carFingerprint != "MOCK":
       return ui_state.CP.brand
     return ""
 
diff --git a/selfdrive/ui/sunnypilot/mici/__init__.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
similarity index 91%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
index f6849eb201..20c9903a63 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
@@ -8,7 +8,7 @@ from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base impo
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
-from opendbc.car.hyundai.values import CAR, CANFD_UNSUPPORTED_LONGITUDINAL_CAR, UNSUPPORTED_LONGITUDINAL_CAR
+from opendbc.car.hyundai.values import CAR, UNSUPPORTED_LONGITUDINAL_CAR
 
 
 class HyundaiSettings(BrandSettings):
@@ -31,8 +31,8 @@ class HyundaiSettings(BrandSettings):
     bundle = ui_state.params.get("CarPlatformBundle")
     if bundle:
       platform = bundle.get("platform")
-      self.alpha_long_available = CAR[platform] not in (UNSUPPORTED_LONGITUDINAL_CAR | CANFD_UNSUPPORTED_LONGITUDINAL_CAR)
-    elif ui_state.CP:
+      self.alpha_long_available = CAR[platform] not in set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
+    elif ui_state.CP is not None:
       self.alpha_long_available = ui_state.CP.alphaLongitudinalAvailable
 
     tuning_param = int(ui_state.params.get("HyundaiLongitudinalTuning") or "0")
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
similarity index 98%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
index 66e7ec1d5a..5ef53a0e43 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
@@ -39,7 +39,7 @@ class SubaruSettings(BrandSettings):
       platform = bundle.get("platform")
       config = CAR[platform].config
       self.has_stop_and_go = not (config.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
-    elif ui_state.CP:
+    elif ui_state.CP is not None:
       self.has_stop_and_go = not (ui_state.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
 
     disabled_msg = self.stop_and_go_disabled_msg()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
similarity index 55%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
index 46d536c651..10fb3e1b4b 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -4,10 +4,11 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
 
 COOP_STEERING_MIN_KMH = 23
 OEM_STEERING_MIN_KMH = 48
@@ -18,7 +19,14 @@ class TeslaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
     self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
-    self.items = [self.coop_steering_toggle]
+    self.mads_screen_button = multiple_button_item_sp(
+      title=lambda: tr("MADS Screen Activation"),
+      description="",
+      buttons=[lambda: tr("Off"), lambda: tr("3-Finger"), lambda: tr("4-Finger"), lambda: tr("5-Finger")],
+      param="TeslaMadsScreenButton",
+      inline=False,
+    )
+    self.items = [self.coop_steering_toggle, self.mads_screen_button]
 
   def update_settings(self):
     is_metric = ui_state.is_metric
@@ -41,3 +49,18 @@ class TeslaSettings(BrandSettings):
 
     self.coop_steering_toggle.set_description(coop_steering_desc)
     self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad())
+
+    has_vehicle_bus = ui_state.CP_SP is not None and bool(ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+    self.mads_screen_button.set_visible(has_vehicle_bus)
+
+    mads_screen_button_desc = (
+      f"{tr('Use a multi-finger press on the infotainment screen to toggle MADS.')} " +
+      f"{tr('This allows the use of full MADS functionality when enabled.')}<br><br>" +
+      f"{tr('Selecting a higher finger count may reduce accidental activations.')}<br><br>" +
+      f"<b>{tr('Note: Setting this to Off will reset your MADS settings to default.')}</b>"
+    )
+    if not ui_state.is_offroad():
+      mads_screen_button_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to change.")
+      mads_screen_button_desc = f"<b>{mads_screen_button_disabled_msg}</b><br><br>{mads_screen_button_desc}"
+    self.mads_screen_button.set_description(mads_screen_button_desc)
+    self.mads_screen_button.action_item.set_enabled(ui_state.is_offroad())
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
new file mode 100644
index 0000000000..5a696466b1
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
@@ -0,0 +1,121 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+
+ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
+SNG_HACK_UNAVAILABLE = tr_noop("sunnypilot Longitudinal Control must be available and enabled for your vehicle to use this feature.")
+
+DESCRIPTIONS = {
+  'enforce_stock_longitudinal': tr_noop(
+    'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.'
+  ),
+  'stop_and_go_hack': tr_noop(
+    'sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. ' +
+    'This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.'
+  )
+}
+
+
+class ToyotaSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+    self.enforce_stock_longitudinal = toggle_item_sp(
+      lambda: tr("Enforce Factory Longitudinal Control"),
+      description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]),
+      initial_state=ui_state.params.get_bool("ToyotaEnforceStockLongitudinal"),
+      callback=self._on_enable_enforce_stock_longitudinal,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self.stop_and_go_hack = toggle_item_sp(
+      lambda: tr("Stop and Go Hack (Alpha)"),
+      description=lambda: tr(DESCRIPTIONS["stop_and_go_hack"]),
+      initial_state=ui_state.params.get_bool("ToyotaStopAndGoHack"),
+      callback=self._on_enable_stop_and_go_hack,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self.items = [
+      self.enforce_stock_longitudinal,
+      self.stop_and_go_hack,
+    ]
+
+  def _on_enable_enforce_stock_longitudinal(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True)
+          if ui_state.params.get_bool("AlphaLongitudinalEnabled"):
+            ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
+          ui_state.params.put_bool("ToyotaStopAndGoHack", False)
+          self.stop_and_go_hack.action_item.set_state(False)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.enforce_stock_longitudinal.action_item.set_state(False)
+
+      content = (f"<h1>{self.enforce_stock_longitudinal.title}</h1><br>" +
+                 f"<p>{self.enforce_stock_longitudinal.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+
+    else:
+      ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
+  def _on_enable_stop_and_go_hack(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaStopAndGoHack", True)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.stop_and_go_hack.action_item.set_state(False)
+
+      content = (f"<h1>{self.stop_and_go_hack.title}</h1><br>" +
+                 f"<p>{self.stop_and_go_hack.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+
+    else:
+      ui_state.params.put_bool("ToyotaStopAndGoHack", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
+  def update_settings(self):
+    if ui_state.CP is not None:
+      longitudinal = ui_state.CP.openpilotLongitudinalControl
+      enforce_stock = self.enforce_stock_longitudinal.action_item.get_state()
+
+      if longitudinal and not enforce_stock:
+        self.stop_and_go_hack.action_item.set_enabled(not ui_state.engaged)
+        new_desc = tr(DESCRIPTIONS["stop_and_go_hack"])
+        show_desc = False
+      else:
+        self.stop_and_go_hack.action_item.set_enabled(False)
+        self.stop_and_go_hack.action_item.set_state(False)
+        new_desc = "<b>" + tr(SNG_HACK_UNAVAILABLE) + "</b>\n\n" + tr(DESCRIPTIONS["stop_and_go_hack"])
+        show_desc = True
+
+      if self.stop_and_go_hack.description != new_desc:
+        self.stop_and_go_hack.set_description(new_desc)
+        if show_desc:
+          self.stop_and_go_hack.show_description(True)
+    else:
+      self.stop_and_go_hack.action_item.set_enabled(False)
+      new_desc = "<b>" + tr(ONROAD_ONLY_DESCRIPTION) + "</b>\n\n" + tr(DESCRIPTIONS["stop_and_go_hack"])
+      if self.stop_and_go_hack.description != new_desc:
+        self.stop_and_go_hack.set_description(new_desc)
+        self.stop_and_go_hack.show_description(True)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
similarity index 93%
rename from selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
index db90595274..aab935d4b8 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
@@ -21,7 +21,7 @@ from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 from openpilot.selfdrive.ui.ui_state import ui_state
 
-CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "car", "car_list.json")
 
 
 class LegendWidget(Widget):
@@ -95,10 +95,9 @@ class PlatformSelector(Button):
       offroad_msg = tr("This setting will take effect immediately.") if ui_state.is_offroad else \
                     tr("This setting will take effect once the device enters offroad state.")
 
-      confirm_dialog = ConfirmDialog(offroad_msg, tr("Confirm"))
-
       callback = partial(self._confirm_platform, dialog.selection_ref)
-      gui_app.set_modal_overlay(confirm_dialog, callback=callback)
+      confirm_dialog = ConfirmDialog(offroad_msg, tr("Confirm"), callback=callback)
+      gui_app.push_widget(confirm_dialog)
 
   def _confirm_platform(self, platform_name, res):
     if res == DialogResult.CONFIRM:
@@ -120,7 +119,7 @@ class PlatformSelector(Button):
     )
     callback = partial(self._on_platform_selected, dialog)
     dialog.on_exit = callback
-    gui_app.set_modal_overlay(dialog, callback=callback)
+    gui_app.push_widget(dialog)
 
   def refresh(self):
     self.color = style.YELLOW
@@ -131,7 +130,7 @@ class PlatformSelector(Button):
       self._platform = bundle.get("name", "")
       self.set_text(self._platform)
       self.color = style.BLUE
-    elif ui_state.CP and ui_state.CP.carFingerprint != "MOCK":
+    elif ui_state.CP is not None and ui_state.CP.carFingerprint != "MOCK":
       self._platform = ui_state.CP.carFingerprint
       self.set_text(self._platform)
       self.color = style.GREEN
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/visuals.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/settings/visuals.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
diff --git a/selfdrive/ui/sunnypilot/layouts/sidebar.py b/openpilot/selfdrive/ui/sunnypilot/layouts/sidebar.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/layouts/sidebar.py
rename to openpilot/selfdrive/ui/sunnypilot/layouts/sidebar.py
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/__init__.py b/openpilot/selfdrive/ui/sunnypilot/mici/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/layouts/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/__init__.py
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/__init__.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/onroad/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/layouts/__init__.py
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py
new file mode 100644
index 0000000000..d29e579c52
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py
@@ -0,0 +1,15 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.widgets.label import UnifiedLabel
+
+
+class MiciHomeLayoutSP(MiciHomeLayout):
+  def __init__(self):
+    super().__init__()
+    self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
new file mode 100644
index 0000000000..af8f348f72
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -0,0 +1,194 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from openpilot.cereal import custom
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.scroller import NavScroller
+
+class CurrentModelInfo(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.set_rect(rl.Rectangle(0, 0, 360, 180))
+
+    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
+    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+    max_width = int(self._rect.width - 20)
+    self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
+    default_text = f"{DEFAULT_MODEL} (Default)".lower()
+    self.current_model_text = UnifiedLabel(default_text, 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
+
+    self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
+    self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
+
+  def _render(self, _):
+    self.current_model_header.set_position(self._rect.x + 20, self._rect.y - 10)
+    self.current_model_header.render()
+
+    self.current_model_text.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self.current_model_text.render()
+
+    self.info_header.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self.info_header.render()
+
+    self.info_text.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+    self.info_text.render()
+
+class ModelsLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self.focused_widget = None
+
+    self.current_model_info = CurrentModelInfo()
+    self._download_progress = "."
+    self._download_frame = 0
+    self._was_downloading = False
+
+    self.select_model_btn = BigButton(tr("select model"))
+    self.select_model_btn.set_click_callback(self._show_folders)
+
+    self.cancel_download_btn = BigButton(tr("cancel download"))
+    self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
+
+    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn]
+    self._scroller.add_widgets(self.main_items)
+
+  @property
+  def model_manager(self):
+    return ui_state.sm["modelManagerSP"]
+
+  def _get_grouped_bundles(self, favorites = None):
+    bundles = self.model_manager.availableBundles
+    folders = {}
+    for bundle in bundles:
+      folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
+      folders.setdefault(folder, []).append(bundle)
+
+    if favorites:
+      for fav_bundle in [bundle for bundle in bundles if bundle.ref in favorites]:
+        folders.setdefault("favorites", []).append(fav_bundle)
+
+    return folders
+
+  def _push_selection_view(self, items):
+    scroller = NavScroller()
+    scroller._scroller.add_widgets(items)
+    gui_app.push_widget(scroller)
+
+  def _show_folders(self):
+    self.focused_widget = self.select_model_btn
+
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
+
+    folders = self._get_grouped_bundles(favorites)
+    folder_buttons = []
+    default_btn = BigButton(f"{DEFAULT_MODEL} (Default)".lower())
+    default_btn.set_click_callback(self._select_default)
+    folder_buttons.append(default_btn)
+
+    for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
+      if folder.lower() in ["release models", "master models", "favorites"]:
+        btn = BigButton(folder.lower())
+        btn.set_click_callback(lambda f=folder: self._select_folder(f))
+        if folder.lower() == "favorites":
+          folder_buttons.insert(0, btn)
+        else:
+          folder_buttons.append(btn)
+    self._push_selection_view(folder_buttons)
+
+  def _pop_to_main(self):
+    gui_app.pop_widgets_to(self)
+
+  def _select_model(self, bundle):
+    ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
+    self._pop_to_main()
+
+  def _select_default(self):
+    ui_state.params.remove("ModelManager_ActiveBundle")
+    self._pop_to_main()
+
+  def _select_folder(self, folder_name):
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
+
+    folders = self._get_grouped_bundles(favorites)
+    bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True)
+
+    btns = []
+    for bundle in bundles:
+      txt = bundle.displayName.lower()
+      btn = BigButton(txt)
+      btn.set_click_callback(lambda b=bundle: self._select_model(b))
+      btns.append(btn)
+    self._push_selection_view(btns)
+
+  def hide_event(self):
+    super().hide_event()
+    if self._was_downloading:
+      device.set_override_interactive_timeout(None)
+      self._was_downloading = False
+
+  def _update_state(self):
+    super()._update_state()
+
+    self.select_model_btn.set_enabled(ui_state.is_offroad())
+    self.cancel_download_btn.set_visible(False)
+    self.current_model_info.current_model_header._shimmer = False
+    self.current_model_info.info_header._shimmer = False
+
+    manager = self.model_manager
+    self._download_frame += 1
+    should_update = self._download_frame % (gui_app.target_fps / 2) == 0
+    if should_update:
+      self._download_progress = self._download_progress + "." if len(self._download_progress) < 3 else ""
+
+    is_downloading = (manager.selectedBundle
+                      and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
+    if self._was_downloading and not is_downloading:
+      device.set_override_interactive_timeout(None)
+    self._was_downloading = is_downloading
+
+    self.current_model_info.current_model_header.set_text(tr("active model"))
+    model_text = manager.activeBundle.displayName.lower() if manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)".lower()
+    self.current_model_info.current_model_text.set_text(model_text)
+    self.current_model_info.info_header.set_text(tr("cache size"))
+    self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")
+
+    if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed:
+      self.current_model_info.info_header.set_text(tr("error") + self._download_progress)
+      self.current_model_info.info_text.set_text(tr("download failed"))
+
+    elif manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
+      self.cancel_download_btn.set_visible(True)
+      device.set_override_interactive_timeout(5)
+      progress = 0.0
+      count = 0
+      for model in manager.selectedBundle.models:
+        count += 1
+        p = model.artifact.downloadProgress
+        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
+          progress += p.progress
+        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded,
+                          custom.ModelManagerSP.DownloadStatus.cached):
+          progress += 100.0
+
+      self.current_model_info.current_model_header.set_text(tr("downloading"))
+      self.current_model_info.current_model_header._shimmer = True
+      self.current_model_info.current_model_text.set_text(f"{manager.selectedBundle.internalName.lower()}")
+      self.current_model_info.info_header.set_text(tr("progress") + self._download_progress)
+      self.current_model_info.info_header._shimmer = True
+      self.current_model_info.info_text.set_text(f"{progress/count:.2f}%")
+
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
new file mode 100644
index 0000000000..5aed8fac38
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
@@ -0,0 +1,34 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.mici_setup import GreyBigButton
+from openpilot.system.ui.widgets.scroller import NavScroller
+
+
+class SunnylinkConsentPage(NavScroller):
+  def __init__(self, on_accept: Callable | None = None, on_decline: Callable | None = None):
+    super().__init__()
+
+    assert on_accept is not None and callable(on_accept)
+    assert on_decline is not None and callable(on_decline)
+
+    self._accept_button = BigConfirmationCircleButton("enable\nsunnylink", gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                                      on_accept,  exit_on_confirm=False)
+
+    self._decline_button = BigConfirmationCircleButton("disable\nsunnylink", gui_app.texture("icons_mici/setup/cancel.png", 64, 64),
+                                                       on_decline, red=True, exit_on_confirm=False)
+
+    self._scroller.add_widgets([
+      GreyBigButton("sunnylink", "scroll to continue",
+                    gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 64, 64)),
+      GreyBigButton("", "sunnylink enables secured remote access to your comma device from anywhere."),
+      self._accept_button,
+      self._decline_button,
+    ])
diff --git a/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
new file mode 100644
index 0000000000..f14efe51a3
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -0,0 +1,92 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
+from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsBigButton
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+
+ICON_SIZE = 70
+BIG_ICON_SIZE = 110
+
+
+class SettingsLayoutSP(OP.SettingsLayout):
+  def __init__(self):
+    OP.SettingsLayout.__init__(self)
+
+    device_panel = DeviceLayoutMici()
+    self._scroller._items[2].set_click_callback(lambda: gui_app.push_widget(device_panel))
+
+    self.icon_offroad_enable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/always_offroad.png", BIG_ICON_SIZE,
+                                               BIG_ICON_SIZE)
+    self.icon_offroad_disable = gui_app.texture("../../sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png", BIG_ICON_SIZE,
+                                                BIG_ICON_SIZE)
+    self.icon_offroad_slider = gui_app.texture("icons_mici/settings/device/lkas.png", BIG_ICON_SIZE, BIG_ICON_SIZE)
+
+    sunnylink_panel = SunnylinkLayoutMici()
+    sunnylink_btn = SettingsBigButton(tr("sunnylink"), "", gui_app.texture("icons_mici/settings/developer/ssh.png", 55, 55))
+    sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
+
+    models_panel = ModelsLayoutMici()
+    models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
+    models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
+
+    # onroad: enable button sits at the front (left of toggles)
+    self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
+    self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
+    self._enable_offroad_btn_onroad.set_visible(lambda: ui_state.started and not ui_state.always_offroad)
+
+    # offroad: enable button sits at the end (right of developer)
+    self._enable_offroad_btn_offroad = BigCircleButton(self.icon_offroad_enable, red=True)
+    self._enable_offroad_btn_offroad.set_click_callback(lambda: self._handle_always_offroad(True))
+    self._enable_offroad_btn_offroad.set_visible(lambda: not ui_state.started and not ui_state.always_offroad)
+
+    self._disable_offroad_btn = BigCircleButton(self.icon_offroad_disable, red=False)
+    self._disable_offroad_btn.set_click_callback(lambda: self._handle_always_offroad(False))
+    self._disable_offroad_btn.set_visible(lambda: ui_state.always_offroad)
+
+    items = self._scroller._items.copy()
+
+    items.insert(1, sunnylink_btn)
+    items.insert(2, models_btn)
+
+    # front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
+    items.insert(0, self._enable_offroad_btn_onroad)
+    items.insert(0, self._disable_offroad_btn)
+    # end slot: enable-offroad (right of developer)
+    items.append(self._enable_offroad_btn_offroad)
+
+    self._scroller._items.clear()
+    for item in items:
+      self._scroller.add_widget(item)
+
+  def _update_state(self):
+    super()._update_state()
+
+  def _handle_always_offroad(self, enable: bool):
+
+    def _set_offroad_status(status: bool):
+      if not ui_state.engaged:
+        ui_state.params.put_bool("OffroadMode", status)
+        ui_state.always_offroad = status
+
+    if not enable:
+      dlg = BigConfirmationDialog(tr("slide to exit always offroad"), self.icon_offroad_slider, red=False,
+                                  confirm_callback=lambda: _set_offroad_status(False))
+    else:
+      if ui_state.engaged:
+        gui_app.push_widget(BigDialog(tr("disengage to enable always offroad"), "", ))
+        return
+
+      dlg = BigConfirmationDialog(tr("slide to force offroad"), self.icon_offroad_slider, red=True,
+                                  confirm_callback=lambda: _set_offroad_status(True))
+    gui_app.push_widget(dlg)
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
similarity index 67%
rename from selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
index 172ef7d2f8..7c42f99f83 100644
--- a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
@@ -4,51 +4,84 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from collections.abc import Callable
-
 import pyray as rl
-from cereal import custom
+
+
+from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
 from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import NavWidget
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.common.version import sunnylink_consent_version, sunnylink_consent_declined
 
+class SunnylinkInfo(Widget):
+  def __init__(self):
+    super().__init__()
 
-class SunnylinkLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
+    self.set_rect(rl.Rectangle(0, 0, 360, 180))
+
+    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
+    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+    max_width = int(self._rect.width - 20)
+    self.device_id_header = UnifiedLabel(tr("device id"), 48, max_width=max_width, text_color=header_color,
+                                         font_weight=FontWeight.DISPLAY, shimmer=True)
+    self.device_id_text = UnifiedLabel(UNREGISTERED_SUNNYLINK_DONGLE_ID, 32, max_width=max_width, text_color=subheader_color,
+                                       font_weight=FontWeight.ROMAN, scroll=True)
+
+    self.sponsor_header = UnifiedLabel(tr("sponsor tier"), 48, max_width=max_width, text_color=header_color,
+                                       font_weight=FontWeight.DISPLAY, shimmer=True)
+    self.sponsor_text = UnifiedLabel("N/A", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
+
+  def _render(self, _):
+    self.device_id_header.set_position(self._rect.x + 20, self._rect.y - 10)
+    self.device_id_header.render()
+
+    self.device_id_text.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self.device_id_text.render()
+
+    self.sponsor_header.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self.sponsor_header.render()
+
+    self.sponsor_text.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+    self.sponsor_text.render()
+
+class SunnylinkLayoutMici(NavScroller):
+  def __init__(self):
     super().__init__()
-    self.set_back_callback(back_callback)
     self._restore_in_progress = False
     self._backup_in_progress = False
     self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
 
+    self._sunnylink_info = SunnylinkInfo()
+
     self._sunnylink_toggle = BigToggle(text=tr("enable sunnylink"),
                                        initial_state=self._sunnylink_enabled,
                                        toggle_callback=self._sunnylink_toggle_callback)
     self._sunnylink_sponsor_button = SunnylinkPairBigButton(sponsor_pairing=False)
     self._sunnylink_pair_button = SunnylinkPairBigButton(sponsor_pairing=True)
-    self._backup_btn = BigButton(tr("backup settings"), "", "")
+    self._backup_btn = BigButton(tr("backup settings"), "")
     self._backup_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=False))
-    self._restore_btn = BigButton(tr("restore settings"), "", "")
+    self._restore_btn = BigButton(tr("restore settings"), "")
     self._restore_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=True))
     self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
                                                 toggle_callback=self._sunnylink_uploader_callback)
 
-    self._scroller = Scroller([
+    self._scroller.add_widgets([
+      self._sunnylink_info,
       self._sunnylink_toggle,
       self._sunnylink_sponsor_button,
       self._sunnylink_pair_button,
       self._backup_btn,
       self._restore_btn,
       self._sunnylink_uploader_toggle
-    ], snap_items=False)
+    ])
 
   def _update_state(self):
     super()._update_state()
@@ -61,6 +94,10 @@ class SunnylinkLayoutMici(NavWidget):
     self._sunnylink_uploader_toggle.set_visible(self._sunnylink_enabled)
     self.handle_backup_restore_progress()
 
+    self._sunnylink_info.device_id_text.set_text(ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID)
+    self._sunnylink_info.sponsor_text.set_text(ui_state.sunnylink_state.get_sponsor_tier().name.lower() or "N/A")
+    self._sunnylink_info.set_visible(self._sunnylink_enabled)
+
     if ui_state.sunnylink_state.is_sponsor():
       self._sunnylink_sponsor_button.set_text(tr("thanks"))
       self._sunnylink_sponsor_button.set_value(ui_state.sunnylink_state.get_sponsor_tier().name.lower())
@@ -76,11 +113,12 @@ class SunnylinkLayoutMici(NavWidget):
 
   def show_event(self):
     super().show_event()
-    self._scroller.show_event()
     ui_state.update_params()
+    ui_state.sunnylink_state.set_settings_open(True)
 
-  def _render(self, rect: rl.Rectangle):
-    self._scroller.render(rect)
+  def hide_event(self):
+    super().hide_event()
+    ui_state.sunnylink_state.set_settings_open(False)
 
   @staticmethod
   def _sunnylink_toggle_callback(state: bool):
@@ -90,16 +128,16 @@ class SunnylinkLayoutMici(NavWidget):
     def sl_terms_accepted():
       ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
       ui_state.params.put_bool("SunnylinkEnabled", True)
-      gui_app.set_modal_overlay(None)
+      gui_app.pop_widget()
 
     def sl_terms_declined():
       ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
       ui_state.params.put_bool("SunnylinkEnabled", False)
-      gui_app.set_modal_overlay(None)
+      gui_app.pop_widget()
 
     if state and not sl_consent and not sl_enabled:
       sl_terms_dlg = SunnylinkConsentPage(on_accept=sl_terms_accepted, on_decline=sl_terms_declined)
-      gui_app.set_modal_overlay(sl_terms_dlg)
+      gui_app.push_widget(sl_terms_dlg)
     else:
       ui_state.params.put_bool("SunnylinkEnabled", state)
 
@@ -111,9 +149,9 @@ class SunnylinkLayoutMici(NavWidget):
 
   def _handle_backup_restore_btn(self, restore: bool = False):
     lbl = tr("slide to restore") if restore else tr("slide to backup")
-    icon = "icons_mici/settings/device/update.png"
-    dlg = BigConfirmationDialogV2(lbl, icon, confirm_callback=self._restore_handler if restore else self._backup_handler)
-    gui_app.set_modal_overlay(dlg)
+    icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64)
+    dlg = BigConfirmationDialog(lbl, icon, confirm_callback=self._restore_handler if restore else self._backup_handler)
+    gui_app.push_widget(dlg)
 
   def _backup_handler(self):
     self._backup_in_progress = True
@@ -152,7 +190,7 @@ class SunnylinkLayoutMici(NavWidget):
       elif (backup_status == custom.BackupManagerSP.Status.completed or
             (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
         self._backup_in_progress = False
-        gui_app.set_modal_overlay(BigDialog(title=tr("settings backed up"), description=""))
+        gui_app.push_widget(BigDialog(title=tr("settings backed up"), description=""))
         self._backup_btn.set_enabled(not ui_state.is_onroad())
 
     elif self._restore_in_progress:
@@ -170,13 +208,13 @@ class SunnylinkLayoutMici(NavWidget):
         self._restore_btn.set_enabled(not ui_state.is_onroad())
         self._restore_btn.set_text(tr("restore"))
         self._restore_btn.set_value(tr("failed"))
-        gui_app.set_modal_overlay(BigDialog(title=tr("unable to restore"), description="try again later."))
+        gui_app.push_widget(BigDialog(title=tr("unable to restore"), description="try again later."))
 
       elif (restore_status == custom.BackupManagerSP.Status.completed or
             (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
         self._restore_in_progress = False
-        gui_app.set_modal_overlay(BigConfirmationDialogV2(
-          title="slide to restart", icon="icons_mici/settings/device/reboot.png",
+        gui_app.push_widget(BigConfirmationDialog(
+          title="slide to restart", icon=gui_app.texture("icons_mici/settings/device/reboot.png", 64, 64),
           confirm_callback=lambda: gui_app.request_close()))
 
     else:
@@ -192,7 +230,7 @@ class SunnylinkLayoutMici(NavWidget):
 class SunnylinkPairBigButton(BigButton):
   def __init__(self, sponsor_pairing: bool = False):
     self.sponsor_pairing = sponsor_pairing
-    super().__init__("", "", "")
+    super().__init__("")
 
   def _update_state(self):
     super()._update_state()
@@ -200,12 +238,17 @@ class SunnylinkPairBigButton(BigButton):
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
 
+    network_type = ui_state.sm["deviceState"].networkType
+
     dlg: BigDialog | SunnylinkPairingDialog | None = None
-    if UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
-      dlg = BigDialog(tr("sunnylink Dongle ID not found. Please reboot & try again."), "")
+
+    if network_type == 0:
+      dlg = BigDialog(tr("no internet"), tr("please connect to WiFi & try again"))
+    elif UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
+      dlg = BigDialog(tr("sunnylink dongle id not found"), tr("please reboot & try again"))
     elif self.sponsor_pairing:
       dlg = SunnylinkPairingDialog(sponsor_pairing=True)
     elif not self.sponsor_pairing:
       dlg = SunnylinkPairingDialog(sponsor_pairing=False)
     if dlg:
-      gui_app.set_modal_overlay(dlg)
+      gui_app.push_widget(dlg)
diff --git a/selfdrive/ui/sunnypilot/mici/widgets/__init__.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/widgets/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/onroad/__init__.py
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
index de52bb4622..9d39d01727 100644
--- a/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
@@ -24,4 +24,5 @@ class HudRendererSP(HudRenderer):
     self.blind_spot_indicators.render(rect)
 
   def _has_blind_spot_detected(self) -> bool:
+
     return self.blind_spot_indicators.detected
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
diff --git a/selfdrive/ui/sunnypilot/onroad/__init__.py b/openpilot/selfdrive/ui/sunnypilot/mici/widgets/__init__.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/widgets/__init__.py
diff --git a/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py b/openpilot/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
similarity index 85%
rename from selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
rename to openpilot/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
index e2cef2fa07..c727e4fc1c 100644
--- a/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
+++ b/openpilot/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
@@ -12,8 +12,8 @@ from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import NavWidget
-from openpilot.system.ui.widgets.label import MiciLabel
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.label import UnifiedLabel
 
 
 class SunnylinkPairingDialog(PairingDialog):
@@ -23,8 +23,8 @@ class SunnylinkPairingDialog(PairingDialog):
     PairingDialog.__init__(self)
     self._sponsor_pairing = sponsor_pairing
     label_text = tr("pair with sunnylink") if sponsor_pairing else tr("become a sunnypilot sponsor")
-    self._pair_label = MiciLabel(label_text, 48, font_weight=FontWeight.BOLD,
-                                 color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
+    self._pair_label = UnifiedLabel(label_text, font_size=48, font_weight=FontWeight.BOLD,
+                                    text_color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=0.8)
 
   def _get_pairing_url(self) -> str:
     qr_string = "https://github.com/sponsors/sunnyhaibin"
diff --git a/selfdrive/ui/tests/__init__.py b/openpilot/selfdrive/ui/sunnypilot/onroad/__init__.py
similarity index 100%
rename from selfdrive/ui/tests/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/__init__.py
diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/alert_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/alert_renderer.py
new file mode 100644
index 0000000000..9f48287a70
--- /dev/null
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/alert_renderer.py
@@ -0,0 +1,103 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer, AlertSize, ALERT_FONT_MEDIUM, ALERT_FONT_BIG, \
+  ALERT_FONT_SMALL, ALERT_MARGIN, ALERT_HEIGHTS, ALERT_PADDING, Alert
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wrap_text import wrap_text
+
+ALERT_LINE_SPACING = 15
+
+
+class AlertRendererSP(AlertRenderer):
+  def __init__(self):
+    super().__init__()
+
+  def _draw_text(self, rect: rl.Rectangle, alert: Alert) -> None:
+    if alert.size == AlertSize.small:
+      self._draw_multiline_centered(alert.text1, rect, self.font_bold, ALERT_FONT_MEDIUM)
+
+    elif alert.size == AlertSize.mid:
+      wrap_width = int(rect.width)
+      lines1 = wrap_text(self.font_bold, alert.text1, ALERT_FONT_BIG, wrap_width)
+      lines2 = wrap_text(self.font_regular, alert.text2, ALERT_FONT_SMALL, wrap_width) if alert.text2 else []
+
+      total_text_height = len(lines1) * measure_text_cached(self.font_bold, "A", ALERT_FONT_BIG).y
+      if lines2:
+        total_text_height += ALERT_LINE_SPACING + len(lines2) * measure_text_cached(self.font_regular, "A", ALERT_FONT_SMALL).y
+
+      curr_y = rect.y + (rect.height - total_text_height) / 2
+
+      for line in lines1:
+        line_height = measure_text_cached(self.font_bold, alert.text1, ALERT_FONT_BIG).y
+        self._draw_line_centered(line, rl.Rectangle(rect.x, curr_y, rect.width, line_height), self.font_bold, ALERT_FONT_BIG)
+        curr_y += line_height
+
+      if lines2:
+        curr_y += ALERT_LINE_SPACING
+        for line in lines2:
+          line_height = measure_text_cached(self.font_regular, alert.text2, ALERT_FONT_SMALL).y
+          self._draw_line_centered(line, rl.Rectangle(rect.x, curr_y, rect.width, line_height), self.font_regular, ALERT_FONT_SMALL)
+          curr_y += line_height
+
+    else:
+      super()._draw_text(rect, alert)
+
+  def _draw_multiline_centered(self, text, rect, font, font_size, color=rl.WHITE) -> None:
+    lines = wrap_text(font, text, font_size, rect.width)
+    line_height = measure_text_cached(font, text, font_size).y
+    total_height = len(lines) * line_height
+    curr_y = rect.y + (rect.height - total_height) / 2
+    for line in lines:
+      self._draw_line_centered(line, rl.Rectangle(rect.x, curr_y, rect.width, line_height), font, font_size, color)
+      curr_y += line_height
+
+  def _draw_line_centered(self, text, rect, font, font_size, color=rl.WHITE) -> None:
+    text_size = measure_text_cached(font, text, font_size)
+    x = rect.x + (rect.width - text_size.x) / 2
+    y = rect.y
+    rl.draw_text_ex(font, text, rl.Vector2(x, y), font_size, 0, color)
+
+  def _get_alert_rect(self, rect: rl.Rectangle, size: int) -> rl.Rectangle:
+    if size == AlertSize.full:
+      return rect
+
+    dev_ui_info = ui_state.developer_ui
+    v_adjustment = 40 if dev_ui_info in {2, 3} and size != AlertSize.full else 0
+    h_adjustment = 230 if dev_ui_info in {1, 3} and size != AlertSize.full else 0
+
+    w = int(rect.width - ALERT_MARGIN * 2 - h_adjustment)
+    h = self._calculate_dynamic_height(size, w)
+    return rl.Rectangle(rect.x + ALERT_MARGIN, rect.y + rect.height - h + ALERT_MARGIN - v_adjustment, w,
+                        h - ALERT_MARGIN * 2)
+
+  def _calculate_dynamic_height(self, size: int, width: int) -> int:
+    alert = self.get_alert(ui_state.sm)
+    if not alert:
+      return ALERT_HEIGHTS.get(size, 271)
+
+    height = 2 * ALERT_PADDING
+    wrap_width = width - 2 * ALERT_PADDING
+
+    if size == AlertSize.small:
+      lines = wrap_text(self.font_bold, alert.text1, ALERT_FONT_MEDIUM, wrap_width)
+      line_height = measure_text_cached(self.font_bold, alert.text1, ALERT_FONT_MEDIUM).y
+      height += int(len(lines) * line_height)
+    elif size == AlertSize.mid:
+      lines1 = wrap_text(self.font_bold, alert.text1, ALERT_FONT_BIG, wrap_width)
+      line_height1 = measure_text_cached(self.font_bold, alert.text1, ALERT_FONT_BIG).y
+      height += int(len(lines1) * line_height1)
+
+      if alert.text2:
+        lines2 = wrap_text(self.font_regular, alert.text2, ALERT_FONT_SMALL, wrap_width)
+        line_height2 = measure_text_cached(self.font_regular, alert.text2, ALERT_FONT_SMALL).y
+        height += int(ALERT_LINE_SPACING + len(lines2) * line_height2)
+    else:
+      height = ALERT_HEIGHTS.get(size, 271)
+
+    return int(height)
diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
similarity index 91%
rename from selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
index 64d7a3d946..c7dedee540 100644
--- a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
@@ -23,7 +23,7 @@ class AugmentedRoadViewSP:
   def update_fade_out_bottom_overlay(self, _content_rect):
     # Fade out bottom of overlays for looks (only when engaged)
     fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
-    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' and fade_alpha > 1e-2:
+    if ui_state.torque_bar and fade_alpha > 1e-2:
       # Scale the fade texture to the content rect
       rl.draw_texture_pro(self._fade_texture,
                           rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),
diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/openpilot/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
similarity index 83%
rename from selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
index 61aa52537b..2efda17a2b 100644
--- a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
@@ -14,7 +14,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 class BlindSpotIndicators:
   def __init__(self):
     self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128)
-    self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128)
+    self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128, flip_x=True)
 
     self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
     self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
@@ -28,7 +28,7 @@ class BlindSpotIndicators:
 
   @property
   def detected(self) -> bool:
-    return self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01
+    return ui_state.blindspot and (self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01)
 
   def render(self, rect: rl.Rectangle) -> None:
     if not ui_state.blindspot:
@@ -42,11 +42,11 @@ class BlindSpotIndicators:
       pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
       alpha = int(255 * self._blind_spot_left_alpha_filter.x)
       color = rl.Color(255, 255, 255, alpha)
-      rl.draw_texture(self._txt_blind_spot_left, pos_x, pos_y, color)
+      rl.draw_texture_ex(self._txt_blind_spot_left, rl.Vector2(pos_x, pos_y), 0.0, 1.0, color)
 
     if self._blind_spot_right_alpha_filter.x > 0.01:
       pos_x = int(rect.x + rect.width - BLIND_SPOT_MARGIN_X - self._txt_blind_spot_right.width)
       pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
       alpha = int(255 * self._blind_spot_right_alpha_filter.x)
       color = rl.Color(255, 255, 255, alpha)
-      rl.draw_texture(self._txt_blind_spot_right, pos_x, pos_y, color)
+      rl.draw_texture_ex(self._txt_blind_spot_right, rl.Vector2(pos_x, pos_y), 0.0, 1.0, color)
diff --git a/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py b/openpilot/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
similarity index 97%
rename from selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
index a8a342c129..1dded3fc62 100644
--- a/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
@@ -128,8 +128,8 @@ class ChevronMetrics:
     lead_one = radar_state.leadOne
     lead_two = radar_state.leadTwo
 
-    has_lead_one = lead_one.status if lead_one else False
-    has_lead_two = lead_two.status if lead_two else False
+    has_lead_one = lead_one.present if lead_one else False
+    has_lead_two = lead_two.present if lead_two else False
 
     self.update_alpha(has_lead_one or has_lead_two)
 
diff --git a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py b/openpilot/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
similarity index 95%
rename from selfdrive/ui/sunnypilot/onroad/circular_alerts.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
index 8aa4c71d0d..c44e4455eb 100644
--- a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
@@ -6,10 +6,10 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiState
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
@@ -77,7 +77,7 @@ class CircularAlertsRenderer:
       return
 
     e2e_alert_size = 250
-    dev_ui_width_adjustment = 180 if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_RIGHT, DeveloperUiRenderer.DEV_UI_BOTH) else 100
+    dev_ui_width_adjustment = 180 if ui_state.developer_ui in (DeveloperUiState.RIGHT, DeveloperUiState.BOTH) else 100
 
     x = rect.x + rect.width - e2e_alert_size - dev_ui_width_adjustment - (UI_BORDER_SIZE * 3)
     y = rect.y + rect.height / 2 + 20
@@ -101,9 +101,9 @@ class CircularAlertsRenderer:
 
     # Draw Image
     if self._alert_img and self._e2e_alert_display_timer > 0:
-      img_x = int(center.x - self._alert_img.width / 2)
-      img_y = int(center.y - self._alert_img.height / 2)
-      rl.draw_texture(self._alert_img, img_x, img_y, rl.WHITE)
+      img_x = center.x - self._alert_img.width / 2
+      img_y = center.y - self._alert_img.height / 2
+      rl.draw_texture_ex(self._alert_img, rl.Vector2(img_x, img_y), 0.0, 1.0, rl.WHITE)
 
     # Draw Text
     txt_color = rl.Color(255, 255, 255, 255) if is_pulsing else rl.Color(0, 255, 0, 190)
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
similarity index 91%
rename from selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
index 8e19f876a2..9d6cfd15a7 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
@@ -4,6 +4,8 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from enum import IntEnum
+
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
@@ -17,18 +19,25 @@ from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
 
 
-class DeveloperUiRenderer(Widget):
-  DEV_UI_OFF = 0
-  DEV_UI_BOTTOM = 1
-  DEV_UI_RIGHT = 2
-  DEV_UI_BOTH = 3
-  BOTTOM_BAR_HEIGHT = 61
+def get_bottom_dev_ui_offset():
+  if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
+    return 60
+  return 0
 
+
+class DeveloperUiState(IntEnum):
+  OFF = 0
+  BOTTOM = 1
+  RIGHT = 2
+  BOTH = 3
+
+
+class DeveloperUiRenderer(Widget):
   def __init__(self):
     super().__init__()
     self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
     self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
-    self.dev_ui_mode = self.DEV_UI_OFF
+    self.dev_ui_mode = DeveloperUiState.OFF
 
     self.rel_dist_elem = RelDistElement()
     self.rel_speed_elem = RelSpeedElement()
@@ -45,28 +54,22 @@ class DeveloperUiRenderer(Widget):
     self.bearing_elem = BearingDegElement()
     self.altitude_elem = AltitudeElement()
 
-  @staticmethod
-  def get_bottom_dev_ui_offset():
-    if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH):
-      return DeveloperUiRenderer.BOTTOM_BAR_HEIGHT
-    return 0
-
   def _update_state(self) -> None:
     self.dev_ui_mode = ui_state.developer_ui
 
   def _render(self, rect: rl.Rectangle) -> None:
-    if self.dev_ui_mode == self.DEV_UI_OFF:
+    if self.dev_ui_mode == DeveloperUiState.OFF:
       return
 
     sm = ui_state.sm
     if sm.recv_frame["carState"] < ui_state.started_frame:
       return
 
-    if self.dev_ui_mode == self.DEV_UI_BOTTOM:
+    if self.dev_ui_mode == DeveloperUiState.BOTTOM:
       self._draw_bottom_dev_ui(rect)
-    elif self.dev_ui_mode == self.DEV_UI_RIGHT:
+    elif self.dev_ui_mode == DeveloperUiState.RIGHT:
       self._draw_right_dev_ui(rect)
-    elif self.dev_ui_mode == self.DEV_UI_BOTH:
+    elif self.dev_ui_mode == DeveloperUiState.BOTH:
       self._draw_right_dev_ui(rect)
       self._draw_bottom_dev_ui(rect)
 
@@ -138,7 +141,8 @@ class DeveloperUiRenderer(Widget):
 
     # Add torque-specific elements if using torque control
     if sm['controlsState'].lateralControlState.which() == 'torqueState':
-      if sm.valid['liveTorqueParameters']:
+      override_active = ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled
+      if sm.valid['lateralTorqueParameters'] or override_active:
         elements.extend([
           self.friction_elem.update(sm, ui_state.is_metric),
           self.lat_accel_factor_elem.update(sm, ui_state.is_metric),
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
similarity index 90%
rename from selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
index 94e3af42eb..a8ecb5f8ab 100644
--- a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
@@ -8,8 +8,7 @@ import pyray as rl
 from dataclasses import dataclass
 
 from openpilot.common.constants import CV
-
-
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 
@@ -43,7 +42,7 @@ class LeadInfoElement:
   @staticmethod
   def get_lead_status(sm):
     lead_one = sm['radarState'].leadOne
-    return lead_one.status, lead_one.dRel, lead_one.vRel
+    return lead_one.present, lead_one.dRel, lead_one.vRel
 
   @staticmethod
   def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color:
@@ -161,7 +160,7 @@ class ActualLateralAccelElement(LateralControlElement):
     controls_state = sm['controlsState']
     curvature = controls_state.curvature
     v_ego = sm['carState'].vEgo
-    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    roll = sm['vehicleParameters'].roll if sm.valid['vehicleParameters'] else 0.0
     lat_active = sm['carControl'].latActive
     steer_override = sm['carState'].steeringPressed
 
@@ -180,7 +179,7 @@ class DesiredLateralAccelElement(LateralControlElement):
     controls_state = sm['controlsState']
     desired_curvature = controls_state.desiredCurvature
     v_ego = sm['carState'].vEgo
-    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    roll = sm['vehicleParameters'].roll if sm.valid['vehicleParameters'] else 0.0
     lat_active = sm['carControl'].latActive
     steer_override = sm['carState'].steeringPressed
 
@@ -248,12 +247,12 @@ class FrictionCoefficientElement:
     self.unit = ""
 
   def update(self, sm, is_metric: bool) -> UiElement:
-    ltp = sm['liveTorqueParameters']
-    friction_coef = ltp.frictionCoefficientFiltered
-    live_valid = ltp.liveValid
+    if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
+      return UiElement(f"{ui_state.torque_override_friction:.3f}", "FRIC.", self.unit, rl.WHITE)
 
-    value = f"{friction_coef:.3f}"
-    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    ltp = sm['lateralTorqueParameters']
+    value = f"{ltp.frictionCoefficientFiltered:.3f}"
+    color = rl.Color(0, 255, 0, 255) if ltp.valid else rl.WHITE
     return UiElement(value, "FRIC.", self.unit, color)
 
 
@@ -262,12 +261,12 @@ class LatAccelFactorElement:
     self.unit = ""
 
   def update(self, sm, is_metric: bool) -> UiElement:
-    ltp = sm['liveTorqueParameters']
-    lat_accel_factor = ltp.latAccelFactorFiltered
-    live_valid = ltp.liveValid
+    if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
+      return UiElement(f"{ui_state.torque_override_lat_accel_factor:.3f}", "L.A.F.", self.unit, rl.WHITE)
 
-    value = f"{lat_accel_factor:.3f}"
-    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    ltp = sm['lateralTorqueParameters']
+    value = f"{ltp.latAccelFactorFiltered:.3f}"
+    color = rl.Color(0, 255, 0, 255) if ltp.valid else rl.WHITE
     return UiElement(value, "L.A.F.", self.unit, color)
 
 
diff --git a/selfdrive/ui/sunnypilot/onroad/driver_state.py b/openpilot/selfdrive/ui/sunnypilot/onroad/driver_state.py
similarity index 92%
rename from selfdrive/ui/sunnypilot/onroad/driver_state.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/driver_state.py
index 4f2d264ee2..d3239b9e3d 100644
--- a/selfdrive/ui/sunnypilot/onroad/driver_state.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/driver_state.py
@@ -8,13 +8,12 @@ import numpy as np
 
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer, BTN_SIZE, ARC_LENGTH
-from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import get_bottom_dev_ui_offset
 
 
 class DriverStateRendererSP(DriverStateRenderer):
   def __init__(self):
     super().__init__()
-    self.dev_ui_offset = DeveloperUiRenderer.get_bottom_dev_ui_offset()
 
   def _pre_calculate_drawing_elements(self):
     """Pre-calculate all drawing elements based on the current rectangle"""
@@ -22,7 +21,7 @@ class DriverStateRendererSP(DriverStateRenderer):
     width, height = self._rect.width, self._rect.height
     offset = UI_BORDER_SIZE + BTN_SIZE // 2
     self.position_x = self._rect.x + (width - offset if self.is_rhd else offset)
-    self.position_y = self._rect.y + height - offset - self.dev_ui_offset
+    self.position_y = self._rect.y + height - offset - get_bottom_dev_ui_offset()
 
     # Pre-calculate the face lines positions
     positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
similarity index 85%
rename from selfdrive/ui/sunnypilot/onroad/hud_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
index 86fcf3c693..f8e4257733 100644
--- a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -8,7 +8,7 @@ import pyray as rl
 
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
-from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer, DeveloperUiState, get_bottom_dev_ui_offset
 from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
 from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer
@@ -22,6 +22,8 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 
+SLA_ACTIVE_COLOR = rl.Color(0x91, 0x9b, 0x95, 0xff)
+
 
 class HudRendererSP(HudRenderer):
   def __init__(self):
@@ -71,6 +73,8 @@ class HudRendererSP(HudRenderer):
     self.show_icbm_status = self.icbm_active_counter > 0
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
+    long_plan_sp = ui_state.sm['longitudinalPlanSP']
+    long_override = ui_state.sm['carControl'].cruiseControl.override
     self._get_icbm_status()
 
     set_speed_width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
@@ -85,12 +89,16 @@ class HudRendererSP(HudRenderer):
     set_speed_color = COLORS.DARK_GREY
     if self.is_cruise_set:
       set_speed_color = COLORS.WHITE
-      if ui_state.status == UIStatus.ENGAGED:
-        max_color = COLORS.ENGAGED
-      elif ui_state.status == UIStatus.DISENGAGED:
-        max_color = COLORS.DISENGAGED
-      elif ui_state.status == UIStatus.OVERRIDE:
-        max_color = COLORS.OVERRIDE
+      if long_plan_sp.speedLimit.assist.active:
+        set_speed_color = SLA_ACTIVE_COLOR if long_override else rl.Color(0, 0xff, 0, 0xff)
+        max_color = SLA_ACTIVE_COLOR if long_override else rl.Color(0x80, 0xd8, 0xa6, 0xff)
+      else:
+        if ui_state.status == UIStatus.ENGAGED:
+          max_color = COLORS.ENGAGED
+        elif ui_state.status == UIStatus.DISENGAGED:
+          max_color = COLORS.DISENGAGED
+        elif ui_state.status == UIStatus.OVERRIDE:
+          max_color = COLORS.OVERRIDE
 
     max_str_size = 60 if self.show_icbm_status else 40
     max_str_y = 15 if self.show_icbm_status else 27
@@ -123,10 +131,10 @@ class HudRendererSP(HudRenderer):
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
 
-    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
+    if ui_state.torque_bar:
       torque_rect = rect
-      if ui_state.developer_ui in (DeveloperUiRenderer.DEV_UI_BOTTOM, DeveloperUiRenderer.DEV_UI_BOTH):
-        torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - DeveloperUiRenderer.BOTTOM_BAR_HEIGHT)
+      if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
+        torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - get_bottom_dev_ui_offset())
       self._torque_bar.render(torque_rect)
 
     self.developer_ui.render(rect)
diff --git a/selfdrive/ui/sunnypilot/onroad/model_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/model_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
diff --git a/selfdrive/ui/sunnypilot/onroad/rainbow_path.py b/openpilot/selfdrive/ui/sunnypilot/onroad/rainbow_path.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/rainbow_path.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/rainbow_path.py
diff --git a/selfdrive/ui/sunnypilot/onroad/road_name.py b/openpilot/selfdrive/ui/sunnypilot/onroad/road_name.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/road_name.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/road_name.py
diff --git a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py b/openpilot/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
diff --git a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py b/openpilot/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
similarity index 51%
rename from selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
index ca71fcac4a..c89bd914be 100644
--- a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
@@ -10,6 +10,7 @@ from openpilot.selfdrive.ui.onroad.hud_renderer import COLORS
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.utils import AlertFadeAnimator
 from openpilot.system.ui.widgets import Widget
 
 
@@ -18,14 +19,14 @@ class SmartCruiseControlRenderer(Widget):
     super().__init__()
     self.vision_enabled = False
     self.vision_active = False
-    self.vision_frame = 0
     self.map_enabled = False
     self.map_active = False
-    self.map_frame = 0
     self.long_override = False
 
+    self._vision_fade = AlertFadeAnimator(gui_app.target_fps)
+    self._map_fade = AlertFadeAnimator(gui_app.target_fps)
+
     self.font = gui_app.font(FontWeight.BOLD)
-    self.scc_tex = rl.load_render_texture(256, 128)
 
   def update(self):
     sm = ui_state.sm
@@ -42,21 +43,10 @@ class SmartCruiseControlRenderer(Widget):
     if sm.updated["carControl"]:
       self.long_override = sm["carControl"].cruiseControl.override
 
-    if self.vision_active:
-      self.vision_frame += 1
-    else:
-      self.vision_frame = 0
+    self._vision_fade.update(self.vision_active)
+    self._map_fade.update(self.map_active)
 
-    if self.map_active:
-      self.map_frame += 1
-    else:
-      self.map_frame = 0
-
-  @staticmethod
-  def _pulse_element(frame):
-    return not (frame % gui_app.target_fps < (gui_app.target_fps / 2.5))
-
-  def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name):
+  def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name, alpha=1.0):
     text = name
     font_size = 36
     padding_v = 5
@@ -65,44 +55,28 @@ class SmartCruiseControlRenderer(Widget):
     sz = measure_text_cached(self.font, text, font_size)
     box_height = int(sz.y + padding_v * 2)
 
-    texture_width = 256
-    texture_height = 128
-
-    rl.begin_texture_mode(self.scc_tex)
-    rl.clear_background(rl.Color(0, 0, 0, 0))
-
     if self.long_override:
-      box_color = COLORS.OVERRIDE
+      color = COLORS.OVERRIDE
+      box_color = rl.Color(color.r, color.g, color.b, int(alpha * 255))
     else:
-      box_color = rl.Color(0, 255, 0, 255)
+      box_color = rl.Color(0, 255, 0, int(alpha * 255))
 
-    # Center box in texture
-    box_x = (texture_width - box_width) // 2
-    box_y = (texture_height - box_height) // 2
-
-    rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
-
-    # Draw text with custom blend mode to punch hole
-    rl.rl_set_blend_factors(rl.RL_ZERO, rl.RL_ONE_MINUS_SRC_ALPHA, 0x8006)
-    rl.rl_set_blend_mode(rl.BLEND_CUSTOM)
-
-    text_pos_x = box_x + (box_width - sz.x) / 2
-    text_pos_y = box_y + (box_height - sz.y) / 2
-
-    rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, rl.WHITE)
-
-    rl.rl_set_blend_mode(rl.BLEND_ALPHA)  # Reset
-    rl.end_texture_mode()
+    text_color = rl.Color(0, 0, 0, int(alpha * 255))
 
     screen_y = rect_height / 4 + y_offset
 
-    dest_x = rect_center_x + x_offset - texture_width / 2
-    dest_y = screen_y - texture_height / 2
+    box_x = rect_center_x + x_offset - box_width / 2
+    box_y = screen_y - box_height / 2
 
-    src_rect = rl.Rectangle(0, 0, texture_width, -texture_height)
-    dst_rect = rl.Rectangle(dest_x, dest_y, texture_width, texture_height)
+    # Draw rounded background box
+    if alpha > 0.01:
+      rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
 
-    rl.draw_texture_pro(self.scc_tex.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0, rl.WHITE)
+      # Draw text centered in the box (black color for contrast against bright green/grey)
+      text_pos_x = box_x + (box_width - sz.x) / 2
+      text_pos_y = box_y + (box_height - sz.y) / 2
+
+      rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, text_color)
 
   def _render(self, rect: rl.Rectangle):
     x_offset = -260
@@ -122,10 +96,10 @@ class SmartCruiseControlRenderer(Widget):
       y_scc_m = orders[idx]
       idx += 1
 
-    scc_vision_pulse = self._pulse_element(self.vision_frame)
-    if (self.vision_enabled and not self.vision_active) or (self.vision_active and scc_vision_pulse):
-      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_v, "SCC-V")
+    if self.vision_enabled:
+      alpha = self._vision_fade.alpha if self.vision_active else 1.0
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_v, "SCC-V", alpha)
 
-    scc_map_pulse = self._pulse_element(self.map_frame)
-    if (self.map_enabled and not self.map_active) or (self.map_active and scc_map_pulse):
-      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_m, "SCC-M")
+    if self.map_enabled:
+      alpha = self._map_fade.alpha if self.map_active else 1.0
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_m, "SCC-M", alpha)
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/openpilot/selfdrive/ui/sunnypilot/onroad/speed_limit.py
similarity index 63%
rename from selfdrive/ui/sunnypilot/onroad/speed_limit.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/speed_limit.py
index a0b5ea3935..fa8143eb32 100644
--- a/selfdrive/ui/sunnypilot/onroad/speed_limit.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -4,24 +4,28 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+
 from dataclasses import dataclass
-import math
+from enum import StrEnum
 import pyray as rl
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.constants import CV
-from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.utils import AlertFadeAnimator
 from openpilot.system.ui.widgets import Widget
 
 METER_TO_FOOT = 3.28084
 METER_TO_MILE = 0.000621371
 AHEAD_THRESHOLD = 5
+SET_SPEED_NA = 255
+KM_TO_MILE = 0.621371
 
 AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
 SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
@@ -31,16 +35,65 @@ SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
 class Colors:
   WHITE = rl.WHITE
   BLACK = rl.BLACK
-  RED = rl.RED
+  RED = rl.Color(235, 32, 32, 255)
   GREY = rl.Color(145, 155, 149, 255)
   DARK_GREY = rl.Color(77, 77, 77, 255)
   SUB_BG = rl.Color(0, 0, 0, 180)
   MUTCD_LINES = rl.Color(255, 255, 255, 100)
 
 
-class SpeedLimitRenderer(Widget):
+class IconSide(StrEnum):
+  left = 'left'
+  right = 'right'
+
+
+class SpeedLimitAlertRenderer:
+  ARROW_SIZE = 90 if HARDWARE.get_device_type() == 'mici' else 200
+
   def __init__(self):
-    super().__init__()
+    self.arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", self.ARROW_SIZE, self.ARROW_SIZE)
+    self.arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", self.ARROW_SIZE, self.ARROW_SIZE)
+
+    blank_image = rl.gen_image_color(self.ARROW_SIZE, self.ARROW_SIZE, rl.Color(0, 0, 0, 0))
+    self.arrow_blank = rl.load_texture_from_image(blank_image)
+    rl.unload_image(blank_image)
+
+    self._pre_active_fade = AlertFadeAnimator(gui_app.target_fps, duration_on=0.75, rc=0.05)
+
+  def update(self):
+    assist_state = ui_state.sm['longitudinalPlanSP'].speedLimit.assist.state
+    self._pre_active_fade.update(assist_state == AssistState.preActive)
+
+  def speed_limit_pre_active_icon_helper(self):
+    icon_alpha = max(0.0, min(self._pre_active_fade.alpha * 255.0, 255.0))
+    txt_icon = self.arrow_blank
+    icon_margin_x = 10
+    icon_margin_y = 18
+
+    if icon_alpha > 0:
+      speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+      speed_limit_final_last = ui_state.sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
+
+      v_cruise_cluster = ui_state.sm['carState'].vCruiseCluster
+      set_speed = ui_state.sm['controlsState'].deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
+      if not ui_state.is_metric:
+        set_speed *= KM_TO_MILE
+
+      set_speed_round = round(set_speed)
+      speed_limit_round = round(speed_limit_final_last * speed_conv)
+
+      if set_speed_round < speed_limit_round:
+        txt_icon = self.arrow_up
+      elif set_speed_round > speed_limit_round:
+        txt_icon = self.arrow_down
+
+    return IconSide.right, txt_icon, icon_alpha, icon_margin_x, icon_margin_y
+
+
+class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
+  def __init__(self):
+    Widget.__init__(self)
+    SpeedLimitAlertRenderer.__init__(self)
 
     self.speed_limit = 0.0
     self.speed_limit_last = 0.0
@@ -57,26 +110,26 @@ class SpeedLimitRenderer(Widget):
     self.speed_limit_ahead_valid = False
     self.speed_limit_ahead_frame = 0
 
-    self.assist_frame = 0
-    self.speed = 0.0
-    self.set_speed = 0.0
+    self.is_cruise_set: bool = False
+    self.is_cruise_available: bool = True
+    self.set_speed: float = SET_SPEED_NA
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
 
     self.font_bold = gui_app.font(FontWeight.BOLD)
     self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
     self.font_norm = gui_app.font(FontWeight.NORMAL)
-    self._sign_alpha_filter = FirstOrderFilter(1.0, 0.5, 1 / gui_app.target_fps)
-
-    arrow_size = 90
-    self._arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", arrow_size, arrow_size)
-    self._arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", arrow_size, arrow_size)
 
   @property
   def speed_conv(self):
     return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
 
   def update(self):
+    SpeedLimitAlertRenderer.update(self)
     sm = ui_state.sm
     if sm.recv_frame["carState"] < ui_state.started_frame:
+      self.set_speed = SET_SPEED_NA
+      self.speed = 0.0
       return
 
     if sm.updated["longitudinalPlanSP"]:
@@ -106,9 +159,21 @@ class SpeedLimitRenderer(Widget):
 
       self.speed_limit_ahead_dist_prev = self.speed_limit_ahead_dist
 
-    cs = sm["carState"]
-    self.set_speed = cs.cruiseState.speed * self.speed_conv
-    v_ego = cs.vEgoCluster if cs.vEgoCluster != 0.0 else cs.vEgo
+    controls_state = sm['controlsState']
+    car_state = sm["carState"]
+
+    v_cruise_cluster = car_state.vCruiseCluster
+    self.set_speed = (
+      controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
+    )
+    self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
+    self.is_cruise_available = self.set_speed != -1
+
+    if self.is_cruise_set and not ui_state.is_metric:
+      self.set_speed *= KM_TO_MILE
+
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or car_state.vEgoCluster != 0.0
+    v_ego = car_state.vEgoCluster if self.v_ego_cluster_seen else car_state.vEgo
     self.speed = max(0.0, v_ego * self.speed_conv)
 
   @staticmethod
@@ -123,13 +188,7 @@ class SpeedLimitRenderer(Widget):
 
     sign_rect = rl.Rectangle(x, y, width, UI_CONFIG.set_speed_height + 6 * 2)
 
-    if self.speed_limit_assist_state == AssistState.preActive:
-      self.assist_frame += 1
-      pulse_value = 0.65 + 0.35 * math.sin(self.assist_frame * math.pi / gui_app.target_fps)
-      alpha = self._sign_alpha_filter.update(pulse_value)
-    else:
-      self.assist_frame = 0
-      alpha = self._sign_alpha_filter.update(1.0)
+    alpha = self._pre_active_fade.alpha
 
     if ui_state.speed_limit_mode != SpeedLimitMode.off:
       self._draw_sign_main(sign_rect, alpha)
@@ -139,7 +198,7 @@ class SpeedLimitRenderer(Widget):
         self._draw_ahead_info(sign_rect)
 
   def _draw_sign_main(self, rect, alpha=1.0):
-    speed_limit_warning_enabled = ui_state.speed_limit_mode >= SpeedLimitMode.warning
+    speed_limit_warning_enabled = ui_state.speed_limit_mode is not None and ui_state.speed_limit_mode >= SpeedLimitMode.warning
     has_limit = self.speed_limit_valid or self.speed_limit_last_valid
     is_overspeed = has_limit and round(self.speed_limit_final_last) < round(self.speed)
 
@@ -161,43 +220,30 @@ class SpeedLimitRenderer(Widget):
       self._render_mutcd(rect, limit_str, sub_text, txt_color, has_limit, alpha)
 
   def _draw_pre_active_arrow(self, sign_rect):
-    set_speed_rounded = round(self.set_speed)
-    limit_rounded = round(self.speed_limit_final_last)
-
-    bounce_frequency = 2.0 * math.pi / (gui_app.target_fps * 2.5)
-    bounce_offset = int(20 * math.sin(self.assist_frame * bounce_frequency))
-
-    sign_margin = 12
-    arrow_spacing = int(sign_margin * 1.4)
-    arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
-
-    if set_speed_rounded < limit_rounded:
-      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_up.height) / 2 + bounce_offset
-      rl.draw_texture(self._arrow_up, int(arrow_x), int(arrow_y), rl.WHITE)
-    elif set_speed_rounded > limit_rounded:
-      arrow_y = sign_rect.y + (sign_rect.height - self._arrow_down.height) / 2 - bounce_offset
-      rl.draw_texture(self._arrow_down, int(arrow_x), int(arrow_y), rl.WHITE)
+    _, txt_icon, icon_alpha, _, _ = SpeedLimitAlertRenderer.speed_limit_pre_active_icon_helper(self)
+    if icon_alpha > 0 and txt_icon != self.arrow_blank:
+      sign_margin = 12
+      arrow_spacing = int(sign_margin * 1.4)
+      arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
+      arrow_y = sign_rect.y + (sign_rect.height - txt_icon.height) / 2
+      color = rl.Color(255, 255, 255, int(icon_alpha))
+      rl.draw_texture_ex(txt_icon, rl.Vector2(arrow_x, arrow_y), 0.0, 1.0, color)
 
   def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
     center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)
     radius = (rect.width + 18) / 2
 
-    white = rl.Color(255, 255, 255, int(255 * alpha))
-    red = rl.Color(255, 0, 0, int(255 * alpha))
-
-    if hasattr(color, 'r'):
-      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
-    else:
-      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
-
-    black = rl.Color(0, 0, 0, int(255 * alpha))
-    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
+    white = rl.color_alpha(Colors.WHITE, alpha)
+    red = rl.color_alpha(Colors.RED, alpha)
+    black = rl.color_alpha(Colors.BLACK, alpha)
+    dark_grey = rl.color_alpha(Colors.DARK_GREY, alpha)
+    text_color = rl.color_alpha(color, alpha)
 
     rl.draw_circle_v(center, radius, white)
-    rl.draw_ring(center, radius * 0.80, radius, 0, 360, 36, red)
+    rl.draw_ring(center, radius * 0.75, radius, 0, 360, 36, red)
 
-    f_size = 70 if len(val) >= 3 else 85
-    self._draw_text_centered(self.font_bold, val, f_size, center, text_color)
+    font_size = 70 if len(val) >= 3 else 85
+    self._draw_text_centered(self.font_bold, val, font_size, center, text_color)
 
     if sub and has_limit:
       s_radius = radius * 0.4
@@ -206,22 +252,23 @@ class SpeedLimitRenderer(Widget):
       rl.draw_circle_v(s_center, s_radius, black)
       rl.draw_ring(s_center, s_radius - 3, s_radius, 0, 360, 36, dark_grey)
 
-      f_scale = 0.5 if len(sub) < 3 else 0.45
-      self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * f_scale), s_center, white)
+      font_scale = 0.5 if len(sub) < 3 else 0.45
+      self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * font_scale), s_center, white)
 
   def _render_mutcd(self, rect, val, sub, color, has_limit, alpha=1.0):
-    white = rl.Color(255, 255, 255, int(255 * alpha))
-    black = rl.Color(0, 0, 0, int(255 * alpha))
-    dark_grey = rl.Color(77, 77, 77, int(255 * alpha))
-
-    if hasattr(color, 'r'):
-      text_color = rl.Color(color.r, color.g, color.b, int(255 * alpha))
-    else:
-      text_color = rl.Color(color[0], color[1], color[2], int(255 * alpha))
+    white = rl.color_alpha(Colors.WHITE, alpha)
+    black = rl.color_alpha(Colors.BLACK, alpha)
+    dark_grey = rl.color_alpha(Colors.DARK_GREY, alpha)
+    text_color = rl.color_alpha(color, alpha)
 
     rl.draw_rectangle_rounded(rect, 0.35, 10, white)
+
     inner = rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20)
-    rl.draw_rectangle_rounded_lines_ex(inner, 0.35, 10, 4, black)
+    outer_radius = 0.35 * rect.width / 2.0
+    inner_radius = outer_radius - 10.0
+    inner_roundness = inner_radius / (inner.width / 2.0)
+
+    rl.draw_rectangle_rounded_lines_ex(inner, inner_roundness, 10, 4, black)
 
     self._draw_text_centered(self.font_demi, "SPEED", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 40), black)
     self._draw_text_centered(self.font_demi, "LIMIT", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 80), black)
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/speed_renderer.py
similarity index 100%
rename from selfdrive/ui/sunnypilot/onroad/speed_renderer.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/speed_renderer.py
diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/openpilot/selfdrive/ui/sunnypilot/onroad/turn_signal.py
similarity index 87%
rename from selfdrive/ui/sunnypilot/onroad/turn_signal.py
rename to openpilot/selfdrive/ui/sunnypilot/onroad/turn_signal.py
index bd1aa7ee10..fc6f7eb915 100644
--- a/selfdrive/ui/sunnypilot/onroad/turn_signal.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/turn_signal.py
@@ -34,8 +34,8 @@ class TurnSignalWidget(Widget):
     self._turn_signal_timer = 0.0
     self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
 
-    self._signal_texture = gui_app.texture(f'icons_mici/onroad/turn_signal_{direction}.png', 120, 109)
-    self._blind_spot_texture = gui_app.texture(f'icons_mici/onroad/blind_spot_{direction}.png', 120, 109)
+    self._signal_texture = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 120, 109, flip_x=(direction == IconSide.right))
+    self._blind_spot_texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 120, 109, flip_x=(direction == IconSide.right))
     self._texture = self._signal_texture
 
   def _render(self, _):
@@ -55,10 +55,10 @@ class TurnSignalWidget(Widget):
     self._texture = self._blind_spot_texture if self._type == 'blind_spot' else self._signal_texture
 
     if self._texture:
-      pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2)
-      pos_y = int(self._rect.y + (self._rect.height - self._texture.height) / 2)
+      pos_x = self._rect.x + (self._rect.width - self._texture.width) / 2
+      pos_y = self._rect.y + (self._rect.height - self._texture.height) / 2
       color = rl.Color(255, 255, 255, icon_alpha)
-      rl.draw_texture(self._texture, pos_x, pos_y, color)
+      rl.draw_texture_ex(self._texture, rl.Vector2(pos_x, pos_y), 0.0, 1.0, color)
 
   def activate(self, _type: str = 'signal'):
     if not self._active or self._type != _type:
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
similarity index 52%
rename from selfdrive/ui/sunnypilot/ui_state.py
rename to openpilot/selfdrive/ui/sunnypilot/ui_state.py
index 4d26e138b1..602830a4db 100644
--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
@@ -6,11 +6,13 @@ See the LICENSE.md file in the root directory for more details.
 """
 from enum import Enum
 
-from cereal import messaging, log, custom
+from openpilot.cereal import messaging, log, custom
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.sunnypilot.widgets.screen_saver import ScreenSaverSP
 
 OpenpilotState = log.SelfdriveState.OpenpilotState
 MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -26,22 +28,40 @@ class OnroadTimerStatus(Enum):
 
 class UIStateSP:
   def __init__(self):
-    self.CP_SP: custom.CarParamsSP | None = None
     self.params = Params()
-    self.sm_services_ext = [
-      "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
-    ]
-
-    self.sunnylink_state = SunnylinkState()
-    self.update_params()
-
-    self.onroad_brightness_timer: int = 0
-    self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
-    self.reset_onroad_sleep_timer()
     self.CP_SP: custom.CarParamsSP | None = None
     self.has_icbm: bool = False
     self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
+    self.sm_services_ext = [
+      "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+      "gpsLocation", "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay"
+    ]
+
+    self.sunnylink_state = SunnylinkState()
+
+    self.screensaver = ScreenSaverSP(params=self.params)
+    self.screensaver_enabled: bool = False
+
+    self.active_bundle = None
+    self.blindspot: bool = False
+    self.chevron_metrics = None
+    self.custom_interactive_timeout: int = 0
+    self.developer_ui = None
+    self.hide_v_ego_ui: bool = False
+    self.onroad_brightness: int = 0
+    self.onroad_brightness_timer: int = 0
+    self.onroad_brightness_timer_param: int = 0
+    self.rainbow_path: bool = False
+    self.road_name_toggle: bool = False
+    self.rocket_fuel: bool = False
+    self.speed_limit_mode = None
+    self.standstill_timer: bool = False
+    self.sunnylink_enabled: bool = False
+    self.torque_bar: bool = False
+    self.enforce_torque_control: bool = False
+    self.custom_torque_params: bool = False
+    self.torque_override_enabled: bool = False
+    self._sp_initialized: bool = False
 
   def update(self) -> None:
     if self.sunnylink_enabled:
@@ -49,8 +69,11 @@ class UIStateSP:
     else:
       self.sunnylink_state.stop()
 
-  def onroad_brightness_handle_alerts(self, started: bool, alert):
-    has_alert = started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None
+  def onroad_brightness_handle_alerts(self, _ui_state, alert):
+    if _ui_state.sm.recv_frame["carState"] < _ui_state.started_frame:
+      return
+
+    has_alert = _ui_state.started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None
 
     self.update_onroad_brightness(has_alert)
     if has_alert:
@@ -125,6 +148,8 @@ class UIStateSP:
     if CP_SP_bytes is not None:
       self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
       self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
+
+    self._enforce_constraints()
     self.active_bundle = self.params.get("ModelManager_ActiveBundle")
     self.blindspot = self.params.get_bool("BlindSpot")
     self.chevron_metrics = self.params.get("ChevronInfo")
@@ -140,17 +165,103 @@ class UIStateSP:
     self.standstill_timer = self.params.get_bool("StandstillTimer")
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
     self.torque_bar = self.params.get_bool("TorqueBar")
+    self.enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
+    self.custom_torque_params = self.params.get_bool("CustomTorqueParams")
+    self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
+    self.torque_override_lat_accel_factor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
+    self.torque_override_friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
     self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
+    self.always_offroad = self.params.get_bool("OffroadMode")
+    self.screensaver_enabled = self.params.get_bool("ScreenSaverEnabled")
+
+    if not self._sp_initialized:
+      self._sp_initialized = True
+      self.reset_onroad_sleep_timer()
+
+  def _enforce_constraints(self) -> None:
+    has_long = self.has_longitudinal_control
+    CP = self.CP
+
+    if CP is not None:
+      if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
+        self.params.put_bool("EnforceTorqueControl", False, block=True)
+        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
+      if self.params.get_bool("LateralJerkTorqueController") and self.params.get_bool("NeuralNetworkLateralControl"):
+        self.params.put_bool("LateralJerkTorqueController", False, block=True)
+        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
+      # Angle steering: no torque-based lateral controls
+      if CP.steerControlType == car.CarParams.SteerControlType.angle:
+        self.params.remove("EnforceTorqueControl")
+        self.params.remove("NeuralNetworkLateralControl")
+        self.params.remove("LateralJerkTorqueController")
+
+      # Alpha longitudinal: clear if not available
+      if not CP.alphaLongitudinalAvailable:
+        self.params.remove("AlphaLongitudinalEnabled")
+
+      # BSM not available: clear BSM-dependent settings
+      if not CP.enableBsm:
+        self.params.remove("AutoLaneChangeBsmDelay")
+    else:
+      # No CarParams: clear all car-dependent params as safety default
+      self.params.remove("EnforceTorqueControl")
+      self.params.remove("NeuralNetworkLateralControl")
+      self.params.remove("LateralJerkTorqueController")
+      self.params.remove("AlphaLongitudinalEnabled")
+
+    # No longitudinal control: no experimental mode or DEC
+    if not has_long:
+      self.params.remove("ExperimentalMode")
+      self.params.remove("DynamicExperimentalControl")
+
+    # ICBM: clear if not available or if full longitudinal control is active
+    if self.CP_SP is not None:
+      if not self.CP_SP.intelligentCruiseButtonManagementAvailable or has_long:
+        self.params.remove("IntelligentCruiseButtonManagement")
+        self.has_icbm = False
+    else:
+      self.params.remove("IntelligentCruiseButtonManagement")
+      self.has_icbm = False
+
+    # Cruise features requiring longitudinal or ICBM
+    if not (has_long or self.has_icbm):
+      self.params.remove("CustomAccIncrementsEnabled")
+      self.params.remove("SmartCruiseControlVision")
+      self.params.remove("SmartCruiseControlMap")
 
 
 class DeviceSP:
-  @staticmethod
-  def _set_awake(on: bool, _ui_state):
-    if _ui_state.boot_offroad_mode == 1 and not on:
+  def __init__(self):
+    self._blocked_by_screensaver: bool = False
+
+  def _set_awake(self, on: bool, _ui_state=None):
+    self._blocked_by_screensaver = False
+
+    if not on and _ui_state.screensaver_enabled:
+      if _ui_state.screensaver.was_dismissed:
+        self.dismiss_screensaver(_ui_state)
+      elif _ui_state.screensaver.is_active:
+        self._blocked_by_screensaver = True
+      else:
+        _ui_state.screensaver.initialize()
+        gui_app.push_widget(_ui_state.screensaver)
+        self._blocked_by_screensaver = True
+    else:
+      self.dismiss_screensaver(_ui_state)
+
+    # blocked runs every frame, so write only when actually sleeping
+    if _ui_state.boot_offroad_mode == 1 and not on and not self._blocked_by_screensaver:
       _ui_state.params.put_bool("OffroadMode", True)
 
+  def dismiss_screensaver(self, _ui_state) -> None:
+    if gui_app.get_active_widget() == _ui_state.screensaver:
+      gui_app.pop_widget()
+    self._blocked_by_screensaver = False
+
   @staticmethod
   def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
     if not awake or not _ui_state.started:
@@ -159,17 +270,18 @@ class DeviceSP:
     if _ui_state.onroad_brightness_timer != 0:
       if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
         return max(30.0, cur_brightness)
-      # For AUTO (Default) and Manual modes (while timer running), use standard brightness
       return cur_brightness
 
-    # 0: Auto (Default), 1: Auto (Dark)
+    # 0: Auto (Default), 1: Auto (Dark), 2: Screen Off
     if _ui_state.onroad_brightness == OnroadBrightness.AUTO:
       return cur_brightness
-    elif _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
       return cur_brightness
+    if _ui_state.onroad_brightness == OnroadBrightness.SCREEN_OFF:
+      return 0.0
 
-    # 2-21: 5% - 100%
-    return float((_ui_state.onroad_brightness - 1) * 5)
+    # 3-22: 5% - 100%
+    return float((_ui_state.onroad_brightness - 2) * 5)
 
   @staticmethod
   def set_min_onroad_brightness(_ui_state, min_brightness: int) -> int:
diff --git a/selfdrive/ui/widgets/__init__.py b/openpilot/selfdrive/ui/tests/__init__.py
similarity index 100%
rename from selfdrive/ui/widgets/__init__.py
rename to openpilot/selfdrive/ui/tests/__init__.py
diff --git a/selfdrive/ui/tests/body.py b/openpilot/selfdrive/ui/tests/body.py
similarity index 92%
rename from selfdrive/ui/tests/body.py
rename to openpilot/selfdrive/ui/tests/body.py
index 07a2ef5128..b9f5c2d18c 100755
--- a/selfdrive/ui/tests/body.py
+++ b/openpilot/selfdrive/ui/tests/body.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import time
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 if __name__ == "__main__":
   while True:
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/openpilot/selfdrive/ui/tests/cycle_offroad_alerts.py
similarity index 77%
rename from selfdrive/ui/tests/cycle_offroad_alerts.py
rename to openpilot/selfdrive/ui/tests/cycle_offroad_alerts.py
index b577b74b00..c2690edf7d 100755
--- a/selfdrive/ui/tests/cycle_offroad_alerts.py
+++ b/openpilot/selfdrive/ui/tests/cycle_offroad_alerts.py
@@ -12,17 +12,17 @@ from openpilot.system.updated.updated import parse_release_notes
 if __name__ == "__main__":
   params = Params()
 
-  with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
+  with open(os.path.join(BASEDIR, "openpilot/selfdrive/selfdrived/alerts_offroad.json")) as f:
     offroad_alerts = json.load(f)
 
   t = 10 if len(sys.argv) < 2 else int(sys.argv[1])
   while True:
     print("setting alert update")
-    params.put_bool("UpdateAvailable", True)
-    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
+    params.put_bool("UpdateAvailable", True, block=True)
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR), block=True)
 
     time.sleep(t)
-    params.put_bool("UpdateAvailable", False)
+    params.put_bool("UpdateAvailable", False, block=True)
 
     # cycle through normal alerts
     for a in offroad_alerts:
diff --git a/openpilot/selfdrive/ui/tests/diff/diff.py b/openpilot/selfdrive/ui/tests/diff/diff.py
new file mode 100755
index 0000000000..9dd7c3bc0e
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/diff/diff.py
@@ -0,0 +1,151 @@
+#!/usr/bin/env python3
+import os
+import sys
+import subprocess
+import webbrowser
+import argparse
+from concurrent.futures import ThreadPoolExecutor
+from pathlib import Path
+from openpilot.common.basedir import BASEDIR
+
+DIFF_OUT_DIR = Path(BASEDIR) / "openpilot" / "selfdrive" / "ui" / "tests" / "diff" / "report"
+HTML_TEMPLATE_PATH = Path(__file__).with_name("diff_template.html")
+
+
+def extract_framehashes(video_path: Path) -> list[str]:
+  cmd = ['ffmpeg', '-nostdin', '-i', video_path, '-map', '0:v:0', '-vsync', '0', '-f', 'framehash', '-hash', 'md5', '-']
+  result = subprocess.run(cmd, capture_output=True, text=True, check=True)
+  hashes = []
+  for line in result.stdout.splitlines():
+    if not line or line.startswith('#'):
+      continue
+    parts = line.split(',')
+    if len(parts) < 4:
+      continue
+    hashes.append(parts[-1].strip())
+  return hashes
+
+
+def get_video_frame_hashes(video1: Path, video2: Path) -> tuple[list[str], list[str]]:
+  """Hash every frame of both videos in parallel and return the two hash lists."""
+  with ThreadPoolExecutor(max_workers=2) as executor:
+    print("Generating frame hashes for both videos...")
+    future1 = executor.submit(extract_framehashes, video1)
+    future2 = executor.submit(extract_framehashes, video2)
+    hashes1 = future1.result()
+    hashes2 = future2.result()
+  return hashes1, hashes2
+
+
+def create_diff_video(video1: Path, video2: Path, output: Path) -> None:
+  """Create a diff video of two clips using ffmpeg blend filter with difference mode."""
+  cmd = ['ffmpeg', '-nostdin', '-i', video1, '-i', video2, '-filter_complex', 'blend=all_mode=difference', '-vsync', '0', '-y', output]
+  subprocess.run(cmd, capture_output=True, check=True)
+
+
+def find_frame_differences(hashes1: list[str], hashes2: list[str]) -> list[int]:
+  """Compare two lists of frame hashes and return the indices of different frames."""
+  different_frames = []
+  for i, (h1, h2) in enumerate(zip(hashes1, hashes2, strict=False)):
+    if h1 != h2:
+      different_frames.append(i)
+  return different_frames
+
+
+def generate_html_report(videos: tuple[Path, Path], basedir: str, different_frames: list[int], frame_counts: tuple[int, int], diff_video_name: str) -> str:
+  total_frames = max(frame_counts)
+  frame_delta = frame_counts[1] - frame_counts[0]
+  different_total = len(different_frames) + abs(frame_delta)
+
+  result_text = (
+    f"✅ Videos are identical! ({total_frames} frames)"
+    if different_total == 0
+    else f"❌ Found {different_total} different frames out of {total_frames} total ({different_total / total_frames * 100:.1f}%)."
+    + (f" Video {'2' if frame_delta > 0 else '1'} is longer by {abs(frame_delta)} frames." if frame_delta != 0 else "")
+  )
+  print(f"  Results: {result_text}")
+
+  # Load HTML template and replace placeholders
+  html = HTML_TEMPLATE_PATH.read_text()
+  placeholders = {
+    "VIDEO1_SRC": os.path.join(basedir, videos[0].name),
+    "VIDEO2_SRC": os.path.join(basedir, videos[1].name),
+    "DIFF_SRC": os.path.join(basedir, diff_video_name),
+    "RESULT_TEXT": result_text,
+  }
+  for key, value in placeholders.items():
+    html = html.replace(f"${key}", value)
+
+  return html
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
+  parser.add_argument('video1', help='First video file')
+  parser.add_argument('video2', help='Second video file')
+  parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
+  parser.add_argument("--basedir", type=str, help="Base path for files in HTML report", default="")
+  parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
+
+  args = parser.parse_args()
+
+  if not args.output.lower().endswith('.html'):
+    args.output += '.html'
+
+  video1, video2 = Path(args.video1), Path(args.video2)
+  missing = [str(p) for p in (video1, video2) if not p.is_file()]
+  if missing:
+    parser.error(f"Video file(s) not found: {', '.join(missing)}")
+
+  diff_video_name = f"{Path(args.output).stem}.mp4"  # diff video name derived from output HTML name
+
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  print("=" * 60)
+  print("UI VIDEO DIFF - HTML REPORT")
+  print("=" * 60)
+  print(f"Video 1:      {video1}")
+  print(f"Video 2:      {video2}")
+  print(f"HTML output:  {args.output}")
+  print(f"Diff video:   {diff_video_name}")
+  print()
+
+  print("[1/4] Starting full video diff generation in background thread...")
+  diff_executor = ThreadPoolExecutor(max_workers=1)
+  diff_future = diff_executor.submit(create_diff_video, video1, video2, DIFF_OUT_DIR / diff_video_name)
+
+  print("[2/4] Hashing frames...")
+  hashes1, hashes2 = get_video_frame_hashes(video1, video2)
+  frame_counts = (len(hashes1), len(hashes2))
+  print(f"  Found {frame_counts[0]} frames in video 1 and {frame_counts[1]} frames in video 2.")
+
+  print("[3/4] Finding different frames...")
+  different_frames = find_frame_differences(hashes1, hashes2)
+  print(f"  Found {len(different_frames)} different frames.")
+
+  print("[4/4] Generating HTML report...")
+  html = generate_html_report((video1, video2), args.basedir, different_frames, frame_counts, diff_video_name)
+
+  output_path = DIFF_OUT_DIR / args.output
+  with open(output_path, 'w') as f:
+    f.write(html)
+
+  print(f"  Report generated at: {output_path}")
+
+  # Open in browser by default
+  if not args.no_open:
+    print(f"Opening {args.output} in browser...")
+    webbrowser.open(f'file://{os.path.abspath(output_path)}')
+
+  # Wait for diff video generation to finish before exiting
+  if not diff_future.done():
+    print("Waiting for diff video generation to finish...")
+  diff_future.result()
+  diff_executor.shutdown()
+
+  extra_frames = abs(frame_counts[0] - frame_counts[1])
+  return 0 if (len(different_frames) + extra_frames) == 0 else 1
+
+
+if __name__ == "__main__":
+  sys.exit(main())
diff --git a/openpilot/selfdrive/ui/tests/diff/diff_template.html b/openpilot/selfdrive/ui/tests/diff/diff_template.html
new file mode 100644
index 0000000000..3f1de10512
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/diff/diff_template.html
@@ -0,0 +1,80 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>UI Diff Report</title>
+  <style>
+    h1, h2, h3, h4 {
+      margin: 0.5em 0 0.25em;
+    }
+    #videoTable {
+      width: 100%;
+    }
+    @media (max-width: 800px) {
+      #videoTable tr {
+        display: flex;
+        flex-direction: column;
+      }
+      #videoTable td {
+        width: 100% !important;
+      }
+    }
+  </style>
+</head>
+<body>
+  <h2>UI Diff</h2>
+  <table id='videoTable'></table>
+  <hr>
+  <p><strong>Results:</strong> $RESULT_TEXT</p>
+  <script>
+    const videoDefs = [
+      { id: 'video1', title: 'Video 1', src: '$VIDEO1_SRC', sync: true },
+      { id: 'video2', title: 'Video 2', src: '$VIDEO2_SRC', sync: true },
+      { id: 'diffVideo', title: 'Pixel Diff', src: '$DIFF_SRC', sync: false },
+    ];
+
+    const row = document.getElementById('videoTable').insertRow();
+    videoDefs.forEach(({ id, title, src, sync }) => {
+      const td = row.insertCell();
+      td.width = '33%';
+      td.innerHTML = `<h4>${title}</h4>
+        <video id='${id}' width='100%' autoplay muted ${sync ? "onplay='syncVideos()'" : ''}>
+          <source src='${src}' type='video/mp4'>
+          Your browser does not support the video tag.
+        </video>`;
+    });
+
+    const videos = videoDefs.map(({ id }) => document.getElementById(id));
+
+    const isEnded = (v) => v.ended || (Number.isFinite(v.duration) && v.currentTime >= (v.duration - 0.05));
+    const playAll = () => videos.forEach((v) => v.play());
+
+    function syncVideos() {
+      const t = Math.min(...videos.map((v) => v.currentTime));
+      videos.forEach((v) => { v.currentTime = t; });
+      playAll();
+    }
+
+    function handleEnded(endedVideo) {
+      endedVideo.pause();
+      if (videos.every(isEnded)) {
+        videos.forEach((v) => { v.currentTime = 0; });
+        playAll();
+      }
+    }
+
+    videos.forEach((v) => {
+      v.addEventListener('timeupdate', () => {
+        videos.forEach((other) => {
+          if (other !== v && !isEnded(other) && Math.abs(v.currentTime - other.currentTime) > 0.1) {
+            other.currentTime = v.currentTime;
+            if (other.paused) other.play();
+          }
+        });
+      });
+      v.addEventListener('ended', () => handleEnded(v));
+    });
+  </script>
+</body>
+</html>
diff --git a/openpilot/selfdrive/ui/tests/diff/replay.py b/openpilot/selfdrive/ui/tests/diff/replay.py
new file mode 100755
index 0000000000..e378076850
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/diff/replay.py
@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+import os
+import argparse
+import coverage
+import pyray as rl
+
+from tqdm import tqdm
+from typing import Literal
+from collections.abc import Callable
+from openpilot.cereal.messaging import PubMaster
+from openpilot.common.api import Api
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
+from openpilot.system.updated.updated import parse_release_notes
+from openpilot.common.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version
+
+LayoutVariant = Literal["mici", "tizi"]
+
+FPS = 60
+HEADLESS = os.getenv("WINDOWED", "0") != "1"
+
+
+def setup_state():
+  params = Params()
+  params.put("HasAcceptedTerms", terms_version, block=True)
+  params.put("CompletedTrainingVersion", training_version, block=True)
+  params.put("DongleId", "test123456789", block=True)
+  # Combined description for layouts that still use it (BIG home, settings/software)
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30", block=True)
+  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR), block=True)
+  params.put("HasAcceptedTermsSP", terms_version_sp, block=True)
+  params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version, block=True)
+  # Params for mici home
+  params.put("Version", "0.10.1", block=True)
+  params.put("GitBranch", "test-branch", block=True)
+  params.put("GitCommit", "abc12340ff9131237ba23a1d0fbd8edf9c80e87", block=True)
+  params.put("GitCommitDate", "'1732924800 2024-11-30 00:00:00 +0000'", block=True)
+
+  # Patch Api.get_token to return a static token so the pairing QR code is deterministic across runs
+  Api.get_token = lambda self, payload_extra=None, expiry_hours=0: "test_token"
+
+
+def run_replay(variant: LayoutVariant) -> None:
+  if HEADLESS:
+    rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+    os.environ["OFFSCREEN"] = "1"  # Run UI without FPS limit (set before importing gui_app)
+
+  setup_state()
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  from openpilot.selfdrive.ui.ui_state import ui_state, device  # Import within OpenpilotPrefix context so param values are setup correctly
+  from openpilot.system.ui.lib.application import gui_app  # Import here for accurate coverage
+  from openpilot.selfdrive.ui.tests.diff.replay_script import build_script
+
+  gui_app.init_window("ui diff test", fps=FPS)
+
+  # Dynamically import main layout based on variant
+  if variant == "mici":
+    from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout as MainLayout
+  else:
+    from openpilot.selfdrive.ui.layouts.main import MainLayout
+  main_layout = MainLayout()
+
+  # Disable interactive timeout — replay clicks use left_down=False so they never reset the timer,
+  # and after 30s of real wall-clock time the settings panel would close automatically.
+  device.set_override_interactive_timeout(99999)
+
+  pm = PubMaster(["deviceState", "pandaStates", "driverStateV2", "selfdriveState"])
+  script = build_script(pm, main_layout, variant)
+  script_index = 0
+
+  send_fn: Callable | None = None
+  frame = 0
+  # Override raylib timing functions to return deterministic values based on frame count instead of real time
+  rl.get_frame_time = lambda: 1.0 / FPS
+  rl.get_time = lambda: frame / FPS
+
+  # Main loop to replay events and render frames
+  with tqdm(total=script[-1][0] + 1, desc="Replaying", unit="frame", disable=bool(os.getenv("CI"))) as pbar:
+    for _ in gui_app.render():
+      # Handle all events for the current frame
+      while script_index < len(script) and script[script_index][0] == frame:
+        _, event = script[script_index]
+        # Call setup function, if any
+        if event.setup:
+          event.setup()
+        # Send mouse events to the application
+        if event.mouse_events:
+          with gui_app._mouse._lock:
+            gui_app._mouse._events.extend(event.mouse_events)
+        # Update persistent send function
+        if event.send_fn is not None:
+          send_fn = event.send_fn
+        # Move to next script event
+        script_index += 1
+
+      # Keep sending cereal messages for persistent states (onroad, alerts)
+      if send_fn:
+        send_fn()
+
+      ui_state.update()
+
+      frame += 1
+      pbar.update(1)
+
+      if script_index >= len(script):
+        break
+
+  gui_app.close()
+
+  print(f"Total frames: {frame}")
+  print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
+
+
+def main():
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--big', action='store_true', help='Use big UI layout (tizi/tici) instead of mici layout')
+  args = parser.parse_args()
+
+  variant: LayoutVariant = 'tizi' if args.big else 'mici'
+
+  if args.big:
+    os.environ["BIG"] = "1"
+  os.environ["RECORD"] = "1"
+  os.environ["RECORD_QUALITY"] = "0"  # Use CRF 0 ("lossless" encode) for deterministic output across different machines
+  os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ.get("RECORD_OUTPUT", f"{variant}_ui_replay.mp4"))
+
+  print(f"Running {variant} UI replay...")
+  with OpenpilotPrefix():
+    sources = ["openpilot.system.ui"]
+    if variant == "mici":
+      sources.append("openpilot.selfdrive.ui.mici")
+      omit = ["**/*tizi*", "**/*tici*"]  # exclude files containing "tizi" or "tici"
+    else:
+      sources.extend(["openpilot.selfdrive.ui.layouts", "openpilot.selfdrive.ui.onroad", "openpilot.selfdrive.ui.widgets"])
+      omit = ["**/*mici*"]  # exclude files containing "mici"
+    cov = coverage.Coverage(source=sources, omit=omit)
+    with cov.collect():
+      run_replay(variant)
+    cov.save()
+    cov.report()
+    directory = os.path.join(DIFF_OUT_DIR, f"htmlcov-{variant}")
+    cov.html_report(directory=directory)
+    print(f"HTML report: {directory}/index.html")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/openpilot/selfdrive/ui/tests/diff/replay_script.py b/openpilot/selfdrive/ui/tests/diff/replay_script.py
new file mode 100644
index 0000000000..fb654c5e8b
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/diff/replay_script.py
@@ -0,0 +1,536 @@
+from __future__ import annotations
+from typing import TYPE_CHECKING
+from collections.abc import Callable
+from dataclasses import dataclass
+
+import math
+
+from openpilot.cereal import log, messaging
+from opendbc.car.structs import car
+from openpilot.cereal.messaging import PubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.selfdrive.ui.tests.diff.replay import FPS, LayoutVariant
+from openpilot.system.updated.updated import parse_release_notes
+
+# Default frames to wait after events
+WAIT_LONG = FPS
+WAIT_SHORT = FPS // 2
+FAST_CLICK = FPS // 6
+
+# Direction vectors for drag gestures
+DIR_LEFT = (-1, 0)
+DIR_RIGHT = (1, 0)
+DIR_UP = (0, -1)
+DIR_DOWN = (0, 1)
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+
+BRANCH_NAME = "this-is-a-really-super-mega-ultra-max-extreme-ultimate-long-branch-name"
+
+
+@dataclass
+class ScriptEvent:
+  if TYPE_CHECKING:
+    # Only import for type checking to avoid excluding the application code from coverage
+    from openpilot.system.ui.lib.application import MouseEvent
+
+  setup: Callable | None = None  # Setup function to run prior to adding mouse events
+  mouse_events: list[MouseEvent] | None = None  # Mouse events to send to the application on this event's frame
+  send_fn: Callable | None = None  # When set, the main loop uses this as the new persistent sender
+
+
+ScriptEntry = tuple[int, ScriptEvent]  # (frame, event)
+
+
+class Script:
+  def __init__(self, fps: int) -> None:
+    self.fps = fps
+    self.frame = 0
+    self.entries: list[ScriptEntry] = []
+
+  def get_frame_time(self) -> float:
+    return self.frame / self.fps
+
+  def add(self, event: ScriptEvent, before: int = 0, after: int = 0) -> None:
+    """Add event to the script, optionally with the given number of frames to wait before or after the event."""
+    self.frame += before
+    self.entries.append((self.frame, event))
+    self.frame += after
+
+  def end(self) -> None:
+    """Add a final empty event to mark the end of the script."""
+    self.add(ScriptEvent())  # Without this, it will just end on the last event without waiting for any specified delay after it
+
+  def wait(self, frames: int) -> None:
+    """Add a delay for the given number of frames followed by an empty event."""
+    self.add(ScriptEvent(), before=frames)
+
+  def setup(self, fn: Callable, wait_after: int = WAIT_SHORT) -> None:
+    """Add a setup function to be called immediately followed by a delay of the given number of frames."""
+    self.add(ScriptEvent(setup=fn), after=wait_after)
+
+  def set_send(self, fn: Callable, wait_after: int = WAIT_SHORT) -> None:
+    """Set a new persistent send function to be called every frame."""
+    self.add(ScriptEvent(send_fn=fn), after=wait_after)
+
+  def click(self, x: int, y: int, wait_after: int = WAIT_SHORT, wait_between: int = 2) -> None:
+    """Add a click event to the script for the given position and specify frames to wait between mouse events or after the click."""
+    # NOTE: By default we wait a couple frames between mouse events so pressed states will be rendered
+    from openpilot.system.ui.lib.application import MouseEvent, MousePos
+
+    mouse_down = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_down]), after=wait_between)
+    mouse_up = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after)
+
+  def drag(self, start_x: int, start_y: int, direction: tuple[int, int], distance: int, duration_frames: int, wait_after: int = WAIT_LONG) -> None:
+    """Add a drag gesture to the script from start position in the specified direction by the given distance over the given number of frames."""
+    from openpilot.system.ui.lib.application import MouseEvent, MousePos
+
+    # Calculate delta and end position based on direction and distance
+    delta_x, delta_y = direction[0] * distance, direction[1] * distance
+    end_x, end_y = start_x + delta_x, start_y + delta_y
+
+    # Mouse down at start
+    mouse_down = MouseEvent(pos=MousePos(start_x, start_y), slot=0, left_pressed=True, left_released=False, left_down=True, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_down]), after=1)
+
+    # Interpolate positions over duration_frames
+    for i in range(1, duration_frames):
+      t = i / duration_frames
+      x, y = int(start_x + delta_x * t), int(start_y + delta_y * t)
+      mouse_move = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=self.get_frame_time())
+      self.add(ScriptEvent(mouse_events=[mouse_move]), after=1)
+
+    # Mouse up at end
+    mouse_up = MouseEvent(pos=MousePos(end_x, end_y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after)
+
+
+# --- Setup functions ---
+
+
+def set_prime_state(prime_type: PrimeType) -> None:
+  from openpilot.selfdrive.ui.ui_state import ui_state
+  ui_state.prime_state.set_type(prime_type)
+
+
+def setup_offroad_alerts() -> None:
+  set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
+  set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
+
+
+def setup_update_available(available: bool = True) -> None:
+  params = Params()
+  params.put_bool("UpdateAvailable", available, block=True)
+  params.put("UpdaterAvailableBranches", ",".join(["test-branch", "test-branch-2", BRANCH_NAME]), block=True)
+  if available:
+    params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01", block=True)
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR), block=True)
+    params.put("UpdaterTargetBranch", BRANCH_NAME, block=True)
+  else:
+    params.remove("UpdaterNewDescription")
+    params.remove("UpdaterNewReleaseNotes")
+    params.remove("UpdaterTargetBranch")
+
+
+def set_updater_state(state: str) -> None:
+  Params().put("UpdaterState", state, block=True)
+
+
+def setup_calibration_params() -> None:
+  params = Params()
+  # camera calibration
+  calib = messaging.new_message('extrinsicsCalibration')
+  calib.extrinsicsCalibration.calStatus = log.ExtrinsicsCalibration.Status.calibrated
+  calib.extrinsicsCalibration.rpyCalib = [0.0, math.radians(2.5), math.radians(-1.2)]
+  params.put("CalibrationParams", calib.to_bytes(), block=True)
+  # lateral delay
+  delay = messaging.new_message('lateralDelay')
+  delay.lateralDelay.calPerc = 75
+  params.put("LiveDelay", delay.to_bytes(), block=True)
+  # lateral torque parameters
+  torque = messaging.new_message('lateralTorqueParameters')
+  torque.lateralTorqueParameters.useParams = True
+  torque.lateralTorqueParameters.calPerc = 60
+  params.put("LiveTorqueParameters", torque.to_bytes(), block=True)
+
+
+def setup_developer_params() -> None:
+  CP = car.CarParams()
+  CP.alphaLongitudinalAvailable = True
+  Params().put("CarParamsPersistent", CP.to_bytes(), block=True)
+
+
+# --- Send functions ---
+
+def send_onroad(pm: PubMaster) -> None:
+  ds = messaging.new_message('deviceState')
+  ds.deviceState.started = True
+  ds.deviceState.networkType = log.DeviceState.NetworkType.wifi
+
+  ps = messaging.new_message('pandaStates', 1)
+  ps.pandaStates[0].pandaType = log.PandaState.PandaType.dos
+  ps.pandaStates[0].ignitionLine = True
+
+  pm.send('deviceState', ds)
+  pm.send('pandaStates', ps)
+
+
+def make_network_state_setup(pm: PubMaster, network_type) -> Callable:
+  def _send() -> None:
+    ds = messaging.new_message('deviceState')
+    ds.deviceState.networkType = network_type
+    pm.send('deviceState', ds)
+  return _send
+
+
+def make_alert_setup(pm: PubMaster, size, text1, text2, status) -> Callable:
+  def _send() -> None:
+    alert = messaging.new_message('selfdriveState')
+    ss = alert.selfdriveState
+    ss.alertSize = size
+    ss.alertText1 = text1
+    ss.alertText2 = text2
+    ss.alertStatus = status
+    pm.send('selfdriveState', alert)
+  return _send
+
+
+def test_onroad_alerts(script: Script, pm: PubMaster) -> None:
+  """Go through various alert types and sizes and add them to the script to test alert rendering.
+    Each alert is sent as a separate event with a delay in between."""
+  # Small alert (normal)
+  script.set_send(make_alert_setup(pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal))
+  # Medium alert (userPrompt)
+  script.set_send(make_alert_setup(pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt))
+  # Full alert (critical)
+  script.set_send(make_alert_setup(pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical))
+  # Full alert multiline
+  script.set_send(make_alert_setup(pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal))
+  # Full alert long text
+  script.set_send(make_alert_setup(pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt))
+
+
+# --- Script builders ---
+
+def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
+  """Build the replay script for the mici layout."""
+  from openpilot.system.ui.lib.application import gui_app
+
+  width, height = gui_app.width, gui_app.height
+  center = (width // 2, height // 2)
+  right = (width * 4 // 5, height // 2)
+  left = (width // 5, height // 2)
+  top = (width // 2, height // 10)
+  bottom = (width // 2, height * 9 // 10)
+
+  DURATION = 5
+  SWIPE_WAIT = FPS * 3 // 4
+
+  def click(times: int = 1, wait_after: int = WAIT_SHORT) -> None:
+    """Click at the center of the screen the given number of times with optional delay after."""
+    for _ in range(times):
+      script.click(*center, wait_after=wait_after)
+
+  def press(x: int, y: int, duration_frames: int = DURATION, wait_after: int = WAIT_SHORT) -> None:
+    """Perform a drag with no movement to simulate a left_down mouse event at the given position for the specified duration and delay after."""
+    script.drag(x, y, (0, 0), 0, duration_frames, wait_after=wait_after)
+
+  def swipe_left(distance: int = right[0] - left[0], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from right edge to left (scroll right / slide confirmation)."""
+    script.drag(*right, DIR_LEFT, distance, duration_frames, wait_after)
+
+  def swipe_right(distance: int = right[0] - left[0], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from left edge to right (scroll left)."""
+    script.drag(*left, DIR_RIGHT, distance, duration_frames, wait_after)
+
+  def swipe_down(distance: int = bottom[1] - top[1], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from top edge to bottom (scroll up / go back)."""
+    script.drag(*top, DIR_DOWN, distance, duration_frames, wait_after)
+
+  def swipe_up(distance: int = bottom[1] - top[1], duration_frames: int = DURATION, wait_after: int = SWIPE_WAIT) -> None:
+    """Drag from bottom edge to top (scroll down)."""
+    script.drag(*bottom, DIR_UP, distance, duration_frames, wait_after)
+
+  ActionFn = Callable[[], None] | None
+  Cases = list[ActionFn]
+
+  def run_actions(*actions: ActionFn, after_each: ActionFn = None) -> None:
+    """Helper function to run a sequence of actions in order for interaction tests, calling after_each callback after each action if provided."""
+    for action in actions:
+      if action is not None:
+        action()
+      if after_each is not None:
+        after_each()
+
+  def explore_setting(*actions: ActionFn) -> None:
+    """Helper function to open a settings item, run the given actions, and go back."""
+    run_actions(click, *actions, swipe_down)  # open, interact, go back
+
+  def scroll_through_cases(cases: Cases) -> None:
+    """Helper function to explore a panel by calling the interaction callbacks for each item/page before swiping to the next one."""
+    run_actions(*cases, after_each=lambda: swipe_left(210, 10))  # swipe to roughly the center of the next toggle after each case
+
+  def interact_keyboard() -> None:
+    """Interact with the keyboard in various ways to test different actions and states.
+    Assumes it's a password keyboard with 8 characters required. Closes by pressing confirm at the end."""
+    KEY = (250, 160)  # key in the middle of the keyboard ('G')
+    SHIFT = (50, 210)
+    NUMBERS = (480, 210)
+    SPACE = (500, 160)
+    BACKSPACE = (490, 30)
+    CONFIRM = (50, 30)
+    # Begin interactions
+    press(*CONFIRM, wait_after=FAST_CLICK)  # confirm while disabled should do nothing
+    swipe_left(duration_frames=FPS // 2)  # swipe to type
+    swipe_up(duration_frames=FPS // 2)  # swipe out of keyboard (nothing typed)
+    # press various keys to test different states:
+    for key in [
+      SHIFT, KEY, KEY, SHIFT, SHIFT, KEY, KEY,  # test casing (upper, lower, caps lock)
+      SPACE, SPACE, BACKSPACE, BACKSPACE,  # test multiple space and backspace
+      NUMBERS, KEY, center, SHIFT, KEY  # test numbers and symbols
+    ]:
+      press(*key, wait_after=FAST_CLICK)
+    # press confirm to close
+    script.wait(WAIT_SHORT)  # wait for confirm to enable
+    press(*CONFIRM)
+
+  toggle_cases: Cases = [
+    lambda: click(times=3, wait_after=FAST_CLICK),  # first toggle is personality, which has 3 states
+    None, None, None, None, None, None,  # skip other toggles to save time
+    lambda: click(times=2, wait_after=FAST_CLICK),  # test final toggle (enable openpilot)
+  ]
+
+  network_cases: Cases = [
+    explore_setting,  # select wifi (just open and close)
+    None, None,
+    lambda: run_actions(click, interact_keyboard),  # tether password keyboard
+  ]
+
+  device_cases: Cases = [
+    None,
+    click,  # update
+    explore_setting,  # pairing (just open and close)
+    lambda: explore_setting(
+      # training guide
+      lambda: swipe_left(width * 2), click,  # first page, click next
+      lambda: swipe_left(width * 2), swipe_down  # second page, go back (TODO: make driver cam preview work)
+    ),
+    None,  # TODO: preview cabin camera; enabling this causes MultiplePublishersError later in onroad alert tests
+    lambda: explore_setting(swipe_left),  # terms & conditions (swipe to view QR code)
+    lambda: explore_setting(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # regulatory info
+    lambda: run_actions(click, lambda: swipe_left(width)),  # reset calibration confirm (goes back automatically)
+    lambda: explore_setting(lambda: swipe_left(width)),  # uninstall
+    lambda: run_actions(
+      lambda: explore_setting(lambda: swipe_left(width)),  # reboot
+      lambda: script.click(430, 120), lambda: swipe_left(width), swipe_down,  # shutdown
+    ),
+  ]
+
+  developer_cases: Cases = [
+    lambda: click(times=2, wait_after=FAST_CLICK),  # toggle ssh mode
+    explore_setting,  # SSH keys keyboard (just open and close)
+    None,  # joystick mode
+    lambda: click(wait_after=FAST_CLICK),  # longitudinal maneuver mode (disabled; should do nothing)
+    lambda: click(times=2, wait_after=FAST_CLICK),  # toggle UI debug mode
+  ]
+
+  settings_cases: Cases = [
+    lambda: scroll_through_cases(toggle_cases),
+    None,  # sunnylink (just open and close)
+    None,  # models (just open and close)
+    lambda: scroll_through_cases(network_cases),
+    lambda: scroll_through_cases(device_cases),
+    lambda: script.wait(WAIT_SHORT),  # software
+    lambda: script.wait(WAIT_SHORT),  # pairing
+    lambda: run_actions(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # firehose (scroll down and back up)
+    lambda: scroll_through_cases(developer_cases),
+  ]
+
+  # === Homescreen === #
+  script.wait(WAIT_SHORT)
+  swipe_left(width, wait_after=WAIT_SHORT)  # onroad screen
+  swipe_right(width, wait_after=WAIT_SHORT)  # back to home
+
+  # === Offroad Alerts ===
+  def setup_offroad_alerts_and_refresh() -> None:
+    """Setup function to trigger offroad alerts and force a refresh on the alerts layout."""
+    setup_offroad_alerts()
+    params = Params()
+    main_layout._alerts_layout._pending_params = ({"UpdaterNewDescription": params.get("UpdaterNewDescription")} |
+                                                  {alert_data.key: params.get(alert_data.key) for alert_data in main_layout._alerts_layout.sorted_alerts})
+    main_layout._alerts_layout._update_state()
+
+  swipe_right(width, wait_after=WAIT_SHORT)  # open alerts
+  script.setup(setup_offroad_alerts_and_refresh)  # show alerts
+  swipe_up(height)  # scroll alerts
+  swipe_left(width, wait_after=WAIT_SHORT)  # close alerts
+
+  # === Settings === #
+  click()  # open settings
+  scroll_through_cases([lambda case=case: explore_setting(case) for case in settings_cases])  # explore settings
+  swipe_down()  # back to home
+
+  # === Onroad ===
+  script.set_send(lambda: send_onroad(pm))
+  swipe_left(width, wait_after=WAIT_SHORT)  # onroad screen
+  test_onroad_alerts(script, pm)
+  swipe_right(width)  # back to home
+
+  script.end()
+
+
+def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
+  """Build the replay script for the tizi layout."""
+
+  def make_home_refresh_setup(fn: Callable) -> Callable:
+    """Return setup function that calls the given function to modify state and forces an immediate refresh on the home layout."""
+    from openpilot.selfdrive.ui.layouts.main import MainState
+
+    def setup():
+      fn()
+      main_layout._layouts[MainState.HOME].last_refresh = 0
+
+    return setup
+
+  def add_prime_state_setup(prime_type: PrimeType) -> None:
+    script.set_send(lambda: set_prime_state(prime_type))
+
+  def do_onboarding() -> None:
+    """Click through the training guide and close."""
+    from openpilot.selfdrive.ui.layouts.onboarding import STEP_RECTS
+    step = 0
+    for step_rect in STEP_RECTS:
+      if step < len(STEP_RECTS) - 1:
+        script.click(int(step_rect.x), int(step_rect.y), wait_after=FAST_CLICK)
+      else:
+        script.click(950, 900)  # On the last step, click Finish instead of restart
+      step += 1
+
+  def type_keyboard() -> None:
+    """Types 8 characters using the big keyboard to test different layouts and interactions."""
+    KEY = (150, 430)  # e.g. 'Q' key
+    SHIFT = (150, 750)  # also symbols key in number mode
+    NUMBERS = (150, 950)
+    SPACE = (1060, 950)
+    BACKSPACE = (2000, 780)
+    for key in [
+      SHIFT, KEY, KEY, SHIFT, SHIFT, KEY, KEY,  # test casing (upper, lower, caps lock)
+      SPACE, SPACE, BACKSPACE, BACKSPACE,  # test multiple space and backspace
+      NUMBERS, KEY, KEY, SHIFT, KEY, KEY  # test numbers and symbols
+    ]:
+      script.click(*key, wait_after=FAST_CLICK)
+
+  # TODO: Better way of organizing the events
+
+  # === Homescreen ===
+  script.set_send(make_network_state_setup(pm, log.DeviceState.NetworkType.wifi))
+  # Go through different prime state layouts
+  add_prime_state_setup(PrimeType.LITE)
+  add_prime_state_setup(PrimeType.NONE)
+  add_prime_state_setup(PrimeType.UNPAIRED)
+
+  # === Update Available (auto-transitions via HomeLayout refresh) ===
+  script.setup(make_home_refresh_setup(setup_update_available))
+
+  # === Offroad Alerts (auto-transitions via HomeLayout refresh, overrides update) ===
+  script.setup(make_home_refresh_setup(setup_offroad_alerts))
+  script.click(620, 950)  # close alerts
+
+  # === Settings (click sidebar settings button) ===
+  script.click(150, 90)
+
+  # === Settings - Device ===
+  # pair device
+  script.click(2000, 450)  # pair device
+  script.click(110, 110)  # close pairing dialog
+  add_prime_state_setup(PrimeType.NONE)  # changed from unpaired to hide pair device button
+  # calibration
+  script.setup(setup_calibration_params, wait_after=0)
+  script.click(1000, 620)  # expand calibration description
+  script.click(2000, 620)  # reset calibration confirmation
+  script.click(1500, 750)  # confirm reset
+  script.click(1000, 620)  # collapse calibration description
+  # training guide
+  script.click(2000, 800)  # open training guide
+  do_onboarding()
+  # regulatory info
+  script.click(2000, 970)  # regulatory button
+  script.click(2000, 970)  # OK
+
+  # === Settings - Network ===
+  script.click(278, 450)
+  # TODO: mock networks
+  script.click(1880, 100)  # advanced network settings
+
+  # Keyboard (tethering password)
+  script.click(2000, 420, wait_after=FAST_CLICK)  # open tether password keyboard
+  script.click(2000, 950, wait_after=FAST_CLICK)  # click confirm (disabled, should not close)
+  script.click(2000, 115)  # cancel (close without typing)
+  script.click(2000, 420, wait_after=FAST_CLICK)  # open keyboard again
+  type_keyboard()  # test various keyboard layouts and interactions
+  script.click(2050, 250, wait_after=FAST_CLICK)  # toggle show/hide password
+  script.click(2000, 950)  # confirm (close keyboard)
+
+  script.click(630, 80)  # back from advanced network
+
+  # === Settings - Toggles ===
+  script.click(278, 600)
+  script.click(1200, 280)  # expand experimental mode description
+
+  # === Settings - Software ===
+  script.setup(lambda: setup_update_available(False), wait_after=0)  # start with no update available
+  script.click(278, 720)  # software
+  script.setup(lambda: set_updater_state("checking..."))  # updater mid-check
+  script.setup(lambda: set_updater_state("downloading..."))  # updater mid-download
+  script.setup(lambda: set_updater_state("idle"), wait_after=0)
+  for _ in range(2):
+    script.click(720, 120)  # toggle current release notes
+  script.setup(setup_update_available)  # set update available
+  for _ in range(2):
+    script.click(720, 450)  # toggle new release notes
+  script.click(2000, 630)  # open select branch dialog
+  script.click(1000, 300)  # select 1st option
+  script.click(1600, 900)  # confirm selection
+  script.click(2000, 800)  # uninstall
+  script.click(650, 750)  # cancel uninstall
+
+  # === Settings - Firehose ===
+  script.click(278, 845)
+
+  # === Settings - Developer (set CarParamsPersistent first) ===
+  script.setup(setup_developer_params, wait_after=0)
+  script.click(278, 950)
+  script.click(1930, 470)  # SSH keys (keyboard)
+  script.click(1930, 115)  # click cancel on keyboard
+  script.click(2000, 960)  # toggle alpha long
+  script.click(1500, 875)  # confirm
+
+  # === Close settings ===
+  script.click(250, 160)
+
+  # === Onroad ===
+  script.set_send(lambda: send_onroad(pm))
+  script.click(1000, 500)  # click onroad to toggle sidebar
+  test_onroad_alerts(script, pm)
+
+  # End
+  script.end()
+
+
+def build_script(pm: PubMaster, main_layout, variant: LayoutVariant) -> list[ScriptEntry]:
+  """Build the replay script for the appropriate layout variant and return list of script entries."""
+  print(f"Building {variant} replay script...")
+
+  script = Script(FPS)
+  builder = build_tizi_script if variant == 'tizi' else build_mici_script
+  builder(pm, main_layout, script)
+
+  print(f"Built replay script with {len(script.entries)} events and {script.frame} frames ({script.get_frame_time():.2f} seconds)")
+
+  return script.entries
diff --git a/selfdrive/ui/tests/profile_onroad.py b/openpilot/selfdrive/ui/tests/profile_onroad.py
similarity index 86%
rename from selfdrive/ui/tests/profile_onroad.py
rename to openpilot/selfdrive/ui/tests/profile_onroad.py
index fde4f25ffe..98816f9ddf 100755
--- a/selfdrive/ui/tests/profile_onroad.py
+++ b/openpilot/selfdrive/ui/tests/profile_onroad.py
@@ -5,7 +5,8 @@ import cProfile
 import pyray as rl
 import numpy as np
 
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.system.ui.lib.application import gui_app
@@ -49,7 +50,7 @@ def patch_submaster(message_chunks):
         sm.recv_frame[service] = sm.frame
         sm.valid[service] = True
     sm.frame += 1
-  ui_state.sm.update = mock_update
+  ui_state.sm.update = mock_update  # ty: ignore[invalid-assignment]  # profiling hook
 
 
 if __name__ == "__main__":
@@ -83,27 +84,24 @@ if __name__ == "__main__":
 
   gui_app.init_window("UI Profiling", fps=600)
   main_layout = MiciMainLayout()
-  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
   print("Running...")
   patch_submaster(message_chunks)
 
   W, H = 2048, 1216
   vipc = VisionIpcServer("camerad")
-  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
+  vipc.create_buffers(VisionStreamType.VISION_STREAM_NARROW_ROAD, 5, W, H)
   vipc.start_listener()
   yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
-  yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
+  yuv_data = np.random.default_rng().integers(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
   with cProfile.Profile() as pr:
-    for should_render in gui_app.render():
+    for _ in gui_app.render():
       if ui_state.sm.frame >= len(message_chunks):
         break
       if ui_state.sm.frame % 3 == 0:
         eof = int((ui_state.sm.frame % 3) * 0.05 * 1e9)
-        vipc.send(VisionStreamType.VISION_STREAM_ROAD, yuv_data, ui_state.sm.frame % 3, eof, eof)
+        vipc.send(VisionStreamType.VISION_STREAM_NARROW_ROAD, yuv_data, ui_state.sm.frame % 3, eof, eof)
       ui_state.update()
-      if should_render:
-        main_layout.render()
     pr.dump_stats(f'{args.output}_deterministic.stats')
 
   rl.close_window()
diff --git a/openpilot/selfdrive/ui/tests/test_custom_button.py b/openpilot/selfdrive/ui/tests/test_custom_button.py
new file mode 100644
index 0000000000..efaa90e0f0
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/test_custom_button.py
@@ -0,0 +1,38 @@
+from types import SimpleNamespace
+from unittest.mock import Mock
+
+from opendbc.car.structs import car
+
+from openpilot.selfdrive.ui.layouts import main
+
+
+class FakeSubMaster:
+  def __init__(self, messages):
+    self.messages = messages
+    self.updated = {'carState': True}
+
+  def __getitem__(self, key):
+    return self.messages[key]
+
+
+def test_custom_button_actions(monkeypatch):
+  params = Mock()
+  params.get_bool.return_value = False
+  sm = FakeSubMaster({
+    'carState': SimpleNamespace(buttonEvents=[SimpleNamespace(
+      type=car.CarState.ButtonEvent.Type.altButton2,
+      pressed=True,
+    )]),
+  })
+  monkeypatch.setattr(main, 'ui_state', SimpleNamespace(sm=sm, params=params))
+
+  layout = main.MainLayout.__new__(main.MainLayout)
+  layout._on_bookmark_clicked = Mock()
+
+  params.get.return_value = main.CustomButtonAction.BOOKMARK
+  layout._handle_custom_button()
+  layout._on_bookmark_clicked.assert_called_once()
+
+  params.get.return_value = main.CustomButtonAction.QUIET_MODE
+  layout._handle_custom_button()
+  params.put_bool.assert_called_once_with('QuietMode', True)
diff --git a/openpilot/selfdrive/ui/tests/test_raylib_ui.py b/openpilot/selfdrive/ui/tests/test_raylib_ui.py
new file mode 100644
index 0000000000..88f40ae6d9
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/test_raylib_ui.py
@@ -0,0 +1,10 @@
+import time
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.selfdrive.test.helpers import with_processes
+
+
+class TestRaylibUi(OpenpilotTestCase):
+  @with_processes(["ui"])
+  def test_raylib_ui(self):
+    """Test initialization of the UI widgets is successful."""
+    time.sleep(1)
diff --git a/openpilot/selfdrive/ui/tests/test_soundd.py b/openpilot/selfdrive/ui/tests/test_soundd.py
new file mode 100644
index 0000000000..e2cd90f988
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/test_soundd.py
@@ -0,0 +1,59 @@
+import threading
+import time
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import log, messaging
+from openpilot.cereal.messaging import SubMaster, PubMaster
+from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
+
+AudibleAlert = log.SelfdriveState.AudibleAlert
+
+
+class TestSoundd(OpenpilotTestCase):
+  def test_check_selfdrive_timeout_alert(self, mocker):
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
+
+    cs = messaging.new_message('selfdriveState')
+    cs.selfdriveState.enabled = True
+    threading.Timer(0.01, pm.send, args=("selfdriveState", cs)).start()
+    sm.update(100)
+    assert sm.updated['selfdriveState']
+
+    received_at = sm.recv_time['selfdriveState']
+    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=received_at + SELFDRIVE_STATE_TIMEOUT)
+    assert not check_selfdrive_timeout_alert(sm)
+
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 0.1
+    assert check_selfdrive_timeout_alert(sm)
+
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 10
+    assert not check_selfdrive_timeout_alert(sm)
+
+  def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
+
+    for _ in range(100):
+      cs = messaging.new_message('selfdriveState')
+      cs.selfdriveState.enabled = False
+
+      ss_sp = messaging.new_message('selfdriveStateSP')
+      ss_sp.selfdriveStateSP.mads.enabled = True
+
+      pm.send("selfdriveState", cs)
+      pm.send("selfdriveStateSP", ss_sp)
+
+      time.sleep(0.01)
+
+      sm.update(0)
+
+      assert not check_selfdrive_timeout_alert(sm)
+
+    for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
+      sm.update(0)
+      time.sleep(0.01)
+
+    assert check_selfdrive_timeout_alert(sm)
+
+  # TODO: add test with micd for checking that soundd actually outputs sounds
diff --git a/openpilot/selfdrive/ui/tests/test_translations.py b/openpilot/selfdrive/ui/tests/test_translations.py
new file mode 100644
index 0000000000..0d636b61c8
--- /dev/null
+++ b/openpilot/selfdrive/ui/tests/test_translations.py
@@ -0,0 +1,105 @@
+import json
+import re
+import string
+from pathlib import Path
+
+
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.selfdrive.ui.translations.potools import parse_po
+from openpilot.system.ui.lib.multilang import LANGUAGES_FILE, TRANSLATIONS_DIR
+
+PERCENT_PLACEHOLDER_RE = re.compile(r"%(?:n|\d+)")
+BAD_ENTITY_RE = re.compile(r'@(\w+);')
+LINE_NUMBER_REF_RE = re.compile(r'^#:\s+.+:\d+(?:\s|$)')
+FORMATTER = string.Formatter()
+PO_DIR = Path(str(TRANSLATIONS_DIR))
+
+with LANGUAGES_FILE.open(encoding='utf-8') as f:
+  TRANSLATION_LANGUAGES = json.load(f)
+
+
+def extract_placeholders(text: str) -> list[str]:
+  placeholders = PERCENT_PLACEHOLDER_RE.findall(text)
+
+  try:
+    parsed = list(FORMATTER.parse(text))
+  except ValueError as e:
+    raise AssertionError(f"invalid brace formatting in {text!r}: {e}") from e
+
+  for _, field_name, format_spec, conversion in parsed:
+    if field_name is None:
+      continue
+
+    token = "{"
+    token += field_name
+    if conversion:
+      token += f"!{conversion}"
+    if format_spec:
+      token += f":{format_spec}"
+    token += "}"
+    placeholders.append(token)
+
+  return sorted(placeholders)
+
+
+def load_po_text(po_path: Path) -> str:
+  return po_path.read_text(encoding='utf-8')
+
+
+class TestTranslations(OpenpilotTestCase):
+  @parameterized.expand(sorted(TRANSLATION_LANGUAGES.values()))
+  def test_translation_file_exists(self, language_code: str):
+    po_path = PO_DIR / f"app_{language_code}.po"
+    assert po_path.exists(), f"missing translation file: {po_path}"
+
+  @parameterized.expand(sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  def test_translation_placeholders_are_preserved(self, po_path: Path):
+    _, entries = parse_po(po_path)
+    language = po_path.stem.removeprefix("app_")
+
+    for entry in entries:
+      source_placeholders = extract_placeholders(entry.msgid)
+
+      if entry.is_plural:
+        plural_placeholders = extract_placeholders(entry.msgid_plural)
+        message = (
+          f"{language}: source plural placeholders do not match singular for "
+          + f"{entry.msgid!r}: {source_placeholders} vs {plural_placeholders}"
+        )
+        assert plural_placeholders == source_placeholders, message
+
+        for idx, msgstr in sorted(entry.msgstr_plural.items()):
+          if not msgstr:
+            continue
+
+          translated_placeholders = extract_placeholders(msgstr)
+          message = (
+            f"{language}: plural form {idx} changes placeholders for {entry.msgid!r}: "
+            + f"expected {source_placeholders}, got {translated_placeholders}"
+          )
+          assert translated_placeholders == source_placeholders, message
+      else:
+        if not entry.msgstr:
+          continue
+
+        translated_placeholders = extract_placeholders(entry.msgstr)
+        message = (
+          f"{language}: translation changes placeholders for {entry.msgid!r}: "
+          + f"expected {source_placeholders}, got {translated_placeholders}"
+        )
+        assert translated_placeholders == source_placeholders, message
+
+  @parameterized.expand(sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  def test_translation_refs_do_not_include_line_numbers(self, po_path: Path):
+    for line in load_po_text(po_path).splitlines():
+      assert not LINE_NUMBER_REF_RE.match(line), (
+        f"{po_path.name}: line-number source reference found: {line}"
+      )
+
+  @parameterized.expand(sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  def test_translation_entities_are_valid(self, po_path: Path):
+    matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
+    assert not matches, (
+      f"{po_path.name}: found '@...;' entity typo(s): {', '.join(sorted(set(matches)))}"
+    )
diff --git a/openpilot/selfdrive/ui/translations/app.pot b/openpilot/selfdrive/ui/translations/app.pot
new file mode 100644
index 0000000000..37a80ff223
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app.pot
@@ -0,0 +1,871 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr ""
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] ""
+msgstr[1] ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+msgstr[1] ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr ""
+
diff --git a/openpilot/selfdrive/ui/translations/app_de.po b/openpilot/selfdrive/ui/translations/app_de.po
new file mode 100644
index 0000000000..b4af3fcc1d
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_de.po
@@ -0,0 +1,873 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: de\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " Die Lenkmoment-Reaktionskalibrierung ist abgeschlossen."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " Die Lenkmoment-Reaktionskalibrierung ist zu {}% abgeschlossen."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Ihr Gerät ist um {:.1f}° {} und {:.1f}° {} ausgerichtet."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "1 Jahr Fahrtdatenspeicherung"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "24/7 LTE‑Verbindung"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>Kalibrierung der Lenkverzögerung abgeschlossen."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Kalibrierung der Lenkverzögerung zu {}% abgeschlossen."
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "HINZUFÜGEN"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "APN‑Einstellung"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "Übermäßige Betätigung bestätigen"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "Erweitert"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "Aggressiv"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "Zustimmen"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "Immer aktive Fahrerüberwachung"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "Sind Sie sicher, dass Sie ausschalten möchten?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "Sind Sie sicher, dass Sie neu starten möchten?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "Sind Sie sicher, dass Sie die Kalibrierung zurücksetzen möchten?"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "Sind Sie sicher, dass Sie deinstallieren möchten?"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "Zurück"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Werden Sie comma prime Mitglied auf connect.comma.ai"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "Fügen Sie connect.comma.ai Ihrem Startbildschirm hinzu, um es wie eine App zu verwenden"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "ÄNDERN"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "PRÜFEN"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "CHILL‑MODUS AKTIV"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "VERBINDUNG"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "VERBINDUNG"
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "Abbrechen"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "Getaktete Mobilfunkverbindung"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "Sprache ändern"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Klicken Sie auf \"add new device\" und scannen Sie den QR‑Code rechts"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "Schließen"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "Aktuelle Version"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "HERUNTERLADEN"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "Ablehnen"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "Entwickler"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "Gerät"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "Beim Gaspedal deaktivieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "Zum Ausschalten deaktivieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "Zum Neustart deaktivieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "Zum Zurücksetzen der Kalibrierung deaktivieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "Geschwindigkeit in km/h statt mph anzeigen."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "Dongle-ID"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "Herunterladen"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "Fahrerkamera"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "Fahrstil"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "BEARBEITEN"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "FEHLER"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "EXPERIMENTALMODUS AKTIV"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "Aktivieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "ADB aktivieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "Spurverlassenswarnungen aktivieren"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "Roaming aktivieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "SSH aktivieren"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "Tethering aktivieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "APN eingeben"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "SSID eingeben"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "Neues Tethering‑Passwort eingeben"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "Passwort eingeben"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "Geben Sie Ihren GitHub‑Benutzernamen ein"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "Fehler"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "Experimentalmodus"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Der Experimentalmodus ist derzeit auf diesem Fahrzeug nicht verfügbar, da der serienmäßige ACC für die Längsregelung verwendet wird."
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "WIRD VERGESSEN..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "Einrichtung abschließen"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "Datenstrom"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Firehose‑Modus"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "Vergessen"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "WLAN‑Netz „{}“ vergessen?"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "GUT"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Gehen Sie auf Ihrem Telefon zu https://connect.comma.ai"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "HOCH"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "Verstecktes Netzwerk"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "INSTALLIEREN"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "IP‑Adresse"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "Update installieren"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "Joystick‑Debugmodus"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "LADEN"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "Längsmanövermodus"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "MAX."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximieren Sie Ihre Trainingsdaten‑Uploads, um die Fahrmodelle von openpilot zu verbessern."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "k. A."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "KEIN"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "Netzwerk"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "Keine SSH‑Schlüssel für Benutzer '{}' gefunden"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "Keine Versionshinweise verfügbar."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "GETRENNT"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "OK"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "VERBUNDEN"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "Öffnen"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "KOPPELN"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "VORSCHAU"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "PRIME‑FUNKTIONEN:"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "Gerät koppeln"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "Gerät koppeln"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "Koppeln Sie Ihr Gerät mit Ihrem comma‑Konto"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Koppeln Sie Ihr Gerät mit comma connect (connect.comma.ai) und lösen Sie Ihr comma‑prime‑Angebot ein."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "Ausschalten"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "Verhindern Sie das Hochladen großer Datenmengen bei einer getakteten WLAN-Verbindung"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "Verhindern Sie das Hochladen großer Datenmengen bei einer getakteten Mobilfunkverbindung"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Vorschau der Fahrer‑Kamera, um sicherzustellen, dass die Fahrerüberwachung gute Sicht hat. (Fahrzeug muss ausgeschaltet sein)"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "QR‑Code‑Fehler"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "ENTFERNEN"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "ZURÜCKSETZEN"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "ANSEHEN"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "Neustart"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "Gerät neu starten"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "Neustarten und aktualisieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "Fahrerkamera aufzeichnen und hochladen"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "Mikrofonton aufzeichnen und hochladen"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Mikrofonton während der Fahrt aufzeichnen und speichern. Die Audiospur wird im Dashcam‑Video in comma connect enthalten sein."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "Vorschriften"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "Entspannt"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "Fernzugriff"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "Remote‑Schnappschüsse"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "Zeitüberschreitung bei der Anfrage"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "Zurücksetzen"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "Kalibrierung zurücksetzen"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "Trainingsanleitung ansehen"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "WÄHLEN"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "SSH‑Schlüssel"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "WLAN‑Netzwerke werden gesucht..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "Auswählen"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "Zweig auswählen"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "Sprache auswählen"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "Seriennummer"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "Update verschieben"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "Softwarebereich"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "Standardmodus"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "System reagiert nicht"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "SOFORT DIE KONTROLLE ÜBERNEHMEN"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "TEMP."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "Zielzweig"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "Tethering‑Passwort"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "Schalter"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "UI-Debug-Modus"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "DEINSTALLIEREN"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "AKTUALISIEREN"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "Deinstallieren"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "Unbekannt"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "Updates werden nur heruntergeladen, wenn das Auto aus ist."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "Jetzt abonnieren"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Daten von der Fahrer‑Kamera hochladen und den Fahrerüberwachungs‑Algorithmus verbessern."
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "Metersystem verwenden"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "FAHRZEUG"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "ANSEHEN"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "Warten auf Start"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "WLAN"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Getaktetes WLAN‑Netzwerk"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "Falsches Passwort"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "Kamera startet"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "Überprüfung..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "Standard"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "unten"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "Herunterladen..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "Überprüfung auf Updates fehlgeschlagen"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "Update wird finalisiert..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "für „{}“"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "für automatische Konfiguration leer lassen"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "links"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "getaktet"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "nie"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "jetzt"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "rechts"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "unbegrenzt"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "oben"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "Aktuell, zuletzt geprüft: nie"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "Aktuell, zuletzt geprüft: {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "Update verfügbar"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} WARNUNG"
+msgstr[1] "{} WARNUNGEN"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "vor {} Tag"
+msgstr[1] "vor {} Tagen"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "vor {} Stunde"
+msgstr[1] "vor {} Stunden"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "vor {} Minute"
+msgstr[1] "vor {} Minuten"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} Segment Ihrer Fahrten ist bisher im Trainingsdatensatz."
+msgstr[1] "{} Segmente Ihrer Fahrten sind bisher im Trainingsdatensatz."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ABONNIERT"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose‑Modus 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_en.po b/openpilot/selfdrive/ui/translations/app_en.po
new file mode 100644
index 0000000000..ad2ed1241f
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_en.po
@@ -0,0 +1,873 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: en\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " Steering torque response calibration is complete."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " Steering torque response calibration is {}% complete."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "1 year of drive storage"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "24/7 LTE connectivity"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>Steering lag calibration is complete."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Steering lag calibration is {}% complete."
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "ADD"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "APN Setting"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "Acknowledge Excessive Actuation"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "Advanced"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "Aggressive"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "Agree"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "Always-On Driver Monitoring"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "Are you sure you want to power off?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "Are you sure you want to reboot?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "Are you sure you want to reset calibration?"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "Are you sure you want to uninstall?"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "Back"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Become a comma prime member at connect.comma.ai"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "Bookmark connect.comma.ai to your home screen to use it like an app"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "CHANGE"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "CHECK"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "CHILL MODE ON"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "CONNECT"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "CONNECTING..."
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "Cancel"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "Cellular Metered"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "Change Language"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Click \"add new device\" and scan the QR code on the right"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "Close"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "Current Version"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "DOWNLOAD"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "Decline"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "Developer"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "Device"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "Disengage on Accelerator Pedal"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "Disengage to Power Off"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "Disengage to Reboot"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "Disengage to Reset Calibration"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "Display speed in km/h instead of mph."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "Dongle ID"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "Download"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "Driver Camera"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "Driving Personality"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "EDIT"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "ERROR"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "EXPERIMENTAL MODE ON"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "Enable"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "Enable ADB"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "Enable Lane Departure Warnings"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "Enable Roaming"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "Enable SSH"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "Enable Tethering"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "Enter APN"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "Enter SSID"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "Enter new tethering password"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "Enter password"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "Enter your GitHub username"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "Error"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "Experimental Mode"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "FORGETTING..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "Finish Setup"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "Firehose"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Firehose Mode"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "Forget"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Forget Wi-Fi Network \"{}\"?"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "GOOD"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Go to https://connect.comma.ai on your phone"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "HIGH"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "Hidden Network"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "INSTALL"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "IP Address"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "Install Update"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "Joystick Debug Mode"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "LOADING"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "Longitudinal Maneuver Mode"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "MAX"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximize your training data uploads to improve openpilot's driving models."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "N/A"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "NO"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "Network"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "No SSH keys found for user '{}'"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "No release notes available."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "OFFLINE"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "OK"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "ONLINE"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "Open"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "PAIR"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "PREVIEW"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "PRIME FEATURES:"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "Pair Device"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "Pair device"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "Pair your device to your comma account"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Please connect to Wi-Fi to complete initial pairing"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "Power Off"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "Prevent large data uploads when on a metered Wi-Fi connection"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "Prevent large data uploads when on a metered cellular connection"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "QR Code Error"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "REMOVE"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "RESET"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "REVIEW"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "Reboot"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "Reboot Device"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "Reboot and Update"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "Record and Upload Driver Camera"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "Record and Upload Microphone Audio"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "Regulatory"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "Relaxed"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "Remote access"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "Remote snapshots"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "Request timed out"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "Reset"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "Reset Calibration"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "Review Training Guide"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "SELECT"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "SSH Keys"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "Scanning Wi-Fi networks..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "Select"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "Select a branch"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "Select a language"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "Serial"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "Snooze Update"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "Software"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "Standard"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "System Unresponsive"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "TAKE CONTROL IMMEDIATELY"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "TEMP"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "Target Branch"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "Tethering Password"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "Toggles"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "UI Debug Mode"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "UNINSTALL"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "UPDATE"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "Uninstall"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "Unknown"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "Updates are only downloaded while the car is off."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "Upgrade Now"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "Use Metric System"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "VEHICLE"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "VIEW"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "Waiting to start"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi-Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Wi-Fi Network Metered"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "Wrong password"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "camera starting"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "checking..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "default"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "down"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "downloading..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "failed to check for update"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "finalizing update..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "for \"{}\""
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "leave blank for automatic configuration"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "left"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "metered"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "never"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "now"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "right"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "unmetered"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "up"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "up to date, last checked never"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "up to date, last checked {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "update available"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} ALERT"
+msgstr[1] "{} ALERTS"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} day ago"
+msgstr[1] "{} days ago"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} hour ago"
+msgstr[1] "{} hours ago"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} minute ago"
+msgstr[1] "{} minutes ago"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} segment of your driving is in the training dataset so far."
+msgstr[1] "{} segments of your driving is in the training dataset so far."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ SUBSCRIBED"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose Mode 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_es.po b/openpilot/selfdrive/ui/translations/app_es.po
new file mode 100644
index 0000000000..2298fdb5a1
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_es.po
@@ -0,0 +1,873 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: es\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " La calibración de respuesta de par de dirección está completa."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " La calibración de respuesta de par de dirección está {}% completa."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Tu dispositivo está orientado {:.1f}° {} y {:.1f}° {}."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "1 año de almacenamiento de conducción"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "Conectividad LTE 24/7"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>La calibración del retraso de dirección está completa."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>La calibración del retraso de dirección está completa en un {}%."
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "AÑADIR"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "Configuración de APN"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "Reconocer actuación excesiva"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "Avanzado"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "Agresivo"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "Aceptar"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "Supervisión del conductor siempre activa"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "¿Seguro que quieres apagar?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "¿Seguro que quieres reiniciar?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "¿Seguro que quieres restablecer la calibración?"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "¿Seguro que quieres desinstalar?"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "Atrás"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Hazte miembro de comma prime en connect.comma.ai"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "Añade connect.comma.ai a tu pantalla de inicio para usarlo como una app"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "CAMBIAR"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "COMPROBAR"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "MODO CHILL ACTIVADO"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "CONECTAR"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "CONECTAR"
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "Cancelar"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "Medición celular"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "Cambiar idioma"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Haz clic en \"añadir nuevo dispositivo\" y escanea el código QR de la derecha"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "Cerrar"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "Versión actual"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "DESCARGAR"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "Rechazar"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "Desarrollador"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "Dispositivo"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "Desactivar con el pedal del acelerador"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "Desactivar para apagar"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "Desactivar para reiniciar"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "Desactivar para restablecer la calibración"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "Mostrar la velocidad en km/h en lugar de mph."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "ID del dongle"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "Descargar"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "Cámara del conductor"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "Estilo de conducción"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "EDITAR"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "FALLO"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "MODO EXPERIMENTAL ACTIVADO"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "Activar"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "Activar ADB"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "Activar advertencias de salida de carril"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "Activar roaming"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "Activar SSH"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "Activar anclaje"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "Introduce APN"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "Introduzca SSID"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "Ingrese una nueva contraseña de anclaje a red"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "Introduce la contraseña"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "Introduce tu nombre de usuario de GitHub"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "Fallo"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "Modo experimental"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "El modo experimental no está disponible actualmente en este coche, ya que se usa el ACC de fábrica para el control longitudinal."
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "OLVIDAR..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "Finalizar configuración"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "Flujo masivo"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Modo Firehose"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "Olvidar"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "¿Olvidaste la red Wi-Fi \"{}\"?"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "BUENO"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Ve a https://connect.comma.ai en tu teléfono"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "ALTO"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "Red oculta"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "INSTALAR"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "Dirección IP"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "Instalar actualización"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "Modo de depuración de joystick"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "CARGANDO"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "Modo de maniobra longitudinal"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "MÁX"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximiza tus cargas de datos de entrenamiento para mejorar los modelos de conducción de openpilot."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "N / A"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "SIN"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "Red"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "No se encontraron claves SSH para el usuario '{}'"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "No hay notas de versión disponibles."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "SIN CONEXIÓN"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "OK"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "EN LÍNEA"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "Abrir"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "EMPAREJAR"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "VISTA PREVIA"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "FUNCIONES PRIME:"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "Emparejar dispositivo"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "Emparejar dispositivo"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "Empareja tu dispositivo con tu cuenta de comma"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "Apagar"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "Evite grandes cargas de datos cuando esté en una conexión Wi-Fi medida"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "Evite grandes cargas de datos cuando esté en una conexión celular medida"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Previsualiza la cámara hacia el conductor para asegurarte de que la supervisión del conductor tenga buena visibilidad. (el vehículo debe estar apagado)"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "Error de código QR"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "ELIMINAR"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "RESTABLECER"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "REVISAR"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "Reiniciar"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "Reiniciar dispositivo"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "Reiniciar y actualizar"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "Grabar y subir cámara del conductor"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "Grabar y subir audio del micrófono"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Grabar y almacenar audio del micrófono mientras conduces. El audio se incluirá en el video de la dashcam en comma connect."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "Reglamentario"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "Relajado"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "Acceso remoto"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "Capturas remotas"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "Se agotó el tiempo de espera de la solicitud"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "Restablecer"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "Restablecer calibración"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "Revisar guía de entrenamiento"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "SELECCIONAR"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "Claves SSH"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "Escaneando redes Wi-Fi..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "Seleccionar"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "Selecciona una rama"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "Selecciona un idioma"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "Número de serie"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "Posponer actualización"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "Sistema"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "Estándar"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "Sistema sin respuesta"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "TOME EL CONTROL INMEDIATAMENTE"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "TEMP."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "Rama objetivo"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "Contraseña de anclaje"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "Interruptores"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Modo de depuración de la interfaz de usuario"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "DESINSTALAR"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "ACTUALIZAR"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "Desinstalar"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "Desconocido"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "Las actualizaciones solo se descargan cuando el coche está apagado."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "Mejorar ahora"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Sube datos de la cámara orientada al conductor y ayuda a mejorar el algoritmo de supervisión del conductor."
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "Usar sistema métrico"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "VEHÍCULO"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "VER"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "Esperando para iniciar"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Red Wi-Fi medida"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "Contraseña incorrecta"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "iniciando cámara"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "de cheques..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "por defecto"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "abajo"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "descargando..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "Error al buscar actualizaciones"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "finalizando actualización..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "para \"{}\""
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "dejar en blanco para configuración automática"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "izquierda"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "medido"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "nunca"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "ahora"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "derecha"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "sin medir"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "arriba"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "actualizado, última comprobación: nunca"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "actualizado, última comprobación: {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "actualización disponible"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} ALERTA"
+msgstr[1] "{} ALERTAS"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "hace {} día"
+msgstr[1] "hace {} días"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "hace {} hora"
+msgstr[1] "hace {} horas"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "hace {} minuto"
+msgstr[1] "hace {} minutos"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} segmento de tu conducción está en el conjunto de entrenamiento hasta ahora."
+msgstr[1] "{} segmentos de tu conducción están en el conjunto de entrenamiento hasta ahora."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ SUSCRITO"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Modo Firehose 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_fr.po b/openpilot/selfdrive/ui/translations/app_fr.po
new file mode 100644
index 0000000000..ac5b4deea5
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_fr.po
@@ -0,0 +1,873 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: fr\n"
+"Plural-Forms: nplurals=2; plural=(n > 1);\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " Calibration de la réponse du couple de direction terminée."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " Calibration du couple de direction : {}% effectué."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Votre appareil est orienté {:.1f}° {} et {:.1f}° {}."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "1 an de stockage de trajets"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "Connexion LTE 24/7"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>La calibration du délai de direction est terminée."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Calibration du délai de direction : {}% effectué."
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "AJOUTER"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "Paramètre APN"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "Accuser réception d'actionnement excessif"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "Avancé"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "Agressif"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "Accepter"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "Surveillance continue du conducteur"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "Êtes-vous sûr de vouloir éteindre ?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "Êtes-vous sûr de vouloir redémarrer ?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "Êtes-vous sûr de vouloir réinitialiser la calibration ?"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "Êtes-vous sûr de vouloir désinstaller ?"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "Retour"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Devenez membre comma prime sur connect.comma.ai"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une application"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "CHANGER"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "VÉRIFIER"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "MODE CHILL ACTIVÉ"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "CONNECTER"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "CONNEXION..."
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "Annuler"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "Données cellulaires limitées"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "Changer la langue"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr "La modification de ce réglage redémarrera sunnypilot si la voiture est sous tension."
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr "Choisissez votre niveau de parrainage et confirmez votre soutien"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Cliquez sur \"add new device\" et scannez le code QR à droite"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "Fermer"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "Version actuelle"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "TÉLÉCHARGER"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "Refuser"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr "Refuser, désinstaller sunnypilot"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "Développeur"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "Appareil"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "Désengager à l'appui sur l'accélérateur"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "Désengager pour éteindre"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "Désengager pour redémarrer"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "Désengager pour réinitialiser la calibration"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "Afficher la vitesse en km/h au lieu de mph."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "ID du dongle"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "Télécharger"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "Caméra conducteur"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "Personnalité de conduite"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "MODIFIER"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "ERREUR"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "MODE EXPÉRIMENTAL ACTIVÉ"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr "Accès anticipé : Devenez parrain sunnypilot"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "Activer"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "Activer ADB"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "Activer les alertes de sortie de voie"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "Activer l'itinérance"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "Activer SSH"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "Activer le partage de connexion"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr "Activer la surveillance du conducteur même lorsque sunnypilot n'est pas engagé."
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr "Activer sunnypilot"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr "Activez l'option de contrôle longitudinal sunnypilot (alpha) pour autoriser le mode expérimental."
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "Entrez l'APN"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "Entrez le SSID"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "Entrez un nouveau mot de passe de partage"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "Entrez le mot de passe"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr "Entrez votre recherche"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "Entrez votre nom d'utilisateur GitHub"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "Erreur"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "Mode expérimental"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Le mode expérimental est actuellement indisponible sur cette voiture car l'ACC d'origine est utilisé pour le contrôle longitudinal."
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "SUPPRESSION..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "Finir la config."
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "Firehose"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Mode Firehose"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr "Suivez les instructions pour terminer le processus d'association"
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "Oublier"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Oublier le réseau Wi‑Fi \"{}\" ?"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "BONNE"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Allez sur https://connect.comma.ai sur votre téléphone"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "ÉLEVÉ"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "Réseau masqué"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "INSTALLER"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "Adresse IP"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr "Si le statut de parrainage n'a pas été mis à jour, veuillez contacter un modérateur sur le forum communautaire à https://community.sunnypilot.ai"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "Installer la mise à jour"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr "Rejoignez notre forum communautaire à https://community.sunnypilot.ai et contactez un modérateur si vous avez des problèmes"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "Mode débogage joystick"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "CHARGEMENT"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "Mode de manœuvre longitudinale"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "MAX"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximisez vos envois de données d'entraînement pour améliorer les modèles de conduite d'openpilot."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "N/A"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "NON"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "Réseau"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "Aucune clé SSH trouvée pour l'utilisateur '{}'"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "Aucune note de version disponible."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "HORS LIGNE"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "OK"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "EN LIGNE"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "Ouvrir"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "ASSOCIER"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "APERÇU"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "FONCTIONNALITÉS PRIME :"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "Associer l'appareil"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "Associer l'appareil"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr "Associer votre compte GitHub"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "Associez votre appareil à votre compte comma"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre offre comma prime."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "Éteindre"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "Empêcher les téléversements volumineux sur une connexion Wi‑Fi limitée"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "Empêcher les téléversements volumineux sur une connexion cellulaire limitée"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Prévisualisez la caméra orientée conducteur pour vous assurer que la surveillance du conducteur a une bonne visibilité. (le véhicule doit être éteint)"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "Erreur de code QR"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "SUPPRIMER"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "RÉINITIALISER"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "CONSULTER"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr "Retournez dans le panneau \"sunnylink\" pour vérifier le statut de parrainage"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "Redémarrer"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "Redémarrer l'appareil"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "Redémarrer et mettre à jour"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "Enregistrer et téléverser la caméra conducteur"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "Enregistrer et téléverser l'audio du microphone"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Enregistrer et stocker l'audio du microphone pendant la conduite. L'audio sera inclus dans la vidéo dashcam dans comma connect."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "Réglementaire"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "Détendu"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "Accès à distance"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "Captures à distance"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "Délai de la requête dépassé"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "Réinitialiser"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "Réinitialiser la calibration"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "Consulter le guide d'entraînement"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr "Consultez les règles, fonctionnalités et limitations de sunnypilot"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "CHOISIR"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "Clés SSH"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr "Scannez le code QR pour vous connecter à votre compte GitHub"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr "Scannez le code QR pour visiter la page GitHub Sponsors de sunnyhaibin"
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "Recherche des réseaux Wi‑Fi..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr "Rechercher"
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "Sélectionner"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "Sélectionner une branche"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "Sélectionner une langue"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "Numéro de série"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "Reporter la mise à jour"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "Logiciel"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "Standard"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "Système non réactif"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "REPRENEZ IMMÉDIATEMENT LE CONTRÔLE"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "TEMP."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "Branche cible"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "Mot de passe de partage"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "Options"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Mode débogage UI"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "SUPPRIMER"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "METTRE À JOUR"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "Désinstaller"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "Inconnu"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "Les mises à jour ne sont téléchargées que lorsque la voiture est éteinte."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "Mettre à jour"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Téléverser les données de la caméra orientée conducteur et aider à améliorer l'algorithme de surveillance du conducteur."
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "Utiliser le système métrique"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "VÉHICULE"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "VOIR"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "En attente de démarrage"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr "Bienvenue sur sunnypilot"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr "Lorsqu'activé, appuyer sur la pédale d'accélérateur désengagera sunnypilot."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Réseau Wi‑Fi limité"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "Mot de passe incorrect"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr "Vous devez accepter les conditions d'utilisation pour utiliser sunnypilot."
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr "Vous devez accepter les conditions d'utilisation pour utiliser sunnypilot. Consultez les dernières conditions sur https://sunnypilot.ai/terms avant de continuer."
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "démarrage de la caméra"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "vérification..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "par défaut"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "bas"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "téléchargement..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "échec de la vérification de mise à jour"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "finalisation de la mise à jour..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "pour \"{}\""
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "laisser vide pour configuration automatique"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "gauche"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "limité"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "jamais"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "maintenant"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "droite"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr "Contrôle longitudinal sunnypilot (Alpha)"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr "sunnypilot indisponible"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr "Le contrôle longitudinal sunnypilot pourrait arriver dans une future mise à jour."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "illimité"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "haut"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "à jour, dernière vérification jamais"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "à jour, dernière vérification {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "mise à jour disponible"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} ALERTE"
+msgstr[1] "{} ALERTES"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "il y a {} jour"
+msgstr[1] "il y a {} jours"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "il y a {} heure"
+msgstr[1] "il y a {} heures"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "il y a {} minute"
+msgstr[1] "il y a {} minutes"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} segment de votre conduite est dans l'ensemble d'entraînement jusqu'à présent."
+msgstr[1] "{} segments de votre conduite sont dans l'ensemble d'entraînement jusqu'à présent."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ABONNÉ"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Mode Firehose 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_ja.po b/openpilot/selfdrive/ui/translations/app_ja.po
new file mode 100644
index 0000000000..1d701bd8b4
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_ja.po
@@ -0,0 +1,868 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: ja\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " ステアリングトルク応答のキャリブレーションが完了しました。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " ステアリングトルク応答のキャリブレーションは{}%完了しました。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " デバイスは{:.1f}°{}、{:.1f}°{}の向きです。"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "走行データを1年間保存"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "24時間365日のLTE接続"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>ステアリング遅延のキャリブレーションが完了しました。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>ステアリング遅延のキャリブレーションは{}%完了しました。"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "追加"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "APN設定"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "過度な作動を承認"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "詳細設定"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "アグレッシブ"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "同意する"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "常時ドライバーモニタリング"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "本当に電源をオフにしますか？"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "本当に再起動しますか？"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "本当にキャリブレーションをリセットしますか？"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "本当にアンインストールしますか？"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "戻る"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "connect.comma.aiで comma prime に加入"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "connect.comma.aiをホーム画面に追加してアプリのように使いましょう"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "変更"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "確認"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "チルモードON"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "接続"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "接続中..."
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "キャンセル"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "従量課金の携帯回線"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "言語を変更"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "\"add new device\"を押して右側のQRコードをスキャン"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "閉じる"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "現在のバージョン"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "ダウンロード"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "拒否する"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "開発者"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "デバイス"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "アクセルで解除"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "解除して電源オフ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "解除して再起動"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "解除してキャリブレーションをリセット"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "速度をmphではなくkm/hで表示します。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "ドングルID"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "ダウンロード"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "ドライバーカメラ"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "走行性格"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "編集"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "エラー"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "実験モードON"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "有効化"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "ADBを有効化"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "車線逸脱警報を有効化"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "ローミングを有効化"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "SSHを有効化"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "テザリングを有効化"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "APNを入力"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "SSIDを入力"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "新しいテザリングのパスワードを入力"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "パスワードを入力"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "GitHubユーザー名を入力"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "エラー"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "実験モード"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "この車では縦制御に純正ACCを使用するため、現在実験モードは利用できません。"
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "削除中..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "セットアップを完了"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "大量配信"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Firehoseモード"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "削除"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Wi‑Fiネットワーク「{}」を削除しますか？"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "良好"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "スマートフォンで https://connect.comma.ai にアクセス"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "高温"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "非公開ネットワーク"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "インストール"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "IPアドレス"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "アップデートをインストール"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "ジョイスティックデバッグモード"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "読み込み中"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "縦制御マヌーバーモード"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "最大"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "学習データのアップロードを最大化してopenpilotの運転モデルを改善しましょう。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "該当なし"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "いいえ"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "ネットワーク"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "ユーザー'{}'のSSH鍵が見つかりません"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "リリースノートはありません。"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "オフライン"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "OK"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "オンライン"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "開く"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "ペアリング"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "プレビュー"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "prime の特典:"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "デバイスをペアリング"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "デバイスをペアリング"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "デバイスをあなたの comma アカウントにペアリング"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "デバイスを comma connect（connect.comma.ai）とペアリングして、comma prime 特典を受け取りましょう。"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "初回ペアリングを完了するにはWi‑Fiに接続してください"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "電源オフ"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "従量課金のWi‑Fi接続時は大きなデータのアップロードを抑制"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "従量課金の携帯回線接続時は大きなデータのアップロードを抑制"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "ドライバー向きカメラのプレビューでモニタリングの視界を確認します。（車両は停止状態である必要があります）"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "QRコードエラー"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "削除"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "リセット"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "確認"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "再起動"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "デバイスを再起動"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "再起動して更新"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "ドライバーカメラを記録してアップロード"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "マイク音声を記録してアップロード"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "走行中にマイク音声を記録・保存します。音声は comma connect のドライブレコーダー動画に含まれます。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "規制情報"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "リラックス"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "リモートアクセス"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "リモートスナップショット"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "リクエストがタイムアウトしました"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "リセット"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "キャリブレーションをリセット"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "トレーニングガイドを確認"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "選択"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "SSH鍵"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "Wi‑Fiネットワークを検索中..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "選択"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "ブランチを選択"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "言語を選択"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "シリアル"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "更新を後で通知"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "ソフトウェア"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "スタンダード"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "システムが応答しません"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "すぐに手動介入してください"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "温度"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "対象ブランチ"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "テザリングのパスワード"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "トグル"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "UIデバッグモード"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "アンインストール"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "更新"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "アンインストール"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "不明"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "アップデートは車両の電源が切れている間のみダウンロードされます。"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "今すぐアップグレード"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "ドライバー向きカメラのデータをアップロードしてモニタリングアルゴリズムの改善に協力してください。"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "メートル法を使用"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "車両"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "表示"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "開始待機中"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Wi‑Fiネットワーク（従量課金）"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "パスワードが違います"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "カメラを起動中"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "チェック中..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "既定"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "下"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "ダウンロード中..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "アップデートの確認に失敗しました"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "アップデートを終了しています..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "「{}」向け"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "自動設定の場合は空欄のままにしてください"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "左"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "従量"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "なし"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "今"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "右"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "非従量"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "上"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "最新です。最終確認: なし"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "最新です。最終確認: {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "更新があります"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{}件のアラート"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{}日前"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{}時間前"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{}分前"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "これまでにあなたの走行の{}セグメントが学習データセットに含まれています。"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ 登録済み"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehoseモード 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_ko.po b/openpilot/selfdrive/ui/translations/app_ko.po
new file mode 100644
index 0000000000..d5c5eb34a2
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_ko.po
@@ -0,0 +1,868 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: ko\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " 스티어링 토크 응답 보정이 완료되었습니다."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " 스티어링 토크 응답 보정이 {}% 완료되었습니다."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " 장치는 {:.1f}° {} 및 {:.1f}° {} 방향을 가리키고 있습니다."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "주행 데이터 1년 보관"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "연중무휴 LTE 연결"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>스티어링 지연 보정이 완료되었습니다."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>스티어링 지연 보정이 {}% 완료되었습니다."
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "추가"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "APN 설정"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "과도한 작동을 확인"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "고급"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "공격적"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "동의"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "운전자 모니터링 항상 켜짐"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "정말 전원을 끄시겠습니까?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "정말 재시작하시겠습니까?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "정말 보정을 재설정하시겠습니까?"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "정말 제거하시겠습니까?"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "뒤로"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "connect.comma.ai에서 comma prime 회원이 되세요"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "connect.comma.ai를 홈 화면에 추가하여 앱처럼 사용하세요"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "변경"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "확인"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "안정적 모드 켜짐"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "연결"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "연결 중..."
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "취소"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "종량제 셀룰러"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "언어 변경"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "\"add new device\"를 눌러 오른쪽의 QR 코드를 스캔하세요"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "닫기"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "현재 버전"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "다운로드"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "거부"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "개발자"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "장치"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "가속 페달로 해제"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "해제 후 전원 끄기"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "해제 후 재시작"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "해제 후 캘리브레이션 재설정"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "속도를 mph 대신 km/h로 표시합니다."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "동글 ID"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "다운로드"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "운전자 카메라"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "주행 성향"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "편집"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "오류"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "실험 모드 켜짐"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "사용"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "ADB 사용"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "차선 이탈 경고 사용"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "로밍 사용"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "SSH 사용"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "테더링 사용"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "APN 입력"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "SSID 입력"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "새 테더링 비밀번호 입력"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "비밀번호 입력"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "GitHub 사용자 이름 입력"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "오류"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "실험 모드"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습니다."
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "삭제 중..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "설정 완료"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "파이어호스"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "파이어호스 모드"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "삭제"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Wi‑Fi 네트워크 \"{}\"를 삭제하시겠습니까?"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "양호"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "휴대폰에서 https://connect.comma.ai 에 접속하세요"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "높음"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "숨겨진 네트워크"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "설치"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "IP 주소"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "업데이트 설치"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "조이스틱 디버그 모드"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "로딩 중"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "롱컨 기동 모드"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "최대"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "학습 데이터 업로드를 최대화하여 openpilot의 주행 모델을 개선하세요."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "해당 없음"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "아니오"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "네트워크"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "사용자 '{}'의 SSH 키를 찾을 수 없습니다"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "릴리스 노트가 없습니다."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "오프라인"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "확인"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "온라인"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "열기"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "페어링"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "미리보기"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "프라임 기능:"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "장치 페어링"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "장치 페어링"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "장치를 귀하의 comma 계정에 페어링하세요"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세요."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "초기 페어링을 완료하려면 Wi‑Fi에 연결하세요"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "전원 끄기"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "종량제 Wi‑Fi 연결 시 대용량 업로드 방지"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "종량제 셀룰러 연결 시 대용량 업로드 방지"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "운전자 모니터링의 가시성을 확인하기 위해 운전자 카메라를 미리 봅니다. (차량은 꺼져 있어야 합니다)"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "QR 코드 오류"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "제거"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "재설정"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "검토"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "재시작"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "장치 재시작"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "재시작 및 업데이트"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "운전자 카메라 기록 및 업로드"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "마이크 오디오 기록 및 업로드"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "주행 중 마이크 오디오를 기록하고 저장합니다. 오디오는 comma connect의 대시캠 영상에 포함됩니다."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "규제 정보"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "편안한"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "원격 액세스"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "원격 스냅샷"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "요청 시간이 초과되었습니다"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "재설정"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "캘리브레이션 재설정"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "학습 가이드 검토"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "선택"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "SSH 키"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "Wi‑Fi 네트워크 검색 중..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "선택"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "브랜치 선택"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "언어 선택"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "시리얼"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "업데이트 나중에 알림"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "소프트웨어"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "표준"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "시스템 응답 없음"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "즉시 수동 조작하세요"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "온도"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "대상 브랜치"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "테더링 비밀번호"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "토글"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "UI 디버그 모드"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "제거"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "업데이트"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "제거"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "알수없음"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "업데이트는 차량 전원이 꺼져 있을 때만 다운로드됩니다."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "지금 업그레이드"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "운전자 방향 카메라 데이터를 업로드하여 운전자 모니터링 알고리즘 개선에 도움을 주세요."
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "미터법 사용"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "차량"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "보기"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "시작 대기 중"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Wi‑Fi 네트워크 종량제"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "비밀번호가 올바르지 않습니다"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "카메라 시작 중"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "확인 중..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma 프라임"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "기본값"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "아래"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "다운로드 중..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "업데이트 확인 실패"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "업데이트 마무리 중..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "\"{}\"용"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "자동 구성을 사용하려면 비워 두세요"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "왼쪽"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "종량제"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "없음"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "지금"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "오른쪽"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "비종량제"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "위"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "최신입니다. 마지막 확인: 없음"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "최신입니다. 마지막 확인: {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "업데이트 가능"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{}건의 알림"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{}일 전"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{}시간 전"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{}분 전"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ 구독됨"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 파이어호스 모드 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_pt-BR.po b/openpilot/selfdrive/ui/translations/app_pt-BR.po
new file mode 100644
index 0000000000..5244d9f63f
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_pt-BR.po
@@ -0,0 +1,873 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: pt-BR\n"
+"Plural-Forms: nplurals=2; plural=(n > 1);\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " A calibração da resposta de torque da direção foi concluída."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " A calibração da resposta de torque da direção está {}% concluída."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Seu dispositivo está apontado {:.1f}° {} e {:.1f}° {}."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "1 ano de armazenamento de condução"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "Conectividade LTE 24/7"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>A calibração da latência da direção está concluída."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>A calibração da latência da direção está {}% concluída."
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "ADICIONAR"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "Configuração de APN"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "Reconhecer Atuação Excessiva"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "Avançado"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "Agressivo"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "Concordo"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "Monitoramento de Motorista Sempre Ativo"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "Tem certeza de que deseja desligar?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "Tem certeza de que deseja reiniciar?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "Tem certeza de que deseja redefinir a calibração?"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "Tem certeza de que deseja desinstalar?"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "Voltar"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Torne-se membro comma prime em connect.comma.ai"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "Adicione connect.comma.ai à tela inicial para usá-lo como um app"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "ALTERAR"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "VERIFICAR"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "MODO CHILL ATIVO"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "CONECTAR"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "CONECTANDO..."
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "Cancelar"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "Dados móveis limitados"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "Alterar Idioma"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Toque em \"adicionar novo dispositivo\" e escaneie o QR code à direita"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "Fechar"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "Versão Atual"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "BAIXAR"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "Recusar"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "Desenvolv"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "Dispositivo"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "Desativar ao pressionar o acelerador"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "Desativar para Desligar"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "Desativar para Reiniciar"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "Desativar para Redefinir Calibração"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "Exibir velocidade em km/h em vez de mph."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "ID do Dongle"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "Baixar"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "Câmera do Motorista"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "Personalidade"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "EDITAR"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "ERRO"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "MODO EXPERIMENTAL ATIVO"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "Ativar"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "Ativar ADB"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "Ativar alertas de saída de faixa"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "Ativar roaming"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "Ativar SSH"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "Ativar compartilhamento"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "Digite APN"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "Digite SSID"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "Digite nova senha tethering"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "Digite a senha"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "Digite seu nome de usuário do GitHub"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "Erro"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "Modo Experimental"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "O Modo Experimental está indisponível neste carro pois o ACC original do carro é usado para controle longitudinal."
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "ESQUECENDO..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "Configure"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "Fluxo contínuo"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Modo Firehose"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "Esquecer"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Esquecer rede Wi-Fi \"{}\"?"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "BOM"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Acesse https://connect.comma.ai no seu telefone"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "ALTO"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "Rede oculta"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "INSTALAR"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "Endereço IP"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "Instalar Atualização"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "Modo de Depuração do Joystick"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "CARREGANDO"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "Modo de Manobra Longitudinal"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "MÁX"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Maximize seus envios de dados de treinamento para melhorar os modelos de condução do openpilot."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "Indisp."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "NÃO"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "Rede"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "Nenhuma chave SSH encontrada para o usuário '{}'"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "Sem notas de versão disponíveis."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "OFF-LINE"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "OK"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "ON-LINE"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "Abrir"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "EMPARELHAR"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "PRÉVIA"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "RECURSOS PRIME:"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "Emparelhar Dispositivo"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "Emparelhar dispositivo"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "Emparelhe seu dispositivo à sua conta comma"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Emparelhe seu dispositivo com o comma connect (connect.comma.ai) e resgate sua oferta comma prime."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "Desligar"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "Evitar uploads grandes de dados em conexões Wi-Fi limitadas"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "Evitar uploads grandes de dados em conexões móveis limitadas"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Pré-visualize a câmera voltada para o motorista para garantir que o monitoramento do motorista tenha boa visibilidade. (veículo deve estar desligado)"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "Erro no QR Code"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "REMOVER"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "REDEFINIR"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "REVISAR"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "Reiniciar"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "Reiniciar Dispositivo"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "Reiniciar e Atualizar"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "Gravar e Enviar Câmera do Motorista"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "Gravar e Enviar Áudio do Microfone"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Grave e armazene o áudio do microfone enquanto dirige. O áudio será incluído no vídeo da dashcam no comma connect."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "Regulatório"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "Relaxado"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "Acesso remoto"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "Capturas remotas"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "Tempo da solicitação esgotado"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "Redefinir"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "Redefinir Calibração"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "Revisar Guia de Treinamento"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "SELECIONAR"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "Chaves SSH"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "Procurando redes Wi-Fi..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "Selecione"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "Selecione uma ramificação"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "Selecione um idioma"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "Número de série"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "Adiar Atualização"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "Sistema"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "Padrão"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "Sistema sem resposta"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "ASSUMA O CONTROLE IMEDIATAMENTE"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "TEMP."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "Branch Alvo"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "Senha Tethering"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "Alternativas"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Modo de depuração da interface do usuário"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "DESINSTALAR"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "ATUALIZAR"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "Desinstalar"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "Desconhecido"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "Atualizações são baixadas apenas com o carro desligado."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "Atualizar Agora"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Envie dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramento do motorista."
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "Usar Sistema Métrico"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "VEÍCULO"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "VER"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "Aguardando para iniciar"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Rede Wi-Fi limitada"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "Senha errada"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "câmera iniciando"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "verificando..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "padrão"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "para baixo"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "baixando..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "falha ao verificar atualização"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "finalizando atualização..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "para \"{}\""
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "deixe em branco para configuração automática"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "à esquerda"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "limitados"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "nunca"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "agora"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "à direita"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "ilimitados"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "para cima"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "atualizado, última verificação: nunca"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "atualizado, última verificação: {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "atualização disponível"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} ALERTA"
+msgstr[1] "{} ALERTAS"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} dia atrás"
+msgstr[1] "{} dias atrás"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} hora atrás"
+msgstr[1] "{} horas atrás"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} minuto atrás"
+msgstr[1] "{} minutos atrás"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} segmento da sua condução está no conjunto de treinamento até agora."
+msgstr[1] "{} segmentos da sua condução estão no conjunto de treinamento até agora."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ASSINADO"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Modo Firehose 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_th.po b/openpilot/selfdrive/ui/translations/app_th.po
new file mode 100644
index 0000000000..4897809528
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_th.po
@@ -0,0 +1,868 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: th\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr "การสอบเทียบการตอบสนองแรงบิดของพวงมาลัยเสร็จสมบูรณ์"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr "การสอบเทียบการตอบสนองแรงบิดของพวงมาลัยเสร็จสมบูรณ์ {}%"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr "อุปกรณ์ของคุณชี้ไปที่ {:.1f}° {} และ {:.1f}° {}"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "พื้นที่เก็บข้อมูลไดรฟ์ 1 ปี"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "การเชื่อมต่อ LTE ตลอด 24 ชั่วโมงทุกวัน"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2จี"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3จี"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5จี"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>การปรับเทียบความล่าช้าของพวงมาลัยเสร็จสมบูรณ์"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>การปรับเทียบความล่าช้าของพวงมาลัย {}% เสร็จสมบูรณ์"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "เพิ่ม"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "การตั้งค่า APN"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "รับทราบการดำเนินการที่มากเกินไป"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "ขั้นสูง"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "ก้าวร้าว"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "เห็นด้วย"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "การตรวจสอบไดรเวอร์ตลอดเวลา"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "คุณแน่ใจหรือไม่ว่าต้องการรีบูต?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการปรับเทียบ"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง?"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "กลับ"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "เป็นสมาชิกจุลภาคไพรม์ที่ Connect.comma.ai"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "คั่นหน้า Connect.comma.ai ไปที่หน้าจอหลักของคุณเพื่อใช้เหมือนแอป"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "เปลี่ยน"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "ตรวจสอบ"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "เปิดโหมด Chill"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "เชื่อมต่อ"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "กำลังเชื่อมต่อ..."
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "ยกเลิก"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "เซลล์วัดแสง"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "เปลี่ยนภาษา"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "คลิก \"เพิ่มอุปกรณ์ใหม่\" และสแกนโค้ด QR ทางด้านขวา"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "ปิด"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "เวอร์ชันปัจจุบัน"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "ดาวน์โหลด"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "ปฏิเสธ"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "นักพัฒนา"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "อุปกรณ์"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "ปลดเมื่อเหยียบคันเร่ง"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "ปลดเพื่อปิดเครื่อง"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "ยกเลิกการเชื่อมต่อเพื่อรีบูต"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "ปลดเพื่อรีเซ็ตการปรับเทียบ"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "แสดงความเร็วเป็น km/h แทน mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "รหัสดองเกิล"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "ดาวน์โหลด"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "กล้องไดร์เวอร์"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "บุคลิกภาพในการขับขี่"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "แก้ไข"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "ข้อผิดพลาด"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ผลประโยชน์ทับซ้อน"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "โหมดทดลองเปิดอยู่"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "เปิดใช้งาน"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "เปิดใช้งาน ADB"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "เปิดใช้งานคำเตือนการออกนอกเลน"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "เปิดใช้งานโรมมิ่ง"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "เปิดใช้งาน SSH"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "เปิดใช้งานการปล่อยสัญญาณ"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "ป้อน APN"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "ป้อน SSID"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "ป้อนรหัสผ่านการปล่อยสัญญาณใหม่"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "ใส่รหัสผ่าน"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "ป้อนชื่อผู้ใช้ GitHub ของคุณ"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "ข้อผิดพลาด"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "โหมดทดลอง"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "ขณะนี้โหมดทดลองไม่สามารถใช้งานได้บนรถคันนี้ เนื่องจาก ACC ในสต็อกของรถใช้สำหรับการควบคุมตามยาว"
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "กำลังลืม..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "เสร็จสิ้นการตั้งค่า"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "สายดับเพลิง"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "โหมดสายดับเพลิง"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "ลืม"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "ลืมเครือข่าย Wi-Fi \"{}\" หรือไม่"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "ดี"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "ไปที่ https://connect.comma.ai บนโทรศัพท์ของคุณ"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "สูง"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "เครือข่ายที่ซ่อนอยู่"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "ติดตั้ง"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "ที่อยู่ IP"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "ติดตั้งอัปเดต"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "โหมดดีบักจอยสติ๊ก"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "กำลังโหลด"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "แอลทีที"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "โหมดการซ้อมรบตามยาว"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "สูงสุด"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "เพิ่มการอัปโหลดข้อมูลการฝึกของคุณให้สูงสุดเพื่อปรับปรุงโมเดลการขับขี่ของ Openpilot"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "ไม่มี"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "เลขที่"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "เครือข่าย"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "ไม่พบคีย์ SSH สำหรับผู้ใช้ '{}'"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "ไม่มีบันทึกประจำรุ่น"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "ออฟไลน์"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "ตกลง"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "ออนไลน์"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "เปิด"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "คู่"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "แพนด้า"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "ดูตัวอย่าง"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "คุณสมบัติเด่น:"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "จับคู่อุปกรณ์"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "จับคู่อุปกรณ์"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "จับคู่อุปกรณ์ของคุณกับบัญชีลูกน้ำของคุณ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "จับคู่อุปกรณ์ของคุณกับการเชื่อมต่อด้วยเครื่องหมายจุลภาค (connect.comma.ai) และรับข้อเสนอจุลภาคเฉพาะของคุณ"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "โปรดเชื่อมต่อ Wi-Fi เพื่อทำการจับคู่ครั้งแรกให้เสร็จสิ้น"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "ปิดเครื่อง"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "ป้องกันการอัปโหลดข้อมูลขนาดใหญ่เมื่อใช้การเชื่อมต่อ Wi-Fi แบบมิเตอร์"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "ป้องกันการอัพโหลดข้อมูลขนาดใหญ่เมื่อใช้การเชื่อมต่อมือถือแบบคิดค่าบริการตามปริมาณข้อมูล"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "ดูตัวอย่างกล้องที่หันหน้าไปทางคนขับเพื่อให้แน่ใจว่าการตรวจสอบผู้ขับขี่มีทัศนวิสัยที่ดี (รถจะต้องถูกปิด)"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "ข้อผิดพลาดรหัส QR"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "ลบ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "รีเซ็ต"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "ทบทวน"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "รีบูต"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "รีบูตอุปกรณ์"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "รีบูตและอัปเดต"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "บันทึกและอัพโหลดกล้องไดร์เวอร์"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "บันทึกและอัปโหลดเสียงไมโครโฟน"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "บันทึกและจัดเก็บเสียงไมโครโฟนขณะขับรถ เสียงจะรวมอยู่ในวิดีโอ dashcam ด้วยการเชื่อมต่อด้วยเครื่องหมายจุลภาค"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "กฎระเบียบ"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "ผ่อนคลาย"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "การเข้าถึงระยะไกล"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "สแนปชอตระยะไกล"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "คำขอหมดเวลา"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "รีเซ็ต"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "รีเซ็ตการปรับเทียบ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "ทบทวนคู่มือการฝึกอบรม"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "เลือก"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "คีย์ SSH"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "กำลังสแกนเครือข่าย Wi-Fi..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "เลือก"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "เลือกสาขา"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "เลือกภาษา"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "อนุกรม"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "เลื่อนการอัปเดต"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "ซอฟต์แวร์"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "มาตรฐาน"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "ระบบไม่ตอบสนอง"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "เข้าควบคุมทันที"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "อุณหภูมิ"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "สาขาเป้าหมาย"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "รหัสผ่านการแชร์อินเทอร์เน็ต"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "สลับ"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "โหมดดีบัก UI"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "ถอนการติดตั้ง"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "อัปเดต"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "ถอนการติดตั้ง"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "ไม่ทราบ"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "การอัพเดตจะถูกดาวน์โหลดในขณะที่รถดับอยู่เท่านั้น"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "อัพเกรดทันที"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "อัปโหลดข้อมูลจากกล้องที่หันเข้าหาคนขับและช่วยปรับปรุงอัลกอริธึมการตรวจสอบผู้ขับขี่"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "ใช้ระบบเมตริก"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "ยานพาหนะ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "ดู"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "กำลังรอที่จะเริ่ม"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "อินเตอร์เน็ตไร้สาย"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "เครือข่าย Wi-Fi มีการตรวจวัด"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "รหัสผ่านผิด"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "กำลังเริ่มกล้อง"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "กำลังตรวจสอบ..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "เครื่องหมายลูกน้ำเฉพาะ"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "ค่าเริ่มต้น"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "ลง"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "กำลังดาวน์โหลด..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "ไม่สามารถตรวจสอบการอัปเดตได้"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "กำลังสรุปการอัปเดต..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "สำหรับ \"{}\""
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "กม./ชม"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "เว้นว่างไว้เพื่อกำหนดค่าอัตโนมัติ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "ซ้าย"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "คิดค่าบริการตามปริมาณ"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "ไมล์/ชม."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "ไม่เคย"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "ตอนนี้"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "ขวา"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "ไม่จำกัดปริมาณ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "ขึ้น"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "เป็นเวอร์ชันล่าสุด ตรวจสอบครั้งล่าสุด: ไม่เคย"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "เป็นเวอร์ชันล่าสุด ตรวจสอบครั้งล่าสุดเมื่อ {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "มีอัปเดตใหม่"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "การแจ้งเตือน {} รายการ"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} วันที่แล้ว"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} ชั่วโมงที่แล้ว"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} นาทีที่แล้ว"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "ขณะนี้มีช่วงการขับขี่ของคุณ {} ช่วงอยู่ในชุดข้อมูลฝึกสอนแล้ว"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ สมัครแล้ว"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 โหมด Firehose 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_tr.po b/openpilot/selfdrive/ui/translations/app_tr.po
new file mode 100644
index 0000000000..a6da586bbd
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_tr.po
@@ -0,0 +1,873 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: tr\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " Direksiyon tork tepkisi kalibrasyonu tamamlandı."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " Direksiyon tork tepkisi kalibrasyonu {}% tamamlandı."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Cihazınız {:.1f}° {} ve {:.1f}° {} yönünde konumlandırılmış."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "1 yıl sürüş depolaması"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "7/24 LTE bağlantısı"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>Direksiyon gecikmesi kalibrasyonu tamamlandı."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Direksiyon gecikmesi kalibrasyonu %{} tamamlandı."
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "EKLE"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "APN Ayarı"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "Aşırı Müdahaleyi Onayla"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "Gelişmiş"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "Agresif"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "Kabul et"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "Sürekli Sürücü İzleme"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "Kapatmak istediğinizden emin misiniz?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "Yeniden başlatmak istediğinizden emin misiniz?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "Kalibrasyonu sıfırlamak istediğinizden emin misiniz?"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "Kaldırmak istediğinizden emin misiniz?"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "Geri"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "connect.comma.ai adresinde comma prime üyesi olun"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "connect.comma.ai'yi ana ekranınıza ekleyerek bir uygulama gibi kullanın"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "DEĞİŞTİR"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "KONTROL ET"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "CHILL MODU AÇIK"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "BAĞLAN"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "BAĞLAN"
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "İptal"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "Ölçülü Hücresel"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "Dili Değiştir"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "\"yeni cihaz ekle\"ye tıklayın ve sağdaki QR kodunu tarayın"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "Kapat"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "Geçerli Sürüm"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "İNDİR"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "Reddet"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "Geliştirici"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "Cihaz"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "Gaz Pedalında Devreden Çık"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "Kapatmak için Devreden Çıkın"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "Yeniden Başlatmak için Devreden Çıkın"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "Kalibrasyonu Sıfırlamak için Devreden Çıkın"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "Hızı mph yerine km/h olarak göster."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "Dongle kimliği"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "İndir"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "Sürücü Kamerası"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "Sürüş Kişiliği"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "DÜZENLE"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "HATA"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "DENEYSEL MOD AÇIK"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "Etkinleştir"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "ADB'yi Etkinleştir"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "Şerit Terk Uyarılarını Etkinleştir"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "Dolaşımı Etkinleştir"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "SSH'yi Etkinleştir"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "İnternet Paylaşımını Etkinleştir"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "APN girin"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "SSID girin"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "Yeni internet paylaşımı şifresini girin"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "Şifre girin"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "GitHub kullanıcı adınızı girin"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "Hata"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "Deneysel Mod"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Bu araçta boylamsal kontrol için stok ACC kullanıldığından şu anda Deneysel mod kullanılamıyor."
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "UNUTULUYOR..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "Kurulumu Bitir"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "Yoğun veri akışı"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Firehose Modu"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "Unut"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "\"{}\" Wi‑Fi ağı unutulsun mu?"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "İYİ"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Telefonunuzda https://connect.comma.ai adresine gidin"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "YÜKSEK"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "Gizli Ağ"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "YÜKLE"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "IP Adresi"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "Güncellemeyi Yükle"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "Joystick Hata Ayıklama Modu"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "YÜKLENİYOR"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "Boylamsal Manevra Modu"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "MAKS"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "openpilot'un sürüş modellerini iyileştirmek için eğitim veri yüklemelerinizi en üst düzeye çıkarın."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "Yok"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "HAYIR"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "Ağ"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "'{}' kullanıcısı için SSH anahtarı bulunamadı"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "Sürüm notu mevcut değil."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "ÇEVRİMDIŞI"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "OK"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "ÇEVRİMİÇİ"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "Aç"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "EŞLE"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "ÖNİZLEME"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "PRIME ÖZELLİKLERİ:"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "Cihazı Eşle"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "Cihazı eşle"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "Cihazınızı comma hesabınızla eşleştirin"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime teklifinizi alın."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "Kapat"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "Ölçülü bir Wi‑Fi bağlantısındayken büyük veri yüklemelerini engelle"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "Ölçülü bir hücresel bağlantıdayken büyük veri yüklemelerini engelle"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Sürücü izleme görünürlüğünün iyi olduğundan emin olmak için sürücüye bakan kamerayı önizleyin. (araç kapalı olmalıdır)"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "QR Kod Hatası"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "KALDIR"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "SIFIRLA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "GÖZDEN GEÇİR"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "Yeniden Başlat"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "Cihazı Yeniden Başlat"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "Yeniden Başlat ve Güncelle"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "Sürücü Kamerasını Kaydet ve Yükle"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "Mikrofon Sesini Kaydet ve Yükle"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Sürüş sırasında mikrofon sesini kaydedip saklayın. Ses, comma connect'teki ön kamera videosuna dahil edilecektir."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "Mevzuat"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "Rahat"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "Uzaktan erişim"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "Uzaktan anlık görüntüler"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "İstek zaman aşımına uğradı"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "Sıfırla"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "Kalibrasyonu Sıfırla"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "Eğitim Kılavuzunu İncele"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "SEÇ"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "SSH Anahtarları"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "Wi‑Fi ağları taranıyor..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "Seç"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "Bir dal seçin"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "Bir dil seçin"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "Seri"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "Güncellemeyi Ertele"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "Yazılım"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "Standart"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "Sistem Yanıt Vermiyor"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "HEMEN KONTROLÜ DEVRALIN"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "SIC."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "Hedef Dal"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "İnternet Paylaşımı Şifresi"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "Seçenekler"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Arayüz Hata Ayıklama Modu"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "KALDIR"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "GÜNCELLE"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "Kaldır"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "Bilinmiyor"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "Güncellemeler yalnızca araç kapalıyken indirilir."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "Şimdi Yükselt"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Sürücüye bakan kameradan veri yükleyin ve sürücü izleme algoritmasını geliştirmeye yardımcı olun."
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "Metrik Sistemi Kullan"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "ARAÇ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "GÖRÜNTÜLE"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "Başlatma bekleniyor"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Ölçülü Wi‑Fi Ağı"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "Yanlış şifre"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "kamera başlatılıyor"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "kontrol ediliyor..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "varsayılan"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "aşağı"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "indiriliyor..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "güncelleme kontrolü başarısız"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "güncelleme tamamlanıyor..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "\"{}\" için"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "otomatik yapılandırma için boş bırakın"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "sol"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "ölçülü"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "asla"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "şimdi"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "sağ"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "ölçüsüz"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "yukarı"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "güncel, son kontrol asla"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "güncel, son kontrol {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "güncelleme mevcut"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} UYARI"
+msgstr[1] "{} UYARILAR"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} gün önce"
+msgstr[1] "{} gün önce"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} saat önce"
+msgstr[1] "{} saat önce"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} dakika önce"
+msgstr[1] "{} dakika önce"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} segment sürüşünüz eğitim veri setinde."
+msgstr[1] "{} segment sürüşünüz eğitim veri setinde."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ABONE"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose Modu 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_uk.po b/openpilot/selfdrive/ui/translations/app_uk.po
new file mode 100644
index 0000000000..43d78fad1c
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_uk.po
@@ -0,0 +1,878 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: uk\n"
+"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && n%10<=4 && (n%100<12 || n%100>14) ? 1 : 2);\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " Калібрування реакції крутного моменту керма завершено."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr "Калібрування реакції крутного моменту керма завершено на {}%."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Ваш пристрій нахилено на {:.1f}° {} та {:.1f}° {}."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "1 рік зберігання поїздок"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "Підключення LTE 24/7"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>Калібрування затримки кермування завершено."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Калібрування затримки кермування завершено на {}%."
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "ДОДАТИ"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "Налаштування APN"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "Визнайте надмірне спрацьовування"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "Розширені"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "Агресивн."
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "Погодитися"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "Постійний моніторинг водія"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "Ви впевнені, що хочете вимкнути?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "Ви впевнені, що хочете перезавантажити?"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "Ви впевнені, що хочете скинути калібрування?"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "Ви впевнені, що хочете видалити?"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "Назад"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Станьте членом comma prime на connect.comma.ai"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "Додайте connect.comma.ai до головного екрану, щоб використовувати його як додаток."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "ЗМІНИТИ"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "ПЕРЕВІРИТИ"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "СПОКІЙНИЙ РЕЖИМ"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "ПІДКЛЮЧИТИ"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "ПІДКЛЮЧА..."
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "Скасувати"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "Лімітне стільникове з'єднання"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "Змінити мову"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Натисніть «додати новий пристрій» і відскануйте QR-код праворуч."
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "Закрити"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "Поточна версія"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "ВАНТАЖ"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "Відхилити"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "Розробник"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "Пристрій"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "Вимкнення при натисканні на педаль газу"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "Вимкніть openpilot, щоб вимкнути пристрій"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "Вимкніть openpilot, щоб перезавантажити"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "Деактивуйте для скидання калібрування"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "Відображати швидкість у км/год замість миль/год."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "ID ключа"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "Завантажити"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "Камера водія"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "Стиль водіння"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "РЕДАГ."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "ПОМИЛКА"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "ЕКСПЕРИМЕНТ. РЕЖИМ"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "Увімкнути"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "Увімкнути ADB"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "Увімкнути попередження про виїзд зі смуги"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "Увімкнути роумінг"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "Увімкнути SSH"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "Увімкнути точку доступу"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "Введіть APN"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "Введіть SSID"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "Введіть новий пароль для модему"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "Введіть пароль"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "Введіть ваш логін GitHub"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "Помилка"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "Експериментальний режим"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "Експериментальний режим наразі недоступний для цього автомобіля, оскільки для поздовжнього керування використовується штатний адаптивний круїз-контроль (ACC)."
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "ЗАБУВАЮ..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "Завершити налаштування"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "Злива"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Режим зливи"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "Забути"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Забути мережу Wi-Fi \"{}\"?"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "ДОБРА"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Перейдіть на сайт https://connect.comma.ai на своєму телефоні."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "ВИСОКА"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "Прихована мережа"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "ВСТАНОВ."
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "IP-адреса"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "Встановити оновлення"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "Режим зневадження джойстика"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "ЗАВАНТАЖЕННЯ"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "Режим поздовжнього маневрування"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "МАКС"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "Максимізуйте завантаження навчальних даних, щоб поліпшити моделі openpilot."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "Н/Д"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "НЕМАЄ"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "Мережа"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "Користувач '{}' не має ключів на GitHub"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "Інформація про випуск відсутня."
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "ОФЛАЙН"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "OK"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "ОНЛАЙН"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "ВІДКРИТИ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "ПІДКЛЮЧИТИ"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "ПОКАЖИ"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "XАРАКТЕРИСТИКИ PRIME:"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "Підключити пристрій"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "Підключити пристрій"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "Підключіть свій пристрій до обліковки comma connect"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "Підключіть свій пристрій до comma connect (connect.comma.ai) і отримайте свою пропозицію comma prime."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Будь ласка, підключіться до Wi-Fi, щоб завершити початкове сполучення."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "Вимкнути"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "Запобігайте завантаженню великих обсягів даних під час використання Wi-Fi-з'єднання з обмеженим трафіком"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "Запобігати великим завантаженням даних під час лімітного стільникового з'єднання"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "Попередньо перегляньте камеру, спрямовану на водія, щоб переконатися, що система моніторингу водія має добру видимість. (автомобіль повинен бути вимкнений)"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "Помилка QR-коду"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "ВИДАЛИТИ"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "Скинути"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "ДИВИТИСЬ"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "Перезавантажити"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "Перезавантажте пристрій"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "Перезавантажити та оновити"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "Писати та вантажити відео з камери водія"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "Запис та завантаження аудіо з мікрофона"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "Записуйте та зберігайте аудіо з мікрофона під час руху. Аудіо буде включено до відео з відеореєстратора в comma connect."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "Нормативні документи"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "Спокійний"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "Віддалений доступ"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "Віддалені знімки"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "Час запиту вичерпано"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "Скинути"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "Скинути калібрування"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "Переглянути посібник з навчання"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "ВИБРАТИ"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "SSH ключі"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "Пошук мереж..."
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "Вибрати"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "Виберіть гілку"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "Виберіть мову"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "Серійний номер"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "Відкласти оновлення"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "Програма"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "Стандарт"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "Система не реагує"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "КЕРМУЙТЕ НЕГАЙНО"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "ТЕМП"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "Цільова гілка"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "Пароль для точки доступу"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "Перемикачі"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "Режим налагодження інтерфейсу"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "ВИДАЛИТИ"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "ОНОВИТИ"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "Видалити"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "Невідомо"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "Оновлення завантажуються лише тоді, коли автомобіль вимкнено."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "Оновити зараз"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "Завантажуйте дані з камери, спрямованої на водія, та допоможіть покращити алгоритм моніторингу водія."
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "Використовувати метричну систему"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "АВТО"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "ДИВИСЬ"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "Очікування початку"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi-Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Трафік Wi-Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "Невірний пароль"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "запуск камери"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "перевіряю..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "замовч."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "вниз"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "завантажую..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "не вдалося перевірити оновлення"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "завершую..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "для \"{}\""
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "км/год"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "залиште порожнім для автоматичного налаштування"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "вліво"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "обмеж."
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "миль/год"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "ніколи"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "зараз"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "вправо"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "необмеж."
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "вгору"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "оновлено, ніколи не перевірялось"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "оновлено, перевірив {}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "доступне оновлення"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} СПОВІЩЕННЯ"
+msgstr[1] "{} СПОВІЩЕННЯ"
+msgstr[2] "{} СПОВІЩЕНЬ"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} день тому"
+msgstr[1] "{} дні тому"
+msgstr[2] "{} днів тому"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} година тому"
+msgstr[1] "{} години тому"
+msgstr[2] "{} годин тому"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} хвилина тому"
+msgstr[1] "{} хвилини тому"
+msgstr[2] "{} хвилин тому"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} сегмент вашого водіння на даний момент містяться в тренувальному наборі даних."
+msgstr[1] "{} сегменти вашого водіння на даний момент містяться в тренувальному наборі даних."
+msgstr[2] "{} сегментів вашого водіння на даний момент містяться в тренувальному наборі даних."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ПІДПИСАНО"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🌧️ Режим зливи 🌧️"
+
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHS.po b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
new file mode 100644
index 0000000000..b01ba69392
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHS.po
@@ -0,0 +1,873 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: zh-CHS\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " 转向扭矩响应校准完成。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " 转向扭矩响应校准已完成 {}%。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " 您的设备朝向 {:.1f}° {} 与 {:.1f}° {}。"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "1 年行驶数据存储"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "全天候 LTE 连接"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>转向延迟校准完成。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>转向延迟校准已完成 {}%。"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "添加"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "APN 设置"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "确认过度作动"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "高级"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "激进"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "同意"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "始终启用驾驶员监控"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "确定要关机吗？"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "确定要重启吗？"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "确定要重置校准吗？"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "确定要卸载吗？"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "返回"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "前往 connect.comma.ai 成为 comma prime 会员"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "将 connect.comma.ai 添加到主屏幕，像应用一样使用"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "更改"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "检查"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "安稳模式已开启"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "连接"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "连接中..."
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "取消"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "蜂窝计量"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "更改语言"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "点击“添加新设备”，扫描右侧二维码"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "关闭"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "当前版本"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "下载"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "拒绝"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "开发者"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "设备"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "踩下加速踏板时脱离"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "脱离以关机"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "脱离以重启"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "脱离以重置校准"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "以 km/h 显示速度（非 mph）。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "设备 ID"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "下载"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "车内摄像头"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "驾驶风格"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "编辑"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "错误"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "实验模式已开启"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "启用"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "启用 ADB"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "启用车道偏离警示"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "启用漫游"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "启用 SSH"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "启用网络共享"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "输入 APN"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "输入 SSID"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "输入新的网络共享密码"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "输入密码"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "输入您的 GitHub 用户名"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "错误"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "实验模式"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "此车型当前无法使用实验模式，因为纵向控制使用的是原厂 ACC。"
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "正在遗忘..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "完成设置"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "数据洪流"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Firehose 模式"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "忘记"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "要忘记 Wi‑Fi 网络“{}”吗？"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "良好"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "在手机上前往 https://connect.comma.ai"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "高"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "隐藏网络"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "安装"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "IP 地址"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "安装更新"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "摇杆调试模式"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "加载中"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "纵向操作模式"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "最大"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "最大化上传训练数据，以改进 openpilot 的驾驶模型。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "无"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "否"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "网络"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "未找到用户“{}”的 SSH 密钥"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "暂无发行说明。"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "离线"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "确定"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "在线"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "打开"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "配对"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "预览"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "PRIME 功能："
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "配对设备"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "配对设备"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "将设备配对到您的 comma 账号"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "将设备与 comma connect（connect.comma.ai）配对，领取您的 comma prime 优惠。"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "请连接 Wi‑Fi 以完成初始配对"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "关机"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "在计量制 Wi‑Fi 连接时避免大量上传"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "在计量制蜂窝网络时避免大量上传"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "预览车内摄像头以确保驾驶员监控视野良好。（车辆必须熄火）"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "二维码错误"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "移除"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "重置"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "查看"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "重启"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "重启设备"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "重启并更新"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "录制并上传车内摄像头"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "录制并上传麦克风音频"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "行驶时录制并保存麦克风音频。音频将包含在 comma connect 的行车记录视频中。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "法规"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "从容"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "远程访问"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "远程快照"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "请求超时"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "重置"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "重置校准"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "查看训练指南"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "选择"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "SSH 密钥"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "正在扫描 Wi‑Fi 网络…"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "选择"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "选择分支"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "选择语言"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "序列号"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "延后更新"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "软件"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "标准"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "系统无响应"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "请立即接管控制"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "温度"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "目标分支"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "网络共享密码"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "切换"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "界面调试模式"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "卸载"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "更新"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "卸载"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "未知"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "仅在车辆熄火时下载更新。"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "立即升级"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "上传车内摄像头数据，帮助改进驾驶员监控算法。"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "使用公制"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "车辆"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "查看"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "等待开始"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Wi‑Fi 计量网络"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "密码错误"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "相机启动中"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "检查中..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "默认"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "下"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "下载中..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "检查更新失败"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "正在完成更新..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "用于“{}”"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "留空以自动配置"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "左"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "计量"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "从不"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "现在"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "右"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "不限流量"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "上"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "已是最新，最后检查：从未"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "已是最新，最后检查：{}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "有可用更新"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} 条警报"
+msgstr[1] "{} 条警报"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} 天前"
+msgstr[1] "{} 天前"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} 小时前"
+msgstr[1] "{} 小时前"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} 分钟前"
+msgstr[1] "{} 分钟前"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "目前已有 {} 个您的驾驶片段被纳入训练数据集。"
+msgstr[1] "目前已有 {} 个您的驾驶片段被纳入训练数据集。"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ 已订阅"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose 模式 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/app_zh-CHT.po b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
new file mode 100644
index 0000000000..3cdcfe4e20
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/app_zh-CHT.po
@@ -0,0 +1,873 @@
+msgid ""
+msgstr ""
+"Content-Type: text/plain; charset=UTF-8\n"
+"Language: zh-CHT\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is complete."
+msgstr " 轉向扭矩回應校正完成。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Steering torque response calibration is {}% complete."
+msgstr " 轉向扭矩回應校正已完成 {}%。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " 您的裝置朝向 {:.1f}° {} 與 {:.1f}° {}。"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "--"
+msgstr "--"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "1 year of drive storage"
+msgstr "1 年行駛資料儲存"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "24/7 LTE connectivity"
+msgstr "全年無休 LTE 連線"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "2G"
+msgstr "2G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "3G"
+msgstr "3G"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "5G"
+msgstr "5G"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>轉向延遲校正完成。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>轉向延遲校正已完成 {}%。"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "ADD"
+msgstr "新增"
+
+#: system/ui/widgets/network.py
+msgid "APN Setting"
+msgstr "APN 設定"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Acknowledge Excessive Actuation"
+msgstr "確認過度作動"
+
+#: system/ui/widgets/network.py
+msgid "Advanced"
+msgstr "進階"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Aggressive"
+msgstr "積極"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Agree"
+msgstr "同意"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Always-On Driver Monitoring"
+msgstr "持續啟用駕駛監控"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to power off?"
+msgstr "確定要關機嗎？"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reboot?"
+msgstr "確定要重新啟動嗎？"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Are you sure you want to reset calibration?"
+msgstr "確定要重設校正嗎？"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Are you sure you want to uninstall?"
+msgstr "確定要解除安裝嗎？"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+#: system/ui/widgets/network.py
+msgid "Back"
+msgstr "返回"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "前往 connect.comma.ai 成為 comma prime 會員"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "將 connect.comma.ai 加到主畫面，像 App 一樣使用"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "CHANGE"
+msgstr "變更"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "CHECK"
+msgstr "檢查"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "CHILL MODE ON"
+msgstr "安穩模式已開啟"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/network.py
+msgid "CONNECT"
+msgstr "連線"
+
+#: system/ui/widgets/network.py
+msgid "CONNECTING..."
+msgstr "連線中..."
+
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/keyboard.py
+#: system/ui/widgets/network.py
+#: system/ui/widgets/option_dialog.py
+msgid "Cancel"
+msgstr "取消"
+
+#: system/ui/widgets/network.py
+msgid "Cellular Metered"
+msgstr "行動網路計量"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Change Language"
+msgstr "變更語言"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "點選「新增裝置」，掃描右側 QR 碼"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Close"
+msgstr "關閉"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Current Version"
+msgstr "目前版本"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "DOWNLOAD"
+msgstr "下載"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline"
+msgstr "拒絕"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Decline, uninstall sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Developer"
+msgstr "開發人員"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Device"
+msgstr "裝置"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Disengage on Accelerator Pedal"
+msgstr "踩下加速踏板時脫離"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Power Off"
+msgstr "脫離以關機"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reboot"
+msgstr "脫離以重新啟動"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Disengage to Reset Calibration"
+msgstr "脫離以重設校正"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Display speed in km/h instead of mph."
+msgstr "以 km/h 顯示速度（非 mph）。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Dongle ID"
+msgstr "裝置 ID"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Download"
+msgstr "下載"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Driver Camera"
+msgstr "車內鏡頭"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Driving Personality"
+msgstr "駕駛風格"
+
+#: system/ui/widgets/network.py
+msgid "EDIT"
+msgstr "編輯"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ERROR"
+msgstr "錯誤"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ETH"
+msgstr "ETH"
+
+#: openpilot/selfdrive/ui/widgets/exp_mode_button.py
+msgid "EXPERIMENTAL MODE ON"
+msgstr "實驗模式已開啟"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable"
+msgstr "啟用"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable ADB"
+msgstr "啟用 ADB"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable Lane Departure Warnings"
+msgstr "啟用偏離車道警示"
+
+#: system/ui/widgets/network.py
+msgid "Enable Roaming"
+msgstr "啟用漫遊"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Enable SSH"
+msgstr "啟用 SSH"
+
+#: system/ui/widgets/network.py
+msgid "Enable Tethering"
+msgstr "啟用網路共享"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Enter APN"
+msgstr "輸入 APN"
+
+#: system/ui/widgets/network.py
+msgid "Enter SSID"
+msgstr "輸入 SSID"
+
+#: system/ui/widgets/network.py
+msgid "Enter new tethering password"
+msgstr "輸入新的網路共享密碼"
+
+#: system/ui/widgets/network.py
+msgid "Enter password"
+msgstr "輸入密碼"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Enter search query"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Enter your GitHub username"
+msgstr "輸入您的 GitHub 使用者名稱"
+
+#: system/ui/widgets/list_view.py
+msgid "Error"
+msgstr "錯誤"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental Mode"
+msgstr "實驗模式"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."
+msgstr "此車款目前無法使用實驗模式，因為縱向控制使用的是原廠 ACC。"
+
+#: system/ui/widgets/network.py
+msgid "FORGETTING..."
+msgstr "正在遺忘..."
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Finish Setup"
+msgstr "完成設定"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Firehose"
+msgstr "資料洪流"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "Firehose Mode"
+msgstr "Firehose 模式"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Follow the prompts to complete the pairing process"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Forget"
+msgstr "忘記"
+
+#: system/ui/widgets/network.py
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "要忘記 Wi‑Fi 網路「{}」嗎？"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "GOOD"
+msgstr "良好"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "在手機上前往 https://connect.comma.ai"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "HIGH"
+msgstr "高"
+
+#: system/ui/widgets/network.py
+msgid "Hidden Network"
+msgstr "隱藏網路"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "INSTALL"
+msgstr "安裝"
+
+#: system/ui/widgets/network.py
+msgid "IP Address"
+msgstr "IP 位址"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Install Update"
+msgstr "安裝更新"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Joystick Debug Mode"
+msgstr "搖桿除錯模式"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "LOADING"
+msgstr "載入中"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "LTE"
+msgstr "LTE"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Lateral Maneuver Mode"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "Longitudinal Maneuver Mode"
+msgstr "縱向操作模式"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "MAX"
+msgstr "最大"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Maximize your training data uploads to improve openpilot's driving models."
+msgstr "最大化上傳訓練資料，以改進 openpilot 的駕駛模型。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "N/A"
+msgstr "無"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "NO"
+msgstr "否"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Network"
+msgstr "網路"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "No SSH keys found for user '{}'"
+msgstr "找不到使用者 '{}' 的 SSH 金鑰"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "No release notes available."
+msgstr "無可用發行說明。"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "OFFLINE"
+msgstr "離線"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+#: system/ui/widgets/confirm_dialog.py
+#: system/ui/widgets/html_render.py
+msgid "OK"
+msgstr "確定"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "ONLINE"
+msgstr "線上"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Open"
+msgstr "開啟"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PAIR"
+msgstr "配對"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "PANDA"
+msgstr "PANDA"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "PREVIEW"
+msgstr "預覽"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "PRIME FEATURES:"
+msgstr "PRIME 功能："
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Pair Device"
+msgstr "配對裝置"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair device"
+msgstr "配對裝置"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Pair your GitHub account"
+msgstr ""
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "Pair your device to your comma account"
+msgstr "將裝置配對至您的 comma 帳號"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."
+msgstr "將裝置與 comma connect（connect.comma.ai）配對，領取您的 comma prime 優惠。"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "請連線至 Wi‑Fi 以完成初始化配對"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Power Off"
+msgstr "關機"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "在計量制 Wi‑Fi 連線時避免大量上傳"
+
+#: system/ui/widgets/network.py
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "在計量制行動網路時避免大量上傳"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"
+msgstr "預覽車內鏡頭以確保駕駛監控視野良好。（車輛須熄火）"
+
+#: openpilot/selfdrive/ui/widgets/pairing_dialog.py
+msgid "QR Code Error"
+msgstr "QR 碼錯誤"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "REMOVE"
+msgstr "移除"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "RESET"
+msgstr "重設"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "REVIEW"
+msgstr "檢視"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reboot"
+msgstr "重新啟動"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Reboot Device"
+msgstr "重新啟動裝置"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Reboot and Update"
+msgstr "重新啟動並更新"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Driver Camera"
+msgstr "錄製並上傳車內鏡頭"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and Upload Microphone Audio"
+msgstr "錄製並上傳麥克風音訊"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+msgstr "行車時錄製並儲存麥克風音訊。音訊將包含在 comma connect 的行車紀錄影片中。"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Regulatory"
+msgstr "法規"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Relaxed"
+msgstr "從容"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote access"
+msgstr "遠端存取"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Remote snapshots"
+msgstr "遠端擷圖"
+
+#: openpilot/selfdrive/ui/widgets/ssh_key.py
+msgid "Request timed out"
+msgstr "要求逾時"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset"
+msgstr "重設"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Reset Calibration"
+msgstr "重設校正"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review Training Guide"
+msgstr "檢視訓練指南"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "SELECT"
+msgstr "選取"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "SSH Keys"
+msgstr "SSH 金鑰"
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to login to your GitHub account"
+msgstr ""
+
+#: system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "Scanning Wi-Fi networks..."
+msgstr "正在掃描 Wi‑Fi 網路…"
+
+#: system/ui/sunnypilot/widgets/tree_dialog.py
+msgid "Search"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py
+msgid "Select"
+msgstr "選取"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Select a branch"
+msgstr "選取分支"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Select a language"
+msgstr "選取語言"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "Serial"
+msgstr "序號"
+
+#: openpilot/selfdrive/ui/widgets/offroad_alerts.py
+msgid "Snooze Update"
+msgstr "延後更新"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Software"
+msgstr "軟體"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Standard"
+msgstr "標準"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "System Unresponsive"
+msgstr "系統無回應"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "請立刻接手控制"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "TEMP"
+msgstr "溫度"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Target Branch"
+msgstr "目標分支"
+
+#: system/ui/widgets/network.py
+msgid "Tethering Password"
+msgstr "網路共享密碼"
+
+#: openpilot/selfdrive/ui/layouts/settings/settings.py
+msgid "Toggles"
+msgstr "切換"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "UI Debug Mode"
+msgstr "介面除錯模式"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "UNINSTALL"
+msgstr "解除安裝"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "UPDATE"
+msgstr "更新"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Uninstall"
+msgstr "解除安裝"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Unknown"
+msgstr "未知"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "Updates are only downloaded while the car is off."
+msgstr "僅在車輛熄火時下載更新。"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "Upgrade Now"
+msgstr "立即升級"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+msgstr "上傳車內鏡頭資料，協助改善駕駛監控演算法。"
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "Use Metric System"
+msgstr "使用公制"
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "VEHICLE"
+msgstr "車輛"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "VIEW"
+msgstr "檢視"
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "Waiting to start"
+msgstr "等待開始"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "Welcome to sunnypilot"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/sidebar.py
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py
+msgid "Wi-Fi Network Metered"
+msgstr "Wi‑Fi 計量網路"
+
+#: system/ui/widgets/network.py
+msgid "Wrong password"
+msgstr "密碼錯誤"
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/onboarding.py
+msgid "You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+msgid "camera starting"
+msgstr "相機啟動中"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "checking..."
+msgstr "檢查中..."
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py
+msgid "default"
+msgstr "預設"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "down"
+msgstr "下"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "downloading..."
+msgstr "下載中..."
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "failed to check for update"
+msgstr "檢查更新失敗"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "finalizing update..."
+msgstr "正在完成更新..."
+
+#: system/ui/widgets/network.py
+msgid "for \"{}\""
+msgstr "適用於「{}」"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py
+msgid "leave blank for automatic configuration"
+msgstr "留空以自動設定"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "left"
+msgstr "左"
+
+#: system/ui/widgets/network.py
+msgid "metered"
+msgstr "計量"
+
+#: openpilot/selfdrive/ui/onroad/hud_renderer.py
+msgid "mph"
+msgstr "mph"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "never"
+msgstr "從不"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "now"
+msgstr "現在"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "right"
+msgstr "右"
+
+#: openpilot/selfdrive/ui/layouts/settings/developer.py
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: openpilot/selfdrive/ui/onroad/alert_renderer.py
+msgid "sunnypilot Unavailable"
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/toggles.py
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."
+msgstr ""
+
+#: system/ui/widgets/network.py
+msgid "unmetered"
+msgstr "不限流量"
+
+#: openpilot/selfdrive/ui/layouts/settings/device.py
+msgid "up"
+msgstr "上"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked never"
+msgstr "已為最新，最後檢查：從未"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "up to date, last checked {}"
+msgstr "已為最新，最後檢查：{}"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "update available"
+msgstr "有可用更新"
+
+#: openpilot/selfdrive/ui/layouts/home.py
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} 則警示"
+msgstr[1] "{} 則警示"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} 天前"
+msgstr[1] "{} 天前"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} 小時前"
+msgstr[1] "{} 小時前"
+
+#: openpilot/selfdrive/ui/layouts/settings/software.py
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} 分鐘前"
+msgstr[1] "{} 分鐘前"
+
+#: openpilot/selfdrive/ui/layouts/settings/firehose.py
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "目前已有 {} 個您的駕駛片段納入訓練資料集。"
+msgstr[1] "目前已有 {} 個您的駕駛片段納入訓練資料集。"
+
+#: openpilot/selfdrive/ui/widgets/prime.py
+msgid "✓ SUBSCRIBED"
+msgstr "✓ 已訂閱"
+
+#: openpilot/selfdrive/ui/widgets/setup.py
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose 模式 🔥"
+
diff --git a/openpilot/selfdrive/ui/translations/auto_translate.sh b/openpilot/selfdrive/ui/translations/auto_translate.sh
new file mode 100755
index 0000000000..7238426c75
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/auto_translate.sh
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+DIR="$(cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd)"
+ROOT="$DIR/../../../"
+
+cd $DIR
+./update_translations.py
+
+command -v codex >/dev/null || {
+  echo "Install codex CLI to continue:"
+  echo "-> https://developers.openai.com/codex/cli"
+  echo
+  exit 1
+}
+
+codex exec --cd "$ROOT" -c 'model_reasoning_effort="low"' --dangerously-bypass-approvals-and-sandbox "$(cat <<EOF
+Update openpilot UI translations in openpilot/selfdrive/ui/translations.
+- Translate English UI text naturally.
+- Preserve placeholders (%n, %1, {}, {:.1f}), HTML/tags, and plural forms.
+- Edit .po files in place.
+- Print a short summary of changes.
+- All strings should be translated. Don't stop until it's 100%.
+- Be mindful of the layout/style of the UI and length of the original English string.
+EOF
+)"
diff --git a/selfdrive/ui/translations/languages.json b/openpilot/selfdrive/ui/translations/languages.json
similarity index 100%
rename from selfdrive/ui/translations/languages.json
rename to openpilot/selfdrive/ui/translations/languages.json
diff --git a/openpilot/selfdrive/ui/translations/potools.py b/openpilot/selfdrive/ui/translations/potools.py
new file mode 100644
index 0000000000..15da4c586c
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/potools.py
@@ -0,0 +1,335 @@
+"""Pure Python tools for managing .po translation files.
+
+Replaces GNU gettext CLI tools (xgettext, msginit, msgmerge) with Python
+implementations for extracting, creating, and updating .po files.
+"""
+
+import ast
+import os
+import re
+from dataclasses import dataclass, field
+from pathlib import Path
+
+
+@dataclass
+class POEntry:
+  msgid: str = ""
+  msgstr: str = ""
+  msgid_plural: str = ""
+  msgstr_plural: dict[int, str] = field(default_factory=dict)
+  comments: list[str] = field(default_factory=list)
+  source_refs: list[str] = field(default_factory=list)
+  flags: list[str] = field(default_factory=list)
+
+  @property
+  def is_plural(self) -> bool:
+    return bool(self.msgid_plural)
+
+
+# ──── PO file parsing ────
+
+def _parse_quoted(s: str) -> str:
+  """Parse a PO-format quoted string, handling escape sequences."""
+  s = s.strip()
+  if not (s.startswith('"') and s.endswith('"')):
+    raise ValueError(f"Expected quoted string: {s!r}")
+  s = s[1:-1]
+  result = []
+  i = 0
+  while i < len(s):
+    if s[i] == '\\' and i + 1 < len(s):
+      c = s[i + 1]
+      if c == 'n':
+        result.append('\n')
+      elif c == 't':
+        result.append('\t')
+      elif c == '"':
+        result.append('"')
+      elif c == '\\':
+        result.append('\\')
+      else:
+        result.append(s[i:i + 2])
+      i += 2
+    else:
+      result.append(s[i])
+      i += 1
+  return ''.join(result)
+
+
+def parse_po(path: str | Path) -> tuple[POEntry | None, list[POEntry]]:
+  """Parse a .po/.pot file. Returns (header_entry, entries)."""
+  with open(path, encoding='utf-8') as f:
+    lines = f.readlines()
+
+  entries: list[POEntry] = []
+  header: POEntry | None = None
+  cur: POEntry | None = None
+  cur_field: str | None = None
+  plural_idx = 0
+
+  def finish(entry: POEntry | None):
+    nonlocal header
+    if entry is None:
+      return
+    if entry.msgid == "" and entry.msgstr:
+      header = entry
+    elif entry.msgid != "" or entry.is_plural:
+      entries.append(entry)
+
+  for raw in lines:
+    line = raw.rstrip('\n')
+    stripped = line.strip()
+
+    if not stripped:
+      finish(cur)
+      cur = None
+      cur_field = None
+      continue
+
+    # Skip obsolete entries
+    if stripped.startswith('#~'):
+      continue
+
+    if stripped.startswith('#'):
+      if cur is None:
+        cur = POEntry()
+      if stripped.startswith('#:'):
+        cur.source_refs.append(stripped[2:].strip())
+      elif stripped.startswith('#,'):
+        cur.flags.extend(f.strip() for f in stripped[2:].split(',') if f.strip())
+      else:
+        cur.comments.append(line)
+      continue
+
+    if stripped.startswith('msgid_plural '):
+      if cur is None:
+        cur = POEntry()
+      cur.msgid_plural = _parse_quoted(stripped[len('msgid_plural '):])
+      cur_field = 'msgid_plural'
+      continue
+
+    if stripped.startswith('msgid '):
+      if cur is None:
+        cur = POEntry()
+      cur.msgid = _parse_quoted(stripped[len('msgid '):])
+      cur_field = 'msgid'
+      continue
+
+    m = re.match(r'msgstr\[(\d+)]\s+(.*)', stripped)
+    if m:
+      plural_idx = int(m.group(1))
+      cur.msgstr_plural[plural_idx] = _parse_quoted(m.group(2))
+      cur_field = 'msgstr_plural'
+      continue
+
+    if stripped.startswith('msgstr '):
+      if cur is None:
+        cur = POEntry()
+      cur.msgstr = _parse_quoted(stripped[len('msgstr '):])
+      cur_field = 'msgstr'
+      continue
+
+    if stripped.startswith('"'):
+      val = _parse_quoted(stripped)
+      if cur_field == 'msgid':
+        cur.msgid += val
+      elif cur_field == 'msgid_plural':
+        cur.msgid_plural += val
+      elif cur_field == 'msgstr':
+        cur.msgstr += val
+      elif cur_field == 'msgstr_plural':
+        cur.msgstr_plural[plural_idx] += val
+
+  finish(cur)
+  return header, entries
+
+
+# ──── PO file writing ────
+
+def _quote(s: str) -> str:
+  """Quote a string for .po file output."""
+  s = s.replace('\\', '\\\\').replace('"', '\\"').replace('\t', '\\t')
+  if '\n' in s and s != '\n':
+    parts = s.split('\n')
+    lines = ['""']
+    for i, part in enumerate(parts):
+      text = part + ('\\n' if i < len(parts) - 1 else '')
+      if text:
+        lines.append(f'"{text}"')
+    return '\n'.join(lines)
+  return f'"{s}"'.replace('\n', '\\n')
+
+
+def write_po(path: str | Path, header: POEntry | None, entries: list[POEntry]) -> None:
+  """Write a .po/.pot file."""
+  with open(path, 'w', encoding='utf-8') as f:
+    if header:
+      for c in header.comments:
+        f.write(c + '\n')
+      f.write(f'msgid {_quote("")}\n')
+      f.write(f'msgstr {_quote(header.msgstr)}\n\n')
+
+    for entry in entries:
+      for c in entry.comments:
+        f.write(c + '\n')
+      # Keep file-level context for translators, but drop line numbers to
+      # avoid churning PO diffs on unrelated code edits.
+      source_files = sorted({ref.rsplit(':', 1)[0] for ref in entry.source_refs})
+      for ref in source_files:
+        f.write(f'#: {ref}\n')
+      # Runtime loading ignores gettext flags; omit them to reduce noise.
+      f.write(f'msgid {_quote(entry.msgid)}\n')
+      if entry.is_plural:
+        f.write(f'msgid_plural {_quote(entry.msgid_plural)}\n')
+        for idx in sorted(entry.msgstr_plural):
+          f.write(f'msgstr[{idx}] {_quote(entry.msgstr_plural[idx])}\n')
+      else:
+        f.write(f'msgstr {_quote(entry.msgstr)}\n')
+      f.write('\n')
+
+
+# ──── String extraction (replaces xgettext) ────
+
+def extract_strings(files: list[str], basedir: str) -> list[POEntry]:
+  """Extract tr/trn/tr_noop calls from Python source files."""
+  seen: dict[str, POEntry] = {}
+
+  for filepath in files:
+    full = os.path.join(basedir, filepath)
+    with open(full, encoding='utf-8') as f:
+      source = f.read()
+    try:
+      tree = ast.parse(source, filename=filepath)
+    except SyntaxError:
+      continue
+
+    for node in ast.walk(tree):
+      if not isinstance(node, ast.Call):
+        continue
+
+      func = node.func
+      if isinstance(func, ast.Name):
+        name = func.id
+      elif isinstance(func, ast.Attribute):
+        name = func.attr
+      else:
+        continue
+
+      if name not in ('tr', 'trn', 'tr_noop'):
+        continue
+
+      ref = f'{filepath}:{node.lineno}'
+      is_flagged = name in ('tr', 'trn')
+
+      if name in ('tr', 'tr_noop'):
+        if not node.args or not isinstance(node.args[0], ast.Constant) or not isinstance(node.args[0].value, str):
+          continue
+        msgid = node.args[0].value
+        if msgid in seen:
+          if ref not in seen[msgid].source_refs:
+            seen[msgid].source_refs.append(ref)
+        else:
+          flags = ['python-format'] if is_flagged else []
+          seen[msgid] = POEntry(msgid=msgid, source_refs=[ref], flags=flags)
+
+      elif name == 'trn':
+        if len(node.args) < 2:
+          continue
+        a1, a2 = node.args[0], node.args[1]
+        if not (isinstance(a1, ast.Constant) and isinstance(a1.value, str)):
+          continue
+        if not (isinstance(a2, ast.Constant) and isinstance(a2.value, str)):
+          continue
+        msgid, msgid_plural = a1.value, a2.value
+        if msgid in seen:
+          if ref not in seen[msgid].source_refs:
+            seen[msgid].source_refs.append(ref)
+        else:
+          flags = ['python-format'] if is_flagged else []
+          seen[msgid] = POEntry(
+            msgid=msgid, msgid_plural=msgid_plural,
+            source_refs=[ref], flags=flags,
+            msgstr_plural={0: '', 1: ''},
+          )
+
+  return list(seen.values())
+
+
+# ──── POT generation ────
+
+def _build_pot_header() -> POEntry:
+  return POEntry(
+    msgstr='Content-Type: text/plain; charset=UTF-8\n',
+  )
+
+
+def _build_po_header(language: str) -> POEntry:
+  plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
+  return POEntry(
+    msgstr='Content-Type: text/plain; charset=UTF-8\n' +
+      f'Language: {language}\n' +
+      f'Plural-Forms: {plural_forms}\n',
+  )
+
+
+def generate_pot(entries: list[POEntry], pot_path: str | Path) -> None:
+  """Generate a .pot template file from extracted entries."""
+  write_po(pot_path, _build_pot_header(), entries)
+
+
+# ──── PO init (replaces msginit) ────
+
+PLURAL_FORMS: dict[str, str] = {
+  'en': 'nplurals=2; plural=(n != 1);',
+  'de': 'nplurals=2; plural=(n != 1);',
+  'fr': 'nplurals=2; plural=(n > 1);',
+  'es': 'nplurals=2; plural=(n != 1);',
+  'pt-BR': 'nplurals=2; plural=(n > 1);',
+  'tr': 'nplurals=2; plural=(n != 1);',
+  'uk': 'nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && n%10<=4 && (n%100<12 || n%100>14) ? 1 : 2);',
+  'th': 'nplurals=1; plural=0;',
+  'zh-CHT': 'nplurals=1; plural=0;',
+  'zh-CHS': 'nplurals=1; plural=0;',
+  'ko': 'nplurals=1; plural=0;',
+  'ja': 'nplurals=1; plural=0;',
+}
+
+
+def init_po(pot_path: str | Path, po_path: str | Path, language: str) -> None:
+  """Create a new .po file from a .pot template (replaces msginit)."""
+  _, entries = parse_po(pot_path)
+  plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
+
+  nplurals = int(re.search(r'nplurals=(\d+)', plural_forms).group(1))
+  for e in entries:
+    if e.is_plural:
+      e.msgstr_plural = dict.fromkeys(range(nplurals), '')
+
+  write_po(po_path, _build_po_header(language), entries)
+
+
+# ──── PO merge (replaces msgmerge) ────
+
+def merge_po(po_path: str | Path, pot_path: str | Path) -> None:
+  """Update a .po file with entries from a .pot template (replaces msgmerge --update)."""
+  _, po_entries = parse_po(po_path)
+  _, pot_entries = parse_po(pot_path)
+  language = Path(po_path).stem.removeprefix("app_")
+
+  existing = {e.msgid: e for e in po_entries}
+  merged = []
+
+  for pot_e in pot_entries:
+    if pot_e.msgid in existing:
+      old = existing[pot_e.msgid]
+      old.source_refs = pot_e.source_refs
+      old.flags = pot_e.flags
+      old.comments = pot_e.comments
+      if pot_e.is_plural:
+        old.msgid_plural = pot_e.msgid_plural
+      merged.append(old)
+    else:
+      merged.append(pot_e)
+
+  merged.sort(key=lambda e: e.msgid)
+  write_po(po_path, _build_po_header(language), merged)
diff --git a/openpilot/selfdrive/ui/translations/update_translations.py b/openpilot/selfdrive/ui/translations/update_translations.py
new file mode 100755
index 0000000000..9b0d63ee12
--- /dev/null
+++ b/openpilot/selfdrive/ui/translations/update_translations.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+from itertools import chain
+import os
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.ui.lib.multilang import SYSTEM_UI_DIR, UI_DIR, TRANSLATIONS_DIR, multilang
+from openpilot.selfdrive.ui.translations.potools import extract_strings, generate_pot, merge_po, init_po
+
+LANGUAGES_FILE = os.path.join(str(TRANSLATIONS_DIR), "languages.json")
+POT_FILE = os.path.join(str(TRANSLATIONS_DIR), "app.pot")
+
+
+def update_translations():
+  files = []
+  for root, _, filenames in chain(os.walk(SYSTEM_UI_DIR),
+                                  os.walk(os.path.join(str(UI_DIR), "widgets")),
+                                  os.walk(os.path.join(str(UI_DIR), "layouts")),
+                                  os.walk(os.path.join(str(UI_DIR), "onroad"))):
+    for filename in filenames:
+      if filename.endswith(".py"):
+        files.append(os.path.relpath(os.path.join(root, filename), BASEDIR))
+
+  # Extract translatable strings and generate .pot template
+  entries = extract_strings(files, BASEDIR)
+  generate_pot(entries, POT_FILE)
+
+  # Generate/update translation files for each language
+  for name in multilang.languages.values():
+    po_file = os.path.join(str(TRANSLATIONS_DIR), f"app_{name}.po")
+    if os.path.exists(po_file):
+      merge_po(po_file, POT_FILE)
+    else:
+      init_po(POT_FILE, po_file, name)
+
+
+if __name__ == "__main__":
+  update_translations()
diff --git a/openpilot/selfdrive/ui/ui.py b/openpilot/selfdrive/ui/ui.py
new file mode 100755
index 0000000000..30bba681c3
--- /dev/null
+++ b/openpilot/selfdrive/ui/ui.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+import os
+import time
+
+from openpilot.cereal import messaging
+from openpilot.common.hardware import COMMA_HARDWARE
+from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.layouts.main import MainLayout
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+BIG_UI = gui_app.big_ui()
+
+
+def main():
+  cores = {5, }
+  # above plannerd and radard
+  config_realtime_process(0, Priority.CTRL_HIGH)
+
+  gui_app.init_window("UI")
+  if BIG_UI:
+    MainLayout()
+  else:
+    MiciMainLayout()
+
+  pm = messaging.PubMaster(['uiDebug'])
+  for should_render, frame_time, cpu_time in gui_app.render():
+    extra_start = time.monotonic()
+    ui_state.update()
+
+    if should_render:
+      # reaffine after power save offlines our core
+      if COMMA_HARDWARE and os.sched_getaffinity(0) != cores:
+        try:
+          set_core_affinity(list(cores))
+        except OSError:
+          pass
+
+      extra_cpu = time.monotonic() - extra_start
+      msg = messaging.new_message('uiDebug')
+      msg.uiDebug.cpuTimeMillis = (cpu_time + extra_cpu) * 1000
+      msg.uiDebug.frameTimeMillis = frame_time * 1000
+      pm.send('uiDebug', msg)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/ui/ui_state.py b/openpilot/selfdrive/ui/ui_state.py
similarity index 75%
rename from selfdrive/ui/ui_state.py
rename to openpilot/selfdrive/ui/ui_state.py
index f7a5d44d9a..e0aca74ff2 100644
--- a/selfdrive/ui/ui_state.py
+++ b/openpilot/selfdrive/ui/ui_state.py
@@ -1,20 +1,23 @@
-import pyray as rl
 import numpy as np
 import time
 import threading
 from collections.abc import Callable
 from enum import Enum
-from cereal import messaging, car, log
+from openpilot.cereal import messaging, log
+from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
+from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
+from openpilot.selfdrive.modeld.helpers import usbgpu_compiled
 
 from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
+PARAM_UPDATE_TIME = 1 / 5.0
 
 
 class UIStatus(Enum):
@@ -42,7 +45,7 @@ class UIState(UIStateSP):
         "modelV2",
         "controlsState",
         "onroadEvents",
-        "liveCalibration",
+        "extrinsicsCalibration",
         "radarState",
         "deviceState",
         "pandaStates",
@@ -50,7 +53,7 @@ class UIState(UIStateSP):
         "driverMonitoringState",
         "carState",
         "driverStateV2",
-        "roadCameraState",
+        "narrowRoadCameraState",
         "wideRoadCameraState",
         "managerState",
         "selfdriveState",
@@ -58,7 +61,8 @@ class UIState(UIStateSP):
         "gpsLocationExternal",
         "carOutput",
         "carControl",
-        "liveParameters",
+        "vehicleParameters",
+        "testJoystick",
         "rawAudioData",
       ] + self.sm_services_ext
     )
@@ -74,23 +78,30 @@ class UIState(UIStateSP):
 
     # Core state variables
     self.is_metric: bool = self.params.get_bool("IsMetric")
-    self.is_release = self.params.get_bool("IsReleaseBranch")
+    self.is_release = False  # self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
+    self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
+    self.experimental_mode_confirmed: bool = self.params.get_bool("ExperimentalModeConfirmed")
+    self.usbgpu: bool = False
+    self.usbgpu_compiled: bool = usbgpu_compiled()
+    self.usbgpu_active: bool | None = self.params.get("UsbGpuActive")
+    self.usbgpu_loading: bool = self.params.get_bool("UsbGpuLoading")
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
     self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
     self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
     self.has_longitudinal_control: bool = False
+    self.is_body: bool | None = False
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
-    self._param_update_time: float = 0.0
+
+    self._params_thread: threading.Thread | None = None
 
     # Callbacks
     self._offroad_transition_callbacks: list[Callable[[], None]] = []
     self._engaged_transition_callbacks: list[Callable[[], None]] = []
-
-    self.update_params()
+    self._on_body_changed_callbacks: list[Callable[[], None]] = []
 
   def add_offroad_transition_callback(self, callback: Callable[[], None]):
     self._offroad_transition_callbacks.append(callback)
@@ -98,6 +109,9 @@ class UIState(UIStateSP):
   def add_engaged_transition_callback(self, callback: Callable[[], None]):
     self._engaged_transition_callbacks.append(callback)
 
+  def add_on_body_changed_callbacks(self, callback: Callable[[], None]):
+    self._on_body_changed_callbacks.append(callback)
+
   @property
   def engaged(self) -> bool:
     return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled)
@@ -110,14 +124,22 @@ class UIState(UIStateSP):
 
   def update(self) -> None:
     self.prime_state.start()  # start thread after manager forks ui
+    if self._params_thread is None:
+      self._params_thread = threading.Thread(target=self._params_refresh_worker, daemon=True)
+      self._params_thread.start()
+
     self.sm.update(0)
     self._update_state()
     self._update_status()
-    if time.monotonic() - self._param_update_time > 5.0:
-      self.update_params()
     device.update()
     UIStateSP.update(self)
 
+  def _params_refresh_worker(self):
+    drop_realtime()
+    while True:
+      self.update_params()
+      time.sleep(PARAM_UPDATE_TIME)
+
   def _update_state(self) -> None:
     # Handle panda states updates
     if self.sm.updated["pandaStates"]:
@@ -129,7 +151,7 @@ class UIState(UIStateSP):
         # Check ignition status across all pandas
         if self.panda_type != log.PandaState.PandaType.unknown:
           self.ignition = any(state.ignitionLine or state.ignitionCan for state in panda_states)
-    elif self.sm.frame - self.sm.recv_frame["pandaStates"] > 5 * rl.get_fps():
+    elif not self.sm.alive["pandaStates"]:
       self.panda_type = log.PandaState.PandaType.unknown
 
     # Handle wide road camera state updates
@@ -142,11 +164,11 @@ class UIState(UIStateSP):
     # Update started state
     self.started = self.sm["deviceState"].started and self.ignition
 
-    # Update recording audio state
-    self.recording_audio = self.params.get_bool("RecordAudio") and self.started
-
-    self.is_metric = self.params.get_bool("IsMetric")
-    self.always_on_dm = self.params.get_bool("AlwaysOnDM")
+    # Update body state
+    if self.CP is not None and self.is_body != self.CP.notCar:
+      self.is_body = self.CP.notCar
+      for callback in self._on_body_changed_callbacks:
+        callback()
 
   def _update_status(self) -> None:
     if self.started and self.sm.updated["selfdriveState"]:
@@ -188,8 +210,20 @@ class UIState(UIStateSP):
         self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
       else:
         self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
+
+    self.recording_audio = self.params.get_bool("RecordAudio") and self.started
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.always_on_dm = self.params.get_bool("AlwaysOnDM")
+    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.experimental_mode_confirmed = self.params.get_bool("ExperimentalModeConfirmed")
+    # keep usbgpu UI active until offroad transition when gpu disappears
+    self.usbgpu = self.sm["deviceState"].chestnutPresent or (self.usbgpu and self.started)
+    if not self.usbgpu_compiled:
+      self.usbgpu_compiled = usbgpu_compiled()
+    self.usbgpu_active = self.params.get("UsbGpuActive")
+    self.usbgpu_loading = self.params.get_bool("UsbGpuLoading")
+
     UIStateSP.update_params(self)
-    self._param_update_time = time.monotonic()
 
 
 class Device(DeviceSP):
@@ -206,6 +240,8 @@ class Device(DeviceSP):
     self._last_brightness: int = 0
     self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
     self._brightness_thread: threading.Thread | None = None
+    self._brightness_event = threading.Event()
+    self._brightness_target: int = 0
 
   @property
   def awake(self) -> bool:
@@ -234,6 +270,8 @@ class Device(DeviceSP):
     self._interactive_timeout_callbacks.append(callback)
 
   def update(self):
+    self._start_brightness_thread()  # start thread after manager forks ui
+
     # do initial reset
     if self._interaction_time <= 0:
       self._reset_interactive_timeout()
@@ -241,6 +279,18 @@ class Device(DeviceSP):
     self._update_brightness()
     self._update_wakefulness()
 
+  def _start_brightness_thread(self):
+    if self._brightness_thread is None or not self._brightness_thread.is_alive():
+      self._brightness_thread = threading.Thread(target=self._brightness_worker, daemon=True)
+      self._brightness_thread.start()
+
+  def _brightness_worker(self):
+    drop_realtime()
+    while True:
+      self._brightness_event.wait()
+      self._brightness_event.clear()
+      HARDWARE.set_screen_brightness(self._brightness_target)
+
   def set_offroad_brightness(self, brightness: int | None):
     if brightness is None:
       brightness = BACKLIGHT_OFFROAD
@@ -273,10 +323,9 @@ class Device(DeviceSP):
       brightness = 0
 
     if brightness != self._last_brightness:
-      if self._brightness_thread is None or not self._brightness_thread.is_alive():
-        self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
-        self._brightness_thread.start()
-        self._last_brightness = brightness
+      self._brightness_target = int(brightness)
+      self._brightness_event.set()
+      self._last_brightness = int(brightness)
 
   def _update_wakefulness(self):
     # Handle interactive timeout
@@ -297,9 +346,15 @@ class Device(DeviceSP):
 
     self._set_awake(ui_state.ignition or not interaction_timeout or PC)
 
-  def _set_awake(self, on: bool):
+  def _set_awake(self, on: bool, _ui_state=None):
+    # screensaver holds _awake True, so waking is not a state change
+    if on and self._blocked_by_screensaver:
+      self.dismiss_screensaver(_ui_state or ui_state)
+
     if on != self._awake:
-      DeviceSP._set_awake(on, ui_state)
+      super()._set_awake(on, _ui_state or ui_state)
+      if self._blocked_by_screensaver:
+        return
       self._awake = on
       cloudlog.debug(f"setting display power {int(on)}")
       HARDWARE.set_display_power(on)
diff --git a/selfdrive/ui/watch3.py b/openpilot/selfdrive/ui/watch3.py
similarity index 83%
rename from selfdrive/ui/watch3.py
rename to openpilot/selfdrive/ui/watch3.py
index bb64cdc4d5..c601ccabe9 100755
--- a/selfdrive/ui/watch3.py
+++ b/openpilot/selfdrive/ui/watch3.py
@@ -1,15 +1,15 @@
 #!/usr/bin/env python3
 import pyray as rl
 
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 
 
 if __name__ == "__main__":
   gui_app.init_window("watch3")
-  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
-  driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_NARROW_ROAD)
+  driver = CameraView("camerad", VisionStreamType.VISION_STREAM_CABIN)
   wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
   for _ in gui_app.render():
     road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
diff --git a/sunnypilot/livedelay/__init__.py b/openpilot/selfdrive/ui/widgets/__init__.py
similarity index 100%
rename from sunnypilot/livedelay/__init__.py
rename to openpilot/selfdrive/ui/widgets/__init__.py
diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/openpilot/selfdrive/ui/widgets/exp_mode_button.py
similarity index 99%
rename from selfdrive/ui/widgets/exp_mode_button.py
rename to openpilot/selfdrive/ui/widgets/exp_mode_button.py
index faa3bf877f..0b5bff7da4 100644
--- a/selfdrive/ui/widgets/exp_mode_button.py
+++ b/openpilot/selfdrive/ui/widgets/exp_mode_button.py
@@ -20,6 +20,7 @@ class ExperimentalModeButton(Widget):
     self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
 
   def show_event(self):
+    super().show_event()
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
 
   def _get_gradient_colors(self):
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/openpilot/selfdrive/ui/widgets/offroad_alerts.py
similarity index 98%
rename from selfdrive/ui/widgets/offroad_alerts.py
rename to openpilot/selfdrive/ui/widgets/offroad_alerts.py
index 802243ff3e..88ccc5df7e 100644
--- a/selfdrive/ui/widgets/offroad_alerts.py
+++ b/openpilot/selfdrive/ui/widgets/offroad_alerts.py
@@ -4,7 +4,7 @@ from abc import ABC, abstractmethod
 from collections.abc import Callable
 from dataclasses import dataclass
 from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
@@ -63,7 +63,7 @@ class ActionButton(Widget):
 
   @property
   def text(self) -> str:
-    return self._text() if callable(self._text) else self._text
+    return self._text if isinstance(self._text, str) else self._text()
 
   def _render(self, _):
     text_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), self.text, AlertConstants.FONT_SIZE)
@@ -118,6 +118,7 @@ class AbstractAlert(Widget, ABC):
     self.scroll_panel = GuiScrollPanel()
 
   def show_event(self):
+    super().show_event()
     self.scroll_panel.set_offset(0)
 
   def set_dismiss_callback(self, callback: Callable):
diff --git a/selfdrive/ui/widgets/pairing_dialog.py b/openpilot/selfdrive/ui/widgets/pairing_dialog.py
similarity index 84%
rename from selfdrive/ui/widgets/pairing_dialog.py
rename to openpilot/selfdrive/ui/widgets/pairing_dialog.py
index f960cf723e..54ccfe19be 100644
--- a/selfdrive/ui/widgets/pairing_dialog.py
+++ b/openpilot/selfdrive/ui/widgets/pairing_dialog.py
@@ -1,9 +1,8 @@
 import pyray as rl
-import qrcode
-import numpy as np
 import time
 
 from openpilot.common.api import Api
+from openpilot.common.qrcode import make_texture
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.system.ui.widgets import Widget
@@ -26,7 +25,7 @@ class PairingDialog(Widget):
     self.qr_texture: rl.Texture | None = None
     self.last_qr_generation = float('-inf')
     self._close_btn = IconButton(gui_app.texture("icons/close.png", 80, 80))
-    self._close_btn.set_click_callback(lambda: gui_app.set_modal_overlay(None))
+    self._close_btn.set_click_callback(gui_app.pop_widget)
 
   def _get_pairing_url(self) -> str:
     try:
@@ -39,24 +38,9 @@ class PairingDialog(Widget):
 
   def _generate_qr_code(self) -> None:
     try:
-      qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=4)
-      qr.add_data(self._get_pairing_url())
-      qr.make(fit=True)
-
-      pil_img = qr.make_image(fill_color="black", back_color="white").convert('RGBA')
-      img_array = np.array(pil_img, dtype=np.uint8)
-
       if self.qr_texture and self.qr_texture.id != 0:
         rl.unload_texture(self.qr_texture)
-
-      rl_image = rl.Image()
-      rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
-      rl_image.width = pil_img.width
-      rl_image.height = pil_img.height
-      rl_image.mipmaps = 1
-      rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
-
-      self.qr_texture = rl.load_texture_from_image(rl_image)
+      self.qr_texture = make_texture(self._get_pairing_url())
     except Exception:
       cloudlog.exception("QR code generation failed")
       self.qr_texture = None
@@ -69,7 +53,7 @@ class PairingDialog(Widget):
 
   def _update_state(self):
     if ui_state.prime_state.is_paired():
-      gui_app.set_modal_overlay(None)
+      gui_app.pop_widget()
 
   def _render(self, rect: rl.Rectangle) -> int:
     rl.clear_background(rl.Color(224, 224, 224, 255))
@@ -162,10 +146,9 @@ class PairingDialog(Widget):
 if __name__ == "__main__":
   gui_app.init_window("pairing device")
   pairing = PairingDialog()
+  gui_app.push_widget(pairing)
   try:
     for _ in gui_app.render():
-      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-      if result != -1:
-        break
+      pass
   finally:
     del pairing
diff --git a/selfdrive/ui/widgets/prime.py b/openpilot/selfdrive/ui/widgets/prime.py
similarity index 100%
rename from selfdrive/ui/widgets/prime.py
rename to openpilot/selfdrive/ui/widgets/prime.py
diff --git a/selfdrive/ui/widgets/setup.py b/openpilot/selfdrive/ui/widgets/setup.py
similarity index 87%
rename from selfdrive/ui/widgets/setup.py
rename to openpilot/selfdrive/ui/widgets/setup.py
index 3c9406688f..b00d1a42d4 100644
--- a/selfdrive/ui/widgets/setup.py
+++ b/openpilot/selfdrive/ui/widgets/setup.py
@@ -15,11 +15,11 @@ class SetupWidget(Widget):
   def __init__(self):
     super().__init__()
     self._open_settings_callback = None
-    self._pairing_dialog: PairingDialog | None = None
     self._pair_device_btn = Button(lambda: tr("Pair device"), self._show_pairing, button_style=ButtonStyle.PRIMARY)
     self._open_settings_btn = Button(lambda: tr("Open"), lambda: self._open_settings_callback() if self._open_settings_callback else None,
                                      button_style=ButtonStyle.PRIMARY)
-    self._firehose_label = Label(lambda: tr("🔥 Firehose Mode 🔥"), font_weight=FontWeight.MEDIUM, font_size=64)
+    self._firehose_label = Label(lambda: tr("Firehose Mode"), font_weight=FontWeight.MEDIUM, font_size=64)
+    self._fire_icon = gui_app.texture("icons/fire.png", 64, 64)
 
   def set_open_settings_callback(self, callback):
     self._open_settings_callback = callback
@@ -68,6 +68,8 @@ class SetupWidget(Widget):
 
     # Title with fire emojis
     self._firehose_label.render(rl.Rectangle(rect.x, y, rect.width, 64))
+    rl.draw_texture_ex(self._fire_icon, rl.Vector2(x, y), 0.0, 1.0, rl.WHITE)
+    rl.draw_texture_ex(self._fire_icon, rl.Vector2(x + w - 64, y), 0.0, 1.0, rl.WHITE)
     y += 64 + spacing
 
     # Description
@@ -86,16 +88,11 @@ class SetupWidget(Widget):
     button_rect = rl.Rectangle(x, y, w, button_height)
     self._open_settings_btn.render(button_rect)
 
-  def _show_pairing(self):
+  @staticmethod
+  def _show_pairing():
     if not system_time_valid():
       dlg = alert_dialog(tr("Please connect to Wi-Fi to complete initial pairing"))
-      gui_app.set_modal_overlay(dlg)
+      gui_app.push_widget(dlg)
       return
 
-    if not self._pairing_dialog:
-      self._pairing_dialog = PairingDialog()
-    gui_app.set_modal_overlay(self._pairing_dialog, lambda result: setattr(self, '_pairing_dialog', None))
-
-  def __del__(self):
-    if self._pairing_dialog:
-      del self._pairing_dialog
+    gui_app.push_widget(PairingDialog())
diff --git a/selfdrive/ui/widgets/ssh_key.py b/openpilot/selfdrive/ui/widgets/ssh_key.py
similarity index 67%
rename from selfdrive/ui/widgets/ssh_key.py
rename to openpilot/selfdrive/ui/widgets/ssh_key.py
index 88389cb053..aa7cb91b1f 100644
--- a/selfdrive/ui/widgets/ssh_key.py
+++ b/openpilot/selfdrive/ui/widgets/ssh_key.py
@@ -1,7 +1,6 @@
 import pyray as rl
 import requests
 import threading
-import copy
 from collections.abc import Callable
 from enum import Enum
 
@@ -25,6 +24,51 @@ from openpilot.system.ui.widgets.list_view import (
 VALUE_FONT_SIZE = 48
 
 
+class SshKeyFetcher:
+  HTTP_TIMEOUT = 15  # seconds
+
+  def __init__(self, params: Params):
+    self._params = params
+    self._on_response: Callable[[str | None], None] | None = None
+    self._done: bool = False
+    self._error: str | None = None
+
+  def fetch(self, username: str, on_response: Callable[[str | None], None]):
+    self._error = None
+    self._on_response = on_response
+    threading.Thread(target=self._fetch_thread, args=(username,), daemon=True).start()
+
+  def update(self):
+    if not self._done:
+      return
+    self._done = False
+    if self._error is not None:
+      self.clear()
+    if self._on_response:
+      self._on_response(self._error)
+
+  def clear(self):
+    self._params.remove("GithubUsername")
+    self._params.remove("GithubSshKeys")
+
+  def _fetch_thread(self, username: str):
+    try:
+      response = requests.get(f"https://github.com/{username}.keys", timeout=self.HTTP_TIMEOUT)
+      response.raise_for_status()
+      keys = response.text.strip()
+      if not keys:
+        raise requests.exceptions.HTTPError("No SSH keys found")
+
+      self._params.put("GithubUsername", username, block=True)
+      self._params.put("GithubSshKeys", keys, block=True)
+    except requests.exceptions.Timeout:
+      self._error = tr("Request timed out")
+    except Exception:
+      self._error = tr("No SSH keys found for user '{}'").format(username)
+    finally:
+      self._done = True
+
+
 class SshKeyActionState(Enum):
   LOADING = tr_noop("LOADING")
   ADD = tr_noop("ADD")
@@ -32,7 +76,6 @@ class SshKeyActionState(Enum):
 
 
 class SshKeyAction(ItemAction):
-  HTTP_TIMEOUT = 15  # seconds
   MAX_WIDTH = 500
 
   def __init__(self):
@@ -40,7 +83,7 @@ class SshKeyAction(ItemAction):
 
     self._keyboard = Keyboard(min_text_size=1)
     self._params = Params()
-    self._error_message: str = ""
+    self._fetcher = SshKeyFetcher(self._params)
     self._text_font = gui_app.font(FontWeight.NORMAL)
     self._button = Button("", click_callback=self._handle_button_click, button_style=ButtonStyle.LIST_ACTION,
                           border_radius=BUTTON_BORDER_RADIUS, font_size=BUTTON_FONT_SIZE)
@@ -55,14 +98,11 @@ class SshKeyAction(ItemAction):
     self._username = self._params.get("GithubUsername")
     self._state = SshKeyActionState.REMOVE if self._params.get("GithubSshKeys") else SshKeyActionState.ADD
 
-  def _render(self, rect: rl.Rectangle) -> bool:
-    # Show error dialog if there's an error
-    if self._error_message:
-      message = copy.copy(self._error_message)
-      gui_app.set_modal_overlay(alert_dialog(message))
-      self._username = ""
-      self._error_message = ""
+  def _update_state(self):
+    super()._update_state()
+    self._fetcher.update()
 
+  def _render(self, rect: rl.Rectangle) -> bool:
     # Draw username if exists
     if self._username:
       text_size = measure_text_cached(self._text_font, self._username, VALUE_FONT_SIZE)
@@ -87,10 +127,10 @@ class SshKeyAction(ItemAction):
     if self._state == SshKeyActionState.ADD:
       self._keyboard.reset()
       self._keyboard.set_title(tr("Enter your GitHub username"))
-      gui_app.set_modal_overlay(self._keyboard, callback=self._on_username_submit)
+      self._keyboard.set_callback(self._on_username_submit)
+      gui_app.push_widget(self._keyboard)
     elif self._state == SshKeyActionState.REMOVE:
-      self._params.remove("GithubUsername")
-      self._params.remove("GithubSshKeys")
+      self._fetcher.clear()
       self._refresh_state()
 
   def _on_username_submit(self, result: DialogResult):
@@ -102,29 +142,16 @@ class SshKeyAction(ItemAction):
       return
 
     self._state = SshKeyActionState.LOADING
-    threading.Thread(target=lambda: self._fetch_ssh_key(username), daemon=True).start()
+    self._fetcher.fetch(username, self._on_fetch_response)
 
-  def _fetch_ssh_key(self, username: str):
-    try:
-      url = f"https://github.com/{username}.keys"
-      response = requests.get(url, timeout=self.HTTP_TIMEOUT)
-      response.raise_for_status()
-      keys = response.text.strip()
-      if not keys:
-        raise requests.exceptions.HTTPError(tr("No SSH keys found"))
-
-      # Success - save keys
-      self._params.put("GithubUsername", username)
-      self._params.put("GithubSshKeys", keys)
+  def _on_fetch_response(self, error: str | None):
+    if error is None:
       self._state = SshKeyActionState.REMOVE
-      self._username = username
-
-    except requests.exceptions.Timeout:
-      self._error_message = tr("Request timed out")
-      self._state = SshKeyActionState.ADD
-    except Exception:
-      self._error_message = tr("No SSH keys found for user '{}'").format(username)
+      self._username = self._params.get("GithubUsername")
+    else:
       self._state = SshKeyActionState.ADD
+      self._username = ""
+      gui_app.push_widget(alert_dialog(error))
 
 
 def ssh_key_item(title: str | Callable[[], str], description: str | Callable[[], str]) -> ListItem:
diff --git a/openpilot/sunnypilot b/openpilot/sunnypilot
deleted file mode 120000
index c4ca692907..0000000000
--- a/openpilot/sunnypilot
+++ /dev/null
@@ -1 +0,0 @@
-../sunnypilot
\ No newline at end of file
diff --git a/sunnypilot/SConscript b/openpilot/sunnypilot/SConscript
similarity index 79%
rename from sunnypilot/SConscript
rename to openpilot/sunnypilot/SConscript
index eb3698f9d0..09ad39ab43 100644
--- a/sunnypilot/SConscript
+++ b/openpilot/sunnypilot/SConscript
@@ -1,4 +1,3 @@
 SConscript(['common/transformations/SConscript'])
-SConscript(['modeld/SConscript'])
 SConscript(['modeld_v2/SConscript'])
 SConscript(['selfdrive/locationd/SConscript'])
diff --git a/sunnypilot/__init__.py b/openpilot/sunnypilot/__init__.py
similarity index 95%
rename from sunnypilot/__init__.py
rename to openpilot/sunnypilot/__init__.py
index ccacd0be0a..59b3600531 100644
--- a/sunnypilot/__init__.py
+++ b/openpilot/sunnypilot/__init__.py
@@ -34,6 +34,6 @@ def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
   clipped_val = max(min_val, min(max_val, val))
 
   if clipped_val != val:
-    params.put(key, clipped_val)
+    params.put(key, clipped_val, block=True)
 
   return clipped_val
diff --git a/sunnypilot/common/transformations/SConscript b/openpilot/sunnypilot/common/transformations/SConscript
similarity index 100%
rename from sunnypilot/common/transformations/SConscript
rename to openpilot/sunnypilot/common/transformations/SConscript
diff --git a/sunnypilot/common/transformations/coordinates.cc b/openpilot/sunnypilot/common/transformations/coordinates.cc
similarity index 100%
rename from sunnypilot/common/transformations/coordinates.cc
rename to openpilot/sunnypilot/common/transformations/coordinates.cc
diff --git a/sunnypilot/common/transformations/coordinates.hpp b/openpilot/sunnypilot/common/transformations/coordinates.hpp
similarity index 100%
rename from sunnypilot/common/transformations/coordinates.hpp
rename to openpilot/sunnypilot/common/transformations/coordinates.hpp
diff --git a/sunnypilot/common/transformations/orientation.cc b/openpilot/sunnypilot/common/transformations/orientation.cc
similarity index 100%
rename from sunnypilot/common/transformations/orientation.cc
rename to openpilot/sunnypilot/common/transformations/orientation.cc
diff --git a/sunnypilot/common/transformations/orientation.hpp b/openpilot/sunnypilot/common/transformations/orientation.hpp
similarity index 100%
rename from sunnypilot/common/transformations/orientation.hpp
rename to openpilot/sunnypilot/common/transformations/orientation.hpp
diff --git a/openpilot/sunnypilot/common/version.h b/openpilot/sunnypilot/common/version.h
new file mode 100644
index 0000000000..26151e206f
--- /dev/null
+++ b/openpilot/sunnypilot/common/version.h
@@ -0,0 +1 @@
+#define SUNNYPILOT_VERSION "2026.003.000"
diff --git a/sunnypilot/mapd/tests/__init__.py b/openpilot/sunnypilot/livedelay/__init__.py
similarity index 100%
rename from sunnypilot/mapd/tests/__init__.py
rename to openpilot/sunnypilot/livedelay/__init__.py
diff --git a/sunnypilot/livedelay/helpers.py b/openpilot/sunnypilot/livedelay/helpers.py
similarity index 100%
rename from sunnypilot/livedelay/helpers.py
rename to openpilot/sunnypilot/livedelay/helpers.py
diff --git a/sunnypilot/livedelay/lagd_toggle.py b/openpilot/sunnypilot/livedelay/lagd_toggle.py
similarity index 79%
rename from sunnypilot/livedelay/lagd_toggle.py
rename to openpilot/sunnypilot/livedelay/lagd_toggle.py
index 8495dcee0a..a617aaa4c6 100644
--- a/sunnypilot/livedelay/lagd_toggle.py
+++ b/openpilot/sunnypilot/livedelay/lagd_toggle.py
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import log
+from openpilot.cereal import log
 
 from opendbc.car import structs
 from openpilot.common.params import Params
@@ -23,16 +23,16 @@ class LagdToggle:
     self.lagd_toggle = self.params.get_bool("LagdToggle")
     self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
 
-  def update(self, lag_msg: log.LiveDelayData) -> None:
+  def update(self, lag_msg: log.LateralDelay) -> None:
     self.read_params()
 
     if not self.lagd_toggle:
       steer_actuator_delay = self.CP.steerActuatorDelay
       delay = self.software_delay
       self.lag = (steer_actuator_delay + delay)
-      self.params.put_nonblocking("LagdValueCache", self.lag)
+      self.params.put("LagdValueCache", self.lag)
       return
 
-    lateral_delay = lag_msg.liveDelay.lateralDelay
+    lateral_delay = lag_msg.lateralDelay.lateralDelay
     self.lag = lateral_delay
-    self.params.put_nonblocking("LagdValueCache", self.lag)
+    self.params.put("LagdValueCache", self.lag)
diff --git a/sunnypilot/mads/helpers.py b/openpilot/sunnypilot/mads/helpers.py
similarity index 81%
rename from sunnypilot/mads/helpers.py
rename to openpilot/sunnypilot/mads/helpers.py
index f9c4057bab..655d7bc9a2 100644
--- a/sunnypilot/mads/helpers.py
+++ b/openpilot/sunnypilot/mads/helpers.py
@@ -9,7 +9,7 @@ from openpilot.common.params import Params
 from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
-from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
 
 
 MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla")
@@ -21,17 +21,20 @@ class MadsSteeringModeOnBrake:
   DISENGAGE = 2
 
 
-def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
+def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params) -> bool:
   if CP.brand == 'rivian':
     return True
   if CP.brand == 'tesla':
-    return not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS
+    if not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS:
+      return True
+    screen_button = int(params.get("TeslaMadsScreenButton", return_default=True))
+    return screen_button == MadsScreenButtonType.OFF
 
   return False
 
 
 def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
-  if get_mads_limited_brands(CP, CP_SP):
+  if get_mads_limited_brands(CP, CP_SP, params):
     return MadsSteeringModeOnBrake.DISENGAGE
 
   return params.get("MadsSteeringMode", return_default=True)
@@ -63,10 +66,10 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
   # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
   # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
   # TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling
-  mads_partial_support = get_mads_limited_brands(CP, CP_SP)
+  mads_partial_support = get_mads_limited_brands(CP, CP_SP, params)
   if mads_partial_support:
-    params.put("MadsSteeringMode", 2)
-    params.put_bool("MadsUnifiedEngagementMode", True)
+    params.put("MadsSteeringMode", 2, block=True)
+    params.put_bool("MadsUnifiedEngagementMode", True, block=True)
 
   # no ACC MAIN button for these brands
   if CP.brand in MADS_NO_ACC_MAIN_BUTTON:
diff --git a/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
similarity index 89%
rename from sunnypilot/mads/mads.py
rename to openpilot/sunnypilot/mads/mads.py
index 7eab55e6ea..4ae3534b57 100644
--- a/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
@@ -33,6 +33,7 @@ class ModularAssistiveDrivingSystem:
     self.enabled = False
     self.active = False
     self.available = False
+    self.lateral_mismatch_counter = 0
     self.allow_always = False
     self.no_main_cruise = False
     self.selfdrive = selfdrive
@@ -68,7 +69,7 @@ class ModularAssistiveDrivingSystem:
     return False
 
   def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
-    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS):
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and (CS.brakePressed or CS.regenBraking or self.pedal_pressed_non_gas_pressed(CS)):
       return False
 
     if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
@@ -104,6 +105,17 @@ class ModularAssistiveDrivingSystem:
     self.events.remove(old_event)
     self.events_sp.add(new_event)
 
+  def data_sample(self):
+    # When the safety and selfdrived do not agree on controls_allowed_lateral
+    # we want to disengage sunnypilot. However the status from the panda goes through
+    # another socket other than the CAN messages and one can arrive earlier than the other.
+    # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
+    if not self.active or self.selfdrive.enabled:
+      self.lateral_mismatch_counter = 0
+    elif any(not ps.controlsAllowedLateral for ps in self.selfdrive.sm['pandaStates']
+             if ps.safetyModel not in IGNORED_SAFETY_MODES):
+      self.lateral_mismatch_counter += 1
+
   def update_events(self, CS: structs.CarState):
     if not self.selfdrive.enabled and self.enabled:
       if CS.standstill:
@@ -135,6 +147,7 @@ class ModularAssistiveDrivingSystem:
       self.events.remove(EventName.speedTooLow)
       self.events.remove(EventName.cruiseDisabled)
       self.events.remove(EventName.manualRestart)
+      self.events.remove(EventName.espActive)
 
     selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
     set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
@@ -186,6 +199,9 @@ class ModularAssistiveDrivingSystem:
       if self.state_machine.state == State.paused:
         self.events_sp.add(EventNameSP.silentLkasEnable)
 
+    if self.lateral_mismatch_counter >= 200:
+      self.events_sp.add(EventNameSP.controlsMismatchLateral)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
@@ -195,6 +211,8 @@ class ModularAssistiveDrivingSystem:
     if not self.enabled_toggle:
       return
 
+    self.data_sample()
+
     self.update_events(CS)
 
     if not self.CP.passive and self.selfdrive.initialized:
diff --git a/sunnypilot/mads/state.py b/openpilot/sunnypilot/mads/state.py
similarity index 99%
rename from sunnypilot/mads/state.py
rename to openpilot/sunnypilot/mads/state.py
index 73240c790c..a8e5e1892f 100644
--- a/sunnypilot/mads/state.py
+++ b/openpilot/sunnypilot/mads/state.py
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.selfdrive.selfdrived.state import SOFT_DISABLE_TIME
 from openpilot.common.realtime import DT_CTRL
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
similarity index 94%
rename from sunnypilot/mads/tests/test_mads_state_machine.py
rename to openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
index 7bc556a0fc..0147f2f4fb 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -5,14 +5,13 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-import pytest
-from pytest_mock import MockerFixture
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.realtime import DT_CTRL
 from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME
 from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert, Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP, EVENTS_SP
+from openpilot.common.test import OpenpilotTestCase
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventNameSP = custom.OnroadEventSP.EventName
@@ -29,21 +28,21 @@ def make_event(event_types):
   event = {}
   for ev in event_types:
     event[ev] = NormalPermanentAlert("alert")
-  EVENTS_SP[0] = event
+  EVENTS_SP[0] = event  # type: ignore[assignment] # ty: ignore[invalid-assignment]
   return 0
 
 
 class MockMADS:
-  def __init__(self, mocker: MockerFixture):
+  def __init__(self, mocker):
     self.selfdrive = mocker.MagicMock()
     self.selfdrive.state_machine = mocker.MagicMock()
     self.selfdrive.events = Events()
     self.selfdrive.events_sp = EventsSP()
 
 
-class TestMADSStateMachine:
-  @pytest.fixture(autouse=True)
-  def setup_method(self, mocker: MockerFixture):
+class TestMADSStateMachine(OpenpilotTestCase):
+  def setup_method(self):
+    mocker = self._fixture("mocker")
     self.mads = MockMADS(mocker)
     self.state_machine = StateMachine(self.mads)
     self.events = self.mads.selfdrive.events
diff --git a/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py b/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
new file mode 100644
index 0000000000..2058a8b10c
--- /dev/null
+++ b/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
@@ -0,0 +1,261 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.common.parameterized import parameterized
+
+from openpilot.cereal import log, custom
+from opendbc.car import structs
+from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
+from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
+from openpilot.common.test import OpenpilotTestCase
+
+State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+EventName = log.OnroadEvent.EventName
+EventNameSP = custom.OnroadEventSP.EventName
+SafetyModel = structs.CarParams.SafetyModel
+
+
+def make_car_state(brake_pressed=False, regen_braking=False, standstill=False, v_ego=0.0):
+  cs = structs.CarState()
+  cs.brakePressed = brake_pressed
+  cs.regenBraking = regen_braking
+  cs.standstill = standstill
+  cs.vEgo = v_ego
+  cs.cruiseState.available = True
+  return cs
+
+
+def make_panda_state(mocker, controls_allowed_lateral=True):
+  ps = mocker.MagicMock()
+  ps.controlsAllowedLateral = controls_allowed_lateral
+  ps.safetyModel = SafetyModel.hyundai
+  return ps
+
+
+def make_params_mock(mocker, values):
+  params = mocker.MagicMock()
+  params.get = mocker.MagicMock(side_effect=lambda k, **kwargs: values[k])
+  return params
+
+
+def make_mads(mocker, steering_mode):
+  sd = mocker.MagicMock()
+  sd.CP = structs.CarParams()
+  sd.CP.brand = "hyundai"
+  sd.CP_SP = structs.CarParamsSP()
+  sd.params = mocker.MagicMock()
+  sd.params.get_bool = mocker.MagicMock(side_effect=lambda k: {
+    "Mads": True, "MadsMainCruiseAllowed": False,
+    "DisengageOnAccelerator": True, "MadsUnifiedEngagementMode": False,
+  }.get(k, False))
+  sd.params.get = mocker.MagicMock(return_value=steering_mode)
+  sd.events = Events()
+  sd.events_sp = EventsSP()
+  sd.enabled = False
+  sd.enabled_prev = False
+  sd.initialized = True
+  sd.CS_prev = make_car_state()
+  sd.sm = {'pandaStates': [make_panda_state(mocker)]}
+  sd.state_machine = mocker.MagicMock()
+
+  mads = ModularAssistiveDrivingSystem(sd)
+  mads.enabled_toggle = True
+  mads.steering_mode_on_brake = steering_mode
+  return mads, sd
+
+
+def run_frames(mads, sd, cs, n=1):
+  for _ in range(n):
+    mads.update(cs)
+    sd.CS_prev = cs
+    sd.events.clear()
+    sd.events_sp.clear()
+
+
+# should_silent_lkas_enable across all modes
+
+class TestShouldSilentLkasEnable(OpenpilotTestCase):
+  @parameterized.expand([(True, False), (False, True)], names=["brake", "regen"])
+  def test_pause_blocks_reenable_on_braking_at_standstill(self, mocker, brake, regen):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    cs = make_car_state(brake_pressed=brake, regen_braking=regen, standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is False
+
+  def test_pause_allows_reenable_on_brake_release(self, mocker):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    cs = make_car_state(standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is True
+
+  def test_remain_active_ignores_brake(self, mocker):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    cs = make_car_state(brake_pressed=True, standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is True
+
+  def test_disengage_ignores_brake_for_silent_enable(self, mocker):
+    mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
+    cs = make_car_state(brake_pressed=True, standstill=True)
+    assert mads.should_silent_lkas_enable(cs) is True
+
+
+# pause
+
+class TestPauseMode(OpenpilotTestCase):
+  def test_stays_paused_at_standstill_brake_held(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
+    assert mads.state_machine.state == State.paused
+
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
+    assert mads.state_machine.state == State.paused
+
+  def test_resumes_on_brake_release_at_standstill(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.paused
+    mads.enabled = True
+    mads.active = False
+
+    run_frames(mads, sd, make_car_state(standstill=True))
+    assert mads.state_machine.state == State.enabled
+
+  def test_full_cycle_moving_to_standstill(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=15.0))
+    assert mads.state_machine.state == State.paused
+
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
+    assert mads.state_machine.state == State.paused
+
+    sd.sm['pandaStates'] = [make_panda_state(mocker, True)]
+    run_frames(mads, sd, make_car_state(standstill=True))
+    assert mads.state_machine.state == State.enabled
+
+
+# disengage
+
+class TestDisengageMode(OpenpilotTestCase):
+  def test_brake_while_enabled_disables(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=10.0))
+    assert mads.state_machine.state == State.disabled
+
+  def test_brake_sends_lkas_disable_when_enabled(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    mads.update_events(make_car_state(brake_pressed=True, v_ego=5.0))
+    assert sd.events_sp.has(EventNameSP.lkasDisable)
+
+
+# remain active
+
+class TestRemainActiveMode(OpenpilotTestCase):
+  def test_brake_does_not_pause_or_disable(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    mads.state_machine.state = State.enabled
+    mads.enabled = True
+    mads.active = True
+
+    sd.events.add(EventName.pedalPressed)
+    run_frames(mads, sd, make_car_state(brake_pressed=True, v_ego=10.0))
+    assert mads.state_machine.state == State.enabled
+
+
+# lateral mismatch counter
+
+class TestLateralMismatchCounter(OpenpilotTestCase):
+  def test_no_accumulation_while_paused(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.state_machine.state = State.paused
+    mads.enabled = True
+    mads.active = False
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+
+    run_frames(mads, sd, make_car_state(brake_pressed=True, standstill=True), n=250)
+    assert mads.lateral_mismatch_counter == 0
+
+  def test_accumulates_when_active_and_panda_disagrees(self, mocker):
+    mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
+    mads.enabled = True
+    mads.active = True
+    sd.sm['pandaStates'] = [make_panda_state(mocker, False)]
+
+    for _ in range(200):
+      mads.data_sample()
+    assert mads.lateral_mismatch_counter == 200
+
+
+# brand restrictions
+
+class TestBrandSteeringModeRestrictions(OpenpilotTestCase):
+  def test_rivian_forced_to_disengage(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "rivian"
+    CP_SP = structs.CarParamsSP()
+    params = mocker.MagicMock()
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
+    params.get.assert_not_called()
+
+  def test_tesla_without_vehicle_bus_forced_to_disengage(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = 0
+    params = mocker.MagicMock()
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
+
+  @parameterized.expand([MadsScreenButtonType.THREE_FINGER,
+                                             MadsScreenButtonType.FOUR_FINGER,
+                                             MadsScreenButtonType.FIVE_FINGER], names=["screen_button"])
+  def test_tesla_with_vehicle_bus_uses_param(self, mocker, screen_button):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
+    params = make_params_mock(mocker, {"TeslaMadsScreenButton": screen_button,
+                                       "MadsSteeringMode": MadsSteeringModeOnBrake.REMAIN_ACTIVE})
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE
+
+  def test_tesla_with_vehicle_bus_screen_button_off_forced_to_disengage(self, mocker):
+    CP = structs.CarParams()
+    CP.brand = "tesla"
+    CP_SP = structs.CarParamsSP()
+    CP_SP.flags = TeslaFlagsSP.HAS_VEHICLE_BUS
+    params = make_params_mock(mocker, {"TeslaMadsScreenButton": MadsScreenButtonType.OFF,
+                                       "MadsSteeringMode": MadsSteeringModeOnBrake.REMAIN_ACTIVE})
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
+
+  @parameterized.expand(["hyundai", "toyota", "honda", "gm"], names=["brand"])
+  def test_other_brands_use_param(self, mocker, brand):
+    CP = structs.CarParams()
+    CP.brand = brand
+    CP_SP = structs.CarParamsSP()
+    params = mocker.MagicMock()
+    params.get = mocker.MagicMock(return_value=MadsSteeringModeOnBrake.REMAIN_ACTIVE)
+    assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.REMAIN_ACTIVE
diff --git a/sunnypilot/mapd/__init__.py b/openpilot/sunnypilot/mapd/__init__.py
similarity index 56%
rename from sunnypilot/mapd/__init__.py
rename to openpilot/sunnypilot/mapd/__init__.py
index 7ad6f74149..57525254ce 100644
--- a/sunnypilot/mapd/__init__.py
+++ b/openpilot/sunnypilot/mapd/__init__.py
@@ -1,5 +1,5 @@
 import os
 from openpilot.common.basedir import BASEDIR
 
-MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
+MAPD_BIN_DIR = os.path.join(BASEDIR, 'openpilot', 'third_party/mapd_pfeiferj')
 MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
diff --git a/sunnypilot/mapd/live_map_data/__init__.py b/openpilot/sunnypilot/mapd/live_map_data/__init__.py
similarity index 100%
rename from sunnypilot/mapd/live_map_data/__init__.py
rename to openpilot/sunnypilot/mapd/live_map_data/__init__.py
diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/openpilot/sunnypilot/mapd/live_map_data/base_map_data.py
similarity index 97%
rename from sunnypilot/mapd/live_map_data/base_map_data.py
rename to openpilot/sunnypilot/mapd/live_map_data/base_map_data.py
index 723864dd2a..ca79ce1c6b 100644
--- a/sunnypilot/mapd/live_map_data/base_map_data.py
+++ b/openpilot/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 from abc import abstractmethod, ABC
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
diff --git a/sunnypilot/mapd/live_map_data/debug.py b/openpilot/sunnypilot/mapd/live_map_data/debug.py
similarity index 80%
rename from sunnypilot/mapd/live_map_data/debug.py
rename to openpilot/sunnypilot/mapd/live_map_data/debug.py
index 794f2ef8ff..38a696d403 100644
--- a/sunnypilot/mapd/live_map_data/debug.py
+++ b/openpilot/sunnypilot/mapd/live_map_data/debug.py
@@ -12,12 +12,12 @@ See the LICENSE.md file in the root directory for more details.
 import threading
 import traceback
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Policy
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
 from openpilot.sunnypilot.mapd.live_map_data import get_debug
 
 
@@ -37,7 +37,7 @@ def live_map_data_sp_thread():
 
 
 def live_map_data_sp_thread_debug(gps_location_service):
-  _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', 'carStateSP', gps_location_service])
+  _sub_master = messaging.SubMaster(['carState', 'deviceMotion', 'liveMapDataSP', 'longitudinalPlanSP', 'carStateSP', gps_location_service])
   _sub_master.update()
 
   v_ego = _sub_master['carState'].vEgo
diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py
similarity index 95%
rename from sunnypilot/mapd/live_map_data/osm_map_data.py
rename to openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py
index 0662e2d589..e6cbce0674 100644
--- a/sunnypilot/mapd/live_map_data/osm_map_data.py
+++ b/openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -8,7 +8,7 @@ import json
 import math
 import platform
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.params import Params
 from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
 from openpilot.sunnypilot.navd.helpers import Coordinate
@@ -38,7 +38,7 @@ class OsmMapData(BaseMapData):
     if self.last_bearing is not None:
       params['bearing'] = self.last_bearing
 
-    self.mem_params.put("LastGPSPosition", json.dumps(params))
+    self.mem_params.put("LastGPSPosition", json.dumps(params), block=True)
 
   def get_current_speed_limit(self) -> float:
     return float(self.mem_params.get("MapSpeedLimit") or 0.0)
diff --git a/sunnypilot/mapd/live_map_data/standalone.py b/openpilot/sunnypilot/mapd/live_map_data/standalone.py
similarity index 100%
rename from sunnypilot/mapd/live_map_data/standalone.py
rename to openpilot/sunnypilot/mapd/live_map_data/standalone.py
diff --git a/sunnypilot/mapd/mapd_installer.py b/openpilot/sunnypilot/mapd/mapd_installer.py
similarity index 94%
rename from sunnypilot/mapd/mapd_installer.py
rename to openpilot/sunnypilot/mapd/mapd_installer.py
index 08d17376d6..ec3cf94e7e 100755
--- a/sunnypilot/mapd/mapd_installer.py
+++ b/openpilot/sunnypilot/mapd/mapd_installer.py
@@ -14,11 +14,11 @@ import requests
 from pathlib import Path
 from urllib.request import urlopen
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.params import Params
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.spinner import Spinner
-from openpilot.system.version import is_prebuilt
+from openpilot.common.version import is_prebuilt
 from openpilot.sunnypilot.mapd import MAPD_PATH, MAPD_BIN_DIR
 import openpilot.system.sentry as sentry
 
@@ -26,11 +26,11 @@ VERSION = "v1.12.0"
 URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"
 
 
-def update_installed_version(version: str, params: Params = None) -> None:
+def update_installed_version(version: str, params: Params | None = None) -> None:
   if params is None:
     params = Params()
 
-  params.put("MapdVersion", version)
+  params.put("MapdVersion", version, block=True)
 
 
 class MapdInstallManager:
diff --git a/sunnypilot/mapd/mapd_manager.py b/openpilot/sunnypilot/mapd/mapd_manager.py
similarity index 92%
rename from sunnypilot/mapd/mapd_manager.py
rename to openpilot/sunnypilot/mapd/mapd_manager.py
index 9de7dee8b9..2251289bbe 100755
--- a/sunnypilot/mapd/mapd_manager.py
+++ b/openpilot/sunnypilot/mapd/mapd_manager.py
@@ -17,7 +17,7 @@ from openpilot.common.realtime import Ratekeeper, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.mapd import MAPD_PATH
 from openpilot.sunnypilot.mapd.mapd_installer import VERSION, update_installed_version
 
@@ -56,8 +56,8 @@ def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
 
 
 def request_refresh_osm_location_data(nations: list[str], states: list[str] | None = None) -> None:
-  params.put("OsmDownloadedDate", str(datetime.now().timestamp()))
-  params.put_bool("OsmDbUpdatesCheck", False)
+  params.put("OsmDownloadedDate", str(datetime.now().timestamp()), block=True)
+  params.put_bool("OsmDbUpdatesCheck", False, block=True)
 
   osm_download_locations = {
     "nations": nations,
@@ -65,7 +65,7 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] | No
   }
 
   print(f"Downloading maps for {json.dumps(osm_download_locations)}")
-  mem_params.put("OSMDownloadLocations", osm_download_locations)
+  mem_params.put("OSMDownloadLocations", osm_download_locations, block=True)
 
 
 def filter_nations_and_states(nations: list[str], states: list[str] | None = None) -> tuple[list[str], list[str]]:
@@ -106,10 +106,10 @@ def update_osm_db() -> None:
     request_refresh_osm_location_data(filtered_nations, filtered_states)
 
   if not mem_params.get("OSMDownloadBounds"):
-    mem_params.put("OSMDownloadBounds", "")
+    mem_params.put("OSMDownloadBounds", "", block=True)
 
   if not mem_params.get("LastGPSPosition"):
-    mem_params.put("LastGPSPosition", "{}")
+    mem_params.put("LastGPSPosition", "{}", block=True)
 
 
 def main_thread():
@@ -128,7 +128,7 @@ def main_thread():
     cloudlog.exception(f"mapd: failed to make {Paths.mapd_root()}")
 
   while True:
-    show_alert = get_files_for_cleanup() and params.get_bool("OsmLocal")
+    show_alert = bool(get_files_for_cleanup() and params.get_bool("OsmLocal"))
     set_offroad_alert("Offroad_OSMUpdateRequired", show_alert, "This alert will be cleared when new maps are downloaded.")
 
     update_osm_db()
diff --git a/sunnypilot/modeld/__init__.py b/openpilot/sunnypilot/mapd/tests/__init__.py
similarity index 100%
rename from sunnypilot/modeld/__init__.py
rename to openpilot/sunnypilot/mapd/tests/__init__.py
diff --git a/sunnypilot/mapd/tests/mapd_hash b/openpilot/sunnypilot/mapd/tests/mapd_hash
similarity index 100%
rename from sunnypilot/mapd/tests/mapd_hash
rename to openpilot/sunnypilot/mapd/tests/mapd_hash
diff --git a/sunnypilot/mapd/tests/test_mapd_version.py b/openpilot/sunnypilot/mapd/tests/test_mapd_version.py
similarity index 87%
rename from sunnypilot/mapd/tests/test_mapd_version.py
rename to openpilot/sunnypilot/mapd/tests/test_mapd_version.py
index 5619d2ec29..acbbe51c37 100644
--- a/sunnypilot/mapd/tests/test_mapd_version.py
+++ b/openpilot/sunnypilot/mapd/tests/test_mapd_version.py
@@ -7,9 +7,10 @@ See the LICENSE.md file in the root directory for more details.
 from openpilot.sunnypilot import get_file_hash
 from openpilot.sunnypilot.mapd import MAPD_PATH
 from openpilot.sunnypilot.mapd.update_version import MAPD_HASH_PATH
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestMapdVersion:
+class TestMapdVersion(OpenpilotTestCase):
   def test_compare_versions(self):
     mapd_hash = get_file_hash(MAPD_PATH)
 
diff --git a/sunnypilot/mapd/update_version.py b/openpilot/sunnypilot/mapd/update_version.py
similarity index 93%
rename from sunnypilot/mapd/update_version.py
rename to openpilot/sunnypilot/mapd/update_version.py
index c5e08b3f8f..b6ca2a757f 100755
--- a/sunnypilot/mapd/update_version.py
+++ b/openpilot/sunnypilot/mapd/update_version.py
@@ -13,8 +13,8 @@ from openpilot.sunnypilot import get_file_hash
 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot.mapd import MAPD_PATH
 
-MAPD_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "tests", "mapd_hash")
-MAPD_VERSION_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "mapd_installer.py")
+MAPD_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "mapd", "tests", "mapd_hash")
+MAPD_VERSION_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "mapd", "mapd_installer.py")
 
 
 def update_mapd_hash():
diff --git a/sunnypilot/mapd/version.py b/openpilot/sunnypilot/mapd/version.py
similarity index 100%
rename from sunnypilot/mapd/version.py
rename to openpilot/sunnypilot/mapd/version.py
diff --git a/sunnypilot/modeld/.gitignore b/openpilot/sunnypilot/modeld_v2/.gitignore
similarity index 100%
rename from sunnypilot/modeld/.gitignore
rename to openpilot/sunnypilot/modeld_v2/.gitignore
diff --git a/openpilot/sunnypilot/modeld_v2/SConscript b/openpilot/sunnypilot/modeld_v2/SConscript
new file mode 100644
index 0000000000..daaa199ea9
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/SConscript
@@ -0,0 +1,84 @@
+import os
+import glob
+
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
+from openpilot.common.hardware import HARDWARE, PC
+
+Import('env', 'arch', 'release')
+lenv = env.Clone()
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
+
+
+def get_camera_configs():
+  DEVICE_RESOLUTIONS = {
+    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+    "mici": (_os_fisheye.width, _os_fisheye.height),
+  }
+  if release or PC or 'CI' in os.environ:
+    return set(DEVICE_RESOLUTIONS.values())
+  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
+
+CAMERA_CONFIGS = get_camera_configs()
+
+tg_flags = {
+  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+  'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}',
+}.get(arch, 'DEV=CPU:LLVM')
+
+image_flag = {
+  'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+
+model_w, model_h = MEDMODEL_INPUT_SIZE
+from openpilot.selfdrive.modeld.constants import ModelConstants
+frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
+
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
+compile_modeld_script = File("compile_modeld.py").abspath
+upstream_compile_script = File(Dir("#openpilot/selfdrive/modeld").File("compile_modeld.py").abspath)
+script_deps = [File("compile_modeld.py"), upstream_compile_script]
+
+def compile_combined(model_type, onnx_args, output_name):
+  output_pkl = File(f"models/{output_name}").abspath
+  cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} '
+         f'--model-type {model_type} '
+         f'--model-size {model_w}x{model_h} '
+         f'--camera-resolutions {camera_res_args} '
+         f'{onnx_args} '
+         f'--frame-skip {frame_skip} '
+         f'--output {output_pkl}')
+  onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')]
+  return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
+
+# Vision + Policy (stock default model)
+vision_onnx = File("models/driving_vision.onnx").abspath
+policy_onnx = File("models/driving_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(policy_onnx):
+  compile_combined('vision_policy',
+                   f'--vision-onnx {vision_onnx} --policy-onnx {policy_onnx}',
+                   'driving_combined_tinygrad.pkl')
+
+# Vision + Off-Policy
+off_policy_onnx = File("models/driving_off_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(off_policy_onnx):
+  policy_arg = f'--policy-onnx {policy_onnx}' if os.path.isfile(policy_onnx) else ''
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} {policy_arg} --off-policy-onnx {off_policy_onnx}',
+                   'driving_combined_multi_tinygrad.pkl')
+
+# Vision + On-Policy + Off-Policy
+on_policy_onnx = File("models/driving_on_policy.onnx").abspath
+if os.path.isfile(vision_onnx) and os.path.isfile(on_policy_onnx) and os.path.isfile(off_policy_onnx):
+  compile_combined('vision_multi_policy',
+                   f'--vision-onnx {vision_onnx} --off-policy-onnx {off_policy_onnx} --on-policy-onnx {on_policy_onnx}',
+                   'driving_combined_tri_tinygrad.pkl')
+
+# Supercombo
+supercombo_onnx = File("models/supercombo.onnx").abspath
+if os.path.isfile(supercombo_onnx):
+  compile_combined('supercombo',
+                   f'--supercombo-onnx {supercombo_onnx}',
+                   'driving_combined_supercombo_tinygrad.pkl')
diff --git a/sunnypilot/modeld_v2/__init__.py b/openpilot/sunnypilot/modeld_v2/__init__.py
similarity index 100%
rename from sunnypilot/modeld_v2/__init__.py
rename to openpilot/sunnypilot/modeld_v2/__init__.py
diff --git a/sunnypilot/modeld_v2/camera_offset_helper.py b/openpilot/sunnypilot/modeld_v2/camera_offset_helper.py
similarity index 83%
rename from sunnypilot/modeld_v2/camera_offset_helper.py
rename to openpilot/sunnypilot/modeld_v2/camera_offset_helper.py
index 7502c3eeb0..648ba01086 100644
--- a/sunnypilot/modeld_v2/camera_offset_helper.py
+++ b/openpilot/sunnypilot/modeld_v2/camera_offset_helper.py
@@ -28,12 +28,12 @@ class CameraOffsetHelper:
 
   def update(self, model_transform_main, model_transform_extra, sm, main_wide_camera):
     self.actual_camera_offset = (0.9 * self.actual_camera_offset) + (0.1 * self.camera_offset)
-    dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-    height = sm["liveCalibration"].height[0] if sm['liveCalibration'].height else 1.22
+    dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
+    height = sm["extrinsicsCalibration"].height[0] if sm['extrinsicsCalibration'].height else 1.22
 
-    intrinsics_main = dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics
+    intrinsics_main = dc.wide_road.intrinsics if main_wide_camera else dc.narrow_road.intrinsics
     model_transform_main = self.apply_camera_offset(model_transform_main, intrinsics_main, height, self.actual_camera_offset)
 
-    intrinsics_extra = dc.ecam.intrinsics
+    intrinsics_extra = dc.wide_road.intrinsics
     model_transform_extra = self.apply_camera_offset(model_transform_extra, intrinsics_extra, height, self.actual_camera_offset)
     return model_transform_main, model_transform_extra
diff --git a/openpilot/sunnypilot/modeld_v2/compile_modeld.py b/openpilot/sunnypilot/modeld_v2/compile_modeld.py
new file mode 100755
index 0000000000..def54a4599
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/compile_modeld.py
@@ -0,0 +1,364 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import argparse
+import os
+import pickle
+import time
+from collections import defaultdict
+from functools import partial
+import numpy as np
+os.environ['GMMU'] = '0'
+
+def _patch_tinygrad_fetch_fw():
+  import hashlib
+  import pathlib
+  import zstandard
+  from tinygrad import helpers
+  _orig_fetch_fw = helpers.fetch_fw
+  def fetch_fw(path, name, sha256):
+    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
+    if p.is_file():
+      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
+    return _orig_fetch_fw(path, name, sha256)
+  helpers.fetch_fw = fetch_fw
+_patch_tinygrad_fetch_fw()
+
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, sample_desire, sample_skip, shift_and_sample
+from tinygrad import dtypes
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+from tinygrad.tensor import Tensor
+
+MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
+
+
+def _detect_desire_key(shapes: dict) -> str | None:
+  return next((key for key in shapes if key.startswith('desire')), None)
+
+
+def _detect_vision_keys(shapes: dict) -> tuple[str | None, str | None]:
+  img_keys = sorted(key for key in shapes if 'img' in key)
+  return (
+    next((key for key in img_keys if 'big' not in key), None),
+    next((key for key in img_keys if 'big' in key), None)
+  )
+
+
+def derive_frame_skip(vision_input_shapes: dict, policy_input_shapes: dict) -> int:
+  features_buffer = policy_input_shapes.get('features_buffer')
+  return 1 if not features_buffer or features_buffer[1] >= 99 else 4
+
+
+def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tuple[dict, list[int]]:
+  desire_key = _detect_desire_key(input_shapes)
+  shapes = {}
+  if desire_key:
+    shapes['desire'] = (input_shapes[desire_key][2],)
+
+  if is_supercombo and 'features_buffer' in input_shapes:
+    fb = input_shapes['features_buffer']
+    shapes['prev_feat'] = (fb[0], fb[2])
+
+  for key, shape in input_shapes.items():
+    if key not in (desire_key, 'features_buffer') and 'img' not in key:
+      shapes[key] = tuple(shape)
+
+  sizes = [int(np.prod(size)) for size in shapes.values()]
+  return shapes, sizes
+
+
+def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
+                            is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
+  road_key, _ = _detect_vision_keys(input_shapes)
+  if not road_key:
+    raise ValueError("Vision road key missing from input shapes.")
+
+  img_shape = input_shapes[road_key]
+  n_frames = img_shape[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
+
+  desire_key = _detect_desire_key(input_shapes)
+  if not desire_key:
+    raise ValueError("Desire key missing from input shapes.")
+
+  desire_shape = input_shapes[desire_key]
+  features_buffer = input_shapes.get('features_buffer')
+
+  if use_packed:  # remove packed detection block after all models are recompiled
+    npy_arrays = {
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }
+
+    shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+    packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+
+    split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
+    split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
+    for (k, s), v in zip(shapes.items(), split_views, strict=True):
+      npy_arrays[k] = v.reshape(s)
+
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize(),
+      'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+    }
+
+    if features_buffer:
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
+
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
+  else:
+    # TODO-SP: Remove legacy queuing fallback else block after all models are recompiled
+    npy_arrays = {
+      'desire': np.zeros(desire_shape[2], dtype=np.float32),
+      'tfm': np.zeros((3, 3), dtype=np.float32),
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
+    }
+
+    for key, shape in input_shapes.items():
+      if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
+        npy_arrays[key] = np.zeros(shape, dtype=np.float32)
+
+    queues = {
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+                    dtype=np.float32), device=device).contiguous().realize()
+    }
+
+    if features_buffer:
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
+
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
+
+  return queues, npy_arrays
+
+
+def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
+                            frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)
+
+
+def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
+                                 device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
+  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
+
+
+def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
+            features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
+  frame_prepare = make_frame_prepare(nv12, *model_size)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  desire_key = _detect_desire_key(input_shapes)
+  road_key, wide_key = _detect_vision_keys(input_shapes)
+
+  if not desire_key or not road_key or not wide_key:
+    raise ValueError("Missing required vision or desire keys in input shapes.")
+
+  is_supercombo = vision_runner is None
+  npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+
+  def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs):
+    desire_q = kwargs['desire_q']
+
+    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
+    tfm_dev = tfm.to(Device.DEFAULT)
+    big_tfm_dev = big_tfm.to(Device.DEFAULT)
+
+    Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize()
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize()
+
+    if prepare_only:
+      return img, big_img
+
+    unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
+    unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
+
+    desire_dev = unpacked_dict['desire']
+    desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn).realize()
+
+    inputs = {desire_key: desire_buf}
+    for key, tensor_val in unpacked_dict.items():
+      if key not in ('desire', 'prev_feat'):
+        inputs[key] = tensor_val
+
+    if 'prev_feat' in unpacked_dict:
+      prev_feat_dev = unpacked_dict['prev_feat']
+      inputs['features_buffer'] = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).realize()
+
+    if vision_runner:
+      vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
+      if 'features_buffer' not in inputs:
+        new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
+        inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+      policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32').realize() for pol_runner in policy_runners]
+      return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])
+
+    inputs.update({road_key: img, wide_key: big_img})
+    if 'features_buffer' not in inputs:
+      inputs['features_buffer'] = sample_skip_fn(feat_q)
+
+    policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32').realize()
+    if 'features_buffer' not in inputs and features_slice is not None:
+      new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
+      shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
+    return policy_out
+
+  return runner
+
+
+def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
+  print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}
+
+  feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
+  if not feat_meta:
+    raise ValueError("Could not find vision, model, or policy metadata.")
+
+  features_slice = feat_meta['output_slices']['hidden_state']
+  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
+
+  is_supercombo = vision_runner is None
+  run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
+  run_jit = TinyJit(run_func, prune=True)
+  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)
+
+  for i in range(3):
+    rng = np.random.default_rng(42 + i)
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
+    for arr in npy_arrays.values():
+      arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
+
+    Device.default.synchronize()
+    start_time = time.perf_counter()
+    run_jit(**queues, frame=frame, big_frame=big_frame)
+    mid_time = time.perf_counter()
+    Device.default.synchronize()
+    print(f"  [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
+
+  # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
+  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
+
+
+def _parse_size(size_str: str) -> tuple[int, int]:
+  width, height = size_str.lower().split('x')
+  return int(width), int(height)
+
+
+def read_file_chunked_to_shm(path):
+  if not path:
+    return None
+  import atexit
+  import shutil
+  from openpilot.common.file_chunker import open_file_chunked
+  from openpilot.common.hardware.hw import Paths
+  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
+  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
+  with open(shm_path, 'wb') as dst, open_file_chunked(path) as src:
+    shutil.copyfileobj(src, dst)
+  return shm_path
+
+
+def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
+               vision_runner, policy_runners: list, metadata: dict) -> dict:
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  return {
+    (cam_w, cam_h): {
+      name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
+                   frame_skip, vision_runner, policy_runners, metadata)
+      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+    }
+    for cam_w, cam_h in camera_resolutions
+  }
+
+
+def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
+  runners, keys = [], []
+  for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
+    if onnx_arg:
+      runners.append(OnnxRunner(onnx_arg))
+      keys.append(name)
+  return runners, keys
+
+
+if __name__ == "__main__":
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+  from tinygrad.nn.onnx import OnnxRunner
+
+  parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
+  parser.add_argument('--model-type', choices=MODEL_TYPES, required=True)
+  parser.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  parser.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
+  parser.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
+  parser.add_argument('--output', required=True)
+
+  parser.add_argument('--vision-onnx', help='vision ONNX (for split models)')
+  parser.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
+  parser.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
+  parser.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
+  parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
+
+  args = parser.parse_args()
+  output_data = defaultdict(dict)
+
+  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
+  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
+  args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
+  args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
+  args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
+
+  vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
+
+  if args.model_type == 'vision_policy':
+    assert vision_runner and args.policy_onnx
+    policy_runners = [OnnxRunner(args.policy_onnx)]
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
+  elif args.model_type == 'supercombo':
+    assert args.supercombo_onnx
+    policy_runners = [OnnxRunner(args.supercombo_onnx)]
+    output_data['metadata'] = {'model': make_metadata_dict(args.supercombo_onnx)}
+  elif args.model_type == 'vision_multi_policy':
+    assert vision_runner
+    policy_runners, policy_names = _load_policy_runners(args)
+    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
+    for name in policy_names:
+      runner_arg = getattr(args, f"{name}_onnx")
+      output_data['metadata'][name] = make_metadata_dict(runner_arg)
+
+  policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
+  first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
+  vision_meta = output_data['metadata'].get('vision', {})
+
+  derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
+  output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
+                        vision_runner, policy_runners, output_data['metadata']))
+
+  with open(args.output, "wb") as file:
+    # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
+    pickle.dump(output_data, file)
+
+  pkl_size = os.path.getsize(args.output)
+  print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
+
+  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+  chunk_targets = get_chunk_targets(args.output, pkl_size)
+  chunk_file(args.output, chunk_targets)
+  print(f"Chunked into {len(chunk_targets) - 1} file(s)")
diff --git a/sunnypilot/modeld_v2/constants.py b/openpilot/sunnypilot/modeld_v2/constants.py
similarity index 100%
rename from sunnypilot/modeld_v2/constants.py
rename to openpilot/sunnypilot/modeld_v2/constants.py
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/openpilot/sunnypilot/modeld_v2/fill_model_msg.py
similarity index 99%
rename from sunnypilot/modeld_v2/fill_model_msg.py
rename to openpilot/sunnypilot/modeld_v2/fill_model_msg.py
index 57e968d02f..7d7854be11 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/openpilot/sunnypilot/modeld_v2/fill_model_msg.py
@@ -1,7 +1,7 @@
 import os
 import capnp
 import numpy as np
-from cereal import log
+from openpilot.cereal import log
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan
@@ -100,7 +100,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  temporal_pose = modelV2.temporalPoseDEPRECATED
+  temporal_pose = modelV2.deprecated.temporalPose
   if 'sim_pose' in net_output_data:
     temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
     temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
diff --git a/openpilot/sunnypilot/modeld_v2/get_model_metadata.py b/openpilot/sunnypilot/modeld_v2/get_model_metadata.py
new file mode 100755
index 0000000000..838b1e9f40
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/get_model_metadata.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+import sys
+import pathlib
+import codecs
+import pickle
+from typing import Any
+
+from tinygrad.nn.onnx import OnnxPBParser
+
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 7:
+          obj["graph"] = self._parse_GraphProto()
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
+def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]:
+  shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape)
+  name = value_info["name"]
+  return name, shape
+
+
+def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
+  for prop in model["metadata_props"]:
+    if prop["key"] == name:
+      return prop["value"]
+  return None
+
+
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  model = MetadataOnnxPBParser(model_path).parse()
+  output_slices = get_metadata_value_by_name(model, 'output_slices')
+  assert output_slices is not None, 'output_slices not found in metadata'
+
+  metadata = {
+    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+    'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+    'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
+  }
+
+  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
+  with open(metadata_path, 'wb') as f:
+    pickle.dump(metadata, f)
+
+  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld_v2/meta_20hz.py b/openpilot/sunnypilot/modeld_v2/meta_20hz.py
similarity index 100%
rename from sunnypilot/modeld_v2/meta_20hz.py
rename to openpilot/sunnypilot/modeld_v2/meta_20hz.py
diff --git a/sunnypilot/modeld_v2/meta_helper.py b/openpilot/sunnypilot/modeld_v2/meta_helper.py
similarity index 96%
rename from sunnypilot/modeld_v2/meta_helper.py
rename to openpilot/sunnypilot/modeld_v2/meta_helper.py
index 3fa10b2415..bcf73adc6f 100644
--- a/sunnypilot/modeld_v2/meta_helper.py
+++ b/openpilot/sunnypilot/modeld_v2/meta_helper.py
@@ -1,5 +1,5 @@
 from openpilot.sunnypilot.modeld_v2.constants import Meta
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.modeld_v2.meta_20hz import Meta20hz
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
diff --git a/sunnypilot/modeld_v2/modeld b/openpilot/sunnypilot/modeld_v2/modeld
similarity index 100%
rename from sunnypilot/modeld_v2/modeld
rename to openpilot/sunnypilot/modeld_v2/modeld
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
new file mode 100755
index 0000000000..66b560802b
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -0,0 +1,513 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import os
+os.environ['GMMU'] = '0'
+from openpilot.common.hardware import COMMA_HARDWARE
+os.environ['DEV'] = 'QCOM' if COMMA_HARDWARE else 'CPU'
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['DEV'] = 'AMD'
+  os.environ['AMD_IFACE'] = 'USB'
+import pickle
+import time
+import numpy as np
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+from setproctitle import setproctitle
+from openpilot.cereal.messaging import PubMaster, SubMaster
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
+from opendbc.car.car_helpers import get_demo_car_params
+
+from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+
+from openpilot.common.file_chunker import open_file_chunked
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import config_realtime_process, DT_MDL
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.system import sentry
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
+
+from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
+from openpilot.sunnypilot.modeld_v2.constants import Plan
+from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
+from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
+
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
+
+PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"
+
+
+def _pkl_exists(path):
+  from openpilot.common.file_chunker import get_manifest_path
+  return os.path.exists(path) or os.path.exists(get_manifest_path(path))
+
+
+def _find_driving_pkl(bundle):
+  if (override := os.environ.get('COMBINED_MODEL_PKL')) and _pkl_exists(override):
+    return override
+  if bundle is None or not bundle.models:
+    return None
+  from openpilot.common.hardware.hw import Paths
+  model_root = Paths.model_root()
+
+  pkl_name = bundle.models[0].artifact.fileName
+  pkl_path = os.path.join(model_root, pkl_name)
+  if _pkl_exists(pkl_path):
+    return pkl_path
+
+
+class FrameMeta:
+  frame_id: int = 0
+  timestamp_sof: int = 0
+  timestamp_eof: int = 0
+
+  def __init__(self, vipc=None):
+    if vipc is not None:
+      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
+
+
+class ModelState(ModelStateBase):
+  inputs: dict[str, np.ndarray]
+  prev_desire: np.ndarray
+
+  def __init__(self, cam_w: int, cam_h: int):
+    ModelStateBase.__init__(self)
+
+    env_pkl = os.environ.get('COMBINED_MODEL_PKL')
+    if env_pkl and os.path.exists(env_pkl):
+      model_bundle = None
+    else:
+      model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None
+    overrides = {override.key: override.value for override in model_bundle.overrides} if model_bundle else {}
+
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
+    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
+    self.MIN_LAT_CONTROL_SPEED = 0.3
+    self.PLANPLUS_CONTROL: float = 1.0
+
+    pkl_path = _find_driving_pkl(model_bundle)
+    assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
+    self._init_combined(pkl_path, cam_w, cam_h, model_bundle)
+
+  def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
+    cloudlog.warning(f"loading combined pkl: {pkl_path}")
+    # TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models
+    jits = pickle.load(open_file_chunked(pkl_path))
+
+    self.DEV = Device.DEFAULT
+    self.WARP_DEV = 'CPU' if USBGPU else self.DEV
+    self.QUEUE_DEV = self.DEV
+
+    metadata = jits['metadata']
+
+    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
+    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
+
+    # TODO-SP: Remove legacy use_packed detection block after all models are recompiled
+    captured = getattr(self._run_policy, 'captured', None)
+    if captured is not None:
+      use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', [])
+    else:
+      use_packed = True
+
+    if 'model' in metadata:
+      model_metadata = metadata['model']
+      self.vision_output_slices = model_metadata['output_slices']
+      self.policy_output_slices = {}
+      self._policy_slices_list = []
+      self._combined_model_type = 'supercombo'
+      self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
+      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
+      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
+      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
+                                                                          frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
+    else:
+      vision_metadata = metadata['vision']
+      policy_keys = [k for k in metadata if k != 'vision']
+      if policy_keys == ['policy']:
+        self._combined_model_type = 'split'
+      else:
+        self._combined_model_type = 'multi_policy'
+      self.vision_output_slices = vision_metadata['output_slices']
+      self._policy_keys = policy_keys
+      self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
+      self.policy_output_slices = self._policy_slices_list[0]
+      self._has_on_policy = any('on' in k.lower() for k in policy_keys)
+      first_policy_metadata = metadata[policy_keys[0]]
+      vision_input_shapes = vision_metadata['input_shapes']
+      policy_input_shapes = first_policy_metadata['input_shapes']
+      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
+      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
+                                                                     frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
+
+    self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
+    self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
+    self._wide_key = next(key for key in self._vision_input_names if 'big' in key)
+
+    is_20hz = bundle.is20hz if bundle else self._combined_model_type in ('split', 'multi_policy')
+    if is_20hz:
+      from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+      self.constants = SplitModelConstants()
+    else:
+      from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+      self.constants = ModelConstants()
+
+    if self._combined_model_type != 'supercombo':
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+      self.parser = SplitParser()
+    else:
+      from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+      self.parser = CombinedParser()
+
+    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
+    self.full_frames: dict = {}
+    self._blob_cache: dict = {}
+    nv12_info = get_nv12_info(cam_w, cam_h)
+    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
+
+    yuv_size = self.frame_buf_params[self._road_key][3]
+    self._warp_enqueue(
+      **self.input_queues,
+      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
+
+
+  @property
+  def mlsim(self) -> bool:
+    return bool(self.generation is not None and self.generation >= 11)
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    return self._vision_input_names
+
+  @property
+  def desire_key(self) -> str:
+    return self._desire_key
+
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
+                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    for key in bufs.keys():
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
+      self.full_frames[key] = self._blob_cache[cache_key]
+
+    desire_key = self.desire_key
+    inputs[desire_key][0] = 0
+    self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
+    self.prev_desire[:] = inputs[desire_key]
+    for key in ('traffic_convention', 'lateral_control_params', 'action_t'):
+      if key in self.numpy_inputs and key in inputs:
+        self.numpy_inputs[key][:] = inputs[key]
+
+    road_key = self._road_key
+    wide_key = self._wide_key
+    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
+    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
+
+    if prepare_only:
+      self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+      return None
+
+    raw_outputs = self._run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+
+    if self._combined_model_type == 'supercombo':
+      model_output = raw_outputs.numpy().flatten()
+      sliced = {k: model_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
+      outputs = self.parser.parse_outputs(sliced)
+      if 'prev_feat' in self.numpy_inputs:
+        self.numpy_inputs['prev_feat'][:] = model_output[self.vision_output_slices['hidden_state']]
+    else:
+      vision_output = raw_outputs[0].numpy().flatten()
+      vision_sliced = {k: vision_output[np.newaxis, v] for k, v in self.vision_output_slices.items()}
+      outputs = self.parser.parse_vision_outputs(vision_sliced)
+
+      if 'prev_feat' in self.numpy_inputs and 'hidden_state' in self.vision_output_slices:
+        self.numpy_inputs['prev_feat'][:] = vision_output[self.vision_output_slices['hidden_state']]
+
+      for i, policy_slices in enumerate(self._policy_slices_list):
+        policy_output = raw_outputs[i + 1].numpy().flatten()
+        policy_sliced = {k: policy_output[np.newaxis, v] for k, v in policy_slices.items()}
+        parsed = self.parser.parse_policy_outputs(policy_sliced)
+        if ('off' in self._policy_keys[i]
+          and self._has_on_policy
+          and any('plan' in self._policy_slices_list[j] for j, k in enumerate(self._policy_keys) if 'on' in k.lower())):
+
+          parsed.pop('plan', None)
+
+        outputs.update(parsed)
+
+      if 'planplus' in outputs and 'plan' in outputs:
+        outputs['plan'] = outputs['plan'] + outputs['planplus']
+
+    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.numpy_inputs:
+      buf = self.numpy_inputs['prev_desired_curv']
+      buf[0, :-1] = buf[0, 1:]
+      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
+
+    # TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile
+    if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues:
+      feat_val = self.input_queues['feat_q'].numpy()
+      self.input_queues['feat_q'].assign(feat_val).realize()
+
+    return outputs
+
+  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+    if 'action' not in model_output:
+      plan = model_output['plan'][0]
+      desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
+                                                       action_t=long_action_t)
+
+      curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
+                        if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
+      desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
+    else:
+      desired_accel = model_output['action'][0, 1]
+      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
+      should_stop = (v_ego < 0.3 and desired_accel < 0.1)
+
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
+
+    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
+      if v_ego > self.MIN_LAT_CONTROL_SPEED:
+        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
+      else:
+        desired_curvature = prev_action.desiredCurvature
+
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
+
+
+def main(demo=False):
+  cloudlog.warning("modeld init")
+
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
+  config_realtime_process(7, 54)
+
+  # visionipc clients
+  while True:
+    available_streams = VisionIpcClient.available_streams("camerad", block=False)
+    if available_streams:
+      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_NARROW_ROAD in available_streams
+      main_wide_camera = VisionStreamType.VISION_STREAM_NARROW_ROAD not in available_streams
+      break
+    time.sleep(.1)
+
+  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_NARROW_ROAD
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
+  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
+
+  while not vipc_client_main.connect(False):
+    time.sleep(0.1)
+  while use_extra_client and not vipc_client_extra.connect(False):
+    time.sleep(0.1)
+
+  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
+  if use_extra_client:
+    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
+
+  cloudlog.warning("loading model")
+  model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height)
+  cloudlog.warning("models loaded, modeld starting")
+
+  # messaging
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
+  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
+
+  publish_state = PublishState()
+  params = Params()
+
+  # setup filter to track dropped frames
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
+  frame_id = 0
+  last_vipc_frame_id = 0
+  run_count = 0
+
+  model_transform_main = np.zeros((3, 3), dtype=np.float32)
+  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
+  live_calib_seen = False
+  buf_main, buf_extra = None, None
+  meta_main = FrameMeta()
+  meta_extra = FrameMeta()
+  camera_offset_helper = CameraOffsetHelper()
+
+
+  if demo:
+    CP = get_demo_car_params()
+  else:
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)
+
+  # TODO Move smooth seconds to action function
+  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
+
+  DH = DesireHelper()
+  meta_constants = load_meta_constants()
+  RELC = RoadEdgeLaneChangeController()
+
+  while True:
+    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
+    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+      buf_main = vipc_client_main.recv()
+      meta_main = FrameMeta(vipc_client_main)
+      if buf_main is None:
+        break
+
+    if buf_main is None:
+      cloudlog.debug("vipc_client_main no frame")
+      continue
+
+    if use_extra_client:
+      # Keep receiving extra frames until frame id matches main camera
+      while True:
+        buf_extra = vipc_client_extra.recv()
+        meta_extra = FrameMeta(vipc_client_extra)
+        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+          break
+
+      if buf_extra is None:
+        cloudlog.debug("vipc_client_extra no frame")
+        continue
+
+      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
+        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
+                       extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
+
+    else:
+      # Use single camera
+      buf_extra = buf_main
+      meta_extra = meta_main
+
+    sm.update(0)
+    desire = DH.desire
+    is_rhd = sm["driverMonitoringState"].isRHD
+    frame_id = sm["narrowRoadCameraState"].frameId
+    v_ego = max(sm["carState"].vEgo, 0.)
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
+      model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
+      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
+    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
+    if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
+      device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
+      main_intrinsics = dc.wide_road.intrinsics if main_wide_camera else dc.narrow_road.intrinsics
+      model_transform_main = get_warp_matrix(device_from_calib_euler, main_intrinsics, False).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.wide_road.intrinsics, True).astype(np.float32)
+      model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
+      live_calib_seen = True
+
+    traffic_convention = np.zeros(2)
+    traffic_convention[int(is_rhd)] = 1
+
+    vec_desire = np.zeros(model.constants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < model.constants.DESIRE_LEN:
+      vec_desire[desire] = 1
+
+    # tracked dropped frames
+    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
+    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
+    if run_count < 10: # let frame drops warm up
+      frame_dropped_filter.x = 0.
+      frames_dropped = 0.
+    run_count = run_count + 1
+
+    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
+    prepare_only = vipc_dropped_frames > 0
+    if prepare_only:
+      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
+
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
+
+    frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+    action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+    lat_action_t = lat_delay + frame_delay + action_delay
+    long_action_t = long_delay + frame_delay + action_delay
+
+    inputs:dict[str, np.ndarray] = {
+      model.desire_key: vec_desire,
+      'traffic_convention': traffic_convention,
+    }
+
+    if 'lateral_control_params' in model.numpy_inputs:
+      inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
+
+    if 'action_t' in model.numpy_inputs:
+      inputs['action_t'] = np.array([lat_action_t, long_action_t], dtype=np.float32)
+
+    mt1 = time.perf_counter()
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
+    mt2 = time.perf_counter()
+    model_execution_time = mt2 - mt1
+
+    if model_output is not None:
+      modelv2_send = messaging.new_message('modelV2')
+      drivingdata_send = messaging.new_message('drivingModelData')
+      posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
+
+      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
+      prev_action = action
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
+                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants)
+
+      desire_state = modelv2_send.modelV2.meta.desireState
+      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
+      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
+      lane_change_prob = l_lane_change_prob + r_lane_change_prob
+      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
+      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
+      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
+      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
+      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
+
+      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
+      pm.send('modelV2', modelv2_send)
+      pm.send('drivingModelData', drivingdata_send)
+      pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
+    last_vipc_frame_id = meta_main.frame_id
+
+
+if __name__ == "__main__":
+  try:
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
+    args = parser.parse_args()
+    main(demo=args.demo)
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
diff --git a/sunnypilot/modeld/modeld_base.py b/openpilot/sunnypilot/modeld_v2/modeld_base.py
similarity index 100%
rename from sunnypilot/modeld/modeld_base.py
rename to openpilot/sunnypilot/modeld_v2/modeld_base.py
diff --git a/sunnypilot/modeld_v2/parse_model_outputs.py b/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
similarity index 55%
rename from sunnypilot/modeld_v2/parse_model_outputs.py
rename to openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
index c71a146454..7a3adcc1fa 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs.py
+++ b/openpilot/sunnypilot/modeld_v2/parse_model_outputs.py
@@ -1,13 +1,16 @@
 import numpy as np
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 
+
 def safe_exp(x, out=None):
   # -11 is around 10**14, more causes float16 overflow
   return np.exp(np.clip(x, -np.inf, 11), out=out)
 
+
 def sigmoid(x):
   return 1. / (1. + safe_exp(-x))
 
+
 def softmax(x, axis=-1):
   x -= np.max(x, axis=axis, keepdims=True)
   if x.dtype == np.float32 or x.dtype == np.float64:
@@ -17,6 +20,19 @@ def softmax(x, axis=-1):
   x /= np.sum(x, axis=axis, keepdims=True)
   return x
 
+
+def _infer_mhp(slice_size: int, prod_out_shape: int, max_in_n: int = 16, max_out_n: int = 6) -> tuple[int, int]:
+  for out_n in range(max_out_n + 1):
+    per = 2 * prod_out_shape + out_n
+    if per <= 0:
+      continue
+    if slice_size % per == 0:
+      in_n = slice_size // per
+      if 1 <= in_n <= max_in_n:
+        return in_n, out_n
+  return 1, 0  # single hypothesis, no weights — matches a non-MDN output
+
+
 class Parser:
   def __init__(self, ignore_missing=False):
     self.ignore_missing = ignore_missing
@@ -40,17 +56,22 @@ class Parser:
     raw = outs[name]
     outs[name] = sigmoid(raw)
 
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+  def parse_mdn(self, name, outs, out_shape, in_N=0, out_N=0):
     if self.check_missing(outs, name):
       return
     raw = outs[name]
-    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    if in_N == 0 and out_N == 0:
+      prod = int(np.prod(out_shape))
+      in_N, out_N = _infer_mhp(raw.shape[1], prod)
+
+    raw = raw.reshape((raw.shape[0], in_N, -1))
 
     n_values = (raw.shape[2] - out_N)//2
     pred_mu = raw[:,:,:n_values]
     pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
 
-    if in_N > 1:
+    if in_N > 1 and out_N > 0:
       weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
       for i in range(out_N):
         weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
@@ -73,35 +94,43 @@ class Parser:
           idxs = np.argsort(weights[fidx,:,hidx])[::-1]
           pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
           pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    elif in_N > 1 and out_N == 0:
+      # MHP without weights: keep every hypothesis intact, surface them as
+      # ``*_hypotheses`` and propagate the full multi-hypothesis tensor.
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
     else:
       pred_mu_final = pred_mu
       pred_std_final = pred_std
 
-    if out_N > 1:
-      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    if out_N > 1 or (in_N > 1 and out_N == 0):
+      n_selections = out_N if out_N > 1 else in_N
+      final_shape = tuple([raw.shape[0], n_selections] + list(out_shape))
     else:
       final_shape = tuple([raw.shape[0],] + list(out_shape))
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    # supercombo (4955 / 102) and newer variants (e.g. 990 / 144).
+    self.parse_mdn('plan',   outs, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_mdn('lane_lines', outs, out_shape=(ModelConstants.NUM_LANE_LINES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, out_shape=(ModelConstants.NUM_ROAD_EDGES, ModelConstants.IDX_N, ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('pose',         outs, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('road_transform', outs, out_shape=(ModelConstants.POSE_WIDTH,))
     if 'sim_pose' in outs:
-      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+      self.parse_mdn('sim_pose', outs, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('lead', outs, out_shape=(ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+      self.parse_mdn('lat_planner_solution', outs, out_shape=(ModelConstants.IDX_N, ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+      self.parse_mdn('desired_curvature', outs, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_categorical_crossentropy('desire_pred',  outs, out_shape=(ModelConstants.DESIRE_PRED_LEN, ModelConstants.DESIRE_PRED_WIDTH))
     return outs
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py
similarity index 90%
rename from sunnypilot/modeld_v2/parse_model_outputs_split.py
rename to openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py
index a099facd15..3db47aee42 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/openpilot/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -65,6 +65,7 @@ class Parser:
           weights[fidx] = weights[fidx][idxs]
           pred_mu[fidx] = pred_mu[fidx][idxs]
           pred_std[fidx] = pred_std[fidx][idxs]
+      assert out_shape is not None
       full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
       outs[name + '_weights'] = weights
       outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
@@ -82,8 +83,10 @@ class Parser:
       pred_std_final = pred_std
 
     if out_N > 1:
+      assert out_shape is not None
       final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
     else:
+      assert out_shape is not None
       final_shape = tuple([raw.shape[0],] + list(out_shape))
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
@@ -108,8 +111,8 @@ class Parser:
       plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
       self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
                      out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
-      if 'planplus' in outs:
-        self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+    if 'planplus' in outs:
+      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
 
   def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'desired_curvature' in outs:
@@ -120,7 +123,7 @@ class Parser:
       self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
     if 'lane_lines' in outs:
       self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
-                    out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
     if 'lane_lines_prob' in outs:
       self.parse_binary_crossentropy('lane_lines_prob', outs)
     if 'lead_prob' in outs:
@@ -131,9 +134,11 @@ class Parser:
       self.parse_binary_crossentropy('meta', outs)
     if 'road_edges' in outs:
       self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
-                    out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
     if 'sim_pose' in outs:
       self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    if 'action' in outs:
+      self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.ACTION_WIDTH,))
 
   def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
diff --git a/sunnypilot/modeld/models/__init__.py b/openpilot/sunnypilot/modeld_v2/tests/__init__.py
similarity index 100%
rename from sunnypilot/modeld/models/__init__.py
rename to openpilot/sunnypilot/modeld_v2/tests/__init__.py
diff --git a/openpilot/sunnypilot/modeld_v2/tests/helpers.py b/openpilot/sunnypilot/modeld_v2/tests/helpers.py
new file mode 100644
index 0000000000..6925a61f08
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/tests/helpers.py
@@ -0,0 +1,208 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pathlib
+import pickle
+import tempfile
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+
+
+class DummyOverride:
+  def __init__(self, key, value):
+    self.key = key
+    self.value = value
+
+
+class DummyArtifact:
+  def __init__(self, file_name):
+    self.fileName = file_name
+
+
+class DummyModelType:
+  def __init__(self, raw):
+    self.raw = raw
+
+
+class DummyModel:
+  def __init__(self, type_str, artifact_file):
+    self.type = DummyModelType(type_str)
+    self.artifact = DummyArtifact(artifact_file)
+
+
+class DummyBundle:
+  def __init__(self, is_20hz=False, models=None, generation=10):
+    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
+    self.generation = generation
+    self.is20hz = is_20hz
+    self.models = models or []
+
+
+class Archetype:
+  def __init__(self, name, metadata_structure, model_stubs, is_20hz,
+               expected_model_type, expected_constants_class, expected_parser_module,
+               expected_desire_key):
+    self.name = name
+    self.metadata_structure = metadata_structure
+    self.model_stubs = model_stubs
+    self.is_20hz = is_20hz
+    self.expected_model_type = expected_model_type
+    self.expected_constants_class = expected_constants_class
+    self.expected_parser_module = expected_parser_module
+    self.expected_desire_key = expected_desire_key
+
+
+def _noop_jit(**kwargs):
+  pass
+
+
+def _make_vision_policy_metadata(vision_input_shapes, policy_input_shapes,
+                                 vision_output_slices, policy_output_slices):
+  return {
+    'vision': {'input_shapes': vision_input_shapes, 'output_slices': vision_output_slices},
+    'policy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+  }
+
+
+def _make_multi_policy_metadata(vision_input_shapes, policy_input_shapes,
+                                vision_output_slices, policy_output_slices):
+  return {
+    'vision': {'input_shapes': vision_input_shapes, 'output_slices': vision_output_slices},
+    'offPolicy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+  }
+
+
+def _make_tri_policy_metadata(vision_input_shapes, policy_input_shapes,
+                              vision_output_slices, policy_output_slices):
+  return {
+    'vision': {'input_shapes': vision_input_shapes, 'output_slices': vision_output_slices},
+    'onPolicy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+    'offPolicy': {'input_shapes': policy_input_shapes, 'output_slices': policy_output_slices},
+  }
+
+
+def _make_supercombo_metadata(input_shapes, output_slices):
+  return {'model': {'input_shapes': input_shapes, 'output_slices': output_slices}}
+
+
+SPLIT_VISION_INPUT_SHAPES = {'img': (1, 12, 128, 256), 'big_img': (1, 12, 128, 256)}
+SPLIT_POLICY_INPUT_SHAPES = {'features_buffer': (1, 25, 512), 'desire_pulse': (1, 25, 8), 'traffic_convention': (1, 2)}
+SPLIT_VISION_SLICES = {'hidden_state': slice(0, 512), 'pose': slice(512, 524)}
+SPLIT_POLICY_SLICES = {'plan': slice(0, 495), 'meta': slice(495, 550)}
+
+SUPERCOMBO_INPUT_SHAPES = {
+  'img': (1, 12, 128, 256), 'big_img': (1, 12, 128, 256),
+  'desire': (1, 100, 8), 'features_buffer': (1, 99, 512),
+  'lateral_control_params': (1, 2), 'prev_desired_curv': (1, 100, 1),
+  'traffic_convention': (1, 2),
+}
+SUPERCOMBO_SLICES = {'plan': slice(0, 495), 'hidden_state': slice(495, 1007), 'meta': slice(1007, 1062)}
+
+CAM_W, CAM_H = 1928, 1208
+
+ARCHETYPES = {
+  'vision_policy_split': Archetype(
+    name='vision_policy_split',
+    metadata_structure=_make_vision_policy_metadata(
+      SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES,
+      SPLIT_VISION_SLICES, SPLIT_POLICY_SLICES),
+    model_stubs=[DummyModel('vision', 'driving_test_tinygrad.pkl'),
+                 DummyModel('policy', 'driving_test_tinygrad.pkl')],
+    is_20hz=True,
+    expected_model_type='split',
+    expected_constants_class=SplitModelConstants,
+    expected_parser_module='parse_model_outputs_split',
+    expected_desire_key='desire',
+  ),
+  'vision_multi_policy': Archetype(
+    name='vision_multi_policy',
+    metadata_structure=_make_multi_policy_metadata(
+      SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES,
+      SPLIT_VISION_SLICES, SPLIT_POLICY_SLICES),
+    model_stubs=[DummyModel('vision', 'driving_test_tinygrad.pkl'),
+                 DummyModel('offPolicy', 'driving_test_tinygrad.pkl')],
+    is_20hz=True,
+    expected_model_type='multi_policy',
+    expected_constants_class=SplitModelConstants,
+    expected_parser_module='parse_model_outputs_split',
+    expected_desire_key='desire',
+  ),
+  'tri_policy': Archetype(
+    name='tri_policy',
+    metadata_structure=_make_tri_policy_metadata(
+      SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES,
+      SPLIT_VISION_SLICES, SPLIT_POLICY_SLICES),
+    model_stubs=[DummyModel('vision', 'driving_test_tinygrad.pkl'),
+                 DummyModel('onPolicy', 'driving_test_tinygrad.pkl'),
+                 DummyModel('offPolicy', 'driving_test_tinygrad.pkl')],
+    is_20hz=True,
+    expected_model_type='multi_policy',
+    expected_constants_class=SplitModelConstants,
+    expected_parser_module='parse_model_outputs_split',
+    expected_desire_key='desire',
+  ),
+  'supercombo_non20hz': Archetype(
+    name='supercombo_non20hz',
+    metadata_structure=_make_supercombo_metadata(SUPERCOMBO_INPUT_SHAPES, SUPERCOMBO_SLICES),
+    model_stubs=[DummyModel('supercombo', 'driving_test_tinygrad.pkl')],
+    is_20hz=False,
+    expected_model_type='supercombo',
+    expected_constants_class=ModelConstants,
+    expected_parser_module='parse_model_outputs',
+    expected_desire_key='desire',
+  ),
+}
+
+
+def make_pkl_data(archetype):
+  return {
+    'metadata': archetype.metadata_structure,
+    (CAM_W, CAM_H): {'run_policy': _noop_jit, 'warp_enqueue': _noop_jit},
+  }
+
+
+def write_pkl(tmp_path, archetype):
+  pkl_path = tmp_path / 'driving_test_tinygrad.pkl'
+  with open(pkl_path, 'wb') as f:
+    pickle.dump(make_pkl_data(archetype), f)
+  return pkl_path
+
+
+def make_bundle(archetype):
+  return DummyBundle(
+    models=archetype.model_stubs,
+    is_20hz=archetype.is_20hz,
+  )
+
+
+def tmp_path():
+  with tempfile.TemporaryDirectory() as d:
+    yield pathlib.Path(d)
+
+
+def patch_modeld(monkeypatch):
+  def _patch(bundle):
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle)
+
+  return _patch
+
+
+def model_state_factory(tmp_path, monkeypatch, patch_modeld):
+  from openpilot.common.hardware import hw
+
+  def _create(archetype):
+    write_pkl(tmp_path, archetype)
+    bundle = make_bundle(archetype)
+    patch_modeld(bundle)
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+    return modeld_module.ModelState(cam_w=CAM_W, cam_h=CAM_H)
+
+  return _create
diff --git a/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py b/openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
similarity index 82%
rename from sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
rename to openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
index f25bcd0a35..5398ac0ff1 100644
--- a/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
@@ -9,6 +9,7 @@ import numpy as np
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
+from openpilot.common.test import OpenpilotTestCase
 
 
 class MockStruct:
@@ -20,7 +21,7 @@ class MockStruct:
     return getattr(self, item)
 
 
-class TestCameraOffset:
+class TestCameraOffset(OpenpilotTestCase):
   def setup_method(self):
     self.camera_offset = CameraOffsetHelper()
     self.dc = DEVICE_CAMERAS[('mici', 'os04c10')]
@@ -30,12 +31,12 @@ class TestCameraOffset:
 
     sm = MockStruct(
       deviceState=MockStruct(deviceType='mici'),
-      roadCameraState=MockStruct(sensor='os04c10'),
-      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
+      narrowRoadCameraState=MockStruct(sensor='os04c10'),
+      extrinsicsCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
     )
 
-    intrinsics_main = self.dc.fcam.intrinsics
-    intrinsics_extra = self.dc.ecam.intrinsics
+    intrinsics_main = self.dc.narrow_road.intrinsics
+    intrinsics_extra = self.dc.wide_road.intrinsics
     device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
     main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
     extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
@@ -46,7 +47,7 @@ class TestCameraOffset:
     np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038)
 
   def test_camera_offset_(self):
-    intrinsics = self.dc.fcam.intrinsics
+    intrinsics = self.dc.narrow_road.intrinsics
     transform = np.eye(3, dtype=np.float32)
     height = 1.22
     offset = 0.1
@@ -62,11 +63,11 @@ class TestCameraOffset:
   def test_update(self):
     sm = MockStruct(
       deviceState=MockStruct(deviceType='mici'),
-      roadCameraState=MockStruct(sensor='os04c10'),
-      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
+      narrowRoadCameraState=MockStruct(sensor='os04c10'),
+      extrinsicsCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
     )
-    intrinsics_main = self.dc.fcam.intrinsics
-    intrinsics_extra = self.dc.ecam.intrinsics
+    intrinsics_main = self.dc.narrow_road.intrinsics
+    intrinsics_extra = self.dc.wide_road.intrinsics
     device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
     main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
     extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py b/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
new file mode 100644
index 0000000000..3396649a1d
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
@@ -0,0 +1,257 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.common.parameterized import parameterized
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+from openpilot.sunnypilot.modeld_v2.modeld import _find_driving_pkl
+from openpilot.sunnypilot.modeld_v2.tests import helpers as tests_helpers
+from openpilot.sunnypilot.modeld_v2.tests.helpers import DummyModel, DummyBundle, ARCHETYPES, CAM_W, CAM_H, \
+  SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES
+from openpilot.common.test import OpenpilotTestCase
+
+# resolved by name from this module when a test asks for them
+tmp_path = tests_helpers.tmp_path
+patch_modeld = tests_helpers.patch_modeld
+model_state_factory = tests_helpers.model_state_factory
+
+ModelState = modeld_module.ModelState
+
+
+# Pkl discovery
+
+class TestFindDrivingPkl(OpenpilotTestCase):
+  def test_returns_none_when_no_bundle(self):
+    assert _find_driving_pkl(None) is None
+
+  def test_returns_none_when_no_models(self):
+    bundle = DummyBundle(models=[])
+    assert _find_driving_pkl(bundle) is None
+
+  def test_returns_none_when_pkl_not_on_disk(self):
+    bundle = DummyBundle(models=[
+      DummyModel('vision', 'driving_fof_tinygrad.pkl'),
+      DummyModel('policy', 'driving_fof_tinygrad.pkl'),
+    ])
+    assert _find_driving_pkl(bundle) is None
+
+  def test_finds_pkl_by_artifact_name(self, tmp_path, monkeypatch):
+    (tmp_path / 'driving_fof_tinygrad.pkl').write_bytes(b'fake')
+    from openpilot.common.hardware import hw
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    bundle = DummyBundle(models=[
+      DummyModel('vision', 'driving_fof_tinygrad.pkl'),
+      DummyModel('policy', 'driving_fof_tinygrad.pkl'),
+    ])
+    result = _find_driving_pkl(bundle)
+    assert result is not None
+    assert 'driving_fof_tinygrad.pkl' in result
+
+
+# Init — assertion guard
+
+class TestModelStateCombinedInit(OpenpilotTestCase):
+  def test_asserts_when_no_pkl(self, monkeypatch):
+    bundle = DummyBundle(models=[], is_20hz=True)
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle)
+    with self.assertRaisesRegex(AssertionError, "No driving pkl found"):
+      ModelState(cam_w=CAM_W, cam_h=CAM_H)
+
+
+class TestStockEquivalence(OpenpilotTestCase):
+
+  def test_split_queue_keys_match_stock(self, model_state_factory):
+    from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
+    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip
+
+    state = model_state_factory(ARCHETYPES['vision_policy_split'])
+
+    frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES)
+    stock_shapes = {**SPLIT_VISION_INPUT_SHAPES, **SPLIT_POLICY_INPUT_SHAPES, 'action_t': (1, 2)}
+    stock_queues, stock_npy = make_input_queues(stock_shapes, frame_skip, device='NPY')
+
+    assert set(state.input_queues.keys()) == set(stock_queues.keys())
+    assert {'desire', 'traffic_convention'} <= set(state.numpy_inputs.keys())
+    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - {'action_t', 'prev_feat'}
+
+  def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
+    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
+
+    policy_shapes_desire = {'features_buffer': (1, 25, 512), 'desire': (1, 25, 8), 'traffic_convention': (1, 2)}
+    frame_skip = derive_frame_skip(SPLIT_VISION_INPUT_SHAPES, policy_shapes_desire)
+    queues, npy = make_split_input_queues(SPLIT_VISION_INPUT_SHAPES, policy_shapes_desire, frame_skip, device='NPY')
+
+    assert 'desire_q' in queues
+    assert 'desire' in npy
+    assert 'img_q' in queues
+    assert 'feat_q' in queues
+
+  def test_split_vision_input_names_match_stock(self, model_state_factory):
+    state = model_state_factory(ARCHETYPES['vision_policy_split'])
+    assert state.vision_input_names == ['img', 'big_img']
+
+  def test_split_output_slices_preserved(self, model_state_factory):
+    arch = ARCHETYPES['vision_policy_split']
+    state = model_state_factory(arch)
+    assert state.vision_output_slices == arch.metadata_structure['vision']['output_slices']
+    assert state.policy_output_slices == arch.metadata_structure['policy']['output_slices']
+
+
+ARCHETYPE_NAMES = list(ARCHETYPES.keys())
+
+
+class TestModelTypeDetection(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_combined_model_type(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state._combined_model_type == arch.expected_model_type, \
+      f"{arch.name}: got {state._combined_model_type}, expected {arch.expected_model_type}"
+
+
+class TestConstantsSelection(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_constants_class(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert type(state.constants) is arch.expected_constants_class, \
+      f"{arch.name}: got {type(state.constants).__name__}, expected {arch.expected_constants_class.__name__}"
+
+
+class TestParserSelection(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_parser_module(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    parser_module = type(state.parser).__module__
+    assert parser_module.endswith(arch.expected_parser_module), \
+      f"{arch.name}: parser from {parser_module}, expected module ending with {arch.expected_parser_module}"
+
+
+class TestDesireKeyDetection(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_desire_key(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state.desire_key == arch.expected_desire_key, \
+      f"{arch.name}: got {state.desire_key}, expected {arch.expected_desire_key}"
+
+
+class TestVisionInputNames(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_vision_names_contain_img(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert len(state.vision_input_names) >= 1
+    for name in state.vision_input_names:
+      assert 'img' in name, f"{arch.name}: vision input name '{name}' missing 'img'"
+
+
+class TestOutputSlices(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_vision_slices_populated(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert len(state.vision_output_slices) > 0, f"{arch.name}: vision_output_slices empty"
+
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_policy_slices_match_type(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    if arch.expected_model_type == 'supercombo':
+      assert state.policy_output_slices == {}, f"{arch.name}: supercombo should have empty policy slices"
+    else:
+      assert len(state.policy_output_slices) > 0, f"{arch.name}: split/multi should have policy slices"
+
+
+class TestInputQueueCreation(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_queues_not_empty(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert len(state.input_queues) > 0, f"{arch.name}: input_queues empty"
+
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_npy_contains_transforms(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert 'tfm' in state.numpy_inputs, f"{arch.name}: 'tfm' missing from npy"
+    assert 'big_tfm' in state.numpy_inputs, f"{arch.name}: 'big_tfm' missing from npy"
+    assert state.numpy_inputs['tfm'].shape == (3, 3)
+    assert state.numpy_inputs['big_tfm'].shape == (3, 3)
+
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_npy_contains_desire(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert arch.expected_desire_key in state.numpy_inputs, \
+      f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
+
+
+class TestFrameBufferParams(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_frame_buf_params_per_vision_input(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    for name in state.vision_input_names:
+      assert name in state.frame_buf_params, f"{arch.name}: frame_buf_params missing '{name}'"
+      nv12_info = state.frame_buf_params[name]
+      assert len(nv12_info) >= 4, f"{arch.name}: nv12_info for '{name}' too short"
+
+
+class TestBundleOverrides(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_smoothing_params_from_overrides(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state.LAT_SMOOTH_SECONDS == 0.1
+    assert state.LONG_SMOOTH_SECONDS == 0.3
+
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
+  def test_generation_from_bundle(self, archetype_name, model_state_factory):
+    arch = ARCHETYPES[archetype_name]
+    state = model_state_factory(arch)
+    assert state.generation == 10
+
+
+class TestMlsimProperty(OpenpilotTestCase):
+  def test_mlsim_false_for_gen10(self, model_state_factory):
+    state = model_state_factory(ARCHETYPES['supercombo_non20hz'])
+    assert state.mlsim is False
+
+  def test_mlsim_true_for_gen11(self, tmp_path, monkeypatch, patch_modeld):
+    from openpilot.common.hardware import hw
+    from openpilot.sunnypilot.modeld_v2.tests.helpers import write_pkl, ARCHETYPES as A
+
+    arch = A['supercombo_non20hz']
+    write_pkl(tmp_path, arch)
+    bundle = DummyBundle(models=arch.model_stubs, is_20hz=arch.is_20hz, generation=11)
+    patch_modeld(bundle)
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    state = ModelState(cam_w=CAM_W, cam_h=CAM_H)
+    assert state.mlsim is True
+
+
+class TestCrossArchetypeMismatch(OpenpilotTestCase):
+  def test_wrong_is_20hz_changes_constants(self, tmp_path, monkeypatch, patch_modeld):
+    from openpilot.common.hardware import hw
+    from openpilot.sunnypilot.modeld_v2.tests.helpers import write_pkl
+    from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+    arch = ARCHETYPES['vision_policy_split']
+    write_pkl(tmp_path, arch)
+    bundle = DummyBundle(models=arch.model_stubs, is_20hz=False)
+    patch_modeld(bundle)
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    state = ModelState(cam_w=CAM_W, cam_h=CAM_H)
+    assert type(state.constants) is ModelConstants, \
+      "Wrong is_20hz should produce wrong constants class"
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py b/openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py
new file mode 100644
index 0000000000..885696b853
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py
@@ -0,0 +1,162 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import numpy as np
+from openpilot.common.parameterized import parameterized
+
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key
+from openpilot.common.test import OpenpilotTestCase
+
+
+class TestDeriveFrameSkip(OpenpilotTestCase):
+  def test_non20hz_supercombo(self):
+    vision = {}
+    policy = {'features_buffer': (1, 99, 512), 'desire': (1, 100, 8)}
+    assert derive_frame_skip(vision, policy) == 1
+
+  def test_20hz_supercombo(self):
+    vision = {}
+    policy = {'features_buffer': (1, 24, 512), 'desire': (1, 25, 8)}
+    assert derive_frame_skip(vision, policy) == 4
+
+  def test_split_vision_policy(self):
+    vision = {'img': (1, 12, 128, 256)}
+    policy = {'features_buffer': (1, 25, 512), 'desire_pulse': (1, 25, 8)}
+    assert derive_frame_skip(vision, policy) == 4
+
+  def test_no_features_buffer(self):
+    assert derive_frame_skip({}, {}) == 1
+
+
+class TestFrameSkipBufferLengthEquivalence(OpenpilotTestCase):
+  @parameterized.expand([
+    (1, 2),
+    (4, 5),
+  ], names=["frame_skip", "expected_buffer_length"])
+  def test_img_buffer_size_matches_warp_buffer_length(self, frame_skip, expected_buffer_length):
+    n_frames = 2
+    img_buf_dim0 = frame_skip * (n_frames - 1) + 1
+    assert img_buf_dim0 == expected_buffer_length, \
+      f"frame_skip={frame_skip}: img_buf[0]={img_buf_dim0}, expected {expected_buffer_length}"
+
+  @parameterized.expand([
+    (False, 1, 2),
+    (True, 4, 5),
+  ], names=["is_20hz", "expected_frame_skip", "expected_buffer_length"])
+  def test_is_20hz_to_frame_skip_to_buffer_length(self, is_20hz, expected_frame_skip, expected_buffer_length):
+    if is_20hz:
+      policy_shapes = {'features_buffer': (1, 24, 512)}
+    else:
+      policy_shapes = {'features_buffer': (1, 99, 512)}
+    frame_skip = derive_frame_skip({}, policy_shapes)
+    assert frame_skip == expected_frame_skip
+
+    n_frames = 2
+    img_buf_dim0 = frame_skip * (n_frames - 1) + 1
+    assert img_buf_dim0 == expected_buffer_length
+
+
+class TestTemporalSamplingEquivalence(OpenpilotTestCase):
+  def test_non20hz_desire_sampling_identity(self):
+    buf = np.random.default_rng(0).standard_normal((100, 1, 8)).astype(np.float32)
+    frame_skip = 1
+    sampled = buf[::frame_skip].reshape(-1, 8)
+    assert sampled.shape == (100, 8)
+    np.testing.assert_array_equal(sampled, buf[:, 0, :])
+
+  def test_20hz_desire_sampling_max(self):
+    buf = np.zeros((100, 1, 8), dtype=np.float32)
+    buf[99, 0, 3] = 1.0
+    frame_skip = 4
+    reshaped = buf.reshape(-1, frame_skip, 1, 8).max(axis=1)
+    sampled = reshaped.reshape(-1, 8)
+    assert sampled.shape == (25, 8)
+    assert sampled[24, 3] == 1.0
+    assert sampled[23, 3] == 0.0
+
+  def test_split_features_buffer_sampling_skip(self):
+    buf = np.arange(100 * 512, dtype=np.float32).reshape(100, 1, 512)
+    frame_skip = 4
+    sampled = buf[::frame_skip].reshape(-1, 512)
+    assert sampled.shape == (25, 512)
+    np.testing.assert_array_equal(sampled[0], buf[0, 0])
+    np.testing.assert_array_equal(sampled[1], buf[4, 0])
+    np.testing.assert_array_equal(sampled[24], buf[96, 0])
+
+  def test_non20hz_features_buffer_sampling_identity(self):
+    buf = np.arange(99 * 512, dtype=np.float32).reshape(99, 1, 512)
+    frame_skip = 1
+    sampled = buf[::frame_skip].reshape(-1, 512)
+    assert sampled.shape == (99, 512)
+    np.testing.assert_array_equal(sampled, buf[:, 0, :])
+
+
+class TestTemporalIdxEquivalence(OpenpilotTestCase):
+  @parameterized.expand([
+    ('non20hz', (1, 100, 8), (1, 99, 512), 1),
+    ('20hz', (1, 25, 8), (1, 24, 512), 4),
+    ('split', (1, 25, 8), (1, 25, 512), 4),
+  ], names=["mode", "desire_shape", "fb_shape", "frame_skip"])
+  def test_features_buffer_idx_equivalence(self, mode, desire_shape, fb_shape, frame_skip):
+    history = fb_shape[1]
+
+    if mode == 'non20hz':
+      modelstate_idxs = np.arange(history)
+      buf_len = history
+    elif mode == '20hz':
+      buf_len = (history + 1) * 4
+      step = int(-buf_len / history)
+      modelstate_idxs = np.arange(step, step * (history + 1), step)[::-1]
+    elif mode == 'split':
+      buf_len = history * 4
+      skip = buf_len // history
+      modelstate_idxs = np.arange(buf_len)[-1 - (skip * (history - 1))::skip]
+
+    assert len(modelstate_idxs) == fb_shape[1], \
+      f"{mode}: ModelState idx count {len(modelstate_idxs)} != input shape {fb_shape[1]}"
+
+  @parameterized.expand([
+    ('non20hz', (1, 100, 8), (1, 99, 512), 1),
+    ('20hz', (1, 25, 8), (1, 24, 512), 4),
+    ('split', (1, 25, 8), (1, 25, 512), 4),
+  ], names=["mode", "desire_shape", "fb_shape", "frame_skip"])
+  def test_desire_idx_equivalence(self, mode, desire_shape, fb_shape, frame_skip):
+    history = desire_shape[1]
+
+    compile_desire_buf_len = frame_skip * history if mode != 'non20hz' else history
+    compile_sampled_count = compile_desire_buf_len // frame_skip if frame_skip > 1 else compile_desire_buf_len
+    assert compile_sampled_count == history, \
+      f"{mode}: compile desire samples {compile_sampled_count} != model input {history}"
+
+
+class TestDetectDesireKey(OpenpilotTestCase):
+  def test_finds_desire(self):
+    shapes = {'features_buffer': (1, 99, 512), 'desire': (1, 100, 8), 'traffic_convention': (1, 2)}
+    assert _detect_desire_key(shapes) == 'desire'
+
+  def test_finds_desire_pulse(self):
+    shapes = {'features_buffer': (1, 25, 512), 'desire_pulse': (1, 25, 8), 'traffic_convention': (1, 2)}
+    assert _detect_desire_key(shapes) == 'desire_pulse'
+
+  def test_returns_none_when_no_desire(self):
+    shapes = {'features_buffer': (1, 99, 512), 'traffic_convention': (1, 2)}
+    assert _detect_desire_key(shapes) is None
+
+
+class TestOutputSlicePreservation(OpenpilotTestCase):
+  def test_vision_hidden_state_slice_used_for_features(self):
+    mock_slices = {'hidden_state': slice(0, 512), 'plan': slice(512, 1024)}
+    features_slice = mock_slices['hidden_state']
+    fake_output = np.random.default_rng(0).standard_normal((1, 1024)).astype(np.float32)
+    features = fake_output[:, features_slice]
+    assert features.shape == (1, 512)
+
+  def test_policy_output_slices_independent(self):
+    vision_slices = {'hidden_state': slice(0, 512)}
+    policy_slices = {'plan': slice(0, 495), 'meta': slice(495, 550)}
+    assert set(vision_slices.keys()) & set(policy_slices.keys()) == set(), \
+      "vision and policy slices should not overlap in keys"
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py b/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py
new file mode 100644
index 0000000000..85305395ea
--- /dev/null
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py
@@ -0,0 +1,74 @@
+from typing import Any
+
+import numpy as np
+
+from openpilot.cereal import log
+
+from openpilot.sunnypilot.modeld_v2.constants import Plan
+from openpilot.sunnypilot.modeld_v2.modeld import ModelState
+import openpilot.sunnypilot.modeld_v2.modeld as modeld
+from openpilot.common.test import OpenpilotTestCase
+
+
+class MockStruct:
+  def __init__(self, **kwargs):
+    for k, v in kwargs.items():
+      setattr(self, k, v)
+
+
+class TestRecoveryPower(OpenpilotTestCase):
+  def test_recovery_power_scaling(self):
+    state: Any = MockStruct(
+      PLANPLUS_CONTROL=0.75,
+      LONG_SMOOTH_SECONDS=0.3,
+      LAT_SMOOTH_SECONDS=0.1,
+      MIN_LAT_CONTROL_SPEED=0.3,
+      mlsim=True,
+      generation=12,
+      constants=MockStruct(T_IDXS=np.arange(100), DESIRE_LEN=8)
+    )
+    prev_action = log.ModelDataV2.Action()
+    recorded_vel: list = []
+    recorded_curv_plans: list = []
+
+    def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
+      recorded_vel.append(plan_vel.copy())
+      return 0.0, False
+
+    def mock_curvature(output, plan, vego, lat_action_t, mlsim):
+      recorded_curv_plans.append(plan.copy())
+      return 0.0
+
+    modeld.get_accel_from_plan = mock_accel  # ty: ignore[invalid-assignment]
+    modeld.get_curvature_from_output = mock_curvature  # ty: ignore[invalid-assignment]
+    plan = np.random.default_rng(0).random((1, 100, 15)).astype(np.float32)
+    planplus = np.random.default_rng(1).random((1, 100, 15)).astype(np.float32)
+    merged_plan = plan + planplus
+
+    model_output: dict = {
+      'plan': merged_plan.copy(),
+      'planplus': planplus.copy()
+    }
+
+    test_cases: list = [
+      # (control, v_ego)
+      (0.55, 20.0),
+      (1.0, 25.0),
+      (1.5, 25.1),
+      (2.0, 20.0),
+      (0.75, 19.0),
+      (0.8, 25.1),
+    ]
+
+    for control, v_ego in test_cases:
+      state.PLANPLUS_CONTROL = control
+      recorded_vel.clear()
+      recorded_curv_plans.clear()
+      ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)  # type: ignore[arg-type]
+
+      expected_accel_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + planplus[0, :, Plan.VELOCITY][:, 0]
+      np.testing.assert_allclose(recorded_vel[0], expected_accel_plan_vel, rtol=1e-5, atol=1e-6)
+
+      # For the below, yes, I know this isn't the same slicing as fillmodlmsg. This is to show that the values are only scaled on curv
+      expected_curv_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + control * planplus[0, :, Plan.VELOCITY][:, 0]
+      np.testing.assert_allclose(recorded_curv_plans[0][:, Plan.VELOCITY][:, 0], expected_curv_plan_vel, rtol=1e-5, atol=1e-6)
diff --git a/sunnypilot/models/README.md b/openpilot/sunnypilot/models/README.md
similarity index 100%
rename from sunnypilot/models/README.md
rename to openpilot/sunnypilot/models/README.md
diff --git a/sunnypilot/modeld/thneed/__init__.py b/openpilot/sunnypilot/models/__init__.py
similarity index 100%
rename from sunnypilot/modeld/thneed/__init__.py
rename to openpilot/sunnypilot/models/__init__.py
diff --git a/sunnypilot/modeld/constants.py b/openpilot/sunnypilot/models/constants.py
similarity index 100%
rename from sunnypilot/modeld/constants.py
rename to openpilot/sunnypilot/models/constants.py
diff --git a/sunnypilot/models/default_model.py b/openpilot/sunnypilot/models/default_model.py
similarity index 68%
rename from sunnypilot/models/default_model.py
rename to openpilot/sunnypilot/models/default_model.py
index 0260a3c3bc..62b6831402 100755
--- a/sunnypilot/models/default_model.py
+++ b/openpilot/sunnypilot/models/default_model.py
@@ -4,18 +4,17 @@ import hashlib
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot import get_file_hash
+from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL
 
-DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
-MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
-VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
-POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
+DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "model_name.py")
+MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "model_hash")
+SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "driving_supercombo.onnx")
 
 
 def update_model_hash():
-  vision_hash = get_file_hash(VISION_ONNX_PATH)
-  policy_hash = get_file_hash(POLICY_ONNX_PATH)
+  supercombo_hash = get_file_hash(SUPERCOMBO_ONNX_PATH)
 
-  combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
+  combined_hash = hashlib.sha256(supercombo_hash.encode()).hexdigest()
 
   with open(MODEL_HASH_PATH, "w") as f:
     f.write(combined_hash)
@@ -25,8 +24,7 @@ def update_model_hash():
 
 def get_current_default_model_name():
   print("[GET DEFAULT MODEL NAME]")
-  with open(DEFAULT_MODEL_NAME_PATH) as f:
-    name = f.read().split('"')[1]
+  name = DEFAULT_MODEL
   print(f'Current default model name: "{name}"')
 
   return name
@@ -35,7 +33,7 @@ def get_current_default_model_name():
 def update_default_model_name(name: str):
   print("[CHANGE DEFAULT MODEL NAME]")
   with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
-    f.write(f'#define DEFAULT_MODEL "{name}"\n')
+    f.write(f'DEFAULT_MODEL = "{name}"\n')
   print(f'New default model name: "{name}"')
   print("[DONE]")
 
@@ -51,7 +49,7 @@ if __name__ == "__main__":
     exit(0)
 
   current_name = get_current_default_model_name()
-  new_name = f"{args.new_name} (Default)"
+  new_name = args.new_name
   if current_name == new_name:
     print(f'Proposed default model name: "{new_name}"')
     confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()
diff --git a/sunnypilot/models/fetcher.py b/openpilot/sunnypilot/models/fetcher.py
similarity index 84%
rename from sunnypilot/models/fetcher.py
rename to openpilot/sunnypilot/models/fetcher.py
index 0de7496578..eda1117a2a 100644
--- a/sunnypilot/models/fetcher.py
+++ b/openpilot/sunnypilot/models/fetcher.py
@@ -6,14 +6,15 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 import time
-
+import os
 import requests
 from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
 
-from cereal import custom
+from openpilot.cereal import custom
 
 
 class ModelParser:
@@ -26,11 +27,35 @@ class ModelParser:
     download_uri.sha256 = download_uri_data.get("sha256")
     return download_uri
 
+  @staticmethod
+  def _parse_chunk(chunk_data) -> custom.ModelManagerSP.Chunk:
+    chunk = custom.ModelManagerSP.Chunk()
+    chunk.fileName = chunk_data.get("file_name")
+    chunk.sha256 = chunk_data.get("sha256")
+    return chunk
+
   @staticmethod
   def _parse_artifact(artifact_data) -> custom.ModelManagerSP.Artifact:
     artifact = custom.ModelManagerSP.Artifact()
     artifact.fileName = artifact_data.get("file_name")
     artifact.downloadUri = ModelParser._parse_download_uri(artifact_data.get("download_uri", {}))
+
+    if "chunks" in artifact_data:
+      artifact.chunks = [ModelParser._parse_chunk(chunk_data) for chunk_data in artifact_data["chunks"]]
+
+      try:
+        model_dir = Paths.model_root()
+        os.makedirs(model_dir, exist_ok=True)
+        manifest_path = os.path.join(model_dir, f"{artifact.fileName}.chunkmanifest")
+        num_chunks = str(len(artifact.chunks))
+
+        if not os.path.exists(manifest_path) or open(manifest_path).read().strip() != num_chunks:
+          with open(manifest_path, "w") as f:
+            f.write(num_chunks)
+          cloudlog.info(f"Wrote chunk manifest for {artifact.fileName}: {num_chunks} chunks")
+      except Exception as e:
+        cloudlog.warning(f"Failed to write chunk manifest for {artifact.fileName}: {e}")
+
     return artifact
 
   @staticmethod
@@ -39,8 +64,6 @@ class ModelParser:
 
     model.type = model_data.get("type")
     model.artifact = ModelParser._parse_artifact(model_data.get("artifact", {}))
-    if metadata := model_data.get("metadata"):
-      model.metadata = ModelParser._parse_artifact(metadata)
     return model
 
   @staticmethod
@@ -110,13 +133,13 @@ class ModelCache:
 
   def set(self, data: dict) -> None:
     """Updates the cache with new model data"""
-    self.params.put(self._CACHE_KEY, data)
-    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9))
+    self.params.put(self._CACHE_KEY, data, block=True)
+    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9), block=True)
 
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v14.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
 
   def __init__(self, params: Params):
     self.params = params
@@ -184,4 +207,5 @@ if __name__ == "__main__":
       # Print artifact details
       print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
       # Print metadata details
-      print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}")
+      if model.artifact.chunks:
+        print(f"Contains {len(model.artifact.chunks)} chunks.")
diff --git a/openpilot/sunnypilot/models/helpers.py b/openpilot/sunnypilot/models/helpers.py
new file mode 100644
index 0000000000..101d8d196e
--- /dev/null
+++ b/openpilot/sunnypilot/models/helpers.py
@@ -0,0 +1,214 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import hashlib
+import os
+import pickle
+from pathlib import Path
+import numpy as np
+
+from openpilot.cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
+from openpilot.common.hardware.hw import Paths
+
+# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
+REQUIRED_JSON_VERSION = 16
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
+ModelManager = custom.ModelManagerSP
+_LAST_VALIDATED_RAW = None
+
+
+def _compute_hash(file_path: str) -> str | None:
+  from openpilot.common.file_chunker import open_file_chunked
+  try:
+    with open_file_chunked(file_path) as file:
+      return hashlib.file_digest(file, "sha256").hexdigest().lower()
+  except FileNotFoundError:
+    return None
+
+
+async def verify_file(file_path: str, expected_hash: str) -> bool:
+  file_hash = _compute_hash(file_path)
+  return file_hash == expected_hash.lower() if file_hash else False
+
+
+def _verify_file(file_path: str, expected_hash: str) -> bool:
+  file_hash = _compute_hash(file_path)
+  return file_hash == expected_hash.lower() if file_hash else False
+
+
+def is_bundle_version_compatible(bundle: dict) -> bool:
+  """
+  The bundle parsed from the json specifies a `minimum_selector_version`, which defines the minimum selector version
+  required to load the model. This function ensures that:
+    the bundle MUST match the `REQUIRED_JSON_VERSION` set here in helpers.
+  """
+  return bundle.get("minimumSelectorVersion", 0) == REQUIRED_JSON_VERSION
+
+
+def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
+  artifacts = []
+  from openpilot.common.file_chunker import get_chunk_name
+  for model in getattr(bundle, 'models', []) or []:
+    for artifact in (getattr(model, 'artifact', None),):
+      if artifact and getattr(artifact, 'fileName', None):
+        if len(artifact.chunks) > 0:
+          for i, chunk in enumerate(artifact.chunks):
+            chunk_name = get_chunk_name(artifact.fileName, i, len(artifact.chunks))
+            if getattr(chunk, 'sha256', None):
+              artifacts.append((chunk_name, chunk.sha256))
+        else:
+          if getattr(artifact, 'downloadUri', None):
+            sha256 = getattr(artifact.downloadUri, 'sha256', None)
+            if sha256:
+              artifacts.append((artifact.fileName, sha256))
+  return artifacts
+
+
+def _bundle_is_valid_locally(bundle: custom.ModelManagerSP.ModelBundle) -> bool:
+  model_root = Paths.model_root()
+  return all(_verify_file(os.path.join(model_root, file_name), expected_hash)
+             for file_name, expected_hash in _bundle_artifacts(bundle))
+
+
+def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None) -> bool:
+  if active_bundle is None:
+    return False
+
+  if available_bundles is not None:
+    matching_bundle = None
+    for bundle in available_bundles:
+      if getattr(active_bundle, 'ref', None) and getattr(bundle, 'ref', None):
+        if active_bundle.ref == bundle.ref:
+          matching_bundle = bundle
+          break
+      elif getattr(active_bundle, 'internalName', None) == getattr(bundle, 'internalName', None):
+        matching_bundle = bundle
+        break
+
+    if matching_bundle is None:
+      return True
+    if active_bundle.minimumSelectorVersion != matching_bundle.minimumSelectorVersion:
+      return True
+
+    active_runner = getattr(active_bundle, 'runner', None)
+    matching_runner = getattr(matching_bundle, 'runner', None)
+    if active_runner is not None and matching_runner is not None:
+      if getattr(active_runner, 'raw', active_runner) != getattr(matching_runner, 'raw', matching_runner):
+        return True
+    if set(_bundle_artifacts(active_bundle)) != set(_bundle_artifacts(matching_bundle)):
+      return True
+
+  return not _bundle_is_valid_locally(active_bundle)
+
+
+def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None) -> None:
+  global _LAST_VALIDATED_RAW
+
+  raw_bundle = params.get("ModelManager_ActiveBundle")
+  if not raw_bundle:
+    return
+
+  if raw_bundle == _LAST_VALIDATED_RAW:
+    return
+
+  active_bundle = get_active_bundle(params, raw_bundle_dict=raw_bundle)
+  if active_bundle is None or _bundle_needs_reset(active_bundle, available_bundles):
+    cloudlog.warning("Active model bundle invalid; resetting to default")
+    params.remove("ModelManager_ActiveBundle")
+    params.put("ModelRunnerTypeCache", int(custom.ModelManagerSP.Runner.stock), block=True)
+    _LAST_VALIDATED_RAW = None
+  else:
+    _LAST_VALIDATED_RAW = raw_bundle
+
+
+def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | bytes | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
+  params = params or Params()
+  try:
+    active_bundle_dict = raw_bundle_dict if raw_bundle_dict is not None else (params.get("ModelManager_ActiveBundle") or {})
+    if isinstance(active_bundle_dict, dict) and active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
+      return custom.ModelManagerSP.ModelBundle(**active_bundle_dict)
+  except Exception:
+    pass
+  return None
+
+
+def get_active_model_runner(params: Params | None = None, force_check: bool = False) -> int:
+  params = params or Params()
+  cached_runner_type = params.get("ModelRunnerTypeCache")
+  if cached_runner_type is not None and not force_check:
+    return cached_runner_type
+  runner_type = custom.ModelManagerSP.Runner.stock
+  if active_bundle := get_active_bundle(params):
+    runner_type = active_bundle.runner.raw
+
+  if cached_runner_type != runner_type:
+    params.put("ModelRunnerTypeCache", int(runner_type), block=True)
+
+  return runner_type
+
+
+def _get_model():
+  if bundle := get_active_bundle():
+    drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
+    return drive_model
+  return None
+
+
+def load_metadata():
+  metadata_path = METADATA_PATH
+
+  with open(metadata_path, 'rb') as f:
+    return pickle.load(f)
+
+
+def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
+  return {
+    key: np.zeros(shape, dtype=np.float32).flatten()
+    for key, shape in model_metadata['input_shapes'].items()
+    if 'img' not in key
+  }
+
+
+def load_meta_constants(model_metadata: dict):
+  """ Loads the appropriate meta model class based on key shapes"""
+  if 'sim_pose' in model_metadata['input_shapes']:
+    return MetaSimPose
+
+  meta_slice = model_metadata['output_slices']['meta']
+  if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
+    return MetaTombRaider
+
+  return Meta
+
+
+# The following method(s) are modeld helper methods
+def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
+  # times at X_IDXS according to plan.
+  LINE_T_IDXS = [np.nan] * constants.IDX_N
+  LINE_T_IDXS[0] = 0.0
+  plan_x = model_output['plan'][0, :, plan.POSITION][:, 0].tolist()
+  for xidx in range(1, constants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < constants.IDX_N - 1 and plan_x[tidx + 1] < constants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == constants.IDX_N - 1:
+      # if the plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      LINE_T_IDXS[xidx] = constants.T_IDXS[constants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx + 1]
+    p = (constants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(
+      next_x_val - current_x_val) > 1e-9 else float('nan')
+    LINE_T_IDXS[xidx] = p * constants.T_IDXS[tidx + 1] + (1 - p) * constants.T_IDXS[tidx]
+  return LINE_T_IDXS
diff --git a/openpilot/sunnypilot/models/manager.py b/openpilot/sunnypilot/models/manager.py
new file mode 100644
index 0000000000..7ba805ff95
--- /dev/null
+++ b/openpilot/sunnypilot/models/manager.py
@@ -0,0 +1,313 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import asyncio
+import os
+import time
+
+import requests
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.hardware.hw import Paths
+
+from openpilot.cereal import messaging, custom
+from openpilot.sunnypilot.models.fetcher import ModelFetcher
+from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
+
+# (connect, read) seconds. read is per-request inactivity, not a total cap
+DOWNLOAD_TIMEOUT = (30, 30)
+
+
+class ModelManagerSP:
+  """Manages model downloads and status reporting"""
+
+  def __init__(self):
+    self.params = Params()
+    self.model_fetcher = ModelFetcher(self.params)
+    self.pm = messaging.PubMaster(["modelManagerSP"])
+    self.available_models: list[custom.ModelManagerSP.ModelBundle] = []
+    self.selected_bundle: custom.ModelManagerSP.ModelBundle = None
+    self.active_bundle: custom.ModelManagerSP.ModelBundle = get_active_bundle(self.params)
+    self._chunk_size = 128 * 1000  # 128 KB chunks
+    self._download_start_times: dict[str, float] = {}  # Track start time per model
+
+  def _sync_artifact_progress(self, source_artifact) -> None:
+    """Mirror download progress to all artifacts sharing the same filename in the selected bundle."""
+    if not self.selected_bundle:
+      return
+    for model in self.selected_bundle.models:
+      artifact = model.artifact
+      if artifact is not source_artifact and artifact.fileName == source_artifact.fileName:
+        artifact.downloadProgress.status = source_artifact.downloadProgress.status
+        artifact.downloadProgress.progress = source_artifact.downloadProgress.progress
+        artifact.downloadProgress.eta = source_artifact.downloadProgress.eta
+
+  def _calculate_eta(self, filename: str, progress: float) -> int:
+    """Calculate ETA based on elapsed time and current progress"""
+    if filename not in self._download_start_times or progress <= 0:
+      return 60  # Default ETA for new downloads
+
+    elapsed_time = time.monotonic() - self._download_start_times[filename]
+    if elapsed_time <= 0:
+      return 60
+
+    # If we're at X% after Y seconds, we can estimate total time as (Y / X) * 100
+    total_estimated_time = (elapsed_time / progress) * 100
+    eta = total_estimated_time - elapsed_time
+
+    return max(1, int(eta))  # Return at least 1 second if download is ongoing
+
+  async def _download_file(self, url: str, path: str, model) -> None:
+    """Downloads a file with progress tracking"""
+    self._download_start_times[model.fileName] = time.monotonic()
+
+    with requests.get(url, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:  # noqa: ASYNC210
+      response.raise_for_status()
+      total_size = int(response.headers.get("content-length", 0))
+      bytes_downloaded = 0
+
+      with open(path, 'wb') as f:  # noqa: ASYNC230
+        for chunk in response.iter_content(chunk_size=self._chunk_size):  # type: bytes
+          f.write(chunk)
+          bytes_downloaded += len(chunk)
+
+          if self.params.get("ModelManager_DownloadIndex") is None:
+            raise Exception("Download cancelled")
+
+          if total_size > 0:
+            progress = (bytes_downloaded / total_size) * 100
+            model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
+            model.downloadProgress.progress = progress
+            model.downloadProgress.eta = self._calculate_eta(model.fileName, progress)
+            self._sync_artifact_progress(model)
+            self._report_status()
+
+    # Clean up start time after download completes
+    del self._download_start_times[model.fileName]
+
+  async def _download_chunked(self, base_url: str, base_path: str, artifact) -> None:
+    from openpilot.common.file_chunker import get_chunk_name, get_manifest_path
+
+    num_chunks = len(artifact.chunks)
+    if num_chunks == 0:
+      raise ValueError("No chunks defined in artifact")
+
+    manifest_path = get_manifest_path(base_path)
+    self._download_start_times[artifact.fileName] = time.monotonic()
+
+    # Shared connection saves a TCP+TLS handshake per chunk.
+    # Keep sequential: the link saturates on one stream and Session is not thread-safe.
+    with requests.Session() as session:
+      for i, _ in enumerate(artifact.chunks):
+        chunk_url = get_chunk_name(base_url, i, num_chunks)
+        chunk_path = get_chunk_name(base_path, i, num_chunks)
+        chunk_downloaded = 0
+        with session.get(chunk_url, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:
+          response.raise_for_status()
+          chunk_size = int(response.headers.get("content-length", 0))
+          with open(chunk_path, 'wb') as f:  # noqa: ASYNC230
+            for data in response.iter_content(chunk_size=self._chunk_size):
+              f.write(data)
+              chunk_downloaded += len(data)
+              if self.params.get("ModelManager_DownloadIndex") is None:
+                raise Exception("Download cancelled")
+              intra = chunk_downloaded / max(chunk_size, 1)
+              progress = min(99.0, ((i + intra) / num_chunks) * 100)
+              artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
+              artifact.downloadProgress.progress = progress
+              artifact.downloadProgress.eta = self._calculate_eta(artifact.fileName, progress)
+              self._sync_artifact_progress(artifact)
+              self._report_status()
+
+    with open(manifest_path, 'w') as f:  # noqa: ASYNC230
+      f.write(str(num_chunks))
+    if os.path.isfile(base_path):  # noqa: ASYNC240
+      os.remove(base_path)
+    del self._download_start_times[artifact.fileName]
+
+  async def _process_artifact(self, artifact, destination_path: str) -> None:
+    if not artifact.downloadUri.uri:
+      return None
+
+    url = artifact.downloadUri.uri
+    expected_hash = artifact.downloadUri.sha256
+    filename = artifact.fileName
+    full_path = os.path.join(destination_path, filename)
+
+    try:
+      is_cached = False
+      if len(artifact.chunks) > 0:
+        from openpilot.common.file_chunker import get_chunk_name
+        chunks_valid = True
+        for i, chunk in enumerate(artifact.chunks):
+          chunk_path = get_chunk_name(full_path, i, len(artifact.chunks))
+          if not await verify_file(chunk_path, chunk.sha256):
+            chunks_valid = False
+            break
+        if chunks_valid and len(artifact.chunks) > 0:
+          is_cached = True
+      else:
+        if await verify_file(full_path, expected_hash):
+          is_cached = True
+
+      if is_cached:
+        artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+        artifact.downloadProgress.progress = 100
+        artifact.downloadProgress.eta = 0
+        self._sync_artifact_progress(artifact)
+        self._report_status()
+        return
+
+      if len(artifact.chunks) > 0:
+        await self._download_chunked(url, full_path, artifact)
+        from openpilot.common.file_chunker import get_chunk_name
+        for i, chunk in enumerate(artifact.chunks):
+          chunk_path = get_chunk_name(full_path, i, len(artifact.chunks))
+          if not await verify_file(chunk_path, chunk.sha256):
+            raise ValueError(f"Hash validation failed for chunk {i+1} of {filename}")
+      else:
+        await self._download_file(url, full_path, artifact)
+        if not await verify_file(full_path, expected_hash):
+          raise ValueError(f"Hash validation failed for {filename}")
+
+      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      artifact.downloadProgress.progress = 100
+      artifact.downloadProgress.eta = 0
+      self._sync_artifact_progress(artifact)
+      self._report_status()
+
+    except Exception as e:
+      cloudlog.error(f"Error downloading {filename}: {str(e)}")
+      for f in [full_path] + [p for p in (os.path.join(destination_path, f) for f in os.listdir(destination_path)) if filename in p]:
+        if os.path.isfile(f):  # noqa: ASYNC240
+          os.remove(f)
+      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
+      artifact.downloadProgress.eta = 0
+      self._sync_artifact_progress(artifact)
+      if self.selected_bundle:
+        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+      self._report_status()
+      self._download_start_times.pop(artifact.fileName, None)
+      raise
+
+  async def _process_model(self, model, destination_path: str) -> None:
+    """Processes a single model download including verification"""
+    await self._process_artifact(model.artifact, destination_path)
+
+  def _report_status(self) -> None:
+    """Reports current status through messaging system"""
+    msg = messaging.new_message('modelManagerSP', valid=True)
+    model_manager_state = msg.modelManagerSP
+    if self.selected_bundle:
+      model_manager_state.selectedBundle = self.selected_bundle
+
+    if self.active_bundle:
+      model_manager_state.activeBundle = self.active_bundle
+
+    model_manager_state.availableBundles = self.available_models
+    self.pm.send('modelManagerSP', msg)
+
+  async def _download_bundle(self, model_bundle: custom.ModelManagerSP.ModelBundle, destination_path: str) -> None:
+    """Downloads all models in a bundle"""
+    self.selected_bundle = model_bundle
+    self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.downloading
+    os.makedirs(destination_path, exist_ok=True)
+
+    try:
+      seen_artifacts: set[str] = set()
+      for model in self.selected_bundle.models:
+        artifact = model.artifact
+        if not artifact.fileName:
+          continue
+        if artifact.fileName in seen_artifacts:
+          artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+          artifact.downloadProgress.progress = 100
+          artifact.downloadProgress.eta = 0
+        else:
+          seen_artifacts.add(artifact.fileName)
+          await self._process_artifact(artifact, destination_path)
+
+      self.active_bundle = self.selected_bundle
+      self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_dict(), block=True)
+      self.selected_bundle = None
+
+    except Exception:
+      if self.selected_bundle is not None:
+        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+      raise
+
+    finally:
+      self._report_status()
+
+  def download(self, model_bundle: custom.ModelManagerSP.ModelBundle, destination_path: str) -> None:
+    """Main entry point for downloading a model bundle"""
+    asyncio.run(self._download_bundle(model_bundle, destination_path))
+
+  def main_thread(self) -> None:
+    """Main thread for model management"""
+    rk = Ratekeeper(1, print_delay_threshold=None)
+
+    while True:
+      try:
+        self.available_models = self.model_fetcher.get_available_bundles()
+        validate_active_bundle(self.params, self.available_models)
+        self.active_bundle = get_active_bundle(self.params)
+
+        if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
+          if model_to_download := next((model for model in self.available_models if model.index == index_to_download), None):
+            try:
+              self.download(model_to_download, Paths.model_root())
+            except Exception as e:
+              cloudlog.exception(e)
+            finally:
+              self.params.remove("ModelManager_DownloadIndex")
+              self.selected_bundle = None
+
+        if self.params.get("ModelManager_ClearCache"):
+          self.clear_model_cache()
+          self.params.remove("ModelManager_ClearCache")
+
+        self._report_status()
+        rk.keep_time()
+
+      except Exception as e:
+        cloudlog.exception(f"Error in main thread: {str(e)}")
+        rk.keep_time()
+
+  def clear_model_cache(self) -> None:
+    """
+    Clears the model cache directory of all files except those in the active model bundle.
+    """
+
+    # Get list of files used by active model bundle
+    active_files = []
+    if self.active_bundle is not None: # When the default model is active
+      for model in self.active_bundle.models:
+        if hasattr(model, 'artifact') and model.artifact.fileName:
+          active_files.append(model.artifact.fileName)
+
+    # Remove all files except active ones (including their chunk files)
+    model_dir = Paths.model_root()
+    try:
+      for filename in os.listdir(model_dir):
+        base = filename.split('.chunk')[0] if '.chunk' in filename else filename
+        if base not in active_files and filename not in active_files:
+          file_path = os.path.join(model_dir, filename)
+          if os.path.isfile(file_path):
+            os.remove(file_path)
+      cloudlog.info("Model cache cleared, keeping active model files")
+    except Exception as e:
+      cloudlog.exception(f"Error clearing model cache: {str(e)}")
+
+def main():
+  ModelManagerSP().main_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/openpilot/sunnypilot/models/model_name.py b/openpilot/sunnypilot/models/model_name.py
new file mode 100644
index 0000000000..02a6c2bac2
--- /dev/null
+++ b/openpilot/sunnypilot/models/model_name.py
@@ -0,0 +1 @@
+DEFAULT_MODEL = "CD210"
diff --git a/sunnypilot/models/runners/constants.py b/openpilot/sunnypilot/models/runners/constants.py
similarity index 58%
rename from sunnypilot/models/runners/constants.py
rename to openpilot/sunnypilot/models/runners/constants.py
index cbd1fdb376..344f8f98cc 100644
--- a/sunnypilot/models/runners/constants.py
+++ b/openpilot/sunnypilot/models/runners/constants.py
@@ -1,15 +1,12 @@
 import os
 import numpy as np
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
-from openpilot.system.hardware.hw import Paths
-from cereal import custom
+from openpilot.common.hardware.hw import Paths
+from openpilot.cereal import custom
 
 # Type definitions for clarity
 NumpyDict = dict[str, np.ndarray]
 ShapeDict = dict[str, tuple[int, ...]]
 SliceDict = dict[str, slice]
-CLMemDict = dict[str, CLMem]
-FrameDict = dict[str, DrivingModelFrame]
 
 ModelType = custom.ModelManagerSP.Model.Type
 Model = custom.ModelManagerSP.Model
diff --git a/sunnypilot/models/split_model_constants.py b/openpilot/sunnypilot/models/split_model_constants.py
similarity index 99%
rename from sunnypilot/models/split_model_constants.py
rename to openpilot/sunnypilot/models/split_model_constants.py
index a3e1dce8f6..a5f57e5453 100644
--- a/sunnypilot/models/split_model_constants.py
+++ b/openpilot/sunnypilot/models/split_model_constants.py
@@ -43,6 +43,7 @@ class SplitModelConstants:
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
+  ACTION_WIDTH = 2
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
   DESIRED_CURV_WIDTH = 1
diff --git a/sunnypilot/modeld_v2/models/__init__.py b/openpilot/sunnypilot/models/tests/__init__.py
similarity index 100%
rename from sunnypilot/modeld_v2/models/__init__.py
rename to openpilot/sunnypilot/models/tests/__init__.py
diff --git a/openpilot/sunnypilot/models/tests/model_hash b/openpilot/sunnypilot/models/tests/model_hash
new file mode 100644
index 0000000000..13a16294ff
--- /dev/null
+++ b/openpilot/sunnypilot/models/tests/model_hash
@@ -0,0 +1 @@
+49133798d9cd9cacf47085c7ef8122bfee88cd9c6192a8314c81bfb1b37f5809
\ No newline at end of file
diff --git a/sunnypilot/models/tests/model_manager_audit.py b/openpilot/sunnypilot/models/tests/model_manager_audit.py
similarity index 93%
rename from sunnypilot/models/tests/model_manager_audit.py
rename to openpilot/sunnypilot/models/tests/model_manager_audit.py
index 4cd2b7d78e..2fc8bf5f21 100644
--- a/sunnypilot/models/tests/model_manager_audit.py
+++ b/openpilot/sunnypilot/models/tests/model_manager_audit.py
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import messaging, custom
+from openpilot.cereal import messaging, custom
 
 if __name__ == "__main__":
   sm = messaging.SubMaster(["modelManagerSP"])
diff --git a/sunnypilot/models/tests/test_default_model.py b/openpilot/sunnypilot/models/tests/test_default_model.py
similarity index 70%
rename from sunnypilot/models/tests/test_default_model.py
rename to openpilot/sunnypilot/models/tests/test_default_model.py
index 7c2fde70a8..450237e0e9 100644
--- a/sunnypilot/models/tests/test_default_model.py
+++ b/openpilot/sunnypilot/models/tests/test_default_model.py
@@ -6,16 +6,16 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 from openpilot.sunnypilot import get_file_hash
-from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
+from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, SUPERCOMBO_ONNX_PATH
 import hashlib
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestDefaultModel:
+class TestDefaultModel(OpenpilotTestCase):
   def test_compare_onnx_hashes(self):
-    vision_hash = get_file_hash(VISION_ONNX_PATH)
-    policy_hash = get_file_hash(POLICY_ONNX_PATH)
+    supercombo_hash = get_file_hash(SUPERCOMBO_ONNX_PATH)
 
-    combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
+    combined_hash = hashlib.sha256(supercombo_hash.encode()).hexdigest()
 
     with open(MODEL_HASH_PATH) as f:
       current_hash = f.read().strip()
diff --git a/openpilot/sunnypilot/models/tests/test_manager_download.py b/openpilot/sunnypilot/models/tests/test_manager_download.py
new file mode 100644
index 0000000000..67fb9023af
--- /dev/null
+++ b/openpilot/sunnypilot/models/tests/test_manager_download.py
@@ -0,0 +1,300 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import asyncio
+import hashlib
+import http.server
+import os
+import tempfile
+import threading
+import unittest
+from typing import Any
+from unittest import mock
+
+import requests
+from urllib3.connectionpool import HTTPConnectionPool
+
+from openpilot.cereal import custom
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.file_chunker import get_chunk_name, get_manifest_path
+from openpilot.selfdrive.test.helpers import http_server_context
+from openpilot.sunnypilot.models import manager as manager_module
+from openpilot.sunnypilot.models.manager import ModelManagerSP
+
+CHUNK_BODIES = [b'A' * 5000, b'B' * 5000, b'C' * 3000]
+WHOLE_BODY = b'Z' * 9000
+
+
+def sha256(data: bytes) -> str:
+  return hashlib.sha256(data).hexdigest()
+
+
+class DownloadHandler(http.server.BaseHTTPRequestHandler):
+  """Serves the fixture bodies. Class attributes are reset per test."""
+  request_paths: list[str] = []
+  fail_paths: dict[str, int] = {}
+  stall_paths: set[str] = set()
+  stall_event: threading.Event | None = None
+
+  def log_message(self, format: str, *args: Any) -> None:  # noqa: A002
+    pass
+
+  def _body_for(self, path):
+    if path.endswith('.whole'):
+      return WHOLE_BODY
+    for i in range(len(CHUNK_BODIES)):
+      if path.endswith(get_chunk_name('', i, len(CHUNK_BODIES))):
+        return CHUNK_BODIES[i]
+    return None
+
+  def do_GET(self):
+    type(self).request_paths.append(self.path)
+
+    status = type(self).fail_paths.get(self.path)
+    if status:
+      self.send_response(status)
+      self.end_headers()
+      return
+
+    body = self._body_for(self.path)
+    if body is None:
+      self.send_response(404)
+      self.end_headers()
+      return
+
+    self.send_response(200)
+    self.send_header('Content-Length', str(len(body)))
+    self.end_headers()
+
+    if self.path in type(self).stall_paths:
+      # write a little, then wait so the test can cancel mid-transfer
+      self.wfile.write(body[:100])
+      self.wfile.flush()
+      if type(self).stall_event is not None:
+        type(self).stall_event.wait(timeout=5)
+      self.wfile.write(body[100:])
+    else:
+      self.wfile.write(body)
+
+
+class ManagerDownloadTestBase(OpenpilotTestCase):
+  def setUp(self):
+    super().setUp()
+    DownloadHandler.request_paths = []
+    DownloadHandler.fail_paths = {}
+    DownloadHandler.stall_paths = set()
+    DownloadHandler.stall_event = None
+
+    self._tmp = tempfile.TemporaryDirectory()
+    self.addCleanup(self._tmp.cleanup)
+    self.dest = self._tmp.name
+
+    self.reported: list[float] = []
+
+    self.manager = ModelManagerSP.__new__(ModelManagerSP)
+    self.manager.params = mock.MagicMock()
+    self.manager.params.get.return_value = b'0'  # not cancelled
+    self.manager.pm = mock.MagicMock()
+    self.manager.pm.send.side_effect = self._record_progress
+    self.manager.selected_bundle = None
+    self.manager.active_bundle = None
+    self.manager.available_models = []
+    self.manager._chunk_size = 1024
+    self.manager._download_start_times = {}
+
+  def _record_progress(self, *args) -> None:
+    """Runs on every real _report_status send."""
+    artifact = getattr(self, 'artifact', None)
+    if artifact is not None:
+      self.reported.append(float(artifact.downloadProgress.progress))
+
+  def make_artifact(self, chunked: bool):
+    bundle = custom.ModelManagerSP.ModelBundle.new_message()
+    bundle.init('models', 1)
+    artifact = bundle.models[0].artifact
+    artifact.fileName = 'driving_test_tinygrad.pkl'
+    if chunked:
+      artifact.downloadUri.uri = self.base_url + '/driving_test_tinygrad.pkl'
+      artifact.downloadUri.sha256 = sha256(b''.join(CHUNK_BODIES))
+      artifact.init('chunks', len(CHUNK_BODIES))
+      for i, body in enumerate(CHUNK_BODIES):
+        artifact.chunks[i].sha256 = sha256(body)
+    else:
+      artifact.downloadUri.uri = self.base_url + '/driving_test_tinygrad.pkl.whole'
+      artifact.downloadUri.sha256 = sha256(WHOLE_BODY)
+    self._bundle = bundle
+    self.artifact = artifact
+    return artifact
+
+  def chunk_paths(self, base_path):
+    return [get_chunk_name(base_path, i, len(CHUNK_BODIES)) for i in range(len(CHUNK_BODIES))]
+
+  def assert_no_partials(self, base_path):
+    leftovers = [p for p in [base_path, get_manifest_path(base_path)] + self.chunk_paths(base_path)
+                 if os.path.isfile(p)]
+    assert leftovers == [], f"partial files left behind: {leftovers}"
+
+
+class TestManagerDownload(ManagerDownloadTestBase):
+  """Exercises the real _download_file / _download_chunked against a local server."""
+
+  def run_with_server(self, fn):
+    with http_server_context(handler=DownloadHandler) as (host, port):
+      self.base_url = f'http://{host}:{port}'
+      return fn()
+
+  def test_download_file_writes_exact_bytes(self):
+    def body():
+      artifact = self.make_artifact(chunked=False)
+      path = os.path.join(self.dest, artifact.fileName)
+      asyncio.run(self.manager._download_file(artifact.downloadUri.uri, path, artifact))
+      with open(path, 'rb') as f:
+        written = f.read()
+      assert written == WHOLE_BODY
+      assert sha256(written) == artifact.downloadUri.sha256
+      assert artifact.fileName not in self.manager._download_start_times
+    self.run_with_server(body)
+
+  def test_download_chunked_writes_all_chunks_and_manifest(self):
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      for i, expected in enumerate(CHUNK_BODIES):
+        with open(get_chunk_name(base_path, i, len(CHUNK_BODIES)), 'rb') as f:
+          assert f.read() == expected, f"chunk {i} body mismatch"
+
+      with open(get_manifest_path(base_path)) as f:
+        assert f.read() == str(len(CHUNK_BODIES))
+
+      assert not os.path.isfile(base_path), "base file should be removed after chunking"
+      assert artifact.fileName not in self.manager._download_start_times
+    self.run_with_server(body)
+
+  def test_progress_is_monotonic_and_bounded(self):
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      assert self.reported, "expected progress reports"
+      for a, b in zip(self.reported, self.reported[1:], strict=False):
+        assert b >= a, f"progress went backwards: {a} -> {b}"
+      assert max(self.reported) <= 99.0, f"chunked progress must stay <=99 until verify, got {max(self.reported)}"
+    self.run_with_server(body)
+
+  def test_session_is_reused_across_chunks(self):
+    """One connection pool shared across every chunk."""
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+
+      pools = []
+      original = HTTPConnectionPool.urlopen
+
+      def tracked(pool_self, *args, **kwargs):
+        pools.append(id(pool_self))
+        return original(pool_self, *args, **kwargs)
+
+      with mock.patch.object(HTTPConnectionPool, 'urlopen', tracked):
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      assert len(pools) == len(CHUNK_BODIES), f"expected one request per chunk, got {len(pools)}"
+      assert len(set(pools)) == 1, f"connection pool not reused across chunks: {len(set(pools))} pools"
+    self.run_with_server(body)
+
+  def test_http_error_propagates(self):
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      failing = '/' + os.path.basename(get_chunk_name(artifact.downloadUri.uri, 1, len(CHUNK_BODIES)))
+      DownloadHandler.fail_paths = {failing: 404}
+
+      with self.assertRaises(requests.exceptions.HTTPError):
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      # chunk 1 failed, so its file and the manifest must not exist
+      assert not os.path.isfile(get_chunk_name(base_path, 1, len(CHUNK_BODIES)))
+      assert not os.path.isfile(get_manifest_path(base_path))
+    self.run_with_server(body)
+
+  def test_cancellation_mid_transfer(self):
+    """Cancellation is checked inside the byte loop; it must still fire after the port."""
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      self.manager.params.get.return_value = None  # cancelled
+
+      with self.assertRaises(Exception) as ctx:
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+      assert 'cancelled' in str(ctx.exception).lower()
+      assert not os.path.isfile(get_manifest_path(base_path))
+    self.run_with_server(body)
+
+  def test_repeat_downloads_are_stable(self):
+    """Back-to-back runs must produce identical bytes and leak no start-time state."""
+    def body():
+      for _ in range(2):
+        artifact = self.make_artifact(chunked=True)
+        base_path = os.path.join(self.dest, artifact.fileName)
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+        for i, expected in enumerate(CHUNK_BODIES):
+          with open(get_chunk_name(base_path, i, len(CHUNK_BODIES)), 'rb') as f:
+            assert f.read() == expected
+        assert self.manager._download_start_times == {}
+    self.run_with_server(body)
+
+
+class TestManagerImports(OpenpilotTestCase):
+  """Catches undeclared dependencies. aiohttp lived only in the AGNOS venv; 19.6 dropped
+  it and models_manager died on device while CI stayed green."""
+
+  def test_manager_imports(self):
+    assert manager_module.ModelManagerSP is not None
+
+  def test_no_undeclared_http_client(self):
+    with open(manager_module.__file__) as f:
+      src = f.read()
+    assert 'import aiohttp' not in src, "aiohttp is not available on AGNOS 19.6; use requests"
+
+  def test_download_timeout_is_explicit(self):
+    connect, read = manager_module.DOWNLOAD_TIMEOUT
+    assert connect > 0 and read > 0, "requests defaults to no timeout; downloads would hang forever"
+
+
+@unittest.skipUnless(os.environ.get('RUN_INTEGRATION_TESTS'), 'requires external network')
+class TestLiveModelManifest(OpenpilotTestCase):
+  """Every artifact and chunk URL in the published manifest must resolve."""
+
+  def test_all_manifest_urls_available(self):
+    from openpilot.sunnypilot.models.fetcher import ModelFetcher
+
+    manifest = requests.get(ModelFetcher.MODEL_URL, timeout=30).json()
+    session = requests.Session()
+    dead = []
+
+    for bundle in manifest.get('bundles', []):
+      for model in bundle.get('models', []):
+        artifact = model['artifact']
+        url = artifact['download_uri']['url']
+        chunks = artifact.get('chunks', [])
+        urls = ([url] if not chunks
+                else [get_chunk_name(url, i, len(chunks)) for i in range(len(chunks))])
+        for u in urls:
+          try:
+            r = session.head(u, timeout=15, allow_redirects=True)
+            if r.status_code != 200:
+              dead.append(f"{bundle.get('short_name')}: HTTP {r.status_code} {u}")
+          except requests.RequestException as e:
+            dead.append(f"{bundle.get('short_name')}: {type(e).__name__} {u}")
+
+    assert not dead, "unreachable model URLs:\n" + "\n".join(dead)
+
+
+if __name__ == '__main__':
+  unittest.main()
diff --git a/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py b/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py
new file mode 100644
index 0000000000..1712c60410
--- /dev/null
+++ b/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py
@@ -0,0 +1,25 @@
+import requests
+
+from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
+from openpilot.sunnypilot.models.fetcher import ModelFetcher
+from openpilot.common.test import OpenpilotTestCase
+
+
+def fetch_tinygrad_ref():
+  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
+  response.raise_for_status()
+  json_data = response.json()
+  return json_data.get("tinygrad_ref")
+
+
+class TestTinygradRef(OpenpilotTestCase):
+  def test_tinygrad_ref(self):
+    current_ref = get_tinygrad_ref()
+    remote_ref = fetch_tinygrad_ref()
+    assert remote_ref == current_ref, (
+      f"""tinygrad_repo ref does not match remote tinygrad_ref of current compiled driving models json.
+    Current: {current_ref}
+    Remote: {remote_ref}
+    Please run build-all workflow to update models."""
+    )
+    print("tinygrad_repo ref matches current compiled driving models json ref.")
diff --git a/sunnypilot/models/tinygrad_ref.py b/openpilot/sunnypilot/models/tinygrad_ref.py
similarity index 100%
rename from sunnypilot/models/tinygrad_ref.py
rename to openpilot/sunnypilot/models/tinygrad_ref.py
diff --git a/sunnypilot/navd/helpers.py b/openpilot/sunnypilot/navd/helpers.py
similarity index 98%
rename from sunnypilot/navd/helpers.py
rename to openpilot/sunnypilot/navd/helpers.py
index c57706d32a..63e7c8c7be 100644
--- a/sunnypilot/navd/helpers.py
+++ b/openpilot/sunnypilot/navd/helpers.py
@@ -106,7 +106,7 @@ def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> floa
   return total_distance_closest
 
 
-def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
+def coordinate_from_param(param: str, params: Params | None = None) -> Coordinate | None:
   if params is None:
     params = Params()
 
diff --git a/sunnypilot/neural_network_data b/openpilot/sunnypilot/neural_network_data
similarity index 100%
rename from sunnypilot/neural_network_data
rename to openpilot/sunnypilot/neural_network_data
diff --git a/sunnypilot/modeld_v2/tests/__init__.py b/openpilot/sunnypilot/selfdrive/__init__.py
similarity index 100%
rename from sunnypilot/modeld_v2/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/__init__.py
diff --git a/sunnypilot/selfdrive/assets/icons/clock.png b/openpilot/sunnypilot/selfdrive/assets/icons/clock.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/icons/clock.png
rename to openpilot/sunnypilot/selfdrive/assets/icons/clock.png
diff --git a/sunnypilot/selfdrive/assets/icons/star-empty.png b/openpilot/sunnypilot/selfdrive/assets/icons/star-empty.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/icons/star-empty.png
rename to openpilot/sunnypilot/selfdrive/assets/icons/star-empty.png
diff --git a/sunnypilot/selfdrive/assets/icons/star-filled.png b/openpilot/sunnypilot/selfdrive/assets/icons/star-filled.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/icons/star-filled.png
rename to openpilot/sunnypilot/selfdrive/assets/icons/star-filled.png
diff --git a/openpilot/sunnypilot/selfdrive/assets/icons_mici/always_offroad.png b/openpilot/sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
new file mode 100644
index 0000000000..56f35669c6
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/assets/icons_mici/always_offroad.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e459241d896824f5e8207d568847acab3dedd41caae7af59d4c17e043663b0c9
+size 4035
diff --git a/openpilot/sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png b/openpilot/sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png
new file mode 100644
index 0000000000..146734aafa
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/assets/icons_mici/disable_offroad.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a0fca872d4586f578d246890b83674cdb7ecb03f58b2b0379b4b64a5816053
+size 3908
diff --git a/sunnypilot/selfdrive/assets/images/green_light.png b/openpilot/sunnypilot/selfdrive/assets/images/green_light.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/images/green_light.png
rename to openpilot/sunnypilot/selfdrive/assets/images/green_light.png
diff --git a/sunnypilot/selfdrive/assets/images/lead_depart.png b/openpilot/sunnypilot/selfdrive/assets/images/lead_depart.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/images/lead_depart.png
rename to openpilot/sunnypilot/selfdrive/assets/images/lead_depart.png
diff --git a/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png b/openpilot/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
rename to openpilot/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
diff --git a/openpilot/sunnypilot/selfdrive/assets/img_minus_arrow_down.png b/openpilot/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
new file mode 100644
index 0000000000..2dc99789a5
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad42ecaeff96a0a6c1a6db67b01e3c0452566906dd3a7f0336a1010ae854d27b
+size 60924
diff --git a/openpilot/sunnypilot/selfdrive/assets/img_plus_arrow_up.png b/openpilot/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
new file mode 100644
index 0000000000..4247827340
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fdea39873f60a0c4b216b75792e826f3633091a72ea2abd05740bd6e4e72089
+size 63058
diff --git a/sunnypilot/selfdrive/assets/logo.png b/openpilot/sunnypilot/selfdrive/assets/logo.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/logo.png
rename to openpilot/sunnypilot/selfdrive/assets/logo.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_display.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_display.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_display.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_display.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_firehose.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_firehose.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_firehose.svg b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_firehose.svg
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_firehose.svg
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_firehose.svg
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_home.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_home.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_home.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_home.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_home.svg b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_home.svg
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_home.svg
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_home.svg
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_lateral.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_lateral.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_lateral.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_lateral.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_map.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_map.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_map.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_map.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_models.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_models.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_models.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_models.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_software.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_software.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_software.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_software.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_toggle.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_toggle.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_toggle.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_trips.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_trips.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_trips.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_trips.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_vehicle.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_vehicle.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_vehicle.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_vehicle.png
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_visuals.png b/openpilot/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
similarity index 100%
rename from sunnypilot/selfdrive/assets/offroad/icon_visuals.png
rename to openpilot/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
diff --git a/sunnypilot/models/__init__.py b/openpilot/sunnypilot/selfdrive/car/__init__.py
similarity index 100%
rename from sunnypilot/models/__init__.py
rename to openpilot/sunnypilot/selfdrive/car/__init__.py
diff --git a/openpilot/sunnypilot/selfdrive/car/car_list.json b/openpilot/sunnypilot/selfdrive/car/car_list.json
new file mode 120000
index 0000000000..9bef560d9c
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/car/car_list.json
@@ -0,0 +1 @@
+../../../../opendbc_repo/opendbc/sunnypilot/car/car_list.json
\ No newline at end of file
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/openpilot/sunnypilot/selfdrive/car/car_specific.py
similarity index 97%
rename from sunnypilot/selfdrive/car/car_specific.py
rename to openpilot/sunnypilot/selfdrive/car/car_specific.py
index bce496ed28..54fcd34976 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/openpilot/sunnypilot/selfdrive/car/car_specific.py
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import log, custom
+from openpilot.cereal import log, custom
 from opendbc.car import structs
 
 from opendbc.car.chrysler.values import RAM_DT
diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/openpilot/sunnypilot/selfdrive/car/cruise_ext.py
similarity index 98%
rename from sunnypilot/selfdrive/car/cruise_ext.py
rename to openpilot/sunnypilot/selfdrive/car/cruise_ext.py
index 3691c35972..61bec477f2 100644
--- a/sunnypilot/selfdrive/car/cruise_ext.py
+++ b/openpilot/sunnypilot/selfdrive/car/cruise_ext.py
@@ -6,7 +6,8 @@ See the LICENSE.md file in the root directory for more details.
 """
 import numpy as np
 
-from cereal import car, custom
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
diff --git a/sunnypilot/selfdrive/car/cruise_helpers.py b/openpilot/sunnypilot/selfdrive/car/cruise_helpers.py
similarity index 92%
rename from sunnypilot/selfdrive/car/cruise_helpers.py
rename to openpilot/sunnypilot/selfdrive/car/cruise_helpers.py
index 1c0026e12f..aa689ec904 100644
--- a/sunnypilot/selfdrive/car/cruise_helpers.py
+++ b/openpilot/sunnypilot/selfdrive/car/cruise_helpers.py
@@ -5,7 +5,8 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import car, custom
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from opendbc.car import structs
 from openpilot.common.params import Params
 
@@ -45,6 +46,6 @@ class CruiseHelper:
   def update_experimental_mode(self, events, experimental_mode) -> None:
     if self.button_frame_counts[ButtonType.gapAdjustCruise] >= DISTANCE_LONG_PRESS and not self.experimental_mode_switched:
       self._experimental_mode = not experimental_mode
-      self.params.put_bool_nonblocking("ExperimentalMode", self._experimental_mode)
+      self.params.put_bool("ExperimentalMode", self._experimental_mode)
       events.add(EventNameSP.experimentalModeSwitched)
       self.experimental_mode_switched = True
diff --git a/sunnypilot/models/tests/__init__.py b/openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
similarity index 100%
rename from sunnypilot/models/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
similarity index 98%
rename from sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
rename to openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
index 1f491e0f58..ded2c0ab19 100644
--- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
+++ b/openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -4,7 +4,8 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car, custom
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from opendbc.car import structs, apply_hysteresis
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_CTRL
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py b/openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
similarity index 100%
rename from sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
rename to openpilot/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
similarity index 76%
rename from sunnypilot/selfdrive/car/interfaces.py
rename to openpilot/sunnypilot/selfdrive/car/interfaces.py
index a93f5724b5..4988e863b1 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/openpilot/sunnypilot/selfdrive/car/interfaces.py
@@ -25,7 +25,7 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params = None, enabled: bool = False) -> bool:
+def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params | None = None, enabled: bool = False) -> bool:
   if params is None:
     params = Params()
 
@@ -36,7 +36,7 @@ def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params = None
 
 
 def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                               params: Params = None, enabled: bool = False) -> bool:
+                                               params: Params | None = None, enabled: bool = False) -> bool:
   if params is None:
     params = Params()
 
@@ -55,7 +55,7 @@ def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: str
   return enabled
 
 
-def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params | None = None) -> None:
   if params is None:
     params = Params()
 
@@ -69,14 +69,20 @@ def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarPara
     CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
 
 
-def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params | None = None) -> None:
   if params is None:
     params = Params()
 
+  if params.get_bool("LateralJerkTorqueController") and params.get_bool("NeuralNetworkLateralControl"):
+    cloudlog.warning("LateralJerkTorqueController and NeuralNetworkLateralControl both enabled, disabling both")
+    params.put_bool("LateralJerkTorqueController", False, block=True)
+    params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
   if CP.steerControlType == structs.CarParams.SteerControlType.angle:
     cloudlog.warning("SteerControlType is angle, cleaning up params")
     params.remove("NeuralNetworkLateralControl")
     params.remove("EnforceTorqueControl")
+    params.remove("LateralJerkTorqueController")
 
   if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
     cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
@@ -92,18 +98,15 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
   set_speed_limit_assist_availability(CP, CP_SP, params)
 
 
-def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
-  CP = CI.CP
-  CP_SP = CI.CP_SP
-
-  enforce_torque = _enforce_torque_lateral_control(CP, params)
-  nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
-  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
-  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
-  _cleanup_unsupported_params(CP, CP_SP)
+def setup_interfaces(CI: CarInterfaceBase, params: Params | None = None) -> None:
+  enforce_torque = _enforce_torque_lateral_control(CI.CP, params)
+  nnlc_enabled = _initialize_neural_network_lateral_control(CI.CP, CI.CP_SP, params)
+  _initialize_intelligent_cruise_button_management(CI.CP, CI.CP_SP, params)
+  _initialize_torque_lateral_control(CI, CI.CP, enforce_torque, nnlc_enabled)
+  _cleanup_unsupported_params(CI.CP, CI.CP_SP)
 
   try:
-    STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+    STATSLOGSP.raw('sunnypilot.car_params', CI.CP.to_dict())
   except RuntimeError:
     pass  # to_dict fails on macOS due to library issues.
   # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
@@ -126,11 +129,13 @@ def initialize_params(params) -> list[dict[str, Any]]:
   # tesla
   keys.extend([
     "TeslaCoopSteering",
+    "TeslaMadsScreenButton",
   ])
 
   # toyota
   keys.extend([
     "ToyotaEnforceStockLongitudinal",
+    "ToyotaStopAndGoHack",
   ])
 
   return [{k: params.get(k, return_default=True)} for k in keys]
diff --git a/sunnypilot/selfdrive/car/sync_car_list_param.py b/openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py
similarity index 82%
rename from sunnypilot/selfdrive/car/sync_car_list_param.py
rename to openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py
index 5e25f6da9a..6c964710b0 100755
--- a/sunnypilot/selfdrive/car/sync_car_list_param.py
+++ b/openpilot/sunnypilot/selfdrive/car/sync_sunnylink_params.py
@@ -12,7 +12,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 
-CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "openpilot", "sunnypilot", "selfdrive", "car", "car_list.json")
 
 
 def update_car_list_param():
@@ -21,7 +21,7 @@ def update_car_list_param():
 
   params = Params()
   if params.get("CarList") != current_car_list:
-    params.put("CarList", current_car_list)
+    params.put("CarList", current_car_list, block=True)
     cloudlog.warning("Updated CarList param with latest platform list")
   else:
     cloudlog.warning("CarList param is up to date, no need to update")
diff --git a/sunnypilot/selfdrive/__init__.py b/openpilot/sunnypilot/selfdrive/car/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/__init__.py
rename to openpilot/sunnypilot/selfdrive/car/tests/__init__.py
diff --git a/sunnypilot/selfdrive/car/tests/test_cruise_mode.py b/openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
similarity index 93%
rename from sunnypilot/selfdrive/car/tests/test_cruise_mode.py
rename to openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
index 26338319f5..b5cd9f6f87 100644
--- a/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
@@ -1,5 +1,6 @@
-from parameterized import parameterized_class
-from cereal import car
+from opendbc.car.structs import car
+from openpilot.common.parameterized import parameterized_class
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper, DISTANCE_LONG_PRESS
 
@@ -8,7 +9,7 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 
 @parameterized_class(('openpilot_longitudinal',), [(True,)])
-class TestCruiseHelper:
+class TestCruiseHelper(OpenpilotTestCase):
   def setup_method(self):
     self.CP = car.CarParams(openpilotLongitudinalControl=self.openpilot_longitudinal)
     self.cruise_helper = CruiseHelper(self.CP)
diff --git a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
similarity index 88%
rename from sunnypilot/selfdrive/car/tests/test_custom_cruise.py
rename to openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
index a1f7f8f027..56491e3518 100644
--- a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
@@ -1,8 +1,6 @@
-import pytest
-from parameterized import parameterized_class
-
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
+from openpilot.common.parameterized import parameterized, parameterized_class
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL
 from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper
@@ -15,15 +13,15 @@ ButtonType = car.CarState.ButtonEvent.Type
 @parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestCustomAccIncrements(TestVCruiseHelper):
   def setup_method(self):
-    TestVCruiseHelper.setup_method(self)
+    TestVCruiseHelper.openpilot_setup_method(self)
     self.params = Params()
     self.reset_custom_params()
 
   def reset_custom_params(self) -> None:
     """Reset to default custom ACC parameters"""
-    self.params.put_bool("CustomAccIncrementsEnabled", False)
-    self.params.put("CustomAccShortPressIncrement", 1)
-    self.params.put("CustomAccLongPressIncrement", 5)
+    self.params.put_bool("CustomAccIncrementsEnabled", False, block=True)
+    self.params.put("CustomAccShortPressIncrement", 1, block=True)
+    self.params.put("CustomAccLongPressIncrement", 5, block=True)
     self.v_cruise_helper.read_custom_set_speed_params()
 
   def press_button_short(self, button_type: car.CarState.ButtonEvent.Type) -> None:
@@ -51,9 +49,9 @@ class TestCustomAccIncrements(TestVCruiseHelper):
 
   def set_custom_increments(self, enabled: bool, short_inc: int, long_inc: int) -> None:
     """Set custom ACC increment parameters"""
-    self.params.put_bool("CustomAccIncrementsEnabled", enabled)
-    self.params.put("CustomAccShortPressIncrement", short_inc)
-    self.params.put("CustomAccLongPressIncrement", long_inc)
+    self.params.put_bool("CustomAccIncrementsEnabled", enabled, block=True)
+    self.params.put("CustomAccShortPressIncrement", short_inc, block=True)
+    self.params.put("CustomAccLongPressIncrement", long_inc, block=True)
     self.v_cruise_helper.read_custom_set_speed_params()
 
   def test_default_behavior_when_disabled(self):
@@ -67,7 +65,7 @@ class TestCustomAccIncrements(TestVCruiseHelper):
     self.press_button_short(ButtonType.accelCruise)
     assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1
 
-  @pytest.mark.parametrize("increment", (1, 2, 3, 4, 5, 6, 7, 8, 9, 10))
+  @parameterized.expand((1, 2, 3, 4, 5, 6, 7, 8, 9, 10))
   def test_custom_short_press_increments(self, increment):
     """Test custom short press increments (1-10)"""
     self.set_custom_increments(enabled=True, short_inc=increment, long_inc=5)
@@ -84,7 +82,7 @@ class TestCustomAccIncrements(TestVCruiseHelper):
 
     assert self.v_cruise_helper.v_cruise_kph == expected_speed
 
-  @pytest.mark.parametrize("increment", (1, 5, 10))
+  @parameterized.expand((1, 5, 10))
   def test_custom_long_press_increments(self, increment):
     """Test custom long press increments (1, 5, 10)"""
     self.set_custom_increments(enabled=True, short_inc=1, long_inc=increment)
@@ -101,7 +99,7 @@ class TestCustomAccIncrements(TestVCruiseHelper):
 
     assert self.v_cruise_helper.v_cruise_kph == expected_speed
 
-  @pytest.mark.parametrize("button_type", [ButtonType.accelCruise, ButtonType.decelCruise])
+  @parameterized.expand([ButtonType.accelCruise, ButtonType.decelCruise])
   def test_accel_decel_symmetry(self, button_type):
     """Test that acceleration and deceleration work symmetrically"""
     self.set_custom_increments(enabled=True, short_inc=3, long_inc=5)
diff --git a/sunnypilot/selfdrive/car/__init__.py b/openpilot/sunnypilot/selfdrive/controls/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/car/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/__init__.py
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py
similarity index 53%
rename from sunnypilot/selfdrive/controls/controlsd_ext.py
rename to openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py
index 3f6053d158..344ae52a93 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -6,16 +6,17 @@ See the LICENSE.md file in the root directory for more details.
 """
 import time
 
-import cereal.messaging as messaging
-from cereal import log, custom
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log, custom
 
 from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
+from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorque as LatControlTorqueV0
 
 
 class ControlsExt(ModelStateBase):
@@ -33,12 +34,25 @@ class ControlsExt(ModelStateBase):
     self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
+  def initialize_lateral_control(self, lac, CI, dt):
+    enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
+    torque_versions = self.params.get("TorqueControlTune")
+    if not enforce_torque_control:
+      if self.CP.lateralTuning.which() == 'torque':
+        return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)  # FIXME-SP: revert when upstream fixes tuning issues with v1
+      return lac
+
+    if torque_versions == 0.0:  # v0
+      return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)
+    else:
+      return lac
+
   def get_params_sp(self, sm: messaging.SubMaster) -> None:
     if time.monotonic() - self._param_update_time > PARAMS_UPDATE_PERIOD:
       self.blinker_pause_lateral.get_params()
 
       if self.CP.lateralTuning.which() == 'torque':
-        self.lat_delay = get_lat_delay(self.params, sm["liveDelay"].lateralDelay)
+        self.lat_delay = get_lat_delay(self.params, sm["lateralDelay"].lateralDelay)
 
       self._param_update_time = time.monotonic()
 
@@ -54,35 +68,41 @@ class ControlsExt(ModelStateBase):
     return bool(sm['selfdriveState'].active)
 
   @staticmethod
-  def get_lead_data(ld: log.RadarState.LeadData) -> dict:
-    return {
-      "dRel": ld.dRel,
-      "yRel": ld.yRel,
-      "vRel": ld.vRel,
-      "aRel": ld.aRel,
-      "vLead": ld.vLead,
-      "dPath": ld.dPath,
-      "vLat": ld.vLat,
-      "vLeadK": ld.vLeadK,
-      "aLeadK": ld.aLeadK,
-      "fcw": ld.fcw,
-      "status": ld.status,
-      "aLeadTau": ld.aLeadTau,
-      "modelProb": ld.modelProb,
-      "radar": ld.radar,
-      "radarTrackId": ld.radarTrackId,
-    }
+  def get_lead_data(_lead, src: log.RadarState.LeadData) -> None:
+    _lead.dRel = src.dRel
+    _lead.yRel = src.yRel
+    _lead.vRel = src.vRel
+    _lead.aRel = src.deprecated.aRel
+    _lead.vLead = src.vLead
+    _lead.dPath = src.deprecated.dPath
+    _lead.vLat = src.deprecated.vLat
+    _lead.vLeadK = src.vLeadK
+    _lead.aLeadK = src.aLeadK
+    _lead.fcw = src.deprecated.fcw
+    _lead.status = src.present
+    _lead.aLeadTau = src.aLeadTau
+    _lead.modelProb = src.modelProb
+    _lead.radar = src.radar
+    _lead.radarTrackId = src.radarTrackId
 
   def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     CC_SP = custom.CarControlSP.new_message()
 
-    CC_SP.leadOne = self.get_lead_data(sm['radarState'].leadOne)
-    CC_SP.leadTwo = self.get_lead_data(sm['radarState'].leadTwo)
+    self.get_lead_data(CC_SP.leadOne, sm['radarState'].leadOne)
+    self.get_lead_data(CC_SP.leadTwo, sm['radarState'].leadTwo)
 
     # MADS state
-    CC_SP.mads = sm['selfdriveStateSP'].mads
+    mads_src = sm['selfdriveStateSP'].mads
+    CC_SP.mads.state = mads_src.state
+    CC_SP.mads.enabled = mads_src.enabled
+    CC_SP.mads.active = mads_src.active
+    CC_SP.mads.available = mads_src.available
 
-    CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
+    # ICBM state
+    icbm_src = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
+    CC_SP.intelligentCruiseButtonManagement.state = icbm_src.state
+    CC_SP.intelligentCruiseButtonManagement.sendButton = icbm_src.sendButton
+    CC_SP.intelligentCruiseButtonManagement.vTarget = icbm_src.vTarget
 
     return CC_SP
 
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py b/openpilot/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/auto_lane_change.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
index cf8de2a1b2..39909ac7b1 100644
--- a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import log
+from openpilot.cereal import log
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
diff --git a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py b/openpilot/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
similarity index 97%
rename from sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
index 98757cd532..e9a6be595e 100644
--- a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
diff --git a/sunnypilot/selfdrive/car/tests/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/car/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/dec/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/constants.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/dec/constants.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/dec/constants.py
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/dec/dec.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 46cad1b048..fb854edae8 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -1,12 +1,12 @@
 """
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
 
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 # Version = 2025-6-30
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car import structs
 from numpy import interp
 from openpilot.common.params import Params
@@ -217,7 +217,7 @@ class DynamicExperimentalController:
       self._standstill_count = max(0, self._standstill_count - 1)
 
     # Lead detection
-    self._lead_filter.add_data(float(lead_one.status))
+    self._lead_filter.add_data(float(lead_one.present))
     lead_value = self._lead_filter.get_value() or 0.0
     self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
 
diff --git a/sunnypilot/selfdrive/controls/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dec_planner_gate.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dec_planner_gate.py
new file mode 100644
index 0000000000..1f5c577028
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dec_planner_gate.py
@@ -0,0 +1,112 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from typing import cast
+
+from openpilot.cereal import custom, messaging
+from opendbc.car import structs
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner, LongitudinalPlanSource
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+
+V_EGO = 20.0
+E2E_ACCEL = -3.0  # low enough that e2e wins the min() whenever it is a candidate
+
+
+class MockDec:
+  def __init__(self, active: bool, mode: str):
+    self._active = active
+    self._mode = mode
+
+  def update(self, sm):
+    pass
+
+  def active(self) -> bool:
+    return self._active
+
+  def mode(self) -> str:
+    return self._mode
+
+  def enabled(self) -> bool:
+    return True
+
+
+class MockSubMaster(dict):
+  def __init__(self, services: dict):
+    super().__init__(services)
+    self.valid = dict.fromkeys(services, True)
+    self.logMonoTime = dict.fromkeys(services, 0)
+    self.updated = dict.fromkeys(services, True)
+    self.recv_frame = dict.fromkeys(services, 1)
+
+  def all_checks(self, service_list=None) -> bool:
+    return True
+
+
+def build_sm(experimental_mode: bool) -> MockSubMaster:
+  services = {}
+  for service in ("radarState", "controlsState", "vehicleParameters", "carStateSP",
+                  "liveMapDataSP", "gpsLocationExternal", "gpsLocation"):
+    services[service] = getattr(messaging.new_message(service), service)
+
+  car_state = messaging.new_message('carState')
+  car_state.carState.vEgo = V_EGO
+  car_state.carState.vCruise = 100.0
+  car_state.carState.vCruiseCluster = 100.0
+  services['carState'] = car_state.carState.as_reader()
+
+  selfdrive_state = messaging.new_message('selfdriveState')
+  selfdrive_state.selfdriveState.experimentalMode = experimental_mode
+  selfdrive_state.selfdriveState.enabled = True
+  services['selfdriveState'] = selfdrive_state.selfdriveState.as_reader()
+
+  car_control = messaging.new_message('carControl')
+  car_control.carControl.enabled = True
+  services['carControl'] = car_control.carControl.as_reader()
+
+  model = messaging.new_message('modelV2')
+  model.modelV2.orientationRate.z = [0.01] * 33  # nonzero: a straight path divides by zero in SCC vision
+  model.modelV2.velocity.x = [V_EGO] * 33
+  model.modelV2.position.x = [float(i) for i in range(33)]
+  model.modelV2.action.desiredAcceleration = E2E_ACCEL
+  services['modelV2'] = model.modelV2.as_reader()
+
+  return MockSubMaster(services)
+
+
+def build_planner(dec_active: bool, dec_mode: str) -> LongitudinalPlanner:
+  CP = structs.CarParams()
+  CP.steerRatio = 15.0
+  CP.wheelbase = 2.7
+  CP.longitudinalActuatorDelay = 0.2
+  CP_SP = custom.CarParamsSP.new_message().as_reader()
+
+  planner = LongitudinalPlanner(CP, CP_SP, init_v=V_EGO)
+  planner.dec = cast(DynamicExperimentalController, MockDec(dec_active, dec_mode))
+  return planner
+
+
+class TestDecPlannerGate(OpenpilotTestCase):
+  """The e2e candidate must be gated on is_e2e(), not raw experimentalMode."""
+
+  def _source(self, experimental_mode: bool, dec_active: bool, dec_mode: str) -> LongitudinalPlanSource:
+    planner = build_planner(dec_active, dec_mode)
+    planner.update(build_sm(experimental_mode))
+    return planner.mpc.source
+
+  def test_no_e2e_when_experimental_mode_off(self):
+    assert self._source(False, False, 'acc') != LongitudinalPlanSource.e2e
+
+  def test_e2e_when_dec_inactive(self):
+    # DEC off: behavior must match upstream
+    assert self._source(True, False, 'acc') == LongitudinalPlanSource.e2e
+
+  def test_e2e_when_dec_blended(self):
+    assert self._source(True, True, 'blended') == LongitudinalPlanSource.e2e
+
+  def test_no_e2e_when_dec_holds_acc(self):
+    # the regression
+    assert self._source(True, True, 'acc') != LongitudinalPlanSource.e2e
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dynamic_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dynamic_controller.py
new file mode 100644
index 0000000000..4fec6eaa52
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dynamic_controller.py
@@ -0,0 +1,91 @@
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+
+class MockLeadOne:
+  def __init__(self, present=0.0):
+    self.present = present
+
+class MockRadarState:
+  def __init__(self, present=0.0):
+    self.leadOne = MockLeadOne(present=present)
+
+class MockCarState:
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
+    self.standstill = standstill
+
+class MockModelData:
+  def __init__(self, valid=True):
+    size = 33 if valid else 10  # incomplete if invalid
+    self.position = type("Pos", (), {"x": [0.0] * size})()
+    self.orientation = type("Ori", (), {"x": [0.0] * size})()
+
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
+
+class MockParams:
+  def get_bool(self, name):
+    return True
+
+def default_sm():
+  sm = {
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+    'radarState': MockRadarState(present=1.0),
+    'modelV2': MockModelData(valid=True),
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
+  }
+  return sm
+
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
+
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+  return MPC()
+
+# Fake Kalman Filter that always returns a given value
+class FakeKalman:
+  def __init__(self, value=1.0):
+    self.value = value
+  def add_data(self, v): pass
+  def get_value(self): return self.value
+  def get_confidence(self): return 1.0
+  def reset_data(self): pass
+
+class TestDynamicExperimentalController(OpenpilotTestCase):
+  def test_initial_mode_is_acc(self, mock_cp, mock_mpc):
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+    assert controller.mode() == "acc"
+
+  def test_standstill_triggers_blended(self, mock_cp, mock_mpc, default_sm):
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+    default_sm['carState'].standstill = True
+    for _ in range(10):
+      controller.update(default_sm)
+    assert controller.mode() == "blended"
+
+  def test_emergency_blended_on_fcw(self, mock_cp, mock_mpc, default_sm):
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+    mock_mpc.crash_cnt = 1  # simulate FCW
+    for _ in range(2):
+      controller.update(default_sm)
+    assert controller.mode() == "blended"
+
+  def test_radarless_slowdown_triggers_blended(self, mock_cp, mock_mpc, default_sm):
+    mock_cp.radarUnavailable = True
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+
+    # Force conditions to simulate slowdown
+    controller._slow_down_filter = FakeKalman(value=1.0)  # ty: ignore[invalid-assignment]
+    controller._v_ego_kph = 35.0
+    default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
+
+    for _ in range(3):
+      controller.update(default_sm)
+
+    assert controller.mode() == "blended"
diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/openpilot/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
index 944bf617e9..b75bae2461 100644
--- a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import messaging, custom
+from openpilot.cereal import messaging, custom
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
@@ -61,7 +61,7 @@ class E2EAlertsHelper:
 
     model_x = sm['modelV2'].position.x
     max_idx = len(model_x) - 1
-    self.has_lead = sm['radarState'].leadOne.status
+    self.has_lead = sm['radarState'].leadOne.present
     lead_dRel = sm['radarState'].leadOne.dRel
 
     standstill = CS.standstill
diff --git a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py b/openpilot/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
similarity index 97%
rename from sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
index fa35ebb125..ad7e80eda0 100644
--- a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import custom
+from openpilot.cereal import custom
 
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
similarity index 94%
rename from sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index 39525b3b8e..50add19cd2 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -33,6 +33,7 @@ class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueExtOverri
     self._output_torque = output_torque
 
     self.update_calculations(CS, VM, desired_lateral_accel)
+    self.update_jerk_aware_torque_control(CS, roll_compensation, gravity_adjusted_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
     return self._pid_log, self._output_torque
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
similarity index 91%
rename from sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index c6658bdc78..31ac615db8 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -14,11 +14,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan
 
-# from selfdrive/controls/lib/latcontrol_torque.py
-KP = 0.8
-KI = 0.15
-INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
-KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+KP = 1.0
+KI = 0.3
 
 
 def get_predicted_lateral_jerk(lat_accels, t_diffs):
@@ -61,9 +58,10 @@ class LatControlTorqueExtBase:
     self.lookahead_lateral_jerk: float = 0.0
 
     self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
+    self.torque_params = lac_torque.torque_params
 
     self._ff = 0.0
-    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
+    self._pid = PIDController(KP, KI)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
@@ -134,3 +132,10 @@ class LatControlTorqueExtBase:
         self.lat_accel_friction_factor = 1.0
       self.lateral_jerk_setpoint = self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
       self.lateral_jerk_measurement = self.lat_jerk_friction_factor * self.actual_lateral_jerk
+
+  def update_output_torque(self, CS):
+    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+    self._output_torque = self._pid.update(self._pid_log.error,
+                                           feedforward=self._ff,
+                                           speed=CS.vEgo,
+                                           freeze_integrator=freeze_integrator)
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_jerk_aware.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_jerk_aware.py
new file mode 100644
index 0000000000..8d780ed4cc
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_jerk_aware.py
@@ -0,0 +1,45 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from opendbc.car.lateral import FRICTION_THRESHOLD
+from opendbc.sunnypilot.car.interfaces import LatControlInputs
+from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+
+
+class LatControlTorqueJerkAware(LatControlTorqueExtBase):
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
+    self.params = Params()
+    self._jerk_aware_enabled = self.params.get_bool("LateralJerkTorqueController")
+
+  def update_limits(self):
+    if not self._jerk_aware_enabled:
+      return
+    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
+
+  def update_jerk_aware_torque_control(self, CS, roll_compensation, gravity_adjusted_lateral_accel):
+    if not self._jerk_aware_enabled:
+      return
+
+    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(
+      LatControlInputs(self._setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=False
+    )
+    torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(
+      LatControlInputs(self._measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=False
+    )
+
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)  # ty: ignore[invalid-assignment]
+    self._ff = self.torque_from_lateral_accel_in_torque_space(
+      LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True
+    )
+
+    friction_input = self.update_friction_input(self._desired_lateral_accel, self._actual_lateral_accel)
+    self._ff += get_friction_in_torque_space(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+    self.update_output_torque(CS)
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
new file mode 100644
index 0000000000..b6ee7baabe
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
@@ -0,0 +1,128 @@
+import math
+import numpy as np
+from collections import deque
+
+from openpilot.cereal import log
+from opendbc.car.lateral import get_friction
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.common.pid import PIDController
+
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import LatControlTorqueExt
+
+# At higher speeds (25+mph) we can assume:
+# Lateral acceleration achieved by a specific car correlates to
+# torque applied to the steering rack. It does not correlate to
+# wheel slip, or to speed.
+
+# This controller applies torque to achieve desired lateral
+# accelerations. To compensate for the low speed effects the
+# proportional gain is increased at low speeds by the PID controller.
+# Additionally, there is friction in the steering wheel that needs
+# to be overcome to move it at all, this is compensated for too.
+
+KP = 1.0
+KI = 0.3
+KD = 0.0
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+
+LP_FILTER_CUTOFF_HZ = 1.2
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+FRICTION_THRESHOLD = 0.3
+VERSION = 0
+
+
+class LatControlTorque(LatControl):
+  def __init__(self, CP, CP_SP, CI, dt):
+    super().__init__(CP, CP_SP, CI, dt)
+    self.torque_params = CP.lateralTuning.torque.as_builder()
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.update_limits()
+    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
+    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
+    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
+
+  def update_torque_parameters(self, latAccelFactor, latAccelOffset, friction):
+    self.torque_params.latAccelFactor = latAccelFactor
+    self.torque_params.latAccelOffset = latAccelOffset
+    self.torque_params.friction = friction
+    self.update_limits()
+
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
+    # Override torque params from extension
+    if self.extension.update_override_torque_params(self.torque_params):
+      self.update_limits()
+
+    pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
+    if not active:
+      output_torque = 0.0
+      pid_log.active = False
+    else:
+      measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
+      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt)
+
+      measurement = measured_curvature * CS.vEgo ** 2
+      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      self.previous_measurement = measurement
+
+      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
+      error = setpoint - measurement
+
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(error)
+      ff = gravity_adjusted_future_lateral_accel
+      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+      ff -= self.torque_params.latAccelOffset
+      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
+      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_lataccel = self.pid.update(pid_log.error,
+                                       -measurement_rate,
+                                        feedforward=ff,
+                                        speed=CS.vEgo,
+                                        freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
+
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     future_desired_lateral_accel, measurement, lateral_accel_deadzone, gravity_adjusted_future_lateral_accel,
+                                                     desired_curvature, measured_curvature, steer_limited_by_safety, output_torque)
+
+      pid_log.active = True
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque) # TODO: log lat accel?
+      pid_log.actualLateralAccel = float(measurement)
+      pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+
+    # TODO left is positive in this convention
+    return -output_torque, 0.0, pid_log
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
new file mode 100644
index 0000000000..21b5884a01
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
@@ -0,0 +1,8 @@
+{
+  "v1.0": {
+    "version": "1.0"
+  },
+  "v0.0": {
+    "version": "0.0"
+  }
+}
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 6efda4585f..f1e0c36416 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import messaging, custom
+from openpilot.cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
diff --git a/sunnypilot/selfdrive/controls/lib/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
similarity index 92%
rename from sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
index c34fa435c2..a5d56b1ff0 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/helpers.py
@@ -11,8 +11,8 @@ from difflib import SequenceMatcher
 from opendbc.car import structs
 from openpilot.common.basedir import BASEDIR
 
-TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "sunnypilot", "neural_network_data", "neural_network_lateral_control")
-TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "opendbc", "car", "torque_data/substitute.toml")
+TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "neural_network_data", "neural_network_lateral_control")
+TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "opendbc_repo", "opendbc", "car", "torque_data/substitute.toml")
 MOCK_MODEL_PATH = os.path.join(TORQUE_NN_MODEL_PATH, "MOCK.json")
 
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/model.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/model.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/nnlc/model.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/model.py
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
similarity index 88%
rename from sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 2db88299ca..9684c86688 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -14,7 +14,8 @@ from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_t
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase, sign
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import sign
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_jerk_aware import LatControlTorqueJerkAware
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
 
@@ -31,17 +32,18 @@ def roll_pitch_adjust(roll, pitch):
   return roll * math.cos(pitch)
 
 
-class NeuralNetworkLateralControl(LatControlTorqueExtBase):
+class NeuralNetworkLateralControl(LatControlTorqueJerkAware):
   def __init__(self, lac_torque, CP, CP_SP, CI):
     super().__init__(lac_torque, CP, CP_SP, CI)
     self.params = Params()
     self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
-    self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
+    model_path = CP_SP.neuralNetworkLateralControl.model.path
+    self.has_nn_model = model_path not in (MOCK_MODEL_PATH, '')
 
     # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data
     # of lat accel and roll
     # Past value is computed using previous desired lat accel and observed roll
-    self.model = NNTorqueModel(CP_SP.neuralNetworkLateralControl.model.path)
+    self.model = NNTorqueModel(model_path) if self.has_nn_model else None
 
     self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
     self.pitch_last = 0.0
@@ -64,6 +66,7 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     return self.enabled and self.model_valid and self.has_nn_model
 
   def update_limits(self):
+    super().update_limits()
     if not self._nnlc_enabled:
       return
 
@@ -75,21 +78,14 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
 
   def update_feedforward_torque_space(self, CS):
     torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                          self.lac_torque.torque_params, gravity_adjusted=False)
+                                                                          self.torque_params, gravity_adjusted=False)
     torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
-                                                                             self.lac_torque.torque_params, gravity_adjusted=False)
-    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+                                                                             self.torque_params, gravity_adjusted=False)
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)  # ty: ignore[invalid-assignment]
     self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
-                                                                               CS.vEgo, CS.aEgo), self.lac_torque.torque_params, gravity_adjusted=True)
+                                                                               CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
     self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
-                                             FRICTION_THRESHOLD, self.lac_torque.torque_params)
-
-  def update_output_torque(self, CS):
-    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-    self._output_torque = self._pid.update(self._pid_log.error,
-                                           feedforward=self._ff,
-                                           speed=CS.vEgo,
-                                           freeze_integrator=freeze_integrator)
+                                             FRICTION_THRESHOLD, self.torque_params)
 
   def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
     if not self._nnlc_enabled:
@@ -132,7 +128,7 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
                              + past_rolls + future_rolls
     torque_from_setpoint = self.model.evaluate(nnff_setpoint_input)
     torque_from_measurement = self.model.evaluate(nnff_measurement_input)
-    self._pid_log.error = torque_from_setpoint - torque_from_measurement
+    self._pid_log.error = torque_from_setpoint - torque_from_measurement  # ty: ignore[invalid-assignment]
 
     # The "pure" NNLC error response can be too weak for cars whose models were trained
     # with a lack of high-magnitude lateral acceleration data, for which the NNLC model
@@ -148,7 +144,7 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
       nnff_error_input = [CS.vEgo, self._setpoint - self._measurement, self.lateral_jerk_setpoint - self.lateral_jerk_measurement, 0.0]
       torque_from_error = self.model.evaluate(nnff_error_input)
       if sign(self._pid_log.error) == sign(torque_from_error) and abs(self._pid_log.error) < abs(torque_from_error):
-        self._pid_log.error = self._pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor
+        self._pid_log.error = self._pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor  # ty: ignore[invalid-assignment]
 
     # compute feedforward (same as nn setpoint output)
     friction_input = self.update_friction_input(self._setpoint, self._measurement)
@@ -159,6 +155,6 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
 
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
-      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.lac_torque.torque_params)
+      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
     self.update_output_torque(CS)
diff --git a/sunnypilot/selfdrive/controls/lib/dec/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/dec/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
similarity index 91%
rename from sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
index 0f016ccaf0..8eaa90babd 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
@@ -1,13 +1,13 @@
-from parameterized import parameterized
-
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.nissan.values import CAR as NISSAN
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.tesla.values import CAR as TESLA
+from openpilot.common.parameterized import parameterized
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.common.test import OpenpilotTestCase
 
 
 FINGERPRINT_EXACT_MATCH = [HONDA.HONDA_CIVIC_BOSCH, TOYOTA.TOYOTA_RAV4_TSS2_2022, HYUNDAI.HYUNDAI_IONIQ_5]
@@ -15,7 +15,7 @@ FINGERPRINT_FUZZY_MATCH = [HONDA.HONDA_CIVIC_BOSCH_DIESEL, HYUNDAI.GENESIS_G70_2
 FINGERPRINT_ANGLE_NO_MATCH = [TOYOTA.TOYOTA_RAV4_TSS2_2023, NISSAN.NISSAN_LEAF, TESLA.TESLA_MODEL_3]
 
 
-class TestNNLCFingerprintBase:
+class TestNNLCFingerprintBase(OpenpilotTestCase):
 
   @staticmethod
   def _setup_platform(car_name):
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
similarity index 83%
rename from sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
index 245b487315..4e0da4eeed 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
@@ -1,22 +1,22 @@
-from parameterized import parameterized
-
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.toyota.values import CAR as TOYOTA
+from openpilot.common.parameterized import parameterized
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestNNTorqueModel:
+class TestNNTorqueModel(OpenpilotTestCase):
 
   @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
   def test_load_model(self, car_name):
     params = Params()
-    params.put_bool("NeuralNetworkLateralControl", True)
+    params.put_bool("NeuralNetworkLateralControl", True, block=True)
 
     CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
similarity index 79%
rename from sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index eb6839cc19..4782b0c4f3 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -1,21 +1,23 @@
 import numpy as np
-from parameterized import parameterized
 
-from cereal import car, log, messaging
+from openpilot.cereal import log, messaging
+from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.parameterized import parameterized
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.locationd.helpers import Pose
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.common.test import OpenpilotTestCase
 
 
 def generate_modelV2():
@@ -41,12 +43,12 @@ def generate_modelV2():
   return model
 
 
-class TestNeuralNetworkLateralControl:
+class TestNeuralNetworkLateralControl(OpenpilotTestCase):
 
   @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
   def test_saturation(self, car_name):
     params = Params()
-    params.put_bool("NeuralNetworkLateralControl", True)
+    params.put_bool("NeuralNetworkLateralControl", True, block=True)
 
     CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
@@ -65,10 +67,10 @@ class TestNeuralNetworkLateralControl:
     CS.vEgo = 30
     CS.steeringPressed = False
 
-    params = log.LiveParametersData.new_message()
+    params = log.VehicleParameters.new_message()
 
-    lp = generate_livePose()
-    pose = Pose.from_live_pose(lp.livePose)
+    lp = generate_deviceMotion()
+    pose = Pose.from_device_motion(lp.deviceMotion)
 
     mdl = generate_modelV2()
     sm = {'modelV2': mdl.modelV2}
@@ -80,7 +82,7 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
-      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.update_torque_parameters(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
       controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True, 0.2)
     assert lac_log.saturated
@@ -88,7 +90,7 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
-      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.update_torque_parameters(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
       controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False, 0.2)
     assert not lac_log.saturated
@@ -96,7 +98,7 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
-      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.update_torque_parameters(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
       controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False, 0.2)
     assert lac_log.saturated
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/relc.py b/openpilot/sunnypilot/selfdrive/controls/lib/relc.py
new file mode 100644
index 0000000000..031e751b43
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/relc.py
@@ -0,0 +1,98 @@
+"""
+Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+NEARSIDE_PROB = 0.2
+EDGE_PROB = 0.35
+EDGE_REACTION_TIME = 1.0
+EDGE_CLEAR_TIME = 0.3
+MIN_SPEED = 20 * CV.MPH_TO_MS
+VEHICLE_EDGE_MARGIN = 1.08
+EDGE_CLEARANCE = 3.7
+
+
+class RoadEdgeLaneChangeController:
+  def __init__(self):
+    self.params = Params()
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+    self.param_read_counter = 0
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def read_params(self) -> None:
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def reset(self) -> None:
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def update(self, road_edge_stds, lane_line_probs, v_ego: float, road_edges=None) -> None:
+    self.update_params()
+
+    if not self.enabled or v_ego < MIN_SPEED:
+      self.reset()
+      return
+
+    left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
+    right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
+    left_lane_prob = lane_line_probs[0]
+    right_lane_prob = lane_line_probs[3]
+
+    if road_edges is not None and len(road_edges) == 2 and len(road_edges[0].y) > 0 and len(road_edges[1].y) > 0:
+      left_clearance = abs(road_edges[0].y[0]) - VEHICLE_EDGE_MARGIN
+      right_clearance = abs(road_edges[1].y[0]) - VEHICLE_EDGE_MARGIN
+    else:
+      left_clearance = 0.0
+      right_clearance = 0.0
+
+    left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and left_clearance < EDGE_CLEARANCE
+    right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and right_clearance < EDGE_CLEARANCE
+
+    if left_cond:
+      self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.left_clear_timer = 0.0
+      if self.left_edge_timer > EDGE_REACTION_TIME:
+        self.left_edge_detected = True
+    else:
+      self.left_clear_timer += DT_MDL
+      if self.left_clear_timer > EDGE_CLEAR_TIME:
+        self.left_edge_timer = 0.0
+        self.left_edge_detected = False
+
+    if right_cond:
+      self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.right_clear_timer = 0.0
+      if self.right_edge_timer > EDGE_REACTION_TIME:
+        self.right_edge_detected = True
+    else:
+      self.right_clear_timer += DT_MDL
+      if self.right_clear_timer > EDGE_CLEAR_TIME:
+        self.right_edge_timer = 0.0
+        self.right_edge_detected = False
+
+  def update_and_fill(self, modelv2, mdv2sp, v_ego):
+    self.update(modelv2.roadEdgeStds, modelv2.laneLineProbs, v_ego, modelv2.roadEdges)
+    mdv2sp.leftLaneChangeEdgeBlock = self.left_edge_detected
+    mdv2sp.rightLaneChangeEdgeBlock = self.right_edge_detected
+    return self.left_edge_detected, self.right_edge_detected
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
index c7f11a1bb2..f3ed0fc07b 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
@@ -2,7 +2,7 @@ import json
 import math
 import platform
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
@@ -151,8 +151,8 @@ class SmartCruiseControlMap:
         a = 0.5 * TARGET_JERK
         b = self.a_ego
         c = self.v_ego - tv
-        t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / 2 * a
-        t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / 2 * a
+        t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / (2 * a)
+        t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / (2 * a)
         if not isinstance(t_a, complex) and t_a > 0:
           t = t_a
         else:
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
similarity index 94%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
index 4ca45202fc..ff6c706634 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import SmartCruiseControlMap
 
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
similarity index 59%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
index 537f0033f0..a9e5cdd992 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
@@ -4,18 +4,22 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import json
+import math
 import platform
 
-from cereal import custom
+
+from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
-from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import SmartCruiseControlMap
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import R, SmartCruiseControlMap
+from openpilot.common.test import OpenpilotTestCase
 
 MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
 
 
-class TestSmartCruiseControlMap:
+class TestSmartCruiseControlMap(OpenpilotTestCase):
 
   def setup_method(self):
     self.params = Params()
@@ -24,11 +28,11 @@ class TestSmartCruiseControlMap:
     self.scc_m = SmartCruiseControlMap()
 
   def reset_params(self):
-    self.params.put_bool("SmartCruiseControlMap", True)
+    self.params.put_bool("SmartCruiseControlMap", True, block=True)
 
     # TODO-SP: mock data from gpsLocation
-    self.params.put("LastGPSPosition", "{}")
-    self.params.put("MapTargetVelocities", "{}")
+    self.params.put("LastGPSPosition", "{}", block=True)
+    self.params.put("MapTargetVelocities", "{}", block=True)
 
   def test_initial_state(self):
     assert self.scc_m.state == VisionState.disabled
@@ -37,7 +41,7 @@ class TestSmartCruiseControlMap:
     assert self.scc_m.output_a_target == 0.
 
   def test_system_disabled(self):
-    self.params.put_bool("SmartCruiseControlMap", False)
+    self.params.put_bool("SmartCruiseControlMap", False, block=True)
     self.scc_m.enabled = self.params.get_bool("SmartCruiseControlMap")
 
     for _ in range(int(10. / DT_MDL)):
@@ -55,4 +59,17 @@ class TestSmartCruiseControlMap:
       self.scc_m.update(True, False, 0., 0., 0.)
     assert self.scc_m.state == VisionState.enabled
 
+  def test_moderate_curve(self):
+    # Regression: `... / 2 * a` parsed as `(.../2)*a` instead of `.../(2*a)`,
+    # making max_d ~11x too small so the moderate-curve branch never tripped.
+    # v_ego=25, a_ego=0, tv=24: fixed max_d≈45m vs buggy ≈4m at a 40m waypoint.
+    waypoint_lon_deg = (40.0 / R) * (180.0 / math.pi)
+    self.mem_params.put("LastGPSPosition", json.dumps({"latitude": 0.0, "longitude": 0.0}), block=True)
+    self.mem_params.put("MapTargetVelocities",
+                        json.dumps([{"latitude": 0.0, "longitude": waypoint_lon_deg, "velocity": 24.0}]), block=True)
+
+    self.scc_m.update(True, False, 25.0, 0.0, 30.0)
+
+    self.assertAlmostEqual(self.scc_m.v_target, 24.0, delta=24.0 * 1e-6)
+
   # TODO-SP: mock data from modelV2 to test other states
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
similarity index 92%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
index d35b79a73b..610acd47df 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
@@ -4,17 +4,20 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import numpy as np
-import pytest
+from typing import Any
 
-import cereal.messaging as messaging
-from cereal import custom, log
+import numpy as np
+from openpilot.common.parameterized import parameterized
+
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import custom, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision, _ENTERING_PRED_LAT_ACC_TH
+from openpilot.common.test import OpenpilotTestCase
 
 VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
 
@@ -103,7 +106,7 @@ def generate_controlsState():
   return controls_state
 
 
-class TestSmartCruiseControlVision:
+class TestSmartCruiseControlVision(OpenpilotTestCase):
 
   def setup_method(self):
     self.params = Params()
@@ -113,10 +116,10 @@ class TestSmartCruiseControlVision:
     mdl = generate_modelV2()
     cs = generate_carState()
     controls_state = generate_controlsState()
-    self.sm = {'modelV2': mdl.modelV2, 'carState': cs.carState, 'controlsState': controls_state.controlsState}
+    self.sm: Any = {'modelV2': mdl.modelV2, 'carState': cs.carState, 'controlsState': controls_state.controlsState}
 
   def reset_params(self):
-    self.params.put_bool("SmartCruiseControlVision", True)
+    self.params.put_bool("SmartCruiseControlVision", True, block=True)
 
   def test_initial_state(self):
     assert self.scc_v.state == VisionState.disabled
@@ -125,7 +128,7 @@ class TestSmartCruiseControlVision:
     assert self.scc_v.output_a_target == 0.
 
   def test_system_disabled(self):
-    self.params.put_bool("SmartCruiseControlVision", False)
+    self.params.put_bool("SmartCruiseControlVision", False, block=True)
     self.scc_v.enabled = self.params.get_bool("SmartCruiseControlVision")
 
     for _ in range(int(10. / DT_MDL)):
@@ -143,19 +146,11 @@ class TestSmartCruiseControlVision:
       self.scc_v.update(self.sm, True, False, 0., 0., 0.)
     assert self.scc_v.state == VisionState.enabled
 
-  @pytest.mark.parametrize(
-    "case, should_enter",
-    [
+  @parameterized.expand([
       ("p97_just_above_threshold", True),
       ("single_spike_filtered", False),
       ("persistent_high_values", True),
-    ],
-    ids=[
-      "p97>threshold_enters",
-      "single_spike_max_large_but_p97_below_threshold",
-      "high_values_persist_trigger_entering",
-    ],
-  )
+    ], names=["case", "should_enter"])
   def test_max_pred_lat_acc_uses_p97_and_threshold(self, case, should_enter):
     n = len(ModelConstants.T_IDXS)
     th = float(_ENTERING_PRED_LAT_ACC_TH)
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
similarity index 98%
rename from sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
index a9d2a66227..fb76f5b546 100644
--- a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
@@ -6,8 +6,8 @@ See the LICENSE.md file in the root directory for more details.
 """
 import numpy as np
 
-import cereal.messaging as messaging
-from cereal import custom
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/common.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
similarity index 87%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
index 4f388befc7..848f99edc7 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
@@ -5,7 +5,8 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import custom, car
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
@@ -22,7 +23,7 @@ def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_
   return req_plus, req_minus
 
 
-def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> bool:
+def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params | None = None) -> bool:
   if params is None:
     params = Params()
 
@@ -39,6 +40,6 @@ def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarPara
 
   if not allowed:
     if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
-      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning), block=True)
 
   return allowed
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
similarity index 96%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
index ff7be8a8be..40c8c6fdf4 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -6,7 +6,8 @@ See the LICENSE.md file in the root directory for more details.
 """
 import time
 
-from cereal import custom, car
+from openpilot.cereal import custom
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
@@ -90,7 +91,7 @@ class SpeedLimitAssist:
 
     self._plus_hold = 0.
     self._minus_hold = 0.
-    self._last_carstate_ts = 0.
+    self._release_toggle_prev = 0
 
     # TODO-SP: SLA's own output_a_target for planner
     # Solution functions mapped to respective states
@@ -145,16 +146,16 @@ class SpeedLimitAssist:
       set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
       self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
 
-  def update_car_state(self, CS: car.CarState) -> None:
+  def update_buttons(self, release_toggle: int) -> None:
+    released = self._release_toggle_prev ^ release_toggle
+    self._release_toggle_prev = release_toggle
+    if not released:
+      return
     now = time.monotonic()
-    self._last_carstate_ts = now
-
-    for b in CS.buttonEvents:
-      if not b.pressed:
-        if b.type in CRUISE_BUTTONS_PLUS:
-          self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
-        elif b.type in CRUISE_BUTTONS_MINUS:
-          self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+    if any((released >> b) & 1 for b in CRUISE_BUTTONS_PLUS):
+      self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+    if any((released >> b) & 1 for b in CRUISE_BUTTONS_MINUS):
+      self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
 
   def _get_button_release(self, req_plus: bool, req_minus: bool) -> bool:
     now = time.monotonic()
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
similarity index 97%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
index 35965c0e18..a226e0d120 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
@@ -6,8 +6,8 @@ See the LICENSE.md file in the root directory for more details.
 """
 import time
 
-import cereal.messaging as messaging
-from cereal import custom
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import custom
 from openpilot.common.constants import CV
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
@@ -152,9 +152,9 @@ class SpeedLimitResolver:
         self.distance_solutions[SpeedLimitSource.map] = distance_to_speed_limit_ahead
 
   def _get_source_solution_according_to_policy(self) -> custom.LongitudinalPlanSP.SpeedLimit.Source:
-    sources_for_policy = self._policy_to_sources_map[self.policy]
+    sources_for_policy = self._policy_to_sources_map[Policy(self.policy)]
 
-    if self.policy != Policy.combined:
+    if Policy(self.policy) != Policy.combined:
       # They are ordered in the order of preference, so we pick the first that's non-zero
       for source in sources_for_policy:
         if self.limit_solutions[source] > 0.:
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
similarity index 72%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index aa6650adda..f3d32a4d5b 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -5,11 +5,14 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-import pytest
+import time
 
-from cereal import custom
+from openpilot.common.parameterized import parameterized
+
+from openpilot.cereal import custom
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.rivian.values import CAR as RIVIAN
+from opendbc.car.structs import car
 from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.common.constants import CV
@@ -21,8 +24,13 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
-  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
+  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES, CRUISE_BUTTON_CONFIRM_HOLD
+from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.common.test import OpenpilotTestCase
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
 
 SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
 
@@ -38,21 +46,10 @@ SPEED_LIMITS = {
 DEFAULT_CAR = TOYOTA.TOYOTA_RAV4_TSS2
 
 
-@pytest.fixture
-def car_name(request):
-  return getattr(request, "param", DEFAULT_CAR)
+class TestSpeedLimitAssist(OpenpilotTestCase):
+  car_name = DEFAULT_CAR
 
-
-@pytest.fixture(autouse=True)
-def set_car_name_on_instance(request, car_name):
-  instance = getattr(request, "instance", None)
-  if instance:
-    instance.car_name = car_name
-
-
-class TestSpeedLimitAssist:
-
-  def setup_method(self, method):
+  def setup_method(self):
     self.params = Params()
     self.reset_custom_params()
     self.events_sp = EventsSP()
@@ -62,7 +59,7 @@ class TestSpeedLimitAssist:
     self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
     self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
 
-  def teardown_method(self, method):
+  def teardown_method(self):
     self.reset_state()
 
   def _setup_platform(self, car_name):
@@ -75,11 +72,11 @@ class TestSpeedLimitAssist:
     return CI
 
   def reset_custom_params(self):
-    self.params.put("IsReleaseSpBranch", True)
-    self.params.put("SpeedLimitMode", int(Mode.assist))
-    self.params.put_bool("IsMetric", False)
-    self.params.put("SpeedLimitOffsetType", 0)
-    self.params.put("SpeedLimitValueOffset", 0)
+    self.params.put("IsReleaseSpBranch", True, block=True)
+    self.params.put("SpeedLimitMode", int(Mode.assist), block=True)
+    self.params.put_bool("IsMetric", False, block=True)
+    self.params.put("SpeedLimitOffsetType", 0, block=True)
+    self.params.put("SpeedLimitValueOffset", 0, block=True)
 
   def reset_state(self):
     self.sla.state = SpeedLimitAssistState.disabled
@@ -105,24 +102,27 @@ class TestSpeedLimitAssist:
     assert not self.sla.is_active
     assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
 
-  @pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1_GEN1, TESLA.TESLA_MODEL_Y], indirect=True)
+  @parameterized.expand([RIVIAN.RIVIAN_R1, TESLA.TESLA_MODEL_Y], names=["car_name"])
   def test_disallowed_brands(self, car_name):
     """
       Speed Limit Assist is disabled for the following brands and conditions:
       - All Tesla and is a release branch;
       - All Rivian
     """
+    self.car_name = car_name
+    self.openpilot_setup_method()  # rebuild the platform for this brand
+
     assert not self.sla.enabled
 
     # stay disallowed even when the param may have changed from somewhere else
-    self.params.put("SpeedLimitMode", int(Mode.assist))
+    self.params.put("SpeedLimitMode", int(Mode.assist), block=True)
     for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL)):
       self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'],
                       SPEED_LIMITS['city'], True, 0, self.events_sp)
     assert not self.sla.enabled
 
   def test_disabled(self):
-    self.params.put("SpeedLimitMode", int(Mode.off))
+    self.params.put("SpeedLimitMode", int(Mode.off), block=True)
     for _ in range(int(10. / DT_MDL)):
       self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
     assert self.sla.state == SpeedLimitAssistState.disabled
@@ -276,3 +276,87 @@ class TestSpeedLimitAssist:
         assert self.sla.state in [SpeedLimitAssistState.preActive, SpeedLimitAssistState.active]
       elif initial_state in ACTIVE_STATES:
         assert self.sla.state in ACTIVE_STATES
+
+
+class TestButtonStateTrackerSLAIntegration(OpenpilotTestCase):
+
+  def setup_method(self):
+
+    self.tracker = ButtonStateTracker()
+    self.params = Params()
+    self.params.put("IsReleaseSpBranch", True, block=True)
+    self.params.put("SpeedLimitMode", int(Mode.assist), block=True)
+    self.params.put_bool("IsMetric", False, block=True)
+    self.params.put("SpeedLimitOffsetType", 0, block=True)
+    self.params.put("SpeedLimitValueOffset", 0, block=True)
+
+    CarInterface = interfaces[DEFAULT_CAR]
+    CP = CarInterface.get_non_essential_params(DEFAULT_CAR)
+    CP.openpilotLongitudinalControl = True
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, DEFAULT_CAR)
+    self.sla = SpeedLimitAssist(CP, CP_SP)
+
+  def _make_cs(self, events=None) -> car.CarState:
+    CS = car.CarState()
+    CS.buttonEvents = events or []
+    return CS
+
+  def _run_ctrl_frames(self, frames: list[car.CarState]) -> None:
+    for cs in frames:
+      self.tracker.update(cs)
+
+  def test_button_confirm_via_tracker(self) -> None:
+    self._run_ctrl_frames([
+      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]),
+      self._make_cs(),
+      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]),
+      self._make_cs(),
+      self._make_cs(),
+    ])
+    self.sla.update_buttons(self.tracker.release_toggle)
+    assert self.sla._get_button_release(req_plus=True, req_minus=False)
+
+  def test_rapid_press_release_between_polls(self) -> None:
+    self.sla.update_buttons(self.tracker.release_toggle)
+
+    self._run_ctrl_frames([
+      self._make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=True)]),
+      self._make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=False)]),
+      self._make_cs(),
+      self._make_cs(),
+      self._make_cs(),
+    ])
+    self.sla.update_buttons(self.tracker.release_toggle)
+    assert self.sla._get_button_release(req_plus=False, req_minus=True)
+
+  def test_multiple_releases_between_polls(self) -> None:
+    self.sla.update_buttons(self.tracker.release_toggle)
+
+    self._run_ctrl_frames([
+      self._make_cs([
+        ButtonEvent(type=ButtonType.accelCruise, pressed=True),
+        ButtonEvent(type=ButtonType.decelCruise, pressed=True),
+      ]),
+      self._make_cs([
+        ButtonEvent(type=ButtonType.accelCruise, pressed=False),
+        ButtonEvent(type=ButtonType.decelCruise, pressed=False),
+      ]),
+    ])
+    self.sla.update_buttons(self.tracker.release_toggle)
+    assert self.sla._get_button_release(req_plus=True, req_minus=False)
+    assert self.sla._get_button_release(req_plus=False, req_minus=True)
+
+  def test_no_false_positive_same_toggle(self) -> None:
+    self.sla.update_buttons(self.tracker.release_toggle)
+    self.sla.update_buttons(self.tracker.release_toggle)
+    assert not self.sla._get_button_release(req_plus=True, req_minus=False)
+    assert not self.sla._get_button_release(req_plus=False, req_minus=True)
+
+  def test_button_confirm_expires(self) -> None:
+    self._run_ctrl_frames([
+      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]),
+      self._make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]),
+    ])
+    self.sla.update_buttons(self.tracker.release_toggle)
+    time.sleep(CRUISE_BUTTON_CONFIRM_HOLD + 0.1)
+    assert not self.sla._get_button_release(req_plus=True, req_minus=False)
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
similarity index 83%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
index c02831d71a..884749c72e 100644
--- a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
@@ -7,26 +7,26 @@ See the LICENSE.md file in the root directory for more details.
 import random
 import time
 
-import pytest
-from pytest_mock import MockerFixture
+from openpilot.common.parameterized import parameterized
 
-from cereal import custom
+from openpilot.cereal import custom
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE
 
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver, ALL_SOURCES
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
+from openpilot.common.test import OpenpilotTestCase
 
 SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
 
 
-def create_mock(properties, mocker: MockerFixture):
+def create_mock(properties, mocker):
   mock = mocker.MagicMock()
   for _property, value in properties.items():
     setattr(mock, _property, value)
   return mock
 
 
-def setup_sm_mock(mocker: MockerFixture):
+def setup_sm_mock(mocker):
   cruise_speed_limit = random.uniform(0, 120)
   live_map_data_limit = random.uniform(0, 120)
 
@@ -58,21 +58,24 @@ def setup_sm_mock(mocker: MockerFixture):
   return sm_mock
 
 
-parametrized_policies = pytest.mark.parametrize(
-  "policy, sm_key, function_key", [
+parametrized_policies = parameterized.expand(
+  [
     (Policy.car_state_only, 'carStateSP', SpeedLimitSource.car),
     (Policy.car_state_priority, 'carStateSP', SpeedLimitSource.car),
     (Policy.map_data_only, 'liveMapDataSP', SpeedLimitSource.map),
     (Policy.map_data_priority, 'liveMapDataSP', SpeedLimitSource.map),
   ],
-  ids=lambda val: val.name if hasattr(val, 'name') else str(val)
+  names=["policy", "sm_key", "function_key"]
 )
 
 
-@pytest.mark.parametrize("resolver_class", [SpeedLimitResolver])
-class TestSpeedLimitResolverValidation:
+def resolver_class():
+  return SpeedLimitResolver
 
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+
+class TestSpeedLimitResolverValidation(OpenpilotTestCase):
+
+  @parameterized.expand(list(Policy), names=["policy"])
   def test_initial_state(self, resolver_class, policy):
     resolver = resolver_class()
     resolver.policy = policy
@@ -82,7 +85,7 @@ class TestSpeedLimitResolverValidation:
         assert resolver.distance_solutions[source] == 0.
 
   @parametrized_policies
-  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker):
     resolver = resolver_class()
     resolver.policy = policy
     sm_mock = setup_sm_mock(mocker)
@@ -93,7 +96,7 @@ class TestSpeedLimitResolverValidation:
     assert resolver.speed_limit == source_speed_limit
     assert resolver.source == ALL_SOURCES[function_key]
 
-  def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
+  def test_resolver_combined(self, resolver_class, mocker):
     resolver = resolver_class()
     resolver.policy = Policy.combined
     sm_mock = setup_sm_mock(mocker)
@@ -108,7 +111,7 @@ class TestSpeedLimitResolverValidation:
     assert resolver.source == socket_to_source[minimum_key]
 
   @parametrized_policies
-  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker):
     resolver = resolver_class()
     resolver.policy = policy
     sm_mock = setup_sm_mock(mocker)
@@ -119,8 +122,8 @@ class TestSpeedLimitResolverValidation:
     assert resolver.limit_solutions[ALL_SOURCES[function_key]] == source_speed_limit
     assert resolver.distance_solutions[ALL_SOURCES[function_key]] == 0.
 
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
+  @parameterized.expand(list(Policy), names=["policy"])
+  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker):
     v_ego = 50
     resolver = resolver_class()
     resolver.policy = policy
@@ -133,8 +136,8 @@ class TestSpeedLimitResolverValidation:
     assert resolver.distance is not None
     assert resolver.source is not None
 
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
+  @parameterized.expand(list(Policy), names=["policy"])
+  def test_old_map_data_ignored(self, resolver_class, policy, mocker):
     resolver = resolver_class()
     resolver.policy = policy
     sm_mock = mocker.MagicMock()
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
similarity index 78%
rename from sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
index 5d1fa360ed..0d95550412 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
@@ -4,13 +4,12 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-
-from parameterized import parameterized
-
+from openpilot.common.parameterized import parameterized
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode, \
   AUTO_LANE_CHANGE_TIMER, ONE_SECOND_DELAY
+from openpilot.common.test import OpenpilotTestCase
 
 AUTO_LANE_CHANGE_TIMER_COMBOS = [
   (AutoLaneChangeMode.NUDGELESS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGELESS]),
@@ -21,7 +20,7 @@ AUTO_LANE_CHANGE_TIMER_COMBOS = [
 ]
 
 
-class TestAutoLaneChangeController:
+class TestAutoLaneChangeController(OpenpilotTestCase):
   def setup_method(self):
     self.DH = DesireHelper()
     self.alc = AutoLaneChangeController(self.DH)
@@ -87,24 +86,24 @@ class TestAutoLaneChangeController:
 
   @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
   def test_timers(self, timer_state, timer_delay):
-      self._reset_states()
-      self.alc.lane_change_bsm_delay = False  # BSM delay off
-      self.alc.lane_change_set_timer = timer_state
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = False  # BSM delay off
+    self.alc.lane_change_set_timer = timer_state
 
-      # Update controller once
+    # Update controller once
+    self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    # The timer should still be below the threshold after one update
+    assert not self.alc.auto_lane_change_allowed
+
+    # Update enough times to exceed the threshold (seconds / DT_MDL)
+    num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
+    for _ in range(num_updates):
       self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
 
-      # The timer should still be below the threshold after one update
-      assert not self.alc.auto_lane_change_allowed
-
-      # Update enough times to exceed the threshold (seconds / DT_MDL)
-      num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
-      for _ in range(num_updates):
-        self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
-
-      # Now lane change should be allowed
-      assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
-      assert self.alc.auto_lane_change_allowed
+    # Now lane change should be allowed
+    assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
+    assert self.alc.auto_lane_change_allowed
 
   @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
   def test_brake_pressed_disables_auto_lane_change(self, timer_state, timer_delay):
@@ -171,32 +170,32 @@ class TestAutoLaneChangeController:
 
   @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
   def test_disallow_continuous_auto_lane_change(self, timer_state, timer_delay):
-      self._reset_states()
-      self.alc.lane_change_bsm_delay = False  # BSM delay off
-      self.alc.lane_change_set_timer = timer_state
-      num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = False  # BSM delay off
+    self.alc.lane_change_set_timer = timer_state
+    num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
 
-      # Update enough times to exceed the threshold (seconds / DT_MDL)
-      for _ in range(num_updates):
-        self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+    # Update enough times to exceed the threshold (seconds / DT_MDL)
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
 
-      # Now lane change should be allowed
-      assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
-      assert self.alc.auto_lane_change_allowed
+    # Now lane change should be allowed
+    assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
+    assert self.alc.auto_lane_change_allowed
 
-      # Simulate lane change is initiated
-      self.DH.lane_change_state = LaneChangeState.laneChangeStarting
-      self.alc.update_state()
+    # Simulate lane change is initiated
+    self.DH.lane_change_state = LaneChangeState.laneChangeStarting
+    self.alc.update_state()
 
-      # Simulate lane change is completed, and one_blinker stays on
-      self.DH.lane_change_state = LaneChangeState.preLaneChange
-      self.alc.update_state()
+    # Simulate lane change is completed, and one_blinker stays on
+    self.DH.lane_change_state = LaneChangeState.preLaneChange
+    self.alc.update_state()
 
-      # Update enough times to exceed the threshold (seconds / DT_MDL)
-      for _ in range(num_updates):
-        self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+    # Update enough times to exceed the threshold (seconds / DT_MDL)
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
 
-      assert not self.alc.auto_lane_change_allowed
+    assert not self.alc.auto_lane_change_allowed
 
   def test_auto_lane_change_mode_off_disallows_lane_change(self):
     """Test that OFF mode never allows auto lane change."""
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
similarity index 96%
rename from sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
rename to openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
index b547ea96b6..4f0e6c03df 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
@@ -4,13 +4,14 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 
 from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestBlinkerPauseLateral:
+class TestBlinkerPauseLateral(OpenpilotTestCase):
 
   def setup_method(self):
     self.blinker_pause_lateral = BlinkerPauseLateral()
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
new file mode 100644
index 0000000000..52c6cecbfc
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -0,0 +1,124 @@
+from openpilot.cereal import log, custom
+from openpilot.common.params import Params
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+
+
+TurnDirection = custom.ModelDataV2SP.TurnDirection
+
+
+class TestLaneTurnDesire(OpenpilotTestCase):
+  @parameterized.expand([
+    (True, False, 5, False, False, TurnDirection.turnLeft),
+    (False, True, 6, False, False, TurnDirection.turnRight),
+    (True, False, 9, False, False, TurnDirection.none),
+    (True, False, 7, True, False, TurnDirection.none),
+    (False, True, 6, False, True, TurnDirection.none),
+    (False, False, 5, False, False, TurnDirection.none),
+    (True, True, 5, False, False, TurnDirection.none),
+  ])
+  def test_lane_turn_desire_conditions(self, left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+    assert controller.get_turn_direction() == expected
+
+  def test_lane_turn_desire_disabled(self):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = False
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, False, True, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
+
+  def test_lane_turn_overrides_lane_change(self):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    # left turn desire
+    controller.update_lane_turn(False, False, True, False, 5)
+    assert controller.get_turn_direction() == TurnDirection.turnLeft
+    # right turn desire
+    controller.update_lane_turn(False, False, False, True, 6)
+    assert controller.get_turn_direction() == TurnDirection.turnRight
+    # no turn
+    controller.update_lane_turn(False, False, False, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
+
+  @parameterized.expand([
+    (8.93, TurnDirection.turnLeft),  # just below threshold
+    (8.96, TurnDirection.none),  # above threshold
+    (8.95, TurnDirection.none),  # just above threshold
+  ])
+  def test_lane_turn_desire_speed_boundary(self, v_ego, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, True, True, False, v_ego)
+    assert controller.get_turn_direction() == expected
+
+
+class DummyCarState:
+  def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+               steeringPressed=False, steeringTorque=0, brakePressed=False):
+    self.vEgo = vEgo
+    self.leftBlinker = leftBlinker
+    self.rightBlinker = rightBlinker
+    self.leftBlindspot = leftBlindspot
+    self.rightBlindspot = rightBlindspot
+    self.steeringPressed = steeringPressed
+    self.steeringTorque = steeringTorque
+    self.brakePressed = brakePressed
+
+
+def set_lane_turn_params():
+  params = Params()
+  params.put("LaneTurnDesire", True)
+  params.put("LaneTurnValue", 20.0)
+
+
+class TestDesireHelperIntegration(OpenpilotTestCase):
+  @parameterized.expand([
+    # Lane turn desire overrides lane change desire
+    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+     log.Desire.turnLeft),
+    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+     log.Desire.turnRight),
+    # Lane change desire only (no turn desires)
+    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+    # No desire (inactive)
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+  ], names=["carstate", "lateral_active", "lane_change_prob", "expected_desire"])
+  def test_desire_helper_integration(self, carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    for _ in range(10):
+      dh.update(carstate, lateral_active, lane_change_prob,
+                left_edge_detected=False, right_edge_detected=False)
+    assert dh.desire == expected_desire
+
+  def test_edge_blocks_lane_change(self, set_lane_turn_params):
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    carstate = DummyCarState(vEgo=15, leftBlinker=True, steeringPressed=True, steeringTorque=1)
+    for _ in range(10):
+      dh.update(carstate, True, 1.0, left_edge_detected=True, right_edge_detected=False)
+    assert dh.lane_change_state == LaneChangeState.preLaneChange
+    assert dh.lane_change_direction == LaneChangeDirection.left
+    assert dh.desire == log.Desire.none
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py
new file mode 100644
index 0000000000..b4f1137081
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py
@@ -0,0 +1,109 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.cereal import log, messaging
+from opendbc.car.structs import car
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.locationd.helpers import Pose
+from openpilot.common.mock.generators import generate_deviceMotion
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.common.test import OpenpilotTestCase
+
+
+def _make_controller(enhanced=False, nnlc=False):
+  params = Params()
+  params.put_bool("EnforceTorqueControl", True, block=True)
+  params.put_bool("LateralJerkTorqueController", enhanced, block=True)
+  params.put_bool("NeuralNetworkLateralControl", nnlc, block=True)
+
+  car_name = HONDA.HONDA_CIVIC
+  CarInterface = interfaces[car_name]
+  CP = CarInterface.get_non_essential_params(car_name)
+  CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+  CI = CarInterface(CP, CP_SP)
+  sunnypilot_interfaces.setup_interfaces(CI, params)
+  CP_SP = convert_to_capnp(CP_SP)
+  VM = VehicleModel(CP)
+  controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
+  return controller, VM, CP
+
+
+def _make_model_v2():
+  model = messaging.new_message('modelV2')
+  position = log.XYZTData.new_message()
+  position.x = [float(x) for x in 30.0 * np.array(ModelConstants.T_IDXS)]
+  model.modelV2.position = position
+  orientation = log.XYZTData.new_message()
+  orientation.x = [0.0 for _ in ModelConstants.T_IDXS]
+  orientation.y = [0.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.orientation = orientation
+  velocity = log.XYZTData.new_message()
+  velocity.x = [30.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.velocity = velocity
+  acceleration = log.XYZTData.new_message()
+  acceleration.x = [0.0 for _ in ModelConstants.T_IDXS]
+  acceleration.y = [0.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.acceleration = acceleration
+  return model
+
+
+def _run_update(controller, VM):
+  CS = car.CarState.new_message()
+  CS.vEgo = 30
+  CS.steeringPressed = False
+  lp = generate_deviceMotion()
+  pose = Pose.from_device_motion(lp.deviceMotion)
+  params = log.VehicleParameters.new_message()
+  model_v2 = _make_model_v2().modelV2
+  controller.extension.update_model_v2(model_v2)
+  controller.extension.update_lateral_lag(0.2)
+  return controller.update(True, CS, VM, params, False, 0.5, pose, False, 0.2)
+
+
+class TestLatControlTorqueExt(OpenpilotTestCase):
+  def test_init_enhanced_only(self):
+    controller, VM, _ = _make_controller(enhanced=True, nnlc=False)
+    assert controller.extension._jerk_aware_enabled
+    assert not controller.extension.enabled  # NNLC disabled
+
+  def test_init_nnlc_only(self):
+    controller, VM, _ = _make_controller(enhanced=False, nnlc=True)
+    assert not controller.extension._jerk_aware_enabled
+    assert controller.extension.enabled
+
+  def test_init_neither(self):
+    controller, VM, _ = _make_controller(enhanced=False, nnlc=False)
+    assert not controller.extension._jerk_aware_enabled
+    assert not controller.extension.enabled
+
+  def test_init_both_no_crash(self):
+    controller, VM, _ = _make_controller(enhanced=True, nnlc=True)
+    assert not controller.extension._jerk_aware_enabled
+    assert not controller.extension.enabled
+
+  def test_update_enhanced_only(self):
+    controller, VM, _ = _make_controller(enhanced=True, nnlc=False)
+    output_torque, _, pid_log = _run_update(controller, VM)
+    assert pid_log.active
+
+  def test_update_neither(self):
+    controller, VM, _ = _make_controller(enhanced=False, nnlc=False)
+    output_torque, _, pid_log = _run_update(controller, VM)
+    assert pid_log.active
+
+  def test_update_both_no_crash(self):
+    controller, VM, _ = _make_controller(enhanced=True, nnlc=True)
+    output_torque, _, pid_log = _run_update(controller, VM)
+    assert pid_log.active
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
new file mode 100644
index 0000000000..8fea65e1a1
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
@@ -0,0 +1,170 @@
+"""
+Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
+  RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
+  VEHICLE_EDGE_MARGIN, EDGE_CLEARANCE,
+)
+
+V_HIGH = MIN_SPEED + 2.0
+V_LOW = MIN_SPEED - 1.0
+
+
+class MockEdge:
+  def __init__(self, y_val):
+    self.y = [y_val] * 33
+
+
+def edges(left_y, right_y):
+  return [MockEdge(left_y), MockEdge(right_y)]
+
+
+CLOSE_EDGES = edges(-2.0, 1.5)
+FAR_EDGES = edges(-10.0, 10.0)
+
+
+def relc(mocker):
+  mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
+  controller = RoadEdgeLaneChangeController()
+  controller.enabled = True
+  return controller
+
+
+def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH, road_edges=CLOSE_EDGES):
+  for _ in range(int(seconds / DT_MDL) + 1):
+    controller.update(road_edge_stds, lane_line_probs, v_ego, road_edges)
+
+
+class TestRELC(OpenpilotTestCase):
+  @parameterized.expand([
+    ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
+    ([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
+  ], names=["road_edge_stds", "lane_line_probs", "attr"])
+  def test_edge_detection(self, relc, road_edge_stds, lane_line_probs, attr):
+    drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
+    assert getattr(relc, attr)
+
+
+  def test_edge_detection_requires_time(self, relc):
+    drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
+    assert not relc.left_edge_detected
+
+
+  def test_both_edges_detected(self, relc):
+    drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
+    assert relc.right_edge_detected
+
+
+  def test_noise_doesnt_clear(self, relc):
+    edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+    clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+    drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
+
+    relc.update(*clear, V_HIGH, CLOSE_EDGES)
+    relc.update(*edge, V_HIGH, CLOSE_EDGES)
+    assert relc.left_edge_detected
+
+
+  def test_clears_after_window(self, relc):
+    edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+    clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+    drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
+
+    drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
+    assert not relc.left_edge_detected
+    assert relc.left_edge_timer == 0.0
+
+
+  def test_low_speed_skips(self, relc):
+    drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
+    assert not relc.left_edge_detected
+    assert relc.left_edge_timer == 0.0
+
+
+  def test_speed_drop_resets(self, relc):
+    drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
+
+    relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW, CLOSE_EDGES)
+    assert not relc.left_edge_detected
+
+
+  def test_param_off_resets(self, relc):
+    drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
+
+    relc.params.get_bool.return_value = False
+    relc.read_params()
+    relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH, CLOSE_EDGES)
+    assert not relc.left_edge_detected
+    assert not relc.right_edge_detected
+
+
+  def test_lane_line_prevents_detection(self, relc):
+    drive(relc, [0.0, 0.9], [0.8, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+    assert not relc.left_edge_detected
+
+
+  def test_one_side_blocks_other_allows(self, relc):
+    drive(relc, [0.9, 0.0], [0.8, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+    assert relc.right_edge_detected
+    assert not relc.left_edge_detected
+
+
+  def test_disabled_no_detection(self, relc):
+    relc.enabled = False
+    relc.params.get_bool.return_value = False
+    drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+    assert not relc.left_edge_detected
+    assert not relc.right_edge_detected
+
+
+  def test_far_edge_no_block(self, relc):
+    drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1, road_edges=FAR_EDGES)
+    assert not relc.left_edge_detected
+
+
+  def test_close_edge_blocks(self, relc):
+    drive(relc, [0.9, 0.0], [0.05, 0.8, 0.8, 0.05], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-8.0, 1.5))
+    assert relc.right_edge_detected
+    assert not relc.left_edge_detected
+
+
+  def test_wide_road_no_lines_no_block(self, relc):
+    drive(relc, [0.0, 0.0], [0.05, 0.4, 0.4, 0.05], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-8.0, 8.0))
+    assert not relc.left_edge_detected
+    assert not relc.right_edge_detected
+
+
+  def test_narrow_road_both_block(self, relc):
+    drive(relc, [0.0, 0.0], [0.02, 0.4, 0.4, 0.02], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-2.5, 2.5))
+    assert relc.left_edge_detected
+    assert relc.right_edge_detected
+
+
+  def test_clearance_boundary(self, relc):
+    boundary = VEHICLE_EDGE_MARGIN + EDGE_CLEARANCE  # 4.78m
+    drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-(boundary - 0.1), 10.0))
+    assert relc.left_edge_detected
+
+    relc.reset()
+
+    drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-(boundary + 0.1), 10.0))
+    assert not relc.left_edge_detected
diff --git a/sunnypilot/selfdrive/locationd/.gitignore b/openpilot/sunnypilot/selfdrive/locationd/.gitignore
similarity index 100%
rename from sunnypilot/selfdrive/locationd/.gitignore
rename to openpilot/sunnypilot/selfdrive/locationd/.gitignore
diff --git a/sunnypilot/selfdrive/locationd/SConscript b/openpilot/sunnypilot/selfdrive/locationd/SConscript
similarity index 83%
rename from sunnypilot/selfdrive/locationd/SConscript
rename to openpilot/sunnypilot/selfdrive/locationd/SConscript
index 27cd4d5b40..3e71f36782 100644
--- a/sunnypilot/selfdrive/locationd/SConscript
+++ b/openpilot/sunnypilot/selfdrive/locationd/SConscript
@@ -14,13 +14,6 @@ live_ekf = env.RednoseCompileFilter(
   extra_gen_artifacts=['live_kf_constants.h'],
   gen_script_deps=rednose_gen_deps,
 )
-car_ekf = env.RednoseCompileFilter(
-  target='car',
-  filter_gen_script='models/car_kf.py',
-  output_dir=rednose_gen_dir,
-  extra_gen_artifacts=[],
-  gen_script_deps=rednose_gen_deps,
-)
 
 # locationd build
 locationd_sources = ["locationd.cc", "models/live_kf.cc"]
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/__init__.py b/openpilot/sunnypilot/selfdrive/locationd/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/nnlc/__init__.py
rename to openpilot/sunnypilot/selfdrive/locationd/__init__.py
diff --git a/sunnypilot/selfdrive/locationd/locationd.cc b/openpilot/sunnypilot/selfdrive/locationd/locationd.cc
similarity index 98%
rename from sunnypilot/selfdrive/locationd/locationd.cc
rename to openpilot/sunnypilot/selfdrive/locationd/locationd.cc
index c42ab13f25..499088a340 100644
--- a/sunnypilot/selfdrive/locationd/locationd.cc
+++ b/openpilot/sunnypilot/selfdrive/locationd/locationd.cc
@@ -255,7 +255,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
   }
 
   // Gyro Uncalibrated
-  if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+  if (log.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
     auto v = log.getGyroUncalibrated().getV();
     auto meas = Vector3d(-v[2], -v[1], -v[0]);
 
@@ -273,7 +273,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
   }
 
   // Accelerometer
-  if (log.getSensor() == SENSOR_ACCELEROMETER && log.getType() == SENSOR_TYPE_ACCELEROMETER) {
+  if (log.which() == cereal::SensorEventData::ACCELERATION) {
     auto v = log.getAcceleration().getV();
 
     // TODO: reduce false positives and re-enable this check
@@ -492,7 +492,7 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
   this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
 }
 
-void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
+void Localizer::handle_live_calib(double current_time, const cereal::ExtrinsicsCalibration::Reader& log) {
   if (!this->is_timestamp_valid(current_time)) {
     this->observation_timings_invalid = true;
     return;
@@ -501,15 +501,15 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
   if (log.getRpyCalib().size() > 0) {
     auto live_calib = floatlist2vector(log.getRpyCalib());
     if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
-      this->observation_values_invalid["liveCalibration"] += 1.0;
+      this->observation_values_invalid["extrinsicsCalibration"] += 1.0;
       return;
     }
 
     this->calib = live_calib;
     this->device_from_calib = euler2rot(this->calib);
     this->calib_from_device = this->device_from_calib.transpose();
-    this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
-    this->observation_values_invalid["liveCalibration"] *= DECAY;
+    this->calibrated = log.getCalStatus() == cereal::ExtrinsicsCalibration::Status::CALIBRATED;
+    this->observation_values_invalid["extrinsicsCalibration"] *= DECAY;
   }
 }
 
@@ -604,8 +604,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
     this->handle_car_state(t, log.getCarState());
   } else if (log.isCameraOdometry()) {
     this->handle_cam_odo(t, log.getCameraOdometry());
-  } else if (log.isLiveCalibration()) {
-    this->handle_live_calib(t, log.getLiveCalibration());
+  } else if (log.isExtrinsicsCalibration()) {
+    this->handle_live_calib(t, log.getExtrinsicsCalibration());
   }
   this->finite_check();
   this->update_reset_tracker();
@@ -688,7 +688,7 @@ int Localizer::locationd_thread() {
   }
 
   this->configure_gnss_source(source);
-  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
+  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "extrinsicsCalibration",
                                                           "carState", "accelerometer", "gyroscope"};
 
   SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
@@ -696,7 +696,7 @@ int Localizer::locationd_thread() {
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
-  const std::vector<std::string> critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"};
+  const std::vector<std::string> critical_input_services = {"cameraOdometry", "extrinsicsCalibration", "accelerometer", "gyroscope"};
   for (std::string service : critical_input_services) {
     this->observation_values_invalid.insert({service, 0.0});
   }
diff --git a/sunnypilot/selfdrive/locationd/locationd.h b/openpilot/sunnypilot/selfdrive/locationd/locationd.h
similarity index 97%
rename from sunnypilot/selfdrive/locationd/locationd.h
rename to openpilot/sunnypilot/selfdrive/locationd/locationd.h
index a6ce697f30..c0535e6686 100644
--- a/sunnypilot/selfdrive/locationd/locationd.h
+++ b/openpilot/sunnypilot/selfdrive/locationd/locationd.h
@@ -60,7 +60,7 @@ public:
   void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
   void handle_car_state(double current_time, const cereal::CarState::Reader& log);
   void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
-  void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
+  void handle_live_calib(double current_time, const cereal::ExtrinsicsCalibration::Reader& log);
 
   void input_fake_gps_observations(double current_time);
 
diff --git a/sunnypilot/selfdrive/locationd/models/.gitignore b/openpilot/sunnypilot/selfdrive/locationd/models/.gitignore
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/.gitignore
rename to openpilot/sunnypilot/selfdrive/locationd/models/.gitignore
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py b/openpilot/sunnypilot/selfdrive/locationd/models/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/nnlc/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/locationd/models/__init__.py
diff --git a/sunnypilot/selfdrive/locationd/models/car_kf.py b/openpilot/sunnypilot/selfdrive/locationd/models/car_kf.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/car_kf.py
rename to openpilot/sunnypilot/selfdrive/locationd/models/car_kf.py
diff --git a/sunnypilot/selfdrive/locationd/models/constants.py b/openpilot/sunnypilot/selfdrive/locationd/models/constants.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/constants.py
rename to openpilot/sunnypilot/selfdrive/locationd/models/constants.py
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.cc b/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/live_kf.cc
rename to openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.h b/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.h
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/live_kf.h
rename to openpilot/sunnypilot/selfdrive/locationd/models/live_kf.h
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.py b/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/live_kf.py
rename to openpilot/sunnypilot/selfdrive/locationd/models/live_kf.py
diff --git a/selfdrive/locationd/test/.gitignore b/openpilot/sunnypilot/selfdrive/locationd/tests/.gitignore
similarity index 100%
rename from selfdrive/locationd/test/.gitignore
rename to openpilot/sunnypilot/selfdrive/locationd/tests/.gitignore
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py b/openpilot/sunnypilot/selfdrive/locationd/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/locationd/tests/__init__.py
diff --git a/sunnypilot/selfdrive/locationd/tests/test_locationd.py b/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
similarity index 81%
rename from sunnypilot/selfdrive/locationd/tests/test_locationd.py
rename to openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
index 877bc821da..ac6ab6aaea 100644
--- a/sunnypilot/selfdrive/locationd/tests/test_locationd.py
+++ b/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
@@ -1,32 +1,29 @@
-import pytest
 import platform
+import unittest
 import json
 import random
 import time
 import capnp
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.params import Params
 from openpilot.common.transformations.coordinates import ecef2geodetic
 
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.common.test import OpenpilotTestCase
 
 
-if platform.system() == 'Darwin':
-  pytest.skip("Skipping locationd test on macOS due to unsupported msgq.", allow_module_level=True)
-
-
-class TestLocationdProc:
-  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
-              'accelerometer', 'gyroscope', 'magnetometer']
+@unittest.skipIf(platform.system() == 'Darwin', "msgq unsupported on macOS")
+class TestLocationdProc(OpenpilotTestCase):
+  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'extrinsicsCalibration',
+              'accelerometer', 'gyroscope']
 
   def setup_method(self):
     self.pm = messaging.PubMaster(self.LLD_MSGS)
 
     self.params = Params()
     self.params.put_bool("UbloxAvailable", True)
-    managed_processes['locationd_llk'].prepare()
     managed_processes['locationd_llk'].start()
 
   def teardown_method(self):
@@ -85,10 +82,10 @@ class TestLocationdProc:
     for msg in sorted(msgs, key=lambda x: x.logMonoTime):
       self.pm.send(msg.which(), msg)
       if msg.which() == "cameraOdometry":
-        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
+        self.pm.wait_for_readers_to_update(msg.which(), timeout=1, dt=0.005)
     time.sleep(1)  # wait for async params write
 
     lastGPS = json.loads(self.params.get('LastGPSPositionLLK'))
-    assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001)
-    assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001)
-    assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.001)
+    self.assertAlmostEqual(lastGPS['latitude'], self.lat, delta=0.001)
+    self.assertAlmostEqual(lastGPS['longitude'], self.lon, delta=0.001)
+    self.assertAlmostEqual(lastGPS['altitude'], self.alt, delta=0.001)
diff --git a/sunnypilot/selfdrive/locationd/torqued_ext.py b/openpilot/sunnypilot/selfdrive/locationd/torqued_ext.py
similarity index 90%
rename from sunnypilot/selfdrive/locationd/torqued_ext.py
rename to openpilot/sunnypilot/selfdrive/locationd/torqued_ext.py
index 58a23da00e..f1f16f58ee 100644
--- a/sunnypilot/selfdrive/locationd/torqued_ext.py
+++ b/openpilot/sunnypilot/selfdrive/locationd/torqued_ext.py
@@ -4,10 +4,9 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-
 import numpy as np
 
-from cereal import car
+from opendbc.car.structs import car
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
@@ -18,7 +17,6 @@ RELAXED_MIN_BUCKET_POINTS = np.array([1, 200, 300, 500, 500, 300, 200, 1])
 ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
 
 
-
 class TorqueEstimatorExt:
   def __init__(self, CP: car.CarParams):
     self.CP = CP
@@ -28,6 +26,7 @@ class TorqueEstimatorExt:
     self.enforce_torque_control_toggle = self._params.get_bool("EnforceTorqueControl")  # only during init
     self.use_params = self.CP.brand in ALLOWED_CARS and self.CP.lateralTuning.which() == 'torque'
     self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
+    self.custom_torque_params = self._params.get_bool("CustomTorqueParams")
     self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
     self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS
     self.factor_sanity = 0.0
@@ -51,13 +50,14 @@ class TorqueEstimatorExt:
   def _update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
       self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
+      self.custom_torque_params = self._params.get_bool("CustomTorqueParams")
       self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
 
   def update_use_params(self):
     self._update_params()
 
     if self.enforce_torque_control_toggle:
-      if self.torque_override_enabled:
+      if self.custom_torque_params and self.torque_override_enabled:
         self.use_params = False
       else:
         self.use_params = self.use_live_torque_params
diff --git a/sunnypilot/selfdrive/locationd/__init__.py b/openpilot/sunnypilot/selfdrive/pandad/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/__init__.py
rename to openpilot/sunnypilot/selfdrive/pandad/__init__.py
diff --git a/openpilot/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/openpilot/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
new file mode 100755
index 0000000000..3be9fb0e4d
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+from itertools import accumulate
+
+from openpilot.cereal import messaging
+from opendbc.car.structs import car
+from panda import Panda
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+FW_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "rivian_long_fw.bin.signed")
+SECTOR_SIZES = [0x4000] * 4 + [0x10000] + [0x20000] * 11
+
+
+def _is_rivian() -> bool:
+  params = Params()
+
+  # check fixed fingerprint
+  if bundle := params.get("CarPlatformBundle"):
+    if bundle.get("brand") == "rivian":
+      return True
+
+  # check cached fingerprint
+  CP_bytes = params.get("CarParamsPersistent")
+  if CP_bytes is not None:
+    CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
+    if CP.brand == "rivian":
+      return True
+
+  return False
+
+
+def _flash_static(handle, code):
+  assert Panda.flasher_present(handle)
+  last_sector = next((i + 1 for i, v in enumerate(accumulate(SECTOR_SIZES[1:])) if v > len(code)), -1)
+  assert 1 <= last_sector < 7, "Invalid firmware size"
+
+  handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
+  for i in range(1, last_sector + 1):
+    handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
+  for i in range(0, len(code), 0x10):
+    handle.bulkWrite(2, code[i:i + 0x10])
+  try:
+    handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True)
+  except Exception:
+    pass
+
+
+def _flash_panda(panda: Panda) -> None:
+  expected_sig = Panda.get_signature_from_firmware(FW_PATH)
+  if not panda.bootstub and panda.get_signature() == expected_sig:
+    cloudlog.info(f"F4 panda {panda.get_usb_serial()} already up to date")
+    return
+
+  cloudlog.info(f"Flashing F4 panda {panda.get_usb_serial()}")
+  with open(FW_PATH, "rb") as f:
+    code = f.read()
+
+  if not panda.bootstub:
+    # enter bootstub directly, panda.reset() rejects deprecated hw types
+    try:
+      panda._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=15000, expect_disconnect=True)
+    except Exception:
+      pass
+    panda.close()
+    panda.reconnect()
+
+  _flash_static(panda._handle, code)
+  panda.reconnect()
+  cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {panda.get_usb_serial()}")
+
+
+def flash_rivian_long(panda_serials: list[str]) -> None:
+  if not os.path.isfile(FW_PATH):
+    cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
+    return
+
+  if not _is_rivian():
+    cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
+    return
+
+  # only check USB connected pandas, internal panda uses SPI and is never an external panda
+  usb_serials = set(Panda.usb_list())
+  for serial in panda_serials:
+    if serial not in usb_serials:
+      continue
+    panda = Panda(serial)
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+      except Exception:
+        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
+    panda.close()
+
+  return
+
+
+if __name__ == '__main__':
+  flash_rivian_long(Panda.list())
diff --git a/openpilot/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed b/openpilot/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed
new file mode 100644
index 0000000000..bdbd237ba9
Binary files /dev/null and b/openpilot/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed differ
diff --git a/sunnypilot/selfdrive/locationd/models/__init__.py b/openpilot/sunnypilot/selfdrive/selfdrived/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/models/__init__.py
rename to openpilot/sunnypilot/selfdrive/selfdrived/__init__.py
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/button_state_tracker.py b/openpilot/sunnypilot/selfdrive/selfdrived/button_state_tracker.py
new file mode 100644
index 0000000000..ffbff7b44c
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/button_state_tracker.py
@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from opendbc.car import structs
+
+
+class ButtonStateTracker:
+  def __init__(self) -> None:
+    self.pressed: int = 0
+    self.release_toggle: int = 0
+
+  def update(self, CS: structs.CarState) -> None:
+    for b in CS.buttonEvents:
+      bit = 1 << b.type.raw
+      if b.pressed:
+        self.pressed |= bit
+      else:
+        self.pressed &= ~bit
+        self.release_toggle ^= bit
+
+  def publish(self, ss_sp) -> None:
+    ss_sp.buttonsPressed = self.pressed
+    ss_sp.buttonsReleaseToggle = self.release_toggle
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/openpilot/sunnypilot/selfdrive/selfdrived/events.py
similarity index 83%
rename from sunnypilot/selfdrive/selfdrived/events.py
rename to openpilot/sunnypilot/selfdrive/selfdrived/events.py
index 4edc0bd470..3c010cc776 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/events.py
@@ -1,10 +1,17 @@
-import cereal.messaging as messaging
-from cereal import log, car, custom
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log, custom
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
-
+from openpilot.common.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
@@ -17,6 +24,8 @@ EventNameSP = custom.OnroadEventSP.EventName
 # get event name from enum
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
 
+IS_MICI = HARDWARE.get_device_type() == 'mici'
+
 
 def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   speedLimit = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimit
@@ -31,11 +40,14 @@ def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.
 
 def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
+  v_cruise_cluster = CS.vCruiseCluster
+  set_speed = sm['controlsState'].deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
+  set_speed_conv = round(set_speed * speed_conv)
+
   speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
   speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
   alert_1_str = ""
-  alert_2_str = ""
-  alert_size = AlertSize.none
+  alert_size = AlertSize.small
 
   if CP.openpilotLongitudinalControl and CP.pcmCruise:
     # PCM long
@@ -44,13 +56,19 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
     speed_unit = "km/h" if metric else "mph"
 
-    alert_1_str = "Speed Limit Assist: Activation Required"
-    alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
-    alert_size = AlertSize.mid
+    alert_1_str = f"Speed Limit Assist: set to {pcm_long_required_max_set_speed_conv} {speed_unit} to engage"
+  else:
+    if IS_MICI:
+      if set_speed_conv < speed_limit_final_last_conv:
+        alert_1_str = "Press + to confirm speed limit"
+      elif set_speed_conv > speed_limit_final_last_conv:
+        alert_1_str = "Press - to confirm speed limit"
+    else:
+      alert_size = AlertSize.none
 
   return Alert(
     alert_1_str,
-    alert_2_str,
+    "",
     AlertStatus.normal, alert_size,
     Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
 
@@ -193,7 +211,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventNameSP.speedLimitActive: {
     ET.WARNING: Alert(
-      "Automatically adjusting to the posted speed limit",
+      "Auto adjusting to speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
@@ -213,7 +231,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventNameSP.speedLimitPending: {
     ET.WARNING: Alert(
-      "Automatically adjusting to the last speed limit",
+      "Auto adjusting to last speed limit",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
@@ -226,4 +244,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       AlertStatus.normal, AlertSize.none,
       Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
   },
+
+  EventNameSP.laneChangeRoadEdge: {
+    ET.WARNING: Alert(
+      "Lane Change Unavailable: Road Edge",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
+  },
 }
diff --git a/sunnypilot/selfdrive/selfdrived/events_base.py b/openpilot/sunnypilot/selfdrive/selfdrived/events_base.py
similarity index 93%
rename from sunnypilot/selfdrive/selfdrived/events_base.py
rename to openpilot/sunnypilot/selfdrive/selfdrived/events_base.py
index 5f9f8edf94..a392978144 100644
--- a/sunnypilot/selfdrive/selfdrived/events_base.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/events_base.py
@@ -3,15 +3,16 @@ from enum import IntEnum
 from abc import abstractmethod
 from collections.abc import Callable
 
-from cereal import log, car
-import cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
 from openpilot.common.realtime import DT_CTRL
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
 # Alert priorities
@@ -46,7 +47,7 @@ class Alert:
                alert_size: log.SelfdriveState.AlertSize,
                priority: Priority,
                visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert,
+               audible_alert: log.SelfdriveState.AudibleAlert,
                duration: float,
                creation_delay: float = 0.):
 
@@ -77,7 +78,7 @@ class AlertBase(Alert):
   def __init__(self, alert_text_1: str, alert_text_2: str, alert_status: log.SelfdriveState.AlertStatus,
                alert_size: log.SelfdriveState.AlertSize, priority: Priority,
                visual_alert: car.CarControl.HUDControl.VisualAlert,
-               audible_alert: car.CarControl.HUDControl.AudibleAlert, duration: float):
+               audible_alert: log.SelfdriveState.AudibleAlert, duration: float):
     super().__init__(alert_text_1, alert_text_2, alert_status, alert_size, priority, visual_alert, audible_alert, duration)
 
 
@@ -185,11 +186,12 @@ EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
 class NoEntryAlert(Alert):
   def __init__(self, alert_text_2: str,
                alert_text_1: str = "openpilot Unavailable",
-               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none,
+               priority: Priority = Priority.LOW):
     if HARDWARE.get_device_type() == 'mici':
       alert_text_1, alert_text_2 = alert_text_2, alert_text_1
     super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
-                     AlertSize.mid, Priority.LOW, visual_alert,
+                     AlertSize.mid, priority, visual_alert,
                      AudibleAlert.refuse, 3.)
 
 
@@ -217,7 +219,7 @@ class ImmediateDisableAlert(Alert):
 
 
 class EngagementAlert(Alert):
-  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
+  def __init__(self, audible_alert: log.SelfdriveState.AudibleAlert):
     super().__init__("", "",
                      AlertStatus.normal, AlertSize.none,
                      Priority.MID, VisualAlert.none,
diff --git a/sunnypilot/selfdrive/locationd/tests/__init__.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/locationd/tests/__init__.py
rename to openpilot/sunnypilot/selfdrive/selfdrived/tests/__init__.py
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py
new file mode 100644
index 0000000000..5824f82531
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py
@@ -0,0 +1,68 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from opendbc.car.structs import car
+from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
+from openpilot.common.test import OpenpilotTestCase
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+class TestButtonStateTracker(OpenpilotTestCase):
+  def setup_method(self) -> None:
+    self.tracker = ButtonStateTracker()
+
+  def make_cs(self, events: list) -> car.CarState:
+    CS = car.CarState()
+    CS.buttonEvents = events
+    return CS
+
+  def test_initial_state(self) -> None:
+    assert self.tracker.pressed == 0
+    assert self.tracker.release_toggle == 0
+
+  def test_press_sets_bit(self) -> None:
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
+    assert self.tracker.pressed == (1 << ButtonType.accelCruise)
+    assert self.tracker.release_toggle == 0
+
+  def test_release_clears_and_toggles(self) -> None:
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
+    assert self.tracker.pressed == 0
+    assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
+
+  def test_multiple_buttons(self) -> None:
+    self.tracker.update(self.make_cs([
+      ButtonEvent(type=ButtonType.accelCruise, pressed=True),
+      ButtonEvent(type=ButtonType.decelCruise, pressed=True),
+    ]))
+    assert self.tracker.pressed == (1 << ButtonType.accelCruise) | (1 << ButtonType.decelCruise)
+
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
+    assert self.tracker.pressed == (1 << ButtonType.decelCruise)
+    assert self.tracker.release_toggle == (1 << ButtonType.accelCruise)
+
+  def test_release_toggle_flips(self) -> None:
+    for _ in range(2):
+      self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=True)]))
+      self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=False)]))
+    assert self.tracker.release_toggle == 0
+
+  def test_publish(self) -> None:
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=True)]))
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.decelCruise, pressed=True)]))
+    self.tracker.update(self.make_cs([ButtonEvent(type=ButtonType.accelCruise, pressed=False)]))
+
+    class MockSP:
+      buttonsPressed = 0
+      buttonsReleaseToggle = 0
+
+    sp = MockSP()
+    self.tracker.publish(sp)
+    assert sp.buttonsPressed == self.tracker.pressed
+    assert sp.buttonsReleaseToggle == self.tracker.release_toggle
diff --git a/sunnypilot/selfdrive/ui/quiet_mode.py b/openpilot/sunnypilot/selfdrive/ui/quiet_mode.py
similarity index 96%
rename from sunnypilot/selfdrive/ui/quiet_mode.py
rename to openpilot/sunnypilot/selfdrive/ui/quiet_mode.py
index 739ea1392c..d4dba74d95 100644
--- a/sunnypilot/selfdrive/ui/quiet_mode.py
+++ b/openpilot/sunnypilot/selfdrive/ui/quiet_mode.py
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import car
+from opendbc.car.structs import car
 
 from openpilot.common.params import Params
 
diff --git a/sunnypilot/selfdrive/selfdrived/__init__.py b/openpilot/sunnypilot/sunnylink/__init__.py
similarity index 100%
rename from sunnypilot/selfdrive/selfdrived/__init__.py
rename to openpilot/sunnypilot/sunnylink/__init__.py
diff --git a/sunnypilot/sunnylink/api.py b/openpilot/sunnypilot/sunnylink/api.py
similarity index 87%
rename from sunnypilot/sunnylink/api.py
rename to openpilot/sunnypilot/sunnylink/api.py
index bda97262cb..7ca619721b 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/openpilot/sunnypilot/sunnylink/api.py
@@ -8,8 +8,8 @@ from datetime import datetime, timedelta, UTC
 
 from openpilot.common.api.base import BaseApi
 from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.hardware.hw import Paths
 
 API_HOST = os.getenv('SUNNYLINK_API_HOST', 'https://stg.api.sunnypilot.ai')
 UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice"
@@ -30,10 +30,6 @@ class SunnylinkApi(BaseApi):
 
     return super().api_get(endpoint, method, timeout, access_token, session, json, **kwargs)
 
-  def resume_queued(self, timeout=10, **kwargs):
-    sunnylinkId, commaId = self._resolve_dongle_ids()
-    return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs)
-
   def get_token(self, payload_extra=None, expiry_hours=1):
     # Add your additional data here
     additional_data = {}
@@ -51,16 +47,16 @@ class SunnylinkApi(BaseApi):
     return sunnylink_dongle_id, comma_dongle_id
 
   def _resolve_imeis(self):
-    imei1, imei2 = None, None
+    imei = None
     imei_try = 0
-    while imei1 is None and imei2 is None and imei_try < MAX_RETRIES:
+    while imei is None and imei_try < MAX_RETRIES:
       try:
-        imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
+        imei = HARDWARE.get_imei()
       except Exception:
         self._status_update(f"Error getting imei, trying again... [{imei_try + 1}/{MAX_RETRIES}]")
         time.sleep(1)
       imei_try += 1
-    return imei1, imei2
+    return imei, ""
 
   def _resolve_serial(self):
     return (self.params.get("HardwareSerial")
@@ -89,7 +85,7 @@ class SunnylinkApi(BaseApi):
       sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
       self._status_update("Public key not found, setting dongle ID to unregistered.")
     else:
-      Params().put("LastSunnylinkPingTime", 0)  # Reset the last ping time to 0 if we are trying to register
+      Params().put("LastSunnylinkPingTime", 0, block=True)  # Reset the last ping time to 0 if we are trying to register
 
       backoff = 1
       while True:
@@ -141,15 +137,15 @@ class SunnylinkApi(BaseApi):
           time.sleep(3)
           break
 
-    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)
+    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID, block=True)
 
     # Set the last ping time to the current time since we were just talking to the API
     last_ping = int((time.monotonic() if successful_registration else start_time) * 1e9)
-    Params().put("LastSunnylinkPingTime", last_ping)
+    Params().put("LastSunnylinkPingTime", last_ping, block=True)
 
     # Disable sunnylink if registration was not successful
     if not successful_registration:
-      Params().put_bool("SunnylinkEnabled", False)
+      Params().put_bool("SunnylinkEnabled", False, block=True)
 
     self.spinner = None
     return sunnylink_dongle_id
diff --git a/sunnypilot/sunnylink/__init__.py b/openpilot/sunnypilot/sunnylink/athena/__init__.py
similarity index 100%
rename from sunnypilot/sunnylink/__init__.py
rename to openpilot/sunnypilot/sunnylink/athena/__init__.py
diff --git a/sunnypilot/sunnylink/athena/manage_sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
similarity index 76%
rename from sunnypilot/sunnylink/athena/manage_sunnylinkd.py
rename to openpilot/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
index 377b6990f7..d811fa5dbc 100755
--- a/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
+++ b/openpilot/sunnypilot/sunnylink/athena/manage_sunnylinkd.py
@@ -2,4 +2,4 @@
 from openpilot.system.athena.manage_athenad import manage_athenad
 
 if __name__ == '__main__':
-  manage_athenad("SunnylinkDongleId", "SunnylinkdPid", 'sunnylinkd', 'sunnypilot.sunnylink.athena.sunnylinkd')
+  manage_athenad("SunnylinkDongleId", "SunnylinkdPid", 'sunnylinkd', 'openpilot.sunnypilot.sunnylink.athena.sunnylinkd')
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
similarity index 81%
rename from sunnypilot/sunnylink/athena/sunnylinkd.py
rename to openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
index fe0a248100..ac168db7d8 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -16,40 +16,45 @@ import ssl
 import threading
 import time
 
-from jsonrpc import dispatcher
 from functools import partial
-from openpilot.common.params import Params
+from openpilot.system.athena.rpc import dispatcher
+from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
   recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler, stat_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection, WebSocketConnectionClosedException)
 
-import cereal.messaging as messaging
-from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
+import openpilot.cereal.messaging as messaging
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
+from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
+from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
+from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
 
-SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
+SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {8022}
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
-METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
 
 params = Params()
 
 # Parameters that should never be remotely modified
 BLOCKED_PARAMS = {
+  "AdbEnabled",
   "CompletedSunnylinkConsentVersion",
   "CompletedTrainingVersion",
   "GithubUsername",  # Could grant SSH access
   "GithubSshKeys",   # Direct SSH key injection
   "HasAcceptedTerms",
   "HasAcceptedTermsSP",
+  "OnroadCycleRequested",      # Prevent remote cycle trigger
+  "ParamsVersion",         # Device-managed version counter
 }
 
 
@@ -64,7 +69,6 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
               threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
-              threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
               threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
@@ -121,7 +125,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
       elif opcode in (ABNF.OPCODE_PING, ABNF.OPCODE_PONG):
         cloudlog.debug("sunnylinkd.ws_recv.pong")
         last_ping = int(time.monotonic() * 1e9)
-        Params().put("LastSunnylinkPingTime", last_ping)
+        Params().put("LastSunnylinkPingTime", last_ping, block=True)
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > SUNNYLINK_RECONNECT_TIMEOUT_S * 1e9:
@@ -147,37 +151,6 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:
   cloudlog.debug("sunnylinkd.ws_ping.end_event is set, exiting ws_ping thread")
 
 
-def ws_queue(end_event: threading.Event) -> None:
-  sunnylink_dongle_id = params.get("SunnylinkDongleId")
-  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
-  resume_requested = False
-  tries = 0
-
-  while not end_event.is_set() and not resume_requested:
-    try:
-      if not resume_requested:
-        cloudlog.debug("sunnylinkd.ws_queue.resume_queued")
-        sunnylink_api.resume_queued(timeout=29)
-        resume_requested = True
-        tries = 0
-    except Exception as e:
-      if isinstance(e, (ConnectionError, TimeoutError)):
-        cloudlog.warning(f"sunnylinkd.ws_queue.resume_queued.{type(e).__name__}")
-      else:
-        cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
-
-      resume_requested = False
-      tries += 1
-      time.sleep(backoff(tries))
-
-  if end_event.is_set():
-    cloudlog.debug("end_event is set, exiting ws_queue thread")
-  elif resume_requested:
-    cloudlog.debug(f"Resume requested to server after {tries} tries")
-  else:
-    cloudlog.error(f"Reached end of ws_queue while end_event is not set and resume_requested is {resume_requested}")
-
-
 def sunny_log_handler(end_event: threading.Event, comma_prime_cellular_end_event: threading.Event) -> None:
   while not end_event.wait(0.1):
     if not comma_prime_cellular_end_event.is_set():
@@ -197,33 +170,23 @@ def getParamsAllKeys() -> list[str]:
 
 
 @dispatcher.add_method
-def getParamsAllKeysV1() -> dict[str, str]:
+def getParamsMetadata() -> str:
+  """Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
+
+  Reads settings_ui.json, injects live capabilities from CarParams, compresses,
+  and returns. Single RPC for the frontend to get the complete settings UI and
+  runtime capabilities.
+  """
   try:
-    with open(METADATA_PATH) as f:
-      metadata = json.load(f)
+    schema = generate_schema()
+    schema["capabilities"] = generate_capabilities()
+    schema["capability_labels"] = CAPABILITY_LABELS
+    schema["default_model"] = DEFAULT_MODEL
+    raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
+    return base64.b64encode(gzip.compress(raw)).decode("utf-8")
   except Exception:
-    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
-    metadata = {}
-
-  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
-
-  params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
-  for key in available_keys:
-    value = get_param_as_byte(key, get_default=True)
-
-    param_entry = {
-      "key": key,
-      "type": int(params.get_type(key).value),
-      "default_value": base64.b64encode(value).decode('utf-8') if value else None,
-    }
-
-    if key in metadata:
-      meta_copy = metadata[key].copy()
-      param_entry["_extra"] = meta_copy
-
-    params_dict["params"].append(param_entry)
-
-  return {"keys": json.dumps(params_dict.get("params", []))}
+    cloudlog.exception("sunnylinkd.getParamsMetadata.exception")
+    raise
 
 
 @dispatcher.add_method
@@ -232,12 +195,25 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
   available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
 
   try:
+    zero_values: dict[int, bytes] = {
+      ParamKeyType.STRING.value: b"",
+      ParamKeyType.BOOL.value: b"0",
+      ParamKeyType.INT.value: b"0",
+      ParamKeyType.FLOAT.value: b"0.0",
+      ParamKeyType.TIME.value: b"",
+      ParamKeyType.JSON.value: b"{}",
+      ParamKeyType.BYTES.value: b"",
+    }
+
     param_keys_validated = [key for key in params_keys if key in available_keys]
     params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
     for key in param_keys_validated:
       value = get_param_as_byte(key)
       if value is None:
-        continue
+        value = get_param_as_byte(key, get_default=True)
+      if value is None:
+        param_type = params.get_type(key)
+        value = zero_values.get(param_type.value, b"")
 
       params_dict["params"].append({
         "key": key,
@@ -268,6 +244,13 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
     except Exception as e:
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 
+  # Increment version counter for frontend change detection
+  try:
+    current = int(params.get("ParamsVersion") or "0")
+    params.put("ParamsVersion", str(current + 1), block=True)
+  except Exception:
+    pass
+
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
   sunnylink_dongle_id = params.get("SunnylinkDongleId")
diff --git a/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
similarity index 89%
rename from sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
rename to openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
index 616bff037e..9540d8329d 100644
--- a/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
+++ b/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
@@ -5,9 +5,10 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.sunnypilot.sunnylink.athena import sunnylinkd
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestSunnylinkdMethods:
+class TestSunnylinkdMethods(OpenpilotTestCase):
   def setup_method(self):
     self.saved_params = []
 
@@ -16,10 +17,10 @@ class TestSunnylinkdMethods:
     def mock_save_param(key, value, compression=False):
       self.saved_params.append((key, value, compression))
 
-    sunnylinkd.save_param_from_base64_encoded_string = mock_save_param
+    sunnylinkd.save_param_from_base64_encoded_string = mock_save_param  # ty: ignore[invalid-assignment]
 
   def teardown_method(self):
-    sunnylinkd.save_param_from_base64_encoded_string = self.original_save
+    sunnylinkd.save_param_from_base64_encoded_string = self.original_save  # ty: ignore[invalid-assignment]
 
   def test_saveParams_blocked(self):
     blocked_params = {
diff --git a/sunnypilot/sunnylink/backups/AESCipher.py b/openpilot/sunnypilot/sunnylink/backups/AESCipher.py
similarity index 100%
rename from sunnypilot/sunnylink/backups/AESCipher.py
rename to openpilot/sunnypilot/sunnylink/backups/AESCipher.py
diff --git a/sunnypilot/sunnylink/athena/__init__.py b/openpilot/sunnypilot/sunnylink/backups/__init__.py
similarity index 100%
rename from sunnypilot/sunnylink/athena/__init__.py
rename to openpilot/sunnypilot/sunnylink/backups/__init__.py
diff --git a/sunnypilot/sunnylink/backups/manager.py b/openpilot/sunnypilot/sunnylink/backups/manager.py
similarity index 99%
rename from sunnypilot/sunnylink/backups/manager.py
rename to openpilot/sunnypilot/sunnylink/backups/manager.py
index 44cdb3bff2..5ac6b8cabc 100644
--- a/sunnypilot/sunnylink/backups/manager.py
+++ b/openpilot/sunnypilot/sunnylink/backups/manager.py
@@ -16,9 +16,9 @@ from openpilot.common.git import get_branch
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_version
+from openpilot.common.version import get_version
 
-from cereal import messaging, custom
+from openpilot.cereal import messaging, custom
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compressed_data, SnakeCaseEncoder
 from openpilot.sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
diff --git a/sunnypilot/sunnylink/backups/utils.py b/openpilot/sunnypilot/sunnylink/backups/utils.py
similarity index 98%
rename from sunnypilot/sunnylink/backups/utils.py
rename to openpilot/sunnypilot/sunnylink/backups/utils.py
index eb59205128..054a01793f 100644
--- a/sunnypilot/sunnylink/backups/utils.py
+++ b/openpilot/sunnypilot/sunnylink/backups/utils.py
@@ -18,7 +18,7 @@ from cryptography.hazmat.primitives.asymmetric import rsa, ec
 
 from openpilot.common.api.base import KEYS
 from openpilot.sunnypilot.sunnylink.backups.AESCipher import AESCipher
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 class KeyDerivation:
@@ -183,6 +183,6 @@ def transform_dict(obj):
 
 
 class SnakeCaseEncoder(json.JSONEncoder):
-  def encode(self, obj):
-    transformed_obj = transform_dict(obj)
+  def encode(self, o):
+    transformed_obj = transform_dict(o)
     return super().encode(transformed_obj)
diff --git a/openpilot/sunnypilot/sunnylink/capabilities.py b/openpilot/sunnypilot/sunnylink/capabilities.py
new file mode 100644
index 0000000000..1f12b5b001
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/capabilities.py
@@ -0,0 +1,187 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+
+from openpilot.cereal import custom, messaging
+from opendbc.car.structs import car
+from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, UNSUPPORTED_LONGITUDINAL_CAR
+from opendbc.car.subaru.values import CAR as SUBARU_CAR, SubaruFlags
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.hardware import HARDWARE
+
+
+# Wire-protocol version for the capabilities payload. Bump on breaking changes
+# only; additive fields are backward-compatible and do not require a bump.
+PROTOCOL_VERSION = 1
+
+# All capability fields that rules may reference.
+# Non-boolean fields must have defaults in CAPABILITY_DEFAULTS.
+CAPABILITY_FIELDS = (
+  "protocol_version",
+  "has_longitudinal_control",
+  "has_icbm",
+  "icbm_available",
+  "torque_allowed",
+  "brand",
+  "pcm_cruise",
+  "alpha_long_available",
+  "steer_control_type",
+  "enable_bsm",
+  "is_release",
+  "is_sp_release",
+  "is_development",
+  "tesla_has_vehicle_bus",
+  "has_stop_and_go",
+  "stock_longitudinal",
+  "device_type",
+  "subaru_has_sng",
+  "hyundai_alpha_long_available",
+)
+
+CAPABILITY_LABELS: dict[str, str] = {
+  "protocol_version": "Capabilities protocol version",
+  "has_longitudinal_control": "sunnypilot longitudinal control",
+  "has_icbm": "ICBM enabled",
+  "icbm_available": "ICBM available",
+  "torque_allowed": "torque steering (not available for angle steering vehicles)",
+  "brand": "Vehicle brand",
+  "pcm_cruise": "PCM cruise",
+  "alpha_long_available": "Alpha Longitudinal available",
+  "steer_control_type": "Steer control type",
+  "enable_bsm": "BSM available",
+  "is_release": "Release branch",
+  "is_sp_release": "SP release branch",
+  "is_development": "Development branch",
+  "tesla_has_vehicle_bus": "Tesla vehicle bus",
+  "has_stop_and_go": "Stop and Go",
+  "stock_longitudinal": "stock longitudinal",
+  "device_type": "Device type",
+  "subaru_has_sng": "Subaru Stop-and-Go available",
+  "hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
+}
+
+# Explicit defaults for non-boolean capability fields
+CAPABILITY_DEFAULTS: dict[str, bool | str | int] = {
+  "brand": "",
+  "steer_control_type": "",
+  "device_type": "",
+  "protocol_version": PROTOCOL_VERSION,
+}
+
+
+def _bundle_field(bundle: dict | None, key: str) -> str:
+  return bundle.get(key, "") if isinstance(bundle, dict) else ""
+
+
+def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
+  """Set brand-specific capabilities from bundle platform or CarParams fallback.
+
+  Bundle (manual car selection) is a pre-fingerprint approximation.
+  CarParams (auto-fingerprint) is the authoritative post-fingerprint source.
+  Mirrors the per-brand update_settings() logic in device UI layouts.
+  """
+  brand = caps["brand"]
+
+  if brand == "hyundai":
+    if bundle_platform:
+      try:
+        unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
+        caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["hyundai_alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
+
+  elif brand == "subaru":
+    if bundle_platform:
+      try:
+        flags = SUBARU_CAR[bundle_platform].config.flags
+        caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+        caps["has_stop_and_go"] = caps["subaru_has_sng"]
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["subaru_has_sng"] = not bool(CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+      caps["has_stop_and_go"] = caps["subaru_has_sng"]
+
+
+def generate_capabilities(params: Params | None = None) -> dict:
+  """Generate a SettingsCapabilities dict from CarParams + boolean params.
+
+  When CarPlatformBundle is present, brand and platform come from the bundle
+  (mirrors Raylib). CarParams* deserialization is the fallback before the bundle
+  is written (early after first pairing).
+  """
+  params = params or Params()
+
+  caps: dict = {field: CAPABILITY_DEFAULTS.get(field, False) for field in CAPABILITY_FIELDS}
+
+  # Wire-protocol version is always set explicitly.
+  caps["protocol_version"] = PROTOCOL_VERSION
+
+  # Hardware + boolean params (no CarParams dependency)
+  caps["device_type"] = HARDWARE.get_device_type()
+  caps["is_release"] = False  # params.get_bool("IsReleaseBranch")
+  caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
+  caps["is_development"] = params.get_bool("IsDevelopmentBranch")
+  caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
+
+  bundle = params.get("CarPlatformBundle")
+  bundle_brand = _bundle_field(bundle, "brand")
+  bundle_platform = _bundle_field(bundle, "platform")
+
+  # Bundle-first brand resolution; CP is fallback only.
+  if bundle_brand:
+    caps["brand"] = bundle_brand
+
+  # CarParams-derived capabilities
+  CP = None
+  CP_bytes = params.get("CarParamsPersistent")
+  if CP_bytes is not None:
+    try:
+      CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
+      caps["alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
+      if CP.alphaLongitudinalAvailable:
+        caps["has_longitudinal_control"] = params.get_bool("AlphaLongitudinalEnabled")
+      else:
+        caps["has_longitudinal_control"] = bool(CP.openpilotLongitudinalControl)
+      # CP.steerControlType is the physical control mode (angle / torque).
+      # CP.lateralTuning.which() returns the tuning class (pid / torque / indi)
+      # which is a separate concept and is not interchangeable.
+      caps["steer_control_type"] = str(CP.steerControlType)
+      caps["torque_allowed"] = CP.steerControlType != car.CarParams.SteerControlType.angle
+      if not caps["brand"] and CP.brand:
+        caps["brand"] = str(CP.brand)
+      caps["pcm_cruise"] = bool(CP.pcmCruise)
+      caps["enable_bsm"] = bool(CP.enableBsm)
+      # Generic SnG fallback. Brand-specific opaque flags below override.
+      caps["has_stop_and_go"] = bool(CP.openpilotLongitudinalControl)
+    except Exception:
+      CP = None
+      cloudlog.exception("capabilities: failed to deserialize CarParamsPersistent")
+
+  # CarParamsSP-derived capabilities
+  CP_SP_bytes = params.get("CarParamsSPPersistent")
+  if CP_SP_bytes is not None:
+    try:
+      CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
+      caps["icbm_available"] = bool(CP_SP.intelligentCruiseButtonManagementAvailable)
+      caps["has_icbm"] = bool(CP_SP.intelligentCruiseButtonManagementAvailable) and params.get_bool("IntelligentCruiseButtonManagement")
+      caps["tesla_has_vehicle_bus"] = bool(CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+    except Exception:
+      cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
+
+  _resolve_brand_capabilities(caps, bundle_platform, CP)
+
+  return caps
+
+
+def generate_capabilities_json(params: Params | None = None) -> str:
+  """Generate SettingsCapabilities as a JSON string."""
+  return json.dumps(generate_capabilities(params), separators=(",", ":"))
diff --git a/openpilot/sunnypilot/sunnylink/docs/README.md b/openpilot/sunnypilot/sunnylink/docs/README.md
new file mode 100644
index 0000000000..62d46677e6
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/docs/README.md
@@ -0,0 +1,585 @@
+# sunnylink Settings UI Guide
+
+> One YAML file per page. Edit, run the compiler, commit. The sunnylink frontend updates automatically.
+
+## What you edit (and what's generated)
+
+| File | What | When to edit |
+|------|------|-------------|
+| `settings_ui_src/pages/<page>.yaml` | One YAML per page (panel). Contains panel metadata + sections + items + sub_panels inline. | Adding/changing/removing a setting. |
+| `settings_ui_src/pages/vehicle.yaml` | Per-brand settings page (`kind: vehicle`). Each brand is a section. | Adding/changing a vehicle-specific setting. |
+| `settings_ui_src/_macros.yaml` | Named rule fragments referenced via `{$ref: "#/macros/<name>"}`. | Adding a reusable rule (e.g. a new platform gate). |
+| **`settings_ui.json`** | **Generated from src tree by `compile_settings_ui.py`. Do not edit by hand.** | Never. Compiler emits it; frontend reads it. |
+
+Pages today: `steering, cruise, display, visuals, toggles, device, software, developer, models, vehicle` (10).
+
+Run `python sunnypilot/sunnylink/tools/compile_settings_ui.py` after edits. Add `--check` in CI to fail on out-of-sync `settings_ui.json`.
+
+Display metadata (titles, descriptions, options, min/max/step/unit) is inline on each item. There is no separate metadata file.
+
+## Page file shape
+
+A page YAML contains the whole panel: metadata at the top, then `sections`. Each section has its own `items` and (optionally) `sub_panels`. Sub-panels are nested inside the section they belong to. Items appear in the order written in the file.
+
+```yaml
+# yaml-language-server: $schema=../_schemas/page.schema.json
+id: steering
+label: Steering
+icon: steering_wheel
+order: 1
+remote_configurable: true
+description: Lateral control, lane changes, and steering behavior
+
+sections:
+  - id: mads
+    title: Modular Assistive Driving System (MADS)
+    items:
+      - key: Mads
+        widget: toggle
+        title: Enable Modular Assistive Driving System (MADS)
+        description: |
+          Enable the beloved MADS feature. Disable toggle to revert back
+          to stock sunnypilot engagement/disengagement.
+        enablement:
+          - {$ref: "#/macros/offroad"}
+
+    sub_panels:
+      - id: mads_settings
+        label: MADS Settings
+        trigger_key: Mads
+        trigger_condition: {type: param, key: Mads, equals: true}
+        items:
+          - key: MadsMainCruiseAllowed
+            widget: toggle
+            title: Toggle with Main Cruise
+            description: |
+              Note: For vehicles without LFA/LKAS button, disabling this will
+              prevent lateral control engagement.
+            enablement:
+              - {$ref: "#/macros/offroad"}
+              - {$ref: "#/macros/mads_full_platforms"}
+```
+
+The vehicle page has the same shape but declares `kind: vehicle`; each section's `id` becomes a brand key under `vehicle_settings` in the compiled JSON.
+
+## Macros (named rule fragments)
+
+`_macros.yaml` declares reusable rule lists. Reference them from any rules array via `{$ref: "#/macros/<name>"}`.
+
+```yaml
+macros:
+  offroad: [{type: offroad_only}]
+  longitudinal: [{type: capability, field: has_longitudinal_control, equals: true}]
+  mads_full_platforms:
+    - type: not
+      condition:
+        type: any
+        conditions:
+          - {type: capability, field: brand, equals: rivian}
+          - type: all
+            conditions:
+              - {type: capability, field: brand, equals: tesla}
+              - type: not
+                condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
+```
+
+In an item:
+
+```yaml
+enablement:
+  - {$ref: "#/macros/offroad"}
+  - {$ref: "#/macros/mads_full_platforms"}
+```
+
+The compiler splices a list-context `$ref` into its parent list. Macros may reference other macros up to depth 3; cycles are an error.
+
+## Compiler workflow
+
+```
+1. common/params_keys.h               — add/remove the C++ param key
+2. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
+3. python sunnypilot/sunnylink/tools/compile_settings_ui.py
+4. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
+5. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
+6. commit
+```
+
+CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.
+
+## Compiled output reference (schema contract)
+
+The tables below describe the **compiled** `settings_ui.json` schema — what the frontend consumes at runtime. JSON snippets show the wire shape; in the src tree you author YAML that compiles to the same shape. Use these as a contract reference for valid fields, their meanings, and rule types.
+
+## Quick reference: widget types
+
+| Widget | Use for | Fields needed |
+|--------|---------|---------------|
+| `toggle` | On/off boolean | `title` |
+| `multiple_button` | 2-4 discrete options | `title` + `options` array |
+| `option` | Numeric range or dropdown | `title` + `min/max/step` or `options` |
+| `info` | Read-only display | `title` |
+
+## Quick reference: item fields
+
+| Field | Required | Description |
+|-------|----------|-------------|
+| `key` | Yes | Param key name (must exist in `params_keys.h`) |
+| `widget` | Yes | `toggle`, `option`, `multiple_button`, `button`, `info` |
+| `title` | Yes | Display name shown to the user |
+| `description` | No | Inline explanatory text below the title. May be empty when only `details` is used. |
+| `details` | No | Extended help text shown in a modal when the user taps an "i" button on the row. Independent of `description`: either, both, or neither may be present. |
+| `options` | For selectors | Array of `{"value": 0, "label": "Off"}` objects (see per-option enablement below) |
+| `min`, `max`, `step` | For sliders | Numeric range constraints |
+| `unit` | No | Unit label. Static: `"seconds"`. Dynamic: `{"metric": "km/h", "imperial": "mph"}` (resolved by IsMetric) |
+| `visibility` | No | Rules for show/hide. Settings are never hidden, always dimmed with UNAVAILABLE badge when rules fail |
+| `enablement` | No | Rules for enabled/disabled (all must pass). Dimmed with badge when rules fail |
+| `blocked` | No | `true` for device-only settings that cannot be modified remotely. Frontend shows as read-only |
+| `title_param_suffix` | No | Dynamic title suffix. Example: `{"param": "IsMetric", "values": {"0": "mph", "1": "km/h"}}` |
+| `sub_items` | No | Nested child items |
+| `needs_onroad_cycle` | No | `true` if changing this param triggers a system restart. Frontend shows a "Restart" badge. See [REFERENCE.md - Remote Onroad Cycle](REFERENCE.md#remote-onroad-cycle) |
+
+## Quick reference: rule types
+
+| Rule | Example | Use for |
+|------|---------|---------|
+| `offroad_only` | `{"type": "offroad_only"}` | Grey out while driving |
+| `not_engaged` | `{"type": "not_engaged"}` | Grey out only while engaged (started + selfdrive/MADS active) |
+| `capability` | `{"type": "capability", "field": "has_longitudinal_control", "equals": true}` | Car-dependent visibility |
+| `param` | `{"type": "param", "key": "Mads", "equals": true}` | Show/enable based on another setting |
+| `param_compare` | `{"type": "param_compare", "key": "SpeedLimitMode", "op": ">", "value": 0}` | Numeric comparison |
+| `not` | `{"type": "not", "condition": {...}}` | Negate a rule |
+| `any` | `{"type": "any", "conditions": [...]}` | OR logic |
+| `all` | `{"type": "all", "conditions": [...]}` | AND logic (for nesting inside `any`/`not`) |
+| `$ref` | `{"$ref": "#/macros/offroad"}` | Reference a named rule fragment in `_macros.yaml` |
+
+**Visibility design**: Settings are always visible. When visibility rules fail, the setting is dimmed with an UNAVAILABLE badge, so users know it exists but is not applicable.
+
+**Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
+
+**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `enable_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
+
+---
+
+## How to
+
+### Pick a writability rule (offroad / not_engaged / param-based)
+
+| Use this | When | Why |
+|---|---|---|
+| `offroad_only` | Param can only be safely changed when the car is parked. Most user-facing toggles. | Strictest. Frontend shows "device is driving" badge and disables the row. |
+| `not_engaged` | Param can be changed while the car is started but only when sunnypilot/MADS is **not** actively driving. | Less strict than offroad. Matches Raylib `engaged = started AND (selfdriveState.enabled OR mads.enabled)`. Use for items the device must apply mid-drive (e.g. test maneuvers, longitudinal stock-vs-OP toggle). |
+| `param`-based | Behavior depends on another setting's value (parent toggle, mode selector, etc.). | Composes with `not`/`any`/`all` for arbitrary logic. |
+| `capability`-based | Behavior depends on the connected car or device (brand, longitudinal, hardware). | Resolved on the device from `CarParams` / hardware. See [`capabilities.py`](../capabilities.py) for the full field list. |
+| (no rule) | Param is always writable, no gating. | Rare. Prefer at least `offroad_only` unless the param is genuinely safe to flip mid-drive. |
+
+Default for new toggles: `enablement: [{$ref: "#/macros/offroad"}]`. Drop down to `not_engaged` only if you've confirmed mid-drive write is safe in the controls/UI code path.
+
+### Use `details` for safety notes / extended help
+
+Inline `description` shows under the title. For longer caveats, safety notes, or "learn more" content, use `details` — the frontend renders an info button that opens a modal. Either field may be present alone or both together.
+
+```yaml
+- key: AutoLaneChangeTimer
+  widget: option
+  title: Auto Lane Change by Blinker
+  description: |-
+    Set a timer to delay the auto lane change operation when the blinker is used.
+    No nudge on the steering wheel is required to auto lane change if a timer is set.
+    Default is Nudge.
+  details: |-
+    Please use caution when using this feature. Only use the blinker when traffic
+    and road conditions permit.
+  options: [...]
+```
+
+For an item that is intentionally minimal inline (no inline body, only the modal):
+
+```yaml
+- key: SomeAdvancedToggle
+  widget: toggle
+  title: Some Advanced Feature
+  details: |-
+    Long-form rationale, caveats, links, etc. — kept entirely behind the info button.
+```
+
+### Add a toggle
+
+1. Register in `common/params_keys.h`:
+   ```cpp
+   {"MyToggle", {PERSISTENT | BACKUP, BOOL}},
+   ```
+
+2. Open `settings_ui_src/pages/<page>.yaml`. Add the item to the right section:
+   ```yaml
+   - key: MyToggle
+     widget: toggle
+     title: My Feature
+     description: What this feature does.
+     enablement:
+       - {$ref: "#/macros/offroad"}
+   ```
+
+   If changing the param requires an onroad cycle to take effect, add `needs_onroad_cycle: true`.
+
+3. Compile + validate + test:
+   ```
+   python sunnypilot/sunnylink/tools/compile_settings_ui.py
+   python sunnypilot/sunnylink/tools/validate_settings_ui.py
+   uv run python -m pytest sunnypilot/sunnylink/tests/
+   ```
+
+### Add a multi-button option
+
+```yaml
+- key: MySelector
+  widget: multiple_button
+  title: Mode
+  options:
+    - {value: 0, label: Off}
+    - {value: 1, label: On}
+    - {value: 2, label: Auto}
+```
+
+### Add a slider or range
+
+```yaml
+- key: MyRange
+  widget: option
+  title: Follow Distance
+  description: Time gap to lead vehicle.
+  min: 0.5
+  max: 3.0
+  step: 0.1
+  unit: seconds
+```
+
+### Add a slider with metric/imperial units
+
+```yaml
+- key: MinSpeed
+  widget: option
+  title: Minimum Speed
+  min: 0
+  max: 100
+  step: 5
+  unit: {metric: km/h, imperial: mph}
+```
+
+Frontend resolves the unit string based on the device's `IsMetric` param. Static units (e.g. `seconds`, `m/s²`) stay plain strings.
+
+### Add a dynamic title suffix
+
+```yaml
+- key: FollowDistance
+  widget: option
+  title: Follow Distance
+  title_param_suffix:
+    param: IsMetric
+    values: {'0': mph, '1': km/h}
+  min: 0.5
+  max: 3.0
+  step: 0.1
+```
+
+Renders as "Follow Distance: mph" / "Follow Distance: km/h".
+
+### Add a device-only read-only setting
+
+```yaml
+- key: OnroadCyclePendingRemote
+  widget: info
+  title: Pending Remote Cycle
+  blocked: true
+```
+
+Frontend treats `blocked: true` items as read-only.
+
+### Add a dropdown option
+
+```yaml
+- key: MyDropdown
+  widget: option
+  title: Recording Quality
+  options:
+    - {value: 0, label: Low (720p)}
+    - {value: 1, label: Medium (1080p)}
+    - {value: 2, label: High (4K)}
+```
+
+### Per-option enablement rules
+
+```yaml
+- key: MadsSteeringMode
+  widget: multiple_button
+  title: Steering Mode on Brake Pedal
+  options:
+    - value: 0
+      label: Remain Active
+      enablement:
+        - {$ref: "#/macros/mads_full_platforms"}
+    - value: 1
+      label: Pause
+      enablement:
+        - {$ref: "#/macros/mads_full_platforms"}
+    - value: 2
+      label: Disengage
+  enablement:
+    - {$ref: "#/macros/offroad"}
+```
+
+When an option's enablement fails, that option is grayed out but still visible.
+
+### Show only when another setting is on
+
+```yaml
+- key: ChildSetting
+  widget: toggle
+  title: Child Feature
+  visibility:
+    - {type: param, key: ParentToggle, equals: true}
+```
+
+(With the "dim instead of hide" design, this setting is dimmed, not hidden, when the rule fails.)
+
+### Show only for specific brands
+
+```yaml
+- key: LongFeature
+  widget: toggle
+  title: Longitudinal Feature
+  visibility:
+    - {$ref: "#/macros/longitudinal"}
+```
+
+### Combine multiple conditions
+
+The `enablement` array is implicit-AND: every entry must pass. Use `any` for OR, `all` for nested AND, `not` for negation. Wrap repeated combinations in a macro so future you doesn't re-derive the logic.
+
+**AND across two params** (writable only when both Mads is on AND ICBM is enabled):
+```yaml
+enablement:
+  - {type: param, key: Mads, equals: true}
+  - {type: param, key: IntelligentCruiseButtonManagement, equals: true}
+```
+
+**OR across two params** (writable when either is on):
+```yaml
+enablement:
+  - type: any
+    conditions:
+      - {type: param, key: ExperimentalMode, equals: true}
+      - {type: param, key: DynamicExperimentalControl, equals: true}
+```
+
+**Mixed: capability AND param** (only on longitudinal cars when ShowAdvancedControls is on):
+```yaml
+enablement:
+  - {$ref: "#/macros/longitudinal"}
+  - {$ref: "#/macros/advanced_only"}
+```
+
+**Three-way: offroad AND torque-allowed AND not-NNLC** (real example: `EnforceTorqueControl`):
+```yaml
+enablement:
+  - {$ref: "#/macros/offroad"}
+  - {type: capability, field: torque_allowed, equals: true}
+  - {type: param, key: NeuralNetworkLateralControl, equals: false}
+```
+
+**Negation across multiple platforms** (everything except Rivian + Tesla-no-bus):
+```yaml
+enablement:
+  - {$ref: "#/macros/offroad"}
+  - {$ref: "#/macros/mads_full_platforms"}   # macro encapsulates the not(any(rivian, all(tesla, not(bus)))) logic
+```
+
+If the same multi-condition block appears in 2+ items, **promote it to a macro** in `_macros.yaml`. Re-run `python sunnypilot/sunnylink/tools/apply_macros.py` to substitute existing inlined matches automatically.
+
+### Mutual exclusion
+
+```yaml
+- key: FeatureAlpha
+  widget: toggle
+  title: Feature Alpha
+  enablement:
+    - {type: param, key: FeatureBeta, equals: false}
+
+- key: FeatureBeta
+  widget: toggle
+  title: Feature Beta
+  enablement:
+    - {type: param, key: FeatureAlpha, equals: false}
+```
+
+### Add a section
+
+In the page YAML, add an entry to the `sections` list:
+```yaml
+sections:
+  - id: my_section
+    title: My Section
+    description: Optional subtitle
+    enablement:
+      - {$ref: "#/macros/longitudinal"}
+    items:
+      - {key: ..., widget: toggle, title: ...}
+```
+
+Sections support `visibility`, `enablement`, and `attestation_required`. When section-level rules fail, all items within are dimmed.
+
+### Add a sub-panel
+
+Sub-panels nest inside the section they belong to:
+```yaml
+sections:
+  - id: parent_section
+    title: Parent
+    items: [...]
+    sub_panels:
+      - id: my_sub
+        label: Advanced Settings
+        trigger_key: ParentParam
+        trigger_condition: {type: param, key: ParentParam, equals: true}
+        items:
+          - {key: ..., widget: toggle, title: ...}
+```
+
+### Add vehicle-brand settings
+
+Edit `pages/vehicle.yaml`. Each section is a brand:
+```yaml
+id: vehicle
+kind: vehicle
+sections:
+  - id: rivian
+    title: Rivian Settings
+    description: ''
+    items:
+      - key: RivianFeature
+        widget: toggle
+        title: Rivian One Pedal
+        enablement:
+          - {$ref: "#/macros/offroad"}
+```
+
+`kind: vehicle` tells the compiler to emit this page as `vehicle_settings.<brand>` in the wire JSON.
+
+### Add a feature with toggles, sub-panel, and macro
+
+Example: "Smart Wipers" with a master toggle, intensity selector, and sub-panel for advanced tuning, gated to torque-steering Hyundais on offroad.
+
+1. **Param keys** — register all 4 in `common/params_keys.h`.
+
+2. **Decide on a macro** — if "torque Hyundai" gating is reused, add to `_macros.yaml`:
+   ```yaml
+   torque_hyundai:
+     - {$ref: "#/macros/offroad"}
+     - {type: capability, field: brand, equals: hyundai}
+     - {type: capability, field: torque_allowed, equals: true}
+   ```
+
+3. **Edit the relevant page** — `pages/visuals.yaml` (or wherever the feature lives). Add a new section + sub_panel:
+   ```yaml
+   sections:
+     - id: smart_wipers
+       title: Smart Wipers
+       description: Camera-driven wiper control (Hyundai/Kia, torque only)
+       items:
+         - key: SmartWipersEnabled
+           widget: toggle
+           title: Enable Smart Wipers
+           enablement:
+             - {$ref: "#/macros/torque_hyundai"}
+         - key: SmartWipersIntensity
+           widget: multiple_button
+           title: Sensitivity
+           options:
+             - {value: 0, label: Low}
+             - {value: 1, label: Medium}
+             - {value: 2, label: High}
+           visibility:
+             - {type: param, key: SmartWipersEnabled, equals: true}
+           enablement:
+             - {$ref: "#/macros/torque_hyundai"}
+       sub_panels:
+         - id: smart_wipers_tuning
+           label: Smart Wipers Tuning
+           trigger_key: SmartWipersEnabled
+           trigger_condition: {type: param, key: SmartWipersEnabled, equals: true}
+           items:
+             - key: SmartWipersHysteresis
+               widget: option
+               title: Hysteresis (frames)
+               min: 1
+               max: 30
+               step: 1
+               enablement:
+                 - {$ref: "#/macros/offroad"}
+                 - {$ref: "#/macros/advanced_only"}
+   ```
+
+4. **Compile / validate / test**:
+   ```
+   python sunnypilot/sunnylink/tools/compile_settings_ui.py
+   python sunnypilot/sunnylink/tools/validate_settings_ui.py
+   uv run python -m pytest sunnypilot/sunnylink/tests/
+   ```
+
+   `apply_macros.py` is automatic for newly-added items only if you wrote the rule list inline; for greenfield items, you'd write `$ref` directly.
+
+### Change a toggle's behavior
+
+1. Find the item in `pages/<page>.yaml`.
+2. Edit `visibility`/`enablement`/`options[].enablement` directly. Use macros where possible.
+3. **Add a regression test** in `sunnypilot/sunnylink/tests/test_settings_changes.py` that asserts the new gate exists. Use existing tests (e.g. `TestMadsBrandGates`, `TestNotEngagedReplacement`) as templates: lookup item by key, assert `_references_capability_field(rules, "...")` or `_flatten_rule_types(rules)` contains/excludes a type. This freezes the new behavior so a future edit won't silently revert it.
+4. Compile + run the full suite. Per-bug test should pass; structural tests should remain green.
+
+### Change a widget type or options
+
+Editing `widget:` from `toggle` to `multiple_button` is a frontend behavior change. Whenever you change widget shape:
+- The param's underlying type (bool / int / string) must match what the new widget writes. `toggle` writes bool; `multiple_button`/`option` write int/string. Update `params_keys.h` if the type changes.
+- Add an `options:` list when switching to `multiple_button` or `option`.
+- Old values stored on devices may not be valid for the new widget. Consider a migration in `sunnypilot/system/updated/` if users have stale values.
+
+### Deprecate or remove a setting
+
+1. Remove the item from `pages/<page>.yaml`.
+2. Remove the param key from `common/params_keys.h` **only after** confirming nothing in `selfdrive/`, `sunnypilot/`, or any controls code reads it.
+3. If the param has been on user devices, drop it via a migration (see `sunnypilot/system/updated/`) so stale values don't linger.
+4. Compile + validate + test. The validator's "no duplicate keys" + structural checks will fail if anything still references the removed key.
+
+### Move a setting to another page
+
+Cut the item block from one page YAML, paste into the target page's section. Compile + validate. The "no duplicate keys" check catches forgotten copies.
+
+### Change display text
+
+Edit `title:` or `description:` in the page YAML and recompile to regenerate `settings_ui.json`.
+
+### Reorder sections, sub-panels, and items
+
+Reorder them within their parent list in the YAML. The compiler preserves authored order — no `order:` field required at the section/sub_panel/item level (panel-level `order:` controls which page comes first in the side nav).
+
+---
+
+### Capability labels and tooltips
+
+The schema response includes `capability_labels`, which map capability field names to descriptions. The frontend uses these to show contextual tooltips when a capability rule prevents a setting from being used.
+
+The device defines these labels in `capabilities.py:CAPABILITY_LABELS`. Examples:
+
+- `has_longitudinal_control` → "sunnypilot longitudinal control"
+- `torque_allowed` → "torque steering (not available for angle steering vehicles)"
+- `brand` → "Vehicle brand"
+
+### Centralized param enforcement
+
+The device-side UI enforces capability constraints in `selfdrive/ui/sunnypilot/ui_state.py:_enforce_constraints()`, which removes incompatible params based on car capabilities. This is the single source of truth for such constraints.
+
+Settings layouts should not duplicate these params.remove() calls. Instead, rely on schema rules and centralized enforcement to prevent duplicate logic and ensure consistency.
+
+Example constraints in `_enforce_constraints()`:
+- Angle steering cars: remove `EnforceTorqueControl` and `NeuralNetworkLateralControl`
+- No CarParams: remove all car-dependent params
+- No longitudinal: remove `ExperimentalMode`
+- No ICBM: remove `IntelligentCruiseButtonManagement`
diff --git a/sunnypilot/sunnylink/registration_manager.py b/openpilot/sunnypilot/sunnylink/registration_manager.py
similarity index 88%
rename from sunnypilot/sunnylink/registration_manager.py
rename to openpilot/sunnypilot/sunnylink/registration_manager.py
index 1b822e5c2d..cc43dcae87 100755
--- a/sunnypilot/sunnylink/registration_manager.py
+++ b/openpilot/sunnypilot/sunnylink/registration_manager.py
@@ -5,7 +5,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
-from cereal import log, messaging
+from openpilot.cereal import log, messaging
 from openpilot.sunnypilot.sunnylink.utils import register_sunnylink
 
 NetworkType = log.DeviceState.NetworkType
@@ -27,7 +27,7 @@ def main():
     register_sunnylink()
   except Exception:
     cloudlog.exception("Sunnylink registration failed")
-    Params().put_bool("SunnylinkTempFault", True)
+    Params().put_bool("SunnylinkTempFault", True, block=True)
     raise
 
 
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.json b/openpilot/sunnypilot/sunnylink/settings_ui.json
new file mode 100644
index 0000000000..d5fe3f5936
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.json
@@ -0,0 +1,2362 @@
+{
+  "$schema": "./settings_ui.schema.json",
+  "schema_version": "1.0",
+  "panels": [
+    {
+      "id": "steering",
+      "label": "Steering",
+      "icon": "steering_wheel",
+      "order": 1,
+      "remote_configurable": true,
+      "description": "Lateral control, lane changes, and steering behavior",
+      "sections": [
+        {
+          "id": "mads",
+          "title": "Modular Assistive Driving System (MADS)",
+          "description": "",
+          "items": [
+            {
+              "key": "Mads",
+              "widget": "toggle",
+              "title": "Enable Modular Assistive Driving System (MADS)",
+              "description": "Enable MADS. Disable toggle to revert back to stock sunnypilot engagement/disengagement.",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                }
+              ]
+            }
+          ],
+          "sub_panels": [
+            {
+              "id": "mads_settings",
+              "label": "MADS Settings",
+              "trigger_key": "Mads",
+              "trigger_condition": {
+                "type": "param",
+                "key": "Mads",
+                "equals": true
+              },
+              "items": [
+                {
+                  "key": "MadsMainCruiseAllowed",
+                  "widget": "toggle",
+                  "title": "Toggle with Main Cruise",
+                  "description": "Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "any",
+                        "conditions": [
+                          {
+                            "type": "capability",
+                            "field": "brand",
+                            "equals": "rivian"
+                          },
+                          {
+                            "type": "all",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "tesla"
+                              },
+                              {
+                                "type": "not",
+                                "condition": {
+                                  "type": "capability",
+                                  "field": "tesla_has_vehicle_bus",
+                                  "equals": true
+                                }
+                              }
+                            ]
+                          }
+                        ]
+                      }
+                    }
+                  ]
+                },
+                {
+                  "key": "MadsUnifiedEngagementMode",
+                  "widget": "toggle",
+                  "title": "Unified Engagement Mode (UEM)",
+                  "description": "Engage lateral and longitudinal control with cruise control engagement. Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "any",
+                        "conditions": [
+                          {
+                            "type": "capability",
+                            "field": "brand",
+                            "equals": "rivian"
+                          },
+                          {
+                            "type": "all",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "tesla"
+                              },
+                              {
+                                "type": "not",
+                                "condition": {
+                                  "type": "capability",
+                                  "field": "tesla_has_vehicle_bus",
+                                  "equals": true
+                                }
+                              }
+                            ]
+                          }
+                        ]
+                      }
+                    }
+                  ]
+                },
+                {
+                  "key": "MadsSteeringMode",
+                  "widget": "multiple_button",
+                  "title": "Steering Mode on Brake Pedal",
+                  "description": "Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.",
+                  "options": [
+                    {
+                      "value": 0,
+                      "label": "Remain Active",
+                      "enablement": [
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "any",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "rivian"
+                              },
+                              {
+                                "type": "all",
+                                "conditions": [
+                                  {
+                                    "type": "capability",
+                                    "field": "brand",
+                                    "equals": "tesla"
+                                  },
+                                  {
+                                    "type": "not",
+                                    "condition": {
+                                      "type": "capability",
+                                      "field": "tesla_has_vehicle_bus",
+                                      "equals": true
+                                    }
+                                  }
+                                ]
+                              }
+                            ]
+                          }
+                        }
+                      ]
+                    },
+                    {
+                      "value": 1,
+                      "label": "Pause",
+                      "enablement": [
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "any",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "rivian"
+                              },
+                              {
+                                "type": "all",
+                                "conditions": [
+                                  {
+                                    "type": "capability",
+                                    "field": "brand",
+                                    "equals": "tesla"
+                                  },
+                                  {
+                                    "type": "not",
+                                    "condition": {
+                                      "type": "capability",
+                                      "field": "tesla_has_vehicle_bus",
+                                      "equals": true
+                                    }
+                                  }
+                                ]
+                              }
+                            ]
+                          }
+                        }
+                      ]
+                    },
+                    {
+                      "value": 2,
+                      "label": "Disengage"
+                    }
+                  ],
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "blinker",
+          "title": "Blinker Control",
+          "description": "Lateral pause behavior during turn signals",
+          "items": [
+            {
+              "key": "BlinkerPauseLateralControl",
+              "widget": "toggle",
+              "title": "Pause Lateral Control with Blinker",
+              "description": "Pause lateral control with blinker when traveling below the desired speed selected.",
+              "sub_items": [
+                {
+                  "key": "BlinkerMinLateralControlSpeed",
+                  "widget": "option",
+                  "title": "Minimum Speed to Pause Lateral Control",
+                  "min": 0,
+                  "max": 255,
+                  "step": 5,
+                  "unit": {
+                    "metric": "km/h",
+                    "imperial": "mph"
+                  },
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "BlinkerPauseLateralControl",
+                      "equals": true
+                    }
+                  ]
+                },
+                {
+                  "key": "BlinkerLateralReengageDelay",
+                  "widget": "option",
+                  "title": "Post-Blinker Delay",
+                  "description": "Delay before lateral control resumes after the turn signal ends.",
+                  "min": 0,
+                  "max": 10,
+                  "step": 1,
+                  "unit": "second",
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "BlinkerPauseLateralControl",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "torque",
+          "title": "Torque Control",
+          "description": "Steering torque tuning and lateral control method",
+          "enablement": [
+            {
+              "type": "capability",
+              "field": "torque_allowed",
+              "equals": true
+            }
+          ],
+          "items": [
+            {
+              "key": "EnforceTorqueControl",
+              "widget": "toggle",
+              "title": "Enforce Torque Lateral Control",
+              "description": "Enable this to enforce sunnypilot to steer with Torque lateral control.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "steer_control_type",
+                    "equals": "angle"
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "capability",
+                  "field": "torque_allowed",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "NeuralNetworkLateralControl",
+                  "equals": false
+                }
+              ]
+            }
+          ],
+          "sub_panels": [
+            {
+              "id": "torque_settings",
+              "label": "Torque Settings",
+              "trigger_key": "EnforceTorqueControl",
+              "trigger_condition": {
+                "type": "param",
+                "key": "EnforceTorqueControl",
+                "equals": true
+              },
+              "items": [
+                {
+                  "key": "LateralJerkTorqueController",
+                  "widget": "toggle",
+                  "title": "Lateral Jerk Torque Controller",
+                  "description": "Looks ahead at planned steering to reduce sudden corrections, so the wheel moves more smoothly through turns. Works with Self-Tune and custom tuning. Thanks to @twilsonco for the implementation.",
+                  "visibility": [
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "capability",
+                        "field": "steer_control_type",
+                        "equals": "angle"
+                      }
+                    }
+                  ],
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "param",
+                      "key": "NeuralNetworkLateralControl",
+                      "equals": false
+                    }
+                  ]
+                },
+                {
+                  "key": "LiveTorqueParamsToggle",
+                  "widget": "toggle",
+                  "title": "Self-Tune",
+                  "description": "Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    }
+                  ]
+                },
+                {
+                  "key": "LiveTorqueParamsRelaxedToggle",
+                  "widget": "toggle",
+                  "title": "Less Restrict Settings for Self-Tune (Beta)",
+                  "description": "Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "param",
+                      "key": "LiveTorqueParamsToggle",
+                      "equals": true
+                    }
+                  ]
+                },
+                {
+                  "key": "CustomTorqueParams",
+                  "widget": "toggle",
+                  "title": "Enable Custom Tuning",
+                  "description": "Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within \"opendbc/car/torque_data\". The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    }
+                  ]
+                },
+                {
+                  "key": "TorqueParamsOverrideEnabled",
+                  "widget": "toggle",
+                  "title": "Manual Real-Time Tuning",
+                  "description": "Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values.",
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    },
+                    {
+                      "type": "param",
+                      "key": "CustomTorqueParams",
+                      "equals": true
+                    }
+                  ]
+                },
+                {
+                  "key": "TorqueParamsOverrideLatAccelFactor",
+                  "widget": "option",
+                  "title": "Lateral Acceleration Factor",
+                  "title_param_suffix": {
+                    "param": "TorqueParamsOverrideEnabled",
+                    "values": {
+                      "true": "(Real-Time & Offline)",
+                      "false": "(Offline Only)"
+                    }
+                  },
+                  "min": 0.1,
+                  "max": 5.0,
+                  "step": 0.1,
+                  "unit": "m/s\u00b2",
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "CustomTorqueParams",
+                      "equals": true
+                    },
+                    {
+                      "type": "any",
+                      "conditions": [
+                        {
+                          "type": "param",
+                          "key": "TorqueParamsOverrideEnabled",
+                          "equals": true
+                        },
+                        {
+                          "type": "offroad_only"
+                        }
+                      ]
+                    }
+                  ]
+                },
+                {
+                  "key": "TorqueParamsOverrideFriction",
+                  "widget": "option",
+                  "title": "Friction",
+                  "title_param_suffix": {
+                    "param": "TorqueParamsOverrideEnabled",
+                    "values": {
+                      "true": "(Real-Time & Offline)",
+                      "false": "(Offline Only)"
+                    }
+                  },
+                  "min": 0.0,
+                  "max": 1.0,
+                  "step": 0.01,
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "CustomTorqueParams",
+                      "equals": true
+                    },
+                    {
+                      "type": "any",
+                      "conditions": [
+                        {
+                          "type": "param",
+                          "key": "TorqueParamsOverrideEnabled",
+                          "equals": true
+                        },
+                        {
+                          "type": "offroad_only"
+                        }
+                      ]
+                    }
+                  ]
+                },
+                {
+                  "key": "TorqueControlTune",
+                  "widget": "multiple_button",
+                  "title": "Torque Control Tune Version",
+                  "description": "Select the version of Torque Control Tune to use.",
+                  "options": [
+                    {
+                      "value": "",
+                      "label": "Default"
+                    },
+                    {
+                      "value": 1.0,
+                      "label": "v1.0"
+                    },
+                    {
+                      "value": 0.0,
+                      "label": "v0.0"
+                    }
+                  ],
+                  "enablement": [
+                    {
+                      "type": "offroad_only"
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "lane_change",
+          "title": "Lane Change",
+          "description": "Automatic lane change timing and behavior",
+          "items": [
+            {
+              "key": "AutoLaneChangeTimer",
+              "widget": "option",
+              "title": "Auto Lane Change by Blinker",
+              "description": "Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.",
+              "details": "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.",
+              "options": [
+                {
+                  "value": -1,
+                  "label": "Off"
+                },
+                {
+                  "value": 0,
+                  "label": "Nudge"
+                },
+                {
+                  "value": 1,
+                  "label": "Nudgeless"
+                },
+                {
+                  "value": 2,
+                  "label": "0.5 second"
+                },
+                {
+                  "value": 3,
+                  "label": "1 second"
+                },
+                {
+                  "value": 4,
+                  "label": "2 seconds"
+                },
+                {
+                  "value": 5,
+                  "label": "3 seconds"
+                }
+              ]
+            },
+            {
+              "key": "RoadEdgeLaneChangeEnabled",
+              "widget": "toggle",
+              "title": "Block Lane Change: Road Edge Detection",
+              "description": "Blocks lane change when the model sees a road edge on the side you signal."
+            },
+            {
+              "key": "AutoLaneChangeBsmDelay",
+              "widget": "toggle",
+              "title": "Auto Lane Change: Delay with Blind Spot",
+              "description": "Toggle to enable a delay timer for lane changes when blind spot monitoring (BSM) detects a vehicle in your blind spot.",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "enable_bsm",
+                  "equals": true
+                },
+                {
+                  "type": "param_compare",
+                  "key": "AutoLaneChangeTimer",
+                  "op": ">",
+                  "value": 0
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "cruise",
+      "label": "Cruise",
+      "icon": "cruise_control",
+      "order": 2,
+      "remote_configurable": true,
+      "description": "Longitudinal control, speed limits, and cruise behavior",
+      "sections": [
+        {
+          "id": "core_cruise_features",
+          "title": "",
+          "description": "",
+          "items": [
+            {
+              "key": "ExperimentalMode",
+              "widget": "toggle",
+              "title": "Experimental Mode",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "DynamicExperimentalControl",
+              "widget": "toggle",
+              "title": "Dynamic Experimental Control",
+              "description": "Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.",
+              "visibility": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "DisengageOnAccelerator",
+              "widget": "toggle",
+              "title": "Disengage Cruise on Accelerator Pedal",
+              "description": "When enabled, pressing the accelerator pedal will disengage longitudinal control."
+            },
+            {
+              "key": "LongitudinalPersonality",
+              "widget": "multiple_button",
+              "title": "Driving Personality",
+              "description": "Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Aggressive"
+                },
+                {
+                  "value": 1,
+                  "label": "Standard"
+                },
+                {
+                  "value": 2,
+                  "label": "Relaxed"
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "IntelligentCruiseButtonManagement",
+              "widget": "toggle",
+              "title": "Intelligent Cruise Button Management (ICBM) (Alpha)",
+              "visibility": [
+                {
+                  "type": "capability",
+                  "field": "icbm_available",
+                  "equals": true
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "has_longitudinal_control",
+                    "equals": true
+                  }
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "custom_acc_increments",
+          "title": "Custom ACC Speed Intervals",
+          "description": "",
+          "enablement": [
+            {
+              "type": "offroad_only"
+            },
+            {
+              "type": "any",
+              "conditions": [
+                {
+                  "type": "all",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "capability",
+                        "field": "pcm_cruise",
+                        "equals": true
+                      }
+                    }
+                  ]
+                },
+                {
+                  "type": "capability",
+                  "field": "has_icbm",
+                  "equals": true
+                }
+              ]
+            }
+          ],
+          "items": [
+            {
+              "key": "CustomAccIncrementsEnabled",
+              "widget": "toggle",
+              "title": "Enable Custom ACC Speed Intervals",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "all",
+                      "conditions": [
+                        {
+                          "type": "capability",
+                          "field": "has_longitudinal_control",
+                          "equals": true
+                        },
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "capability",
+                            "field": "pcm_cruise",
+                            "equals": true
+                          }
+                        }
+                      ]
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            }
+          ],
+          "sub_panels": [
+            {
+              "id": "custom_acc_intervals",
+              "label": "Custom ACC Speed Intervals Settings",
+              "trigger_key": "CustomAccIncrementsEnabled",
+              "trigger_condition": {
+                "type": "param",
+                "key": "CustomAccIncrementsEnabled",
+                "equals": true
+              },
+              "items": [
+                {
+                  "key": "CustomAccShortPressIncrement",
+                  "widget": "option",
+                  "title": "Short Press Increment",
+                  "min": 1,
+                  "max": 10,
+                  "step": 1,
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "CustomAccIncrementsEnabled",
+                      "equals": true
+                    }
+                  ]
+                },
+                {
+                  "key": "CustomAccLongPressIncrement",
+                  "widget": "option",
+                  "title": "Long Press Increment",
+                  "min": 1,
+                  "max": 10,
+                  "step": 1,
+                  "enablement": [
+                    {
+                      "type": "param",
+                      "key": "CustomAccIncrementsEnabled",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "speed_limits",
+          "title": "Speed Limits",
+          "description": "Speed limit detection and offset behavior",
+          "items": [],
+          "sub_panels": [
+            {
+              "id": "speed_limit_settings",
+              "label": "Speed Limit Settings",
+              "trigger_key": "SpeedLimitMode",
+              "items": [
+                {
+                  "key": "SpeedLimitMode",
+                  "widget": "multiple_button",
+                  "title": "Speed Limit Assist Mode",
+                  "options": [
+                    {
+                      "value": 0,
+                      "label": "Off"
+                    },
+                    {
+                      "value": 1,
+                      "label": "Information"
+                    },
+                    {
+                      "value": 2,
+                      "label": "Warning"
+                    },
+                    {
+                      "value": 3,
+                      "label": "Assist",
+                      "enablement": [
+                        {
+                          "type": "any",
+                          "conditions": [
+                            {
+                              "type": "capability",
+                              "field": "has_longitudinal_control",
+                              "equals": true
+                            },
+                            {
+                              "type": "capability",
+                              "field": "has_icbm",
+                              "equals": true
+                            }
+                          ]
+                        },
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "capability",
+                            "field": "brand",
+                            "equals": "rivian"
+                          }
+                        },
+                        {
+                          "type": "not",
+                          "condition": {
+                            "type": "all",
+                            "conditions": [
+                              {
+                                "type": "capability",
+                                "field": "brand",
+                                "equals": "tesla"
+                              },
+                              {
+                                "type": "capability",
+                                "field": "is_sp_release",
+                                "equals": true
+                              }
+                            ]
+                          }
+                        }
+                      ]
+                    }
+                  ]
+                },
+                {
+                  "key": "SpeedLimitPolicy",
+                  "widget": "multiple_button",
+                  "title": "Speed Limit Source",
+                  "options": [
+                    {
+                      "value": 0,
+                      "label": "Car State Only"
+                    },
+                    {
+                      "value": 1,
+                      "label": "Map Data Only"
+                    },
+                    {
+                      "value": 2,
+                      "label": "Car State Priority"
+                    },
+                    {
+                      "value": 3,
+                      "label": "Map Data Priority"
+                    },
+                    {
+                      "value": 4,
+                      "label": "Combined"
+                    }
+                  ]
+                },
+                {
+                  "key": "SpeedLimitOffsetType",
+                  "widget": "multiple_button",
+                  "title": "Speed Limit Offset Type",
+                  "options": [
+                    {
+                      "value": 0,
+                      "label": "Off"
+                    },
+                    {
+                      "value": 1,
+                      "label": "Fixed"
+                    },
+                    {
+                      "value": 2,
+                      "label": "Percentage"
+                    }
+                  ]
+                },
+                {
+                  "key": "SpeedLimitValueOffset",
+                  "widget": "option",
+                  "title": "Speed Limit Offset Value",
+                  "min": -30,
+                  "max": 30,
+                  "step": 1,
+                  "unit": {
+                    "metric": "km/h",
+                    "imperial": "mph"
+                  },
+                  "visibility": [
+                    {
+                      "type": "param_compare",
+                      "key": "SpeedLimitOffsetType",
+                      "op": ">",
+                      "value": 0
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "smart_cruise",
+          "title": "Smart Cruise Control",
+          "description": "",
+          "enablement": [
+            {
+              "type": "any",
+              "conditions": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                },
+                {
+                  "type": "capability",
+                  "field": "has_icbm",
+                  "equals": true
+                }
+              ]
+            }
+          ],
+          "items": [
+            {
+              "key": "SmartCruiseControlVision",
+              "widget": "toggle",
+              "title": "Vision",
+              "description": "Use vision path predictions to estimate the appropriate speed to drive through turns ahead.",
+              "visibility": [
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            },
+            {
+              "key": "SmartCruiseControlMap",
+              "widget": "toggle",
+              "title": "Map",
+              "description": "Use map data to estimate the appropriate speed to drive through turns ahead.",
+              "visibility": [
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "any",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "has_longitudinal_control",
+                      "equals": true
+                    },
+                    {
+                      "type": "capability",
+                      "field": "has_icbm",
+                      "equals": true
+                    }
+                  ]
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "display",
+      "label": "Display",
+      "icon": "display",
+      "order": 3,
+      "remote_configurable": true,
+      "description": "Screen brightness, timeout, and interactivity settings",
+      "sections": [
+        {
+          "id": "brightness_timeout",
+          "title": "Brightness & Timeout",
+          "description": "Screen dimming and sleep behavior while driving",
+          "items": [
+            {
+              "key": "OnroadScreenOffBrightness",
+              "widget": "multiple_button",
+              "title": "Onroad Brightness",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Auto (Default)"
+                },
+                {
+                  "value": 1,
+                  "label": "Auto (Dark)"
+                },
+                {
+                  "value": 2,
+                  "label": "Screen Off"
+                },
+                {
+                  "value": 3,
+                  "label": "5 %"
+                },
+                {
+                  "value": 4,
+                  "label": "10 %"
+                },
+                {
+                  "value": 5,
+                  "label": "15 %"
+                },
+                {
+                  "value": 6,
+                  "label": "20 %"
+                },
+                {
+                  "value": 7,
+                  "label": "25 %"
+                },
+                {
+                  "value": 8,
+                  "label": "30 %"
+                },
+                {
+                  "value": 9,
+                  "label": "35 %"
+                },
+                {
+                  "value": 10,
+                  "label": "40 %"
+                },
+                {
+                  "value": 11,
+                  "label": "45 %"
+                },
+                {
+                  "value": 12,
+                  "label": "50 %"
+                },
+                {
+                  "value": 13,
+                  "label": "55 %"
+                },
+                {
+                  "value": 14,
+                  "label": "60 %"
+                },
+                {
+                  "value": 15,
+                  "label": "65 %"
+                },
+                {
+                  "value": 16,
+                  "label": "70 %"
+                },
+                {
+                  "value": 17,
+                  "label": "75 %"
+                },
+                {
+                  "value": 18,
+                  "label": "80 %"
+                },
+                {
+                  "value": 19,
+                  "label": "85 %"
+                },
+                {
+                  "value": 20,
+                  "label": "90 %"
+                },
+                {
+                  "value": 21,
+                  "label": "95 %"
+                },
+                {
+                  "value": 22,
+                  "label": "100 %"
+                }
+              ]
+            },
+            {
+              "key": "OnroadScreenOffTimer",
+              "widget": "multiple_button",
+              "title": "Onroad Brightness Delay",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Always On"
+                },
+                {
+                  "value": 3,
+                  "label": "3s"
+                },
+                {
+                  "value": 5,
+                  "label": "5s"
+                },
+                {
+                  "value": 10,
+                  "label": "10s"
+                },
+                {
+                  "value": 15,
+                  "label": "15s"
+                },
+                {
+                  "value": 30,
+                  "label": "30s"
+                },
+                {
+                  "value": 60,
+                  "label": "1m"
+                },
+                {
+                  "value": 180,
+                  "label": "3m"
+                },
+                {
+                  "value": 300,
+                  "label": "5m"
+                },
+                {
+                  "value": 600,
+                  "label": "10m"
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "any",
+                    "conditions": [
+                      {
+                        "type": "param",
+                        "key": "OnroadScreenOffBrightness",
+                        "equals": 0
+                      },
+                      {
+                        "type": "param",
+                        "key": "OnroadScreenOffBrightness",
+                        "equals": 1
+                      }
+                    ]
+                  }
+                }
+              ]
+            },
+            {
+              "key": "InteractivityTimeout",
+              "widget": "multiple_button",
+              "title": "Interactivity Timeout",
+              "description": "Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if user is not interacting with the screen.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Default"
+                },
+                {
+                  "value": 10,
+                  "label": "10 s"
+                },
+                {
+                  "value": 20,
+                  "label": "20 s"
+                },
+                {
+                  "value": 30,
+                  "label": "30 s"
+                },
+                {
+                  "value": 40,
+                  "label": "40 s"
+                },
+                {
+                  "value": 50,
+                  "label": "50 s"
+                },
+                {
+                  "value": 60,
+                  "label": "1 m"
+                },
+                {
+                  "value": 70,
+                  "label": "1 m"
+                },
+                {
+                  "value": 80,
+                  "label": "1 m"
+                },
+                {
+                  "value": 90,
+                  "label": "1 m"
+                },
+                {
+                  "value": 100,
+                  "label": "1 m"
+                },
+                {
+                  "value": 110,
+                  "label": "1 m"
+                },
+                {
+                  "value": 120,
+                  "label": "2 m"
+                }
+              ]
+            },
+            {
+              "key": "ScreenSaverEnabled",
+              "widget": "toggle",
+              "title": "Screen Saver",
+              "description": "Show a screen saver when the device is offroad and idle, instead of turning the screen off."
+            },
+            {
+              "key": "ScreenSaverTimeout",
+              "widget": "multiple_button",
+              "title": "Screen Saver Duration",
+              "description": "How long the screen saver runs before the screen turns off.",
+              "options": [
+                {
+                  "value": 60,
+                  "label": "1 m"
+                },
+                {
+                  "value": 120,
+                  "label": "2 m"
+                },
+                {
+                  "value": 180,
+                  "label": "3 m"
+                },
+                {
+                  "value": 240,
+                  "label": "4 m"
+                },
+                {
+                  "value": 300,
+                  "label": "5 m"
+                },
+                {
+                  "value": 360,
+                  "label": "6 m"
+                },
+                {
+                  "value": 420,
+                  "label": "7 m"
+                },
+                {
+                  "value": 480,
+                  "label": "8 m"
+                },
+                {
+                  "value": 540,
+                  "label": "9 m"
+                },
+                {
+                  "value": 600,
+                  "label": "10 m"
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ScreenSaverEnabled",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "visuals",
+      "label": "Visuals",
+      "icon": "visuals",
+      "order": 4,
+      "remote_configurable": true,
+      "description": "HUD overlays, alerts, and on-screen display elements",
+      "sections": [
+        {
+          "id": "hud_elements",
+          "title": "HUD Elements",
+          "description": "Overlays shown on the driving screen",
+          "items": [
+            {
+              "key": "BlindSpot",
+              "widget": "toggle",
+              "title": "Show Blind Spot Warnings",
+              "description": "Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."
+            },
+            {
+              "key": "TorqueBar",
+              "widget": "toggle",
+              "title": "Steering Arc",
+              "description": "Display steering arc on the driving screen when lateral control is enabled."
+            },
+            {
+              "key": "ShowTurnSignals",
+              "widget": "toggle",
+              "title": "Display Turn Signals",
+              "description": "When enabled, visual turn indicators are drawn on the HUD."
+            },
+            {
+              "key": "RoadNameToggle",
+              "widget": "toggle",
+              "title": "Display Road Name",
+              "description": "Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded to fetch the road name.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ]
+            },
+            {
+              "key": "StandstillTimer",
+              "widget": "toggle",
+              "title": "Standstill Timer",
+              "description": "Show a timer on the HUD when the car is at a standstill.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ]
+            },
+            {
+              "key": "RocketFuel",
+              "widget": "toggle",
+              "title": "Real-time Acceleration Bar",
+              "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. This displays what the car is currently doing, not what the planner is requesting.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ]
+            },
+            {
+              "key": "ChevronInfo",
+              "widget": "option",
+              "title": "Display Metrics Below Chevron",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Off"
+                },
+                {
+                  "value": 1,
+                  "label": "Distance"
+                },
+                {
+                  "value": 2,
+                  "label": "Speed"
+                },
+                {
+                  "value": 3,
+                  "label": "Time"
+                },
+                {
+                  "value": 4,
+                  "label": "All"
+                }
+              ],
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "device_type",
+                    "equals": "mici"
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "developer_ui",
+          "title": "Developer UI Info",
+          "description": "Speedometer and debug display options",
+          "visibility": [
+            {
+              "type": "not",
+              "condition": {
+                "type": "capability",
+                "field": "device_type",
+                "equals": "mici"
+              }
+            }
+          ],
+          "items": [
+            {
+              "key": "DevUIInfo",
+              "widget": "option",
+              "title": "Developer UI",
+              "description": "Display real-time parameters and metrics from various sources.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Off"
+                },
+                {
+                  "value": 1,
+                  "label": "Bottom"
+                },
+                {
+                  "value": 2,
+                  "label": "Right"
+                },
+                {
+                  "value": 3,
+                  "label": "Right & Bottom"
+                }
+              ]
+            },
+            {
+              "key": "TrueVEgoUI",
+              "widget": "toggle",
+              "title": "Speedometer: Always Display True Speed",
+              "description": "For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."
+            },
+            {
+              "key": "HideVEgoUI",
+              "widget": "toggle",
+              "title": "Speedometer: Hide from Onroad Screen",
+              "description": "When enabled, the speedometer on the onroad screen is not displayed."
+            }
+          ]
+        },
+        {
+          "id": "alerts_extras",
+          "title": "Alerts & Extras",
+          "description": "Traffic light alerts and visual flair",
+          "items": [
+            {
+              "key": "GreenLightAlert",
+              "widget": "toggle",
+              "title": "Green Traffic Light Alert (Beta)",
+              "description": "A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. On-screen visual alert is only available on comma 3X. Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
+            },
+            {
+              "key": "LeadDepartAlert",
+              "widget": "toggle",
+              "title": "Lead Departure Alert (Beta)",
+              "description": "A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving. On-screen visual alert is only available on comma 3X. Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
+            },
+            {
+              "key": "RainbowMode",
+              "widget": "toggle",
+              "title": "Tesla Rainbow Mode",
+              "description": "Display a rainbow effect on the path the model wants to take. It does not affect driving in any way."
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "toggles",
+      "label": "Toggles",
+      "icon": "toggles",
+      "order": 5,
+      "remote_configurable": true,
+      "description": "Core openpilot feature toggles",
+      "sections": [
+        {
+          "id": "core_toggles",
+          "title": "",
+          "description": "",
+          "items": [
+            {
+              "key": "OpenpilotEnabledToggle",
+              "widget": "toggle",
+              "needs_onroad_cycle": true,
+              "title": "Enable sunnypilot",
+              "description": "Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                }
+              ]
+            },
+            {
+              "key": "IsLdwEnabled",
+              "widget": "toggle",
+              "title": "Enable Lane Departure Warnings",
+              "description": "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."
+            },
+            {
+              "key": "AlwaysOnDM",
+              "widget": "toggle",
+              "title": "Always-On Driver Monitoring",
+              "description": "Enable driver monitoring even when sunnypilot is not engaged."
+            },
+            {
+              "key": "IsMetric",
+              "widget": "toggle",
+              "title": "Use Metric System",
+              "description": "Display speed in km/h instead of mph."
+            }
+          ]
+        },
+        {
+          "id": "recording",
+          "title": "Recording",
+          "description": "Camera and audio recording during drives",
+          "items": [
+            {
+              "key": "RecordFront",
+              "widget": "toggle",
+              "needs_onroad_cycle": true,
+              "title": "Record and Upload Driver Camera",
+              "description": "Upload data from the driver facing camera and help improve the driver monitoring algorithm."
+            },
+            {
+              "key": "RecordAudio",
+              "widget": "toggle",
+              "needs_onroad_cycle": true,
+              "title": "Record and Upload Microphone Audio",
+              "description": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "device",
+      "label": "Device",
+      "icon": "device",
+      "order": 6,
+      "remote_configurable": true,
+      "description": "Device behavior, units, and recording settings",
+      "sections": [
+        {
+          "id": "general",
+          "title": "General",
+          "description": "Power, boot, and unit preferences",
+          "items": [
+            {
+              "key": "OffroadMode",
+              "widget": "toggle",
+              "title": "Force Offroad Mode"
+            },
+            {
+              "key": "DeviceBootMode",
+              "widget": "option",
+              "title": "Wake Up Behavior",
+              "description": "Controls state of the device after boot/sleep. Default: Device will boot/wake-up normally and will be ready to engage. Offroad: Device will be in Always Offroad mode after boot/wake-up.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Standard"
+                },
+                {
+                  "value": 1,
+                  "label": "Always Offroad"
+                }
+              ]
+            },
+            {
+              "key": "QuietMode",
+              "widget": "toggle",
+              "title": "Quiet Mode"
+            },
+            {
+              "key": "OnroadUploads",
+              "widget": "toggle",
+              "title": "Onroad Uploads"
+            },
+            {
+              "key": "MaxTimeOffroad",
+              "widget": "option",
+              "title": "Max Time Offroad",
+              "description": "Device will automatically shutdown after set time once the engine is turned off. 30h is the default.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Always On"
+                },
+                {
+                  "value": 5,
+                  "label": "5m"
+                },
+                {
+                  "value": 10,
+                  "label": "10m"
+                },
+                {
+                  "value": 15,
+                  "label": "15m"
+                },
+                {
+                  "value": 30,
+                  "label": "30m"
+                },
+                {
+                  "value": 60,
+                  "label": "1h"
+                },
+                {
+                  "value": 120,
+                  "label": "2h"
+                },
+                {
+                  "value": 180,
+                  "label": "3h"
+                },
+                {
+                  "value": 300,
+                  "label": "5h"
+                },
+                {
+                  "value": 600,
+                  "label": "10h"
+                },
+                {
+                  "value": 1440,
+                  "label": "24h"
+                },
+                {
+                  "value": 1800,
+                  "label": "30h (Default)"
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "language",
+          "title": "Language",
+          "items": [
+            {
+              "key": "LanguageSetting",
+              "widget": "info",
+              "title": "Language"
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "software",
+      "label": "Software",
+      "icon": "software",
+      "order": 7,
+      "remote_configurable": true,
+      "description": "Software update preferences",
+      "sections": [
+        {
+          "id": "updates",
+          "title": "Updates",
+          "description": "Control software updates",
+          "items": [
+            {
+              "key": "DisableUpdates",
+              "widget": "toggle",
+              "title": "Disable Updates",
+              "description": "When enabled, software updates will be off. This requires a reboot to take effect.",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "developer",
+      "label": "Developer",
+      "icon": "developer",
+      "order": 9,
+      "remote_configurable": true,
+      "description": "Debug tools, remote access, and advanced services",
+      "sections": [
+        {
+          "id": "connectivity",
+          "title": "Connectivity",
+          "description": "Remote access and debugging interfaces",
+          "items": [
+            {
+              "key": "AdbEnabled",
+              "widget": "toggle",
+              "blocked": true,
+              "title": "Enable ADB",
+              "description": "ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                }
+              ]
+            },
+            {
+              "key": "SshEnabled",
+              "widget": "toggle",
+              "blocked": true,
+              "title": "Enable SSH"
+            },
+            {
+              "key": "JoystickDebugMode",
+              "widget": "toggle",
+              "title": "Joystick Debug Mode",
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                }
+              ]
+            },
+            {
+              "key": "AlphaLongitudinalEnabled",
+              "widget": "toggle",
+              "needs_onroad_cycle": true,
+              "title": "sunnypilot Longitudinal Control (Alpha)",
+              "description": "WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. Changing this setting will restart sunnypilot if the car is powered on.",
+              "visibility": [
+                {
+                  "type": "all",
+                  "conditions": [
+                    {
+                      "type": "capability",
+                      "field": "alpha_long_available",
+                      "equals": true
+                    },
+                    {
+                      "type": "not",
+                      "condition": {
+                        "type": "capability",
+                        "field": "has_icbm",
+                        "equals": true
+                      }
+                    }
+                  ]
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "not_engaged"
+                }
+              ]
+            },
+            {
+              "key": "ShowDebugInfo",
+              "widget": "toggle",
+              "title": "UI Debug Mode"
+            }
+          ]
+        },
+        {
+          "id": "test_maneuvers",
+          "title": "Test Maneuvers",
+          "description": "DANGER: enabling these maneuvers replaces normal driving behavior with deterministic test sequences. Each toggle requires explicit confirmation per write. Use only in a closed environment.",
+          "visibility": [
+            {
+              "type": "any",
+              "conditions": [
+                {
+                  "type": "capability",
+                  "field": "is_development",
+                  "equals": true
+                },
+                {
+                  "type": "capability",
+                  "field": "is_sp_release",
+                  "equals": true
+                }
+              ]
+            }
+          ],
+          "enablement": [
+            {
+              "type": "any",
+              "conditions": [
+                {
+                  "type": "capability",
+                  "field": "is_development",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ],
+          "attestation_required": true,
+          "items": [
+            {
+              "key": "LateralManeuverMode",
+              "widget": "toggle",
+              "title": "[TEST] Lateral Maneuver Mode",
+              "description": "Replaces normal lateral control with a deterministic test sequence. NOT for road use.",
+              "enablement": [
+                {
+                  "type": "not_engaged"
+                },
+                {
+                  "type": "capability",
+                  "field": "torque_allowed",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "LongitudinalManeuverMode",
+              "widget": "toggle",
+              "title": "[TEST] Longitudinal Maneuver Mode",
+              "description": "Replaces normal longitudinal control with a deterministic test sequence. NOT for road use.",
+              "enablement": [
+                {
+                  "type": "not_engaged"
+                },
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "advanced_services",
+          "title": "Advanced Settings",
+          "description": "",
+          "items": [
+            {
+              "key": "ShowAdvancedControls",
+              "widget": "toggle",
+              "title": "Show Advanced Controls",
+              "description": "Toggle visibility of advanced sunnypilot controls. This only changes the visibility of the toggles; it does not change the actual enabled/disabled state."
+            },
+            {
+              "key": "EnableGithubRunner",
+              "widget": "toggle",
+              "title": "GitHub Runner Service",
+              "description": "Enables or disables the GitHub runner service.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "is_sp_release",
+                    "equals": true
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "EnableCopyparty",
+              "widget": "toggle",
+              "title": "copyparty Service",
+              "description": "copyparty is a very capable file server, you can use it to download your routes, view your logs and even make some edits on some files from your browser. Requires you to connect to your comma locally via its IP address.",
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "QuickBootToggle",
+              "widget": "toggle",
+              "title": "Quickboot Mode",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "any",
+                    "conditions": [
+                      {
+                        "type": "capability",
+                        "field": "is_sp_release",
+                        "equals": true
+                      },
+                      {
+                        "type": "capability",
+                        "field": "is_development",
+                        "equals": true
+                      }
+                    ]
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "DisableUpdates",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    },
+    {
+      "id": "models",
+      "label": "Models",
+      "icon": "models",
+      "order": 10,
+      "remote_configurable": false,
+      "description": "Driving model behavior and camera calibration",
+      "sections": [
+        {
+          "id": "model_behavior",
+          "title": "Model Behavior",
+          "description": "Lane desire and lead-vehicle awareness tuning",
+          "items": [
+            {
+              "key": "LaneTurnDesire",
+              "widget": "toggle",
+              "title": "Use Lane Turn Desires",
+              "description": "If you are driving at 20 mph (32 km/h) or below and have your blinker on, the car will plan a turn in that direction at the nearest drivable path. This prevents situations (like at red lights) where the car might plan the wrong turn direction."
+            },
+            {
+              "key": "LaneTurnValue",
+              "widget": "option",
+              "title": "Adjust Lane Turn Speed",
+              "description": "Set the maximum speed for lane turn desires.",
+              "min": 0,
+              "max": 20,
+              "step": 1,
+              "unit": {
+                "metric": "km/h",
+                "imperial": "mph"
+              },
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "LaneTurnDesire",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "LagdToggle",
+              "widget": "toggle",
+              "title": "Live Learning Steer Delay",
+              "description": "Allow device to learn and adapt car's steering response time"
+            },
+            {
+              "key": "LagdToggleDelay",
+              "widget": "option",
+              "title": "Adjust Software Delay",
+              "description": "Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2",
+              "min": 0.05,
+              "max": 0.5,
+              "step": 0.01,
+              "enablement": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "param",
+                    "key": "LagdToggle",
+                    "equals": true
+                  }
+                },
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "lateral_control",
+          "title": "Lateral Control",
+          "description": "Neural network lateral control for supported models",
+          "items": [
+            {
+              "key": "NeuralNetworkLateralControl",
+              "widget": "toggle",
+              "title": "Neural Network Lateral Control (NNLC)",
+              "description": "Use a neural network for lateral control instead of the default torque controller.",
+              "visibility": [
+                {
+                  "type": "not",
+                  "condition": {
+                    "type": "capability",
+                    "field": "steer_control_type",
+                    "equals": "angle"
+                  }
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "offroad_only"
+                },
+                {
+                  "type": "capability",
+                  "field": "torque_allowed",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "EnforceTorqueControl",
+                  "equals": false
+                },
+                {
+                  "type": "param",
+                  "key": "LateralJerkTorqueController",
+                  "equals": false
+                }
+              ]
+            }
+          ]
+        },
+        {
+          "id": "camera",
+          "title": "Camera",
+          "description": "Camera position and calibration",
+          "items": [
+            {
+              "key": "CameraOffset",
+              "widget": "option",
+              "title": "Adjust Camera Offset",
+              "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)",
+              "min": -0.35,
+              "max": 0.35,
+              "step": 0.01,
+              "unit": "meters",
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
+            }
+          ]
+        }
+      ]
+    }
+  ],
+  "vehicle_settings": {
+    "hyundai": {
+      "title": "Hyundai / Kia / Genesis Settings",
+      "description": "",
+      "items": [
+        {
+          "key": "SteeringCustomButtonMapping",
+          "widget": "multiple_button",
+          "title": "Steering Custom Button",
+          "description": "Choose the openpilot action for the steering wheel custom/star button. OEM functionality is unchanged.",
+          "options": [
+            {
+              "value": 0,
+              "label": "None"
+            },
+            {
+              "value": 1,
+              "label": "Bookmark"
+            },
+            {
+              "value": 2,
+              "label": "Quiet Mode"
+            }
+          ]
+        },
+        {
+          "key": "HyundaiLongitudinalTuning",
+          "widget": "multiple_button",
+          "title": "Custom Longitudinal Tuning",
+          "options": [
+            {
+              "value": 0,
+              "label": "Off"
+            },
+            {
+              "value": 1,
+              "label": "Dynamic"
+            },
+            {
+              "value": 2,
+              "label": "Predictive"
+            }
+          ],
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "hyundai_alpha_long_available",
+              "equals": true
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            },
+            {
+              "type": "capability",
+              "field": "has_longitudinal_control",
+              "equals": true
+            }
+          ]
+        }
+      ]
+    },
+    "subaru": {
+      "title": "Subaru Settings",
+      "description": "",
+      "items": [
+        {
+          "key": "SubaruStopAndGo",
+          "widget": "toggle",
+          "title": "Stop and Go (Beta)",
+          "enablement": [
+            {
+              "type": "offroad_only"
+            },
+            {
+              "type": "capability",
+              "field": "has_stop_and_go",
+              "equals": true
+            }
+          ]
+        },
+        {
+          "key": "SubaruStopAndGoManualParkingBrake",
+          "widget": "toggle",
+          "title": "Stop and Go for Manual Parking Brake (Beta)",
+          "enablement": [
+            {
+              "type": "offroad_only"
+            },
+            {
+              "type": "capability",
+              "field": "has_stop_and_go",
+              "equals": true
+            }
+          ]
+        }
+      ]
+    },
+    "tesla": {
+      "title": "Tesla Settings",
+      "description": "",
+      "items": [
+        {
+          "key": "TeslaCoopSteering",
+          "widget": "toggle",
+          "title": "Cooperative Steering (Beta)",
+          "enablement": [
+            {
+              "type": "offroad_only"
+            }
+          ]
+        },
+        {
+          "key": "TeslaMadsScreenButton",
+          "widget": "multiple_button",
+          "title": "MADS Screen Activation",
+          "description": "Use a multi-finger press on the infotainment screen to toggle MADS. This allows the use of full MADS functionality when enabled. Selecting a higher finger count may reduce accidental activations. Note: Setting this to Off will reset your MADS settings to default.",
+          "options": [
+            {
+              "value": 0,
+              "label": "Off"
+            },
+            {
+              "value": 1,
+              "label": "3-Finger"
+            },
+            {
+              "value": 2,
+              "label": "4-Finger"
+            },
+            {
+              "value": 3,
+              "label": "5-Finger"
+            }
+          ],
+          "visibility": [
+            {
+              "type": "capability",
+              "field": "tesla_has_vehicle_bus",
+              "equals": true
+            }
+          ],
+          "enablement": [
+            {
+              "type": "offroad_only"
+            }
+          ]
+        }
+      ]
+    },
+    "toyota": {
+      "title": "Toyota / Lexus Settings",
+      "description": "",
+      "items": [
+        {
+          "key": "ToyotaEnforceStockLongitudinal",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Enforce Factory Longitudinal Control",
+          "description": "sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaStopAndGoHack",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Stop and Go Hack (Alpha)",
+          "description": "sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            },
+            {
+              "type": "capability",
+              "field": "has_longitudinal_control",
+              "equals": true
+            },
+            {
+              "type": "param",
+              "key": "ToyotaEnforceStockLongitudinal",
+              "equals": false
+            }
+          ]
+        }
+      ]
+    }
+  }
+}
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui.schema.json b/openpilot/sunnypilot/sunnylink/settings_ui.schema.json
new file mode 100644
index 0000000000..38c7d1b5ab
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui.schema.json
@@ -0,0 +1,516 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://sunnypilot.com/schemas/settings_ui.schema.json",
+  "title": "sunnypilot Settings UI Schema",
+  "description": "Defines the structure of the sunnypilot settings UI panels, items, rules, and vehicle-specific settings.",
+  "type": "object",
+  "required": ["schema_version", "panels", "vehicle_settings"],
+  "additionalProperties": false,
+  "properties": {
+    "$schema": {
+      "type": "string",
+      "description": "JSON Schema reference for editor support."
+    },
+    "schema_version": {
+      "type": "string",
+      "description": "Version of the settings UI schema format.",
+      "examples": ["1.0"]
+    },
+    "panels": {
+      "type": "array",
+      "description": "Top-level settings panels displayed in the UI.",
+      "items": {
+        "$ref": "#/$defs/Panel"
+      }
+    },
+    "vehicle_settings": {
+      "type": "object",
+      "description": "Brand-keyed vehicle-specific settings. Each key is a car brand (e.g. 'hyundai', 'toyota').",
+      "additionalProperties": {
+        "$ref": "#/$defs/VehicleBrandSettings"
+      }
+    }
+  },
+  "$defs": {
+    "Panel": {
+      "type": "object",
+      "description": "A top-level settings panel (tab) in the UI.",
+      "required": ["id", "label", "icon", "order"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {
+          "type": "string",
+          "description": "Unique identifier for this panel."
+        },
+        "label": {
+          "type": "string",
+          "description": "Display label shown in the UI."
+        },
+        "icon": {
+          "type": "string",
+          "description": "Icon identifier for this panel."
+        },
+        "order": {
+          "type": "integer",
+          "description": "Sort order for panel display.",
+          "minimum": 0
+        },
+        "description": {
+          "type": "string",
+          "description": "Optional description shown below the panel label."
+        },
+        "remote_configurable": {
+          "type": "boolean",
+          "description": "Whether this panel's settings can be changed remotely via sunnylink.",
+          "default": false
+        },
+        "sections": {
+          "type": "array",
+          "description": "Grouped sections within this panel.",
+          "items": {
+            "$ref": "#/$defs/PanelSection"
+          }
+        },
+        "items": {
+          "type": "array",
+          "description": "Settings items directly in this panel (no section grouping).",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        },
+        "sub_panels": {
+          "type": "array",
+          "description": "Nested sub-panels triggered by a setting.",
+          "items": {
+            "$ref": "#/$defs/SubPanel"
+          }
+        }
+      }
+    },
+    "PanelSection": {
+      "type": "object",
+      "description": "A grouped section within a panel.",
+      "required": ["id", "title"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {
+          "type": "string",
+          "description": "Unique identifier for this section."
+        },
+        "title": {
+          "type": "string",
+          "description": "Display title for this section."
+        },
+        "description": {
+          "type": "string",
+          "description": "Optional description shown below the section title."
+        },
+        "order": {
+          "type": "integer",
+          "description": "Sort order within the parent panel.",
+          "minimum": 0
+        },
+        "visibility": {
+          "type": "array",
+          "description": "Rules that determine whether this section is visible. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        },
+        "enablement": {
+          "type": "array",
+          "description": "Rules that determine whether items in this section are enabled. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        },
+        "attestation_required": {
+          "type": "boolean",
+          "description": "When true, the UI must show an attestation modal before any write to items in this section.",
+          "default": false
+        },
+        "items": {
+          "type": "array",
+          "description": "Settings items within this section.",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        },
+        "sub_panels": {
+          "type": "array",
+          "description": "Nested sub-panels within this section.",
+          "items": {
+            "$ref": "#/$defs/SubPanel"
+          }
+        }
+      }
+    },
+    "VehicleBrandSettings": {
+      "type": "object",
+      "description": "Brand-specific settings group inside vehicle_settings.",
+      "required": ["items"],
+      "additionalProperties": false,
+      "properties": {
+        "title": {
+          "type": "string",
+          "description": "Display title for this brand's settings group."
+        },
+        "description": {
+          "type": "string",
+          "description": "Optional description shown below the brand title."
+        },
+        "items": {
+          "type": "array",
+          "description": "Settings items for this brand.",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        }
+      }
+    },
+    "SchemaItem": {
+      "type": "object",
+      "description": "A single settings item (toggle, option selector, button group, etc.).",
+      "required": ["key", "widget"],
+      "additionalProperties": false,
+      "properties": {
+        "key": {
+          "type": "string",
+          "description": "The param key this item reads/writes."
+        },
+        "widget": {
+          "type": "string",
+          "description": "The UI widget type to render.",
+          "enum": ["toggle", "option", "multiple_button", "button", "info"]
+        },
+        "title": {
+          "type": "string",
+          "description": "Override display title (defaults to metadata lookup by key)."
+        },
+        "description": {
+          "type": "string",
+          "description": "Override description text. Rendered inline below the title. May be empty when only `details` is used."
+        },
+        "details": {
+          "type": "string",
+          "description": "Extended help text shown in a popover/modal when the user taps an info ('i') button on the row. Independent of `description`: either, both, or neither may be present."
+        },
+        "options": {
+          "type": "array",
+          "description": "Available options for 'option' or 'multiple_button' widgets.",
+          "items": {
+            "$ref": "#/$defs/SchemaOption"
+          }
+        },
+        "min": {
+          "type": "number",
+          "description": "Minimum value for numeric option widgets."
+        },
+        "max": {
+          "type": "number",
+          "description": "Maximum value for numeric option widgets."
+        },
+        "step": {
+          "type": "number",
+          "description": "Step increment for numeric option widgets."
+        },
+        "unit": {
+          "oneOf": [
+            {
+              "type": "string",
+              "description": "Static unit label (e.g. 'seconds', 'm/s²')."
+            },
+            {
+              "type": "object",
+              "description": "Dynamic unit that changes based on IsMetric param.",
+              "required": ["metric", "imperial"],
+              "additionalProperties": false,
+              "properties": {
+                "metric": {
+                  "type": "string",
+                  "description": "Unit label when IsMetric is true (e.g. 'km/h')."
+                },
+                "imperial": {
+                  "type": "string",
+                  "description": "Unit label when IsMetric is false (e.g. 'mph')."
+                }
+              }
+            }
+          ],
+          "description": "Unit label for numeric values. Use a string for static units or an object with metric/imperial variants for units that depend on the IsMetric param."
+        },
+        "value_map": {
+          "type": "object",
+          "description": "Maps stored values to display labels.",
+          "additionalProperties": {
+            "type": "string"
+          }
+        },
+        "visibility": {
+          "type": "array",
+          "description": "Rules that determine whether this item is visible. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        },
+        "enablement": {
+          "type": "array",
+          "description": "Rules that determine whether this item is enabled/interactive. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        },
+        "sub_items": {
+          "type": "array",
+          "description": "Child items nested under this item (e.g. options revealed by a toggle).",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        },
+        "action": {
+          "type": "string",
+          "description": "Action identifier for button widgets."
+        },
+        "title_param_suffix": {
+          "type": "object",
+          "description": "Renders an extra suffix in the item title chosen by the value of another param.",
+          "required": ["param", "values"],
+          "additionalProperties": false,
+          "properties": {
+            "param": {
+              "type": "string",
+              "description": "Param key whose value selects the suffix label."
+            },
+            "values": {
+              "type": "object",
+              "description": "Map from stringified param value to suffix label.",
+              "additionalProperties": {
+                "type": "string"
+              }
+            }
+          }
+        },
+        "needs_onroad_cycle": {
+          "type": "boolean",
+          "description": "When true, the device must cycle onroad/offroad for the new value to take effect.",
+          "default": false
+        },
+        "blocked": {
+          "type": "boolean",
+          "description": "When true, this item is treated as DEVICE_ONLY and the dashboard must not write it remotely.",
+          "default": false
+        },
+        "requires_attestation": {
+          "type": "boolean",
+          "description": "When true, writes to this item require an explicit per-write confirmation modal.",
+          "default": false
+        }
+      }
+    },
+    "SubPanel": {
+      "type": "object",
+      "description": "A nested panel that opens when triggered by a parent item.",
+      "required": ["id", "label", "trigger_key"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {
+          "type": "string",
+          "description": "Unique identifier for this sub-panel."
+        },
+        "label": {
+          "type": "string",
+          "description": "Display label for the sub-panel header."
+        },
+        "trigger_key": {
+          "type": "string",
+          "description": "The param key that triggers opening this sub-panel."
+        },
+        "trigger_condition": {
+          "$ref": "#/$defs/Rule",
+          "description": "Optional rule that must evaluate to true for the sub-panel trigger to be active."
+        },
+        "items": {
+          "type": "array",
+          "description": "Settings items within this sub-panel.",
+          "items": {
+            "$ref": "#/$defs/SchemaItem"
+          }
+        }
+      }
+    },
+    "SchemaOption": {
+      "type": "object",
+      "description": "A selectable option for option/multiple_button widgets.",
+      "required": ["value", "label"],
+      "additionalProperties": false,
+      "properties": {
+        "value": {
+          "oneOf": [
+            { "type": "number" },
+            { "type": "string" }
+          ],
+          "description": "The stored value when this option is selected."
+        },
+        "label": {
+          "type": "string",
+          "description": "The display label for this option."
+        },
+        "enablement": {
+          "type": "array",
+          "description": "Rules that determine whether this option is selectable. All rules must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          }
+        }
+      }
+    },
+    "Rule": {
+      "description": "A visibility or enablement rule. Discriminated union on the 'type' field.",
+      "oneOf": [
+        { "$ref": "#/$defs/RuleOffroadOnly" },
+        { "$ref": "#/$defs/RuleNotEngaged" },
+        { "$ref": "#/$defs/RuleCapability" },
+        { "$ref": "#/$defs/RuleParam" },
+        { "$ref": "#/$defs/RuleParamCompare" },
+        { "$ref": "#/$defs/RuleNot" },
+        { "$ref": "#/$defs/RuleAny" },
+        { "$ref": "#/$defs/RuleAll" }
+      ]
+    },
+    "RuleOffroadOnly": {
+      "type": "object",
+      "description": "Rule that passes only when the device is offroad.",
+      "required": ["type"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "offroad_only"
+        }
+      }
+    },
+    "RuleNotEngaged": {
+      "type": "object",
+      "description": "Rule that passes when the vehicle is not engaged (matches Raylib `engaged = started AND (selfdriveState.enabled OR selfdriveStateSP.mads.enabled)`).",
+      "required": ["type"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "not_engaged"
+        }
+      }
+    },
+    "RuleCapability": {
+      "type": "object",
+      "description": "Rule that checks a vehicle capability field against an expected value.",
+      "required": ["type", "field", "equals"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "capability"
+        },
+        "field": {
+          "type": "string",
+          "description": "The capability field name to check."
+        },
+        "equals": {
+          "description": "The expected value to match against."
+        }
+      }
+    },
+    "RuleParam": {
+      "type": "object",
+      "description": "Rule that checks a param value against an expected value.",
+      "required": ["type", "key", "equals"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "param"
+        },
+        "key": {
+          "type": "string",
+          "description": "The param key to read."
+        },
+        "equals": {
+          "description": "The expected value to match against."
+        }
+      }
+    },
+    "RuleParamCompare": {
+      "type": "object",
+      "description": "Rule that compares a numeric param value using a comparison operator.",
+      "required": ["type", "key", "op", "value"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "param_compare"
+        },
+        "key": {
+          "type": "string",
+          "description": "The param key to read."
+        },
+        "op": {
+          "type": "string",
+          "description": "Comparison operator.",
+          "enum": [">", "<", ">=", "<="]
+        },
+        "value": {
+          "type": "number",
+          "description": "The numeric value to compare against."
+        }
+      }
+    },
+    "RuleNot": {
+      "type": "object",
+      "description": "Rule that negates a single child condition.",
+      "required": ["type", "condition"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "not"
+        },
+        "condition": {
+          "$ref": "#/$defs/Rule",
+          "description": "The rule to negate."
+        }
+      }
+    },
+    "RuleAny": {
+      "type": "object",
+      "description": "Rule that passes if ANY of the child conditions pass (logical OR).",
+      "required": ["type", "conditions"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "any"
+        },
+        "conditions": {
+          "type": "array",
+          "description": "Child rules; at least one must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          },
+          "minItems": 1
+        }
+      }
+    },
+    "RuleAll": {
+      "type": "object",
+      "description": "Rule that passes only if ALL child conditions pass (logical AND).",
+      "required": ["type", "conditions"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {
+          "const": "all"
+        },
+        "conditions": {
+          "type": "array",
+          "description": "Child rules; all must pass.",
+          "items": {
+            "$ref": "#/$defs/Rule"
+          },
+          "minItems": 1
+        }
+      }
+    }
+  }
+}
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
new file mode 100644
index 0000000000..a771720831
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
@@ -0,0 +1,65 @@
+# Named rule fragments. Reference from items/sections via {$ref: "#/macros/<name>"}.
+# Macros may $ref other macros (max depth 3 — see compile_settings_ui.py). No template logic.
+#
+# Adding a macro: define here once, then reference everywhere. The compiler
+# resolves $refs into the canonical settings_ui.json output the frontend reads.
+
+macros:
+  # Most-used: only writable when the device is offroad.
+  offroad:
+    - {type: offroad_only}
+
+  # Writable while not engaged (started, but selfdrive/MADS not active).
+  not_engaged:
+    - {type: not_engaged}
+
+  # sunnypilot longitudinal control is active.
+  longitudinal:
+    - {type: capability, field: has_longitudinal_control, equals: true}
+
+  # Longitudinal + ICBM both available.
+  longitudinal_and_icbm:
+    - {type: capability, field: has_longitudinal_control, equals: true}
+    - {type: capability, field: has_icbm, equals: true}
+
+  # Item only meaningful when "Show Advanced Controls" is enabled by the user.
+  advanced_only:
+    - {type: param, key: ShowAdvancedControls, equals: true}
+
+  # Hide on MICI hardware (no analog HUD support yet).
+  hide_on_mici:
+    - type: not
+      condition: {type: capability, field: device_type, equals: mici}
+
+  # Mirrors selfdrive/ui/sunnypilot/layouts/.../mads_settings.py:_mads_limited_settings()
+  # Rivian + Tesla-without-vehicle-bus get the limited MADS UI (3-toggle subset).
+  # On those platforms these toggles are disabled — full MADS settings are
+  # only writable on platforms NOT in the limited-set.
+  mads_full_platforms:
+    - type: not
+      condition:
+        type: any
+        conditions:
+          - {type: capability, field: brand, equals: rivian}
+          - type: all
+            conditions:
+              - {type: capability, field: brand, equals: tesla}
+              - type: not
+                condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
+
+  # Inverse of mads_full_platforms: present only on the limited platforms.
+  # Useful for "show this only on rivian/tesla-no-bus" toggles.
+  mads_limited_platforms:
+    - type: any
+      conditions:
+        - {type: capability, field: brand, equals: rivian}
+        - type: all
+          conditions:
+            - {type: capability, field: brand, equals: tesla}
+            - type: not
+              condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}
+
+  # Hide on sunnypilot release branches (is_release is hardcoded False everywhere; is_sp_release is the active gate).
+  release_branches_hide:
+    - type: not
+      condition: {type: capability, field: is_sp_release, equals: true}
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json b/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json
new file mode 100644
index 0000000000..57629acecb
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/macros.schema.json
@@ -0,0 +1,23 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://sunnypilot.com/schemas/sdui/macros.schema.json",
+  "title": "Settings UI macros (named rule fragments)",
+  "type": "object",
+  "additionalProperties": false,
+  "required": ["macros"],
+  "properties": {
+    "macros": {
+      "type": "object",
+      "description": "Named rule fragments. Each value is either a list of rules (typical) or a single rule object. Reference from items/layout via {$ref: '#/macros/<name>'}.",
+      "patternProperties": {
+        "^[A-Za-z_][A-Za-z0-9_]*$": {
+          "oneOf": [
+            {"type": "array", "items": {"$ref": "rule.schema.json"}},
+            {"$ref": "rule.schema.json"}
+          ]
+        }
+      },
+      "additionalProperties": false
+    }
+  }
+}
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json b/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json
new file mode 100644
index 0000000000..0e312dc745
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/page.schema.json
@@ -0,0 +1,113 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://sunnypilot.com/schemas/sdui/page.schema.json",
+  "title": "Settings UI page (panel) YAML",
+  "description": "Validates pages/<id>.yaml. Each page describes one settings panel (or the vehicle namespace via kind: vehicle).",
+  "type": "object",
+  "required": ["id"],
+  "additionalProperties": false,
+  "properties": {
+    "id": {"type": "string"},
+    "label": {"type": "string"},
+    "icon": {"type": "string"},
+    "order": {"type": "integer"},
+    "remote_configurable": {"type": "boolean"},
+    "description": {"type": "string"},
+    "kind": {
+      "type": "string",
+      "enum": ["panel", "vehicle"],
+      "description": "panel (default) or vehicle (compiles to settings_ui.json#vehicle_settings)."
+    },
+    "sections": {
+      "type": "array",
+      "items": {"$ref": "#/$defs/Section"}
+    },
+    "items": {
+      "type": "array",
+      "items": {"$ref": "#/$defs/Item"}
+    },
+    "sub_panels": {
+      "type": "array",
+      "items": {"$ref": "#/$defs/SubPanel"}
+    }
+  },
+  "$defs": {
+    "Section": {
+      "type": "object",
+      "required": ["id", "title"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {"type": "string"},
+        "title": {"type": "string"},
+        "description": {"type": "string"},
+        "order": {"type": "integer"},
+        "attestation_required": {"type": "boolean"},
+        "visibility": {"type": "array", "items": {"$ref": "rule.schema.json"}},
+        "enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}},
+        "items": {"type": "array", "items": {"$ref": "#/$defs/Item"}},
+        "sub_panels": {"type": "array", "items": {"$ref": "#/$defs/SubPanel"}}
+      }
+    },
+    "SubPanel": {
+      "type": "object",
+      "required": ["id", "label"],
+      "additionalProperties": false,
+      "properties": {
+        "id": {"type": "string"},
+        "label": {"type": "string"},
+        "trigger_key": {"type": ["string", "null"]},
+        "trigger_condition": {"$ref": "rule.schema.json"},
+        "items": {"type": "array", "items": {"$ref": "#/$defs/Item"}}
+      }
+    },
+    "Item": {
+      "type": "object",
+      "required": ["key", "widget"],
+      "additionalProperties": false,
+      "properties": {
+        "key": {"type": "string", "pattern": "^[A-Za-z][A-Za-z0-9_]*$"},
+        "widget": {"type": "string", "enum": ["toggle", "option", "multiple_button", "button", "info"]},
+        "title": {"type": "string"},
+        "description": {"type": "string", "description": "Inline body text under the title. May be omitted when only details is used."},
+        "details": {"type": "string", "description": "Extended help shown in a modal when the user taps the info (i) button. Independent of description; either, both, or neither may be present."},
+        "title_param_suffix": {"type": "object"},
+        "min": {"type": "number"},
+        "max": {"type": "number"},
+        "step": {"type": "number"},
+        "unit": {
+          "oneOf": [
+            {"type": "string"},
+            {
+              "type": "object",
+              "additionalProperties": false,
+              "required": ["metric", "imperial"],
+              "properties": {
+                "metric": {"type": "string"},
+                "imperial": {"type": "string"}
+              }
+            }
+          ]
+        },
+        "needs_onroad_cycle": {"type": "boolean"},
+        "requires_attestation": {"type": "boolean"},
+        "blocked": {"type": "boolean"},
+        "options": {
+          "type": "array",
+          "items": {
+            "type": "object",
+            "required": ["value", "label"],
+            "additionalProperties": false,
+            "properties": {
+              "value": {},
+              "label": {"type": "string"},
+              "enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}}
+            }
+          }
+        },
+        "visibility": {"type": "array", "items": {"$ref": "rule.schema.json"}},
+        "enablement": {"type": "array", "items": {"$ref": "rule.schema.json"}},
+        "sub_items": {"type": "array", "items": {"$ref": "#/$defs/Item"}}
+      }
+    }
+  }
+}
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json b/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json
new file mode 100644
index 0000000000..92a7dd307c
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/_schemas/rule.schema.json
@@ -0,0 +1,101 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://sunnypilot.com/schemas/sdui/rule.schema.json",
+  "title": "Rule",
+  "description": "Visibility/enablement rule. Discriminated union on 'type'. Macro reference is also accepted via {$ref: '#/macros/<name>'}.",
+  "oneOf": [
+    {"$ref": "#/$defs/MacroRef"},
+    {"$ref": "#/$defs/RuleOffroadOnly"},
+    {"$ref": "#/$defs/RuleNotEngaged"},
+    {"$ref": "#/$defs/RuleCapability"},
+    {"$ref": "#/$defs/RuleParam"},
+    {"$ref": "#/$defs/RuleParamCompare"},
+    {"$ref": "#/$defs/RuleNot"},
+    {"$ref": "#/$defs/RuleAny"},
+    {"$ref": "#/$defs/RuleAll"}
+  ],
+  "$defs": {
+    "MacroRef": {
+      "type": "object",
+      "required": ["$ref"],
+      "additionalProperties": false,
+      "properties": {
+        "$ref": {
+          "type": "string",
+          "pattern": "^#/macros/[A-Za-z_][A-Za-z0-9_]*$",
+          "description": "Reference to a macro defined in _macros.yaml under #/macros/<name>."
+        }
+      }
+    },
+    "RuleOffroadOnly": {
+      "type": "object",
+      "required": ["type"],
+      "additionalProperties": false,
+      "properties": {"type": {"const": "offroad_only"}}
+    },
+    "RuleNotEngaged": {
+      "type": "object",
+      "required": ["type"],
+      "additionalProperties": false,
+      "properties": {"type": {"const": "not_engaged"}}
+    },
+    "RuleCapability": {
+      "type": "object",
+      "required": ["type", "field", "equals"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "capability"},
+        "field": {"type": "string"},
+        "equals": {}
+      }
+    },
+    "RuleParam": {
+      "type": "object",
+      "required": ["type", "key", "equals"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "param"},
+        "key": {"type": "string"},
+        "equals": {}
+      }
+    },
+    "RuleParamCompare": {
+      "type": "object",
+      "required": ["type", "key", "op", "value"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "param_compare"},
+        "key": {"type": "string"},
+        "op": {"type": "string", "enum": [">", "<", ">=", "<="]},
+        "value": {"type": "number"}
+      }
+    },
+    "RuleNot": {
+      "type": "object",
+      "required": ["type", "condition"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "not"},
+        "condition": {"$ref": "#"}
+      }
+    },
+    "RuleAny": {
+      "type": "object",
+      "required": ["type", "conditions"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "any"},
+        "conditions": {"type": "array", "items": {"$ref": "#"}, "minItems": 1}
+      }
+    },
+    "RuleAll": {
+      "type": "object",
+      "required": ["type", "conditions"],
+      "additionalProperties": false,
+      "properties": {
+        "type": {"const": "all"},
+        "conditions": {"type": "array", "items": {"$ref": "#"}, "minItems": 1}
+      }
+    }
+  }
+}
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
new file mode 100644
index 0000000000..3ef73e0fb0
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
@@ -0,0 +1,269 @@
+# Page: cruise
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: cruise
+label: Cruise
+icon: cruise_control
+order: 2
+remote_configurable: true
+description: Longitudinal control, speed limits, and cruise behavior
+sections:
+- id: core_cruise_features
+  title: ''
+  description: ''
+  items:
+  - key: ExperimentalMode
+    widget: toggle
+    title: Experimental Mode
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: DynamicExperimentalControl
+    widget: toggle
+    title: Dynamic Experimental Control
+    description: Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.
+    visibility:
+    - $ref: '#/macros/longitudinal'
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: DisengageOnAccelerator
+    widget: toggle
+    title: Disengage Cruise on Accelerator Pedal
+    description: When enabled, pressing the accelerator pedal will disengage longitudinal control.
+  - key: LongitudinalPersonality
+    widget: multiple_button
+    title: Driving Personality
+    description: Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive
+      with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can
+      cycle through these personalities with your steering wheel distance button.
+    options:
+    - value: 0
+      label: Aggressive
+    - value: 1
+      label: Standard
+    - value: 2
+      label: Relaxed
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: IntelligentCruiseButtonManagement
+    widget: toggle
+    title: Intelligent Cruise Button Management (ICBM) (Alpha)
+    visibility:
+    - type: capability
+      field: icbm_available
+      equals: true
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: not
+      condition:
+        type: capability
+        field: has_longitudinal_control
+        equals: true
+- id: custom_acc_increments
+  title: Custom ACC Speed Intervals
+  description: ''
+  enablement:
+  - $ref: '#/macros/offroad'
+  - type: any
+    conditions:
+    - type: all
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: not
+        condition:
+          type: capability
+          field: pcm_cruise
+          equals: true
+    - type: capability
+      field: has_icbm
+      equals: true
+  items:
+  - key: CustomAccIncrementsEnabled
+    widget: toggle
+    title: Enable Custom ACC Speed Intervals
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: any
+      conditions:
+      - type: all
+        conditions:
+        - type: capability
+          field: has_longitudinal_control
+          equals: true
+        - type: not
+          condition:
+            type: capability
+            field: pcm_cruise
+            equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
+  sub_panels:
+  - id: custom_acc_intervals
+    label: Custom ACC Speed Intervals Settings
+    trigger_key: CustomAccIncrementsEnabled
+    trigger_condition:
+      type: param
+      key: CustomAccIncrementsEnabled
+      equals: true
+    items:
+    - key: CustomAccShortPressIncrement
+      widget: option
+      title: Short Press Increment
+      min: 1
+      max: 10
+      step: 1
+      enablement:
+      - type: param
+        key: CustomAccIncrementsEnabled
+        equals: true
+    - key: CustomAccLongPressIncrement
+      widget: option
+      title: Long Press Increment
+      min: 1
+      max: 10
+      step: 1
+      enablement:
+      - type: param
+        key: CustomAccIncrementsEnabled
+        equals: true
+- id: speed_limits
+  title: Speed Limits
+  description: Speed limit detection and offset behavior
+  items: []
+  sub_panels:
+  - id: speed_limit_settings
+    label: Speed Limit Settings
+    trigger_key: SpeedLimitMode
+    items:
+    - key: SpeedLimitMode
+      widget: multiple_button
+      title: Speed Limit Assist Mode
+      options:
+      - value: 0
+        label: 'Off'
+      - value: 1
+        label: Information
+      - value: 2
+        label: Warning
+      - value: 3
+        label: Assist
+        enablement:
+        - type: any
+          conditions:
+          - type: capability
+            field: has_longitudinal_control
+            equals: true
+          - type: capability
+            field: has_icbm
+            equals: true
+        - type: not
+          condition:
+            type: capability
+            field: brand
+            equals: rivian
+        - type: not
+          condition:
+            type: all
+            conditions:
+            - type: capability
+              field: brand
+              equals: tesla
+            - type: capability
+              field: is_sp_release
+              equals: true
+    - key: SpeedLimitPolicy
+      widget: multiple_button
+      title: Speed Limit Source
+      options:
+      - value: 0
+        label: Car State Only
+      - value: 1
+        label: Map Data Only
+      - value: 2
+        label: Car State Priority
+      - value: 3
+        label: Map Data Priority
+      - value: 4
+        label: Combined
+    - key: SpeedLimitOffsetType
+      widget: multiple_button
+      title: Speed Limit Offset Type
+      options:
+      - value: 0
+        label: 'Off'
+      - value: 1
+        label: Fixed
+      - value: 2
+        label: Percentage
+    - key: SpeedLimitValueOffset
+      widget: option
+      title: Speed Limit Offset Value
+      min: -30
+      max: 30
+      step: 1
+      unit:
+        metric: km/h
+        imperial: mph
+      visibility:
+      - type: param_compare
+        key: SpeedLimitOffsetType
+        op: '>'
+        value: 0
+- id: smart_cruise
+  title: Smart Cruise Control
+  description: ''
+  enablement:
+  - type: any
+    conditions:
+    - type: capability
+      field: has_longitudinal_control
+      equals: true
+    - type: capability
+      field: has_icbm
+      equals: true
+  items:
+  - key: SmartCruiseControlVision
+    widget: toggle
+    title: Vision
+    description: Use vision path predictions to estimate the appropriate speed to drive through turns ahead.
+    visibility:
+    - type: any
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
+    enablement:
+    - type: any
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
+  - key: SmartCruiseControlMap
+    widget: toggle
+    title: Map
+    description: Use map data to estimate the appropriate speed to drive through turns ahead.
+    visibility:
+    - type: any
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
+    enablement:
+    - type: any
+      conditions:
+      - type: capability
+        field: has_longitudinal_control
+        equals: true
+      - type: capability
+        field: has_icbm
+        equals: true
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
new file mode 100644
index 0000000000..b42720b436
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
@@ -0,0 +1,137 @@
+# Page: developer
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: developer
+label: Developer
+icon: developer
+order: 9
+remote_configurable: true
+description: Debug tools, remote access, and advanced services
+sections:
+- id: connectivity
+  title: Connectivity
+  description: Remote access and debugging interfaces
+  items:
+  - key: AdbEnabled
+    widget: toggle
+    blocked: true
+    title: Enable ADB
+    description: ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma
+      for more info.
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: SshEnabled
+    widget: toggle
+    blocked: true
+    title: Enable SSH
+  - key: JoystickDebugMode
+    widget: toggle
+    title: Joystick Debug Mode
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: AlphaLongitudinalEnabled
+    widget: toggle
+    needs_onroad_cycle: true
+    title: sunnypilot Longitudinal Control (Alpha)
+    description: 'WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking
+      (AEB). On this car, sunnypilot defaults to the car''s built-in ACC instead of sunnypilot''s longitudinal control. Enable
+      this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot
+      longitudinal control alpha. Changing this setting will restart sunnypilot if the car is powered on.'
+    visibility:
+    - type: all
+      conditions:
+      - type: capability
+        field: alpha_long_available
+        equals: true
+      - type: not
+        condition:
+          type: capability
+          field: has_icbm
+          equals: true
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ShowDebugInfo
+    widget: toggle
+    title: UI Debug Mode
+- id: test_maneuvers
+  title: Test Maneuvers
+  description: 'DANGER: enabling these maneuvers replaces normal driving behavior with deterministic test sequences. Each
+    toggle requires explicit confirmation per write. Use only in a closed environment.'
+  visibility:
+  - type: any
+    conditions:
+    - type: capability
+      field: is_development
+      equals: true
+    - type: capability
+      field: is_sp_release
+      equals: true
+  enablement:
+  - type: any
+    conditions:
+    - type: capability
+      field: is_development
+      equals: true
+    - type: param
+      key: ShowAdvancedControls
+      equals: true
+  attestation_required: true
+  items:
+  - key: LateralManeuverMode
+    widget: toggle
+    title: '[TEST] Lateral Maneuver Mode'
+    description: Replaces normal lateral control with a deterministic test sequence. NOT for road use.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+    - type: capability
+      field: torque_allowed
+      equals: true
+  - key: LongitudinalManeuverMode
+    widget: toggle
+    title: '[TEST] Longitudinal Maneuver Mode'
+    description: Replaces normal longitudinal control with a deterministic test sequence. NOT for road use.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+    - $ref: '#/macros/longitudinal'
+- id: advanced_services
+  title: Advanced Settings
+  description: ''
+  items:
+  - key: ShowAdvancedControls
+    widget: toggle
+    title: Show Advanced Controls
+    description: Toggle visibility of advanced sunnypilot controls. This only changes the visibility of the toggles; it does
+      not change the actual enabled/disabled state.
+  - key: EnableGithubRunner
+    widget: toggle
+    title: GitHub Runner Service
+    description: Enables or disables the GitHub runner service.
+    visibility:
+    - $ref: '#/macros/release_branches_hide'
+    enablement:
+    - $ref: '#/macros/advanced_only'
+  - key: EnableCopyparty
+    widget: toggle
+    title: copyparty Service
+    description: copyparty is a very capable file server, you can use it to download your routes, view your logs and even
+      make some edits on some files from your browser. Requires you to connect to your comma locally via its IP address.
+    enablement:
+    - $ref: '#/macros/advanced_only'
+  - key: QuickBootToggle
+    widget: toggle
+    title: Quickboot Mode
+    visibility:
+    - type: not
+      condition:
+        type: any
+        conditions:
+        - type: capability
+          field: is_sp_release
+          equals: true
+        - type: capability
+          field: is_development
+          equals: true
+    enablement:
+    - type: param
+      key: DisableUpdates
+      equals: true
+    - $ref: '#/macros/advanced_only'
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
new file mode 100644
index 0000000000..bf5f7883ab
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
@@ -0,0 +1,67 @@
+# Page: device
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: device
+label: Device
+icon: device
+order: 6
+remote_configurable: true
+description: Device behavior, units, and recording settings
+sections:
+- id: general
+  title: General
+  description: Power, boot, and unit preferences
+  items:
+  - key: OffroadMode
+    widget: toggle
+    title: Force Offroad Mode
+  - key: DeviceBootMode
+    widget: option
+    title: Wake Up Behavior
+    description: 'Controls state of the device after boot/sleep. Default: Device will boot/wake-up normally and will be ready
+      to engage. Offroad: Device will be in Always Offroad mode after boot/wake-up.'
+    options:
+    - value: 0
+      label: Standard
+    - value: 1
+      label: Always Offroad
+  - key: QuietMode
+    widget: toggle
+    title: Quiet Mode
+  - key: OnroadUploads
+    widget: toggle
+    title: Onroad Uploads
+  - key: MaxTimeOffroad
+    widget: option
+    title: Max Time Offroad
+    description: Device will automatically shutdown after set time once the engine is turned off. 30h is the default.
+    options:
+    - value: 0
+      label: Always On
+    - value: 5
+      label: 5m
+    - value: 10
+      label: 10m
+    - value: 15
+      label: 15m
+    - value: 30
+      label: 30m
+    - value: 60
+      label: 1h
+    - value: 120
+      label: 2h
+    - value: 180
+      label: 3h
+    - value: 300
+      label: 5h
+    - value: 600
+      label: 10h
+    - value: 1440
+      label: 24h
+    - value: 1800
+      label: 30h (Default)
+- id: language
+  title: Language
+  items:
+  - key: LanguageSetting
+    widget: info
+    title: Language
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
new file mode 100644
index 0000000000..3e3b16c374
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/display.yaml
@@ -0,0 +1,163 @@
+# Page: display
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: display
+label: Display
+icon: display
+order: 3
+remote_configurable: true
+description: Screen brightness, timeout, and interactivity settings
+sections:
+- id: brightness_timeout
+  title: Brightness & Timeout
+  description: Screen dimming and sleep behavior while driving
+  items:
+  - key: OnroadScreenOffBrightness
+    widget: multiple_button
+    title: Onroad Brightness
+    options:
+    - value: 0
+      label: Auto (Default)
+    - value: 1
+      label: Auto (Dark)
+    - value: 2
+      label: Screen Off
+    - value: 3
+      label: 5 %
+    - value: 4
+      label: 10 %
+    - value: 5
+      label: 15 %
+    - value: 6
+      label: 20 %
+    - value: 7
+      label: 25 %
+    - value: 8
+      label: 30 %
+    - value: 9
+      label: 35 %
+    - value: 10
+      label: 40 %
+    - value: 11
+      label: 45 %
+    - value: 12
+      label: 50 %
+    - value: 13
+      label: 55 %
+    - value: 14
+      label: 60 %
+    - value: 15
+      label: 65 %
+    - value: 16
+      label: 70 %
+    - value: 17
+      label: 75 %
+    - value: 18
+      label: 80 %
+    - value: 19
+      label: 85 %
+    - value: 20
+      label: 90 %
+    - value: 21
+      label: 95 %
+    - value: 22
+      label: 100 %
+  - key: OnroadScreenOffTimer
+    widget: multiple_button
+    title: Onroad Brightness Delay
+    options:
+    - value: 0
+      label: Always On
+    - value: 3
+      label: 3s
+    - value: 5
+      label: 5s
+    - value: 10
+      label: 10s
+    - value: 15
+      label: 15s
+    - value: 30
+      label: 30s
+    - value: 60
+      label: 1m
+    - value: 180
+      label: 3m
+    - value: 300
+      label: 5m
+    - value: 600
+      label: 10m
+    enablement:
+    - type: not
+      condition:
+        type: any
+        conditions:
+        - type: param
+          key: OnroadScreenOffBrightness
+          equals: 0
+        - type: param
+          key: OnroadScreenOffBrightness
+          equals: 1
+  - key: InteractivityTimeout
+    widget: multiple_button
+    title: Interactivity Timeout
+    description: Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if
+      user is not interacting with the screen.
+    options:
+    - value: 0
+      label: Default
+    - value: 10
+      label: 10 s
+    - value: 20
+      label: 20 s
+    - value: 30
+      label: 30 s
+    - value: 40
+      label: 40 s
+    - value: 50
+      label: 50 s
+    - value: 60
+      label: 1 m
+    - value: 70
+      label: 1 m
+    - value: 80
+      label: 1 m
+    - value: 90
+      label: 1 m
+    - value: 100
+      label: 1 m
+    - value: 110
+      label: 1 m
+    - value: 120
+      label: 2 m
+  - key: ScreenSaverEnabled
+    widget: toggle
+    title: Screen Saver
+    description: Show a screen saver when the device is offroad and idle, instead of turning the screen off.
+  - key: ScreenSaverTimeout
+    widget: multiple_button
+    title: Screen Saver Duration
+    description: How long the screen saver runs before the screen turns off.
+    options:
+    - value: 60
+      label: 1 m
+    - value: 120
+      label: 2 m
+    - value: 180
+      label: 3 m
+    - value: 240
+      label: 4 m
+    - value: 300
+      label: 5 m
+    - value: 360
+      label: 6 m
+    - value: 420
+      label: 7 m
+    - value: 480
+      label: 8 m
+    - value: 540
+      label: 9 m
+    - value: 600
+      label: 10 m
+    enablement:
+    - type: param
+      key: ScreenSaverEnabled
+      equals: true
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
new file mode 100644
index 0000000000..bcb8b895b9
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml
@@ -0,0 +1,92 @@
+# Page: models
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: models
+label: Models
+icon: models
+order: 10
+remote_configurable: false
+description: Driving model behavior and camera calibration
+sections:
+- id: model_behavior
+  title: Model Behavior
+  description: Lane desire and lead-vehicle awareness tuning
+  items:
+  - key: LaneTurnDesire
+    widget: toggle
+    title: Use Lane Turn Desires
+    description: If you are driving at 20 mph (32 km/h) or below and have your blinker on, the car will plan a turn in that
+      direction at the nearest drivable path. This prevents situations (like at red lights) where the car might plan the wrong
+      turn direction.
+  - key: LaneTurnValue
+    widget: option
+    title: Adjust Lane Turn Speed
+    description: Set the maximum speed for lane turn desires.
+    min: 0
+    max: 20
+    step: 1
+    unit:
+      metric: km/h
+      imperial: mph
+    enablement:
+    - type: param
+      key: LaneTurnDesire
+      equals: true
+    - $ref: '#/macros/advanced_only'
+  - key: LagdToggle
+    widget: toggle
+    title: Live Learning Steer Delay
+    description: Allow device to learn and adapt car's steering response time
+  - key: LagdToggleDelay
+    widget: option
+    title: Adjust Software Delay
+    description: Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value
+      is 0.2
+    min: 0.05
+    max: 0.5
+    step: 0.01
+    enablement:
+    - type: not
+      condition:
+        type: param
+        key: LagdToggle
+        equals: true
+    - $ref: '#/macros/advanced_only'
+- id: lateral_control
+  title: Lateral Control
+  description: Neural network lateral control for supported models
+  items:
+  - key: NeuralNetworkLateralControl
+    widget: toggle
+    title: Neural Network Lateral Control (NNLC)
+    description: Use a neural network for lateral control instead of the default torque controller.
+    visibility:
+    - type: not
+      condition:
+        type: capability
+        field: steer_control_type
+        equals: angle
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: capability
+      field: torque_allowed
+      equals: true
+    - type: param
+      key: EnforceTorqueControl
+      equals: false
+    - type: param
+      key: LateralJerkTorqueController
+      equals: false
+- id: camera
+  title: Camera
+  description: Camera position and calibration
+  items:
+  - key: CameraOffset
+    widget: option
+    title: Adjust Camera Offset
+    description: Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)
+    min: -0.35
+    max: 0.35
+    step: 0.01
+    unit: meters
+    enablement:
+    - $ref: '#/macros/advanced_only'
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
new file mode 100644
index 0000000000..4935d28e0c
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/software.yaml
@@ -0,0 +1,20 @@
+# Page: software
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: software
+label: Software
+icon: software
+order: 7
+remote_configurable: true
+description: Software update preferences
+sections:
+- id: updates
+  title: Updates
+  description: Control software updates
+  items:
+  - key: DisableUpdates
+    widget: toggle
+    title: Disable Updates
+    description: When enabled, software updates will be off. This requires a reboot to take effect.
+    enablement:
+    - $ref: '#/macros/offroad'
+    - $ref: '#/macros/advanced_only'
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
new file mode 100644
index 0000000000..73d46681a6
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml
@@ -0,0 +1,276 @@
+# Page: steering
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: steering
+label: Steering
+icon: steering_wheel
+order: 1
+remote_configurable: true
+description: Lateral control, lane changes, and steering behavior
+sections:
+- id: mads
+  title: Modular Assistive Driving System (MADS)
+  description: ''
+  items:
+  - key: Mads
+    widget: toggle
+    title: Enable Modular Assistive Driving System (MADS)
+    description: Enable MADS. Disable toggle to revert back to stock sunnypilot engagement/disengagement.
+    enablement:
+    - $ref: '#/macros/offroad'
+  sub_panels:
+  - id: mads_settings
+    label: MADS Settings
+    trigger_key: Mads
+    trigger_condition:
+      type: param
+      key: Mads
+      equals: true
+    items:
+    - key: MadsMainCruiseAllowed
+      widget: toggle
+      title: Toggle with Main Cruise
+      description: 'Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.'
+      enablement:
+      - $ref: '#/macros/offroad'
+      - $ref: '#/macros/mads_full_platforms'
+    - key: MadsUnifiedEngagementMode
+      widget: toggle
+      title: Unified Engagement Mode (UEM)
+      description: 'Engage lateral and longitudinal control with cruise control engagement. Note: Once lateral control is
+        engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.'
+      enablement:
+      - $ref: '#/macros/offroad'
+      - $ref: '#/macros/mads_full_platforms'
+    - key: MadsSteeringMode
+      widget: multiple_button
+      title: Steering Mode on Brake Pedal
+      description: Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
+      options:
+      - value: 0
+        label: Remain Active
+        enablement:
+        - $ref: '#/macros/mads_full_platforms'
+      - value: 1
+        label: Pause
+        enablement:
+        - $ref: '#/macros/mads_full_platforms'
+      - value: 2
+        label: Disengage
+      enablement:
+      - $ref: '#/macros/offroad'
+- id: blinker
+  title: Blinker Control
+  description: Lateral pause behavior during turn signals
+  items:
+  - key: BlinkerPauseLateralControl
+    widget: toggle
+    title: Pause Lateral Control with Blinker
+    description: Pause lateral control with blinker when traveling below the desired speed selected.
+    sub_items:
+    - key: BlinkerMinLateralControlSpeed
+      widget: option
+      title: Minimum Speed to Pause Lateral Control
+      min: 0
+      max: 255
+      step: 5
+      unit:
+        metric: km/h
+        imperial: mph
+      enablement:
+      - type: param
+        key: BlinkerPauseLateralControl
+        equals: true
+    - key: BlinkerLateralReengageDelay
+      widget: option
+      title: Post-Blinker Delay
+      description: Delay before lateral control resumes after the turn signal ends.
+      min: 0
+      max: 10
+      step: 1
+      unit: second
+      enablement:
+      - type: param
+        key: BlinkerPauseLateralControl
+        equals: true
+- id: torque
+  title: Torque Control
+  description: Steering torque tuning and lateral control method
+  enablement:
+  - type: capability
+    field: torque_allowed
+    equals: true
+  items:
+  - key: EnforceTorqueControl
+    widget: toggle
+    title: Enforce Torque Lateral Control
+    description: Enable this to enforce sunnypilot to steer with Torque lateral control.
+    visibility:
+    - type: not
+      condition:
+        type: capability
+        field: steer_control_type
+        equals: angle
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: capability
+      field: torque_allowed
+      equals: true
+    - type: param
+      key: NeuralNetworkLateralControl
+      equals: false
+  sub_panels:
+  - id: torque_settings
+    label: Torque Settings
+    trigger_key: EnforceTorqueControl
+    trigger_condition:
+      type: param
+      key: EnforceTorqueControl
+      equals: true
+    items:
+    - key: LateralJerkTorqueController
+      widget: toggle
+      title: Lateral Jerk Torque Controller
+      description: Looks ahead at planned steering to reduce sudden corrections, so the wheel moves more smoothly through turns. Works with Self-Tune and custom tuning. Thanks to @twilsonco for the implementation.
+      visibility:
+      - type: not
+        condition:
+          type: capability
+          field: steer_control_type
+          equals: angle
+      enablement:
+      - $ref: '#/macros/offroad'
+      - type: param
+        key: NeuralNetworkLateralControl
+        equals: false
+    - key: LiveTorqueParamsToggle
+      widget: toggle
+      title: Self-Tune
+      description: Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default.
+      enablement:
+      - $ref: '#/macros/offroad'
+    - key: LiveTorqueParamsRelaxedToggle
+      widget: toggle
+      title: Less Restrict Settings for Self-Tune (Beta)
+      description: Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values.
+      enablement:
+      - $ref: '#/macros/offroad'
+      - type: param
+        key: LiveTorqueParamsToggle
+        equals: true
+    - key: CustomTorqueParams
+      widget: toggle
+      title: Enable Custom Tuning
+      description: Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below
+        will override the offline values indicated in the YAML files within "opendbc/car/torque_data". The values will also
+        be used live when "Manual Real-Time Tuning" toggle is enabled.
+      enablement:
+      - $ref: '#/macros/offroad'
+    - key: TorqueParamsOverrideEnabled
+      widget: toggle
+      title: Manual Real-Time Tuning
+      description: Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune.
+        Enabling this toggle overrides Self-Tune values.
+      enablement:
+      - $ref: '#/macros/offroad'
+      - type: param
+        key: CustomTorqueParams
+        equals: true
+    - key: TorqueParamsOverrideLatAccelFactor
+      widget: option
+      title: Lateral Acceleration Factor
+      title_param_suffix:
+        param: TorqueParamsOverrideEnabled
+        values:
+          'true': (Real-Time & Offline)
+          'false': (Offline Only)
+      min: 0.1
+      max: 5.0
+      step: 0.1
+      unit: m/s²
+      enablement:
+      - type: param
+        key: CustomTorqueParams
+        equals: true
+      - type: any
+        conditions:
+        - type: param
+          key: TorqueParamsOverrideEnabled
+          equals: true
+        - type: offroad_only
+    - key: TorqueParamsOverrideFriction
+      widget: option
+      title: Friction
+      title_param_suffix:
+        param: TorqueParamsOverrideEnabled
+        values:
+          'true': (Real-Time & Offline)
+          'false': (Offline Only)
+      min: 0.0
+      max: 1.0
+      step: 0.01
+      enablement:
+      - type: param
+        key: CustomTorqueParams
+        equals: true
+      - type: any
+        conditions:
+        - type: param
+          key: TorqueParamsOverrideEnabled
+          equals: true
+        - type: offroad_only
+    - key: TorqueControlTune
+      widget: multiple_button
+      title: Torque Control Tune Version
+      description: Select the version of Torque Control Tune to use.
+      options:
+      - value: ''
+        label: Default
+      - value: 1.0
+        label: v1.0
+      - value: 0.0
+        label: v0.0
+      enablement:
+      - $ref: '#/macros/offroad'
+- id: lane_change
+  title: Lane Change
+  description: Automatic lane change timing and behavior
+  items:
+  - key: AutoLaneChangeTimer
+    widget: option
+    title: Auto Lane Change by Blinker
+    description: |-
+      Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
+    details: |-
+      Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.
+    options:
+    - value: -1
+      label: 'Off'
+    - value: 0
+      label: Nudge
+    - value: 1
+      label: Nudgeless
+    - value: 2
+      label: 0.5 second
+    - value: 3
+      label: 1 second
+    - value: 4
+      label: 2 seconds
+    - value: 5
+      label: 3 seconds
+  - key: RoadEdgeLaneChangeEnabled
+    widget: toggle
+    title: 'Block Lane Change: Road Edge Detection'
+    description: Blocks lane change when the model sees a road edge on the side you signal.
+  - key: AutoLaneChangeBsmDelay
+    widget: toggle
+    title: 'Auto Lane Change: Delay with Blind Spot'
+    description: Toggle to enable a delay timer for lane changes when blind spot monitoring (BSM) detects a vehicle in your blind
+      spot.
+    enablement:
+    - type: capability
+      field: enable_bsm
+      equals: true
+    - type: param_compare
+      key: AutoLaneChangeTimer
+      op: '>'
+      value: 0
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml
new file mode 100644
index 0000000000..1a4186cf30
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/toggles.yaml
@@ -0,0 +1,49 @@
+# Page: toggles
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: toggles
+label: Toggles
+icon: toggles
+order: 5
+remote_configurable: true
+description: Core openpilot feature toggles
+sections:
+- id: core_toggles
+  title: ''
+  description: ''
+  items:
+  - key: OpenpilotEnabledToggle
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Enable sunnypilot
+    description: Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is
+      required at all times to use this feature.
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: IsLdwEnabled
+    widget: toggle
+    title: Enable Lane Departure Warnings
+    description: Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn
+      signal activated while driving over 31 mph (50 km/h).
+  - key: AlwaysOnDM
+    widget: toggle
+    title: Always-On Driver Monitoring
+    description: Enable driver monitoring even when sunnypilot is not engaged.
+  - key: IsMetric
+    widget: toggle
+    title: Use Metric System
+    description: Display speed in km/h instead of mph.
+- id: recording
+  title: Recording
+  description: Camera and audio recording during drives
+  items:
+  - key: RecordFront
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Record and Upload Driver Camera
+    description: Upload data from the driver facing camera and help improve the driver monitoring algorithm.
+  - key: RecordAudio
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Record and Upload Microphone Audio
+    description: Record and store microphone audio while driving. The audio will be included in the dashcam video in comma
+      connect.
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
new file mode 100644
index 0000000000..e402afe4f6
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml
@@ -0,0 +1,114 @@
+# Page: vehicle (per-brand settings)
+# Compiles to settings_ui.json#vehicle_settings (brand = section id).
+id: vehicle
+label: Vehicle
+icon: vehicle
+order: 99
+kind: vehicle
+sections:
+- id: hyundai
+  title: Hyundai / Kia / Genesis Settings
+  description: ''
+  items:
+  - key: SteeringCustomButtonMapping
+    widget: multiple_button
+    title: Steering Custom Button
+    description: Choose the openpilot action for the steering wheel custom/star button. OEM functionality is unchanged.
+    options:
+    - value: 0
+      label: None
+    - value: 1
+      label: Bookmark
+    - value: 2
+      label: Quiet Mode
+  - key: HyundaiLongitudinalTuning
+    widget: multiple_button
+    title: Custom Longitudinal Tuning
+    options:
+    - value: 0
+      label: 'Off'
+    - value: 1
+      label: Dynamic
+    - value: 2
+      label: Predictive
+    visibility:
+    - type: capability
+      field: hyundai_alpha_long_available
+      equals: true
+    enablement:
+    - $ref: '#/macros/offroad'
+    - $ref: '#/macros/longitudinal'
+- id: subaru
+  title: Subaru Settings
+  description: ''
+  items:
+  - key: SubaruStopAndGo
+    widget: toggle
+    title: Stop and Go (Beta)
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: capability
+      field: has_stop_and_go
+      equals: true
+  - key: SubaruStopAndGoManualParkingBrake
+    widget: toggle
+    title: Stop and Go for Manual Parking Brake (Beta)
+    enablement:
+    - $ref: '#/macros/offroad'
+    - type: capability
+      field: has_stop_and_go
+      equals: true
+- id: tesla
+  title: Tesla Settings
+  description: ''
+  items:
+  - key: TeslaCoopSteering
+    widget: toggle
+    title: Cooperative Steering (Beta)
+    enablement:
+    - $ref: '#/macros/offroad'
+  - key: TeslaMadsScreenButton
+    widget: multiple_button
+    title: MADS Screen Activation
+    description: 'Use a multi-finger press on the infotainment screen to toggle MADS.
+      This allows the use of full MADS functionality when enabled. Selecting a higher
+      finger count may reduce accidental activations. Note: Setting this to Off will
+      reset your MADS settings to default.'
+    options:
+    - value: 0
+      label: 'Off'
+    - value: 1
+      label: 3-Finger
+    - value: 2
+      label: 4-Finger
+    - value: 3
+      label: 5-Finger
+    visibility:
+    - type: capability
+      field: tesla_has_vehicle_bus
+      equals: true
+    enablement:
+    - $ref: '#/macros/offroad'
+- id: toyota
+  title: Toyota / Lexus Settings
+  description: ''
+  items:
+  - key: ToyotaEnforceStockLongitudinal
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Enforce Factory Longitudinal Control
+    description: sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ToyotaStopAndGoHack
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Stop and Go Hack (Alpha)
+    description: sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only
+      applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+    - $ref: '#/macros/longitudinal'
+    - type: param
+      key: ToyotaEnforceStockLongitudinal
+      equals: false
diff --git a/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
new file mode 100644
index 0000000000..3170991157
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/settings_ui_src/pages/visuals.yaml
@@ -0,0 +1,111 @@
+# Page: visuals
+# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
+id: visuals
+label: Visuals
+icon: visuals
+order: 4
+remote_configurable: true
+description: HUD overlays, alerts, and on-screen display elements
+sections:
+- id: hud_elements
+  title: HUD Elements
+  description: Overlays shown on the driving screen
+  items:
+  - key: BlindSpot
+    widget: toggle
+    title: Show Blind Spot Warnings
+    description: Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has
+      BSM supported.
+  - key: TorqueBar
+    widget: toggle
+    title: Steering Arc
+    description: Display steering arc on the driving screen when lateral control is enabled.
+  - key: ShowTurnSignals
+    widget: toggle
+    title: Display Turn Signals
+    description: When enabled, visual turn indicators are drawn on the HUD.
+  - key: RoadNameToggle
+    widget: toggle
+    title: Display Road Name
+    description: Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be
+      downloaded to fetch the road name.
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
+  - key: StandstillTimer
+    widget: toggle
+    title: Standstill Timer
+    description: Show a timer on the HUD when the car is at a standstill.
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
+  - key: RocketFuel
+    widget: toggle
+    title: Real-time Acceleration Bar
+    description: Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration.
+      This displays what the car is currently doing, not what the planner is requesting.
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
+  - key: ChevronInfo
+    widget: option
+    title: Display Metrics Below Chevron
+    options:
+    - value: 0
+      label: 'Off'
+    - value: 1
+      label: Distance
+    - value: 2
+      label: Speed
+    - value: 3
+      label: Time
+    - value: 4
+      label: All
+    visibility:
+    - $ref: '#/macros/hide_on_mici'
+    enablement:
+    - $ref: '#/macros/longitudinal'
+- id: developer_ui
+  title: Developer UI Info
+  description: Speedometer and debug display options
+  visibility:
+  - $ref: '#/macros/hide_on_mici'
+  items:
+  - key: DevUIInfo
+    widget: option
+    title: Developer UI
+    description: Display real-time parameters and metrics from various sources.
+    options:
+    - value: 0
+      label: 'Off'
+    - value: 1
+      label: Bottom
+    - value: 2
+      label: Right
+    - value: 3
+      label: Right & Bottom
+  - key: TrueVEgoUI
+    widget: toggle
+    title: 'Speedometer: Always Display True Speed'
+    description: For applicable vehicles, always display the true vehicle current speed from wheel speed sensors.
+  - key: HideVEgoUI
+    widget: toggle
+    title: 'Speedometer: Hide from Onroad Screen'
+    description: When enabled, the speedometer on the onroad screen is not displayed.
+- id: alerts_extras
+  title: Alerts & Extras
+  description: Traffic light alerts and visual flair
+  items:
+  - key: GreenLightAlert
+    widget: toggle
+    title: Green Traffic Light Alert (Beta)
+    description: 'A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have
+      no vehicle in front of you. On-screen visual alert is only available on comma 3X. Note: This chime is only designed
+      as a notification. It is the driver''s responsibility to observe their environment and make decisions accordingly.'
+  - key: LeadDepartAlert
+    widget: toggle
+    title: Lead Departure Alert (Beta)
+    description: 'A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving.
+      On-screen visual alert is only available on comma 3X. Note: This chime is only designed as a notification. It is the
+      driver''s responsibility to observe their environment and make decisions accordingly.'
+  - key: RainbowMode
+    widget: toggle
+    title: Tesla Rainbow Mode
+    description: Display a rainbow effect on the path the model wants to take. It does not affect driving in any way.
diff --git a/sunnypilot/sunnylink/statsd.py b/openpilot/sunnypilot/sunnylink/statsd.py
similarity index 96%
rename from sunnypilot/sunnylink/statsd.py
rename to openpilot/sunnypilot/sunnylink/statsd.py
index 233b531e85..7e8faf6327 100755
--- a/sunnypilot/sunnylink/statsd.py
+++ b/openpilot/sunnypilot/sunnylink/statsd.py
@@ -13,14 +13,14 @@ from collections import defaultdict
 from datetime import datetime, UTC
 
 from openpilot.common.params import Params
-from cereal.messaging import SubMaster
-from openpilot.system.hardware.hw import Paths
+from openpilot.cereal.messaging import SubMaster
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.utils import atomic_write
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
-from openpilot.system.statsd import METRIC_TYPE, StatLogSP
+from openpilot.sunnypilot.system.statsd import METRIC_TYPE, StatLogSP
 from openpilot.common.realtime import Ratekeeper
 
 STATSLOGSP = StatLogSP(intercept=False)
diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/openpilot/sunnypilot/sunnylink/sunnylink_state.py
similarity index 97%
rename from sunnypilot/sunnylink/sunnylink_state.py
rename to openpilot/sunnypilot/sunnylink/sunnylink_state.py
index 927d041991..7dc553951e 100644
--- a/sunnypilot/sunnylink/sunnylink_state.py
+++ b/openpilot/sunnypilot/sunnylink/sunnylink_state.py
@@ -11,7 +11,7 @@ import time
 import json
 import pyray as rl
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID, SunnylinkApi
@@ -141,7 +141,7 @@ class SunnylinkState:
       response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/roles", method='GET', access_token=token, session=self._session)
       if response.status_code == 200:
         roles = response.text
-        self._params.put("SunnylinkCache_Roles", roles)
+        self._params.put("SunnylinkCache_Roles", roles, block=True)
         with self._lock:
           self._roles = _parse_roles(roles)
           sponsor_tier = self._get_highest_tier()
@@ -160,7 +160,7 @@ class SunnylinkState:
       response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/users", method='GET', access_token=token, session=self._session)
       if response.status_code == 200:
         users = response.text
-        self._params.put("SunnylinkCache_Users", users)
+        self._params.put("SunnylinkCache_Users", users, block=True)
         with self._lock:
           self._users = _parse_users(users)
     except Exception as e:
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_capabilities.py b/openpilot/sunnypilot/sunnylink/tests/test_capabilities.py
new file mode 100644
index 0000000000..7e0272a7c9
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tests/test_capabilities.py
@@ -0,0 +1,91 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Sentinel tests for the capabilities payload contract. PROTOCOL_VERSION is the
+wire-protocol version observable by the dashboard; bumping it is a breaking
+change and must be intentional. KNOWN_PROTOCOL_VERSIONS pins the set we
+explicitly support — when the constant is bumped, this list must be edited in
+the same commit so the bump shows up in code review.
+"""
+from __future__ import annotations
+
+
+from openpilot.sunnypilot.sunnylink.capabilities import (
+  CAPABILITY_DEFAULTS,
+  CAPABILITY_FIELDS,
+  CAPABILITY_LABELS,
+  PROTOCOL_VERSION,
+  generate_capabilities,
+)
+from openpilot.common.test import OpenpilotTestCase
+
+
+KNOWN_PROTOCOL_VERSIONS = (1,)
+LATEST_KNOWN = max(KNOWN_PROTOCOL_VERSIONS)
+
+
+def caps():
+  return generate_capabilities()
+
+
+class TestProtocolVersion(OpenpilotTestCase):
+  def test_protocol_version_in_capability_fields(self):
+    assert "protocol_version" in CAPABILITY_FIELDS
+
+  def test_protocol_version_has_label(self):
+    assert "protocol_version" in CAPABILITY_LABELS
+
+  def test_protocol_version_default_is_set(self):
+    assert CAPABILITY_DEFAULTS.get("protocol_version") == PROTOCOL_VERSION
+
+  def test_protocol_version_emitted(self, caps):
+    assert "protocol_version" in caps
+    assert isinstance(caps["protocol_version"], int)
+    assert caps["protocol_version"] >= 1
+
+  def test_protocol_version_matches_constant(self, caps):
+    assert caps["protocol_version"] == PROTOCOL_VERSION
+
+  def test_protocol_version_is_known(self):
+    """Sentinel against accidental bumps. Edit KNOWN_PROTOCOL_VERSIONS if intentional."""
+    assert PROTOCOL_VERSION in KNOWN_PROTOCOL_VERSIONS, (
+      f"PROTOCOL_VERSION={PROTOCOL_VERSION} is not in KNOWN_PROTOCOL_VERSIONS={KNOWN_PROTOCOL_VERSIONS}. " +
+      "If this bump is intentional, add it to KNOWN_PROTOCOL_VERSIONS."
+    )
+
+  def test_protocol_version_matches_latest_known(self):
+    assert PROTOCOL_VERSION == LATEST_KNOWN, (
+      "Test invariant: PROTOCOL_VERSION must equal max(KNOWN_PROTOCOL_VERSIONS)."
+    )
+
+
+class TestOpaquePerBrandFlags(OpenpilotTestCase):
+  def test_subaru_has_sng_field_present(self):
+    assert "subaru_has_sng" in CAPABILITY_FIELDS
+
+  def test_hyundai_alpha_long_available_field_present(self):
+    assert "hyundai_alpha_long_available" in CAPABILITY_FIELDS
+
+  def test_subaru_has_sng_default_false(self, caps):
+    assert caps["subaru_has_sng"] is False
+
+  def test_hyundai_alpha_long_available_default_false(self, caps):
+    assert caps["hyundai_alpha_long_available"] is False
+
+
+class TestCapabilitiesShape(OpenpilotTestCase):
+  def test_all_fields_present(self, caps):
+    for field in CAPABILITY_FIELDS:
+      assert field in caps, f"capabilities missing {field}"
+
+  def test_all_fields_have_labels(self):
+    for field in CAPABILITY_FIELDS:
+      assert field in CAPABILITY_LABELS, f"CAPABILITY_LABELS missing {field}"
+
+  def test_string_defaults_are_strings(self, caps):
+    assert isinstance(caps["brand"], str)
+    assert isinstance(caps["steer_control_type"], str)
+    assert isinstance(caps["device_type"], str)
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_compile_settings_ui.py b/openpilot/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
new file mode 100644
index 0000000000..797bf42558
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
@@ -0,0 +1,192 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Tests for the settings_ui_src/ -> settings_ui.json compiler. Covers:
+  - Roundtrip: compiled output matches the checked-in settings_ui.json
+  - $ref macro resolution semantics (list-splice, scalar-substitute, depth, cycles)
+  - Per-page tree integrity (every page has id; vehicle page emits to vehicle_settings)
+
+Does not cover device-side generator (test_settings_schema.py) or per-bug
+regression (test_settings_changes.py); those continue to validate the
+compiled output once the compiler has produced it.
+"""
+from __future__ import annotations
+
+import difflib
+import json
+import os
+
+import yaml
+
+from openpilot.sunnypilot.sunnylink.tools.compile_settings_ui import (
+  CompileError,
+  DEFAULT_OUT,
+  DEFAULT_SRC,
+  _resolve_refs,
+  compile_schema,
+)
+from openpilot.common.test import OpenpilotTestCase
+
+
+def compiled() -> dict:
+  return compile_schema(DEFAULT_SRC)
+
+
+def committed() -> dict:
+  with open(DEFAULT_OUT) as f:
+    return json.load(f)
+
+
+class TestRoundtrip(OpenpilotTestCase):
+  def test_compiled_matches_committed(self, compiled, committed):
+    """Compiled output must match the checked-in JSON."""
+    if compiled == committed:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      json.dumps(committed, indent=2).splitlines(),
+      json.dumps(compiled, indent=2).splitlines(),
+      fromfile="settings_ui.json (committed)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    self.fail(f"settings_ui.json schema mismatch — run compile_settings_ui.py\n\n{diff}")
+
+  def test_committed_file_is_canonical(self):
+    """Compiled output must byte-match the checked-in file (including trailing newline).
+    Drift means someone edited settings_ui.json by hand instead of editing settings_ui_src/."""
+    schema = compile_schema(DEFAULT_SRC)
+    rendered = json.dumps(schema, indent=2) + "\n"
+    with open(DEFAULT_OUT) as f:
+      current = f.read()
+    if current == rendered:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      current.splitlines(),
+      rendered.splitlines(),
+      fromfile="settings_ui.json (on disk)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    self.fail(f"settings_ui.json out of sync — run compile_settings_ui.py\n\n{diff}")
+
+
+class TestRefResolution(OpenpilotTestCase):
+  def test_list_context_splices(self):
+    macros = {"a": [{"type": "offroad_only"}], "b": [{"type": "not_engaged"}]}
+    out = _resolve_refs([{"$ref": "#/macros/a"}, {"$ref": "#/macros/b"}], macros)
+    assert out == [{"type": "offroad_only"}, {"type": "not_engaged"}]
+
+  def test_scalar_context_substitutes(self):
+    macros = {"x": {"type": "capability", "field": "brand", "equals": "tesla"}}
+    out = _resolve_refs({"condition": {"$ref": "#/macros/x"}}, macros)
+    assert out == {"condition": {"type": "capability", "field": "brand", "equals": "tesla"}}
+
+  def test_chained_ref_resolves(self):
+    macros = {
+      "leaf": [{"type": "offroad_only"}],
+      "middle": [{"$ref": "#/macros/leaf"}],
+    }
+    out = _resolve_refs([{"$ref": "#/macros/middle"}], macros)
+    assert out == [{"type": "offroad_only"}]
+
+  def test_unknown_macro_raises(self):
+    with self.assertRaisesRegex(CompileError, "unknown macro"):
+      _resolve_refs([{"$ref": "#/macros/missing"}], {})
+
+  def test_cycle_raises(self):
+    macros = {"a": [{"$ref": "#/macros/b"}], "b": [{"$ref": "#/macros/a"}]}
+    with self.assertRaisesRegex(CompileError, "cycle"):
+      _resolve_refs([{"$ref": "#/macros/a"}], macros)
+
+  def test_depth_limit(self):
+    # Depth 4 chain should fail (limit is 3).
+    macros = {
+      "l1": [{"$ref": "#/macros/l2"}],
+      "l2": [{"$ref": "#/macros/l3"}],
+      "l3": [{"$ref": "#/macros/l4"}],
+      "l4": [{"type": "offroad_only"}],
+    }
+    with self.assertRaisesRegex(CompileError, "depth"):
+      _resolve_refs([{"$ref": "#/macros/l1"}], macros)
+
+  def test_invalid_ref_scheme(self):
+    with self.assertRaisesRegex(CompileError, "unsupported"):
+      _resolve_refs([{"$ref": "https://example.com/x"}], {})
+
+  def test_scalar_macro_in_list_context_raises(self):
+    macros = {"x": {"type": "offroad_only"}}  # macro is a single rule (dict), not a list
+    with self.assertRaisesRegex(CompileError, "must resolve to a list"):
+      _resolve_refs([{"$ref": "#/macros/x"}], macros)
+
+
+class TestCompiledShape(OpenpilotTestCase):
+  def test_panels_present(self, compiled):
+    assert isinstance(compiled["panels"], list)
+    assert len(compiled["panels"]) == 9
+    panel_ids = {p["id"] for p in compiled["panels"]}
+    assert {"steering", "cruise", "display", "visuals", "toggles",
+            "device", "software", "developer", "models"} <= panel_ids
+
+  def test_vehicle_settings_consistent_shape(self, compiled):
+    """Each brand in vehicle_settings must have {title, description, items}."""
+    for brand, data in compiled["vehicle_settings"].items():
+      assert isinstance(data, dict), f"{brand}: expected object, got {type(data).__name__}"
+      assert "title" in data, f"{brand}: missing title"
+      assert "description" in data, f"{brand}: missing description"
+      assert "items" in data, f"{brand}: missing items"
+
+  def test_no_dangling_refs_after_compile(self, compiled):
+    """All $ref objects must be resolved during compilation."""
+    def walk(node):
+      if isinstance(node, dict):
+        if "$ref" in node:
+          self.fail(f"unresolved $ref: {node}")
+        for v in node.values():
+          walk(v)
+      elif isinstance(node, list):
+        for x in node:
+          walk(x)
+    walk(compiled)
+
+
+class TestSourceTreeIntegrity(OpenpilotTestCase):
+  def test_macros_yaml_well_formed(self):
+    with open(os.path.join(DEFAULT_SRC, "_macros.yaml")) as f:
+      doc = yaml.safe_load(f)
+    assert "macros" in doc
+    for name, body in doc["macros"].items():
+      assert name.replace("_", "").isalnum(), f"macro name '{name}' must be alphanumeric_"
+      assert body, f"macro '{name}' empty"
+
+  def test_pages_dir_well_formed(self):
+    pages_dir = os.path.join(DEFAULT_SRC, "pages")
+    assert os.path.isdir(pages_dir), "pages/ directory missing"
+    page_files = sorted(fn for fn in os.listdir(pages_dir) if fn.endswith(".yaml"))
+    # 9 panels + 1 vehicle = 10
+    assert len(page_files) == 10, f"expected 10 pages, found {len(page_files)}: {page_files}"
+
+  def test_every_page_has_id(self):
+    pages_dir = os.path.join(DEFAULT_SRC, "pages")
+    for fn in sorted(os.listdir(pages_dir)):
+      if not fn.endswith(".yaml"):
+        continue
+      path = os.path.join(pages_dir, fn)
+      with open(path) as f:
+        doc = yaml.safe_load(f)
+      assert isinstance(doc, dict), f"{path}: top-level must be a mapping"
+      assert "id" in doc, f"{path}: page missing 'id'"
+      # File basename should match page id (modulo .yaml extension).
+      expected_id = os.path.splitext(fn)[0]
+      assert doc["id"] == expected_id, (
+        f"{path}: page id '{doc['id']}' must match filename '{expected_id}'"
+      )
+
+  def test_vehicle_page_kind(self):
+    """vehicle.yaml must declare kind: vehicle so it routes to vehicle_settings."""
+    path = os.path.join(DEFAULT_SRC, "pages", "vehicle.yaml")
+    with open(path) as f:
+      doc = yaml.safe_load(f)
+    assert doc.get("kind") == "vehicle", "vehicle.yaml must declare kind: vehicle"
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
new file mode 100644
index 0000000000..d9b1267a10
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
@@ -0,0 +1,222 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Per-bug regression tests for the Raylib-vs-schema parity audit. Each test
+isolates one of the gating bugs that the design-overhaul branch fixes so a
+future regression is loud and obvious. These tests are intentionally narrow
+and additive — they do not replace the broader test_settings_schema.py.
+"""
+from __future__ import annotations
+
+import json
+import os
+from typing import Any
+
+from openpilot.common.parameterized import parameterized
+
+from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
+  DEFINITION_PATH,
+  TORQUE_VERSIONS_PATH,
+  _build_torque_options,
+  _load_torque_versions,
+  generate_schema,
+)
+from openpilot.common.test import OpenpilotTestCase
+
+
+SCHEMA_VALIDATOR_PATH = os.path.join(os.path.dirname(DEFINITION_PATH), "settings_ui.schema.json")
+
+
+def _walk_items(schema: dict[str, Any]):
+  """Yield every item dict from the schema."""
+  def _yield(item: dict[str, Any]):
+    yield item
+    for sub in item.get("sub_items", []):
+      yield from _yield(sub)
+
+  for panel in schema.get("panels", []):
+    for section in panel.get("sections", []):
+      for item in section.get("items", []):
+        yield from _yield(item)
+      for sp in section.get("sub_panels", []):
+        for item in sp.get("items", []):
+          yield from _yield(item)
+    for item in panel.get("items", []):
+      yield from _yield(item)
+    for sp in panel.get("sub_panels", []):
+      for item in sp.get("items", []):
+        yield from _yield(item)
+  for brand in schema.get("vehicle_settings", {}).values():
+    items = brand.get("items", []) if isinstance(brand, dict) else brand
+    for item in items:
+      yield from _yield(item)
+
+
+def _find_item(schema: dict[str, Any], key: str) -> dict[str, Any] | None:
+  for item in _walk_items(schema):
+    if item.get("key") == key:
+      return item
+  return None
+
+
+def _find_section(schema: dict[str, Any], panel_id: str, section_id: str) -> dict[str, Any] | None:
+  for panel in schema.get("panels", []):
+    if panel.get("id") != panel_id:
+      continue
+    for section in panel.get("sections", []):
+      if section.get("id") == section_id:
+        return section
+  return None
+
+
+def _flatten_rule_types(rules: list[dict[str, Any]] | None) -> set[str]:
+  out: set[str] = set()
+
+  def _walk(rule: dict[str, Any]) -> None:
+    out.add(rule.get("type", ""))
+    if rule.get("type") == "not" and "condition" in rule:
+      _walk(rule["condition"])
+    elif rule.get("type") in ("any", "all"):
+      for c in rule.get("conditions", []):
+        _walk(c)
+
+  for rule in rules or []:
+    _walk(rule)
+  return out
+
+
+def _references_capability_field(rules: list[dict[str, Any]] | None, field: str) -> bool:
+  found = False
+
+  def _walk(rule: dict[str, Any]) -> None:
+    nonlocal found
+    if rule.get("type") == "capability" and rule.get("field") == field:
+      found = True
+    elif rule.get("type") == "not" and "condition" in rule:
+      _walk(rule["condition"])
+    elif rule.get("type") in ("any", "all"):
+      for c in rule.get("conditions", []):
+        _walk(c)
+
+  for rule in rules or []:
+    _walk(rule)
+  return found
+
+
+def schema():
+  return generate_schema()
+
+
+class TestMadsBrandGates(OpenpilotTestCase):
+  def test_mads_main_cruise_has_brand_gate(self, schema):
+    """MadsMainCruiseAllowed must gate on brand and tesla_has_vehicle_bus."""
+    item = _find_item(schema, "MadsMainCruiseAllowed")
+    assert item is not None
+    assert _references_capability_field(item.get("enablement"), "brand")
+    assert _references_capability_field(item.get("enablement"), "tesla_has_vehicle_bus")
+
+  def test_mads_unified_engagement_has_brand_gate(self, schema):
+    """MadsUnifiedEngagementMode must mirror MadsMainCruiseAllowed brand-gate."""
+    item = _find_item(schema, "MadsUnifiedEngagementMode")
+    assert item is not None
+    assert _references_capability_field(item.get("enablement"), "brand")
+    assert _references_capability_field(item.get("enablement"), "tesla_has_vehicle_bus")
+
+
+class TestTestManeuversSection(OpenpilotTestCase):
+  def test_lateral_maneuver_mode_in_test_maneuvers(self, schema):
+    section = _find_section(schema, "developer", "test_maneuvers")
+    assert section is not None, "developer.test_maneuvers section missing"
+    keys = {item["key"] for item in section.get("items", [])}
+    assert "LateralManeuverMode" in keys
+    assert "LongitudinalManeuverMode" in keys
+
+  def test_test_maneuvers_section_requires_attestation(self, schema):
+    section = _find_section(schema, "developer", "test_maneuvers")
+    assert section is not None
+    assert section.get("attestation_required") is True
+
+  def test_test_maneuvers_section_visibility_gate(self, schema):
+    section = _find_section(schema, "developer", "test_maneuvers")
+    assert section is not None
+    visibility = section.get("visibility")
+    assert visibility, "test_maneuvers must have visibility gate"
+    vis_refs = json.dumps(visibility)
+    assert "is_development" in vis_refs
+    assert "is_sp_release" in vis_refs
+    enablement = section.get("enablement") or []
+    enable_refs = json.dumps(enablement)
+    assert "ShowAdvancedControls" in enable_refs, \
+      "test_maneuvers must gate ShowAdvancedControls via enablement"
+
+
+class TestValidator(OpenpilotTestCase):
+  def test_validator_accepts_real_json(self):
+    """settings_ui.json validates against settings_ui.schema.json."""
+    try:
+      import jsonschema
+    except ImportError:
+      self.skipTest("jsonschema not installed")
+    with open(DEFINITION_PATH) as f:
+      data = json.load(f)
+    with open(SCHEMA_VALIDATOR_PATH) as f:
+      validator = json.load(f)
+    jsonschema.validate(instance=data, schema=validator)
+
+
+class TestTorqueOptionGeneration(OpenpilotTestCase):
+  def test_torque_versions_match_generated_options(self, schema):
+    versions = _load_torque_versions()
+    assert versions, "latcontrol_torque_versions.json must have at least one version"
+    expected = _build_torque_options(versions)
+    item = _find_item(schema, "TorqueControlTune")
+    assert item is not None, "TorqueControlTune item must be present"
+    assert item.get("options") == expected
+
+  def test_torque_versions_path_resolves(self):
+    assert os.path.exists(TORQUE_VERSIONS_PATH), (
+      f"latcontrol_torque_versions.json not found at {TORQUE_VERSIONS_PATH}"
+    )
+
+
+class TestReleaseBranchGates(OpenpilotTestCase):
+  @parameterized.expand([
+    "EnableGithubRunner",
+    "QuickBootToggle",
+  ], names=["key"])
+  def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
+    """sunnypilot dev items must hide on sunnypilot release branches (is_sp_release gate)."""
+    item = _find_item(schema, key)
+    assert item is not None, f"{key} not found in schema"
+    rules = (item.get("visibility") or []) + (item.get("enablement") or [])
+    assert _references_capability_field(rules, "is_sp_release"), f"{key} missing is_sp_release gate"
+
+
+class TestSpuriousOffroadGatesDropped(OpenpilotTestCase):
+  def test_disengage_on_accelerator_has_no_offroad_only(self, schema):
+    item = _find_item(schema, "DisengageOnAccelerator")
+    assert item is not None
+    assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
+
+  def test_dynamic_experimental_has_no_offroad_only(self, schema):
+    item = _find_item(schema, "DynamicExperimentalControl")
+    assert item is not None
+    assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
+
+
+class TestNotEngagedReplacement(OpenpilotTestCase):
+  @parameterized.expand([
+    "AlphaLongitudinalEnabled",
+    "ToyotaEnforceStockLongitudinal",
+    "ToyotaStopAndGoHack",
+  ], names=["key"])
+  def test_offroad_only_replaced_with_not_engaged(self, schema, key):
+    """These items should use not_engaged, not offroad_only."""
+    item = _find_item(schema, key)
+    assert item is not None, f"{key} not found"
+    rule_types = _flatten_rule_types(item.get("enablement"))
+    assert "offroad_only" not in rule_types, f"{key} still uses offroad_only"
+    assert "not_engaged" in rule_types, f"{key} missing not_engaged"
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
new file mode 100644
index 0000000000..e60ac000f4
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
@@ -0,0 +1,357 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
+  SCHEMA_VERSION,
+  generate_schema,
+  generate_schema_json,
+  collect_all_keys,
+  collect_capability_refs,
+)
+from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS
+from openpilot.common.test import OpenpilotTestCase
+
+
+VALID_WIDGET_TYPES = {"toggle", "option", "multiple_button", "button", "info"}
+VALID_RULE_TYPES = {"offroad_only", "not_engaged", "capability", "param", "param_compare", "not", "any", "all"}
+VALID_COMPARE_OPS = {">", "<", ">=", "<="}
+MAX_ALLOWED_MISSING_TITLES = 0  # All items must have titles (metadata is inline in settings_ui.json)
+
+
+def _iter_panel_items(panel: dict):
+  """Yield top-level items from a panel (non-recursive)."""
+  for item in panel.get("items", []):
+    yield item
+  for sp in panel.get("sub_panels", []):
+    for item in sp.get("items", []):
+      yield item
+  for section in panel.get("sections", []):
+    for item in section.get("items", []):
+      yield item
+    for sp in section.get("sub_panels", []):
+      for item in sp.get("items", []):
+        yield item
+
+
+def _iter_all_sub_panels(panel: dict):
+  """Yield all sub_panels from a panel and its sections."""
+  yield from panel.get("sub_panels", [])
+  for section in panel.get("sections", []):
+    yield from section.get("sub_panels", [])
+
+
+def _brand_items(brand_data) -> list[dict]:
+  """Extract items from vehicle_settings[brand] (handles dict or list)."""
+  if isinstance(brand_data, dict):
+    return brand_data.get("items", [])
+  if isinstance(brand_data, list):
+    return brand_data
+  return []
+
+
+def schema():
+  return generate_schema()
+
+
+def all_param_keys():
+  """All keys registered in the device param store."""
+  return {k.decode("utf-8") for k in Params().all_keys()}
+
+
+class TestSchemaStructure(OpenpilotTestCase):
+  def test_schema_is_valid_json(self):
+    """Schema serializes to valid JSON."""
+    raw = generate_schema_json()
+    parsed = json.loads(raw)
+    assert isinstance(parsed, dict)
+
+  def test_has_required_top_level_fields(self, schema):
+    assert "schema_version" in schema
+    assert schema["schema_version"] == SCHEMA_VERSION
+    assert "generated_at" in schema
+    assert "panels" in schema
+    assert "vehicle_settings" in schema
+    assert "capability_fields" in schema
+
+  def test_panels_are_list(self, schema):
+    assert isinstance(schema["panels"], list)
+    assert len(schema["panels"]) > 0
+
+  def test_all_panels_have_required_fields(self, schema):
+    for panel in schema["panels"]:
+      assert "id" in panel, f"Panel missing 'id': {panel}"
+      assert "label" in panel, f"Panel {panel.get('id')} missing 'label'"
+      assert "order" in panel, f"Panel {panel.get('id')} missing 'order'"
+      has_sections = "sections" in panel
+      has_items = "items" in panel
+      assert has_sections or has_items, \
+        f"Panel {panel['id']} must have 'sections' or 'items'"
+      if has_sections:
+        assert isinstance(panel["sections"], list)
+        for sec in panel["sections"]:
+          assert "id" in sec, f"Section in panel {panel['id']} missing 'id'"
+          assert "items" in sec, f"Section {panel['id']}.{sec.get('id')} missing 'items'"
+          assert isinstance(sec["items"], list)
+      if has_items:
+        assert isinstance(panel["items"], list)
+
+  def test_all_items_have_key_and_widget(self, schema):
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        assert "key" in item, f"Item in panel {panel['id']} missing 'key'"
+        assert "widget" in item, f"Item {item.get('key')} missing 'widget'"
+        assert item["widget"] in VALID_WIDGET_TYPES, \
+          f"Item {item['key']} has invalid widget type: {item['widget']}"
+
+  def test_sub_panel_items_have_key_and_widget(self, schema):
+    for panel in schema["panels"]:
+      for sp in _iter_all_sub_panels(panel):
+        assert "id" in sp
+        assert "items" in sp
+        for item in sp["items"]:
+          assert "key" in item
+          assert "widget" in item
+          assert item["widget"] in VALID_WIDGET_TYPES
+
+  def test_vehicle_settings_structure(self, schema):
+    vs = schema["vehicle_settings"]
+    assert isinstance(vs, dict)
+    for brand, data in vs.items():
+      assert isinstance(brand, str)
+      assert isinstance(data, dict), \
+        f"vehicle_settings[{brand}] must be a dict {{title, items, ...}}"
+      assert "items" in data, f"vehicle_settings[{brand}] missing 'items'"
+      assert isinstance(data["items"], list)
+      for item in data["items"]:
+        assert "key" in item, f"Vehicle item for {brand} missing 'key'"
+        assert "widget" in item, f"Vehicle item {item.get('key')} missing 'widget'"
+
+  def test_no_duplicate_keys_across_panels(self, schema):
+    """Param keys should appear in at most one panel."""
+    seen: dict[str, str] = {}  # key -> panel_id
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        key = item["key"]
+        if key in seen:
+          self.fail(f"Key '{key}' appears in both panel '{seen[key]}' and '{panel['id']}'")
+        seen[key] = panel["id"]
+        for sub in item.get("sub_items", []):
+          sub_key = sub["key"]
+          if sub_key in seen:
+            self.fail(f"Sub-item key '{sub_key}' appears in both '{seen[sub_key]}' and '{panel['id']}'")
+          seen[sub_key] = panel["id"]
+
+
+class TestSchemaCoverage(OpenpilotTestCase):
+  def test_all_schema_keys_exist_in_params(self, schema, all_param_keys):
+    """Schema keys must exist in Params().all_keys()."""
+    schema_keys = collect_all_keys(schema)
+    missing = schema_keys - all_param_keys
+    assert not missing, f"Schema references keys not in Params: {missing}"
+
+  def test_all_capability_fields_are_declared(self, schema):
+    """Capability fields used in rules must be declared."""
+    declared = set(schema["capability_fields"])
+    referenced = collect_capability_refs(schema)
+    undeclared = referenced - declared
+    assert not undeclared, f"Rules reference undeclared capability fields: {undeclared}"
+
+  def test_capability_fields_match_constant(self, schema):
+    """Schema capability_fields must match CAPABILITY_FIELDS constant."""
+    assert set(schema["capability_fields"]) == set(CAPABILITY_FIELDS)
+
+
+class TestRuleWellFormedness(OpenpilotTestCase):
+  def _validate_rule(self, rule: dict, context: str = ""):
+    """Recursively validate a single rule dict."""
+    assert "type" in rule, f"Rule missing 'type' in {context}"
+    rtype = rule["type"]
+    assert rtype in VALID_RULE_TYPES, f"Invalid rule type '{rtype}' in {context}"
+
+    if rtype == "capability":
+      assert "field" in rule, f"Capability rule missing 'field' in {context}"
+      assert "equals" in rule, f"Capability rule missing 'equals' in {context}"
+    elif rtype == "param":
+      assert "key" in rule, f"Param rule missing 'key' in {context}"
+      assert "equals" in rule, f"Param rule missing 'equals' in {context}"
+    elif rtype == "param_compare":
+      assert "key" in rule, f"Param compare rule missing 'key' in {context}"
+      assert "op" in rule, f"Param compare rule missing 'op' in {context}"
+      assert rule["op"] in VALID_COMPARE_OPS, f"Invalid op '{rule['op']}' in {context}"
+      assert "value" in rule, f"Param compare rule missing 'value' in {context}"
+    elif rtype == "not":
+      assert "condition" in rule, f"Not rule missing 'condition' in {context}"
+      self._validate_rule(rule["condition"], context=f"{context} > not")
+    elif rtype in ("any", "all"):
+      assert "conditions" in rule, f"{rtype} rule missing 'conditions' in {context}"
+      assert isinstance(rule["conditions"], list)
+      for c in rule["conditions"]:
+        self._validate_rule(c, context=f"{context} > {rtype}")
+
+  def _validate_items(self, items: list[dict], context: str):
+    for item in items:
+      key = item.get("key", "unknown")
+      for rules_field in ("visibility", "enablement"):
+        rules = item.get(rules_field)
+        if rules:
+          assert isinstance(rules, list), f"{key}.{rules_field} must be a list"
+          for rule in rules:
+            self._validate_rule(rule, context=f"{context}.{key}.{rules_field}")
+      for sub in item.get("sub_items", []):
+        self._validate_items([sub], context=f"{context}.{key}")
+
+  def _validate_section_rules(self, section: dict, context: str):
+    for rules_field in ("visibility", "enablement"):
+      rules = section.get(rules_field) or []
+      for rule in rules:
+        self._validate_rule(rule, context=f"{context}.{rules_field}")
+
+  def test_all_panel_rules_well_formed(self, schema):
+    for panel in schema["panels"]:
+      self._validate_items(list(_iter_panel_items(panel)), context=f"panel:{panel['id']}")
+      for sp in _iter_all_sub_panels(panel):
+        self._validate_items(sp["items"], context=f"subpanel:{sp['id']}")
+      for section in panel.get("sections", []):
+        self._validate_section_rules(section, context=f"section:{panel['id']}.{section['id']}")
+
+  def test_all_vehicle_rules_well_formed(self, schema):
+    for brand, data in schema["vehicle_settings"].items():
+      self._validate_items(_brand_items(data), context=f"vehicle:{brand}")
+
+  def test_no_self_referencing_visibility(self, schema):
+    """An item's visibility/enablement rules should not depend on its own key."""
+    def _check_self_ref(item: dict, rules_field: str):
+      key = item.get("key")
+      for rule in item.get(rules_field, []):
+        if rule.get("type") == "param" and rule.get("key") == key:
+          self.fail(f"Item {key} has self-referencing {rules_field} rule")
+
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        _check_self_ref(item, "visibility")
+        _check_self_ref(item, "enablement")
+
+    for brand_data in schema.get("vehicle_settings", {}).values():
+      for item in _brand_items(brand_data):
+        _check_self_ref(item, "visibility")
+        _check_self_ref(item, "enablement")
+
+
+class TestKnownPanels(OpenpilotTestCase):
+  def test_expected_panels_exist(self, schema):
+    panel_ids = {p["id"] for p in schema["panels"]}
+    expected = {"steering", "cruise", "display", "visuals", "device", "software", "developer"}
+    assert expected.issubset(panel_ids), f"Missing panels: {expected - panel_ids}"
+
+  def test_mads_sub_panel_exists(self, schema):
+    steering = next(p for p in schema["panels"] if p["id"] == "steering")
+    sub_ids = {sp["id"] for sp in _iter_all_sub_panels(steering)}
+    assert "mads_settings" in sub_ids
+
+  def test_mutual_exclusion_torque_nnlc(self, schema):
+    """EnforceTorqueControl, EnhancedLatAccel, and NNLC must reference each other in enablement."""
+    torque = nnlc = enhanced = None
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        if item["key"] == "EnforceTorqueControl":
+          torque = item
+        elif item["key"] == "NeuralNetworkLateralControl":
+          nnlc = item
+        elif item["key"] == "LateralJerkTorqueController":
+          enhanced = item
+    assert torque is not None, "EnforceTorqueControl item missing"
+    assert nnlc is not None, "NeuralNetworkLateralControl item missing"
+    assert enhanced is not None, "LateralJerkTorqueController item missing"
+    torque_enable_keys = {r.get("key") for r in torque.get("enablement", []) if r.get("type") == "param"}
+    assert "NeuralNetworkLateralControl" in torque_enable_keys
+    nnlc_enable_keys = {r.get("key") for r in nnlc.get("enablement", []) if r.get("type") == "param"}
+    assert "EnforceTorqueControl" in nnlc_enable_keys
+    assert "LateralJerkTorqueController" in nnlc_enable_keys
+    enhanced_enable_keys = {r.get("key") for r in enhanced.get("enablement", []) if r.get("type") == "param"}
+    assert "NeuralNetworkLateralControl" in enhanced_enable_keys
+
+
+class TestKnownVehicleSettings(OpenpilotTestCase):
+  def test_hyundai_has_longitudinal_tuning(self, schema):
+    keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("hyundai"))}
+    assert "HyundaiLongitudinalTuning" in keys
+
+  def test_toyota_has_enforce_stock_and_stop_go(self, schema):
+    keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("toyota"))}
+    assert "ToyotaEnforceStockLongitudinal" in keys
+    assert "ToyotaStopAndGoHack" in keys
+
+  def test_tesla_has_coop_steering(self, schema):
+    keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("tesla"))}
+    assert "TeslaCoopSteering" in keys
+
+  def test_subaru_has_stop_and_go(self, schema):
+    keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("subaru"))}
+    assert "SubaruStopAndGo" in keys
+    assert "SubaruStopAndGoManualParkingBrake" in keys
+
+
+class TestItemCompleteness(OpenpilotTestCase):
+  def _collect_all_items(self, schema):
+    """Collect all items and sub_items from panels and vehicle_settings."""
+    items = []
+    for panel in schema["panels"]:
+      for item in _iter_panel_items(panel):
+        items.append(item)
+        for sub in item.get("sub_items", []):
+          items.append(sub)
+    for brand_data in schema.get("vehicle_settings", {}).values():
+      for item in _brand_items(brand_data):
+        items.append(item)
+        for sub in item.get("sub_items", []):
+          items.append(sub)
+    return items
+
+  def test_all_items_have_titles(self, schema):
+    """All items must have titles."""
+    missing = [i["key"] for i in self._collect_all_items(schema) if "title" not in i]
+    if len(missing) > MAX_ALLOWED_MISSING_TITLES:
+      self.fail(f"Items without titles ({len(missing)}): {missing[:10]}")
+
+  def test_no_default_titles(self, schema):
+    """Item titles must differ from keys."""
+    defaults = [i["key"] for i in self._collect_all_items(schema) if i.get("title") == i["key"]]
+    assert not defaults, f"Items with default titles (title == key): {defaults}"
+
+  def test_options_structure(self, schema):
+    """Options must be a list of {value, label} dicts."""
+    for item in self._collect_all_items(schema):
+      opts = item.get("options")
+      if opts is None:
+        continue
+      assert isinstance(opts, list), f"{item['key']}: options must be a list"
+      for opt in opts:
+        assert isinstance(opt, dict), f"{item['key']}: each option must be a dict"
+        assert "value" in opt, f"{item['key']}: option missing 'value': {opt}"
+        assert "label" in opt, f"{item['key']}: option missing 'label': {opt}"
+
+  def test_numeric_constraints(self, schema):
+    """If any of min/max/step is present, all three must be, and min < max."""
+    for item in self._collect_all_items(schema):
+      has_min = "min" in item
+      has_max = "max" in item
+      has_step = "step" in item
+      if has_min or has_max or has_step:
+        assert has_min and has_max and has_step, \
+          f"{item['key']}: must have all of min/max/step or none"
+        assert item["min"] < item["max"], \
+          f"{item['key']}: min ({item['min']}) must be < max ({item['max']})"
+
+  def test_known_param_has_options(self, schema):
+    """LongitudinalPersonality should have 3 options."""
+    cruise = next(p for p in schema["panels"] if p["id"] == "cruise")
+    lp = next((i for i in _iter_panel_items(cruise) if i["key"] == "LongitudinalPersonality"), None)
+    assert lp is not None
+    assert "options" in lp
+    assert len(lp["options"]) == 3
diff --git a/openpilot/sunnypilot/sunnylink/tools/apply_macros.py b/openpilot/sunnypilot/sunnylink/tools/apply_macros.py
new file mode 100755
index 0000000000..a6b56122ad
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tools/apply_macros.py
@@ -0,0 +1,211 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Scans all per-page YAML files in settings_ui_src/pages/ and replaces inlined
+rule blocks that exactly match a macro definition in _macros.yaml with $ref
+references.
+
+Match policy:
+  - Whole-list match (exact): replace the entire list with [{$ref}].
+  - Single-rule match: any individual rule whose canonical form equals macro[0]
+    (when macro is exactly one rule) is replaced with {$ref}.
+
+Re-run is idempotent (already-substituted $refs are skipped).
+
+Usage:
+  python apply_macros.py [--src DIR] [--dry-run]
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+
+import yaml
+
+DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
+
+
+class _BlockDumper(yaml.SafeDumper):
+  pass
+
+
+def _represent_dict(dumper, data):
+  return dumper.represent_mapping("tag:yaml.org,2002:map", data.items(), flow_style=False)
+
+
+def _represent_list(dumper, data):
+  flow = all(not isinstance(x, (dict, list)) for x in data) and len(data) <= 8
+  return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=flow)
+
+
+_BlockDumper.add_representer(dict, _represent_dict)
+_BlockDumper.add_representer(list, _represent_list)
+
+
+def _dump_yaml(data) -> str:
+  return yaml.dump(data, Dumper=_BlockDumper, sort_keys=False, allow_unicode=True, width=120)
+
+
+def _canon(node) -> str:
+  return json.dumps(node, sort_keys=True, separators=(",", ":"))
+
+
+def _is_ref(node) -> bool:
+  return isinstance(node, dict) and len(node) == 1 and "$ref" in node
+
+
+def _make_ref(name: str) -> dict:
+  return {"$ref": f"#/macros/{name}"}
+
+
+def _substitute_rules(rules: list, whole_list: dict, single_rule: dict) -> list:
+  if not isinstance(rules, list) or not rules:
+    return rules
+  full_canon = _canon(rules)
+  if full_canon in whole_list:
+    return [_make_ref(whole_list[full_canon])]
+  out = []
+  for r in rules:
+    if _is_ref(r):
+      out.append(r)
+      continue
+    rc = _canon(r)
+    if rc in single_rule:
+      out.append(_make_ref(single_rule[rc]))
+    else:
+      out.append(r)
+  return out
+
+
+def _walk_item(item: dict, whole_list: dict, single_rule: dict) -> bool:
+  changed = False
+  for ctx in ("visibility", "enablement"):
+    if ctx in item:
+      new = _substitute_rules(item[ctx], whole_list, single_rule)
+      if new != item[ctx]:
+        item[ctx] = new
+        changed = True
+  if "options" in item:
+    for opt in item["options"]:
+      if not isinstance(opt, dict):
+        continue
+      for ctx in ("visibility", "enablement"):
+        if ctx in opt:
+          new = _substitute_rules(opt[ctx], whole_list, single_rule)
+          if new != opt[ctx]:
+            opt[ctx] = new
+            changed = True
+  if "sub_items" in item:
+    for sub in item["sub_items"]:
+      if _walk_item(sub, whole_list, single_rule):
+        changed = True
+  return changed
+
+
+def _walk_page(page: dict, whole_list: dict, single_rule: dict) -> bool:
+  changed = False
+  for sec in page.get("sections", []) or []:
+    for ctx in ("visibility", "enablement"):
+      if ctx in sec:
+        new = _substitute_rules(sec[ctx], whole_list, single_rule)
+        if new != sec[ctx]:
+          sec[ctx] = new
+          changed = True
+    for it in sec.get("items", []) or []:
+      if _walk_item(it, whole_list, single_rule):
+        changed = True
+    for sp in sec.get("sub_panels", []) or []:
+      for it in sp.get("items", []) or []:
+        if _walk_item(it, whole_list, single_rule):
+          changed = True
+  for it in page.get("items", []) or []:
+    if _walk_item(it, whole_list, single_rule):
+      changed = True
+  for sp in page.get("sub_panels", []) or []:
+    for it in sp.get("items", []) or []:
+      if _walk_item(it, whole_list, single_rule):
+        changed = True
+  return changed
+
+
+def _build_macro_indices(macros: dict) -> tuple[dict, dict]:
+  whole_list = {}
+  single_rule = {}
+  for name, body in macros.items():
+    if isinstance(body, list):
+      whole_list[_canon(body)] = name
+      if len(body) == 1 and isinstance(body[0], dict):
+        single_rule[_canon(body[0])] = name
+    elif isinstance(body, dict):
+      single_rule[_canon(body)] = name
+  return whole_list, single_rule
+
+
+def _read_yaml_with_header(path: str) -> tuple[list[str], dict]:
+  with open(path) as f:
+    text = f.read()
+  header_lines = []
+  for line in text.splitlines(keepends=True):
+    if line.startswith("#"):
+      header_lines.append(line)
+    elif line.strip() == "":
+      header_lines.append(line)
+    else:
+      break
+  doc = yaml.safe_load(text) or {}
+  return header_lines, doc
+
+
+def _write_yaml_with_header(path: str, header: list[str], doc: dict) -> None:
+  with open(path, "w") as f:
+    if header:
+      # Keep at most one trailing blank line in header
+      while len(header) > 1 and header[-1].strip() == "" and header[-2].strip() == "":
+        header.pop()
+      for line in header:
+        f.write(line)
+    f.write(_dump_yaml(doc))
+
+
+def apply(src_dir: str, dry_run: bool) -> int:
+  with open(os.path.join(src_dir, "_macros.yaml")) as f:
+    macros_doc = yaml.safe_load(f) or {}
+  macros = (macros_doc.get("macros") or {}) if isinstance(macros_doc, dict) else {}
+  whole_list, single_rule = _build_macro_indices(macros)
+
+  changed_files = 0
+  pages_dir = os.path.join(src_dir, "pages")
+  if os.path.isdir(pages_dir):
+    for fn in sorted(os.listdir(pages_dir)):
+      if not fn.endswith((".yaml", ".yml")) or fn.startswith("_"):
+        continue
+      path = os.path.join(pages_dir, fn)
+      header, doc = _read_yaml_with_header(path)
+      if _walk_page(doc, whole_list, single_rule):
+        changed_files += 1
+        if not dry_run:
+          _write_yaml_with_header(path, header, doc)
+        else:
+          print(f"would-rewrite: {path}")
+
+  print(f"{'Would rewrite' if dry_run else 'Rewrote'} {changed_files} files")
+  return 0
+
+
+def _main() -> int:
+  parser = argparse.ArgumentParser(description="Substitute inlined rule blocks with $ref macros across pages/.")
+  parser.add_argument("--src", default=DEFAULT_SRC)
+  parser.add_argument("--dry-run", action="store_true")
+  args = parser.parse_args()
+  return apply(args.src, args.dry_run)
+
+
+if __name__ == "__main__":
+  sys.exit(_main())
diff --git a/openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py b/openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py
new file mode 100755
index 0000000000..c13ecd63a0
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py
@@ -0,0 +1,300 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Reads settings_ui_src/ (the dev-friendly authoring tree) and emits the
+canonical settings_ui.json that the device generator + frontend consume.
+
+Source layout:
+  _macros.yaml                                # named rule fragments
+  pages/<page_id>.yaml                        # one file per panel/page
+  pages/vehicle.yaml                          # special: emits vehicle_settings
+
+Each page.yaml contains the full panel: metadata + sections + items + sub_panels
+inline. Sub-panels are nested inside the section they belong to. Items appear
+in the order written in the file.
+
+Macro references use JSON-Schema-style $ref pointers:
+  enablement:
+    - {$ref: "#/macros/offroad"}
+    - {$ref: "#/macros/mads_full_platforms"}
+
+Macros may reference other macros (max depth 3). Cycles raise an error.
+
+Usage:
+  python compile_settings_ui.py [--src DIR] [--out PATH] [--check]
+"""
+from __future__ import annotations
+
+import argparse
+import copy
+import json
+import os
+import sys
+
+import yaml
+
+DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
+DEFAULT_OUT = os.path.join(DIR, "settings_ui.json")
+
+SCHEMA_VERSION = "1.0"
+MAX_MACRO_DEPTH = 3
+
+
+class CompileError(Exception):
+  pass
+
+
+def _load_yaml(path: str):
+  with open(path) as f:
+    return yaml.safe_load(f) or {}
+
+
+def _is_ref(node) -> bool:
+  return isinstance(node, dict) and len(node) == 1 and "$ref" in node
+
+
+def _ref_name(node: dict) -> str:
+  ref = node["$ref"]
+  if not isinstance(ref, str) or not ref.startswith("#/macros/"):
+    raise CompileError(f"unsupported $ref: {ref!r} (must start with '#/macros/')")
+  return ref[len("#/macros/"):]
+
+
+def _resolve_refs(node, macros: dict, visiting: tuple[str, ...] = ()):
+  """Resolve $ref nodes against macros. Recursive; depth-limited; cycle-safe.
+
+  - $ref in list-context: macro's list spliced into parent list.
+  - $ref in scalar-context (object value): macro's value substitutes.
+  - Non-list macro values may not be referenced from list contexts.
+  """
+  if _is_ref(node):
+    name = _ref_name(node)
+    if name in visiting:
+      raise CompileError(f"$ref cycle: {' -> '.join(visiting + (name,))}")
+    if len(visiting) >= MAX_MACRO_DEPTH:
+      raise CompileError(f"$ref nesting exceeds depth {MAX_MACRO_DEPTH}: {' -> '.join(visiting + (name,))}")
+    if name not in macros:
+      raise CompileError(f"unknown macro: {name}")
+    return _resolve_refs(copy.deepcopy(macros[name]), macros, visiting + (name,))
+
+  if isinstance(node, dict):
+    return {k: _resolve_refs(v, macros, visiting) for k, v in node.items()}
+
+  if isinstance(node, list):
+    out = []
+    for item in node:
+      if _is_ref(item):
+        resolved = _resolve_refs(item, macros, visiting)
+        if not isinstance(resolved, list):
+          raise CompileError(
+            f"macro '{_ref_name(item)}' must resolve to a list when used in a list context"
+          )
+        out.extend(resolved)
+      else:
+        out.append(_resolve_refs(item, macros, visiting))
+    return out
+
+  return node
+
+
+# Output JSON key order. Mirrors the conventions in the original hand-written
+# settings_ui.json so structural diffs after extraction are minimal.
+_ITEM_KEY_ORDER = [
+  "key",
+  "widget",
+  "needs_onroad_cycle",
+  "requires_attestation",
+  "blocked",
+  "title",
+  "description",
+  "details",
+  "title_param_suffix",
+  "min",
+  "max",
+  "step",
+  "unit",
+  "options",
+  "visibility",
+  "enablement",
+  "sub_items",
+]
+
+
+def _canon_item(item: dict, macros: dict) -> dict:
+  resolved = dict(item)
+  for ctx in ("visibility", "enablement"):
+    if ctx in resolved:
+      resolved[ctx] = _resolve_refs(resolved[ctx], macros)
+  if "options" in resolved:
+    new_opts = []
+    for opt in resolved["options"]:
+      if isinstance(opt, dict):
+        opt = dict(opt)
+        for ctx in ("visibility", "enablement"):
+          if ctx in opt:
+            opt[ctx] = _resolve_refs(opt[ctx], macros)
+      new_opts.append(opt)
+    resolved["options"] = new_opts
+  if "sub_items" in resolved:
+    resolved["sub_items"] = [_canon_item(s, macros) for s in resolved["sub_items"]]
+
+  out: dict = {}
+  for k in _ITEM_KEY_ORDER:
+    if k in resolved:
+      out[k] = resolved[k]
+  for k, v in resolved.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _canon_section(section: dict, macros: dict) -> dict:
+  out: dict = {"id": section["id"], "title": section["title"]}
+  if "description" in section:
+    out["description"] = section["description"]
+  for k in ("visibility", "enablement"):
+    if k in section:
+      out[k] = _resolve_refs(section[k], macros)
+  if "attestation_required" in section:
+    out["attestation_required"] = section["attestation_required"]
+  out["items"] = [_canon_item(i, macros) for i in section.get("items", [])]
+  if "sub_panels" in section and section["sub_panels"]:
+    out["sub_panels"] = [_canon_sub_panel(sp, macros) for sp in section["sub_panels"]]
+  for k, v in section.items():
+    if k not in out and k != "order":
+      out[k] = v
+  return out
+
+
+def _canon_sub_panel(sp: dict, macros: dict) -> dict:
+  out: dict = {"id": sp["id"], "label": sp["label"], "trigger_key": sp["trigger_key"]}
+  if "trigger_condition" in sp:
+    out["trigger_condition"] = _resolve_refs(sp["trigger_condition"], macros)
+  out["items"] = [_canon_item(i, macros) for i in sp.get("items", [])]
+  for k, v in sp.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _canon_panel(page: dict, macros: dict) -> dict:
+  out: dict = {
+    "id": page["id"],
+    "label": page["label"],
+    "icon": page["icon"],
+    "order": page["order"],
+  }
+  if "remote_configurable" in page:
+    out["remote_configurable"] = page["remote_configurable"]
+  if "description" in page:
+    out["description"] = page["description"]
+  if "sections" in page and page["sections"]:
+    out["sections"] = [_canon_section(s, macros) for s in page["sections"]]
+  if "items" in page and page["items"]:
+    out["items"] = [_canon_item(i, macros) for i in page["items"]]
+  if "sub_panels" in page and page["sub_panels"]:
+    out["sub_panels"] = [_canon_sub_panel(sp, macros) for sp in page["sub_panels"]]
+  return out
+
+
+def _canon_vehicle(page: dict, macros: dict) -> dict:
+  """Convert page-shape vehicle.yaml to wire-format vehicle_settings dict."""
+  out: dict = {}
+  for sec in page.get("sections", []):
+    brand = sec["id"]
+    brand_out: dict = {"title": sec.get("title", "")}
+    if "description" in sec:
+      brand_out["description"] = sec["description"]
+    brand_out["items"] = [_canon_item(i, macros) for i in sec.get("items", [])]
+    out[brand] = brand_out
+  return out
+
+
+def _load_pages(src: str) -> list[dict]:
+  pages_dir = os.path.join(src, "pages")
+  if not os.path.isdir(pages_dir):
+    return []
+  pages = []
+  for fn in sorted(os.listdir(pages_dir)):
+    if not fn.endswith((".yaml", ".yml")):
+      continue
+    if fn.startswith("_"):
+      continue
+    path = os.path.join(pages_dir, fn)
+    page = _load_yaml(path)
+    if not isinstance(page, dict):
+      raise CompileError(f"{path}: page YAML must be an object")
+    if "id" not in page:
+      raise CompileError(f"{path}: page missing 'id'")
+    page["__source"] = path
+    pages.append(page)
+  return pages
+
+
+def compile_schema(src: str) -> dict:
+  macros_doc = _load_yaml(os.path.join(src, "_macros.yaml"))
+  macros = (macros_doc.get("macros") or {}) if isinstance(macros_doc, dict) else {}
+
+  pages = _load_pages(src)
+
+  panels_out = []
+  vehicle_out: dict = {}
+
+  # Order panels by `order` field (falling back to file position).
+  panel_pages = [p for p in pages if p.get("kind") != "vehicle"]
+  panel_pages.sort(key=lambda p: (p.get("order", 999), p["id"]))
+
+  for page in panel_pages:
+    panels_out.append(_canon_panel(page, macros))
+
+  for page in pages:
+    if page.get("kind") == "vehicle":
+      vehicle_out = _canon_vehicle(page, macros)
+
+  return {
+    "$schema": "./settings_ui.schema.json",
+    "schema_version": SCHEMA_VERSION,
+    "panels": panels_out,
+    "vehicle_settings": vehicle_out,
+  }
+
+
+def _main() -> int:
+  parser = argparse.ArgumentParser(description="Compile settings_ui_src/ -> settings_ui.json")
+  parser.add_argument("--src", default=DEFAULT_SRC)
+  parser.add_argument("--out", default=DEFAULT_OUT)
+  parser.add_argument("--check", action="store_true",
+                      help="Compile and diff against existing settings_ui.json; exit non-zero on diff.")
+  args = parser.parse_args()
+
+  schema = compile_schema(args.src)
+  rendered = json.dumps(schema, indent=2) + "\n"
+
+  if args.check:
+    if not os.path.exists(args.out):
+      print(f"--check: {args.out} does not exist", file=sys.stderr)
+      return 1
+    with open(args.out) as f:
+      current = f.read()
+    if current.strip() == rendered.strip():
+      print(f"--check: {args.out} matches compiled output")
+      return 0
+    print(f"--check: {args.out} differs from compiled output", file=sys.stderr)
+    cur_obj = json.loads(current)
+    if cur_obj == schema:
+      print("(structurally equal; only formatting differs)", file=sys.stderr)
+    return 1
+
+  with open(args.out, "w") as f:
+    f.write(rendered)
+  print(f"Wrote {args.out}")
+  return 0
+
+
+if __name__ == "__main__":
+  sys.exit(_main())
diff --git a/openpilot/sunnypilot/sunnylink/tools/extract_settings_ui.py b/openpilot/sunnypilot/sunnylink/tools/extract_settings_ui.py
new file mode 100755
index 0000000000..4b3283f770
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tools/extract_settings_ui.py
@@ -0,0 +1,214 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+One-shot extractor: settings_ui.json -> settings_ui_src/pages/*.yaml.
+
+Reads the existing monolithic settings_ui.json and produces one YAML file per
+page (panel) plus pages/vehicle.yaml for the per-brand settings. Macros remain
+unwritten by extract; populate _macros.yaml separately.
+
+Usage:
+  python extract_settings_ui.py [--src DIR] [--definition PATH]
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import shutil
+import sys
+
+import yaml
+
+DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+DEFAULT_DEFINITION = os.path.join(DIR, "settings_ui.json")
+DEFAULT_SRC = os.path.join(DIR, "settings_ui_src")
+
+
+class _BlockDumper(yaml.SafeDumper):
+  pass
+
+
+def _represent_dict(dumper, data):
+  return dumper.represent_mapping("tag:yaml.org,2002:map", data.items(), flow_style=False)
+
+
+def _represent_list(dumper, data):
+  flow = all(not isinstance(x, (dict, list)) for x in data) and len(data) <= 8
+  return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=flow)
+
+
+_BlockDumper.add_representer(dict, _represent_dict)
+_BlockDumper.add_representer(list, _represent_list)
+
+
+def _dump_yaml(data) -> str:
+  return yaml.dump(data, Dumper=_BlockDumper, sort_keys=False, allow_unicode=True, width=120)
+
+
+# Item field order in per-page YAML (mirrors settings_ui.json conventions).
+_ITEM_ORDER = [
+  "key",
+  "widget",
+  "needs_onroad_cycle",
+  "requires_attestation",
+  "blocked",
+  "title",
+  "description",
+  "details",
+  "title_param_suffix",
+  "min",
+  "max",
+  "step",
+  "unit",
+  "options",
+  "visibility",
+  "enablement",
+  "sub_items",
+]
+
+
+def _ordered_item(item: dict) -> dict:
+  out: dict = {}
+  for k in _ITEM_ORDER:
+    if k in item:
+      v = item[k]
+      if k == "sub_items":
+        v = [_ordered_item(s) for s in v]
+      out[k] = v
+  for k, v in item.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _ordered_section(section: dict) -> dict:
+  out: dict = {"id": section["id"], "title": section["title"]}
+  for f in ("description", "order", "visibility", "enablement", "attestation_required"):
+    if f in section:
+      out[f] = section[f]
+  if "items" in section:
+    out["items"] = [_ordered_item(i) for i in section["items"]]
+  if "sub_panels" in section and section["sub_panels"]:
+    out["sub_panels"] = [_ordered_sub_panel(sp) for sp in section["sub_panels"]]
+  for k, v in section.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _ordered_sub_panel(sp: dict) -> dict:
+  out: dict = {"id": sp["id"], "label": sp["label"], "trigger_key": sp["trigger_key"]}
+  if "trigger_condition" in sp:
+    out["trigger_condition"] = sp["trigger_condition"]
+  if "items" in sp:
+    out["items"] = [_ordered_item(i) for i in sp["items"]]
+  for k, v in sp.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _ordered_page(panel: dict) -> dict:
+  out: dict = {
+    "id": panel["id"],
+    "label": panel["label"],
+    "icon": panel["icon"],
+    "order": panel["order"],
+  }
+  for f in ("remote_configurable", "description"):
+    if f in panel:
+      out[f] = panel[f]
+  if "sections" in panel and panel["sections"]:
+    out["sections"] = [_ordered_section(s) for s in panel["sections"]]
+  if "items" in panel and panel["items"]:
+    out["items"] = [_ordered_item(i) for i in panel["items"]]
+  if "sub_panels" in panel and panel["sub_panels"]:
+    out["sub_panels"] = [_ordered_sub_panel(sp) for sp in panel["sub_panels"]]
+  for k, v in panel.items():
+    if k not in out:
+      out[k] = v
+  return out
+
+
+def _ordered_vehicle_page(vehicle_settings: dict) -> dict:
+  """Convert wire-format vehicle_settings dict into a page-shape YAML.
+
+  Brand becomes a section id. Each brand's items become section items.
+  """
+  sections = []
+  for brand in sorted(vehicle_settings.keys()):
+    bd = vehicle_settings[brand]
+    items = bd.get("items", []) if isinstance(bd, dict) else bd
+    sec: dict = {
+      "id": brand,
+      "title": bd.get("title", "") if isinstance(bd, dict) else "",
+    }
+    if isinstance(bd, dict) and "description" in bd:
+      sec["description"] = bd["description"]
+    sec["items"] = [_ordered_item(i) for i in items]
+    sections.append(sec)
+  return {
+    "id": "vehicle",
+    "label": "Vehicle",
+    "icon": "vehicle",
+    "order": 99,
+    "kind": "vehicle",  # signals to compiler: emit as vehicle_settings, not panels
+    "sections": sections,
+  }
+
+
+def extract(definition_path: str, src_dir: str) -> None:
+  with open(definition_path) as f:
+    data = json.load(f)
+
+  pages_dir = os.path.join(src_dir, "pages")
+  if os.path.isdir(pages_dir):
+    shutil.rmtree(pages_dir)
+  os.makedirs(pages_dir)
+
+  count = 0
+  for panel in data.get("panels", []):
+    page = _ordered_page(panel)
+    path = os.path.join(pages_dir, f"{panel['id']}.yaml")
+    with open(path, "w") as f:
+      f.write(f"# Page: {panel['id']}\n")
+      f.write("# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.\n")
+      f.write(_dump_yaml(page))
+    count += 1
+
+  vehicle_settings = data.get("vehicle_settings", {})
+  if vehicle_settings:
+    vehicle_page = _ordered_vehicle_page(vehicle_settings)
+    path = os.path.join(pages_dir, "vehicle.yaml")
+    with open(path, "w") as f:
+      f.write("# Page: vehicle (per-brand settings)\n")
+      f.write("# Compiles to settings_ui.json#vehicle_settings (brand = section id).\n")
+      f.write(_dump_yaml(vehicle_page))
+    count += 1
+
+  # Ensure _macros.yaml exists
+  macros_path = os.path.join(src_dir, "_macros.yaml")
+  if not os.path.exists(macros_path):
+    with open(macros_path, "w") as f:
+      f.write("# Named rule fragments. Reference from pages via {$ref: \"#/macros/<name>\"}.\n")
+      f.write(_dump_yaml({"macros": {}}))
+
+  print(f"Extracted: {count} pages -> {pages_dir}")
+
+
+def _main() -> int:
+  parser = argparse.ArgumentParser(description="Extract settings_ui.json into per-page YAML files.")
+  parser.add_argument("--definition", default=DEFAULT_DEFINITION, help="path to settings_ui.json")
+  parser.add_argument("--src", default=DEFAULT_SRC, help="path to settings_ui_src/ output dir")
+  args = parser.parse_args()
+  extract(args.definition, args.src)
+  return 0
+
+
+if __name__ == "__main__":
+  sys.exit(_main())
diff --git a/openpilot/sunnypilot/sunnylink/tools/generate_settings_schema.py b/openpilot/sunnypilot/sunnylink/tools/generate_settings_schema.py
new file mode 100755
index 0000000000..5ace2a8087
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tools/generate_settings_schema.py
@@ -0,0 +1,194 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from __future__ import annotations
+
+import base64
+import datetime
+import gzip
+import json
+import os
+from collections.abc import Callable
+
+from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS, CAPABILITY_LABELS
+
+SCHEMA_VERSION = "1.0"
+_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+DEFINITION_PATH = os.path.join(_DIR, "settings_ui.json")
+TORQUE_VERSIONS_PATH = os.path.normpath(
+  os.path.join(_DIR, "..", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+)
+
+
+def _load_torque_versions() -> dict:
+  """Load latcontrol_torque_versions.json so TorqueControlTune options stay in sync."""
+  try:
+    with open(TORQUE_VERSIONS_PATH) as f:
+      return json.load(f)
+  except (FileNotFoundError, json.JSONDecodeError):
+    return {}
+
+
+def _build_torque_options(versions: dict) -> list[dict]:
+  options: list[dict] = [{"value": "", "label": "Default"}]
+  parsed: list[tuple[float, str]] = []
+  for label, info in versions.items():
+    try:
+      parsed.append((float(info["version"]), label))
+    except (KeyError, TypeError, ValueError):
+      continue
+  for version, label in sorted(parsed, key=lambda kv: kv[0], reverse=True):
+    options.append({"value": version, "label": label})
+  return options
+
+
+def _inject_dynamic_options(schema: dict) -> None:
+  versions = _load_torque_versions()
+  if not versions:
+    return
+  options = _build_torque_options(versions)
+
+  def visitor(item: dict) -> None:
+    if item.get("key") == "TorqueControlTune":
+      item["options"] = options
+
+  _walk_all_items(schema, visitor)
+
+
+def _load_definition() -> dict:
+  """Load settings_ui.json and inject dynamic options sourced from runtime data files."""
+  with open(DEFINITION_PATH) as f:
+    schema = json.load(f)
+  _inject_dynamic_options(schema)
+  return schema
+
+
+# Public API
+def generate_schema() -> dict:
+  """Return the settings_ui.json content augmented with runtime metadata.
+
+  Adds three top-level fields the frontend consumes:
+    - generated_at: ISO timestamp (drives schema-cache freshness checks)
+    - capability_fields: declared CAPABILITY_FIELDS, used for rule validation
+    - capability_labels: human-readable labels for capability_fields
+  """
+  schema = _load_definition()
+  schema["generated_at"] = datetime.datetime.now(datetime.UTC).isoformat()
+  schema["capability_fields"] = list(CAPABILITY_FIELDS)
+  schema["capability_labels"] = dict(CAPABILITY_LABELS)
+  return schema
+
+
+def generate_schema_json() -> str:
+  """Generate SettingsSchema as a compact JSON string."""
+  return json.dumps(generate_schema(), separators=(",", ":"))
+
+
+def generate_schema_compressed() -> str:
+  """Generate SettingsSchema as gzip-compressed, base64-encoded string.
+
+  Compression pipeline:
+    1. JSON serialize (compact, no whitespace)
+    2. UTF-8 encode
+    3. gzip compress
+    4. base64 encode
+  """
+  raw = json.dumps(generate_schema(), separators=(",", ":")).encode("utf-8")
+  return base64.b64encode(gzip.compress(raw)).decode("utf-8")
+
+
+# Schema introspection utilities
+def _walk_rules(rules: list[dict] | None, visitor: Callable[[dict], None]) -> None:
+  """Recursively walk all rules, calling visitor on each leaf rule."""
+  if not rules:
+    return
+  for rule in rules:
+    visitor(rule)
+    if rule.get("type") == "not" and "condition" in rule:
+      _walk_rules([rule["condition"]], visitor)
+    elif rule.get("type") in ("any", "all") and "conditions" in rule:
+      _walk_rules(rule["conditions"], visitor)
+
+
+def _walk_all_items(schema: dict, visitor: Callable[[dict], None]) -> None:
+  """Walk every item in the schema (panels, sections, sub_panels, sub_items, vehicle_settings)."""
+  def _visit_item(item: dict) -> None:
+    visitor(item)
+    for sub in item.get("sub_items", []):
+      _visit_item(sub)
+
+  for panel in schema.get("panels", []):
+    # Walk section items (V2)
+    for section in panel.get("sections", []):
+      for item in section.get("items", []):
+        _visit_item(item)
+      for sp in section.get("sub_panels", []):
+        for item in sp.get("items", []):
+          _visit_item(item)
+
+    # Walk flat items (V1)
+    for item in panel.get("items", []):
+      _visit_item(item)
+    for sp in panel.get("sub_panels", []):
+      for item in sp.get("items", []):
+        _visit_item(item)
+
+  for brand_data in schema.get("vehicle_settings", {}).values():
+    items = brand_data.get("items", []) if isinstance(brand_data, dict) else brand_data
+    for item in items:
+      _visit_item(item)
+
+
+def collect_all_keys(schema: dict) -> set[str]:
+  """Collect all param keys referenced in the schema (items + rules)."""
+  keys: set[str] = set()
+
+  def _visit_rule(rule: dict) -> None:
+    if rule.get("type") in ("param", "param_compare") and "key" in rule:
+      keys.add(rule["key"])
+
+  def _visit_item(item: dict) -> None:
+    if "key" in item:
+      keys.add(item["key"])
+    _walk_rules(item.get("visibility"), _visit_rule)
+    _walk_rules(item.get("enablement"), _visit_rule)
+
+  _walk_all_items(schema, _visit_item)
+  return keys
+
+
+def collect_capability_refs(schema: dict) -> set[str]:
+  """Collect all capability field names referenced in rules."""
+  refs: set[str] = set()
+
+  def _visit_rule(rule: dict) -> None:
+    if rule.get("type") == "capability" and "field" in rule:
+      refs.add(rule["field"])
+
+  def _visit_item(item: dict) -> None:
+    _walk_rules(item.get("visibility"), _visit_rule)
+    _walk_rules(item.get("enablement"), _visit_rule)
+
+  _walk_all_items(schema, _visit_item)
+  return refs
+
+
+if __name__ == "__main__":
+  # CLI: print schema for inspection
+  schema = generate_schema()
+  print(json.dumps(schema, indent=2))
+  print(f"\nTotal panels: {len(schema.get('panels', []))}")
+  print(f"Total vehicle brands: {len(schema.get('vehicle_settings', {}))}")
+  keys = collect_all_keys(schema)
+  print(f"Total unique param keys: {len(keys)}")
+
+  # Show compression stats
+  raw_json = json.dumps(schema, separators=(",", ":")).encode("utf-8")
+  compressed = gzip.compress(raw_json)
+  print(f"\nRaw JSON size: {len(raw_json):,} bytes")
+  print(f"Compressed size: {len(compressed):,} bytes")
+  print(f"Compression ratio: {len(compressed)/len(raw_json):.1%}")
diff --git a/openpilot/sunnypilot/sunnylink/tools/validate_settings_ui.py b/openpilot/sunnypilot/sunnylink/tools/validate_settings_ui.py
new file mode 100755
index 0000000000..a7bfe7cf67
--- /dev/null
+++ b/openpilot/sunnypilot/sunnylink/tools/validate_settings_ui.py
@@ -0,0 +1,530 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Validates settings_ui.json against structural, semantic, and referential integrity constraints.
+
+Usage:
+  python validate_settings_ui.py
+  python validate_settings_ui.py /path/to/settings_ui.json
+"""
+from __future__ import annotations
+
+import json
+import os
+import sys
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', '..', '..'))
+
+from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS
+
+VALID_WIDGETS = {"toggle", "option", "multiple_button", "button", "info"}
+VALID_COMPARE_OPS = {">", "<", ">=", "<="}
+
+DEFAULT_PATH = os.path.join(
+  os.path.dirname(os.path.dirname(os.path.abspath(__file__))),
+  "settings_ui.json",
+)
+
+
+class ValidationResult:
+  """Tracks pass/fail for each named check."""
+
+  def __init__(self) -> None:
+    self.passed: list[str] = []
+    self.failed: list[tuple[str, str]] = []
+    self.warnings: list[str] = []
+
+  def ok(self, name: str) -> None:
+    self.passed.append(name)
+    print(f"OK: {name}")
+
+  def error(self, name: str, details: str) -> None:
+    self.failed.append((name, details))
+    print(f"ERROR: {name}: {details}")
+
+  def warn(self, msg: str) -> None:
+    self.warnings.append(msg)
+    print(f"WARNING: {msg}")
+
+  @property
+  def success(self) -> bool:
+    return len(self.failed) == 0
+
+  def summary(self) -> None:
+    total_passed = len(self.passed)
+    total_failed = len(self.failed)
+    print(f"\n{'='*60}")
+    print(f"Summary: {total_passed} checks passed, {total_failed} checks failed")
+    if self.warnings:
+      print(f"         {len(self.warnings)} warnings")
+    if self.success:
+      print("Result: PASS")
+    else:
+      print("Result: FAIL")
+
+
+def validate_rule(rule: dict, path: str, result: ValidationResult,
+                  capability_fields: tuple[str, ...]) -> bool:
+  """Validate a single rule dict. Returns True if valid."""
+  if not isinstance(rule, dict):
+    result.error("rule well-formedness", f"{path}: rule is not a dict: {rule!r}")
+    return False
+
+  rule_type = rule.get("type")
+  if rule_type is None:
+    result.error("rule well-formedness", f"{path}: rule missing 'type' field")
+    return False
+
+  if rule_type in ("offroad_only", "not_engaged"):
+    # Only type required
+    return True
+
+  if rule_type == "capability":
+    valid = True
+    if "field" not in rule or not isinstance(rule["field"], str):
+      result.error("rule well-formedness", f"{path}: capability rule missing/invalid 'field'")
+      valid = False
+    if "equals" not in rule:
+      result.error("rule well-formedness", f"{path}: capability rule missing 'equals'")
+      valid = False
+    return valid
+
+  if rule_type == "param":
+    valid = True
+    if "key" not in rule or not isinstance(rule["key"], str):
+      result.error("rule well-formedness", f"{path}: param rule missing/invalid 'key'")
+      valid = False
+    if "equals" not in rule:
+      result.error("rule well-formedness", f"{path}: param rule missing 'equals'")
+      valid = False
+    return valid
+
+  if rule_type == "param_compare":
+    valid = True
+    if "key" not in rule or not isinstance(rule["key"], str):
+      result.error("rule well-formedness", f"{path}: param_compare rule missing/invalid 'key'")
+      valid = False
+    if "op" not in rule or rule["op"] not in VALID_COMPARE_OPS:
+      result.error("rule well-formedness",
+                    f"{path}: param_compare rule missing/invalid 'op' (must be one of {VALID_COMPARE_OPS})")
+      valid = False
+    if "value" not in rule or not isinstance(rule["value"], (int, float)):
+      result.error("rule well-formedness", f"{path}: param_compare rule missing/invalid 'value' (must be number)")
+      valid = False
+    return valid
+
+  if rule_type == "not":
+    if "condition" not in rule or not isinstance(rule["condition"], dict):
+      result.error("rule well-formedness", f"{path}: 'not' rule missing/invalid 'condition'")
+      return False
+    return validate_rule(rule["condition"], f"{path}.not", result, capability_fields)
+
+  if rule_type in ("any", "all"):
+    if "conditions" not in rule or not isinstance(rule["conditions"], list):
+      result.error("rule well-formedness", f"{path}: '{rule_type}' rule missing/invalid 'conditions' array")
+      return False
+    valid = True
+    for i, cond in enumerate(rule["conditions"]):
+      if not isinstance(cond, dict):
+        result.error("rule well-formedness", f"{path}.{rule_type}[{i}]: condition must be a dict")
+        valid = False
+        continue
+      if not validate_rule(cond, f"{path}.{rule_type}[{i}]", result, capability_fields):
+        valid = False
+    return valid
+
+  result.error("rule well-formedness", f"{path}: unknown rule type '{rule_type}'")
+  return False
+
+
+def collect_rules_from_item(item: dict) -> list[tuple[str, list[dict]]]:
+  """Return list of (context, rules_list) for an item's visibility + enablement."""
+  result = []
+  key = item.get("key", "?")
+  if "visibility" in item:
+    result.append((f"item '{key}' visibility", item["visibility"]))
+  if "enablement" in item:
+    result.append((f"item '{key}' enablement", item["enablement"]))
+  return result
+
+
+def walk_rules_flat(rules: list[dict]) -> list[dict]:
+  """Flatten all rules recursively into a single list."""
+  flat: list[dict] = []
+  for rule in rules:
+    flat.append(rule)
+    if rule.get("type") == "not" and "condition" in rule:
+      flat.extend(walk_rules_flat([rule["condition"]]))
+    elif rule.get("type") in ("any", "all") and "conditions" in rule:
+      flat.extend(walk_rules_flat(rule["conditions"]))
+  return flat
+
+
+def collect_all_items(data: dict) -> list[tuple[str, dict]]:
+  """Collect all items with their location path from the schema.
+
+  Returns (path, item_dict) tuples. Traverses sections, sub_panels, sub_items,
+  and vehicle_settings.
+  """
+  items: list[tuple[str, dict]] = []
+
+  for panel in data.get("panels", []):
+    pid = panel.get("id", "?")
+
+    # Flat items on panel
+    for item in panel.get("items", []):
+      _collect_item(f"panel '{pid}'", item, items)
+
+    # Sections
+    for section in panel.get("sections", []):
+      sid = section.get("id", "?")
+      for item in section.get("items", []):
+        _collect_item(f"panel '{pid}' > section '{sid}'", item, items)
+      for sp in section.get("sub_panels", []):
+        spid = sp.get("id", "?")
+        for item in sp.get("items", []):
+          _collect_item(f"panel '{pid}' > section '{sid}' > sub_panel '{spid}'", item, items)
+
+    # Top-level sub_panels on panel (no section)
+    for sp in panel.get("sub_panels", []):
+      spid = sp.get("id", "?")
+      for item in sp.get("items", []):
+        _collect_item(f"panel '{pid}' > sub_panel '{spid}'", item, items)
+
+  # Vehicle settings (supports both flat list and { title, items } structure)
+  for brand, brand_data in data.get("vehicle_settings", {}).items():
+    brand_items = brand_data.get("items", []) if isinstance(brand_data, dict) else brand_data
+    for item in brand_items:
+      _collect_item(f"vehicle_settings '{brand}'", item, items)
+
+  return items
+
+
+def _collect_item(path: str, item: dict, items: list[tuple[str, dict]]) -> None:
+  """Recursively collect an item and its sub_items."""
+  items.append((path, item))
+  for sub in item.get("sub_items", []):
+    _collect_item(f"{path} > sub_item", sub, items)
+
+
+def collect_panel_keys(panel: dict) -> set[str]:
+  """Collect all item keys within a single panel (sections, sub_panels, sub_items)."""
+  keys: set[str] = set()
+
+  def _add(item: dict) -> None:
+    if "key" in item:
+      keys.add(item["key"])
+    for sub in item.get("sub_items", []):
+      _add(sub)
+
+  for item in panel.get("items", []):
+    _add(item)
+  for section in panel.get("sections", []):
+    for item in section.get("items", []):
+      _add(item)
+    for sp in section.get("sub_panels", []):
+      for item in sp.get("items", []):
+        _add(item)
+  for sp in panel.get("sub_panels", []):
+    for item in sp.get("items", []):
+      _add(item)
+
+  return keys
+
+
+def check_json_parseable(path: str, result: ValidationResult) -> dict | None:
+  """Check 1: JSON parseable."""
+  try:
+    with open(path) as f:
+      data = json.load(f)
+    result.ok("JSON parseable")
+    return data
+  except json.JSONDecodeError as e:
+    result.error("JSON parseable", str(e))
+    return None
+  except FileNotFoundError:
+    result.error("JSON parseable", f"file not found: {path}")
+    return None
+
+
+def check_structural(data: dict, result: ValidationResult) -> None:
+  """Check 2: Required fields on panels, sections, items, sub_panels."""
+  errors: list[str] = []
+
+  for i, panel in enumerate(data.get("panels", [])):
+    for field in ("id", "label", "icon", "order"):
+      if field not in panel:
+        errors.append(f"panels[{i}]: missing required field '{field}'")
+
+    for j, section in enumerate(panel.get("sections", [])):
+      for field in ("id", "title"):
+        if field not in section:
+          errors.append(f"panels[{i}].sections[{j}]: missing required field '{field}'")
+
+      for k, sp in enumerate(section.get("sub_panels", [])):
+        for field in ("id", "label", "trigger_key"):
+          if field not in sp:
+            errors.append(f"panels[{i}].sections[{j}].sub_panels[{k}]: missing required field '{field}'")
+
+    for k, sp in enumerate(panel.get("sub_panels", [])):
+      for field in ("id", "label", "trigger_key"):
+        if field not in sp:
+          errors.append(f"panels[{i}].sub_panels[{k}]: missing required field '{field}'")
+
+  # Validate items
+  all_items = collect_all_items(data)
+  for path, item in all_items:
+    if "key" not in item:
+      errors.append(f"{path}: item missing required field 'key'")
+    if "widget" not in item:
+      errors.append(f"{path}: item missing required field 'widget'")
+    elif item["widget"] not in VALID_WIDGETS:
+      errors.append(
+        f"{path}: item '{item.get('key', '?')}' has invalid widget '{item['widget']}'"
+        + f" (must be one of {VALID_WIDGETS})"
+      )
+
+  if errors:
+    result.error("structural", "; ".join(errors))
+  else:
+    result.ok("structural")
+
+
+def check_item_completeness(data: dict, result: ValidationResult) -> None:
+  """Check 3: All items have required metadata (title, options for dropdowns)."""
+  all_items = collect_all_items(data)
+  issues: list[str] = []
+
+  for _path, item in all_items:
+    key = item.get("key", "unknown")
+    if "title" not in item:
+      issues.append(f"{key}: missing 'title'")
+    elif item["title"] == key:
+      issues.append(f"{key}: title must not equal key (use a human-readable title)")
+    widget = item.get("widget")
+    if widget in ("multiple_button", "option") and "options" in item:
+      opts = item["options"]
+      if not isinstance(opts, list):
+        issues.append(f"{key}: options must be a list")
+      else:
+        for opt in opts:
+          if not isinstance(opt, dict) or "value" not in opt or "label" not in opt:
+            issues.append(f"{key}: each option must have 'value' and 'label'")
+            break
+
+  if issues:
+    for issue in issues:
+      result.error("item completeness", issue)
+  else:
+    result.ok("item completeness")
+
+
+def check_no_duplicate_keys(data: dict, result: ValidationResult) -> None:
+  """Check 4: No param key appears in more than one panel."""
+  panel_keys: dict[str, list[str]] = {}  # key -> list of panel ids
+
+  for panel in data.get("panels", []):
+    pid = panel.get("id", "?")
+    keys = collect_panel_keys(panel)
+    for key in keys:
+      panel_keys.setdefault(key, []).append(pid)
+
+  # Also check vehicle_settings keys don't collide with panel keys
+  for brand, brand_data in data.get("vehicle_settings", {}).items():
+    brand_items = brand_data.get("items", []) if isinstance(brand_data, dict) else brand_data
+    for item in brand_items:
+      key = item.get("key")
+      if key:
+        panel_keys.setdefault(key, []).append(f"vehicle_settings.{brand}")
+
+  duplicates = {k: v for k, v in panel_keys.items() if len(v) > 1}
+  if duplicates:
+    details = "; ".join(f"'{k}' in [{', '.join(v)}]" for k, v in duplicates.items())
+    result.error("no duplicate keys", details)
+  else:
+    result.ok("no duplicate keys")
+
+
+def check_rule_wellformedness(data: dict, result: ValidationResult) -> None:
+  """Check 5: All rules have valid structure."""
+  all_items = collect_all_items(data)
+
+  # Save current error count to detect new errors
+  error_count_before = len(result.failed)
+
+  for path, item in all_items:
+    for ctx, rules in collect_rules_from_item(item):
+      for i, rule in enumerate(rules):
+        validate_rule(rule, f"{path} > {ctx}[{i}]", result, CAPABILITY_FIELDS)
+
+  # Also validate trigger_condition rules on sub_panels
+  for panel in data.get("panels", []):
+    pid = panel.get("id", "?")
+    for section in panel.get("sections", []):
+      for sp in section.get("sub_panels", []):
+        if "trigger_condition" in sp:
+          validate_rule(sp["trigger_condition"], f"panel '{pid}' > sub_panel '{sp.get('id', '?')}' trigger_condition",
+                        result, CAPABILITY_FIELDS)
+
+  if len(result.failed) == error_count_before:
+    result.ok("rule well-formedness")
+
+
+def check_capability_refs(data: dict, result: ValidationResult) -> None:
+  """Check 6: All capability rule field values are in CAPABILITY_FIELDS."""
+  all_items = collect_all_items(data)
+  invalid_refs: list[str] = []
+  cap_set = set(CAPABILITY_FIELDS)
+
+  for _path, item in all_items:
+    for _ctx, rules in collect_rules_from_item(item):
+      for rule in walk_rules_flat(rules):
+        if rule.get("type") == "capability":
+          field = rule.get("field")
+          if field and field not in cap_set:
+            invalid_refs.append(f"'{field}' in item '{item.get('key', '?')}'")
+
+  # Also check trigger_conditions
+  for panel in data.get("panels", []):
+    for section in panel.get("sections", []):
+      for sp in section.get("sub_panels", []):
+        if "trigger_condition" in sp:
+          for rule in walk_rules_flat([sp["trigger_condition"]]):
+            if rule.get("type") == "capability":
+              field = rule.get("field")
+              if field and field not in cap_set:
+                invalid_refs.append(f"'{field}' in sub_panel '{sp.get('id', '?')}' trigger_condition")
+
+  if invalid_refs:
+    result.error("capability refs", f"unknown capability fields: {', '.join(invalid_refs)}")
+  else:
+    result.ok("capability refs")
+
+
+def check_no_self_reference(data: dict, result: ValidationResult) -> None:
+  """Check 7: Item's rules must not reference the item's own key."""
+  all_items = collect_all_items(data)
+  self_refs: list[str] = []
+
+  for path, item in all_items:
+    key = item.get("key")
+    if not key:
+      continue
+    for _ctx, rules in collect_rules_from_item(item):
+      for rule in walk_rules_flat(rules):
+        if rule.get("type") in ("param", "param_compare") and rule.get("key") == key:
+          self_refs.append(f"'{key}' at {path}")
+
+  if self_refs:
+    result.error("no self-reference", f"items reference their own key: {', '.join(self_refs)}")
+  else:
+    result.ok("no self-reference")
+
+
+def check_sub_panel_triggers(data: dict, result: ValidationResult) -> None:
+  """Check 8: Sub-panel trigger_key must reference a key in the same panel."""
+  errors: list[str] = []
+
+  for panel in data.get("panels", []):
+    pid = panel.get("id", "?")
+    panel_keys = collect_panel_keys(panel)
+
+    # Check sub_panels at section level
+    for section in panel.get("sections", []):
+      for sp in section.get("sub_panels", []):
+        trigger = sp.get("trigger_key")
+        if trigger and trigger not in panel_keys:
+          errors.append(
+            f"sub_panel '{sp.get('id', '?')}' trigger_key '{trigger}'"
+            + f" not found in panel '{pid}'"
+          )
+
+    # Check top-level sub_panels
+    for sp in panel.get("sub_panels", []):
+      trigger = sp.get("trigger_key")
+      if trigger and trigger not in panel_keys:
+        errors.append(
+          f"sub_panel '{sp.get('id', '?')}' trigger_key '{trigger}'"
+          + f" not found in panel '{pid}'"
+        )
+
+  if errors:
+    result.error("sub-panel triggers", "; ".join(errors))
+  else:
+    result.ok("sub-panel triggers")
+
+
+def check_ordering(data: dict, result: ValidationResult) -> None:
+  """Check 9: Panel order values must be unique."""
+  orders: dict[int, list[str]] = {}
+  for panel in data.get("panels", []):
+    order = panel.get("order")
+    if order is not None:
+      orders.setdefault(order, []).append(panel.get("id", "?"))
+
+  duplicates = {o: ids for o, ids in orders.items() if len(ids) > 1}
+  if duplicates:
+    details = "; ".join(f"order {o}: [{', '.join(ids)}]" for o, ids in duplicates.items())
+    result.error("ordering", f"duplicate order values: {details}")
+  else:
+    result.ok("ordering")
+
+
+def check_vehicle_brands(data: dict, result: ValidationResult) -> None:
+  """Check 10: Vehicle settings keys lowercase + each brand has consistent {title, description, items} shape."""
+  vehicle = data.get("vehicle_settings", {})
+  errors: list[str] = []
+
+  for brand, brand_data in vehicle.items():
+    if not isinstance(brand, str) or brand != brand.lower():
+      errors.append(f"non-lowercase brand key: '{brand}'")
+    if not isinstance(brand_data, dict):
+      errors.append(f"brand '{brand}': expected object with {{title, description, items}}, got bare list")
+      continue
+    if "items" not in brand_data:
+      errors.append(f"brand '{brand}': missing 'items'")
+    if "title" not in brand_data:
+      errors.append(f"brand '{brand}': missing 'title' (use empty string for none)")
+
+  if errors:
+    result.error("vehicle brands", "; ".join(errors))
+  else:
+    result.ok("vehicle brands")
+
+
+def validate(path: str) -> bool:
+  """Run all validation checks on the given settings_ui.json file.
+
+  Returns True if all checks pass.
+  """
+  result = ValidationResult()
+
+  # Check 1: JSON parseable
+  data = check_json_parseable(path, result)
+  if data is None:
+    result.summary()
+    return False
+
+  # Checks 2-10
+  check_structural(data, result)
+  check_item_completeness(data, result)
+  check_no_duplicate_keys(data, result)
+  check_rule_wellformedness(data, result)
+  check_capability_refs(data, result)
+  check_no_self_reference(data, result)
+  check_sub_panel_triggers(data, result)
+  check_ordering(data, result)
+  check_vehicle_brands(data, result)
+
+  result.summary()
+  return result.success
+
+
+if __name__ == "__main__":
+  target = sys.argv[1] if len(sys.argv) > 1 else DEFAULT_PATH
+  success = validate(target)
+  sys.exit(0 if success else 1)
diff --git a/sunnypilot/sunnylink/uploader.py b/openpilot/sunnypilot/sunnylink/uploader.py
similarity index 98%
rename from sunnypilot/sunnylink/uploader.py
rename to openpilot/sunnypilot/sunnylink/uploader.py
index 0b7eb78edb..358e3a88e7 100755
--- a/sunnypilot/sunnylink/uploader.py
+++ b/openpilot/sunnypilot/sunnylink/uploader.py
@@ -9,13 +9,13 @@ import traceback
 import datetime
 from collections.abc import Iterator
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.common.utils import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 
diff --git a/sunnypilot/sunnylink/utils.py b/openpilot/sunnypilot/sunnylink/utils.py
similarity index 90%
rename from sunnypilot/sunnylink/utils.py
rename to openpilot/sunnypilot/sunnylink/utils.py
index f4f14f7e81..59b2d15c12 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/openpilot/sunnypilot/sunnylink/utils.py
@@ -3,7 +3,7 @@ import gzip
 import json
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.common.params import Params, ParamKeyType
-from openpilot.system.version import is_prebuilt
+from openpilot.common.version import is_prebuilt
 
 
 def get_sunnylink_status(params=None) -> tuple[bool, bool, bool]:
@@ -52,7 +52,7 @@ def register_sunnylink():
     sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
     print(f"SunnyLinkId: {sunnylink_id}")
   except Exception:
-    Params().put_bool("SunnylinkTempFault", True)
+    Params().put_bool("SunnylinkTempFault", True, block=True)
     raise
 
 
@@ -98,7 +98,7 @@ def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data:
 
   # We convert to string anything that isn't bytes first. We later transform further.
   param_value = _convert_param_to_type(value, param_type)
-  params.put(param_name, param_value)
+  params.put(param_name, param_value, block=True)
 
 
 def _convert_param_to_type(value: bytes, param_type: ParamKeyType) -> bytes | str | int | float | bool | dict | None:
@@ -108,20 +108,22 @@ def _convert_param_to_type(value: bytes, param_type: ParamKeyType) -> bytes | st
   """
 
   # We convert to string anything that isn't bytes first. We later transform further.
-  if param_type != ParamKeyType.BYTES:
-    value = value.decode('utf-8')
+  if param_type == ParamKeyType.BYTES:
+    return value
+
+  decoded = value.decode('utf-8')
 
   if param_type == ParamKeyType.STRING:
-    value = value
+    return decoded
   elif param_type == ParamKeyType.BOOL:
-    value = value.lower() in ('true', '1', 'yes')
+    return decoded.lower() in ('true', '1', 'yes')
   elif param_type == ParamKeyType.INT:
-    value = int(value)
+    return int(decoded)
   elif param_type == ParamKeyType.FLOAT:
-    value = float(value)
+    return float(decoded)
   elif param_type == ParamKeyType.TIME:
-    value = str(value)
+    return str(decoded)
   elif param_type == ParamKeyType.JSON:
-    value = json.loads(value)
+    return json.loads(decoded)
 
-  return value
+  return decoded
diff --git a/sunnypilot/sunnylink/backups/__init__.py b/openpilot/sunnypilot/system/__init__.py
similarity index 100%
rename from sunnypilot/sunnylink/backups/__init__.py
rename to openpilot/sunnypilot/system/__init__.py
diff --git a/openpilot/sunnypilot/system/params_migration.py b/openpilot/sunnypilot/system/params_migration.py
new file mode 100644
index 0000000000..130fd64310
--- /dev/null
+++ b/openpilot/sunnypilot/system/params_migration.py
@@ -0,0 +1,122 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import CAR_LIST_JSON_OUT
+
+ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
+ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0"
+
+# index → seconds mapping for OnroadScreenOffTimer (SSoT)
+ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 3, 1: 5, 2: 7, 3: 10, 4: 15, 5: 30, **{i: (i - 5) * 60 for i in range(6, 16)}}
+VALID_TIMER_VALUES = set(ONROAD_BRIGHTNESS_TIMER_VALUES.values())
+
+
+def _resolve_brand(_params) -> str:
+  bundle = _params.get("CarPlatformBundle")
+  if isinstance(bundle, dict) and bundle.get("brand"):
+    return str(bundle["brand"])
+
+  # Auto-fingerprinted cars have no bundle, fall back to the last known CarParams.
+  CP_bytes = _params.get("CarParamsPersistent")
+  if CP_bytes is None:
+    return ""
+
+  # Never raises: callers rely on "" to mean "brand unknown, skip the migration".
+  try:
+    from openpilot.cereal import messaging  # lazy: avoids heavy import at module level
+    from opendbc.car.structs import car
+    return str(messaging.log_from_bytes(CP_bytes, car.CarParams).brand)
+  except Exception as e:
+    cloudlog.exception(f"params_migration: failed to resolve brand from CarParamsPersistent: {e}")
+    return ""
+
+
+def _migrate_car_platform_bundle(_params):
+  bundle = _params.get("CarPlatformBundle")
+  if bundle is None:
+    return
+
+  old_platform = bundle.get("platform")
+  if not old_platform:
+    return
+
+  from opendbc.car.fingerprints import MIGRATION  # lazy: avoids heavy import at module level
+  if old_platform not in MIGRATION:
+    return
+
+  new_platform = str(MIGRATION[old_platform])
+
+  with open(CAR_LIST_JSON_OUT) as f:
+    car_list = json.load(f)
+
+  candidates = [(k, v) for k, v in car_list.items() if v.get("platform") == new_platform]
+  if candidates:
+    old_model = bundle.get("model")
+    key, data = next(((k, v) for k, v in candidates if v.get("model") == old_model), candidates[0])
+    bundle = {**data, "name": key}
+  else:
+    bundle["platform"] = new_platform
+
+  _params.put("CarPlatformBundle", bundle, block=True)
+  cloudlog.info(f"params_migration: CarPlatformBundle migrated {old_platform!r} -> {new_platform!r}")
+
+
+def _migrate_tesla_mads_screen_button(_params):
+  # TeslaMadsScreenButton defaults to Off for fresh installs, but the screen button was previously always
+  # active on Teslas with a vehicle bus. Seed existing Tesla installs with 3-finger to preserve that.
+  try:
+    if _params.get("TeslaMadsScreenButton") is not None:
+      return
+
+    if _resolve_brand(_params) != "tesla":
+      return
+
+    from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType  # lazy: avoids heavy import at module level
+    _params.put("TeslaMadsScreenButton", MadsScreenButtonType.THREE_FINGER, block=True)
+    cloudlog.info("params_migration: seeded TeslaMadsScreenButton with 3-finger to preserve existing behavior")
+  except Exception as e:
+    cloudlog.exception(f"Error migrating TeslaMadsScreenButton: {e}")
+
+
+def run_migration(_params):
+  # migrate OnroadScreenOffBrightness
+  if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION:
+    try:
+      val = _params.get("OnroadScreenOffBrightness", return_default=True)
+      if val >= 2:  # old: 5%, new: Screen Off
+        new_val = val + 1
+        _params.put("OnroadScreenOffBrightness", new_val, block=True)
+        log_str = f"Successfully migrated OnroadScreenOffBrightness from {val} to {new_val}."
+      else:
+        log_str = "Migration not required for OnroadScreenOffBrightness."
+
+      _params.put("OnroadScreenOffBrightnessMigrated", ONROAD_BRIGHTNESS_MIGRATION_VERSION, block=True)
+      cloudlog.info(log_str + f" Setting OnroadScreenOffBrightnessMigrated to {ONROAD_BRIGHTNESS_MIGRATION_VERSION}")
+    except Exception as e:
+      cloudlog.exception(f"Error migrating OnroadScreenOffBrightness: {e}")
+
+  # migrate OnroadScreenOffTimer
+  if _params.get("OnroadScreenOffTimerMigrated") != ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION:
+    try:
+      val = _params.get("OnroadScreenOffTimer", return_default=True)
+      if val not in VALID_TIMER_VALUES:
+        _params.put("OnroadScreenOffTimer", 15, block=True)
+        log_str = f"Successfully migrated OnroadScreenOffTimer from {val} to 15 (default)."
+      else:
+        log_str = "Migration not required for OnroadScreenOffTimer."
+
+      _params.put("OnroadScreenOffTimerMigrated", ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION, block=True)
+      cloudlog.info(log_str + f" Setting OnroadScreenOffTimerMigrated to {ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION}")
+    except Exception as e:
+      cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}")
+
+  _migrate_car_platform_bundle(_params)
+
+  # seed TeslaMadsScreenButton for existing Tesla installs
+  _migrate_tesla_mads_screen_button(_params)
diff --git a/sunnypilot/system/sensord/.gitignore b/openpilot/sunnypilot/system/sensord/.gitignore
similarity index 100%
rename from sunnypilot/system/sensord/.gitignore
rename to openpilot/sunnypilot/system/sensord/.gitignore
diff --git a/sunnypilot/system/sensord/SConscript b/openpilot/sunnypilot/system/sensord/SConscript
similarity index 100%
rename from sunnypilot/system/sensord/SConscript
rename to openpilot/sunnypilot/system/sensord/SConscript
diff --git a/sunnypilot/system/sensord/sensors/bmx055_accel.cc b/openpilot/sunnypilot/system/sensord/sensors/bmx055_accel.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_accel.cc
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_accel.cc
diff --git a/sunnypilot/system/sensord/sensors/bmx055_accel.h b/openpilot/sunnypilot/system/sensord/sensors/bmx055_accel.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_accel.h
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_accel.h
diff --git a/sunnypilot/system/sensord/sensors/bmx055_gyro.cc b/openpilot/sunnypilot/system/sensord/sensors/bmx055_gyro.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_gyro.cc
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_gyro.cc
diff --git a/sunnypilot/system/sensord/sensors/bmx055_gyro.h b/openpilot/sunnypilot/system/sensord/sensors/bmx055_gyro.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_gyro.h
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_gyro.h
diff --git a/sunnypilot/system/sensord/sensors/bmx055_magn.cc b/openpilot/sunnypilot/system/sensord/sensors/bmx055_magn.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_magn.cc
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_magn.cc
diff --git a/sunnypilot/system/sensord/sensors/bmx055_magn.h b/openpilot/sunnypilot/system/sensord/sensors/bmx055_magn.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_magn.h
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_magn.h
diff --git a/sunnypilot/system/sensord/sensors/bmx055_temp.cc b/openpilot/sunnypilot/system/sensord/sensors/bmx055_temp.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_temp.cc
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_temp.cc
diff --git a/sunnypilot/system/sensord/sensors/bmx055_temp.h b/openpilot/sunnypilot/system/sensord/sensors/bmx055_temp.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/bmx055_temp.h
rename to openpilot/sunnypilot/system/sensord/sensors/bmx055_temp.h
diff --git a/sunnypilot/system/sensord/sensors/constants.h b/openpilot/sunnypilot/system/sensord/sensors/constants.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/constants.h
rename to openpilot/sunnypilot/system/sensord/sensors/constants.h
diff --git a/sunnypilot/system/sensord/sensors/i2c_sensor.cc b/openpilot/sunnypilot/system/sensord/sensors/i2c_sensor.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/i2c_sensor.cc
rename to openpilot/sunnypilot/system/sensord/sensors/i2c_sensor.cc
diff --git a/sunnypilot/system/sensord/sensors/i2c_sensor.h b/openpilot/sunnypilot/system/sensord/sensors/i2c_sensor.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/i2c_sensor.h
rename to openpilot/sunnypilot/system/sensord/sensors/i2c_sensor.h
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
diff --git a/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h b/openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
rename to openpilot/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
diff --git a/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc b/openpilot/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
rename to openpilot/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
diff --git a/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h b/openpilot/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
rename to openpilot/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
diff --git a/sunnypilot/system/sensord/sensors/sensor.h b/openpilot/sunnypilot/system/sensord/sensors/sensor.h
similarity index 100%
rename from sunnypilot/system/sensord/sensors/sensor.h
rename to openpilot/sunnypilot/system/sensord/sensors/sensor.h
diff --git a/sunnypilot/system/sensord/sensors_qcom2.cc b/openpilot/sunnypilot/system/sensord/sensors_qcom2.cc
similarity index 100%
rename from sunnypilot/system/sensord/sensors_qcom2.cc
rename to openpilot/sunnypilot/system/sensord/sensors_qcom2.cc
diff --git a/sunnypilot/system/sensord/tests/test_sensord.py b/openpilot/sunnypilot/system/sensord/tests/test_sensord.py
similarity index 94%
rename from sunnypilot/system/sensord/tests/test_sensord.py
rename to openpilot/sunnypilot/system/sensord/tests/test_sensord.py
index dc5f93d97b..39486fde76 100644
--- a/sunnypilot/system/sensord/tests/test_sensord.py
+++ b/openpilot/sunnypilot/system/sensord/tests/test_sensord.py
@@ -1,16 +1,17 @@
 import os
-import pytest
+import subprocess
 import time
 import numpy as np
 from collections import namedtuple, defaultdict
 
-import cereal.messaging as messaging
-from cereal import log
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.common.test import OpenpilotTestCase
 
 BMX = {
   ('bmx055', 'acceleration'),
@@ -70,7 +71,7 @@ ALL_SENSORS = {
 }
 
 
-def get_irq_count(irq: int):
+def get_irq_count(irq: str):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
     per_cpu = map(int, f.read().split(","))
     return sum(per_cpu)
@@ -102,15 +103,16 @@ def read_sensor_events(duration_sec):
 
   return {k: v for k, v in events.items() if len(v) > 0}
 
-@pytest.mark.tici
-class TestSensord:
+class TestSensord(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
+
   @classmethod
   def setup_class(cls):
     # enable LSM self test
     os.environ["LSM_SELF_TEST"] = "1"
 
     # read initial sensor values every test case can use
-    os.system("pkill -f \\\\./sensord")
+    subprocess.run(["pkill", "-f", r"\\./sensord"], check=False)
     try:
       managed_processes["sensord"].start()
       cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))
@@ -180,7 +182,7 @@ class TestSensord:
   def test_logmonottime_timestamp_diff(self):
     # ensure diff between the message logMonotime and sample timestamp is small
 
-    tdiffs = list()
+    tdiffs = []
     for etype in self.events:
       for measurement in self.events[etype]:
         m = getattr(measurement, measurement.which())
@@ -202,7 +204,7 @@ class TestSensord:
     assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms"
 
   def test_sensor_values(self):
-    sensor_values = dict()
+    sensor_values = {}
     for etype in self.events:
       for measurement in self.events[etype]:
         m = getattr(measurement, measurement.which())
diff --git a/sunnypilot/system/sensord/tests/ttff_test.py b/openpilot/sunnypilot/system/sensord/tests/ttff_test.py
similarity index 96%
rename from sunnypilot/system/sensord/tests/ttff_test.py
rename to openpilot/sunnypilot/system/sensord/tests/ttff_test.py
index a9cc16d707..cc8408055c 100755
--- a/sunnypilot/system/sensord/tests/ttff_test.py
+++ b/openpilot/sunnypilot/system/sensord/tests/ttff_test.py
@@ -3,7 +3,7 @@
 import time
 import atexit
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.system.manager.process_config import managed_processes
 
 TIMEOUT = 10*60
diff --git a/system/statsd.py b/openpilot/sunnypilot/system/statsd.py
similarity index 97%
rename from system/statsd.py
rename to openpilot/sunnypilot/system/statsd.py
index 3a67dd44c2..ff77a5a57f 100755
--- a/system/statsd.py
+++ b/openpilot/sunnypilot/system/statsd.py
@@ -13,12 +13,12 @@ from datetime import datetime, UTC, date
 from typing import NoReturn
 
 from openpilot.common.params import Params
-from cereal.messaging import SubMaster
-from openpilot.system.hardware.hw import Paths
+from openpilot.cereal.messaging import SubMaster
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.utils import atomic_write
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
 
diff --git a/openpilot/sunnypilot/system/updated/tests/test_sp_branch_migrations.py b/openpilot/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
new file mode 100644
index 0000000000..86f82fd9d2
--- /dev/null
+++ b/openpilot/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
@@ -0,0 +1,75 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+
+from openpilot.common.params import Params
+from openpilot.system.updated.updated import Updater
+
+
+class TestBranchMigrations(OpenpilotTestCase):
+  @parameterized.expand([
+    ("tici", "staging-c3-new", "staging-tici"),
+    ("tici", "dev-c3-new", "staging-tici"),
+    ("tici", "master", "master-tici"),
+    ("tici", "master-dev-c3-new", "master-tici"),
+    ("tizi", "staging-c3-new", "staging"),
+    ("tizi", "dev-c3-new", "dev"),
+    ("tizi", "master-dev-c3-new", "master-dev"),
+    ("tizi", "release3", "release-tizi"),
+    ("tizi", "release3-staging", "release-tizi-staging"),
+    ("mici", "release3", "release-mici"),
+    ("mici", "release3-staging", "release-mici-staging"),
+  ], names=["device_type", "branch", "expected"])
+  def test_sp_branch_migrations_from_current_branch(self, mocker, device_type, branch, expected):
+    params = Params()
+    params.remove("UpdaterTargetBranch")
+
+    mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+    mocker.patch.object(Updater, "get_branch", return_value=branch)
+
+    assert Updater().target_branch == expected
+
+
+  @parameterized.expand([
+    ("tici", "staging-c3-new", "staging-tici"),
+    ("tici", "dev-c3-new", "staging-tici"),
+    ("tici", "master", "master-tici"),
+    ("tici", "master-dev-c3-new", "master-tici"),
+    ("tizi", "staging-c3-new", "staging"),
+    ("tizi", "dev-c3-new", "dev"),
+    ("tizi", "master-dev-c3-new", "master-dev"),
+    ("tizi", "release3", "release-tizi"),
+    ("tizi", "release3-staging", "release-tizi-staging"),
+    ("mici", "release3", "release-mici"),
+    ("mici", "release3-staging", "release-mici-staging"),
+  ], names=["device_type", "branch", "expected"])
+  def test_sp_branch_migrations_from_param(self, mocker, device_type, branch, expected):
+    params = Params()
+    params.put("UpdaterTargetBranch", branch, block=True)
+
+    mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+
+    try:
+      assert Updater().target_branch == expected
+    finally:
+      params.remove("UpdaterTargetBranch")
+
+
+  @parameterized.expand([
+    ("tici", "unknown"),
+    ("tizi", "unknown"),
+    ("mici", "unknown"),
+  ], names=["device_type", "branch"])
+  def test_sp_branch_migrations_passthrough(self, mocker, device_type, branch):
+    params = Params()
+    params.remove("UpdaterTargetBranch")
+
+    mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+    mocker.patch.object(Updater, "get_branch", return_value=branch)
+
+    assert Updater().target_branch == branch
diff --git a/system/__init__.py b/openpilot/sunnypilot/tools/__init__.py
similarity index 100%
rename from system/__init__.py
rename to openpilot/sunnypilot/tools/__init__.py
diff --git a/system/athena/__init__.py b/openpilot/sunnypilot/tools/lib/__init__.py
similarity index 100%
rename from system/athena/__init__.py
rename to openpilot/sunnypilot/tools/lib/__init__.py
diff --git a/openpilot/sunnypilot/tools/lib/sunnypilot_car_segments.py b/openpilot/sunnypilot/tools/lib/sunnypilot_car_segments.py
new file mode 100644
index 0000000000..a3a0e576cd
--- /dev/null
+++ b/openpilot/sunnypilot/tools/lib/sunnypilot_car_segments.py
@@ -0,0 +1,21 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import os
+
+SUNNYPILOT_CAR_SEGMENTS_REPO = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_REPO",
+                                               "https://huggingface.co/datasets/sunnypilot/sunnypilotCarSegments")
+SUNNYPILOT_CAR_SEGMENTS_BRANCH = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_BRANCH", "main")
+
+
+def get_url(route, segment, file="rlog.zst"):
+  return f"{SUNNYPILOT_CAR_SEGMENTS_REPO}/resolve/{SUNNYPILOT_CAR_SEGMENTS_BRANCH}/segments/{route.replace('|', '/')}/{segment}/{file}"
+
+
+def sunnypilot_car_segments_source(sr, seg_idxs, fns, /):
+  from openpilot.tools.lib.file_sources import eval_source
+  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
diff --git a/system/athena/tests/__init__.py b/openpilot/sunnypilot/tools/memory_profiler/__init__.py
similarity index 100%
rename from system/athena/tests/__init__.py
rename to openpilot/sunnypilot/tools/memory_profiler/__init__.py
diff --git a/openpilot/sunnypilot/tools/memory_profiler/mem_usage.py b/openpilot/sunnypilot/tools/memory_profiler/mem_usage.py
new file mode 100644
index 0000000000..20b4bb2d0f
--- /dev/null
+++ b/openpilot/sunnypilot/tools/memory_profiler/mem_usage.py
@@ -0,0 +1,164 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import matplotlib.pyplot as plt
+import os
+import sys
+import argparse
+import numpy as np
+import base64
+import io
+
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+
+
+def extract_mem_cpu_data(lr):
+  times, mems, cpus = [], [], []
+  start_time = None
+
+  for msg in lr:
+    if msg.which() == 'procLog':
+      if start_time is None:
+        start_time = msg.logMonoTime
+      mem = msg.procLog.mem
+      mem_usage = (mem.total - mem.available) / mem.total * 100
+      cpu_usages = [(total - cpu.idle) / total * 100 for cpu in msg.procLog.cpuTimes
+                    if (total := cpu.idle + cpu.user + cpu.system + cpu.nice + cpu.iowait + cpu.irq + cpu.softirq) > 0]
+      avg_cpu = sum(cpu_usages) / len(cpu_usages) if cpu_usages else 0
+      times.append((msg.logMonoTime - start_time) / 1e9)
+      mems.append(mem_usage)
+      cpus.append(avg_cpu)
+  return times, mems, cpus
+
+
+def process_segment(lr):
+  return [extract_mem_cpu_data(lr)]
+
+
+def calculate_r_squared(y_true, y_pred):
+  ss_res = np.sum((y_true - y_pred) ** 2)
+  ss_tot = np.sum((y_true - np.mean(y_true)) ** 2)
+  return 1 - (ss_res / ss_tot) if ss_tot != 0 else 0
+
+
+def plot_results(segments, segment_data, route_name):
+  valid_data = [d for d in segment_data if d and d[0]]
+  if not valid_data:
+    print("No valid data to plot")
+    return
+
+  avg_mems = [np.mean(d[1]) for d in valid_data]
+  avg_cpus = [np.mean(d[2]) for d in valid_data]
+  valid_segments = [segments[i] for i, d in enumerate(segment_data) if d and d[0]]
+
+  height = max(10, 5 + len(valid_segments) * 0.4)
+  fig1, ax1 = plt.subplots(1, 1, figsize=(12, height), dpi=150)
+
+  y_pos = range(len(valid_segments))
+  ax1.barh([y - 0.2 for y in y_pos], avg_mems, height=0.4, color="dodgerblue", alpha=0.8, label="Avg Mem %")
+  ax1.barh([y + 0.2 for y in y_pos], avg_cpus, height=0.4, color="green", alpha=0.8, label="Avg CPU %")
+
+  for i, (mem, cpu) in enumerate(zip(avg_mems, avg_cpus, strict=True)):
+    ax1.text(mem, i - 0.2, f"{mem:.1f}%", va="center", fontsize=8, color="#005a9e", fontweight="bold")
+    ax1.text(cpu, i + 0.2, f"{cpu:.1f}%", va="center", fontsize=8, color="#005a9e", fontweight="bold")
+
+  ax1.set_yticks(y_pos)
+  ax1.set_yticklabels([f"Seg {s}" for s in valid_segments])
+  ax1.set_xlabel("Usage (%)")
+  ax1.set_title("Average Memory and CPU Usage by Segment")
+  ax1.legend()
+  ax1.grid(axis="x", linestyle="--", alpha=0.5)
+  ax1.invert_yaxis()
+
+  fig2, ax2 = plt.subplots(1, 1, figsize=(12, 8), dpi=150)
+  combined_times, combined_mems, combined_cpus = [], [], []
+  time_offset = 0.0
+  for times, mems, cpus in valid_data:
+    if times:
+      combined_times.extend([t + time_offset for t in times])
+      combined_mems.extend(mems)
+      combined_cpus.extend(cpus)
+      time_offset += max(times)
+
+  ax2.plot(combined_times, combined_mems, color="red", label="Memory Usage", alpha=0.6)
+  ax2.plot(combined_times, combined_cpus, color="blue", label="CPU Usage", alpha=0.6)
+
+  warmup_sec = 60
+  if len(combined_times) > 1 and combined_times[-1] > warmup_sec:
+    mask = np.array(combined_times) > warmup_sec
+    x_reg = np.array(combined_times)[mask]
+
+    y_mem_reg = np.array(combined_mems)[mask]
+    slope_mem, intercept_mem = np.polyfit(x_reg, y_mem_reg, 1)
+    trend_mem = slope_mem * x_reg + intercept_mem
+    r2_mem = calculate_r_squared(y_mem_reg, trend_mem)
+    ax2.plot(x_reg, trend_mem, color="darkred", linestyle="--", linewidth=2.5,
+             label=f"Mem Trend (Slope: {slope_mem:.4f} %/s, R²: {r2_mem:.2f})")
+
+    y_cpu_reg = np.array(combined_cpus)[mask]
+    slope_cpu, intercept_cpu = np.polyfit(x_reg, y_cpu_reg, 1)
+    trend_cpu = slope_cpu * x_reg + intercept_cpu
+    r2_cpu = calculate_r_squared(y_cpu_reg, trend_cpu)
+    ax2.plot(x_reg, trend_cpu, color="navy", linestyle="--", linewidth=2.5,
+             label=f"CPU Trend (Slope: {slope_cpu:.4f} %/s, R²: {r2_cpu:.2f})")
+
+  ax2.set_xlabel("Time (s)")
+  ax2.set_ylabel("Usage (%)")
+  ax2.set_title("Memory and CPU Usage Over Time")
+  ax2.legend(loc='lower left', fontsize='small', framealpha=0.9)
+  ax2.grid(True, linestyle="--", alpha=0.5)
+
+  buffer1 = io.BytesIO()
+  fig1.savefig(buffer1, format='webp', bbox_inches='tight', pad_inches=1.0)
+  buffer1.seek(0)
+  img1 = base64.b64encode(buffer1.getvalue()).decode()
+
+  buffer2 = io.BytesIO()
+  fig2.savefig(buffer2, format='webp', bbox_inches='tight', pad_inches=1.0)
+  buffer2.seek(0)
+  img2 = base64.b64encode(buffer2.getvalue()).decode()
+
+  filename = f"memory_usage_{route_name}.html"
+  save_path = os.path.join(os.path.dirname(__file__), "plots", filename)
+  os.makedirs(os.path.dirname(save_path), exist_ok=True)
+
+  html_template = (
+    "<style>body{font-family:Arial,sans-serif;margin:20px}" +
+    "h1,h2,h3{text-align:center;margin:5px 0}h2{margin-bottom:10px}" +
+    "img{width:100%;max-width:800px;height:auto;display:block;margin:0 auto}</style>" +
+    f"<h1>Memory Profile Report</h1><h3>Route: {route_name.replace('_', '/')}</h3>" +
+    f"<img src='data:image/webp;base64,{img1}'>" +
+    f"<img src='data:image/webp;base64,{img2}'>"
+  )
+
+  plt.close(fig1)
+  plt.close(fig2)
+
+  with open(save_path, "w") as f:
+    f.write(html_template)
+
+  print(f"Report saved to {save_path}")
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Extract memory usage from route logs.')
+  parser.add_argument('route_or_segment_name', help='Route or segment name from comma connect')
+  args = parser.parse_args()
+
+  try:
+    print(f"Fetching logs for {args.route_or_segment_name}")
+    lr = LogReader(args.route_or_segment_name, default_mode=ReadMode.QLOG)
+    segment_data = lr.run_across_segments(24, process_segment)
+    segments = list(range(len(segment_data)))
+    route_name = args.route_or_segment_name.replace('/', '_')
+    plot_results(segments, segment_data, route_name)
+  except Exception as e:
+    print(f"Error: {e}")
+    sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/openpilot/sunnypilot/tools/pull_footage.py b/openpilot/sunnypilot/tools/pull_footage.py
new file mode 100755
index 0000000000..9964ef5769
--- /dev/null
+++ b/openpilot/sunnypilot/tools/pull_footage.py
@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import argparse
+import os
+import shutil
+import subprocess
+import sys
+import requests
+from openpilot.tools.lib.route import Route
+
+
+def get_segments(source, route_id, camera, seg_range):
+  if "@" in source or "comma-" in source or "sunny-" in source:  # SSH
+    if not route_id:
+      raise ValueError("route_id required for SSH")
+    cmd = ["ssh", source, f"ls -d /data/media/0/realdata/{route_id.split('--')[0]}--*"]
+    output = subprocess.check_output(cmd, stderr=subprocess.DEVNULL).decode("utf-8").strip()
+    return [{
+      "type": "ssh",
+      "host": source,
+      "src": os.path.join(path, camera),
+      "num": int(path.split("--")[-1])
+    } for path in sorted(output.split("\n"), key=lambda x: int(x.split("--")[-1])) if path]
+  else:  # URL
+    route = Route(route_id)
+    cameras = [camera]
+    if camera == "fcamera.hevc":
+      cameras.extend([c for c in ["ecamera.hevc", "qcamera.ts"] if c != camera])
+
+    for cam in cameras:
+      attr_name = "camera_paths" if cam == "fcamera.hevc" else f"{cam.split('.')[0]}_paths"
+      paths = getattr(route, attr_name)()
+      if any(paths):
+        return [{"type": "url", "src": url, "num": idx, "cam": cam} for idx, url in enumerate(paths) if url]
+
+    raise ValueError(f"No footage found for {route_id}")
+
+
+def download(job, out_dir):
+  destination = os.path.join(out_dir, f"{job['num']}_{os.path.basename(job.get('cam', job.get('src')))}")
+  if os.path.exists(destination) and os.path.getsize(destination) > 0:
+    return destination
+
+  print(f"Downloading segment {job['num']}")
+  if job["type"] == "ssh":
+    subprocess.check_call(["scp", f"{job['host']}:{job['src']}", destination])
+  else:
+    with requests.get(job["src"], stream=True) as r:
+      r.raise_for_status()
+      with open(destination, 'wb') as f:
+        shutil.copyfileobj(r.raw, f)
+  return destination
+
+
+def mux(files, output_file, codec):
+  list_filename = f"{output_file}.list.txt"
+  with open(list_filename, 'w') as f:
+    f.write('\n'.join([f"file '{os.path.abspath(name)}'" for name in files]))
+
+  try:
+    cmd = [
+      "ffmpeg", "-y", "-probesize", "100M", "-analyzeduration", "100M", "-f", "concat",
+      "-safe", "0", "-r", "20", "-i", list_filename, "-c", "copy", "-tag:v", codec, output_file
+    ]
+    subprocess.check_call(cmd)
+    print(f"Saved: {output_file} ({os.path.getsize(output_file) / 1048576:.2f} MB)")
+    if sys.platform == "darwin":
+      subprocess.run(["open", "-R", output_file])
+  finally:
+    if os.path.exists(list_filename):
+      os.remove(list_filename)
+
+
+def main():
+  parser = argparse.ArgumentParser()
+  parser.add_argument("source")
+  parser.add_argument("route_id", nargs='?')
+  parser.add_argument("--output", "-o", default="output.mp4")
+  parser.add_argument("--camera", "-c", default="fcamera.hevc")
+  parser.add_argument("--keep-segments", action="store_true")
+  args = parser.parse_args()
+
+  try:
+    route_id_str = args.route_id or args.source
+    segment_range = None
+    if "/" in route_id_str:
+      route_id_str, range_str = route_id_str.rsplit("/", 1)
+      if ":" in range_str or range_str.isdigit():
+        segment_range = range_str
+
+    is_ssh = "@" in args.source or "comma-" in args.source or "sunny-" in args.source
+    if not is_ssh and len(route_id_str.split("--")) > 2:
+      route_id_str = "--".join(route_id_str.split("--")[:2])
+
+    segments = get_segments(args.source, route_id_str, args.camera, segment_range)
+    if segment_range:
+      if ":" in segment_range:
+        parts = segment_range.split(":")
+        start_idx = int(parts[0]) if parts[0] else None
+        end_idx = int(parts[1]) if parts[1] else None
+      else:
+        start_idx = int(segment_range)
+        end_idx = start_idx + 1
+
+      segments = [
+        segment for segment in segments
+        if (start_idx is None or segment['num'] >= start_idx) and (end_idx is None or segment['num'] < end_idx)
+      ]
+
+    download_dir = f"{route_id_str}_segments"
+    os.makedirs(download_dir, exist_ok=True)
+
+    downloaded_files = sorted(
+      [download(segment, download_dir) for segment in segments],
+      key=lambda x: int(os.path.basename(x).split("_")[0])
+    )
+
+    camera_name = segments[0].get('cam', args.camera)
+    codec = "hvc1" if camera_name.endswith("hevc") else "avc1"
+    mux(downloaded_files, f"{route_id_str}--{args.output}", codec)
+
+    if not args.keep_segments:
+      shutil.rmtree(download_dir)
+
+  except Exception as e:
+    print(f"Error: {e}")
+    sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/openpilot/sunnypilot/tools/upload_ci_routes.py b/openpilot/sunnypilot/tools/upload_ci_routes.py
new file mode 100755
index 0000000000..3f511a6a72
--- /dev/null
+++ b/openpilot/sunnypilot/tools/upload_ci_routes.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import argparse
+import os
+import tempfile
+
+import requests
+from huggingface_hub import HfApi
+from tqdm import tqdm
+
+from openpilot.tools.lib.route import Route
+
+REPO_ID = os.environ.get("SUNNYPILOT_CAR_SEGMENTS_REPO_ID", "sunnypilot/sunnypilotCarSegments")
+
+
+def upload_route(route_name: str, dry_run: bool = False) -> None:
+  route = Route(route_name)
+  log_paths = route.log_paths()
+  valid_segments = [(i, url) for i, url in enumerate(log_paths) if url is not None]
+
+  print(f"Route: {route_name}")
+  print(f"Segments: {len(valid_segments)}/{len(log_paths)}")
+
+  if not valid_segments:
+    print("No segments found.")
+    return
+
+  api = HfApi()
+
+  with tempfile.TemporaryDirectory() as tmpdir:
+    for seg_idx, url in tqdm(valid_segments, desc="Uploading"):
+      filename = url.split("?")[0].rsplit("/", 1)[-1]
+      local_path = os.path.join(tmpdir, f"{seg_idx}_{filename}")
+      resp = requests.get(url, stream=True)
+      resp.raise_for_status()
+      with open(local_path, "wb") as f:
+        for chunk in resp.iter_content(chunk_size=8192):
+          f.write(chunk)
+
+      repo_path = f"segments/{route_name.replace('|', '/')}/{seg_idx}/{filename}"
+
+      if dry_run:
+        size_mb = os.path.getsize(local_path) / 1024 / 1024
+        print(f"  [{seg_idx}] {size_mb:.1f} MB -> {repo_path}")
+      else:
+        api.upload_file(
+          path_or_fileobj=local_path,
+          path_in_repo=repo_path,
+          repo_id=REPO_ID,
+          repo_type="dataset",
+        )
+
+  print("Done.")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Upload route rlogs to sunnypilot HuggingFace dataset")
+  parser.add_argument("route", help="Route ID (e.g. 5beb9b58bd12b691/0000010a--a51155e496)")
+  parser.add_argument("--dry-run", action="store_true", help="Download and show sizes without uploading")
+  args = parser.parse_args()
+
+  upload_route(args.route, dry_run=args.dry_run)
diff --git a/openpilot/system b/openpilot/system
deleted file mode 120000
index 16f8cc2b23..0000000000
--- a/openpilot/system
+++ /dev/null
@@ -1 +0,0 @@
-../system/
\ No newline at end of file
diff --git a/system/camerad/__init__.py b/openpilot/system/__init__.py
similarity index 100%
rename from system/camerad/__init__.py
rename to openpilot/system/__init__.py
diff --git a/system/hardware/pc/__init__.py b/openpilot/system/athena/__init__.py
similarity index 100%
rename from system/hardware/pc/__init__.py
rename to openpilot/system/athena/__init__.py
diff --git a/system/athena/athenad.py b/openpilot/system/athena/athenad.py
similarity index 70%
rename from system/athena/athenad.py
rename to openpilot/system/athena/athenad.py
index 9773eec090..89a98dd646 100755
--- a/system/athena/athenad.py
+++ b/openpilot/system/athena/athenad.py
@@ -3,43 +3,51 @@ from __future__ import annotations
 
 import base64
 import hashlib
-import io
+import itertools
 import json
+import math
 import os
 import queue
 import random
+import re
 import select
 import socket
+import subprocess
 import sys
 import tempfile
 import threading
 import time
 import gzip
+from contextlib import suppress
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial, total_ordering
 from queue import Queue
 from typing import cast
-from collections.abc import Callable
+from collections.abc import Callable, Iterable
 
 import requests
 from requests.adapters import HTTPAdapter, DEFAULT_POOLBLOCK
-from jsonrpc import JSONRPCResponseManager, dispatcher
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
-import cereal.messaging as messaging
-from cereal import log
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
+from openpilot.system.loggerd.config import CAMERA_FPS, SEGMENT_LENGTH
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
+from openpilot.tools.lib.helpers import RE
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_build_metadata
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.version import get_build_metadata
+from openpilot.common.hardware.hw import Paths
+from openpilot.system.athena.rpc import dispatcher, handle, is_call, is_response, loads
 
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
@@ -56,6 +64,10 @@ MAX_AGE = 31 * 24 * 3600  # seconds
 WS_FRAME_SIZE = 4096
 DEVICE_STATE_UPDATE_INTERVAL = 1.0  # in seconds
 DEFAULT_UPLOAD_PRIORITY = 99  # higher number = lower priority
+CLIP_CHUNK_SIZE = 512 * 1024
+
+SEND_PRIORITY_HIGH = 0
+SEND_PRIORITY_LOW = 1
 
 # https://bytesolutions.com/dscp-tos-cos-precedence-conversion-chart,
 # https://en.wikipedia.org/wiki/Differentiated_services
@@ -126,14 +138,18 @@ class UploadItem:
 
 dispatcher["echo"] = lambda s: s
 recv_queue: Queue[str] = queue.Queue()
-send_queue: Queue[str] = queue.Queue()
+send_queue: Queue[tuple[int, int, str]] = queue.PriorityQueue()
 upload_queue: Queue[UploadItem] = queue.PriorityQueue()
-low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
 cancelled_uploads: set[str] = set()
 
 cur_upload_items: dict[int, UploadItem | None] = {}
 
+send_seq = itertools.count()
+def send_queue_push(data: str, priority: int) -> None:
+  assert priority is not None, "send queue priority must be specified"
+  send_queue.put_nowait((priority, next(send_seq), data)) # tie-break with a monotonic counter
+
 
 # TODO-SP: adapt zst for sunnylink
 def strip_zst_extension(fn: str) -> str:
@@ -163,7 +179,7 @@ class UploadQueueCache:
     try:
       queue: list[UploadItem | None] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      Params().put("AthenadUploadQueue", items)
+      Params().put("AthenadUploadQueue", items, block=True)
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -206,11 +222,11 @@ def jsonrpc_handler(end_event: threading.Event, localProxyHandler = None) -> Non
   while not end_event.is_set():
     try:
       data = recv_queue.get(timeout=1)
-      if "method" in data:
+      msg = loads(data)
+      if is_call(msg):
         cloudlog.event("athena.jsonrpc_handler.call_method", data=data)
-        response = JSONRPCResponseManager.handle(data, dispatcher)
-        send_queue.put_nowait(response.json)
-      elif "id" in data and ("result" in data or "error" in data):
+        send_queue_push(handle(msg, dispatcher), SEND_PRIORITY_HIGH)
+      elif is_response(msg):
         log_recv_queue.put_nowait(data)
       else:
         raise Exception("not a valid request or response")
@@ -218,7 +234,7 @@ def jsonrpc_handler(end_event: threading.Event, localProxyHandler = None) -> Non
       pass
     except Exception as e:
       cloudlog.exception("athena jsonrpc handler failed")
-      send_queue.put_nowait(json.dumps({"error": str(e)}))
+      send_queue_push(json.dumps({"error": str(e)}), SEND_PRIORITY_HIGH)
 
 
 def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None:
@@ -365,6 +381,7 @@ def getVersion() -> dict[str, str]:
     "remote": build_metadata.openpilot.git_normalized_origin,
     "branch": build_metadata.channel,
     "commit": build_metadata.openpilot.git_commit,
+    "commit_date": build_metadata.openpilot.git_commit_date.strip("'").split()[0],
   }
 
 
@@ -412,6 +429,217 @@ def listDataDirectory(prefix='') -> list[str]:
   return sorted(set(internal_files + external_files))
 
 
+class VideoClips:
+  @dataclass
+  class Clip:
+    route: str
+    camera: str
+    source_start_time: float
+    source_end_time: float
+    bitrate: int
+    speedup: int
+    filename: str
+    requested_at: float
+
+  def __init__(self):
+    self.clip_path = os.path.join(Paths.log_root(), "clips")
+    self.lock = threading.Condition()
+    self.clips: dict[str, VideoClips.Clip] = {}
+    self.transcode_proc: tuple[str, subprocess.Popen] | None = None
+    threading.Thread(target=self._worker, name="video_clip", daemon=True).start()
+
+  def _encode(self, clip: Clip, inputs: Iterable[str], output_path: str, start_time: float, duration: float) -> None:
+    inputs = list(inputs)
+    metadata = json.dumps(asdict(clip), separators=(',', ':'))
+    if PC:
+      command = [
+        "ffmpeg", "-hide_banner", "-loglevel", "error", "-nostdin", "-y",
+        "-r", str(CAMERA_FPS * clip.speedup), "-f", "concat", "-safe", "0", "-protocol_whitelist", "file,pipe", "-c:v", "hevc",
+        "-i", "pipe:0", "-ss", str(start_time / clip.speedup), "-t", str(duration / clip.speedup),
+        "-map", "0:v:0", "-an", "-r", str(CAMERA_FPS), "-c:v", "libx264", "-preset", "veryfast",
+        "-b:v", f"{clip.bitrate}M", "-pix_fmt", "yuv420p", "-movflags", "+faststart+use_metadata_tags",
+        "-metadata", f"ai.comma.clip.settings={metadata}", output_path,
+      ]
+    else:
+      command = [os.path.join(BASEDIR, "openpilot/system/loggerd/encoderd"), "--clip", output_path,
+                 str(start_time), str(duration), "--bitrate", str(clip.bitrate * 1_000_000),
+                 "--speedup", str(clip.speedup), "--metadata", metadata, "--", *inputs]
+
+    with self.lock:
+      if self.clips.get(clip.filename) is not clip:
+        return
+      process = subprocess.Popen(command, stdin=subprocess.PIPE if PC else subprocess.DEVNULL,
+                                 stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, text=True)
+      self.transcode_proc = (clip.filename, process)
+    try:
+      if PC:
+        if process.stdin is None:
+          raise RuntimeError("ffmpeg stdin is unavailable")
+        process.stdin.write("ffconcat version 1.0\n")
+        for path in inputs:
+          escaped_path = path.replace("'", "'\\''")
+          process.stdin.write(f"file 'file:{escaped_path}'\noption framerate {CAMERA_FPS}\nduration {SEGMENT_LENGTH}\n")
+        process.stdin.close()
+      process.wait()
+      if process.returncode != 0:
+        raise RuntimeError(f"clip encoder exited with code {process.returncode}")
+    finally:
+      with suppress(OSError):
+        if process.stdin is not None:
+          process.stdin.close()
+      if process.poll() is None:
+        process.terminate()
+        process.wait()
+      with self.lock:
+        if self.transcode_proc is not None and self.transcode_proc[0] == clip.filename:
+          self.transcode_proc = None
+
+  def _worker(self) -> None:
+    while True:
+      with self.lock:
+        while not self.clips:
+          self.lock.wait()
+        clip = next(iter(self.clips.values()))
+      temporary_path = ""
+      try:
+        with self.lock:
+          if self.clips.get(clip.filename) is not clip:
+            continue
+        first_segment = math.floor(clip.source_start_time / SEGMENT_LENGTH)
+        inputs = (
+          os.path.join(Paths.log_root(), f"{clip.route}--{segment}", clip.camera)
+          for segment in range(first_segment, math.ceil(clip.source_end_time / SEGMENT_LENGTH))
+        )
+        os.makedirs(self.clip_path, exist_ok=True)
+        temporary_path = os.path.join(self.clip_path, f".{clip.filename}")
+        output_path = os.path.join(self.clip_path, clip.filename)
+        self._encode(clip, inputs, temporary_path, clip.source_start_time - first_segment * SEGMENT_LENGTH,
+                     clip.source_end_time - clip.source_start_time)
+        with self.lock:
+          if self.clips.get(clip.filename) is clip:
+            os.replace(temporary_path, output_path)
+            del self.clips[clip.filename]
+      except Exception:
+        with self.lock:
+          failed = self.clips.get(clip.filename) is clip
+          if failed:
+            del self.clips[clip.filename]
+        if failed:
+          cloudlog.exception("athena.video_clip.failed")
+      finally:
+        with suppress(OSError):
+          if temporary_path:
+            os.unlink(temporary_path)
+
+  def _on_disk(self) -> dict[str, dict]:
+    clips = {}
+    try:
+      entries = os.scandir(self.clip_path)
+    except FileNotFoundError:
+      return clips
+    with entries:
+      for entry in entries:
+        if entry.name.startswith(".") or not entry.is_file():
+          continue
+        probe = subprocess.run(["ffprobe", "-v", "error", "-show_entries", "format_tags=ai.comma.clip.settings",
+                                "-of", "json", entry.path], capture_output=True, text=True)
+        if probe.returncode != 0:
+          continue
+        try:
+          metadata = json.loads(json.loads(probe.stdout)["format"]["tags"]["ai.comma.clip.settings"])
+          size = entry.stat().st_size
+        except (FileNotFoundError, KeyError, TypeError, json.JSONDecodeError):
+          continue
+        if not isinstance(metadata, dict) or not isinstance(metadata.get("requested_at"), (int, float)):
+          continue
+        clips[entry.name] = {**metadata, "filename": entry.name, "status": "ready",
+                             "fn": os.path.relpath(entry.path, Paths.log_root()), "size": size}
+    return clips
+
+  def _available_ranges(self, route: str) -> dict:
+    cameras: dict[str, list[int]] = {}
+    try:
+      with os.scandir(Paths.log_root()) as entries:
+        for entry in entries:
+          entry_route, _, segment = entry.name.rpartition("--")
+          if entry_route != route or not segment.isdigit() or not entry.is_dir():
+            continue
+          with os.scandir(entry.path) as files:
+            for camera in files:
+              if camera.is_file() and camera.name.endswith("camera.hevc"):
+                cameras.setdefault(camera.name, []).append(int(segment))
+    except OSError:
+      return {}
+
+    available = {}
+    for camera, camera_segments in cameras.items():
+      ranges: list[list[int]] = []
+      for segment in sorted(camera_segments):
+        if ranges and ranges[-1][1] == segment * SEGMENT_LENGTH:
+          ranges[-1][1] += SEGMENT_LENGTH
+        else:
+          ranges.append([segment * SEGMENT_LENGTH, (segment + 1) * SEGMENT_LENGTH])
+      available[camera] = {"available_ranges": ranges}
+    return available
+
+  def createClip(self, route: str, source_start_time: float, source_end_time: float, clip: dict):
+    if not PC and not Params().get_bool("IsOffroad"):
+      raise RuntimeError("video clips can only be created while offroad")
+    route_match = re.fullmatch(RE.ROUTE_NAME, route)
+    assert route_match is not None, "invalid route"
+    route_name = route_match.group("log_id")
+    camera = clip["camera"]
+    filename = clip["filename"]
+    assert camera == os.path.basename(camera) and camera.endswith("camera.hevc"), "invalid camera filename"
+    assert filename == os.path.basename(filename), "invalid filename"
+    with self.lock:
+      self.clips[filename] = self.Clip(route_name, camera, source_start_time, source_end_time, clip["bitrate"], clip["speedup"],
+                                        filename, datetime.now().timestamp())
+      self.lock.notify()
+
+  def getClipState(self, route: str | None = None) -> dict:
+    route_match = re.search(RE.ROUTE_NAME, route or "")
+    with self.lock:
+      transcode_filename = self.transcode_proc[0] if self.transcode_proc is not None else None
+      active_clips = {clip.filename: {**asdict(clip), "status": "encoding" if clip.filename == transcode_filename else "queued"}
+                      for clip in self.clips.values()}
+    clips = self._on_disk()
+    clips.update(active_clips)
+    state = {"clips": sorted(clips.values(), key=lambda clip: clip["requested_at"], reverse=True)}
+    if route_match is not None:
+      route_name = route_match.group("log_id")
+      state.update({"route": route_name, "cameras": self._available_ranges(route_name)})
+    return state
+
+  def deleteClip(self, filename: str) -> None:
+    assert filename == os.path.basename(filename), "invalid filename"
+    with self.lock:
+      self.clips.pop(filename, None)
+      output_path = os.path.join(self.clip_path, filename)
+      if self.transcode_proc is not None and self.transcode_proc[0] == filename:
+        self.transcode_proc[1].terminate()
+      if os.path.exists(output_path):
+        os.unlink(output_path)
+
+  def getClipChunk(self, filename: str, offset: int) -> dict:
+    assert filename == os.path.basename(filename) and not filename.startswith("."), "invalid filename"
+    assert isinstance(offset, int) and offset >= 0, "invalid offset"
+    path = os.path.join(self.clip_path, filename)
+    size = os.path.getsize(path)
+    assert offset <= size, "offset past end of file"
+    with open(path, "rb") as f:
+      f.seek(offset)
+      data = f.read(CLIP_CHUNK_SIZE)
+    return {"data": base64.b64encode(data).decode(), "offset": offset, "size": size}
+
+
+video_clips = VideoClips()
+dispatcher.add_method(video_clips.createClip)
+dispatcher.add_method(video_clips.getClipState)
+dispatcher.add_method(video_clips.deleteClip)
+dispatcher.add_method(video_clips.getClipChunk)
+
+
 @dispatcher.add_method
 def uploadFileToUrl(fn: str, url: str, headers: dict[str, str]) -> UploadFilesToUrlResponse:
   # this is because mypy doesn't understand that the decorator doesn't change the return type
@@ -504,7 +732,7 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
   # remove duplicates
   routes = list(dict.fromkeys(routes))
 
-  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]))
+  params.put("AthenadRecentlyViewedRoutes", ",".join(routes[-10:]), block=True)
   return {"success": 1}
 
 
@@ -567,6 +795,16 @@ def getSshAuthorizedKeys() -> str:
 def getGithubUsername() -> str:
   return cast(str, Params().get("GithubUsername") or "")
 
+
+@dispatcher.add_method
+def getNotCar() -> bool:
+  cp_bytes = Params().get("CarParamsPersistent")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      return CP.notCar
+  return False
+
+
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()
@@ -584,26 +822,28 @@ def getNetworkMetered() -> bool:
 
 
 @dispatcher.add_method
-def getNetworks():
-  return HARDWARE.get_networks()
+def startStream(sdp: str, enabled: bool) -> dict:
+  from openpilot.system.webrtc.helpers import StreamRequestBody, post_stream_request, wait_for_webrtcd
+  params = Params()
+  bridge_services_in = []
 
-
-@dispatcher.add_method
-def takeSnapshot() -> str | dict[str, str] | None:
-  from openpilot.system.camerad.snapshot import jpeg_write, snapshot
-  ret = snapshot()
-  if ret is not None:
-    def b64jpeg(x):
-      if x is not None:
-        f = io.BytesIO()
-        jpeg_write(f, x)
-        return base64.b64encode(f.getvalue()).decode("utf-8")
-      else:
-        return None
-    return {'jpegBack': b64jpeg(ret[0]),
-            'jpegFront': b64jpeg(ret[1])}
+  # stale car params case taken care of by webrtcd being shut off on ignition
+  cp_bytes = Params().get("CarParamsPersistent")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      if CP.notCar:
+        bridge_services_in.append("testJoystick")
   else:
-    raise Exception("not available while camerad is started")
+    raise Exception("failed to get CarParamsPersistent")
+
+  if params.get_bool("IsOffroad"):
+    # manager owns camerad/stream_encoderd/webrtcd; flip the param and let it bring them up.
+    # webrtcd clears IsLiveStreaming when the session ends
+    params.put_bool("IsLiveStreaming", True)
+    # wait for webrtcd end points to wake up
+    wait_for_webrtcd()
+
+  return post_stream_request(StreamRequestBody(sdp, ["wideRoad"], enabled, bridge_services_in, ["carState", "deviceState"]))
 
 
 def get_logs_to_send_sorted(log_attr_name=LOG_ATTR_NAME) -> list[str]:
@@ -659,29 +899,28 @@ def add_log_to_queue(log_path, log_id, is_sunnylink=False):
                      f"after compression: {compressed_size} bytes, " +
                      f"after encoding: {encoded_size} bytes")
 
-    jsonrpc = {
+    params: dict[str, str | bool] = {"logs": payload}
+    if is_sunnylink and is_compressed:
+      params["compressed"] = is_compressed
+
+    jsonrpc: dict = {
       "method": "forwardLogs",
-      "params": {
-        "logs": payload
-      },
+      "params": params,
       "jsonrpc": "2.0",
       "id": log_id
     }
 
-    if is_sunnylink and is_compressed:
-      jsonrpc["params"]["compressed"] = is_compressed
-
     jsonrpc_str = json.dumps(jsonrpc)
     size_in_bytes = len(jsonrpc_str.encode('utf-8'))
 
     if is_sunnylink and size_in_bytes <= MAX_SIZE_BYTES:
       cloudlog.debug(f"Target is sunnylink and log file {log_path} is small enough to send in one request ({size_in_bytes} bytes).")
-      low_priority_send_queue.put_nowait(jsonrpc_str)
+      send_queue_push(jsonrpc_str, SEND_PRIORITY_LOW)
     elif is_sunnylink:
       cloudlog.warning(f"Target is sunnylink and log file {log_path} is too large to send in one request.")
     else:
       cloudlog.debug(f"Target is not sunnylink, proceeding to send log file {log_path} in one request ({size_in_bytes} bytes).")
-      low_priority_send_queue.put_nowait(jsonrpc_str)
+      send_queue_push(jsonrpc_str, SEND_PRIORITY_LOW)
 
 
 def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None:
@@ -763,19 +1002,18 @@ def stat_handler(end_event: threading.Event, stats_dir=None, is_sunnylink=False)
               payload = base64.b64encode(compressed_data).decode()
               is_compressed = True
 
-            jsonrpc = {
+            params: dict[str, str | bool] = {"stats": payload}
+            if is_sunnylink and is_compressed:
+              params["compressed"] = is_compressed
+
+            jsonrpc: dict = {
               "method": "storeStats",
-              "params": {
-                "stats": payload
-              },
+              "params": params,
               "jsonrpc": "2.0",
               "id": stat_filenames[0]
             }
 
-            if is_sunnylink and is_compressed:
-              jsonrpc["params"]["compressed"] = is_compressed
-
-            low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
+            send_queue_push(json.dumps(jsonrpc), SEND_PRIORITY_LOW)
           os.remove(stat_path)
         last_scan = curr_scan
     except Exception:
@@ -786,7 +1024,10 @@ def stat_handler(end_event: threading.Event, stats_dir=None, is_sunnylink=False)
 def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
-      r = select.select((ws.sock,), (), (), 30)
+      sock = ws.sock
+      if sock is None:
+        return
+      r = select.select((sock,), (), (), 30)
       if r[0]:
         data = ws.recv()
         if isinstance(data, str):
@@ -843,7 +1084,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
         recv_queue.put_nowait(data)
       elif opcode == ABNF.OPCODE_PING:
         last_ping = int(time.monotonic() * 1e9)
-        Params().put("LastAthenaPingTime", last_ping)
+        Params().put("LastAthenaPingTime", last_ping, block=True)
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
@@ -857,10 +1098,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
 def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
   while not end_event.is_set():
     try:
-      try:
-        data = send_queue.get_nowait()
-      except queue.Empty:
-        data = low_priority_send_queue.get(timeout=1)
+      _, _, data = send_queue.get(timeout=1)
       for i in range(0, len(data), WS_FRAME_SIZE):
         frame = data[i:i+WS_FRAME_SIZE]
         last = i + WS_FRAME_SIZE >= len(data)
@@ -879,7 +1117,7 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
   sock = ws.sock
 
   while not end_event.wait(5):
-    onroad = params.get_bool("IsOnroad")
+    onroad = not params.get_bool("IsOffroad")
     if onroad != onroad_prev:
       onroad_prev = onroad
 
diff --git a/system/athena/manage_athenad.py b/openpilot/system/athena/manage_athenad.py
similarity index 86%
rename from system/athena/manage_athenad.py
rename to openpilot/system/athena/manage_athenad.py
index 98557db06a..3f0d6adcd3 100755
--- a/system/athena/manage_athenad.py
+++ b/openpilot/system/athena/manage_athenad.py
@@ -6,14 +6,14 @@ from multiprocessing import Process
 from openpilot.common.params import Params
 from openpilot.system.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.version import get_build_metadata
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.version import get_build_metadata
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 
 
 def main():
-  manage_athenad("DongleId", ATHENA_MGR_PID_PARAM, 'athenad', 'system.athena.athenad')
+  manage_athenad("DongleId", ATHENA_MGR_PID_PARAM, 'athenad', 'openpilot.system.athena.athenad')
 
 
 def manage_athenad(dongle_id_param, pid_param, process_name, target):
diff --git a/system/athena/registration.py b/openpilot/system/athena/registration.py
similarity index 86%
rename from system/athena/registration.py
rename to openpilot/system/athena/registration.py
index 26a2adb1af..5e80fe5598 100755
--- a/system/athena/registration.py
+++ b/openpilot/system/athena/registration.py
@@ -10,8 +10,8 @@ from openpilot.common.api import api_get, get_key_pair
 from openpilot.common.params import Params
 from openpilot.common.spinner import Spinner
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware import HARDWARE, PC
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 
 
@@ -54,17 +54,16 @@ def register(show_spinner=False) -> str | None:
     # Block until we get the imei
     serial = HARDWARE.get_serial()
     start_time = time.monotonic()
-    imei1: str | None = None
-    imei2: str | None = None
-    while imei1 is None and imei2 is None:
+    imei: str | None = None
+    while imei is None:
       try:
-        imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
+        imei = HARDWARE.get_imei()
       except Exception:
         cloudlog.exception("Error getting imei, trying again...")
         time.sleep(1)
 
       if time.monotonic() - start_time > 60 and show_spinner:
-        spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+        spinner.update(f"registering device - serial: {serial}, IMEI: {imei}")
 
     backoff = 0
     start_time = time.monotonic()
@@ -75,7 +74,7 @@ def register(show_spinner=False) -> str | None:
         cloudlog.info("getting pilotauth")
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
-                       imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
+                       imei=imei, imei2="", serial=serial, public_key=public_key, register_token=register_token)
 
         if resp.status_code in (402, 403):
           cloudlog.info(f"Unable to register device, got {resp.status_code}")
@@ -84,20 +83,23 @@ def register(show_spinner=False) -> str | None:
           dongleauth = json.loads(resp.text)
           dongle_id = dongleauth["dongle_id"]
         break
+      except NotImplementedError:
+        # dependency issues with PyJWT will hang the registration test in backoff loop otherwise
+        raise
       except Exception:
         cloudlog.exception("failed to authenticate")
         backoff = min(backoff + 1, 15)
         time.sleep(backoff)
 
       if time.monotonic() - start_time > 60 and show_spinner:
-        spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+        spinner.update(f"registering device - serial: {serial}, IMEI: {imei}")
         return UNREGISTERED_DONGLE_ID  # hotfix to prevent an infinite wait for registration
 
     if show_spinner:
       spinner.close()
 
   if dongle_id:
-    params.put("DongleId", dongle_id)
+    params.put("DongleId", dongle_id, block=True)
     set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 
diff --git a/openpilot/system/athena/rpc.py b/openpilot/system/athena/rpc.py
new file mode 100644
index 0000000000..aaf7f41fc3
--- /dev/null
+++ b/openpilot/system/athena/rpc.py
@@ -0,0 +1,116 @@
+import json
+from collections.abc import Callable, Mapping
+from typing import Any
+
+# a minimal implementation of json-rpc 2.0 https://www.jsonrpc.org/specification
+
+JSONRPC_VERSION = "2.0"
+
+# JSON-RPC 2.0 reserved / application error codes
+PARSE_ERROR = -32700
+INVALID_REQUEST = -32600
+METHOD_NOT_FOUND = -32601
+INVALID_PARAMS = -32602
+SERVER_ERROR = -32000
+
+JsonDict = dict[str, Any]
+MethodMap = Mapping[str, Callable[..., Any]]
+
+
+class Dispatcher(dict[str, Callable[..., Any]]):
+  def add_method(self, f: Callable[..., Any] | None = None, *, name: str | None = None):
+    def decorator(fn: Callable[..., Any]) -> Callable[..., Any]:
+      self[name or fn.__name__] = fn
+      return fn
+    return decorator(f) if f is not None else decorator
+
+
+dispatcher = Dispatcher()
+
+
+def dumps_call(method: str, params: Any = None, request_id: Any = None) -> str:
+  msg: JsonDict = {"jsonrpc": JSONRPC_VERSION, "method": method, "id": request_id}
+  if params is not None:
+    msg["params"] = params
+  return json.dumps(msg)
+
+
+def dumps_result(request_id: Any, result: Any) -> str:
+  return json.dumps({"jsonrpc": JSONRPC_VERSION, "id": request_id, "result": result})
+
+
+def dumps_error(request_id: Any, message: str, code: int = SERVER_ERROR) -> str:
+  return json.dumps({
+    "jsonrpc": JSONRPC_VERSION,
+    "id": request_id,
+    "error": {"code": code, "message": message},
+  })
+
+
+def loads(raw: str | bytes) -> JsonDict:
+  if isinstance(raw, bytes):
+    raw = raw.decode()
+  data = json.loads(raw)
+  if not isinstance(data, dict):
+    raise ValueError("message must be a JSON object")
+  return data
+
+
+def is_call(msg: JsonDict) -> bool:
+  return "method" in msg
+
+
+def is_response(msg: JsonDict) -> bool:
+  return "id" in msg and ("result" in msg or "error" in msg)
+
+
+def error_message(err: Any) -> str:
+  """Normalize JSON-RPC object errors and plain-string errors."""
+  if isinstance(err, str):
+    return err
+  if isinstance(err, dict):
+    data = err.get("data")
+    if isinstance(data, dict) and data.get("message"):
+      return str(data["message"])
+    if err.get("message") is not None:
+      return str(err["message"])
+  return str(err)
+
+
+def _invoke(fn: Callable[..., Any], params: Any) -> Any:
+  if params is None:
+    return fn()
+  if isinstance(params, dict):
+    return fn(**params)
+  if isinstance(params, (list, tuple)):
+    return fn(*params)
+  raise TypeError("params must be a list, object, or omitted")
+
+
+def handle(raw: str | bytes | JsonDict, methods: MethodMap | None = None) -> str:
+  methods = dispatcher if methods is None else methods
+
+  try:
+    msg = raw if isinstance(raw, dict) else loads(raw)
+  except (TypeError, ValueError, UnicodeDecodeError):
+    return dumps_error(None, "parse error", PARSE_ERROR)
+
+  if not is_call(msg):
+    raise ValueError("not a call")
+
+  req_id = msg.get("id")
+  name = msg.get("method")
+  if not isinstance(name, str):
+    return dumps_error(req_id, "invalid request", INVALID_REQUEST)
+
+  try:
+    fn = methods[name]
+  except KeyError:
+    return dumps_error(req_id, f"method not found: {name}", METHOD_NOT_FOUND)
+
+  try:
+    return dumps_result(req_id, _invoke(fn, msg.get("params")))
+  except TypeError as e:
+    return dumps_error(req_id, str(e), INVALID_PARAMS)
+  except Exception as e:
+    return dumps_error(req_id, str(e), SERVER_ERROR)
diff --git a/system/hardware/tests/__init__.py b/openpilot/system/athena/tests/__init__.py
similarity index 100%
rename from system/hardware/tests/__init__.py
rename to openpilot/system/athena/tests/__init__.py
diff --git a/system/athena/tests/helpers.py b/openpilot/system/athena/tests/helpers.py
similarity index 96%
rename from system/athena/tests/helpers.py
rename to openpilot/system/athena/tests/helpers.py
index a0a9cccdc1..dbca66be10 100644
--- a/system/athena/tests/helpers.py
+++ b/openpilot/system/athena/tests/helpers.py
@@ -43,11 +43,10 @@ class MockApi:
 
 
 class MockWebsocket:
-  sock = socket.socket()
-
   def __init__(self, recv_queue, send_queue):
     self.recv_queue = recv_queue
     self.send_queue = send_queue
+    self.sock = socket.socket()
 
   def recv(self):
     data = self.recv_queue.get()
@@ -59,7 +58,7 @@ class MockWebsocket:
     self.send_queue.put_nowait((data, opcode))
 
   def close(self):
-    pass
+    self.sock.close()
 
 
 class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
diff --git a/system/athena/tests/test_athenad.py b/openpilot/system/athena/tests/test_athenad.py
similarity index 80%
rename from system/athena/tests/test_athenad.py
rename to openpilot/system/athena/tests/test_athenad.py
index 5b3e0b41f4..f9e4c0d334 100644
--- a/system/athena/tests/test_athenad.py
+++ b/openpilot/system/athena/tests/test_athenad.py
@@ -1,4 +1,3 @@
-import pytest
 from functools import wraps
 import json
 import multiprocessing
@@ -14,7 +13,9 @@ from datetime import datetime, timedelta
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from cereal import messaging
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import messaging
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
@@ -22,7 +23,7 @@ from openpilot.system.athena import athenad
 from openpilot.system.athena.athenad import MAX_RETRY_COUNT, UPLOAD_SESS, dispatcher
 from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
 from openpilot.selfdrive.test.helpers import http_server_context
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def seed_athena_server(host, port):
@@ -47,20 +48,18 @@ def with_upload_handler(func):
       thread.join()
   return wrapper
 
-@pytest.fixture
 def mock_create_connection(mocker):
-    return mocker.patch('openpilot.system.athena.athenad.create_connection')
+  return mocker.patch('openpilot.system.athena.athenad.create_connection')
 
-@pytest.fixture
 def host():
   with http_server_context(handler=HTTPRequestHandler, setup=seed_athena_server) as (host, port):
     yield f"http://{host}:{port}"
 
-class TestAthenadMethods:
+class TestAthenadMethods(OpenpilotTestCase):
   @classmethod
   def setup_class(cls):
     cls.SOCKET_PORT = 45454
-    athenad.Api = MockApi
+    athenad.Api = MockApi  # ty: ignore[invalid-assignment]  # test double
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
   def setup_method(self):
@@ -73,8 +72,8 @@ class TestAthenadMethods:
 
     self.params = Params()
     for k, v in self.default_params.items():
-      self.params.put(k, v)
-    self.params.put_bool("GsmMetered", True)
+      self.params.put(k, v, block=True)
+    self.params.put_bool("GsmMetered", True, block=True)
 
     athenad.upload_queue = queue.PriorityQueue()
     athenad.cur_upload_items.clear()
@@ -104,6 +103,14 @@ class TestAthenadMethods:
       f.write(data)
     return fn
 
+  @staticmethod
+  def _video_clips(clip):
+    clips = object.__new__(athenad.VideoClips)
+    clips.lock = threading.Condition()
+    clips.clips = {clip.filename: clip}
+    clips.transcode_proc = None
+    return clips
+
 
   # *** test cases ***
 
@@ -111,7 +118,7 @@ class TestAthenadMethods:
     assert dispatcher["echo"]("bob") == "bob"
 
   def test_get_message(self):
-    with pytest.raises(TimeoutError) as _:
+    with self.assertRaises(TimeoutError) as _:
       dispatcher["getMessage"]("controlsState")
 
     end_event = multiprocessing.Event()
@@ -174,6 +181,56 @@ class TestAthenadMethods:
     assert resp, 'list empty!'
     assert len(resp) == len(expected)
 
+  def test_video_clip_hardware_encoder(self, mocker):
+    clip = athenad.VideoClips.Clip("route", "fcamera.hevc", 10, 130, 2, 4, "clip.mp4", 123)
+    clips = self._video_clips(clip)
+    process = mocker.Mock(stdin=None, returncode=0)
+    process.poll.return_value = 0
+    popen = mocker.patch("openpilot.system.athena.athenad.subprocess.Popen", return_value=process)
+    mocker.patch.object(athenad, "PC", False)
+
+    clips._encode(clip, ["segment0", "segment1"], "output.mp4", 10, 120)
+
+    metadata = json.dumps(asdict(clip), separators=(',', ':'))
+    assert popen.call_args.args[0] == [
+      os.path.join(athenad.BASEDIR, "openpilot/system/loggerd/encoderd"), "--clip", "output.mp4", "10", "120",
+      "--bitrate", "2000000", "--speedup", "4", "--metadata", metadata, "--", "segment0", "segment1",
+    ]
+    assert popen.call_args.kwargs["stdin"] == athenad.subprocess.DEVNULL
+    assert clips.transcode_proc is None
+
+  def test_video_clip_hardware_encoder_failure(self, mocker):
+    clip = athenad.VideoClips.Clip("route", "fcamera.hevc", 0, 60, 1, 1, "clip.mp4", 123)
+    clips = self._video_clips(clip)
+    process = mocker.Mock(stdin=None, returncode=1)
+    process.poll.return_value = 1
+    mocker.patch("openpilot.system.athena.athenad.subprocess.Popen", return_value=process)
+    mocker.patch.object(athenad, "PC", False)
+
+    with self.assertRaisesRegex(RuntimeError, "clip encoder exited with code 1"):
+      clips._encode(clip, ["segment"], "output.mp4", 0, 60)
+    assert clips.transcode_proc is None
+
+  def test_video_clip_software_fallback(self, mocker):
+    clip = athenad.VideoClips.Clip("route", "fcamera.hevc", 10, 30, 3, 2, "clip.mp4", 123)
+    clips = self._video_clips(clip)
+    stdin = mocker.Mock()
+    process = mocker.Mock(stdin=stdin, returncode=0)
+    process.poll.return_value = 0
+    popen = mocker.patch("openpilot.system.athena.athenad.subprocess.Popen", return_value=process)
+    mocker.patch.object(athenad, "PC", True)
+
+    clips._encode(clip, ["segment'0", "segment1"], "output.mp4", 10, 20)
+
+    command = popen.call_args.args[0]
+    assert ["-r", "40"] == command[command.index("-r"):command.index("-r") + 2]
+    assert ["-ss", "5.0"] == command[command.index("-ss"):command.index("-ss") + 2]
+    assert ["-t", "10.0"] == command[command.index("-t"):command.index("-t") + 2]
+    assert ["-b:v", "3M"] == command[command.index("-b:v"):command.index("-b:v") + 2]
+    writes = [call.args[0] for call in stdin.write.call_args_list]
+    assert "file 'file:segment'\\''0'\n" in writes[1]
+    assert writes[-1].startswith("file 'file:segment1'")
+
   def test_strip_extension(self):
     # any requested log file with an invalid extension won't return as existing
     fn = self._create_file('qlog.bz2')
@@ -184,14 +241,14 @@ class TestAthenadMethods:
     if fn.endswith('.zst'):
       assert athenad.strip_zst_extension(fn) == fn[:-4]
 
-  @pytest.mark.parametrize("compress", [True, False])
+  @parameterized.expand([True, False], names=("compress",))
   def test_do_upload(self, host, compress):
     # random bytes to ensure rather large object post-compression
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
     upload_fn = fn + ('.zst' if compress else '')
     item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')  # noqa: TID251
-    with pytest.raises(requests.exceptions.ConnectionError):
+    with self.assertRaises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
     item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='')  # noqa: TID251
@@ -236,7 +293,7 @@ class TestAthenadMethods:
     # TODO: also check that end_event and metered network raises AbortTransferException
     assert athenad.upload_queue.qsize() == 0
 
-  @pytest.mark.parametrize("status,retry", [(500,True), (412,False)])
+  @parameterized.expand([(500,True), (412,False)], names=("status", "retry"))
   @with_upload_handler
   def test_upload_handler_retry(self, mocker, host, status, retry):
     mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put')
@@ -351,6 +408,7 @@ class TestAthenadMethods:
     assert items[0] == asdict(item)
     assert not items[0]['current']
 
+    assert item.id is not None
     athenad.cancelled_uploads.add(item.id)
     items = dispatcher["listUploadQueue"]()
     assert len(items) == 0
@@ -363,6 +421,7 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item2)
 
     # Ensure canceled items are not persisted
+    assert item2.id is not None
     athenad.cancelled_uploads.add(item2.id)
 
     # serialize item
@@ -408,7 +467,7 @@ class TestAthenadMethods:
 
   def test_get_version(self):
     resp = dispatcher["getVersion"]()
-    keys = ["version", "remote", "branch", "commit"]
+    keys = ["version", "remote", "branch", "commit", "commit_date"]
     assert list(resp.keys()) == keys
     for k in keys:
       assert isinstance(resp[k], str), f"{k} is not a string"
@@ -422,11 +481,11 @@ class TestAthenadMethods:
     try:
       # with params
       athenad.recv_queue.put_nowait(json.dumps({"method": "echo", "params": ["hello"], "jsonrpc": "2.0", "id": 0}))
-      resp = athenad.send_queue.get(timeout=3)
+      _, _, resp = athenad.send_queue.get(timeout=3)
       assert json.loads(resp) == {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'}
       # without params
       athenad.recv_queue.put_nowait(json.dumps({"method": "getNetworkType", "jsonrpc": "2.0", "id": 0}))
-      resp = athenad.send_queue.get(timeout=3)
+      _, _, resp = athenad.send_queue.get(timeout=3)
       assert json.loads(resp) == {'result': 1, 'id': 0, 'jsonrpc': '2.0'}
       # log forwarding
       athenad.recv_queue.put_nowait(json.dumps({'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'}))
@@ -437,7 +496,7 @@ class TestAthenadMethods:
       thread.join()
 
   def test_get_logs_to_send_sorted(self):
-    fl = list()
+    fl = []
     for i in range(10):
       file = f'swaglog.{i:010}'
       self._create_file(file, Paths.swaglog_root())
diff --git a/system/athena/tests/test_athenad_ping.py b/openpilot/system/athena/tests/test_athenad_ping.py
similarity index 87%
rename from system/athena/tests/test_athenad_ping.py
rename to openpilot/system/athena/tests/test_athenad_ping.py
index 8ff1e37a5d..33876a6235 100644
--- a/system/athena/tests/test_athenad_ping.py
+++ b/openpilot/system/athena/tests/test_athenad_ping.py
@@ -1,26 +1,26 @@
-import pytest
+import unittest
 import subprocess
 import threading
 import time
 from typing import cast
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
-from openpilot.system.manager.helpers import write_onroad_params
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 
 TIMEOUT_TOLERANCE = 20  # seconds
 
 
 def wifi_radio(on: bool) -> None:
-  if not TICI:
+  if not COMMA_HARDWARE:
     return
   print(f"wifi {'on' if on else 'off'}")
   subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True)
 
 
-class TestAthenadPing:
+class TestAthenadPing(OpenpilotTestCase):
   params: Params
   dongle_id: str
 
@@ -91,12 +91,12 @@ class TestAthenadPing:
         time.sleep(0.1)
       print("ping received")
 
-  @pytest.mark.skipif(not TICI, reason="only run on desk")
+  @unittest.skipIf(not COMMA_HARDWARE, "only run on desk")
   def test_offroad(self, subtests, mocker) -> None:
-    write_onroad_params(False, self.params)
+    self.params.put_bool("IsOffroad", True, block=True)
     self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker)  # based using TCP keepalive settings
 
-  @pytest.mark.skipif(not TICI, reason="only run on desk")
+  @unittest.skipIf(not COMMA_HARDWARE, "only run on desk")
   def test_onroad(self, subtests, mocker) -> None:
-    write_onroad_params(True, self.params)
+    self.params.put_bool("IsOffroad", False, block=True)
     self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker)
diff --git a/system/athena/tests/test_registration.py b/openpilot/system/athena/tests/test_registration.py
similarity index 92%
rename from system/athena/tests/test_registration.py
rename to openpilot/system/athena/tests/test_registration.py
index c20722659a..3c75255c61 100644
--- a/system/athena/tests/test_registration.py
+++ b/openpilot/system/athena/tests/test_registration.py
@@ -2,13 +2,14 @@ import json
 from Crypto.PublicKey import RSA
 from pathlib import Path
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.system.athena.tests.helpers import MockResponse
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
-class TestRegistration:
+class TestRegistration(OpenpilotTestCase):
 
   def setup_method(self):
     # clear params and setup key paths
@@ -37,7 +38,7 @@ class TestRegistration:
     dongle = "DONGLE_ID_123"
     m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True)
     for persist, params in [(True, True), (True, False), (False, True)]:
-      self.params.put("DongleId", dongle if params else "")
+      self.params.put("DongleId", dongle if params else "", block=True)
       with open(self.dongle_id, "w") as f:
         f.write(dongle if persist else "")
       assert register() == dongle
diff --git a/system/camerad/SConscript b/openpilot/system/camerad/SConscript
similarity index 65%
rename from system/camerad/SConscript
rename to openpilot/system/camerad/SConscript
index e288c6d8b0..e6bc3f2bfb 100644
--- a/system/camerad/SConscript
+++ b/openpilot/system/camerad/SConscript
@@ -1,11 +1,8 @@
 Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
-libs = [common, 'OpenCL', messaging, visionipc]
+libs = [common, messaging, visionipc]
 
 if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
                            'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
   env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
-
-if GetOption("extras") and arch == "x86_64":
-  env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs)
diff --git a/system/hardware/tici/__init__.py b/openpilot/system/camerad/__init__.py
similarity index 100%
rename from system/hardware/tici/__init__.py
rename to openpilot/system/camerad/__init__.py
diff --git a/system/camerad/cameras/bps_blobs.h b/openpilot/system/camerad/cameras/bps_blobs.h
similarity index 50%
rename from system/camerad/cameras/bps_blobs.h
rename to openpilot/system/camerad/cameras/bps_blobs.h
index 54941b8d76..ee31698e7f 100644
--- a/system/camerad/cameras/bps_blobs.h
+++ b/openpilot/system/camerad/cameras/bps_blobs.h
@@ -8,23 +8,23 @@
 
 
 unsigned char bps_cfg[4][768] = {
+{ /* placeholder */ },
 { /* placeholder */ },
   {0x3, 0x0, 0x0, 0x0, 0x88, 0x7, 0x0, 0x0, 0xB8, 0x4, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x50, 0xB, 0x0, 0x0, 0xB8, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x14, 0x0, 0x0, 0x0, 0x88, 0x7, 0x0, 0x0, 0xB8, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0xC0, 0x4, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x60, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
-  {0x3, 0x0, 0x0, 0x0, 0x88, 0x7, 0x0, 0x0, 0xB8, 0x4, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x50, 0xB, 0x0, 0x0, 0xB8, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x14, 0x0, 0x0, 0x0, 0x88, 0x7, 0x0, 0x0, 0xB8, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0xC0, 0x4, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x60, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
-  {0x3, 0x0, 0x0, 0x0, 0x40, 0x5, 0x0, 0x0, 0xF8, 0x2, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE0, 0x7, 0x0, 0x0, 0xF8, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x14, 0x0, 0x0, 0x0, 0x40, 0x5, 0x0, 0x0, 0xF8, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x80, 0x5, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x80, 0x5, 0x0, 0x0, 0x80, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
+  {0x3, 0x0, 0x0, 0x0, 0x80, 0xA, 0x0, 0x0, 0xF0, 0x5, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0xF, 0x0, 0x0, 0xF0, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x14, 0x0, 0x0, 0x0, 0x80, 0xA, 0x0, 0x0, 0xF0, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x80, 0xA, 0x0, 0x0, 0x0, 0x6, 0x0, 0x0, 0x80, 0xA, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x14, 0x0, 0x0, 0x0, 0x40, 0x5, 0x0, 0x0, 0xF8, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x80, 0x5, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x80, 0x5, 0x0, 0x0, 0x80, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
 };
 
-unsigned char bps_striping_output[4][0x9a0] = {
+unsigned char bps_striping_output[4][0xc58] = {
 { /* placeholder */ },
-  {0x5, 0x0, 0x6, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xFF, 0xFF, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x4, 0x5C, 0x2, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x5, 0x0, 0x0, 0x0, 0x70, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x89, 0x23, 0x0, 0x1, 0x0, 0x0, 0x0, 0xCC, 0x5, 0x87, 0x7, 0x0, 0x0, 0x0, 0x0, 0xD0, 0x5, 0x87, 0x7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x2, 0xA4, 0xFD, 0x50, 0xB1, 0x9, 0x0, 0x8, 0x0, 0x33, 0x0, 0x8, 0x2, 0xA4, 0xFD, 0x50, 0xB1, 0x9, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0x6, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE, 0x2, 0xA6, 0xFD, 0x68, 0xC0, 0x9, 0x0, 0x8, 0x0, 0x34, 0x0, 0xD0, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1C, 0x8, 0x0, 0x14, 0x4, 0xD3, 0x5, 0x0, 0x0, 0x0, 0x0, 0x18, 0x4, 0xCF, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x50, 0x0, 0xA4, 0xFD, 0x10, 0xAA, 0x5, 0x0, 0x8, 0x0, 0x33, 0x0, 0x50, 0x0, 0xA4, 0xFD, 0x10, 0xAA, 0x5, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0xA, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x56, 0x0, 0xA6, 0xFD, 0x88, 0xA4, 0x5, 0x0, 0x8, 0x0, 0x34, 0x0, 0x18, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1C, 0x8, 0x0, 0x5C, 0x2, 0x1B, 0x4, 0x0, 0x0, 0x0, 0x0, 0x60, 0x2, 0x17, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x98, 0xFE, 0xA4, 0xFD, 0x50, 0x8B, 0x7, 0x0, 0x8, 0x0, 0x33, 0x0, 0x98, 0xFE, 0xA4, 0xFD, 0x50, 0x8B, 0x7, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x9E, 0xFE, 0xA6, 0xFD, 0x28, 0x71, 0x7, 0x0, 0x8, 0x0, 0x34, 0x0, 0x60, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1C, 0x8, 0x0, 0xC0, 0x0, 0x63, 0x2, 0x0, 0x0, 0x0, 0x0, 0xC4, 0x0, 0x5F, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0x9C, 0x1, 0xCE, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFC, 0xFC, 0xA4, 0xFD, 0x20, 0xA9, 0xE, 0x0, 0x8, 0x0, 0x33, 0x0, 0xFC, 0xFC, 0xA4, 0xFD, 0x20, 0xA9, 0xE, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x2, 0xFD, 0xA6, 0xFD, 0xA8, 0x7B, 0xE, 0x0, 0x8, 0x0, 0x34, 0x0, 0xC4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x20, 0x98, 0x7, 0x0, 0x0, 0x0, 0xC7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xC4, 0x0, 0x62, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x3C, 0xFC, 0xA4, 0xFD, 0x20, 0xBF, 0x13, 0x0, 0x8, 0x0, 0x33, 0x0, 0x3C, 0xFC, 0xA4, 0xFD, 0x20, 0xBF, 0x13, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x3E, 0xFC, 0xA6, 0xFD, 0xA8, 0xA6, 0x13, 0x0, 0x8, 0x0, 0x34, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE0, 0x9C, 0x3, 0x0, 0x20, 0x4, 0x1, 0x0, 0x5D, 0x59, 0xAB, 0x0, 0xC8, 0x8C, 0xFD, 0xF4, 0x3, 0x0, 0x0, 0x0, 0xB8, 0x13, 0xFD, 0xFF, 0xAC, 0x5F, 0x8C, 0xF5, 0x0, 0x20, 0x4E, 0x0, 0xAB, 0xAA, 0xAA, 0xAA, 0x40, 0x69, 0xFD, 0xF4, 0x0, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x38, 0x6B, 0x8B, 0xF5, 0x11, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x9F, 0x9, 0x0, 0x0, 0xB8, 0x2B, 0x6B, 0x15, 0xC0, 0x6A, 0x8C, 0xF5, 0x0, 0x0, 0x0, 0x0, 0xB8, 0x13, 0xFD, 0xFF, 0x2A, 0x5, 0x1, 0x0, 0xC0, 0x13, 0xFD, 0xFF, 0x2C, 0x14, 0xFD, 0xFF, 0x14, 0x14, 0xFD, 0xFF, 0xCC, 0xE8, 0x89, 0xF5, 0xC0, 0x13, 0xFD, 0xFF, 0x64, 0x6A, 0x8C, 0xF5, 0x3, 0x0, 0x0, 0x0, 0xA0, 0x6B, 0x8B, 0xF5, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x8, 0x69, 0x8C, 0xF5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x6A, 0x8C, 0xF5, 0x8, 0x69, 0x8C, 0xF5, 0xFF, 0xFF, 0xFF, 0xFF, 0xA0, 0x9, 0x0, 0x0, 0xF8, 0xB2, 0xFD, 0xF4, 0x50, 0x35, 0x8C, 0xF5, 0xD0, 0x14, 0xC1, 0xF4, 0x1, 0xD0, 0x3B, 0xF5, 0x64, 0x1F, 0xFD, 0xFF, 0xD0, 0xAD, 0x4, 0xF5, 0x2C, 0x30, 0x1, 0x0, 0x0, 0x10, 0x0, 0x0, 0x2C, 0x0, 0x0, 0x0, 0x14, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x4C, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC, 0x30, 0x1, 0x0, 0xD0, 0x14, 0xC1, 0xF4, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x10, 0x1F, 0xFD, 0xFF, 0x3C, 0x23, 0xFD, 0x34, 0x31, 0x32, 0x31, 0x36, 0xA0, 0x6B, 0x8B, 0xF5, 0x60, 0x14, 0xFD, 0xFF, 0x0, 0x30, 0x1, 0x0, 0x14, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x4C, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x10, 0x1F, 0xFD, 0xFF, 0x3C, 0x23, 0xFD, 0xFF, 0xC0, 0xDC, 0x1, 0xF5, 0x4C, 0x0, 0x0, 0x0, 0x54, 0x14, 0xFD, 0xFF, 0x50, 0x1D, 0x1, 0x0, 0x30, 0x14, 0x1, 0x0, 0x98, 0x1D, 0x1, 0x0, 0x0, 0xA1, 0x0, 0x0, 0x0, 0xA1, 0x0, 0x0, 0x98, 0x1D, 0x1, 0x0, 0x6C, 0x1F, 0xFD, 0xFF, 0x64, 0x1F, 0xFD, 0xFF, 0x68, 0x1F, 0xFD, 0xFF, 0x0, 0x0, 0x0, 0x0},
-  {0x5, 0x0, 0x6, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xFF, 0xFF, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x4, 0x5C, 0x2, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x5, 0x0, 0x0, 0x0, 0x70, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x89, 0x23, 0x0, 0x1, 0x0, 0x0, 0x0, 0xCC, 0x5, 0x87, 0x7, 0x0, 0x0, 0x0, 0x0, 0xD0, 0x5, 0x87, 0x7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x2, 0xA4, 0xFD, 0x50, 0xB1, 0x9, 0x0, 0x8, 0x0, 0x33, 0x0, 0x8, 0x2, 0xA4, 0xFD, 0x50, 0xB1, 0x9, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0x6, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE, 0x2, 0xA6, 0xFD, 0x68, 0xC0, 0x9, 0x0, 0x8, 0x0, 0x34, 0x0, 0xD0, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1C, 0x8, 0x0, 0x14, 0x4, 0xD3, 0x5, 0x0, 0x0, 0x0, 0x0, 0x18, 0x4, 0xCF, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x50, 0x0, 0xA4, 0xFD, 0x10, 0xAA, 0x5, 0x0, 0x8, 0x0, 0x33, 0x0, 0x50, 0x0, 0xA4, 0xFD, 0x10, 0xAA, 0x5, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0xA, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x56, 0x0, 0xA6, 0xFD, 0x88, 0xA4, 0x5, 0x0, 0x8, 0x0, 0x34, 0x0, 0x18, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1C, 0x8, 0x0, 0x5C, 0x2, 0x1B, 0x4, 0x0, 0x0, 0x0, 0x0, 0x60, 0x2, 0x17, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x98, 0xFE, 0xA4, 0xFD, 0x50, 0x8B, 0x7, 0x0, 0x8, 0x0, 0x33, 0x0, 0x98, 0xFE, 0xA4, 0xFD, 0x50, 0x8B, 0x7, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x9E, 0xFE, 0xA6, 0xFD, 0x28, 0x71, 0x7, 0x0, 0x8, 0x0, 0x34, 0x0, 0x60, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1C, 0x8, 0x0, 0xC0, 0x0, 0x63, 0x2, 0x0, 0x0, 0x0, 0x0, 0xC4, 0x0, 0x5F, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0x9C, 0x1, 0xCE, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFC, 0xFC, 0xA4, 0xFD, 0x20, 0xA9, 0xE, 0x0, 0x8, 0x0, 0x33, 0x0, 0xFC, 0xFC, 0xA4, 0xFD, 0x20, 0xA9, 0xE, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x2, 0xFD, 0xA6, 0xFD, 0xA8, 0x7B, 0xE, 0x0, 0x8, 0x0, 0x34, 0x0, 0xC4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x20, 0x98, 0x7, 0x0, 0x0, 0x0, 0xC7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xC4, 0x0, 0x62, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x3C, 0xFC, 0xA4, 0xFD, 0x20, 0xBF, 0x13, 0x0, 0x8, 0x0, 0x33, 0x0, 0x3C, 0xFC, 0xA4, 0xFD, 0x20, 0xBF, 0x13, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x3E, 0xFC, 0xA6, 0xFD, 0xA8, 0xA6, 0x13, 0x0, 0x8, 0x0, 0x34, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE0, 0x9C, 0x3, 0x0, 0x20, 0x4, 0x1, 0x0, 0xA0, 0x9, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x60, 0x5D, 0x1, 0x0, 0x0, 0x0, 0x0, 0x7, 0x0, 0x0, 0x0, 0xFC, 0x57, 0x12, 0xF5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x50, 0x12, 0xF5, 0x0, 0x0, 0x0, 0x0, 0x9F, 0x9, 0x0, 0x0, 0x5E, 0x0, 0x0, 0x0, 0x5F, 0x0, 0x0, 0x0, 0x6E, 0x0, 0x0, 0x0, 0x77, 0x0, 0x0, 0x0, 0x7C, 0x0, 0x0, 0x0, 0x35, 0x1, 0x0, 0x0, 0x26, 0x0, 0x0, 0x0, 0xA4, 0x61, 0x5D, 0x1, 0x58, 0x3, 0x0, 0x0, 0xC0, 0x13, 0xFD, 0xFF, 0x64, 0x6A, 0x8C, 0xF5, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x50, 0x12, 0xF5, 0x9F, 0x9, 0x0, 0x0, 0xA0, 0x9, 0x0, 0x0, 0xFC, 0x57, 0x12, 0xF5, 0x33, 0x1, 0x0, 0x0, 0xD0, 0x14, 0xC1, 0xF4, 0x1, 0xD0, 0x3B, 0xF5, 0x64, 0x1F, 0xFD, 0xFF, 0xD0, 0xAD, 0x4, 0xF5, 0x2C, 0x30, 0x1, 0x0, 0x0, 0x10, 0x0, 0x0, 0x2C, 0x0, 0x0, 0x0, 0x14, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x4C, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x4C, 0x27, 0x5E, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x0, 0x0, 0x0, 0x6, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x34, 0x31, 0x32, 0x31, 0x36, 0x10, 0x20, 0xFD, 0xFF, 0x60, 0x14, 0xFD, 0xFF, 0x0, 0x30, 0x1, 0x0, 0xA0, 0x9, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x4C, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x10, 0x1F, 0xFD, 0xFF, 0x3C, 0x23, 0xFD, 0xFF, 0xC0, 0xDC, 0x1, 0xF5, 0x0, 0x30, 0x1, 0x0, 0x54, 0x14, 0xFD, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x30, 0x14, 0x1, 0x0, 0x98, 0x1D, 0x1, 0x0, 0x0, 0xA1, 0x0, 0x0, 0x0, 0xA1, 0x0, 0x0, 0x98, 0x1D, 0x1, 0x0, 0x6C, 0x1F, 0xFD, 0xFF, 0x64, 0x1F, 0xFD, 0xFF, 0x68, 0x1F, 0xFD, 0xFF, 0x0, 0x0, 0x0, 0x0},
-  {0x4, 0x0, 0x4, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0xFF, 0xFF, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0x7B, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0x7B, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xF8, 0x2, 0x7C, 0x1, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x4, 0x0, 0x2, 0x0, 0x70, 0x1, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x50, 0x0, 0xA4, 0xFD, 0x10, 0xAA, 0x5, 0x0, 0x8, 0x0, 0x33, 0x0, 0x50, 0x0, 0xA4, 0xFD, 0x10, 0xAA, 0x5, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0xA, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x56, 0x0, 0xA6, 0xFD, 0x88, 0xA4, 0x5, 0x0, 0x8, 0x0, 0x34, 0x0, 0x18, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x24, 0x0, 0x0, 0x0, 0x78, 0x14, 0x5E, 0x1, 0xB8, 0x5D, 0x12, 0xF5, 0xDC, 0x3B, 0x12, 0xF5, 0x24, 0x0, 0x0, 0x0, 0xFC, 0xF9, 0x3, 0xF5, 0x0, 0x96, 0xF, 0x0, 0x1, 0x5, 0x0, 0x0, 0x84, 0x3, 0x3F, 0x5, 0x0, 0x0, 0x0, 0x0, 0x88, 0x3, 0x3F, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE4, 0x0, 0x84, 0xFE, 0x20, 0xFF, 0x2, 0x0, 0x7, 0x0, 0x38, 0x0, 0xE4, 0x0, 0x84, 0xFE, 0x20, 0xFF, 0x2, 0x0, 0x7, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xEA, 0x0, 0x86, 0xFE, 0x8, 0x4, 0x3, 0x0, 0x7, 0x0, 0x38, 0x0, 0x88, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1A, 0x5, 0x0, 0xCC, 0x1, 0x8B, 0x3, 0x0, 0x0, 0x0, 0x0, 0xD0, 0x1, 0x87, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x2C, 0xFF, 0x84, 0xFE, 0xA0, 0xE3, 0x2, 0x0, 0x7, 0x0, 0x38, 0x0, 0x2C, 0xFF, 0x84, 0xFE, 0xA0, 0xE3, 0x2, 0x0, 0x7, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x6, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x32, 0xFF, 0x86, 0xFE, 0xE8, 0xD3, 0x2, 0x0, 0x7, 0x0, 0x38, 0x0, 0xD0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1A, 0x5, 0x0, 0xC0, 0x0, 0xD3, 0x1, 0x0, 0x0, 0x0, 0x0, 0xC4, 0x0, 0xCF, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB, 0x1, 0x0, 0x0, 0xB, 0x1, 0x0, 0x0, 0xB, 0x1, 0x0, 0x0, 0xB, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB, 0x1, 0x0, 0x0, 0xB, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xC, 0x1, 0x86, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x20, 0xFE, 0x84, 0xFE, 0x10, 0xB8, 0x5, 0x0, 0x7, 0x0, 0x38, 0x0, 0x20, 0xFE, 0x84, 0xFE, 0x10, 0xB8, 0x5, 0x0, 0x7, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x26, 0xFE, 0x86, 0xFE, 0xC8, 0x9B, 0x5, 0x0, 0x7, 0x0, 0x38, 0x0, 0xC4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xA0, 0x1B, 0x3, 0x0, 0x0, 0x0, 0xC7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xC4, 0x0, 0x62, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x60, 0xFD, 0x84, 0xFE, 0x10, 0x18, 0x9, 0x0, 0x7, 0x0, 0x38, 0x0, 0x60, 0xFD, 0x84, 0xFE, 0x10, 0x18, 0x9, 0x0, 0x7, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x62, 0xFD, 0x86, 0xFE, 0xA8, 0x7, 0x9, 0x0, 0x7, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE0, 0x45, 0x2, 0x0},
+{ /* placeholder */ },
+  {0x5, 0x0, 0x6, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xFF, 0xFF, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x5B, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x4, 0x5C, 0x2, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x5, 0x0, 0x0, 0x0, 0x70, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x89, 0x23, 0x0, 0x1, 0x0, 0x0, 0x0, 0xCC, 0x5, 0x87, 0x7, 0x0, 0x0, 0x0, 0x0, 0xD0, 0x5, 0x87, 0x7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x2, 0xA4, 0xFD, 0x50, 0xB1, 0x9, 0x0, 0x8, 0x0, 0x33, 0x0, 0x8, 0x2, 0xA4, 0xFD, 0x50, 0xB1, 0x9, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0x6, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE, 0x2, 0xA6, 0xFD, 0x68, 0xC0, 0x9, 0x0, 0x8, 0x0, 0x34, 0x0, 0xD0, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1C, 0x8, 0x0, 0x14, 0x4, 0xD3, 0x5, 0x0, 0x0, 0x0, 0x0, 0x18, 0x4, 0xCF, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x50, 0x0, 0xA4, 0xFD, 0x10, 0xAA, 0x5, 0x0, 0x8, 0x0, 0x33, 0x0, 0x50, 0x0, 0xA4, 0xFD, 0x10, 0xAA, 0x5, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0xA, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x56, 0x0, 0xA6, 0xFD, 0x88, 0xA4, 0x5, 0x0, 0x8, 0x0, 0x34, 0x0, 0x18, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1C, 0x8, 0x0, 0x5C, 0x2, 0x1B, 0x4, 0x0, 0x0, 0x0, 0x0, 0x60, 0x2, 0x17, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x98, 0xFE, 0xA4, 0xFD, 0x50, 0x8B, 0x7, 0x0, 0x8, 0x0, 0x33, 0x0, 0x98, 0xFE, 0xA4, 0xFD, 0x50, 0x8B, 0x7, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x9E, 0xFE, 0xA6, 0xFD, 0x28, 0x71, 0x7, 0x0, 0x8, 0x0, 0x34, 0x0, 0x60, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1C, 0x8, 0x0, 0xC0, 0x0, 0x63, 0x2, 0x0, 0x0, 0x0, 0x0, 0xC4, 0x0, 0x5F, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x9B, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0x9C, 0x1, 0xCE, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFC, 0xFC, 0xA4, 0xFD, 0x20, 0xA9, 0xE, 0x0, 0x8, 0x0, 0x33, 0x0, 0xFC, 0xFC, 0xA4, 0xFD, 0x20, 0xA9, 0xE, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x2, 0xFD, 0xA6, 0xFD, 0xA8, 0x7B, 0xE, 0x0, 0x8, 0x0, 0x34, 0x0, 0xC4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x20, 0x98, 0x7, 0x0, 0x0, 0x0, 0xC7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xC4, 0x0, 0x62, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x3C, 0xFC, 0xA4, 0xFD, 0x20, 0xBF, 0x13, 0x0, 0x8, 0x0, 0x33, 0x0, 0x3C, 0xFC, 0xA4, 0xFD, 0x20, 0xBF, 0x13, 0x0, 0x8, 0x0, 0x33, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x3E, 0xFC, 0xA6, 0xFD, 0xA8, 0xA6, 0x13, 0x0, 0x8, 0x0, 0x34, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE0, 0x9C, 0x3, 0x0, 0xEC, 0x3, 0x1, 0x0, 0x5D, 0x59, 0xAB, 0x0, 0xC8, 0xFC, 0xFB, 0x40, 0x3, 0x0, 0x0, 0x0, 0x0, 0xFC, 0x7F, 0x40, 0xAC, 0x1F, 0x84, 0x40, 0x0, 0x20, 0x4E, 0x0, 0xAB, 0xAA, 0xAA, 0xAA, 0x40, 0xD9, 0xFB, 0x40, 0x0, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC8, 0xED, 0x80, 0x40, 0x11, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x9F, 0x9, 0x0, 0x0, 0xB8, 0x2B, 0x6B, 0x15, 0xC0, 0x2A, 0x84, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFC, 0x7F, 0x40, 0x0, 0x5, 0x1, 0x0, 0x8, 0xFC, 0x7F, 0x40, 0x74, 0xFC, 0x7F, 0x40, 0x5C, 0xFC, 0x7F, 0x40, 0xCC, 0xA8, 0x81, 0x40, 0x8, 0xFC, 0x7F, 0x40, 0x64, 0x2A, 0x84, 0x40, 0x3, 0x0, 0x0, 0x0, 0x30, 0xEE, 0x80, 0x40, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x8, 0x29, 0x84, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x2A, 0x84, 0x40, 0x8, 0x29, 0x84, 0x40, 0xFF, 0xFF, 0xFF, 0xFF, 0xA0, 0x9, 0x0, 0x0, 0xF8, 0x22, 0xFC, 0x40, 0xB8, 0x16, 0x80, 0x40, 0xD0, 0x34, 0x84, 0x40, 0x1, 0xB0, 0xAB, 0x40, 0xAC, 0x7, 0x80, 0x40, 0xD0, 0x1D, 0x3, 0x41, 0x30, 0x40, 0x1, 0x0, 0xD0, 0x34, 0x84, 0x40, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1, 0x0, 0xA4, 0xFC, 0x7F, 0x40, 0x0, 0x0, 0x0, 0x0, 0xC, 0x40, 0x1, 0x0, 0xD0, 0x34, 0x84, 0x40, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1, 0x0, 0x8C, 0xB, 0x80, 0x34, 0x31, 0x32, 0x31, 0x36, 0x30, 0xEE, 0x80, 0x40, 0xA8, 0xFC, 0x7F, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1, 0x0, 0x58, 0x7, 0x80, 0x40, 0x4C, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1, 0x0, 0x8C, 0xB, 0x80, 0x40, 0xC0, 0x4C, 0x0, 0x41, 0x4C, 0x0, 0x0, 0x0, 0x9C, 0xFC, 0x7F, 0x40, 0x78, 0x22, 0x1, 0x0, 0xC4, 0x15, 0x1, 0x0, 0xC0, 0x22, 0x1, 0x0, 0x0, 0xA1, 0x0, 0x0, 0x0, 0xA1, 0x0, 0x0, 0xC0, 0x22, 0x1, 0x0, 0xB4, 0x7, 0x80, 0x40, 0xAC, 0x7, 0x80, 0x40, 0xB0, 0x7, 0x80, 0x40, 0x0, 0x0, 0x0, 0x0},
+  {0x7, 0x0, 0x8, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xEF, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xEF, 0x5, 0x0, 0x0, 0xFF, 0xFF, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0xEF, 0x5, 0x0, 0x0, 0xEF, 0x5, 0x0, 0x0, 0xEF, 0x5, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xEF, 0x5, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0xEF, 0x5, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xF7, 0x2, 0x0, 0x0, 0x7B, 0x1, 0x0, 0x0, 0xEF, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xF0, 0x5, 0xF8, 0x2, 0x0, 0x0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xF8, 0x2, 0x7C, 0x1, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xF0, 0x5, 0xF8, 0x2, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x7, 0x0, 0x0, 0x0, 0x70, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x3, 0x0, 0x88, 0x7, 0xB8, 0x4, 0x14, 0x0, 0x88, 0x7, 0xB8, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x74, 0x16, 0x80, 0x40, 0x52, 0x5, 0x1, 0x0, 0x1A, 0x3, 0x0, 0x0, 0xC4, 0xED, 0x80, 0x40, 0x98, 0x1, 0x0, 0x0, 0x11, 0x7B, 0x9C, 0x7C, 0x11, 0x7B, 0x9C, 0x7C, 0x14, 0x69, 0x69, 0xD, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE8, 0x8A, 0xFC, 0x40, 0xB2, 0x4, 0x1, 0x0, 0x11, 0x7B, 0x9C, 0x7C, 0xBC, 0x3, 0x1, 0x0, 0xD8, 0xE3, 0xE4, 0x3, 0xC8, 0xFC, 0xFB, 0x40, 0x3, 0x0, 0x0, 0x0, 0x60, 0xF2, 0x7F, 0x40, 0x0, 0x58, 0x3E, 0x0, 0x1, 0x20, 0x4E, 0x0, 0xC4, 0x8, 0x7F, 0xA, 0x0, 0x0, 0x0, 0x0, 0xC8, 0x8, 0x7F, 0xA, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x64, 0x4, 0x3F, 0x5, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0x6D, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xDC, 0x0, 0x6E, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x84, 0x3, 0x8, 0xFD, 0x50, 0x2C, 0x15, 0x0, 0x9, 0x0, 0x38, 0x0, 0x84, 0x3, 0x8, 0xFD, 0x50, 0x2C, 0x15, 0x0, 0x9, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8A, 0x3, 0xA, 0xFD, 0xC8, 0x4A, 0x15, 0x0, 0x9, 0x0, 0x38, 0x0, 0xC8, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x80, 0x34, 0xA, 0x0, 0xC, 0x7, 0xCB, 0x8, 0x0, 0x0, 0x0, 0x0, 0x10, 0x7, 0xC7, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x88, 0x3, 0x63, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0x6D, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xDC, 0x0, 0x6E, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xCC, 0x1, 0x8, 0xFD, 0xD0, 0xA, 0xC, 0x0, 0x9, 0x0, 0x38, 0x0, 0xCC, 0x1, 0x8, 0xFD, 0xD0, 0xA, 0xC, 0x0, 0x9, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x6, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xD2, 0x1, 0xA, 0xFD, 0xA8, 0x14, 0xC, 0x0, 0x9, 0x0, 0x38, 0x0, 0x10, 0x7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x80, 0x34, 0xA, 0x0, 0x54, 0x5, 0x13, 0x7, 0x0, 0x0, 0x0, 0x0, 0x58, 0x5, 0xF, 0x7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0xAC, 0x2, 0x87, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0x6D, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xDC, 0x0, 0x6E, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x14, 0x0, 0x8, 0xFD, 0xD0, 0xD1, 0x8, 0x0, 0x9, 0x0, 0x38, 0x0, 0x14, 0x0, 0x8, 0xFD, 0xD0, 0xD1, 0x8, 0x0, 0x9, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0xA, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1A, 0x0, 0xA, 0xFD, 0x8, 0xC7, 0x8, 0x0, 0x9, 0x0, 0x38, 0x0, 0x58, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x80, 0x34, 0xA, 0x0, 0x9C, 0x3, 0x5B, 0x5, 0x0, 0x0, 0x0, 0x0, 0xA0, 0x3, 0x57, 0x5, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0xD0, 0x1, 0xAB, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0x6D, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xDC, 0x0, 0x6E, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x0, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x5C, 0xFE, 0x8, 0xFD, 0x50, 0x81, 0xB, 0x0, 0x9, 0x0, 0x38, 0x0, 0x5C, 0xFE, 0x8, 0xFD, 0x50, 0x81, 0xB, 0x0, 0x9, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x62, 0xFE, 0xA, 0xFD, 0xE8, 0x61, 0xB, 0x0, 0x9, 0x0, 0x38, 0x0, 0xA0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x80, 0x34, 0xA, 0x0, 0xE4, 0x1, 0xA3, 0x3, 0x0, 0x0, 0x0, 0x0, 0xE8, 0x1, 0x9F, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0xF4, 0x0, 0xCF, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0xB7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xDB, 0x0, 0x0, 0x0, 0x6D, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xDC, 0x0, 0x6E, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xB8, 0x1, 0xDC, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xA4, 0xFC, 0x8, 0xFD, 0x50, 0x19, 0x14, 0x0, 0x9, 0x0, 0x38, 0x0, 0xA4, 0xFC, 0x8, 0xFD, 0x50, 0x19, 0x14, 0x0, 0x9, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x12, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xAA, 0xFC, 0xA, 0xFD, 0x48, 0xE5, 0x13, 0x0, 0x9, 0x0, 0x38, 0x0, 0xE8, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x80, 0x34, 0xA, 0x0, 0xC0, 0x0, 0xEB, 0x1, 0x0, 0x0, 0x0, 0x0, 0xC4, 0x0, 0xE7, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x62, 0x0, 0xF3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x23, 0x1, 0x0, 0x0, 0x23, 0x1, 0x0, 0x0, 0x23, 0x1, 0x0, 0x0, 0x23, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x23, 0x1, 0x0, 0x0, 0x91, 0x0, 0x0, 0x0, 0x23, 0x1, 0x0, 0x0, 0x23, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x91, 0x0, 0x0, 0x0, 0x48, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0x24, 0x1, 0x92, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0x92, 0x0, 0x49, 0x0, 0x0, 0x0, 0x3, 0x0, 0x1, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0x24, 0x1, 0x92, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x80, 0xFB, 0x8, 0xFD, 0x40, 0x10, 0x1D, 0x0, 0x9, 0x0, 0x38, 0x0, 0x80, 0xFB, 0x8, 0xFD, 0x40, 0x10, 0x1D, 0x0, 0x9, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x86, 0xFB, 0xA, 0xFD, 0x88, 0xCE, 0x1C, 0x0, 0x9, 0x0, 0x38, 0x0, 0xC4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0xC5, 0x6, 0x0, 0x0, 0x0, 0xC7, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0xB, 0x0, 0x0, 0x61, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x61, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0xC3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x61, 0x0, 0x0, 0x0, 0x30, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xC4, 0x0, 0x62, 0x0, 0x0, 0x0, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0x62, 0x0, 0x31, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x1, 0x0, 0xC4, 0x0, 0x62, 0x0, 0x0, 0x0, 0x3, 0x0, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x1, 0x1, 0x0, 0x0, 0x1, 0x1, 0x0, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0xFA, 0x8, 0xFD, 0x40, 0x60, 0x24, 0x0, 0x9, 0x0, 0x38, 0x0, 0xC0, 0xFA, 0x8, 0xFD, 0x40, 0x60, 0x24, 0x0, 0x9, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC2, 0xFA, 0xA, 0xFD, 0x68, 0x3F, 0x24, 0x0, 0x9, 0x0, 0x38, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x8B, 0x4, 0x0, 0xEC, 0x3, 0x1, 0x0, 0x58, 0xC, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x6, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x8, 0x50, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x7, 0x0, 0x0, 0x0, 0xFC, 0xC7, 0x10, 0x41, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x10, 0x41, 0x0, 0x0, 0x0, 0x0, 0x57, 0xC, 0x0, 0x0, 0x69, 0x0, 0x0, 0x0, 0x61, 0x0, 0x0, 0x0, 0x6E, 0x0, 0x0, 0x0, 0x77, 0x0, 0x0, 0x0, 0x7C, 0x0, 0x0, 0x0, 0x8C, 0x1, 0x0, 0x0, 0x31, 0x0, 0x0, 0x0, 0xA4, 0x51, 0x1, 0x0, 0x58, 0x3, 0x0, 0x0, 0x8, 0xFC, 0x7F, 0x40, 0x64, 0x2A, 0x84, 0x40, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x10, 0x41, 0x57, 0xC, 0x0, 0x0, 0x58, 0xC, 0x0, 0x0, 0xFC, 0xC7, 0x10, 0x41, 0x8A, 0x1, 0x0, 0x0, 0xD0, 0x34, 0x84, 0x40, 0x1, 0xB0, 0xAB, 0x40, 0xAC, 0x7, 0x80, 0x40, 0xD0, 0x1D, 0x3, 0x41, 0x30, 0x40, 0x1, 0x0, 0xD0, 0x34, 0x84, 0x40, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1, 0x0, 0xA4, 0xFC, 0x7F, 0x40, 0x0, 0x0, 0x0, 0x0, 0x40, 0x5, 0x0, 0x0, 0x4C, 0x17, 0x2, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xC0, 0x0, 0x0, 0x0, 0x8, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x35, 0x33, 0x32, 0x31, 0x36, 0x68, 0x8, 0x80, 0x40, 0xA8, 0xFC, 0x7F, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1, 0x0, 0x58, 0x7, 0x80, 0x40, 0xA0, 0x9, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x1, 0x0, 0x8C, 0xB, 0x80, 0x40, 0xC0, 0x4C, 0x0, 0x41, 0x0, 0x0, 0x0, 0x0, 0x9C, 0xFC, 0x7F, 0x40, 0x58, 0x7, 0x80, 0x40, 0xC4, 0x15, 0x1, 0x0, 0xC0, 0x22, 0x1, 0x0, 0xE0, 0xCF, 0x0, 0x0, 0xE0, 0xCF, 0x0, 0x0, 0xC0, 0x22, 0x1, 0x0, 0xB4, 0x7, 0x80, 0x40, 0xAC, 0x7, 0x80, 0x40, 0xB0, 0x7, 0x80, 0x40, 0x0, 0x0, 0x0, 0x0},
 };
 
 unsigned char bps_settings[4][684] = {
 { /* placeholder */ },
-  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
-  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
-  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
+{ /* placeholder */ },
+  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
+  {0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1, 0x0, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xFF, 0x3, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0},
 };
 
diff --git a/system/camerad/cameras/camera_common.cc b/openpilot/system/camerad/cameras/camera_common.cc
similarity index 92%
rename from system/camerad/cameras/camera_common.cc
rename to openpilot/system/camerad/cameras/camera_common.cc
index 88bca7f775..329192b63a 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/openpilot/system/camerad/cameras/camera_common.cc
@@ -7,7 +7,7 @@
 #include "system/camerad/cameras/spectra.h"
 
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
+void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
   vipc_server = v;
   stream_type = type;
   frame_buf_count = frame_cnt;
@@ -21,9 +21,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
     for (int i = 0; i < frame_buf_count; i++) {
       camera_bufs_raw[i].allocate(raw_frame_size);
-      camera_bufs_raw[i].init_cl(device_id, context);
     }
-    LOGD("allocated %d CL buffers", frame_buf_count);
+    LOGD("allocated %d buffers", frame_buf_count);
   }
 
   vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset);
diff --git a/system/camerad/cameras/camera_common.h b/openpilot/system/camerad/cameras/camera_common.h
similarity index 84%
rename from system/camerad/cameras/camera_common.h
rename to openpilot/system/camerad/cameras/camera_common.h
index c26859cbc4..24f70dbcf3 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/openpilot/system/camerad/cameras/camera_common.h
@@ -2,7 +2,7 @@
 
 #include <memory>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionipc_server.h"
 #include "common/util.h"
 
@@ -36,7 +36,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+  void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
   void sendFrameToVipc();
 };
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/openpilot/system/camerad/cameras/camera_qcom2.cc
similarity index 92%
rename from system/camerad/cameras/camera_qcom2.cc
rename to openpilot/system/camerad/cameras/camera_qcom2.cc
index d741e13cf3..4d30cd1e2c 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/openpilot/system/camerad/cameras/camera_qcom2.cc
@@ -12,16 +12,6 @@
 #include <string>
 #include <vector>
 
-#ifdef __TICI__
-#include "CL/cl_ext_qcom.h"
-#else
-#define CL_PRIORITY_HINT_HIGH_QCOM NULL
-#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL
-#endif
-
-#include "media/cam_sensor_cmn_header.h"
-
-#include "common/clutil.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 
@@ -57,7 +47,7 @@ public:
 
   CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
   ~CameraState();
-  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+  void init(VisionIpcServer *v);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
   void set_exposure_rect();
@@ -68,8 +58,8 @@ public:
   }
 };
 
-void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  camera.camera_open(v, device_id, ctx);
+void CameraState::init(VisionIpcServer *v) {
+  camera.camera_open(v);
 
   if (!camera.enabled) return;
 
@@ -244,11 +234,11 @@ void CameraState::sendState() {
   framed.setSensor(camera.sensor->image_sensor);
 
   // Log raw frames for road camera
-  if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_ROAD && meta.frame_id % 100 == 5) {  // no overlap with qlog decimation
+  if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_NARROW_ROAD && meta.frame_id % 100 == 5) {  // no overlap with qlog decimation
     framed.setImage(get_raw_frame_image(&camera.buf));
   }
 
-  set_camera_exposure(calculate_exposure_value(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
+  set_camera_exposure(calculate_exposure_value(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_CABIN ? 2 : 4));
 
   // Send the message
   pm->send(camera.cc.publish_name, msg);
@@ -257,11 +247,7 @@ void CameraState::sendState() {
 void camerad_thread() {
   // TODO: centralize enabled handling
 
-  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
-  cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
-
-  VisionIpcServer v("camerad", device_id, ctx);
+  VisionIpcServer v("camerad");
 
   // *** initial ISP init ***
   SpectraMaster m;
@@ -271,7 +257,7 @@ void camerad_thread() {
   std::vector<std::unique_ptr<CameraState>> cams;
   for (const auto &config : ALL_CAMERA_CONFIGS) {
     auto cam = std::make_unique<CameraState>(&m, config);
-    cam->init(&v, device_id, ctx);
+    cam->init(&v);
     cams.emplace_back(std::move(cam));
   }
 
diff --git a/system/camerad/cameras/cdm.cc b/openpilot/system/camerad/cameras/cdm.cc
similarity index 95%
rename from system/camerad/cameras/cdm.cc
rename to openpilot/system/camerad/cameras/cdm.cc
index d4ef20c48c..8a070fa3aa 100644
--- a/system/camerad/cameras/cdm.cc
+++ b/openpilot/system/camerad/cameras/cdm.cc
@@ -1,9 +1,9 @@
 #include "cdm.h"
 #include "stddef.h"
 
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel) {
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode) {
   struct cdm_dmi_cmd *cmd = (struct cdm_dmi_cmd*)dst;
-  cmd->cmd = CAM_CDM_CMD_DMI_32;
+  cmd->cmd = opcode;
   cmd->length = length - 1;
   cmd->reserved = 0;
   cmd->addr = 0; // gets patched in
diff --git a/system/camerad/cameras/cdm.h b/openpilot/system/camerad/cameras/cdm.h
similarity index 97%
rename from system/camerad/cameras/cdm.h
rename to openpilot/system/camerad/cameras/cdm.h
index adda600400..d9640cee3e 100644
--- a/system/camerad/cameras/cdm.h
+++ b/openpilot/system/camerad/cameras/cdm.h
@@ -6,11 +6,6 @@
 #include <vector>
 #include <memory>
 
-// our helpers
-int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
-int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
-int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel);
-
 // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
 
 enum cam_cdm_command {
@@ -32,6 +27,11 @@ enum cam_cdm_command {
   CAM_CDM_CMD_PRIVATE_BASE_MAX = 0x7F
 };
 
+// our helpers
+int write_random(uint8_t *dst, const std::vector<uint32_t> &vals);
+int write_cont(uint8_t *dst, uint32_t reg, const std::vector<uint32_t> &vals);
+int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel, uint8_t opcode = CAM_CDM_CMD_DMI_32);
+
 /**
  * struct cdm_regrandom_cmd - Definition for CDM random register command.
  * @count: Number of register writes
diff --git a/system/camerad/cameras/hw.h b/openpilot/system/camerad/cameras/hw.h
similarity index 70%
rename from system/camerad/cameras/hw.h
rename to openpilot/system/camerad/cameras/hw.h
index f20a1b3ade..8f9de5bede 100644
--- a/system/camerad/cameras/hw.h
+++ b/openpilot/system/camerad/cameras/hw.h
@@ -1,7 +1,8 @@
 #pragma once
 
 #include "common/util.h"
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_server.h"
 
 #include "media/cam_isp_ife.h"
@@ -25,6 +26,7 @@ struct CameraConfig {
   uint32_t phy;
   bool vignetting_correction;
   SpectraOutputType output_type;
+  bool staggered_sof;  // SOF is staggered (half-period offset) from other cameras
 };
 
 // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
@@ -39,30 +41,33 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .phy = CAM_ISP_IFE_IN_RES_PHY_0,
   .vignetting_correction = false,
   .output_type = ISP_IFE_PROCESSED,
+  .staggered_sof = false,
 };
 
-const CameraConfig ROAD_CAMERA_CONFIG = {
+const CameraConfig NARROW_ROAD_CAMERA_CONFIG = {
   .camera_num = 1,
-  .stream_type = VISION_STREAM_ROAD,
+  .stream_type = VISION_STREAM_NARROW_ROAD,
   .focal_len = 8.0,
-  .publish_name = "roadCameraState",
-  .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
+  .publish_name = "narrowRoadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initNarrowRoadCameraState,
   .enabled = !getenv("DISABLE_ROAD"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_1,
   .vignetting_correction = true,
   .output_type = ISP_IFE_PROCESSED,
+  .staggered_sof = false,
 };
 
-const CameraConfig DRIVER_CAMERA_CONFIG = {
+const CameraConfig CABIN_CAMERA_CONFIG = {
   .camera_num = 2,
-  .stream_type = VISION_STREAM_DRIVER,
+  .stream_type = VISION_STREAM_CABIN,
   .focal_len = 1.71,
-  .publish_name = "driverCameraState",
-  .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
+  .publish_name = "cabinCameraState",
+  .init_camera_state = &cereal::Event::Builder::initCabinCameraState,
   .enabled = !getenv("DISABLE_DRIVER"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_2,
   .vignetting_correction = false,
   .output_type = ISP_BPS_PROCESSED,
+  .staggered_sof = true,
 };
 
-const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG};
+const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, NARROW_ROAD_CAMERA_CONFIG, CABIN_CAMERA_CONFIG};
diff --git a/system/camerad/cameras/ife.h b/openpilot/system/camerad/cameras/ife.h
similarity index 100%
rename from system/camerad/cameras/ife.h
rename to openpilot/system/camerad/cameras/ife.h
diff --git a/openpilot/system/camerad/cameras/nv12_info.h b/openpilot/system/camerad/cameras/nv12_info.h
new file mode 100644
index 0000000000..c0460caee3
--- /dev/null
+++ b/openpilot/system/camerad/cameras/nv12_info.h
@@ -0,0 +1,130 @@
+#pragma once
+
+#include <cassert>
+#include <cstdint>
+#include <tuple>
+
+// NV12 subset copied from media/msm_media_info.h.
+#ifndef MSM_MEDIA_ALIGN
+#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ? \
+  ((((__sz) + (__align) - 1) / (__align)) * (__align)) : \
+  (((__sz) + (__align) - 1) & (~((__align) - 1))))
+#endif
+
+#ifndef MSM_MEDIA_MAX
+#define MSM_MEDIA_MAX(__a, __b) ((__a) > (__b) ? (__a) : (__b))
+#endif
+
+enum color_fmts {
+  COLOR_FMT_NV12,
+};
+
+static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height) {
+  (void)height;
+  (void)width;
+  return 16 * 1024;
+}
+
+static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width) {
+  unsigned int stride = 0;
+  if (!width) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      stride = MSM_MEDIA_ALIGN(width, 128);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return stride;
+}
+
+static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width) {
+  unsigned int stride = 0;
+  if (!width) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      stride = MSM_MEDIA_ALIGN(width, 128);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return stride;
+}
+
+static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height) {
+  unsigned int sclines = 0;
+  if (!height) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      sclines = MSM_MEDIA_ALIGN(height, 32);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return sclines;
+}
+
+static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height) {
+  unsigned int sclines = 0;
+  if (!height) goto invalid_input;
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12:
+      sclines = MSM_MEDIA_ALIGN((height + 1) >> 1, 16);
+      break;
+    default:
+      break;
+  }
+invalid_input:
+  return sclines;
+}
+
+static inline unsigned int VENUS_BUFFER_SIZE(int color_fmt, int width, int height) {
+  const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
+  unsigned int size = 0;
+  unsigned int y_stride = 0, uv_stride = 0, y_sclines = 0, uv_sclines = 0;
+
+  if (!width || !height) goto invalid_input;
+
+  y_stride = VENUS_Y_STRIDE(color_fmt, width);
+  uv_stride = VENUS_UV_STRIDE(color_fmt, width);
+  y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
+  uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
+
+  switch (color_fmt) {
+    case COLOR_FMT_NV12: {
+      const unsigned int y_plane = y_stride * y_sclines;
+      const unsigned int uv_plane = uv_stride * uv_sclines + 4096;
+      size = y_plane + uv_plane + MSM_MEDIA_MAX(extra_size, 8 * y_stride);
+      size = MSM_MEDIA_ALIGN(size, 4096);
+      size += MSM_MEDIA_ALIGN(width, 512) * 512;
+      size = MSM_MEDIA_ALIGN(size, 4096);
+      break;
+    }
+    default:
+      break;
+  }
+invalid_input:
+  return size;
+}
+
+// Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions.
+inline std::tuple<uint32_t, uint32_t, uint32_t, uint32_t> get_nv12_info(int width, int height) {
+  const uint32_t stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  const uint32_t y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
+  const uint32_t uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, height);
+  const uint32_t size = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
+
+  // Sanity checks for NV12 format assumptions
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, width));
+  assert(y_height / 2 == uv_height);
+  assert((stride * y_height) % 0x1000 == 0);  // uv_offset must be page-aligned
+
+  return {stride, y_height, uv_height, size};
+}
diff --git a/system/camerad/cameras/nv12_info.py b/openpilot/system/camerad/cameras/nv12_info.py
similarity index 83%
rename from system/camerad/cameras/nv12_info.py
rename to openpilot/system/camerad/cameras/nv12_info.py
index bcb6312d2b..abd734ba50 100644
--- a/system/camerad/cameras/nv12_info.py
+++ b/openpilot/system/camerad/cameras/nv12_info.py
@@ -1,5 +1,5 @@
-# Python version of system/camerad/cameras/nv12_info.h
-# Calculations from third_party/linux/include/msm_media_info.h (VENUS_BUFFER_SIZE)
+# Python version of openpilot/system/camerad/cameras/nv12_info.h
+# Calculations from media/msm_media_info.h (VENUS_BUFFER_SIZE)
 
 def align(val: int, alignment: int) -> int:
   return ((val + alignment - 1) // alignment) * alignment
diff --git a/system/camerad/cameras/spectra.cc b/openpilot/system/camerad/cameras/spectra.cc
similarity index 88%
rename from system/camerad/cameras/spectra.cc
rename to openpilot/system/camerad/cameras/spectra.cc
index 5c3e7a9d23..2cbf3594c4 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/openpilot/system/camerad/cameras/spectra.cc
@@ -10,7 +10,6 @@
 #include "media/cam_isp.h"
 #include "media/cam_icp.h"
 #include "media/cam_isp_ife.h"
-#include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 
 #include "common/util.h"
@@ -274,7 +273,7 @@ int SpectraCamera::clear_req_queue() {
   return ret;
 }
 
-void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+void SpectraCamera::camera_open(VisionIpcServer *v) {
   if (!openSensor()) {
     return;
   }
@@ -296,7 +295,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
   linkDevices();
 
   LOGD("camera init %d", cc.camera_num);
-  buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
+  buf.init(this, v, ife_buf_depth, cc.stream_type);
   camera_map_bufs();
   clearAndRequeue(1);
 }
@@ -466,8 +465,11 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     * BPS = Bayer Processing Segment
   */
 
-  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2;
-  size += sizeof(struct cam_patch_desc)*9;
+  bool needs_downscale = sensor->out_scale > 1;
+  int num_io_cfgs = needs_downscale ? 3 : 2;
+  int num_patches = needs_downscale ? 14 : 12;
+  int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*num_io_cfgs;
+  size += sizeof(struct cam_patch_desc)*num_patches;
 
   uint32_t cam_packet_handle = 0;
   auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -545,8 +547,15 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     int cdm_len = 0;
 
     if (bps_lin_reg.size() == 0) {
+      // set first knee pt to do BLC
+      uint32_t new_knee[8];
+      new_knee[0] = sensor->black_level << (14 - sensor->bits_per_pixel);
+      for (int i = 0; i < 7; i++) {
+        uint32_t pts = sensor->linearization_pts[i / 2];
+        new_knee[i + 1] = (i % 2 == 0) ? (pts >> 16) : (pts & 0xffff);
+      }
       for (int i = 0; i < 4; i++) {
-        bps_lin_reg.push_back(((sensor->linearization_pts[i] & 0xffff) << 0x10) | (sensor->linearization_pts[i] >> 0x10));
+        bps_lin_reg.push_back((new_knee[2*i + 1] << 16) | new_knee[2*i]);
       }
     }
 
@@ -569,20 +578,24 @@ void SpectraCamera::config_bps(int idx, int request_id) {
       0x00000080,
       0x00800066,
     });
-    // linearization, EN=0
+    // linearization
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1868, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1878, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1888, bps_lin_reg);
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1898, bps_lin_reg);
-    /*
-    uint8_t *start = (unsigned char *)bps_cdm_program_array.ptr + cdm_len;
     uint64_t addr;
-    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1);
-    patches.push_back(addr - (uint64_t)start);
-    */
+    cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1, CAM_CDM_CMD_DMI);
+    patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+
     // color correction
     cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2e68, bps_ccm_reg);
 
+    // gamma
+    for (uint8_t ch = 1; ch <= 3; ch++) {
+      cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x3208, ch, CAM_CDM_CMD_DMI);
+      patches.push_back(addr - (uint64_t)bps_cdm_program_array.ptr);
+    }
+
     cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, cc, sensor.get(), patches, false);
 
     pa->length = cdm_len - 1;
@@ -596,7 +609,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK;
     tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8;
     tmp.clk.budget_ns = 0x1fca058;
-    tmp.clk.frame_cycles = 2329024; // comes from the striping lib
+    tmp.clk.frame_cycles = 20000000; // force max BPS clock (600 MHz)
     tmp.clk.rt_flag = 0x0;
     tmp.clk.uncompressed_bw = 0x38512180;
     tmp.clk.compressed_bw = 0x38512180;
@@ -611,7 +624,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
   }
 
   // *** io config ***
-  pkt->num_io_configs = 2;
+  pkt->num_io_configs = num_io_cfgs;
   pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
   struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset);
   {
@@ -655,28 +668,69 @@ void SpectraCamera::config_bps(int idx, int request_id) {
 
     io_cfg[1].format = CAM_FORMAT_NV12;  // TODO: why is this 21 in the dump? should be 12
     io_cfg[1].color_space = CAM_COLOR_SPACE_BT601_FULL;
-    io_cfg[1].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
+    io_cfg[1].resource_type = needs_downscale ? CAM_ICP_BPS_OUTPUT_IMAGE_REG1 : CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
     io_cfg[1].fence = sync_objs_bps[idx];
     io_cfg[1].direction = CAM_BUF_OUTPUT;
     io_cfg[1].subsample_pattern = 0x1;
     io_cfg[1].framedrop_pattern = 0x1;
+
+    if (needs_downscale) {
+      // downscaling needs a full res placeholder
+      uint32_t full_stride, full_y_h, full_uv_h, full_yuv_size;
+      std::tie(full_stride, full_y_h, full_uv_h, full_yuv_size) = get_nv12_info(sensor->frame_width, sensor->frame_height);
+      io_cfg[2].mem_handle[0] = bps_fullres_dummy.handle;
+      io_cfg[2].mem_handle[1] = bps_fullres_dummy.handle;
+      io_cfg[2].planes[0] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height,
+        .plane_stride = full_stride,
+        .slice_height = full_y_h,
+      };
+      io_cfg[2].planes[1] = (struct cam_plane_cfg){
+        .width = sensor->frame_width,
+        .height = sensor->frame_height / 2,
+        .plane_stride = full_stride,
+        .slice_height = full_uv_h,
+      };
+      io_cfg[2].offsets[1] = ALIGNED_SIZE(full_stride * full_y_h, 0x1000);
+      io_cfg[2].format = CAM_FORMAT_NV12;
+      io_cfg[2].color_space = CAM_COLOR_SPACE_BT601_FULL;
+      io_cfg[2].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL;
+      io_cfg[2].fence = sync_objs_bps[idx];
+      io_cfg[2].direction = CAM_BUF_OUTPUT;
+      io_cfg[2].subsample_pattern = 0x1;
+      io_cfg[2].framedrop_pattern = 0x1;
+    }
   }
 
   // *** patches ***
   {
-    assert(patches.size() == 0 | patches.size() == 1);
+    assert(patches.size() == 0 || patches.size() == 4);
     pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs;
 
     if (patches.size() > 0) {
-      add_patch(pkt.get(), bps_cmd.handle, patches[0], bps_linearization_lut.handle, 0);
+      // linearization LUT
+      add_patch(pkt.get(), bps_cdm_program_array.handle, patches[0], bps_linearization_lut.handle, 0);
+      // gamma LUTs
+      for (int i = 0; i < 3; i++) {
+        add_patch(pkt.get(), bps_cdm_program_array.handle, patches[i+1], bps_gamma_lut.handle, 0);
+      }
     }
 
     // input frame
     add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[0].ptr[0]), buf_handle_raw[idx], 0);
 
-    // output frame
-    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0);
-    add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    if (needs_downscale) {
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), bps_fullres_dummy.handle, 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), bps_fullres_dummy.handle, io_cfg[2].offsets[1]);
+      // output frame at REG1
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[7].ptr[0]), buf_handle_yuv[idx], 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[7].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    } else {
+      // output frame at FULL
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0);
+      add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]);
+    }
 
     // rest of buffers
     add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, settings_addr), bps_iq.handle, 0);
@@ -987,9 +1041,6 @@ bool SpectraCamera::openSensor() {
   LOGD("-- Probing sensor %d", cc.camera_num);
 
   auto init_sensor_lambda = [this](SensorInfo *s) {
-    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
-      ((OS04C10*)s)->ife_downscale_configure();
-    }
     sensor.reset(s);
     return (sensors_init() == 0);
   };
@@ -1167,13 +1218,39 @@ void SpectraCamera::configICP() {
 
   // used internally by the BPS, we just allocate it.
   // size comes from the BPSStripingLib
-  bps_cdm_striping_bl.init(m, 0xa100, 0x20, true, m->icp_device_iommu);
+  bps_cdm_striping_bl.init(m, 0xcfe0, 0x20, true, m->icp_device_iommu);
+
+  if (sensor->out_scale > 1) {
+    uint32_t full_stride, full_y_h, full_uv_h, full_yuv_size;
+    std::tie(full_stride, full_y_h, full_uv_h, full_yuv_size) = get_nv12_info(sensor->frame_width, sensor->frame_height);
+    bps_fullres_dummy.init(m, full_yuv_size, 0x1000, true, m->icp_device_iommu);
+  }
 
   // LUTs
-  /*
+  assert(sensor->linearization_lut.size() == 36);
   bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
-  memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size);
-  */
+
+  // bit shift linearization_lut to bps specs, also compensate for black level here
+  uint32_t bl = sensor->black_level << (14 - sensor->bits_per_pixel);
+  uint32_t* bps_lut = (uint32_t*)bps_linearization_lut.ptr;
+  for (size_t i = 0; i < sensor->linearization_lut.size(); i++) {
+    size_t seg = i / 4;
+    size_t ch = i % 4;
+    if (seg == 0) {
+      bps_lut[i] = 0;
+      continue;
+    }
+    uint32_t e = sensor->linearization_lut[(seg - 1) * 4 + ch];
+    uint32_t base = e & 0x3fff;
+    uint32_t slope_q11 = (e >> 14) & 0x3fff;
+    uint32_t slope_q12 = std::min<uint32_t>(slope_q11 << 1, 0x3fff);
+    base = (base > bl) ? (base - bl) : 0;
+    bps_lut[i] = base | (slope_q12 << 14);
+  }
+
+  assert(sensor->gamma_lut_rgb.size() == 64);
+  bps_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
+  memcpy(bps_gamma_lut.ptr, sensor->gamma_lut_rgb.data(), bps_gamma_lut.size);
 }
 
 void SpectraCamera::configCSIPHY() {
@@ -1321,14 +1398,14 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
   */
 
   uint64_t request_id = event_data->u.frame_msg.request_id;  // ID from the camera request manager
-  uint64_t frame_id_raw = event_data->u.frame_msg.frame_id;  // raw as opposed to our re-indexed frame ID
+  uint64_t ife_frame_id = event_data->u.frame_msg.frame_id;  // kernel counter incremented on each IFE SOF event
   uint64_t timestamp = event_data->u.frame_msg.timestamp;    // timestamped in the kernel's SOF IRQ callback
-  //LOGD("handle cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, frame_id_raw);
+  //LOGD("handle cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, ife_frame_id);
 
   // if there's a lag, some more frames could have already come in before
   // we cleared the queue, so we'll still get them with valid (> 0) request IDs.
   if (timestamp < last_requeue_ts) {
-    LOGD("skipping frame: ts before requeue / cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, frame_id_raw);
+    LOGD("skipping frame: ts before requeue / cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, ife_frame_id);
     return false;
   }
 
@@ -1336,39 +1413,39 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
     return false;
   }
 
-  if (!validateEvent(request_id, frame_id_raw)) {
+  if (!validateEvent(request_id, ife_frame_id)) {
     return false;
   }
 
   // Update tracking variables
-  if (request_id == request_id_last + 1) {
+  if (request_id == last_valid_request_id + 1) {
     skip_expected = false;
   }
-  frame_id_raw_last = frame_id_raw;
-  request_id_last = request_id;
+  last_valid_ife_frame_id = ife_frame_id;
+  last_valid_request_id = request_id;
 
   // Wait until frame's fully read out and processed
   if (!waitForFrameReady(request_id)) {
     // Reset queue on sync failure to prevent frame tearing
-    LOGE("camera %d sync failure %ld %ld ", cc.camera_num, request_id, frame_id_raw);
+    LOGE("camera %d sync failure %ld %ld ", cc.camera_num, request_id, ife_frame_id);
     clearAndRequeue(request_id + 1);
     return false;
   }
 
   int buf_idx = request_id % ife_buf_depth;
-  bool ret = processFrame(buf_idx, request_id, frame_id_raw, timestamp);
+  bool ret = processFrame(buf_idx, request_id, ife_frame_id, timestamp);
   destroySyncObjectAt(buf_idx);
   enqueue_frame(request_id + ife_buf_depth);  // request next frame for this slot
   return ret;
 }
 
-bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t frame_id_raw) {
+bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t ife_frame_id) {
   // check if the request ID is even valid. this happens after queued
   // requests are cleared. unclear if it happens any other time.
   if (request_id == 0) {
     if (invalid_request_count++ > ife_buf_depth+2) {
       LOGE("camera %d reset after half second of invalid requests", cc.camera_num);
-      clearAndRequeue(request_id_last + 1);
+      clearAndRequeue(last_valid_request_id + 1);
       invalid_request_count = 0;
     }
     return false;
@@ -1377,14 +1454,14 @@ bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t frame_id_raw) {
 
   // check for skips in frame_id or request_id
   if (!skip_expected) {
-    if (frame_id_raw != frame_id_raw_last + 1) {
-      LOGE("camera %d frame ID skipped, %lu -> %lu", cc.camera_num, frame_id_raw_last, frame_id_raw);
+    if (ife_frame_id != last_valid_ife_frame_id + 1) {
+      LOGE("camera %d frame ID skipped, %lu -> %lu", cc.camera_num, last_valid_ife_frame_id, ife_frame_id);
       clearAndRequeue(request_id + 1);
       return false;
     }
 
-    if (request_id != request_id_last + 1) {
-      LOGE("camera %d requests skipped %ld -> %ld", cc.camera_num, request_id_last, request_id);
+    if (request_id != last_valid_request_id + 1) {
+      LOGE("camera %d requests skipped %ld -> %ld", cc.camera_num, last_valid_request_id, request_id);
       clearAndRequeue(request_id + 1);
       return false;
     }
@@ -1435,8 +1512,8 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) {
   return success;
 }
 
-bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp) {
-  if (!syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp)) {
+bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp) {
+  if (!syncFirstFrame(cc.camera_num, request_id, ife_frame_id, timestamp, cc.staggered_sof)) {
     return false;
   }
 
@@ -1446,7 +1523,7 @@ bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t fram
   // Update buffer and frame data
   buf.cur_buf_idx = buf_idx;
   buf.cur_frame_data = {
-    .frame_id = (uint32_t)(frame_id_raw - camera_sync_data[cc.camera_num].frame_id_offset),
+    .frame_id = (uint32_t)(ife_frame_id - camera_sync_data[cc.camera_num].frame_id_offset),
     .request_id = (uint32_t)request_id,
     .timestamp_sof = timestamp,
     .timestamp_eof = timestamp_eof,
@@ -1455,23 +1532,31 @@ bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t fram
   return true;
 }
 
-bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp) {
+bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp, bool staggered) {
   if (first_frame_synced) return true;
 
   // Store the frame data for this camera
-  camera_sync_data[camera_id] = SyncData{timestamp, raw_id + 1};
+  camera_sync_data[camera_id] = SyncData{timestamp, ife_frame_id + 1, staggered};
 
   // Ensure all cameras are up
   int enabled_camera_count = std::count_if(std::begin(ALL_CAMERA_CONFIGS), std::end(ALL_CAMERA_CONFIGS),
                                            [](const auto &config) { return config.enabled; });
   bool all_cams_up = camera_sync_data.size() == enabled_camera_count;
 
-  // Wait until the timestamps line up
+  // Check that camera timestamps are properly aligned:
+  // - non-staggered cameras should be within 0.2ms of each other
+  // - staggered cameras should be within 0.2ms of a 25ms offset from non-staggered cameras
+  const uint64_t half_period_ns = 25 * 1000000ULL;  // 25ms
+  const uint64_t tolerance_ns = 200000ULL;           // 0.2ms
   bool all_cams_synced = true;
-  for (const auto &[_, sync_data] : camera_sync_data) {
+  for (const auto &[cam, sync_data] : camera_sync_data) {
+    if (cam == camera_id) continue;
     uint64_t diff = std::max(timestamp, sync_data.timestamp) -
                     std::min(timestamp, sync_data.timestamp);
-    if (diff > 0.2*1e6) { // milliseconds
+    bool pair_staggered = staggered != sync_data.staggered;
+    uint64_t expected_offset = pair_staggered ? half_period_ns : 0;
+    uint64_t error = (diff > expected_offset) ? diff - expected_offset : expected_offset - diff;
+    if (error > tolerance_ns) {
       all_cams_synced = false;
     }
   }
@@ -1484,7 +1569,7 @@ bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t
   }
 
   // Timeout in case the timestamps never line up
-  if (raw_id > 40) {
+  if (ife_frame_id > 40) {
     LOGE("camera first frame sync timed out");
     first_frame_synced = true;
   }
diff --git a/system/camerad/cameras/spectra.h b/openpilot/system/camerad/cameras/spectra.h
similarity index 83%
rename from system/camerad/cameras/spectra.h
rename to openpilot/system/camerad/cameras/spectra.h
index 13cb13f98f..acb2000313 100644
--- a/system/camerad/cameras/spectra.h
+++ b/openpilot/system/camerad/cameras/spectra.h
@@ -30,6 +30,29 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 #define OpcodesIFEInitialConfig  0x0
 #define OpcodesIFEUpdate         0x1
 
+// Sensor command values from the SDM845 kernel's private camera header:
+// drivers/media/platform/msm/camera/cam_sensor_module/cam_sensor_utils/cam_sensor_cmn_header.h
+// These are userspace-visible ioctl payload values, but Qualcomm did not export them through UAPI.
+enum {
+  CAMERA_SENSOR_CMD_TYPE_PROBE = 1,
+  CAMERA_SENSOR_CMD_TYPE_PWR_UP = 2,
+  CAMERA_SENSOR_CMD_TYPE_PWR_DOWN = 3,
+  CAMERA_SENSOR_CMD_TYPE_I2C_INFO = 4,
+  CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR = 5,
+  CAMERA_SENSOR_CMD_TYPE_WAIT = 9,
+
+  CAMERA_SENSOR_WAIT_OP_SW_UCND = 3,
+
+  CAMERA_SENSOR_I2C_TYPE_BYTE = 1,
+  CAMERA_SENSOR_I2C_TYPE_WORD = 2,
+
+  I2C_FAST_MODE = 1,
+
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE = 3,
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG = 4,
+  CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127,
+};
+
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
 int device_control(int fd, int op_code, int session_handle, int dev_handle);
@@ -113,7 +136,7 @@ public:
   SpectraCamera(SpectraMaster *master, const CameraConfig &config);
   ~SpectraCamera();
 
-  void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+  void camera_open(VisionIpcServer *v);
   bool handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();
@@ -173,6 +196,8 @@ public:
   SpectraBuf bps_iq;
   SpectraBuf bps_striping;
   SpectraBuf bps_linearization_lut;
+  SpectraBuf bps_gamma_lut;
+  SpectraBuf bps_fullres_dummy;
   std::vector<uint32_t> bps_lin_reg;
   std::vector<uint32_t> bps_ccm_reg;
 
@@ -180,9 +205,9 @@ public:
   int buf_handle_raw[MAX_IFE_BUFS] = {};
   int sync_objs_ife[MAX_IFE_BUFS] = {};
   int sync_objs_bps[MAX_IFE_BUFS] = {};
-  uint64_t request_id_last = 0;
+  uint64_t last_valid_request_id = 0;
   uint64_t last_requeue_ts = 0;
-  uint64_t frame_id_raw_last = 0;
+  uint64_t last_valid_ife_frame_id = 0;
   int invalid_request_count = 0;
   bool skip_expected = true;
 
@@ -191,13 +216,14 @@ public:
 
 private:
   void clearAndRequeue(uint64_t from_request_id);
-  bool validateEvent(uint64_t request_id, uint64_t frame_id_raw);
+  bool validateEvent(uint64_t request_id, uint64_t ife_frame_id);
   bool waitForFrameReady(uint64_t request_id);
-  bool processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp);
-  static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp);
+  bool processFrame(int buf_idx, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp);
+  static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp, bool staggered);
   struct SyncData {
     uint64_t timestamp;
     uint64_t frame_id_offset = 0;
+    bool staggered = false;
   };
   inline static std::map<int, SyncData> camera_sync_data;
   inline static bool first_frame_synced = false;
diff --git a/system/camerad/main.cc b/openpilot/system/camerad/main.cc
similarity index 100%
rename from system/camerad/main.cc
rename to openpilot/system/camerad/main.cc
diff --git a/system/camerad/sensors/os04c10.cc b/openpilot/system/camerad/sensors/os04c10.cc
similarity index 93%
rename from system/camerad/sensors/os04c10.cc
rename to openpilot/system/camerad/sensors/os04c10.cc
index 62c26ca809..d14c288b91 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/openpilot/system/camerad/sensors/os04c10.cc
@@ -1,7 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"
+#include <media/msm_camsensor_sdk.h>
 
 namespace {
 
@@ -21,27 +21,16 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 }  // namespace
 
-void OS04C10::ife_downscale_configure() {
-  out_scale = 2;
-
-  pixel_size_mm = 0.002;
-  frame_width = 2688;
-  frame_height = 1520;
-  exposure_time_max = 2352;
-
-  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
-}
-
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
-  pixel_size_mm = 0.004;
+  pixel_size_mm = 0.002;
   data_word = false;
 
-  // hdr_offset = 64 * 2 + 8; // stagger
-  frame_width = 1344;
-  frame_height = 760; //760 * 2 + hdr_offset;
-  frame_stride = (frame_width * 12 / 8); // no alignment
+  out_scale = 2;
+  frame_width = 2688;
+  frame_height = 1520;
+  frame_stride = frame_width * 12 / 8;
 
   extra_height = 0;
   frame_offset = 0;
@@ -65,7 +54,7 @@ OS04C10::OS04C10() {
   dc_gain_on_grey = 0.9;
   dc_gain_off_grey = 1.0;
   exposure_time_min = 2;
-  exposure_time_max = 1684;
+  exposure_time_max = 2352;
   analog_gain_min_idx = 0x0;
   analog_gain_rec_idx = 0x0;  // 1x
   analog_gain_max_idx = 0x28;
diff --git a/system/camerad/sensors/os04c10_registers.h b/openpilot/system/camerad/sensors/os04c10_registers.h
similarity index 89%
rename from system/camerad/sensors/os04c10_registers.h
rename to openpilot/system/camerad/sensors/os04c10_registers.h
index 28d6b3310c..45512851bc 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/openpilot/system/camerad/sensors/os04c10_registers.h
@@ -4,7 +4,7 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
 
 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x0103, 0x01}, // software reset
 
   // PLL + clocks
@@ -93,7 +93,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x388b, 0x00},
   {0x3c80, 0x10},
   {0x3c86, 0x00},
-  {0x3c8c, 0x20},
+  {0x3c8c, 0x40},
   {0x3c9f, 0x01},
   {0x3d85, 0x1b},
   {0x3d8c, 0x71},
@@ -197,7 +197,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0x48},
   {0x370c, 0x01},
   {0x370f, 0x00},
-  {0x3714, 0x28},
+  {0x3714, 0x24},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -229,7 +229,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
-  {0x37c2, 0x14},
+  {0x37c2, 0x04},
   {0x37cd, 0x19},
   {0x37e0, 0x08},
   {0x37e6, 0x04},
@@ -239,14 +239,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37d8, 0x02},
   {0x37e2, 0x10},
   {0x3739, 0x10},
-  {0x3662, 0x08},
+  {0x3662, 0x10},
   {0x37e4, 0x20},
   {0x37e3, 0x08},
-  {0x37d9, 0x04},
+  {0x37d9, 0x08},
   {0x4040, 0x00},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
 
   // FSIN - frame sync
   {0x3002, 0x22},
@@ -267,20 +267,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
   {0x3811, 0x08},
   {0x3813, 0x08},
-  {0x3814, 0x03},
+  {0x3814, 0x01},
   {0x3815, 0x01},
-  {0x3816, 0x03},
+  {0x3816, 0x01},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS (line length)
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS (frame length)
 
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
@@ -330,23 +330,3 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
 };
-
-const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
-  {0x3c8c, 0x40},
-  {0x3714, 0x24},
-  {0x37c2, 0x04},
-  {0x3662, 0x10},
-  {0x37d9, 0x08},
-  {0x4041, 0x07},
-  {0x4008, 0x02},
-  {0x4009, 0x0d},
-  {0x3808, 0x0a}, {0x3809, 0x80},
-  {0x380a, 0x05}, {0x380b, 0xf0},
-  {0x3814, 0x01},
-  {0x3816, 0x01},
-  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
-  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
-  {0x3820, 0xb0},
-  {0x3821, 0x00},
-};
diff --git a/system/camerad/sensors/ox03c10.cc b/openpilot/system/camerad/sensors/ox03c10.cc
similarity index 99%
rename from system/camerad/sensors/ox03c10.cc
rename to openpilot/system/camerad/sensors/ox03c10.cc
index 05d58f03c6..e0e0dec2ff 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/openpilot/system/camerad/sensors/ox03c10.cc
@@ -1,7 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
-#include "third_party/linux/include/msm_camsensor_sdk.h"
+#include <media/msm_camsensor_sdk.h>
 
 namespace {
 
diff --git a/system/camerad/sensors/ox03c10_registers.h b/openpilot/system/camerad/sensors/ox03c10_registers.h
similarity index 100%
rename from system/camerad/sensors/ox03c10_registers.h
rename to openpilot/system/camerad/sensors/ox03c10_registers.h
diff --git a/system/camerad/sensors/sensor.h b/openpilot/system/camerad/sensors/sensor.h
similarity index 97%
rename from system/camerad/sensors/sensor.h
rename to openpilot/system/camerad/sensors/sensor.h
index 96aa8b604f..251f5d64b4 100644
--- a/system/camerad/sensors/sensor.h
+++ b/openpilot/system/camerad/sensors/sensor.h
@@ -9,7 +9,7 @@
 #include "media/cam_isp.h"
 #include "media/cam_sensor.h"
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/sensors/ox03c10_registers.h"
 #include "system/camerad/sensors/os04c10_registers.h"
 
@@ -98,7 +98,6 @@ public:
 class OS04C10 : public SensorInfo {
 public:
   OS04C10();
-  void ife_downscale_configure();
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;
diff --git a/openpilot/system/camerad/snapshot.py b/openpilot/system/camerad/snapshot.py
new file mode 100755
index 0000000000..622da4faef
--- /dev/null
+++ b/openpilot/system/camerad/snapshot.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+
+import numpy as np
+
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient
+from openpilot.common.realtime import DT_MDL
+
+
+VISION_STREAMS = {
+  "narrowRoadCameraState": VisionStreamType.VISION_STREAM_NARROW_ROAD,
+  "cabinCameraState": VisionStreamType.VISION_STREAM_CABIN,
+  "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD,
+}
+
+
+def yuv_to_rgb(y, u, v):
+  ul = np.repeat(np.repeat(u, 2).reshape(u.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
+  vl = np.repeat(np.repeat(v, 2).reshape(v.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
+
+  yuv = np.dstack((y, ul, vl)).astype(np.int16)
+  yuv[:, :, 1:] -= 128
+
+  m = np.array([
+    [1.00000,  1.00000, 1.00000],
+    [0.00000, -0.39465, 2.03211],
+    [1.13983, -0.58060, 0.00000],
+  ])
+  rgb = np.dot(yuv, m).clip(0, 255)
+  return rgb.astype(np.uint8)
+
+
+def extract_image(buf):
+  # NV12 format: Y plane followed by interleaved UV plane
+  # UV plane size is stride * uv_height, where uv_height = align(height/2, 16)
+  uv_height = ((buf.height // 2) + 15) // 16 * 16
+  uv_plane_size = buf.stride * uv_height
+
+  y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
+  uv_data = buf.data[buf.uv_offset:buf.uv_offset + uv_plane_size]
+  u = np.array(uv_data[::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  v = np.array(uv_data[1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+
+  return yuv_to_rgb(y, u, v)
+
+
+def get_snapshots(frame="narrowRoadCameraState", front_frame="cabinCameraState"):
+  sockets = [s for s in (frame, front_frame) if s is not None]
+  sm = messaging.SubMaster(sockets)
+  vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets}
+
+  # wait 4 sec from camerad startup for focus and exposure
+  while sm[sockets[0]].frameId < int(4. / DT_MDL):
+    sm.update()
+
+  for client in vipc_clients.values():
+    client.connect(True)
+
+  # grab images
+  rear, front = None, None
+  if frame is not None:
+    c = vipc_clients[frame]
+    rear = extract_image(c.recv())
+  if front_frame is not None:
+    c = vipc_clients[front_frame]
+    front = extract_image(c.recv())
+  return rear, front
diff --git a/system/camerad/test/.gitignore b/openpilot/system/camerad/test/.gitignore
similarity index 100%
rename from system/camerad/test/.gitignore
rename to openpilot/system/camerad/test/.gitignore
diff --git a/system/camerad/test/debug.sh b/openpilot/system/camerad/test/debug.sh
similarity index 94%
rename from system/camerad/test/debug.sh
rename to openpilot/system/camerad/test/debug.sh
index a031be6923..eba167ce6a 100755
--- a/system/camerad/test/debug.sh
+++ b/openpilot/system/camerad/test/debug.sh
@@ -8,7 +8,7 @@ echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 #echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
 
 sudo dmesg -C
-scons -u -j8 --minimal .
+scons -u --minimal .
 export DEBUG_FRAMES=1
 export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
 #export DISABLE_DRIVER=1
diff --git a/system/camerad/test/icp_debug.sh b/openpilot/system/camerad/test/icp_debug.sh
similarity index 100%
rename from system/camerad/test/icp_debug.sh
rename to openpilot/system/camerad/test/icp_debug.sh
diff --git a/system/camerad/test/intercept.sh b/openpilot/system/camerad/test/intercept.sh
similarity index 100%
rename from system/camerad/test/intercept.sh
rename to openpilot/system/camerad/test/intercept.sh
diff --git a/system/camerad/test/stress_restart.sh b/openpilot/system/camerad/test/stress_restart.sh
similarity index 100%
rename from system/camerad/test/stress_restart.sh
rename to openpilot/system/camerad/test/stress_restart.sh
diff --git a/openpilot/system/camerad/test/test_camerad.py b/openpilot/system/camerad/test/test_camerad.py
new file mode 100755
index 0000000000..410ea9fdb3
--- /dev/null
+++ b/openpilot/system/camerad/test/test_camerad.py
@@ -0,0 +1,167 @@
+#!/usr/bin/env python3
+
+import os
+import time
+import unittest
+import numpy as np
+
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal.services import SERVICE_LIST
+from openpilot.tools.lib.log_time_series import msgs_to_time_series
+from openpilot.system.camerad.snapshot import get_snapshots
+from openpilot.selfdrive.test.helpers import collect_logs, log_collector, processes_context
+
+TEST_TIMESPAN = 10
+CAMERAS = ('narrowRoadCameraState', 'cabinCameraState', 'wideRoadCameraState')
+EXPOSURE_STABLE_COUNT = 3
+EXPOSURE_RANGE = (0.15, 0.35)
+MAX_TEST_TIME = 25
+
+
+def _numpy_rgb2gray(im):
+  return np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
+
+def _exposure_stats(im):
+  h, w = im.shape[:2]
+  gray = _numpy_rgb2gray(im[h//10:9*h//10, w//10:9*w//10])
+  return float(np.median(gray) / 255.), float(np.mean(gray) / 255.)
+
+def _in_range(median, mean):
+  lo, hi = EXPOSURE_RANGE
+  return lo < median < hi and lo < mean < hi
+
+def _exposure_stable(results):
+  return all(
+    len(v) >= EXPOSURE_STABLE_COUNT and all(_in_range(*s) for s in v[-EXPOSURE_STABLE_COUNT:])
+    for v in results.values()
+  )
+
+
+def run_and_log(procs, services, duration):
+  with processes_context(procs):
+    return collect_logs(services, duration)
+
+def _camera_session():
+  """Single camerad session that collects logs and exposure data.
+     Runs until exposure stabilizes (min TEST_TIMESPAN seconds for enough log data)."""
+  with processes_context(["camerad"]), log_collector(CAMERAS) as (raw_logs, lock):
+    exposure = {cam: [] for cam in CAMERAS}
+    start = time.monotonic()
+    while time.monotonic() - start < MAX_TEST_TIME:
+      rpic, dpic = get_snapshots(frame="narrowRoadCameraState", front_frame="cabinCameraState")
+      wpic, _ = get_snapshots(frame="wideRoadCameraState")
+      for cam, img in zip(CAMERAS, [rpic, dpic, wpic], strict=True):
+        exposure[cam].append(_exposure_stats(img))
+
+      if time.monotonic() - start >= TEST_TIMESPAN and _exposure_stable(exposure):
+        break
+
+    elapsed = time.monotonic() - start
+
+  with lock:
+    ts = msgs_to_time_series(raw_logs)
+
+  for cam in CAMERAS:
+    expected_frames = SERVICE_LIST[cam].frequency * elapsed
+    cnt = len(ts[cam]['t'])
+    assert expected_frames*0.8 < cnt < expected_frames*1.2, f"unexpected frame count {cam}: {expected_frames=}, got {cnt}"
+
+    dts = np.abs(np.diff([ts[cam]['timestampSof']/1e6]) - 1000/SERVICE_LIST[cam].frequency)
+    assert (dts < 1.0).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+
+  return ts, exposure
+
+class TestCamerad(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
+
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    cls.logs, cls.exposure_data = _camera_session()
+
+  @parameterized.expand(CAMERAS, names=("cam",))
+  def test_camera_exposure(self, cam):
+    lo, hi = EXPOSURE_RANGE
+    checks = self.exposure_data[cam]
+    assert len(checks) >= EXPOSURE_STABLE_COUNT, f"{cam}: only got {len(checks)} samples"
+
+    # check that exposure converges into the valid range
+    passed = sum(_in_range(med, mean) for med, mean in checks)
+    assert passed >= EXPOSURE_STABLE_COUNT, \
+      f"{cam}: only {passed}/{len(checks)} checks in range. " + \
+      " | ".join(f"#{i+1}: med={m:.4f} mean={u:.4f}" for i, (m, u) in enumerate(checks))
+
+    # check that exposure is stable once converged (no regressions)
+    in_range = False
+    for i, (median, mean) in enumerate(checks):
+      ok = _in_range(median, mean)
+      if in_range and not ok:
+        self.fail(f"{cam}: exposure regressed on sample {i+1} " +
+                    f"(median={median:.4f}, mean={mean:.4f}, expected: ({lo}, {hi}))")
+      in_range = ok
+
+  def test_frame_skips(self):
+    for c in CAMERAS:
+      assert set(np.diff(self.logs[c]['frameId'])) == {1, }, f"{c} has frame skips"
+
+  def test_frame_sync(self):
+    SYNCED_CAMS = ('narrowRoadCameraState', 'wideRoadCameraState')
+    n = range(len(self.logs['narrowRoadCameraState']['t'][:-10]))
+
+    frame_ids = {i: [self.logs[cam]['frameId'][i] for cam in CAMERAS] for i in n}
+    assert all(len(set(v)) == 1 for v in frame_ids.values()), "frame IDs not aligned"
+
+    # road and wide cameras should be synced within 1.1ms
+    synced_times = {i: [self.logs[cam]['timestampSof'][i] for cam in SYNCED_CAMS] for i in n}
+    diffs = {i: (max(ts) - min(ts))/1e6 for i, ts in synced_times.items()}
+    laggy_frames = {k: v for k, v in diffs.items() if v > 1.1}
+    assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
+
+    # cabin camera should be staggered ~25ms from road camera
+    for i in n:
+      offset_ms = abs(self.logs['cabinCameraState']['timestampSof'][i] - self.logs['narrowRoadCameraState']['timestampSof'][i]) / 1e6
+      assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {i}: {offset_ms:.1f}ms (expected ~25ms)"
+
+  def test_sanity_checks(self):
+    self._sanity_checks(self.logs)
+
+  def _sanity_checks(self, ts):
+    for c in CAMERAS:
+      assert c in ts
+      assert len(ts[c]['t']) > 20
+
+      # not a valid request id
+      assert 0 not in ts[c]['requestId']
+
+      # should monotonically increase
+      assert np.all(np.diff(ts[c]['frameId']) >= 1)
+      assert np.all(np.diff(ts[c]['requestId']) >= 1)
+
+      # EOF > SOF
+      assert np.all((ts[c]['timestampEof'] - ts[c]['timestampSof']) > 0)
+
+      # logMonoTime > SOF
+      assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 1e-7)
+
+      # logMonoTime > EOF, needs some tolerance since EOF is (SOF + readout time) but there is noise in the SOF timestamping (done via IRQ)
+      assert np.mean((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7) > 0.7  # should be mostly logMonoTime > EOF
+      assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > -0.10)        # when EOF > logMonoTime, it should never be more than two frames
+
+  def test_stress_test(self):
+    os.environ['SPECTRA_ERROR_PROB'] = '0.008'
+    try:
+      logs = run_and_log(["camerad", ], CAMERAS, 10)
+    finally:
+      del os.environ['SPECTRA_ERROR_PROB']
+    ts = msgs_to_time_series(logs)
+
+    # we should see some jumps from introduced errors
+    assert np.max([ np.max(np.diff(ts[c]['frameId'])) for c in CAMERAS ]) > 1
+    assert np.max([ np.max(np.diff(ts[c]['requestId'])) for c in CAMERAS ]) > 1
+
+    self._sanity_checks(ts)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/system/camerad/webcam/README.md b/openpilot/system/camerad/webcam/README.md
new file mode 100644
index 0000000000..7fa28a9919
--- /dev/null
+++ b/openpilot/system/camerad/webcam/README.md
@@ -0,0 +1,24 @@
+# Run openpilot with webcam on PC
+
+## Setup openpilot
+- Follow [this readme](/tools/README.md) to install and build the requirements
+
+## Connect the hardware
+- Connect the camera first
+- Connect your computer to panda
+
+## GO
+
+```
+USE_WEBCAM=1 openpilot/system/manager/manager.py
+```
+- Start the car, then the UI should show the road webcam's view
+- Adjust and secure the webcam
+- Finish calibration and engage!
+
+## Specify Cameras
+
+Use the `ROAD_CAM` (default 0) and optional `DRIVER_CAM`, `WIDE_CAM` environment variables to specify which camera is which (ie. `ROAD_CAM=1` uses `/dev/video1`, on Ubuntu, for the road camera):
+```
+USE_WEBCAM=1 ROAD_CAM=1 openpilot/system/manager/manager.py
+```
diff --git a/tools/webcam/camera.py b/openpilot/system/camerad/webcam/camera.py
similarity index 100%
rename from tools/webcam/camera.py
rename to openpilot/system/camerad/webcam/camera.py
diff --git a/tools/webcam/camerad.py b/openpilot/system/camerad/webcam/camerad.py
similarity index 80%
rename from tools/webcam/camerad.py
rename to openpilot/system/camerad/webcam/camerad.py
index f1e70d948a..4dfa5f3371 100755
--- a/tools/webcam/camerad.py
+++ b/openpilot/system/camerad/webcam/camerad.py
@@ -4,25 +4,26 @@ import os
 import platform
 from collections import namedtuple
 
-from msgq.visionipc import VisionIpcServer, VisionStreamType
-from cereal import messaging
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
+from openpilot.cereal import messaging
 
-from openpilot.tools.webcam.camera import Camera
+from openpilot.system.camerad.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
-ROAD_CAM = os.getenv("ROAD_CAM", "0")
+NARROW_ROAD_CAM = os.getenv("NARROW_ROAD_CAM", os.getenv("ROAD_CAM", "0"))
 WIDE_CAM = os.getenv("WIDE_CAM")
 DRIVER_CAM = os.getenv("DRIVER_CAM")
 
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
 
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, ROAD_CAM)
+  CameraType("narrowRoadCameraState", VisionStreamType.VISION_STREAM_NARROW_ROAD, NARROW_ROAD_CAM)
 ]
 if WIDE_CAM:
   CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
 if DRIVER_CAM:
-  CAMERAS.append(CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, DRIVER_CAM))
+  CAMERAS.append(CameraType("cabinCameraState", VisionStreamType.VISION_STREAM_CABIN, DRIVER_CAM))
 
 class Camerad:
   def __init__(self):
diff --git a/openpilot/system/hardware/chestnut/firmware_wrapped.bin b/openpilot/system/hardware/chestnut/firmware_wrapped.bin
new file mode 100644
index 0000000000..1d738e4a75
Binary files /dev/null and b/openpilot/system/hardware/chestnut/firmware_wrapped.bin differ
diff --git a/openpilot/system/hardware/chestnut/flash.py b/openpilot/system/hardware/chestnut/flash.py
new file mode 100755
index 0000000000..32aa5a443a
--- /dev/null
+++ b/openpilot/system/hardware/chestnut/flash.py
@@ -0,0 +1,576 @@
+#!/usr/bin/env python3
+"""chestnut (ASM2464) SPI flasher using data-USB EP0 control transfers."""
+import argparse
+import ctypes
+import errno
+import fcntl
+import glob
+import hashlib
+import os
+import re
+import signal
+import struct
+import sys
+import time
+import zlib
+from pathlib import Path
+
+VID_PIDS = (("add1", "0001"), ("3801", "0001"))
+ROM_VID_PIDS = (("174c", "2464"), ("174c", "2463"))
+ROM_PRODUCT = "USB 3.2 PCIe TinyEnclosure"
+FIRMWARE_PATH = Path(__file__).with_name("firmware_wrapped.bin")
+CONFIG_DIR = "/data/chestnut_config"
+PM_PATHS = ("/sys/bus/platform/devices/a600000.ssusb", "/sys/bus/usb/devices/usb4")
+VBUS_PATH = "/sys/kernel/debug/regulator/smb2-vbus/enable"
+IMAGE_OFFSET = 0x100
+SECTOR, PAGE = 4096, 128
+MAX_CODE_SIZE = 0x10000
+FLASH_BUDGET = 600.0
+USBDEVFS_CONTROL = 0xC0185500
+USBDEVFS_BULK = 0xC0185502
+USBDEVFS_SETINTERFACE = 0x80085504
+USBDEVFS_SETCONFIGURATION = 0x80045505
+USBDEVFS_CLAIMINTERFACE = 0x8004550F
+USBDEVFS_RESET = 0x5514
+USBDEVFS_CLEAR_HALT = 0x80045515
+
+_deadline = float("inf")
+
+
+def check_budget():
+  if time.monotonic() > _deadline:
+    raise TimeoutError(f"flash did not converge within {FLASH_BUDGET:g}s")
+
+
+class Ctrl(ctypes.Structure):
+  _fields_ = [("request_type", ctypes.c_uint8), ("request", ctypes.c_uint8),
+              ("value", ctypes.c_uint16), ("index", ctypes.c_uint16),
+              ("length", ctypes.c_uint16), ("timeout", ctypes.c_uint32),
+              ("data", ctypes.c_void_p)]
+
+
+class Bulk(ctypes.Structure):
+  _fields_ = [("ep", ctypes.c_uint), ("len", ctypes.c_uint),
+              ("timeout", ctypes.c_uint), ("data", ctypes.c_void_p)]
+
+
+class RomFallback(Exception):
+  pass
+
+
+def find_chestnut():
+  found = []
+  for d in glob.glob("/sys/bus/usb/devices/*"):
+    try:
+      vid_pid = (open(d + "/idVendor").read().strip(), open(d + "/idProduct").read().strip())
+      if vid_pid in VID_PIDS + ROM_VID_PIDS:
+        found.append((d, vid_pid, open(d + "/product").read().strip()))
+    except OSError:
+      pass
+  if len(found) > 1:
+    raise RuntimeError(f"expected one chestnut, found {len(found)}")
+  return found[0] if found else (None, None, None)
+
+
+def in_rom_bootloader(vid_pid, product):
+  # the ROM bootloader reports the config page strings, or its own when the config page is lost
+  return vid_pid in ROM_VID_PIDS or product == ROM_PRODUCT or (product or "").startswith("AS2462")
+
+
+def disable_runtime_pm(path):
+  control = os.path.join(path, "power/control")
+  if not os.path.exists(control):
+    return
+  with open(control, "w") as f:
+    f.write("on\n")
+  if open(control).read().strip() != "on":
+    raise RuntimeError(f"could not disable USB runtime PM: {control}")
+  delay = os.path.join(path, "power/autosuspend_delay_ms")
+  if os.path.exists(delay):
+    with open(delay, "w") as f:
+      f.write("-1\n")
+
+
+def unbind_drivers(path):
+  for interface in glob.glob(path + ":*"):
+    driver = interface + "/driver"
+    if os.path.islink(driver):
+      with open(os.path.realpath(driver) + "/unbind", "w") as f:
+        f.write(os.path.basename(interface))
+
+
+def open_device(path):
+  bus, dev = int(open(path + "/busnum").read()), int(open(path + "/devnum").read())
+  return os.open(f"/dev/bus/usb/{bus:03d}/{dev:03d}", os.O_RDWR)
+
+
+def link_up() -> bool:
+  # asm enumerates on USB-C alone, gpu is only usable once pcie link is up
+  try:
+    path, _, _ = find_chestnut()
+    if path is None:
+      return False
+    fd = open_device(path)
+  except (OSError, RuntimeError):
+    return False
+  try:
+    fcntl.ioctl(fd, USBDEVFS_CONTROL, Ctrl(0x40, 0xF3, 1, 0, 0, 2000, None))
+    buf = (ctypes.c_ubyte * 1)()
+    fcntl.ioctl(fd, USBDEVFS_CONTROL, Ctrl(0xC0, 0xE4, 0xB450, 0, 1, 1000, ctypes.cast(buf, ctypes.c_void_p)))
+    return buf[0] == 0x78  # LTSSM L0
+  except OSError:
+    return False
+  finally:
+    os.close(fd)
+
+
+def claim_interface(path, setup=False):
+  # unbind usb-storage, which binds to the ROM bootloader
+  disable_runtime_pm(path)
+  unbind_drivers(path)
+  fd = open_device(path)
+  try:
+    if setup:
+      fcntl.ioctl(fd, USBDEVFS_SETCONFIGURATION, struct.pack("I", 1))
+    fcntl.ioctl(fd, USBDEVFS_CLAIMINTERFACE, struct.pack("I", 0))
+    if setup:
+      fcntl.ioctl(fd, USBDEVFS_SETINTERFACE, struct.pack("II", 0, 0))
+  except OSError as e:
+    os.close(fd)
+    if e.errno == errno.EBUSY:
+      raise RuntimeError("chestnut is in use, stop modeld/GPU processes before flashing") from e
+    raise
+  return fd
+
+
+class Flash:
+  def __init__(self):
+    self.fd = -1
+
+  def close(self):
+    if self.fd >= 0:
+      os.close(self.fd)
+      self.fd = -1
+
+  def connect(self, timeout=5.0):
+    self.close()
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+      path, vid_pid, product = find_chestnut()
+      if in_rom_bootloader(vid_pid, product):
+        raise RomFallback("chestnut fell back to the ROM bootloader")
+      if path is not None:
+        self.fd = claim_interface(path)
+        return
+      time.sleep(0.1)
+    raise RuntimeError(f"chestnut did not enumerate within {timeout:g}s")
+
+  def reg_write(self, addr, value):
+    fcntl.ioctl(self.fd, USBDEVFS_CONTROL,
+                Ctrl(0x40, 0xE5, addr & 0xFFFF, value & 0xFFFF, 0, 2000, None))
+
+  def reg_read(self, addr, length=1):
+    buf = (ctypes.c_ubyte * length)()
+    fcntl.ioctl(self.fd, USBDEVFS_CONTROL,
+                Ctrl(0xC0, 0xE4, addr & 0xFFFF, 0, length, 2000, ctypes.cast(buf, ctypes.c_void_p)))
+    return bytes(buf)
+
+  def write_buffer(self, data):
+    for i, value in enumerate(data):
+      self.reg_write(0x7000 + i, value)
+
+  def wait_controller(self, timeout=2.0):
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+      if not self.reg_read(0xC8A9)[0] & 1:
+        return
+    raise TimeoutError("flash controller timeout")
+
+  def transaction(self, command, addr=0, length=0, addr_len=0x07, mode=0):
+    for reg, value in ((0xC8AD, mode), (0xC8AE, 0), (0xC8AF, 0), (0xC8AA, command), (0xC8AC, addr_len),
+                       (0xC8A1, addr), (0xC8A2, addr >> 8), (0xC8AB, addr >> 16), (0xC8A3, length >> 8), (0xC8A4, length)):
+      self.reg_write(reg, value & 0xFF)
+    self.reg_write(0xC8A9, 1)
+    self.wait_controller()
+    for _ in range(4):
+      self.reg_write(0xC8AD, 0)
+
+  def write_enable(self):
+    for reg, value in ((0xC8AD, 0), (0xC8AA, 0x06), (0xC8AC, 0x04), (0xC8A3, 0), (0xC8A4, 0), (0xC8A9, 1)):
+      self.reg_write(reg, value)
+    self.wait_controller()
+
+  def status(self):
+    self.transaction(0x05, length=1, addr_len=0x04)
+    return self.reg_read(0x7000)[0]
+
+  def wait_write_done(self, timeout=10.0):
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+      if not self.status() & 1:
+        return
+      time.sleep(0.005)
+    raise TimeoutError("SPI flash WIP timeout")
+
+  def init(self):
+    self.reg_write(0xCC33, 0x04)
+    self.reg_write(0xCA81, self.reg_read(0xCA81)[0] | 1)
+    self.reg_write(0xC805, 0x02)
+    self.reg_write(0xC8A6, 0x04)
+    for _ in range(5):
+      self.write_enable()
+      self.write_buffer(bytes(4))
+      self.transaction(0x01, length=1, addr_len=0x04, mode=1)
+      time.sleep(0.01)
+      if not self.status() & 0x1C:
+        return
+    raise RuntimeError("could not clear SPI block protection")
+
+  def read(self, addr, length):
+    out = bytearray()
+    while len(out) < length:
+      n = min(4096, length - len(out))
+      self.transaction(0x03, addr + len(out), max(4096, n))
+      for off in range(0, n, 255):
+        out += self.reg_read(0x7000 + off, min(255, n - off))
+    return bytes(out)
+
+  def erase_sector(self, addr):
+    self.write_enable()
+    self.transaction(0x20, addr)
+    self.wait_write_done()
+
+  def program(self, addr, data):
+    self.write_buffer(data + bytes((-len(data)) % 4))
+    self.write_enable()
+    self.transaction(0x02, addr, len(data), mode=1)
+    self.wait_write_done()
+
+
+def validate_image(data):
+  if len(data) < 10:
+    raise ValueError("wrapped firmware is too short")
+  body_len = int.from_bytes(data[:4], "little")
+  if body_len > MAX_CODE_SIZE:
+    raise ValueError(f"wrapped firmware body exceeds {MAX_CODE_SIZE} bytes")
+  if len(data) != body_len + 10 or data[4 + body_len] != 0xA5:
+    raise ValueError("invalid wrapped firmware length or magic")
+  body = data[4:4 + body_len]
+  if data[5 + body_len] != sum(body) & 0xFF:
+    raise ValueError("invalid wrapped firmware checksum")
+  if data[6 + body_len:] != zlib.crc32(body).to_bytes(4, "little"):
+    raise ValueError("invalid wrapped firmware CRC")
+
+
+def image_product(image):
+  match = re.search(rb"custom [0-9a-f]{8}-CLEAN", image)
+  if match is None:
+    raise ValueError("no product string in wrapped firmware")
+  return match.group().decode()
+
+
+def reconnect(flash):
+  attempt = 0
+  while True:
+    attempt += 1
+    check_budget()
+    try:
+      flash.connect()
+      flash.init()
+      return
+    except (OSError, TimeoutError, RuntimeError) as e:
+      print(f"waiting for chestnut (attempt {attempt}): {e}", flush=True)
+      time.sleep(1)
+
+
+def with_retries(flash, label, operation):
+  # on any transfer error, reconnect and restart the operation
+  attempt = 0
+  while True:
+    attempt += 1
+    try:
+      return operation()
+    except (OSError, TimeoutError, RuntimeError) as e:
+      check_budget()
+      print(f"{label} attempt {attempt}: {e}", flush=True)
+      reconnect(flash)
+
+
+def stable_read(flash, addr, length, count=2):
+  def read():
+    reads = [flash.read(addr, length) for _ in range(count)]
+    if any(x != reads[0] for x in reads[1:]):
+      raise RuntimeError(f"unstable flash read at 0x{addr:05x}")
+    return reads[0]
+  return with_retries(flash, f"read 0x{addr:05x}", read)
+
+
+def program_sector(flash, addr, target):
+  def program():
+    flash.erase_sector(addr)
+    if flash.read(addr, SECTOR) != bytes([0xFF]) * SECTOR:
+      raise RuntimeError("sector erase verification failed")
+    for off in range(0, SECTOR, PAGE):
+      chunk = target[off:off + PAGE]
+      if chunk != bytes([0xFF]) * len(chunk):
+        flash.program(addr + off, chunk)
+        if flash.read(addr + off, len(chunk)) != chunk:
+          raise RuntimeError(f"page verify failed at 0x{addr + off:05x}")
+    if flash.read(addr, SECTOR) != target:
+      raise RuntimeError("sector verification failed")
+  with_retries(flash, f"sector 0x{addr:05x}", program)
+
+
+def config_path():
+  return os.path.join(CONFIG_DIR, f"{os.uname().nodename}.bin")
+
+
+def saved_config(path, data):
+  os.makedirs(os.path.dirname(path), exist_ok=True)
+  try:
+    fd = os.open(path, os.O_WRONLY | os.O_CREAT | os.O_EXCL, 0o600)
+  except FileExistsError as e:
+    backup = open(path, "rb").read()
+    if len(backup) != 0x100:
+      raise RuntimeError(f"invalid config backup: {path}") from e
+    if backup != data:
+      print(f"restoring config from {path}", flush=True)
+    return backup
+  with os.fdopen(fd, "wb") as f:
+    f.write(data)
+    f.flush()
+    os.fsync(f.fileno())
+  return data
+
+
+def rom_write(image, config):
+  # the ROM bootloader implements only the BOT protocol, and requires a port reset before bulk transfers
+  path, _, _ = find_chestnut()
+  if path is None:
+    raise RuntimeError("chestnut disappeared before recovery")
+  unbind_drivers(path)
+  fd = open_device(path)
+  try:
+    fcntl.ioctl(fd, USBDEVFS_RESET)
+  finally:
+    os.close(fd)
+  time.sleep(3)
+  path, _, _ = find_chestnut()
+  if path is None:
+    raise RuntimeError("chestnut did not re-enumerate after reset")
+  fd = claim_interface(path, setup=True)
+  for ep in (0x02, 0x81):
+    fcntl.ioctl(fd, USBDEVFS_CLEAR_HALT, struct.pack("I", ep))
+  tag = 0
+
+  def bulk(ep, payload, timeout):
+    buf = ctypes.create_string_buffer(bytes(payload), len(payload))
+    fcntl.ioctl(fd, USBDEVFS_BULK, Bulk(ep, len(payload), timeout, ctypes.cast(buf, ctypes.c_void_p)))
+    return buf.raw
+
+  def cmd(cdb, data=b"", timeout=30000):
+    nonlocal tag
+    tag += 1
+    bulk(0x02, struct.pack("<IIIBBB16s", 0x43425355, tag, len(data), 0, 0, len(cdb), cdb), timeout)
+    if data:
+      bulk(0x02, data, timeout)
+    try:
+      csw = bulk(0x81, bytes(13), timeout)
+    except OSError as e:
+      if e.errno != errno.EPIPE:
+        raise
+      fcntl.ioctl(fd, USBDEVFS_CLEAR_HALT, struct.pack("I", 0x81))
+      csw = bulk(0x81, bytes(13), timeout)
+    if csw[:4] != b"USBS" or csw[12] != 0:
+      raise RuntimeError(f"ROM flash command {cdb[0]:02x} {cdb[1]:02x} failed")
+
+  print("recovering from the ROM bootloader", flush=True)
+  try:
+    cmd(struct.pack(">BBB12x", 0xE1, 0x50, 0), config[:0x80])
+    cmd(struct.pack(">BBB12x", 0xE1, 0x50, 1), config[0x80:])
+    cmd(struct.pack(">BBI", 0xE3, 0x50, min(len(image), 0xFF00)), image[:0xFF00])
+    if len(image) > 0xFF00:
+      cmd(struct.pack(">BBI", 0xE3, 0xD0, len(image) - 0xFF00), image[0xFF00:])
+    cmd(struct.pack(">BB13x", 0xE8, 0x51))
+  finally:
+    os.close(fd)
+  print("recovery flash done", flush=True)
+
+
+def vbus_write(value):
+  try:
+    with open(VBUS_PATH, "w") as f:
+      f.write(value + "\n")
+  except OSError:
+    pass
+
+
+def vbus_cycle():
+  if os.path.exists(VBUS_PATH):
+    vbus_write("0")
+    time.sleep(2)
+    vbus_write("1")
+    time.sleep(5)
+
+
+def activate(expected_product):
+  if not os.path.exists(VBUS_PATH):
+    print("no VBUS control, firmware activates on the next chestnut power cycle", flush=True)
+    return
+  print("power-cycling chestnut VBUS", flush=True)
+  vbus_write("0")
+  disconnected = False
+  deadline = time.monotonic() + 5.0
+  while time.monotonic() < deadline:
+    path, _, _ = find_chestnut()
+    if path is None:
+      disconnected = True
+      break
+    time.sleep(0.2)
+  time.sleep(1)
+  vbus_write("1")
+  if not disconnected:
+    print("chestnut stayed powered, firmware activates on its next power cycle", flush=True)
+    return
+  deadline = time.monotonic() + 15.0
+  while time.monotonic() < deadline:
+    _, _, product = find_chestnut()
+    if product is not None:
+      if product == expected_product:
+        print(f"activated {expected_product}", flush=True)
+      else:
+        print(f"chestnut re-enumerated with {product!r}, firmware activates on its next power cycle", flush=True)
+      return
+    time.sleep(0.2)
+  print("chestnut did not re-enumerate, firmware activates on its next power cycle", flush=True)
+
+
+def defer_signal(signum, _frame):
+  # writing from a handler must not reenter a print already in progress
+  os.write(1, f"signal {signum} deferred until the chestnut is powered back up\n".encode())
+
+
+def flash_chestnut(expected_version=None, force=False):
+  global _deadline
+
+  image = FIRMWARE_PATH.read_bytes()
+  validate_image(image)
+  expected_product = image_product(image)
+  if expected_version is not None and expected_product != f"custom {expected_version}-CLEAN":
+    raise RuntimeError(f"bundled firmware is {expected_product!r}, expected version {expected_version}")
+
+  path, vid_pid, product = find_chestnut()
+  if path is None:
+    print("no chestnut connected", flush=True)
+    return
+  if product == expected_product and not force:
+    print(f"chestnut firmware is up to date ({expected_product})", flush=True)
+    return
+
+  _deadline = time.monotonic() + FLASH_BUDGET
+  for pm_path in PM_PATHS:
+    disable_runtime_pm(pm_path)
+
+  previous = {sig: signal.signal(sig, defer_signal) for sig in (signal.SIGINT, signal.SIGTERM, signal.SIGHUP)}
+  try:
+    if in_rom_bootloader(vid_pid, product):
+      if not recover_from_rom(image, expected_product):
+        return
+      # firmware is back, verify it against the bundled image
+      force, product = True, None
+    write_image(image, expected_product, product, force)
+  finally:
+    for sig, handler in previous.items():
+      signal.signal(sig, handler)
+
+
+def recover_from_rom(image, expected_product):
+  # returns whether the chestnut came back on custom firmware
+  backup = config_path()
+  if not os.path.isfile(backup):
+    raise RuntimeError(f"cannot recover from the ROM bootloader without a config backup at {backup}")
+  config = open(backup, "rb").read()
+  if len(config) != 0x100:
+    raise RuntimeError(f"invalid config backup: {backup}")
+
+  committed = False
+  while True:
+    check_budget()
+    path, vid_pid, product = find_chestnut()
+    if path is None:
+      if committed:
+        print("chestnut is offline, recovered firmware boots on its next power cycle", flush=True)
+        return False
+      vbus_cycle()
+      continue
+    if not in_rom_bootloader(vid_pid, product):
+      return True
+    if committed:
+      print("chestnut stayed powered, recovered firmware boots on its next power cycle", flush=True)
+      return False
+    try:
+      rom_write(image, config)
+      committed = True
+    except (OSError, TimeoutError, RuntimeError) as e:
+      print(f"ROM recovery failed, retrying: {e}", flush=True)
+      vbus_cycle()
+      continue
+    activate(expected_product)
+
+
+def write_image(image, expected_product, product, force):
+  if force:
+    print(f"forced reflash of {expected_product}", flush=True)
+  else:
+    print(f"chestnut firmware mismatch: {product!r}; expected {expected_product!r}", flush=True)
+
+  flash = Flash()
+  try:
+    reconnect(flash)
+    config = stable_read(flash, 0, 0x100, 3)
+    config = saved_config(config_path(), config)
+    image_end = IMAGE_OFFSET + len(image)
+    first_sector = IMAGE_OFFSET & ~(SECTOR - 1)
+    span = (image_end + SECTOR - 1) & ~(SECTOR - 1)
+    current = stable_read(flash, first_sector, span - first_sector)
+    target = bytearray(current)
+    target[:len(config)] = config
+    target[IMAGE_OFFSET - first_sector:image_end - first_sector] = image
+    target = bytes(target)
+    print(f"target {len(image)} bytes at 0x{IMAGE_OFFSET:05x}, sha256={hashlib.sha256(image).hexdigest()}", flush=True)
+
+    for addr in range(first_sector, span, SECTOR):
+      off = addr - first_sector
+      wanted = target[off:off + SECTOR]
+      if current[off:off + SECTOR] == wanted:
+        print(f"sector 0x{addr:05x}: unchanged", flush=True)
+      else:
+        print(f"sector 0x{addr:05x}: programming", flush=True)
+        program_sector(flash, addr, wanted)
+
+    verified = stable_read(flash, first_sector, span - first_sector, 3)
+    if verified != target:
+      raise RuntimeError("final full-image verification failed")
+    print(f"verified sha256={hashlib.sha256(verified).hexdigest()}", flush=True)
+  finally:
+    flash.close()
+
+  activate(expected_product)
+
+
+def main():
+  parser = argparse.ArgumentParser(description="check and flash the bundled chestnut firmware")
+  parser.add_argument("version", nargs="?", help="expected firmware version hash")
+  parser.add_argument("--force", action="store_true", help="reflash even when the version matches")
+  args = parser.parse_args()
+  if os.geteuid() != 0:
+    raise RuntimeError("flash.py must run as root")
+  flash_chestnut(expected_version=args.version, force=args.force)
+
+
+if __name__ == "__main__":
+  try:
+    main()
+  except Exception as e:
+    print(f"FAIL: {type(e).__name__}: {e}", file=sys.stderr)
+    sys.exit(1)
diff --git a/openpilot/system/hardware/comma/agnos.json b/openpilot/system/hardware/comma/agnos.json
new file mode 120000
index 0000000000..b1465ff49d
--- /dev/null
+++ b/openpilot/system/hardware/comma/agnos.json
@@ -0,0 +1 @@
+../../../common/hardware/comma/agnos.json
\ No newline at end of file
diff --git a/system/hardware/fan_controller.py b/openpilot/system/hardware/fan_controller.py
similarity index 59%
rename from system/hardware/fan_controller.py
rename to openpilot/system/hardware/fan_controller.py
index b2140d33d4..869fe19c3d 100755
--- a/system/hardware/fan_controller.py
+++ b/openpilot/system/hardware/fan_controller.py
@@ -2,6 +2,11 @@
 import numpy as np
 
 from openpilot.common.pid import PIDController
+from openpilot.common.hardware import HARDWARE
+
+# raise fan setpoint on tici/tizi to reduce noise
+# after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling
+OFFSET = 0 if HARDWARE.get_device_type() == "mici" else 5
 
 
 class FanController:
@@ -18,6 +23,6 @@ class FanController:
     self.last_ignition = ignition
 
     return int(self.controller.update(
-                 error=(cur_temp - 75),  # temperature setpoint in C
-                 feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
+                 error=(cur_temp - (75 + OFFSET)),  # temperature setpoint in C
+                 feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
               ))
diff --git a/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py
similarity index 79%
rename from system/hardware/hardwared.py
rename to openpilot/system/hardware/hardwared.py
index 60721b6144..eef5db2b78 100755
--- a/system/hardware/hardwared.py
+++ b/openpilot/system/hardware/hardwared.py
@@ -3,27 +3,31 @@ import fcntl
 import os
 import queue
 import struct
+import subprocess
+import sys
 import threading
 import time
 from collections import OrderedDict, namedtuple
 
-import psutil
-
-import cereal.messaging as messaging
-from cereal import log
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, TICI, AGNOS
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_ROM_USB_IDS, CHESTNUT_USB_IDS, get_usb_state, get_usb_topology, set_usb_state
+from openpilot.common.linux import LinuxSystemStats
 from openpilot.system.loggerd.config import get_available_percent
-from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.system.statsd import statlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import FanController
-from openpilot.system.version import terms_version, training_version, get_build_metadata, terms_version_sp
+from openpilot.common.version import terms_version, training_version, get_build_metadata, terms_version_sp
+
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -34,21 +38,65 @@ DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect
 PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
 ONROAD_CYCLE_TIME = 1  # seconds to wait offroad after requesting an onroad cycle
 
+class Chestnut:
+  # flash offroad, modeld ignores chestnut until the product string matches
+  MAX_ATTEMPTS = 3
+  RETRY_INTERVAL = 20.
+
+  def __init__(self):
+    self.thread: threading.Thread | None = None
+    self.attempts = 0
+    self.last_attempt = 0.
+    self.flashed = False
+
+  def flash(self) -> None:
+    ret = subprocess.run(["sudo", sys.executable, os.path.join(BASEDIR, "openpilot/system/hardware/chestnut/flash.py"), CHESTNUT_FW_VERSION],
+                         stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False)
+    cloudlog.event("chestnut flash done", returncode=ret.returncode, output=ret.stdout[-1000:], error=ret.returncode != 0)
+    self.flashed = ret.returncode == 0
+
+  def update(self, offroad: bool, usb_state: list[dict]) -> None:
+    mismatch = any((d["vendorId"], d["productId"]) in CHESTNUT_USB_IDS + CHESTNUT_ROM_USB_IDS and
+                   d["product"] != f"custom {CHESTNUT_FW_VERSION}-CLEAN" for d in usb_state)
+    if not mismatch:
+      self.flashed = False
+      return
+
+    if not offroad or self.flashed or self.attempts >= self.MAX_ATTEMPTS:
+      return
+    if self.thread is not None and self.thread.is_alive():
+      return
+    if time.monotonic() - self.last_attempt < self.RETRY_INTERVAL:
+      return
+
+    self.attempts += 1
+    self.last_attempt = time.monotonic()
+    cloudlog.warning(f"chestnut firmware out of date, flashing (attempt {self.attempts})")
+    self.thread = threading.Thread(target=self.flash, daemon=True)
+    self.thread.start()
+
+
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
-                                             'network_metered', 'modem_temps'])
+                                             'network_metered', 'modem_temps', 'usb_state'])
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
-THERMAL_BANDS = OrderedDict({
-  ThermalStatus.green: ThermalBand(None, 80.0),
-  ThermalStatus.yellow: ThermalBand(75.0, 96.0),
-  ThermalStatus.red: ThermalBand(88.0, 107.),
-  ThermalStatus.danger: ThermalBand(94.0, None),
-})
+if HARDWARE.get_device_type() == "mici":
+  THERMAL_BANDS = OrderedDict({
+    ThermalStatus.ok: ThermalBand(None, 100.0),
+    ThermalStatus.overheated: ThermalBand(92.0, 107.),
+    ThermalStatus.critical: ThermalBand(98.0, None),
+  })
+else:
+  THERMAL_BANDS = OrderedDict({
+    ThermalStatus.ok: ThermalBand(None, 96.0),
+    ThermalStatus.overheated: ThermalBand(88.0, 107.),
+    ThermalStatus.critical: ThermalBand(94.0, None),
+  })
 
 # Override to highest thermal band when offroad and above this temp
-OFFROAD_DANGER_TEMP = 75
+OFFROAD_DANGER_TEMP = 85 if HARDWARE.get_device_type() == "mici" else 75
 
 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}
 
@@ -99,40 +147,21 @@ def hw_state_thread(end_event, hw_queue):
   """Handles non critical hardware state, and sends over queue"""
   count = 0
   prev_hw_state = None
-
-  modem_version = None
-  modem_configured = False
-  modem_missing_count = 0
-  modem_restart_count = 0
+  prev_usb_topology = set()
 
   while not end_event.is_set():
-    # these are expensive calls. update every 10s
-    if (count % int(10. / DT_HW)) == 0:
+    usb_topology = get_usb_topology()
+    usb_changed = usb_topology != prev_usb_topology
+
+    # these are expensive calls. update every 10s or when USB devices change
+    if (count % int(10. / DT_HW)) == 0 or usb_changed:
+      prev_usb_topology = usb_topology
       try:
         network_type = HARDWARE.get_network_type()
         modem_temps = HARDWARE.get_modem_temperatures()
         if len(modem_temps) == 0 and prev_hw_state is not None:
           modem_temps = prev_hw_state.modem_temps
 
-        # Log modem version once
-        if AGNOS and (modem_version is None):
-          modem_version = HARDWARE.get_modem_version()
-
-          if modem_version is not None:
-            cloudlog.event("modem version", version=modem_version)
-
-        if AGNOS and modem_restart_count < 3 and HARDWARE.get_modem_version() is None:
-          # TODO: we may be able to remove this with a MM update
-          # ModemManager's probing on startup can fail
-          # rarely, restart the service to probe again.
-          # Also, AT commands sometimes timeout resulting in ModemManager not
-          # trying to use this modem anymore.
-          modem_missing_count += 1
-          if (modem_missing_count % 4) == 0:
-            modem_restart_count += 1
-            cloudlog.event("restarting ModemManager")
-            os.system("sudo systemctl restart --no-block ModemManager")
-
         tx, rx = HARDWARE.get_modem_data_usage()
 
         hw_state = HardwareState(
@@ -142,6 +171,7 @@ def hw_state_thread(end_event, hw_queue):
           network_stats={'wwanTx': tx, 'wwanRx': rx},
           network_metered=HARDWARE.get_network_metered(network_type),
           modem_temps=modem_temps,
+          usb_state=get_usb_state(),
         )
 
         try:
@@ -149,11 +179,6 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
-        if not modem_configured and HARDWARE.get_modem_version() is not None:
-          cloudlog.warning("configuring modem")
-          HARDWARE.configure_modem()
-          modem_configured = True
-
         prev_hw_state = hw_state
       except Exception:
         cloudlog.exception("Error getting hardware state")
@@ -163,6 +188,7 @@ def hw_state_thread(end_event, hw_queue):
 
 
 def hardware_thread(end_event, hw_queue) -> None:
+  system_stats = LinuxSystemStats()
   pm = messaging.PubMaster(['deviceState'])
   sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "selfdriveState", "pandaStates"], poll="pandaStates")
 
@@ -180,7 +206,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   started_ts: float | None = None
   started_seen = False
   startup_blocked_ts: float | None = None
-  thermal_status = ThermalStatus.yellow
+  thermal_status = ThermalStatus.ok
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
@@ -189,6 +215,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     network_strength=NetworkStrength.unknown,
     network_stats={'wwanTx': -1, 'wwanRx': -1},
     modem_temps=[],
+    usb_state=[],
   )
 
   all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False)
@@ -210,6 +237,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   thermal_config = HARDWARE.get_thermal_config()
 
   fan_controller = FanController(int(1./DT_HW))
+  chestnut = Chestnut()
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
@@ -219,7 +247,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # handle requests to cycle system started state
     if params.get_bool("OnroadCycleRequested"):
-      params.put_bool("OnroadCycleRequested", False)
+      params.put_bool("OnroadCycleRequested", False, block=True)
       offroad_cycle_count = sm.frame
     onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency
 
@@ -252,9 +280,9 @@ def hardware_thread(end_event, hw_queue) -> None:
       pass
 
     msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
-    msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
+    msg.deviceState.memoryUsagePercent = int(round(system_stats.memory_usage_percent()))
     msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))
-    online_cpu_usage = [int(round(n)) for n in psutil.cpu_percent(percpu=True)]
+    online_cpu_usage = [int(round(n)) for n in system_stats.cpu_usage_percent()]
     offline_cpu_usage = [0., ] * (len(msg.deviceState.cpuTempC) - len(online_cpu_usage))
     msg.deviceState.cpuUsagePercent = online_cpu_usage + offline_cpu_usage
 
@@ -269,6 +297,9 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
 
+    set_usb_state(msg.deviceState, last_hw_state.usb_state)
+    chestnut.update(started_ts is None, last_hw_state.usb_state)
+
     # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,
@@ -288,7 +319,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
       # if device is offroad and already hot without the extra onroad load,
       # we want to cool down first before increasing load
-      thermal_status = ThermalStatus.danger
+      thermal_status = ThermalStatus.critical
     else:
       current_band = THERMAL_BANDS[thermal_status]
       band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
@@ -309,10 +340,9 @@ def hardware_thread(end_event, hw_queue) -> None:
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
     startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version
     startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
-    startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
 
     # must be at an engageable thermal band to go onroad
-    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
+    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.overheated
 
     # ensure device is fully booted
     startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
@@ -327,30 +357,33 @@ def hardware_thread(end_event, hw_queue) -> None:
     # - TIZI, or
     # - TICI and channel_type is "tici"
     build_metadata = get_build_metadata()
-    is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
+    is_unsupported_combo = COMMA_HARDWARE and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
     startup_conditions["not_tici"] = not is_unsupported_combo
     onroad_conditions["not_tici"] = not is_unsupported_combo
     set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
 
     # if the temperature enters the danger zone, go offroad to cool down
-    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
+    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.critical
     extra_text = f"{offroad_comp_temp:.1f}C"
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
+    if show_alert:
+      msg.deviceState.fanSpeedPercentDesired = 100
+
     # Handle offroad/onroad transition
     should_start = all(onroad_conditions.values())
     if started_ts is None:
       should_start = should_start and all(startup_conditions.values())
 
     if should_start != should_start_prev or (count == 0):
-      params.put_bool("IsEngaged", False)
+      params.put_bool("IsEngaged", False, block=True)
       engaged_prev = False
 
     if sm.updated['selfdriveState']:
       engaged = sm['selfdriveState'].enabled
       if engaged != engaged_prev:
-        params.put_bool("IsEngaged", engaged)
+        params.put_bool("IsEngaged", engaged, block=True)
         engaged_prev = engaged
 
       try:
@@ -389,7 +422,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # GitHub runner auto off: 9V is used as the threshold because most desktop runners
     # will rarely exceed 5V so 9V is set as our buffer between desk use and car use.
-    params.put_bool_nonblocking("GithubRunnerSufficientVoltage", ((voltage or 0) and voltage > 9000))
+    params.put_bool("GithubRunnerSufficientVoltage", ((voltage or 0) and voltage > 9000))
 
     power_monitor.calculate(voltage, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
@@ -405,7 +438,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     # Check if we need to shut down
     if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
       cloudlog.warning(f"shutting device down, offroad since {off_ts}")
-      params.put_bool("DoShutdown", True)
+      params.put_bool("DoShutdown", True, block=True)
 
     msg.deviceState.started = started_ts is not None and not offroad_mode
     msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))
@@ -417,7 +450,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     msg.deviceState.thermalStatus = thermal_status
     pm.send("deviceState", msg)
 
-    # Log to statsd
     statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
     statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
     statlog.gauge("memory_usage_percent", msg.deviceState.memoryUsagePercent)
@@ -435,9 +467,10 @@ def hardware_thread(end_event, hw_queue) -> None:
     statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
     statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
 
-    # report to server once every 10 minutes
+    # report to server once every 10 minutes, or every 1s when thermally blocked
     rising_edge_started = should_start and not should_start_prev
-    if rising_edge_started or (count % int(600. / DT_HW)) == 0:
+    status_packet_interval = 1. if show_alert else 600.
+    if rising_edge_started or (count % int(status_packet_interval / DT_HW)) == 0:
       dat = {
         'count': count,
         'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],
@@ -450,11 +483,11 @@ def hardware_thread(end_event, hw_queue) -> None:
       # save last one before going onroad
       if rising_edge_started:
         try:
-          params.put("LastOffroadStatusPacket", dat)
+          params.put("LastOffroadStatusPacket", dat, block=True)
         except Exception:
           cloudlog.exception("failed to save offroad status")
 
-    params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered)
+    params.put_bool("NetworkMetered", msg.deviceState.networkMetered)
 
     now_ts = time.monotonic()
     if off_ts:
@@ -464,8 +497,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     last_uptime_ts = now_ts
 
     if (count % int(60. / DT_HW)) == 0:
-      params.put("UptimeOffroad", uptime_offroad)
-      params.put("UptimeOnroad", uptime_onroad)
+      params.put("UptimeOffroad", uptime_offroad, block=True)
+      params.put("UptimeOnroad", uptime_onroad, block=True)
 
     count += 1
     should_start_prev = should_start
@@ -480,7 +513,7 @@ def main():
     threading.Thread(target=hardware_thread, args=(end_event, hw_queue)),
   ]
 
-  if TICI:
+  if COMMA_HARDWARE:
     threads.append(threading.Thread(target=touch_thread, args=(end_event,)))
 
   for t in threads:
diff --git a/system/hardware/power_monitoring.py b/openpilot/system/hardware/power_monitoring.py
similarity index 87%
rename from system/hardware/power_monitoring.py
rename to openpilot/system/hardware/power_monitoring.py
index d0a1e623a7..8dcd0fa6dc 100644
--- a/system/hardware/power_monitoring.py
+++ b/openpilot/system/hardware/power_monitoring.py
@@ -2,9 +2,9 @@ import time
 import threading
 
 from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.statsd import statlog
+from openpilot.sunnypilot.system.statsd import statlog
 
 CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1))
 
@@ -35,7 +35,7 @@ class PowerMonitoring:
     self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), car_battery_capacity_uWh)
 
   # Calculation tick
-  def calculate(self, voltage: int | None, ignition: bool):
+  def calculate(self, voltage: float | None, ignition: bool):
     try:
       now = time.monotonic()
 
@@ -56,7 +56,7 @@ class PowerMonitoring:
       self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
       self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh)
       if now - self.last_save_time >= 10:
-        self.params.put_nonblocking("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
+        self.params.put("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
         self.last_save_time = now
 
       # First measurement, set integration time
@@ -106,18 +106,10 @@ class PowerMonitoring:
 
   # Max Time Offroad
   def max_time_offroad_exceeded(self, offroad_time):
-    """
-    Check if the max time offroad has been exceeded. If the value is 0, it means no limit.
-    :param offroad_time: Time spent offroad in seconds
-    :return: True if the max time offroad has been exceeded, False otherwise
-    """
-    try:
-      param = self.params.get("MaxTimeOffroad")
-      sp_max_time_val_s = param * 60 if param is not None and param >= 0 else MAX_TIME_OFFROAD_S
-    except Exception:
-      sp_max_time_val_s = MAX_TIME_OFFROAD_S
-
-    return 0 < sp_max_time_val_s <= offroad_time
+    param = self.params.get("MaxTimeOffroad")  # minutes, 0 = no limit
+    if param is not None and param >= 0:
+      return 0 < param * 60 <= offroad_time
+    return offroad_time > MAX_TIME_OFFROAD_S
 
   # See if we need to shutdown
   def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
diff --git a/system/hardware/tici/tests/__init__.py b/openpilot/system/hardware/tests/__init__.py
similarity index 100%
rename from system/hardware/tici/tests/__init__.py
rename to openpilot/system/hardware/tests/__init__.py
diff --git a/openpilot/system/hardware/tests/test_fan_controller.py b/openpilot/system/hardware/tests/test_fan_controller.py
new file mode 100644
index 0000000000..63f9967101
--- /dev/null
+++ b/openpilot/system/hardware/tests/test_fan_controller.py
@@ -0,0 +1,47 @@
+
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.system.hardware.fan_controller import FanController
+
+ALL_CONTROLLERS = [FanController]
+
+class TestFanController(OpenpilotTestCase):
+  def wind_up(self, controller, ignition=True):
+    for _ in range(1000):
+      controller.update(100, ignition)
+
+  def wind_down(self, controller, ignition=False):
+    for _ in range(1000):
+      controller.update(10, ignition)
+
+  @parameterized.expand(ALL_CONTROLLERS)
+  def test_hot_onroad(self, controller_class):
+    controller = controller_class(2)
+    self.wind_up(controller)
+    assert controller.update(100, True) >= 70
+
+  @parameterized.expand(ALL_CONTROLLERS)
+  def test_offroad_limits(self, controller_class):
+    controller = controller_class(2)
+    self.wind_up(controller)
+    assert controller.update(100, False) <= 30
+
+  @parameterized.expand(ALL_CONTROLLERS)
+  def test_no_fan_wear(self, controller_class):
+    controller = controller_class(2)
+    self.wind_down(controller)
+    assert controller.update(10, False) == 0
+
+  @parameterized.expand(ALL_CONTROLLERS)
+  def test_limited(self, controller_class):
+    controller = controller_class(2)
+    self.wind_up(controller, True)
+    assert controller.update(100, True) == 100
+
+  @parameterized.expand(ALL_CONTROLLERS)
+  def test_windup_speed(self, controller_class):
+    controller = controller_class(2)
+    self.wind_down(controller, True)
+    for _ in range(10):
+      controller.update(90, True)
+    assert controller.update(90, True) >= 60
diff --git a/system/hardware/tests/test_power_monitoring.py b/openpilot/system/hardware/tests/test_power_monitoring.py
similarity index 89%
rename from system/hardware/tests/test_power_monitoring.py
rename to openpilot/system/hardware/tests/test_power_monitoring.py
index 451efcd735..6b254bbf57 100644
--- a/system/hardware/tests/test_power_monitoring.py
+++ b/openpilot/system/hardware/tests/test_power_monitoring.py
@@ -1,5 +1,5 @@
-import pytest
-
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
   CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S
@@ -11,6 +11,10 @@ def mock_time_monotonic():
   ssb += 1.
   return ssb
 
+def set_mock_time(value):
+  global ssb
+  ssb = value
+
 TEST_DURATION_S = 50
 GOOD_VOLTAGE = 12 * 1e3
 VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
@@ -22,20 +26,16 @@ def pm_patch(mocker, name, value, constant=False):
     mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", return_value=value)
 
 
-@pytest.fixture(autouse=True)
-def mock_time(mocker):
-  mocker.patch("time.monotonic", mock_time_monotonic)
-
-
-class TestPowerMonitoring:
+class TestPowerMonitoring(OpenpilotTestCase):
   def setup_method(self):
+    self._fixture("mocker").patch("time.monotonic", mock_time_monotonic)
     self.params = Params()
 
   # Test to see that it doesn't do anything when pandaState is None
   def test_panda_state_present(self):
     pm = PowerMonitoring()
     for _ in range(10):
-      pm.calculate(None, None)
+      pm.calculate(None, False)
     assert pm.get_power_used() == 0
     assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10)
 
@@ -110,10 +110,9 @@ class TestPowerMonitoring:
     pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
     start_time = ssb
     ignition = False
-    while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
-      pm.calculate(GOOD_VOLTAGE, ignition)
-      if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
-        assert not pm.should_shutdown(ignition, True, start_time, False)
+    set_mock_time(start_time + MOCKED_MAX_OFFROAD_TIME - 1)
+    assert not pm.should_shutdown(ignition, True, start_time, False)
+    set_mock_time(start_time + MOCKED_MAX_OFFROAD_TIME)
     assert pm.should_shutdown(ignition, True, start_time, False)
 
   def test_car_voltage(self, mocker):
@@ -139,7 +138,7 @@ class TestPowerMonitoring:
   def test_disable_power_down(self, mocker):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 100
-    self.params.put_bool("DisablePowerDown", True)
+    self.params.put_bool("DisablePowerDown", True, block=True)
     pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW)
     pm = PowerMonitoring()
     pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
@@ -188,18 +187,16 @@ class TestPowerMonitoring:
     started_seen = True
     pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
 
-    while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
-      assert not pm.should_shutdown(ignition, in_car,
-                                          offroad_timestamp,
-                                          started_seen), \
-                       f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+    set_mock_time(offroad_timestamp + DELAY_SHUTDOWN_TIME_S - 1)
+    assert not pm.should_shutdown(ignition, in_car, offroad_timestamp, started_seen), \
+                     f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+    set_mock_time(offroad_timestamp + DELAY_SHUTDOWN_TIME_S)
     assert pm.should_shutdown(ignition, in_car,
                                        offroad_timestamp,
                                        started_seen), \
                     f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
 
-  @pytest.mark.parametrize(
-    "max_time_offroad, offroad_time_min, expected_result",
+  @parameterized.expand(
     [
       # No max time set – fallback to default (30 hours)
       (None, 0, False),
@@ -223,7 +220,7 @@ class TestPowerMonitoring:
   def test_max_time_offroad_exceeded(self, max_time_offroad, offroad_time_min, expected_result):
     # Set the parameter if provided
     if max_time_offroad is not None:
-      self.params.put("MaxTimeOffroad", max_time_offroad)
+      self.params.put("MaxTimeOffroad", max_time_offroad, block=True)
 
     # Convert offroad time from minutes to seconds
     offroad_time_s = offroad_time_min * 60
diff --git a/openpilot/system/hardware/tici/agnos.json b/openpilot/system/hardware/tici/agnos.json
new file mode 120000
index 0000000000..87cb197052
--- /dev/null
+++ b/openpilot/system/hardware/tici/agnos.json
@@ -0,0 +1 @@
+../comma/agnos.json
\ No newline at end of file
diff --git a/system/journald.py b/openpilot/system/journald.py
similarity index 79%
rename from system/journald.py
rename to openpilot/system/journald.py
index 37158b9251..091494b652 100755
--- a/system/journald.py
+++ b/openpilot/system/journald.py
@@ -2,12 +2,12 @@
 import json
 import subprocess
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.swaglog import cloudlog
 
 
 def main():
-  pm = messaging.PubMaster(['androidLog'])
+  pm = messaging.PubMaster(['operatingSystemLog'])
   cmd = ['journalctl', '-f', '-o', 'json']
   proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, text=True)
   assert proc.stdout is not None
@@ -22,8 +22,8 @@ def main():
         cloudlog.exception("failed to parse journalctl output")
         continue
 
-      msg = messaging.new_message('androidLog')
-      entry = msg.androidLog
+      msg = messaging.new_message('operatingSystemLog')
+      entry = msg.operatingSystemLog
       entry.ts = int(kv.get('__REALTIME_TIMESTAMP', 0))
       entry.message = json.dumps(kv)
       if '_PID' in kv:
@@ -33,7 +33,7 @@ def main():
       if 'SYSLOG_IDENTIFIER' in kv:
         entry.tag = kv['SYSLOG_IDENTIFIER']
 
-      pm.send('androidLog', msg)
+      pm.send('operatingSystemLog', msg)
   finally:
     proc.terminate()
     proc.wait()
diff --git a/system/loggerd/.gitignore b/openpilot/system/loggerd/.gitignore
similarity index 100%
rename from system/loggerd/.gitignore
rename to openpilot/system/loggerd/.gitignore
diff --git a/openpilot/system/loggerd/SConscript b/openpilot/system/loggerd/SConscript
new file mode 100644
index 0000000000..6890c29655
--- /dev/null
+++ b/openpilot/system/loggerd/SConscript
@@ -0,0 +1,19 @@
+Import('env', 'arch', 'messaging', 'common', 'visionipc', 'ffmpeg_libs')
+
+libs = [common, messaging, visionipc] + ffmpeg_libs + ['pthread', 'm', 'zstd']
+frameworks = []
+
+src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/jpeg_encoder.cc']
+if arch == "comma_arm64":
+  src += ['clip_encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/v4l_decoder.cc']
+else:
+  src += ['encoder/ffmpeg_encoder.cc']
+  if arch == "Darwin":
+    frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
+
+logger_lib = env.Library('logger', src)
+libs.insert(0, logger_lib)
+
+env.Program('loggerd', ['loggerd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
+env.Program('encoderd', ['encoderd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
+env.Program('bootlog.cc', LIBS=libs, FRAMEWORKS=frameworks)
diff --git a/system/loggerd/__init__.py b/openpilot/system/loggerd/__init__.py
similarity index 100%
rename from system/loggerd/__init__.py
rename to openpilot/system/loggerd/__init__.py
diff --git a/system/loggerd/bootlog.cc b/openpilot/system/loggerd/bootlog.cc
similarity index 92%
rename from system/loggerd/bootlog.cc
rename to openpilot/system/loggerd/bootlog.cc
index 1b87ce394f..b2e3abfcf1 100644
--- a/system/loggerd/bootlog.cc
+++ b/openpilot/system/loggerd/bootlog.cc
@@ -1,7 +1,7 @@
 #include <cassert>
 #include <string>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "system/loggerd/logger.h"
@@ -28,7 +28,7 @@ static kj::Array<capnp::word> build_boot_log() {
 
   // Gather output of commands
   std::vector<std::string> bootlog_commands = {
-    "[ -x \"$(command -v journalctl)\" ] && journalctl -o short-monotonic",
+    "[ -x \"$(command -v journalctl)\" ] && journalctl -b -n 2000 -o short-monotonic --no-pager",
   };
 
 
diff --git a/openpilot/system/loggerd/clip_encoder.cc b/openpilot/system/loggerd/clip_encoder.cc
new file mode 100644
index 0000000000..7e8f3a9026
--- /dev/null
+++ b/openpilot/system/loggerd/clip_encoder.cc
@@ -0,0 +1,290 @@
+#include "system/loggerd/clip_encoder.h"
+
+#include <algorithm>
+#include <array>
+#include <cmath>
+#include <exception>
+#include <filesystem>
+#include <memory>
+#include <thread>
+#include <unistd.h>
+#include <utility>
+#include <vector>
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavformat/avformat.h>
+}
+
+#include "common/swaglog.h"
+#include "system/loggerd/encoder/v4l_decoder.h"
+#include "system/loggerd/encoder/v4l_encoder.h"
+#include "system/loggerd/loggerd.h"
+#include "system/loggerd/video_writer.h"
+
+namespace {
+
+constexpr double SEGMENT_DURATION = 60.0;
+constexpr int CLIP_FPS = 20;
+constexpr double PARALLEL_CLIP_MIN_DURATION = 2 * SEGMENT_DURATION;
+
+const EncoderInfo clip_encoder_info = {
+  .publish_name = "livestreamNarrowRoadEncodeData",
+  .record = false,
+  .fps = CLIP_FPS,
+  .get_settings = [](int) { return EncoderSettings::StreamEncoderSettings(); },
+  INIT_ENCODE_FUNCTIONS(LivestreamNarrowRoadEncode),
+};
+
+bool open_input(const std::string &path, AVFormatContext **ctx, int *stream_index) {
+  if (avformat_open_input(ctx, path.c_str(), nullptr, nullptr) < 0 ||
+      avformat_find_stream_info(*ctx, nullptr) < 0 ||
+      (*stream_index = av_find_best_stream(*ctx, AVMEDIA_TYPE_VIDEO, -1, -1, nullptr, 0)) < 0) {
+    LOGE("failed to open clip input %s", path.c_str());
+    avformat_close_input(ctx);
+    return false;
+  }
+  return true;
+}
+
+void remove_file(const std::string &path) {
+  std::error_code error;
+  std::filesystem::remove(path, error);
+}
+
+int encode_clip_worker(const std::vector<std::string> &inputs, int width, int height,
+                       double start_time, double duration, int bitrate, int speedup,
+                       int64_t frame_offset, int64_t *encoded_frames,
+                       V4LEncoder::PacketCallback packet_callback) try {
+  EncoderInfo encoder_info = clip_encoder_info;
+  encoder_info.get_settings = [bitrate](int) {
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+                           .bitrate = bitrate, .gop_size = 5};
+  };
+  V4LDecoder decoder;
+  V4LEncoder::Options options = {
+    .packet_callback = std::move(packet_callback),
+    .input_format = V4L2_PIX_FMT_NV12_UBWC,
+    .input_done_callback = [&decoder](VisionBuf *buf) { decoder.releaseFrame(buf); },
+    .max_performance = true,
+  };
+  V4LEncoder encoder(encoder_info, width, height, std::move(options));
+  encoder.encoder_open();
+  if (!decoder.init(V4LDecoder::DEVICE, width, height, V4L2_PIX_FMT_HEVC, true, V4L2_PIX_FMT_NV12_UBWC)) return 1;
+
+  const int64_t first_frame = std::floor(start_time * CLIP_FPS);
+  const int64_t end_frame = std::ceil((start_time + duration) * CLIP_FPS);
+  int64_t input_frame = 0;
+  int64_t output_frame = 0;
+  int64_t received_frames = 0;
+  bool failed = false;
+  auto pump_decoder = [&](int timeout_ms) {
+    V4LDecodedFrame frame;
+    if (!decoder.pump(frame, timeout_ms)) return false;
+    if (!frame.buf) return true;
+    ++received_frames;
+    const int64_t source_frame = (int64_t)frame.token - 1;
+    if (source_frame < first_frame) {
+      decoder.releaseFrame(frame.buf);
+      return true;
+    }
+    if ((frame_offset + source_frame - first_frame) % speedup != 0) {
+      decoder.releaseFrame(frame.buf);
+      return true;
+    }
+
+    VisionIpcBufExtra extra = {};
+    extra.frame_id = output_frame;
+    extra.timestamp_sof = output_frame * 1000000000ULL / CLIP_FPS;
+    extra.timestamp_eof = extra.timestamp_sof;
+    if (encoder.encode_frame(frame.buf, &extra) < 0) {
+      decoder.releaseFrame(frame.buf);
+      return false;
+    }
+
+    ++output_frame;
+    return true;
+  };
+
+  for (size_t input_index = 0; input_index < inputs.size(); ++input_index) {
+    const std::string &input = inputs[input_index];
+    const int64_t segment_start_frame = input_frame;
+    AVFormatContext *ctx = nullptr;
+    int stream_index = -1;
+    if (!open_input(input, &ctx, &stream_index)) { failed = true; break; }
+    AVPacket packet = {};
+    while (input_frame < end_frame && av_read_frame(ctx, &packet) >= 0) {
+      if (packet.stream_index != stream_index) {
+        av_packet_unref(&packet);
+        continue;
+      }
+      if (packet.size <= 0 || (size_t)packet.size > decoder.maxPacketSize()) {
+        LOGE("decoder packet too large: %d > %zu", packet.size, decoder.maxPacketSize());
+        av_packet_unref(&packet);
+        failed = true;
+        break;
+      }
+
+      // Keep several compressed packets in flight so the firmware can sustain
+      // decode/encode overlap and does not downclock due to a shallow queue.
+      while (!decoder.queuePacket(&packet, input_frame + 1)) {
+        if (!pump_decoder(-1)) {
+          failed = true;
+          break;
+        }
+      }
+      av_packet_unref(&packet);
+      if (failed) break;
+
+      ++input_frame;
+    }
+    av_packet_unref(&packet);
+    avformat_close_input(&ctx);
+    // Only the final loggerd segment may be shorter than SEGMENT_DURATION. A
+    // short intermediate segment would silently close a gap in the source.
+    if (!failed && input_frame < end_frame && input_index + 1 < inputs.size() &&
+        input_frame - segment_start_frame < static_cast<int64_t>(SEGMENT_DURATION * CLIP_FPS)) {
+      failed = true;
+    }
+    if (failed || input_frame >= end_frame) break;
+  }
+
+  if (!failed) decoder.sendEOS();
+  for (int empty_polls = 0; !failed && received_frames < input_frame;) {
+    const int64_t before = received_frames;
+    failed = !pump_decoder(1000);
+    empty_polls = received_frames == before ? empty_polls + 1 : 0;
+    if (empty_polls == 5) failed = true;
+  }
+
+  encoder.encoder_close();
+  const int64_t source_frames = std::max<int64_t>(0, std::min(input_frame, end_frame) - first_frame);
+  const int64_t first_output_frame = (speedup - frame_offset % speedup) % speedup;
+  const int64_t expected_output_frames = first_output_frame < source_frames ?
+    1 + (source_frames - first_output_frame - 1) / speedup : 0;
+  if (failed || source_frames == 0 || output_frame != expected_output_frames) {
+    LOGE("clip failed: input=%lld/%lld decoded=%lld encoded=%lld/%lld",
+         (long long)input_frame, (long long)end_frame, (long long)received_frames,
+         (long long)output_frame, (long long)expected_output_frames);
+    return 1;
+  }
+  *encoded_frames = output_frame;
+  return 0;
+} catch (const std::exception &e) {
+  LOGE("clip worker failed: %s", e.what());
+  return 1;
+}
+
+struct SpoolPacket {
+  uint32_t size;
+  int64_t timestamp;
+  bool keyframe;
+};
+
+}  // namespace
+
+int encode_clip(const std::vector<std::string> &inputs, const std::string &output,
+                double start_time, double duration, int bitrate, int speedup,
+                const std::string &metadata) {
+  if (inputs.empty() || !std::isfinite(start_time) || !std::isfinite(duration) ||
+      start_time < 0 || duration <= 0 || bitrate <= 0 || speedup <= 0) {
+    return 1;
+  }
+
+  // Inputs are consecutive loggerd segments. Skip whole files before the clip
+  // so a late start does not spend hardware time decoding discarded minutes.
+  const double available_duration = inputs.size() * SEGMENT_DURATION;
+  if (start_time >= available_duration || duration > available_duration - start_time) return 1;
+  const size_t skipped_segments = start_time / SEGMENT_DURATION;
+  const std::vector<std::string> clip_inputs(inputs.begin() + skipped_segments, inputs.end());
+  const double local_start = start_time - skipped_segments * SEGMENT_DURATION;
+
+  AVFormatContext *ctx = nullptr;
+  int stream = -1;
+  if (!open_input(clip_inputs.front(), &ctx, &stream)) return 1;
+  AVCodecParameters *codec = ctx->streams[stream]->codecpar;
+  const int width = codec->width, height = codec->height;
+  const bool valid_codec = codec->codec_id == AV_CODEC_ID_HEVC && width > 0 && height > 0;
+  avformat_close_input(&ctx);
+  if (!valid_codec) return 1;
+
+  std::filesystem::path output_path(output);
+  const std::string output_dir = output_path.has_parent_path() ? output_path.parent_path() : ".";
+  auto writer = std::make_unique<VideoWriter>(output_dir.c_str(), output_path.filename().c_str(), true,
+                                              width, height, CLIP_FPS, cereal::EncodeIndex::Type::QCAMERA_H264);
+  if (!metadata.empty()) writer->set_metadata("ai.comma.clip.settings", metadata.c_str());
+  V4LEncoder::PacketCallback write_packet = [&writer](uint8_t *data, size_t size, int64_t timestamp,
+                                                      bool config, bool keyframe) {
+    writer->write(data, size, timestamp, config, keyframe);
+  };
+
+  if (clip_inputs.size() < 2 || duration < PARALLEL_CLIP_MIN_DURATION) {
+    int64_t encoded_frames = 0;
+    const bool success = encode_clip_worker(clip_inputs, width, height, local_start, duration,
+                                            bitrate, speedup, 0, &encoded_frames, write_packet) == 0;
+    if (!success) {
+      writer.reset();
+      remove_file(output);
+    }
+    return success ? 0 : 1;
+  }
+
+  const size_t split = std::clamp<size_t>(std::llround((local_start + duration / 2) / SEGMENT_DURATION),
+                                           1, clip_inputs.size() - 1);
+  const double split_time = split * SEGMENT_DURATION;
+  const std::array<std::vector<std::string>, 2> shard_inputs = {
+    std::vector<std::string>(clip_inputs.begin(), clip_inputs.begin() + split),
+    std::vector<std::string>(clip_inputs.begin() + split, clip_inputs.end()),
+  };
+  const std::array<double, 2> shard_starts = {local_start, 0};
+  const std::array<double, 2> shard_durations = {
+    split_time - local_start, local_start + duration - split_time,
+  };
+  const std::string spool_path = output + ".encoderd-" + std::to_string(getpid()) + ".tmp";
+  FILE *spool = fopen(spool_path.c_str(), "w+b");
+  if (!spool) {
+    writer.reset();
+    remove_file(output);
+    return 1;
+  }
+  remove_file(spool_path);
+  bool spool_ok = true;
+  V4LEncoder::PacketCallback spool_packet = [&](uint8_t *data, size_t size, int64_t timestamp,
+                                                bool config, bool keyframe) {
+    if (config) return;
+    const SpoolPacket packet = {(uint32_t)size, timestamp, keyframe};
+    spool_ok &= fwrite(&packet, sizeof(packet), 1, spool) == 1 && fwrite(data, 1, size, spool) == size;
+  };
+  std::array<int, 2> results = {1, 1};
+  std::array<int64_t, 2> encoded_frames = {};
+  const std::array<int64_t, 2> frame_offsets = {
+    0, (int64_t)std::llround(split_time * CLIP_FPS) - (int64_t)std::floor(local_start * CLIP_FPS),
+  };
+  std::array<std::thread, 2> workers;
+
+  for (size_t i = 0; i < workers.size(); ++i) {
+    workers[i] = std::thread([&, i]() {
+      results[i] = encode_clip_worker(shard_inputs[i], width, height, shard_starts[i], shard_durations[i],
+                                      bitrate, speedup, frame_offsets[i], &encoded_frames[i],
+                                      i == 0 ? write_packet : spool_packet);
+    });
+  }
+  for (std::thread &worker : workers) worker.join();
+
+  rewind(spool);
+  SpoolPacket packet;
+  std::vector<uint8_t> data;
+  const int64_t timestamp_offset = encoded_frames[0] * 1000000 / CLIP_FPS;
+  while (spool_ok && fread(&packet, sizeof(packet), 1, spool) == 1) {
+    data.resize(packet.size);
+    spool_ok = fread(data.data(), 1, data.size(), spool) == data.size();
+    if (spool_ok) writer->write(data.data(), data.size(), packet.timestamp + timestamp_offset, false, packet.keyframe);
+  }
+  fclose(spool);
+  bool success = results[0] == 0 && results[1] == 0 && spool_ok;
+  if (!success) {
+    writer.reset();
+    remove_file(output);
+  }
+  return success ? 0 : 1;
+}
diff --git a/openpilot/system/loggerd/clip_encoder.h b/openpilot/system/loggerd/clip_encoder.h
new file mode 100644
index 0000000000..5bd01b0c6c
--- /dev/null
+++ b/openpilot/system/loggerd/clip_encoder.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+// inputs are consecutive 60-second loggerd HEVC segments; start_time is
+// relative to the beginning of the first input.
+int encode_clip(const std::vector<std::string> &inputs, const std::string &output,
+                double start_time, double duration, int bitrate = 5'000'000,
+                int speedup = 1, const std::string &metadata = {});
diff --git a/system/loggerd/config.py b/openpilot/system/loggerd/config.py
similarity index 94%
rename from system/loggerd/config.py
rename to openpilot/system/loggerd/config.py
index d9befb5613..e6bd97b99d 100644
--- a/system/loggerd/config.py
+++ b/openpilot/system/loggerd/config.py
@@ -1,5 +1,5 @@
 import os
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 CAMERA_FPS = 20
diff --git a/system/loggerd/deleter.py b/openpilot/system/loggerd/deleter.py
similarity index 81%
rename from system/loggerd/deleter.py
rename to openpilot/system/loggerd/deleter.py
index 058f5c301d..51bac4ea23 100755
--- a/system/loggerd/deleter.py
+++ b/openpilot/system/loggerd/deleter.py
@@ -4,7 +4,7 @@ import time
 import shutil
 import threading
 from pathlib import Path
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
 from openpilot.system.loggerd.uploader import listdir_by_creation
@@ -47,6 +47,32 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> set[str]:
   return preserved
 
 
+def deleter_step() -> tuple[bool, str | None]:
+  out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
+  out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
+  out_of_space = out_of_percent or out_of_bytes
+  if not out_of_space:
+    return False, None
+
+  dirs = listdir_by_creation(Paths.log_root())
+  preserved_dirs = get_preserved_segments(dirs)
+
+  # remove the earliest directory we can
+  for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)):
+    delete_path = os.path.join(Paths.log_root(), delete_dir)
+
+    if any(name.endswith(".lock") for name in os.listdir(delete_path)):
+      continue
+
+    try:
+      cloudlog.info(f"deleting {delete_path}")
+      shutil.rmtree(delete_path)
+      return True, delete_path
+    except OSError:
+      cloudlog.exception(f"issue deleting {delete_path}")
+  return True, None
+
+
 def deleter_thread(exit_event: threading.Event):
   while not exit_event.is_set():
     out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
diff --git a/system/loggerd/encoder/encoder.cc b/openpilot/system/loggerd/encoder/encoder.cc
similarity index 100%
rename from system/loggerd/encoder/encoder.cc
rename to openpilot/system/loggerd/encoder/encoder.cc
diff --git a/system/loggerd/encoder/encoder.h b/openpilot/system/loggerd/encoder/encoder.h
similarity index 85%
rename from system/loggerd/encoder/encoder.h
rename to openpilot/system/loggerd/encoder/encoder.h
index 57146fafc3..d333351cb4 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/openpilot/system/loggerd/encoder/encoder.h
@@ -2,7 +2,7 @@
 
 // has to be in this order
 #ifdef __linux__
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 #else
 #define V4L2_BUF_FLAG_KEYFRAME 8
@@ -14,7 +14,7 @@
 #include <thread>
 #include <vector>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionipc.h"
 #include "common/queue.h"
 #include "system/loggerd/loggerd.h"
@@ -26,6 +26,8 @@ public:
   virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
   virtual void encoder_open() = 0;
   virtual void encoder_close() = 0;
+  virtual void set_bitrate(int bitrate) = 0;
+  virtual void request_keyframe() = 0;
 
   void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/openpilot/system/loggerd/encoder/ffmpeg_encoder.cc
similarity index 81%
rename from system/loggerd/encoder/ffmpeg_encoder.cc
rename to openpilot/system/loggerd/encoder/ffmpeg_encoder.cc
index 4d6be47182..451445e5a0 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/openpilot/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -9,8 +9,6 @@
 
 #define __STDC_CONSTANT_MACROS
 
-#include "third_party/libyuv/include/libyuv.h"
-
 extern "C" {
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
@@ -19,6 +17,7 @@ extern "C" {
 
 #include "common/swaglog.h"
 #include "common/util.h"
+#include "common/yuv.h"
 
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 
@@ -72,6 +71,14 @@ void FfmpegEncoder::encoder_close() {
   is_open = false;
 }
 
+void FfmpegEncoder::set_bitrate(int bitrate) {
+  LOGE("adaptive bitrate is not supported for ffmpeg encoder %s", encoder_info.publish_name);
+}
+
+void FfmpegEncoder::request_keyframe() {
+  LOGE("keyframe request is not supported for ffmpeg encoder %s", encoder_info.publish_name);
+}
+
 int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
   assert(buf->width == this->in_width);
   assert(buf->height == this->in_height);
@@ -79,26 +86,25 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
   uint8_t *cy = convert_buf.data();
   uint8_t *cu = cy + in_width * in_height;
   uint8_t *cv = cu + (in_width / 2) * (in_height / 2);
-  libyuv::NV12ToI420(buf->y, buf->stride,
-                     buf->uv, buf->stride,
-                     cy, in_width,
-                     cu, in_width/2,
-                     cv, in_width/2,
-                     in_width, in_height);
+  yuv::nv12_to_i420(buf->y, buf->stride,
+                    buf->uv, buf->stride,
+                    cy, in_width,
+                    cu, in_width/2,
+                    cv, in_width/2,
+                    in_width, in_height);
 
   if (downscale_buf.size() > 0) {
     uint8_t *out_y = downscale_buf.data();
     uint8_t *out_u = out_y + frame->width * frame->height;
     uint8_t *out_v = out_u + (frame->width / 2) * (frame->height / 2);
-    libyuv::I420Scale(cy, in_width,
-                      cu, in_width/2,
-                      cv, in_width/2,
-                      in_width, in_height,
-                      out_y, frame->width,
-                      out_u, frame->width/2,
-                      out_v, frame->width/2,
-                      frame->width, frame->height,
-                      libyuv::kFilterNone);
+    yuv::i420_scale(cy, in_width,
+                    cu, in_width/2,
+                    cv, in_width/2,
+                    in_width, in_height,
+                    out_y, frame->width,
+                    out_u, frame->width/2,
+                    out_v, frame->width/2,
+                    frame->width, frame->height);
     frame->data[0] = out_y;
     frame->data[1] = out_u;
     frame->data[2] = out_v;
diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/openpilot/system/loggerd/encoder/ffmpeg_encoder.h
similarity index 92%
rename from system/loggerd/encoder/ffmpeg_encoder.h
rename to openpilot/system/loggerd/encoder/ffmpeg_encoder.h
index cd5ac1e13a..3f7c674db3 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.h
+++ b/openpilot/system/loggerd/encoder/ffmpeg_encoder.h
@@ -21,6 +21,8 @@ public:
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
   void encoder_close();
+  void set_bitrate(int bitrate);
+  void request_keyframe();
 
 private:
   int segment_num = -1;
diff --git a/openpilot/system/loggerd/encoder/jpeg_encoder.cc b/openpilot/system/loggerd/encoder/jpeg_encoder.cc
new file mode 100644
index 0000000000..6258e8144d
--- /dev/null
+++ b/openpilot/system/loggerd/encoder/jpeg_encoder.cc
@@ -0,0 +1,115 @@
+#include "system/loggerd/encoder/jpeg_encoder.h"
+
+#include <cassert>
+#include <cstring>
+
+#include "common/swaglog.h"
+
+// Lower qscale = higher quality / bigger files for MJPEG.
+constexpr int MJPEG_QSCALE = 7;
+
+JpegEncoder::JpegEncoder(const std::string &publish_name, int width, int height)
+    : publish_name(publish_name), thumbnail_width(width), thumbnail_height(height) {
+  yuv_buffer.resize((thumbnail_width * thumbnail_height * 3) / 2);
+  pm = std::make_unique<PubMaster>(std::vector{publish_name.c_str()});
+
+  const AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_MJPEG);
+  assert(codec);
+
+  codec_ctx = avcodec_alloc_context3(codec);
+  assert(codec_ctx);
+  codec_ctx->width = thumbnail_width;
+  codec_ctx->height = thumbnail_height;
+  codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
+  codec_ctx->time_base = (AVRational){1, 1};
+  codec_ctx->color_range = AVCOL_RANGE_JPEG;
+  codec_ctx->flags |= AV_CODEC_FLAG_QSCALE;
+  codec_ctx->global_quality = FF_QP2LAMBDA * MJPEG_QSCALE;
+
+  int err = avcodec_open2(codec_ctx, codec, NULL);
+  assert(err >= 0);
+
+  frame = av_frame_alloc();
+  assert(frame);
+  frame->format = codec_ctx->pix_fmt;
+  frame->width = thumbnail_width;
+  frame->height = thumbnail_height;
+  frame->linesize[0] = thumbnail_width;
+  frame->linesize[1] = thumbnail_width / 2;
+  frame->linesize[2] = thumbnail_width / 2;
+  frame->color_range = AVCOL_RANGE_JPEG;
+
+  pkt = av_packet_alloc();
+  assert(pkt);
+}
+
+JpegEncoder::~JpegEncoder() {
+  av_packet_free(&pkt);
+  av_frame_free(&frame);
+  avcodec_free_context(&codec_ctx);
+}
+
+void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra) {
+  generateThumbnail(buf->y, buf->uv, buf->width, buf->height, buf->stride);
+
+  MessageBuilder msg;
+  auto thumbnaild = msg.initEvent().initThumbnail();
+  thumbnaild.setFrameId(extra.frame_id);
+  thumbnaild.setTimestampEof(extra.timestamp_eof);
+  thumbnaild.setThumbnail({out_buffer.data(), out_buffer.size()});
+
+  pm->send(publish_name.c_str(), msg);
+}
+
+void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_addr, int width, int height, int stride) {
+  int downscale = width / thumbnail_width;
+  assert(downscale * thumbnail_height == height);
+
+  uint8_t *y_plane = yuv_buffer.data();
+  uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
+  uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
+  {
+    // subsampled conversion from nv12 to yuv420p
+    for (int hy = 0; hy < thumbnail_height / 2; hy++) {
+      for (int hx = 0; hx < thumbnail_width / 2; hx++) {
+        int ix = hx * downscale + (downscale - 1) / 2;
+        int iy = hy * downscale + (downscale - 1) / 2;
+        y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 0];
+        y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 1];
+        y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 0];
+        y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 1];
+        u_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 0];
+        v_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 1];
+      }
+    }
+  }
+
+  compressToJpeg(y_plane, u_plane, v_plane);
+}
+
+void JpegEncoder::compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane) {
+  frame->data[0] = y_plane;
+  frame->data[1] = u_plane;
+  frame->data[2] = v_plane;
+  // Required for MJPEG qscale to take effect (global_quality alone is not enough).
+  frame->quality = FF_QP2LAMBDA * MJPEG_QSCALE;
+  frame->pts = AV_NOPTS_VALUE;
+
+  int err = avcodec_send_frame(codec_ctx, frame);
+  if (err < 0) {
+    LOGE("thumbnail avcodec_send_frame error %d", err);
+    out_buffer.clear();
+    return;
+  }
+
+  av_packet_unref(pkt);
+  err = avcodec_receive_packet(codec_ctx, pkt);
+  if (err < 0) {
+    LOGE("thumbnail avcodec_receive_packet error %d", err);
+    out_buffer.clear();
+    return;
+  }
+
+  out_buffer.assign(pkt->data, pkt->data + pkt->size);
+  av_packet_unref(pkt);
+}
diff --git a/system/loggerd/encoder/jpeg_encoder.h b/openpilot/system/loggerd/encoder/jpeg_encoder.h
similarity index 63%
rename from system/loggerd/encoder/jpeg_encoder.h
rename to openpilot/system/loggerd/encoder/jpeg_encoder.h
index af1427c19a..10cec52657 100644
--- a/system/loggerd/encoder/jpeg_encoder.h
+++ b/openpilot/system/loggerd/encoder/jpeg_encoder.h
@@ -1,18 +1,20 @@
 #pragma once
 
-#include <cstdio>
-#include <cstdlib>
-#include <cstddef>
 #include <cstdint>
-#include <jpeglib.h>
-#include <vector>
 #include <memory>
-#include "cereal/messaging/messaging.h"
+#include <string>
+#include <vector>
+
+#include "openpilot/cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionbuf.h"
 
+extern "C" {
+#include <libavcodec/avcodec.h>
+}
+
 class JpegEncoder {
 public:
-  JpegEncoder(const std::string &pusblish_name, int width, int height);
+  JpegEncoder(const std::string &publish_name, int width, int height);
   ~JpegEncoder();
   void pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra);
 
@@ -24,9 +26,10 @@ private:
   int thumbnail_height;
   std::string publish_name;
   std::vector<uint8_t> yuv_buffer;
+  std::vector<uint8_t> out_buffer;
   std::unique_ptr<PubMaster> pm;
 
-  // JPEG output buffer
-  unsigned char* out_buffer = nullptr;
-  unsigned long out_size = 0;
+  AVCodecContext *codec_ctx = nullptr;
+  AVFrame *frame = nullptr;
+  AVPacket *pkt = nullptr;
 };
diff --git a/tools/replay/qcom_decoder.cc b/openpilot/system/loggerd/encoder/v4l_decoder.cc
similarity index 58%
rename from tools/replay/qcom_decoder.cc
rename to openpilot/system/loggerd/encoder/v4l_decoder.cc
index eb5409daa3..6db41adb82 100644
--- a/tools/replay/qcom_decoder.cc
+++ b/openpilot/system/loggerd/encoder/v4l_decoder.cc
@@ -1,13 +1,19 @@
-#include "qcom_decoder.h"
+#include "system/loggerd/encoder/v4l_decoder.h"
 
 #include <assert.h>
-#include "third_party/linux/include/v4l2-controls.h"
+#include <cerrno>
+#include <climits>
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
 
 
 #include "common/swaglog.h"
 #include "common/util.h"
 
+constexpr int OFFLINE_CORE_PLACEMENT_RATE = 80 << 16;
+
 // echo "0xFFFF" > /sys/kernel/debug/msm_vidc/debug_level
 
 static void copyBuffer(VisionBuf *src_buf, VisionBuf *dst_buf) {
@@ -26,108 +32,131 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
   util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
 }
 
-MsmVidc::~MsmVidc() {
+V4LDecoder::~V4LDecoder() {
   if (fd > 0) {
     close(fd);
   }
 }
 
-bool MsmVidc::init(const char* dev, size_t width, size_t height, uint64_t codec) {
+bool V4LDecoder::init(const char* dev, size_t width, size_t height, uint64_t codec,
+                   bool direct_mode, uint32_t capture_fourcc) {
   LOG("Initializing msm_vidc device %s", dev);
   this->w = width;
   this->h = height;
-  this->fd = open(dev, O_RDWR, 0);
+  this->direct = direct_mode;
+  this->capture_format = capture_fourcc;
+  this->fd = open(dev, O_RDWR | O_NONBLOCK, 0);
   if (fd < 0) {
     LOGE("failed to open video device %s", dev);
     return false;
   }
   subscribeEvents();
   v4l2_buf_type out_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
-  setPlaneFormat(out_type, V4L2_PIX_FMT_HEVC); // Also allocates the output buffer
+  setPlaneFormat(out_type, codec); // Also allocates the output buffers
   setFPS(FPS);
+  if (direct) {
+    struct v4l2_control ctrls[] = {
+      // A finite real-time load lets the driver place decode and encode on separate cores.
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE, .value = OFFLINE_CORE_PLACEMENT_RATE },
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE },
+    };
+    for (auto ctrl : ctrls) {
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL offline decode failed");
+    }
+  }
   request_buffers(fd, out_type, OUTPUT_BUFFER_COUNT);
   util::safe_ioctl(fd, VIDIOC_STREAMON, &out_type, "VIDIOC_STREAMON OUTPUT failed");
   restartCapture();
-  setupPolling();
+  pfd = {fd, POLLIN | POLLOUT | POLLWRNORM | POLLRDNORM | POLLPRI, 0};
 
   this->initialized = true;
   return true;
 }
 
-VisionBuf* MsmVidc::decodeFrame(AVPacket *pkt, VisionBuf *buf) {
-  assert(initialized && (pkt != nullptr) && (buf != nullptr));
+VisionBuf* V4LDecoder::decodeFrame(AVPacket *pkt, VisionBuf *buf) {
+  assert(initialized && !direct && pkt != nullptr && buf != nullptr);
+  bool queued = false;
+  while (true) {
+    if (!queued) queued = queuePacket(pkt, 0);
+    V4LDecodedFrame frame;
+    if (!pump(frame, -1)) return nullptr;
+    if (!frame.buf) continue;
 
-  this->frame_ready = false;
-  this->current_output_buf = buf;
-  bool sent_packet = false;
+    VisionBuf *decoded = frame.buf;
+    copyBuffer(decoded, buf);
+    releaseFrame(decoded);
+    return buf;
+  }
+}
 
-  while (!this->frame_ready) {
-    if (!sent_packet) {
-      int buf_index = getBufferUnlocked();
-      if (buf_index >= 0) {
-        assert(buf_index < out_buf_cnt);
-        sendPacket(buf_index, pkt);
-        sent_packet = true;
-      }
-    }
+void V4LDecoder::releaseFrame(VisionBuf *buf) {
+  assert(buf >= cap_bufs && buf < cap_bufs + CAPTURE_BUFFER_COUNT);
+  queueCaptureBuffer(buf - cap_bufs);
+}
 
-    if (poll(pfd, nfds, -1) < 0) {
+bool V4LDecoder::queuePacket(const AVPacket *pkt, uint64_t token) {
+  int buf_index = getBufferUnlocked();
+  return buf_index >= 0 && sendPacket(buf_index, pkt, token);
+}
+
+bool V4LDecoder::pump(V4LDecodedFrame &frame, int timeout_ms) {
+  frame = {};
+  int rc;
+  while (true) {
+    rc = poll(&pfd, 1, timeout_ms);
+    if (rc < 0) {
+      if (errno == EINTR) continue;
       LOGE("poll() error: %d", errno);
-      return nullptr;
-    }
-
-    if (VisionBuf* result = processEvents()) {
-      return result;
+      return false;
     }
+    break;
   }
 
-  return buf;
+  if (rc == 0) return true;
+
+  int result;
+
+  // Port changes must be handled before capture DQ so no old-format surface is
+  // handed to a client after the driver has requested a capture flush.
+  while ((result = handleEvent()) > 0) {}
+  if (result < 0) return false;
+
+  while ((result = handleOutput()) > 0) {}
+  if (result < 0) return false;
+
+  result = handleCapture(&frame);
+  return result >= 0;
 }
 
-VisionBuf* MsmVidc::processEvents() {
-  for (int idx = 0; idx < nfds; idx++) {
-    short revents = pfd[idx].revents;
-    if (!revents) continue;
-
-    if (idx == ev[EV_VIDEO]) {
-      if (revents & (POLLIN | POLLRDNORM)) {
-        VisionBuf *result = handleCapture();
-        if (result == this->current_output_buf) {
-          this->frame_ready = true;
-        }
-      }
-      if (revents & (POLLOUT | POLLWRNORM)) {
-        handleOutput();
-      }
-      if (revents & POLLPRI) {
-        handleEvent();
-      }
-    } else {
-      LOGE("Unexpected event on fd %d", pfd[idx].fd);
-    }
-  }
-  return nullptr;
-}
-
-VisionBuf* MsmVidc::handleCapture() {
+int V4LDecoder::handleCapture(V4LDecodedFrame *frame) {
   struct v4l2_buffer buf = {0};
   struct v4l2_plane planes[1] = {0};
   buf.type          = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
   buf.memory        = V4L2_MEMORY_USERPTR;
   buf.m.planes      = planes;
   buf.length        = 1;
-  util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF CAPTURE failed");
-
-  if (this->reconfigure_pending || buf.m.planes[0].bytesused == 0) {
-    return nullptr;
+  int err = HANDLE_EINTR(ioctl(this->fd, VIDIOC_DQBUF, &buf));
+  if (err < 0 && errno == EAGAIN) return 0;
+  if (err < 0) {
+    LOGE("VIDIOC_DQBUF CAPTURE failed: %d", errno);
+    return -1;
   }
 
-  copyBuffer(&cap_bufs[buf.index], this->current_output_buf);
-  queueCaptureBuffer(buf.index);
-  return this->current_output_buf;
+  const bool has_payload = buf.m.planes[0].bytesused != 0;
+  const bool eos = (buf.flags & V4L2_QCOM_BUF_FLAG_EOS) != 0;
+
+  frame->buf = nullptr;
+  if (!reconfigure_pending && has_payload) {
+    frame->buf = &cap_bufs[buf.index];
+    frame->token = (uint64_t)buf.timestamp.tv_sec * 1000000ULL + buf.timestamp.tv_usec;
+  } else if (!reconfigure_pending && !eos) {
+    queueCaptureBuffer(buf.index);
+  }
+
+  return 1;
 }
 
-bool MsmVidc::subscribeEvents() {
+bool V4LDecoder::subscribeEvents() {
   for (uint32_t event : subscriptions) {
     struct v4l2_event_subscription sub = { .type = event};
     util::safe_ioctl(fd, VIDIOC_SUBSCRIBE_EVENT, &sub, "VIDIOC_SUBSCRIBE_EVENT failed");
@@ -135,7 +164,7 @@ bool MsmVidc::subscribeEvents() {
   return true;
 }
 
-bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
+bool V4LDecoder::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
   struct v4l2_format fmt = {.type = type};
   struct v4l2_pix_format_mplane *pix = &fmt.fmt.pix_mp;
   *pix = {
@@ -146,20 +175,17 @@ bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
   util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt, "VIDIOC_S_FMT failed");
   if (type == V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE) {
     this->out_buf_size = pix->plane_fmt[0].sizeimage;
-    int ion_size = this->out_buf_size * OUTPUT_BUFFER_COUNT; // Output (input) buffers are ION buffer.
-    this->out_buf.allocate(ion_size); // mmap rw
     for (int i = 0; i < OUTPUT_BUFFER_COUNT; i++) {
-      this->out_buf_off[i] = i * this->out_buf_size;
-      this->out_buf_addr[i] = (char *)this->out_buf.addr + this->out_buf_off[i];
+      this->out_bufs[i].allocate(this->out_buf_size);
       this->out_buf_flag[i] = false;
     }
-    LOGD("Set output buffer size to %d, count %d, addr %p", this->out_buf_size, OUTPUT_BUFFER_COUNT, this->out_buf.addr);
+    LOGD("Set output buffer size to %d, count %d, addr %p", this->out_buf_size, OUTPUT_BUFFER_COUNT, this->out_bufs[0].addr);
   } else if (type == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE) {
     request_buffers(this->fd, type, CAPTURE_BUFFER_COUNT);
     util::safe_ioctl(fd, VIDIOC_G_FMT, &fmt, "VIDIOC_G_FMT failed");
     const __u32 y_size    = pix->plane_fmt[0].sizeimage;
     const __u32 y_stride  = pix->plane_fmt[0].bytesperline;
-    for (int i = 0; i < CAPTURE_BUFFER_COUNT; i++) {
+    for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; i++) {
       size_t uv_offset = (size_t)y_stride * pix->height;
       size_t required = uv_offset + (y_stride * pix->height / 2); // enough for Y + UV. For linear NV12, UV plane starts at y_stride * height.
       size_t alloc_size = std::max<size_t>(y_size, required);
@@ -172,16 +198,16 @@ bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
   return true;
 }
 
-bool MsmVidc::setFPS(uint32_t fps) {
+bool V4LDecoder::setFPS(uint32_t fps) {
   struct v4l2_streamparm streamparam = {
     .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
-    .parm.output.timeperframe = {1, fps}
   };
+  streamparam.parm.output.timeperframe = {1, fps};
   util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparam, "VIDIOC_S_PARM failed");
   return true;
 }
 
-bool MsmVidc::restartCapture() {
+bool V4LDecoder::restartCapture() {
   // stop if already initialized
   enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
   if (this->initialized) {
@@ -191,23 +217,36 @@ bool MsmVidc::restartCapture() {
     util::safe_ioctl(this->fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
     for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) {
       this->cap_bufs[i].free();
-      this->cap_buf_flag[i] = false; // mark as not queued
       cap_bufs[i].~VisionBuf();
       new (&cap_bufs[i]) VisionBuf();
     }
   }
   // setup, start and queue capture buffers
   setDBP();
-  setPlaneFormat(type, V4L2_PIX_FMT_NV12);
+  setPlaneFormat(type, capture_format);
+  if (direct) {
+    struct v4l2_control ctrl = {
+      .id = V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE,
+      .value = OFFLINE_CORE_PLACEMENT_RATE,
+    };
+    util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL placement decode failed");
+  }
   util::safe_ioctl(this->fd, VIDIOC_STREAMON, &type, "VIDIOC_STREAMON CAPTURE failed");
   for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) {
     queueCaptureBuffer(i);
   }
+  if (direct) {
+    struct v4l2_control ctrl = {
+      .id = V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE,
+      .value = INT_MAX,
+    };
+    util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL turbo decode failed");
+  }
 
   return true;
 }
 
-bool MsmVidc::queueCaptureBuffer(int i) {
+bool V4LDecoder::queueCaptureBuffer(int i) {
   struct v4l2_buffer buf = {0};
   struct v4l2_plane planes[1] = {0};
 
@@ -224,27 +263,28 @@ bool MsmVidc::queueCaptureBuffer(int i) {
   planes[0].bytesused     = this->cap_bufs[i].len;
   planes[0].data_offset   = 0;
   util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed");
-  this->cap_buf_flag[i] = true; // mark as queued
   return true;
 }
 
-bool MsmVidc::queueOutputBuffer(int i, size_t size) {
+bool V4LDecoder::queueOutputBuffer(int i, size_t size, uint64_t token) {
   struct v4l2_buffer buf = {0};
   struct v4l2_plane planes[1] = {0};
 
   buf.type                = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
   buf.memory              = V4L2_MEMORY_USERPTR;
   buf.index               = i;
+  buf.flags               = V4L2_BUF_FLAG_TIMESTAMP_COPY;
+  buf.timestamp.tv_sec    = token / 1000000ULL;
+  buf.timestamp.tv_usec   = token % 1000000ULL;
   buf.m.planes            = planes;
   buf.length              = 1;
   // decoded frame plane
-  planes[0].m.userptr     = (unsigned long)this->out_buf_off[i]; // check this
+  planes[0].m.userptr     = (unsigned long)this->out_bufs[i].addr;
   planes[0].length        = this->out_buf_size;
-  planes[0].reserved[0]   = this->out_buf.fd; // ION fd
+  planes[0].reserved[0]   = this->out_bufs[i].fd; // ION fd
   planes[0].reserved[1]   = 0;
   planes[0].bytesused     = size;
   planes[0].data_offset   = 0;
-  assert((this->out_buf_off[i] & 0xfff) == 0);          // must be 4 KiB aligned
   assert(this->out_buf_size % 4096 == 0);               // ditto for size
 
   util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed");
@@ -252,7 +292,7 @@ bool MsmVidc::queueOutputBuffer(int i, size_t size) {
   return true;
 }
 
-bool MsmVidc::setDBP() {
+bool V4LDecoder::setDBP() {
   struct v4l2_ext_control control[2] = {0};
   struct v4l2_ext_controls controls = {0};
   control[0].id           = V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE;
@@ -266,27 +306,19 @@ bool MsmVidc::setDBP() {
   return true;
 }
 
-bool MsmVidc::setupPolling() {
-  // Initialize poll array
-  pfd[EV_VIDEO] = {fd, POLLIN | POLLOUT | POLLWRNORM | POLLRDNORM | POLLPRI, 0};
-  ev[EV_VIDEO] = EV_VIDEO;
-  nfds = 1;
-  return true;
-}
-
-bool MsmVidc::sendPacket(int buf_index, AVPacket *pkt) {
-  assert(buf_index >= 0 && buf_index < out_buf_cnt);
+bool V4LDecoder::sendPacket(int buf_index, const AVPacket *pkt, uint64_t token) {
+  assert(buf_index >= 0 && buf_index < OUTPUT_BUFFER_COUNT);
   assert(pkt != nullptr && pkt->data != nullptr && pkt->size > 0);
+  assert((size_t)pkt->size <= (size_t)this->out_buf_size);
   // Prepare output buffer
-  memset(this->out_buf_addr[buf_index], 0, this->out_buf_size);
-  uint8_t * data = (uint8_t *)this->out_buf_addr[buf_index];
+  uint8_t * data = (uint8_t *)this->out_bufs[buf_index].addr;
   memcpy(data, pkt->data, pkt->size);
-  queueOutputBuffer(buf_index, pkt->size);
+  queueOutputBuffer(buf_index, pkt->size, token);
   return true;
 }
 
-int MsmVidc::getBufferUnlocked() {
-  for (int i = 0; i < this->out_buf_cnt; i++) {
+int V4LDecoder::getBufferUnlocked() {
+  for (int i = 0; i < OUTPUT_BUFFER_COUNT; i++) {
     if (!out_buf_flag[i]) {
       return i;
     }
@@ -295,22 +327,32 @@ int MsmVidc::getBufferUnlocked() {
 }
 
 
-bool MsmVidc::handleOutput() {
+int V4LDecoder::handleOutput() {
   struct v4l2_buffer buf = {0};
   struct v4l2_plane planes[1];
   buf.type      = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
   buf.memory    = V4L2_MEMORY_USERPTR;
   buf.m.planes  = planes;
   buf.length    = 1;
-  util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF OUTPUT failed");
+  int err = HANDLE_EINTR(ioctl(this->fd, VIDIOC_DQBUF, &buf));
+  if (err < 0 && errno == EAGAIN) return 0;
+  if (err < 0) {
+    LOGE("VIDIOC_DQBUF OUTPUT failed: %d", errno);
+    return -1;
+  }
   this->out_buf_flag[buf.index] = false; // mark as not queued
-  return true;
+  return 1;
 }
 
-bool MsmVidc::handleEvent() {
+int V4LDecoder::handleEvent() {
   // dequeue event
   struct v4l2_event event = {0};
-  util::safe_ioctl(this->fd, VIDIOC_DQEVENT, &event, "VIDIOC_DQEVENT failed");
+  int err = HANDLE_EINTR(ioctl(this->fd, VIDIOC_DQEVENT, &event));
+  if (err < 0 && (errno == EAGAIN || errno == ENOENT)) return 0;
+  if (err < 0) {
+    LOGE("VIDIOC_DQEVENT failed: %d", errno);
+    return -1;
+  }
   switch (event.type) {
     case V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT: {
       unsigned int *ptr     = (unsigned int *)event.u.data;
@@ -342,5 +384,10 @@ bool MsmVidc::handleEvent() {
     default:
       break;
   }
-  return true;
-}
\ No newline at end of file
+  return 1;
+}
+
+void V4LDecoder::sendEOS() {
+  struct v4l2_decoder_cmd command = { .cmd = V4L2_DEC_CMD_STOP };
+  util::safe_ioctl(fd, VIDIOC_DECODER_CMD, &command, "VIDIOC_DECODER_CMD STOP failed");
+}
diff --git a/openpilot/system/loggerd/encoder/v4l_decoder.h b/openpilot/system/loggerd/encoder/v4l_decoder.h
new file mode 100644
index 0000000000..c7a96803ed
--- /dev/null
+++ b/openpilot/system/loggerd/encoder/v4l_decoder.h
@@ -0,0 +1,105 @@
+#pragma once
+
+#include <linux/videodev2.h>
+#include <poll.h>
+
+#include "msgq/visionipc/visionbuf.h"
+
+extern "C" {
+  #include <libavcodec/avcodec.h>
+  #include <libavformat/avformat.h>
+}
+
+#define V4L2_EVENT_MSM_VIDC_START (V4L2_EVENT_PRIVATE_START + 0x00001000)
+#define V4L2_EVENT_MSM_VIDC_FLUSH_DONE (V4L2_EVENT_MSM_VIDC_START + 1)
+#define V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT (V4L2_EVENT_MSM_VIDC_START + 3)
+#ifndef V4L2_CID_MPEG_MSM_VIDC_BASE
+#define V4L2_CID_MPEG_MSM_VIDC_BASE 0x00992000
+#endif
+#ifndef V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT
+#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
+#endif
+#ifndef V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE
+#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE (V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
+#endif
+#ifndef V4L2_PIX_FMT_NV12_UBWC
+#define V4L2_PIX_FMT_NV12_UBWC v4l2_fourcc('Q', '1', '2', '8')
+#endif
+#ifndef V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY
+#define V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY (V4L2_CID_MPEG_MSM_VIDC_BASE + 52)
+#define V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE 0
+#define V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE 1
+#endif
+#ifndef V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE
+#define V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE (V4L2_CID_MPEG_MSM_VIDC_BASE + 53)
+#endif
+#define V4L2_QCOM_CMD_FLUSH_CAPTURE (1 << 1)
+#define V4L2_QCOM_CMD_FLUSH (4)
+#ifndef V4L2_QCOM_BUF_FLAG_EOS
+#define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
+#endif
+
+#define OUTPUT_BUFFER_COUNT 	8
+#define CAPTURE_BUFFER_COUNT 	16
+#define FPS 									20
+
+struct V4LDecodedFrame {
+  VisionBuf *buf = nullptr;
+  uint64_t token = 0;
+};
+
+class V4LDecoder {
+public:
+  static constexpr const char *DEVICE = "/dev/video32";
+
+  V4LDecoder() = default;
+  ~V4LDecoder();
+
+  bool init(const char* dev, size_t width, size_t height, uint64_t codec,
+            bool direct_mode = false, uint32_t capture_fourcc = V4L2_PIX_FMT_NV12);
+  VisionBuf* decodeFrame(AVPacket* pkt, VisionBuf* buf);
+  // queuePacket() and pump() are single-threaded. releaseFrame() may be called
+  // from a consumer thread after a direct capture surface is no longer needed.
+  bool queuePacket(const AVPacket *pkt, uint64_t token);
+  bool pump(V4LDecodedFrame &frame, int timeout_ms);
+  void releaseFrame(VisionBuf *buf);
+  void sendEOS();
+  size_t maxPacketSize() const { return out_buf_size; }
+
+  AVFormatContext* avctx = nullptr;
+  int fd = 0;
+
+private:
+  bool initialized = false;
+  bool reconfigure_pending = false;
+  bool direct = false;
+  uint32_t capture_format = V4L2_PIX_FMT_NV12;
+
+  VisionBuf out_bufs[OUTPUT_BUFFER_COUNT];    // Distinct dma-buf per in-flight packet
+  VisionBuf cap_bufs[CAPTURE_BUFFER_COUNT];   // Capture (output) buffers
+
+  size_t w = 0, h = 0;
+  int out_buf_size = 0;
+
+  bool out_buf_flag[OUTPUT_BUFFER_COUNT] = {false};
+
+  const int subscriptions[2] = {
+    V4L2_EVENT_MSM_VIDC_FLUSH_DONE,
+    V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT
+  };
+
+  struct pollfd pfd = {};
+
+  bool subscribeEvents();
+  bool setPlaneFormat(v4l2_buf_type type, uint32_t fourcc);
+  bool setFPS(uint32_t fps);
+  bool restartCapture();
+  bool queueCaptureBuffer(int i);
+  bool queueOutputBuffer(int i, size_t size, uint64_t token);
+  bool setDBP();
+  bool sendPacket(int buf_index, const AVPacket* pkt, uint64_t token);
+  int getBufferUnlocked();
+  int handleCapture(V4LDecodedFrame *frame);
+  int handleOutput();
+  int handleEvent();
+};
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/openpilot/system/loggerd/encoder/v4l_encoder.cc
similarity index 74%
rename from system/loggerd/encoder/v4l_encoder.cc
rename to openpilot/system/loggerd/encoder/v4l_encoder.cc
index 6ee3af13b0..0d7e744568 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/openpilot/system/loggerd/encoder/v4l_encoder.cc
@@ -2,16 +2,16 @@
 #include <string>
 #include <sys/ioctl.h>
 #include <poll.h>
+#include <utility>
 
 #include "system/loggerd/encoder/v4l_encoder.h"
 #include "common/util.h"
 #include "common/timing.h"
 
-#include "third_party/libyuv/include/libyuv.h"
-#include "third_party/linux/include/msm_media_info.h"
+#include <media/msm_media_info.h>
 
 // has to be in this order
-#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/v4l2-controls.h>
 #include <linux/videodev2.h>
 #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000
 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
@@ -43,29 +43,29 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N
 
 static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={}) {
   v4l2_plane plane = {
+    .bytesused = (uint32_t)buf->len,
     .length = (unsigned int)buf->len,
     .m = { .userptr = (unsigned long)buf->addr, },
-    .bytesused = (uint32_t)buf->len,
     .reserved = {(unsigned int)buf->fd}
   };
 
   v4l2_buffer v4l_buf = {
-    .type = buf_type,
     .index = index,
+    .type = buf_type,
+    .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
+    .timestamp = timestamp,
     .memory = V4L2_MEMORY_USERPTR,
     .m = { .planes = &plane, },
     .length = 1,
-    .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
-    .timestamp = timestamp
   };
   util::safe_ioctl(fd, VIDIOC_QBUF, &v4l_buf, "VIDIOC_QBUF failed");
 }
 
 static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
   struct v4l2_requestbuffers reqbuf = {
+    .count = count,
     .type = buf_type,
     .memory = V4L2_MEMORY_USERPTR,
-    .count = count
   };
   util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
 }
@@ -78,9 +78,10 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
   uint32_t idx = -1;
   bool exit = false;
 
-  // POLLIN is capture, POLLOUT is frame
+  // POLLIN is capture, POLLOUT is frame. Qualcomm's reference client also
+  // requests the corresponding normal-data bits.
   struct pollfd pfd;
-  pfd.events = POLLIN | POLLOUT;
+  pfd.events = POLLIN | POLLRDNORM | POLLOUT | POLLWRNORM;
   pfd.fd = e->fd;
 
   // save the header
@@ -105,7 +106,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
     }
 
     int frame_id = -1;
-    if (pfd.revents & POLLIN) {
+    if (pfd.revents & (POLLIN | POLLRDNORM)) {
       unsigned int bytesused, flags, index;
       struct timeval timestamp;
       dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, &index, &bytesused, &flags, &timestamp);
@@ -119,12 +120,17 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
       } else if (flags & V4L2_QCOM_BUF_FLAG_CODECCONFIG) {
         // save header
         header = kj::heapArray<capnp::byte>(buf, bytesused);
+        if (e->packet_callback) e->packet_callback(header.begin(), header.size(), ts, true, false);
       } else {
         VisionIpcBufExtra extra = e->extras.pop();
         assert(extra.timestamp_eof/1000 == ts); // stay in sync
         frame_id = extra.frame_id;
         ++idx;
-        e->publisher_publish(e->segment_num, idx, extra, flags, header, kj::arrayPtr<capnp::byte>(buf, bytesused));
+        if (e->packet_callback) {
+          e->packet_callback(buf, bytesused, ts, false, flags & V4L2_BUF_FLAG_KEYFRAME);
+        } else {
+          e->publisher_publish(e->segment_num, idx, extra, flags, header, kj::arrayPtr<capnp::byte>(buf, bytesused));
+        }
       }
 
       if (env_debug_encoder) {
@@ -136,16 +142,22 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
       queue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, index, &e->buf_out[index]);
     }
 
-    if (pfd.revents & POLLOUT) {
+    if (pfd.revents & (POLLOUT | POLLWRNORM)) {
       unsigned int index;
       dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, &index);
+      VisionBuf *input_buf = e->input_bufs[index].exchange(nullptr);
+      if (input_buf && e->input_done_callback) e->input_done_callback(input_buf);
       e->free_buf_in.push(index);
     }
   }
 }
 
 V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
-    : VideoEncoder(encoder_info, in_width, in_height) {
+    : V4LEncoder(encoder_info, in_width, in_height, Options{}) {}
+
+V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height, Options options)
+    : VideoEncoder(encoder_info, in_width, in_height), packet_callback(std::move(options.packet_callback)),
+      input_done_callback(std::move(options.input_done_callback)) {
   fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK));
   assert(fd >= 0);
 
@@ -156,6 +168,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
 
   EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
+  current_bitrate = encoder_settings.bitrate;
   bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
 
   struct v4l2_format fmt_out = {
@@ -193,7 +206,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       .pix_mp = {
         .width = (unsigned int)in_width,
         .height = (unsigned int)in_height,
-        .pixelformat = V4L2_PIX_FMT_NV12,
+        .pixelformat = options.input_format,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_470_SYSTEM_BG,
       }
@@ -220,6 +233,13 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   }
+  if (options.max_performance) {
+    struct v4l2_control ctrl = {
+      .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY,
+      .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE,
+    };
+    util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL offline encode failed");
+  }
 
   if (is_h265) {
     struct v4l2_control ctrls[] = {
@@ -231,12 +251,30 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   } else {
+    if (encoder_info.is_live) {
+      struct v4l2_control ctrls[] = {
+        { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
+        { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_3_1},
+        { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
+        { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
+      };
+      for (auto ctrl : ctrls) {
+        util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
+      }
+    } else {
+      struct v4l2_control ctrls[] = {
+        { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
+        { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
+        { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
+        { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
+      };
+      for (auto ctrl : ctrls) {
+        util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
+      }
+    }
+
     struct v4l2_control ctrls[] = {
-      { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
-      { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
-      { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
-      { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0},
+      { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_ENABLED},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA, .value = 0},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA, .value = 0},
       { .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0},
@@ -281,6 +319,7 @@ int V4LEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
 
   // reserve buffer
   int buffer_in = free_buf_in.pop();
+  input_bufs[buffer_in].store(buf);
 
   // push buffer
   extras.push(*extra);
@@ -305,6 +344,36 @@ void V4LEncoder::encoder_close() {
   this->is_open = false;
 }
 
+void V4LEncoder::set_bitrate(int bitrate) {
+  if (bitrate == current_bitrate) return;
+  if (bitrate <= 0) {
+    LOGE("invalid livestream encoder bitrate %d", bitrate);
+    return;
+  }
+
+  struct v4l2_control ctrl = {
+    .id = V4L2_CID_MPEG_VIDEO_BITRATE,
+    .value = bitrate,
+  };
+
+  if (util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl) == -1) {
+    LOGE("failed to update %s bitrate to %d", encoder_info.publish_name, bitrate);
+    return;
+  }
+  current_bitrate = bitrate;
+}
+
+void V4LEncoder::request_keyframe() {
+  struct v4l2_control ctrl = {
+    .id = V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_IFRAME,
+    .value = 1,
+  };
+
+  if (util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl) == -1) {
+    LOGE("failed to request keyframe for %s", encoder_info.publish_name);
+  }
+}
+
 V4LEncoder::~V4LEncoder() {
   encoder_close();
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
diff --git a/openpilot/system/loggerd/encoder/v4l_encoder.h b/openpilot/system/loggerd/encoder/v4l_encoder.h
new file mode 100644
index 0000000000..c8399e1225
--- /dev/null
+++ b/openpilot/system/loggerd/encoder/v4l_encoder.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <atomic>
+#include <functional>
+
+#include "common/queue.h"
+#include "system/loggerd/encoder/encoder.h"
+
+#define BUF_IN_COUNT 9
+#define BUF_OUT_COUNT 6
+
+class V4LEncoder : public VideoEncoder {
+public:
+  using PacketCallback = std::function<void(uint8_t *, size_t, int64_t, bool, bool)>;
+  using InputDoneCallback = std::function<void(VisionBuf *)>;
+  struct Options {
+    PacketCallback packet_callback;
+    uint32_t input_format = V4L2_PIX_FMT_NV12;
+    InputDoneCallback input_done_callback;
+    bool max_performance = false;
+  };
+
+  V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
+  V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height, Options options);
+  ~V4LEncoder();
+  int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
+  void encoder_open();
+  void encoder_close();
+  void set_bitrate(int bitrate);
+  void request_keyframe();
+
+private:
+  int fd;
+
+  bool is_open = false;
+  int segment_num = -1;
+  int counter = 0;
+  int current_bitrate = -1;
+  SafeQueue<VisionIpcBufExtra> extras;
+  PacketCallback packet_callback;
+  InputDoneCallback input_done_callback;
+
+  static void dequeue_handler(V4LEncoder *e);
+  std::thread dequeue_handler_thread;
+
+  VisionBuf buf_out[BUF_OUT_COUNT];
+  std::atomic<VisionBuf *> input_bufs[BUF_IN_COUNT] = {};
+  SafeQueue<unsigned int> free_buf_in;
+};
diff --git a/system/loggerd/encoderd.cc b/openpilot/system/loggerd/encoderd.cc
similarity index 71%
rename from system/loggerd/encoderd.cc
rename to openpilot/system/loggerd/encoderd.cc
index 9d4b81a3f9..55f0777fbb 100644
--- a/system/loggerd/encoderd.cc
+++ b/openpilot/system/loggerd/encoderd.cc
@@ -1,9 +1,16 @@
 #include <cassert>
+#ifdef __COMMA_HARDWARE__
+#include <exception>
+#include <stdexcept>
+#endif
 
+#ifdef __COMMA_HARDWARE__
+#include "system/loggerd/clip_encoder.h"
+#endif
 #include "system/loggerd/loggerd.h"
 #include "system/loggerd/encoder/jpeg_encoder.h"
 
-#ifdef __TICI__
+#ifdef __COMMA_HARDWARE__
 #include "system/loggerd/encoder/v4l_encoder.h"
 #define Encoder V4LEncoder
 #else
@@ -44,11 +51,25 @@ bool sync_encoders(EncoderdState *s, VisionStreamType cam_type, uint32_t frame_i
   }
 }
 
+void encoder_set_bitrate(std::unique_ptr<Encoder> &e) {
+  static Params params;
+  std::string val = params.get("LivestreamEncoderBitrate");
+  if (val.empty()) return;
+  int bitrate = std::stoi(val);
+  e->set_bitrate(bitrate);
+}
+
+void encoder_request_keyframe(std::unique_ptr<Encoder> &e) {
+  static Params params;
+  if (!params.getBool("LivestreamRequestKeyframe")) return;
+  e->request_keyframe();
+}
 
 void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
   util::set_thread_name(cam_info.thread_name);
 
   std::vector<std::unique_ptr<Encoder>> encoders;
+
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
   std::unique_ptr<JpegEncoder> jpeg_encoder;
@@ -110,6 +131,11 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
 
       // encode a frame
       for (int i = 0; i < encoders.size(); ++i) {
+        if (cam_info.encoder_infos[i].is_live) {
+          encoder_set_bitrate(encoders[i]);
+          encoder_request_keyframe(encoders[i]);
+        }
+
         int out_id = encoders[i]->encode_frame(buf, &extra);
 
         if (out_id == -1) {
@@ -152,6 +178,37 @@ void encoderd_thread(const LogCameraInfo (&cameras)[N]) {
 }
 
 int main(int argc, char* argv[]) {
+#ifdef __COMMA_HARDWARE__
+  if (argc > 1 && std::string(argv[1]) == "--clip") {
+    if (argc < 6) {
+      fprintf(stderr, "usage: encoderd --clip OUTPUT START DURATION [--bitrate BPS] [--speedup N] "
+                      "[--metadata JSON] SEGMENT [SEGMENT ...]\n");
+      return 2;
+    }
+    try {
+      int bitrate = 5'000'000;
+      int speedup = 1;
+      std::string metadata;
+      int input_arg = 5;
+      while (input_arg < argc && std::string(argv[input_arg]).rfind("--", 0) == 0) {
+        const std::string option = argv[input_arg++];
+        if (option == "--") break;
+        if (input_arg == argc) throw std::invalid_argument("missing clip option value");
+        if (option == "--bitrate") bitrate = std::stoi(argv[input_arg++]);
+        else if (option == "--speedup") speedup = std::stoi(argv[input_arg++]);
+        else if (option == "--metadata") metadata = argv[input_arg++];
+        else throw std::invalid_argument("unknown clip option: " + option);
+      }
+      if (input_arg == argc) throw std::invalid_argument("missing clip input");
+      std::vector<std::string> inputs(argv + input_arg, argv + argc);
+      return encode_clip(inputs, argv[2], std::stod(argv[3]), std::stod(argv[4]),
+                         bitrate, speedup, metadata);
+    } catch (const std::exception &e) {
+      fprintf(stderr, "clip encoding failed: %s\n", e.what());
+      return 1;
+    }
+  }
+#endif
   if (!Hardware::PC()) {
     int ret;
     ret = util::set_realtime_priority(52);
diff --git a/system/loggerd/logger.cc b/openpilot/system/loggerd/logger.cc
similarity index 100%
rename from system/loggerd/logger.cc
rename to openpilot/system/loggerd/logger.cc
diff --git a/system/loggerd/logger.h b/openpilot/system/loggerd/logger.h
similarity index 93%
rename from system/loggerd/logger.h
rename to openpilot/system/loggerd/logger.h
index 18d07b5f38..419becfe5d 100644
--- a/system/loggerd/logger.h
+++ b/openpilot/system/loggerd/logger.h
@@ -4,9 +4,9 @@
 #include <memory>
 #include <string>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "system/loggerd/zstd_writer.h"
 
 constexpr int LOG_COMPRESSION_LEVEL = 10;
diff --git a/system/loggerd/loggerd.cc b/openpilot/system/loggerd/loggerd.cc
similarity index 97%
rename from system/loggerd/loggerd.cc
rename to openpilot/system/loggerd/loggerd.cc
index 47da321024..af4a5c0cde 100644
--- a/system/loggerd/loggerd.cc
+++ b/openpilot/system/loggerd/loggerd.cc
@@ -31,7 +31,7 @@ void logger_rotate(LoggerdState *s) {
 
 void rotate_if_needed(LoggerdState *s) {
   // all encoders ready, trigger rotation
-  bool all_ready = s->ready_to_rotate == s->max_waiting;
+  bool all_ready = s->max_waiting > 0 && s->ready_to_rotate == s->max_waiting;
 
   // fallback logic to prevent extremely long segments in the case of camera, encoder, etc. malfunctions
   bool timed_out = false;
@@ -125,6 +125,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
   if (!re.seen_first_packet) {
     re.seen_first_packet = true;
     re.encoderd_segment_offset = idx.getSegmentNum();
+    ++s->max_waiting;  // only count encoders that publish so a disabled/missing camera doesn't stall rotation
     LOGD("%s: has encoderd offset %d", name.c_str(), re.encoderd_segment_offset);
   }
   int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset;
@@ -219,11 +220,11 @@ void handle_preserve_segment(LoggerdState *s) {
 
 void loggerd_thread() {
   // setup messaging
-  typedef struct ServiceState {
+  struct ServiceState {
     std::string name;
     int counter, freq;
     bool encoder, preserve_segment, record_audio;
-  } ServiceState;
+  };
   std::unordered_map<SubSocket*, ServiceState> service_state;
   std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;
 
@@ -246,7 +247,7 @@ void loggerd_thread() {
         .counter = 0,
         .freq = it.decimation,
         .encoder = encoder,
-        .preserve_segment = (it.name == "userBookmark") || (it.name == "audioFeedback"),
+        .preserve_segment = it.name == "userBookmark",
         .record_audio = record_audio,
       };
     }
@@ -262,7 +263,6 @@ void loggerd_thread() {
   for (const auto &cam : cameras_logged) {
     for (const auto &encoder_info : cam.encoder_infos) {
       encoder_infos_dict[encoder_info.publish_name] = encoder_info;
-      s.max_waiting++;
     }
   }
 
diff --git a/system/loggerd/loggerd.h b/openpilot/system/loggerd/loggerd.h
similarity index 65%
rename from system/loggerd/loggerd.h
rename to openpilot/system/loggerd/loggerd.h
index 8e3a74d2d9..beabd7d791 100644
--- a/system/loggerd/loggerd.h
+++ b/openpilot/system/loggerd/loggerd.h
@@ -3,10 +3,11 @@
 #include <cstdlib>
 #include <vector>
 
-#include "cereal/messaging/messaging.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_client.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
@@ -25,6 +26,22 @@ const auto MAIN_ENCODE_TYPE = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BO
 const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
 const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
 
+inline int livestream_width() {
+  switch (Hardware::get_device_type()) {
+    case cereal::InitData::DeviceType::TIZI: return 1152;
+    case cereal::InitData::DeviceType::MICI: return 1280;
+    default: return -1;
+  }
+}
+
+inline int livestream_height() {
+  switch (Hardware::get_device_type()) {
+    case cereal::InitData::DeviceType::TIZI:
+    case cereal::InitData::DeviceType::MICI: return 720;
+    default: return -1;
+  }
+}
+
 constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
 constexpr char PRESERVE_ATTR_VALUE = '1';
 
@@ -47,8 +64,8 @@ struct EncoderSettings {
   }
 
   static EncoderSettings StreamEncoderSettings() {
-    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'000'000;
-    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 15};
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 5'000'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 5};
   }
 };
 
@@ -59,6 +76,7 @@ public:
   const char *filename = NULL;
   bool record = true;
   bool include_audio = false;
+  bool is_live = false;
   int frame_width = -1;
   int frame_height = -1;
   int fps = MAIN_FPS;
@@ -78,11 +96,11 @@ public:
 };
 
 const EncoderInfo main_road_encoder_info = {
-  .publish_name = "roadEncodeData",
+  .publish_name = "narrowRoadEncodeData",
   .thumbnail_name = "thumbnail",
   .filename = "fcamera.hevc",
   .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
-  INIT_ENCODE_FUNCTIONS(RoadEncode),
+  INIT_ENCODE_FUNCTIONS(NarrowRoadEncode),
 };
 
 const EncoderInfo main_wide_road_encoder_info = {
@@ -92,49 +110,58 @@ const EncoderInfo main_wide_road_encoder_info = {
   INIT_ENCODE_FUNCTIONS(WideRoadEncode),
 };
 
-const EncoderInfo main_driver_encoder_info = {
-  .publish_name = "driverEncodeData",
+const EncoderInfo main_cabin_encoder_info = {
+  .publish_name = "cabinEncodeData",
   .filename = "dcamera.hevc",
   .record = Params().getBool("RecordFront"),
   .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
-  INIT_ENCODE_FUNCTIONS(DriverEncode),
+  INIT_ENCODE_FUNCTIONS(CabinEncode),
 };
 
 const EncoderInfo stream_road_encoder_info = {
-  .publish_name = "livestreamRoadEncodeData",
+  .publish_name = "livestreamNarrowRoadEncodeData",
   //.thumbnail_name = "thumbnail",
   .record = false,
+  .is_live = true,
+  .frame_width = livestream_width(),
+  .frame_height = livestream_height(),
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
-  INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
+  INIT_ENCODE_FUNCTIONS(LivestreamNarrowRoadEncode),
 };
 
 const EncoderInfo stream_wide_road_encoder_info = {
   .publish_name = "livestreamWideRoadEncodeData",
   .record = false,
+  .is_live = true,
+  .frame_width = livestream_width(),
+  .frame_height = livestream_height(),
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
 
-const EncoderInfo stream_driver_encoder_info = {
-  .publish_name = "livestreamDriverEncodeData",
+const EncoderInfo stream_cabin_encoder_info = {
+  .publish_name = "livestreamCabinEncodeData",
   .record = false,
+  .is_live = true,
+  .frame_width = livestream_width(),
+  .frame_height = livestream_height(),
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
-  INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
+  INIT_ENCODE_FUNCTIONS(LivestreamCabinEncode),
 };
 
 const EncoderInfo qcam_encoder_info = {
-  .publish_name = "qRoadEncodeData",
+  .publish_name = "qNarrowRoadEncodeData",
   .filename = "qcamera.ts",
-  .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
+  .include_audio = Params().getBool("RecordAudio"),
   .frame_width = 526,
   .frame_height = 330,
-  .include_audio = Params().getBool("RecordAudio"),
-  INIT_ENCODE_FUNCTIONS(QRoadEncode),
+  .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
+  INIT_ENCODE_FUNCTIONS(QNarrowRoadEncode),
 };
 
-const LogCameraInfo road_camera_info{
-  .thread_name = "road_cam_encoder",
-  .stream_type = VISION_STREAM_ROAD,
+const LogCameraInfo narrow_road_camera_info{
+  .thread_name = "narrow_road_cam_encoder",
+  .stream_type = VISION_STREAM_NARROW_ROAD,
   .encoder_infos = {main_road_encoder_info, qcam_encoder_info}
 };
 
@@ -144,29 +171,29 @@ const LogCameraInfo wide_road_camera_info{
   .encoder_infos = {main_wide_road_encoder_info}
 };
 
-const LogCameraInfo driver_camera_info{
-  .thread_name = "driver_cam_encoder",
-  .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {main_driver_encoder_info}
+const LogCameraInfo cabin_camera_info{
+  .thread_name = "cabin_cam_encoder",
+  .stream_type = VISION_STREAM_CABIN,
+  .encoder_infos = {main_cabin_encoder_info}
 };
 
 const LogCameraInfo stream_road_camera_info{
-  .thread_name = "road_cam_encoder",
-  .stream_type = VISION_STREAM_ROAD,
-  .encoder_infos = {stream_road_encoder_info}
+  .thread_name = "narrow_road_cam_encoder",
+  .stream_type = VISION_STREAM_NARROW_ROAD,
+  .encoder_infos = {stream_road_encoder_info},
 };
 
 const LogCameraInfo stream_wide_road_camera_info{
   .thread_name = "wide_road_cam_encoder",
   .stream_type = VISION_STREAM_WIDE_ROAD,
-  .encoder_infos = {stream_wide_road_encoder_info}
+  .encoder_infos = {stream_wide_road_encoder_info},
 };
 
-const LogCameraInfo stream_driver_camera_info{
-  .thread_name = "driver_cam_encoder",
-  .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {stream_driver_encoder_info}
+const LogCameraInfo stream_cabin_camera_info{
+  .thread_name = "cabin_cam_encoder",
+  .stream_type = VISION_STREAM_CABIN,
+  .encoder_infos = {stream_cabin_encoder_info},
 };
 
-const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
-const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};
+const LogCameraInfo cameras_logged[] = {narrow_road_camera_info, wide_road_camera_info, cabin_camera_info};
+const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_cabin_camera_info};
diff --git a/system/loggerd/tests/__init__.py b/openpilot/system/loggerd/tests/__init__.py
similarity index 100%
rename from system/loggerd/tests/__init__.py
rename to openpilot/system/loggerd/tests/__init__.py
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/openpilot/system/loggerd/tests/loggerd_tests_common.py
similarity index 84%
rename from system/loggerd/tests/loggerd_tests_common.py
rename to openpilot/system/loggerd/tests/loggerd_tests_common.py
index 8bf609ae8d..689d2c27c0 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/openpilot/system/loggerd/tests/loggerd_tests_common.py
@@ -3,10 +3,11 @@ import random
 from pathlib import Path
 
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.system.loggerd.deleter as deleter
 import openpilot.system.loggerd.uploader as uploader
 from openpilot.common.params import Params
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import setxattr
 
 
@@ -53,7 +54,7 @@ class MockApiIgnore:
   def get_token(self):
     return "fake-token"
 
-class UploaderTestCase:
+class UploaderTestCase(OpenpilotTestCase):
   f_type = "UNKNOWN"
 
   root: Path
@@ -63,10 +64,10 @@ class UploaderTestCase:
   seg_dir: str
 
   def set_ignore(self):
-    uploader.Api = MockApiIgnore
+    uploader.Api = MockApiIgnore  # ty: ignore[invalid-assignment]  # test double
 
   def setup_method(self):
-    uploader.Api = MockApi
+    uploader.Api = MockApi  # ty: ignore[invalid-assignment]  # test double
     uploader.fake_upload = True
     uploader.force_wifi = True
     uploader.allow_sleep = False
@@ -76,8 +77,8 @@ class UploaderTestCase:
     self.seg_dir = self.seg_format.format(self.seg_num)
 
     self.params = Params()
-    self.params.put("IsOffroad", True)
-    self.params.put("DongleId", "0000000000000000")
+    self.params.put("IsOffroad", True, block=True)
+    self.params.put("DongleId", "0000000000000000", block=True)
 
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
                           upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
diff --git a/system/loggerd/tests/test_deleter.py b/openpilot/system/loggerd/tests/test_deleter.py
similarity index 59%
rename from system/loggerd/tests/test_deleter.py
rename to openpilot/system/loggerd/tests/test_deleter.py
index 6222ea253b..6fe1b22579 100644
--- a/system/loggerd/tests/test_deleter.py
+++ b/openpilot/system/loggerd/tests/test_deleter.py
@@ -1,66 +1,39 @@
-import time
-import threading
 from collections import namedtuple
 from pathlib import Path
 from collections.abc import Sequence
 
 import openpilot.system.loggerd.deleter as deleter
-from openpilot.common.timeout import Timeout, TimeoutException
 from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
 Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])
 
 
 class TestDeleter(UploaderTestCase):
+  # Deletion behavior is independent of file size; use smaller files to keep these tests fast.
+  def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .001, lock: bool = False,
+                          upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
+    return super().make_file_with_data(f_dir, fn, size_mb, lock, upload_xattr, preserve_xattr)
+
   def fake_statvfs(self, d):
     return self.fake_stats
 
   def setup_method(self):
     self.f_type = "fcamera.hevc"
-    super().setup_method()
+    super().openpilot_setup_method()
     self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
-    deleter.os.statvfs = self.fake_statvfs
-
-  def start_thread(self):
-    self.end_event = threading.Event()
-    self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event])
-    self.del_thread.daemon = True
-    self.del_thread.start()
-
-  def join_thread(self):
-    self.end_event.set()
-    self.del_thread.join()
+    deleter.os.statvfs = self.fake_statvfs  # ty: ignore[invalid-assignment]  # test double
 
   def test_delete(self):
-    f_path = self.make_file_with_data(self.seg_dir, self.f_type, 1)
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type)
+    assert deleter.deleter_step() == (True, str(f_path.parent))
+    assert not f_path.exists()
 
-    self.start_thread()
-
-    try:
-      with Timeout(2, "Timeout waiting for file to be deleted"):
-        while f_path.exists():
-          time.sleep(0.01)
-    finally:
-      self.join_thread()
-
-  def assertDeleteOrder(self, f_paths: Sequence[Path], timeout: int = 5) -> None:
+  def assertDeleteOrder(self, f_paths: Sequence[Path]) -> None:
     deleted_order = []
-
-    self.start_thread()
-    try:
-      with Timeout(timeout, "Timeout waiting for files to be deleted"):
-        while True:
-          for f in f_paths:
-            if not f.exists() and f not in deleted_order:
-              deleted_order.append(f)
-          if len(deleted_order) == len(f_paths):
-            break
-          time.sleep(0.01)
-    except TimeoutException:
-      print("Not deleted:", [f for f in f_paths if f not in deleted_order])
-      raise
-    finally:
-      self.join_thread()
+    for _ in f_paths:
+      out_of_space, deleted_path = deleter.deleter_step()
+      assert out_of_space and deleted_path is not None
+      deleted_order.append(next(f for f in f_paths if f.parent == Path(deleted_path)))
 
     assert deleted_order == f_paths, "Files not deleted in expected order"
 
@@ -97,21 +70,11 @@ class TestDeleter(UploaderTestCase):
     available = (10 * 1024 * 1024 * 1024) / block_size  # 10GB free
     self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size)
 
-    self.start_thread()
-    start_time = time.monotonic()
-    while f_path.exists() and time.monotonic() - start_time < 2:
-      time.sleep(0.01)
-    self.join_thread()
-
+    assert deleter.deleter_step() == (False, None)
     assert f_path.exists(), "File deleted with available space"
 
   def test_no_delete_with_lock_file(self):
     f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True)
 
-    self.start_thread()
-    start_time = time.monotonic()
-    while f_path.exists() and time.monotonic() - start_time < 2:
-      time.sleep(0.01)
-    self.join_thread()
-
+    assert deleter.deleter_step() == (True, None)
     assert f_path.exists(), "File deleted when locked"
diff --git a/system/loggerd/tests/test_encoder.py b/openpilot/system/loggerd/tests/test_encoder.py
old mode 100644
new mode 100755
similarity index 87%
rename from system/loggerd/tests/test_encoder.py
rename to openpilot/system/loggerd/tests/test_encoder.py
index e4dabd3df9..10cd586f35
--- a/system/loggerd/tests/test_encoder.py
+++ b/openpilot/system/loggerd/tests/test_encoder.py
@@ -1,28 +1,29 @@
+#!/usr/bin/env python3
+
 import math
 import os
-import pytest
-import random
 import shutil
 import subprocess
 import time
+import unittest
 from pathlib import Path
 
-from parameterized import parameterized
 from tqdm import trange
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
 def hevc_size(w): return FULL_SIZE // 2 if w <= 1344 else FULL_SIZE
 CAMERAS = [
-  ("fcamera.hevc", 20, hevc_size, "roadEncodeIdx"),
-  ("dcamera.hevc", 20, hevc_size, "driverEncodeIdx"),
+  ("fcamera.hevc", 20, hevc_size, "narrowRoadEncodeIdx"),
+  ("dcamera.hevc", 20, hevc_size, "cabinEncodeIdx"),
   ("ecamera.hevc", 20, hevc_size, "wideRoadEncodeIdx"),
   ("qcamera.ts", 20, lambda x: 130000, None),
 ]
@@ -31,8 +32,8 @@ CAMERAS = [
 FILE_SIZE_TOLERANCE = 0.7
 
 
-@pytest.mark.tici # TODO: all of loggerd should work on PC
-class TestEncoder:
+class TestEncoder(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   def setup_method(self):
     self._clear_logs()
@@ -51,9 +52,8 @@ class TestEncoder:
     return os.path.join(Paths.log_root(), last_route)
 
   # TODO: this should run faster than real time
-  @parameterized.expand([(True, ), (False, )])
-  def test_log_rotation(self, record_front):
-    Params().put_bool("RecordFront", record_front)
+  def test_log_rotation(self):
+    Params().put_bool("RecordFront", True, block=True)
 
     managed_processes['sensord'].start()
     managed_processes['loggerd'].start()
@@ -62,7 +62,7 @@ class TestEncoder:
     time.sleep(1.0)
     managed_processes['camerad'].start()
 
-    num_segments = int(os.getenv("SEGMENTS", random.randint(2, 8)))
+    num_segments = 3
 
     # wait for loggerd to make the dir for first segment
     route_prefix_path = None
@@ -78,9 +78,6 @@ class TestEncoder:
       counts = []
       first_frames = []
       for camera, fps, size_lambda, encode_idx_name in CAMERAS:
-        if not record_front and "dcamera" in camera:
-          continue
-
         file_path = f"{route_prefix_path}--{i}/{camera}"
 
         # check file exists
@@ -89,7 +86,7 @@ class TestEncoder:
         # TODO: this ffprobe call is really slow
         # get width and check frame count
         cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}"
-        if TICI:
+        if COMMA_HARDWARE:
           cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
 
         expected_frames = fps * SEGMENT_LENGTH
@@ -133,7 +130,7 @@ class TestEncoder:
 
       assert 1 == len(set(first_frames))
 
-      if TICI:
+      if COMMA_HARDWARE:
         expected_frames = fps * SEGMENT_LENGTH
         assert min(counts) == expected_frames
       shutil.rmtree(f"{route_prefix_path}--{i}")
@@ -150,3 +147,7 @@ class TestEncoder:
       managed_processes['encoderd'].stop()
       managed_processes['camerad'].stop()
       managed_processes['sensord'].stop()
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/loggerd/tests/test_loggerd.py b/openpilot/system/loggerd/tests/test_loggerd.py
similarity index 84%
rename from system/loggerd/tests/test_loggerd.py
rename to openpilot/system/loggerd/tests/test_loggerd.py
index 9703ac2f5f..de91cae1db 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/openpilot/system/loggerd/tests/test_loggerd.py
@@ -5,25 +5,28 @@ import random
 import string
 import subprocess
 import time
+from collections.abc import Collection
 from collections import defaultdict
 from pathlib import Path
-import pytest
 
-import cereal.messaging as messaging
-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.version import get_version
+from openpilot.common.version import get_version
 from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 
 SentinelType = log.Sentinel.SentinelType
 
@@ -31,7 +34,7 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
                    and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
 
 
-class TestLoggerd:
+class TestLoggerd(OpenpilotTestCase):
   def _get_latest_log_dir(self):
     log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime)
     return log_dirs[-1]
@@ -54,7 +57,7 @@ class TestLoggerd:
 
   def _gen_bootlog(self):
     with Timeout(5):
-      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8')
+      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "openpilot/system/loggerd"), encoding='utf-8')
 
     log_fn = self._get_log_fn(out)
 
@@ -74,15 +77,15 @@ class TestLoggerd:
     end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment
     assert msgs[-1].sentinel.type == end_type
 
-  def _publish_random_messages(self, services: list[str]) -> dict[str, list]:
-    pm = messaging.PubMaster(services)
+  def _publish_random_messages(self, services: Collection[str]) -> dict[str, list]:
+    pm = messaging.PubMaster(list(services))
 
     managed_processes["loggerd"].start()
     for s in services:
       assert pm.wait_for_readers_to_update(s, timeout=5)
 
     sent_msgs = defaultdict(list)
-    for _ in range(random.randint(2, 10) * 100):
+    for i in range(random.randint(2, 10) * 100):
       for s in services:
         try:
           m = messaging.new_message(s)
@@ -91,6 +94,12 @@ class TestLoggerd:
         pm.send(s, m)
         sent_msgs[s].append(m)
 
+      # Keep msgq's finite per-service queues from wrapping; this test asserts
+      # that loggerd logged every message we sent.
+      if (i + 1) % 100 == 0:
+        for s in services:
+          assert pm.wait_for_readers_to_update(s, timeout=5)
+
     for s in services:
       assert pm.wait_for_readers_to_update(s, timeout=5)
     managed_processes["loggerd"].stop()
@@ -103,12 +112,12 @@ class TestLoggerd:
     w, h = 320, 240
     frame_spec = (w, h, w * h * 3 // 2, w, w * h)
     streams = [
-      (VisionStreamType.VISION_STREAM_ROAD, frame_spec, "roadCameraState"),
-      (VisionStreamType.VISION_STREAM_DRIVER, frame_spec, "driverCameraState"),
+      (VisionStreamType.VISION_STREAM_NARROW_ROAD, frame_spec, "narrowRoadCameraState"),
+      (VisionStreamType.VISION_STREAM_CABIN, frame_spec, "cabinCameraState"),
       (VisionStreamType.VISION_STREAM_WIDE_ROAD, frame_spec, "wideRoadCameraState"),
     ]
 
-    sm = messaging.SubMaster(["roadEncodeData"])
+    sm = messaging.SubMaster(["narrowRoadEncodeData"])
     pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
     vipc_server = VisionIpcServer("camerad")
     for stream_type, frame_spec, _ in streams:
@@ -119,7 +128,7 @@ class TestLoggerd:
     os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length)
     managed_processes["loggerd"].start()
     managed_processes["encoderd"].start()
-    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
+    assert pm.wait_for_readers_to_update("narrowRoadCameraState", timeout=5)
 
     fps = 20
     for n in range(1, int(num_segs * segment_length * fps) + 1):
@@ -161,8 +170,8 @@ class TestLoggerd:
     ]
     params = Params()
     for k, _, v in fake_params:
-      params.put(k, v)
-    params.put("AccessToken", "abc")
+      params.put(k, v, block=True)
+    params.put("AccessToken", "abc", block=True)
 
     lr = list(LogReader(str(self._gen_bootlog())))
     initData = lr[0].initData
@@ -186,9 +195,8 @@ class TestLoggerd:
       assert getattr(initData, initData_key) == v
       assert logged_params[param_key].decode() == v
 
-  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
   def test_rotation(self):
-    Params().put("RecordFront", True)
+    Params().put("RecordFront", True, block=True)
 
     expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
 
@@ -227,7 +235,7 @@ class TestLoggerd:
     assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
     assert boot.launchLog == launch_log
 
-    if TICI:
+    if COMMA_HARDWARE:
       for fn in ["console-ramoops", "pmsg-ramoops-0"]:
         path = Path(os.path.join("/sys/fs/pstore/", fn))
         if path.is_file():
@@ -271,7 +279,9 @@ class TestLoggerd:
         assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog"
       else:
         # check logged message count matches decimation
-        expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
+        decimation = SERVICE_LIST[s].decimation
+        assert decimation is not None
+        expected_cnt = (len(msgs) - 1) // decimation + 1
         assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}"
 
   def test_rlog(self):
@@ -299,28 +309,26 @@ class TestLoggerd:
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
   def test_not_preserving_nonbookmarked_segments(self):
-    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark", "audioFeedback"}
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark"}
     self._publish_random_messages(services)
 
     segment_dir = self._get_latest_log_dir()
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
 
-  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
-  @pytest.mark.parametrize("record_front", [True, False])
+  @parameterized.expand([True, False])
   def test_record_front(self, record_front):
     params = Params()
-    params.put_bool("RecordFront", record_front)
+    params.put_bool("RecordFront", record_front, block=True)
 
     self._publish_camera_and_audio_messages()
 
-    dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
-    assert dcamera_hevc_exists == record_front
+    cabin_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
+    assert cabin_hevc_exists == record_front
 
-  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
-  @pytest.mark.parametrize("record_audio", [True, False])
+  @parameterized.expand([True, False])
   def test_record_audio(self, record_audio):
     params = Params()
-    params.put_bool("RecordAudio", record_audio)
+    params.put_bool("RecordAudio", record_audio, block=True)
 
     self._publish_camera_and_audio_messages()
 
diff --git a/system/loggerd/tests/test_uploader.py b/openpilot/system/loggerd/tests/test_uploader.py
similarity index 73%
rename from system/loggerd/tests/test_uploader.py
rename to openpilot/system/loggerd/tests/test_uploader.py
index 562bc068eb..b83b3569e2 100644
--- a/system/loggerd/tests/test_uploader.py
+++ b/openpilot/system/loggerd/tests/test_uploader.py
@@ -1,13 +1,12 @@
 import os
-import time
 import threading
 import logging
 import json
 from pathlib import Path
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
+from openpilot.system.loggerd.uploader import clear_locks, main, Uploader, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
 
 from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
@@ -15,29 +14,38 @@ from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 class FakeLogHandler(logging.Handler):
   def __init__(self):
     logging.Handler.__init__(self)
+    self.condition = threading.Condition()
     self.reset()
 
   def reset(self):
-    self.upload_order = list()
-    self.upload_ignored = list()
+    with self.condition:
+      self.upload_order = []
+      self.upload_ignored = []
 
   def emit(self, record):
     try:
       j = json.loads(record.getMessage())
-      if j["event"] == "upload_success":
-        self.upload_order.append(j["key"])
-      if j["event"] == "upload_ignored":
-        self.upload_ignored.append(j["key"])
+      with self.condition:
+        if j["event"] == "upload_success":
+          self.upload_order.append(j["key"])
+        if j["event"] == "upload_ignored":
+          self.upload_ignored.append(j["key"])
+        self.condition.notify_all()
     except Exception:
       pass
 
+  def wait_for_uploads(self, count: int, ignored: bool = False):
+    uploads = self.upload_ignored if ignored else self.upload_order
+    with self.condition:
+      assert self.condition.wait_for(lambda: len(uploads) >= count, timeout=1), "Uploader did not process all files"
+
 log_handler = FakeLogHandler()
 cloudlog.addHandler(log_handler)
 
 
 class TestUploader(UploaderTestCase):
   def setup_method(self):
-    super().setup_method()
+    super().openpilot_setup_method()
     log_handler.reset()
 
   def start_thread(self):
@@ -70,14 +78,12 @@ class TestUploader(UploaderTestCase):
 
   def test_upload(self):
     self.gen_files(lock=False)
+    exp_order = self.gen_order([self.seg_num], [])
 
     self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    log_handler.wait_for_uploads(len(exp_order))
     self.join_thread()
 
-    exp_order = self.gen_order([self.seg_num], [])
-
     assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
     assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
     assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
@@ -88,14 +94,12 @@ class TestUploader(UploaderTestCase):
 
   def test_upload_with_wrong_xattr(self):
     self.gen_files(lock=False, xattr=b'0')
+    exp_order = self.gen_order([self.seg_num], [])
 
     self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    log_handler.wait_for_uploads(len(exp_order))
     self.join_thread()
 
-    exp_order = self.gen_order([self.seg_num], [])
-
     assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
     assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
     assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
@@ -107,14 +111,12 @@ class TestUploader(UploaderTestCase):
   def test_upload_ignored(self):
     self.set_ignore()
     self.gen_files(lock=False)
+    exp_order = self.gen_order([self.seg_num], [])
 
     self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    log_handler.wait_for_uploads(len(exp_order), ignored=True)
     self.join_thread()
 
-    exp_order = self.gen_order([self.seg_num], [])
-
     assert len(log_handler.upload_order) == 0, "Some files were not ignored"
     assert not len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore"
     assert not len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice"
@@ -136,8 +138,7 @@ class TestUploader(UploaderTestCase):
     exp_order = self.gen_order(seg1_nums, seg2_nums, boot=False)
 
     self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    log_handler.wait_for_uploads(len(exp_order))
     self.join_thread()
 
     assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
@@ -149,34 +150,30 @@ class TestUploader(UploaderTestCase):
     assert log_handler.upload_order == exp_order, "Files uploaded in wrong order"
 
   def test_no_upload_with_lock_file(self):
-    self.start_thread()
-
-    time.sleep(0.25)
     f_paths = self.gen_files(lock=True, boot=False)
-
-    # allow enough time that files should have been uploaded if they would be uploaded
-    time.sleep(1)
-    self.join_thread()
+    uploader = Uploader("0000000000000000", Paths.log_root())
 
     for f_path in f_paths:
       fn = f_path.with_suffix(f_path.suffix.replace(".zst", ""))
-      uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
-      assert not uploaded, "File upload when locked"
+      assert all(candidate[2] != str(fn) for candidate in uploader.list_upload_files(metered=False)), "Locked file selected for upload"
 
   def test_no_upload_with_xattr(self):
-    self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE)
+    f_paths = self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE)
+    uploader = Uploader("0000000000000000", Paths.log_root())
+    upload_candidates = {candidate[2] for candidate in uploader.list_upload_files(metered=False)}
+    assert upload_candidates.isdisjoint(map(str, f_paths)), "Uploaded file selected again"
 
-    self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
-    self.join_thread()
-
-    assert len(log_handler.upload_order) == 0, "File uploaded again"
-
-  def test_clear_locks_on_startup(self):
+  def test_clear_locks_on_startup(self, mocker):
     f_paths = self.gen_files(lock=True, boot=False)
+    locks_cleared = threading.Event()
+
+    def clear_locks_and_signal(root):
+      clear_locks(root)
+      locks_cleared.set()
+
+    mocker.patch("openpilot.system.loggerd.uploader.clear_locks", side_effect=clear_locks_and_signal)
     self.start_thread()
-    time.sleep(0.25)
+    assert locks_cleared.wait(timeout=1), "Uploader did not clear locks on startup"
     self.join_thread()
 
     for f_path in f_paths:
diff --git a/system/loggerd/tests/vidc_debug.sh b/openpilot/system/loggerd/tests/vidc_debug.sh
similarity index 100%
rename from system/loggerd/tests/vidc_debug.sh
rename to openpilot/system/loggerd/tests/vidc_debug.sh
diff --git a/system/loggerd/uploader.py b/openpilot/system/loggerd/uploader.py
similarity index 96%
rename from system/loggerd/uploader.py
rename to openpilot/system/loggerd/uploader.py
index 8ac38b6df6..81f8ed1ba3 100755
--- a/system/loggerd/uploader.py
+++ b/openpilot/system/loggerd/uploader.py
@@ -9,13 +9,13 @@ import traceback
 import datetime
 from collections.abc import Iterator
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 from openpilot.common.api import Api
 from openpilot.common.utils import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 
@@ -46,9 +46,7 @@ class FakeResponse:
 
 
 def get_directory_sort(d: str) -> list[str]:
-  # ensure old format is sorted sooner
-  o = ["0", ] if d.startswith("2024-") else ["1", ]
-  return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
+  return [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
diff --git a/system/loggerd/video_writer.cc b/openpilot/system/loggerd/video_writer.cc
similarity index 96%
rename from system/loggerd/video_writer.cc
rename to openpilot/system/loggerd/video_writer.cc
index 1b47a8fceb..70f0199299 100644
--- a/system/loggerd/video_writer.cc
+++ b/openpilot/system/loggerd/video_writer.cc
@@ -49,6 +49,11 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing,
   }
 }
 
+void VideoWriter::set_metadata(const char *key, const char *value) {
+  assert(remuxing && !header_written);
+  av_dict_set(&ofmt_ctx->metadata, key, value, 0);
+}
+
 void VideoWriter::initialize_audio(int sample_rate) {
   assert(this->ofmt_ctx->oformat->audio_codec != AV_CODEC_ID_NONE); // check output format supports audio streams
   const AVCodec *audio_avcodec = avcodec_find_encoder(AV_CODEC_ID_AAC);
@@ -106,7 +111,10 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
       int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx);
       assert(err >= 0);
       // if there is an audio stream, it must be initialized before this point
-      err = avformat_write_header(ofmt_ctx, NULL);
+      AVDictionary *options = nullptr;
+      if (ofmt_ctx->metadata) av_dict_set(&options, "movflags", "+faststart+use_metadata_tags", 0);
+      err = avformat_write_header(ofmt_ctx, &options);
+      av_dict_free(&options);
       assert(err >= 0);
       header_written = true;
     } else {
diff --git a/system/loggerd/video_writer.h b/openpilot/system/loggerd/video_writer.h
similarity index 90%
rename from system/loggerd/video_writer.h
rename to openpilot/system/loggerd/video_writer.h
index e973c5d811..1120d94a78 100644
--- a/system/loggerd/video_writer.h
+++ b/openpilot/system/loggerd/video_writer.h
@@ -8,11 +8,12 @@ extern "C" {
 #include <libavcodec/avcodec.h>
 }
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 
 class VideoWriter {
 public:
   VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec);
+  void set_metadata(const char *key, const char *value);
   void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe);
   void write_audio(uint8_t *data, int len, long long timestamp, int sample_rate);
 
diff --git a/openpilot/system/loggerd/xattr_cache.py b/openpilot/system/loggerd/xattr_cache.py
new file mode 100644
index 0000000000..e0f6ba9588
--- /dev/null
+++ b/openpilot/system/loggerd/xattr_cache.py
@@ -0,0 +1,70 @@
+import ctypes
+import errno
+import os
+import sys
+
+
+if sys.platform == "darwin":
+  _libc = ctypes.CDLL(None, use_errno=True)
+  _libc.getxattr.argtypes = [ctypes.c_char_p, ctypes.c_char_p, ctypes.c_void_p, ctypes.c_size_t, ctypes.c_uint32, ctypes.c_int]
+  _libc.getxattr.restype = ctypes.c_ssize_t
+  _libc.setxattr.argtypes = [ctypes.c_char_p, ctypes.c_char_p, ctypes.c_void_p, ctypes.c_size_t, ctypes.c_uint32, ctypes.c_int]
+  _libc.setxattr.restype = ctypes.c_int
+
+
+def _raise_os_error(path: str) -> None:
+  error = ctypes.get_errno()
+  raise OSError(error, os.strerror(error), path)
+
+
+def _getxattr(path: str, attr_name: str) -> bytes:
+  if sys.platform != "darwin":
+    return os.getxattr(path, attr_name)
+
+  encoded_path = os.fsencode(path)
+  encoded_attr_name = os.fsencode(attr_name)
+  while True:
+    size = _libc.getxattr(encoded_path, encoded_attr_name, None, 0, 0, 0)
+    if size == -1:
+      _raise_os_error(path)
+    if size == 0:
+      return b""
+
+    value = ctypes.create_string_buffer(size)
+    result = _libc.getxattr(encoded_path, encoded_attr_name, value, size, 0, 0)
+    if result != -1:
+      return value.raw[:result]
+    if ctypes.get_errno() != errno.ERANGE:
+      _raise_os_error(path)
+
+
+def _setxattr(path: str, attr_name: str, attr_value: bytes) -> None:
+  if sys.platform != "darwin":
+    os.setxattr(path, attr_name, attr_value)
+    return
+
+  encoded_path = os.fsencode(path)
+  encoded_attr_name = os.fsencode(attr_name)
+  value = ctypes.create_string_buffer(attr_value)
+  if _libc.setxattr(encoded_path, encoded_attr_name, value, len(attr_value), 0, 0) == -1:
+    _raise_os_error(path)
+
+_cached_attributes: dict[tuple, bytes | None] = {}
+
+def getxattr(path: str, attr_name: str) -> bytes | None:
+  key = (path, attr_name)
+  if key not in _cached_attributes:
+    try:
+      response = _getxattr(path, attr_name)
+    except OSError as e:
+      # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set
+      if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR):
+        response = None
+      else:
+        raise
+    _cached_attributes[key] = response
+  return _cached_attributes[key]
+
+def setxattr(path: str, attr_name: str, attr_value: bytes) -> None:
+  _cached_attributes.pop((path, attr_name), None)
+  _setxattr(path, attr_name, attr_value)
diff --git a/system/loggerd/zstd_writer.cc b/openpilot/system/loggerd/zstd_writer.cc
similarity index 100%
rename from system/loggerd/zstd_writer.cc
rename to openpilot/system/loggerd/zstd_writer.cc
diff --git a/system/loggerd/zstd_writer.h b/openpilot/system/loggerd/zstd_writer.h
similarity index 100%
rename from system/loggerd/zstd_writer.h
rename to openpilot/system/loggerd/zstd_writer.h
diff --git a/system/logmessaged.py b/openpilot/system/logmessaged.py
similarity index 93%
rename from system/logmessaged.py
rename to openpilot/system/logmessaged.py
index c095c26192..937a0741d0 100755
--- a/system/logmessaged.py
+++ b/openpilot/system/logmessaged.py
@@ -2,9 +2,9 @@
 import zmq
 from typing import NoReturn
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.logging_extra import SwagLogFileFormatter
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import get_file_handler
 
 
diff --git a/system/manager/__init__.py b/openpilot/system/manager/__init__.py
similarity index 100%
rename from system/manager/__init__.py
rename to openpilot/system/manager/__init__.py
diff --git a/openpilot/system/manager/build.py b/openpilot/system/manager/build.py
new file mode 100755
index 0000000000..c5fdd6d92a
--- /dev/null
+++ b/openpilot/system/manager/build.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+import os
+import subprocess
+
+# NOTE: Do NOT import anything here that needs be built (e.g. params)
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.spinner import Spinner
+from openpilot.common.text_window import TextWindow
+from openpilot.common.hardware import HARDWARE, AGNOS
+
+def build() -> None:
+  spinner = Spinner()
+  spinner.update_progress(0, 100)
+
+  HARDWARE.set_power_save(False)
+  if AGNOS:
+    os.sched_setaffinity(0, range(8))  # ensure we can use the isolcpus cores
+
+  # building with all cores can result in using too much memory, so retry serially
+  compile_output: list[bytes] = []
+  for parallelism in ([], ["-j4"], ["-j1"]):
+    compile_output.clear()
+    with subprocess.Popen(["scons", *parallelism], cwd=BASEDIR, env={**os.environ, "PWD": BASEDIR}, stderr=subprocess.PIPE) as scons:
+      assert scons.stderr is not None
+
+      # Read progress from stderr and update spinner
+      while scons.poll() is None:
+        try:
+          line = scons.stderr.readline()
+          if line is None:
+            continue
+          line = line.rstrip()
+
+          prefix = b'progress: '
+          if line.startswith(prefix):
+            progress = float(line[len(prefix):])
+            spinner.update_progress(100 * min(1., progress / 100.), 100.)
+          elif len(line):
+            compile_output.append(line)
+            print(line.decode('utf8', 'replace'))
+        except Exception:
+          pass
+
+      # Drain and close the pipe before retrying or returning.
+      for line in scons.stderr.read().split(b'\n'):
+        line = line.rstrip()
+        if len(line):
+          compile_output.append(line)
+
+    if scons.returncode == 0:
+      break
+
+  os.sync()
+
+  if scons.returncode != 0:
+    # Build failed log errors
+    error_s = b"\n".join(compile_output).decode('utf8', 'replace')
+
+    # Show TextWindow
+    spinner.close()
+    if not os.getenv("CI"):
+      with TextWindow("openpilot failed to build\n \n" + error_s) as t:
+        t.wait_for_exit()
+    exit(1)
+
+if __name__ == "__main__":
+  build()
diff --git a/system/manager/github_runner.sh b/openpilot/system/manager/github_runner.sh
similarity index 100%
rename from system/manager/github_runner.sh
rename to openpilot/system/manager/github_runner.sh
diff --git a/system/manager/helpers.py b/openpilot/system/manager/helpers.py
similarity index 88%
rename from system/manager/helpers.py
rename to openpilot/system/manager/helpers.py
index 047d0ac2d6..453e13184d 100644
--- a/system/manager/helpers.py
+++ b/openpilot/system/manager/helpers.py
@@ -44,12 +44,6 @@ def unblock_stdout() -> None:
     exit_status = os.wait()[1] >> 8
     os._exit(exit_status)
 
-
-def write_onroad_params(started, params):
-  params.put_bool("IsOnroad", started)
-  params.put_bool("IsOffroad", not started)
-
-
 def save_bootlog():
   # copy current params
   tmp = tempfile.mkdtemp()
@@ -60,7 +54,7 @@ def save_bootlog():
   def fn(tmpdir):
     env = os.environ.copy()
     env['PARAMS_COPY_PATH'] = tmpdir
-    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
+    subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "openpilot/system/loggerd"), env=env)
     shutil.rmtree(tmpdir)
   t = threading.Thread(target=fn, args=(tmp, ))
   t.daemon = True
diff --git a/system/manager/manager.py b/openpilot/system/manager/manager.py
similarity index 84%
rename from system/manager/manager.py
rename to openpilot/system/manager/manager.py
index 8c5d35d072..7befb7f4ae 100755
--- a/system/manager/manager.py
+++ b/openpilot/system/manager/manager.py
@@ -6,21 +6,22 @@ import sys
 import time
 import traceback
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.utils import atomic_write
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
+from openpilot.common.hardware import HARDWARE, PC
+from openpilot.system.manager.helpers import unblock_stdout, save_bootlog
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.system.version import get_build_metadata
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.hardware import PC
+from openpilot.common.version import get_build_metadata
+from openpilot.common.hardware.hw import Paths
+
+from openpilot.sunnypilot.system.params_migration import run_migration
 
 
 def manager_init() -> None:
@@ -33,12 +34,12 @@ def manager_init() -> None:
   params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
   params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
-  if build_metadata.release_channel:
-    params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
+  # if build_metadata.release_channel:
+  #   params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
 
   # device boot mode
   if params.get("DeviceBootMode") == 1:  # start in Always Offroad mode
-    params.put_bool("OffroadMode", True)
+    params.put_bool("OffroadMode", True, block=True)
 
   # quick boot
   if params.get_bool("QuickBootToggle") and not PC:
@@ -47,13 +48,16 @@ def manager_init() -> None:
       open(prebuilt_path, 'x').close()
 
   if params.get_bool("RecordFrontLock"):
-    params.put_bool("RecordFront", True)
+    params.put_bool("RecordFront", True, block=True)
+
+  if not PC:
+    run_migration(params)
 
   # set unset params to their default value
   for k in params.all_keys():
     default_value = params.get_default_value(k)
     if default_value is not None and params.get(k) is None:
-      params.put(k, default_value)
+      params.put(k, default_value, block=True)
 
   # Create folders needed for msgq
   try:
@@ -65,16 +69,16 @@ def manager_init() -> None:
 
   # set params
   serial = HARDWARE.get_serial()
-  params.put("Version", build_metadata.openpilot.version)
-  params.put("GitCommit", build_metadata.openpilot.git_commit)
-  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
-  params.put("GitBranch", build_metadata.channel)
-  params.put("GitRemote", build_metadata.openpilot.git_origin)
-  params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
-  params.put_bool("IsTestedBranch", build_metadata.tested_channel)
-  params.put_bool("IsReleaseBranch", build_metadata.release_channel)
-  params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel)
-  params.put("HardwareSerial", serial)
+  params.put("Version", build_metadata.openpilot.version, block=True)
+  params.put("GitCommit", build_metadata.openpilot.git_commit, block=True)
+  params.put("GitCommitDate", build_metadata.openpilot.git_commit_date, block=True)
+  params.put("GitBranch", build_metadata.channel, block=True)
+  params.put("GitRemote", build_metadata.openpilot.git_origin, block=True)
+  params.put_bool("IsDevelopmentBranch", build_metadata.development_channel, block=True)
+  params.put_bool("IsTestedBranch", build_metadata.tested_channel, block=True)
+  params.put_bool("IsReleaseBranch", build_metadata.release_channel, block=True)
+  params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel, block=True)
+  params.put("HardwareSerial", serial, block=True)
 
   # set dongle id
   reg_res = register(show_spinner=True)
@@ -100,11 +104,6 @@ def manager_init() -> None:
                        dirty=build_metadata.openpilot.is_dirty,
                        device=HARDWARE.get_device_type())
 
-  # preimport all processes
-  for p in managed_processes.values():
-    p.prepare()
-
-
 def manager_cleanup() -> None:
   # send signals to kill all procs
   for p in managed_processes.values():
@@ -134,7 +133,7 @@ def manager_thread() -> None:
   sm = messaging.SubMaster(['deviceState', 'carParams', 'pandaStates'], poll='deviceState')
   pm = messaging.PubMaster(['managerState'])
 
-  write_onroad_params(False, params)
+  params.put_bool("IsOffroad", True, block=True)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
 
   started_prev = False
@@ -154,9 +153,9 @@ def manager_thread() -> None:
     if ignition and not ignition_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
 
-    # update onroad params, which drives pandad's safety setter thread
+    # update offroad state for services that don't subscribe to deviceState
     if started != started_prev:
-      write_onroad_params(started, params)
+      params.put_bool("IsOffroad", not started, block=True)
 
     started_prev = started
     ignition_prev = ignition
@@ -186,7 +185,7 @@ def manager_thread() -> None:
     for param in ("DoUninstall", "DoShutdown", "DoReboot"):
       if params.get_bool(param):
         shutdown = True
-        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
+        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}", block=True)
         cloudlog.warning(f"Shutting down manager - {param} set")
 
     if shutdown:
diff --git a/system/manager/process.py b/openpilot/system/manager/process.py
similarity index 85%
rename from system/manager/process.py
rename to openpilot/system/manager/process.py
index 36e1ba77b2..43ea3f7306 100644
--- a/system/manager/process.py
+++ b/openpilot/system/manager/process.py
@@ -9,8 +9,9 @@ from multiprocessing import Process
 
 from setproctitle import setproctitle
 
-from cereal import car, log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
@@ -67,20 +68,11 @@ class ManagerProcess(ABC):
   enabled = True
   name = ""
   shutting_down = False
-  restart_if_crash = False
-
-  @abstractmethod
-  def prepare(self) -> None:
-    pass
 
   @abstractmethod
   def start(self) -> None:
     pass
 
-  def restart(self) -> None:
-    self.stop(sig=signal.SIGKILL)
-    self.start()
-
   def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None:
     if self.proc is None:
       return None
@@ -149,9 +141,6 @@ class NativeProcess(ManagerProcess):
     self.sigkill = sigkill
     self.launcher = nativelauncher
 
-  def prepare(self) -> None:
-    pass
-
   def start(self) -> None:
     # In case we only tried a non blocking stop we need to stop it before restarting
     if self.shutting_down:
@@ -168,19 +157,13 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False):
     self.name = name
     self.module = module
     self.should_run = should_run
     self.enabled = enabled
     self.sigkill = sigkill
     self.launcher = launcher
-    self.restart_if_crash = restart_if_crash
-
-  def prepare(self) -> None:
-    if self.enabled:
-      cloudlog.info(f"preimporting {self.module}")
-      importlib.import_module(self.module)
 
   def start(self) -> None:
     # In case we only tried a non blocking stop we need to stop it before restarting
@@ -190,12 +173,8 @@ class PythonProcess(ManagerProcess):
     if self.proc is not None:
       return
 
-    # TODO: this is just a workaround for this tinygrad check:
-    # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26
-    name = self.name if "modeld" not in self.name else "MainProcess"
-
     cloudlog.info(f"starting python {self.module}")
-    self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name))
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
     self.shutting_down = False
 
@@ -214,9 +193,6 @@ class DaemonProcess(ManagerProcess):
   def should_run(started, params, CP):
     return True
 
-  def prepare(self) -> None:
-    pass
-
   def start(self) -> None:
     if self.params is None:
       self.params = Params()
@@ -240,13 +216,13 @@ class DaemonProcess(ManagerProcess):
                                stderr=open('/dev/null', 'w'),
                                preexec_fn=os.setpgrp)
 
-    self.params.put(self.param_name, proc.pid)
+    self.params.put(self.param_name, proc.pid, block=True)
 
   def stop(self, retry=True, block=True, sig=None) -> None:
     pass
 
 
-def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
+def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params: Params, CP: car.CarParams,
                    not_run: list[str] | None=None) -> list[ManagerProcess]:
   if not_run is None:
     not_run = []
@@ -254,9 +230,6 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
   running = []
   for p in procs:
     if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
-      if p.restart_if_crash and p.proc is not None and not p.proc.is_alive():
-        cloudlog.error(f'Restarting {p.name} (exitcode {p.proc.exitcode})')
-        p.restart()
       running.append(p)
     else:
       p.stop(block=False)
diff --git a/openpilot/system/manager/process_config.py b/openpilot/system/manager/process_config.py
new file mode 100644
index 0000000000..c9e939c432
--- /dev/null
+++ b/openpilot/system/manager/process_config.py
@@ -0,0 +1,210 @@
+import os
+import operator
+import platform
+
+from opendbc.car.structs import car
+from openpilot.cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.hardware import PC, COMMA_HARDWARE
+from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from openpilot.common.hardware.hw import Paths
+
+from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH
+
+from openpilot.sunnypilot.models.helpers import get_active_model_runner
+from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
+
+WEBCAM = os.getenv("USE_WEBCAM") is not None
+
+def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started or params.get_bool("IsDriverViewEnabled")
+
+def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and CP.notCar
+
+def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not CP.notCar
+
+def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
+  run = (not CP.notCar) or not params.get_bool("DisableLogging")
+  return started and run
+
+def ublox_available() -> bool:
+  return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
+
+def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
+  use_ublox = ublox_available()
+  if use_ublox != params.get_bool("UbloxAvailable"):
+    params.put_bool("UbloxAvailable", use_ublox, block=True)
+  return started and use_ublox
+
+def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("JoystickDebugMode")
+
+def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("JoystickDebugMode")
+
+def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("LongitudinalManeuverMode")
+
+def lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and params.get_bool("LateralManeuverMode")
+
+def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not params.get_bool("LongitudinalManeuverMode")
+
+def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not ublox_available()
+
+def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return True
+
+def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started
+
+def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return not started
+
+def livestream(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return params.get_bool("IsLiveStreaming")
+
+def use_github_runner(started, params, CP: car.CarParams) -> bool:
+  return not PC and params.get_bool("EnableGithubRunner") and (
+    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
+
+def use_copyparty(started, params, CP: car.CarParams) -> bool:
+  return bool(params.get_bool("EnableCopyparty"))
+
+def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for sunnylink_ready to match the process manager signature."""
+  return sunnylink_ready(params)
+
+def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for sunnylink_need_register to match the process manager signature."""
+  return sunnylink_need_register(params)
+
+def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
+  """Shim for use_sunnylink_uploader to match the process manager signature."""
+  return use_sunnylink_uploader(params)
+
+def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is tinygrad."""
+  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
+
+def is_stock_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is stock."""
+  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)
+
+def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return bool(os.path.exists(Paths.mapd_root()))
+
+def uploader_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  if not params.get_bool("OnroadUploads"):
+    return only_offroad(started, params, CP)
+
+  return always_run(started, params, CP)
+
+def or_(*fns):
+  return lambda *args: operator.or_(*(fn(*args) for fn in fns))
+
+def and_(*fns):
+  return lambda *args: operator.and_(*(fn(*args) for fn in fns))
+
+def not_(*fns):
+  return lambda *args: operator.not_(*(fn(*args) for fn in fns))
+
+procs = [
+  DaemonProcess("manage_athenad", "openpilot.system.athena.manage_athenad", "AthenadPid"),
+
+  NativeProcess("loggerd", "openpilot/system/loggerd", ["./loggerd"], logging),
+  NativeProcess("encoderd", "openpilot/system/loggerd", ["./encoderd"], only_onroad),
+  NativeProcess("stream_encoderd", "openpilot/system/loggerd", ["./encoderd", "--stream"], or_(and_(livestream, not_(iscar)), notcar)),
+  PythonProcess("logmessaged", "openpilot.system.logmessaged", always_run),
+
+  NativeProcess("camerad", "openpilot/system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
+  PythonProcess("webcamerad", "openpilot.system.camerad.webcam.camerad", driverview, enabled=WEBCAM),
+  PythonProcess("proclogd", "openpilot.system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
+  PythonProcess("journald", "openpilot.system.journald", only_onroad, platform.system() != "Darwin"),
+  PythonProcess("micd", "openpilot.system.micd", iscar),
+  PythonProcess("timed", "openpilot.system.timed", always_run, enabled=not PC),
+
+  PythonProcess("modeld", "openpilot.selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
+  PythonProcess("dmonitoringmodeld", "openpilot.selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
+
+  PythonProcess("sensord", "openpilot.system.sensord.sensord", only_onroad, enabled=not PC),
+  PythonProcess("ui", "openpilot.selfdrive.ui.ui", always_run),
+  PythonProcess("soundd", "openpilot.selfdrive.ui.soundd", driverview),
+  PythonProcess("locationd", "openpilot.selfdrive.locationd.locationd", only_onroad),
+  NativeProcess("_pandad", "openpilot/selfdrive/pandad", ["./pandad"], always_run, enabled=False),
+  PythonProcess("calibrationd", "openpilot.selfdrive.locationd.calibrationd", only_onroad),
+  PythonProcess("torqued", "openpilot.selfdrive.locationd.torqued", only_onroad),
+  PythonProcess("controlsd", "openpilot.selfdrive.controls.controlsd", and_(not_joystick, iscar)),
+  PythonProcess("joystickd", "openpilot.tools.joystick.joystickd", or_(joystick, notcar)),
+  PythonProcess("selfdrived", "openpilot.selfdrive.selfdrived.selfdrived", only_onroad),
+  PythonProcess("card", "openpilot.selfdrive.car.card", only_onroad),
+  PythonProcess("deleter", "openpilot.system.loggerd.deleter", always_run),
+  PythonProcess("dmonitoringd", "openpilot.selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
+  PythonProcess("qcomgpsd", "openpilot.system.qcomgpsd.qcomgpsd", qcomgps, enabled=COMMA_HARDWARE),
+  PythonProcess("pandad", "openpilot.selfdrive.pandad.pandad", always_run),
+  PythonProcess("paramsd", "openpilot.selfdrive.locationd.paramsd", only_onroad),
+  PythonProcess("lagd", "openpilot.selfdrive.locationd.lagd", only_onroad),
+  PythonProcess("ubloxd", "openpilot.system.ubloxd.ubloxd", ublox, enabled=COMMA_HARDWARE),
+  PythonProcess("pigeond", "openpilot.system.ubloxd.pigeond", ublox, enabled=COMMA_HARDWARE),
+  PythonProcess("plannerd", "openpilot.selfdrive.controls.plannerd", not_long_maneuver),
+  PythonProcess("maneuversd", "openpilot.tools.longitudinal_maneuvers.maneuversd", long_maneuver),
+  PythonProcess("lateral_maneuversd", "openpilot.tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
+  PythonProcess("radard", "openpilot.selfdrive.controls.radard", only_onroad),
+  PythonProcess("hardwared", "openpilot.system.hardware.hardwared", always_run),
+  PythonProcess("modem", "openpilot.common.hardware.comma.modem", always_run, enabled=COMMA_HARDWARE),
+  PythonProcess("tombstoned", "openpilot.system.tombstoned", always_run, enabled=not PC),
+  PythonProcess("updated", "openpilot.system.updated.updated", only_offroad, enabled=not PC),
+  PythonProcess("uploader", "openpilot.system.loggerd.uploader", uploader_ready),
+  PythonProcess("statsd", "openpilot.sunnypilot.system.statsd", always_run),
+
+  # debug procs
+  NativeProcess("bridge", "openpilot/cereal/messaging", ["./bridge"], notcar),
+  PythonProcess("webrtcd", "openpilot.system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
+  PythonProcess("joystick", "openpilot.tools.joystick.joystick_control", and_(joystick, iscar)),
+
+  # sunnylink <3
+  DaemonProcess("manage_sunnylinkd", "openpilot.sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
+  PythonProcess("sunnylink_registration_manager", "openpilot.sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
+  PythonProcess("statsd_sp", "openpilot.sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
+]
+
+# sunnypilot
+procs += [
+  # Models
+  PythonProcess("models_manager", "openpilot.sunnypilot.models.manager", only_offroad),
+  NativeProcess("modeld_tinygrad", "openpilot/sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
+
+  # Backup
+  PythonProcess("backup_manager", "openpilot.sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
+
+  # mapd
+  NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
+  PythonProcess("mapd_manager", "openpilot.sunnypilot.mapd.mapd_manager", always_run),
+
+  # locationd
+  NativeProcess("locationd_llk", "openpilot/sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
+]
+
+if os.path.exists("./github_runner.sh"):
+  procs += [NativeProcess("github_runner_start", "openpilot/system/manager",
+                          ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
+
+if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
+  procs += [PythonProcess("sunnylink_uploader", "openpilot.sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
+
+if os.path.exists("../../third_party/copyparty/copyparty-sfx.py"):
+  sunnypilot_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))
+  copyparty_args = [f"-v{Paths.crash_log_root()}:/swaglogs:r"]
+  copyparty_args += [f"-v{Paths.log_root()}:/routes:r"]
+  copyparty_args += [f"-v{Paths.model_root()}:/models:rw"]
+  copyparty_args += [f"-v{sunnypilot_root}:/sunnypilot:rw"]
+  copyparty_args += ["-p8080"]
+  copyparty_args += ["-z"]
+  copyparty_args += ["-q"]
+  procs += [NativeProcess("copyparty-sfx", "openpilot/third_party/copyparty", ["./copyparty-sfx.py", *copyparty_args], and_(only_offroad, use_copyparty))]
+
+managed_processes = {p.name: p for p in procs}
diff --git a/system/manager/test/__init__.py b/openpilot/system/manager/test/__init__.py
similarity index 100%
rename from system/manager/test/__init__.py
rename to openpilot/system/manager/test/__init__.py
diff --git a/system/manager/test/test_manager.py b/openpilot/system/manager/test/test_manager.py
old mode 100644
new mode 100755
similarity index 85%
rename from system/manager/test/test_manager.py
rename to openpilot/system/manager/test/test_manager.py
index 34d07c6724..54bdaec6fe
--- a/system/manager/test/test_manager.py
+++ b/openpilot/system/manager/test/test_manager.py
@@ -1,14 +1,17 @@
+#!/usr/bin/env python3
+
 import os
-import pytest
+import unittest
 import signal
 import time
 
-from cereal import car
+from opendbc.car.structs import car
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes, procs
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"
 
@@ -16,7 +19,7 @@ MAX_STARTUP_TIME = 3
 BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 
 
-class TestManager:
+class TestManager(OpenpilotTestCase):
   def setup_method(self):
     HARDWARE.set_power_save(False)
 
@@ -27,10 +30,6 @@ class TestManager:
   def teardown_method(self):
     manager.manager_cleanup()
 
-  def test_manager_prepare(self):
-    os.environ['PREPAREONLY'] = '1'
-    manager.main()
-
   def test_duplicate_procs(self):
     assert len(procs) == len(managed_processes), "Duplicate process names"
 
@@ -51,7 +50,7 @@ class TestManager:
     assert params.get("OpenpilotEnabledToggle")
     assert params.get("RouteCount") == 0
 
-  @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
+  @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self, subtests):
     """
       Ensure all processes exit cleanly when stopped.
@@ -79,3 +78,7 @@ class TestManager:
         if p.sigkill:
           exit_codes = [-signal.SIGKILL]
         assert exit_code in exit_codes, f"{p.name} died with {exit_code}"
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/micd.py b/openpilot/system/micd.py
similarity index 93%
rename from system/micd.py
rename to openpilot/system/micd.py
index 9b3ccc8d29..7167aad137 100755
--- a/system/micd.py
+++ b/openpilot/system/micd.py
@@ -3,7 +3,7 @@ import numpy as np
 from functools import cache
 import threading
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.utils import retry
 from openpilot.common.swaglog import cloudlog
@@ -15,6 +15,14 @@ SAMPLE_RATE = 16000
 SAMPLE_BUFFER = 800  # 50ms
 
 
+def patch_sounddevice(sd):
+  # TODO: remove once sounddevice uses np.reshape internally.
+  def sounddevice_array(buffer, channels, dtype):
+    return np.frombuffer(buffer, dtype=dtype).reshape(-1, channels)
+
+  sd._array = sounddevice_array
+
+
 @cache
 def get_a_weighting_filter():
   # Calculate the A-weighting filter
@@ -104,6 +112,7 @@ class Mic:
   def micd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
+    patch_sounddevice(sd)
 
     with self.get_stream(sd) as stream:
       cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
diff --git a/system/proclogd.py b/openpilot/system/proclogd.py
similarity index 99%
rename from system/proclogd.py
rename to openpilot/system/proclogd.py
index b008f8ed9b..9979b3a401 100755
--- a/system/proclogd.py
+++ b/openpilot/system/proclogd.py
@@ -2,7 +2,7 @@
 import os
 from typing import NoReturn, TypedDict
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
diff --git a/system/qcomgpsd/modemdiag.py b/openpilot/system/qcomgpsd/modemdiag.py
similarity index 80%
rename from system/qcomgpsd/modemdiag.py
rename to openpilot/system/qcomgpsd/modemdiag.py
index 5d72aeba9e..313563a314 100644
--- a/system/qcomgpsd/modemdiag.py
+++ b/openpilot/system/qcomgpsd/modemdiag.py
@@ -1,8 +1,31 @@
 import select
-from serial import Serial
-from crcmod import mkCrcFun
 from struct import pack, unpack_from, calcsize
 
+from openpilot.common.serial import Serial
+
+
+def _gen_crc16_reflected_table(poly: int) -> list[int]:
+  # poly is the reflected form (e.g. 0x8408 for CRC-16 poly 0x1021)
+  table = []
+  for i in range(256):
+    crc = i
+    for _ in range(8):
+      if crc & 1:
+        crc = (crc >> 1) ^ poly
+      else:
+        crc >>= 1
+    table.append(crc)
+  return table
+
+# CRC-16/IBM-SDLC (aka X-25 / ISO-HDLC): poly 0x1021, refin/refout, init/xor 0xFFFF
+_CRC16_X25_TABLE = _gen_crc16_reflected_table(0x8408)
+
+def crc16_x25(data: bytes) -> int:
+  crc = 0xFFFF
+  for b in data:
+    crc = _CRC16_X25_TABLE[(crc ^ b) & 0xFF] ^ (crc >> 8)
+  return crc ^ 0xFFFF
+
 class ModemDiag:
   def __init__(self):
     self.serial = self.open_serial()
@@ -15,12 +38,11 @@ class ModemDiag:
     serial.reset_output_buffer()
     return serial
 
-  ccitt_crc16 = mkCrcFun(0x11021, initCrc=0, xorOut=0xffff)
   ESCAPE_CHAR = b'\x7d'
   TRAILER_CHAR = b'\x7e'
 
   def hdlc_encapsulate(self, payload):
-    payload += pack('<H', ModemDiag.ccitt_crc16(payload))
+    payload += pack('<H', crc16_x25(payload))
     payload = payload.replace(self.ESCAPE_CHAR, bytes([self.ESCAPE_CHAR[0], self.ESCAPE_CHAR[0] ^ 0x20]))
     payload = payload.replace(self.TRAILER_CHAR, bytes([self.ESCAPE_CHAR[0], self.TRAILER_CHAR[0] ^ 0x20]))
     payload += self.TRAILER_CHAR
@@ -32,7 +54,7 @@ class ModemDiag:
     payload = payload[:-1]
     payload = payload.replace(bytes([self.ESCAPE_CHAR[0], self.TRAILER_CHAR[0] ^ 0x20]), self.TRAILER_CHAR)
     payload = payload.replace(bytes([self.ESCAPE_CHAR[0], self.ESCAPE_CHAR[0] ^ 0x20]), self.ESCAPE_CHAR)
-    assert payload[-2:] == pack('<H', ModemDiag.ccitt_crc16(payload[:-2]))
+    assert payload[-2:] == pack('<H', crc16_x25(payload[:-2]))
     return payload[:-2]
 
   def recv(self):
diff --git a/system/qcomgpsd/nmeaport.py b/openpilot/system/qcomgpsd/nmeaport.py
similarity index 72%
rename from system/qcomgpsd/nmeaport.py
rename to openpilot/system/qcomgpsd/nmeaport.py
index 10b8516ed0..e270e23a3a 100644
--- a/system/qcomgpsd/nmeaport.py
+++ b/openpilot/system/qcomgpsd/nmeaport.py
@@ -1,6 +1,6 @@
 import os
 import sys
-from dataclasses import dataclass, fields
+from dataclasses import dataclass
 from subprocess import check_output, CalledProcessError
 from time import sleep
 from typing import NoReturn
@@ -17,26 +17,27 @@ class GnssClockNmeaPort:
   # 0x10 = bias_uncertainty_ns valid
   # 0x20 = drift_nsps valid
   # 0x40 = drift_uncertainty_nsps valid
-  flags: int
-  leap_seconds: int
-  time_ns: int
-  time_uncertainty_ns: int # 1-sigma
-  full_bias_ns: int
-  bias_ns: float
-  bias_uncertainty_ns: float # 1-sigma
-  drift_nsps: float
-  drift_uncertainty_nsps: float # 1-sigma
+  flags: int | None
+  leap_seconds: int | None
+  time_ns: int | None
+  time_uncertainty_ns: int | None # 1-sigma
+  full_bias_ns: int | None
+  bias_ns: float | None
+  bias_uncertainty_ns: float | None # 1-sigma
+  drift_nsps: float | None
+  drift_uncertainty_nsps: float | None # 1-sigma
 
-  def __post_init__(self):
-    for field in fields(self):
-      val = getattr(self, field.name)
-      setattr(self, field.name, field.type(val) if val else None)
+  @classmethod
+  def from_fields(cls, values: list[str]) -> 'GnssClockNmeaPort':
+    ints = [int(value) if value else None for value in values[:5]]
+    floats = [float(value) if value else None for value in values[5:9]]
+    return cls(*ints, *floats)
 
 @dataclass
 class GnssMeasNmeaPort:
-  messageCount: int
-  messageNum: int
-  svCount: int
+  messageCount: int | None
+  messageNum: int | None
+  svCount: int | None
   # constellation enum:
   # 1 = GPS
   # 2 = SBAS
@@ -44,10 +45,10 @@ class GnssMeasNmeaPort:
   # 4 = QZSS
   # 5 = BEIDOU
   # 6 = GALILEO
-  constellation: int
-  svId: int
-  flags: int # always zero
-  time_offset_ns: int
+  constellation: int | None
+  svId: int | None
+  flags: int | None # always zero
+  time_offset_ns: int | None
   # state bit mask:
   # 0x0001 = CODE LOCK
   # 0x0002 = BIT SYNC
@@ -63,17 +64,18 @@ class GnssMeasNmeaPort:
   # 0x0800 = GALILEO E1C 2ND CODE LOCK
   # 0x1000 = GALILEO E1B PAGE SYNC
   # 0x2000 = GALILEO E1B PAGE SYNC
-  state: int
-  time_of_week_ns: int
-  time_of_week_uncertainty_ns: int # 1-sigma
-  carrier_to_noise_ratio: float
-  pseudorange_rate: float
-  pseudorange_rate_uncertainty: float # 1-sigma
+  state: int | None
+  time_of_week_ns: int | None
+  time_of_week_uncertainty_ns: int | None # 1-sigma
+  carrier_to_noise_ratio: float | None
+  pseudorange_rate: float | None
+  pseudorange_rate_uncertainty: float | None # 1-sigma
 
-  def __post_init__(self):
-    for field in fields(self):
-      val = getattr(self, field.name)
-      setattr(self, field.name, field.type(val) if val else None)
+  @classmethod
+  def from_fields(cls, values: list[str]) -> 'GnssMeasNmeaPort':
+    ints = [int(value) if value else None for value in values[:10]]
+    floats = [float(value) if value else None for value in values[10:13]]
+    return cls(*ints, *floats)
 
 def nmea_checksum_ok(s):
   checksum = 0
@@ -107,11 +109,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
           match fields[0]:
             case "$GNCLK":
               # fields at end are reserved (not used)
-              gnss_clock = GnssClockNmeaPort(*fields[1:10])
+              gnss_clock = GnssClockNmeaPort.from_fields(fields[1:10])
               print(gnss_clock)
             case "$GNMEAS":
               # fields at end are reserved (not used)
-              gnss_meas = GnssMeasNmeaPort(*fields[1:14])
+              gnss_meas = GnssMeasNmeaPort.from_fields(fields[1:14])
               print(gnss_meas)
     except Exception as e:
       print(e)
@@ -119,7 +121,7 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
 
 def main() -> NoReturn:
   from openpilot.common.gpio import gpio_init, gpio_set
-  from openpilot.system.hardware.tici.pins import GPIO
+  from openpilot.common.hardware.comma.pins import GPIO
   from openpilot.system.qcomgpsd.qcomgpsd import at_cmd
 
   try:
diff --git a/system/qcomgpsd/qcomgpsd.py b/openpilot/system/qcomgpsd/qcomgpsd.py
similarity index 81%
rename from system/qcomgpsd/qcomgpsd.py
rename to openpilot/system/qcomgpsd/qcomgpsd.py
index 59f5ac0b50..6261b18d56 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/openpilot/system/qcomgpsd/qcomgpsd.py
@@ -1,24 +1,22 @@
 #!/usr/bin/env python3
+import fcntl
 import os
 import sys
 import signal
 import itertools
 import math
 import time
-import requests
-import shutil
-import subprocess
 import datetime
-from multiprocessing import Process, Event
 from typing import NoReturn
 from struct import unpack_from, calcsize, pack
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.common.utils import retry
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware.comma.pins import GPIO
+from openpilot.common.serial import Serial
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
 from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist,
@@ -30,9 +28,6 @@ from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, r
                                               LOG_GNSS_OEMDRE_SVPOLY_REPORT)
 
 DEBUG = int(os.getenv("DEBUG", "0"))==1
-ASSIST_DATA_FILE = '/tmp/xtra3grc.bin'
-ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download'
-ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'
 
 LOG_TYPES = [
   LOG_GNSS_GPS_MEASUREMENT_REPORT,
@@ -90,55 +85,33 @@ measurementStatusGlonassFields = {
 def try_setup_logs(diag, logs):
   return setup_logs(diag, logs)
 
-@retry(attempts=3, delay=1.0)
-def at_cmd(cmd: str) -> str | None:
-  return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
+AT_PORT = "/dev/modem_at0"
+AT_LOCK = "/dev/shm/modem.lock"  # shared with modem.py and LPA
+
+@retry(attempts=5, delay=1.0)
+def at_cmd(cmd: str) -> str:
+  with os.fdopen(os.open(AT_LOCK, os.O_CREAT | os.O_RDWR, 0o666), "r+") as lock:
+    fcntl.flock(lock.fileno(), fcntl.LOCK_EX)
+    with Serial(AT_PORT, baudrate=115200, timeout=5) as ser:
+      ser.reset_input_buffer()
+      ser.write(f"{cmd}\r".encode())
+      lines = []
+      while True:
+        line = ser.readline()
+        if not line:
+          raise RuntimeError(f"AT command timeout: {cmd}")
+        line = line.decode('utf-8', errors='replace').strip()
+        if line in ("OK", "ERROR") or line.startswith("+CME ERROR"):
+          break
+        if line and line != cmd:
+          lines.append(line)
+    return '\n'.join(lines)
 
 def gps_enabled() -> bool:
   return "QGPS: 1" in at_cmd("AT+QGPS?")
 
-def download_assistance():
-  try:
-    response = requests.get(ASSISTANCE_URL, timeout=5, stream=True)
-
-    with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp:
-      for chunk in response.iter_content(chunk_size=8192):
-        fp.write(chunk)
-        if fp.tell() > 1e5:
-          cloudlog.error("Qcom assistance data larger than expected")
-          return
-
-    os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE)
-
-  except requests.exceptions.RequestException:
-    cloudlog.exception("Failed to download assistance file")
-    return
-
-def downloader_loop(event):
-  if os.path.exists(ASSIST_DATA_FILE):
-    os.remove(ASSIST_DATA_FILE)
-
-  alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None)
-  if alt_path is not None and os.path.exists(alt_path):
-    shutil.copyfile(alt_path, ASSIST_DATA_FILE)
-
-  try:
-    while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set():
-      download_assistance()
-      event.wait(timeout=10)
-  except KeyboardInterrupt:
-    pass
-
-@retry(attempts=5, delay=0.2, ignore_failure=True)
-def inject_assistance():
-  cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
-  subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
-  cloudlog.info("successfully loaded assistance data")
-
 @retry(attempts=5, delay=1.0)
-def setup_quectel(diag: ModemDiag) -> bool:
-  ret = False
-
+def setup_quectel(diag: ModemDiag):
   # enable OEMDRE in the NV
   # TODO: it has to reboot for this to take effect
   DIAG_NV_READ_F = 38
@@ -152,26 +125,11 @@ def setup_quectel(diag: ModemDiag) -> bool:
   if gps_enabled():
     at_cmd("AT+QGPSEND")
 
-  if "GPS_COLD_START" in os.environ:
-    # deletes all assistance
-    at_cmd("AT+QGPSDEL=0")
-  else:
-    # allow module to perform hot start
-    at_cmd("AT+QGPSDEL=1")
-
   # disable DPO power savings for more accuracy
   at_cmd("AT+QGPSCFG=\"dpoenable\",0")
   # don't automatically turn on GNSS on powerup
   at_cmd("AT+QGPSCFG=\"autogps\",0")
 
-  # Do internet assistance
-  at_cmd("AT+QGPSXTRA=1")
-  at_cmd("AT+QGPSSUPLURL=\"NULL\"")
-  if os.path.exists(ASSIST_DATA_FILE):
-    ret = True
-    inject_assistance()
-    os.remove(ASSIST_DATA_FILE)
-  #at_cmd("AT+QGPSXTRADATA?")
   if system_time_valid():
     time_str = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).strftime("%Y/%m/%d,%H:%M:%S")
     at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
@@ -198,7 +156,6 @@ def setup_quectel(diag: ModemDiag) -> bool:
     0,0
   ))
 
-  return ret
 
 def teardown_quectel(diag):
   at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
@@ -207,13 +164,19 @@ def teardown_quectel(diag):
   try_setup_logs(diag, [])
 
 
-def wait_for_modem(cmd="AT+QGPS?"):
+def wait_for_modem():
   cloudlog.warning("waiting for modem to come up")
+  while not os.path.exists(AT_PORT):
+    time.sleep(0.5)
+  # wait until the modem GNSS subsystem responds
   while True:
-    ret = subprocess.call(f"mmcli -m any --timeout 10 --command=\"{cmd}\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
-    if ret == 0:
-      return
-    time.sleep(0.1)
+    try:
+      resp = at_cmd("AT+QGPS?")
+      if "+QGPS:" in resp:
+        return
+    except Exception:
+      pass
+    time.sleep(0.5)
 
 
 def main() -> NoReturn:
@@ -233,9 +196,6 @@ def main() -> NoReturn:
 
   wait_for_modem()
 
-  stop_download_event = Event()
-  assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,))
-  assist_fetch_proc.start()
   def cleanup(sig, frame):
     cloudlog.warning("caught sig disabling quectel gps")
 
@@ -246,18 +206,13 @@ def main() -> NoReturn:
     except NameError:
       cloudlog.warning('quectel not yet setup')
 
-    stop_download_event.set()
-    assist_fetch_proc.kill()
-    assist_fetch_proc.join()
-
     sys.exit(0)
   signal.signal(signal.SIGINT, cleanup)
   signal.signal(signal.SIGTERM, cleanup)
 
   # connect to modem
   diag = ModemDiag()
-  r = setup_quectel(diag)
-  want_assistance = not r
+  setup_quectel(diag)
   cloudlog.warning("quectel setup done")
   gpio_init(GPIO.GNSS_PWR_EN, True)
   gpio_set(GPIO.GNSS_PWR_EN, True)
@@ -265,10 +220,6 @@ def main() -> NoReturn:
   pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])
 
   while 1:
-    if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
-      setup_quectel(diag)
-      want_assistance = False
-
     opcode, payload = diag.recv()
     if opcode != DIAG_LOG_F:
       cloudlog.error(f"Unhandled opcode: {opcode}")
@@ -335,6 +286,9 @@ def main() -> NoReturn:
       report = unpack_position(log_payload)
       if report["u_PosSource"] != 2:
         continue
+      # uint16_t max is an invalid sentinel value from the modem
+      if report['w_GpsWeekNumber'] >= 0xFFFF:
+        continue
       vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
       vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]
 
@@ -358,9 +312,6 @@ def main() -> NoReturn:
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
       # quectel gps verticalAccuracy is clipped to 500, set invalid if so
       gps.hasFix = gps.verticalAccuracy != 500
-      if gps.hasFix:
-        want_assistance = False
-        stop_download_event.set()
       pm.send('gpsLocation', msg)
 
     elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
diff --git a/system/qcomgpsd/structs.py b/openpilot/system/qcomgpsd/structs.py
similarity index 100%
rename from system/qcomgpsd/structs.py
rename to openpilot/system/qcomgpsd/structs.py
diff --git a/system/sensord/__init__.py b/openpilot/system/sensord/__init__.py
similarity index 100%
rename from system/sensord/__init__.py
rename to openpilot/system/sensord/__init__.py
diff --git a/system/sensord/sensord.py b/openpilot/system/sensord/sensord.py
similarity index 93%
rename from system/sensord/sensord.py
rename to openpilot/system/sensord/sensord.py
index 62908c6f18..6942b284df 100755
--- a/system/sensord/sensord.py
+++ b/openpilot/system/sensord/sensord.py
@@ -5,25 +5,27 @@ import ctypes
 import select
 import threading
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import sudo_write
 from openpilot.common.realtime import config_realtime_process, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
-from openpilot.system.hardware import HARDWARE
 
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
 from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro
 from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp
-from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn
 
 I2C_BUS_IMU = 1
 
 def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None:
   pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt])
 
+  # NOTE: the gyro and accelerometer share an IRQ due to the comma three
+  # routing only one GPIO from the LSM to the SOC, but comma 3X and four
+  # have two. if we want better timestamps in the future, we can use both.
+
   # Requesting both edges as the data ready pulse from the lsm6ds sensor is
   # very short (75us) and is mostly detected as falling edge instead of rising.
   # So if it is detected as rising the following falling edge is skipped.
@@ -97,10 +99,6 @@ def main() -> None:
     (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
     (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
   ]
-  if HARDWARE.get_device_type() == "tizi":
-    sensors_cfg.append(
-      (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
-    )
 
   # Reset sensors
   for sensor, _, _ in sensors_cfg:
diff --git a/system/sensord/sensors/__init__.py b/openpilot/system/sensord/sensors/__init__.py
similarity index 100%
rename from system/sensord/sensors/__init__.py
rename to openpilot/system/sensord/sensors/__init__.py
diff --git a/system/sensord/sensors/i2c_sensor.py b/openpilot/system/sensord/sensors/i2c_sensor.py
similarity index 98%
rename from system/sensord/sensors/i2c_sensor.py
rename to openpilot/system/sensord/sensors/i2c_sensor.py
index 57edcc52d9..e0e8087258 100644
--- a/system/sensord/sensors/i2c_sensor.py
+++ b/openpilot/system/sensord/sensors/i2c_sensor.py
@@ -2,7 +2,7 @@ import time
 import ctypes
 from collections.abc import Iterable
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.i2c import SMBus
 
 
diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/openpilot/system/sensord/sensors/lsm6ds3_accel.py
similarity index 97%
rename from system/sensord/sensors/lsm6ds3_accel.py
rename to openpilot/system/sensord/sensors/lsm6ds3_accel.py
index 43863daa93..e47db15250 100644
--- a/system/sensord/sensors/lsm6ds3_accel.py
+++ b/openpilot/system/sensord/sensors/lsm6ds3_accel.py
@@ -1,7 +1,7 @@
 import os
 import time
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 
 class LSM6DS3_Accel(Sensor):
@@ -77,13 +77,9 @@ class LSM6DS3_Accel(Sensor):
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 1
-    event.sensor = 1  # SENSOR_ACCELEROMETER
-    event.type = 1    # SENSOR_TYPE_ACCELEROMETER
     event.source = self.source
     a = event.init('acceleration')
     a.v = [y, -x, z]
-    a.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/openpilot/system/sensord/sensors/lsm6ds3_gyro.py
similarity index 96%
rename from system/sensord/sensors/lsm6ds3_gyro.py
rename to openpilot/system/sensord/sensors/lsm6ds3_gyro.py
index 60de2bbe02..a82827ccb4 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.py
+++ b/openpilot/system/sensord/sensors/lsm6ds3_gyro.py
@@ -2,7 +2,7 @@ import os
 import math
 import time
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 
 class LSM6DS3_Gyro(Sensor):
@@ -73,13 +73,9 @@ class LSM6DS3_Gyro(Sensor):
 
     event = log.SensorEventData.new_message()
     event.timestamp = ts
-    event.version = 2
-    event.sensor = 5  # SENSOR_GYRO_UNCALIBRATED
-    event.type = 16   # SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
     event.source = self.source
     g = event.init('gyroUncalibrated')
     g.v = xyz
-    g.status = 1
     return event
 
   def shutdown(self) -> None:
diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/openpilot/system/sensord/sensors/lsm6ds3_temp.py
similarity index 95%
rename from system/sensord/sensors/lsm6ds3_temp.py
rename to openpilot/system/sensord/sensors/lsm6ds3_temp.py
index b9bb9fe3da..0a5e85a2b9 100644
--- a/system/sensord/sensors/lsm6ds3_temp.py
+++ b/openpilot/system/sensord/sensors/lsm6ds3_temp.py
@@ -1,6 +1,6 @@
 import time
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 
 # https://content.arduino.cc/assets/st_imu_lsm6ds3_datasheet.pdf
@@ -23,7 +23,6 @@ class LSM6DS3_Temp(Sensor):
 
   def get_event(self, ts: int | None = None) -> log.SensorEventData:
     event = log.SensorEventData.new_message()
-    event.version = 1
     event.timestamp = int(time.monotonic() * 1e9)
     event.source = self.source
     event.temperature = self._read_temperature()
diff --git a/system/sensord/tests/__init__.py b/openpilot/system/sensord/tests/__init__.py
similarity index 100%
rename from system/sensord/tests/__init__.py
rename to openpilot/system/sensord/tests/__init__.py
diff --git a/system/sensord/tests/test_sensord.py b/openpilot/system/sensord/tests/test_sensord.py
old mode 100644
new mode 100755
similarity index 53%
rename from system/sensord/tests/test_sensord.py
rename to openpilot/system/sensord/tests/test_sensord.py
index 20214e12ff..ddbef7895b
--- a/system/sensord/tests/test_sensord.py
+++ b/openpilot/system/sensord/tests/test_sensord.py
@@ -1,61 +1,39 @@
+#!/usr/bin/env python3
+
 import os
-import pytest
+import subprocess
 import time
+import unittest
 import numpy as np
 from collections import namedtuple, defaultdict
 
-import cereal.messaging as messaging
-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 
-LSM = {
-  ('lsm6ds3', 'acceleration'),
-  ('lsm6ds3', 'gyroUncalibrated'),
-  ('lsm6ds3', 'temperature'),
-}
-LSM_C = {(x[0]+'trc', x[1]) for x in LSM}
+SensorConfig = namedtuple('SensorConfig', ['service', 'measurement', 'sanity_min', 'sanity_max', 'std_max'])
 
-MMC = {
-  ('mmc5603nj', 'magneticUncalibrated'),
-}
+SENSOR_CONFIGS = (
+  SensorConfig("accelerometer", "acceleration", 5, 15, 5),
+  SensorConfig("gyroscope", "gyroUncalibrated", 0, .3, 0.5),
+  SensorConfig("temperatureSensor", "temperature", 10, 60, 0.5), # looser for device density
+)
+SENSOR_CONFIGS_BY_MEASUREMENT = {config.measurement: config for config in SENSOR_CONFIGS}
 
-SENSOR_CONFIGURATIONS: list[set] = {
-  "mici": [LSM, LSM_C],
-  "tizi": [MMC | LSM, MMC | LSM_C],
-  "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C],
-}.get(HARDWARE.get_device_type(), [])
-
-Sensor = log.SensorEventData.SensorSource
-SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
-ALL_SENSORS = {
-  Sensor.lsm6ds3trc: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 10, 40),  # set for max range of our office
-  },
-
-  Sensor.mmc5603nj: {
-    SensorConfig("magneticUncalibrated", 0, 300),
-  }
-}
-ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc]
-
-def get_irq_count(irq: int):
+def get_irq_count(irq: str):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
     per_cpu = map(int, f.read().split(","))
     return sum(per_cpu)
 
 def read_sensor_events(duration_sec):
-  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'temperatureSensor',]
   socks = {}
   poller = messaging.Poller()
   events = defaultdict(list)
-  for stype in sensor_types:
-    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
+  for config in SENSOR_CONFIGS:
+    socks[config.service] = messaging.sub_sock(config.service, poller=poller, timeout=100)
 
   # wait for sensors to come up
   with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
@@ -70,20 +48,24 @@ def read_sensor_events(duration_sec):
     for s in socks:
       events[s] += messaging.drain_sock(socks[s])
     time.sleep(0.1)
-
   assert sum(map(len, events.values())) != 0, "No sensor events collected!"
 
   return {k: v for k, v in events.items() if len(v) > 0}
 
-@pytest.mark.tici
-class TestSensord:
+def iter_measurements(events):
+  for msgs in events.values():
+    for measurement in msgs:
+      yield measurement, getattr(measurement, measurement.which())
+
+class TestSensord(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
   @classmethod
   def setup_class(cls):
     # enable LSM self test
     os.environ["LSM_SELF_TEST"] = "1"
 
     # read initial sensor values every test case can use
-    os.system("pkill -f \\\\./sensord")
+    subprocess.run("pkill -f \\\\./sensord", shell=True)
     try:
       managed_processes["sensord"].start()
       cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))
@@ -102,31 +84,19 @@ class TestSensord:
   def teardown_method(self):
     managed_processes["sensord"].stop()
 
-  def test_sensors_present(self):
-    # verify correct sensors configuration
-    seen = set()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        seen.add((str(m.source), m.which()))
-
-    assert seen in SENSOR_CONFIGURATIONS
+  def test_all_sensors_present(self):
+    missing = [config.service for config in SENSOR_CONFIGS if config.service not in self.events]
+    assert len(missing) == 0, f"missing sensors: {missing}"
 
   def test_lsm6ds3_timing(self, subtests):
     # verify measurements are sampled and published at 104Hz
 
-    sensor_t = {
-      1: [], # accel
-      5: [], # gyro
-    }
+    sensor_t = {service: [] for service in ('accelerometer', 'gyroscope')}
 
-    for measurement in self.events['accelerometer']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
-
-    for measurement in self.events['gyroscope']:
-      m = getattr(measurement, measurement.which())
-      sensor_t[m.sensor].append(m.timestamp)
+    for service in sensor_t:
+      for measurement in self.events.get(service, []):
+        m = getattr(measurement, measurement.which())
+        sensor_t[service].append(m.timestamp)
 
     for s, vals in sensor_t.items():
       with subtests.test(sensor=s):
@@ -153,19 +123,16 @@ class TestSensord:
   def test_logmonottime_timestamp_diff(self):
     # ensure diff between the message logMonotime and sample timestamp is small
 
-    tdiffs = list()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
+    tdiffs = []
+    for measurement, m in iter_measurements(self.events):
+      # check if gyro and accel timestamps are before logMonoTime
+      if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
+        err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
+        assert m.timestamp < measurement.logMonoTime, err_msg
 
-        # check if gyro and accel timestamps are before logMonoTime
-        if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
-          err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
-          assert m.timestamp < measurement.logMonoTime, err_msg
-
-        # negative values might occur, as non interrupt packages created
-        # before the sensor is read
-        tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
+      # negative values might occur, as non interrupt packages created
+      # before the sensor is read
+      tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
 
     # some sensors have a read procedure that will introduce an expected diff on the order of 20ms
     high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs))
@@ -175,32 +142,29 @@ class TestSensord:
     assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms"
 
   def test_sensor_values(self):
-    sensor_values = dict()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-        key = (m.source.raw, m.which())
-        values = getattr(m, m.which())
+    sensor_values = defaultdict(list)
+    for _, m in iter_measurements(self.events):
+      key = (m.source.raw, m.which())
+      values = getattr(m, m.which())
 
-        if hasattr(values, 'v'):
-          values = values.v
-        values = np.atleast_1d(values)
-
-        if key in sensor_values:
-          sensor_values[key].append(values)
-        else:
-          sensor_values[key] = [values]
+      if hasattr(values, 'v'):
+        values = values.v
+      sensor_values[key].append(np.atleast_1d(values))
 
     # Sanity check sensor values
-    for sensor, stype in sensor_values:
-      for s in ALL_SENSORS[sensor]:
-        if s.type != stype:
-          continue
+    for (sensor, stype), values in sensor_values.items():
+      config = SENSOR_CONFIGS_BY_MEASUREMENT[stype]
 
-        key = (sensor, s.type)
-        mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1))
-        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}"
-        assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg
+      if config.measurement == 'temperature':
+        measurement_stat = np.mean(values)
+      else:
+        measurement_stat = np.mean(np.linalg.norm(values, axis=1))
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed sanity checks {measurement_stat} is not between {config.sanity_min} and {config.sanity_max}"
+      assert config.sanity_min <= measurement_stat <= config.sanity_max, err_msg
+
+      std_dev = np.std(values, axis=0)
+      err_msg = f"Sensor '{sensor} {config.measurement}' failed std dev test {std_dev} is not under {config.std_max}"
+      assert np.all(std_dev <= config.std_max), err_msg
 
   def test_sensor_verify_no_interrupts_after_stop(self):
     managed_processes["sensord"].start()
@@ -223,3 +187,6 @@ class TestSensord:
     state_two = get_irq_count(self.sensord_irq)
     assert state_one == state_two, "Interrupts received after sensord stop!"
 
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/sentry.py b/openpilot/system/sentry.py
similarity index 96%
rename from system/sentry.py
rename to openpilot/system/sentry.py
index a1fb604dea..dc078eb532 100644
--- a/system/sentry.py
+++ b/openpilot/system/sentry.py
@@ -8,10 +8,10 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 
 from openpilot.common.params import Params
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_build_metadata, get_version
+from openpilot.common.version import get_build_metadata, get_version
 
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
 
diff --git a/system/tests/__init__.py b/openpilot/system/tests/__init__.py
similarity index 100%
rename from system/tests/__init__.py
rename to openpilot/system/tests/__init__.py
diff --git a/system/tests/test_logmessaged.py b/openpilot/system/tests/test_logmessaged.py
similarity index 88%
rename from system/tests/test_logmessaged.py
rename to openpilot/system/tests/test_logmessaged.py
index 9ccc8ef53b..247bfd8a42 100644
--- a/system/tests/test_logmessaged.py
+++ b/openpilot/system/tests/test_logmessaged.py
@@ -2,13 +2,14 @@ import glob
 import os
 import time
 
-import cereal.messaging as messaging
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog, ipchandler
 
 
-class TestLogmessaged:
+class TestLogmessaged(OpenpilotTestCase):
   def setup_method(self):
     # clear the IPC buffer in case some other tests used cloudlog and filled it
     ipchandler.close()
@@ -52,4 +53,3 @@ class TestLogmessaged:
 
     logsize = sum([os.path.getsize(f) for f in self._get_log_files()])
     assert (n*len(msg)) < logsize < (n*(len(msg)+1024))
-
diff --git a/system/timed.py b/openpilot/system/timed.py
similarity index 83%
rename from system/timed.py
rename to openpilot/system/timed.py
index b7131b04c0..6e5200d10e 100755
--- a/system/timed.py
+++ b/openpilot/system/timed.py
@@ -4,15 +4,15 @@ import subprocess
 import time
 from typing import NoReturn
 
-import cereal.messaging as messaging
-from openpilot.common.time_helpers import min_date, system_time_valid
+import openpilot.cereal.messaging as messaging
+from openpilot.common.time_helpers import min_date, MAX_DATE, system_time_valid
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.gps import get_gps_location_service
 
 
 def set_time(new_time):
-  diff = datetime.datetime.now() - new_time
+  diff = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - new_time
   if abs(diff) < datetime.timedelta(seconds=10):
     cloudlog.debug(f"Time diff too small: {diff}")
     return
@@ -47,12 +47,12 @@ def main() -> NoReturn:
     pm.send('clocks', msg)
 
     gps = sm[gps_location_service]
-    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
+    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000., datetime.UTC).replace(tzinfo=None)
     if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
       continue
     if not gps.hasFix:
       continue
-    if gps_time < min_date():
+    if gps_time < min_date() or gps_time > MAX_DATE:
       continue
 
     set_time(gps_time)
diff --git a/system/tombstoned.py b/openpilot/system/tombstoned.py
similarity index 96%
rename from system/tombstoned.py
rename to openpilot/system/tombstoned.py
index 5bcced2666..7741a923cd 100755
--- a/system/tombstoned.py
+++ b/openpilot/system/tombstoned.py
@@ -10,9 +10,9 @@ import glob
 from typing import NoReturn
 
 import openpilot.system.sentry as sentry
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_build_metadata
+from openpilot.common.version import get_build_metadata
 
 MAX_SIZE = 1_000_000 * 100  # allow up to 100M
 MAX_TOMBSTONE_FN_LEN = 62  # 85 - 23 ("<dongle id>/crash/")
@@ -104,7 +104,7 @@ def report_tombstone_apport(fn):
 
     # Try to find first entry in openpilot, fall back to first line
     for line in stacktrace_s:
-      if "at selfdrive/" in line:
+      if "at openpilot/selfdrive/" in line or "at selfdrive/" in line:
         crash_function = line
         found = True
         break
diff --git a/system/ubloxd/binary_struct.py b/openpilot/system/ubloxd/binary_struct.py
similarity index 98%
rename from system/ubloxd/binary_struct.py
rename to openpilot/system/ubloxd/binary_struct.py
index 7b229620a2..5bc05094f3 100644
--- a/system/ubloxd/binary_struct.py
+++ b/openpilot/system/ubloxd/binary_struct.py
@@ -174,7 +174,7 @@ class BinaryStruct:
     if not is_dataclass(cls):
       dataclass(init=False)(cls)
     fields = list(getattr(cls, '__annotations__', {}).items())
-    cls.__binary_fields__ = fields  # type: ignore[attr-defined]
+    cls.__binary_fields__ = fields
 
     @classmethod
     def _read(inner_cls, reader: BinaryReader):
@@ -184,7 +184,7 @@ class BinaryStruct:
         setattr(obj, name, value)
       return obj
 
-    cls._read = _read  # type: ignore[attr-defined]
+    cls._read = _read  # ty: ignore[invalid-assignment]  # installed dynamically for each subclass
 
   @classmethod
   def from_bytes(cls: type[T], data: bytes) -> T:
diff --git a/system/ubloxd/glonass.py b/openpilot/system/ubloxd/glonass.py
similarity index 100%
rename from system/ubloxd/glonass.py
rename to openpilot/system/ubloxd/glonass.py
diff --git a/system/ubloxd/gps.py b/openpilot/system/ubloxd/gps.py
similarity index 100%
rename from system/ubloxd/gps.py
rename to openpilot/system/ubloxd/gps.py
diff --git a/system/ubloxd/pigeond.py b/openpilot/system/ubloxd/pigeond.py
similarity index 86%
rename from system/ubloxd/pigeond.py
rename to openpilot/system/ubloxd/pigeond.py
index e458a9d65f..3da9350241 100755
--- a/system/ubloxd/pigeond.py
+++ b/openpilot/system/ubloxd/pigeond.py
@@ -2,19 +2,20 @@
 import sys
 import time
 import signal
-import serial
 import struct
 import requests
 import urllib.parse
 from datetime import datetime, UTC
 
-from cereal import messaging
+from openpilot.cereal import messaging
+from openpilot.common.api import Api
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
+from openpilot.common.serial import Serial
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.common.gpio import gpio_init, gpio_set
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware.comma.pins import GPIO
 
 UBLOX_TTY = "/dev/ttyHS0"
 
@@ -41,15 +42,24 @@ def add_ubx_checksum(msg: bytes) -> bytes:
     B = (B + A) % 256
   return msg + bytes([A, B])
 
-def get_assistnow_messages(token: str) -> list[bytes]:
-  # make request
-  # TODO: implement adding the last known location
-  r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
-    'token': token,
-    'gnss': 'gps,glo',
-    'datatype': 'eph,alm,aux',
-  }, safe=':,'), timeout=5)
-  assert r.status_code == 200, "Got invalid status code"
+def get_assistnow_messages() -> list[bytes]:
+  params = Params()
+  if token := params.get('AssistNowToken'):
+    cloudlog.warning("Downloading AssistNow data directly from u-blox")
+    # TODO: implement adding the last known location
+    r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
+      'token': token,
+      'gnss': 'gps,glo',
+      'datatype': 'eph,alm,aux',
+    }, safe=':,'), timeout=5)
+  elif dongle_id := params.get('DongleId'):
+    cloudlog.warning("Downloading AssistNow data from comma's AGPS proxy")
+    api = Api(dongle_id)
+    r = api.get(f"v1/{dongle_id}/assist", access_token=api.get_token(), timeout=5)
+  else:
+    raise RuntimeError("Neither AssistNowToken nor DongleId is configured")
+
+  r.raise_for_status()
   dat = r.content
 
   # split up messages
@@ -64,7 +74,7 @@ def get_assistnow_messages(token: str) -> list[bytes]:
 
 class TTYPigeon:
   def __init__(self):
-    self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0)
+    self.tty = Serial(UBLOX_TTY, baudrate=9600, timeout=0)
 
   def send(self, dat: bytes) -> None:
     self.tty.write(dat)
@@ -230,15 +240,13 @@ def init_pigeon(pigeon: TTYPigeon) -> bool:
         ))
         pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
 
-      # try getting AssistNow if we have a token
-      token = Params().get('AssistNowToken')
-      if token is not None:
-        try:
-          for msg in get_assistnow_messages(token):
-            pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
-          cloudlog.warning("AssistNow messages sent")
-        except Exception:
-          cloudlog.warning("failed to get AssistNow messages")
+      # A configured u-blox token takes precedence over comma's AGPS proxy.
+      try:
+        for msg in get_assistnow_messages():
+          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
+        cloudlog.warning("AssistNow messages sent")
+      except Exception:
+        cloudlog.warning("failed to get AssistNow messages")
 
       cloudlog.warning("Pigeon GPS on!")
       break
@@ -302,7 +310,7 @@ def run_receiving(duration: int = 0):
 
 
 def main():
-  assert TICI, "unsupported hardware for pigeond"
+  assert COMMA_HARDWARE, "unsupported hardware for pigeond"
   run_receiving()
 
 if __name__ == "__main__":
diff --git a/system/ubloxd/tests/test_pigeond.py b/openpilot/system/ubloxd/tests/test_pigeond.py
similarity index 83%
rename from system/ubloxd/tests/test_pigeond.py
rename to openpilot/system/ubloxd/tests/test_pigeond.py
index 202820e412..0d2f5b00e7 100644
--- a/system/ubloxd/tests/test_pigeond.py
+++ b/openpilot/system/ubloxd/tests/test_pigeond.py
@@ -1,17 +1,17 @@
-import pytest
 import time
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+from openpilot.common.test import OpenpilotTestCase
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware.comma.pins import GPIO
 
 
 # TODO: test TTFF when we have good A-GNSS
-@pytest.mark.tici
-class TestPigeond:
+class TestPigeond(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   def teardown_method(self):
     managed_processes['pigeond'].stop()
diff --git a/system/ubloxd/ubloxd.py b/openpilot/system/ubloxd/ubloxd.py
similarity index 99%
rename from system/ubloxd/ubloxd.py
rename to openpilot/system/ubloxd/ubloxd.py
index e55cadcf78..3b32f70657 100755
--- a/system/ubloxd/ubloxd.py
+++ b/openpilot/system/ubloxd/ubloxd.py
@@ -6,8 +6,8 @@ import numpy as np
 from collections import defaultdict
 from dataclasses import dataclass
 
-from cereal import log
-from cereal import messaging
+from openpilot.cereal import log
+from openpilot.cereal import messaging
 from openpilot.system.ubloxd.ubx import Ubx
 from openpilot.system.ubloxd.gps import Gps
 from openpilot.system.ubloxd.glonass import Glonass
@@ -365,7 +365,7 @@ class UbloxMsgParser:
     assert isinstance(s1, Glonass.String1)
     eph.p1 = int(s1.p1)
     tk = int(s1.t_k)
-    eph.tkDEPRECATED = tk
+    eph.deprecated.tk = tk
     eph.xVel = float(s1.x_vel) * math.pow(2, -20)
     eph.xAccel = float(s1.x_accel) * math.pow(2, -30)
     eph.x = float(s1.x) * math.pow(2, -11)
diff --git a/system/ubloxd/ubx.py b/openpilot/system/ubloxd/ubx.py
similarity index 100%
rename from system/ubloxd/ubx.py
rename to openpilot/system/ubloxd/ubx.py
diff --git a/system/ui/README.md b/openpilot/system/ui/README.md
similarity index 91%
rename from system/ui/README.md
rename to openpilot/system/ui/README.md
index 54697dada8..7c9713b39e 100644
--- a/system/ui/README.md
+++ b/openpilot/system/ui/README.md
@@ -16,6 +16,6 @@ Quick start:
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
 
 Style guide:
-* All graphical elements should subclass [`Widget`](/system/ui/widgets/__init__.py).
+* All graphical elements should subclass [`Widget`](/openpilot/system/ui/widgets/__init__.py).
   * Prefer a stateful widget over a function for easy migration from QT
 * All internal class variables and functions should be prefixed with `_`
diff --git a/system/ui/lib/__init__.py b/openpilot/system/ui/lib/__init__.py
similarity index 100%
rename from system/ui/lib/__init__.py
rename to openpilot/system/ui/lib/__init__.py
diff --git a/system/ui/lib/application.py b/openpilot/system/ui/lib/application.py
similarity index 73%
rename from system/ui/lib/application.py
rename to openpilot/system/ui/lib/application.py
index 9e902508b8..0db4878d94 100644
--- a/system/ui/lib/application.py
+++ b/openpilot/system/ui/lib/application.py
@@ -1,5 +1,6 @@
 import atexit
 import cffi
+import math
 import os
 import queue
 import time
@@ -12,14 +13,13 @@ import subprocess
 from contextlib import contextmanager
 from collections.abc import Callable
 from collections import deque
-from dataclasses import dataclass
 from enum import StrEnum
 from pathlib import Path
 from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.ui.lib.multilang import multilang
+from openpilot.common.hardware import HARDWARE, PC
+from openpilot.system.ui.lib.multilang import FONT_FALLBACK_LANGUAGES, TRANSLATIONS_DIR, multilang
 from openpilot.common.realtime import Ratekeeper
 
 from openpilot.system.ui.sunnypilot.lib.application import GuiApplicationExt
@@ -43,7 +43,8 @@ PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
 PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100"))  # Number of functions to show in profile output
 RECORD = os.getenv("RECORD") == "1"
 RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4"))
-RECORD_BITRATE = os.getenv("RECORD_BITRATE", "")  # Target bitrate e.g. "2000k"
+RECORD_QUALITY = int(os.getenv("RECORD_QUALITY", "23"))  # Dynamic bitrate quality level (CRF); 0 is lossless (bigger size), max is 51, default is 23 for x264
+RECORD_BITRATE = os.getenv("RECORD_BITRATE", "")  # Target bitrate e.g. "2000k" (overrides RECORD_QUALITY when set)
 RECORD_SPEED = int(os.getenv("RECORD_SPEED", "1"))  # Speed multiplier
 OFFSCREEN = os.getenv("OFFSCREEN") == "1"  # Disable FPS limiting for fast offline rendering
 
@@ -93,36 +94,37 @@ FONT_SCALE = 1.242 if BIG_UI else 1.16
 
 ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets")
 FONT_DIR = ASSETS_DIR.joinpath("fonts")
+EXTRA_FONT_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥"
+NOTO_FONTS = {
+  "ja": "NotoSansCJKjp-Regular.otf",
+  "ko": "NotoSansCJKkr-Regular.otf",
+  "th": "NotoSansThai-Regular.ttf",
+  "zh-CHS": "NotoSansCJKsc-Regular.otf",
+  "zh-CHT": "NotoSansCJKtc-Regular.otf",
+}
 
 
 class FontWeight(StrEnum):
-  LIGHT = "Inter-Light.fnt"
-  NORMAL = "Inter-Regular.fnt" if BIG_UI else "Inter-Medium.fnt"
-  MEDIUM = "Inter-Medium.fnt"
-  BOLD = "Inter-Bold.fnt"
-  SEMI_BOLD = "Inter-SemiBold.fnt"
-  UNIFONT = "unifont.fnt"
-  AUDIOWIDE = "Audiowide-Regular.fnt"
+  NORMAL = "Inter-Regular.ttf" if BIG_UI else "Inter-Medium.ttf"
+  MEDIUM = "Inter-Medium.ttf"
+  BOLD = "Inter-Bold.ttf"
+  SEMI_BOLD = "Inter-SemiBold.ttf"
+  UNIFONT = "unifont.otf"
+  AUDIOWIDE = "Audiowide-Regular.ttf"
 
   # Small UI fonts
-  DISPLAY_REGULAR = "Inter-Regular.fnt"
-  ROMAN = "Inter-Regular.fnt"
-  DISPLAY = "Inter-Bold.fnt"
+  DISPLAY_REGULAR = "Inter-Regular.ttf"
+  ROMAN = "Inter-Regular.ttf"
+  DISPLAY = "Inter-Bold.ttf"
 
 
 def font_fallback(font: rl.Font) -> rl.Font:
-  """Fall back to unifont for languages that require it."""
-  if multilang.requires_unifont():
-    return gui_app.font(FontWeight.UNIFONT)
+  """Use a Noto fallback for languages not covered by Inter."""
+  if multilang.requires_font_fallback():
+    return gui_app.fallback_font()
   return font
 
 
-@dataclass
-class ModalOverlay:
-  overlay: object = None
-  callback: Callable | None = None
-
-
 class MousePos(NamedTuple):
   x: float
   y: float
@@ -178,6 +180,10 @@ class MouseState:
       self._rk.keep_time()
 
   def _handle_mouse_event(self):
+    # TODO: read touch events from evdev directly to get real kernel timestamps.
+    #  Polling at 140Hz with time.monotonic() causes timing jitter that makes scroll
+    #  velocity oscillate (alternating high/low). Real timestamps would also let us
+    #  detect swipe-stop-lift via event gaps instead of the fragile decel heuristic.
     for slot in range(MAX_TOUCH_SLOTS):
       mouse_pos = rl.get_touch_position(slot)
       x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
@@ -203,6 +209,7 @@ class GuiApplication(GuiApplicationExt):
     self._set_log_callback()
 
     self._fonts: dict[FontWeight, rl.Font] = {}
+    self._fallback_fonts: dict[str, rl.Font] = {}
     self._width = width if width is not None else GuiApplication._default_width()
     self._height = height if height is not None else GuiApplication._default_height()
 
@@ -228,9 +235,9 @@ class GuiApplication(GuiApplicationExt):
     self._last_fps_log_time: float = time.monotonic()
     self._frame = 0
     self._window_close_requested = False
-    self._modal_overlay = ModalOverlay()
-    self._modal_overlay_shown = False
-    self._modal_overlay_tick: Callable[[], None] | None = None
+    self._nav_stack: list[object] = []
+    self._nav_stack_ticks: list[Callable[[], None]] = []
+    self._nav_stack_widgets_to_render = 1 if self.big_ui() else 2
 
     self._mouse = MouseState(self._scale)
     self._mouse_events: list[MouseEvent] = []
@@ -259,6 +266,10 @@ class GuiApplication(GuiApplicationExt):
   def set_show_fps(self, show: bool):
     self._show_fps = show
 
+  @property
+  def show_touches(self) -> bool:
+    return self._show_touches
+
   @property
   def target_fps(self):
     return self._target_fps
@@ -285,7 +296,7 @@ class GuiApplication(GuiApplicationExt):
       if self._scale != 1.0:
         rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
       if needs_render_texture:
-        self._render_texture = rl.load_render_texture(self._width, self._height)
+        self._render_texture = rl.load_render_texture(self._scaled_width, self._scaled_height)
         rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
 
       if RECORD:
@@ -296,15 +307,17 @@ class GuiApplication(GuiApplicationExt):
           '-nostats',               # Suppress encoding progress
           '-f', 'rawvideo',         # Input format
           '-pix_fmt', 'rgba',       # Input pixel format
-          '-s', f'{self._width}x{self._height}',  # Input resolution
+          '-s', f'{self._scaled_width}x{self._scaled_height}',  # Input resolution
           '-r', str(fps),           # Input frame rate
           '-i', 'pipe:0',           # Input from stdin
           '-vf', 'vflip,format=yuv420p',  # Flip vertically and convert to yuv420p
           '-r', str(output_fps),    # Output frame rate (for speed multiplier)
           '-c:v', 'libx264',
-          '-preset', 'ultrafast',
+          '-preset', 'veryfast',
+          '-crf', str(RECORD_QUALITY)
         ]
         if RECORD_BITRATE:
+          # NOTE: custom bitrate overrides crf setting
           ffmpeg_args += ['-b:v', RECORD_BITRATE, '-maxrate', RECORD_BITRATE, '-bufsize', RECORD_BITRATE]
         ffmpeg_args += [
           '-y',                     # Overwrite existing file
@@ -317,13 +330,15 @@ class GuiApplication(GuiApplicationExt):
         self._ffmpeg_thread = threading.Thread(target=self._ffmpeg_writer_thread, daemon=True)
         self._ffmpeg_thread.start()
 
-      # OFFSCREEN disables FPS limiting for fast offline rendering (e.g. clips)
-      rl.set_target_fps(0 if OFFSCREEN else fps)
+      # four display runs slightly faster than 60 FPS, let it dictate rate so we don't drift and drop frames
+      vblank_control = HARDWARE.get_device_type() == 'mici'
+      rl.set_target_fps(0 if OFFSCREEN or vblank_control else fps)
 
       self._target_fps = fps
       self._set_styles()
       self._load_fonts()
       self._patch_text_functions()
+      self._patch_scissor_mode()
       if BURN_IN_MODE and self._burn_in_shader is None:
         self._burn_in_shader = rl.load_shader_from_memory(BURN_IN_VERTEX_SHADER, BURN_IN_FRAGMENT_SHADER)
 
@@ -375,42 +390,117 @@ class GuiApplication(GuiApplicationExt):
       except Exception:
         break
 
-  def set_modal_overlay(self, overlay, callback: Callable | None = None):
-    if self._modal_overlay.overlay is not None:
-      if hasattr(self._modal_overlay.overlay, 'hide_event'):
-        self._modal_overlay.overlay.hide_event()
+  def push_widget(self, widget: object):
+    if widget in self._nav_stack:
+      cloudlog.warning("Widget already in stack, cannot push again!")
+      return
 
-      if self._modal_overlay.callback is not None:
-        self._modal_overlay.callback(-1)
+    # disable previous widget to prevent input processing
+    if len(self._nav_stack) > 0:
+      prev_widget = self._nav_stack[-1]
+      # TODO: change these to touch_valid
+      prev_widget.set_enabled(False)
 
-    self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback)
+    self._nav_stack.append(widget)
+    widget.show_event()
+    widget.set_enabled(True)
 
-  def set_modal_overlay_tick(self, tick_function: Callable | None):
-    self._modal_overlay_tick = tick_function
+  def pop_widget(self, idx: int | None = None):
+    # Pops widget instantly without animation
+    if len(self._nav_stack) < 2:
+      cloudlog.warning("At least one widget should remain on the stack, ignoring pop!")
+      return
+
+    idx_to_pop = len(self._nav_stack) - 1 if idx is None else idx
+    if idx_to_pop <= 0 or idx_to_pop >= len(self._nav_stack):
+      cloudlog.warning(f"Invalid index {idx_to_pop} to pop, ignoring!")
+      return
+
+    # only re-enable previous widget if popping top widget
+    if idx_to_pop == len(self._nav_stack) - 1:
+      prev_widget = self._nav_stack[idx_to_pop - 1]
+      prev_widget.set_enabled(True)
+
+    widget = self._nav_stack.pop(idx_to_pop)
+    widget.hide_event()
+
+  def pop_widgets_to(self, widget: object, callback: Callable[[], None] | None = None, instant: bool = False):
+    # Pops middle widgets instantly without animation then dismisses top, animated out if NavWidget
+    if widget not in self._nav_stack:
+      cloudlog.warning("Widget not in stack, cannot pop to it!")
+      return
+
+    # Nothing to pop, ensure we still run callback
+    top_widget = self._nav_stack[-1]
+    if top_widget == widget:
+      if callback:
+        callback()
+      return
+
+    # instantly pop widgets in between, then dismiss top widget for animation
+    while len(self._nav_stack) > 1 and self._nav_stack[-2] != widget:
+      self.pop_widget(len(self._nav_stack) - 2)
+
+    if not instant:
+      top_widget.dismiss(callback)
+    else:
+      self.pop_widget()
+
+  def get_active_widget(self):
+    if len(self._nav_stack) > 0:
+      return self._nav_stack[-1]
+    return None
+
+  def widget_in_stack(self, widget: object) -> bool:
+    return widget in self._nav_stack
+
+  def add_nav_stack_tick(self, tick_function: Callable[[], None]):
+    if tick_function not in self._nav_stack_ticks:
+      self._nav_stack_ticks.append(tick_function)
+
+  def remove_nav_stack_tick(self, tick_function: Callable[[], None]):
+    if tick_function in self._nav_stack_ticks:
+      self._nav_stack_ticks.remove(tick_function)
 
   def set_should_render(self, should_render: bool):
     self._should_render = should_render
 
   def texture(self, asset_path: str, width: int | None = None, height: int | None = None,
-              alpha_premultiply=False, keep_aspect_ratio=True):
-    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
+              alpha_premultiply=False, keep_aspect_ratio=True, flip_x: bool = False) -> rl.Texture:
+    if width is not None:
+      width = round(width)
+    if height is not None:
+      height = round(height)
+
+    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}_{keep_aspect_ratio}_{flip_x}"
     if cache_key in self._textures:
       return self._textures[cache_key]
 
     with as_file(ASSETS_DIR.joinpath(asset_path)) as fspath:
-      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
+      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio, flip_x)
       texture_obj = self._load_texture_from_image(image_obj)
+
+    # Set logical size so widget layout math stays at 1x coordinates
+    if self._scale != 1.0 and width is not None and height is not None:
+      texture_obj.width = width
+      texture_obj.height = height
+
     self._textures[cache_key] = texture_obj
     return texture_obj
 
   def _load_image_from_path(self, image_path: str, width: int | None = None, height: int | None = None,
-                            alpha_premultiply: bool = False, keep_aspect_ratio: bool = True) -> rl.Image:
+                            alpha_premultiply: bool = False, keep_aspect_ratio: bool = True, flip_x: bool = False) -> rl.Image:
     """Load and resize an image, storing it for later automatic unloading."""
     image = rl.load_image(image_path)
 
     if alpha_premultiply:
       rl.image_alpha_premultiply(image)
 
+    # Scale up load size for sharper rendering, capped at source resolution
+    if self._scale != 1.0 and width is not None and height is not None:
+      width = min(int(width * self._scale), image.width)
+      height = min(int(height * self._scale), image.height)
+
     if width is not None and height is not None:
       same_dimensions = image.width == width and image.height == height
 
@@ -433,6 +523,10 @@ class GuiApplication(GuiApplicationExt):
           rl.image_resize(image, width, height)
     else:
       assert keep_aspect_ratio, "Cannot resize without specifying width and height"
+
+    if flip_x:
+      rl.image_flip_horizontal(image)
+
     return image
 
   def _load_texture_from_image(self, image: rl.Image) -> rl.Texture:
@@ -473,6 +567,9 @@ class GuiApplication(GuiApplicationExt):
     for font in self._fonts.values():
       rl.unload_font(font)
     self._fonts = {}
+    for font in self._fallback_fonts.values():
+      rl.unload_font(font)
+    self._fallback_fonts = {}
 
     if self._render_texture is not None:
       rl.unload_render_texture(self._render_texture)
@@ -506,6 +603,8 @@ class GuiApplication(GuiApplicationExt):
         self._render_profiler.enable()
 
       while not (self._window_close_requested or rl.window_should_close()):
+        frame_start = time.monotonic()
+
         if PC:
           # Thread is not used on PC, need to manually add mouse events
           self._mouse._handle_mouse_event()
@@ -520,7 +619,7 @@ class GuiApplication(GuiApplicationExt):
           if PC:
             rl.poll_input_events()
           time.sleep(1 / self._target_fps)
-          yield False
+          yield False, 0.0, 0.0
           continue
 
         if self._render_texture:
@@ -530,20 +629,30 @@ class GuiApplication(GuiApplicationExt):
           rl.begin_drawing()
           rl.clear_background(rl.BLACK)
 
-        # Handle modal overlay rendering and input processing
-        if self._handle_modal_overlay():
-          # Allow a Widget to still run a function while overlay is shown
-          if self._modal_overlay_tick is not None:
-            self._modal_overlay_tick()
-          yield False
-        else:
-          yield True
+        if self._scale != 1.0:
+          rl.rl_push_matrix()
+          rl.rl_scalef(self._scale, self._scale, 1.0)
+
+        # Allow a Widget to still run a function regardless of the stack depth
+        for tick in self._nav_stack_ticks:
+          tick()
+
+        # Only render top widgets
+        for widget in self._nav_stack[-self._nav_stack_widgets_to_render:]:
+          widget.render(rl.Rectangle(0, 0, self.width, self.height))
+
+        frame_time = rl.get_frame_time()
+        cpu_time = time.monotonic() - frame_start
+        yield True, frame_time, cpu_time
+
+        if self._scale != 1.0:
+          rl.rl_pop_matrix()
 
         if self._render_texture:
           rl.end_texture_mode()
           rl.begin_drawing()
           rl.clear_background(rl.BLACK)
-          src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height))
+          src_rect = rl.Rectangle(0, 0, float(self._scaled_width), -float(self._scaled_height))
           dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height))
           texture = self._render_texture.texture
           if texture:
@@ -586,6 +695,21 @@ class GuiApplication(GuiApplicationExt):
   def font(self, font_weight: FontWeight = FontWeight.NORMAL) -> rl.Font:
     return self._fonts[font_weight]
 
+  def fallback_font(self) -> rl.Font:
+    language = multilang.language
+    if language not in self._fallback_fonts:
+      chars = set(map(chr, range(32, 127))) | set(EXTRA_FONT_CHARS)
+      chars.update(TRANSLATIONS_DIR.joinpath(f"app_{language}.po").read_text(encoding="utf-8"))
+      codepoints = sorted(map(ord, chars))
+      codepoint_buffer = rl.ffi.new("int[]", codepoints)
+      with as_file(FONT_DIR) as fspath:
+        font = rl.load_font_ex((fspath / NOTO_FONTS[language]).as_posix(), 48,
+                               rl.ffi.cast("int *", codepoint_buffer), len(codepoints))
+      rl.gen_texture_mipmaps(font.texture)
+      rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_TRILINEAR)
+      self._fallback_fonts[language] = font
+    return self._fallback_fonts[language]
+
   @property
   def width(self):
     return self._width
@@ -594,41 +718,27 @@ class GuiApplication(GuiApplicationExt):
   def height(self):
     return self._height
 
-  def _handle_modal_overlay(self) -> bool:
-    if self._modal_overlay.overlay:
-      if hasattr(self._modal_overlay.overlay, 'render'):
-        result = self._modal_overlay.overlay.render(rl.Rectangle(0, 0, self.width, self.height))
-      elif callable(self._modal_overlay.overlay):
-        result = self._modal_overlay.overlay()
-      else:
-        raise Exception
-
-      # Send show event to Widget
-      if not self._modal_overlay_shown and hasattr(self._modal_overlay.overlay, 'show_event'):
-        self._modal_overlay.overlay.show_event()
-        self._modal_overlay_shown = True
-
-      if result >= 0:
-        # Clear the overlay and execute the callback
-        original_modal = self._modal_overlay
-        self._modal_overlay = ModalOverlay()
-        if hasattr(original_modal.overlay, 'hide_event'):
-          original_modal.overlay.hide_event()
-        if original_modal.callback is not None:
-          original_modal.callback(result)
-      return True
-    else:
-      self._modal_overlay_shown = False
-      return False
-
   def _load_fonts(self):
+    base_chars = set(map(chr, range(32, 127))) | set(EXTRA_FONT_CHARS)
+    unifont_chars = set(base_chars)
+    for language, code in multilang.languages.items():
+      unifont_chars.update(language)
+      if code not in FONT_FALLBACK_LANGUAGES:
+        base_chars.update(TRANSLATIONS_DIR.joinpath(f"app_{code}.po").read_text(encoding="utf-8"))
+
     for font_weight_file in FontWeight:
       with as_file(FONT_DIR) as fspath:
-        fnt_path = fspath / font_weight_file
-        font = rl.load_font(fnt_path.as_posix())
+        unifont = font_weight_file == FontWeight.UNIFONT
+        codepoints = sorted(map(ord, unifont_chars if unifont else base_chars))
+        codepoint_buffer = rl.ffi.new("int[]", codepoints)
+        font = rl.load_font_ex((fspath / font_weight_file).as_posix(), 16 if unifont else 200,
+                               rl.ffi.cast("int *", codepoint_buffer), len(codepoints))
         if font_weight_file != FontWeight.UNIFONT:
-          rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+          rl.gen_texture_mipmaps(font.texture)
+          rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_TRILINEAR)
         self._fonts[font_weight_file] = font
+    if multilang.requires_font_fallback():
+      self.fallback_font()
     rl.gui_set_font(self._fonts[FontWeight.NORMAL])
 
   def _set_styles(self):
@@ -649,6 +759,20 @@ class GuiApplication(GuiApplicationExt):
 
     rl.draw_text_ex = _draw_text_ex_scaled
 
+  def _patch_scissor_mode(self):
+    if self._scale == 1.0:
+      return
+
+    if not hasattr(rl, "_orig_begin_scissor_mode"):
+      rl._orig_begin_scissor_mode = rl.begin_scissor_mode
+
+    def _begin_scissor_mode_scaled(x, y, width, height):
+      return rl._orig_begin_scissor_mode(
+        int(x * self._scale), int(y * self._scale),
+        int(math.ceil(width * self._scale)), int(math.ceil(height * self._scale)))
+
+    rl.begin_scissor_mode = _begin_scissor_mode_scaled
+
   def _set_log_callback(self):
     ffi_libc = cffi.FFI()
     ffi_libc.cdef("""
@@ -746,6 +870,7 @@ class GuiApplication(GuiApplicationExt):
     import pstats
 
     self._render_profiler.disable()
+    assert self._render_profile_start_time is not None
     elapsed_ms = (time.monotonic() - self._render_profile_start_time) * 1e3
     avg_frame_time = elapsed_ms / self._frame if self._frame > 0 else 0
 
diff --git a/system/ui/lib/egl.py b/openpilot/system/ui/lib/egl.py
similarity index 100%
rename from system/ui/lib/egl.py
rename to openpilot/system/ui/lib/egl.py
diff --git a/openpilot/system/ui/lib/multilang.py b/openpilot/system/ui/lib/multilang.py
new file mode 100644
index 0000000000..85e2621275
--- /dev/null
+++ b/openpilot/system/ui/lib/multilang.py
@@ -0,0 +1,217 @@
+from importlib.resources import files
+import json
+import os
+import re
+from typing import TYPE_CHECKING
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.swaglog import cloudlog
+
+if TYPE_CHECKING:
+  from openpilot.common.params import Params
+else:
+  try:
+    from openpilot.common.params import Params
+  except (ImportError, OSError):
+    Params = None
+
+SYSTEM_UI_DIR = os.path.join(BASEDIR, "openpilot/system", "ui")
+UI_DIR = files("openpilot.selfdrive.ui")
+TRANSLATIONS_DIR = UI_DIR.joinpath("translations")
+LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json")
+
+FONT_FALLBACK_LANGUAGES = [
+  "th",
+  "zh-CHT",
+  "zh-CHS",
+  "ko",
+  "ja",
+]
+
+# Plural form selectors for supported languages
+PLURAL_SELECTORS = {
+  'en': lambda n: 0 if n == 1 else 1,
+  'de': lambda n: 0 if n == 1 else 1,
+  'fr': lambda n: 0 if n <= 1 else 1,
+  'pt-BR': lambda n: 0 if n <= 1 else 1,
+  'es': lambda n: 0 if n == 1 else 1,
+  'tr': lambda n: 0 if n == 1 else 1,
+  'uk': lambda n: 0 if n % 10 == 1 and n % 100 != 11 else (1 if 2 <= n % 10 <= 4 and not 12 <= n % 100 <= 14 else 2),
+  'th': lambda n: 0,
+  'zh-CHT': lambda n: 0,
+  'zh-CHS': lambda n: 0,
+  'ko': lambda n: 0,
+  'ja': lambda n: 0,
+}
+
+
+def _parse_quoted(s: str) -> str:
+  """Parse a PO-format quoted string."""
+  s = s.strip()
+  if not (s.startswith('"') and s.endswith('"')):
+    raise ValueError(f"Expected quoted string: {s!r}")
+  s = s[1:-1]
+  result: list[str] = []
+  i = 0
+  while i < len(s):
+    if s[i] == '\\' and i + 1 < len(s):
+      c = s[i + 1]
+      if c == 'n':
+        result.append('\n')
+      elif c == 't':
+        result.append('\t')
+      elif c == '"':
+        result.append('"')
+      elif c == '\\':
+        result.append('\\')
+      else:
+        result.append(s[i:i + 2])
+      i += 2
+    else:
+      result.append(s[i])
+      i += 1
+  return ''.join(result)
+
+
+def load_translations(path) -> tuple[dict[str, str], dict[str, list[str]]]:
+  """Parse a .po file and return (translations, plurals) dicts.
+
+  translations: msgid -> msgstr
+  plurals: msgid -> [msgstr[0], msgstr[1], ...]
+  """
+  with path.open(encoding='utf-8') as f:
+    lines = f.readlines()
+
+  translations: dict[str, str] = {}
+  plurals: dict[str, list[str]] = {}
+
+  # Parser state
+  msgid = msgid_plural = msgstr = ""
+  msgstr_plurals: dict[int, str] = {}
+  field: str | None = None
+  plural_idx = 0
+
+  def finish():
+    nonlocal msgid, msgid_plural, msgstr, msgstr_plurals, field
+    if msgid:  # skip header (empty msgid)
+      if msgid_plural:
+        max_idx = max(msgstr_plurals.keys()) if msgstr_plurals else 0
+        plurals[msgid] = [msgstr_plurals.get(i, '') for i in range(max_idx + 1)]
+      else:
+        if msgstr:
+          translations[msgid] = msgstr
+    msgid = msgid_plural = msgstr = ""
+    msgstr_plurals = {}
+    field = None
+
+  for raw in lines:
+    line = raw.strip()
+
+    if not line:
+      finish()
+      continue
+
+    if line.startswith('#'):
+      continue
+
+    if line.startswith('msgid_plural '):
+      msgid_plural = _parse_quoted(line[len('msgid_plural '):])
+      field = 'msgid_plural'
+      continue
+
+    if line.startswith('msgid '):
+      msgid = _parse_quoted(line[len('msgid '):])
+      field = 'msgid'
+      continue
+
+    m = re.match(r'msgstr\[(\d+)]\s+(.*)', line)
+    if m:
+      plural_idx = int(m.group(1))
+      msgstr_plurals[plural_idx] = _parse_quoted(m.group(2))
+      field = 'msgstr_plural'
+      continue
+
+    if line.startswith('msgstr '):
+      msgstr = _parse_quoted(line[len('msgstr '):])
+      field = 'msgstr'
+      continue
+
+    if line.startswith('"'):
+      val = _parse_quoted(line)
+      if field == 'msgid':
+        msgid += val
+      elif field == 'msgid_plural':
+        msgid_plural += val
+      elif field == 'msgstr':
+        msgstr += val
+      elif field == 'msgstr_plural':
+        msgstr_plurals[plural_idx] += val
+
+  finish()
+  return translations, plurals
+
+
+class Multilang:
+  def __init__(self):
+    self._params = Params() if Params is not None else None
+    self._language: str = "en"
+    self.languages: dict[str, str] = {}
+    self.codes: dict[str, str] = {}
+    self._translations: dict[str, str] = {}
+    self._plurals: dict[str, list[str]] = {}
+    self._plural_selector = PLURAL_SELECTORS.get('en', lambda n: 0)
+    self._load_languages()
+
+  @property
+  def language(self) -> str:
+    return self._language
+
+  def requires_font_fallback(self) -> bool:
+    return self._language in FONT_FALLBACK_LANGUAGES
+
+  def setup(self):
+    try:
+      po_path = TRANSLATIONS_DIR.joinpath(f'app_{self._language}.po')
+      self._translations, self._plurals = load_translations(po_path)
+      self._plural_selector = PLURAL_SELECTORS.get(self._language, lambda n: 0)
+      cloudlog.debug(f"Loaded translations for language: {self._language}")
+    except FileNotFoundError:
+      cloudlog.error(f"No translation file found for language: {self._language}, using default.")
+      self._translations = {}
+      self._plurals = {}
+
+  def change_language(self, language_code: str) -> None:
+    self._params.put("LanguageSetting", language_code, block=True)
+    self._language = language_code
+    self.setup()
+
+  def tr(self, text: str) -> str:
+    return self._translations.get(text, text) or text
+
+  def trn(self, singular: str, plural: str, n: int) -> str:
+    if singular in self._plurals:
+      idx = self._plural_selector(n)
+      forms = self._plurals[singular]
+      if idx < len(forms) and forms[idx]:
+        return forms[idx]
+    return singular if n == 1 else plural
+
+  def _load_languages(self):
+    with LANGUAGES_FILE.open(encoding='utf-8') as f:
+      self.languages = json.load(f)
+    self.codes = {v: k for k, v in self.languages.items()}
+
+    if self._params is not None:
+      lang = str(self._params.get("LanguageSetting")).removeprefix("main_")
+      if lang in self.codes:
+        self._language = lang
+
+
+multilang = Multilang()
+multilang.setup()
+
+tr, trn = multilang.tr, multilang.trn
+
+
+# no-op marker for static strings translated later
+def tr_noop(s: str) -> str:
+  return s
diff --git a/system/ui/lib/networkmanager.py b/openpilot/system/ui/lib/networkmanager.py
similarity index 74%
rename from system/ui/lib/networkmanager.py
rename to openpilot/system/ui/lib/networkmanager.py
index ffa2ff4db9..d2d6b30b10 100644
--- a/system/ui/lib/networkmanager.py
+++ b/openpilot/system/ui/lib/networkmanager.py
@@ -3,14 +3,34 @@ from enum import IntEnum
 
 # NetworkManager device states
 class NMDeviceState(IntEnum):
+  # https://networkmanager.dev/docs/api/1.46/nm-dbus-types.html#NMDeviceState
   UNKNOWN = 0
+  UNMANAGED = 10
+  UNAVAILABLE = 20
   DISCONNECTED = 30
   PREPARE = 40
-  STATE_CONFIG = 50
+  CONFIG = 50
   NEED_AUTH = 60
   IP_CONFIG = 70
+  IP_CHECK = 80
+  SECONDARIES = 90
   ACTIVATED = 100
   DEACTIVATING = 110
+  FAILED = 120
+
+
+class NMDeviceStateReason(IntEnum):
+  # https://networkmanager.dev/docs/api/1.46/nm-dbus-types.html#NMDeviceStateReason
+  NONE = 0
+  UNKNOWN = 1
+  IP_CONFIG_UNAVAILABLE = 5
+  NO_SECRETS = 7
+  SUPPLICANT_DISCONNECT = 8
+  SUPPLICANT_TIMEOUT = 11
+  CONNECTION_REMOVED = 38
+  USER_REQUESTED = 39
+  SSID_NOT_FOUND = 53
+  NEW_ACTIVATION = 60
 
 
 # NetworkManager constants
@@ -29,8 +49,6 @@ NM_IP4_CONFIG_IFACE = 'org.freedesktop.NetworkManager.IP4Config'
 
 NM_DEVICE_TYPE_WIFI = 2
 NM_DEVICE_TYPE_MODEM = 8
-NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8
-NM_DEVICE_STATE_REASON_NEW_ACTIVATION = 60
 
 # https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags
 NM_802_11_AP_FLAGS_NONE = 0x0
diff --git a/system/ui/lib/scroll_panel.py b/openpilot/system/ui/lib/scroll_panel.py
similarity index 100%
rename from system/ui/lib/scroll_panel.py
rename to openpilot/system/ui/lib/scroll_panel.py
diff --git a/system/ui/lib/scroll_panel2.py b/openpilot/system/ui/lib/scroll_panel2.py
similarity index 76%
rename from system/ui/lib/scroll_panel2.py
rename to openpilot/system/ui/lib/scroll_panel2.py
index e2a548ba26..19faaa542d 100644
--- a/system/ui/lib/scroll_panel2.py
+++ b/openpilot/system/ui/lib/scroll_panel2.py
@@ -5,7 +5,7 @@ from collections.abc import Callable
 from enum import Enum
 from typing import cast
 from openpilot.system.ui.lib.application import gui_app, MouseEvent
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from collections import deque
 
 MIN_VELOCITY = 10  # px/s, changes from auto scroll to steady state
@@ -14,12 +14,28 @@ MIN_DRAG_PIXELS = 12
 AUTO_SCROLL_TC_SNAP = 0.025
 AUTO_SCROLL_TC = 0.18
 BOUNCE_RETURN_RATE = 10.0
+SNAP_RATE = 6.3  # matches previous Scroller snapping. exp rate of approach to snap target, 1/s
 REJECT_DECELERATION_FACTOR = 3
 MAX_SPEED = 10000.0  # px/s
 
 DEBUG = os.getenv("DEBUG_SCROLL", "0") == "1"
 
 
+# Weights older (steadier) velocity samples more heavily on release.
+# Finger-lift samples are noisy; trusting earlier samples gives consistent fling velocity.
+# Reverse-engineered from iOS UIScrollView (tuned at 120Hz touch) by Flutter team:
+# https://github.com/flutter/flutter/pull/60501
+# 3 samples ≈ 25ms at 120Hz (iOS) / ~21ms at 140Hz (comma). Scale if touch rate changes.
+def weighted_velocity(buffer: deque) -> float:
+  if len(buffer) >= 3:
+    return buffer[-3] * 0.6 + buffer[-2] * 0.35 + buffer[-1] * 0.05
+  elif len(buffer) == 2:
+    return buffer[-2] * 0.7 + buffer[-1] * 0.3
+  elif len(buffer) == 1:
+    return buffer[-1]
+  return 0.0
+
+
 # from https://ariya.io/2011/10/flick-list-with-its-momentum-scrolling-and-deceleration
 class ScrollState(Enum):
   STEADY = 0
@@ -29,16 +45,14 @@ class ScrollState(Enum):
 
 
 class GuiScrollPanel2:
-  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
+  def __init__(self, horizontal: bool = True) -> None:
     self._horizontal = horizontal
-    self._handle_out_of_bounds = handle_out_of_bounds
-    self._AUTO_SCROLL_TC = AUTO_SCROLL_TC_SNAP if not self._handle_out_of_bounds else AUTO_SCROLL_TC
     self._state = ScrollState.STEADY
     self._offset: rl.Vector2 = rl.Vector2(0, 0)
     self._initial_click_event: MouseEvent | None = None
     self._previous_mouse_event: MouseEvent | None = None
     self._velocity = 0.0  # pixels per second
-    self._velocity_buffer: deque[float] = deque(maxlen=12 if TICI else 6)
+    self._velocity_buffer: deque[float] = deque(maxlen=12 if COMMA_HARDWARE else 6)
     self._enabled: bool | Callable[[], bool] = True
 
   def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:
@@ -48,7 +62,7 @@ class GuiScrollPanel2:
   def enabled(self) -> bool:
     return self._enabled() if callable(self._enabled) else self._enabled
 
-  def update(self, bounds: rl.Rectangle, content_size: float) -> float:
+  def update(self, bounds: rl.Rectangle, content_size: float, snap_target: float | None = None) -> float:
     if DEBUG:
       print('Old state:', self._state)
 
@@ -58,7 +72,7 @@ class GuiScrollPanel2:
       self._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
       self._previous_mouse_event = mouse_event
 
-    self._update_state(bounds_size, content_size)
+    self._update_state(bounds_size, content_size, snap_target)
 
     if DEBUG:
       print('Velocity:', self._velocity)
@@ -71,7 +85,7 @@ class GuiScrollPanel2:
     """Returns (max_offset, min_offset) for the given bounds and content size."""
     return 0.0, min(0.0, bounds_size - content_size)
 
-  def _update_state(self, bounds_size: float, content_size: float) -> None:
+  def _update_state(self, bounds_size: float, content_size: float, snap_target: float | None) -> None:
     """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
 
@@ -82,8 +96,9 @@ class GuiScrollPanel2:
 
     elif self._state == ScrollState.AUTO_SCROLL:
       # simple exponential return if out of bounds
+      # out of bounds is handled by snapping, so skip if set
       out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
-      if out_of_bounds and self._handle_out_of_bounds:
+      if out_of_bounds and snap_target is None:
         target = max_offset if self.get_offset() > max_offset else min_offset
 
         dt = rl.get_frame_time() or 1e-6
@@ -106,9 +121,23 @@ class GuiScrollPanel2:
       # Update the offset based on the current velocity
       dt = rl.get_frame_time()
       self.set_offset(self.get_offset() + self._velocity * dt)  # Adjust the offset based on velocity
-      alpha = 1 - (dt / (self._AUTO_SCROLL_TC + dt))
+      # fast decay in snap mode so velocity yields to the snap pull instead of fighting it
+      auto_scroll_tc = AUTO_SCROLL_TC_SNAP if snap_target is not None else AUTO_SCROLL_TC
+      alpha = 1 - (dt / (auto_scroll_tc + dt))
       self._velocity *= alpha
 
+    # Ease toward snap target when not in user control. Composes with velocity coast above:
+    # high velocity dominates initially, snap dominates as velocity decays.
+    if snap_target is not None and self._state not in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL):
+      snap_target = max(min_offset, min(max_offset, snap_target))
+      dist = snap_target - self.get_offset()
+      if abs(dist) < 1:  # finished snap
+        self.set_offset(snap_target)
+      else:
+        dt = rl.get_frame_time() or 1e-6
+        factor = 1.0 - math.exp(-SNAP_RATE * dt)
+        self.set_offset(self.get_offset() + dist * factor)
+
   def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                           content_size: float) -> None:
     max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
@@ -151,7 +180,13 @@ class GuiScrollPanel2:
         # Touch rejection: when releasing finger after swiping and stopping, panel
         # reports a few erroneous touch events with high velocity, try to ignore.
 
-        # If velocity decelerates very quickly, assume user doesn't intend to auto scroll
+        # If velocity decelerates very quickly, assume user doesn't intend to auto scroll.
+        # Catches two cases: 1) swipe, stop finger, then lift (stale high velocity in buffer)
+        # 2) dirty finger lift where finger rotates/slides producing spurious velocity spike.
+        # TODO: this heuristic false-positives on fast swipes because 140Hz touch polling
+        #  jitter causes velocity to oscillate (not real deceleration). Better approaches:
+        #  - Use evdev kernel timestamps to eliminate velocity oscillation at the source
+        #  - Replace with a time-since-last-event check (40ms timeout) for swipe-stop-lift
         high_decel = False
         if len(self._velocity_buffer) > 2:
           # We limit max to first half since final few velocities can surpass first few
@@ -166,6 +201,8 @@ class GuiScrollPanel2:
               print('deceleration too high, going to STEADY')
             high_decel = True
 
+        self._velocity = weighted_velocity(self._velocity_buffer)
+
         # If final velocity is below some threshold, switch to steady state too
         low_speed = abs(self._velocity) <= MIN_VELOCITY_FOR_CLICKING * 1.5  # plus some margin
 
diff --git a/system/ui/lib/shader_polygon.py b/openpilot/system/ui/lib/shader_polygon.py
similarity index 97%
rename from system/ui/lib/shader_polygon.py
rename to openpilot/system/ui/lib/shader_polygon.py
index 94af35e157..de729d6aae 100644
--- a/system/ui/lib/shader_polygon.py
+++ b/openpilot/system/ui/lib/shader_polygon.py
@@ -152,7 +152,7 @@ class ShaderState:
     self.initialized = False
 
 
-def _configure_shader_color(state: ShaderState, color: Optional[rl.Color],
+def _configure_shader_color(state: ShaderState, color: Optional[rl.Color],  # noqa: UP045  # rl.Color is a function, so `rl.Color | None` fails
                             gradient: Gradient | None, origin_rect: rl.Rectangle):
   assert (color is not None) != (gradient is not None), "Either color or gradient must be provided"
 
@@ -204,7 +204,7 @@ def triangulate(pts: np.ndarray) -> list[tuple[float, float]]:
 
 
 def draw_polygon(origin_rect: rl.Rectangle, points: np.ndarray,
-                 color: Optional[rl.Color] = None, gradient: Gradient | None = None):
+                 color: Optional[rl.Color] = None, gradient: Gradient | None = None):  # noqa: UP045  # rl.Color is a function, so `rl.Color | None` fails
 
   """
   Draw a ribbon polygon (two chains) with a triangle strip and gradient.
diff --git a/openpilot/system/ui/lib/tests/test_handle_state_change.py b/openpilot/system/ui/lib/tests/test_handle_state_change.py
new file mode 100644
index 0000000000..a7a33834cd
--- /dev/null
+++ b/openpilot/system/ui/lib/tests/test_handle_state_change.py
@@ -0,0 +1,907 @@
+"""Tests for WifiManager._handle_state_change.
+
+Tests the state machine in isolation by constructing a WifiManager with mocked
+DBus, then calling _handle_state_change directly with NM state transitions.
+"""
+import unittest
+from jeepney.low_level import MessageType
+
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import Mocker, OpenpilotTestCase
+from openpilot.system.ui.lib.networkmanager import NMDeviceState, NMDeviceStateReason
+from openpilot.system.ui.lib.wifi_manager import WifiManager, WifiState, ConnectStatus
+
+
+def _make_wm(mocker: Mocker, connections=None):
+  """Create a WifiManager with only the fields _handle_state_change touches."""
+  mocker.patch.object(WifiManager, '_initialize')
+  wm = WifiManager.__new__(WifiManager)
+  wm._exit = True  # prevent stop() from doing anything in __del__
+  wm._conn_monitor = mocker.MagicMock()
+  wm._connections = dict(connections or {})
+  wm._wifi_state = WifiState()
+  wm._user_epoch = 0
+  wm._callback_queue = []
+  wm._need_auth = []
+  wm._activated = []
+  wm._update_networks = mocker.MagicMock()
+  wm._update_active_connection_info = mocker.MagicMock()
+  wm._get_active_wifi_connection = mocker.MagicMock(return_value=(None, None))
+  return wm
+
+
+def fire(wm: WifiManager, new_state: int, prev_state: int = NMDeviceState.UNKNOWN,
+         reason: int = NMDeviceStateReason.NONE) -> None:
+  """Feed a state change into the handler."""
+  wm._handle_state_change(new_state, prev_state, reason)
+
+
+def fire_wpa_connect(wm: WifiManager) -> None:
+  """WPA handshake then IP negotiation through ACTIVATED, as seen on device."""
+  fire(wm, NMDeviceState.NEED_AUTH)
+  fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+  fire(wm, NMDeviceState.CONFIG)
+  fire(wm, NMDeviceState.IP_CONFIG)
+  fire(wm, NMDeviceState.IP_CHECK)
+  fire(wm, NMDeviceState.SECONDARIES)
+  fire(wm, NMDeviceState.ACTIVATED)
+
+
+# ---------------------------------------------------------------------------
+# Basic transitions
+# ---------------------------------------------------------------------------
+
+class TestDisconnected(OpenpilotTestCase):
+  def test_generic_disconnect_clears_state(self, mocker):
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="Net", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.UNKNOWN)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    wm._update_networks.assert_not_called()
+
+  def test_new_activation_is_noop(self, mocker):
+    """NEW_ACTIVATION means NM is about to connect to another network — don't clear."""
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="OldNet", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.NEW_ACTIVATION)
+
+    assert wm._wifi_state.ssid == "OldNet"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_connection_removed_keeps_other_connecting(self, mocker):
+    """Forget A while connecting to B: CONNECTION_REMOVED for A must not clear B."""
+    wm = _make_wm(mocker, connections={"B": "/path/B"})
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.CONNECTION_REMOVED)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_connection_removed_clears_when_forgotten(self, mocker):
+    """Forget A: A is no longer in _connections, so state should clear."""
+    wm = _make_wm(mocker, connections={})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.CONNECTION_REMOVED)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+
+class TestDeactivating(OpenpilotTestCase):
+  def test_deactivating_noop_for_non_connection_removed(self, mocker):
+    """DEACTIVATING with non-CONNECTION_REMOVED reason is a no-op."""
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="Net", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DEACTIVATING, reason=NMDeviceStateReason.USER_REQUESTED)
+
+    assert wm._wifi_state.ssid == "Net"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  @parameterized.expand([
+    (ConnectStatus.CONNECTED, True),
+    (ConnectStatus.CONNECTING, False),
+  ], names=("status", "expected_clears"))
+  def test_deactivating_connection_removed(self, mocker, status, expected_clears):
+    """DEACTIVATING(CONNECTION_REMOVED) clears CONNECTED but preserves CONNECTING.
+
+    CONNECTED: forgetting the current network. The forgotten callback fires between
+    DEACTIVATING and DISCONNECTED — must clear here so the UI doesn't flash "connected"
+    after the eager _network_forgetting flag resets.
+
+    CONNECTING: forget A while connecting to B. DEACTIVATING fires for A's removal,
+    but B's CONNECTING state must be preserved.
+    """
+    wm = _make_wm(mocker, connections={"B": "/path/B"})
+    wm._wifi_state = WifiState(ssid="B" if status == ConnectStatus.CONNECTING else "A", status=status)
+
+    fire(wm, NMDeviceState.DEACTIVATING, reason=NMDeviceStateReason.CONNECTION_REMOVED)
+
+    if expected_clears:
+      assert wm._wifi_state.ssid is None
+      assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    else:
+      assert wm._wifi_state.ssid == "B"
+      assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+
+class TestPrepareConfig(OpenpilotTestCase):
+  def test_user_initiated_skips_dbus_lookup(self, mocker):
+    """User called _set_connecting('B') — PREPARE must not overwrite via DBus.
+
+    Reproduced on device: rapidly tap A then B. PREPARE's DBus lookup returns A's
+    stale conn_path, overwriting ssid to A for 1-2 frames. UI shows the "connecting"
+    indicator briefly jump to the wrong network row then back.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._set_connecting("B")
+    wm._get_active_wifi_connection.return_value = ("/path/A", {})
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    wm._get_active_wifi_connection.assert_not_called()
+
+  @parameterized.expand([NMDeviceState.PREPARE, NMDeviceState.CONFIG], names=("state",))
+  def test_auto_connect_looks_up_ssid(self, mocker, state):
+    """Auto-connection (ssid=None): PREPARE and CONFIG must look up ssid from NM."""
+    wm = _make_wm(mocker, connections={"AutoNet": "/path/auto"})
+    wm._get_active_wifi_connection.return_value = ("/path/auto", {})
+
+    fire(wm, state)
+
+    assert wm._wifi_state.ssid == "AutoNet"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_auto_connect_dbus_fails(self, mocker):
+    """Auto-connection but DBus returns None: ssid stays None, status CONNECTING."""
+    wm = _make_wm(mocker)
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_auto_connect_conn_path_not_in_connections(self, mocker):
+    """DBus returns a conn_path that doesn't match any known connection."""
+    wm = _make_wm(mocker, connections={"Other": "/path/other"})
+    wm._get_active_wifi_connection.return_value = ("/path/unknown", {})
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+
+class TestNeedAuth(OpenpilotTestCase):
+  def test_wrong_password_fires_callback(self, mocker):
+    """NEED_AUTH+SUPPLICANT_DISCONNECT from CONFIG = real wrong password."""
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("SecNet")
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+    wm.process_callbacks()
+    cb.assert_called_once_with("SecNet")
+
+  def test_failed_no_secrets_fires_callback(self, mocker):
+    """FAILED+NO_SECRETS = wrong password (weak/gone network).
+
+    Confirmed on device: also fires when a hotspot turns off during connection.
+    NM can't complete the WPA handshake (AP vanished) and reports NO_SECRETS
+    rather than SSID_NOT_FOUND. The need_auth callback fires, so the UI shows
+    "wrong password" — a false positive, but same signal path.
+
+    Real device sequence (new connection, hotspot turned off immediately):
+      PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → NEED_AUTH(CONFIG, NONE) → FAILED(NEED_AUTH, NO_SECRETS) → DISCONNECTED(FAILED, NONE)
+    """
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("WeakNet")
+
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.NO_SECRETS)
+
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+    wm.process_callbacks()
+    cb.assert_called_once_with("WeakNet")
+
+  def test_need_auth_then_failed_no_double_fire(self, mocker):
+    """Real device sends NEED_AUTH(SUPPLICANT_DISCONNECT) then FAILED(NO_SECRETS) back-to-back.
+
+    The first clears ssid, so the second must not fire a duplicate callback.
+    Real device sequence: NEED_AUTH(CONFIG, SUPPLICANT_DISCONNECT) → FAILED(NEED_AUTH, NO_SECRETS)
+    """
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("BadPass")
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+    assert len(wm._callback_queue) == 1
+
+    fire(wm, NMDeviceState.FAILED, prev_state=NMDeviceState.NEED_AUTH,
+         reason=NMDeviceStateReason.NO_SECRETS)
+    assert len(wm._callback_queue) == 1  # no duplicate
+
+    wm.process_callbacks()
+    cb.assert_called_once_with("BadPass")
+
+  def test_no_ssid_no_callback(self, mocker):
+    """If ssid is None when NEED_AUTH fires, no callback enqueued."""
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    fire(wm, NMDeviceState.NEED_AUTH, reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert len(wm._callback_queue) == 0
+
+  def test_interrupted_auth_ignored(self, mocker):
+    """Switching A->B: NEED_AUTH from A (prev=DISCONNECTED) must not fire callback.
+
+    Reproduced on device: rapidly switching between two saved networks can trigger a
+    rare false "wrong password" dialog for the previous network, even though both have
+    correct passwords. The stale NEED_AUTH has prev_state=DISCONNECTED (not CONFIG).
+    """
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("A")
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.DISCONNECTED,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    assert len(wm._callback_queue) == 0
+
+
+class TestPassthroughStates(OpenpilotTestCase):
+  """NEED_AUTH (generic), IP_CONFIG, IP_CHECK, SECONDARIES, FAILED (generic) are no-ops."""
+
+  @parameterized.expand([
+    NMDeviceState.NEED_AUTH,
+    NMDeviceState.IP_CONFIG,
+    NMDeviceState.IP_CHECK,
+    NMDeviceState.SECONDARIES,
+    NMDeviceState.FAILED,
+  ], names=("state",))
+  def test_passthrough_is_noop(self, mocker, state):
+    wm = _make_wm(mocker)
+    wm._set_connecting("Net")
+
+    fire(wm, state, reason=NMDeviceStateReason.NONE)
+
+    assert wm._wifi_state.ssid == "Net"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    assert len(wm._callback_queue) == 0
+
+
+class TestActivated(OpenpilotTestCase):
+  def test_sets_connected(self, mocker):
+    """ACTIVATED sets status to CONNECTED and fires callback."""
+    wm = _make_wm(mocker, connections={"MyNet": "/path/mynet"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(activated=cb)
+    wm._set_connecting("MyNet")
+    wm._get_active_wifi_connection.return_value = ("/path/mynet", {})
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "MyNet"
+    assert len(wm._callback_queue) == 1
+    wm.process_callbacks()
+    cb.assert_called_once()
+
+  def test_conn_path_none_still_connected(self, mocker):
+    """ACTIVATED but DBus returns None: status CONNECTED, ssid unchanged."""
+    wm = _make_wm(mocker)
+    wm._set_connecting("MyNet")
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "MyNet"
+
+  def test_activated_side_effects(self, mocker):
+    """ACTIVATED persists the volatile connection to disk and updates active connection info."""
+    wm = _make_wm(mocker, connections={"Net": "/path/net"})
+    wm._set_connecting("Net")
+    wm._get_active_wifi_connection.return_value = ("/path/net", {})
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    wm._conn_monitor.send_and_get_reply.assert_called_once()
+    wm._update_active_connection_info.assert_called_once()
+    wm._update_networks.assert_not_called()
+
+
+# ---------------------------------------------------------------------------
+# Thread races: _set_connecting on main thread vs _handle_state_change on monitor thread.
+# Uses side_effect on the DBus mock to simulate _set_connecting running mid-handler.
+# The epoch counter detects that a user action occurred during the slow DBus call
+# and discards the stale update.
+# ---------------------------------------------------------------------------
+# The deterministic fixes (skip DBus lookup when ssid already set, prev_state guard
+# on NEED_AUTH, DEACTIVATING clears CONNECTED on CONNECTION_REMOVED, CONNECTION_REMOVED
+# guard) shrink these race windows significantly. The epoch counter closes the
+# remaining gaps.
+
+class TestThreadRaces(OpenpilotTestCase):
+  def test_prepare_race_user_tap_during_dbus(self, mocker):
+    """User taps B while PREPARE's DBus call is in flight for auto-connect.
+
+    Monitor thread reads wifi_state (ssid=None), starts DBus call.
+    Main thread: _set_connecting("B"). Monitor thread writes back stale ssid from DBus.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+
+    def user_taps_b_during_dbus(*args, **kwargs):
+      wm._set_connecting("B")
+      return ("/path/A", {})
+
+    wm._get_active_wifi_connection.side_effect = user_taps_b_during_dbus
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_activated_race_user_tap_during_dbus(self, mocker):
+    """User taps B right as A finishes connecting (ACTIVATED handler running).
+
+    Monitor thread reads wifi_state (A, CONNECTING), starts DBus call.
+    Main thread: _set_connecting("B"). Monitor thread writes (A, CONNECTED), losing B.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._set_connecting("A")
+
+    def user_taps_b_during_dbus(*args, **kwargs):
+      wm._set_connecting("B")
+      return ("/path/A", {})
+
+    wm._get_active_wifi_connection.side_effect = user_taps_b_during_dbus
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_init_wifi_state_race_user_tap_during_dbus(self, mocker):
+    """User taps B while _init_wifi_state's DBus calls are in flight.
+
+    _init_wifi_state runs from set_active(True) or worker error paths. It does
+    2 DBus calls (device State property + _get_active_wifi_connection) then
+    unconditionally writes _wifi_state. If the user taps a network during those
+    calls, _set_connecting("B") is overwritten with stale NM ground truth.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._wifi_device = "/dev/wifi0"
+    wm._router_main = mocker.MagicMock()
+
+    state_reply = mocker.MagicMock()
+    state_reply.body = [('u', NMDeviceState.ACTIVATED)]
+    wm._router_main.send_and_get_reply.return_value = state_reply
+
+    def user_taps_b_during_dbus(*args, **kwargs):
+      wm._set_connecting("B")
+      return ("/path/A", {})
+
+    wm._get_active_wifi_connection.side_effect = user_taps_b_during_dbus
+
+    wm._init_wifi_state()
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+
+# ---------------------------------------------------------------------------
+# Full sequences (NM signal order from real devices)
+# ---------------------------------------------------------------------------
+
+class TestFullSequences(OpenpilotTestCase):
+  def test_normal_connect(self, mocker):
+    """User connects to saved network: full happy path.
+
+    Real device sequence (switching from another connected network):
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"Home": "/path/home"})
+    wm._get_active_wifi_connection.return_value = ("/path/home", {})
+
+    wm._set_connecting("Home")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.NEED_AUTH)  # WPA handshake (reason=NONE)
+    fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+    fire(wm, NMDeviceState.CONFIG)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.IP_CONFIG)
+    fire(wm, NMDeviceState.IP_CHECK)
+    fire(wm, NMDeviceState.SECONDARIES)
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "Home"
+
+  def test_wrong_password_then_retry(self, mocker):
+    """Wrong password → NEED_AUTH → FAILED → NM auto-reconnects to saved network.
+
+    Confirmed on device: wrong password for Shane's iPhone, NM auto-connected to unifi.
+
+    Real device sequence (switching from a connected network):
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE)              ← WPA handshake
+      → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → NEED_AUTH(CONFIG, SUPPLICANT_DISCONNECT)                 ← wrong password
+      → FAILED(NEED_AUTH, NO_SECRETS)                            ← NM gives up
+      → DISCONNECTED(FAILED, NONE)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED          ← auto-reconnect to other saved network
+    """
+    wm = _make_wm(mocker, connections={"Sec": "/path/sec"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    wm._set_connecting("Sec")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.NEED_AUTH)  # WPA handshake (reason=NONE)
+    fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+    fire(wm, NMDeviceState.CONFIG)
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+
+    # FAILED(NO_SECRETS) follows but ssid is already cleared — no double-fire
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.NO_SECRETS)
+    assert len(wm._callback_queue) == 1
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.FAILED)
+
+    # Retry
+    wm._callback_queue.clear()
+    wm._set_connecting("Sec")
+    wm._get_active_wifi_connection.return_value = ("/path/sec", {})
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_switch_saved_networks(self, mocker):
+    """Switch from A to B (both saved): NM signal sequence from real device.
+
+    Real device sequence:
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "B"
+
+  def test_rapid_switch_no_false_wrong_password(self, mocker):
+    """Switch A→B quickly: A's interrupted NEED_AUTH must NOT show wrong password.
+
+    NOTE: The late NEED_AUTH(DISCONNECTED, SUPPLICANT_DISCONNECT) is common when rapidly
+    switching between networks with wrong/new passwords. Less common when switching between
+    saved networks with correct passwords. Not guaranteed — some switches skip it and go
+    straight from DISCONNECTED to PREPARE. The prev_state is consistently DISCONNECTED
+    for stale signals, so the prev_state guard reliably distinguishes them.
+
+    Worst-case signal sequence this protects against:
+      DEACTIVATING(NEW_ACTIVATION) → DISCONNECTED(NEW_ACTIVATION)
+      → NEED_AUTH(DISCONNECTED, SUPPLICANT_DISCONNECT)  ← A's stale auth failure
+      → PREPARE → CONFIG → ... → ACTIVATED  ← B connects
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.DISCONNECTED,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    assert len(wm._callback_queue) == 0
+
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_forget_while_connecting(self, mocker):
+    """Forget the network we're currently connecting to (not yet ACTIVATED).
+
+    Confirmed on device: connected to unifi, tapped Shane's iPhone, then forgot
+    Shane's iPhone while at CONFIG. NM auto-connected to unifi afterward.
+
+    Real device sequence (switching then forgetting mid-connection):
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → DEACTIVATING(CONFIG, CONNECTION_REMOVED)                ← forget at CONFIG
+      → DISCONNECTED(DEACTIVATING, CONNECTION_REMOVED)
+      → PREPARE → CONFIG → ... → ACTIVATED                     ← NM auto-connects to other saved network
+
+    Note: DEACTIVATING fires from CONFIG (not ACTIVATED). wifi_state.status is
+    CONNECTING, so the DEACTIVATING handler is a no-op. DISCONNECTED clears state
+    (ssid removed from _connections by ConnectionRemoved), then PREPARE recovers
+    via DBus lookup for the auto-connect.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "Other": "/path/other"})
+    wm._get_active_wifi_connection.return_value = ("/path/other", {})
+
+    wm._set_connecting("A")
+
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    # User forgets A: ConnectionRemoved processed first, then state changes
+    del wm._connections["A"]
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING  # DEACTIVATING preserves CONNECTING
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    # NM auto-connects to another saved network
+    fire(wm, NMDeviceState.PREPARE)
+    assert wm._wifi_state.ssid == "Other"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "Other"
+
+  def test_forget_connected_network(self, mocker):
+    """Forget the currently connected network (not switching to another).
+
+    Real device sequence:
+      DEACTIVATING(ACTIVATED, CONNECTION_REMOVED) → DISCONNECTED(DEACTIVATING, CONNECTION_REMOVED)
+
+    ConnectionRemoved signal may or may not have been processed before state changes.
+    Either way, state must clear — we're forgetting what we're connected to, not switching.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    # DISCONNECTED follows — harmless since state is already cleared
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+  def test_forget_A_connect_B(self, mocker):
+    """Forget A while connecting to B: full signal sequence.
+
+    Real device sequence:
+      DEACTIVATING(ACTIVATED, CONNECTION_REMOVED) → DISCONNECTED(DEACTIVATING, CONNECTION_REMOVED)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED
+
+    Signal order:
+      1. User: _set_connecting("B"), forget("A") removes A from _connections
+      2. NewConnection for B arrives → _connections["B"] = ...
+      3. DEACTIVATING(CONNECTION_REMOVED) — no-op
+      4. DISCONNECTED(CONNECTION_REMOVED) — B is in _connections, must not clear
+      5. PREPARE → CONFIG → NEED_AUTH → PREPARE → CONFIG → ... → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    wm._set_connecting("B")
+    del wm._connections["A"]
+    wm._connections["B"] = "/path/B"
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "B"
+
+  def test_forget_A_connect_B_late_new_connection(self, mocker):
+    """Forget A, connect B: NewConnection for B arrives AFTER DISCONNECTED.
+
+    This is the worst-case race: B isn't in _connections when DISCONNECTED fires,
+    so the guard can't protect it and state clears. PREPARE must recover by doing
+    the DBus lookup (ssid is None at that point).
+
+    Signal order:
+      1. User: _set_connecting("B"), forget("A") removes A from _connections
+      2. DEACTIVATING(CONNECTION_REMOVED) — B NOT in _connections, should be no-op
+      3. DISCONNECTED(CONNECTION_REMOVED) — B STILL NOT in _connections, clears state
+      4. NewConnection for B arrives late → _connections["B"] = ...
+      5. PREPARE (ssid=None, so DBus lookup recovers) → CONFIG → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    wm._set_connecting("B")
+    del wm._connections["A"]
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    # B not in _connections yet, so state clears — this is the known edge case
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    # NewConnection arrives late
+    wm._connections["B"] = "/path/B"
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+
+    # PREPARE recovers: ssid is None so it looks up from DBus
+    fire(wm, NMDeviceState.PREPARE)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "B"
+
+  def test_auto_connect(self, mocker):
+    """NM auto-connects (no user action, ssid starts None)."""
+    wm = _make_wm(mocker, connections={"AutoNet": "/path/auto"})
+    wm._get_active_wifi_connection.return_value = ("/path/auto", {})
+
+    fire(wm, NMDeviceState.PREPARE)
+    assert wm._wifi_state.ssid == "AutoNet"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "AutoNet"
+
+  def test_network_lost_during_connection(self, mocker):
+    """Hotspot turned off while connecting (before ACTIVATED).
+
+    Confirmed on device: started new connection to Shane's iPhone, immediately
+    turned off the hotspot. NM can't complete WPA handshake and reports
+    FAILED(NO_SECRETS) — same signal as wrong password (false positive).
+
+    Real device sequence:
+      PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → NEED_AUTH(CONFIG, NONE) → FAILED(NEED_AUTH, NO_SECRETS) → DISCONNECTED(FAILED, NONE)
+
+    Note: no DEACTIVATING, no SUPPLICANT_DISCONNECT. The NEED_AUTH(CONFIG, NONE) is the
+    normal WPA handshake (not an error). NM gives up with NO_SECRETS because the AP
+    vanished mid-handshake.
+    """
+    wm = _make_wm(mocker, connections={"Hotspot": "/path/hs"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    wm._set_connecting("Hotspot")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.NEED_AUTH)  # WPA handshake (reason=NONE)
+    fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+    fire(wm, NMDeviceState.CONFIG)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    # Second NEED_AUTH(CONFIG, NONE) — NM retries handshake, AP vanishing
+    fire(wm, NMDeviceState.NEED_AUTH)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    # NM gives up — reports NO_SECRETS (same as wrong password)
+    fire(wm, NMDeviceState.FAILED, prev_state=NMDeviceState.NEED_AUTH,
+         reason=NMDeviceStateReason.NO_SECRETS)
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.FAILED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    wm.process_callbacks()
+    cb.assert_called_once_with("Hotspot")
+
+  @unittest.expectedFailure  # "TODO: FAILED(SSID_NOT_FOUND) should emit error for UI"
+  def test_ssid_not_found(self, mocker):
+    """Network drops off while connected — hotspot turned off.
+
+    NM docs: SSID_NOT_FOUND (53) = "The WiFi network could not be found"
+
+    Confirmed on device: connected to Shane's iPhone, then turned off the hotspot.
+    No DEACTIVATING fires — NM goes straight from ACTIVATED to FAILED(SSID_NOT_FOUND).
+    NM retries connecting (PREPARE → CONFIG → ... → FAILED(CONFIG, SSID_NOT_FOUND))
+    before finally giving up with DISCONNECTED.
+
+    NOTE: turning off a hotspot during initial connection (before ACTIVATED) typically
+    produces FAILED(NO_SECRETS) instead of SSID_NOT_FOUND (see test_failed_no_secrets).
+
+    Real device sequence (hotspot turned off while connected):
+      FAILED(ACTIVATED, SSID_NOT_FOUND) → DISCONNECTED(FAILED, NONE)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → FAILED(CONFIG, SSID_NOT_FOUND) → DISCONNECTED(FAILED, NONE)
+
+    The UI error callback mechanism is intentionally deferred — for now just clear state.
+    """
+    wm = _make_wm(mocker, connections={"GoneNet": "/path/gone"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    wm._set_connecting("GoneNet")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.SSID_NOT_FOUND)
+
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert wm._wifi_state.ssid is None
+
+  def test_failed_then_disconnected_clears_state(self, mocker):
+    """After FAILED, NM always transitions to DISCONNECTED to clean up.
+
+    NM docs: FAILED (120) = "failed to connect, cleaning up the connection request"
+    Full sequence: ... → FAILED(reason) → DISCONNECTED(NONE)
+    """
+    wm = _make_wm(mocker)
+    wm._set_connecting("Net")
+
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.NONE)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING  # FAILED(NONE) is a no-op
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.NONE)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+  def test_user_requested_disconnect(self, mocker):
+    """User explicitly disconnects from the network.
+
+    NM docs: USER_REQUESTED (39) = "Device disconnected by user or client"
+    Expected sequence: DEACTIVATING(USER_REQUESTED) → DISCONNECTED(USER_REQUESTED)
+    """
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="MyNet", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DEACTIVATING, reason=NMDeviceStateReason.USER_REQUESTED)
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.USER_REQUESTED)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+
+# ---------------------------------------------------------------------------
+# Worker error recovery: DBus errors in activate/connect re-sync with NM
+# ---------------------------------------------------------------------------
+# Verified on device: when ActivateConnection returns UnknownConnection error,
+# NM emits no state signals. The worker error path is the only recovery point.
+
+class TestWorkerErrorRecovery(OpenpilotTestCase):
+  """Worker threads re-sync with NM via _init_wifi_state on DBus errors,
+  preserving actual NM state instead of blindly clearing to DISCONNECTED."""
+
+  def _mock_init_restores(self, wm, mocker, ssid, status):
+    """Replace _init_wifi_state with a mock that simulates NM reporting the given state."""
+    mock = mocker.MagicMock(
+      side_effect=lambda: setattr(wm, '_wifi_state', WifiState(ssid=ssid, status=status))
+    )
+    wm._init_wifi_state = mock
+    return mock
+
+  def test_activate_dbus_error_resyncs(self, mocker):
+    """ActivateConnection returns DBus error while A is connected.
+    NM rejects the request — no state signals emitted. Worker must re-read NM
+    state to discover A is still connected, not clear to DISCONNECTED.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._wifi_device = "/dev/wifi0"
+    wm._nm = mocker.MagicMock()
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._router_main = mocker.MagicMock()
+
+    error_reply = mocker.MagicMock()
+    error_reply.header.message_type = MessageType.error
+    wm._router_main.send_and_get_reply.return_value = error_reply
+
+    mock_init = self._mock_init_restores(wm, mocker, "A", ConnectStatus.CONNECTED)
+
+    wm.activate_connection("B", block=True)
+
+    mock_init.assert_called_once()
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_connect_to_network_dbus_error_resyncs(self, mocker):
+    """AddAndActivateConnection2 returns DBus error while A is connected."""
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_device = "/dev/wifi0"
+    wm._nm = mocker.MagicMock()
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._router_main = mocker.MagicMock()
+    wm._forgotten = []
+
+    error_reply = mocker.MagicMock()
+    error_reply.header.message_type = MessageType.error
+    wm._router_main.send_and_get_reply.return_value = error_reply
+
+    mock_init = self._mock_init_restores(wm, mocker, "A", ConnectStatus.CONNECTED)
+
+    # Run worker thread synchronously
+    workers = []
+    mocker.patch('openpilot.system.ui.lib.wifi_manager.threading.Thread',
+                 side_effect=lambda target, **kw: type('T', (), {'start': lambda self: workers.append(target)})())
+
+    wm.connect_to_network("B", "password123")
+    workers[-1]()
+
+    mock_init.assert_called_once()
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
diff --git a/openpilot/system/ui/lib/text_measure.py b/openpilot/system/ui/lib/text_measure.py
new file mode 100644
index 0000000000..60945b7f05
--- /dev/null
+++ b/openpilot/system/ui/lib/text_measure.py
@@ -0,0 +1,18 @@
+import pyray as rl
+from openpilot.system.ui.lib.application import FONT_SCALE, font_fallback
+
+_cache: dict[int, rl.Vector2] = {}
+
+
+def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: float = 0) -> rl.Vector2:
+  """Caches text measurements to avoid redundant calculations."""
+  font = font_fallback(font)
+  spacing = round(spacing, 4)
+  key = hash((font.texture.id, text, font_size, spacing))
+  if key in _cache:
+    return _cache[key]
+
+  result = rl.measure_text_ex(font, text, font_size * FONT_SCALE, spacing)  # noqa: TID251
+
+  _cache[key] = result
+  return result
diff --git a/system/ui/lib/utils.py b/openpilot/system/ui/lib/utils.py
similarity index 85%
rename from system/ui/lib/utils.py
rename to openpilot/system/ui/lib/utils.py
index 77035d0da0..e97b3ba9d9 100644
--- a/system/ui/lib/utils.py
+++ b/openpilot/system/ui/lib/utils.py
@@ -1,8 +1,9 @@
 import pyray as rl
+from collections.abc import Sequence
 
 
 class GuiStyleContext:
-  def __init__(self, styles: list[tuple[int, int, int]]):
+  def __init__(self, styles: Sequence[tuple[int, int, int]]):
     """styles is a list of tuples (control, prop, new_value)"""
     self.styles = styles
     self.prev_styles: list[tuple[int, int, int]] = []
diff --git a/openpilot/system/ui/lib/wifi_manager.py b/openpilot/system/ui/lib/wifi_manager.py
new file mode 100644
index 0000000000..5e774a84d7
--- /dev/null
+++ b/openpilot/system/ui/lib/wifi_manager.py
@@ -0,0 +1,952 @@
+import atexit
+import threading
+import time
+import uuid
+import subprocess
+from collections.abc import Callable
+from dataclasses import dataclass, replace
+from enum import IntEnum
+from typing import TYPE_CHECKING, Any
+
+from jeepney import DBusAddress, new_method_call
+from jeepney.bus_messages import MatchRule, message_bus
+from jeepney.io.blocking import DBusConnection, open_dbus_connection as open_dbus_connection_blocking
+from jeepney.io.threading import DBusRouter, open_dbus_connection as open_dbus_connection_threading
+from jeepney.low_level import MessageType
+from jeepney.wrappers import Properties
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_802_11_AP_SEC_PAIR_WEP40,
+                                                    NM_802_11_AP_SEC_PAIR_WEP104, NM_802_11_AP_SEC_GROUP_WEP40,
+                                                    NM_802_11_AP_SEC_GROUP_WEP104, NM_802_11_AP_SEC_KEY_MGMT_PSK,
+                                                    NM_802_11_AP_SEC_KEY_MGMT_802_1X, NM_802_11_AP_FLAGS_NONE,
+                                                    NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS,
+                                                    NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH,
+                                                    NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE,
+                                                    NM_DEVICE_TYPE_WIFI, NM_ACTIVE_CONNECTION_IFACE,
+                                                    NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason)
+
+if TYPE_CHECKING:
+  from openpilot.common.params import Params
+else:
+  try:
+    from openpilot.common.params import Params
+  except (ImportError, OSError):
+    Params = None
+
+TETHERING_IP_ADDRESS = "192.168.43.1"
+DEFAULT_TETHERING_PASSWORD = "swagswagcomma"
+SIGNAL_QUEUE_SIZE = 10
+SCAN_PERIOD_SECONDS = 5
+
+DEBUG = False
+_dbus_call_idx = 0
+
+
+def normalize_ssid(ssid: str) -> str:
+  return ssid.replace("’", "'")  # for iPhone hotspots
+
+
+def _wrap_router(router):
+  def _wrap(orig):
+    def wrapper(msg, **kw):
+      global _dbus_call_idx
+      _dbus_call_idx += 1
+      if DEBUG:
+        h = msg.header.fields
+        print(f"[DBUS #{_dbus_call_idx}] {h.get(6, '?')} {h.get(3, '?')} {msg.body}")
+      return orig(msg, **kw)
+    return wrapper
+  router.send_and_get_reply = _wrap(router.send_and_get_reply)
+  router.send = _wrap(router.send)
+
+
+class SecurityType(IntEnum):
+  OPEN = 0
+  WPA = 1
+  WPA2 = 2
+  WPA3 = 3
+  UNSUPPORTED = 4
+
+
+class MeteredType(IntEnum):
+  UNKNOWN = 0
+  YES = 1
+  NO = 2
+
+
+def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType:
+  wpa_props = wpa_flags | rsn_flags
+
+  # obtained by looking at flags of networks in the office as reported by an Android phone
+  supports_wpa = (NM_802_11_AP_SEC_PAIR_WEP40 | NM_802_11_AP_SEC_PAIR_WEP104 | NM_802_11_AP_SEC_GROUP_WEP40 |
+                  NM_802_11_AP_SEC_GROUP_WEP104 | NM_802_11_AP_SEC_KEY_MGMT_PSK)
+
+  if (flags == NM_802_11_AP_FLAGS_NONE) or ((flags & NM_802_11_AP_FLAGS_WPS) and not (wpa_props & supports_wpa)):
+    return SecurityType.OPEN
+  elif (flags & NM_802_11_AP_FLAGS_PRIVACY) and (wpa_props & supports_wpa) and not (wpa_props & NM_802_11_AP_SEC_KEY_MGMT_802_1X):
+    return SecurityType.WPA
+  else:
+    cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}")
+    return SecurityType.UNSUPPORTED
+
+
+@dataclass(frozen=True)
+class Network:
+  ssid: str
+  strength: int
+  security_type: SecurityType
+  is_tethering: bool
+
+  @classmethod
+  def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_tethering: bool) -> "Network":
+    # we only want to show the strongest AP for each Network/SSID
+    strongest_ap = max(aps, key=lambda ap: ap.strength)
+    security_type = get_security_type(strongest_ap.flags, strongest_ap.wpa_flags, strongest_ap.rsn_flags)
+
+    return cls(
+      ssid=ssid,
+      strength=100 if is_tethering else strongest_ap.strength,
+      security_type=security_type,
+      is_tethering=is_tethering,
+    )
+
+
+@dataclass(frozen=True)
+class AccessPoint:
+  ssid: str
+  bssid: str
+  strength: int
+  flags: int
+  wpa_flags: int
+  rsn_flags: int
+  ap_path: str
+
+  @classmethod
+  def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str) -> "AccessPoint":
+    ssid = bytes(ap_props['Ssid'][1]).decode("utf-8", "replace")
+    bssid = str(ap_props['HwAddress'][1])
+    strength = int(ap_props['Strength'][1])
+    flags = int(ap_props['Flags'][1])
+    wpa_flags = int(ap_props['WpaFlags'][1])
+    rsn_flags = int(ap_props['RsnFlags'][1])
+
+    return cls(
+      ssid=ssid,
+      bssid=bssid,
+      strength=strength,
+      flags=flags,
+      wpa_flags=wpa_flags,
+      rsn_flags=rsn_flags,
+      ap_path=ap_path,
+    )
+
+
+class ConnectStatus(IntEnum):
+  DISCONNECTED = 0
+  CONNECTING = 1
+  CONNECTED = 2
+
+
+@dataclass(frozen=True)
+class WifiState:
+  ssid: str | None = None
+  status: ConnectStatus = ConnectStatus.DISCONNECTED
+
+
+class WifiManager:
+  def __init__(self):
+    self._networks: list[Network] = []  # an unsorted list of available Networks. a Network can be comprised of multiple APs
+    self._active = True  # used to not run when not in settings
+    self._exit = False
+
+    # DBus connections
+    try:
+      self._router_main = DBusRouter(open_dbus_connection_threading(bus="SYSTEM"))  # used by scanner / general method calls
+      _wrap_router(self._router_main)
+      self._conn_monitor = open_dbus_connection_blocking(bus="SYSTEM")  # used by state monitor thread
+      self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM_IFACE)
+    except FileNotFoundError:
+      cloudlog.exception("Failed to connect to system D-Bus")
+      self._router_main = None
+      self._conn_monitor = None
+      self._exit = True
+
+    # Store wifi device path
+    self._wifi_device: str | None = None
+
+    # State
+    self._connections: dict[str, str] = {}  # ssid -> connection path, updated via NM signals
+    self._wifi_state: WifiState = WifiState()
+    self._user_epoch: int = 0
+    self._ipv4_address: str = ""
+    self._current_network_metered: MeteredType = MeteredType.UNKNOWN
+    self._tethering_password: str = ""
+    self._ipv4_forward = False
+
+    self._last_network_scan: float = 0.0
+    self._callback_queue: list[Callable] = []
+
+    self._tethering_ssid = "weedle"
+    if Params is not None:
+      dongle_id = Params().get("DongleId")
+      if dongle_id:
+        self._tethering_ssid += "-" + dongle_id[:4]
+
+    # Callbacks
+    self._need_auth: list[Callable[[str], None]] = []
+    self._activated: list[Callable[[], None]] = []
+    self._forgotten: list[Callable[[str | None], None]] = []
+    self._networks_updated: list[Callable[[list[Network]], None]] = []
+    self._disconnected: list[Callable[[], None]] = []
+
+    self._scan_lock = threading.Lock()
+    self._scan_thread = threading.Thread(target=self._network_scanner, daemon=True)
+    self._state_thread = threading.Thread(target=self._monitor_state, daemon=True)
+    self._initialize()
+    atexit.register(self.stop)
+
+  def _initialize(self):
+    def worker():
+      self._wait_for_wifi_device()
+
+      # TODO: wait for state thread to start before adding tethering connection, tiny race currently
+      self._scan_thread.start()
+      self._state_thread.start()
+
+      self._init_connections()
+      if Params is not None and self._tethering_ssid not in self._connections:
+        self._add_tethering_connection()
+
+      self._init_wifi_state()
+
+      self._tethering_password = self._get_tethering_password()
+      cloudlog.debug("WifiManager initialized")
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def _init_wifi_state(self, block: bool = True):
+    def worker():
+      if self._wifi_device is None:
+        cloudlog.warning("No WiFi device found")
+        return
+
+      epoch = self._user_epoch
+
+      dev_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_DEVICE_IFACE)
+      dev_state = self._router_main.send_and_get_reply(Properties(dev_addr).get('State')).body[0][1]
+
+      ssid: str | None = None
+      status = ConnectStatus.DISCONNECTED
+      if NMDeviceState.PREPARE <= dev_state <= NMDeviceState.SECONDARIES and dev_state != NMDeviceState.NEED_AUTH:
+        status = ConnectStatus.CONNECTING
+      elif dev_state == NMDeviceState.ACTIVATED:
+        status = ConnectStatus.CONNECTED
+
+      conn_path, _ = self._get_active_wifi_connection()
+      if conn_path:
+        ssid = next((s for s, p in self._connections.items() if p == conn_path), None)
+
+      # Discard if user acted during DBus calls
+      if self._user_epoch != epoch:
+        return
+
+      self._wifi_state = WifiState(ssid=ssid, status=status)
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
+  def add_callbacks(self, need_auth: Callable[[str], None] | None = None,
+                    activated: Callable[[], None] | None = None,
+                    forgotten: Callable[[str | None], None] | None = None,
+                    networks_updated: Callable[[list[Network]], None] | None = None,
+                    disconnected: Callable[[], None] | None = None):
+    if need_auth is not None:
+      self._need_auth.append(need_auth)
+    if activated is not None:
+      self._activated.append(activated)
+    if forgotten is not None:
+      self._forgotten.append(forgotten)
+    if networks_updated is not None:
+      self._networks_updated.append(networks_updated)
+    if disconnected is not None:
+      self._disconnected.append(disconnected)
+
+  @property
+  def networks(self) -> list[Network]:
+    # Sort by connected/connecting, then known, then strength, then alphabetically. This is a pure UI ordering and should not affect underlying state.
+    return sorted(self._networks, key=lambda n: (n.ssid != self._wifi_state.ssid, not self.is_connection_saved(n.ssid), -n.strength, n.ssid.lower()))
+
+  @property
+  def wifi_state(self) -> WifiState:
+    return self._wifi_state
+
+  @property
+  def ipv4_address(self) -> str:
+    return self._ipv4_address
+
+  @property
+  def current_network_metered(self) -> MeteredType:
+    return self._current_network_metered
+
+  @property
+  def connecting_to_ssid(self) -> str | None:
+    wifi_state = self._wifi_state
+    return wifi_state.ssid if wifi_state.status == ConnectStatus.CONNECTING else None
+
+  @property
+  def connected_ssid(self) -> str | None:
+    wifi_state = self._wifi_state
+    return wifi_state.ssid if wifi_state.status == ConnectStatus.CONNECTED else None
+
+  @property
+  def tethering_password(self) -> str:
+    return self._tethering_password
+
+  def _set_connecting(self, ssid: str | None):
+    # Called by user action, or sequentially from state change handler
+    self._user_epoch += 1
+    self._wifi_state = WifiState(ssid=ssid, status=ConnectStatus.DISCONNECTED if ssid is None else ConnectStatus.CONNECTING)
+
+  def _enqueue_callbacks(self, cbs: list[Callable], *args):
+    for cb in cbs:
+      self._callback_queue.append(lambda _cb=cb: _cb(*args))
+
+  def process_callbacks(self):
+    # Call from UI thread to run any pending callbacks
+    to_run, self._callback_queue = self._callback_queue, []
+    for cb in to_run:
+      cb()
+
+  def set_active(self, active: bool):
+    self._active = active
+
+    # Update networks and WiFi state (to self-heal) immediately when activating for UI
+    if active:
+      self._init_wifi_state(block=False)
+      self._update_networks(block=False)
+
+  def _monitor_state(self):
+    # Filter for signals
+    rules = (
+      MatchRule(
+        type="signal",
+        interface=NM_DEVICE_IFACE,
+        member="StateChanged",
+        path=self._wifi_device,
+      ),
+      MatchRule(
+        type="signal",
+        interface=NM_SETTINGS_IFACE,
+        member="NewConnection",
+        path=NM_SETTINGS_PATH,
+      ),
+      MatchRule(
+        type="signal",
+        interface=NM_SETTINGS_IFACE,
+        member="ConnectionRemoved",
+        path=NM_SETTINGS_PATH,
+      ),
+      MatchRule(
+        type="signal",
+        interface=NM_PROPERTIES_IFACE,
+        member="PropertiesChanged",
+        path=self._wifi_device,
+      ),
+    )
+
+    for rule in rules:
+      self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule))
+
+    with (self._conn_monitor.filter(rules[0], bufsize=SIGNAL_QUEUE_SIZE) as state_q,
+          self._conn_monitor.filter(rules[1], bufsize=SIGNAL_QUEUE_SIZE) as new_conn_q,
+          self._conn_monitor.filter(rules[2], bufsize=SIGNAL_QUEUE_SIZE) as removed_conn_q,
+          self._conn_monitor.filter(rules[3], bufsize=SIGNAL_QUEUE_SIZE) as props_q):
+      while not self._exit:
+        try:
+          self._conn_monitor.recv_messages(timeout=1)
+        except TimeoutError:
+          continue
+
+        # Connection added/removed
+        while len(removed_conn_q):
+          conn_path = removed_conn_q.popleft().body[0]
+          self._connection_removed(conn_path)
+        while len(new_conn_q):
+          conn_path = new_conn_q.popleft().body[0]
+          self._new_connection(conn_path)
+
+        # PropertiesChanged on wifi device (LastScan = scan complete)
+        while len(props_q):
+          iface, changed, _ = props_q.popleft().body
+          if iface == NM_WIRELESS_IFACE and 'LastScan' in changed:
+            self._update_networks()
+
+        # Device state changes
+        while len(state_q):
+          new_state, previous_state, change_reason = state_q.popleft().body
+
+          self._handle_state_change(new_state, previous_state, change_reason)
+
+  def _handle_state_change(self, new_state: int, prev_state: int, change_reason: int):
+    # Thread safety: _wifi_state is read/written by both the monitor thread (this handler)
+    # and the main thread (_set_connecting via connect/activate). PREPARE/CONFIG and ACTIVATED
+    # have a read-then-write pattern with a slow DBus call in between — if _set_connecting
+    # runs mid-call, the handler would overwrite the user's newer state with stale data.
+    #
+    # The _user_epoch counter solves this without locks. _set_connecting increments the epoch
+    # on every user action. Handlers snapshot the epoch before their DBus call and compare
+    # after: if it changed, a user action occurred during the call and the stale result is
+    # discarded. Combined with deterministic fixes (skip DBus lookup when ssid already set,
+    # DEACTIVATING clears CONNECTED on CONNECTION_REMOVED, CONNECTION_REMOVED guard),
+    # all known race windows are closed.
+
+    # TODO: Handle (FAILED, SSID_NOT_FOUND) and emit for UI to show error
+    #  Happens when network drops off after starting connection
+
+    if new_state == NMDeviceState.DISCONNECTED:
+      if change_reason == NMDeviceStateReason.NEW_ACTIVATION:
+        return
+
+      # Guard: forget A while connecting to B fires CONNECTION_REMOVED. Don't clear B's state
+      # if B is still a known connection. If B hasn't arrived in _connections yet (late
+      # NewConnection), state clears here but PREPARE recovers via DBus lookup.
+      if (change_reason == NMDeviceStateReason.CONNECTION_REMOVED and self._wifi_state.ssid and
+        self._wifi_state.ssid in self._connections):
+        return
+
+      self._set_connecting(None)
+
+    elif new_state in (NMDeviceState.PREPARE, NMDeviceState.CONFIG):
+      epoch = self._user_epoch
+
+      if self._wifi_state.ssid is not None:
+        self._wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTING)
+        return
+
+      # Auto-connection when NetworkManager connects to known networks on its own (ssid=None): look up ssid from NM
+      wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTING)
+
+      conn_path, _ = self._get_active_wifi_connection(self._conn_monitor)
+
+      # Discard if user acted during DBus call
+      if self._user_epoch != epoch:
+        return
+
+      if conn_path is None:
+        cloudlog.warning("Failed to get active wifi connection during PREPARE/CONFIG state")
+      else:
+        wifi_state = replace(wifi_state, ssid=next((s for s, p in self._connections.items() if p == conn_path), None))
+
+      self._wifi_state = wifi_state
+
+    # BAD PASSWORD
+    # - strong network rejects with NEED_AUTH+SUPPLICANT_DISCONNECT
+    # - weak/gone network fails with FAILED+NO_SECRETS
+    # TODO: sometimes on PC it's observed no future signals are fired if mouse is held down blocking wrong password dialog
+    elif ((new_state == NMDeviceState.NEED_AUTH and change_reason == NMDeviceStateReason.SUPPLICANT_DISCONNECT
+           and prev_state == NMDeviceState.CONFIG) or
+          (new_state == NMDeviceState.FAILED and change_reason == NMDeviceStateReason.NO_SECRETS)):
+
+      # prev_state guard: real auth failures come from CONFIG (supplicant handshake).
+      # Stale NEED_AUTH from a prior connection during network switching arrives with
+      # prev_state=DISCONNECTED and must be ignored to avoid a false wrong-password callback.
+      if self._wifi_state.ssid:
+        self._enqueue_callbacks(self._need_auth, self._wifi_state.ssid)
+        self._set_connecting(None)
+
+    elif new_state in (NMDeviceState.NEED_AUTH, NMDeviceState.IP_CONFIG, NMDeviceState.IP_CHECK,
+                       NMDeviceState.SECONDARIES, NMDeviceState.FAILED):
+      pass
+
+    elif new_state == NMDeviceState.ACTIVATED:
+      # Note that IP address from Ip4Config may not be propagated immediately and could take until the next scan results
+      epoch = self._user_epoch
+      wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTED)
+
+      conn_path, _ = self._get_active_wifi_connection(self._conn_monitor)
+
+      # Discard if user acted during DBus call
+      if self._user_epoch != epoch:
+        return
+
+      if conn_path is None:
+        cloudlog.warning("Failed to get active wifi connection during ACTIVATED state")
+      else:
+        wifi_state = replace(wifi_state, ssid=next((s for s, p in self._connections.items() if p == conn_path), None))
+
+      self._wifi_state = wifi_state
+      self._enqueue_callbacks(self._activated)
+      self._update_active_connection_info()
+
+      # Persist volatile connections (created by AddAndActivateConnection2) to disk
+      if conn_path is not None:
+        conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+        save_reply = self._conn_monitor.send_and_get_reply(new_method_call(conn_addr, 'Save'))
+        if save_reply.header.message_type == MessageType.error:
+          cloudlog.warning(f"Failed to persist connection to disk: {save_reply}")
+
+    elif new_state == NMDeviceState.DEACTIVATING:
+      # Must clear state when forgetting the currently connected network so the UI
+      # doesn't flash "connected" after the eager "forgetting..." state resets
+      # (the forgotten callback fires between DEACTIVATING and DISCONNECTED).
+      # Only clear CONNECTED — CONNECTING must be preserved for forget-A-connect-B.
+      if change_reason == NMDeviceStateReason.CONNECTION_REMOVED and self._wifi_state.status == ConnectStatus.CONNECTED:
+        self._set_connecting(None)
+
+  def _network_scanner(self):
+    while not self._exit:
+      if self._active:
+        if time.monotonic() - self._last_network_scan > SCAN_PERIOD_SECONDS:
+          self._request_scan()
+          self._last_network_scan = time.monotonic()
+      time.sleep(1 / 2.)
+
+  def _wait_for_wifi_device(self):
+    while not self._exit:
+      device_path = self._get_adapter(NM_DEVICE_TYPE_WIFI)
+      if device_path is not None:
+        self._wifi_device = device_path
+        break
+      time.sleep(1)
+
+  def _get_adapter(self, adapter_type: int) -> str | None:
+    # Return the first NetworkManager device path matching adapter_type
+    try:
+      reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'GetDevices'))
+      if reply.header.message_type == MessageType.error:
+        # NetworkManager is not available, body holds an error string instead of device paths
+        return None
+      for device_path in reply.body[0]:
+        dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE)
+        dev_type = self._router_main.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1]
+        if dev_type == adapter_type:
+          return str(device_path)
+    except Exception as e:
+      cloudlog.exception(f"Error getting adapter type {adapter_type}: {e}")
+    return None
+
+  def _init_connections(self) -> None:
+    settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
+    known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
+
+    conns: dict[str, str] = {}
+    for conn_path in known_connections:
+      settings = self._get_connection_settings(conn_path)
+
+      if len(settings) == 0:
+        cloudlog.warning(f'Failed to get connection settings for {conn_path}')
+        continue
+
+      if "802-11-wireless" in settings:
+        ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace")
+        if ssid != "":
+          conns[ssid] = conn_path
+    self._connections = conns
+
+  def _new_connection(self, conn_path: str):
+    settings = self._get_connection_settings(conn_path)
+
+    if "802-11-wireless" in settings:
+      ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace")
+      if ssid != "":
+        self._connections[ssid] = conn_path
+
+  def _connection_removed(self, conn_path: str):
+    self._connections = {ssid: path for ssid, path in self._connections.items() if path != conn_path}
+
+  def _get_active_connections(self, router: DBusConnection | DBusRouter | None = None):
+    # Returns list of ActiveConnection
+    if router is None:
+      router = self._router_main
+
+    return router.send_and_get_reply(Properties(self._nm).get('ActiveConnections')).body[0][1]
+
+  def _get_active_wifi_connection(self, router: DBusConnection | DBusRouter | None = None) -> tuple[str | None, dict | None]:
+    # Returns first Connection settings path and ActiveConnection props from ActiveConnections with Type 802-11-wireless
+    if router is None:
+      router = self._router_main
+
+    for active_conn in self._get_active_connections(router):
+      conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
+      reply = router.send_and_get_reply(Properties(conn_addr).get_all())
+
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f"Failed to get active connection properties for {active_conn}: {reply}")
+        continue
+
+      props = reply.body[0]
+
+      conn_path = props.get('Connection', ('o', '/'))[1]
+      if props.get('Type', ('s', ''))[1] == '802-11-wireless' and conn_path != '/':
+        return conn_path, props
+
+    return None, None
+
+  def _get_connection_settings(self, conn_path: str) -> dict:
+    conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+    reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'GetSettings'))
+    if reply.header.message_type == MessageType.error:
+      cloudlog.warning(f'Failed to get connection settings: {reply}')
+      return {}
+    return dict(reply.body[0])
+
+  def _add_tethering_connection(self):
+    connection = {
+      'connection': {
+        'type': ('s', '802-11-wireless'),
+        'uuid': ('s', str(uuid.uuid4())),
+        'id': ('s', 'Hotspot'),
+        'autoconnect-retries': ('i', 0),
+        'interface-name': ('s', 'wlan0'),
+        'autoconnect': ('b', False),
+      },
+      '802-11-wireless': {
+        'band': ('s', 'bg'),
+        'mode': ('s', 'ap'),
+        'ssid': ('ay', self._tethering_ssid.encode("utf-8")),
+      },
+      '802-11-wireless-security': {
+        'group': ('as', ['ccmp']),
+        'key-mgmt': ('s', 'wpa-psk'),
+        'pairwise': ('as', ['ccmp']),
+        'proto': ('as', ['rsn']),
+        'psk': ('s', DEFAULT_TETHERING_PASSWORD),
+      },
+      'ipv4': {
+        'method': ('s', 'shared'),
+        'address-data': ('aa{sv}', [[
+          ('address', ('s', TETHERING_IP_ADDRESS)),
+          ('prefix', ('u', 24)),
+        ]]),
+        'gateway': ('s', TETHERING_IP_ADDRESS),
+        'never-default': ('b', True),
+      },
+      'ipv6': {'method': ('s', 'ignore')},
+    }
+
+    settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
+    self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,)))
+
+  def connect_to_network(self, ssid: str, password: str, hidden: bool = False):
+    self._set_connecting(ssid)
+
+    def worker():
+      # Clear all connections that may already exist to the network we are connecting to
+      self.forget_connection(ssid, block=True)
+
+      connection = {
+        'connection': {
+          'type': ('s', '802-11-wireless'),
+          'uuid': ('s', str(uuid.uuid4())),
+          'id': ('s', f'sunnypilot connection {ssid}'),
+          'autoconnect-retries': ('i', 0),
+        },
+        '802-11-wireless': {
+          'ssid': ('ay', ssid.encode("utf-8")),
+          'hidden': ('b', hidden),
+          'mode': ('s', 'infrastructure'),
+        },
+        'ipv4': {
+          'method': ('s', 'auto'),
+          'dns-priority': ('i', 600),
+        },
+        'ipv6': {'method': ('s', 'ignore')},
+      }
+
+      if password:
+        connection['802-11-wireless-security'] = {
+          'key-mgmt': ('s', 'wpa-psk'),
+          'auth-alg': ('s', 'open'),
+          'psk': ('s', password),
+        }
+
+      # Volatile connection auto-deletes on disconnect (wrong password, user switches networks)
+      # Persisted to disk on ACTIVATED via Save()
+      if self._wifi_device is None:
+        cloudlog.warning("No WiFi device found")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+        return
+
+      reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'AddAndActivateConnection2', 'a{sa{sv}}ooa{sv}',
+                                                                   (connection, self._wifi_device, "/", {'persist': ('s', 'volatile')})))
+
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f"Failed to add and activate connection for {ssid}: {reply}")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def forget_connection(self, ssid: str, block: bool = False):
+    def worker():
+      conn_path = self._connections.get(ssid, None)
+      if conn_path is None:
+        cloudlog.warning(f"Trying to forget unknown connection: {ssid}")
+      else:
+        conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+        self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete'))
+
+      self._enqueue_callbacks(self._forgotten, ssid)
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
+  def activate_connection(self, ssid: str, block: bool = False):
+    self._set_connecting(ssid)
+
+    def worker():
+      conn_path = self._connections.get(ssid, None)
+      if conn_path is None or self._wifi_device is None:
+        cloudlog.warning(f"Failed to activate connection for {ssid}: conn_path={conn_path}, wifi_device={self._wifi_device}")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+        return
+
+      reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo',
+                                                                   (conn_path, self._wifi_device, "/")))
+
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f"Failed to activate connection for {ssid}: {reply}")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
+  def _deactivate_connection(self, ssid: str):
+    for active_conn in self._get_active_connections():
+      conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
+      reply = self._router_main.send_and_get_reply(Properties(conn_addr).get('SpecificObject'))
+      if reply.header.message_type == MessageType.error:
+        continue  # object gone (e.g. rapid connect/disconnect)
+
+      specific_obj_path = reply.body[0][1]
+
+      if specific_obj_path != "/":
+        ap_addr = DBusAddress(specific_obj_path, bus_name=NM, interface=NM_ACCESS_POINT_IFACE)
+        ap_reply = self._router_main.send_and_get_reply(Properties(ap_addr).get('Ssid'))
+        if ap_reply.header.message_type == MessageType.error:
+          continue  # AP gone (e.g. mode switch)
+
+        ap_ssid = bytes(ap_reply.body[0][1]).decode("utf-8", "replace")
+
+        if ap_ssid == ssid:
+          self._router_main.send_and_get_reply(new_method_call(self._nm, 'DeactivateConnection', 'o', (active_conn,)))
+          return
+
+  def is_tethering_active(self) -> bool:
+    # Check ssid, not connected_ssid, to also catch connecting state
+    return self._wifi_state.ssid == self._tethering_ssid
+
+  def is_connection_saved(self, ssid: str) -> bool:
+    return ssid in self._connections
+
+  def set_tethering_password(self, password: str):
+    def worker():
+      conn_path = self._connections.get(self._tethering_ssid, None)
+      if conn_path is None:
+        cloudlog.warning('No tethering connection found')
+        return
+
+      settings = self._get_connection_settings(conn_path)
+      if len(settings) == 0:
+        cloudlog.warning(f'Failed to get tethering settings for {conn_path}')
+        return
+
+      settings['802-11-wireless-security']['psk'] = ('s', password)
+
+      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+      reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,)))
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f'Failed to update tethering settings: {reply}')
+        return
+
+      self._tethering_password = password
+      if self.is_tethering_active():
+        self.activate_connection(self._tethering_ssid, block=True)
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def _get_tethering_password(self) -> str:
+    conn_path = self._connections.get(self._tethering_ssid, None)
+    if conn_path is None:
+      cloudlog.warning('No tethering connection found')
+      return ''
+
+    reply = self._router_main.send_and_get_reply(new_method_call(
+      DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE),
+      'GetSecrets', 's', ('802-11-wireless-security',)
+    ))
+
+    if reply.header.message_type == MessageType.error:
+      cloudlog.warning(f'Failed to get tethering password: {reply}')
+      return ''
+
+    secrets = reply.body[0]
+    if '802-11-wireless-security' not in secrets:
+      return ''
+
+    return str(secrets['802-11-wireless-security'].get('psk', ('s', ''))[1])
+
+  def set_ipv4_forward(self, enabled: bool):
+    self._ipv4_forward = enabled
+
+  def set_tethering_active(self, active: bool):
+    def worker():
+      if active:
+        self.activate_connection(self._tethering_ssid, block=True)
+
+        if not self._ipv4_forward:
+          time.sleep(5)
+          cloudlog.warning("net.ipv4.ip_forward = 0")
+          subprocess.run(["sudo", "sysctl", "net.ipv4.ip_forward=0"], check=False)
+      else:
+        self._deactivate_connection(self._tethering_ssid)
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def set_current_network_metered(self, metered: MeteredType):
+    def worker():
+      if self.is_tethering_active():
+        return
+
+      conn_path, _ = self._get_active_wifi_connection()
+      if conn_path is None:
+        cloudlog.warning('No active WiFi connection found')
+        return
+
+      settings = self._get_connection_settings(conn_path)
+
+      if len(settings) == 0:
+        cloudlog.warning(f'Failed to get connection settings for {conn_path}')
+        return
+
+      settings['connection']['metered'] = ('i', int(metered))
+
+      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+      reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,)))
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f'Failed to update metered settings: {reply}')
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def _request_scan(self):
+    if self._wifi_device is None:
+      cloudlog.warning("No WiFi device found")
+      return
+
+    wifi_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_WIRELESS_IFACE)
+    reply = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'RequestScan', 'a{sv}', ({},)))
+
+    if reply.header.message_type == MessageType.error:
+      cloudlog.warning(f"Failed to request scan: {reply}")
+
+  def _update_networks(self, block: bool = True):
+    if not self._active:
+      return
+
+    def worker():
+      with self._scan_lock:
+        if self._wifi_device is None:
+          cloudlog.warning("No WiFi device found")
+          return
+
+        # NOTE: AccessPoints property may exclude hidden APs (use GetAllAccessPoints method if needed)
+        wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE)
+        wifi_props_reply = self._router_main.send_and_get_reply(Properties(wifi_addr).get_all())
+        if wifi_props_reply.header.message_type == MessageType.error:
+          cloudlog.warning(f"Failed to get WiFi properties: {wifi_props_reply}")
+          return
+
+        ap_paths = wifi_props_reply.body[0].get('AccessPoints', ('ao', []))[1]
+
+        aps: dict[str, list[AccessPoint]] = {}
+
+        for ap_path in ap_paths:
+          ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE)
+          ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all())
+
+          # some APs have been seen dropping off during iteration
+          if ap_props.header.message_type == MessageType.error:
+            cloudlog.warning(f"Failed to get AP properties for {ap_path}")
+            continue
+
+          try:
+            ap = AccessPoint.from_dbus(ap_props.body[0], ap_path)
+            if ap.ssid == "":
+              continue
+
+            if ap.ssid not in aps:
+              aps[ap.ssid] = []
+
+            aps[ap.ssid].append(ap)
+          except Exception:
+            # catch all for parsing errors
+            cloudlog.exception(f"Failed to parse AP properties for {ap_path}")
+
+        self._networks = [Network.from_dbus(ssid, ap_list, ssid == self._tethering_ssid) for ssid, ap_list in aps.items()]
+        self._update_active_connection_info()
+        self._enqueue_callbacks(self._networks_updated, self.networks)  # sorted
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
+  def _update_active_connection_info(self):
+    ipv4_address = ""
+    metered = MeteredType.UNKNOWN
+
+    conn_path, props = self._get_active_wifi_connection()
+
+    if conn_path is not None and props is not None:
+      # IPv4 address
+      ip4config_path = props.get('Ip4Config', ('o', '/'))[1]
+
+      if ip4config_path != "/":
+        ip4config_addr = DBusAddress(ip4config_path, bus_name=NM, interface=NM_IP4_CONFIG_IFACE)
+        address_data = self._router_main.send_and_get_reply(Properties(ip4config_addr).get('AddressData')).body[0][1]
+
+        for entry in address_data:
+          if 'address' in entry:
+            ipv4_address = entry['address'][1]
+            break
+
+      # Metered status
+      settings = self._get_connection_settings(conn_path)
+
+      if len(settings) > 0:
+        metered_prop = settings['connection'].get('metered', ('i', 0))[1]
+
+        if metered_prop == MeteredType.YES:
+          metered = MeteredType.YES
+        elif metered_prop == MeteredType.NO:
+          metered = MeteredType.NO
+
+    self._ipv4_address = ipv4_address
+    self._current_network_metered = metered
+
+  def __del__(self):
+    self.stop()
+
+  def stop(self):
+    if not self._exit:
+      self._exit = True
+      if self._scan_thread.is_alive():
+        self._scan_thread.join()
+      if self._state_thread.is_alive():
+        self._state_thread.join()
+
+      if self._router_main is not None:
+        self._router_main.close()
+        self._router_main.conn.close()
+      if self._conn_monitor is not None:
+        self._conn_monitor.close()
diff --git a/system/ui/lib/wrap_text.py b/openpilot/system/ui/lib/wrap_text.py
similarity index 100%
rename from system/ui/lib/wrap_text.py
rename to openpilot/system/ui/lib/wrap_text.py
diff --git a/openpilot/system/ui/mici_reset.py b/openpilot/system/ui/mici_reset.py
new file mode 100755
index 0000000000..97ecaf7024
--- /dev/null
+++ b/openpilot/system/ui/mici_reset.py
@@ -0,0 +1,154 @@
+#!/usr/bin/env python3
+import subprocess
+import sys
+import time
+import threading
+from enum import IntEnum
+
+import pyray as rl
+
+from openpilot.common.hardware import HARDWARE, PC
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.mici_setup import GreyBigButton, FailedPage
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationCircleButton
+
+USERDATA = "/dev/disk/by-partlabel/userdata"
+TIMEOUT = 3*60
+
+
+class ResetMode(IntEnum):
+  USER_RESET = 0  # user initiated a factory reset from openpilot
+  RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
+  TAP_RESET = 2   # user initiated a factory reset by tapping the screen during boot
+
+
+class ResetFailedPage(FailedPage):
+  def __init__(self):
+    super().__init__(None, "reset failed", "reboot to try again", icon="icons_mici/setup/reset_failed.png")
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0  # not dismissable
+
+  def _back_enabled(self) -> bool:
+    return False
+
+
+class ResettingPage(BigDialog):
+  DOT_STEP = 0.6
+
+  def __init__(self):
+    super().__init__("resetting device", "this may take up to\na minute...",
+                     gui_app.texture("icons_mici/setup/factory_reset.png", 64, 64))
+    self._show_time = 0.0
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0  # not dismissable
+    self._show_time = rl.get_time()
+
+  def _back_enabled(self) -> bool:
+    return False
+
+  def _render(self, _):
+    t = (rl.get_time() - self._show_time) % (self.DOT_STEP * 2)
+    dots = "." * min(int(t / (self.DOT_STEP / 4)), 3)
+    self._card.set_value(f"this may take up to\na minute{dots}")
+    super()._render(_)
+
+
+class Reset(Scroller):
+  def __init__(self, mode):
+    super().__init__()
+    self._mode = mode
+    self._previous_active_widget = None
+    self._reset_failed = False
+    self._timeout_st = time.monotonic()
+
+    self._resetting_page = ResettingPage()
+    self._reset_failed_page = ResetFailedPage()
+
+    self._reset_button = BigConfirmationCircleButton("reset &\nerase", gui_app.texture("icons_mici/settings/device/uninstall.png", 70, 70),
+                                                     self._start_reset, exit_on_confirm=False, red=True)
+    self._cancel_button = BigConfirmationCircleButton("cancel", gui_app.texture("icons_mici/setup/cancel.png", 64, 64),
+                                                      gui_app.request_close, exit_on_confirm=False)
+    self._reboot_button = BigConfirmationCircleButton("reboot\ndevice", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70),
+                                                      HARDWARE.reboot, exit_on_confirm=False)
+
+    # show reboot button if in recover mode
+    self._cancel_button.set_visible(mode != ResetMode.RECOVER)
+    self._reboot_button.set_visible(mode == ResetMode.RECOVER)
+
+    main_card = GreyBigButton("factory reset", "resetting erases\nall user content & data",
+                              gui_app.texture("icons_mici/setup/factory_reset.png", 64, 64))
+    self._scroller.add_widget(main_card)
+
+    if mode != ResetMode.USER_RESET:
+      self._scroller.add_widget(GreyBigButton("", "Resetting erases all user content & data."))
+      if mode == ResetMode.RECOVER:
+        main_card.set_value("user data partition\ncould not be mounted")
+      elif mode == ResetMode.TAP_RESET:
+        main_card.set_value("reset triggered by\ntapping the screen")
+
+    self._scroller.add_widgets([
+      GreyBigButton("", "For a deeper reset, go to\nhttps://flash.comma.ai"),
+      self._cancel_button,
+      self._reboot_button,
+      self._reset_button,
+    ])
+
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
+
+  def _do_erase(self):
+    if PC:
+      return
+
+    # Removing data and formatting
+    rm = subprocess.run("sudo rm -rf /data/*", shell=True).returncode
+    subprocess.run(f"sudo umount {USERDATA}", shell=True)
+    fmt = subprocess.run(f"yes | sudo mkfs.ext4 {USERDATA}", shell=True).returncode
+
+    if rm == 0 or fmt == 0:
+      subprocess.run("sudo reboot", shell=True)
+    else:
+      self._reset_failed = True
+
+  def _start_reset(self):
+    def do_erase_thread():
+      threading.Thread(target=self._do_erase, daemon=True).start()
+
+    self._resetting_page.set_shown_callback(do_erase_thread)
+    gui_app.push_widget(self._resetting_page)
+
+  def _nav_stack_tick(self):
+    if self._reset_failed:
+      self._reset_failed = False
+      gui_app.pop_widgets_to(self, lambda: gui_app.push_widget(self._reset_failed_page))
+
+    active_widget = gui_app.get_active_widget()
+    if active_widget != self._previous_active_widget:
+      self._previous_active_widget = active_widget
+      self._timeout_st = time.monotonic()
+    elif self._mode != ResetMode.RECOVER and active_widget != self._resetting_page and (time.monotonic() - self._timeout_st) > TIMEOUT:
+      exit(0)
+
+
+def main():
+  mode = ResetMode.USER_RESET
+  if len(sys.argv) > 1:
+    if sys.argv[1] == '--recover':
+      mode = ResetMode.RECOVER
+    elif sys.argv[1] == '--tap-reset':
+      mode = ResetMode.TAP_RESET
+
+  gui_app.init_window("System Reset")
+  reset = Reset(mode)
+  gui_app.push_widget(reset)
+
+  for _ in gui_app.render():
+    pass
+
+
+if __name__ == "__main__":
+  main()
diff --git a/openpilot/system/ui/mici_setup.py b/openpilot/system/ui/mici_setup.py
new file mode 100755
index 0000000000..efec377dd5
--- /dev/null
+++ b/openpilot/system/ui/mici_setup.py
@@ -0,0 +1,593 @@
+#!/usr/bin/env python3
+import os
+import re
+import ssl
+import threading
+import time
+import urllib.request
+import urllib.error
+from urllib.parse import urlparse
+from collections.abc import Callable
+
+import pyray as rl
+
+from openpilot.cereal import log
+from openpilot.common.filter_simple import BounceFilter
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
+from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.common.utils import run_cmd
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.wifi_manager import WifiManager, ConnectStatus
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.scroller import Scroller, NavScroller, ITEM_SPACING
+from openpilot.system.ui.widgets.slider import LargerSlider
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationCircleButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, GreyBigButton
+
+NetworkType = log.DeviceState.NetworkType
+
+OPENPILOT_URL = "https://openpilot.comma.ai"
+USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
+
+INSTALLER_DESTINATION_PATH = "/tmp/installer"
+INSTALLER_URL_PATH = "/tmp/installer_url"
+
+
+class NetworkConnectivityMonitor:
+  def __init__(self, should_check: Callable[[], bool] | None = None):
+    self.network_connected = threading.Event()
+    self.wifi_connected = threading.Event()
+    self.recheck_event = threading.Event()
+    self._should_check = should_check or (lambda: True)
+    self._stop_event = threading.Event()
+    self._last_timesyncd_restart = 0.0
+    self._thread: threading.Thread | None = None
+
+  def start(self):
+    self._stop_event.clear()
+    if self._thread is None or not self._thread.is_alive():
+      self._thread = threading.Thread(target=self._run, daemon=True)
+      self._thread.start()
+
+  def stop(self):
+    if self._thread is not None:
+      self._stop_event.set()
+      self._thread.join()
+      self._thread = None
+
+  def reset(self):
+    self.network_connected.clear()
+    self.wifi_connected.clear()
+
+  def invalidate(self):
+    self.recheck_event.set()
+    self.reset()
+
+  def _run(self):
+    while not self._stop_event.is_set():
+      if self._should_check():
+        try:
+          request = urllib.request.Request(OPENPILOT_URL, method="HEAD")
+          urllib.request.urlopen(request, timeout=2.0)
+
+          # Discard stale result if invalidated during request
+          if self.recheck_event.is_set():
+            self.recheck_event.clear()
+            continue
+
+          self.network_connected.set()
+          if HARDWARE.get_network_type() == NetworkType.wifi:
+            self.wifi_connected.set()
+        except urllib.error.URLError as e:
+          if (isinstance(e.reason, ssl.SSLCertVerificationError) and
+              not system_time_valid() and
+              time.monotonic() - self._last_timesyncd_restart > 5):
+            self._last_timesyncd_restart = time.monotonic()
+            run_cmd(["sudo", "systemctl", "restart", "systemd-timesyncd"])
+          self.reset()
+        except Exception:
+          self.reset()
+      else:
+        self.reset()
+
+      if self._stop_event.wait(timeout=1.0):
+        break
+
+
+class StartPage(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._title = UnifiedLabel("start", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                               font_weight=FontWeight.DISPLAY, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    self._start_bg_txt = gui_app.texture("icons_mici/setup/start_button.png", 500, 224, keep_aspect_ratio=False)
+    self._start_bg_pressed_txt = gui_app.texture("icons_mici/setup/start_button_pressed.png", 500, 224, keep_aspect_ratio=False)
+    self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._click_delay = 0.075
+
+  def _render(self, rect: rl.Rectangle):
+    scale = self._scale_filter.update(1.07 if self.is_pressed else 1.0)
+    base_draw_x = rect.x + (rect.width - self._start_bg_txt.width) / 2
+    base_draw_y = rect.y + (rect.height - self._start_bg_txt.height) / 2
+    draw_x = base_draw_x + (self._start_bg_txt.width * (1 - scale)) / 2
+    draw_y = base_draw_y + (self._start_bg_txt.height * (1 - scale)) / 2
+    texture = self._start_bg_pressed_txt if self.is_pressed else self._start_bg_txt
+    rl.draw_texture_ex(texture, (draw_x, draw_y), 0, scale, rl.WHITE)
+
+    self._title.render(rl.Rectangle(rect.x, rect.y + (draw_y - base_draw_y), rect.width, rect.height))
+
+
+class SoftwareSelectionPage(NavWidget):
+  def __init__(self, use_openpilot_callback: Callable,
+               use_custom_software_callback: Callable):
+    super().__init__()
+
+    self._openpilot_slider = self._child(LargerSlider("slide to install\nopenpilot", use_openpilot_callback))
+    self._openpilot_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
+    self._custom_software_slider = self._child(LargerSlider("slide to install\ncustom software", use_custom_software_callback, green=False, shimmer_offset=0.4))
+    self._custom_software_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0
+
+  def _update_state(self):
+    super()._update_state()
+    if self.is_dismissing:
+      self.reset()
+
+  def reset(self):
+    self._openpilot_slider.reset()
+    self._custom_software_slider.reset()
+
+  def _render(self, rect: rl.Rectangle):
+    self._openpilot_slider.set_opacity(1.0 - self._custom_software_slider.slider_percentage)
+    self._custom_software_slider.set_opacity(1.0 - self._openpilot_slider.slider_percentage)
+
+    openpilot_rect = rl.Rectangle(
+      rect.x + (rect.width - self._openpilot_slider.rect.width) / 2,
+      rect.y,
+      self._openpilot_slider.rect.width,
+      rect.height / 2,
+    )
+    self._openpilot_slider.render(openpilot_rect)
+
+    custom_software_rect = rl.Rectangle(
+      rect.x + (rect.width - self._custom_software_slider.rect.width) / 2,
+      rect.y + rect.height / 2,
+      self._custom_software_slider.rect.width,
+      rect.height / 2,
+    )
+    self._custom_software_slider.render(custom_software_rect)
+
+
+class CustomSoftwareWarningPage(NavScroller):
+  def __init__(self, continue_callback: Callable, back_callback: Callable):
+    super().__init__()
+    self.set_back_callback(back_callback)
+
+    self._continue_button = BigPillButton("next")
+    self._continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("caution: installing\n3rd party software", "swipe down to go back",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 58)),
+      GreyBigButton("", "• It has not been tested by comma."),
+      GreyBigButton("", "• It may not comply with safety standards."),
+      GreyBigButton("", "• It may damage your device and/or vehicle."),
+      GreyBigButton("how to restore to a\nfactory state later", "https://flash.comma.ai",
+                    gui_app.texture("icons_mici/setup/restore.png", 64, 64)),
+      self._continue_button,
+    ])
+
+
+# TODO: unifi with updater's progress page
+class DownloadingPage(NavWidget):
+  def __init__(self):
+    super().__init__()
+
+    self._title_label = UnifiedLabel("downloading...", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                     font_weight=FontWeight.DISPLAY)
+    self._progress_label = UnifiedLabel("", 132, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
+                                        font_weight=FontWeight.ROMAN, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._progress = 0
+
+  def _back_enabled(self) -> bool:
+    return False
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0  # not dismissable
+    self.set_progress(0)
+
+  def set_progress(self, progress: int):
+    self._progress = progress
+    self._progress_label.set_text(f"{progress}%")
+
+  def _render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, rl.BLACK)
+    self._title_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 2,
+      rect.width,
+      64,
+    ))
+
+    self._progress_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 18,
+      rect.width,
+      rect.height,
+    ))
+
+
+class FailedPage(NavScroller):
+  def __init__(self, retry_callback: Callable | None, title: str = "download failed",
+               description: str | None = None, icon: str = "icons_mici/setup/warning.png"):
+    super().__init__()
+    self.set_back_callback(retry_callback)
+
+    self._reason_card = GreyBigButton("", "")
+    self._reason_card.set_visible(False)
+
+    self._scroller.add_widgets([
+      GreyBigButton(title, description or "swipe down to go\nback and try again",
+                    gui_app.texture(icon, 64, 58)),
+      self._reason_card,
+      BigConfirmationCircleButton("reboot\ndevice", gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70),
+                                  HARDWARE.reboot, exit_on_confirm=False),
+    ])
+
+  def set_reason(self, reason: str):
+    if reason:
+      self._reason_card.set_value(reason)
+      self._reason_card.set_visible(True)
+    else:
+      self._reason_card.set_visible(False)
+
+
+class BigPillButton(BigButton):
+  def __init__(self, *args, green: bool = False, disabled_background: bool = False, **kwargs):
+    self._green = green
+    self._disabled_background = disabled_background
+    super().__init__(*args, **kwargs)
+
+    self._label.set_font_size(48)
+    self._label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def _load_images(self):
+    if self._green:
+      self._txt_default_bg = gui_app.texture("icons_mici/setup/start_button.png", 402, 180)
+      self._txt_pressed_bg = gui_app.texture("icons_mici/setup/start_button_pressed.png", 402, 180)
+    else:
+      self._txt_default_bg = gui_app.texture("icons_mici/setup/continue.png", 402, 180)
+      self._txt_pressed_bg = gui_app.texture("icons_mici/setup/continue_pressed.png", 402, 180)
+    self._txt_disabled_bg = gui_app.texture("icons_mici/setup/continue_disabled.png", 402, 180)
+
+  def set_green(self, green: bool):
+    if self._green != green:
+      self._green = green
+      self._load_images()
+
+  def _update_label_layout(self):
+    # Don't change label text size
+    pass
+
+  def _handle_background(self) -> tuple[rl.Texture, float, float, float]:
+    txt_bg, btn_x, btn_y, scale = super()._handle_background()
+
+    if self._disabled_background:
+      txt_bg = self._txt_disabled_bg
+    return txt_bg, btn_x, btn_y, scale
+
+
+class NetworkSetupPageBase(Scroller):
+  def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
+               disable_connect_hint: bool = False):
+    super().__init__()
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(True)
+    self._network_monitor = network_monitor
+    self._custom_software = False
+    self._wifi_ui = WifiUIMici(self._wifi_manager)
+
+    self._connect_button = GreyBigButton("connect to\ninternet", "swipe down to go back",
+                                         gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True))
+    self._connect_button.set_visible(not disable_connect_hint)
+
+    self._wifi_button = WifiNetworkButton(self._wifi_manager)
+    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
+
+    self._prev_has_internet = False
+    self._prev_wifi_connected = False
+    self._pending_has_internet_scroll: float | None = None  # stores time to use as delay
+    self._pending_continue_grow_animation = False
+    self._pending_wifi_grow_animation = False
+
+    def on_waiting_click():
+      offset = (self._wifi_button.rect.x + self._wifi_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
+      self._scroller.scroll_to(offset, smooth=True, block_interrupt=True, block_widget_interaction=True)
+      # trigger grow when wifi button in view
+      self._pending_wifi_grow_animation = True
+
+    self._waiting_button = BigPillButton("connect to\ncontinue", disabled_background=True)
+    self._waiting_button.set_click_callback(on_waiting_click)
+    self._continue_button = BigPillButton("install openpilot", green=True)
+    self._continue_button.set_click_callback(lambda: continue_callback(self._custom_software))
+
+    self._scroller.add_widgets([
+      self._connect_button,
+      self._wifi_button,
+      self._continue_button,
+      self._waiting_button,
+    ])
+
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
+
+  def show_event(self):
+    super().show_event()
+    # make sure we populate strength and ip immediately if already have wifi
+    self._wifi_manager.set_active(True)
+    self._prev_has_internet = self._has_internet
+    self._prev_wifi_connected = self._wifi_manager.wifi_state.status == ConnectStatus.CONNECTED
+    self._pending_has_internet_scroll = None
+    self._pending_continue_grow_animation = False
+    self._pending_wifi_grow_animation = False
+
+    if self._prev_has_internet or self._prev_wifi_connected:
+      self.set_shown_callback(lambda: self._scroll_to_end_and_grow())
+
+  @property
+  def _has_internet(self) -> bool:
+    network_changing = self._wifi_ui.any_network_forgetting or self._wifi_manager.wifi_state.status == ConnectStatus.CONNECTING
+    if network_changing:
+      self._network_monitor.invalidate()
+
+    has_internet = (self._network_monitor.network_connected.is_set() and
+                    not network_changing and
+                    not self._network_monitor.recheck_event.is_set())
+    return has_internet
+
+  def _nav_stack_tick(self):
+    # Only run tick when this page or its WiFi UI is on the stack
+    if gui_app.get_active_widget() is not self and not gui_app.widget_in_stack(self._wifi_ui):
+      self._wifi_manager.process_callbacks()
+      return
+
+    # Check network state before processing callbacks so forgetting flag
+    # is still set on the frame the forgotten callback fires
+    has_internet = self._has_internet
+    wifi_connected = self._wifi_manager.wifi_state.status == ConnectStatus.CONNECTED
+
+    self._continue_button.set_visible(has_internet)
+    self._waiting_button.set_visible(not has_internet)
+
+    # TODO: fire show/hide events on visibility changes
+    if not has_internet:
+      self._pending_continue_grow_animation = False
+      self._waiting_button.set_text("waiting for\ninternet..." if wifi_connected else "connect to\ncontinue")
+
+    self._wifi_manager.process_callbacks()
+
+    # Dismiss WiFi UI and scroll on WiFi connect or internet gain
+    if (has_internet and not self._prev_has_internet) or (wifi_connected and not self._prev_wifi_connected):
+      # TODO: cancel if connect is transient
+      self._pending_has_internet_scroll = rl.get_time()
+
+    self._prev_has_internet = has_internet
+    self._prev_wifi_connected = wifi_connected
+
+    if self._pending_has_internet_scroll is not None:
+      # Scrolls over to continue button, then grows once in view
+      elapsed = rl.get_time() - self._pending_has_internet_scroll
+      if elapsed > 0.7 or gui_app.get_active_widget() is self:  # instant scroll + grow if not popping
+        # Animate WifiUi down first before scroll
+        self._pending_has_internet_scroll = None
+        gui_app.pop_widgets_to(self, self._scroll_to_end_and_grow)
+
+  def _scroll_to_end_and_grow(self):
+    self._scroller._layout()
+    end_offset = -(self._scroller.content_size - self._rect.width)
+    remaining = self._scroller.scroll_panel.get_offset() - end_offset
+    self._scroller.scroll_to(remaining, smooth=True, block_interrupt=True, block_widget_interaction=True)
+    self._pending_continue_grow_animation = True
+
+  def set_custom_software(self, custom_software: bool):
+    self._custom_software = custom_software
+    self._continue_button.set_text("install openpilot" if not custom_software else "choose software")
+    self._continue_button.set_green(not custom_software)
+
+  def _update_state(self):
+    super()._update_state()
+
+    if self._pending_continue_grow_animation:
+      btn_right = self._continue_button.rect.x + self._continue_button.rect.width
+      visible_right = self._rect.x + self._rect.width
+      if btn_right < visible_right + 50:
+        self._pending_continue_grow_animation = False
+        self._continue_button.trigger_grow_animation()
+
+    if self._pending_wifi_grow_animation and abs(self._wifi_button.rect.x - ITEM_SPACING) < 50:
+      self._pending_wifi_grow_animation = False
+      self._wifi_button.trigger_grow_animation()
+
+
+class NetworkSetupPage(NetworkSetupPageBase, NavScroller):
+  def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
+               back_callback: Callable[[], None] | None):
+    super().__init__(network_monitor, continue_callback)
+    self.set_back_callback(back_callback)
+
+
+class Setup(Widget):
+  def __init__(self):
+    super().__init__()
+    self.download_url = ""
+    self.download_progress = 0
+    self.download_thread = None
+    self._download_failed_reason: str | None = None
+
+    self._network_monitor = NetworkConnectivityMonitor()
+    self._network_monitor.start()
+
+    def getting_started_button_callback():
+      gui_app.push_widget(self._software_selection_page)
+
+    self._start_page = StartPage()
+    self._start_page.set_click_callback(getting_started_button_callback)
+    self._start_page.set_enabled(lambda: self.enabled)  # for nav stack
+
+    self._network_setup_page = NetworkSetupPage(self._network_monitor, self._network_setup_continue_callback, self._pop_to_software_selection)
+
+    self._software_selection_page = SoftwareSelectionPage(self._push_network_setup, lambda: gui_app.push_widget(self._custom_software_warning_page))
+
+    self._download_failed_page = FailedPage(self._pop_to_software_selection, icon="icons_mici/setup/red_warning.png")
+
+    self._custom_software_warning_page = CustomSoftwareWarningPage(lambda: self._push_network_setup(True), self._pop_to_software_selection)
+
+    self._downloading_page = DownloadingPage()
+
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
+
+  def _nav_stack_tick(self):
+    self._downloading_page.set_progress(self.download_progress)
+
+    if self._download_failed_reason is not None:
+      reason = self._download_failed_reason
+      self._download_failed_reason = None
+      self._download_failed_page.set_reason(reason)
+      gui_app.pop_widgets_to(self._software_selection_page, lambda: gui_app.push_widget(self._download_failed_page))
+
+  def _render(self, rect: rl.Rectangle):
+    self._start_page.render(rect)
+
+  def close(self):
+    self._network_monitor.stop()
+
+  def _pop_to_software_selection(self):
+    # reset sliders after dismiss completes
+    gui_app.pop_widgets_to(self._software_selection_page, self._software_selection_page.reset)
+
+  def _push_network_setup(self, custom_software: bool = False):
+    # to fire the correct continue callback later
+    self._network_setup_page.set_custom_software(custom_software)
+    gui_app.push_widget(self._network_setup_page)
+
+  def _network_setup_continue_callback(self, custom_software: bool):
+    if not custom_software:
+      self._download(OPENPILOT_URL)
+    else:
+      def handle_keyboard_result(text):
+        url = text.strip()
+        if url:
+          self._download(url)
+
+      keyboard = BigInputDialog("custom software URL...", confirm_callback=handle_keyboard_result, auto_return_to_letters="./")
+      gui_app.push_widget(keyboard)
+
+  def _download(self, url: str):
+    # autocomplete incomplete URLs
+    if re.match("^([^/.]+)/([^/]+)$", url):
+      url = f"https://installer.comma.ai/{url}"
+
+    parsed = urlparse(url, scheme='https')
+    self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
+    self.download_progress = 0
+
+    def start_download():
+      self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
+      self.download_thread.start()
+
+    self._downloading_page.set_shown_callback(start_download)
+    gui_app.push_widget(self._downloading_page)
+
+  def _download_thread(self):
+    try:
+      import tempfile
+
+      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
+
+      headers = {"User-Agent": USER_AGENT,
+                 "X-openpilot-serial": HARDWARE.get_serial(),
+                 "X-openpilot-device-type": HARDWARE.get_device_type()}
+      req = urllib.request.Request(self.download_url, headers=headers)
+
+      with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
+        total_size = int(response.headers.get('content-length', 0))
+        downloaded = 0
+        block_size = 8192
+
+        while True:
+          buffer = response.read(block_size)
+          if not buffer:
+            break
+
+          downloaded += len(buffer)
+          f.write(buffer)
+
+          if total_size:
+            self.download_progress = int(downloaded * 100 / total_size)
+
+      is_elf = False
+      with open(tmpfile, 'rb') as f:
+        header = f.read(4)
+        is_elf = header == b'\x7fELF'
+
+      if not is_elf:
+        self._download_failed_reason = "No custom software found at this URL: " + self.download_url.replace("https://", "", 1)
+        return
+
+      # NOTE: currently unused, for future logging
+      with open(INSTALLER_URL_PATH, "w") as f:
+        f.write(self.download_url)
+
+      # AGNOS might try to execute the installer before this process exits.
+      # Therefore, important to close the fd before renaming the installer.
+      os.close(fd)
+      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
+
+      # give time for installer UI to take over
+      time.sleep(0.1)
+      gui_app.request_close()
+
+    except urllib.error.HTTPError as e:
+      if e.code == 409:
+        self._download_failed_reason = "Incompatible sunnypilot version."
+    except Exception:
+      self._download_failed_reason = "Invalid URL: " + self.download_url.replace("https://", "", 1)
+
+
+def main():
+  config_realtime_process(0, 51)
+  # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
+  if COMMA_HARDWARE:
+    try:
+      set_core_affinity([5])
+    except OSError:
+      cloudlog.exception("Failed to set core affinity for setup process")
+
+  try:
+    gui_app.init_window("Setup")
+    setup = Setup()
+    gui_app.push_widget(setup)
+    for _ in gui_app.render():
+      pass
+    setup.close()
+  except Exception as e:
+    print(f"Setup error: {e}")
+  finally:
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/openpilot/system/ui/mici_updater.py b/openpilot/system/ui/mici_updater.py
new file mode 100755
index 0000000000..d9009b8259
--- /dev/null
+++ b/openpilot/system/ui/mici_updater.py
@@ -0,0 +1,182 @@
+#!/usr/bin/env python3
+import sys
+import subprocess
+import threading
+import pyray as rl
+
+from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.mici_setup import (NetworkSetupPage, FailedPage, NetworkConnectivityMonitor,
+                                            GreyBigButton, BigPillButton)
+
+
+class UpdaterNetworkSetupPage(NetworkSetupPage):
+  def __init__(self, network_monitor, continue_callback):
+    super().__init__(network_monitor, continue_callback, back_callback=None)
+    self._continue_button.set_text("download\n& install")
+    self._continue_button.set_green(False)
+
+
+class ProgressPage(NavWidget):
+  def __init__(self):
+    super().__init__()
+
+    self._progress_title_label = UnifiedLabel("", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                              font_weight=FontWeight.DISPLAY, line_height=0.8)
+    self._progress_percent_label = UnifiedLabel("", 132, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
+                                                font_weight=FontWeight.ROMAN,
+                                                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+
+  def _back_enabled(self) -> bool:
+    return False
+
+  def set_progress(self, text: str, value: int):
+    self._progress_title_label.set_text(text.replace("_", "_\n") + "...")
+    self._progress_percent_label.set_text(f"{value}%")
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0  # not dismissable
+    self.set_progress("downloading", 0)
+
+  def _render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, rl.BLACK)
+    self._progress_title_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 2,
+      rect.width,
+      self._progress_title_label.get_content_height(int(rect.width - 20)),
+    ))
+
+    self._progress_percent_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 18,
+      rect.width,
+      rect.height,
+    ))
+
+
+class Updater(Scroller):
+  def __init__(self, updater_path, manifest_path):
+    super().__init__()
+    self.updater = updater_path
+    self.manifest = manifest_path
+
+    self.progress_value = 0
+    self.progress_text = "loading"
+    self.process = None
+    self.update_thread = None
+    self._update_failed = False
+
+    self._network_monitor = NetworkConnectivityMonitor()
+    self._network_monitor.start()
+
+    self._network_setup_page = UpdaterNetworkSetupPage(self._network_monitor, self._network_setup_continue_callback)
+
+    self._progress_page = ProgressPage()
+
+    self._failed_page = FailedPage(self._retry, title="update failed")
+
+    self._continue_button = BigPillButton("next")
+    self._continue_button.set_click_callback(lambda: gui_app.push_widget(self._network_setup_page))
+
+    self._scroller.add_widgets([
+      GreyBigButton("update required", "the download size\nis approximately 1 GB",
+                    gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", 64, 64)),
+      self._continue_button,
+    ])
+
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
+
+  def _network_setup_continue_callback(self, _):
+    self.install_update()
+
+  def _retry(self):
+    gui_app.pop_widgets_to(self)
+
+  def _nav_stack_tick(self):
+    self._progress_page.set_progress(self.progress_text, self.progress_value)
+
+    if self._update_failed:
+      self._update_failed = False
+      self.show_event()
+      gui_app.pop_widgets_to(self, lambda: gui_app.push_widget(self._failed_page))
+
+  def install_update(self):
+    self.progress_value = 0
+    self.progress_text = "downloading"
+
+    def start_update():
+      self.update_thread = threading.Thread(target=self._run_update_process, daemon=True)
+      self.update_thread.start()
+
+    # Start the update process in a separate thread *after* show animation completes
+    self._progress_page.set_shown_callback(start_update)
+    gui_app.push_widget(self._progress_page)
+
+  def _run_update_process(self):
+    # TODO: just import it and run in a thread without a subprocess
+    try:
+      cmd = [self.updater, "--swap", self.manifest]
+      self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE,
+                                      text=True, bufsize=1, universal_newlines=True)
+    except Exception:
+      self._update_failed = True
+      return
+
+    if self.process.stdout is not None:
+      for line in self.process.stdout:
+        parts = line.strip().split(":")
+        if len(parts) == 2:
+          self.progress_text = parts[0].lower()
+          try:
+            self.progress_value = int(float(parts[1]))
+          except ValueError:
+            pass
+
+    exit_code = self.process.wait()
+    if exit_code == 0:
+      HARDWARE.reboot()
+    else:
+      self._update_failed = True
+
+  def close(self):
+    self._network_monitor.stop()
+
+
+def main():
+  config_realtime_process(0, 51)
+  # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
+  if COMMA_HARDWARE:
+    try:
+      set_core_affinity([5])
+    except OSError:
+      cloudlog.exception("Failed to set core affinity for updater process")
+
+  if len(sys.argv) < 3:
+    print("Usage: updater.py <updater_path> <manifest_path>")
+    sys.exit(1)
+
+  updater_path = sys.argv[1]
+  manifest_path = sys.argv[2]
+
+  try:
+    gui_app.init_window("System Update")
+    updater = Updater(updater_path, manifest_path)
+    gui_app.push_widget(updater)
+    for _ in gui_app.render():
+      pass
+    updater.close()
+  except Exception as e:
+    print(f"Updater error: {e}")
+  finally:
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/reset.py b/openpilot/system/ui/reset.py
similarity index 100%
rename from system/ui/reset.py
rename to openpilot/system/ui/reset.py
diff --git a/system/ui/setup.py b/openpilot/system/ui/setup.py
similarity index 100%
rename from system/ui/setup.py
rename to openpilot/system/ui/setup.py
diff --git a/system/ui/spinner.py b/openpilot/system/ui/spinner.py
similarity index 100%
rename from system/ui/spinner.py
rename to openpilot/system/ui/spinner.py
diff --git a/system/ui/sunnypilot/lib/application.py b/openpilot/system/ui/sunnypilot/lib/application.py
similarity index 100%
rename from system/ui/sunnypilot/lib/application.py
rename to openpilot/system/ui/sunnypilot/lib/application.py
diff --git a/system/ui/sunnypilot/lib/styles.py b/openpilot/system/ui/sunnypilot/lib/styles.py
similarity index 100%
rename from system/ui/sunnypilot/lib/styles.py
rename to openpilot/system/ui/sunnypilot/lib/styles.py
diff --git a/openpilot/system/ui/sunnypilot/lib/utils.py b/openpilot/system/ui/sunnypilot/lib/utils.py
new file mode 100644
index 0000000000..ecaba86f4b
--- /dev/null
+++ b/openpilot/system/ui/sunnypilot/lib/utils.py
@@ -0,0 +1,36 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
+
+
+class NoElideButtonAction(ButtonActionSP):
+  def get_width_hint(self):
+    return super().get_width_hint() + 1
+
+
+class AlertFadeAnimator:
+  def __init__(self, target_fps: int, duration_on: float = 0.75, rc: float = 0.05):
+    from openpilot.common.filter_simple import FirstOrderFilter
+    self._filter = FirstOrderFilter(1.0, rc, 1 / target_fps)
+    self._frame = 0
+    self._target_fps = target_fps
+    self._duration_on = duration_on
+
+  def update(self, active: bool):
+    if active:
+      self._frame += 1
+      if (self._frame % self._target_fps) < (self._target_fps * self._duration_on):
+        self._filter.x = 1.0
+      else:
+        self._filter.update(0.0)
+    else:
+      self._frame = 0
+      self._filter.update(1.0)
+
+  @property
+  def alpha(self) -> float:
+    return self._filter.x
diff --git a/system/ui/sunnypilot/widgets/__init__.py b/openpilot/system/ui/sunnypilot/widgets/__init__.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/__init__.py
rename to openpilot/system/ui/sunnypilot/widgets/__init__.py
diff --git a/system/ui/sunnypilot/widgets/helpers/__init__.py b/openpilot/system/ui/sunnypilot/widgets/helpers/__init__.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/helpers/__init__.py
rename to openpilot/system/ui/sunnypilot/widgets/helpers/__init__.py
diff --git a/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py b/openpilot/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
rename to openpilot/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
diff --git a/system/ui/sunnypilot/widgets/helpers/star_icon.py b/openpilot/system/ui/sunnypilot/widgets/helpers/star_icon.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/helpers/star_icon.py
rename to openpilot/system/ui/sunnypilot/widgets/helpers/star_icon.py
diff --git a/system/ui/sunnypilot/widgets/html_render.py b/openpilot/system/ui/sunnypilot/widgets/html_render.py
similarity index 96%
rename from system/ui/sunnypilot/widgets/html_render.py
rename to openpilot/system/ui/sunnypilot/widgets/html_render.py
index 259067723e..a0018f5be7 100644
--- a/system/ui/sunnypilot/widgets/html_render.py
+++ b/openpilot/system/ui/sunnypilot/widgets/html_render.py
@@ -18,7 +18,7 @@ class HtmlModalSP(HtmlModal):
 
   def _on_ok_clicked(self):
     self._dialog_result = DialogResult.CONFIRM
-    gui_app.set_modal_overlay(None)
+    gui_app.pop_widget()
 
     if self._callback:
       self._callback(self._dialog_result)
diff --git a/system/ui/sunnypilot/widgets/input_dialog.py b/openpilot/system/ui/sunnypilot/widgets/input_dialog.py
similarity index 94%
rename from system/ui/sunnypilot/widgets/input_dialog.py
rename to openpilot/system/ui/sunnypilot/widgets/input_dialog.py
index ed67302fcb..83b7edacf2 100644
--- a/system/ui/sunnypilot/widgets/input_dialog.py
+++ b/openpilot/system/ui/sunnypilot/widgets/input_dialog.py
@@ -39,4 +39,5 @@ class InputDialogSP:
       if self.callback:
         self.callback(result, text)
 
-    gui_app.set_modal_overlay(self.keyboard, internal_callback)
+    self.keyboard.set_callback(internal_callback)
+    gui_app.push_widget(self.keyboard)
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/openpilot/system/ui/sunnypilot/widgets/list_view.py
similarity index 98%
rename from system/ui/sunnypilot/widgets/list_view.py
rename to openpilot/system/ui/sunnypilot/widgets/list_view.py
index 1dd69c24cb..ff4b8c13dd 100644
--- a/system/ui/sunnypilot/widgets/list_view.py
+++ b/openpilot/system/ui/sunnypilot/widgets/list_view.py
@@ -4,7 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from collections.abc import Callable
+from collections.abc import Callable, Sequence
 
 import pyray as rl
 from openpilot.common.params import Params
@@ -126,7 +126,7 @@ class DualButtonActionSP(DualButtonAction):
 
 
 class MultipleButtonActionSP(MultipleButtonAction):
-  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None,
+  def __init__(self, buttons: Sequence[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None,
                param: str | None = None):
     MultipleButtonAction.__init__(self, buttons, button_width, selected_index, callback)
     self.param_key = param
@@ -363,10 +363,10 @@ def simple_button_item_sp(button_text: str | Callable[[], str], callback: Callab
 def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
                    callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
   action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
-  return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon)
 
 
-def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]],
+def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: Sequence[str | Callable[[], str]],
                             selected_index: int = 0, button_width: int = style.BUTTON_ACTION_WIDTH, callback: Callable | None = None,
                             icon: str = "", param: str | None = None, inline: bool = False) -> ListItemSP:
   action = MultipleButtonActionSP(buttons, button_width, selected_index, callback=callback, param=param)
diff --git a/system/ui/sunnypilot/widgets/option_control.py b/openpilot/system/ui/sunnypilot/widgets/option_control.py
similarity index 86%
rename from system/ui/sunnypilot/widgets/option_control.py
rename to openpilot/system/ui/sunnypilot/widgets/option_control.py
index 91e9650ebd..82126417d5 100644
--- a/system/ui/sunnypilot/widgets/option_control.py
+++ b/openpilot/system/ui/sunnypilot/widgets/option_control.py
@@ -44,7 +44,8 @@ class OptionControlSP(ItemAction):
           self.current_value = int(key)
           break
     else:
-      self.current_value = int(self.params.get(self.param_key, return_default=True))
+      value = self.params.get(self.param_key, return_default=True)
+      self.current_value = int(float(value) * 100.0) if self.use_float_scaling else int(value)
 
     # Initialize font and button styles
     self._font = gui_app.font(FontWeight.MEDIUM)
@@ -59,17 +60,19 @@ class OptionControlSP(ItemAction):
 
   def set_value(self, value: int):
     """Set the control to a specific value"""
-    if self.min_value <= value <= self.max_value:
-      self.current_value = value
-      if self.value_map:
-        self.params.put(self.param_key, self.value_map[value])
-      else:
-        if self.use_float_scaling:
-          self.params.put(self.param_key, value / 100.0)
-        else:
-          self.params.put(self.param_key, value)
-      if self.on_value_changed:
-        self.on_value_changed(value)
+    if not (self.min_value <= value <= self.max_value):
+      return
+    if value == self.current_value:
+      return
+    self.current_value = value
+    if self.value_map:
+      self.params.put(self.param_key, self.value_map[value])
+    elif self.use_float_scaling:
+      self.params.put(self.param_key, value / 100.0)
+    else:
+      self.params.put(self.param_key, value)
+    if self.on_value_changed:
+      self.on_value_changed(value)
 
   def get_displayed_value(self) -> str:
     """Get the displayed value, handling value mapping if present"""
@@ -156,10 +159,10 @@ class OptionControlSP(ItemAction):
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     if self._minus_enabled and rl.check_collision_point_rec(mouse_pos, self.minus_btn_rect):
-      self.current_value -= self.value_change_step
-      self.current_value = max(self.min_value, self.current_value)
+      new_value = self.current_value - self.value_change_step
+      new_value = max(self.min_value, new_value)
+      self.set_value(new_value)
     elif self._plus_enabled and rl.check_collision_point_rec(mouse_pos, self.plus_btn_rect):
-      self.current_value += self.value_change_step
-      self.current_value = min(self.max_value, self.current_value)
-
-    self.set_value(self.current_value)
+      new_value = self.current_value + self.value_change_step
+      new_value = min(self.max_value, new_value)
+      self.set_value(new_value)
diff --git a/system/ui/sunnypilot/widgets/progress_bar.py b/openpilot/system/ui/sunnypilot/widgets/progress_bar.py
similarity index 100%
rename from system/ui/sunnypilot/widgets/progress_bar.py
rename to openpilot/system/ui/sunnypilot/widgets/progress_bar.py
diff --git a/openpilot/system/ui/sunnypilot/widgets/screen_saver.py b/openpilot/system/ui/sunnypilot/widgets/screen_saver.py
new file mode 100644
index 0000000000..bf218306d8
--- /dev/null
+++ b/openpilot/system/ui/sunnypilot/widgets/screen_saver.py
@@ -0,0 +1,118 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+import time
+
+import pyray as rl
+
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class ScreenSaverSP(Widget):
+  def __init__(self, params: Params | None = None):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    self._params = params or Params()
+    self._is_mici = HARDWARE.get_device_type() == 'mici' or (HARDWARE.get_device_type() == "pc" and os.getenv("BIG") != "1")
+
+    self.x = 0.0
+    self.y = 100.0
+    self.vx = 120.0 if self._is_mici else 300.0
+    self.vy = 70.0 if self._is_mici else 200.0
+    self._hue = 150
+    self.color = rl.color_from_hsv(self._hue, 1, 1)
+
+    self.text = "sunnypilot"
+    self.font_size = 50 if self._is_mici else 200
+    self._start_time = None
+    self._dismiss = False
+    self._screensaver_timeout = 300
+    self._hit_last_frame = False
+
+  @property
+  def is_active(self) -> bool:
+    return self._start_time is not None and not self._dismiss
+
+  @property
+  def was_dismissed(self) -> bool:
+    return self._dismiss
+
+  def initialize(self):
+    self._screensaver_timeout = self._params.get("ScreenSaverTimeout", return_default=True)
+    if self._start_time is None:
+      self._start_time = time.monotonic()
+    self._dismiss = False
+
+  def hide_event(self):
+    super().hide_event()
+    self._dismiss = False
+    self._start_time = None
+
+  def _handle_mouse_release(self, mouse_pos):
+    self._dismiss = True
+    self._start_time = None
+    gui_app.pop_widget()
+    return super()._handle_mouse_release(mouse_pos)
+
+  def _update_state(self):
+    super()._update_state()
+
+    self.font = gui_app.font(FontWeight.AUDIOWIDE)
+    text_size = measure_text_cached(self.font, self.text, self.font_size, 0)
+    self.logo_width = text_size.x
+    self.logo_height = text_size.y
+
+    if self._start_time and time.monotonic() - self._start_time > self._screensaver_timeout:
+      self._dismiss = True
+      self._start_time = None
+
+    dt = rl.get_frame_time()
+
+    self.x += self.vx * dt
+    self.y += self.vy * dt
+
+    hit_x = hit_y = False
+    if self.x + self.logo_width > self.rect.width:
+      self.vx *= -1
+      self.x = self.rect.width - self.logo_width
+      hit_x = True
+    elif self.x < 0:
+      self.vx *= -1
+      self.x = 0
+      hit_x = True
+
+    if self.y + self.logo_height > self.rect.height:
+      self.vy *= -1
+      self.y = self.rect.height - self.logo_height
+      hit_y = True
+    elif self.y < 0:
+      self.vy *= -1
+      self.y = 0
+      hit_y = True
+
+    hit = hit_x or hit_y
+    if hit and not self._hit_last_frame:
+      while self._hue_dist((new_hue := rl.get_random_value(0, 360)), self._hue) < 120:
+        pass
+      self._hue = new_hue
+      self.color = rl.color_from_hsv(self._hue, 1, 1)
+    self._hit_last_frame = hit
+
+  @staticmethod
+  def _hue_dist(a, b):
+    d = abs(a - b)
+    return min(d, 360 - d)
+
+  def _render(self, rect: rl.Rectangle):
+    self.set_rect(rect)
+    rl.clear_background(rl.BLACK)
+    rl.draw_text_ex(self.font, self.text, rl.Vector2(int(self.x), int(self.y)), self.font_size, 0, self.color)
+    return -1
diff --git a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py b/openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
similarity index 99%
rename from system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
rename to openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
index af6b9cf45d..77e8b5fd2c 100644
--- a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
+++ b/openpilot/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
@@ -45,7 +45,7 @@ class SunnylinkPairingDialog(PairingDialog):
   def _update_state(self):
     is_paired = ui_state.sunnylink_state.is_paired()
     if not self._is_paired_prev and is_paired:
-      gui_app.set_modal_overlay(None)
+      gui_app.pop_widget()
 
   def _render(self, rect: rl.Rectangle) -> int:
     rl.clear_background(rl.Color(224, 224, 224, 255))
diff --git a/system/ui/sunnypilot/widgets/toggle.py b/openpilot/system/ui/sunnypilot/widgets/toggle.py
similarity index 96%
rename from system/ui/sunnypilot/widgets/toggle.py
rename to openpilot/system/ui/sunnypilot/widgets/toggle.py
index 2924aec2b4..fbb2ba40ac 100644
--- a/system/ui/sunnypilot/widgets/toggle.py
+++ b/openpilot/system/ui/sunnypilot/widgets/toggle.py
@@ -57,3 +57,7 @@ class ToggleSP(Toggle):
     knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
 
     rl.draw_circle(int(knob_x), int(knob_y), KNOB_RADIUS, knob_color)
+
+    clicked = self._clicked
+    self._clicked = False
+    return clicked
diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
similarity index 96%
rename from system/ui/sunnypilot/widgets/tree_dialog.py
rename to openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
index 2dd5e3a2dc..97150e1028 100644
--- a/system/ui/sunnypilot/widgets/tree_dialog.py
+++ b/openpilot/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -8,7 +8,7 @@ from dataclasses import dataclass, field
 
 import pyray as rl
 from openpilot.common.params import Params
-from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.application import FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult
 from openpilot.system.ui.widgets.button import Button, ButtonStyle, BUTTON_PRESSED_BACKGROUND_COLORS
@@ -48,9 +48,9 @@ class TreeItemWidget(Button):
     self.border_radius = 10
     self.is_expanded = is_expanded
 
-  def _render(self, rect):
+  def _render(self, _):
     indent = 60 * self.indent_level
-    self._rect = rl.Rectangle(rect.x + indent, rect.y, rect.width - indent, rect.height)
+    self._rect = rl.Rectangle(_.x + indent, _.y, _.width - indent, _.height)
     if self.is_pressed:
       color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style]
     elif self.selected and self.ref != "search_bar":
@@ -76,6 +76,14 @@ class TreeItemWidget(Button):
 
 
 class TreeOptionDialog(MultiOptionDialog):
+  @property
+  def on_exit(self):
+    return self._callback
+
+  @on_exit.setter
+  def on_exit(self, value):
+    self._callback = value
+
   def __init__(self, title, folders, current_ref="", fav_param="", option_font_weight=FontWeight.MEDIUM, search_prompt=None,
                get_folders_fn=None, on_exit=None, display_func=None, search_funcs=None, search_title=None, search_subtitle=None):
     super().__init__(title, [], current_ref, option_font_weight)
@@ -124,7 +132,6 @@ class TreeOptionDialog(MultiOptionDialog):
     if result == DialogResult.CONFIRM:
       self.query = text
       self._build_visible_items()
-    gui_app.set_modal_overlay(self, callback=self.on_exit)
 
   def _on_search_clicked(self):
     self.search_dialog = InputDialogSP(
@@ -191,7 +198,10 @@ class TreeOptionDialog(MultiOptionDialog):
 
     self.option_buttons = self.visible_items
     self.options = [item.text for item in self.visible_items]
-    self.scroller._items = self.visible_items
+    # Rebuild scroller items to ensure proper setup of touch callbacks
+    self.scroller._items.clear()
+    for item in self.option_buttons:
+      self.scroller.add_widget(item)
     if reset_scroll:
       self.scroller.scroll_panel.set_offset(0)
 
@@ -266,8 +276,6 @@ class TreeOptionDialog(MultiOptionDialog):
     self.select_button.set_enabled(self.selection != self.current)
     self.select_button.render(select_rect)
 
-    return self._result
-
   def _handle_mouse_press(self, mouse_pos):
     if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
       self._search_pressed = True
diff --git a/system/ui/text.py b/openpilot/system/ui/text.py
similarity index 98%
rename from system/ui/text.py
rename to openpilot/system/ui/text.py
index 17e8a507cb..f6bcf4eddf 100755
--- a/system/ui/text.py
+++ b/openpilot/system/ui/text.py
@@ -2,7 +2,7 @@
 import re
 import sys
 import pyray as rl
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.application import BIG_UI, gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.text_measure import measure_text_cached
diff --git a/system/ui/tici_reset.py b/openpilot/system/ui/tici_reset.py
similarity index 63%
rename from system/ui/tici_reset.py
rename to openpilot/system/ui/tici_reset.py
index 3922c27aac..5c175dbfa6 100755
--- a/system/ui/tici_reset.py
+++ b/openpilot/system/ui/tici_reset.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import os
+import subprocess
 import sys
 import threading
 import time
@@ -7,7 +7,7 @@ from enum import IntEnum
 
 import pyray as rl
 
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
@@ -20,7 +20,6 @@ TIMEOUT = 3*60
 class ResetMode(IntEnum):
   USER_RESET = 0  # user initiated a factory reset from openpilot
   RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
-  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
 
 
 class ResetState(IntEnum):
@@ -36,29 +35,29 @@ class Reset(Widget):
     self._mode = mode
     self._previous_reset_state = None
     self._reset_state = ResetState.NONE
-    self._cancel_button = Button("Cancel", self._cancel_callback)
+    self._cancel_button = Button("Cancel", gui_app.request_close)
     self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
-    self._reboot_button = Button("Reboot", lambda: os.system("sudo reboot"))
-    self._render_status = True
+    self._reboot_button = Button("Reboot", self._reboot)
 
-  def _cancel_callback(self):
-    self._render_status = False
+  @staticmethod
+  def _reboot() -> None:
+    subprocess.run("sudo reboot", shell=True)
 
   def _do_erase(self):
     if PC:
       return
 
     # Removing data and formatting
-    rm = os.system("sudo rm -rf /data/*")
-    os.system(f"sudo umount {USERDATA}")
-    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
+    rm = subprocess.run("sudo rm -rf /data/*", shell=True).returncode
+    subprocess.run(f"sudo umount {USERDATA}", shell=True)
+    fmt = subprocess.run(f"yes | sudo mkfs.ext4 {USERDATA}", shell=True).returncode
 
     if rm == 0 or fmt == 0:
-      os.system("sudo reboot")
+      subprocess.run("sudo reboot", shell=True)
     else:
       self._reset_state = ResetState.FAILED
 
-  def start_reset(self):
+  def _start_reset(self):
     self._reset_state = ResetState.RESETTING
     threading.Timer(0.1, self._do_erase).start()
 
@@ -69,34 +68,34 @@ class Reset(Widget):
     elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
       exit(0)
 
-  def _render(self, rect: rl.Rectangle):
-    label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100 * FONT_SCALE)
+  def _render(self, _):
+    content_rect = rl.Rectangle(45, 200, self._rect.width - 90, self._rect.height - 245)
+
+    label_rect = rl.Rectangle(content_rect.x + 140, content_rect.y, content_rect.width - 280, 100 * FONT_SCALE)
     gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
 
-    text_rect = rl.Rectangle(rect.x + 140, rect.y + 140, rect.width - 280, rect.height - 90 - 100 * FONT_SCALE)
+    text_rect = rl.Rectangle(content_rect.x + 140, content_rect.y + 140, content_rect.width - 280, content_rect.height - 90 - 100 * FONT_SCALE)
     gui_text_box(text_rect, self._get_body_text(), 90)
 
     button_height = 160
     button_spacing = 50
-    button_top = rect.y + rect.height - button_height
-    button_width = (rect.width - button_spacing) / 2.0
+    button_top = content_rect.y + content_rect.height - button_height
+    button_width = (content_rect.width - button_spacing) / 2.0
 
     if self._reset_state != ResetState.RESETTING:
       if self._mode == ResetMode.RECOVER:
-        self._reboot_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
+        self._reboot_button.render(rl.Rectangle(content_rect.x, button_top, button_width, button_height))
       elif self._mode == ResetMode.USER_RESET:
-        self._cancel_button.render(rl.Rectangle(rect.x, button_top, button_width, button_height))
+        self._cancel_button.render(rl.Rectangle(content_rect.x, button_top, button_width, button_height))
 
       if self._reset_state != ResetState.FAILED:
-        self._confirm_button.render(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height))
+        self._confirm_button.render(rl.Rectangle(content_rect.x + button_width + 50, button_top, button_width, button_height))
       else:
-        self._reboot_button.render(rl.Rectangle(rect.x, button_top, rect.width, button_height))
-
-    return self._render_status
+        self._reboot_button.render(rl.Rectangle(content_rect.x, button_top, content_rect.width, button_height))
 
   def _confirm(self):
     if self._reset_state == ResetState.CONFIRM:
-      self.start_reset()
+      self._start_reset()
     else:
       self._reset_state = ResetState.CONFIRM
 
@@ -117,19 +116,14 @@ def main():
   if len(sys.argv) > 1:
     if sys.argv[1] == '--recover':
       mode = ResetMode.RECOVER
-    elif sys.argv[1] == "--format":
-      mode = ResetMode.FORMAT
 
   gui_app.init_window("System Reset", 20)
   reset = Reset(mode)
 
-  if mode == ResetMode.FORMAT:
-    reset.start_reset()
+  gui_app.push_widget(reset)
 
-  for should_render in gui_app.render():
-    if should_render:
-      if not reset.render(rl.Rectangle(45, 200, gui_app.width - 90, gui_app.height - 245)):
-        break
+  for _ in gui_app.render():
+    pass
 
 
 if __name__ == "__main__":
diff --git a/system/ui/tici_setup.py b/openpilot/system/ui/tici_setup.py
similarity index 88%
rename from system/ui/tici_setup.py
rename to openpilot/system/ui/tici_setup.py
index bf64361bed..36f47ccf1b 100755
--- a/system/ui/tici_setup.py
+++ b/openpilot/system/ui/tici_setup.py
@@ -7,16 +7,14 @@ import urllib.request
 import urllib.error
 from urllib.parse import urlparse
 from enum import IntEnum
-import shutil
 
 import pyray as rl
 
-from cereal import log
-from openpilot.common.utils import run_cmd
-from openpilot.system.hardware import HARDWARE
+from openpilot.cereal import log
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
-from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets import DialogResult, Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
 from openpilot.system.ui.widgets.keyboard import Keyboard
 from openpilot.system.ui.widgets.label import Label
@@ -35,20 +33,9 @@ BUTTON_SPACING = 50
 OPENPILOT_URL = "https://openpilot.comma.ai"
 USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
 
-CONTINUE_PATH = "/data/continue.sh"
-TMP_CONTINUE_PATH = "/data/continue.sh.new"
-INSTALL_PATH = "/data/openpilot"
-VALID_CACHE_PATH = "/data/.openpilot_cache"
-INSTALLER_SOURCE_PATH = "/usr/comma/installer"
 INSTALLER_DESTINATION_PATH = "/tmp/installer"
 INSTALLER_URL_PATH = "/tmp/installer_url"
 
-CONTINUE = """#!/usr/bin/env bash
-
-cd /data/openpilot
-exec ./launch_openpilot.sh
-"""
-
 
 class SetupState(IntEnum):
   LOW_VOLTAGE = 0
@@ -120,13 +107,20 @@ class Setup(Widget):
     self._custom_software_warning_title_label = Label("WARNING: Custom Software", 81, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
                                                       text_color=rl.Color(255, 89, 79, 255),
                                                       text_padding=60)
-    self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
-                                                     + "⚠️ It has not been tested by comma.\n\n"
-                                                     + "⚠️ It may not comply with relevant safety standards.\n\n"
-                                                     + "⚠️ It may cause damage to your device and/or vehicle.\n\n"
-                                                     + "If you'd like to proceed, use https://flash.comma.ai "
-                                                     + "to restore your device to a factory state later.",
-                                                     68, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=60)
+    self._yellow_warning_icon = gui_app.texture("icons/yellow_warning.png", int(68 * FONT_SCALE), int(68 * FONT_SCALE))
+    self._custom_software_warning_body_labels = [
+      Label(text, 68, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+            text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+            text_padding=60, icon=self._yellow_warning_icon if has_icon else None)
+      for text, has_icon in [
+        ("Use caution when installing third-party software.", False),
+        ("It has not been tested by comma.", True),
+        ("It may not comply with relevant safety standards.", True),
+        ("It may cause damage to your device and/or vehicle.", True),
+        ("If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later.", False)
+      ]
+    ]
+
     self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
 
     self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM, text_padding=20)
@@ -176,7 +170,9 @@ class Setup(Widget):
 
   def _software_selection_continue_button_callback(self):
     if self._software_selection_openpilot_button.selected:
-      self.use_openpilot()
+      self.state = SetupState.NETWORK_SETUP
+      self.stop_network_check_thread.clear()
+      self.start_network_check()
     else:
       self.state = SetupState.CUSTOM_SOFTWARE_WARNING
 
@@ -194,7 +190,7 @@ class Setup(Widget):
       self.state = SetupState.CUSTOM_SOFTWARE
 
   def render_low_voltage(self, rect: rl.Rectangle):
-    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
+    rl.draw_texture_ex(self.warning, rl.Vector2(rect.x + 150, rect.y + 110), 0.0, 1.0, rl.WHITE)
 
     self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE * FONT_SCALE))
     self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * FONT_SCALE * 3))
@@ -218,7 +214,7 @@ class Setup(Widget):
     while not self.stop_network_check_thread.is_set():
       if self.state == SetupState.NETWORK_SETUP:
         try:
-          urllib.request.urlopen(OPENPILOT_URL, timeout=2)
+          urllib.request.urlopen(OPENPILOT_URL, timeout=2.0)
           self.network_connected.set()
           if HARDWARE.get_network_type() == NetworkType.wifi:
             self.wifi_connected.set()
@@ -226,7 +222,7 @@ class Setup(Widget):
             self.wifi_connected.clear()
         except Exception:
           self.network_connected.clear()
-      time.sleep(1)
+      time.sleep(1.0)
 
   def start_network_check(self):
     if self.network_check_thread is None or not self.network_check_thread.is_alive():
@@ -306,7 +302,7 @@ class Setup(Widget):
     self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
 
   def render_custom_software_warning(self, rect: rl.Rectangle):
-    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
+    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1550)
     offset = self._custom_software_warning_body_scroll_panel.update(rect, warn_rect)
 
     button_width = (rect.width - MARGIN * 3) / 2
@@ -315,7 +311,12 @@ class Setup(Widget):
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE * FONT_SCALE))
     y_offset = rect.y + offset
     self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
-    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 400, rect.width - 50, BODY_FONT_SIZE * FONT_SCALE * 3))
+
+    y = y_offset + 300
+    for label in self._custom_software_warning_body_labels:
+      label.render(rl.Rectangle(rect.x + 50,  y, rect.width - 50, BODY_FONT_SIZE))
+      y += 160
+
     rl.end_scissor_mode()
 
     self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
@@ -327,36 +328,20 @@ class Setup(Widget):
   def render_custom_software(self):
     def handle_keyboard_result(result):
       # Enter pressed
-      if result == 1:
+      if result == DialogResult.CONFIRM:
         url = self.keyboard.text
         self.keyboard.clear()
         if url:
           self.download(url)
 
       # Cancel pressed
-      elif result == 0:
+      elif result == DialogResult.CANCEL:
         self.state = SetupState.SOFTWARE_SELECTION
 
     self.keyboard.reset(min_text_size=1)
     self.keyboard.set_title("Enter URL", "for Custom Software")
-    gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)
-
-  def use_openpilot(self):
-    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
-      os.remove(VALID_CACHE_PATH)
-      with open(TMP_CONTINUE_PATH, "w") as f:
-        f.write(CONTINUE)
-      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
-      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
-      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
-
-      # give time for installer UI to take over
-      time.sleep(0.1)
-      gui_app.request_close()
-    else:
-      self.state = SetupState.NETWORK_SETUP
-      self.stop_network_check_thread.clear()
-      self.start_network_check()
+    self.keyboard.set_callback(handle_keyboard_result)
+    gui_app.push_widget(self.keyboard)
 
   def download(self, url: str):
     # autocomplete incomplete URLs
@@ -437,9 +422,9 @@ def main():
   try:
     gui_app.init_window("Setup", 20)
     setup = Setup()
-    for should_render in gui_app.render():
-      if should_render:
-        setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    gui_app.push_widget(setup)
+    for _ in gui_app.render():
+      pass
     setup.close()
   except Exception as e:
     print(f"Setup error: {e}")
diff --git a/system/ui/tici_updater.py b/openpilot/system/ui/tici_updater.py
similarity index 92%
rename from system/ui/tici_updater.py
rename to openpilot/system/ui/tici_updater.py
index ebf4b3bec3..27cf6579a8 100755
--- a/system/ui/tici_updater.py
+++ b/openpilot/system/ui/tici_updater.py
@@ -5,7 +5,7 @@ import threading
 import pyray as rl
 from enum import IntEnum
 
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
@@ -67,9 +67,14 @@ class Updater(Widget):
 
   def _run_update_process(self):
     # TODO: just import it and run in a thread without a subprocess
-    cmd = [self.updater, "--swap", self.manifest]
-    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
-                                    text=True, bufsize=1, universal_newlines=True)
+    try:
+      cmd = [self.updater, "--swap", self.manifest]
+      self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE,
+                                      text=True, bufsize=1, universal_newlines=True)
+    except Exception:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+      return
 
     if self.process.stdout is not None:
       for line in self.process.stdout:
@@ -161,10 +166,9 @@ def main():
 
   try:
     gui_app.init_window("System Update")
-    updater = Updater(updater_path, manifest_path)
-    for should_render in gui_app.render():
-      if should_render:
-        updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    gui_app.push_widget(Updater(updater_path, manifest_path))
+    for _ in gui_app.render():
+      pass
   finally:
     # Make sure we clean up even if there's an error
     gui_app.close()
diff --git a/system/ui/updater.py b/openpilot/system/ui/updater.py
similarity index 100%
rename from system/ui/updater.py
rename to openpilot/system/ui/updater.py
diff --git a/openpilot/system/ui/widgets/__init__.py b/openpilot/system/ui/widgets/__init__.py
new file mode 100644
index 0000000000..4e13920d60
--- /dev/null
+++ b/openpilot/system/ui/widgets/__init__.py
@@ -0,0 +1,254 @@
+from __future__ import annotations
+
+import abc
+import pyray as rl
+from enum import IntEnum
+from typing import Protocol, TypeVar
+from collections.abc import Callable
+from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent
+
+class DeviceLike(Protocol):
+  @property
+  def awake(self) -> bool: ...
+
+
+def _get_device() -> DeviceLike:
+  try:
+    from openpilot.selfdrive.ui.ui_state import device
+    return device
+  except (ImportError, OSError):
+    class Device:
+      awake = True
+    return Device()
+
+
+device = _get_device()
+
+W = TypeVar('W', bound='Widget')
+
+DEBUG = False
+
+
+class DialogResult(IntEnum):
+  CANCEL = 0
+  CONFIRM = 1
+  NO_ACTION = -1
+
+
+class Widget(abc.ABC):
+  def __init__(self):
+    self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+    self._parent_rect: rl.Rectangle | None = None
+    self._children: list[Widget] = []
+
+    self._enabled: bool | Callable[[], bool] = True
+    self._is_visible: bool | Callable[[], bool] = True
+
+    self.__is_pressed = [False] * MAX_TOUCH_SLOTS
+    # if current mouse/touch down started within the widget's rectangle
+    self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
+    self._touch_valid_callback: Callable[[], bool] | None = None
+    self._click_delay: float | None = None  # seconds to hold is_pressed after release
+    self._click_release_time: float | None = None
+    self._click_callback: Callable[[], None] | None = None
+    self._multi_touch = False
+    self.__was_awake = True
+
+  @property
+  def rect(self) -> rl.Rectangle:
+    return self._rect
+
+  def set_rect(self, rect: rl.Rectangle) -> None:
+    changed = (self._rect.x != rect.x or self._rect.y != rect.y or
+               self._rect.width != rect.width or self._rect.height != rect.height)
+    self._rect = rect
+    if changed:
+      self._update_layout_rects()
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    """Can be used like size hint in QT"""
+    self._parent_rect = parent_rect
+
+  @property
+  def is_pressed(self) -> bool:
+    # if actually pressed or holding after release
+    return any(self.__is_pressed) or self._click_release_time is not None
+
+  @property
+  def enabled(self) -> bool:
+    return self._enabled() if callable(self._enabled) else self._enabled
+
+  def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:
+    self._enabled = enabled
+
+  @property
+  def is_visible(self) -> bool:
+    return self._is_visible() if callable(self._is_visible) else self._is_visible
+
+  def set_visible(self, visible: bool | Callable[[], bool]) -> None:
+    self._is_visible = visible
+
+  def set_click_callback(self, click_callback: Callable[[], None] | None) -> None:
+    """Set a callback to be called when the widget is clicked."""
+    self._click_callback = click_callback
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    """Set a callback to determine if the widget can be clicked."""
+    self._touch_valid_callback = touch_callback
+
+  def _touch_valid(self) -> bool:
+    """Check if the widget can be touched."""
+    return self._touch_valid_callback() if self._touch_valid_callback else True
+
+  def set_position(self, x: float, y: float) -> None:
+    changed = (self._rect.x != x or self._rect.y != y)
+    self._rect = rl.Rectangle(x, y, self._rect.width, self._rect.height)
+    if changed:
+      self._update_layout_rects()
+
+  @property
+  def _hit_rect(self) -> rl.Rectangle:
+    # restrict touches to within parent rect if set, useful inside Scroller
+    if self._parent_rect is None:
+      return self._rect
+    return rl.get_collision_rec(self._rect, self._parent_rect)
+
+  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
+    if rect is not None:
+      self.set_rect(rect)
+
+    self._update_state()
+
+    if self._click_release_time is not None and rl.get_time() >= self._click_release_time:
+      self._click_release_time = None
+
+    if not self.is_visible:
+      return None
+
+    self._layout()
+    ret = self._render(self._rect)
+
+    if gui_app.show_touches:
+      self._draw_debug_rect()
+
+    # Keep track of whether mouse down started within the widget's rectangle
+    if self.enabled and self.__was_awake:
+      self._process_mouse_events()
+    else:
+      # TODO: ideally we emit release events when going disabled
+      self.__is_pressed = [False] * MAX_TOUCH_SLOTS
+      self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
+
+    self.__was_awake = device.awake
+
+    return ret
+
+  def _draw_debug_rect(self) -> None:
+    rl.draw_rectangle_lines(int(self._rect.x), int(self._rect.y),
+                            max(int(self._rect.width), 1), max(int(self._rect.height), 1), rl.RED)
+
+  def _process_mouse_events(self) -> None:
+    hit_rect = self._hit_rect
+    touch_valid = self._touch_valid()
+
+    for mouse_event in gui_app.mouse_events:
+      if not self._multi_touch and mouse_event.slot != 0:
+        continue
+
+      mouse_in_rect = rl.check_collision_point_rec(mouse_event.pos, hit_rect)
+      # Ignores touches/presses that start outside our rect
+      # Allows touch to leave the rect and come back in focus if mouse did not release
+      if mouse_event.left_pressed and touch_valid:
+        if mouse_in_rect:
+          self._handle_mouse_press(mouse_event.pos)
+          self.__is_pressed[mouse_event.slot] = True
+          self.__tracking_is_pressed[mouse_event.slot] = True
+          self._handle_mouse_event(mouse_event)
+
+      # Callback such as scroll panel signifies user is scrolling
+      elif not touch_valid:
+        self.__is_pressed[mouse_event.slot] = False
+        self.__tracking_is_pressed[mouse_event.slot] = False
+
+      elif mouse_event.left_released:
+        self._handle_mouse_event(mouse_event)
+        if self.__is_pressed[mouse_event.slot] and mouse_in_rect:
+          self._handle_mouse_release(mouse_event.pos)
+        self.__is_pressed[mouse_event.slot] = False
+        self.__tracking_is_pressed[mouse_event.slot] = False
+
+      # Mouse/touch is still within our rect
+      elif mouse_in_rect:
+        if self.__tracking_is_pressed[mouse_event.slot]:
+          self.__is_pressed[mouse_event.slot] = True
+          self._handle_mouse_event(mouse_event)
+
+      # Mouse/touch left our rect but may come back into focus later
+      elif not mouse_in_rect:
+        self.__is_pressed[mouse_event.slot] = False
+        self._handle_mouse_event(mouse_event)
+
+  def _layout(self) -> None:
+    """Optionally lay out child widgets separately. This is called before rendering."""
+
+  def _update_state(self):
+    """Optionally update the widget's non-layout state. This is called before rendering."""
+
+  @abc.abstractmethod
+  def _render(self, rect: rl.Rectangle, /) -> bool | int | None:
+    """Render the widget within the given rectangle."""
+
+  def _update_layout_rects(self) -> None:
+    """Optionally update any layout rects on Widget rect change."""
+
+  def _handle_mouse_press(self, mouse_pos: MousePos, /) -> None:
+    """Optionally handle mouse press events."""
+
+  def _handle_mouse_release(self, mouse_pos: MousePos, /) -> None:
+    """Optionally handle mouse release events."""
+    if self._click_delay is not None:
+      self._click_release_time = rl.get_time() + self._click_delay
+    if self._click_callback:
+      self._click_callback()
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    """Optionally handle mouse events. This is called before rendering."""
+    # Default implementation does nothing, can be overridden by subclasses
+
+  def _child(self, widget: W) -> W:
+    """
+    Register a widget as a child. Lifecycle events (show/hide) propagate to registered children.
+    - If the widget is pushed onto the nav stack, do NOT register it (gui_app manages its lifecycle).
+    - If the widget is rendered inline in _render(), register it.
+    """
+    assert widget not in self._children, f"{type(widget).__name__} already a child of {type(self).__name__}"
+    self._children.append(widget)
+    return widget
+
+  _show_hide_depth = 0
+
+  def show_event(self):
+    """Called when widget becomes visible. Propagates to registered children."""
+    if DEBUG:
+      print(f"{'  ' * Widget._show_hide_depth}show_event: {type(self).__name__}")
+      Widget._show_hide_depth += 1
+    for child in self._children:
+      child.show_event()
+    if DEBUG:
+      Widget._show_hide_depth -= 1
+
+  def hide_event(self):
+    """Called when widget is hidden. Propagates to registered children."""
+    if DEBUG:
+      print(f"{'  ' * Widget._show_hide_depth}hide_event: {type(self).__name__}")
+      Widget._show_hide_depth += 1
+    for child in self._children:
+      child.hide_event()
+    if DEBUG:
+      Widget._show_hide_depth -= 1
+
+  def dismiss(self, callback: Callable[[], None] | None = None):
+    """Immediately dismiss the widget, firing the callback after."""
+    gui_app.pop_widget()
+    if callback:
+      callback()
diff --git a/system/ui/widgets/button.py b/openpilot/system/ui/widgets/button.py
similarity index 70%
rename from system/ui/widgets/button.py
rename to openpilot/system/ui/widgets/button.py
index 9c0ea75b42..36ef3bedab 100644
--- a/system/ui/widgets/button.py
+++ b/openpilot/system/ui/widgets/button.py
@@ -5,7 +5,7 @@ import pyray as rl
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import Label, UnifiedLabel
+from openpilot.system.ui.widgets.label import Label
 from openpilot.common.filter_simple import FirstOrderFilter
 
 
@@ -191,7 +191,7 @@ class IconButton(Widget):
       color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.35 * self._opacity_filter.x))
     draw_x = rect.x + (rect.width - self._texture.width) / 2
     draw_y = rect.y + (rect.height - self._texture.height) / 2
-    rl.draw_texture(self._texture, int(draw_x), int(draw_y), color)
+    rl.draw_texture_ex(self._texture, rl.Vector2(draw_x, draw_y), 0.0, 1.0, color)
 
 
 class SmallCircleIconButton(Widget):
@@ -219,85 +219,7 @@ class SmallCircleIconButton(Widget):
       bg_txt = self._icon_bg_pressed_txt if self.is_pressed else self._icon_bg_txt
       icon_white = white
 
-    rl.draw_texture(bg_txt, int(self.rect.x), int(self.rect.y), white)
+    rl.draw_texture_ex(bg_txt, rl.Vector2(self.rect.x, self.rect.y), 0.0, 1.0, white)
     icon_x = self.rect.x + (self.rect.width - self._icon_txt.width) / 2
     icon_y = self.rect.y + (self.rect.height - self._icon_txt.height) / 2
-    rl.draw_texture(self._icon_txt, int(icon_x), int(icon_y), icon_white)
-
-
-class SmallButton(Widget):
-  def __init__(self, text: str):
-    super().__init__()
-    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
-
-    self._load_assets()
-
-    self._label = UnifiedLabel(text, 36, font_weight=FontWeight.MEDIUM,
-                               text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-
-    self._bg_disabled_txt = None
-
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 194, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/reset/small_button.png", 194, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/reset/small_button_pressed.png", 194, 100)
-
-  def set_text(self, text: str):
-    self._label.set_text(text)
-
-  def set_opacity(self, opacity: float, smooth: bool = False):
-    if smooth:
-      self._opacity_filter.update(opacity)
-    else:
-      self._opacity_filter.x = opacity
-
-  def _render(self, _):
-    if not self.enabled and self._bg_disabled_txt is not None:
-      rl.draw_texture(self._bg_disabled_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
-    elif self.is_pressed:
-      rl.draw_texture(self._bg_pressed_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
-    else:
-      rl.draw_texture(self._bg_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
-
-    opacity = 0.9 if self.enabled else 0.35
-    self._label.set_color(rl.Color(255, 255, 255, int(255 * opacity * self._opacity_filter.x)))
-    self._label.render(self._rect)
-
-
-class SmallRedPillButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 194, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/small_red_pill.png", 194, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/small_red_pill_pressed.png", 194, 100)
-
-
-class SmallerRoundedButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 150, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/smaller_button.png", 150, 100)
-    self._bg_disabled_txt = gui_app.texture("icons_mici/setup/smaller_button_disabled.png", 150, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/smaller_button_pressed.png", 150, 100)
-
-
-class WideRoundedButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 316, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/medium_button_bg.png", 316, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/medium_button_pressed_bg.png", 316, 100)
-
-
-class WidishRoundedButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 250, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/widish_button.png", 250, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/widish_button_pressed.png", 250, 100)
-    self._bg_disabled_txt = gui_app.texture("icons_mici/setup/widish_button_disabled.png", 250, 100)
-
-
-class FullRoundedButton(SmallButton):
-  def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 520, 100))
-    self._bg_txt = gui_app.texture("icons_mici/setup/reset/wide_button.png", 520, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/reset/wide_button_pressed.png", 520, 100)
+    rl.draw_texture_ex(self._icon_txt, rl.Vector2(icon_x, icon_y), 0.0, 1.0, icon_white)
diff --git a/system/ui/widgets/confirm_dialog.py b/openpilot/system/ui/widgets/confirm_dialog.py
similarity index 89%
rename from system/ui/widgets/confirm_dialog.py
rename to openpilot/system/ui/widgets/confirm_dialog.py
index 97618660bd..3544836761 100644
--- a/system/ui/widgets/confirm_dialog.py
+++ b/openpilot/system/ui/widgets/confirm_dialog.py
@@ -1,4 +1,5 @@
 import pyray as rl
+from collections.abc import Callable
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import DialogResult
@@ -17,7 +18,7 @@ BACKGROUND_COLOR = rl.Color(27, 27, 27, 255)
 
 
 class ConfirmDialog(Widget):
-  def __init__(self, text: str, confirm_text: str, cancel_text: str | None = None, rich: bool = False):
+  def __init__(self, text: str, confirm_text: str, cancel_text: str | None = None, rich: bool = False, callback: Callable[[DialogResult], None] | None = None):
     super().__init__()
     if cancel_text is None:
       cancel_text = tr("Cancel")
@@ -26,7 +27,7 @@ class ConfirmDialog(Widget):
     self._cancel_button = Button(cancel_text, self._cancel_button_callback)
     self._confirm_button = Button(confirm_text, self._confirm_button_callback, button_style=ButtonStyle.PRIMARY)
     self._rich = rich
-    self._dialog_result = DialogResult.NO_ACTION
+    self._callback = callback
     self._cancel_text = cancel_text
     self._scroller = Scroller([self._html_renderer], line_separator=False, spacing=0)
 
@@ -36,14 +37,15 @@ class ConfirmDialog(Widget):
     else:
       self._html_renderer.parse_html_content(text)
 
-  def reset(self):
-    self._dialog_result = DialogResult.NO_ACTION
-
   def _cancel_button_callback(self):
-    self._dialog_result = DialogResult.CANCEL
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(DialogResult.CANCEL)
 
   def _confirm_button_callback(self):
-    self._dialog_result = DialogResult.CONFIRM
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(DialogResult.CONFIRM)
 
   def _render(self, rect: rl.Rectangle):
     dialog_x = OUTER_MARGIN if not self._rich else RICH_OUTER_MARGIN
@@ -73,9 +75,9 @@ class ConfirmDialog(Widget):
       self._scroller.render(text_rect)
 
     if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER):
-      self._dialog_result = DialogResult.CONFIRM
+      self._confirm_button_callback()
     elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE):
-      self._dialog_result = DialogResult.CANCEL
+      self._cancel_button_callback()
 
     if self._cancel_text:
       self._confirm_button.render(confirm_button)
@@ -85,8 +87,6 @@ class ConfirmDialog(Widget):
       full_confirm_button = rl.Rectangle(dialog_rect.x + MARGIN, button_y, full_button_width, BUTTON_HEIGHT)
       self._confirm_button.render(full_confirm_button)
 
-    return self._dialog_result
-
 
 def alert_dialog(message: str, button_text: str | None = None):
   if button_text is None:
diff --git a/system/ui/widgets/html_render.py b/openpilot/system/ui/widgets/html_render.py
similarity index 98%
rename from system/ui/widgets/html_render.py
rename to openpilot/system/ui/widgets/html_render.py
index 7d90d56925..77fca9fe34 100644
--- a/system/ui/widgets/html_render.py
+++ b/openpilot/system/ui/widgets/html_render.py
@@ -260,7 +260,7 @@ class HtmlModal(Widget):
     super().__init__()
     self._content = HtmlRenderer(file_path=file_path, text=text)
     self._scroll_panel = GuiScrollPanel()
-    self._ok_button = Button(tr("OK"), click_callback=lambda: gui_app.set_modal_overlay(None), button_style=ButtonStyle.PRIMARY)
+    self._ok_button = Button(tr("OK"), click_callback=gui_app.pop_widget, button_style=ButtonStyle.PRIMARY)
 
   def _render(self, rect: rl.Rectangle):
     margin = 50
diff --git a/openpilot/system/ui/widgets/icon_widget.py b/openpilot/system/ui/widgets/icon_widget.py
new file mode 100644
index 0000000000..bf7790b937
--- /dev/null
+++ b/openpilot/system/ui/widgets/icon_widget.py
@@ -0,0 +1,16 @@
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+
+class IconWidget(Widget):
+  def __init__(self, image_path: str, size: tuple[int, int], opacity: float = 1.0):
+    super().__init__()
+    self._texture = gui_app.texture(image_path, size[0], size[1])
+    self._opacity = opacity
+    self.set_rect(rl.Rectangle(0, 0, float(size[0]), float(size[1])))
+    self.set_enabled(False)
+
+  def _render(self, _) -> None:
+    color = rl.Color(255, 255, 255, int(self._opacity * 255))
+    rl.draw_texture_ex(self._texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, color)
diff --git a/system/ui/widgets/inputbox.py b/openpilot/system/ui/widgets/inputbox.py
similarity index 100%
rename from system/ui/widgets/inputbox.py
rename to openpilot/system/ui/widgets/inputbox.py
diff --git a/system/ui/widgets/keyboard.py b/openpilot/system/ui/widgets/keyboard.py
similarity index 93%
rename from system/ui/widgets/keyboard.py
rename to openpilot/system/ui/widgets/keyboard.py
index 4ec92f507a..49c59a431f 100644
--- a/system/ui/widgets/keyboard.py
+++ b/openpilot/system/ui/widgets/keyboard.py
@@ -1,12 +1,13 @@
 from functools import partial
 import time
 from typing import Literal
+from collections.abc import Callable
 
 import pyray as rl
 
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets import DialogResult, Widget
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.inputbox import InputBox
 from openpilot.system.ui.widgets.label import Label
@@ -58,7 +59,8 @@ KEYBOARD_LAYOUTS = {
 
 
 class Keyboard(Widget):
-  def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False):
+  def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False,
+               callback: Callable[[DialogResult], None] | None = None):
     super().__init__()
     self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase"
     self._caps_lock = False
@@ -71,13 +73,13 @@ class Keyboard(Widget):
     self._input_box = InputBox(max_text_size)
     self._password_mode = password_mode
     self._show_password_toggle = show_password_toggle
+    self._callback = callback
 
     # Backspace key repeat tracking
     self._backspace_pressed: bool = False
     self._backspace_press_time: float = 0.0
     self._backspace_last_repeat: float = 0.0
 
-    self._render_return_status = -1
     self._cancel_button = Button(lambda: tr("Cancel"), self._cancel_button_callback)
 
     self._eye_button = Button("", self._eye_button_callback, button_style=ButtonStyle.TRANSPARENT)
@@ -122,16 +124,23 @@ class Keyboard(Widget):
     self._title.set_text(title)
     self._sub_title.set_text(sub_title)
 
+  def set_callback(self, callback: Callable[[DialogResult], None] | None):
+    self._callback = callback
+
   def _eye_button_callback(self):
     self._password_mode = not self._password_mode
 
   def _cancel_button_callback(self):
     self.clear()
-    self._render_return_status = 0
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(DialogResult.CANCEL)
 
   def _key_callback(self, k):
     if k == ENTER_KEY:
-      self._render_return_status = 1
+      gui_app.pop_widget()
+      if self._callback:
+        self._callback(DialogResult.CONFIRM)
     else:
       self.handle_key_press(k)
 
@@ -197,8 +206,6 @@ class Keyboard(Widget):
           self._all_keys[key].set_enabled(is_enabled)
           self._all_keys[key].render(key_rect)
 
-    return self._render_return_status
-
   def _render_input_area(self, input_rect: rl.Rectangle):
     if self._show_password_toggle:
       self._input_box.set_password_mode(self._password_mode)
@@ -250,7 +257,6 @@ class Keyboard(Widget):
   def reset(self, min_text_size: int | None = None):
     if min_text_size is not None:
       self._min_text_size = min_text_size
-    self._render_return_status = -1
     self._last_shift_press_time = 0
     self._backspace_pressed = False
     self._backspace_press_time = 0.0
@@ -259,15 +265,18 @@ class Keyboard(Widget):
 
 
 if __name__ == "__main__":
-  gui_app.init_window("Keyboard")
-  keyboard = Keyboard(min_text_size=8, show_password_toggle=True)
-  for _ in gui_app.render():
-    keyboard.set_title("Keyboard Input", "Type your text below")
-    result = keyboard.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-    if result == 1:
+  def callback(result: DialogResult):
+    if result == DialogResult.CONFIRM:
       print(f"You typed: {keyboard.text}")
-      gui_app.request_close()
-    elif result == 0:
+    elif result == DialogResult.CANCEL:
       print("Canceled")
-      gui_app.request_close()
+    gui_app.request_close()
+
+  gui_app.init_window("Keyboard")
+  keyboard = Keyboard(min_text_size=8, show_password_toggle=True, callback=callback)
+  keyboard.set_title("Keyboard Input", "Type your text below")
+
+  gui_app.push_widget(keyboard)
+  for _ in gui_app.render():
+    pass
   gui_app.close()
diff --git a/system/ui/widgets/label.py b/openpilot/system/ui/widgets/label.py
similarity index 70%
rename from system/ui/widgets/label.py
rename to openpilot/system/ui/widgets/label.py
index cb0cf66b14..a3e827321c 100644
--- a/system/ui/widgets/label.py
+++ b/openpilot/system/ui/widgets/label.py
@@ -1,6 +1,6 @@
+import math
 from enum import IntEnum
 from collections.abc import Callable
-from itertools import zip_longest
 from typing import Union
 import pyray as rl
 
@@ -8,7 +8,6 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEX
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.utils import GuiStyleContext
-from openpilot.system.ui.lib.emoji import find_emoji, emoji_tex
 from openpilot.system.ui.lib.wrap_text import wrap_text
 
 ICON_PADDING = 15
@@ -26,166 +25,6 @@ class ScrollState(IntEnum):
   SCROLLING = 1
 
 
-# TODO: merge anything new here to master
-class MiciLabel(Widget):
-  def __init__(self,
-               text: str,
-               font_size: int = DEFAULT_TEXT_SIZE,
-               width: int | None = None,
-               color: rl.Color = DEFAULT_TEXT_COLOR,
-               font_weight: FontWeight = FontWeight.NORMAL,
-               alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-               alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-               spacing: int = 0,
-               line_height: int | None = None,
-               elide_right: bool = True,
-               wrap_text: bool = False,
-               scroll: bool = False):
-    super().__init__()
-    self.text = text
-    self.wrapped_text: list[str] = []
-    self.font_size = font_size
-    self.width = width
-    self.color = color
-    self.font_weight = font_weight
-    self.alignment = alignment
-    self.alignment_vertical = alignment_vertical
-    self.spacing = spacing
-    self.line_height = line_height if line_height is not None else font_size
-    self.elide_right = elide_right
-    self.wrap_text = wrap_text
-    self._height = 0
-
-    # Scroll state
-    self.scroll = scroll
-    self._needs_scroll = False
-    self._scroll_offset = 0
-    self._scroll_pause_t: float | None = None
-    self._scroll_state: ScrollState = ScrollState.STARTING
-
-    assert not (self.scroll and self.wrap_text), "Cannot enable both scroll and wrap_text"
-    assert not (self.scroll and self.elide_right), "Cannot enable both scroll and elide_right"
-
-    self.set_text(text)
-
-  @property
-  def text_height(self):
-    return self._height
-
-  def set_font_size(self, font_size: int):
-    self.font_size = font_size
-    self.set_text(self.text)
-
-  def set_width(self, width: int):
-    self.width = width
-    self._rect.width = width
-    self.set_text(self.text)
-
-  def set_text(self, txt: str):
-    self.text = txt
-    text_size = measure_text_cached(gui_app.font(self.font_weight), self.text, self.font_size, self.spacing)
-    if self.width is not None:
-      self._rect.width = self.width
-    else:
-      self._rect.width = text_size.x
-
-    if self.wrap_text:
-      self.wrapped_text = wrap_text(gui_app.font(self.font_weight), self.text, self.font_size, int(self._rect.width))
-      self._height = len(self.wrapped_text) * self.line_height
-    elif self.scroll:
-      self._needs_scroll = self.scroll and text_size.x > self._rect.width
-      self._rect.height = text_size.y
-
-  def set_color(self, color: rl.Color):
-    self.color = color
-
-  def set_font_weight(self, font_weight: FontWeight):
-    self.font_weight = font_weight
-    self.set_text(self.text)
-
-  def _render(self, rect: rl.Rectangle):
-    # Only scissor when we know there is a single scrolling line
-    if self._needs_scroll:
-      rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
-
-    font = gui_app.font(self.font_weight)
-
-    text_y_offset = 0
-    # Draw the text in the specified rectangle
-    lines = self.wrapped_text or [self.text]
-    if self.alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
-      lines = lines[::-1]
-
-    for display_text in lines:
-      text_size = measure_text_cached(font, display_text, self.font_size, self.spacing)
-
-      # Elide text to fit within the rectangle
-      if self.elide_right and text_size.x > rect.width:
-        ellipsis = "..."
-        left, right = 0, len(display_text)
-        while left < right:
-          mid = (left + right) // 2
-          candidate = display_text[:mid] + ellipsis
-          candidate_size = measure_text_cached(font, candidate, self.font_size, self.spacing)
-          if candidate_size.x <= rect.width:
-            left = mid + 1
-          else:
-            right = mid
-        display_text = display_text[: left - 1] + ellipsis if left > 0 else ellipsis
-        text_size = measure_text_cached(font, display_text, self.font_size, self.spacing)
-
-      # Handle scroll state
-      elif self.scroll and self._needs_scroll:
-        if self._scroll_state == ScrollState.STARTING:
-          if self._scroll_pause_t is None:
-            self._scroll_pause_t = rl.get_time() + 2.0
-          if rl.get_time() >= self._scroll_pause_t:
-            self._scroll_state = ScrollState.SCROLLING
-            self._scroll_pause_t = None
-
-        elif self._scroll_state == ScrollState.SCROLLING:
-          self._scroll_offset -= 0.8 / 60. * gui_app.target_fps
-          # don't fully hide
-          if self._scroll_offset <= -text_size.x - self._rect.width / 3:
-            self._scroll_offset = 0
-            self._scroll_state = ScrollState.STARTING
-            self._scroll_pause_t = None
-
-      # Calculate horizontal position based on alignment
-      text_x = rect.x + {
-        rl.GuiTextAlignment.TEXT_ALIGN_LEFT: 0,
-        rl.GuiTextAlignment.TEXT_ALIGN_CENTER: (rect.width - text_size.x) / 2,
-        rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: rect.width - text_size.x,
-      }.get(self.alignment, 0) + self._scroll_offset
-
-      # Calculate vertical position based on alignment
-      text_y = rect.y + {
-        rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: 0,
-        rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE: (rect.height - text_size.y) / 2,
-        rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: rect.height - text_size.y,
-      }.get(self.alignment_vertical, 0)
-      text_y += text_y_offset
-
-      rl.draw_text_ex(font, display_text, rl.Vector2(round(text_x), text_y), self.font_size, self.spacing, self.color)
-      # Draw 2nd instance for scrolling
-      if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
-        text2_scroll_offset = text_size.x + self._rect.width / 3
-        rl.draw_text_ex(font, display_text, rl.Vector2(round(text_x + text2_scroll_offset), text_y), self.font_size, self.spacing, self.color)
-      if self.alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
-        text_y_offset -= self.line_height
-      else:
-        text_y_offset += self.line_height
-
-    if self._needs_scroll:
-      # draw black fade on left and right
-      fade_width = 20
-      rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.BLANK, rl.BLACK)
-      if self._scroll_state != ScrollState.STARTING:
-        rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.BLANK)
-
-      rl.end_scissor_mode()
-
-
 # TODO: This should be a Widget class
 def gui_label(
   rect: rl.Rectangle,
@@ -263,7 +102,7 @@ def gui_text_box(
     rl.gui_set_font(gui_app.font(FontWeight.NORMAL))
 
 
-# Non-interactive text area. Can render emojis and an optional specified icon.
+# Non-interactive text area. Can render an optional specified icon.
 class Label(Widget):
   def __init__(self,
                text: str | Callable[[], str],
@@ -305,7 +144,6 @@ class Label(Widget):
     self._update_text(self._text)
 
   def _update_text(self, text):
-    self._emojis = []
     self._text_size = []
     text = _resolve_value(text)
 
@@ -335,7 +173,6 @@ class Label(Widget):
       self._text_wrapped = wrap_text(self._font, text, self._font_size, round(self._rect.width - (self._text_padding * 2)))
 
     for t in self._text_wrapped:
-      self._emojis.append(find_emoji(t))
       self._text_size.append(measure_text_cached(self._font, t, self._font_size))
 
   def _render(self, _):
@@ -347,6 +184,9 @@ class Label(Widget):
     if self._text_alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE:
       total_text_height = sum(ts.y for ts in self._text_size) or self._font_size * FONT_SCALE
       text_pos = rl.Vector2(self._rect.x, (self._rect.y + (self._rect.height - total_text_height) // 2))
+    elif self._text_alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+      total_text_height = sum(ts.y for ts in self._text_size) or self._font_size * FONT_SCALE
+      text_pos = rl.Vector2(self._rect.x, self._rect.y + self._rect.height - total_text_height)
     else:
       text_pos = rl.Vector2(self._rect.x, self._rect.y)
 
@@ -355,18 +195,18 @@ class Label(Widget):
       if len(self._text_wrapped) > 0:
         if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
           icon_x = self._rect.x + self._text_padding
-          text_pos.x = self._icon.width + ICON_PADDING
+          text_pos.x = self._rect.x + self._icon.width + ICON_PADDING
         elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
           total_width = self._icon.width + ICON_PADDING + text_size.x
           icon_x = self._rect.x + (self._rect.width - total_width) / 2
-          text_pos.x = self._icon.width + ICON_PADDING
+          text_pos.x = self._rect.x + self._icon.width + ICON_PADDING
         else:
           icon_x = (self._rect.x + self._rect.width - text_size.x - self._text_padding) - ICON_PADDING - self._icon.width
       else:
         icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2
       rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE)
 
-    for text, text_size, emojis in zip_longest(self._text_wrapped, self._text_size, self._emojis, fillvalue=[]):
+    for text, text_size in zip(self._text_wrapped, self._text_size, strict=True):
       line_pos = rl.Vector2(text_pos.x, text_pos.y)
       if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
         line_pos.x += self._text_padding
@@ -375,32 +215,27 @@ class Label(Widget):
       elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
         line_pos.x += self._rect.width - text_size.x - self._text_padding
 
-      prev_index = 0
-      for start, end, emoji in emojis:
-        text_before = text[prev_index:start]
-        width_before = measure_text_cached(self._font, text_before, self._font_size)
-        rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, 0, self._text_color)
-        line_pos.x += width_before.x
-
-        tex = emoji_tex(emoji)
-        rl.draw_texture_ex(tex, line_pos, 0.0, self._font_size / tex.height * FONT_SCALE, self._text_color)
-        line_pos.x += self._font_size * FONT_SCALE
-        prev_index = end
-      rl.draw_text_ex(self._font, text[prev_index:], line_pos, self._font_size, 0, self._text_color)
+      rl.draw_text_ex(self._font, text, line_pos, self._font_size, 0, self._text_color)
       text_pos.y += (text_size.y or self._font_size * FONT_SCALE) * self._line_scale
 
 
 class UnifiedLabel(Widget):
   """
-  Unified label widget that combines functionality from gui_label, gui_text_box, Label, and MiciLabel.
+  Unified label widget that combines functionality from gui_label, gui_text_box, and Label.
 
   Supports:
-  - Emoji rendering
   - Text wrapping
   - Automatic eliding (single-line or multiline)
   - Proper multiline vertical alignment
   - Height calculation for layout purposes
   """
+  # Shimmer constants
+  SHIMMER_BAND_WIDTH = 0.3       # shimmer width as fraction of text width
+  SHIMMER_BLUR_RADIUS = 0.12     # gaussian blur as fraction of text width
+  SHIMMER_CYCLE_PERIOD = 2.5     # seconds per full shimmer cycle
+  SHIMMER_SWEEP_FRACTION = 0.9   # fraction of cycle spent sweeping (rest is pause)
+  SHIMMER_LOW_OPACITY = 0.65     # text opacity at rest, shimmer brings to 1.0
+
   def __init__(self,
                text: str | Callable[[], str],
                font_size: int = DEFAULT_TEXT_SIZE,
@@ -414,7 +249,8 @@ class UnifiedLabel(Widget):
                wrap_text: bool = True,
                scroll: bool = False,
                line_height: float = 1.0,
-               letter_spacing: float = 0.0):
+               letter_spacing: float = 0.0,
+               shimmer: bool = False):
     super().__init__()
     self._text = text
     self._font_size = font_size
@@ -432,6 +268,10 @@ class UnifiedLabel(Widget):
     self._letter_spacing = letter_spacing  # 0.1 = 10%
     self._spacing_pixels = font_size * letter_spacing
 
+    # Shimmer state
+    self._shimmer = shimmer
+    self._shimmer_start_time = 0.0
+
     # Scroll state
     self._scroll = scroll
     self._needs_scroll = False
@@ -448,7 +288,6 @@ class UnifiedLabel(Widget):
     self._cached_text: str | None = None
     self._cached_wrapped_lines: list[str] = []
     self._cached_line_sizes: list[rl.Vector2] = []
-    self._cached_line_emojis: list[list[tuple[int, int, str]]] = []
     self._cached_total_height: float | None = None
     self._cached_width: int = -1
 
@@ -467,6 +306,14 @@ class UnifiedLabel(Widget):
     """Get the current text content."""
     return str(_resolve_value(self._text))
 
+  @property
+  def font_size(self) -> int:
+    return self._font_size
+
+  @property
+  def text_width(self) -> float:
+    return max((s.x for s in self._cached_line_sizes), default=0.0)
+
   def set_text_color(self, color: rl.Color):
     """Update the text color."""
     self._text_color = color
@@ -489,6 +336,13 @@ class UnifiedLabel(Widget):
       self._spacing_pixels = self._font_size * letter_spacing
       self._cached_text = None  # Invalidate cache
 
+  def set_line_height(self, line_height: float):
+    """Update line height (multiplier, e.g., 1.0 = default)."""
+    new_line_height = line_height * 0.9
+    if self._line_height != new_line_height:
+      self._line_height = new_line_height
+      self._cached_text = None  # Invalidate cache (affects total height)
+
   def set_font_weight(self, font_weight: FontWeight):
     """Update the font weight."""
     if self._font_weight != font_weight:
@@ -510,6 +364,15 @@ class UnifiedLabel(Widget):
     self._scroll_pause_t = None
     self._scroll_state = ScrollState.STARTING
 
+  def show_event(self):
+    super().show_event()
+    if self._shimmer:
+      self.reset_shimmer()
+
+  def reset_shimmer(self, offset: float = 0.0):
+    """Reset shimmer animation timing."""
+    self._shimmer_start_time = rl.get_time() + offset
+
   def set_max_width(self, max_width: int | None):
     """Set the maximum width constraint for wrapping/eliding."""
     if self._max_width != max_width:
@@ -551,13 +414,10 @@ class UnifiedLabel(Widget):
     if self._scroll:
       self._cached_wrapped_lines = self._cached_wrapped_lines[:1]  # Only first line for scrolling
 
-    # Process each line: measure and find emojis
+    # Process each line: measure
     self._cached_line_sizes = []
-    self._cached_line_emojis = []
 
     for line in self._cached_wrapped_lines:
-      emojis = find_emoji(line)
-      self._cached_line_emojis.append(emojis)
       # Empty lines should still have height (use font size as line height)
       if not line:
         size = rl.Vector2(0, self._font_size * FONT_SCALE)
@@ -646,14 +506,12 @@ class UnifiedLabel(Widget):
     # Calculate which lines fit in the available height
     visible_lines: list[str] = []
     visible_sizes: list[rl.Vector2] = []
-    visible_emojis: list[list[tuple[int, int, str]]] = []
 
     current_height = 0.0
     broke_early = False
-    for line, size, emojis in zip(
+    for line, size in zip(
       self._cached_wrapped_lines,
       self._cached_line_sizes,
-      self._cached_line_emojis,
       strict=True):
 
       # Calculate height needed for this line
@@ -674,7 +532,6 @@ class UnifiedLabel(Widget):
 
       visible_lines.append(line)
       visible_sizes.append(size)
-      visible_emojis.append(emojis)
 
       current_height += line_height_needed
 
@@ -718,7 +575,7 @@ class UnifiedLabel(Widget):
 
     # Render each line
     current_y = start_y
-    for idx, (line, size, emojis) in enumerate(zip(visible_lines, visible_sizes, visible_emojis, strict=True)):
+    for idx, (line, size) in enumerate(zip(visible_lines, visible_sizes, strict=True)):
       if self._needs_scroll:
         if self._scroll_state == ScrollState.STARTING:
           if self._scroll_pause_t is None:
@@ -737,12 +594,12 @@ class UnifiedLabel(Widget):
       else:
         self.reset_scroll()
 
-      self._render_line(line, size, emojis, current_y)
+      self._render_line(line, size, current_y)
 
       # Draw 2nd instance for scrolling
       if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
         text2_scroll_offset = size.x + self._rect.width / 3
-        self._render_line(line, size, emojis, current_y, text2_scroll_offset)
+        self._render_line(line, size, current_y, text2_scroll_offset)
 
       # Move to next line (if not last line)
       if idx < len(visible_lines) - 1:
@@ -753,12 +610,35 @@ class UnifiedLabel(Widget):
       # draw black fade on left and right
       fade_width = 20
       rl.draw_rectangle_gradient_h(int(self._rect.x + self._rect.width - fade_width), int(self._rect.y), fade_width, int(self._rect.height), rl.BLANK, rl.BLACK)
-      if self._scroll_state != ScrollState.STARTING:
+
+      # stop drawing left fade once text scrolls past
+      text_width = visible_sizes[0].x if visible_sizes else 0
+      first_copy_in_view = self._scroll_offset + text_width > 0
+      draw_left_fade = self._scroll_state != ScrollState.STARTING and first_copy_in_view
+      if draw_left_fade:
         rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y), fade_width, int(self._rect.height), rl.BLACK, rl.BLANK)
 
       rl.end_scissor_mode()
 
-  def _render_line(self, line, size, emojis, current_y, x_offset=0.0):
+  def _shimmer_alpha(self, char_x: float, shimmer_left: float, shimmer_width: float) -> float:
+    """Compute shimmer opacity multiplier for a character at the given x position."""
+    sigma = shimmer_width * self.SHIMMER_BLUR_RADIUS
+    if sigma <= 0:
+      return self.SHIMMER_LOW_OPACITY
+
+    elapsed = rl.get_time() - self._shimmer_start_time
+    t_raw = (elapsed % self.SHIMMER_CYCLE_PERIOD) / self.SHIMMER_CYCLE_PERIOD
+    t_clamped = max(0.0, min(t_raw / self.SHIMMER_SWEEP_FRACTION, 1.0))
+    t = t_clamped * t_clamped * (3.0 - 2.0 * t_clamped)  # smoothstep
+
+    margin = shimmer_width * self.SHIMMER_BAND_WIDTH
+    center = shimmer_left + shimmer_width + margin - t * (shimmer_width + 2.0 * margin)
+
+    d = char_x - center
+    shimmer = math.exp(-0.5 * d * d / (sigma * sigma))
+    return self.SHIMMER_LOW_OPACITY + (1.0 - self.SHIMMER_LOW_OPACITY) * shimmer
+
+  def _render_line(self, line, size, current_y, x_offset=0.0):
     # Calculate horizontal position
     if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
       line_x = self._rect.x + self._text_padding
@@ -770,27 +650,31 @@ class UnifiedLabel(Widget):
       line_x = self._rect.x + self._text_padding
     line_x += self._scroll_offset + x_offset
 
-    # Render line with emojis
+    if self._shimmer:
+      self._render_line_shimmer(line, line_x, current_y)
+    else:
+      self._render_line_normal(line, line_x, current_y)
+
+  def _render_line_normal(self, line, line_x, current_y):
     line_pos = rl.Vector2(line_x, current_y)
-    prev_index = 0
+    rl.draw_text_ex(self._font, line, line_pos, self._font_size, self._spacing_pixels, self._text_color)
 
-    for start, end, emoji in emojis:
-      # Draw text before emoji
-      text_before = line[prev_index:start]
-      if text_before:
-        rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
-        width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
-        line_pos.x += width_before.x
+  def _render_line_shimmer(self, line, line_x, current_y):
+    # Shimmer range based on widest line so sweep is even across all lines
+    max_width = self.text_width
+    if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+      shimmer_left = self._rect.x + self._rect.width - self._text_padding - max_width
+    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+      shimmer_left = self._rect.x + (self._rect.width - max_width) / 2
+    else:
+      shimmer_left = self._rect.x + self._text_padding
 
-      # Draw emoji
-      tex = emoji_tex(emoji)
-      emoji_scale = self._font_size / tex.height * FONT_SCALE
-      rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
-      # Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
-      line_pos.x += self._font_size * FONT_SCALE
-      prev_index = end
-
-    # Draw remaining text after last emoji
-    text_after = line[prev_index:]
-    if text_after:
-      rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+    base_a = self._text_color.a / 255.0
+    cursor_x = line_x
+    for ch in line:
+      char_width = measure_text_cached(self._font, ch, self._font_size, self._spacing_pixels).x
+      char_center_x = cursor_x + char_width / 2.0
+      alpha = int(255 * self._shimmer_alpha(char_center_x, shimmer_left, max_width) * base_a)
+      color = rl.Color(self._text_color.r, self._text_color.g, self._text_color.b, alpha)
+      rl.draw_text_ex(self._font, ch, rl.Vector2(cursor_x, current_y), self._font_size, 0, color)
+      cursor_x += char_width + self._spacing_pixels
diff --git a/openpilot/system/ui/widgets/layouts.py b/openpilot/system/ui/widgets/layouts.py
new file mode 100644
index 0000000000..6bbc49e927
--- /dev/null
+++ b/openpilot/system/ui/widgets/layouts.py
@@ -0,0 +1,59 @@
+from enum import IntFlag
+from openpilot.system.ui.widgets import Widget
+
+
+class Alignment(IntFlag):
+  LEFT = 0
+  # TODO: implement
+  # H_CENTER = 2
+  # RIGHT = 4
+
+  TOP = 8
+  V_CENTER = 16
+  BOTTOM = 32
+
+
+class HBoxLayout(Widget):
+  """
+  A Widget that lays out child Widgets horizontally.
+  """
+
+  def __init__(self, widgets: list[Widget] | None = None, spacing: int = 0,
+               alignment: Alignment = Alignment.LEFT | Alignment.V_CENTER):
+    super().__init__()
+    self._spacing = spacing
+    self._alignment = alignment
+
+    if widgets is not None:
+      for widget in widgets:
+        self.add_widget(widget)
+
+  @property
+  def widgets(self) -> list[Widget]:
+    return self._children
+
+  def add_widget(self, widget: Widget) -> None:
+    self._child(widget)
+
+  def _render(self, _):
+    visible_widgets = [w for w in self._children if w.is_visible]
+
+    cur_offset_x = 0
+
+    for idx, widget in enumerate(visible_widgets):
+      spacing = self._spacing if (idx > 0) else 0
+
+      x = self._rect.x + cur_offset_x + spacing
+      cur_offset_x += widget.rect.width + spacing
+
+      if self._alignment & Alignment.TOP:
+        y = self._rect.y
+      elif self._alignment & Alignment.BOTTOM:
+        y = self._rect.y + self._rect.height - widget.rect.height
+      else:  # center
+        y = self._rect.y + (self._rect.height - widget.rect.height) / 2
+
+      # Update widget position and render
+      widget.set_position(x, y)
+      widget.set_parent_rect(self._rect)
+      widget.render()
diff --git a/system/ui/widgets/list_view.py b/openpilot/system/ui/widgets/list_view.py
similarity index 96%
rename from system/ui/widgets/list_view.py
rename to openpilot/system/ui/widgets/list_view.py
index 32bf01cfc8..61c77b7600 100644
--- a/system/ui/widgets/list_view.py
+++ b/openpilot/system/ui/widgets/list_view.py
@@ -1,6 +1,7 @@
+import math
 import os
 import pyray as rl
-from collections.abc import Callable
+from collections.abc import Callable, Sequence
 from abc import ABC
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.multilang import tr
@@ -104,7 +105,9 @@ class ButtonAction(ItemAction):
     value_text = self.value
     if value_text:
       text_width = measure_text_cached(self._font, value_text, ITEM_TEXT_FONT_SIZE).x
-      return text_width + BUTTON_WIDTH + TEXT_PADDING
+      # round up so the width survives float32 storage in rl.Rectangle, otherwise the
+      # value label can come out a fraction of a pixel too narrow and get elided
+      return math.ceil(text_width) + BUTTON_WIDTH + TEXT_PADDING
     else:
       return BUTTON_WIDTH
 
@@ -207,7 +210,7 @@ class DualButtonAction(ItemAction):
 
 
 class MultipleButtonAction(ItemAction):
-  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None):
+  def __init__(self, buttons: Sequence[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None):
     super().__init__(width=len(buttons) * button_width + (len(buttons) - 1) * RIGHT_ITEM_PADDING, enabled=True)
     self.buttons = buttons
     self.button_width = button_width
@@ -293,6 +296,7 @@ class ListItem(Widget):
     self._prev_description: str | None = self.description
 
   def show_event(self):
+    super().show_event()
     self._set_description_visible(False)
 
   def set_description_opened_callback(self, callback: Callable) -> None:
@@ -354,7 +358,7 @@ class ListItem(Widget):
     if self.title:
       # Draw icon if present
       if self.icon:
-        rl.draw_texture(self._icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.height) // 2), rl.WHITE)
+        rl.draw_texture_ex(self._icon_texture, rl.Vector2(content_x, self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.height) / 2), 0.0, 1.0, rl.WHITE)
         text_x += ICON_SIZE + ITEM_PADDING
 
       # Draw main text
diff --git a/system/ui/widgets/mici_keyboard.py b/openpilot/system/ui/widgets/mici_keyboard.py
similarity index 94%
rename from system/ui/widgets/mici_keyboard.py
rename to openpilot/system/ui/widgets/mici_keyboard.py
index 6d2e08e053..bc3041aa3c 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/openpilot/system/ui/widgets/mici_keyboard.py
@@ -61,7 +61,7 @@ class Key(Widget):
       self._x_filter.x = x
       self._y_filter.x = local_y
       # keep track of original position so dragging around feels consistent. also move touch area down a bit
-      self.original_position = rl.Vector2(x, y + KEY_TOUCH_AREA_OFFSET)
+      self.original_position = rl.Vector2(x, local_y + KEY_TOUCH_AREA_OFFSET)
       self._position_initialized = True
 
     if not smooth:
@@ -95,7 +95,7 @@ class Key(Widget):
     self._size_filter.update(size)
 
   def _get_font_size(self) -> int:
-    return int(round(self._size_filter.x))
+    return round(self._size_filter.x)
 
 
 class SmallKey(Key):
@@ -146,8 +146,9 @@ class CapsState(IntEnum):
 
 
 class MiciKeyboard(Widget):
-  def __init__(self):
+  def __init__(self, auto_return_to_letters: str = ""):
     super().__init__()
+    self._auto_return_to_letters = auto_return_to_letters
 
     lower_chars = [
       "qwertyuiop",
@@ -227,6 +228,8 @@ class MiciKeyboard(Widget):
     for current_row, row in zip(self._current_keys, keys, strict=False):
       # not all layouts have the same number of keys
       for current_key, key in zip_repeat(current_row, row):
+        # reset parent rect for new keys
+        key.set_parent_rect(self._rect)
         current_pos = current_key.get_position()
         key.set_position(current_pos[0], current_pos[1], smooth=False)
 
@@ -264,7 +267,8 @@ class MiciKeyboard(Widget):
       for key in row:
         mouse_pos = gui_app.last_mouse_event.pos
         # approximate distance for comparison is accurate enough
-        dist = abs(key.original_position.x - mouse_pos.x) + abs(key.original_position.y - mouse_pos.y)
+        # use local y coords so parent widget offset (e.g. during NavWidget animate-in) doesn't affect hit testing
+        dist = abs(key.original_position.x - mouse_pos.x) + abs(key.original_position.y - (mouse_pos.y - self._rect.y))
         if dist < closest_key[1]:
           if self._closest_key[0] is None or key is self._closest_key[0] or dist < self._closest_key[1] - KEY_DRAG_HYSTERESIS:
             closest_key = (key, dist)
@@ -302,6 +306,10 @@ class MiciKeyboard(Widget):
         if self._caps_state == CapsState.UPPER:
           self._set_uppercase(False)
 
+        # Switch back to letters after common URL delimiters
+        if self._closest_key[0].char in self._auto_return_to_letters and self._current_keys in (self._special_keys, self._super_special_keys):
+          self._set_uppercase(False)
+
     # ensure minimum selected animation time
     key_selected_dt = rl.get_time() - (self._selected_key_t or 0)
     cur_t = rl.get_time()
@@ -319,7 +327,7 @@ class MiciKeyboard(Widget):
     self._selected_key_filter.update(self._closest_key[0] is not None)
 
     # unselect key after animation plays
-    if self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t:
+    if (self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t) or not self.enabled:
       self._closest_key = (None, float('inf'))
       self._unselect_key_t = None
       self._selected_key_t = None
@@ -345,7 +353,7 @@ class MiciKeyboard(Widget):
 
           # draw black circle behind selected key
           circle_alpha = int(self._selected_key_filter.x * 225)
-          rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
+          rl.draw_circle_gradient(rl.Vector2(key_x + key.rect.width / 2, key_y + key.rect.height / 2),
                                   SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
         else:
           # move other keys away from selected key a bit
diff --git a/openpilot/system/ui/widgets/nav_widget.py b/openpilot/system/ui/widgets/nav_widget.py
new file mode 100644
index 0000000000..58ff8123bb
--- /dev/null
+++ b/openpilot/system/ui/widgets/nav_widget.py
@@ -0,0 +1,229 @@
+from __future__ import annotations
+
+import abc
+import pyray as rl
+from collections.abc import Callable
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
+from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
+
+SWIPE_AWAY_THRESHOLD = 80  # px to dismiss after releasing
+START_DISMISSING_THRESHOLD = 40  # px to start dismissing while dragging
+BLOCK_SWIPE_AWAY_THRESHOLD = 60  # px horizontal movement to block swipe away
+
+NAV_BAR_MARGIN = 6
+NAV_BAR_WIDTH = 205
+NAV_BAR_HEIGHT = 8
+
+DISMISS_PUSH_OFFSET = NAV_BAR_MARGIN + NAV_BAR_HEIGHT + 50  # px extra to push down when dismissing
+DISMISS_ANIMATION_RC = 0.2  # slightly slower for non-user triggered dismiss animation
+
+
+class NavBar(Widget):
+  FADE_AFTER_SECONDS = 2.0
+
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, NAV_BAR_WIDTH, NAV_BAR_HEIGHT))
+    self._alpha = 1.0
+    self._alpha_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._fade_time = 0.0
+
+  def set_alpha(self, alpha: float) -> None:
+    self._alpha = alpha
+    self._fade_time = rl.get_time()
+
+  def show_event(self):
+    super().show_event()
+    self._alpha = 1.0
+    self._alpha_filter.x = 1.0
+    self._fade_time = rl.get_time()
+
+  def _render(self, _):
+    if rl.get_time() - self._fade_time > self.FADE_AFTER_SECONDS:
+      self._alpha = 0.0
+    alpha = self._alpha_filter.update(self._alpha)
+
+    # white bar with black border
+    rl.draw_rectangle_rounded(self._rect, 1.0, 6, rl.Color(255, 255, 255, int(255 * 0.9 * alpha)))
+    rl.draw_rectangle_rounded_lines_ex(self._rect, 1.0, 6, 2, rl.Color(0, 0, 0, int(255 * 0.3 * alpha)))
+
+
+class NavWidget(Widget, abc.ABC):
+  """
+  A full screen widget that supports back navigation by swiping down from the top.
+  """
+  BACK_TOUCH_AREA_PERCENTAGE = 0.65
+
+  def __init__(self):
+    super().__init__()
+    # State
+    self._drag_start_pos: MousePos | None = None  # cleared after certain amount of horizontal movement
+    self._dragging_down = False  # swiped down enough to trigger dismissing on release
+    self._playing_dismiss_animation = False  # released and animating away
+    self._y_pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
+
+    self._back_callback: Callable[[], None] | None = None  # persistent callback for user-initiated back navigation
+    self._dismiss_callback: Callable[[], None] | None = None  # transient callback for programmatic dismiss
+    # TODO: add this functionality to push_widget
+    self._shown_callback: Callable[[], None] | None = None  # transient callback fired after show animation completes
+
+    # TODO: move this state into NavBar
+    self._nav_bar = self._child(NavBar())
+    self._nav_bar_show_time = 0.0
+    self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+  def _back_enabled(self) -> bool:
+    # Children can override this to block swipe away, like when not at
+    # the top of a vertical scroll panel to prevent erroneous swipes
+    return True
+
+  def set_back_callback(self, callback: Callable[[], None] | None) -> None:
+    self._back_callback = callback
+
+  def set_shown_callback(self, callback: Callable[[], None] | None) -> None:
+    self._shown_callback = callback
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    super()._handle_mouse_event(mouse_event)
+
+    # Don't let touch events change filter state during dismiss animation
+    if self._playing_dismiss_animation:
+      return
+
+    if mouse_event.left_pressed:
+      # user is able to swipe away if starting near top of screen
+      self._y_pos_filter.update_alpha(0.04)
+      in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE
+
+      if in_dismiss_area and self._back_enabled():
+        self._drag_start_pos = mouse_event.pos
+
+    elif mouse_event.left_down:
+      if self._drag_start_pos is not None:
+        # block swiping away if too much horizontal or upward movement
+        # block (lock-in) threshold is higher than start dismissing
+        horizontal_movement = abs(mouse_event.pos.x - self._drag_start_pos.x) > BLOCK_SWIPE_AWAY_THRESHOLD
+        upward_movement = mouse_event.pos.y - self._drag_start_pos.y < -BLOCK_SWIPE_AWAY_THRESHOLD
+
+        if not (horizontal_movement or upward_movement):
+          # no blocking movement, check if we should start dismissing
+          if mouse_event.pos.y - self._drag_start_pos.y > START_DISMISSING_THRESHOLD:
+            self._dragging_down = True
+        else:
+          if not self._dragging_down:
+            self._drag_start_pos = None
+
+    elif mouse_event.left_released:
+      # reset rc for either slide up or down animation
+      self._y_pos_filter.update_alpha(0.1)
+
+      # if far enough, trigger back navigation callback
+      if self._drag_start_pos is not None:
+        if mouse_event.pos.y - self._drag_start_pos.y > SWIPE_AWAY_THRESHOLD:
+          self._playing_dismiss_animation = True
+
+      self._drag_start_pos = None
+      self._dragging_down = False
+
+  def _update_state(self):
+    super()._update_state()
+
+    new_y = 0.0
+
+    if self._dragging_down:
+      self._nav_bar.set_alpha(1.0)
+
+    # FIXME: disabling this widget on new push_widget still causes this widget to track mouse events without mouse down
+    if not self.enabled:
+      self._drag_start_pos = None
+
+    if self._drag_start_pos is not None:
+      last_mouse_event = gui_app.last_mouse_event
+      # push entire widget as user drags it away
+      new_y = max(last_mouse_event.pos.y - self._drag_start_pos.y, 0)
+      if new_y < SWIPE_AWAY_THRESHOLD:
+        new_y /= 2  # resistance until mouse release would dismiss widget
+
+    if self._playing_dismiss_animation:
+      new_y = self._rect.height + DISMISS_PUSH_OFFSET
+
+    new_y = self._y_pos_filter.update(new_y)
+    if abs(new_y) < 1 and abs(self._y_pos_filter.velocity.x) < 0.5:
+      new_y = self._y_pos_filter.x = 0.0
+      self._y_pos_filter.velocity.x = 0.0
+
+      if self._shown_callback is not None:
+        self._shown_callback()
+        self._shown_callback = None
+
+    if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10:
+      gui_app.pop_widget()
+
+      # Only one callback should ever be fired
+      if self._dismiss_callback is not None:
+        self._dismiss_callback()
+        self._dismiss_callback = None
+      elif self._back_callback is not None:
+        self._back_callback()
+
+      self._playing_dismiss_animation = False
+      self._drag_start_pos = None
+      self._dragging_down = False
+
+    self.set_position(self._rect.x, new_y)
+
+  def _layout(self):
+    # Dim whatever is behind this widget, fading with position (runs after _update_state so position is correct)
+    overlay_alpha = int(200 * max(0.0, min(1.0, 1.0 - self._rect.y / self._rect.height))) if self._rect.height > 0 else 0
+    rl.draw_rectangle_rec(rl.Rectangle(0, 0, self._rect.width, self._rect.height), rl.Color(0, 0, 0, overlay_alpha))
+
+    bounce_height = 20
+    rl.draw_rectangle_rec(rl.Rectangle(self._rect.x, self._rect.y, self._rect.width, self._rect.height + bounce_height), rl.BLACK)
+
+  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
+    ret = super().render(rect)
+
+    bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2
+    nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4
+    # User dragging or dismissing, nav bar follows NavWidget
+    if self._drag_start_pos is not None or self._playing_dismiss_animation:
+      self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._y_pos_filter.x
+    # Waiting to show
+    elif nav_bar_delayed:
+      self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+    # Animate back to top
+    else:
+      self._nav_bar_y_filter.update(NAV_BAR_MARGIN)
+
+    self._nav_bar.set_position(bar_x, self._nav_bar_y_filter.x)
+    self._nav_bar.render()
+
+    return ret
+
+  @property
+  def is_dismissing(self) -> bool:
+    return self._dragging_down or self._playing_dismiss_animation
+
+  def dismiss(self, callback: Callable[[], None] | None = None):
+    """Programmatically trigger the dismiss animation. Calls pop_widget when done, then callback."""
+    if not self._playing_dismiss_animation:
+      self._playing_dismiss_animation = True
+      self._y_pos_filter.update_alpha(DISMISS_ANIMATION_RC)
+      self._dismiss_callback = callback
+
+  def show_event(self):
+    super().show_event()
+
+    # Reset state
+    self._drag_start_pos = None
+    self._dragging_down = False
+    self._playing_dismiss_animation = False
+    self._dismiss_callback = None
+    # Start NavWidget off-screen, no matter how tall it is
+    self._y_pos_filter.update_alpha(0.1)
+    self._y_pos_filter.x = gui_app.height
+    self._y_pos_filter.velocity.x = 0.0
+
+    self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+    self._nav_bar_show_time = rl.get_time()
diff --git a/system/ui/widgets/network.py b/openpilot/system/ui/widgets/network.py
similarity index 84%
rename from system/ui/widgets/network.py
rename to openpilot/system/ui/widgets/network.py
index dd0a540648..fb999c0441 100644
--- a/system/ui/widgets/network.py
+++ b/openpilot/system/ui/widgets/network.py
@@ -1,13 +1,13 @@
 from enum import IntEnum
 from functools import partial
-from typing import cast
+from typing import Any, cast
 
 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
-from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType
-from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType, normalize_ssid
+from openpilot.system.ui.widgets import DialogResult, Widget
 from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
@@ -27,9 +27,9 @@ try:
   from openpilot.selfdrive.ui.ui_state import ui_state
   from openpilot.selfdrive.ui.lib.prime_state import PrimeType
 except Exception:
-  Params = None
-  ui_state = None
-  PrimeType = None
+  Params: Any = None
+  ui_state: Any = None
+  PrimeType: Any = None
 
 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8
@@ -75,17 +75,14 @@ class NetworkUI(Widget):
     super().__init__()
     self._wifi_manager = wifi_manager
     self._current_panel: PanelType = PanelType.WIFI
-    self._wifi_panel = WifiManagerUI(wifi_manager)
-    self._advanced_panel = AdvancedNetworkSettings(wifi_manager)
-    self._nav_button = NavButton(tr("Advanced"))
+    self._wifi_panel = self._child(WifiManagerUI(wifi_manager))
+    self._advanced_panel = self._child(AdvancedNetworkSettings(wifi_manager))
+    self._nav_button = self._child(NavButton(tr("Advanced")))
     self._nav_button.set_click_callback(self._cycle_panel)
 
   def show_event(self):
+    super().show_event()
     self._set_current_panel(PanelType.WIFI)
-    self._wifi_panel.show_event()
-
-  def hide_event(self):
-    self._wifi_panel.hide_event()
 
   def _cycle_panel(self):
     if self._current_panel == PanelType.WIFI:
@@ -114,10 +111,16 @@ class NetworkUI(Widget):
 
 class AdvancedNetworkSettings(Widget):
   def __init__(self, wifi_manager: WifiManager):
+    # AdvancedNetworkSettings needs the full openpilot environment, standalone apps just use WifiManagerUI
+    from openpilot.common.params import Params
+    from openpilot.selfdrive.ui.ui_state import ui_state
+    from openpilot.selfdrive.ui.lib.prime_state import PrimeType
     super().__init__()
     self._wifi_manager = wifi_manager
     self._wifi_manager.add_callbacks(networks_updated=self._on_network_updated)
     self._params = Params()
+    self._prime_state = ui_state.prime_state
+    self._cell_prime_types = (PrimeType.NONE, PrimeType.LITE)
 
     self._keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
 
@@ -163,10 +166,6 @@ class AdvancedNetworkSettings(Widget):
 
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
-    # Set initial config
-    metered = self._params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, self._params.get("GsmApn") or "", metered)
-
   def _on_network_updated(self, networks: list[Network]):
     self._tethering_action.set_enabled(True)
     self._tethering_action.set_state(self._wifi_manager.is_tethering_active())
@@ -188,33 +187,28 @@ class AdvancedNetworkSettings(Widget):
     self._wifi_manager.set_tethering_active(checked)
 
   def _toggle_roaming(self):
-    roaming_state = self._roaming_action.get_state()
-    self._params.put_bool("GsmRoaming", roaming_state)
-    self._wifi_manager.update_gsm_settings(roaming_state, self._params.get("GsmApn") or "", self._params.get_bool("GsmMetered"))
+    self._params.put_bool("GsmRoaming", self._roaming_action.get_state(), block=True)
 
   def _edit_apn(self):
-    def update_apn(result):
-      if result != 1:
+    def update_apn(result: DialogResult):
+      if result != DialogResult.CONFIRM:
         return
 
       apn = self._keyboard.text.strip()
       if apn == "":
         self._params.remove("GsmApn")
       else:
-        self._params.put("GsmApn", apn)
-
-      self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), apn, self._params.get_bool("GsmMetered"))
+        self._params.put("GsmApn", apn, block=True)
 
     current_apn = self._params.get("GsmApn") or ""
     self._keyboard.reset(min_text_size=0)
     self._keyboard.set_title(tr("Enter APN"), tr("leave blank for automatic configuration"))
     self._keyboard.set_text(current_apn)
-    gui_app.set_modal_overlay(self._keyboard, update_apn)
+    self._keyboard.set_callback(update_apn)
+    gui_app.push_widget(self._keyboard)
 
   def _toggle_cellular_metered(self):
-    metered = self._cellular_metered_action.get_state()
-    self._params.put_bool("GsmMetered", metered)
-    self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), self._params.get("GsmApn") or "", metered)
+    self._params.put_bool("GsmMetered", self._cellular_metered_action.get_state(), block=True)
 
   def _toggle_wifi_metered(self, metered):
     metered_type = {0: MeteredType.UNKNOWN, 1: MeteredType.YES, 2: MeteredType.NO}.get(metered, MeteredType.UNKNOWN)
@@ -222,15 +216,18 @@ class AdvancedNetworkSettings(Widget):
     self._wifi_manager.set_current_network_metered(metered_type)
 
   def _connect_to_hidden_network(self):
-    def connect_hidden(result):
-      if result != 1:
+    def connect_hidden(result: DialogResult):
+      if result != DialogResult.CONFIRM:
         return
 
       ssid = self._keyboard.text
       if not ssid:
         return
 
-      def enter_password(result):
+      def enter_password(result: DialogResult):
+        if result != DialogResult.CONFIRM:
+          return
+
         password = self._keyboard.text
         if password == "":
           # connect without password
@@ -241,15 +238,17 @@ class AdvancedNetworkSettings(Widget):
 
       self._keyboard.reset(min_text_size=0)
       self._keyboard.set_title(tr("Enter password"), tr("for \"{}\"").format(ssid))
-      gui_app.set_modal_overlay(self._keyboard, enter_password)
+      self._keyboard.set_callback(enter_password)
+      gui_app.push_widget(self._keyboard)
 
     self._keyboard.reset(min_text_size=1)
     self._keyboard.set_title(tr("Enter SSID"), "")
-    gui_app.set_modal_overlay(self._keyboard, connect_hidden)
+    self._keyboard.set_callback(connect_hidden)
+    gui_app.push_widget(self._keyboard)
 
   def _edit_tethering_password(self):
-    def update_password(result):
-      if result != 1:
+    def update_password(result: DialogResult):
+      if result != DialogResult.CONFIRM:
         return
 
       password = self._keyboard.text
@@ -259,13 +258,14 @@ class AdvancedNetworkSettings(Widget):
     self._keyboard.reset(min_text_size=MIN_PASSWORD_LENGTH)
     self._keyboard.set_title(tr("Enter new tethering password"), "")
     self._keyboard.set_text(self._wifi_manager.tethering_password)
-    gui_app.set_modal_overlay(self._keyboard, update_password)
+    self._keyboard.set_callback(update_password)
+    gui_app.push_widget(self._keyboard)
 
   def _update_state(self):
     self._wifi_manager.process_callbacks()
 
     # If not using prime SIM, show GSM settings and enable IPv4 forwarding
-    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    show_cell_settings = self._prime_state.get_type() in self._cell_prime_types
     self._wifi_manager.set_ipv4_forward(show_cell_settings)
     self._roaming_btn.set_visible(show_cell_settings)
     self._apn_btn.set_visible(show_cell_settings)
@@ -298,10 +298,12 @@ class WifiManagerUI(Widget):
                                      disconnected=self._on_disconnected)
 
   def show_event(self):
+    super().show_event()
     # start/stop scanning when widget is visible
     self._wifi_manager.set_active(True)
 
   def hide_event(self):
+    super().hide_event()
     self._wifi_manager.set_active(False)
 
   def _load_icons(self):
@@ -317,31 +319,32 @@ class WifiManagerUI(Widget):
       return
 
     if self.state == UIState.NEEDS_AUTH and self._state_network:
-      self.keyboard.set_title(tr("Wrong password") if self._password_retry else tr("Enter password"), tr("for \"{}\"").format(self._state_network.ssid))
+      self.keyboard.set_title(tr("Wrong password") if self._password_retry else tr("Enter password"),
+                              tr("for \"{}\"").format(normalize_ssid(self._state_network.ssid)))
       self.keyboard.reset(min_text_size=MIN_PASSWORD_LENGTH)
-      gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(Network, self._state_network), result))
+      self.keyboard.set_callback(lambda result: self._on_password_entered(cast(Network, self._state_network), result))
+      gui_app.push_widget(self.keyboard)
     elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
-      confirm_dialog = ConfirmDialog("", tr("Forget"), tr("Cancel"))
-      confirm_dialog.set_text(tr("Forget Wi-Fi Network \"{}\"?").format(self._state_network.ssid))
-      confirm_dialog.reset()
-      gui_app.set_modal_overlay(confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
+      confirm_dialog = ConfirmDialog("", tr("Forget"), tr("Cancel"), callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
+      confirm_dialog.set_text(tr("Forget Wi-Fi Network \"{}\"?").format(normalize_ssid(self._state_network.ssid)))
+      gui_app.push_widget(confirm_dialog)
     else:
       self._draw_network_list(rect)
 
-  def _on_password_entered(self, network: Network, result: int):
-    if result == 1:
+  def _on_password_entered(self, network: Network, result: DialogResult):
+    if result == DialogResult.CONFIRM:
       password = self.keyboard.text
       self.keyboard.clear()
 
       if len(password) >= MIN_PASSWORD_LENGTH:
         self.connect_to_network(network, password)
-    elif result == 0:
+    elif result == DialogResult.CANCEL:
       self.state = UIState.IDLE
 
-  def on_forgot_confirm_finished(self, network, result: int):
-    if result == 1:
+  def on_forgot_confirm_finished(self, network, result: DialogResult):
+    if result == DialogResult.CONFIRM:
       self.forget_network(network)
-    elif result == 0:
+    elif result == DialogResult.CANCEL:
       self.state = UIState.IDLE
 
   def _draw_network_list(self, rect: rl.Rectangle):
@@ -389,7 +392,7 @@ class WifiManagerUI(Widget):
       gui_label(status_text_rect, status_text, font_size=48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
     else:
       # If the network is saved, show the "Forget" button
-      if network.is_saved:
+      if self._wifi_manager.is_connection_saved(network.ssid):
         forget_btn_rect = rl.Rectangle(
           security_icon_rect.x - self.btn_width - spacing,
           rect.y + (ITEM_HEIGHT - 80) / 2,
@@ -402,11 +405,11 @@ class WifiManagerUI(Widget):
     self._draw_signal_strength_icon(signal_icon_rect, network)
 
   def _networks_buttons_callback(self, network):
-    if not network.is_saved and network.security_type != SecurityType.OPEN:
+    if not self._wifi_manager.is_connection_saved(network.ssid) and network.security_type != SecurityType.OPEN:
       self.state = UIState.NEEDS_AUTH
       self._state_network = network
       self._password_retry = False
-    elif not network.is_connected:
+    elif self._wifi_manager.wifi_state.ssid != network.ssid:
       self.connect_to_network(network)
 
   def _forget_networks_buttons_callback(self, network):
@@ -416,7 +419,7 @@ class WifiManagerUI(Widget):
   def _draw_status_icon(self, rect, network: Network):
     """Draw the status icon based on network's connection state"""
     icon_file = None
-    if network.is_connected and self.state != UIState.CONNECTING:
+    if self._wifi_manager.connected_ssid == network.ssid and self.state != UIState.CONNECTING:
       icon_file = "icons/checkmark.png"
     elif network.security_type == SecurityType.UNSUPPORTED:
       icon_file = "icons/circled_slash.png"
@@ -438,7 +441,7 @@ class WifiManagerUI(Widget):
   def connect_to_network(self, network: Network, password=''):
     self.state = UIState.CONNECTING
     self._state_network = network
-    if network.is_saved and not password:
+    if self._wifi_manager.is_connection_saved(network.ssid) and not password:
       self._wifi_manager.activate_connection(network.ssid)
     else:
       self._wifi_manager.connect_to_network(network.ssid, password)
@@ -451,7 +454,7 @@ class WifiManagerUI(Widget):
   def _on_network_updated(self, networks: list[Network]):
     self._networks = networks
     for n in self._networks:
-      self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55,
+      self._networks_buttons[n.ssid] = Button(normalize_ssid(n.ssid), partial(self._networks_buttons_callback, n), font_size=55,
                                               text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, button_style=ButtonStyle.TRANSPARENT_WHITE_TEXT)
       self._networks_buttons[n.ssid].set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid())
       self._forget_networks_buttons[n.ssid] = Button(tr("Forget"), partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
@@ -469,7 +472,7 @@ class WifiManagerUI(Widget):
     if self.state == UIState.CONNECTING:
       self.state = UIState.IDLE
 
-  def _on_forgotten(self):
+  def _on_forgotten(self, _):
     if self.state == UIState.FORGETTING:
       self.state = UIState.IDLE
 
@@ -480,10 +483,10 @@ class WifiManagerUI(Widget):
 
 def main():
   gui_app.init_window("Wi-Fi Manager")
-  wifi_ui = WifiManagerUI(WifiManager())
+  gui_app.push_widget(WifiManagerUI(WifiManager()))
 
   for _ in gui_app.render():
-    wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100))
+    pass
 
   gui_app.close()
 
diff --git a/system/ui/widgets/option_dialog.py b/openpilot/system/ui/widgets/option_dialog.py
similarity index 91%
rename from system/ui/widgets/option_dialog.py
rename to openpilot/system/ui/widgets/option_dialog.py
index 62578d1cfb..206400a74f 100644
--- a/system/ui/widgets/option_dialog.py
+++ b/openpilot/system/ui/widgets/option_dialog.py
@@ -1,5 +1,6 @@
 import pyray as rl
-from openpilot.system.ui.lib.application import FontWeight
+from collections.abc import Callable
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.button import Button, ButtonStyle
@@ -17,13 +18,13 @@ LIST_ITEM_SPACING = 25
 
 
 class MultiOptionDialog(Widget):
-  def __init__(self, title, options, current="", option_font_weight=FontWeight.MEDIUM):
+  def __init__(self, title, options, current="", option_font_weight=FontWeight.MEDIUM, callback: Callable[[DialogResult], None] | None = None):
     super().__init__()
     self.title = title
     self.options = options
     self.current = current
     self.selection = current
-    self._result: DialogResult = DialogResult.NO_ACTION
+    self._callback = callback
 
     # Create scroller with option buttons
     self.option_buttons = [Button(option, click_callback=lambda opt=option: self._on_option_clicked(opt),
@@ -36,7 +37,9 @@ class MultiOptionDialog(Widget):
     self.select_button = Button(lambda: tr("Select"), click_callback=lambda: self._set_result(DialogResult.CONFIRM), button_style=ButtonStyle.PRIMARY)
 
   def _set_result(self, result: DialogResult):
-    self._result = result
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(result)
 
   def _on_option_clicked(self, option):
     self.selection = option
@@ -74,5 +77,3 @@ class MultiOptionDialog(Widget):
     select_rect = rl.Rectangle(content_rect.x + button_w + BUTTON_SPACING, button_y, button_w, BUTTON_HEIGHT)
     self.select_button.set_enabled(self.selection != self.current)
     self.select_button.render(select_rect)
-
-    return self._result
diff --git a/openpilot/system/ui/widgets/scroller.py b/openpilot/system/ui/widgets/scroller.py
new file mode 100644
index 0000000000..55195b30fb
--- /dev/null
+++ b/openpilot/system/ui/widgets/scroller.py
@@ -0,0 +1,432 @@
+import pyray as rl
+import numpy as np
+from collections.abc import Callable, Sequence
+
+from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+
+ITEM_SPACING = 20
+LINE_COLOR = rl.GRAY
+LINE_PADDING = 40
+ANIMATION_SCALE = 0.6
+
+MOVE_LIFT = 20
+MOVE_OVERLAY_ALPHA = 0.65
+SCROLL_RC = 0.15
+
+EDGE_SHADOW_WIDTH = 20
+
+MIN_ZOOM_ANIMATION_TIME = 0.075  # seconds
+DO_ZOOM = False
+DO_JELLO = False
+
+
+class ScrollIndicator(Widget):
+  HORIZONTAL_MARGIN = 4
+
+  def __init__(self):
+    super().__init__()
+    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/horizontal_scroll_indicator.png", 96, 48)
+    self._scroll_offset: float = 0.0
+    self._content_size: float = 0.0
+    self._viewport: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+
+  def update(self, scroll_offset: float, content_size: float, viewport: rl.Rectangle) -> None:
+    self._scroll_offset = scroll_offset
+    self._content_size = content_size
+    self._viewport = viewport
+
+  def _render(self, _, /):
+    # scale indicator width based on content size
+    indicator_w = float(np.interp(self._content_size, [1000, 3000], [300, 100]))
+
+    # position based on scroll ratio
+    slide_range = self._viewport.width - indicator_w
+    max_scroll = self._content_size - self._viewport.width
+    scroll_ratio = (-self._scroll_offset / abs(max_scroll)) if abs(max_scroll) > 1e-3 else 0.0
+    x = self._viewport.x + scroll_ratio * slide_range
+    # don't bounce up when NavWidget shows
+    y = max(self._viewport.y, 0) + self._viewport.height - self._txt_scroll_indicator.height / 2
+
+    # squeeze when overscrolling past edges
+    dest_left = max(x, self._viewport.x)
+    dest_right = min(x + indicator_w, self._viewport.x + self._viewport.width)
+    dest_w = max(indicator_w / 2, dest_right - dest_left)
+
+    # keep within viewport after applying minimum width
+    dest_left = min(dest_left, self._viewport.x + self._viewport.width - dest_w)
+    dest_left = max(dest_left, self._viewport.x)
+
+    src_rec = rl.Rectangle(0, 0, self._txt_scroll_indicator.width, self._txt_scroll_indicator.height)
+    dest_rec = rl.Rectangle(dest_left, y, dest_w, self._txt_scroll_indicator.height)
+    rl.draw_texture_pro(self._txt_scroll_indicator, src_rec, dest_rec, rl.Vector2(0, 0), 0.0,
+                        rl.Color(255, 255, 255, int(255 * 0.45)))
+
+
+class _Scroller(Widget):
+  """Should use wrapper below to reduce boilerplate"""
+  def __init__(self, items: Sequence[Widget], horizontal: bool = True, snap_items: bool = False, spacing: int = ITEM_SPACING,
+               pad: int = ITEM_SPACING, scroll_indicator: bool = True, edge_shadows: bool = True):
+    super().__init__()
+    self._items: list[Widget] = []
+    self._horizontal = horizontal
+    self._snap_items = snap_items
+    assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
+    self._spacing = spacing
+    self._pad = pad
+
+    self._reset_scroll_at_show = True
+
+    self._scrolling_to: tuple[float | None, bool, bool] = (None, False, False)  # target offset, block_interrupt, block_widget_interaction
+    self._scrolling_to_filter = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps)
+    self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps)
+    self._zoom_out_t: float = 0.0
+
+    # layout state
+    self._visible_items: list[Widget] = []
+    self._content_size: float = 0.0
+    self._scroll_offset: float = 0.0
+
+    self._item_pos_filter = BounceFilter(0.0, 0.05, 1 / gui_app.target_fps)
+
+    self.scroll_panel = GuiScrollPanel2(self._horizontal)
+    self._scroll_enabled: bool | Callable[[], bool] = True
+
+    self._show_scroll_indicator = scroll_indicator and self._horizontal
+    self._scroll_indicator = ScrollIndicator()
+    self._edge_shadows = edge_shadows and self._horizontal
+
+    # move animation state
+    # on move; lift src widget -> wait -> move all -> wait -> drop src widget
+    self._overlay_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    self._move_animations: dict[Widget, FirstOrderFilter] = {}
+    self._move_lift: dict[Widget, FirstOrderFilter] = {}
+    # these are used to wait before moving/dropping, also to move onto next part of the animation earlier for timing
+    self._pending_lift: set[Widget] = set()
+    self._pending_move: set[Widget] = set()
+
+    self.add_widgets(items)
+
+  def set_reset_scroll_at_show(self, scroll: bool):
+    self._reset_scroll_at_show = scroll
+
+  def scroll_to(self, pos: float, smooth: bool = False, block_interrupt: bool = False, block_widget_interaction: bool = False):
+    assert smooth or (not block_interrupt and not block_widget_interaction), "Instant scroll cannot block interaction"
+
+    # already there
+    if abs(pos) < 1:
+      return
+
+    # FIXME: the padding correction doesn't seem correct
+    scroll_offset = self.scroll_panel.get_offset() - pos
+    if smooth:
+      self._scrolling_to_filter.x = self.scroll_panel.get_offset()
+      self._scrolling_to = scroll_offset, block_interrupt, block_widget_interaction
+    else:
+      self.scroll_panel.set_offset(scroll_offset)
+
+  @property
+  def is_auto_scrolling(self) -> bool:
+    return self._scrolling_to[0] is not None
+
+  @property
+  def items(self) -> list[Widget]:
+    return self._items
+
+  @property
+  def content_size(self) -> float:
+    return self._content_size
+
+  def add_widget(self, item: Widget) -> None:
+    self._items.append(item)
+
+    # preserve original touch valid callback
+    original_touch_valid_callback = item._touch_valid_callback
+    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and not self._scrolling_to[2]
+                                          and not self.moving_items and (original_touch_valid_callback() if
+                                                                         original_touch_valid_callback else True))
+
+  def add_widgets(self, items: Sequence[Widget]) -> None:
+    for item in items:
+      self.add_widget(item)
+
+  def set_scrolling_enabled(self, enabled: bool | Callable[[], bool]) -> None:
+    """Set whether scrolling is enabled (does not affect widget enabled state)."""
+    self._scroll_enabled = enabled
+
+  def _update_state(self):
+    if DO_ZOOM:
+      if self._scrolling_to[0] is not None or self.scroll_panel.state != ScrollState.STEADY:
+        self._zoom_out_t = rl.get_time() + MIN_ZOOM_ANIMATION_TIME
+        self._zoom_filter.update(0.85)
+      else:
+        if self._zoom_out_t is not None:
+          if rl.get_time() > self._zoom_out_t:
+            self._zoom_filter.update(1.0)
+          else:
+            self._zoom_filter.update(0.85)
+
+    # Cancel auto-scroll if user starts manually scrolling (unless block_interaction)
+    if (self.scroll_panel.state in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL) and
+        self._scrolling_to[0] is not None and not self._scrolling_to[1]):
+      self._scrolling_to = None, False, False
+
+    if self._scrolling_to[0] is not None and len(self._pending_lift) == 0:
+      self._scrolling_to_filter.update(self._scrolling_to[0])
+      self.scroll_panel.set_offset(self._scrolling_to_filter.x)
+
+      if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:  # finished scroll
+        self.scroll_panel.set_offset(self._scrolling_to[0])
+        self._scrolling_to = None, False, False
+
+  def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
+    scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
+    self.scroll_panel.set_enabled(scroll_enabled and self.enabled and not self._scrolling_to[1])
+
+    # Snap closest item to center. Skipped while scroll_to() is animating
+    snap_target: float | None = None
+    if self._snap_items and visible_items and self._scrolling_to[0] is None:
+      # TODO: this doesn't handle two small buttons at the edges well
+      center_pos = self._rect.x + self._rect.width / 2
+      closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
+      snap_target = self.scroll_panel.get_offset() - closest_delta_pos
+
+    return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)
+
+  @property
+  def moving_items(self) -> bool:
+    return len(self._move_animations) > 0 or len(self._move_lift) > 0
+
+  def move_item(self, from_idx: int, to_idx: int):
+    assert self._horizontal
+    if from_idx == to_idx:
+      return
+
+    if self.moving_items:
+      cloudlog.warning(f"Already moving items, cannot move from {from_idx} to {to_idx}")
+      return
+
+    item = self._items.pop(from_idx)
+    self._items.insert(to_idx, item)
+
+    # store original position in content space of all affected widgets to animate from
+    for idx in range(min(from_idx, to_idx), max(from_idx, to_idx) + 1):
+      affected_item = self._items[idx]
+      self._move_animations[affected_item] = FirstOrderFilter(affected_item.rect.x - self._scroll_offset, SCROLL_RC, 1 / gui_app.target_fps)
+      self._pending_move.add(affected_item)
+
+    # lift only src widget to make it more clear which one is moving
+    self._move_lift[item] = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps)
+    self._pending_lift.add(item)
+
+  def _do_move_animation(self, item: Widget, target_x: float, target_y: float) -> tuple[float, float]:
+    # wait a frame before moving so we match potential pending scroll animation
+    can_start_move = len(self._pending_lift) == 0
+
+    if item in self._move_lift:
+      lift_filter = self._move_lift[item]
+
+      # Animate lift
+      if len(self._pending_move) > 0:
+        lift_filter.update(MOVE_LIFT)
+        # start moving when almost lifted
+        if abs(lift_filter.x - MOVE_LIFT) < 2:
+          self._pending_lift.discard(item)
+      else:
+        # if done moving, animate down
+        lift_filter.update(0)
+        if abs(lift_filter.x) < 1:
+          del self._move_lift[item]
+      target_y -= lift_filter.x
+
+    # Animate move
+    if item in self._move_animations:
+      move_filter = self._move_animations[item]
+
+      # compare/update in content space to match filter
+      content_x = target_x - self._scroll_offset
+      if can_start_move:
+        move_filter.update(content_x)
+
+        # drop when close to target
+        if abs(move_filter.x - content_x) < 10:
+          self._pending_move.discard(item)
+
+        # finished moving
+        if abs(move_filter.x - content_x) < 1:
+          del self._move_animations[item]
+      target_x = move_filter.x + self._scroll_offset
+
+    return target_x, target_y
+
+  def _layout(self):
+    self._visible_items = [item for item in self._items if item.is_visible]
+
+    self._content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in self._visible_items)
+    self._content_size += self._spacing * (len(self._visible_items) - 1)
+    self._content_size += self._pad * 2
+
+    self._scroll_offset = self._get_scroll(self._visible_items, self._content_size)
+
+    self._item_pos_filter.update(self._scroll_offset)
+
+    cur_pos = 0
+    for idx, item in enumerate(self._visible_items):
+      spacing = self._spacing if (idx > 0) else self._pad
+      # Nicely lay out items horizontally/vertically
+      if self._horizontal:
+        x = self._rect.x + cur_pos + spacing
+        y = self._rect.y + (self._rect.height - item.rect.height) / 2
+        cur_pos += item.rect.width + spacing
+      else:
+        x = self._rect.x + (self._rect.width - item.rect.width) / 2
+        y = self._rect.y + cur_pos + spacing
+        cur_pos += item.rect.height + spacing
+
+      # Consider scroll
+      if self._horizontal:
+        x += self._scroll_offset
+      else:
+        y += self._scroll_offset
+
+      # Add some jello effect when scrolling
+      if DO_JELLO:
+        if self._horizontal:
+          cx = self._rect.x + self._rect.width / 2
+          jello_offset = self._scroll_offset - np.interp(x + item.rect.width / 2,
+                                                         [self._rect.x, cx, self._rect.x + self._rect.width],
+                                                         [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x])
+          x -= np.clip(jello_offset, -20, 20)
+        else:
+          cy = self._rect.y + self._rect.height / 2
+          jello_offset = self._scroll_offset - np.interp(y + item.rect.height / 2,
+                                                         [self._rect.y, cy, self._rect.y + self._rect.height],
+                                                         [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x])
+          y -= np.clip(jello_offset, -20, 20)
+
+      # Animate moves if needed
+      x, y = self._do_move_animation(item, x, y)
+
+      # Update item state
+      item.set_position(x, y)
+      item.set_parent_rect(self._rect)
+
+  def _render_item(self, item: Widget):
+    # Skip rendering if not in viewport
+    if not rl.check_collision_recs(item.rect, self._rect):
+      return
+
+    # Scale each element around its own origin when scrolling
+    scale = self._zoom_filter.x
+    if scale != 1.0:
+      rl.rl_push_matrix()
+      rl.rl_scalef(scale, scale, 1.0)
+      rl.rl_translatef((1 - scale) * (item.rect.x + item.rect.width / 2) / scale,
+                       (1 - scale) * (item.rect.y + item.rect.height / 2) / scale, 0)
+      item.render()
+      rl.rl_pop_matrix()
+    else:
+      item.render()
+
+  def _render(self, _, /):
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
+                          int(self._rect.width), int(self._rect.height))
+
+    for item in reversed(self._visible_items):
+      if item in self._move_lift:
+        continue
+      self._render_item(item)
+
+    # Dim background if moving items, lifted items are above
+    self._overlay_filter.update(MOVE_OVERLAY_ALPHA if len(self._pending_move) else 0.0)
+    if self._overlay_filter.x > 0.01:
+      rl.draw_rectangle_rec(self._rect, rl.Color(0, 0, 0, int(255 * self._overlay_filter.x)))
+
+    for item in self._move_lift:
+      self._render_item(item)
+
+    rl.end_scissor_mode()
+
+    # Draw edge shadows on top of scroller content
+    if self._edge_shadows:
+      rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y),
+                                   EDGE_SHADOW_WIDTH, int(self._rect.height),
+                                   rl.Color(0, 0, 0, 204), rl.BLANK)
+
+      right_x = int(self._rect.x + self._rect.width - EDGE_SHADOW_WIDTH)
+      rl.draw_rectangle_gradient_h(right_x, int(self._rect.y),
+                                   EDGE_SHADOW_WIDTH, int(self._rect.height),
+                                   rl.BLANK, rl.Color(0, 0, 0, 204))
+
+    # Draw scroll indicator on top of edge shadows
+    if self._show_scroll_indicator and len(self._visible_items) > 0:
+      self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect)
+      self._scroll_indicator.render()
+
+  def show_event(self):
+    super().show_event()
+    for item in self._items:
+      item.show_event()
+
+    if self._reset_scroll_at_show:
+      self.scroll_panel.set_offset(0.0)
+
+    self._overlay_filter.x = 0.0
+    self._move_animations.clear()
+    self._move_lift.clear()
+    self._pending_lift.clear()
+    self._pending_move.clear()
+    self._scrolling_to = None, False, False
+    self._scrolling_to_filter.x = 0.0
+
+  def hide_event(self):
+    super().hide_event()
+    for item in self._items:
+      item.hide_event()
+
+
+class Scroller(Widget):
+  """Wrapper for _Scroller so that children do not need to call events or pass down enabled for nav stack."""
+  def __init__(self, **kwargs):
+    super().__init__()
+    self._scroller = self._child(_Scroller([], **kwargs))
+    # pass down enabled to child widget for nav stack
+    self._scroller.set_enabled(lambda: self.enabled)
+
+  def _render(self, _, /):
+    self._scroller.render(self._rect)
+
+
+class NavScroller(NavWidget, Scroller):
+  """Full screen Scroller that properly supports nav stack w/ animations"""
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    # pass down enabled to child widget for nav stack + disable while swiping away NavWidget
+    self._scroller.set_enabled(lambda: self.enabled and not self.is_dismissing)
+
+  def _back_enabled(self) -> bool:
+    # Vertical scrollers need to be at the top to swipe away to prevent erroneous swipes
+    # TODO: only used for offroad alerts, remove when horizontal
+    return self._scroller._horizontal or self._scroller.scroll_panel.get_offset() >= -20  # some tolerance
+
+
+# TODO: only used for a few vertical scrollers, remove when horizontal
+class NavRawScrollPanel(NavWidget):
+  # can swipe anywhere, only when at top
+  BACK_TOUCH_AREA_PERCENTAGE = 1.0
+
+  def __init__(self):
+    super().__init__()
+    self._scroll_panel = GuiScrollPanel2(horizontal=False)
+    self._scroll_panel.set_enabled(lambda: self.enabled and not self.is_dismissing)
+
+  def show_event(self):
+    super().show_event()
+    self._scroll_panel.set_offset(0)
+
+  def _back_enabled(self) -> bool:
+    return self._scroll_panel.get_offset() >= -20
diff --git a/system/ui/widgets/scroller_tici.py b/openpilot/system/ui/widgets/scroller_tici.py
similarity index 94%
rename from system/ui/widgets/scroller_tici.py
rename to openpilot/system/ui/widgets/scroller_tici.py
index a843010d56..fc81e1b079 100644
--- a/system/ui/widgets/scroller_tici.py
+++ b/openpilot/system/ui/widgets/scroller_tici.py
@@ -1,4 +1,5 @@
 import pyray as rl
+from collections.abc import Sequence
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.widgets import Widget
 
@@ -23,7 +24,7 @@ class LineSeparator(Widget):
 
 
 class Scroller(Widget):
-  def __init__(self, items: list[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True):
+  def __init__(self, items: Sequence[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True):
     super().__init__()
     self._items: list[Widget] = []
     self._spacing = spacing
diff --git a/system/ui/widgets/slider.py b/openpilot/system/ui/widgets/slider.py
similarity index 68%
rename from system/ui/widgets/slider.py
rename to openpilot/system/ui/widgets/slider.py
index 455cdeef71..bf965954f2 100644
--- a/system/ui/widgets/slider.py
+++ b/openpilot/system/ui/widgets/slider.py
@@ -1,3 +1,4 @@
+import abc
 from collections.abc import Callable
 
 import pyray as rl
@@ -5,19 +6,23 @@ import pyray as rl
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
 
 
-class SmallSlider(Widget):
+class SliderBase(Widget, abc.ABC):
   HORIZONTAL_PADDING = 8
   CONFIRM_DELAY = 0.2
+  PRESSED_SCALE = 1.07
 
-  def __init__(self, title: str, confirm_callback: Callable | None = None):
-    # TODO: unify this with BigConfirmationDialogV2
+  _bg_txt: rl.Texture
+  _circle_bg_txt: rl.Texture
+  _circle_bg_pressed_txt: rl.Texture
+  _circle_arrow_txt: rl.Texture
+
+  def __init__(self, title: str, confirm_callback: Callable | None = None, shimmer_offset: float = 0.0):
     super().__init__()
     self._confirm_callback = confirm_callback
-
-    self._font = gui_app.font(FontWeight.DISPLAY)
+    self._shimmer_offset = shimmer_offset
 
     self._load_assets()
 
@@ -30,29 +35,34 @@ class SmallSlider(Widget):
     self._start_x_circle = 0.0
     self._scroll_x_circle = 0.0
     self._scroll_x_circle_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+    self._circle_scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._circle_press_time: float | None = None
 
     self._is_dragging_circle = False
 
-    self._label = UnifiedLabel(title, font_size=36, font_weight=FontWeight.MEDIUM, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
-                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9)
+    self._label = self._child(UnifiedLabel(title, font_size=36, font_weight=FontWeight.SEMI_BOLD, text_color=rl.WHITE,
+                                           alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                                           alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9, shimmer=True))
 
+  @abc.abstractmethod
   def _load_assets(self):
-    self.set_rect(rl.Rectangle(0, 0, 316 + self.HORIZONTAL_PADDING * 2, 100))
-
-    self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg.png", 316, 100)
-    self._circle_bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_red_circle.png", 100, 100)
-    self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 37, 32)
+    ...
 
   @property
   def confirmed(self) -> bool:
     return self._confirmed_time > 0.0
 
+  def show_event(self):
+    super().show_event()
+    self.reset()
+
   def reset(self):
     # reset all slider state
     self._is_dragging_circle = False
+    self._circle_press_time = None
     self._confirmed_time = 0.0
     self._confirm_callback_called = False
+    self._label.reset_shimmer(self._shimmer_offset)
 
   def set_opacity(self, opacity: float, smooth: bool = False):
     if smooth:
@@ -83,6 +93,7 @@ class SmallSlider(Widget):
       if rl.check_collision_point_rec(mouse_event.pos, circle_button_rect):
         self._start_x_circle = mouse_event.pos.x
         self._is_dragging_circle = True
+        self._circle_press_time = rl.get_time()
 
     elif mouse_event.left_released:
       # swiped to left
@@ -100,15 +111,15 @@ class SmallSlider(Widget):
     activated_pos = int(-self._bg_txt.width + self._circle_bg_txt.width)
     self._scroll_x_circle = max(min(self._scroll_x_circle, 0), activated_pos)
 
-    if self._confirmed_time > 0:
+    if self.confirmed:
       # swiped left to confirm
       self._scroll_x_circle_filter.update(activated_pos)
 
       # activate once animation completes, small threshold for small floats
       if self._scroll_x_circle_filter.x < (activated_pos + 1):
         if not self._confirm_callback_called and (rl.get_time() - self._confirmed_time) >= self.CONFIRM_DELAY:
-          self._on_confirm()
           self._confirm_callback_called = True
+          self._on_confirm()
 
     elif not self._is_dragging_circle:
       # reset back to right
@@ -118,8 +129,6 @@ class SmallSlider(Widget):
       self._scroll_x_circle_filter.x = self._scroll_x_circle
 
   def _render(self, _):
-    # TODO: iOS text shimmering animation
-
     white = rl.Color(255, 255, 255, int(255 * self._opacity_filter.x))
 
     bg_txt_x = self._rect.x + (self._rect.width - self._bg_txt.width) / 2
@@ -129,8 +138,9 @@ class SmallSlider(Widget):
     btn_x = bg_txt_x + self._bg_txt.width - self._circle_bg_txt.width + self._scroll_x_circle_filter.x
     btn_y = self._rect.y + (self._rect.height - self._circle_bg_txt.height) / 2
 
-    if self._confirmed_time == 0.0 or self._scroll_x_circle > 0:
-      self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.65 * (1.0 - self.slider_percentage) * self._opacity_filter.x)))
+    label_alpha = int(255 * (1.0 - self.slider_percentage) * self._opacity_filter.x)
+    if label_alpha > 0:
+      self._label.set_text_color(rl.Color(255, 255, 255, label_alpha))
       label_rect = rl.Rectangle(
         self._rect.x + 20,
         self._rect.y,
@@ -139,18 +149,23 @@ class SmallSlider(Widget):
       )
       self._label.render(label_rect)
 
-    # circle and arrow
-    rl.draw_texture_ex(self._circle_bg_txt, rl.Vector2(btn_x, btn_y), 0.0, 1.0, white)
+    # circle and arrow with grow animation
+    circle_pressed = self._is_dragging_circle or self.confirmed or (self._circle_press_time is not None and rl.get_time() - self._circle_press_time < 0.075)
+    circle_bg_txt = self._circle_bg_pressed_txt if circle_pressed else self._circle_bg_txt
+    scale = self._circle_scale_filter.update(self.PRESSED_SCALE if circle_pressed else 1.0)
+    scaled_btn_x = btn_x + (self._circle_bg_txt.width * (1 - scale)) / 2
+    scaled_btn_y = btn_y + (self._circle_bg_txt.height * (1 - scale)) / 2
+    rl.draw_texture_ex(circle_bg_txt, rl.Vector2(scaled_btn_x, scaled_btn_y), 0.0, scale, white)
 
     arrow_x = btn_x + (self._circle_bg_txt.width - self._circle_arrow_txt.width) / 2
-    arrow_y = btn_y + (self._circle_bg_txt.height - self._circle_arrow_txt.height) / 2
+    arrow_y = scaled_btn_y + (self._circle_bg_txt.height - self._circle_arrow_txt.height) / 2
     rl.draw_texture_ex(self._circle_arrow_txt, rl.Vector2(arrow_x, arrow_y), 0.0, 1.0, white)
 
 
-class LargerSlider(SmallSlider):
-  def __init__(self, title: str, confirm_callback: Callable | None = None, green: bool = True):
+class LargerSlider(SliderBase):
+  def __init__(self, title: str, confirm_callback: Callable | None = None, green: bool = True, shimmer_offset: float = 0.0):
     self._green = green
-    super().__init__(title, confirm_callback=confirm_callback)
+    super().__init__(title, confirm_callback=confirm_callback, shimmer_offset=shimmer_offset)
 
   def _load_assets(self):
     self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 115))
@@ -158,22 +173,24 @@ class LargerSlider(SmallSlider):
     self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg_larger.png", 520, 115)
     circle_fn = "slider_green_rounded_rectangle" if self._green else "slider_black_rounded_rectangle"
     self._circle_bg_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}.png", 180, 115)
+    self._circle_bg_pressed_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}_pressed.png", 180, 115)
     self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 55)
 
 
-class BigSlider(SmallSlider):
+class BigSlider(SliderBase):
   def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable | None = None):
     self._icon = icon
     super().__init__(title, confirm_callback=confirm_callback)
-    self._label = UnifiedLabel(title, font_size=48, font_weight=FontWeight.DISPLAY, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
-                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               line_height=0.875)
+    self._label.set_font_size(48)
+    self._label.set_font_weight(FontWeight.DISPLAY)
+    self._label.set_line_height(0.875)
 
   def _load_assets(self):
     self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 180))
 
     self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
     self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
+    self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_pressed.png", 180, 180)
     self._circle_arrow_txt = self._icon
 
 
@@ -183,4 +200,5 @@ class RedBigSlider(BigSlider):
 
     self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
     self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
+    self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_red_pressed.png", 180, 180)
     self._circle_arrow_txt = self._icon
diff --git a/system/ui/widgets/toggle.py b/openpilot/system/ui/widgets/toggle.py
similarity index 100%
rename from system/ui/widgets/toggle.py
rename to openpilot/system/ui/widgets/toggle.py
diff --git a/system/updated/updated.py b/openpilot/system/updated/updated.py
similarity index 91%
rename from system/updated/updated.py
rename to openpilot/system/updated/updated.py
index c10a7097ce..dd2f71f30d 100755
--- a/system/updated/updated.py
+++ b/openpilot/system/updated/updated.py
@@ -3,7 +3,6 @@ import os
 import re
 import datetime
 import subprocess
-import psutil
 import shutil
 import signal
 import fcntl
@@ -17,8 +16,8 @@ from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.markdown import parse_markdown
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import AGNOS, HARDWARE
-from openpilot.system.version import get_build_metadata, SP_BRANCH_MIGRATIONS
+from openpilot.common.hardware import AGNOS, HARDWARE
+from openpilot.common.version import get_build_metadata, SP_BRANCH_MIGRATIONS
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
@@ -65,7 +64,7 @@ class WaitTimeHelper:
 
 def write_time_to_param(params, param) -> None:
   t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-  params.put(param, t)
+  params.put(param, t, block=True)
 
 def run(cmd: list[str], cwd: str | None = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
@@ -138,7 +137,7 @@ def init_overlay() -> None:
   cloudlog.info("preparing new safe staging area")
 
   params = Params()
-  params.put_bool("UpdateAvailable", False)
+  params.put_bool("UpdateAvailable", False, block=True)
   set_consistent_flag(False)
   dismount_overlay()
   run(["sudo", "rm", "-rf", STAGING_ROOT])
@@ -169,7 +168,7 @@ def init_overlay() -> None:
   run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")])
 
   git_diff = run(["git", "diff", "--submodule=diff"], OVERLAY_MERGED)
-  params.put("GitDiff", git_diff)
+  params.put("GitDiff", git_diff, block=True)
   cloudlog.info(f"git diff output:\n{git_diff}")
 
 
@@ -194,7 +193,7 @@ def finalize_update() -> None:
 
 
 def handle_agnos_update() -> None:
-  from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
+  from openpilot.common.hardware.comma.agnos import flash_agnos_update, get_target_slot_number
 
   cur_version = HARDWARE.get_os_version()
   updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
@@ -210,7 +209,7 @@ def handle_agnos_update() -> None:
   cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
   set_offroad_alert("Offroad_NeosUpdate", True)
 
-  manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json")
+  manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/comma/agnos.json")
   target_slot_number = get_target_slot_number()
   flash_agnos_update(manifest_path, target_slot_number, cloudlog)
   set_offroad_alert("Offroad_NeosUpdate", False)
@@ -260,19 +259,19 @@ class Updater:
     return run(["git", "rev-parse", "HEAD"], path).rstrip()
 
   def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None:
-    self.params.put("UpdateFailedCount", failed_count)
-    self.params.put("UpdaterTargetBranch", self.target_branch)
+    self.params.put("UpdateFailedCount", failed_count, block=True)
+    self.params.put("UpdaterTargetBranch", self.target_branch, block=True)
 
-    self.params.put_bool("UpdaterFetchAvailable", self.update_available)
+    self.params.put_bool("UpdaterFetchAvailable", self.update_available, block=True)
     if len(self.branches):
-      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
+      self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()), block=True)
 
     last_uptime_onroad = self.params.get("UptimeOnroad", return_default=True)
     last_route_count = self.params.get("RouteCount", return_default=True)
     if update_success:
-      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None))
-      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
-      self.params.put("LastUpdateRouteCount", last_route_count)
+      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None), block=True)
+      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad, block=True)
+      self.params.put("LastUpdateRouteCount", last_route_count, block=True)
     else:
       last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
       last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)
@@ -280,7 +279,7 @@ class Updater:
     if exception is None:
       self.params.remove("LastUpdateException")
     else:
-      self.params.put("LastUpdateException", exception)
+      self.params.put("LastUpdateException", exception, block=True)
 
     # Write out current and new version info
     def get_description(basedir: str) -> str:
@@ -294,7 +293,7 @@ class Updater:
       try:
         branch = self.get_branch(basedir)
         commit = self.get_commit_hash(basedir)[:7]
-        with open(os.path.join(basedir, "sunnypilot", "common", "version.h")) as f:
+        with open(os.path.join(basedir, "openpilot", "sunnypilot", "common", "version.h")) as f:
           version = f.read().split('"')[1]
 
         commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
@@ -303,11 +302,11 @@ class Updater:
       except Exception:
         cloudlog.exception("updater.get_description")
       return f"{version} / {branch} / {commit} / {commit_date}"
-    self.params.put("UpdaterCurrentDescription", get_description(BASEDIR))
-    self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
-    self.params.put("UpdaterNewDescription", get_description(FINALIZED))
-    self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED))
-    self.params.put_bool("UpdateAvailable", self.update_ready)
+    self.params.put("UpdaterCurrentDescription", get_description(BASEDIR), block=True)
+    self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR), block=True)
+    self.params.put("UpdaterNewDescription", get_description(FINALIZED), block=True)
+    self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED), block=True)
+    self.params.put_bool("UpdateAvailable", self.update_ready, block=True)
 
     # Handle user prompt
     for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"):
@@ -343,7 +342,7 @@ class Updater:
     setup_git_options(OVERLAY_MERGED)
     output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED)
 
-    self.branches = defaultdict(lambda: None)
+    self.branches.clear()
     for line in output.split('\n'):
       ls_remotes_re = r'(?P<commit_sha>\b[0-9a-f]{5,40}\b)(\s+)(refs\/heads\/)(?P<branch_name>.*$)'
       x = re.fullmatch(ls_remotes_re, line.strip())
@@ -362,11 +361,11 @@ class Updater:
   def fetch_update(self) -> None:
     cloudlog.info("attempting git fetch inside staging overlay")
 
-    self.params.put("UpdaterState", "downloading...")
+    self.params.put("UpdaterState", "downloading...", block=True)
 
     # TODO: cleanly interrupt this and invalidate old update
     set_consistent_flag(False)
-    self.params.put_bool("UpdateAvailable", False)
+    self.params.put_bool("UpdateAvailable", False, block=True)
 
     setup_git_options(OVERLAY_MERGED)
 
@@ -394,7 +393,7 @@ class Updater:
       handle_agnos_update()
 
     # Create the finalized, ready-to-swap update
-    self.params.put("UpdaterState", "finalizing update...")
+    self.params.put("UpdaterState", "finalizing update...", block=True)
     finalize_update()
     cloudlog.info("finalize success!")
 
@@ -412,18 +411,13 @@ def main() -> None:
     except OSError as e:
       raise RuntimeError("couldn't get overlay lock; is another instance running?") from e
 
-    # Set low io priority
-    proc = psutil.Process()
-    if psutil.LINUX:
-      proc.ionice(psutil.IOPRIO_CLASS_BE, value=7)
-
     # Check if we just performed an update
     if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir():
       cloudlog.event("update installed")
 
     if not params.get("InstallDate"):
       t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-      params.put("InstallDate", t)
+      params.put("InstallDate", t, block=True)
 
     updater = Updater()
     update_failed_count = 0 # TODO: Load from param?
@@ -433,7 +427,7 @@ def main() -> None:
     set_consistent_flag(False)
 
     # set initial state
-    params.put("UpdaterState", "idle")
+    params.put("UpdaterState", "idle", block=True)
 
     # Run the update loop
     first_run = True
@@ -457,7 +451,7 @@ def main() -> None:
         update_failed_count += 1
 
         # check for update
-        params.put("UpdaterState", "checking...")
+        params.put("UpdaterState", "checking...", block=True)
         updater.check_for_update()
 
         # download update
@@ -487,7 +481,7 @@ def main() -> None:
         OVERLAY_INIT.unlink(missing_ok=True)
 
       try:
-        params.put("UpdaterState", "idle")
+        params.put("UpdaterState", "idle", block=True)
         update_successful = (update_failed_count == 0)
         updater.set_params(update_successful, update_failed_count, exception)
       except Exception:
diff --git a/system/webrtc/__init__.py b/openpilot/system/webrtc/__init__.py
similarity index 100%
rename from system/webrtc/__init__.py
rename to openpilot/system/webrtc/__init__.py
diff --git a/openpilot/system/webrtc/device/video.py b/openpilot/system/webrtc/device/video.py
new file mode 100644
index 0000000000..cb85dff73e
--- /dev/null
+++ b/openpilot/system/webrtc/device/video.py
@@ -0,0 +1,101 @@
+import asyncio
+from dataclasses import dataclass
+import struct
+import time
+
+from teleoprtc.tracks import TiciVideoStreamTrack
+
+from openpilot.cereal import messaging
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+
+# v4l2 buffer flag marking an encoded keyframe (linux/videodev2.h)
+V4L2_BUF_FLAG_KEYFRAME = 0x8
+
+# arbitrary 16-byte UUID identifying openpilot frame-timing SEI messages
+TIMING_SEI_UUID = bytes([
+  0xa5, 0xe0, 0xc4, 0xa4, 0x5b, 0x6e, 0x4e, 0x1e,
+  0x9c, 0x7e, 0x12, 0x34, 0x56, 0x78, 0x9a, 0xbc,
+])
+_SEI_PREFIX = b'\x00\x00\x00\x01\x06\x05\x30' + TIMING_SEI_UUID
+
+
+@dataclass(frozen=True)
+class EncodedVideoFrame:
+  data: bytes
+  pts: int
+
+  def __bytes__(self) -> bytes:
+    return self.data
+
+
+class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
+  camera_to_sock_mapping = {
+    "driver": "livestreamCabinEncodeData",
+    "wideRoad": "livestreamWideRoadEncodeData",
+    "road": "livestreamNarrowRoadEncodeData",
+  }
+
+  def __init__(self, camera_type: str, video_enabled: bool = True):
+    super().__init__(camera_type, DT_MDL)
+
+    self._sock = self._make_sock(camera_type)
+    self._pts = 0
+    self._t0_ns = time.monotonic_ns()
+    self.timing_sei_enabled = False
+    self.params = Params()
+    self._seen_keyframe = False
+    self.video_enabled = video_enabled
+
+  def stop(self) -> None:
+    super().stop()
+    self._sock = None
+
+  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
+    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+
+  def switch_camera(self, camera_type: str) -> None:
+    self._sock = self._make_sock(camera_type)
+
+  def enable(self, enabled: bool):
+    self.video_enabled = enabled
+    if not enabled:
+      self._seen_keyframe = False
+
+  def request_keyframe(self) -> None:
+    self.params.put("LivestreamRequestKeyframe", True, block=False)
+
+  def _build_frame_data(self, msg) -> bytes:
+    encode_data = getattr(msg, msg.which())
+    if not self.timing_sei_enabled:
+      return encode_data.header + encode_data.data
+
+    idx = encode_data.idx
+    sei_nal = _SEI_PREFIX + struct.pack('>4d',
+      (idx.timestampEof - idx.timestampSof) / 1e6,
+      (msg.logMonoTime - idx.timestampEof) / 1e6,
+      (time.monotonic_ns() - msg.logMonoTime) / 1e6,
+      time.time() * 1000,  # noqa: TID251
+    ) + b'\x80'
+    return encode_data.header + sei_nal + encode_data.data
+
+  async def recv(self):
+    while True:
+      # while video is disabled, pause here without returning
+      if not self.video_enabled:
+        await asyncio.sleep(0.005)
+        continue
+
+      msg = messaging.recv_one_or_none(self._sock)
+      if msg is not None:
+        if not self._seen_keyframe and (getattr(msg, msg.which()).idx.flags & V4L2_BUF_FLAG_KEYFRAME):
+          self._seen_keyframe = True
+          self.params.put("LivestreamRequestKeyframe", False, block=False)
+        break
+      await asyncio.sleep(0.005)
+
+    self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
+    self.log_debug("track sending frame %d", self._pts)
+
+    return EncodedVideoFrame(self._build_frame_data(msg), self._pts)
diff --git a/openpilot/system/webrtc/helpers.py b/openpilot/system/webrtc/helpers.py
new file mode 100644
index 0000000000..de45e1c6c9
--- /dev/null
+++ b/openpilot/system/webrtc/helpers.py
@@ -0,0 +1,40 @@
+import time
+import requests
+from dataclasses import asdict, dataclass, field
+
+
+WEBRTCD_PORT = 5001
+
+@dataclass
+class StreamRequestBody:
+  sdp: str
+  cameras: list[str]
+  enabled: bool
+  bridge_services_in: list[str] = field(default_factory=list)
+  bridge_services_out: list[str] = field(default_factory=list)
+
+
+def post_stream_request(body: StreamRequestBody) -> dict:
+  t_start = time.monotonic()
+  try:
+    resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream", json=asdict(body), timeout=10)
+    t_end = time.monotonic()
+    ret = resp.json()
+    ret["time"] = (t_end - t_start) * 1000
+    return ret
+  except requests.ConnectTimeout as e:
+    raise Exception("webrtc took too long to respond.") from e
+  except requests.ConnectionError as e:
+    raise Exception("webrtc server on device is not running.") from e
+
+
+def wait_for_webrtcd(max_retries: float = 10) -> None:
+  attempts = 0
+  while attempts < max_retries:
+    try:
+      if requests.get(f"http://localhost:{WEBRTCD_PORT}/schema", timeout=1).ok:
+        return
+    except requests.ConnectionError:
+      attempts += 1
+      time.sleep(0.5)
+  raise TimeoutError("webrtcd did not initialize in time.")
diff --git a/system/webrtc/schema.py b/openpilot/system/webrtc/schema.py
similarity index 93%
rename from system/webrtc/schema.py
rename to openpilot/system/webrtc/schema.py
index d80986ebf2..4876198eb0 100644
--- a/system/webrtc/schema.py
+++ b/openpilot/system/webrtc/schema.py
@@ -16,7 +16,7 @@ def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any
 
 
 def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]:
-  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")}
+  return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED") and field != "deprecated"}
 
 
 def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]:
diff --git a/system/webrtc/tests/test_stream_session.py b/openpilot/system/webrtc/tests/test_stream_session.py
similarity index 56%
rename from system/webrtc/tests/test_stream_session.py
rename to openpilot/system/webrtc/tests/test_stream_session.py
index e31fda3728..d64cf6aed6 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/openpilot/system/webrtc/tests/test_stream_session.py
@@ -1,23 +1,17 @@
 import asyncio
 import json
 import time
-# for aiortc and its dependencies
-import warnings
-warnings.filterwarnings("ignore", category=DeprecationWarning)
-warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
 
-from aiortc import RTCDataChannel
-from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 import capnp
-import pyaudio
-from cereal import messaging, log
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import messaging, log
+from teleoprtc.tracks import VIDEO_CLOCK_RATE
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-from openpilot.system.webrtc.device.audio import AudioInputStreamTrack
 
 
-class TestStreamSession:
+class TestStreamSession(OpenpilotTestCase):
   def setup_method(self):
     self.loop = asyncio.new_event_loop()
 
@@ -33,13 +27,13 @@ class TestStreamSession:
     expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"}
     expected_json = json.dumps(expected_dict).encode()
 
-    channel = mocker.Mock(spec=RTCDataChannel)
-    mocked_submaster = messaging.SubMaster(["customReservedRawData0"])
+    channel = mocker.Mock()
+    channel.is_open.return_value = True
+    proxy = CerealOutgoingMessageProxy(["customReservedRawData0"])
     def mocked_update(t):
-      mocked_submaster.update_msgs(0, [test_msg])
+      proxy.sm.update_msgs(0, [test_msg])
 
     mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update)
-    proxy = CerealOutgoingMessageProxy(mocked_submaster)
     proxy.add_channel(channel)
 
     proxy.update()
@@ -62,43 +56,27 @@ class TestStreamSession:
 
       mocked_pubmaster.send.assert_called_once()
       mt, md = mocked_pubmaster.send.call_args.args
-      assert mt == msg["type"]
+      msg_type = msg["type"]
+      assert isinstance(msg_type, str)
+      assert mt == msg_type
       assert isinstance(md, capnp._DynamicStructBuilder)
-      assert hasattr(md, msg["type"])
+      assert hasattr(md, msg_type)
 
       mocked_pubmaster.reset_mock()
 
   def test_livestream_track(self, mocker):
-    fake_msg = messaging.new_message("livestreamDriverEncodeData")
+    fake_msg = messaging.new_message("livestreamCabinEncodeData")
 
     config = {"receive.return_value": fake_msg.to_bytes()}
     mocker.patch("msgq.SubSocket", spec=True, **config)
     track = LiveStreamVideoStreamTrack("driver")
 
     assert track.id.startswith("driver")
-    assert track.codec_preference() == "H264"
 
     for i in range(5):
       packet = self.loop.run_until_complete(track.recv())
-      assert packet.time_base == VIDEO_TIME_BASE
       if i == 0:
         start_ns = time.monotonic_ns()
         start_pts = packet.pts
       assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
-      assert packet.size == 0
-
-  def test_input_audio_track(self, mocker):
-    packet_time, rate = 0.02, 16000
-    sample_count = int(packet_time * rate)
-    mocked_stream = mocker.MagicMock(spec=pyaudio.Stream)
-    mocked_stream.read.return_value = b"\x00" * 2 * sample_count
-
-    config = {"open.side_effect": lambda *args, **kwargs: mocked_stream}
-    mocker.patch("pyaudio.PyAudio", spec=True, **config)
-    track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate)
-
-    for i in range(5):
-      frame = self.loop.run_until_complete(track.recv())
-      assert frame.rate == rate
-      assert frame.samples == sample_count
-      assert frame.pts == i * sample_count
+      assert bytes(packet) == b""
diff --git a/openpilot/system/webrtc/webrtcd.py b/openpilot/system/webrtc/webrtcd.py
new file mode 100755
index 0000000000..8e022eda1c
--- /dev/null
+++ b/openpilot/system/webrtc/webrtcd.py
@@ -0,0 +1,622 @@
+#!/usr/bin/env python3
+
+from abc import abstractmethod
+from collections.abc import Callable
+import os
+import socket
+import time
+import capnp
+import argparse
+import asyncio
+import contextlib
+import json
+import uuid
+import logging
+import signal
+import threading
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+from urllib.parse import urlparse, parse_qs
+from typing import Any
+
+from openpilot.system.webrtc.helpers import StreamRequestBody
+from openpilot.system.webrtc.schema import generate_field
+from openpilot.common.params import Params
+from openpilot.cereal import messaging, log
+
+SESSION_TIMEOUT_SECONDS = 300
+
+# socket trick: route lookup for 8.8.8.8 (nothing is sent or actually connected to)
+# return the source interfaces IP which is the default interface of the device
+def _default_route_ip() -> str | None:
+  s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+  try:
+    s.connect(("8.8.8.8", 53))  # selects a route, sends nothing
+    return s.getsockname()[0]
+  except OSError:
+    return None
+  finally:
+    s.close()
+
+class AsyncTaskRunner:
+  def __init__(self):
+    self.task = None
+    self.logger = logging.getLogger("webrtcd")
+
+  def start(self):
+    assert self.task is None
+    self.task = asyncio.create_task(self.run())
+
+  async def stop(self):
+    if self.task is None:
+      return
+    task = self.task
+    self.task = None
+    if task.done():
+      return
+    task.cancel()
+    with contextlib.suppress(asyncio.CancelledError):
+      await task
+
+  @abstractmethod
+  async def run(self):
+    pass
+
+
+class CerealOutgoingMessageProxy(AsyncTaskRunner):
+  def __init__(self, services: list[str], enabled: bool = True):
+    super().__init__()
+    self.services = list(services)
+    self.sm = messaging.SubMaster(self.services)
+    self.channels = []
+    self._enabled = enabled
+
+  def add_channel(self, channel):
+    self.channels.append(channel)
+
+  def enable(self, enable: bool):
+    self._enabled = enable
+
+  def to_json(self, msg_content: Any):
+    if isinstance(msg_content, capnp._DynamicStructReader):
+      msg_dict = msg_content.to_dict()
+    elif isinstance(msg_content, capnp._DynamicListReader):
+      msg_dict = [self.to_json(msg) for msg in msg_content]
+    elif isinstance(msg_content, bytes):
+      msg_dict = msg_content.decode()
+    else:
+      msg_dict = msg_content
+
+    return msg_dict
+
+  def update(self):
+    # this is blocking in async context...
+    self.sm.update(0)
+    for service, updated in self.sm.updated.items():
+      if not updated:
+        continue
+      msg_dict = self.to_json(self.sm[service])
+      mono_time, valid = self.sm.logMonoTime[service], self.sm.valid[service]
+      outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict}
+      encoded_msg = json.dumps(outgoing_msg).encode()
+      for channel in self.channels:
+        if not channel.is_open():
+          continue
+        channel.send(encoded_msg)
+
+  async def run(self):
+    while True:
+      if not self._enabled:
+        await asyncio.sleep(0.01)
+        continue
+      try:
+        self.update()
+      except Exception:
+        self.logger.exception("Cereal outgoing proxy failure")
+      await asyncio.sleep(0.01)
+
+
+class CerealIncomingMessageProxy:
+  def __init__(self, pm: messaging.PubMaster):
+    self.pm = pm
+
+  def send(self, message: bytes):
+    msg_json = json.loads(message)
+    msg_type, msg_data = msg_json["type"], msg_json["data"]
+    size = None
+    if not isinstance(msg_data, dict):
+      size = len(msg_data)
+
+    msg = messaging.new_message(msg_type, size=size)
+    setattr(msg, msg_type, msg_data)
+    self.pm.send(msg_type, msg)
+
+
+class DynamicPubMaster(messaging.PubMaster):
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.lock = asyncio.Lock()
+
+  async def add_services_if_needed(self, services):
+    async with self.lock:
+      for service in services:
+        if service not in self.sock:
+          self.sock[service] = messaging.pub_sock(service)
+
+
+class LivestreamBitrateController(AsyncTaskRunner):
+  bitrates = [500_000, 1_500_000, int(os.environ.get("STREAM_BITRATE", 5_000_000))]
+  label_to_bitrate = { "high": bitrates[2], "med": bitrates[1], "low": bitrates[0]}
+  sample_interval = 0.2
+  high_level = 0.1 # drop immediately
+  med_level = 0.05 # drop after # of samples
+  low_level = 0 # raise after # of samples
+  down_samples = 5
+  param_name = "LivestreamEncoderBitrate"
+
+  def __init__(self, get_stats: Callable[[], dict[str, Any]], params: Params, enabled: bool = True):
+    super().__init__()
+    self.get_stats = get_stats
+    self.params = params
+
+    self.level = 2
+    self._publish(self.bitrates[self.level])
+    self.prev_stats: tuple[Any, ...] | None = None
+    self.counter = 0
+    self.up_samples = 5 # 1s
+    self._auto = True
+    self._enabled = enabled
+
+  def enable(self, enable: bool):
+    self._enabled = enable
+
+  async def run(self):
+    while True:
+      await asyncio.sleep(self.sample_interval)
+      if not self._enabled:
+        continue
+      if not self._auto:
+        continue
+
+      loss_rate = self._sample()
+      if loss_rate is None:
+        continue
+      if loss_rate >= self.med_level and self.level > 0:
+        self.counter += 1
+        if self.counter >= self.down_samples or loss_rate >= self.high_level:
+          self.level -= 1
+          self.up_samples *= 2 # exponential backoff before raising again
+          self.counter = 0
+          self._publish(self.bitrates[self.level])
+      elif loss_rate <= self.low_level and self.level < len(self.bitrates) - 1:
+        self.counter -= 1
+        if -self.counter >= self.up_samples:
+          self.level += 1
+          self.counter = 0
+          self._publish(self.bitrates[self.level])
+
+  def _sample(self) -> float | None:
+    report = next(iter(self.get_stats().values()), None)
+    if report is None:
+      return None
+
+    current = (report.ssrc, report.fraction_lost, report.packets_lost, report.highest_seq_no, report.jitter, report.lsr, report.dlsr)
+    if self.prev_stats == current:
+      return None
+    self.prev_stats = current
+
+    loss_rate = report.fraction_lost / 256
+    return loss_rate
+
+  def _publish(self, bitrate: float):
+    self.params.put(self.param_name, bitrate)
+
+  def set_quality(self, quality):
+    if quality in self.label_to_bitrate:
+      self._publish(self.label_to_bitrate[quality])
+      self._auto = False
+    elif quality == "auto":
+      self._auto = True
+
+
+class StreamSession:
+  shared_pub_master = DynamicPubMaster([])
+
+  def __init__(self, body: StreamRequestBody):
+    from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
+    from teleoprtc.builder import WebRTCAnswerBuilder
+
+    self.identifier = str(uuid.uuid4())
+    self.params = Params()
+    builder = WebRTCAnswerBuilder(body.sdp, bind_address=_default_route_ip())
+
+    self.enabled = body.enabled
+    self.video_tracks = []
+    for camera in body.cameras:
+      track = LiveStreamVideoStreamTrack(camera, self.enabled)
+      self.video_tracks.append(track)
+      builder.add_video_stream(camera, track)
+    self.stream = builder.stream()
+
+    self.is_body = "testJoystick" in body.bridge_services_in
+
+    self.incoming_bridge: CerealIncomingMessageProxy | None = None
+    self.incoming_bridge_services = body.bridge_services_in
+    self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
+    self.bitrate_controller: LivestreamBitrateController | None = None
+    if len(body.bridge_services_in) > 0:
+      self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
+    if len(body.bridge_services_out) > 0:
+      self.outgoing_bridge = CerealOutgoingMessageProxy(body.bridge_services_out, self.enabled)
+    self.bitrate_controller = LivestreamBitrateController(self.stream.get_receiver_report_stats, self.params, self.enabled)
+
+    self.run_task: asyncio.Task | None = None
+    self._cleanup_lock = asyncio.Lock()
+    self._cleanup_done = False
+    self.logger = logging.getLogger("webrtcd")
+    self.logger.info(
+      "New stream session (%s), video cameras %s, video enabled %s, incoming services %s, outgoing services %s",
+      self.identifier, [t.id for t in self.video_tracks], body.enabled, body.bridge_services_in, body.bridge_services_out,
+    )
+
+  def start(self):
+    self.run_task = asyncio.create_task(self.run())
+
+  async def stop(self):
+    if self.run_task is not None and not self.run_task.done() and self.run_task is not asyncio.current_task():
+      self.run_task.cancel()
+      with contextlib.suppress(asyncio.CancelledError):
+        await self.run_task
+    self.run_task = None
+    await self.post_run_cleanup()
+
+  async def get_answer(self):
+    return await self.stream.start()
+
+  def message_handler(self, message: bytes):
+    try:
+      payload = json.loads(message) if isinstance(message, (bytes, str)) else None
+      if isinstance(payload, dict):
+        msg_type = payload.get("type")
+
+        match msg_type:
+          case "livestreamCameraSwitch":
+            # only needed for 1 track stream
+            if len(self.video_tracks) == 1:
+              self.video_tracks[0].switch_camera(payload["data"]["camera"])
+          case "livestreamSettings":
+            if self.bitrate_controller is not None:
+              self.bitrate_controller.set_quality(payload["data"]["quality"])
+          case "livestreamVideoEnable":
+            enabled = payload["data"]["enabled"]
+            self.enabled = enabled
+            for track in self.video_tracks:
+              track.enable(enabled)
+            if self.outgoing_bridge is not None:
+              self.outgoing_bridge.enable(enabled)
+            if self.bitrate_controller is not None:
+              self.bitrate_controller.enable(enabled)
+            if not enabled:
+              self.params.put("LivestreamRequestKeyframe", True)
+          case "clockSync":
+            pong = json.dumps({"type": "clockSync", "data": {
+              "action": "pong", "browserSendTime": payload["data"]["browserSendTime"], "deviceTime": time.time() * 1000, # noqa: TID251
+            }})
+            self.stream.get_messaging_channel().send(pong)
+          case "enableTimingSei":
+            for track in self.video_tracks:
+              track.timing_sei_enabled = bool(payload["data"]["enabled"])
+          case _:
+            if msg_type not in self.incoming_bridge_services:
+              return
+            if self.incoming_bridge is not None:
+              self.incoming_bridge.send(message)
+    except Exception:
+      self.logger.exception("Cereal incoming proxy failure")
+
+  async def run_normal_session(self):
+    try:
+      await asyncio.wait_for(self.stream.wait_for_disconnection(), timeout=SESSION_TIMEOUT_SECONDS)
+    except TimeoutError:
+      self.logger.warning("Stream session (%s) timed out after %d s", self.identifier, SESSION_TIMEOUT_SECONDS)
+      try:
+        self.stream.get_messaging_channel().send(json.dumps({"type": "disconnect", "data": "Session timed out"}))
+      except Exception:
+        pass
+
+  async def run_body_session(self):
+    await self.stream.wait_for_disconnection()
+
+  async def run(self):
+    try:
+      self.params.put("LivestreamRequestKeyframe", True)
+      await asyncio.wait_for(self.stream.wait_for_connection(), timeout=15)
+      if self.stream.has_messaging_channel():
+        self.stream.set_message_handler(self.message_handler)
+        if self.incoming_bridge is not None:
+          await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
+        if self.outgoing_bridge is not None:
+          channel = self.stream.get_messaging_channel()
+          self.outgoing_bridge.add_channel(channel)
+          self.outgoing_bridge.start()
+      if self.bitrate_controller is not None:
+        self.bitrate_controller.start()
+
+      self.logger.info("Stream session (%s) connected", self.identifier)
+      if self.is_body:
+        await self.run_body_session()
+      else:
+        await self.run_normal_session()
+      self.logger.info("Stream session (%s) ended", self.identifier)
+    except Exception:
+      self.logger.exception("Stream session failure")
+    finally:
+      await self.post_run_cleanup()
+
+  async def post_run_cleanup(self):
+    async with self._cleanup_lock:
+      if self._cleanup_done:
+        return
+      self._cleanup_done = True
+      self.params.put("LivestreamRequestKeyframe", False)
+      if self.bitrate_controller is not None:
+        await self.bitrate_controller.stop()
+      if self.outgoing_bridge is not None:
+        await self.outgoing_bridge.stop()
+      for track in self.video_tracks:
+        track.stop()
+      self.video_tracks.clear()
+      await self.stream.stop()
+
+
+class ServerState:
+  def __init__(self):
+    self.streams: dict[str, StreamSession] = {}
+    self.stream_lock = asyncio.Lock()
+    self.teardown: asyncio.TimerHandle | None = None
+
+
+# if nothing connects for 5 seconds, tear down livestreaming processes
+def schedule_teardown(state: ServerState):
+  if state.teardown is not None:
+    state.teardown.cancel()
+
+  def clear():
+    if not state.streams:
+      Params().put_bool("IsLiveStreaming", False)
+
+  state.teardown = asyncio.get_running_loop().call_later(5.0, clear)
+
+
+def _json_response(obj: Any, status: int = 200) -> tuple[int, bytes, str]:
+  return (status, json.dumps(obj).encode(), "application/json; charset=utf-8")
+
+
+def _text_response(text: str, status: int = 200) -> tuple[int, bytes, str]:
+  return (status, text.encode(), "text/plain; charset=utf-8")
+
+
+async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, bytes, str]:
+  stream_dict = state.streams
+  body = StreamRequestBody(**json.loads(raw_body))
+
+  async with state.stream_lock:
+    # don't remove existing connection on prewarm request
+    enabled = any(s.run_task and not s.run_task.done() and s.enabled for s in stream_dict.values())
+    if enabled and not body.enabled:
+      return _json_response({"error": "busy", "message": "someone else is connected."})
+
+    for sid, s in list(stream_dict.items()):
+      if s.run_task and not s.run_task.done():
+        try:
+          ch = s.stream.get_messaging_channel()
+          ch.send(json.dumps({"type": "disconnect", "data": "Another device has connected, closing this session."}))
+        except Exception:
+          pass
+      await s.stop()
+      stream_dict.pop(sid, None)
+
+    session = StreamSession(body)
+    stream_dict[session.identifier] = session
+    try:
+      answer = await asyncio.wait_for(session.get_answer(), timeout=30)
+    except TimeoutError:
+      await session.stop()
+      stream_dict.pop(session.identifier, None)
+      logging.getLogger("webrtcd").exception("Timed out creating stream answer")
+      raise
+    except Exception:
+      await session.stop()
+      stream_dict.pop(session.identifier, None)
+      logging.getLogger("webrtcd").exception("Failed to create stream answer")
+      raise
+    session.start()
+
+    def remove_finished_session(_: asyncio.Task) -> None:
+      stream_dict.pop(session.identifier, None)
+      schedule_teardown(state)
+
+    session.run_task.add_done_callback(remove_finished_session)
+
+  return _json_response({"sdp": answer.sdp, "type": answer.type})
+
+
+async def handle_get_schema(state: ServerState, services_param: str) -> tuple[int, bytes, str]:
+  services = services_param.split(",")
+  services = [s for s in services if s]
+  assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name"
+  schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
+  return _json_response(schema_dict)
+
+
+async def handle_post_notify(state: ServerState, payload: Any) -> tuple[int, bytes, str]:
+  for session in list(state.streams.values()):
+    try:
+      ch = session.stream.get_messaging_channel()
+      ch.send(json.dumps(payload))
+    except Exception:
+      continue
+
+  return _text_response("OK")
+
+
+async def on_shutdown(state: ServerState):
+  for session in list(state.streams.values()):
+    try:
+      ch = session.stream.get_messaging_channel()
+      ch.send(json.dumps({"type": "disconnect", "data": "device streaming has been stopped."}))
+    except Exception:
+      pass
+    await session.stop()
+  state.streams.clear()
+
+
+class WebrtcdHandler(BaseHTTPRequestHandler):
+  protocol_version = "HTTP/1.1"
+
+  # path -> allowed methods (aiohttp registered POST /stream, POST /notify, GET /schema + its auto HEAD)
+  _routes = {
+    "/schema": ("GET", "HEAD"),
+    "/stream": ("POST",),
+    "/notify": ("POST",),
+  }
+
+  def _send(self, status: int, body: bytes, content_type: str) -> None:
+    self.send_response(status)
+    self.send_header("Content-Type", content_type)
+    self.send_header("Content-Length", str(len(body)))
+    self.end_headers()
+    if self.command != "HEAD":
+      self.wfile.write(body)
+
+  def _read_body(self) -> bytes:
+    length = int(self.headers.get("Content-Length", 0))
+    return self.rfile.read(length) if length else b""
+
+  def _run(self, coro) -> tuple[int, bytes, str]:
+    return asyncio.run_coroutine_threadsafe(coro, self.server.loop).result()
+
+  def _dispatch_request(self) -> None:
+    parsed = urlparse(self.path)
+    allowed = self._routes.get(parsed.path)
+
+    try:
+      if allowed is None:
+        result = _json_response({"error": "not found"}, status=404)
+      elif self.command not in allowed:
+        result = _json_response({"error": "method not allowed"}, status=405)
+      elif parsed.path == "/schema":
+        services = parse_qs(parsed.query).get("services", [""])[0]
+        result = self._run(handle_get_schema(self.server.state, services))
+      elif parsed.path == "/stream":
+        result = self._run(handle_get_stream(self.server.state, self._read_body()))
+      else:  # /notify
+        try:
+          payload = json.loads(self._read_body())
+        except Exception:
+          result = _json_response({"error": "bad request"}, status=400)
+        else:
+          result = self._run(handle_post_notify(self.server.state, payload))
+    except Exception as e:
+      logging.getLogger("webrtcd").exception("Unhandled error handling %s", self.path)
+      result = _json_response({"error": "exception", "message": f"{type(e).__name__}: {e}"}, status=500)
+
+    self._send(*result)
+
+  def do_GET(self) -> None:
+    self._dispatch_request()
+
+  def do_HEAD(self) -> None:
+    self._dispatch_request()
+
+  def do_POST(self) -> None:
+    self._dispatch_request()
+
+  def do_PUT(self) -> None:
+    self._dispatch_request()
+
+  def do_DELETE(self) -> None:
+    self._dispatch_request()
+
+  def do_PATCH(self) -> None:
+    self._dispatch_request()
+
+  def do_OPTIONS(self) -> None:
+    self._dispatch_request()
+
+  def log_message(self, format: str, *args: object) -> None:  # noqa: A002  # stdlib override
+    # silence default access logging; errors are logged explicitly in _dispatch_request
+    pass
+
+
+class WebrtcdHTTPServer(ThreadingHTTPServer):
+  daemon_threads = True
+  allow_reuse_address = True
+  state: ServerState
+  loop: asyncio.AbstractEventLoop
+
+
+async def _shutdown(server: WebrtcdHTTPServer, state: ServerState, loop: asyncio.AbstractEventLoop) -> None:
+  # stop accepting new HTTP connections (blocks until serve_forever returns, so
+  # run it off the loop) then tear down active stream sessions.
+  await loop.run_in_executor(None, server.shutdown)
+  await on_shutdown(state)
+  loop.stop()
+
+
+def prewarm_stream_session_imports() -> None:
+  from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
+  from teleoprtc.builder import WebRTCAnswerBuilder
+  assert LiveStreamVideoStreamTrack
+  assert WebRTCAnswerBuilder
+
+
+def webrtcd_thread(host: str, port: int):
+  logging.basicConfig(level=logging.INFO, handlers=[logging.StreamHandler()])
+  prewarm_start = time.monotonic()
+  prewarm_stream_session_imports()
+  prewarm_end = time.monotonic()
+  logging.getLogger("webrtcd").info(f"webrtc prewarm finished in {(prewarm_end - prewarm_start) * 1000} ms")
+
+  loop = asyncio.new_event_loop()
+  asyncio.set_event_loop(loop)
+  state = ServerState()
+
+  server = WebrtcdHTTPServer((host, port), WebrtcdHandler)
+  server.state = state
+  server.loop = loop
+
+  # serve HTTP on a daemon thread so the asyncio loop can own the main thread
+  http_thread = threading.Thread(target=server.serve_forever, name="webrtcd-http", daemon=True)
+  http_thread.start()
+
+  shutting_down = False
+  shutdown_task = None
+
+  def request_shutdown() -> None:
+    nonlocal shutting_down, shutdown_task
+    if shutting_down:
+      return
+    shutting_down = True
+    shutdown_task = loop.create_task(_shutdown(server, state, loop))
+
+  for sig in (signal.SIGINT, signal.SIGTERM):
+    loop.add_signal_handler(sig, request_shutdown)
+
+  try:
+    loop.run_forever()
+  finally:
+    server.server_close()
+    loop.close()
+
+
+def main():
+  parser = argparse.ArgumentParser(description="WebRTC daemon")
+  parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on")
+  parser.add_argument("--port", type=int, default=5001, help="Port to listen on")
+  args = parser.parse_args()
+
+  webrtcd_thread(args.host, args.port)
+
+
+if __name__=="__main__":
+  main()
diff --git a/openpilot/test_native.py b/openpilot/test_native.py
new file mode 100644
index 0000000000..eed549f4e4
--- /dev/null
+++ b/openpilot/test_native.py
@@ -0,0 +1,22 @@
+import os
+import subprocess
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+
+
+NATIVE_TESTS = (
+  "openpilot/common/tests/test_swaglog",
+  "openpilot/selfdrive/pandad/tests/test_pandad_canprotocol",
+  "openpilot/tools/cabana/tests/test_dbc_core",
+)
+
+
+class TestNative(OpenpilotTestCase):
+  @parameterized.expand(NATIVE_TESTS)
+  def test_native(self, executable):
+    path = os.path.join(BASEDIR, executable)
+    if not os.path.exists(path):
+      self.skipTest(f"optional native test was not built: {executable}")
+    subprocess.run([path], check=True)
diff --git a/openpilot/third_party b/openpilot/third_party
deleted file mode 120000
index d838c05a86..0000000000
--- a/openpilot/third_party
+++ /dev/null
@@ -1 +0,0 @@
-../third_party
\ No newline at end of file
diff --git a/third_party/copyparty/copyparty-sfx.py b/openpilot/third_party/copyparty/copyparty-sfx.py
similarity index 100%
rename from third_party/copyparty/copyparty-sfx.py
rename to openpilot/third_party/copyparty/copyparty-sfx.py
diff --git a/third_party/mapd_pfeiferj/README.md b/openpilot/third_party/mapd_pfeiferj/README.md
similarity index 100%
rename from third_party/mapd_pfeiferj/README.md
rename to openpilot/third_party/mapd_pfeiferj/README.md
diff --git a/third_party/mapd_pfeiferj/mapd b/openpilot/third_party/mapd_pfeiferj/mapd
similarity index 100%
rename from third_party/mapd_pfeiferj/mapd
rename to openpilot/third_party/mapd_pfeiferj/mapd
diff --git a/openpilot/tools b/openpilot/tools
deleted file mode 120000
index 4887d6e0c9..0000000000
--- a/openpilot/tools
+++ /dev/null
@@ -1 +0,0 @@
-../tools
\ No newline at end of file
diff --git a/tools/__init__.py b/openpilot/tools/__init__.py
similarity index 100%
rename from tools/__init__.py
rename to openpilot/tools/__init__.py
diff --git a/tools/auto_source.py b/openpilot/tools/auto_source.py
similarity index 100%
rename from tools/auto_source.py
rename to openpilot/tools/auto_source.py
diff --git a/openpilot/tools/cabana/.gitignore b/openpilot/tools/cabana/.gitignore
new file mode 100644
index 0000000000..7f9ac0fde0
--- /dev/null
+++ b/openpilot/tools/cabana/.gitignore
@@ -0,0 +1,11 @@
+moc_*
+*.moc
+*.generated.qrc
+
+assets.cc
+bootstrap_icons.cc
+
+_cabana
+dbc/car_fingerprint_to_dbc.json
+tests/test_cabana
+tests/test_dbc_core
diff --git a/tools/cabana/README.md b/openpilot/tools/cabana/README.md
similarity index 91%
rename from tools/cabana/README.md
rename to openpilot/tools/cabana/README.md
index 7933098e34..fbdfbb40e5 100644
--- a/tools/cabana/README.md
+++ b/openpilot/tools/cabana/README.md
@@ -15,7 +15,7 @@ Options:
   --auto                         Auto load the route from the best available source (no video):
                                  internal, openpilotci, comma_api, car_segments, testing_closet
   --qcam                         load qcamera
-  --ecam                         load wide road camera
+  --wide-road                         load wide road camera
   --msgq                         read can messages from msgq
   --panda                        read can messages from panda
   --panda-serial <panda-serial>  read can messages from panda with given serial
@@ -45,17 +45,17 @@ cabana --demo
 To load a specific route for replay, provide the route as an argument:
 
 ```shell
-cabana "a2a0ccea32023010|2023-07-27--13-01-19"
+cabana "5beb9b58bd12b691/0000010a--a51155e496"
 ```
 
-Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier.
+Replace "5beb9b58bd12b691/0000010a--a51155e496" with your desired route identifier.
 
 
 ### Running Cabana with multiple cameras
 To run Cabana with multiple cameras, use the following command:
 
 ```shell
-cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
+cabana "5beb9b58bd12b691/0000010a--a51155e496" --cabin --wide-road
 ```
 
 ### Streaming CAN Messages from a comma Device
@@ -63,8 +63,8 @@ cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
 [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command:
 
 ```shell
-cd /data/openpilot/cereal/messaging/
-./bridge &
+cd /data/openpilot
+./openpilot/cereal/messaging/bridge &
 ```
 
 Then Run Cabana with the device's IP address:
diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
new file mode 100644
index 0000000000..387129709e
--- /dev/null
+++ b/openpilot/tools/cabana/SConscript
@@ -0,0 +1,129 @@
+import subprocess
+import os
+import shutil
+
+import bootstrap_icons
+import libusb
+
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib', 'ffmpeg_libs')
+
+# Detect Qt - skip build if not available
+if arch == "Darwin":
+  try:
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+    has_qt = os.path.isdir(os.path.join(brew_prefix, "opt/qt@5"))
+  except (FileNotFoundError, subprocess.CalledProcessError):
+    has_qt = False
+else:
+  has_qt = shutil.which('qmake') is not None
+if not has_qt:
+  Return()
+
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core"]
+
+qt_libs = []
+if arch == "Darwin":
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+else:
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+
+  qt_env['QTDIR'] = qt_install_prefix
+  qt_dirs = [
+    f"{qt_install_headers}",
+  ]
+
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+qt_env.Tool('qt3')
+
+qt_env['CPPPATH'] += qt_dirs
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#openpilot/selfdrive/ui', ]
+qt_env['LIBS'] = qt_libs
+
+base_frameworks = qt_env['FRAMEWORKS']
+base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
+
+if arch == "Darwin":
+  base_frameworks += ['CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox']
+
+cabana_env = qt_env.Clone()
+cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
+cabana_env['LIBPATH'] += [libusb.LIB_DIR]
+
+cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['usb-1.0'] + base_libs
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc_repo/opendbc/dbc").abspath)
+cabana_env['CXXFLAGS'] += [opendbc_path]
+
+# embed the bootstrap icons SVG into the binary
+def build_bootstrap_icons_src(target, source, env):
+  data = open(str(source[0]), 'rb').read()
+  with open(str(target[0]), 'w') as f:
+    f.write('#include <cstddef>\n')
+    f.write('extern const unsigned char bootstrap_icons_svg[];\n')
+    f.write('extern const size_t bootstrap_icons_svg_len;\n')
+    f.write('const unsigned char bootstrap_icons_svg[] = {\n')
+    for i in range(0, len(data), 32):
+      f.write(','.join(str(b) for b in data[i:i+32]) + ',\n')
+    f.write('};\n')
+    f.write('const size_t bootstrap_icons_svg_len = sizeof(bootstrap_icons_svg);\n')
+  return None
+
+bootstrap_icons_src = cabana_env.Command('assets/bootstrap_icons.cc', str(bootstrap_icons.SVG_PATH), build_bootstrap_icons_src)
+
+# build assets
+assets = "assets/assets.cc"
+cabana_env.Command(assets, "assets/assets.qrc", f"rcc $SOURCES -o $TARGET")
+cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, "assets/assets.o"]))
+
+cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
+               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'dbc/dbcqt.cc',
+               'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc',
+               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
+               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
+               'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc']
+if arch != "Darwin":
+  cabana_srcs += ['streams/socketcanstream.cc']
+cabana_lib = cabana_env.Library("cabana_lib", cabana_srcs + [bootstrap_icons_src], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+
+if GetOption('extras'):
+  # This target deliberately uses the base environment and links no Qt libraries.
+  # It prevents Qt dependencies from creeping back into the DBC core.
+  dbc_core_test_env = env.Clone()
+  dbc_core_test_env['CXXFLAGS'] += [opendbc_path]
+  dbc_core_test_objects = [
+    dbc_core_test_env.Object('tests/dbc_core_tests', 'tests/test_cabana.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_model', 'dbc/dbc.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_file', 'dbc/dbcfile.cc'),
+    dbc_core_test_env.Object('tests/dbc_core_manager', 'dbc/dbcmanager.cc'),
+  ]
+  dbc_core_test_env.Program('tests/test_dbc_core', dbc_core_test_objects)
+
+output_json_file = 'openpilot/tools/cabana/dbc/car_fingerprint_to_dbc.json'
+generate_dbc = cabana_env.Command('#' + output_json_file,
+                                  ['dbc/generate_dbc_json.py'],
+                                  "python3 openpilot/tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
+cabana_env.Depends(generate_dbc, ["#openpilot/common", '#opendbc_repo', "#openpilot/cereal", "#msgq_repo"])
diff --git a/tools/cabana/assets/assets.qrc b/openpilot/tools/cabana/assets/assets.qrc
similarity index 50%
rename from tools/cabana/assets/assets.qrc
rename to openpilot/tools/cabana/assets/assets.qrc
index 6a8e5a3414..009d63f008 100644
--- a/tools/cabana/assets/assets.qrc
+++ b/openpilot/tools/cabana/assets/assets.qrc
@@ -1,6 +1,5 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">../../../third_party/bootstrap/bootstrap-icons.svg</file>
   <file>cabana-icon.png</file>
 </qresource>
 </RCC>
diff --git a/tools/cabana/assets/cabana-icon.png b/openpilot/tools/cabana/assets/cabana-icon.png
similarity index 100%
rename from tools/cabana/assets/cabana-icon.png
rename to openpilot/tools/cabana/assets/cabana-icon.png
diff --git a/tools/cabana/binaryview.cc b/openpilot/tools/cabana/binaryview.cc
similarity index 88%
rename from tools/cabana/binaryview.cc
rename to openpilot/tools/cabana/binaryview.cc
index b5a68c6b26..5e919dc6a3 100644
--- a/tools/cabana/binaryview.cc
+++ b/openpilot/tools/cabana/binaryview.cc
@@ -1,8 +1,10 @@
 #include "tools/cabana/binaryview.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
 
-#include <QDebug>
+#include <cstdio>
+
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QMouseEvent>
@@ -34,20 +36,20 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   setMouseTracking(true);
   setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
 
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &BinaryView::refresh);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &BinaryView::refresh);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &BinaryView::refresh);
 
   addShortcuts();
   setWhatsThis(R"(
     <b>Binary View</b><br/>
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Shortcuts</span><br />
     Delete Signal:
       <span style="background-color:lightGray;color:gray">&nbsp;x&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;Backspace&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;Delete&nbsp;</span><br />
     Change endianness: <span style="background-color:lightGray;color:gray">&nbsp;e&nbsp; </span><br />
-    Change singedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
+    Change signedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
     Open chart:
       <span style="background-color:lightGray;color:gray">&nbsp;c&nbsp;</span>,
       <span style="background-color:lightGray;color:gray">&nbsp;p&nbsp;</span>,
@@ -64,7 +66,7 @@ void BinaryView::addShortcuts() {
   QObject::connect(shortcut_delete_backspace, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated);
   QObject::connect(shortcut_delete_x, &QShortcut::activated, [=]{
     if (hovered_sig != nullptr) {
-      UndoStack::push(new RemoveSigCommand(model->msg_id, hovered_sig));
+      UndoStack::instance()->push(new RemoveSigCommand(model->msg_id, hovered_sig));
       hovered_sig = nullptr;
     }
   });
@@ -111,7 +113,8 @@ void BinaryView::highlight(const cabana::Signal *sig) {
   if (sig != hovered_sig) {
     for (int i = 0; i < model->items.size(); ++i) {
       auto &item_sigs = model->items[i].sigs;
-      if ((sig && item_sigs.contains(sig)) || (hovered_sig && item_sigs.contains(hovered_sig))) {
+      auto has = [](const auto &v, auto p) { return std::find(v.begin(), v.end(), p) != v.end(); };
+      if ((sig && has(item_sigs, sig)) || (hovered_sig && has(item_sigs, hovered_sig))) {
         auto index = model->index(i / model->columnCount(), i % model->columnCount());
         emit model->dataChanged(index, index, {Qt::DisplayRole});
       }
@@ -123,7 +126,7 @@ void BinaryView::highlight(const cabana::Signal *sig) {
 }
 
 void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) {
-  auto index = indexAt(viewport()->mapFromGlobal(QCursor::pos()));
+  auto index = indexAt(last_mouse_pos);
   if (!anchor_index.isValid() || !index.isValid())
     return;
 
@@ -138,7 +141,7 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF
 
 void BinaryView::mousePressEvent(QMouseEvent *event) {
   resize_sig = nullptr;
-  if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) {
+  if (auto index = indexAt(last_mouse_pos = event->pos()); index.isValid() && index.column() != 8) {
     anchor_index = index;
     auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
     int bit_pos = get_bit_pos(anchor_index);
@@ -155,15 +158,15 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
 }
 
 void BinaryView::highlightPosition(const QPoint &pos) {
-  if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) {
+  if (auto index = indexAt(pos); index.isValid()) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
-    const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
+    const cabana::Signal *sig = item->sigs.empty() ? nullptr : item->sigs.back();
     highlight(sig);
   }
 }
 
 void BinaryView::mouseMoveEvent(QMouseEvent *event) {
-  highlightPosition(event->globalPos());
+  highlightPosition(last_mouse_pos = event->pos());
   QTableView::mouseMoveEvent(event);
 }
 
@@ -176,7 +179,7 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
       auto sig = resize_sig ? *resize_sig : cabana::Signal{};
       std::tie(sig.start_bit, sig.size, sig.is_little_endian) = getSelection(release_index);
       resize_sig ? emit editSignal(resize_sig, sig)
-                 : UndoStack::push(new AddSigCommand(model->msg_id, sig));
+                 : UndoStack::instance()->push(new AddSigCommand(model->msg_id, sig));
     } else {
       auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
       if (item && item->sigs.size() > 0)
@@ -205,15 +208,15 @@ void BinaryView::refresh() {
   resize_sig = nullptr;
   hovered_sig = nullptr;
   model->refresh();
-  highlightPosition(QCursor::pos());
+  if (underMouse()) highlightPosition(last_mouse_pos);
 }
 
-QSet<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
-  QSet<const cabana::Signal *> overlapping;
+std::set<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
+  std::set<const cabana::Signal *> overlapping;
   for (const auto &item : model->items) {
     if (item.sigs.size() > 1) {
       for (auto s : item.sigs) {
-        if (s->type == cabana::Signal::Type::Normal) overlapping += s;
+        if (s->type == cabana::Signal::Type::Normal) overlapping.insert(s);
       }
     }
   }
@@ -258,7 +261,8 @@ void BinaryViewModel::refresh() {
         int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j;
         int idx = column_count * (pos / 8) + pos % 8;
         if (idx >= items.size()) {
-          qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
+          fprintf(stderr, "signal %s out of bounds.start_bit: %d size: %d\n",
+                  sig->name.c_str(), sig->start_bit, sig->size);
           break;
         }
         if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
@@ -333,7 +337,7 @@ void BinaryViewModel::updateState() {
       color.setAlpha(alpha);
       updateItem(i, j, bit_val, color);
     }
-    updateItem(i, 8, binary[i], last_msg.colors[i]);
+    updateItem(i, 8, binary[i], toQColor(last_msg.colors[i]));
   }
 }
 
@@ -404,7 +408,9 @@ bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, con
   if (!index.isValid()) return false;
   auto model = (const BinaryViewModel*)(index.model());
   int idx = (index.row() + dy) * model->columnCount() + index.column() + dx;
-  return (idx >=0 && idx < model->items.size()) ? model->items[idx].sigs.contains(sig) : false;
+  if (idx < 0 || idx >= (int)model->items.size()) return false;
+  auto &s = model->items[idx].sigs;
+  return std::find(s.begin(), s.end(), sig) != s.end();
 }
 
 void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -418,14 +424,14 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->fillRect(option.rect, item->bg_color);
     }
   } else if (option.state & QStyle::State_Selected) {
-    auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight);
+    auto color = bin_view->resize_sig ? toQColor(bin_view->resize_sig->color) : option.palette.color(QPalette::Active, QPalette::Highlight);
     painter->fillRect(option.rect, color);
     painter->setPen(option.palette.color(QPalette::BrightText));
-  } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) {  // not resizing
+  } else if (!bin_view->selectionModel()->hasSelection() || std::find(item->sigs.begin(), item->sigs.end(), bin_view->resize_sig) == item->sigs.end()) {  // not resizing
     if (item->sigs.size() > 0) {
       for (auto &s : item->sigs) {
         if (s == bin_view->hovered_sig) {
-          painter->fillRect(option.rect, s->color.darker(125));  // 4/5x brightness
+          painter->fillRect(option.rect, toQColor(s->color.darker(125)));  // 4/5x brightness
         } else {
           drawSignalCell(painter, option, index, s);
         }
@@ -433,7 +439,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     } else if (item->valid && item->bg_color.alpha() > 0) {
       painter->fillRect(option.rect, item->bg_color);
     }
-    auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
+    auto color_role = (std::find(item->sigs.begin(), item->sigs.end(), bin_view->hovered_sig) != item->sigs.end()) ? QPalette::BrightText : QPalette::Text;
     painter->setPen(option.palette.color(bin_view->is_message_active ? QPalette::Normal : QPalette::Disabled, color_role));
   }
 
@@ -480,14 +486,14 @@ void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionVie
   painter->setClipRegion(QRegion(rc).subtracted(subtract));
 
   auto item = (const BinaryViewModel::Item *)index.internalPointer();
-  QColor color = sig->color;
+  QColor color = toQColor(sig->color);
   color.setAlpha(item->bg_color.alpha());
   // Mixing the signal color with the Base background color to fade it
   painter->fillRect(rc, option.palette.color(QPalette::Base));
   painter->fillRect(rc, color);
 
   // Draw edges
-  color = sig->color.darker(125);
+  color = toQColor(sig->color.darker(125));
   painter->setPen(QPen(color, 1));
   if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft());
   if (draw_right) painter->drawLine(rc.topRight(), rc.bottomRight());
diff --git a/tools/cabana/binaryview.h b/openpilot/tools/cabana/binaryview.h
similarity index 95%
rename from tools/cabana/binaryview.h
rename to openpilot/tools/cabana/binaryview.h
index 920deb0018..c49067a1a2 100644
--- a/tools/cabana/binaryview.h
+++ b/openpilot/tools/cabana/binaryview.h
@@ -1,10 +1,9 @@
 #pragma once
 
+#include <set>
 #include <tuple>
 #include <vector>
 
-#include <QList>
-#include <QSet>
 #include <QStyledItemDelegate>
 #include <QTableView>
 
@@ -51,7 +50,7 @@ public:
     bool is_msb = false;
     bool is_lsb = false;
     uint8_t val;
-    QList<const cabana::Signal *> sigs;
+    std::vector<const cabana::Signal *> sigs;
     bool valid = false;
   };
   std::vector<Item> items;
@@ -68,7 +67,7 @@ public:
   BinaryView(QWidget *parent = nullptr);
   void setMessage(const MessageId &message_id);
   void highlight(const cabana::Signal *sig);
-  QSet<const cabana::Signal*> getOverlappingSignals() const;
+  std::set<const cabana::Signal*> getOverlappingSignals() const;
   void updateState() { model->updateState(); }
   void paintEvent(QPaintEvent *event) override {
     is_message_active = can->isMessageActive(model->msg_id);
@@ -95,6 +94,7 @@ private:
   void highlightPosition(const QPoint &pt);
 
   QModelIndex anchor_index;
+  QPoint last_mouse_pos{-1, -1};
   BinaryViewModel *model;
   BinaryItemDelegate *delegate;
   bool is_message_active = false;
diff --git a/openpilot/tools/cabana/cabana b/openpilot/tools/cabana/cabana
new file mode 100755
index 0000000000..db613b5391
--- /dev/null
+++ b/openpilot/tools/cabana/cabana
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ROOT="$(cd "$DIR/../../../" && pwd)"
+
+install_qt() {
+  if [[ "$(uname)" == "Darwin" ]]; then
+    brew install qt@5
+    brew link qt@5 || true
+  else
+    SUDO=""
+    if [[ ! $(id -u) -eq 0 ]]; then
+      SUDO="sudo"
+    fi
+    $SUDO apt-get install -y --no-install-recommends \
+      qtbase5-dev \
+      qtbase5-dev-tools \
+      qttools5-dev-tools \
+      libqt5charts5-dev \
+      libqt5svg5-dev \
+      libqt5serialbus5-dev \
+      libqt5x11extras5-dev \
+      libqt5opengl5-dev
+  fi
+}
+
+# Install Qt if not found
+if ! command -v qmake &> /dev/null; then
+  echo "Qt not found, installing dependencies..."
+  install_qt
+fi
+
+# Build _cabana
+cd "$ROOT"
+scons -u openpilot/tools/cabana/_cabana openpilot/cereal/messaging/bridge
+
+exec "$DIR/_cabana" "$@"
diff --git a/openpilot/tools/cabana/cabana.cc b/openpilot/tools/cabana/cabana.cc
new file mode 100644
index 0000000000..8b21143faf
--- /dev/null
+++ b/openpilot/tools/cabana/cabana.cc
@@ -0,0 +1,187 @@
+#include <cstdio>
+#include <cstring>
+#include <memory>
+#include <string>
+
+#include <QApplication>
+
+#include "tools/cabana/mainwin.h"
+#include "tools/cabana/streams/devicestream.h"
+#include "tools/cabana/streams/pandastream.h"
+#include "tools/cabana/streams/replaystream.h"
+#ifdef __linux__
+#include "tools/cabana/streams/socketcanstream.h"
+#endif
+
+namespace {
+
+struct CabanaArgs {
+  bool demo = false;
+  bool auto_source = false;
+  bool qcam = false;
+  bool wide_road = false;
+  bool cabin = false;
+  bool msgq = false;
+  bool panda = false;
+  bool no_vipc = false;
+  std::string panda_serial;
+  std::string socketcan;
+  std::string zmq;
+  std::string data_dir;
+  std::string dbc;
+  std::string route;
+};
+
+void printUsage(const char *argv0) {
+  fprintf(stderr,
+          "Usage: %s [options] [route]\n"
+          "\n"
+          "  route                     the drive to replay. find your drives at connect.comma.ai\n"
+          "\n"
+          "Options:\n"
+          "  --help                    show this help\n"
+          "  --demo                    use a demo route instead of providing your own\n"
+          "  --auto                    Auto load the route from the best available source (no video):\n"
+          "                            internal, openpilotci, comma_api, car_segments, testing_closet\n"
+          "  --qcam                    load qcamera\n"
+          "  --wide-road               load wide road camera (alias: --ecam)\n"
+          "  --cabin                   load cabin camera (alias: --dcam)\n"
+          "  --msgq                    read can messages from the msgq\n"
+          "  --panda                   read can messages from panda\n"
+          "  --panda-serial <serial>   read can messages from panda with given serial\n"
+#ifdef __linux__
+          "  --socketcan <device>      read can messages from given SocketCAN device\n"
+#endif
+          "  --zmq <ip-address>        read can messages from zmq at the specified ip-address\n"
+          "  --data_dir <dir>          local directory with routes\n"
+          "  --no-vipc                 do not output video\n"
+          "  --dbc <file>              dbc file to open\n",
+          argv0);
+}
+
+// Returns true if value was consumed from argv[i+1].
+bool takeValue(int argc, char *argv[], int &i, std::string &out) {
+  if (i + 1 >= argc) {
+    fprintf(stderr, "error: %s requires a value\n", argv[i]);
+    return false;
+  }
+  out = argv[++i];
+  return true;
+}
+
+// Returns 0 to continue, or a process exit code (0 for --help, 1 for errors).
+int parseArgs(int argc, char *argv[], CabanaArgs &args, bool &ok) {
+  ok = false;
+  for (int i = 1; i < argc; ++i) {
+    const char *a = argv[i];
+    if (std::strcmp(a, "--help") == 0 || std::strcmp(a, "-h") == 0) {
+      printUsage(argv[0]);
+      return 0;
+    } else if (std::strcmp(a, "--demo") == 0) {
+      args.demo = true;
+    } else if (std::strcmp(a, "--auto") == 0) {
+      args.auto_source = true;
+    } else if (std::strcmp(a, "--qcam") == 0) {
+      args.qcam = true;
+    } else if (std::strcmp(a, "--wide-road") == 0 || std::strcmp(a, "--ecam") == 0) {
+      args.wide_road = true;
+    } else if (std::strcmp(a, "--cabin") == 0 || std::strcmp(a, "--dcam") == 0) {
+      args.cabin = true;
+    } else if (std::strcmp(a, "--msgq") == 0) {
+      args.msgq = true;
+    } else if (std::strcmp(a, "--panda") == 0) {
+      args.panda = true;
+    } else if (std::strcmp(a, "--panda-serial") == 0) {
+      if (!takeValue(argc, argv, i, args.panda_serial)) return 1;
+      args.panda = true;
+    } else if (std::strcmp(a, "--socketcan") == 0) {
+      if (!takeValue(argc, argv, i, args.socketcan)) return 1;
+#ifdef __linux__
+#else
+      fprintf(stderr, "error: --socketcan is only supported on Linux\n");
+      return 1;
+#endif
+    } else if (std::strcmp(a, "--zmq") == 0) {
+      if (!takeValue(argc, argv, i, args.zmq)) return 1;
+    } else if (std::strcmp(a, "--data_dir") == 0) {
+      if (!takeValue(argc, argv, i, args.data_dir)) return 1;
+    } else if (std::strcmp(a, "--no-vipc") == 0) {
+      args.no_vipc = true;
+    } else if (std::strcmp(a, "--dbc") == 0) {
+      if (!takeValue(argc, argv, i, args.dbc)) return 1;
+    } else if (a[0] == '-') {
+      fprintf(stderr, "error: unknown option %s\n", a);
+      printUsage(argv[0]);
+      return 1;
+    } else if (args.route.empty()) {
+      args.route = a;
+    } else {
+      fprintf(stderr, "error: unexpected argument %s\n", a);
+      printUsage(argv[0]);
+      return 1;
+    }
+  }
+  ok = true;
+  return 0;
+}
+
+}  // namespace
+
+int main(int argc, char *argv[]) {
+  QCoreApplication::setApplicationName("Cabana");
+  initApp(argc, argv, false);
+  QApplication app(argc, argv);
+  app.setApplicationDisplayName("Cabana");
+  //app.setWindowIcon(QIcon(":cabana-icon.png"));  // TODO: do this in imgui
+
+  UnixSignalHandler signalHandler;
+  utils::setTheme(settings.theme);
+
+  CabanaArgs args;
+  bool args_ok = false;
+  if (const int code = parseArgs(argc, argv, args, args_ok); !args_ok) {
+    return code;
+  }
+
+  AbstractStream *stream = nullptr;
+
+  if (args.msgq) {
+    stream = new DeviceStream(&app);
+  } else if (!args.zmq.empty()) {
+    stream = new DeviceStream(&app, QString::fromStdString(args.zmq));
+  } else if (args.panda || !args.panda_serial.empty()) {
+    try {
+      stream = new PandaStream(&app, {.serial = args.panda_serial});
+    } catch (std::exception &e) {
+      fprintf(stderr, "%s\n", e.what());
+      return 0;
+    }
+#ifdef __linux__
+  } else if (SocketCanStream::available() && !args.socketcan.empty()) {
+    stream = new SocketCanStream(&app, {.device = args.socketcan});
+#endif
+  } else {
+    uint32_t replay_flags = REPLAY_FLAG_NONE;
+    if (args.wide_road) replay_flags |= REPLAY_FLAG_WIDE_ROAD;
+    if (args.qcam) replay_flags |= REPLAY_FLAG_QCAMERA;
+    if (args.cabin) replay_flags |= REPLAY_FLAG_CABIN_CAMERA;
+    if (args.no_vipc) replay_flags |= REPLAY_FLAG_NO_VIPC;
+
+    QString route;
+    if (!args.route.empty()) {
+      route = QString::fromStdString(args.route);
+    } else if (args.demo) {
+      route = DEMO_ROUTE;
+    }
+    if (!route.isEmpty()) {
+      auto replay_stream = std::make_unique<ReplayStream>(&app);
+      if (!replay_stream->loadRoute(route.toStdString(), args.data_dir, replay_flags, args.auto_source)) {
+        return 0;
+      }
+      stream = replay_stream.release();
+    }
+  }
+
+  MainWindow w(stream, QString::fromStdString(args.dbc));
+  return app.exec();
+}
diff --git a/openpilot/tools/cabana/cameraview.cc b/openpilot/tools/cabana/cameraview.cc
new file mode 100644
index 0000000000..9bd6b9be19
--- /dev/null
+++ b/openpilot/tools/cabana/cameraview.cc
@@ -0,0 +1,125 @@
+#include "tools/cabana/cameraview.h"
+
+#include <algorithm>
+#include <chrono>
+#include <cmath>
+#include <cstdio>
+
+#include <QApplication>
+#include <QPainter>
+
+#include "common/yuv.h"
+
+CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
+                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QWidget(parent) {
+  setAttribute(Qt::WA_OpaquePaintEvent);
+  qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
+  QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
+  QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
+  QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread);
+}
+
+CameraWidget::~CameraWidget() {
+  stopVipcThread();
+}
+
+void CameraWidget::showEvent(QShowEvent *event) {
+  if (!vipc_thread.joinable()) {
+    clearFrames();
+    vipc_exit = false;
+    vipc_thread = std::thread(&CameraWidget::vipcThread, this);
+  }
+}
+
+void CameraWidget::stopVipcThread() {
+  vipc_exit = true;
+  if (vipc_thread.joinable()) {
+    vipc_thread.join();
+  }
+}
+
+void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
+  available_streams = streams;
+}
+
+void CameraWidget::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.fillRect(rect(), bg);
+
+  std::lock_guard lk(frame_lock);
+  if (rgb_frame.isNull()) return;
+
+  // Scale for aspect ratio
+  float widget_ratio = (float)width() / height();
+  float frame_ratio = (float)rgb_frame.width() / rgb_frame.height();
+  int w = std::lround(width() * std::min(frame_ratio / widget_ratio, 1.0f));
+  int h = std::lround(height() * std::min(widget_ratio / frame_ratio, 1.0f));
+  QRect video_rect((width() - w) / 2, (height() - h) / 2, w, h);
+
+  p.setRenderHint(QPainter::SmoothPixmapTransform);
+  if (active_stream_type == VISION_STREAM_CABIN) {
+    // mirror cabin camera horizontally
+    const qreal cx = video_rect.x() + video_rect.width() / 2.0;
+    p.translate(cx, 0);
+    p.scale(-1, 1);
+    p.translate(-cx, 0);
+  }
+  p.drawImage(video_rect, rgb_frame);
+}
+
+void CameraWidget::vipcFrameReceived() {
+  update();
+}
+
+void CameraWidget::vipcThread() {
+  VisionStreamType cur_stream = requested_stream_type;
+  std::unique_ptr<VisionIpcClient> vipc_client;
+  VisionIpcBufExtra frame_meta = {};
+
+  while (!vipc_exit) {
+    if (!vipc_client || cur_stream != requested_stream_type) {
+      clearFrames();
+      fprintf(stderr, "connecting to stream %d, was connected to %d\n",
+              (int)requested_stream_type, (int)cur_stream);
+      cur_stream = requested_stream_type;
+      vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
+    }
+    active_stream_type = cur_stream;
+
+    if (!vipc_client->connected) {
+      clearFrames();
+      auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
+      if (streams.empty()) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        continue;
+      }
+      emit vipcAvailableStreamsUpdated(streams);
+
+      if (!vipc_client->connect(false)) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        continue;
+      }
+    }
+
+    if (VisionBuf *buf = vipc_client->recv(&frame_meta, 100)) {
+      // NV12 -> RGBA once per frame on the receive thread; paint just draws the image
+      if (rgb_back.width() != (int)buf->width || rgb_back.height() != (int)buf->height) {
+        rgb_back = QImage(buf->width, buf->height, QImage::Format_RGBA8888);
+      }
+      yuv::nv12_to_rgba(buf->y, buf->stride, buf->uv, buf->stride,
+                        rgb_back.bits(), rgb_back.bytesPerLine(), buf->width, buf->height);
+      {
+        std::lock_guard lk(frame_lock);
+        rgb_frame.swap(rgb_back);
+      }
+      emit vipcThreadFrameReceived();
+    }
+  }
+}
+
+void CameraWidget::clearFrames() {
+  std::lock_guard lk(frame_lock);
+  rgb_frame = QImage();
+  rgb_back = QImage();
+  available_streams.clear();
+}
diff --git a/tools/cabana/cameraview.h b/openpilot/tools/cabana/cameraview.h
similarity index 60%
rename from tools/cabana/cameraview.h
rename to openpilot/tools/cabana/cameraview.h
index 930b13d82c..3b55dd9ed9 100644
--- a/tools/cabana/cameraview.h
+++ b/openpilot/tools/cabana/cameraview.h
@@ -1,23 +1,22 @@
 #pragma once
 
-#include <memory>
+#include <atomic>
 #include <mutex>
 #include <set>
 #include <string>
+#include <thread>
 #include <utility>
 
-#include <QOpenGLFunctions>
-#include <QOpenGLShaderProgram>
-#include <QOpenGLWidget>
-#include <QThread>
+#include <QImage>
+#include <QWidget>
 
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_client.h"
 
-class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
+class CameraWidget : public QWidget {
   Q_OBJECT
 
 public:
-  using QOpenGLWidget::QOpenGLWidget;
   explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
   ~CameraWidget();
   void setStreamType(VisionStreamType type) { requested_stream_type = type; }
@@ -26,37 +25,30 @@ public:
 
 signals:
   void clicked();
-  void vipcThreadConnected(VisionIpcClient *);
   void vipcThreadFrameReceived();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
 
 protected:
-  void paintGL() override;
-  void initializeGL() override;
+  void paintEvent(QPaintEvent *event) override;
   void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override { stopVipcThread(); }
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
   void vipcThread();
   void clearFrames();
 
-  GLuint frame_vao, frame_vbo, frame_ibo;
-  GLuint textures[2];
-  std::unique_ptr<QOpenGLShaderProgram> shader_program_;
   QColor bg = Qt::black;
+  QImage rgb_frame;   // written by vipc thread, drawn by GUI thread; guarded by frame_lock
+  QImage rgb_back;    // vipc thread only
 
   std::string stream_name;
-  int stream_width = 0;
-  int stream_height = 0;
-  int stream_stride = 0;
   std::atomic<VisionStreamType> active_stream_type;
   std::atomic<VisionStreamType> requested_stream_type;
   std::set<VisionStreamType> available_streams;
-  QThread *vipc_thread = nullptr;
-  std::recursive_mutex frame_lock;
-  VisionBuf* current_frame_ = nullptr;
-  VisionIpcBufExtra frame_meta_ = {};
+  std::thread vipc_thread;
+  std::atomic<bool> vipc_exit = false;
+  std::mutex frame_lock;
 
 protected slots:
-  void vipcConnected(VisionIpcClient *vipc_client);
   void vipcFrameReceived();
   void availableStreamsUpdated(std::set<VisionStreamType> streams);
 };
diff --git a/openpilot/tools/cabana/chart/chart.cc b/openpilot/tools/cabana/chart/chart.cc
new file mode 100644
index 0000000000..8496c26994
--- /dev/null
+++ b/openpilot/tools/cabana/chart/chart.cc
@@ -0,0 +1,770 @@
+#include "tools/cabana/chart/chart.h"
+#include "tools/cabana/dbc/dbcqt.h"
+
+#include <algorithm>
+#include <limits>
+#include <random>
+
+#include <QActionGroup>
+#include <QContextMenuEvent>
+#include <QMouseEvent>
+#include <QPainterPath>
+
+#include "tools/cabana/chart/chartswidget.h"
+
+const int AXIS_X_TOP_MARGIN = 4;
+const int X_TICK_COUNT = 5;
+const double MIN_ZOOM_SECONDS = 0.01;  // 10ms
+// Define a small value of epsilon to compare double values
+const float EPSILON = 0.000001;
+static inline bool xLessThan(const QPointF &p, float x) { return p.x() < (x - EPSILON); }
+
+static QMargins layoutMargins(const QStyle *style) {
+  return {
+    style->pixelMetric(QStyle::PM_LayoutLeftMargin),
+    style->pixelMetric(QStyle::PM_LayoutTopMargin),
+    style->pixelMetric(QStyle::PM_LayoutRightMargin),
+    style->pixelMetric(QStyle::PM_LayoutBottomMargin),
+  };
+}
+
+ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent)
+    : x_min(x_range.first), x_max(x_range.second), charts_widget(parent), QWidget(parent) {
+  series_type = (SeriesType)settings.chart_series_type;
+  align_to = 50;
+  setMouseTracking(true);
+  tip_label = new TipLabel(this);
+  createToolButtons();
+  signal_value_font.setPointSize(9);
+
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalRemoved, this, &ChartView::signalRemoved);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &ChartView::signalUpdated);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgRemoved, this, &ChartView::msgRemoved);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgUpdated, this, &ChartView::msgUpdated);
+}
+
+void ChartView::createToolButtons() {
+  close_btn = new ToolButton("x", tr("Remove Chart"), this);
+
+  menu = new QMenu(this);
+  // series types
+  auto change_series_group = new QActionGroup(menu);
+  change_series_group->setExclusive(true);
+  QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")};
+  for (int i = 0; i < types.size(); ++i) {
+    QAction *act = new QAction(types[i], change_series_group);
+    act->setData(i);
+    act->setCheckable(true);
+    act->setChecked(i == (int)series_type);
+    menu->addAction(act);
+  }
+  menu->addSeparator();
+  menu->addAction(tr("Manage Signals"), this, &ChartView::manageSignals);
+  split_chart_act = menu->addAction(tr("Split Chart"), [this]() { charts_widget->splitChart(this); });
+
+  manage_btn = new ToolButton("list", "", this);
+  manage_btn->setMenu(menu);
+  manage_btn->setPopupMode(QToolButton::InstantPopup);
+  manage_btn->setStyleSheet("QToolButton::menu-indicator { image: none; }");
+
+  close_act = new QAction(tr("Close"), this);
+  QObject::connect(close_act, &QAction::triggered, [this] () { charts_widget->removeChart(this); });
+  QObject::connect(close_btn, &QToolButton::clicked, close_act, &QAction::triggered);
+  QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
+    setSeriesType((SeriesType)action->data().toInt());
+  });
+}
+
+QSize ChartView::sizeHint() const {
+  return {CHART_MIN_WIDTH, settings.chart_height};
+}
+
+void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) {
+  if (hasSignal(msg_id, sig)) return;
+
+  sigs.push_back({.msg_id = msg_id, .sig = sig, .color = uniqueColor(toQColor(sig->color))});
+  updateSeries(sig);
+  updateTitle();
+  emit charts_widget->seriesChanged();
+}
+
+bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const {
+  return std::any_of(sigs.cbegin(), sigs.cend(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
+}
+
+void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
+  int prev_size = sigs.size();
+  sigs.erase(std::remove_if(sigs.begin(), sigs.end(), predicate), sigs.end());
+  if (sigs.empty()) {
+    charts_widget->removeChart(this);
+  } else if (sigs.size() != prev_size) {
+    emit charts_widget->seriesChanged();
+    updateAxisY();
+    updateTitle();
+  }
+}
+
+void ChartView::signalUpdated(const cabana::Signal *sig) {
+  auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
+  if (it != sigs.end()) {
+    if (it->color != toQColor(sig->color)) {
+      it->color = uniqueColor(toQColor(sig->color), sig);
+    }
+    updateTitle();
+    updateSeries(sig);
+  }
+}
+
+void ChartView::msgUpdated(MessageId id) {
+  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id.address == id.address; })) {
+    updateTitle();
+  }
+}
+
+void ChartView::manageSignals() {
+  SignalSelector dlg(tr("Manage Chart"), this);
+  for (auto &s : sigs) {
+    dlg.addSelected(s.msg_id, s.sig);
+  }
+  if (dlg.exec() == QDialog::Accepted) {
+    auto items = dlg.seletedItems();
+    for (auto s : items) {
+      addSignal(s->msg_id, s->sig);
+    }
+    removeIf([&](auto &s) {
+      return std::none_of(items.cbegin(), items.cend(), [&](auto &it) { return s.msg_id == it->msg_id && s.sig == it->sig; });
+    });
+  }
+}
+
+void ChartView::resizeEvent(QResizeEvent *event) {
+  QWidget::resizeEvent(event);
+  const auto margins = layoutMargins(style());
+  QPixmap grip = utils::icon("grip-horizontal");
+  move_icon_rect = QRect(QPoint(margins.left(), margins.top()), grip.size() / grip.devicePixelRatio());
+  close_btn->resize(close_btn->sizeHint());
+  manage_btn->resize(manage_btn->sizeHint());
+  close_btn->move(rect().right() - margins.right() - close_btn->width(), margins.top());
+  manage_btn->move(close_btn->x() - manage_btn->width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), margins.top());
+  updatePlotArea(align_to, true);
+}
+
+void ChartView::updatePlotArea(int left_pos, bool force) {
+  if (align_to != left_pos || force) {
+    align_to = left_pos;
+
+    const auto margins = layoutMargins(style());
+    QFont bold_font = font();
+    bold_font.setBold(true);
+    QFontMetrics fm(font()), bfm(bold_font);
+    const int marker_size = fm.height() - 4;
+    const int row_height = std::max(marker_size, fm.height()) + QFontMetrics(signal_value_font).height() + 3;
+    const int legend_left = move_icon_rect.right() + margins.left();
+    const int legend_right = std::max(manage_btn->x() - margins.right(), legend_left + 10);
+
+    // layout legend entries left-to-right, wrapping between the move icon and the buttons
+    legend_rects.clear();
+    int x = legend_left, y = margins.top();
+    for (auto &s : sigs) {
+      int w = marker_size + 5 + bfm.horizontalAdvance(QString::fromStdString(s.sig->name)) +
+              fm.horizontalAdvance(QString::fromStdString(" " + msgName(s.msg_id) + " " + s.msg_id.toString()));
+      w = std::min(w, legend_right - legend_left);  // keep oversized entries clear of the header buttons
+      if (x + w > legend_right && x > legend_left) {
+        x = legend_left;
+        y += row_height;
+      }
+      legend_rects.emplace_back(x, y, w, std::max(marker_size, fm.height()));
+      x += w + 12;
+    }
+
+    // add top space for the legend and signal values
+    int adjust_top = (y + row_height) - margins.top();
+    adjust_top = std::max(adjust_top, manage_btn->geometry().bottom() + style()->pixelMetric(QStyle::PM_LayoutTopMargin));
+    // add right space for x-axis label
+    QSizeF x_label_size = fm.size(Qt::TextSingleLine, QString::number(x_max, 'f', xAxisPrecision())) + QSizeF{5, 5};
+    plot_area = rect().adjusted(align_to + margins.left(), adjust_top + margins.top(),
+                                -x_label_size.width() / 2 - margins.right(),
+                                -x_label_size.height() - margins.bottom());
+    resetChartCache();
+  }
+}
+
+void ChartView::updateTitle() {
+  split_chart_act->setEnabled(sigs.size() > 1);
+  updatePlotArea(align_to, true);
+}
+
+void ChartView::updatePlot(double cur, double min, double max) {
+  cur_sec = cur;
+  if (min != x_min || max != x_max) {
+    x_min = min;
+    x_max = max;
+    updateAxisY();
+    // update tooltip
+    if (tooltip_x >= 0) {
+      showTip(secondsAtPoint({tooltip_x, 0}));
+    }
+    resetChartCache();
+  }
+  update();
+}
+
+void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector<const CanEvent *> &events,
+                                std::vector<QPointF> &vals, std::vector<QPointF> &step_vals) {
+  vals.reserve(vals.size() + events.capacity());
+  step_vals.reserve(step_vals.size() + events.capacity() * 2);
+
+  double value = 0;
+  for (const CanEvent *e : events) {
+    if (sig->getValue(e->dat, e->size, &value)) {
+      const double ts = can->toSeconds(e->mono_time);
+      vals.emplace_back(ts, value);
+      if (!step_vals.empty())
+        step_vals.emplace_back(ts, step_vals.back().y());
+      step_vals.emplace_back(ts, value);
+    }
+  }
+}
+
+void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *msg_new_events) {
+  for (auto &s : sigs) {
+    if (!sig || s.sig == sig) {
+      if (!msg_new_events) {
+        s.vals.clear();
+        s.step_vals.clear();
+      }
+      auto events = msg_new_events ? msg_new_events : &can->eventsMap();
+      auto it = events->find(s.msg_id);
+      if (it == events->end() || it->second.empty()) continue;
+
+      if (s.vals.empty() || can->toSeconds(it->second.back()->mono_time) > s.vals.back().x()) {
+        appendCanEvents(s.sig, it->second, s.vals, s.step_vals);
+      } else {
+        std::vector<QPointF> vals, step_vals;
+        appendCanEvents(s.sig, it->second, vals, step_vals);
+        s.vals.insert(std::lower_bound(s.vals.begin(), s.vals.end(), vals.front().x(), xLessThan),
+                      vals.begin(), vals.end());
+        s.step_vals.insert(std::lower_bound(s.step_vals.begin(), s.step_vals.end(), step_vals.front().x(), xLessThan),
+                           step_vals.begin(), step_vals.end());
+      }
+
+      if (!can->liveStreaming()) {
+        s.segment_tree.build(s.vals);
+      }
+    }
+  }
+  updateAxisY();
+  // invoke resetChartCache in ui thread
+  QMetaObject::invokeMethod(this, &ChartView::resetChartCache, Qt::QueuedConnection);
+}
+
+// auto zoom on yaxis
+void ChartView::updateAxisY() {
+  if (sigs.empty()) return;
+
+  double min = std::numeric_limits<double>::max();
+  double max = std::numeric_limits<double>::lowest();
+  QString unit = QString::fromStdString(sigs[0].sig->unit);
+
+  for (auto &s : sigs) {
+    if (!s.visible) continue;
+
+    // Only show unit when all signals have the same unit
+    if (unit != QString::fromStdString(s.sig->unit)) {
+      unit.clear();
+    }
+
+    auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), x_min, xLessThan);
+    auto last = std::lower_bound(first, s.vals.cend(), x_max, xLessThan);
+    s.min = std::numeric_limits<double>::max();
+    s.max = std::numeric_limits<double>::lowest();
+    if (can->liveStreaming()) {
+      for (auto it = first; it != last; ++it) {
+        if (it->y() < s.min) s.min = it->y();
+        if (it->y() > s.max) s.max = it->y();
+      }
+    } else {
+      std::tie(s.min, s.max) = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last));
+    }
+    min = std::min(min, s.min);
+    max = std::max(max, s.max);
+  }
+  if (min == std::numeric_limits<double>::max()) min = 0;
+  if (max == std::numeric_limits<double>::lowest()) max = 0;
+
+  if (y_unit != unit) {
+    y_unit = unit;
+    y_label_width = 0;  // recalc width
+  }
+
+  double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05;
+  auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, 3);
+  if (min_y != y_min || max_y != y_max || y_label_width == 0) {
+    y_min = min_y;
+    y_max = max_y;
+    y_tick_count = tick_count;
+    y_precision = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0);
+
+    QFontMetrics fm(font());
+    int max_label_width = 0;
+    for (int i = 0; i < tick_count; i++) {
+      qreal value = min_y + (i * (max_y - min_y) / (tick_count - 1));
+      max_label_width = std::max(max_label_width, fm.horizontalAdvance(QString::number(value, 'f', y_precision)));
+    }
+
+    int title_spacing = y_unit.isEmpty() ? 0 : fm.size(Qt::TextSingleLine, y_unit).height();
+    y_label_width = title_spacing + max_label_width + 15;
+    emit axisYLabelWidthChanged(y_label_width);
+  }
+}
+
+std::tuple<double, double, int> ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) {
+  qreal range = niceNumber((max - min), true);  // range with ceiling
+  qreal step = niceNumber(range / (tick_count - 1), false);
+  min = std::floor(min / step);
+  max = std::ceil(max / step);
+  tick_count = int(max - min) + 1;
+  return {min * step, max * step, tick_count};
+}
+
+int ChartView::xAxisPrecision() const {
+  return std::max(int(-std::floor(std::log10((x_max - x_min) / (X_TICK_COUNT - 1)))), 2);
+}
+
+// nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n
+qreal ChartView::niceNumber(qreal x, bool ceiling) {
+  qreal z = std::pow(10, std::floor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
+  qreal q = x / z; //q<10 && q>=1;
+  if (ceiling) {
+    if (q <= 1.0) q = 1;
+    else if (q <= 2.0) q = 2;
+    else if (q <= 5.0) q = 5;
+    else q = 10;
+  } else {
+    if (q < 1.5) q = 1;
+    else if (q < 3.0) q = 2;
+    else if (q < 7.0) q = 5;
+    else q = 10;
+  }
+  return q * z;
+}
+
+void ChartView::contextMenuEvent(QContextMenuEvent *event) {
+  QMenu context_menu(this);
+  context_menu.addActions(menu->actions());
+  context_menu.addSeparator();
+  context_menu.addAction(charts_widget->undo_zoom_action);
+  context_menu.addAction(charts_widget->redo_zoom_action);
+  context_menu.addSeparator();
+  context_menu.addAction(close_act);
+  context_menu.exec(event->globalPos());
+}
+
+void ChartView::mousePressEvent(QMouseEvent *event) {
+  press_pos = event->pos();
+  if (event->button() == Qt::LeftButton && move_icon_rect.contains(event->pos())) {
+    charts_widget->startChartDrag(this, event->globalPos());
+  } else if (event->button() == Qt::LeftButton && event->modifiers().testFlag(Qt::ShiftModifier)) {
+    // Save current playback state when scrubbing
+    resume_after_scrub = !can->isPaused();
+    if (resume_after_scrub) {
+      can->pause(true);
+    }
+    mouse_mode = MouseMode::Scrub;
+  } else if (event->button() == Qt::LeftButton && plot_area.contains(event->pos())) {
+    mouse_mode = MouseMode::Rubber;
+    rubber_rect = QRect();
+  } else {
+    QWidget::mousePressEvent(event);
+  }
+}
+
+void ChartView::mouseMoveEvent(QMouseEvent *ev) {
+  // Scrubbing
+  if (mouse_mode == MouseMode::Scrub && ev->modifiers().testFlag(Qt::ShiftModifier)) {
+    if (plot_area.contains(ev->pos())) {
+      can->seekTo(std::clamp(secondsAtPoint(ev->pos()), can->minSeconds(), can->maxSeconds()));
+    }
+  }
+
+  if (mouse_mode == MouseMode::Rubber) {
+    // horizontal selection, clamped to the plot area
+    int left = std::clamp(std::min(press_pos.x(), ev->pos().x()), plot_area.left(), plot_area.right());
+    int right = std::clamp(std::max(press_pos.x(), ev->pos().x()), plot_area.left(), plot_area.right());
+    rubber_rect = QRect(left, plot_area.top(), right - left, plot_area.height());
+    update();
+  }
+
+  clearTrackPoints();
+  if (mouse_mode != MouseMode::Rubber && plot_area.contains(ev->pos()) && isActiveWindow()) {
+    charts_widget->showValueTip(secondsAtPoint(ev->pos()));
+  } else if (tip_label->isVisible()) {
+    charts_widget->showValueTip(-1);
+  }
+  QWidget::mouseMoveEvent(ev);
+}
+
+void ChartView::mouseReleaseEvent(QMouseEvent *event) {
+  if (event->button() == Qt::LeftButton && mouse_mode == MouseMode::Rubber) {
+    mouse_mode = MouseMode::None;
+    // Prevent zooming/seeking past the end of the route
+    double min = std::clamp(secondsAtPoint(rubber_rect.topLeft()), can->minSeconds(), can->maxSeconds());
+    double max = std::clamp(secondsAtPoint(rubber_rect.bottomRight()), can->minSeconds(), can->maxSeconds());
+    if (rubber_rect.width() <= 0) {
+      // no rubber dragged, seek to mouse position
+      can->seekTo(std::clamp(secondsAtPoint(press_pos), can->minSeconds(), can->maxSeconds()));
+    } else if (rubber_rect.width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
+      charts_widget->zoom_undo_stack.push(new ZoomCommand({min, max}));
+    }
+    rubber_rect = QRect();
+    update();
+  } else if (event->button() == Qt::LeftButton && mouse_mode == MouseMode::None && sigs.size() > 1) {
+    // toggle series visibility by clicking its legend entry
+    for (int i = 0; i < sigs.size() && i < legend_rects.size(); ++i) {
+      if (legend_rects[i].contains(press_pos) && legend_rects[i].contains(event->pos())) {
+        sigs[i].visible = !sigs[i].visible;
+        updateAxisY();
+        updateTitle();
+        break;
+      }
+    }
+  } else if (event->button() == Qt::RightButton) {
+    charts_widget->zoom_undo_stack.undo();
+  } else {
+    QWidget::mouseReleaseEvent(event);
+  }
+
+  // Resume playback if we were scrubbing
+  if (mouse_mode == MouseMode::Scrub) {
+    mouse_mode = MouseMode::None;
+    if (resume_after_scrub) {
+      can->pause(false);
+      resume_after_scrub = false;
+    }
+  }
+}
+
+void ChartView::takeSignalsFrom(ChartView *source) {
+  for (auto &s : source->sigs) {
+    sigs.push_back(std::move(s));
+    sigs.back().color = uniqueColor(sigs.back().color, sigs.back().sig);
+  }
+  source->sigs.clear();
+  updateAxisY();
+  updateTitle();
+  charts_widget->removeChart(source);
+}
+
+void ChartView::showTip(double sec) {
+  QRect tip_area(0, plot_area.top(), rect().width(), plot_area.height());
+  QRect visible_rect = charts_widget->chartVisibleRect(this).intersected(tip_area);
+  if (visible_rect.isEmpty()) {
+    tip_label->hide();
+    return;
+  }
+
+  tooltip_x = xPos(sec);
+  qreal x = -1;
+  QStringList text_list;
+  for (auto &s : sigs) {
+    if (s.visible) {
+      QString value = "--";
+      // use reverse iterator to find last item <= sec.
+      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double v) { return p.x() > v; });
+      if (it != s.vals.crend() && it->x() >= x_min) {
+        value = QString::fromStdString(s.sig->formatValue(it->y(), false));
+        s.track_pt = *it;
+        x = std::max(x, xPos(it->x()));
+      }
+      QString name = sigs.size() > 1 ? QString::fromStdString(s.sig->name) + ": " : "";
+      QString min = s.min == std::numeric_limits<double>::max() ? "--" : QString::number(s.min);
+      QString max = s.max == std::numeric_limits<double>::lowest() ? "--" : QString::number(s.max);
+      text_list << QString("<span style=\"color:%1;\">■ </span>%2<b>%3</b> (%4, %5)")
+                       .arg(s.color.name(), name, value, min, max);
+    }
+  }
+  if (x < 0) {
+    x = tooltip_x;
+  }
+  QPoint pt(x, plot_area.top());
+  text_list.push_front(QString::number(secondsAtPoint({x, 0}), 'f', 3));
+  QString text = "<p style='white-space:pre'>" % text_list.join("<br />") % "</p>";
+  tip_label->showText(pt, text, this, visible_rect);
+  update();
+}
+
+void ChartView::hideTip() {
+  clearTrackPoints();
+  tooltip_x = -1;
+  tip_label->hide();
+  update();
+}
+
+void ChartView::resetChartCache() {
+  chart_pixmap = QPixmap();
+  update();
+}
+
+void ChartView::paintEvent(QPaintEvent *event) {
+  QPainter painter(this);
+  painter.setRenderHints(QPainter::Antialiasing);
+
+  // the static layer is invalidated on x-range change and data merge, so cache it in live mode too
+  const qreal dpr = devicePixelRatioF();
+  if (chart_pixmap.isNull() || chart_pixmap.size() != size() * dpr) {
+    chart_pixmap = QPixmap(size() * dpr);
+    chart_pixmap.setDevicePixelRatio(dpr);
+    QPainter p(&chart_pixmap);
+    p.setRenderHints(QPainter::Antialiasing);
+    p.setFont(font());
+    drawStaticLayer(&p);
+  }
+  painter.drawPixmap(QPoint(), chart_pixmap);
+
+  if (can_drop) {
+    painter.setPen(QPen(palette().color(QPalette::Highlight), 4));
+    painter.drawRect(rect());
+  }
+  drawForeground(&painter);
+}
+
+void ChartView::drawStaticLayer(QPainter *painter) {
+  painter->fillRect(rect(), palette().color(QPalette::Base));
+  painter->drawPixmap(move_icon_rect.topLeft(), utils::icon("grip-horizontal"));
+  drawAxes(painter);
+  drawLegend(painter);
+  drawSeries(painter);
+}
+
+void ChartView::drawAxes(QPainter *painter) {
+  const QColor text_color = palette().color(QPalette::Text);
+  QColor grid_color = text_color;
+  grid_color.setAlpha(50);
+  QFontMetrics fm(font());
+  painter->setFont(font());
+
+  // y grid lines and tick labels
+  for (int i = 0; i < y_tick_count; ++i) {
+    double value = y_min + i * (y_max - y_min) / (y_tick_count - 1);
+    qreal y = yPos(value);
+    painter->setPen(grid_color);
+    painter->drawLine(QPointF(plot_area.left(), y), QPointF(plot_area.right(), y));
+    painter->setPen(text_color);
+    QRectF label_rect(0, y - fm.height() / 2.0, plot_area.left() - 6, fm.height());
+    painter->drawText(label_rect, Qt::AlignRight | Qt::AlignVCenter, QString::number(value, 'f', y_precision));
+  }
+
+  // rotated y axis title (unit)
+  if (!y_unit.isEmpty()) {
+    painter->save();
+    painter->translate(plot_area.left() - y_label_width + fm.height() / 2.0, plot_area.center().y());
+    painter->rotate(-90);
+    painter->drawText(QRectF(-plot_area.height() / 2.0, -fm.height() / 2.0, plot_area.height(), fm.height()),
+                      Qt::AlignCenter, y_unit);
+    painter->restore();
+  }
+
+  // x grid lines and tick labels
+  const int x_precision = xAxisPrecision();
+  for (int i = 0; i < X_TICK_COUNT; ++i) {
+    double sec = x_min + i * (x_max - x_min) / (X_TICK_COUNT - 1);
+    qreal x = xPos(sec);
+    painter->setPen(grid_color);
+    painter->drawLine(QPointF(x, plot_area.top()), QPointF(x, plot_area.bottom()));
+    painter->setPen(text_color);
+    QString label = QString::number(sec, 'f', x_precision);
+    QRectF label_rect(x - 100, plot_area.bottom() + AXIS_X_TOP_MARGIN, 200, fm.height());
+    painter->drawText(label_rect, Qt::AlignHCenter | Qt::AlignTop, label);
+  }
+}
+
+void ChartView::drawLegend(QPainter *painter) {
+  QColor title_color = palette().color(QPalette::WindowText);
+  // Draw message details in similar color, but slightly fade it to the background
+  QColor msg_color = title_color;
+  msg_color.setAlpha(180);
+  QFont bold_font = font();
+  bold_font.setBold(true);
+  const int marker_size = QFontMetrics(font()).height() - 4;
+
+  for (int i = 0; i < sigs.size() && i < legend_rects.size(); ++i) {
+    const auto &s = sigs[i];
+    const QRect &r = legend_rects[i];
+    painter->setPen(Qt::NoPen);
+    painter->setBrush(s.color);
+    QRectF marker_rect(r.left(), r.center().y() - marker_size / 2.0, marker_size, marker_size);
+    series_type == SeriesType::Scatter ? painter->drawEllipse(marker_rect) : painter->drawRect(marker_rect);
+
+    bold_font.setStrikeOut(!s.visible);
+    QFont normal_font = font();
+    normal_font.setStrikeOut(!s.visible);
+
+    qreal x = r.left() + marker_size + 5;
+    painter->setFont(bold_font);
+    painter->setPen(title_color);
+    QString name = QFontMetrics(bold_font).elidedText(QString::fromStdString(s.sig->name), Qt::ElideRight, r.right() - x);
+    painter->drawText(QRectF(x, r.top(), r.right() - x, r.height()), Qt::AlignLeft | Qt::AlignVCenter, name);
+    x += QFontMetrics(bold_font).horizontalAdvance(name);
+    painter->setFont(normal_font);
+    painter->setPen(msg_color);
+    QString msg = QFontMetrics(normal_font).elidedText(QString::fromStdString(" " + msgName(s.msg_id) + " " + s.msg_id.toString()),
+                                                       Qt::ElideRight, r.right() - x);
+    painter->drawText(QRectF(x, r.top(), r.right() - x, r.height()), Qt::AlignLeft | Qt::AlignVCenter, msg);
+  }
+}
+
+void ChartView::drawSeries(QPainter *painter) {
+  painter->save();
+  painter->setClipRect(plot_area);
+  for (auto &s : sigs) {
+    if (!s.visible) continue;
+
+    // visible points in vals to compute point density
+    auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), x_min, xLessThan);
+    auto last = std::lower_bound(first, s.vals.cend(), x_max, xLessThan);
+    int num_points = std::max<int>(last - first, 1);
+    double pixels_per_point = 0;
+    if (first != last) {
+      const QPointF &right_pt = last == s.vals.cend() ? s.vals.back() : *last;
+      pixels_per_point = (xPos(right_pt.x()) - xPos(first->x())) / num_points;
+    }
+
+    if (series_type == SeriesType::Scatter) {
+      qreal radius = std::clamp(pixels_per_point / 2.0, 2.0, 8.0) / 2.0;
+      painter->setPen(Qt::NoPen);
+      painter->setBrush(s.color);
+      for (auto it = first; it != last; ++it) {
+        painter->drawEllipse(QPointF(xPos(it->x()), yPos(it->y())), radius, radius);
+      }
+    } else {
+      const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
+      auto begin = std::lower_bound(points.cbegin(), points.cend(), x_min, xLessThan);
+      if (begin != points.cbegin()) --begin;
+      auto end = std::lower_bound(begin, points.cend(), x_max, xLessThan);
+      if (end != points.cend()) ++end;
+      if (begin == end) continue;
+
+      std::vector<QPointF> polyline;
+      polyline.reserve(end - begin);
+      for (auto it = begin; it != end; ++it) {
+        polyline.emplace_back(xPos(it->x()), yPos(it->y()));
+      }
+      painter->setPen(QPen(s.color, 2));
+      painter->setBrush(Qt::NoBrush);
+      painter->drawPolyline(polyline.data(), polyline.size());
+
+      // show points when zoomed in enough
+      if (num_points == 1 || pixels_per_point > 20) {
+        painter->setPen(Qt::NoPen);
+        painter->setBrush(s.color);
+        for (auto it = first; it != last; ++it) {
+          painter->drawEllipse(QPointF(xPos(it->x()), yPos(it->y())), 4, 4);
+        }
+      }
+    }
+  }
+  painter->restore();
+}
+
+void ChartView::drawForeground(QPainter *painter) {
+  drawTimeline(painter);
+  drawSignalValue(painter);
+  // draw track points
+  painter->setPen(Qt::NoPen);
+  qreal track_line_x = -1;
+  for (auto &s : sigs) {
+    if (!s.track_pt.isNull() && s.visible) {
+      painter->setBrush(s.color.darker(125));
+      QPointF pos(xPos(s.track_pt.x()), yPos(s.track_pt.y()));
+      painter->drawEllipse(pos, 5.5, 5.5);
+      track_line_x = std::max(track_line_x, pos.x());
+    }
+  }
+  if (track_line_x > 0) {
+    painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
+    painter->drawLine(QPointF{track_line_x, (qreal)plot_area.top()}, QPointF{track_line_x, (qreal)plot_area.bottom()});
+  }
+
+  drawRubberBandTimeRange(painter);
+}
+
+void ChartView::drawRubberBandTimeRange(QPainter *painter) {
+  if (rubber_rect.width() <= 1) return;
+
+  // selection rect
+  QColor highlight = palette().color(QPalette::Highlight);
+  QColor fill = highlight;
+  fill.setAlpha(50);
+  painter->fillRect(rubber_rect, fill);
+  painter->setPen(highlight);
+  painter->setBrush(Qt::NoBrush);
+  painter->drawRect(rubber_rect);
+
+  // time labels at the bottom corners
+  painter->setPen(Qt::white);
+  painter->setFont(font());
+  for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) {
+    QString sec = QString::number(secondsAtPoint(pt), 'f', 2);
+    auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN);
+    pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2});
+    painter->fillRect(r, Qt::gray);
+    painter->drawText(r, Qt::AlignCenter, sec);
+  }
+}
+
+void ChartView::drawTimeline(QPainter *painter) {
+  // draw vertical time line
+  qreal x = std::clamp(xPos(cur_sec), (qreal)plot_area.left(), (qreal)plot_area.right());
+  painter->setPen(QPen(palette().color(QPalette::Text), 1));
+  painter->drawLine(QPointF{x, plot_area.top() - 1.0}, QPointF{x, plot_area.bottom() + 1.0});
+
+  // draw current time under the axis-x
+  QString time_str = QString::number(cur_sec, 'f', 2);
+  QSize time_str_size = QFontMetrics(font()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
+  QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
+  QPainterPath path;
+  path.addRoundedRect(time_str_rect, 3, 3);
+  painter->fillPath(path, utils::isDarkTheme() ? Qt::darkGray : Qt::gray);
+  painter->setPen(palette().color(QPalette::BrightText));
+  painter->setFont(font());
+  painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
+}
+
+void ChartView::drawSignalValue(QPainter *painter) {
+  painter->setFont(signal_value_font);
+  painter->setPen(palette().color(QPalette::Text));
+  for (int i = 0; i < sigs.size() && i < legend_rects.size(); ++i) {
+    const auto &s = sigs[i];
+    auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec,
+                               [](auto &p, double x) { return p.x() > x + EPSILON; });
+    QString value = (it != s.vals.crend() && it->x() >= x_min) ? QString::fromStdString(s.sig->formatValue(it->y())) : "--";
+    QRectF value_rect(legend_rects[i].bottomLeft() - QPoint(0, 1), legend_rects[i].size());
+    QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());
+    painter->drawText(value_rect, Qt::AlignHCenter | Qt::AlignTop, elided_val);
+  }
+}
+
+QColor ChartView::uniqueColor(QColor color, const cabana::Signal *exclude) const {
+  for (auto &s : sigs) {
+    if (s.sig != exclude && std::abs(color.hueF() - s.color.hueF()) < 0.1) {
+      // use different color to distinguish it from others.
+      auto last_color = sigs.back().color;
+      static thread_local std::mt19937 rng{std::random_device{}()};
+      std::uniform_int_distribution<int> sat(35, 99);
+      std::uniform_int_distribution<int> val(85, 99);
+      color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0),
+                    sat(rng) / 100.0,
+                    val(rng) / 100.0);
+      break;
+    }
+  }
+  return color;
+}
+
+void ChartView::setSeriesType(SeriesType type) {
+  if (type != series_type) {
+    series_type = type;
+    menu->actions()[(int)type]->setChecked(true);
+    updateTitle();
+  }
+}
diff --git a/tools/cabana/chart/chart.h b/openpilot/tools/cabana/chart/chart.h
similarity index 66%
rename from tools/cabana/chart/chart.h
rename to openpilot/tools/cabana/chart/chart.h
index f9472bd4f6..b03623475a 100644
--- a/tools/cabana/chart/chart.h
+++ b/openpilot/tools/cabana/chart/chart.h
@@ -1,18 +1,11 @@
 #pragma once
 
+#include <functional>
 #include <tuple>
 #include <utility>
 #include <vector>
 
 #include <QMenu>
-#include <QGraphicsPixmapItem>
-#include <QGraphicsProxyWidget>
-#include <QtCharts/QChartView>
-#include <QtCharts/QLegendMarker>
-#include <QtCharts/QLineSeries>
-#include <QtCharts/QScatterSeries>
-#include <QtCharts/QValueAxis>
-using namespace QtCharts;
 
 #include "tools/cabana/chart/tiplabel.h"
 #include "tools/cabana/dbc/dbcmanager.h"
@@ -25,7 +18,7 @@ enum class SeriesType {
 };
 
 class ChartsWidget;
-class ChartView : public QChartView {
+class ChartView : public QWidget {
   Q_OBJECT
 
 public:
@@ -38,13 +31,15 @@ public:
   void updatePlotArea(int left, bool force = false);
   void showTip(double sec);
   void hideTip();
-  void startAnimation();
-  double secondsAtPoint(const QPointF &pt) const { return chart()->mapToValue(pt).x(); }
+  double secondsAtPoint(const QPointF &pt) const {
+    return x_min + (pt.x() - plot_area.left()) * (x_max - x_min) / std::max(plot_area.width(), 1);
+  }
 
   struct SigItem {
     MessageId msg_id;
     const cabana::Signal *sig = nullptr;
-    QXYSeries *series = nullptr;
+    QColor color;
+    bool visible = true;
     std::vector<QPointF> vals;
     std::vector<QPointF> step_vals;
     QPointF track_pt{};
@@ -59,7 +54,6 @@ signals:
 private slots:
   void signalUpdated(const cabana::Signal *sig);
   void manageSignals();
-  void handleMarkerClicked();
   void msgUpdated(MessageId id);
   void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id.address == id.address && !dbc()->msg(id); }); }
   void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
@@ -68,52 +62,65 @@ private:
   void appendCanEvents(const cabana::Signal *sig, const std::vector<const CanEvent *> &events,
                        std::vector<QPointF> &vals, std::vector<QPointF> &step_vals);
   void createToolButtons();
-  void addSeries(QXYSeries *series);
   void contextMenuEvent(QContextMenuEvent *event) override;
   void mousePressEvent(QMouseEvent *event) override;
+  void mouseMoveEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
-  void mouseMoveEvent(QMouseEvent *ev) override;
-  void dragEnterEvent(QDragEnterEvent *event) override;
-  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
-  void dragMoveEvent(QDragMoveEvent *event) override;
-  void dropEvent(QDropEvent *event) override;
   void resizeEvent(QResizeEvent *event) override;
   QSize sizeHint() const override;
   void updateAxisY();
   void updateTitle();
   void resetChartCache();
-  void setTheme(QChart::ChartTheme theme);
   void paintEvent(QPaintEvent *event) override;
-  void drawForeground(QPainter *painter, const QRectF &rect) override;
-  void drawBackground(QPainter *painter, const QRectF &rect) override;
-  void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
+  void drawStaticLayer(QPainter *painter);
+  void drawAxes(QPainter *painter);
+  void drawLegend(QPainter *painter);
+  void drawSeries(QPainter *painter);
+  void drawForeground(QPainter *painter);
   void drawSignalValue(QPainter *painter);
   void drawTimeline(QPainter *painter);
   void drawRubberBandTimeRange(QPainter *painter);
+  int xAxisPrecision() const;
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
-  QXYSeries *createSeries(SeriesType type, QColor color);
-  void setSeriesColor(QXYSeries *, QColor color);
-  void updateSeriesPoints();
+  QColor uniqueColor(QColor color, const cabana::Signal *exclude = nullptr) const;
   void removeIf(std::function<bool(const SigItem &)> predicate);
+  void takeSignalsFrom(ChartView *source);
+  void setDropHighlight(bool highlight) { if (std::exchange(can_drop, highlight) != highlight) update(); }
   inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
+  inline qreal xPos(double sec) const { return plot_area.left() + (sec - x_min) / (x_max - x_min) * plot_area.width(); }
+  inline qreal yPos(double val) const { return plot_area.bottom() - (val - y_min) / (y_max - y_min) * plot_area.height(); }
 
+  // layout
+  QRect plot_area;
+  QRect move_icon_rect;
+  std::vector<QRect> legend_rects;
+  // axes
+  double x_min;
+  double x_max;
+  double y_min = 0;
+  double y_max = 1;
+  int y_tick_count = 3;
+  int y_precision = 0;
+  QString y_unit;
   int y_label_width = 0;
   int align_to = 0;
-  QValueAxis *axis_x;
-  QValueAxis *axis_y;
+  // interaction
+  enum class MouseMode { None, Rubber, Scrub };
+  MouseMode mouse_mode = MouseMode::None;
+  QPoint press_pos;
+  QRect rubber_rect;
+  bool resume_after_scrub = false;
+
   QMenu *menu;
   QAction *split_chart_act;
   QAction *close_act;
-  QGraphicsPixmapItem *move_icon;
-  QGraphicsProxyWidget *close_btn_proxy;
-  QGraphicsProxyWidget *manage_btn_proxy;
+  ToolButton *manage_btn;
+  ToolButton *close_btn;
   TipLabel *tip_label;
   std::vector<SigItem> sigs;
   double cur_sec = 0;
   SeriesType series_type = SeriesType::Line;
-  bool is_scrubbing = false;
-  bool resume_after_scrub = false;
   QPixmap chart_pixmap;
   bool can_drop = false;
   double tooltip_x = -1;
diff --git a/tools/cabana/chart/chartswidget.cc b/openpilot/tools/cabana/chart/chartswidget.cc
similarity index 74%
rename from tools/cabana/chart/chartswidget.cc
rename to openpilot/tools/cabana/chart/chartswidget.cc
index aba25dcf83..3144c5132d 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/openpilot/tools/cabana/chart/chartswidget.cc
@@ -1,13 +1,14 @@
 #include "tools/cabana/chart/chartswidget.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
+#include <future>
 
 #include <QApplication>
-#include <QFutureSynchronizer>
 #include <QMenu>
+#include <QMouseEvent>
 #include <QScrollBar>
 #include <QToolBar>
-#include <QtConcurrent>
 
 #include "tools/cabana/chart/chart.h"
 
@@ -71,11 +72,14 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   range_slider_action = toolbar->addWidget(range_slider);
 
   // zoom controls
-  zoom_undo_stack = new QUndoStack(this);
-  toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this));
-  undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
-  toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this));
-  redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
+  undo_zoom_action = toolbar->addAction(utils::icon("arrow-counterclockwise"), tr("Undo Zoom"), [this]() { zoom_undo_stack.undo(); });
+  redo_zoom_action = toolbar->addAction(utils::icon("arrow-clockwise"), tr("Redo Zoom"), [this]() { zoom_undo_stack.redo(); });
+  undo_zoom_action->setEnabled(false);
+  redo_zoom_action->setEnabled(false);
+  zoom_undo_stack.setCallbacks({.index_changed = [this]() {
+    undo_zoom_action->setEnabled(zoom_undo_stack.canUndo());
+    redo_zoom_action->setEnabled(zoom_undo_stack.canRedo());
+  }});
   reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom")));
   reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
 
@@ -88,8 +92,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   tabbar->setAutoHide(true);
   tabbar->setExpanding(false);
   tabbar->setDrawBase(true);
-  tabbar->setAcceptDrops(true);
-  tabbar->setChangeCurrentOnDrag(true);
   tabbar->setUsesScrollButtons(true);
   main_layout->addWidget(tabbar);
 
@@ -104,6 +106,11 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
   main_layout->addWidget(charts_scroll);
 
+  // chart drag preview
+  drag_preview = new QLabel(this);
+  drag_preview->setAttribute(Qt::WA_TransparentForMouseEvents);
+  drag_preview->hide();
+
   // init settings
   current_theme = settings.theme;
   column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
@@ -115,7 +122,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   align_timer->setSingleShot(true);
   QObject::connect(align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
   QObject::connect(auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
   QObject::connect(can, &AbstractStream::seeking, this, &ChartsWidget::updateState);
@@ -166,15 +173,16 @@ void ChartsWidget::removeTab(int index) {
 void ChartsWidget::updateTabBar() {
   for (int i = 0; i < tabbar->count(); ++i) {
     const auto &charts_in_tab = tab_charts[tabbar->tabData(i).toInt()];
-    tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg(charts_in_tab.count()));
+    tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg((int)charts_in_tab.size()));
   }
 }
 
 void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
-  QFutureSynchronizer<void> future_synchronizer;
+  std::vector<std::future<void>> futures;
   for (auto c : charts) {
-    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, &new_events));
+    futures.push_back(std::async(std::launch::async, &ChartView::updateSeries, c, nullptr, &new_events));
   }
+  for (auto &f : futures) f.get();
 }
 
 void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
@@ -184,7 +192,7 @@ void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double
 
 void ChartsWidget::zoomReset() {
   can->setTimeRange(std::nullopt);
-  zoom_undo_stack->clear();
+  zoom_undo_stack.clear();
 }
 
 QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
@@ -203,7 +211,7 @@ void ChartsWidget::showValueTip(double sec) {
 }
 
 void ChartsWidget::updateState() {
-  if (charts.isEmpty()) return;
+  if (charts.empty()) return;
 
   const auto &time_range = can->timeRange();
   const double cur_sec = can->currentSec();
@@ -247,17 +255,13 @@ void ChartsWidget::updateToolBar() {
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
   reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
-  remove_all_btn->setEnabled(!charts.isEmpty());
+  remove_all_btn->setEnabled(!charts.empty());
 }
 
 void ChartsWidget::settingChanged() {
   if (std::exchange(current_theme, settings.theme) != current_theme) {
     undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
     redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
-    auto theme = utils::isDarkTheme() ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight;
-    for (auto c : charts) {
-      c->setTheme(theme);
-    }
   }
   if (range_slider->maximum() != settings.max_cached_minutes * 60) {
     range_slider->setRange(1, settings.max_cached_minutes * 60);
@@ -281,9 +285,9 @@ ChartView *ChartsWidget::createChart(int pos) {
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, align_timer, qOverload<>(&QTimer::start));
-  pos = std::clamp(pos, 0, charts.size());
-  charts.insert(pos, chart);
-  currentCharts().insert(pos, chart);
+  pos = std::clamp(pos, 0, (int)charts.size());
+  charts.insert(charts.begin() + pos, chart);
+  currentCharts().insert(currentCharts().begin() + pos, chart);
   updateLayout(true);
   updateToolBar();
   return chart;
@@ -302,15 +306,11 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo
 
 void ChartsWidget::splitChart(ChartView *src_chart) {
   if (src_chart->sigs.size() > 1) {
-    int pos = charts.indexOf(src_chart) + 1;
+    int pos = std::find(charts.begin(), charts.end(), src_chart) - charts.begin() + 1;
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
       auto c = createChart(pos);
-      src_chart->chart()->removeSeries(it->series);
-
       // Restore to the original color
-      it->series->setColor(it->sig->color);
-
-      c->addSeries(it->series);
+      it->color = toQColor(it->sig->color);
       c->sigs.emplace_back(std::move(*it));
       c->updateAxisY();
       c->updateTitle();
@@ -318,6 +318,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
     }
     src_chart->updateAxisY();
     src_chart->updateTitle();
+    updateState();
     QTimer::singleShot(0, src_chart, &ChartView::resetChartCache);
   }
 }
@@ -327,7 +328,7 @@ QStringList ChartsWidget::serializeChartIds() const {
   for (auto c : charts) {
     QStringList ids;
     for (const auto& s : c->sigs)
-      ids += QString("%1|%2").arg(s.msg_id.toString(), s.sig->name);
+      ids += QString("%1|%2").arg(QString::fromStdString(s.msg_id.toString()), QString::fromStdString(s.sig->name));
     chart_ids += ids.join(',');
   }
   std::reverse(chart_ids.begin(), chart_ids.end());
@@ -340,9 +341,9 @@ void ChartsWidget::restoreChartsFromIds(const QStringList& chart_ids) {
     for (const auto& part : chart_id.split(',')) {
       const auto sig_parts = part.split('|');
       if (sig_parts.size() != 2) continue;
-      MessageId msg_id = MessageId::fromString(sig_parts[0]);
+      MessageId msg_id = MessageId::fromString(sig_parts[0].toStdString());
       if (auto* msg = dbc()->msg(msg_id))
-        if (auto* sig = msg->sig(sig_parts[1]))
+        if (auto* sig = msg->sig(sig_parts[1].toStdString()))
           showChart(msg_id, sig, true, index++ > 0);
     }
   }
@@ -388,7 +389,87 @@ void ChartsWidget::updateLayout(bool force) {
   }
 }
 
-void ChartsWidget::startAutoScroll() {
+void ChartsWidget::startChartDrag(ChartView *chart, const QPoint &global_pos) {
+  stopAutoScroll();
+  drag = {.source = chart, .press_pos = global_pos};
+  QPixmap px = chart->grab().scaledToWidth(CHART_MIN_WIDTH * chart->devicePixelRatio(), Qt::SmoothTransformation);
+  drag_preview->setPixmap(px);
+  drag_preview->resize(px.size() / px.devicePixelRatio());
+}
+
+void ChartsWidget::dragChartMove(const QPoint &global_pos) {
+  if (!drag.active) {
+    if ((global_pos - drag.press_pos).manhattanLength() < QApplication::startDragDistance()) return;
+    drag.active = true;
+    drag_preview->show();
+    drag_preview->raise();
+  }
+  drag_preview->move(mapFromGlobal(global_pos) + QPoint(5, 5));
+
+  // hovering a tab switches to it so the chart can be dropped into another tab
+  int tab = tabbar->tabAt(tabbar->mapFromGlobal(global_pos));
+  if (tab >= 0 && tab != tabbar->currentIndex()) {
+    tabbar->setCurrentIndex(tab);
+  }
+
+  const QPoint container_pos = charts_container->mapFromGlobal(global_pos);
+  ChartView *target = nullptr;
+  for (auto c : currentCharts()) {
+    if (c != drag.source && c->isVisible() && c->geometry().contains(container_pos)) {
+      target = c;
+      break;
+    }
+  }
+  if (std::exchange(drop_target, target) != target) {
+    for (auto c : charts) c->setDropHighlight(c == target);
+  }
+  bool in_viewport = charts_scroll->viewport()->rect().contains(charts_scroll->viewport()->mapFromGlobal(global_pos));
+  bool on_background = !target && in_viewport && !charts_container->childAt(container_pos);
+  charts_container->drawDropIndicator(on_background ? container_pos : QPoint());
+
+  if (in_viewport) {
+    startAutoScroll(global_pos);
+  }
+}
+
+void ChartsWidget::cancelChartDrag() {
+  drag = {};
+  stopAutoScroll();
+  drag_preview->hide();
+  charts_container->drawDropIndicator({});
+  if (auto target = std::exchange(drop_target, nullptr)) target->setDropHighlight(false);
+}
+
+void ChartsWidget::dragChartRelease(const QPoint &global_pos) {
+  ChartView *source = drag.source;
+  bool active = drag.active;
+  ChartView *target = drop_target;
+  cancelChartDrag();
+  if (!active) return;
+
+  const QPoint container_pos = charts_container->mapFromGlobal(global_pos);
+  bool in_viewport = charts_scroll->viewport()->rect().contains(charts_scroll->viewport()->mapFromGlobal(global_pos));
+  if (target) {
+    // merge source into target
+    target->takeSignalsFrom(source);
+  } else if (in_viewport && !charts_container->childAt(container_pos)) {
+    // reorder within the current tab
+    auto w = charts_container->getDropAfter(container_pos);
+    if (w != source) {
+      for (auto &[_, list] : tab_charts) {
+        list.erase(std::remove(list.begin(), list.end(), source), list.end());
+      }
+      auto &cur = currentCharts();
+      int to = w ? std::find(cur.begin(), cur.end(), w) - cur.begin() + 1 : 0;
+      cur.insert(cur.begin() + to, source);
+      updateLayout(true);
+      updateTabBar();
+    }
+  }
+}
+
+void ChartsWidget::startAutoScroll(const QPoint &global_pos) {
+  auto_scroll_pos = global_pos;
   auto_scroll_timer->start(50);
 }
 
@@ -404,7 +485,7 @@ void ChartsWidget::doAutoScroll() {
   }
 
   int value = scroll->value();
-  QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos());
+  QPoint pos = charts_scroll->viewport()->mapFromGlobal(auto_scroll_pos);
   QRect area = charts_scroll->viewport()->rect();
 
   if (pos.y() - area.top() < settings.chart_height / 2) {
@@ -412,41 +493,39 @@ void ChartsWidget::doAutoScroll() {
   } else if (area.bottom() - pos.y() < settings.chart_height / 2) {
     scroll->setValue(value + auto_scroll_count);
   }
-  bool vertical_unchanged = value == scroll->value();
-  if (vertical_unchanged) {
+  if (value == scroll->value()) {
     stopAutoScroll();
-  } else {
-    // mouseMoveEvent to updates the drag-selection rectangle
-    const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos);
-    const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos);
-    QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos,
-                   Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt);
-    QApplication::sendEvent(charts_scroll->viewport(), &mm);
+  } else if (chartDragActive()) {
+    // refresh the drop indicator/target at the new scroll position
+    dragChartMove(auto_scroll_pos);
   }
 }
 
 QSize ChartsWidget::minimumSizeHint() const {
-  return QSize(CHART_MIN_WIDTH * 1.5 * qApp->devicePixelRatio(), QWidget::minimumSizeHint().height());
+  return QSize(CHART_MIN_WIDTH * 1.5, QWidget::minimumSizeHint().height());
 }
 
 void ChartsWidget::newChart() {
   SignalSelector dlg(tr("New Chart"), this);
   if (dlg.exec() == QDialog::Accepted) {
     auto items = dlg.seletedItems();
-    if (!items.isEmpty()) {
+    if (!items.empty()) {
       auto c = createChart();
       for (auto it : items) {
         c->addSignal(it->msg_id, it->sig);
       }
+      updateState();
     }
   }
 }
 
 void ChartsWidget::removeChart(ChartView *chart) {
-  charts.removeOne(chart);
+  if (drag.source == chart) cancelChartDrag();
+  if (drop_target == chart) drop_target = nullptr;
+  charts.erase(std::remove(charts.begin(), charts.end(), chart), charts.end());
   chart->deleteLater();
   for (auto &[_, list] : tab_charts) {
-    list.removeOne(chart);
+    list.erase(std::remove(list.begin(), list.end(), chart), list.end());
   }
   updateToolBar();
   updateLayout(true);
@@ -460,7 +539,7 @@ void ChartsWidget::removeAll() {
   }
   tab_charts.clear();
 
-  if (!charts.isEmpty()) {
+  if (!charts.empty()) {
     for (auto c : charts) {
       delete c;
     }
@@ -482,6 +561,19 @@ void ChartsWidget::alignCharts() {
 }
 
 bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
+  // route all mouse events to the chart drag, even when the source chart is hidden by a tab switch
+  if (chartDragActive()) {
+    if (e->type() == QEvent::MouseMove) {
+      dragChartMove(static_cast<QMouseEvent *>(e)->globalPos());
+      return true;
+    } else if (e->type() == QEvent::MouseButtonRelease && static_cast<QMouseEvent *>(e)->button() == Qt::LeftButton) {
+      dragChartRelease(static_cast<QMouseEvent *>(e)->globalPos());
+      return false;  // let the release through so Qt clears the implicit mouse grab
+    } else if (e->type() == QEvent::MouseButtonPress || e->type() == QEvent::MouseButtonRelease) {
+      return true;  // swallow other buttons during the drag
+    }
+  }
+
   if (!value_tip_visible_) return false;
 
   if (e->type() == QEvent::MouseMove) {
@@ -490,7 +582,7 @@ bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
 
     for (const auto &c : charts) {
       auto local_pos = c->mapFromGlobal(global_pos);
-      if (c->chart()->plotArea().contains(local_pos)) {
+      if (c->plot_area.contains(local_pos)) {
         if (on_tip) {
           showValueTip(c->secondsAtPoint(local_pos));
         }
@@ -522,13 +614,14 @@ bool ChartsWidget::event(QEvent *event) {
       break;
     case QEvent::WindowDeactivate:
     case QEvent::FocusOut:
+      if (chartDragActive()) cancelChartDrag();
       showValueTip(-1);
     default:
       break;
   }
 
   if (back_button) {
-    zoom_undo_stack->undo();
+    zoom_undo_stack.undo();
     return true;  // Return true since the event has been handled
   }
   return QFrame::event(event);
@@ -537,7 +630,6 @@ bool ChartsWidget::event(QEvent *event) {
 // ChartsContainer
 
 ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
-  setAcceptDrops(true);
   setBackgroundRole(QPalette::Window);
   QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
   charts_main_layout->setContentsMargins(0, CHART_SPACING, 0, CHART_SPACING);
@@ -547,32 +639,6 @@ ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent),
   charts_main_layout->addStretch(0);
 }
 
-void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    event->acceptProposedAction();
-    drawDropIndicator(event->pos());
-  }
-}
-
-void ChartsContainer::dropEvent(QDropEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    auto w = getDropAfter(event->pos());
-    auto chart = qobject_cast<ChartView *>(event->source());
-    if (w != chart) {
-      for (auto &[_, list] : charts_widget->tab_charts) {
-        list.removeOne(chart);
-      }
-      int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
-      charts_widget->currentCharts().insert(to, chart);
-      charts_widget->updateLayout(true);
-      charts_widget->updateTabBar();
-      event->acceptProposedAction();
-      chart->startAnimation();
-    }
-    drawDropIndicator({});
-  }
-}
-
 void ChartsContainer::paintEvent(QPaintEvent *ev) {
   if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
     QRect r = geometry();
diff --git a/tools/cabana/chart/chartswidget.h b/openpilot/tools/cabana/chart/chartswidget.h
similarity index 78%
rename from tools/cabana/chart/chartswidget.h
rename to openpilot/tools/cabana/chart/chartswidget.h
index f87b1276c5..8b3003dcd6 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/openpilot/tools/cabana/chart/chartswidget.h
@@ -8,15 +8,13 @@
 #include <QScrollArea>
 #include <QTimer>
 #include <QToolBar>
-#include <QUndoCommand>
-#include <QUndoStack>
 
 #include "tools/cabana/chart/signalselector.h"
+#include "tools/cabana/commands.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
 
 const int CHART_MIN_WIDTH = 300;
-const QString CHART_MIME_TYPE = "application/x-cabanachartview";
 
 class ChartView;
 class ChartsWidget;
@@ -24,9 +22,6 @@ class ChartsWidget;
 class ChartsContainer : public QWidget {
 public:
   ChartsContainer(ChartsWidget *parent);
-  void dragEnterEvent(QDragEnterEvent *event) override;
-  void dropEvent(QDropEvent *event) override;
-  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); }
   void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); }
   void paintEvent(QPaintEvent *ev) override;
   ChartView *getDropAfter(const QPoint &pos) const;
@@ -69,7 +64,12 @@ private:
   void eventsMerged(const MessageEventsMap &new_events);
   void updateState();
   void zoomReset();
-  void startAutoScroll();
+  void startChartDrag(ChartView *chart, const QPoint &global_pos);
+  void dragChartMove(const QPoint &global_pos);
+  void dragChartRelease(const QPoint &global_pos);
+  void cancelChartDrag();
+  bool chartDragActive() const { return drag.source != nullptr; }
+  void startAutoScroll(const QPoint &global_pos);
   void stopAutoScroll();
   void doAutoScroll();
   void updateToolBar();
@@ -81,7 +81,7 @@ private:
   bool eventFilter(QObject *obj, QEvent *event) override;
   void newTab();
   void removeTab(int index);
-  inline QList<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
+  inline std::vector<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
   ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
 
   QLabel *title_label;
@@ -97,11 +97,11 @@ private:
   QAction *redo_zoom_action;
   QAction *reset_zoom_action;
   ToolButton *reset_zoom_btn;
-  QUndoStack *zoom_undo_stack;
+  UndoStack zoom_undo_stack;
 
   ToolButton *remove_all_btn;
-  QList<ChartView *> charts;
-  std::unordered_map<int, QList<ChartView *>> tab_charts;
+  std::vector<ChartView *> charts;
+  std::unordered_map<int, std::vector<ChartView *>> tab_charts;
   TabBar *tabbar;
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
@@ -110,7 +110,15 @@ private:
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
+  struct ChartDrag {
+    ChartView *source = nullptr;
+    QPoint press_pos;  // global
+    bool active = false;
+  } drag;
+  QLabel *drag_preview;
+  ChartView *drop_target = nullptr;
   int auto_scroll_count = 0;
+  QPoint auto_scroll_pos;
   QTimer *auto_scroll_timer;
   QTimer *align_timer;
   int current_theme = 0;
@@ -119,11 +127,10 @@ private:
   friend class ChartsContainer;
 };
 
-class ZoomCommand : public QUndoCommand {
+class ZoomCommand : public UndoCommand {
 public:
-  ZoomCommand(std::pair<double, double> range) : range(range), QUndoCommand() {
+  ZoomCommand(std::pair<double, double> range) : range(range) {
     prev_range = can->timeRange();
-    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
   }
   void undo() override { can->setTimeRange(prev_range); }
   void redo() override { can->setTimeRange(range); }
diff --git a/tools/cabana/chart/signalselector.cc b/openpilot/tools/cabana/chart/signalselector.cc
similarity index 89%
rename from tools/cabana/chart/signalselector.cc
rename to openpilot/tools/cabana/chart/signalselector.cc
index 63f3a7d575..85832e796b 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/openpilot/tools/cabana/chart/signalselector.cc
@@ -1,6 +1,6 @@
 #include "tools/cabana/chart/signalselector.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
-#include <QCompleter>
 #include <QDialogButtonBox>
 #include <QGridLayout>
 #include <QLabel>
@@ -20,8 +20,6 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
   msgs_combo->setEditable(true);
   msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg..."));
   msgs_combo->setInsertPolicy(QComboBox::NoInsert);
-  msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
-  msgs_combo->completer()->setFilterMode(Qt::MatchContains);
 
   main_layout->addWidget(available_list = new QListWidget(this), 2, 0);
 
@@ -46,7 +44,7 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
 
   for (const auto &[id, _] : can->lastMessages()) {
     if (auto m = dbc()->msg(id)) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id));
+      msgs_combo->addItem(QString("%1 (%2)").arg(QString::fromStdString(m->name)).arg(QString::fromStdString(id.toString())), QVariant::fromValue(id));
     }
   }
   msgs_combo->model()->sort(0);
@@ -92,8 +90,8 @@ void SignalSelector::updateAvailableList(int index) {
 }
 
 void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
-  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), sig->name);
-  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
+  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(toQColor(sig->color).name(), QString::fromStdString(sig->name));
+  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(QString::fromStdString(msgName(id)), QString::fromStdString(id.toString()));
 
   QLabel *label = new QLabel(text);
   label->setContentsMargins(5, 0, 5, 0);
@@ -102,8 +100,8 @@ void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, cons
   parent->setItemWidget(new_item, label);
 }
 
-QList<SignalSelector::ListItem *> SignalSelector::seletedItems() {
-  QList<SignalSelector::ListItem *> ret;
+std::vector<SignalSelector::ListItem *> SignalSelector::seletedItems() {
+  std::vector<SignalSelector::ListItem *> ret;
   for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
   return ret;
 }
diff --git a/tools/cabana/chart/signalselector.h b/openpilot/tools/cabana/chart/signalselector.h
similarity index 95%
rename from tools/cabana/chart/signalselector.h
rename to openpilot/tools/cabana/chart/signalselector.h
index f46779f044..5b6e37e56a 100644
--- a/tools/cabana/chart/signalselector.h
+++ b/openpilot/tools/cabana/chart/signalselector.h
@@ -15,7 +15,7 @@ public:
   };
 
   SignalSelector(QString title, QWidget *parent);
-  QList<ListItem *> seletedItems();
+  std::vector<ListItem *> seletedItems();
   inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
 
 private:
diff --git a/tools/cabana/chart/sparkline.cc b/openpilot/tools/cabana/chart/sparkline.cc
similarity index 98%
rename from tools/cabana/chart/sparkline.cc
rename to openpilot/tools/cabana/chart/sparkline.cc
index 91435cd5ac..f5bef0fc2e 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/openpilot/tools/cabana/chart/sparkline.cc
@@ -31,7 +31,7 @@ void Sparkline::update(const cabana::Signal *sig, CanEventIter first, CanEventIt
   }
 
   freq_ = points_.size() / std::max(points_.back().x() - points_.front().x(), 1.0);
-  render(sig->color, range, size);
+  render(toQColor(sig->color), range, size);
 }
 
 void Sparkline::render(const QColor &color, int range, QSize size) {
diff --git a/tools/cabana/chart/sparkline.h b/openpilot/tools/cabana/chart/sparkline.h
similarity index 100%
rename from tools/cabana/chart/sparkline.h
rename to openpilot/tools/cabana/chart/sparkline.h
diff --git a/tools/cabana/chart/tiplabel.cc b/openpilot/tools/cabana/chart/tiplabel.cc
similarity index 100%
rename from tools/cabana/chart/tiplabel.cc
rename to openpilot/tools/cabana/chart/tiplabel.cc
diff --git a/tools/cabana/chart/tiplabel.h b/openpilot/tools/cabana/chart/tiplabel.h
similarity index 100%
rename from tools/cabana/chart/tiplabel.h
rename to openpilot/tools/cabana/chart/tiplabel.h
diff --git a/tools/cabana/commands.cc b/openpilot/tools/cabana/commands.cc
similarity index 51%
rename from tools/cabana/commands.cc
rename to openpilot/tools/cabana/commands.cc
index 52861723f4..b47bf90b0c 100644
--- a/tools/cabana/commands.cc
+++ b/openpilot/tools/cabana/commands.cc
@@ -1,25 +1,86 @@
-#include <QApplication>
-
 #include "tools/cabana/commands.h"
 
+#include <cmath>
+
+// UndoStack
+
+void UndoStack::push(UndoCommand *cmd) {
+  commands_.resize(index_);  // drop any redoable commands
+  if (clean_index_ > index_) clean_index_ = -1;
+  commands_.emplace_back(cmd);
+  cmd->redo();
+  setIndex(index_ + 1);
+}
+
+void UndoStack::undo() {
+  if (!canUndo()) return;
+  commands_[index_ - 1]->undo();
+  setIndex(index_ - 1);
+}
+
+void UndoStack::redo() {
+  if (!canRedo()) return;
+  commands_[index_]->redo();
+  setIndex(index_ + 1);
+}
+
+void UndoStack::clear() {
+  bool was_clean = isClean();
+  commands_.clear();
+  index_ = clean_index_ = 0;
+  if (callbacks_.index_changed) callbacks_.index_changed();
+  if (!was_clean && callbacks_.clean_changed) callbacks_.clean_changed(true);
+}
+
+void UndoStack::setClean() {
+  if (!isClean()) {
+    clean_index_ = index_;
+    if (callbacks_.clean_changed) callbacks_.clean_changed(true);
+  }
+}
+
+void UndoStack::setIndex(int index) {
+  bool was_clean = isClean();
+  index_ = index;
+  if (callbacks_.index_changed) callbacks_.index_changed();
+  if (isClean() != was_clean && callbacks_.clean_changed) callbacks_.clean_changed(isClean());
+}
+
+UndoStack *UndoStack::instance() {
+  static UndoStack undo_stack;
+  return &undo_stack;
+}
+
+QtUndoNotifier::QtUndoNotifier(QObject *parent) : QObject(parent) {
+  UndoStack::instance()->setCallbacks({
+    .index_changed = [this]() { emit indexChanged(); },
+    .clean_changed = [this](bool clean) { emit cleanChanged(clean); },
+  });
+}
+
+QtUndoNotifier *undoNotifier() {
+  static QtUndoNotifier notifier;
+  return &notifier;
+}
+
 // EditMsgCommand
 
-EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size,
-                               const QString &node, const QString &comment, QUndoCommand *parent)
-    : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
+EditMsgCommand::EditMsgCommand(const MessageId &id, const std::string &name, int size,
+                               const std::string &node, const std::string &comment)
+    : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment) {
   if (auto msg = dbc()->msg(id)) {
     old_name = msg->name;
     old_size = msg->size;
     old_node = msg->transmitter;
     old_comment = msg->comment;
-    setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
+    text = "edit message " + name + ":" + std::to_string(id.address);
   } else {
-    setText(QObject::tr("new message %1:%2").arg(name).arg(id.address));
+    text = "new message " + name + ":" + std::to_string(id.address);
   }
 }
 
 void EditMsgCommand::undo() {
-  if (old_name.isEmpty())
+  if (old_name.empty())
     dbc()->removeMsg(id);
   else
     dbc()->updateMsg(id, old_name, old_size, old_node, old_comment);
@@ -31,15 +92,15 @@ void EditMsgCommand::redo() {
 
 // RemoveMsgCommand
 
-RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
+RemoveMsgCommand::RemoveMsgCommand(const MessageId &id) : id(id) {
   if (auto msg = dbc()->msg(id)) {
     message = *msg;
-    setText(QObject::tr("remove message %1:%2").arg(message.name).arg(id.address));
+    text = "remove message " + message.name + ":" + std::to_string(id.address);
   }
 }
 
 void RemoveMsgCommand::undo() {
-  if (!message.name.isEmpty()) {
+  if (!message.name.empty()) {
     dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment);
     for (auto s : message.getSignals())
       dbc()->addSignal(id, *s);
@@ -47,15 +108,15 @@ void RemoveMsgCommand::undo() {
 }
 
 void RemoveMsgCommand::redo() {
-  if (!message.name.isEmpty())
+  if (!message.name.empty())
     dbc()->removeMsg(id);
 }
 
 // AddSigCommand
 
-AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent)
-    : id(id), signal(sig), QUndoCommand(parent) {
-  setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address));
+AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig)
+    : id(id), signal(sig) {
+  text = "add signal " + sig.name + " to " + msgName(id) + ":" + std::to_string(id.address);
 }
 
 void AddSigCommand::undo() {
@@ -75,8 +136,7 @@ void AddSigCommand::redo() {
 
 // RemoveSigCommand
 
-RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent)
-    : id(id), QUndoCommand(parent) {
+RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig) : id(id) {
   sigs.push_back(*sig);
   if (sig->type == cabana::Signal::Type::Multiplexor) {
     for (const auto &s : dbc()->msg(id)->sigs) {
@@ -85,7 +145,7 @@ RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *si
       }
     }
   }
-  setText(QObject::tr("remove signal %1 from %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
+  text = "remove signal " + sig->name + " from " + msgName(id) + ":" + std::to_string(id.address);
 }
 
 void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); }
@@ -93,8 +153,8 @@ void RemoveSigCommand::redo() { for (const auto &s : sigs) dbc()->removeSignal(i
 
 // EditSignalCommand
 
-EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent)
-    : id(id), QUndoCommand(parent) {
+EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig)
+    : id(id) {
   sigs.push_back({*sig, new_sig});
   if (sig->type == cabana::Signal::Type::Multiplexor && new_sig.type == cabana::Signal::Type::Normal) {
     // convert all multiplexed signals to normal signals
@@ -108,17 +168,8 @@ EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *
       }
     }
   }
-  setText(QObject::tr("edit signal %1 in %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
+  text = "edit signal " + sig->name + " in " + msgName(id) + ":" + std::to_string(id.address);
 }
 
 void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); }
 void EditSignalCommand::redo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.first.name, s.second); }
-
-namespace UndoStack {
-
-QUndoStack *instance() {
-  static QUndoStack *undo_stack = new QUndoStack(qApp);
-  return undo_stack;
-}
-
-}  // namespace UndoStack
diff --git a/openpilot/tools/cabana/commands.h b/openpilot/tools/cabana/commands.h
new file mode 100644
index 0000000000..200a4f2f5b
--- /dev/null
+++ b/openpilot/tools/cabana/commands.h
@@ -0,0 +1,120 @@
+#pragma once
+
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <QObject>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
+
+class UndoCommand {
+public:
+  virtual ~UndoCommand() = default;
+  virtual void undo() = 0;
+  virtual void redo() = 0;
+  std::string text;
+};
+
+class UndoStack {
+public:
+  struct Callbacks {
+    std::function<void()> index_changed;
+    std::function<void(bool)> clean_changed;
+  };
+
+  void push(UndoCommand *cmd);  // takes ownership and calls redo()
+  void undo();
+  void redo();
+  void clear();
+  void setClean();
+  bool isClean() const { return clean_index_ == index_; }
+  bool canUndo() const { return index_ > 0; }
+  bool canRedo() const { return index_ < (int)commands_.size(); }
+  std::string undoText() const { return canUndo() ? commands_[index_ - 1]->text : ""; }
+  std::string redoText() const { return canRedo() ? commands_[index_]->text : ""; }
+  void setCallbacks(Callbacks callbacks) { callbacks_ = std::move(callbacks); }
+  static UndoStack *instance();
+
+private:
+  void setIndex(int index);
+  std::vector<std::unique_ptr<UndoCommand>> commands_;
+  int index_ = 0;
+  int clean_index_ = 0;
+  Callbacks callbacks_;
+};
+
+// emits Qt signals for the global undo stack
+class QtUndoNotifier : public QObject {
+  Q_OBJECT
+
+public:
+  explicit QtUndoNotifier(QObject *parent = nullptr);
+
+signals:
+  void indexChanged();
+  void cleanChanged(bool clean);
+};
+
+QtUndoNotifier *undoNotifier();
+
+class EditMsgCommand : public UndoCommand {
+public:
+  EditMsgCommand(const MessageId &id, const std::string &name, int size, const std::string &node,
+                 const std::string &comment);
+  void undo() override;
+  void redo() override;
+
+private:
+  const MessageId id;
+  std::string old_name, new_name, old_comment, new_comment, old_node, new_node;
+  int old_size = 0, new_size = 0;
+};
+
+class RemoveMsgCommand : public UndoCommand {
+public:
+  RemoveMsgCommand(const MessageId &id);
+  void undo() override;
+  void redo() override;
+
+private:
+  const MessageId id;
+  cabana::Msg message;
+};
+
+class AddSigCommand : public UndoCommand {
+public:
+  AddSigCommand(const MessageId &id, const cabana::Signal &sig);
+  void undo() override;
+  void redo() override;
+
+private:
+  const MessageId id;
+  bool msg_created = false;
+  cabana::Signal signal = {};
+};
+
+class RemoveSigCommand : public UndoCommand {
+public:
+  RemoveSigCommand(const MessageId &id, const cabana::Signal *sig);
+  void undo() override;
+  void redo() override;
+
+private:
+  const MessageId id;
+  std::vector<cabana::Signal> sigs;
+};
+
+class EditSignalCommand : public UndoCommand {
+public:
+  EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig);
+  void undo() override;
+  void redo() override;
+
+private:
+  const MessageId id;
+  std::vector<std::pair<cabana::Signal, cabana::Signal>> sigs; // {old_sig, new_sig}
+};
diff --git a/openpilot/tools/cabana/core/can_data.h b/openpilot/tools/cabana/core/can_data.h
new file mode 100644
index 0000000000..38141b1890
--- /dev/null
+++ b/openpilot/tools/cabana/core/can_data.h
@@ -0,0 +1,46 @@
+#pragma once
+
+#include <array>
+#include <cstdint>
+#include <unordered_map>
+#include <vector>
+
+#include "tools/cabana/core/color.h"
+#include "tools/cabana/core/message_id.h"
+
+struct CanData {
+  void compute(const MessageId &msg_id, const uint8_t *data, int size, double current_sec,
+               double playback_speed, const std::vector<uint8_t> &mask, double frequency = 0);
+
+  double ts = 0.;
+  uint32_t count = 0;
+  double freq = 0;
+  std::vector<uint8_t> dat;
+  std::vector<CabanaColor> colors;
+
+  struct ByteLastChange {
+    double ts = 0;
+    int delta = 0;
+    int same_delta_counter = 0;
+    bool suppressed = false;
+  };
+  std::vector<ByteLastChange> last_changes;
+  std::vector<std::array<uint32_t, 8>> bit_flip_counts;
+  double last_freq_update_ts = 0;
+};
+
+struct CanEvent {
+  uint8_t src;
+  uint32_t address;
+  uint64_t mono_time;
+  uint8_t size;
+  uint8_t dat[];
+};
+
+struct CompareCanEvent {
+  constexpr bool operator()(const CanEvent *const event, uint64_t ts) const { return event->mono_time < ts; }
+  constexpr bool operator()(uint64_t ts, const CanEvent *const event) const { return ts < event->mono_time; }
+};
+
+using MessageEventsMap = std::unordered_map<MessageId, std::vector<const CanEvent *>>;
+using CanEventIter = std::vector<const CanEvent *>::const_iterator;
diff --git a/openpilot/tools/cabana/core/color.h b/openpilot/tools/cabana/core/color.h
new file mode 100644
index 0000000000..c29704dd44
--- /dev/null
+++ b/openpilot/tools/cabana/core/color.h
@@ -0,0 +1,79 @@
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <cstdint>
+
+struct CabanaColor {
+  uint8_t r = 0;
+  uint8_t g = 0;
+  uint8_t b = 0;
+  uint8_t a = 255;
+
+  constexpr CabanaColor() = default;
+  constexpr CabanaColor(uint8_t red, uint8_t green, uint8_t blue, uint8_t alpha = 255)
+      : r(red), g(green), b(blue), a(alpha) {}
+
+  static CabanaColor fromHsv(float hue, float saturation, float value, float alpha = 1.0f) {
+    const float h = hue - std::floor(hue);
+    const float c = value * saturation;
+    const float x = c * (1.0f - std::fabs(std::fmod(h * 6.0f, 2.0f) - 1.0f));
+    const float m = value - c;
+    float red = 0, green = 0, blue = 0;
+    switch (static_cast<int>(h * 6.0f) % 6) {
+      case 0: red = c; green = x; break;
+      case 1: red = x; green = c; break;
+      case 2: green = c; blue = x; break;
+      case 3: green = x; blue = c; break;
+      case 4: red = x; blue = c; break;
+      default: red = c; blue = x; break;
+    }
+    auto channel = [m](float v) { return static_cast<uint8_t>(std::clamp((v + m) * 255.0f, 0.0f, 255.0f) + 0.5f); };
+    return {channel(red), channel(green), channel(blue),
+            static_cast<uint8_t>(std::clamp(alpha * 255.0f, 0.0f, 255.0f) + 0.5f)};
+  }
+
+  CabanaColor darker(int factor = 200) const {
+    if (factor <= 0) return *this;
+    if (factor < 100) return lighter(10000 / factor);
+    auto [hue, saturation, value] = hsv();
+    return fromHsv(hue, saturation, value * 100.0f / factor, a / 255.0f);
+  }
+
+  CabanaColor lighter(int factor = 150) const {
+    if (factor <= 0) return *this;
+    if (factor < 100) return darker(10000 / factor);
+    auto [hue, saturation, value] = hsv();
+    const float scaled_value = value * factor / 100.0f;
+    if (scaled_value > 1.0f) saturation = std::max(0.0f, saturation - (scaled_value - 1.0f));
+    return fromHsv(hue, saturation, std::min(1.0f, scaled_value), a / 255.0f);
+  }
+
+  constexpr int red() const { return r; }
+  constexpr int green() const { return g; }
+  constexpr int blue() const { return b; }
+  constexpr int alpha() const { return a; }
+  float alphaF() const { return a / 255.0f; }
+  void setAlphaF(float alpha) { a = static_cast<uint8_t>(std::clamp(alpha * 255.0f, 0.0f, 255.0f) + 0.5f); }
+
+  constexpr bool operator==(const CabanaColor &other) const {
+    return r == other.r && g == other.g && b == other.b && a == other.a;
+  }
+
+private:
+  struct Hsv { float hue; float saturation; float value; };
+  Hsv hsv() const {
+    const float red = r / 255.0f, green = g / 255.0f, blue = b / 255.0f;
+    const float maximum = std::max({red, green, blue});
+    const float minimum = std::min({red, green, blue});
+    const float delta = maximum - minimum;
+    float hue = 0;
+    if (delta > 0) {
+      if (maximum == red) hue = std::fmod((green - blue) / delta, 6.0f) / 6.0f;
+      else if (maximum == green) hue = ((blue - red) / delta + 2.0f) / 6.0f;
+      else hue = ((red - green) / delta + 4.0f) / 6.0f;
+      if (hue < 0) hue += 1.0f;
+    }
+    return {hue, maximum == 0 ? 0 : delta / maximum, maximum};
+  }
+};
diff --git a/openpilot/tools/cabana/core/message_id.h b/openpilot/tools/cabana/core/message_id.h
new file mode 100644
index 0000000000..ecac279631
--- /dev/null
+++ b/openpilot/tools/cabana/core/message_id.h
@@ -0,0 +1,27 @@
+#pragma once
+#include <cstdint>
+#include <cstdio>
+#include <functional>
+#include <string>
+#include <tuple>
+
+constexpr int INVALID_SOURCE = 0xff;
+
+struct MessageId {
+  uint8_t source = 0;
+  uint32_t address = 0;
+  std::string toString() const { char b[64]; snprintf(b, sizeof(b), "%u:%X", source, address); return b; }
+  static MessageId fromString(const std::string &s) {
+    const auto p = s.find(':');
+    if (p == std::string::npos) return {};
+    return {.source = static_cast<uint8_t>(std::stoul(s.substr(0, p))), .address = static_cast<uint32_t>(std::stoul(s.substr(p + 1), nullptr, 16))};
+  }
+  bool operator==(const MessageId &o) const { return source == o.source && address == o.address; }
+  bool operator!=(const MessageId &o) const { return !(*this == o); }
+  bool operator<(const MessageId &o) const { return std::tie(source, address) < std::tie(o.source, o.address); }
+  bool operator>(const MessageId &o) const { return o < *this; }
+};
+
+template <> struct std::hash<MessageId> {
+  size_t operator()(const MessageId &id) const noexcept { return std::hash<uint8_t>{}(id.source) ^ (std::hash<uint32_t>{}(id.address) << 1); }
+};
diff --git a/openpilot/tools/cabana/core/settings.h b/openpilot/tools/cabana/core/settings.h
new file mode 100644
index 0000000000..cad152de92
--- /dev/null
+++ b/openpilot/tools/cabana/core/settings.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+constexpr int LIGHT_THEME = 1;
+constexpr int DARK_THEME = 2;
+
+struct CabanaSettingsState {
+  enum DragDirection { MsbFirst, LsbFirst, AlwaysLE, AlwaysBE };
+
+  bool absolute_time = false;
+  int fps = 10;
+  int max_cached_minutes = 30;
+  int chart_height = 200;
+  int chart_column_count = 1;
+  int chart_range = 3 * 60;
+  int chart_series_type = 0;
+  int theme = 0;
+  int sparkline_range = 15;
+  bool multiple_lines_hex = false;
+  bool log_livestream = true;
+  bool suppress_defined_signals = false;
+  std::string log_path;
+  std::string last_dir;
+  std::string last_route_dir;
+  std::vector<std::string> recent_files;
+  DragDirection drag_direction = MsbFirst;
+
+  std::string recent_dbc_file;
+  std::string active_msg_id;
+  std::vector<std::string> selected_msg_ids;
+  std::vector<std::string> active_charts;
+};
diff --git a/tools/cabana/dbc/dbc.cc b/openpilot/tools/cabana/dbc/dbc.cc
similarity index 84%
rename from tools/cabana/dbc/dbc.cc
rename to openpilot/tools/cabana/dbc/dbc.cc
index 9b0de92218..c8a794c73f 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/openpilot/tools/cabana/dbc/dbc.cc
@@ -1,11 +1,17 @@
 #include "tools/cabana/dbc/dbc.h"
 
 #include <algorithm>
+#include <cmath>
 
-#include "tools/cabana/utils/util.h"
-
-uint qHash(const MessageId &item) {
-  return qHash(item.source) ^ qHash(item.address);
+namespace {
+int numDecimals(double value) {
+  int decimals = 0;
+  while (decimals < 6 && std::fabs(value - std::round(value)) > 1e-9) {
+    value *= 10.0;
+    ++decimals;
+  }
+  return decimals;
+}
 }
 
 // cabana::Msg
@@ -22,7 +28,7 @@ cabana::Signal *cabana::Msg::addSignal(const cabana::Signal &sig) {
   return s;
 }
 
-cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana::Signal &new_sig) {
+cabana::Signal *cabana::Msg::updateSignal(const std::string &sig_name, const cabana::Signal &new_sig) {
   auto s = sig(sig_name);
   if (s) {
     *s = new_sig;
@@ -31,7 +37,7 @@ cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana:
   return s;
 }
 
-void cabana::Msg::removeSignal(const QString &sig_name) {
+void cabana::Msg::removeSignal(const std::string &sig_name) {
   auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
   if (it != sigs.end()) {
     delete *it;
@@ -57,7 +63,7 @@ cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) {
   return *this;
 }
 
-cabana::Signal *cabana::Msg::sig(const QString &sig_name) const {
+cabana::Signal *cabana::Msg::sig(const std::string &sig_name) const {
   auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
   return it != sigs.end() ? *it : nullptr;
 }
@@ -69,17 +75,17 @@ int cabana::Msg::indexOf(const cabana::Signal *sig) const {
   return -1;
 }
 
-QString cabana::Msg::newSignalName() {
-  QString new_name;
+std::string cabana::Msg::newSignalName() {
+  std::string new_name;
   for (int i = 1; /**/; ++i) {
-    new_name = QString("NEW_SIGNAL_%1").arg(i);
+    new_name = "NEW_SIGNAL_" + std::to_string(i);
     if (sig(new_name) == nullptr) break;
   }
   return new_name;
 }
 
 void cabana::Msg::update() {
-  if (transmitter.isEmpty()) {
+  if (transmitter.empty()) {
     transmitter = DEFAULT_NODE_NAME;
   }
   mask.assign(size, 0x00);
@@ -129,21 +135,21 @@ void cabana::Msg::update() {
 
 void cabana::Signal::update() {
   updateMsbLsb(*this);
-  if (receiver_name.isEmpty()) {
+  if (receiver_name.empty()) {
     receiver_name = DEFAULT_NODE_NAME;
   }
 
   float h = 19 * (float)lsb / 64.0;
   h = fmod(h, 1.0);
-  size_t hash = qHash(name);
+  size_t hash = std::hash<std::string>{}(name);
   float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0;
   float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0;
 
-  color = QColor::fromHsvF(h, s, v);
-  precision = std::max(num_decimals(factor), num_decimals(offset));
+  color = CabanaColor::fromHsv(h, s, v);
+  precision = std::max(numDecimals(factor), numDecimals(offset));
 }
 
-QString cabana::Signal::formatValue(double value, bool with_unit) const {
+std::string cabana::Signal::formatValue(double value, bool with_unit) const {
   // Show enum string
   int64_t raw_value = round((value - offset) / factor);
   for (const auto &[val, desc] : val_desc) {
@@ -152,8 +158,10 @@ QString cabana::Signal::formatValue(double value, bool with_unit) const {
     }
   }
 
-  QString val_str = QString::number(value, 'f', precision);
-  if (with_unit && !unit.isEmpty()) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "%.*f", precision, value);
+  std::string val_str(buf);
+  if (with_unit && !unit.empty()) {
     val_str += " " + unit;
   }
   return val_str;
diff --git a/openpilot/tools/cabana/dbc/dbc.h b/openpilot/tools/cabana/dbc/dbc.h
new file mode 100644
index 0000000000..585325d391
--- /dev/null
+++ b/openpilot/tools/cabana/dbc/dbc.h
@@ -0,0 +1,94 @@
+#pragma once
+
+#include <cstdio>
+#include <cstdlib>
+#include <functional>
+#include <limits>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "tools/cabana/core/color.h"
+#include "tools/cabana/core/message_id.h"
+
+const std::string UNTITLED = "untitled";
+const std::string DEFAULT_NODE_NAME = "XXX";
+constexpr int CAN_MAX_DATA_BYTES = 64;
+
+typedef std::vector<std::pair<double, std::string>> ValueDescription;
+
+namespace cabana {
+
+class Signal {
+public:
+  Signal() = default;
+  Signal(const Signal &other) = default;
+  void update();
+  bool getValue(const uint8_t *data, size_t data_size, double *val) const;
+  std::string formatValue(double value, bool with_unit = true) const;
+  bool operator==(const cabana::Signal &other) const;
+  inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); }
+
+  enum class Type {
+    Normal = 0,
+    Multiplexed,
+    Multiplexor
+  };
+
+  Type type = Type::Normal;
+  std::string name;
+  int start_bit, msb, lsb, size;
+  double factor = 1.0;
+  double offset = 0;
+  bool is_signed;
+  bool is_little_endian;
+  double min, max;
+  std::string unit;
+  std::string comment;
+  std::string receiver_name;
+  ValueDescription val_desc;
+  int precision = 0;
+  CabanaColor color;
+
+  // Multiplexed
+  int multiplex_value = 0;
+  Signal *multiplexor = nullptr;
+};
+
+class Msg {
+public:
+  Msg() = default;
+  Msg(const Msg &other) { *this = other; }
+  ~Msg();
+  cabana::Signal *addSignal(const cabana::Signal &sig);
+  cabana::Signal *updateSignal(const std::string &sig_name, const cabana::Signal &sig);
+  void removeSignal(const std::string &sig_name);
+  Msg &operator=(const Msg &other);
+  int indexOf(const cabana::Signal *sig) const;
+  cabana::Signal *sig(const std::string &sig_name) const;
+  std::string newSignalName();
+  void update();
+  inline const std::vector<cabana::Signal *> &getSignals() const { return sigs; }
+
+  uint32_t address;
+  std::string name;
+  uint32_t size;
+  std::string comment;
+  std::string transmitter;
+  std::vector<cabana::Signal *> sigs;
+
+  std::vector<uint8_t> mask;
+  cabana::Signal *multiplexor = nullptr;
+};
+
+}  // namespace cabana
+
+// Helper functions
+double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
+void updateMsbLsb(cabana::Signal &s);
+inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
+inline std::string doubleToString(double value) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "%.*g", std::numeric_limits<double>::digits10, value);
+  return buf;
+}
diff --git a/openpilot/tools/cabana/dbc/dbcfile.cc b/openpilot/tools/cabana/dbc/dbcfile.cc
new file mode 100644
index 0000000000..99a5b71822
--- /dev/null
+++ b/openpilot/tools/cabana/dbc/dbcfile.cc
@@ -0,0 +1,271 @@
+#include "tools/cabana/dbc/dbcfile.h"
+
+#include <algorithm>
+#include <cassert>
+#include <filesystem>
+#include <fstream>
+#include <regex>
+#include <sstream>
+#include <stdexcept>
+
+namespace {
+
+std::string trim(const std::string &value) {
+  const auto first = value.find_first_not_of(" \t\r\n");
+  if (first == std::string::npos) return {};
+  return value.substr(first, value.find_last_not_of(" \t\r\n") - first + 1);
+}
+
+bool startsWith(const std::string &value, const char *prefix) {
+  return value.rfind(prefix, 0) == 0;
+}
+
+std::string unescapeComment(std::string value) {
+  for (size_t pos = 0; (pos = value.find("\\\"", pos)) != std::string::npos; ++pos) {
+    value.replace(pos, 2, "\"");
+  }
+  return trim(value);
+}
+
+bool commentComplete(const std::string &line) {
+  bool escaped = false;
+  for (size_t i = 0; i < line.size(); ++i) {
+    if (line[i] == '\\' && !escaped) {
+      escaped = true;
+      continue;
+    }
+    if (line[i] == '"' && !escaped) {
+      size_t next = line.find_first_not_of(" \t\r\n", i + 1);
+      if (next != std::string::npos && line[next] == ';') return true;
+    }
+    escaped = false;
+  }
+  return false;
+}
+
+}  // namespace
+
+DBCFile::DBCFile(const std::string &dbc_file_name) {
+  std::ifstream file(dbc_file_name, std::ios::binary);
+  if (!file) throw std::runtime_error("Failed to open file.");
+  filename = dbc_file_name;
+  name_ = std::filesystem::path(dbc_file_name).stem().string();
+  parse(std::string(std::istreambuf_iterator<char>(file), std::istreambuf_iterator<char>()));
+}
+
+DBCFile::DBCFile(const std::string &name, const std::string &content) : name_(name) {
+  parse(content);
+}
+
+bool DBCFile::save() {
+  assert(!filename.empty());
+  return writeContents(filename);
+}
+
+bool DBCFile::saveAs(const std::string &new_filename) {
+  filename = new_filename;
+  return save();
+}
+
+bool DBCFile::writeContents(const std::string &fn) {
+  std::ofstream file(fn, std::ios::binary | std::ios::trunc);
+  if (!file) return false;
+  file << generateDBC();
+  return file.good();
+}
+
+void DBCFile::updateMsg(const MessageId &id, const std::string &name, uint32_t size,
+                        const std::string &node, const std::string &comment) {
+  auto &m = msgs[id.address];
+  m.address = id.address;
+  m.name = name;
+  m.size = size;
+  m.transmitter = node.empty() ? DEFAULT_NODE_NAME : node;
+  m.comment = comment;
+}
+
+cabana::Msg *DBCFile::msg(uint32_t address) {
+  auto it = msgs.find(address);
+  return it != msgs.end() ? &it->second : nullptr;
+}
+
+cabana::Msg *DBCFile::msg(const std::string &name) {
+  auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
+  return it != msgs.end() ? &it->second : nullptr;
+}
+
+cabana::Signal *DBCFile::signal(uint32_t address, const std::string &name) {
+  auto m = msg(address);
+  return m ? m->sig(name) : nullptr;
+}
+
+void DBCFile::parse(const std::string &content) {
+  msgs.clear();
+  header.clear();
+  std::istringstream input(content);
+  std::string raw_line;
+  cabana::Msg *current_msg = nullptr;
+  int multiplexor_cnt = 0;
+  int line_num = 0;
+  bool seen_first = false;
+
+  while (std::getline(input, raw_line)) {
+    ++line_num;
+    const size_t first_nonspace = raw_line.find_first_not_of(" \t\r");
+    std::string line = first_nonspace == std::string::npos ? std::string() : raw_line.substr(first_nonspace);
+    const int statement_line = line_num;
+    if ((startsWith(line, "CM_ BO_") || startsWith(line, "CM_ SG_ ")) && !commentComplete(line)) {
+      std::string continuation;
+      while (std::getline(input, continuation)) {
+        ++line_num;
+        line += "\n" + continuation;
+        if (commentComplete(line)) break;
+      }
+    }
+
+    bool seen = true;
+    try {
+      if (startsWith(line, "BO_ ")) {
+        multiplexor_cnt = 0;
+        current_msg = parseBO(line);
+      } else if (startsWith(line, "SG_ ")) {
+        parseSG(line, current_msg, multiplexor_cnt);
+      } else if (startsWith(line, "VAL_ ")) {
+        parseVAL(line);
+      } else if (startsWith(line, "CM_ BO_")) {
+        parseCM_BO(line);
+      } else if (startsWith(line, "CM_ SG_ ")) {
+        parseCM_SG(line);
+      } else {
+        seen = false;
+      }
+    } catch (const std::exception &e) {
+      throw std::runtime_error("[" + filename + ":" + std::to_string(statement_line) + "]" + e.what() + ": " + line);
+    }
+    if (seen) seen_first = true;
+    else if (!seen_first) header += raw_line + "\n";
+  }
+  for (auto &[_, message] : msgs) message.update();
+}
+
+cabana::Msg *DBCFile::parseBO(const std::string &line) {
+  static const std::regex pattern(R"(^BO_ ([[:alnum:]_]+) ([[:alnum:]_]+) *: ([[:alnum:]_]+) ([[:alnum:]_]+))");
+  std::smatch match;
+  if (!std::regex_search(line, match, pattern)) throw std::runtime_error("Invalid BO_ line format");
+  const uint32_t address = std::stoul(match[1].str());
+  if (msgs.count(address)) throw std::runtime_error("Duplicate message address: " + std::to_string(address));
+  auto &message = msgs[address];
+  message.address = address;
+  message.name = match[2].str();
+  message.size = std::stoul(match[3].str());
+  message.transmitter = trim(match[4].str());
+  return &message;
+}
+
+void DBCFile::parseSG(const std::string &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
+  static const std::regex pattern(R"dbc(^SG_ ([[:alnum:]_]+)(?: +([[:alnum:]_]+))? *: ([0-9]+)\|([0-9]+)@([0-9]+)([+-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] "(.*)" (.*))dbc");
+  if (!current_msg) throw std::runtime_error("No Message");
+  std::smatch match;
+  if (!std::regex_search(line, match, pattern)) throw std::runtime_error("Invalid SG_ line format");
+  if (current_msg->sig(match[1].str())) throw std::runtime_error("Duplicate signal name");
+
+  cabana::Signal signal{};
+  const std::string indicator = match[2].str();
+  if (!indicator.empty()) {
+    if (indicator == "M") {
+      if (++multiplexor_cnt >= 2) throw std::runtime_error("Multiple multiplexor");
+      signal.type = cabana::Signal::Type::Multiplexor;
+    } else {
+      signal.type = cabana::Signal::Type::Multiplexed;
+      signal.multiplex_value = indicator.size() > 1 ? std::stoi(indicator.substr(1)) : 0;
+    }
+  }
+  signal.name = match[1].str();
+  signal.start_bit = std::stoi(match[3].str());
+  signal.size = std::stoi(match[4].str());
+  signal.is_little_endian = match[5].str() == "1";
+  signal.is_signed = match[6].str() == "-";
+  signal.factor = std::stod(match[7].str());
+  signal.offset = std::stod(match[8].str());
+  signal.min = std::stod(match[9].str());
+  signal.max = std::stod(match[10].str());
+  signal.unit = match[11].str();
+  signal.receiver_name = trim(match[12].str());
+  current_msg->sigs.push_back(new cabana::Signal(signal));
+}
+
+void DBCFile::parseCM_BO(const std::string &line) {
+  std::istringstream prefix(line.substr(7));
+  uint32_t address = 0;
+  prefix >> address;
+  const size_t first_quote = line.find('"');
+  const size_t last_quote = line.rfind('"');
+  if (!prefix || first_quote == std::string::npos || last_quote <= first_quote) {
+    throw std::runtime_error("Invalid message comment format");
+  }
+  if (auto message = msg(address)) message->comment = unescapeComment(line.substr(first_quote + 1, last_quote - first_quote - 1));
+}
+
+void DBCFile::parseCM_SG(const std::string &line) {
+  std::istringstream prefix(line.substr(7));
+  uint32_t address = 0;
+  std::string name;
+  prefix >> address >> name;
+  const size_t first_quote = line.find('"');
+  const size_t last_quote = line.rfind('"');
+  if (!prefix || name.empty() || first_quote == std::string::npos || last_quote <= first_quote) {
+    throw std::runtime_error("Invalid CM_ SG_ line format");
+  }
+  if (auto sig = signal(address, name)) sig->comment = unescapeComment(line.substr(first_quote + 1, last_quote - first_quote - 1));
+}
+
+void DBCFile::parseVAL(const std::string &line) {
+  static const std::regex header_pattern(R"(^VAL_ ([[:alnum:]_]+) ([[:alnum:]_]+) (.*))");
+  static const std::regex entry_pattern(R"dbc(([+-]?[0-9]+(?:\.[0-9]+)?)\s+"([^"]*)")dbc");
+  std::smatch match;
+  if (!std::regex_search(line, match, header_pattern)) throw std::runtime_error("invalid VAL_ line format");
+  if (auto sig = signal(std::stoul(match[1].str()), match[2].str())) {
+    const std::string entries = match[3].str();
+    for (std::sregex_iterator it(entries.begin(), entries.end(), entry_pattern), end; it != end; ++it) {
+      sig->val_desc.emplace_back(std::stod((*it)[1].str()), trim((*it)[2].str()));
+    }
+  }
+}
+
+std::string DBCFile::generateDBC() {
+  std::string dbc_string, comment, val_desc;
+  for (const auto &[address, m] : msgs) {
+    const std::string &transmitter = m.transmitter.empty() ? DEFAULT_NODE_NAME : m.transmitter;
+    dbc_string += "BO_ " + std::to_string(address) + " " + m.name + ": " + std::to_string(m.size) + " " + transmitter + "\n";
+    if (!m.comment.empty()) {
+      std::string escaped = m.comment;
+      for (size_t pos = 0; (pos = escaped.find('"', pos)) != std::string::npos; pos += 2) escaped.replace(pos, 1, "\\\"");
+      comment += "CM_ BO_ " + std::to_string(address) + " \"" + escaped + "\";\n";
+    }
+    for (auto sig : m.getSignals()) {
+      std::string mux;
+      if (sig->type == cabana::Signal::Type::Multiplexor) mux = "M ";
+      else if (sig->type == cabana::Signal::Type::Multiplexed) mux = "m" + std::to_string(sig->multiplex_value) + " ";
+      const std::string &receiver = sig->receiver_name.empty() ? DEFAULT_NODE_NAME : sig->receiver_name;
+      dbc_string += " SG_ " + sig->name + " " + mux + ": " + std::to_string(sig->start_bit) + "|" + std::to_string(sig->size) + "@" +
+                    (sig->is_little_endian ? "1" : "0") + (sig->is_signed ? "-" : "+") +
+                    " (" + doubleToString(sig->factor) + "," + doubleToString(sig->offset) + ")" +
+                    " [" + doubleToString(sig->min) + "|" + doubleToString(sig->max) + "] \"" + sig->unit + "\" " + receiver + "\n";
+      if (!sig->comment.empty()) {
+        std::string escaped = sig->comment;
+        for (size_t pos = 0; (pos = escaped.find('"', pos)) != std::string::npos; pos += 2) escaped.replace(pos, 1, "\\\"");
+        comment += "CM_ SG_ " + std::to_string(address) + " " + sig->name + " \"" + escaped + "\";\n";
+      }
+      if (!sig->val_desc.empty()) {
+        std::string text;
+        for (const auto &[value, description] : sig->val_desc) {
+          if (!text.empty()) text += " ";
+          text += doubleToString(value) + " \"" + description + "\"";
+        }
+        val_desc += "VAL_ " + std::to_string(address) + " " + sig->name + " " + text + ";\n";
+      }
+    }
+    dbc_string += "\n";
+  }
+  return header + dbc_string + comment + val_desc;
+}
diff --git a/openpilot/tools/cabana/dbc/dbcfile.h b/openpilot/tools/cabana/dbc/dbcfile.h
new file mode 100644
index 0000000000..13841a94fa
--- /dev/null
+++ b/openpilot/tools/cabana/dbc/dbcfile.h
@@ -0,0 +1,44 @@
+#pragma once
+
+#include <map>
+#include <string>
+
+#include "tools/cabana/dbc/dbc.h"
+
+class DBCFile {
+public:
+  DBCFile(const std::string &dbc_file_name);
+  DBCFile(const std::string &name, const std::string &content);
+  ~DBCFile() {}
+
+  bool save();
+  bool saveAs(const std::string &new_filename);
+  bool writeContents(const std::string &fn);
+  std::string generateDBC();
+
+  void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment);
+  inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
+
+  inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
+  cabana::Msg *msg(uint32_t address);
+  cabana::Msg *msg(const std::string &name);
+  inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
+  cabana::Signal *signal(uint32_t address, const std::string &name);
+
+  inline std::string name() const { return name_.empty() ? "untitled" : name_; }
+  inline bool isEmpty() const { return msgs.empty() && name_.empty(); }
+
+  std::string filename;
+
+private:
+  void parse(const std::string &content);
+  cabana::Msg *parseBO(const std::string &line);
+  void parseSG(const std::string &line, cabana::Msg *current_msg, int &multiplexor_cnt);
+  void parseCM_BO(const std::string &line);
+  void parseCM_SG(const std::string &line);
+  void parseVAL(const std::string &line);
+
+  std::string header;
+  std::map<uint32_t, cabana::Msg> msgs;
+  std::string name_;
+};
diff --git a/tools/cabana/dbc/dbcmanager.cc b/openpilot/tools/cabana/dbc/dbcmanager.cc
similarity index 60%
rename from tools/cabana/dbc/dbcmanager.cc
rename to openpilot/tools/cabana/dbc/dbcmanager.cc
index 8e98d95322..7a95a4f809 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/openpilot/tools/cabana/dbc/dbcmanager.cc
@@ -1,10 +1,10 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 
-#include <QSet>
 #include <algorithm>
-#include <numeric>
+#include <cassert>
+#include <set>
 
-bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name, std::string *error) {
   try {
     auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
                            [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
@@ -17,11 +17,11 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
     return false;
   }
 
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
   return true;
 }
 
-bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &name, const std::string &content, std::string *error) {
   try {
     auto file = std::make_shared<DBCFile>(name, content);
     for (auto s : sources) {
@@ -32,7 +32,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &name, const QStri
     return false;
   }
 
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
   return true;
 }
 
@@ -40,69 +40,71 @@ void DBCManager::close(const SourceSet &sources) {
   for (auto s : sources) {
     dbc_files[s] = nullptr;
   }
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
 }
 
 void DBCManager::close(DBCFile *dbc_file) {
   for (auto &[_, f] : dbc_files) {
     if (f.get() == dbc_file) f = nullptr;
   }
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
 }
 
 void DBCManager::closeAll() {
   dbc_files.clear();
-  emit DBCFileChanged();
+  if (callbacks_.file_changed) callbacks_.file_changed();
 }
 
 void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->addSignal(sig)) {
-      emit signalAdded(id, s);
-      emit maskUpdated();
+      if (callbacks_.signal_added) callbacks_.signal_added(id, s);
+      if (callbacks_.mask_updated) callbacks_.mask_updated();
     }
   }
 }
 
-void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) {
+void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->updateSignal(sig_name, sig)) {
-      emit signalUpdated(s);
-      emit maskUpdated();
+      if (callbacks_.signal_updated) callbacks_.signal_updated(s);
+      if (callbacks_.mask_updated) callbacks_.mask_updated();
     }
   }
 }
 
-void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
+void DBCManager::removeSignal(const MessageId &id, const std::string &sig_name) {
   if (auto m = msg(id)) {
     if (auto s = m->sig(sig_name)) {
-      emit signalRemoved(s);
+      if (callbacks_.signal_removed) callbacks_.signal_removed(s);
       m->removeSignal(sig_name);
-      emit maskUpdated();
+      if (callbacks_.mask_updated) callbacks_.mask_updated();
     }
   }
 }
 
-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
+void DBCManager::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
   dbc_file->updateMsg(id, name, size, node, comment);
-  emit msgUpdated(id);
+  if (callbacks_.msg_updated) callbacks_.msg_updated(id);
 }
 
 void DBCManager::removeMsg(const MessageId &id) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
   dbc_file->removeMsg(id);
-  emit msgRemoved(id);
-  emit maskUpdated();
+  if (callbacks_.msg_removed) callbacks_.msg_removed(id);
+  if (callbacks_.mask_updated) callbacks_.mask_updated();
 }
 
-QString DBCManager::newMsgName(const MessageId &id) {
-  return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper();
+std::string DBCManager::newMsgName(const MessageId &id) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "NEW_MSG_%X", id.address);
+  return buf;
 }
 
-QString DBCManager::newSignalName(const MessageId &id) {
+std::string DBCManager::newSignalName(const MessageId &id) {
   auto m = msg(id);
   return m ? m->newSignalName() : "";
 }
@@ -118,14 +120,14 @@ cabana::Msg *DBCManager::msg(const MessageId &id) {
   return dbc_file ? dbc_file->msg(id) : nullptr;
 }
 
-cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) {
+cabana::Msg *DBCManager::msg(uint8_t source, const std::string &name) {
   auto dbc_file = findDBCFile(source);
   return dbc_file ? dbc_file->msg(name) : nullptr;
 }
 
-QStringList DBCManager::signalNames() {
+std::vector<std::string> DBCManager::signalNames() {
   // Used for autocompletion
-  QSet<QString> names;
+  std::set<std::string> names;
   for (auto &f : allDBCFiles()) {
     for (auto &[_, m] : f->getMessages()) {
       for (auto sig : m.getSignals()) {
@@ -133,8 +135,8 @@ QStringList DBCManager::signalNames() {
       }
     }
   }
-  QStringList ret = names.values();
-  ret.sort();
+  std::vector<std::string> ret(names.begin(), names.end());
+  std::sort(ret.begin(), ret.end());
   return ret;
 }
 
@@ -165,14 +167,16 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
   return sources;
 }
 
-QString toString(const SourceSet &ss) {
-  return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) {
-    if (!str.isEmpty()) str += ", ";
-    return str + (source == -1 ? QStringLiteral("all") : QString::number(source));
-  });
+std::string toString(const SourceSet &ss) {
+  std::string result;
+  for (int source : ss) {
+    if (!result.empty()) result += ", ";
+    result += (source == -1) ? "all" : std::to_string(source);
+  }
+  return result;
 }
 
 DBCManager *dbc() {
-  static DBCManager dbc_manager(nullptr);
+  static DBCManager dbc_manager;
   return &dbc_manager;
 }
diff --git a/openpilot/tools/cabana/dbc/dbcmanager.h b/openpilot/tools/cabana/dbc/dbcmanager.h
new file mode 100644
index 0000000000..5a09fae03d
--- /dev/null
+++ b/openpilot/tools/cabana/dbc/dbcmanager.h
@@ -0,0 +1,70 @@
+#pragma once
+
+#include <functional>
+#include <memory>
+#include <map>
+#include <set>
+#include <string>
+#include <vector>
+
+#include "tools/cabana/dbc/dbcfile.h"
+
+typedef std::set<int> SourceSet;
+const SourceSet SOURCE_ALL = {-1};
+inline bool operator<(const std::shared_ptr<DBCFile> &l, const std::shared_ptr<DBCFile> &r) { return l.get() < r.get(); }
+
+class DBCManager {
+public:
+  struct Callbacks {
+    std::function<void(MessageId, const cabana::Signal *)> signal_added;
+    std::function<void(const cabana::Signal *)> signal_removed;
+    std::function<void(const cabana::Signal *)> signal_updated;
+    std::function<void(MessageId)> msg_updated;
+    std::function<void(MessageId)> msg_removed;
+    std::function<void()> file_changed;
+    std::function<void()> mask_updated;
+  };
+
+  DBCManager() = default;
+  bool open(const SourceSet &sources, const std::string &dbc_file_name, std::string *error = nullptr);
+  bool open(const SourceSet &sources, const std::string &name, const std::string &content, std::string *error = nullptr);
+  void close(const SourceSet &sources);
+  void close(DBCFile *dbc_file);
+  void closeAll();
+
+  void addSignal(const MessageId &id, const cabana::Signal &sig);
+  void updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig);
+  void removeSignal(const MessageId &id, const std::string &sig_name);
+
+  void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment);
+  void removeMsg(const MessageId &id);
+
+  std::string newMsgName(const MessageId &id);
+  std::string newSignalName(const MessageId &id);
+
+  const std::map<uint32_t, cabana::Msg> &getMessages(uint8_t source);
+  cabana::Msg *msg(const MessageId &id);
+  cabana::Msg* msg(uint8_t source, const std::string &name);
+
+  std::vector<std::string> signalNames();
+  inline int dbcCount() { return allDBCFiles().size(); }
+  int nonEmptyDBCCount();
+
+  const SourceSet sources(const DBCFile *dbc_file) const;
+  DBCFile *findDBCFile(const uint8_t source);
+  inline DBCFile *findDBCFile(const MessageId &id) { return findDBCFile(id.source); }
+  std::set<DBCFile *> allDBCFiles();
+  void setCallbacks(Callbacks callbacks) { callbacks_ = std::move(callbacks); }
+
+private:
+  std::map<int, std::shared_ptr<DBCFile>> dbc_files;
+  Callbacks callbacks_;
+};
+
+DBCManager *dbc();
+
+std::string toString(const SourceSet &ss);
+inline std::string msgName(const MessageId &id) {
+  auto msg = dbc()->msg(id);
+  return msg ? msg->name : UNTITLED;
+}
diff --git a/openpilot/tools/cabana/dbc/dbcqt.cc b/openpilot/tools/cabana/dbc/dbcqt.cc
new file mode 100644
index 0000000000..4354caf3f5
--- /dev/null
+++ b/openpilot/tools/cabana/dbc/dbcqt.cc
@@ -0,0 +1,18 @@
+#include "tools/cabana/dbc/dbcqt.h"
+
+QtDBCNotifier::QtDBCNotifier(QObject *parent) : QObject(parent) {
+  dbc()->setCallbacks({
+    .signal_added = [this](MessageId id, const cabana::Signal *sig) { emit signalAdded(id, sig); },
+    .signal_removed = [this](const cabana::Signal *sig) { emit signalRemoved(sig); },
+    .signal_updated = [this](const cabana::Signal *sig) { emit signalUpdated(sig); },
+    .msg_updated = [this](MessageId id) { emit msgUpdated(id); },
+    .msg_removed = [this](MessageId id) { emit msgRemoved(id); },
+    .file_changed = [this]() { emit DBCFileChanged(); },
+    .mask_updated = [this]() { emit maskUpdated(); },
+  });
+}
+
+QtDBCNotifier *dbcNotifier() {
+  static QtDBCNotifier notifier;
+  return &notifier;
+}
diff --git a/openpilot/tools/cabana/dbc/dbcqt.h b/openpilot/tools/cabana/dbc/dbcqt.h
new file mode 100644
index 0000000000..b889f854ed
--- /dev/null
+++ b/openpilot/tools/cabana/dbc/dbcqt.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <QMetaType>
+#include <QObject>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+Q_DECLARE_METATYPE(MessageId)
+Q_DECLARE_METATYPE(ValueDescription)
+
+class QtDBCNotifier : public QObject {
+  Q_OBJECT
+
+public:
+  explicit QtDBCNotifier(QObject *parent = nullptr);
+
+signals:
+  void signalAdded(MessageId id, const cabana::Signal *sig);
+  void signalRemoved(const cabana::Signal *sig);
+  void signalUpdated(const cabana::Signal *sig);
+  void msgUpdated(MessageId id);
+  void msgRemoved(MessageId id);
+  void DBCFileChanged();
+  void maskUpdated();
+};
+
+QtDBCNotifier *dbcNotifier();
diff --git a/tools/cabana/dbc/generate_dbc_json.py b/openpilot/tools/cabana/dbc/generate_dbc_json.py
similarity index 99%
rename from tools/cabana/dbc/generate_dbc_json.py
rename to openpilot/tools/cabana/dbc/generate_dbc_json.py
index d002a50ef8..13b6799ffb 100755
--- a/tools/cabana/dbc/generate_dbc_json.py
+++ b/openpilot/tools/cabana/dbc/generate_dbc_json.py
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import argparse
 import json
-
 from opendbc.car import Bus
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.values import PLATFORMS
diff --git a/openpilot/tools/cabana/deqt.md b/openpilot/tools/cabana/deqt.md
new file mode 100644
index 0000000000..3bef2d7ab0
--- /dev/null
+++ b/openpilot/tools/cabana/deqt.md
@@ -0,0 +1,53 @@
+we're migrating cabana away from Qt and to eventually entirely use imgui
+
+we are doing it incrementally, in small pieces that are easy to execute and verify.
+we will repeat this until we're all done.
+
+# Cabana Qt API inventory
+
+these are all still in cabana. we remove them from this list once they're gone.
+each bullet is an atomic unit of work.
+
+our workflow is:
+- pick the easiest of the bulleted items from below
+- implement it and make] sure it builds
+- spin up reviewer agents to review the code in a clean context and a separate one to click around in xvfb as a gui test
+- then implement the fixes from the above reviewer agents
+
+some rules
+- do not add more Qt usage ever
+
+- `QObject`, `QMetaObject`, `QMetaType`
+- `QApplication`, `QCoreApplication`, `QGuiApplication`
+- `QString`, `QStringList`, `QStringBuilder`, `QChar`, `QLatin1Char`
+- `QVariant`
+- `QTimer`
+- `QWidget`, `QMainWindow`, `QWindow`
+- `QDialog`, `QDialogButtonBox`, `QMessageBox`, `QProgressDialog`
+- `QFileDialog`
+- `QMenu`, `QMenuBar`, `QAction`, `QActionGroup`, `QWidgetAction`
+- `QToolBar`, `QToolButton`, `QPushButton`
+- `QCheckBox`, `QRadioButton`, `QButtonGroup`, `QAbstractButton`
+- `QComboBox`, `QLineEdit`, `QTextEdit`, `QSpinBox`, `QSlider`
+- `QLabel`, `QGroupBox`, `QFrame`
+- `QTabBar`, `QTabWidget`, `QSplitter`, `QScrollArea`, `QScrollBar`
+- `QDockWidget`, `QStatusBar`, `QProgressBar`
+- `QFormLayout`, `QGridLayout`, `QHBoxLayout`, `QVBoxLayout`
+- `QSizePolicy`
+- `QAbstractItemModel`, `QAbstractTableModel`, `QModelIndex`
+- `QAbstractItemView`, `QTableView`, `QTreeView`
+- `QTableWidget`, `QTableWidgetItem`, `QListWidget`, `QListWidgetItem`
+- `QItemSelection`, `QItemSelectionModel`, `QItemSelectionRange`
+- `QHeaderView`, `QStyledItemDelegate`, `QStyleOptionViewItem`
+- `QValidator`, `QIntValidator`
+- `QColor`, `QRgb`, `QPalette`
+- `QBrush`, `QPen`
+- `QPainter`, `QPainterPath`, `QStylePainter`
+- `QImage`, `QPixmap`, `QPixmapCache`, `QStaticText`
+- `QFont`, `QFontDatabase`, `QFontMetrics`, `QTextDocument`
+- `QStyle`, `QStyleOption`, `QStyleOptionFrame`, `QStyleOptionSlider`
+- `QPoint`, `QPointF`, `QRect`, `QRectF`, `QRegion`
+- `QSize`, `QSizeF`
+- `QEvent`, `QPaintEvent`, `QResizeEvent`, `QShowEvent`, `QCloseEvent`
+- `QMouseEvent`, `QWheelEvent`, `QNativeGestureEvent`, `QContextMenuEvent`
+- `QKeySequence`, `QShortcut`, `QToolTip`
diff --git a/tools/cabana/detailwidget.cc b/openpilot/tools/cabana/detailwidget.cc
similarity index 86%
rename from tools/cabana/detailwidget.cc
rename to openpilot/tools/cabana/detailwidget.cc
index 35492c8efa..6b62f54959 100644
--- a/tools/cabana/detailwidget.cc
+++ b/openpilot/tools/cabana/detailwidget.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/detailwidget.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <QFormLayout>
 #include <QMenu>
@@ -56,8 +57,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight);
   QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); });
   QObject::connect(can, &AbstractStream::msgsReceived, this, &DetailWidget::updateState);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::refresh);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &DetailWidget::refresh);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &DetailWidget::refresh);
   QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu);
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) {
@@ -124,9 +125,9 @@ int DetailWidget::findOrAddTab(const MessageId& message_id) {
     if (tabbar->tabData(index).value<MessageId>() == message_id) break;
   }
   if (index == -1) {
-    index = tabbar->addTab(message_id.toString());
+    index = tabbar->addTab(QString::fromStdString(message_id.toString()));
     tabbar->setTabData(index, QVariant::fromValue(message_id));
-    tabbar->setTabToolTip(index, msgName(message_id));
+    tabbar->setTabToolTip(index, QString::fromStdString(msgName(message_id)));
   }
   return index;
 }
@@ -151,21 +152,21 @@ std::pair<QString, QStringList> DetailWidget::serializeMessageIds() const {
   QStringList msgs;
   for (int i = 0; i < tabbar->count(); ++i) {
     MessageId id = tabbar->tabData(i).value<MessageId>();
-    msgs.append(id.toString());
+    msgs.append(QString::fromStdString(id.toString()));
   }
-  return std::make_pair(msg_id.toString(), msgs);
+  return std::make_pair(QString::fromStdString(msg_id.toString()), msgs);
 }
 
 void DetailWidget::restoreTabs(const QString active_msg_id, const QStringList& msg_ids) {
   tabbar->blockSignals(true);
   for (const auto& str_id : msg_ids) {
-    MessageId id = MessageId::fromString(str_id);
+    MessageId id = MessageId::fromString(str_id.toStdString());
     if (dbc()->msg(id) != nullptr)
       findOrAddTab(id);
   }
   tabbar->blockSignals(false);
 
-  auto active_id = MessageId::fromString(active_msg_id);
+  auto active_id = MessageId::fromString(active_msg_id.toStdString());
   if (dbc()->msg(active_id) != nullptr)
     setMessage(active_id);
 }
@@ -180,10 +181,10 @@ void DetailWidget::refresh() {
       warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
     }
     for (auto s : binary_view->getOverlappingSignals()) {
-      warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
+      warnings.push_back(tr("%1 has overlapping bits.").arg(QString::fromStdString(s->name)));
     }
   }
-  QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id);
+  QString msg_name = msg ? QString("%1 (%2)").arg(QString::fromStdString(msg->name), QString::fromStdString(msg->transmitter)) : QString::fromStdString(msgName(msg_id));
   name_label->setText(msg_name);
   name_label->setToolTip(msg_name);
   action_remove_msg->setEnabled(msg != nullptr);
@@ -208,22 +209,22 @@ void DetailWidget::updateState(const std::set<MessageId> *msgs) {
 void DetailWidget::editMsg() {
   auto msg = dbc()->msg(msg_id);
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
-  EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
+  EditMessageDialog dlg(msg_id, QString::fromStdString(msgName(msg_id)), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
-                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
+    UndoStack::instance()->push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed().toStdString(), dlg.size_spin->value(),
+                                       dlg.node->text().trimmed().toStdString(), dlg.comment_edit->toPlainText().trimmed().toStdString()));
   }
 }
 
 void DetailWidget::removeMsg() {
-  UndoStack::push(new RemoveMsgCommand(msg_id));
+  UndoStack::instance()->push(new RemoveMsgCommand(msg_id));
 }
 
 // EditMessageDialog
 
 EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent)
     : original_name(title), msg_id(msg_id), QDialog(parent) {
-  setWindowTitle(tr("Edit message: %1").arg(msg_id.toString()));
+  setWindowTitle(tr("Edit message: %1").arg(QString::fromStdString(msg_id.toString())));
   QFormLayout *form_layout = new QFormLayout(this);
 
   form_layout->addRow("", error_label = new QLabel);
@@ -241,8 +242,8 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
   form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
 
   if (auto msg = dbc()->msg(msg_id)) {
-    node->setText(msg->transmitter);
-    comment_edit->setText(msg->comment);
+    node->setText(QString::fromStdString(msg->transmitter));
+    comment_edit->setText(QString::fromStdString(msg->comment));
   }
   validateName(name_edit->text());
   setFixedWidth(parent->width() * 0.9);
@@ -252,10 +253,10 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
 }
 
 void EditMessageDialog::validateName(const QString &text) {
-  bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0;
+  bool valid = text.compare(QString::fromStdString(UNTITLED), Qt::CaseInsensitive) != 0;
   error_label->setVisible(false);
   if (!text.isEmpty() && valid && text != original_name) {
-    valid = dbc()->msg(msg_id.source, text) == nullptr;
+    valid = dbc()->msg(msg_id.source, text.toStdString()) == nullptr;
     if (!valid) {
       error_label->setText(tr("Name already exists"));
       error_label->setVisible(true);
diff --git a/tools/cabana/detailwidget.h b/openpilot/tools/cabana/detailwidget.h
similarity index 100%
rename from tools/cabana/detailwidget.h
rename to openpilot/tools/cabana/detailwidget.h
diff --git a/tools/cabana/historylog.cc b/openpilot/tools/cabana/historylog.cc
similarity index 90%
rename from tools/cabana/historylog.cc
rename to openpilot/tools/cabana/historylog.cc
index 3dbdf5a7cd..3fd569c648 100644
--- a/tools/cabana/historylog.cc
+++ b/openpilot/tools/cabana/historylog.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/historylog.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <functional>
 
@@ -14,7 +15,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const int col = index.column();
   if (role == Qt::DisplayRole) {
     if (col == 0) return QString::number(can->toSeconds(m.mono_time), 'f', 3);
-    if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false);
+    if (!isHexMode()) return QString::fromStdString(sigs[col - 1]->formatValue(m.sig_values[col - 1], false));
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
@@ -49,12 +50,12 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
       if (section == 0) return "Time";
       if (isHexMode()) return "Data";
 
-      QString name = sigs[section - 1]->name;
-      QString unit = sigs[section - 1]->unit;
+      QString name = QString::fromStdString(sigs[section - 1]->name);
+      QString unit = QString::fromStdString(sigs[section - 1]->unit);
       return unit.isEmpty() ? name : QString("%1 (%2)").arg(name, unit);
     } else if (role == Qt::BackgroundRole && section > 0 && !isHexMode()) {
       // Alpha-blend the signal color with the background to ensure contrast
-      QColor sigColor = sigs[section - 1]->color;
+      QColor sigColor = toQColor(sigs[section - 1]->color);
       sigColor.setAlpha(128);
       return QBrush(sigColor);
     }
@@ -207,8 +208,8 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(value_edit, &QLineEdit::textEdited, this, &LogsWidget::filterChanged);
   QObject::connect(export_btn, &QToolButton::clicked, this, &LogsWidget::exportToCSV);
   QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::reset);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &HistoryLogModel::reset);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &HistoryLogModel::reset);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, model, &HistoryLogModel::reset);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, model, &HistoryLogModel::reset);
   QObject::connect(model, &HistoryLogModel::modelReset, this, &LogsWidget::modelReset);
   QObject::connect(model, &HistoryLogModel::rowsInserted, [this]() { export_btn->setEnabled(true); });
 }
@@ -216,7 +217,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
 void LogsWidget::modelReset() {
   signals_cb->clear();
   for (auto s : model->sigs) {
-    signals_cb->addItem(s->name);
+    signals_cb->addItem(QString::fromStdString(s->name));
   }
   export_btn->setEnabled(false);
   value_edit->clear();
@@ -238,11 +239,11 @@ void LogsWidget::filterChanged() {
 }
 
 void LogsWidget::exportToCSV() {
-  QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(can->routeName()).arg(msgName(model->msg_id));
-  QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(msgName(model->msg_id)),
+  QString dir = QString("%1/%2_%3.csv").arg(QString::fromStdString(settings.last_dir)).arg(QString::fromStdString(can->routeName())).arg(QString::fromStdString(msgName(model->msg_id)));
+  QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(QString::fromStdString(msgName(model->msg_id))),
                                             dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
-    model->isHexMode() ? utils::exportToCSV(fn, model->msg_id)
-                       : utils::exportSignalsToCSV(fn, model->msg_id);
+    model->isHexMode() ? utils::exportToCSV(fn.toStdString(), model->msg_id)
+                       : utils::exportSignalsToCSV(fn.toStdString(), model->msg_id);
   }
 }
diff --git a/tools/cabana/historylog.h b/openpilot/tools/cabana/historylog.h
similarity index 98%
rename from tools/cabana/historylog.h
rename to openpilot/tools/cabana/historylog.h
index 1ac6e5bbad..1d3200b200 100644
--- a/tools/cabana/historylog.h
+++ b/openpilot/tools/cabana/historylog.h
@@ -40,7 +40,7 @@ public:
     uint64_t mono_time = 0;
     std::vector<double> sig_values;
     std::vector<uint8_t> data;
-    std::vector<QColor> colors;
+    std::vector<CabanaColor> colors;
   };
 
   void fetchData(std::deque<Message>::iterator insert_pos, uint64_t from_time, uint64_t min_time);
diff --git a/tools/cabana/mainwin.cc b/openpilot/tools/cabana/mainwin.cc
similarity index 74%
rename from tools/cabana/mainwin.cc
rename to openpilot/tools/cabana/mainwin.cc
index 1ea3733ed0..953f573a0b 100644
--- a/tools/cabana/mainwin.cc
+++ b/openpilot/tools/cabana/mainwin.cc
@@ -1,29 +1,30 @@
 #include "tools/cabana/mainwin.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
+#include <filesystem>
+#include <fstream>
 #include <iostream>
+#include <iterator>
 #include <string>
+#include <vector>
 
-#include <QClipboard>
-#include <QDesktopWidget>
-#include <QFile>
 #include <QFileDialog>
-#include <QFileInfo>
-#include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
 #include <QProgressDialog>
 #include <QResizeEvent>
 #include <QShortcut>
 #include <QTextDocument>
-#include <QUndoView>
 #include <QVBoxLayout>
-#include <QWidgetAction>
 
+#include "json11/json11.hpp"
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
 #include "tools/cabana/utils/export.h"
+#include "tools/replay/py_downloader.h"
+#include "tools/replay/util.h"
 
 MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() {
   loadFingerprints();
@@ -34,14 +35,11 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
   createShortcuts();
 
   // save default window state to allow resetting it
-  default_state = saveState();
+  default_state = utils::toBytes(saveState());
 
-  // restore states
-  restoreGeometry(settings.geometry);
-  if (isMaximized()) {
-    setGeometry(QApplication::desktop()->availableGeometry(this));
-  }
-  restoreState(settings.window_state);
+  // restore states; restoreGeometry() itself corrects stale off-screen geometry
+  restoreGeometry(utils::qbytes(settings.geometry));
+  restoreState(utils::qbytes(settings.window_state));
 
   // install handlers
   static auto static_main_win = this;
@@ -50,11 +48,9 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
   installDownloadProgressHandler([](uint64_t cur, uint64_t total, bool success) {
     emit static_main_win->updateProgressBar(cur, total, success);
   });
-  qInstallMessageHandler([](QtMsgType type, const QMessageLogContext &context, const QString &msg) {
-    if (type == QtDebugMsg) return;
-    emit static_main_win->showMessage(msg, 2000);
+  installMessageHandler([](ReplyMsgType type, const std::string msg) {
+    emit static_main_win->showMessage(QString::fromStdString(msg), 2000);
   });
-  installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); });
 
   setStyleSheet(QString(R"(QMainWindow::separator {
     width: %1px; /* when vertical */
@@ -63,8 +59,8 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
 
   QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage);
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
-  QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &MainWindow::DBCFileChanged);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::cleanChanged, this, &MainWindow::undoStackCleanChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
 
   QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); });
@@ -72,9 +68,17 @@ MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainW
 }
 
 void MainWindow::loadFingerprints() {
-  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
-  if (json_file.open(QIODevice::ReadOnly)) {
-    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
+  std::ifstream json_file((QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json").toStdString());
+  if (!json_file) return;
+  const std::string contents{std::istreambuf_iterator<char>(json_file), std::istreambuf_iterator<char>()};
+  std::string err;
+  auto doc = json11::Json::parse(contents, err);
+  if (!err.empty() || !doc.is_object()) return;
+  fingerprint_to_dbc.clear();
+  for (const auto &kv : doc.object_items()) {
+    if (kv.second.is_string()) {
+      fingerprint_to_dbc.emplace(kv.first, kv.second.string_value());
+    }
   }
 }
 
@@ -100,8 +104,17 @@ void MainWindow::createActions() {
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
-    load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
+  std::vector<std::string> dbc_names;
+  std::error_code ec;
+  for (const auto &entry : std::filesystem::directory_iterator(OPENDBC_FILE_PATH, ec)) {
+    if (entry.is_regular_file() && entry.path().extension() == ".dbc") {
+      dbc_names.push_back(entry.path().filename().string());
+    }
+  }
+  std::sort(dbc_names.begin(), dbc_names.end());
+  for (const auto &dbc_name : dbc_names) {
+    QString name = QString::fromStdString(dbc_name);
+    load_opendbc_menu->addAction(name, [this, name]() { loadDBCFromOpendbc(name); });
   }
 
   file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });
@@ -119,18 +132,12 @@ void MainWindow::createActions() {
 
   // Edit Menu
   QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
-  auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo"));
+  undo_act = edit_menu->addAction(tr("&Undo"), []() { UndoStack::instance()->undo(); });
   undo_act->setShortcuts(QKeySequence::Undo);
-  edit_menu->addAction(undo_act);
-  auto redo_act = UndoStack::instance()->createRedoAction(this, tr("&Redo"));
+  redo_act = edit_menu->addAction(tr("&Redo"), []() { UndoStack::instance()->redo(); });
   redo_act->setShortcuts(QKeySequence::Redo);
-  edit_menu->addAction(redo_act);
-  edit_menu->addSeparator();
-
-  QMenu *commands_menu = edit_menu->addMenu(tr("Command &List"));
-  QWidgetAction *commands_act = new QWidgetAction(this);
-  commands_act->setDefaultWidget(new QUndoView(UndoStack::instance()));
-  commands_menu->addAction(commands_act);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, this, &MainWindow::updateUndoRedoActions);
+  updateUndoRedoActions();
 
   // View Menu
   QMenu *view_menu = menuBar()->addMenu(tr("&View"));
@@ -140,7 +147,7 @@ void MainWindow::createActions() {
   view_menu->addAction(messages_dock->toggleViewAction());
   view_menu->addAction(video_dock->toggleViewAction());
   view_menu->addSeparator();
-  view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(default_state); });
+  view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(utils::qbytes(default_state)); });
 
   // Tools Menu
   tools_menu = menuBar()->addMenu(tr("&Tools"));
@@ -187,7 +194,7 @@ void MainWindow::createDockWidgets() {
 
   video_splitter->addWidget(charts_container);
   video_splitter->setStretchFactor(1, 1);
-  video_splitter->restoreState(settings.video_splitter_state);
+  video_splitter->restoreState(utils::qbytes(settings.video_splitter_state));
   video_splitter->handle(1)->setEnabled(!can->liveStreaming());
   video_dock->setWidget(video_splitter);
   QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking);
@@ -218,6 +225,14 @@ void MainWindow::undoStackCleanChanged(bool clean) {
   setWindowModified(!clean);
 }
 
+void MainWindow::updateUndoRedoActions() {
+  auto stack = UndoStack::instance();
+  undo_act->setEnabled(stack->canUndo());
+  undo_act->setText(stack->canUndo() ? tr("&Undo %1").arg(QString::fromStdString(stack->undoText())) : tr("&Undo"));
+  redo_act->setEnabled(stack->canRedo());
+  redo_act->setText(stack->canRedo() ? tr("&Redo %1").arg(QString::fromStdString(stack->redoText())) : tr("&Redo"));
+}
+
 void MainWindow::DBCFileChanged() {
   UndoStack::instance()->clear();
 
@@ -232,7 +247,7 @@ void MainWindow::DBCFileChanged() {
 
   QStringList title;
   for (auto f : dbc()->allDBCFiles()) {
-    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+    title.push_back(tr("(%1) %2").arg(QString::fromStdString(toString(dbc()->sources(f))), QString::fromStdString(f->name())));
   }
   setWindowFilePath(title.join(" | "));
 
@@ -251,27 +266,27 @@ void MainWindow::selectAndOpenStream() {
 void MainWindow::closeStream() {
   openStream(new DummyStream(this));
   if (dbc()->nonEmptyDBCCount() > 0) {
-    emit dbc()->DBCFileChanged();
+    emit dbcNotifier()->DBCFileChanged();
   }
   statusBar()->showMessage(tr("stream closed"));
 }
 
 void MainWindow::exportToCSV() {
-  QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(can->routeName());
+  QString dir = QString("%1/%2.csv").arg(QString::fromStdString(settings.last_dir)).arg(QString::fromStdString(can->routeName()));
   QString fn = QFileDialog::getSaveFileName(this, "Export stream to CSV file", dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
-    utils::exportToCSV(fn);
+    utils::exportToCSV(fn.toStdString());
   }
 }
 
 void MainWindow::newFile(SourceSet s) {
   closeFile(s);
-  dbc()->open(s, "", "");
+  dbc()->open(s, std::string(""), std::string(""));
 }
 
 void MainWindow::openFile(SourceSet s) {
   remindSaveChanges();
-  QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
+  QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), QString::fromStdString(settings.last_dir), "DBC (*.dbc)");
   if (!fn.isEmpty()) {
     loadFile(fn, s);
   }
@@ -281,13 +296,13 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   if (!fn.isEmpty()) {
     closeFile(s);
 
-    QString error;
-    if (dbc()->open(s, fn, &error)) {
+    std::string error;
+    if (dbc()->open(s, fn.toStdString(), &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
       QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC file"), tr("Failed to parse DBC file %1").arg(fn));
-      msg_box.setDetailedText(error);
+      msg_box.setDetailedText(QString::fromStdString(error));
       msg_box.exec();
     }
   }
@@ -298,16 +313,25 @@ void MainWindow::loadDBCFromOpendbc(const QString &name) {
 }
 
 void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
+  std::string text;
+  if (!utils::getClipboardText(&text)) {
+    QMessageBox::warning(this, tr("Load From Clipboard"), tr("No clipboard tool found. Install xclip (X11) or wl-clipboard (Wayland)."));
+    return;
+  }
+  if (text.empty()) {
+    QMessageBox::warning(this, tr("Load From Clipboard"), tr("Clipboard is empty."));
+    return;
+  }
+
   closeFile(s);
 
-  QString dbc_str = QGuiApplication::clipboard()->text();
-  QString error;
-  bool ret = dbc()->open(s, "", dbc_str, &error);
+  std::string error;
+  bool ret = dbc()->open(s, std::string(""), text, &error);
   if (ret && dbc()->nonEmptyDBCCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
     QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format."));
-    msg_box.setDetailedText(error);
+    msg_box.setDetailedText(QString::fromStdString(error));
     msg_box.exec();
   }
 }
@@ -331,7 +355,7 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
   can->start();
 
   loadFile(dbc_file);
-  statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000);
+  statusBar()->showMessage(tr("Stream [%1] started").arg(QString::fromStdString(can->routeName())), 2000);
 
   bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
   close_stream_act->setEnabled(has_stream);
@@ -339,7 +363,7 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
   tools_menu->setEnabled(has_stream);
   createDockWidgets();
 
-  video_dock->setWindowTitle(can->routeName());
+  video_dock->setWindowTitle(QString::fromStdString(can->routeName()));
   if (can->liveStreaming() || video_splitter->sizes()[0] == 0) {
     // display video at minimum size.
     video_splitter->setSizes({1, 1});
@@ -366,13 +390,16 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
 }
 
 void MainWindow::eventsMerged() {
-  if (!can->liveStreaming() && std::exchange(car_fingerprint, can->carFingerprint()) != car_fingerprint) {
+  if (!can->liveStreaming() && std::exchange(car_fingerprint, QString::fromStdString(can->carFingerprint())) != car_fingerprint) {
     video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPRINT: %2")
-                                    .arg(can->routeName())
+                                    .arg(QString::fromStdString(can->routeName()))
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
-    if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
-      QTimer::singleShot(0, this, [this]() { loadDBCFromOpendbc(fingerprint_to_dbc[car_fingerprint].toString() + ".dbc"); });
+    auto it = fingerprint_to_dbc.find(car_fingerprint.toStdString());
+    if (!dbc()->nonEmptyDBCCount() && it != fingerprint_to_dbc.end()) {
+      QTimer::singleShot(0, this, [this, dbc_name = QString::fromStdString(it->second)]() {
+        loadDBCFromOpendbc(dbc_name + ".dbc");
+      });
     }
   }
 }
@@ -414,7 +441,7 @@ void MainWindow::closeFile(DBCFile *dbc_file) {
 
 void MainWindow::saveFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-  if (!dbc_file->filename.isEmpty()) {
+  if (!dbc_file->filename.empty()) {
     dbc_file->save();
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved"), 2000);
@@ -424,10 +451,10 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
 }
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
-  QString title = tr("Save File (bus: %1)").arg(toString(dbc()->sources(dbc_file)));
-  QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
+  QString title = tr("Save File (bus: %1)").arg(QString::fromStdString(toString(dbc()->sources(dbc_file))));
+  QString fn = QFileDialog::getSaveFileName(this, title, QString::fromStdString((std::filesystem::path(settings.last_dir) / "untitled.dbc").string()), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
-    dbc_file->saveAs(fn);
+    dbc_file->saveAs(fn.toStdString());
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
@@ -444,8 +471,11 @@ void MainWindow::saveToClipboard() {
 
 void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-  QGuiApplication::clipboard()->setText(dbc_file->generateDBC());
-  QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
+  if (utils::setClipboardText(dbc_file->generateDBC())) {
+    QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
+  } else {
+    QMessageBox::warning(this, tr("Copy To Clipboard"), tr("Failed to copy DBC to clipboard. Install xclip (X11) or wl-clipboard (Wayland)."));
+  }
 }
 
 void MainWindow::updateLoadSaveMenus() {
@@ -465,26 +495,27 @@ void MainWindow::updateLoadSaveMenus() {
     auto dbc_file = dbc()->findDBCFile(source);
     if (dbc_file) {
       bus_menu->addSeparator();
-      bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
+      bus_menu->addAction(QString::fromStdString(dbc_file->name()) + " (" + QString::fromStdString(toString(dbc()->sources(dbc_file))) + ")")->setEnabled(false);
       bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
       bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(dbc_file); });
       bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
       bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
       bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
     }
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded"));
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? QString::fromStdString(dbc_file->name()) : "No DBCs loaded"));
 
     manage_dbcs_menu->addMenu(bus_menu);
   }
 }
 
 void MainWindow::updateRecentFiles(const QString &fn) {
-  settings.recent_files.removeAll(fn);
-  settings.recent_files.prepend(fn);
+  const std::string filename = fn.toStdString();
+  settings.recent_files.erase(std::remove(settings.recent_files.begin(), settings.recent_files.end(), filename), settings.recent_files.end());
+  settings.recent_files.insert(settings.recent_files.begin(), filename);
   while (settings.recent_files.size() > MAX_RECENT_FILES) {
-    settings.recent_files.removeLast();
+    settings.recent_files.pop_back();
   }
-  settings.last_dir = QFileInfo(fn).absolutePath();
+  settings.last_dir = std::filesystem::absolute(fn.toStdString()).parent_path().string();
 }
 
 void MainWindow::updateRecentFileMenu() {
@@ -497,8 +528,8 @@ void MainWindow::updateRecentFileMenu() {
   }
 
   for (int i = 0; i < num_recent_files; ++i) {
-    QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
-    open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(file); });
+    QString text = tr("&%1 %2").arg(i + 1).arg(QString::fromStdString(std::filesystem::path(settings.recent_files[i]).filename().string()));
+    open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(QString::fromStdString(file)); });
   }
 }
 
@@ -558,22 +589,23 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   remindSaveChanges();
 
   installDownloadProgressHandler(nullptr);
-  qInstallMessageHandler(nullptr);
+  installMessageHandler(nullptr);
 
   if (floating_window)
     floating_window->deleteLater();
 
   // save states
-  settings.geometry = saveGeometry();
-  settings.window_state = saveState();
+  settings.geometry = utils::toBytes(saveGeometry());
+  settings.window_state = utils::toBytes(saveState());
   if (can && !can->liveStreaming()) {
-    settings.video_splitter_state = video_splitter->saveState();
+    settings.video_splitter_state = utils::toBytes(video_splitter->saveState());
   }
   if (messages_widget) {
     settings.message_header_state = messages_widget->saveHeaderState();
   }
 
   saveSessionState();
+  settings.save();
   QWidget::closeEvent(event);
 }
 
@@ -629,26 +661,35 @@ void MainWindow::saveSessionState() {
 
   if (auto *detail = center_widget->getDetailWidget()) {
     auto [active_id, ids] = detail->serializeMessageIds();
-    settings.active_msg_id = active_id;
-    settings.selected_msg_ids = ids;
+    settings.active_msg_id = active_id.toStdString();
+    settings.selected_msg_ids.clear();
+    for (const auto &id : ids) settings.selected_msg_ids.push_back(id.toStdString());
+  }
+  if (charts_widget) {
+    settings.active_charts.clear();
+    for (const auto &id : charts_widget->serializeChartIds()) settings.active_charts.push_back(id.toStdString());
   }
-  if (charts_widget)
-    settings.active_charts = charts_widget->serializeChartIds();
 }
 
 void MainWindow::restoreSessionState() {
-  if (settings.recent_dbc_file.isEmpty() || dbc()->nonEmptyDBCCount() == 0) return;
+  if (settings.recent_dbc_file.empty() || dbc()->nonEmptyDBCCount() == 0) return;
 
   QString dbc_file;
   for (auto& f : dbc()->allDBCFiles())
-    if (!f->isEmpty()) { dbc_file = f->filename; break; }
-  if (dbc_file != settings.recent_dbc_file) return;
+    if (!f->isEmpty()) { dbc_file = QString::fromStdString(f->filename); break; }
+  if (dbc_file.toStdString() != settings.recent_dbc_file) return;
 
-  if (!settings.selected_msg_ids.isEmpty())
-    center_widget->ensureDetailWidget()->restoreTabs(settings.active_msg_id, settings.selected_msg_ids);
+  if (!settings.selected_msg_ids.empty()) {
+    QStringList ids;
+    for (const auto &id : settings.selected_msg_ids) ids.push_back(QString::fromStdString(id));
+    center_widget->ensureDetailWidget()->restoreTabs(QString::fromStdString(settings.active_msg_id), ids);
+  }
 
-  if (charts_widget != nullptr && !settings.active_charts.empty())
-    charts_widget->restoreChartsFromIds(settings.active_charts);
+  if (charts_widget != nullptr && !settings.active_charts.empty()) {
+    QStringList ids;
+    for (const auto &id : settings.active_charts) ids.push_back(QString::fromStdString(id));
+    charts_widget->restoreChartsFromIds(ids);
+  }
 }
 
 // HelpOverlay
diff --git a/tools/cabana/mainwin.h b/openpilot/tools/cabana/mainwin.h
similarity index 92%
rename from tools/cabana/mainwin.h
rename to openpilot/tools/cabana/mainwin.h
index 92c2714ae7..279ea3b969 100644
--- a/tools/cabana/mainwin.h
+++ b/openpilot/tools/cabana/mainwin.h
@@ -1,13 +1,16 @@
 #pragma once
 
 #include <QDockWidget>
-#include <QJsonDocument>
 #include <QMainWindow>
 #include <QMenu>
 #include <QProgressBar>
 #include <QSplitter>
 #include <QStatusBar>
+#include <cstdint>
 #include <set>
+#include <string>
+#include <unordered_map>
+#include <vector>
 
 #include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/dbc/dbcmanager.h"
@@ -67,6 +70,7 @@ protected:
   void findSimilarBits();
   void findSignal();
   void undoStackCleanChanged(bool clean);
+  void updateUndoRedoActions();
   void onlineHelp();
   void toggleFullScreen();
   void updateStatus();
@@ -85,7 +89,7 @@ protected:
   QVBoxLayout *charts_layout;
   QProgressBar *progress_bar;
   QLabel *status_label;
-  QJsonDocument fingerprint_to_dbc;
+  std::unordered_map<std::string, std::string> fingerprint_to_dbc;
   QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
   QMenu *open_recent_menu = nullptr;
@@ -96,8 +100,10 @@ protected:
   QAction *save_dbc = nullptr;
   QAction *save_dbc_as = nullptr;
   QAction *copy_dbc_to_clipboard = nullptr;
+  QAction *undo_act = nullptr;
+  QAction *redo_act = nullptr;
   QString car_fingerprint;
-  QByteArray default_state;
+  std::vector<uint8_t> default_state;
 };
 
 class HelpOverlay : public QWidget {
diff --git a/tools/cabana/messageswidget.cc b/openpilot/tools/cabana/messageswidget.cc
similarity index 87%
rename from tools/cabana/messageswidget.cc
rename to openpilot/tools/cabana/messageswidget.cc
index ed9aeaf311..b07e3ea0bf 100644
--- a/tools/cabana/messageswidget.cc
+++ b/openpilot/tools/cabana/messageswidget.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/messageswidget.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <limits>
 #include <utility>
@@ -43,8 +44,8 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
   QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent);
   QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::dbcModified);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &MessageListModel::dbcModified);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, model, &MessageListModel::dbcModified);
+  QObject::connect(undoNotifier(), &QtUndoNotifier::indexChanged, model, &MessageListModel::dbcModified);
   QObject::connect(model, &MessageListModel::modelReset, [this]() {
     if (current_msg_id) {
       selectMessage(*current_msg_id);
@@ -64,7 +65,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget
 
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Byte color</span><br />
     <span style="color:gray;">■ </span> constant changing<br />
     <span style="color:blue;">■ </span> increasing<br />
@@ -146,7 +147,7 @@ void MessagesWidget::menuAboutToShow() {
   action->setCheckable(true);
   action->setChecked(settings.multiple_lines_hex);
 
-  action = menu->addAction(tr("Show inactive Messages"), model, &MessageListModel::showInactivemessages);
+  action = menu->addAction(tr("Show inactive messages"), model, &MessageListModel::showInactiveMessages);
   action->setCheckable(true);
   action->setChecked(model->show_inactive_messages);
 }
@@ -205,18 +206,18 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
     auto msg = dbc()->msg(item.id);
     auto tooltip = item.name;
-    if (msg && !msg->comment.isEmpty()) tooltip += "<br /><span style=\"color:gray;\">" + msg->comment + "</span>";
+    if (msg && !msg->comment.empty()) tooltip += "<br /><span style=\"color:gray;\">" + QString::fromStdString(msg->comment) + "</span>";
     return tooltip;
   }
   return {};
 }
 
-void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
+void MessageListModel::setFilterStrings(const std::map<int, QString> &filters) {
   filters_ = filters;
   filterAndSort();
 }
 
-void MessageListModel::showInactivemessages(bool show) {
+void MessageListModel::showInactiveMessages(bool show) {
   show_inactive_messages = show;
   filterAndSort();
 }
@@ -264,20 +265,20 @@ static bool parseRange(const QString &filter, uint32_t value, int base = 10) {
 }
 
 bool MessageListModel::match(const MessageListModel::Item &item) {
-  if (filters_.isEmpty())
+  if (filters_.empty())
     return true;
 
   bool match = true;
   const auto &data = can->lastMessage(item.id);
   for (auto it = filters_.cbegin(); it != filters_.cend() && match; ++it) {
-    const QString &txt = it.value();
-    switch (it.key()) {
+    const QString &txt = it->second;
+    switch (it->first) {
       case Column::NAME: {
         match = item.name.contains(txt, Qt::CaseInsensitive);
         if (!match) {
           const auto m = dbc()->msg(item.id);
           match = m && std::any_of(m->sigs.cbegin(), m->sigs.cend(),
-                                   [&txt](const auto &s) { return s->name.contains(txt, Qt::CaseInsensitive); });
+                                   [&txt](const auto &s) { return QString::fromStdString(s->name).contains(txt, Qt::CaseInsensitive); });
         }
         break;
       }
@@ -323,8 +324,8 @@ bool MessageListModel::filterAndSort() {
     if (show_inactive_messages || can->isMessageActive(id)) {
       auto msg = dbc()->msg(id);
       Item item = {.id = id,
-                  .name = msg ? msg->name : UNTITLED,
-                  .node = msg ? msg->transmitter : QString()};
+                  .name = msg ? QString::fromStdString(msg->name) : QString::fromStdString(UNTITLED),
+                  .node = msg ? QString::fromStdString(msg->transmitter) : QString()};
       if (match(item))
         items.emplace_back(item);
     }
@@ -387,10 +388,13 @@ void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option,
   painter->setPen(oldPen);
 }
 
-void MessageView::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles) {
+void MessageView::setModel(QAbstractItemModel *model) {
+  QTreeView::setModel(model);
   // Bypass the slow call to QTreeView::dataChanged.
   // QTreeView::dataChanged will invalidate the height cache and that's what we don't need in MessageView.
-  QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
+  QObject::disconnect(model, &QAbstractItemModel::dataChanged, this, nullptr);
+  QObject::connect(model, &QAbstractItemModel::dataChanged, this,
+                   [this](const QModelIndex &tl, const QModelIndex &br, const auto &roles) { QAbstractItemView::dataChanged(tl, br, roles); });
 }
 
 void MessageView::updateBytesSectionSize() {
@@ -421,9 +425,9 @@ MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizont
 }
 
 void MessageViewHeader::updateFilters() {
-  QMap<int, QString> filters;
-  for (int i = 0; i < count(); i++) {
-    if (editors[i] && !editors[i]->text().isEmpty()) {
+  std::map<int, QString> filters;
+  for (int i = 0; i < (int)editors.size(); i++) {
+    if (!editors[i]->text().isEmpty()) {
       filters[i] = editors[i]->text();
     }
   }
@@ -432,27 +436,24 @@ void MessageViewHeader::updateFilters() {
 
 void MessageViewHeader::updateHeaderPositions() {
   QSize sz = QHeaderView::sizeHint();
-  for (int i = 0; i < count(); i++) {
-    if (editors[i]) {
-      int h = editors[i]->sizeHint().height();
-      editors[i]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h);
-      editors[i]->setHidden(isSectionHidden(i));
-    }
+  for (int i = 0; i < (int)editors.size(); i++) {
+    int h = editors[i]->sizeHint().height();
+    editors[i]->setGeometry(sectionViewportPosition(i), sz.height(), sectionSize(i), h);
+    editors[i]->setHidden(isSectionHidden(i));
   }
 }
 
 void MessageViewHeader::updateGeometries() {
-  for (int i = 0; i < count(); i++) {
-    if (!editors[i]) {
-      QString column_name = model()->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString();
-      editors[i] = new QLineEdit(this);
-      editors[i]->setClearButtonEnabled(true);
-      editors[i]->setPlaceholderText(tr("Filter %1").arg(column_name));
+  for (int i = (int)editors.size(); i < count(); i++) {
+    QString column_name = model()->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString();
+    auto edit = new QLineEdit(this);
+    edit->setClearButtonEnabled(true);
+    edit->setPlaceholderText(tr("Filter %1").arg(column_name));
 
-      QObject::connect(editors[i], &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters);
-    }
+    QObject::connect(edit, &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters);
+    editors.push_back(edit);
   }
-  setViewportMargins(0, 0, 0, editors[0] ? editors[0]->sizeHint().height() : 0);
+  setViewportMargins(0, 0, 0, !editors.empty() ? editors[0]->sizeHint().height() : 0);
 
   QHeaderView::updateGeometries();
   updateHeaderPositions();
@@ -460,5 +461,5 @@ void MessageViewHeader::updateGeometries() {
 
 QSize MessageViewHeader::sizeHint() const {
   QSize sz = QHeaderView::sizeHint();
-  return editors[0] ? QSize(sz.width(), sz.height() + editors[0]->height() + 1) : sz;
+  return !editors.empty() ? QSize(sz.width(), sz.height() + editors[0]->height() + 1) : sz;
 }
diff --git a/tools/cabana/messageswidget.h b/openpilot/tools/cabana/messageswidget.h
similarity index 84%
rename from tools/cabana/messageswidget.h
rename to openpilot/tools/cabana/messageswidget.h
index 0fc09519a3..0a9cd256d8 100644
--- a/tools/cabana/messageswidget.h
+++ b/openpilot/tools/cabana/messageswidget.h
@@ -1,6 +1,8 @@
 #pragma once
 
 #include <algorithm>
+#include <cstdint>
+#include <map>
 #include <optional>
 #include <set>
 #include <vector>
@@ -35,8 +37,8 @@ public:
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return items_.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
-  void setFilterStrings(const QMap<int, QString> &filters);
-  void showInactivemessages(bool show);
+  void setFilterStrings(const std::map<int, QString> &filters);
+  void showInactiveMessages(bool show);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   bool filterAndSort();
   void dbcModified();
@@ -56,7 +58,7 @@ private:
   void sortItems(std::vector<MessageListModel::Item> &items);
   bool match(const MessageListModel::Item &id);
 
-  QMap<int, QString> filters_;
+  std::map<int, QString> filters_;
   std::set<MessageId> dbc_messages_;
   int sort_column = 0;
   Qt::SortOrder sort_order = Qt::AscendingOrder;
@@ -68,11 +70,11 @@ class MessageView : public QTreeView {
 public:
   MessageView(QWidget *parent) : QTreeView(parent) {}
   void updateBytesSectionSize();
+  void setModel(QAbstractItemModel *model) override;
 
 protected:
   void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {}
-  void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override;
   void wheelEvent(QWheelEvent *event) override;
 };
 
@@ -86,7 +88,7 @@ public:
   QSize sizeHint() const override;
   void updateFilters();
 
-  QMap<int, QLineEdit *> editors;
+  std::vector<QLineEdit *> editors;
 };
 
 class MessagesWidget : public QWidget {
@@ -95,8 +97,13 @@ class MessagesWidget : public QWidget {
 public:
   MessagesWidget(QWidget *parent);
   void selectMessage(const MessageId &message_id);
-  QByteArray saveHeaderState() const { return view->header()->saveState(); }
-  bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
+  std::vector<uint8_t> saveHeaderState() const {
+    const auto state = view->header()->saveState();
+    return {state.begin(), state.end()};
+  }
+  bool restoreHeaderState(const std::vector<uint8_t> &state) const {
+    return view->header()->restoreState({(const char *)state.data(), (int)state.size()});
+  }
   void suppressHighlighted();
 
 signals:
diff --git a/tools/cabana/panda.cc b/openpilot/tools/cabana/panda.cc
similarity index 98%
rename from tools/cabana/panda.cc
rename to openpilot/tools/cabana/panda.cc
index 0612d67746..33117812d3 100644
--- a/tools/cabana/panda.cc
+++ b/openpilot/tools/cabana/panda.cc
@@ -6,7 +6,7 @@
 #include <vector>
 #include <memory>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
@@ -106,8 +106,8 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
 
 
 
-void Panda::send_heartbeat(bool engaged) {
-  control_write(0xf3, engaged, 0);
+void Panda::send_heartbeat(bool engaged, bool engaged_mads) {
+  control_write(0xf3, engaged, engaged_mads);
 }
 
 void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
diff --git a/tools/cabana/panda.h b/openpilot/tools/cabana/panda.h
similarity index 94%
rename from tools/cabana/panda.h
rename to openpilot/tools/cabana/panda.h
index d318c33f4d..216a6b72d7 100644
--- a/tools/cabana/panda.h
+++ b/openpilot/tools/cabana/panda.h
@@ -13,8 +13,8 @@
 #include <mutex>
 #include <libusb-1.0/libusb.h>
 
-#include "cereal/gen/cpp/car.capnp.h"
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/car.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
 #include "panda/board/can.h"
 
@@ -64,7 +64,7 @@ public:
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
   void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
-  void send_heartbeat(bool engaged);
+  void send_heartbeat(bool engaged, bool engaged_mads = false);
   void set_can_speed_kbps(uint16_t bus, uint16_t speed);
   void set_data_speed_kbps(uint16_t bus, uint16_t speed);
   bool can_receive(std::vector<can_frame>& out_vec);
diff --git a/openpilot/tools/cabana/settings.cc b/openpilot/tools/cabana/settings.cc
new file mode 100644
index 0000000000..0c8136b84c
--- /dev/null
+++ b/openpilot/tools/cabana/settings.cc
@@ -0,0 +1,618 @@
+#include "tools/cabana/settings.h"
+
+#include <algorithm>
+#include <cerrno>
+#include <cctype>
+#include <charconv>
+#include <cstdint>
+#include <cstdio>
+#include <cstring>
+#include <filesystem>
+#include <fstream>
+#include <iterator>
+#include <map>
+#include <string_view>
+#include <system_error>
+#include <utility>
+#include <vector>
+
+#include <fcntl.h>
+#include <sys/file.h>
+#include <unistd.h>
+
+#ifdef __APPLE__
+#include <CoreFoundation/CoreFoundation.h>
+#endif
+
+#include <QAbstractButton>
+#include <QDialogButtonBox>
+#include <QFileDialog>
+#include <QFormLayout>
+#include <QPushButton>
+#include <type_traits>
+
+#include "json11/json11.hpp"
+#include "tools/cabana/utils/util.h"
+
+const int MIN_CACHE_MINIUTES = 30;
+const int MAX_CACHE_MINIUTES = 120;
+
+Settings settings;
+
+namespace {
+
+std::filesystem::path settingsFile() {
+  return utils::configPath() / "cabana.json";
+}
+
+struct LoadedSettings {
+  json11::Json::object values;
+  bool exists = false;
+  bool valid = true;
+};
+
+class FileLock {
+public:
+  explicit FileLock(const std::filesystem::path &path) {
+    fd = open(path.c_str(), O_CREAT | O_CLOEXEC, 0600);
+    if (fd < 0 || flock(fd, LOCK_EX) < 0) {
+      fprintf(stderr, "failed to lock Cabana settings %s: %s\n", path.c_str(), strerror(errno));
+      if (fd >= 0) close(fd);
+      fd = -1;
+    }
+  }
+  ~FileLock() {
+    if (fd >= 0) close(fd);
+  }
+  bool isLocked() const { return fd >= 0; }
+
+private:
+  int fd = -1;
+};
+
+LoadedSettings loadSettings() {
+  std::ifstream input(settingsFile());
+  if (!input) return {};
+
+  const std::string contents{std::istreambuf_iterator<char>(input), std::istreambuf_iterator<char>()};
+  std::string error;
+  auto settings_json = json11::Json::parse(contents, error);
+  if (!error.empty() || !settings_json.is_object()) {
+    fprintf(stderr, "failed to read Cabana settings %s%s%s\n", settingsFile().c_str(), error.empty() ? "" : ": ", error.c_str());
+    return {.exists = true, .valid = false};
+  }
+  return {.values = settings_json.object_items(), .exists = true};
+}
+
+bool ensureSettingsDirectory() {
+  const auto path = settingsFile();
+  std::error_code error;
+  std::filesystem::create_directories(path.parent_path(), error);
+  if (error) {
+    fprintf(stderr, "failed to create Cabana settings directory %s: %s\n", path.parent_path().c_str(), error.message().c_str());
+    return false;
+  }
+  return true;
+}
+
+bool writeAll(int fd, const std::string &data) {
+  size_t written = 0;
+  while (written < data.size()) {
+    ssize_t result = write(fd, data.data() + written, data.size() - written);
+    if (result < 0 && errno == EINTR) continue;
+    if (result <= 0) return false;
+    written += result;
+  }
+  return true;
+}
+
+bool saveSettings(const json11::Json::object &settings_json) {
+  const auto path = settingsFile();
+  const std::string contents = json11::Json(settings_json).dump();
+  std::string temporary_path = path.string() + ".tmp.XXXXXX";
+  int fd = mkstemp(temporary_path.data());
+  if (fd < 0) {
+    fprintf(stderr, "failed to create temporary Cabana settings %s: %s\n", temporary_path.c_str(), strerror(errno));
+    return false;
+  }
+
+  bool success = writeAll(fd, contents) && fsync(fd) == 0;
+  if (close(fd) < 0) success = false;
+  if (success && rename(temporary_path.c_str(), path.c_str()) < 0) success = false;
+
+  if (success) {
+    int dir_fd = open(path.parent_path().c_str(), O_RDONLY | O_CLOEXEC);
+    success = dir_fd >= 0 && fsync(dir_fd) == 0;
+    if (dir_fd >= 0 && close(dir_fd) < 0) success = false;
+  }
+
+  if (!success) {
+    const int saved_errno = errno;
+    unlink(temporary_path.c_str());
+    fprintf(stderr, "failed to save Cabana settings to %s: %s\n", path.c_str(), strerror(saved_errno));
+  }
+  return success;
+}
+
+bool preserveCorruptSettings() {
+  const auto path = settingsFile();
+  auto backup = path;
+  backup += ".corrupt";
+  for (int i = 1; std::filesystem::exists(backup); ++i) {
+    backup = path;
+    backup += ".corrupt." + std::to_string(i);
+  }
+  if (rename(path.c_str(), backup.c_str()) < 0) {
+    fprintf(stderr, "failed to preserve corrupt Cabana settings %s: %s\n", path.c_str(), strerror(errno));
+    return false;
+  }
+  fprintf(stderr, "preserved corrupt Cabana settings at %s\n", backup.c_str());
+  return true;
+}
+
+// TODO: Remove the legacy QSettings migration after users have had time to migrate to cabana.json.
+struct LegacyValue {
+  std::vector<std::string> strings;
+  std::string bytes;
+  bool is_byte_array = false;
+};
+
+using LegacySettings = std::map<std::string, LegacyValue>;
+
+int hexDigit(char c) {
+  if (c >= '0' && c <= '9') return c - '0';
+  if (c >= 'a' && c <= 'f') return c - 'a' + 10;
+  if (c >= 'A' && c <= 'F') return c - 'A' + 10;
+  return -1;
+}
+
+#ifndef __APPLE__
+
+void appendUtf8(std::string &result, uint32_t codepoint) {
+  if (codepoint <= 0x7f) {
+    result.push_back(codepoint);
+  } else if (codepoint <= 0x7ff) {
+    result.push_back(0xc0 | (codepoint >> 6));
+    result.push_back(0x80 | (codepoint & 0x3f));
+  } else if (codepoint <= 0xffff) {
+    result.push_back(0xe0 | (codepoint >> 12));
+    result.push_back(0x80 | ((codepoint >> 6) & 0x3f));
+    result.push_back(0x80 | (codepoint & 0x3f));
+  } else {
+    result.push_back(0xf0 | (codepoint >> 18));
+    result.push_back(0x80 | ((codepoint >> 12) & 0x3f));
+    result.push_back(0x80 | ((codepoint >> 6) & 0x3f));
+    result.push_back(0x80 | (codepoint & 0x3f));
+  }
+}
+
+LegacyValue decodeIniValue(std::string_view encoded) {
+  std::vector<std::vector<uint32_t>> decoded(1);
+  std::vector<bool> quoted(1, false);
+  bool in_quotes = false;
+
+  for (size_t i = 0; i < encoded.size();) {
+    char c = encoded[i++];
+    if (c == '"') {
+      in_quotes = !in_quotes;
+      quoted.back() = true;
+    } else if (c == ',' && !in_quotes) {
+      decoded.emplace_back();
+      quoted.push_back(false);
+      while (i < encoded.size() && (encoded[i] == ' ' || encoded[i] == '\t')) ++i;
+    } else if (c == '\\' && i < encoded.size()) {
+      c = encoded[i++];
+      static const std::map<char, char> escapes = {
+        {'a', '\a'}, {'b', '\b'}, {'f', '\f'}, {'n', '\n'}, {'r', '\r'}, {'t', '\t'},
+        {'v', '\v'}, {'"', '"'}, {'?', '?'}, {'\'', '\''}, {'\\', '\\'},
+      };
+      if (auto it = escapes.find(c); it != escapes.end()) {
+        decoded.back().push_back(static_cast<unsigned char>(it->second));
+      } else if (c == 'x' && i < encoded.size() && hexDigit(encoded[i]) >= 0) {
+        uint32_t value = 0;
+        while (i < encoded.size() && hexDigit(encoded[i]) >= 0) value = (value << 4) + hexDigit(encoded[i++]);
+        decoded.back().push_back(value & 0xffff);
+      } else if (c >= '0' && c <= '7') {
+        uint32_t value = c - '0';
+        while (i < encoded.size() && encoded[i] >= '0' && encoded[i] <= '7') value = (value << 3) + (encoded[i++] - '0');
+        decoded.back().push_back(value & 0xffff);
+      }
+    } else {
+      decoded.back().push_back(static_cast<unsigned char>(c));
+    }
+  }
+
+  LegacyValue result;
+  for (size_t i = 0; i < decoded.size(); ++i) {
+    auto &value = decoded[i];
+    if (!quoted[i]) {
+      while (!value.empty() && (value.front() == ' ' || value.front() == '\t')) value.erase(value.begin());
+      while (!value.empty() && (value.back() == ' ' || value.back() == '\t')) value.pop_back();
+    }
+
+    std::string string_value;
+    for (size_t j = 0; j < value.size(); ++j) {
+      uint32_t codepoint = value[j];
+      if (codepoint >= 0xd800 && codepoint <= 0xdbff && j + 1 < value.size() && value[j + 1] >= 0xdc00 && value[j + 1] <= 0xdfff) {
+        codepoint = 0x10000 + ((codepoint - 0xd800) << 10) + (value[++j] - 0xdc00);
+      }
+      appendUtf8(string_value, codepoint);
+    }
+    result.strings.push_back(std::move(string_value));
+  }
+
+  if (result.strings.size() == 1 && result.strings[0] == "@Invalid()") {
+    result.strings.clear();
+  } else if (decoded.size() == 1) {
+    static constexpr std::string_view prefix = "@ByteArray(";
+    const auto &value = decoded[0];
+    if (value.size() >= prefix.size() + 1 && std::equal(prefix.begin(), prefix.end(), value.begin()) && value.back() == ')') {
+      result.is_byte_array = true;
+      result.bytes.reserve(value.size() - prefix.size() - 1);
+      for (size_t i = prefix.size(); i + 1 < value.size(); ++i) result.bytes.push_back(value[i] & 0xff);
+    }
+  }
+  if (!result.is_byte_array) {
+    for (auto &value : result.strings) {
+      if (value.compare(0, 2, "@@") == 0) value.erase(0, 1);
+    }
+  }
+  return result;
+}
+
+LegacySettings loadLegacySettings() {
+  auto path = settingsFile();
+  path.replace_filename("cabana.conf");
+  std::ifstream input(path);
+  if (!input) return {};
+
+  LegacySettings settings;
+  bool in_general_section = false;
+  std::string line;
+  while (std::getline(input, line)) {
+    if (!line.empty() && line.back() == '\r') line.pop_back();
+    if (line == "[General]") {
+      in_general_section = true;
+      continue;
+    }
+    if (!line.empty() && line.front() == '[') {
+      in_general_section = false;
+      continue;
+    }
+    if (!in_general_section || line.empty() || line.front() == ';') continue;
+    if (auto separator = line.find('='); separator != std::string::npos) {
+      settings[line.substr(0, separator)] = decodeIniValue(std::string_view(line).substr(separator + 1));
+    }
+  }
+  return settings;
+}
+
+#else
+
+std::string cfStringToUtf8(CFStringRef value) {
+  CFIndex length = CFStringGetLength(value);
+  CFIndex size = CFStringGetMaximumSizeForEncoding(length, kCFStringEncodingUTF8) + 1;
+  std::string result(size, '\0');
+  if (!CFStringGetCString(value, result.data(), size, kCFStringEncodingUTF8)) return {};
+  result.resize(strlen(result.c_str()));
+  return result;
+}
+
+LegacyValue cfStringValue(CFStringRef string) {
+  LegacyValue value;
+  if (CFStringHasPrefix(string, CFSTR("@ByteArray(")) && CFStringHasSuffix(string, CFSTR(")"))) {
+    CFRange range{11, CFStringGetLength(string) - 12};
+    std::vector<UniChar> data(range.length);
+    CFStringGetCharacters(string, range, data.data());
+    value.is_byte_array = true;
+    value.bytes.reserve(data.size());
+    for (UniChar c : data) value.bytes.push_back(c & 0xff);
+  } else {
+    std::string string_value = cfStringToUtf8(string);
+    if (string_value.compare(0, 2, "@@") == 0) string_value.erase(0, 1);
+    value.strings.push_back(std::move(string_value));
+  }
+  return value;
+}
+
+LegacySettings loadLegacySettings() {
+  LegacySettings settings;
+  CFDictionaryRef values = CFPreferencesCopyMultiple(nullptr, CFSTR("com.cabana"),
+                                                       kCFPreferencesCurrentUser, kCFPreferencesAnyHost);
+  if (values == nullptr) return settings;
+
+  CFIndex count = CFDictionaryGetCount(values);
+  std::vector<const void *> keys(count);
+  std::vector<const void *> objects(count);
+  CFDictionaryGetKeysAndValues(values, keys.data(), objects.data());
+  for (CFIndex i = 0; i < count; ++i) {
+    if (CFGetTypeID(keys[i]) != CFStringGetTypeID()) continue;
+    std::string key = cfStringToUtf8(static_cast<CFStringRef>(keys[i]));
+    CFTypeRef object = objects[i];
+    LegacyValue value;
+    if (CFGetTypeID(object) == CFBooleanGetTypeID()) {
+      value.strings.push_back(CFBooleanGetValue(static_cast<CFBooleanRef>(object)) ? "true" : "false");
+    } else if (CFGetTypeID(object) == CFNumberGetTypeID()) {
+      int number = 0;
+      if (CFNumberGetValue(static_cast<CFNumberRef>(object), kCFNumberIntType, &number)) value.strings.push_back(std::to_string(number));
+    } else if (CFGetTypeID(object) == CFStringGetTypeID()) {
+      value = cfStringValue(static_cast<CFStringRef>(object));
+    } else if (CFGetTypeID(object) == CFDataGetTypeID()) {
+      auto data = static_cast<CFDataRef>(object);
+      value.is_byte_array = true;
+      value.bytes.assign(reinterpret_cast<const char *>(CFDataGetBytePtr(data)), CFDataGetLength(data));
+    } else if (CFGetTypeID(object) == CFArrayGetTypeID()) {
+      auto array = static_cast<CFArrayRef>(object);
+      for (CFIndex j = 0; j < CFArrayGetCount(array); ++j) {
+        CFTypeRef item = CFArrayGetValueAtIndex(array, j);
+        if (CFGetTypeID(item) != CFStringGetTypeID()) {
+          value.strings.clear();
+          break;
+        }
+        auto item_value = cfStringValue(static_cast<CFStringRef>(item));
+        if (item_value.strings.size() != 1) {
+          value.strings.clear();
+          break;
+        }
+        value.strings.push_back(std::move(item_value.strings[0]));
+      }
+    }
+    if (!value.strings.empty() || value.is_byte_array || CFGetTypeID(object) == CFArrayGetTypeID()) {
+      settings.emplace(std::move(key), std::move(value));
+    }
+  }
+  CFRelease(values);
+  return settings;
+}
+
+#endif
+
+template <typename T>
+void readLegacySetting(const LegacySettings &legacy_settings, const char *key, T &value) {
+  auto it = legacy_settings.find(key);
+  if (it == legacy_settings.end() || it->second.strings.size() != 1) return;
+  const auto &stored = it->second.strings[0];
+
+  if constexpr (std::is_same_v<T, bool>) {
+    if (stored == "true") value = true;
+    if (stored == "false") value = false;
+  } else if constexpr (std::is_integral_v<T> || std::is_enum_v<T>) {
+    int number = 0;
+    auto [end, error] = std::from_chars(stored.data(), stored.data() + stored.size(), number);
+    if (error == std::errc{} && end == stored.data() + stored.size()) value = static_cast<T>(number);
+  }
+}
+
+void readLegacySetting(const LegacySettings &legacy_settings, const char *key, std::string &value) {
+  auto it = legacy_settings.find(key);
+  if (it != legacy_settings.end() && it->second.strings.size() == 1) value = it->second.strings[0];
+}
+
+void readLegacySetting(const LegacySettings &legacy_settings, const char *key, std::vector<std::string> &value) {
+  auto it = legacy_settings.find(key);
+  if (it != legacy_settings.end() && !it->second.is_byte_array) value = it->second.strings;
+}
+
+void readLegacySetting(const LegacySettings &legacy_settings, const char *key, std::vector<uint8_t> &value) {
+  auto it = legacy_settings.find(key);
+  if (it != legacy_settings.end() && it->second.is_byte_array) {
+    value.assign(it->second.bytes.begin(), it->second.bytes.end());
+  }
+}
+
+template <typename T>
+void readSetting(const json11::Json::object &settings_json, const char *key, T &value) {
+  auto it = settings_json.find(key);
+  if (it == settings_json.end()) return;
+
+  if constexpr (std::is_same_v<T, bool>) {
+    if (it->second.is_bool()) value = it->second.bool_value();
+  } else if constexpr (std::is_integral_v<T>) {
+    if (it->second.is_number()) value = it->second.int_value();
+  } else if constexpr (std::is_enum_v<T>) {
+    if (it->second.is_number()) value = static_cast<T>(it->second.int_value());
+  }
+}
+
+void readSetting(const json11::Json::object &settings_json, const char *key, std::string &value) {
+  auto it = settings_json.find(key);
+  if (it != settings_json.end() && it->second.is_string()) value = it->second.string_value();
+}
+
+void readSetting(const json11::Json::object &settings_json, const char *key, std::vector<std::string> &value) {
+  auto it = settings_json.find(key);
+  if (it == settings_json.end() || !it->second.is_array()) return;
+
+  std::vector<std::string> stored;
+  for (const auto &item : it->second.array_items()) {
+    if (!item.is_string()) return;
+    stored.push_back(item.string_value());
+  }
+  value = std::move(stored);
+}
+
+void readSetting(const json11::Json::object &settings_json, const char *key, std::vector<uint8_t> &value) {
+  auto it = settings_json.find(key);
+  if (it == settings_json.end() || !it->second.is_string()) return;
+
+  const auto &hex = it->second.string_value();
+  if (hex.size() % 2 == 0 && std::all_of(hex.begin(), hex.end(), [](unsigned char c) { return std::isxdigit(c); })) {
+    value.clear();
+    value.reserve(hex.size() / 2);
+    for (size_t i = 0; i < hex.size(); i += 2) {
+      value.push_back((hexDigit(hex[i]) << 4) | hexDigit(hex[i + 1]));
+    }
+  }
+}
+
+template <typename T>
+void writeSetting(json11::Json::object &settings_json, const char *key, const T &value) {
+  if constexpr (std::is_same_v<T, bool>) {
+    settings_json[key] = value;
+  } else if constexpr (std::is_integral_v<T> || std::is_enum_v<T>) {
+    settings_json[key] = static_cast<int>(value);
+  }
+}
+
+void writeSetting(json11::Json::object &settings_json, const char *key, const std::string &value) {
+  settings_json[key] = value;
+}
+
+void writeSetting(json11::Json::object &settings_json, const char *key, const std::vector<std::string> &value) {
+  settings_json[key] = value;
+}
+
+void writeSetting(json11::Json::object &settings_json, const char *key, const std::vector<uint8_t> &value) {
+  static const char digits[] = "0123456789abcdef";
+  std::string hex;
+  hex.reserve(value.size() * 2);
+  for (uint8_t b : value) {
+    hex.push_back(digits[b >> 4]);
+    hex.push_back(digits[b & 0xf]);
+  }
+  settings_json[key] = hex;
+}
+
+template <class Store, class SettingOperation>
+void settingsOp(Store &s, SettingOperation op) {
+  op(s, "absolute_time", settings.absolute_time);
+  op(s, "fps", settings.fps);
+  op(s, "max_cached_minutes", settings.max_cached_minutes);
+  op(s, "chart_height", settings.chart_height);
+  op(s, "chart_range", settings.chart_range);
+  op(s, "chart_column_count", settings.chart_column_count);
+  op(s, "last_dir", settings.last_dir);
+  op(s, "last_route_dir", settings.last_route_dir);
+  op(s, "window_state", settings.window_state);
+  op(s, "geometry", settings.geometry);
+  op(s, "video_splitter_state", settings.video_splitter_state);
+  op(s, "recent_files", settings.recent_files);
+  op(s, "message_header_state", settings.message_header_state);
+  op(s, "chart_series_type", settings.chart_series_type);
+  op(s, "theme", settings.theme);
+  op(s, "sparkline_range", settings.sparkline_range);
+  op(s, "multiple_lines_hex", settings.multiple_lines_hex);
+  op(s, "log_livestream", settings.log_livestream);
+  op(s, "log_path", settings.log_path);
+  op(s, "drag_direction", (int &)settings.drag_direction);
+  op(s, "suppress_defined_signals", settings.suppress_defined_signals);
+  op(s, "recent_dbc_file", settings.recent_dbc_file);
+  op(s, "active_msg_id", settings.active_msg_id);
+  op(s, "selected_msg_ids", settings.selected_msg_ids);
+  op(s, "active_charts", settings.active_charts);
+}
+
+}  // namespace
+
+Settings::Settings() {
+  last_dir = last_route_dir = utils::homePath();
+  log_path = utils::homePath() + "/cabana_live_stream/";
+  const auto stored_settings = loadSettings();
+  if (stored_settings.valid) {
+    if (stored_settings.exists) {
+      settingsOp(stored_settings.values, [](const auto &s, const char *key, auto &value) { readSetting(s, key, value); });
+    } else {
+      auto legacy_settings = loadLegacySettings();
+      settingsOp(legacy_settings, [](const auto &s, const char *key, auto &value) { readLegacySetting(s, key, value); });
+    }
+  }
+  fps = std::clamp(fps, 1, 100);
+}
+
+// Must be called before main() returns: json11's internal statistics are constructed on first
+// use at runtime, so they are destroyed before this pre-main global. Saving from ~Settings
+// would use them after destruction and corrupt the heap.
+void Settings::save() {
+  if (!ensureSettingsDirectory()) return;
+
+  auto lock_path = settingsFile();
+  lock_path += ".lock";
+  FileLock lock(lock_path);
+  if (!lock.isLocked()) return;
+
+  auto stored_settings = loadSettings();
+  if (!stored_settings.valid && !preserveCorruptSettings()) return;
+  settingsOp(stored_settings.values, [](auto &s, const char *key, const auto &value) { writeSetting(s, key, value); });
+  saveSettings(stored_settings.values);
+}
+
+// SettingsDlg
+
+SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Settings"));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  QGroupBox *groupbox = new QGroupBox("General");
+  QFormLayout *form_layout = new QFormLayout(groupbox);
+
+  form_layout->addRow(tr("Color Theme"), theme = new QComboBox(this));
+  theme->setToolTip(tr("You may need to restart cabana after changes theme"));
+  theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")});
+  theme->setCurrentIndex(settings.theme);
+
+  form_layout->addRow("FPS", fps = new QSpinBox(this));
+  fps->setRange(10, 100);
+  fps->setSingleStep(10);
+  fps->setValue(settings.fps);
+
+  form_layout->addRow(tr("Max Cached Minutes"), cached_minutes = new QSpinBox(this));
+  cached_minutes->setRange(MIN_CACHE_MINIUTES, MAX_CACHE_MINIUTES);
+  cached_minutes->setSingleStep(1);
+  cached_minutes->setValue(settings.max_cached_minutes);
+  main_layout->addWidget(groupbox);
+
+  groupbox = new QGroupBox("New Signal Settings");
+  form_layout = new QFormLayout(groupbox);
+  form_layout->addRow(tr("Drag Direction"), drag_direction = new QComboBox(this));
+  drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")});
+  drag_direction->setCurrentIndex(settings.drag_direction);
+  main_layout->addWidget(groupbox);
+
+  groupbox = new QGroupBox("Chart");
+  form_layout = new QFormLayout(groupbox);
+  form_layout->addRow(tr("Chart Height"), chart_height = new QSpinBox(this));
+  chart_height->setRange(100, 500);
+  chart_height->setSingleStep(10);
+  chart_height->setValue(settings.chart_height);
+  main_layout->addWidget(groupbox);
+
+  log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
+  log_livestream->setCheckable(true);
+  log_livestream->setChecked(settings.log_livestream);
+  QHBoxLayout *path_layout = new QHBoxLayout(log_livestream);
+  path_layout->addWidget(log_path = new QLineEdit(QString::fromStdString(settings.log_path), this));
+  log_path->setReadOnly(true);
+  auto browse_btn = new QPushButton(tr("B&rowse..."));
+  path_layout->addWidget(browse_btn);
+  main_layout->addWidget(log_livestream);
+
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  main_layout->addWidget(buttonBox);
+  setFixedSize(400, sizeHint().height());
+
+  QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
+    QString fn = QFileDialog::getExistingDirectory(
+        this, tr("Log File Location"),
+        QString::fromStdString(utils::homePath()),
+        QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);
+    if (!fn.isEmpty()) {
+      log_path->setText(fn);
+    }
+  });
+  QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
+}
+
+void SettingsDlg::save() {
+  if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) {
+    // set theme before emit changed
+    utils::setTheme(settings.theme);
+  }
+  settings.fps = fps->value();
+  settings.max_cached_minutes = cached_minutes->value();
+  settings.chart_height = chart_height->value();
+  settings.log_livestream = log_livestream->isChecked();
+  settings.log_path = log_path->text().toStdString();
+  settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex();
+  emit settings.changed();
+  QDialog::accept();
+}
diff --git a/openpilot/tools/cabana/settings.h b/openpilot/tools/cabana/settings.h
new file mode 100644
index 0000000000..7357ecf4fc
--- /dev/null
+++ b/openpilot/tools/cabana/settings.h
@@ -0,0 +1,45 @@
+#pragma once
+
+#include <cstdint>
+#include <vector>
+
+#include <QComboBox>
+#include <QDialog>
+#include <QGroupBox>
+#include <QLineEdit>
+#include <QSpinBox>
+
+#include "tools/cabana/core/settings.h"
+
+class Settings : public QObject, public CabanaSettingsState {
+  Q_OBJECT
+
+public:
+  Settings();
+  void save();
+
+  // Qt frontend layout state. This intentionally stays outside CabanaSettingsState.
+  std::vector<uint8_t> geometry;
+  std::vector<uint8_t> video_splitter_state;
+  std::vector<uint8_t> window_state;
+  std::vector<uint8_t> message_header_state;
+
+signals:
+  void changed();
+};
+
+class SettingsDlg : public QDialog {
+public:
+  SettingsDlg(QWidget *parent);
+  void save();
+  QSpinBox *fps;
+  QSpinBox *cached_minutes;
+  QSpinBox *chart_height;
+  QComboBox *chart_series_type;
+  QComboBox *theme;
+  QGroupBox *log_livestream;
+  QLineEdit *log_path;
+  QComboBox *drag_direction;
+};
+
+extern Settings settings;
diff --git a/tools/cabana/signalview.cc b/openpilot/tools/cabana/signalview.cc
similarity index 88%
rename from tools/cabana/signalview.cc
rename to openpilot/tools/cabana/signalview.cc
index 0a0c07a155..ebb5374140 100644
--- a/tools/cabana/signalview.cc
+++ b/openpilot/tools/cabana/signalview.cc
@@ -1,8 +1,9 @@
 #include "tools/cabana/signalview.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <algorithm>
+#include <future>
 
-#include <QCompleter>
 #include <QDialogButtonBox>
 #include <QHBoxLayout>
 #include <QHeaderView>
@@ -11,10 +12,10 @@
 #include <QPainterPath>
 #include <QPushButton>
 #include <QScrollBar>
-#include <QtConcurrent>
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
+#include "tools/cabana/utils/util.h"
 
 // SignalModel
 
@@ -25,21 +26,21 @@ static QString signalTypeToString(cabana::Signal::Type type) {
 }
 
 SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) {
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &SignalModel::refresh);
-  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &SignalModel::handleMsgChanged);
-  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &SignalModel::handleMsgChanged);
-  QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalModel::handleSignalAdded);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalModel::handleSignalUpdated);
-  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &SignalModel::refresh);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgUpdated, this, &SignalModel::handleMsgChanged);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::msgRemoved, this, &SignalModel::handleMsgChanged);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalAdded, this, &SignalModel::handleSignalAdded);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &SignalModel::handleSignalUpdated);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalRemoved, this, &SignalModel::handleSignalRemoved);
 }
 
 void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) {
-  Item *parent_item = new Item{.sig = sig, .parent = root_item, .title = sig->name, .type = Item::Sig};
-  root_item->children.insert(pos, parent_item);
+  Item *parent_item = new Item{.type = Item::Sig, .parent = root_item, .sig = sig, .title = QString::fromStdString(sig->name)};
+  root_item->children.insert(root_item->children.begin() + pos, parent_item);
   QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
                    "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
   for (int i = 0; i < std::size(titles); ++i) {
-    auto item = new Item{.sig = sig, .parent = parent_item, .title = titles[i], .type = (Item::Type)(i + Item::Name)};
+    auto item = new Item{.type = (Item::Type)(i + Item::Name), .parent = parent_item, .sig = sig, .title = titles[i]};
     parent_item->children.push_back(item);
     if (item->type == Item::ExtraInfo) {
       parent_item = item;
@@ -63,7 +64,7 @@ void SignalModel::refresh() {
   root.reset(new SignalModel::Item);
   if (auto msg = dbc()->msg(msg_id)) {
     for (auto s : msg->getSignals()) {
-      if (filter_str.isEmpty() || s->name.contains(filter_str, Qt::CaseInsensitive)) {
+      if (filter_str.isEmpty() || QString::fromStdString(s->name).contains(filter_str, Qt::CaseInsensitive)) {
         insertItem(root.get(), root->children.size(), s);
       }
     }
@@ -124,25 +125,25 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
     const Item *item = getItem(index);
     if (role == Qt::DisplayRole || role == Qt::EditRole) {
       if (index.column() == 0) {
-        return item->type == Item::Sig ? item->sig->name : item->title;
+        return item->type == Item::Sig ? QString::fromStdString(item->sig->name) : item->title;
       } else {
         switch (item->type) {
           case Item::Sig: return item->sig_val;
-          case Item::Name: return item->sig->name;
+          case Item::Name: return QString::fromStdString(item->sig->name);
           case Item::Size: return item->sig->size;
-          case Item::Node: return item->sig->receiver_name;
+          case Item::Node: return QString::fromStdString(item->sig->receiver_name);
           case Item::SignalType: return signalTypeToString(item->sig->type);
           case Item::MultiplexValue: return item->sig->multiplex_value;
-          case Item::Offset: return doubleToString(item->sig->offset);
-          case Item::Factor: return doubleToString(item->sig->factor);
-          case Item::Unit: return item->sig->unit;
-          case Item::Comment: return item->sig->comment;
-          case Item::Min: return doubleToString(item->sig->min);
-          case Item::Max: return doubleToString(item->sig->max);
+          case Item::Offset: return QString::fromStdString(doubleToString(item->sig->offset));
+          case Item::Factor: return QString::fromStdString(doubleToString(item->sig->factor));
+          case Item::Unit: return QString::fromStdString(item->sig->unit);
+          case Item::Comment: return QString::fromStdString(item->sig->comment);
+          case Item::Min: return QString::fromStdString(doubleToString(item->sig->min));
+          case Item::Max: return QString::fromStdString(doubleToString(item->sig->max));
           case Item::Desc: {
             QStringList val_desc;
             for (auto &[val, desc] : item->sig->val_desc) {
-              val_desc << QString("%1 \"%2\"").arg(val).arg(desc);
+              val_desc << QString("%1 \"%2\"").arg(val).arg(QString::fromStdString(desc));
             }
             return val_desc.join(" ");
           }
@@ -165,17 +166,17 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   Item *item = getItem(index);
   cabana::Signal s = *item->sig;
   switch (item->type) {
-    case Item::Name: s.name = value.toString(); break;
+    case Item::Name: s.name = value.toString().toStdString(); break;
     case Item::Size: s.size = value.toInt(); break;
-    case Item::Node: s.receiver_name = value.toString().trimmed(); break;
+    case Item::Node: s.receiver_name = value.toString().trimmed().toStdString(); break;
     case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
     case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
     case Item::Endian: s.is_little_endian = value.toBool(); break;
     case Item::Signed: s.is_signed = value.toBool(); break;
     case Item::Offset: s.offset = value.toDouble(); break;
     case Item::Factor: s.factor = value.toDouble(); break;
-    case Item::Unit: s.unit = value.toString(); break;
-    case Item::Comment: s.comment = value.toString(); break;
+    case Item::Unit: s.unit = value.toString().toStdString(); break;
+    case Item::Comment: s.comment = value.toString().toStdString(); break;
     case Item::Min: s.min = value.toDouble(); break;
     case Item::Max: s.max = value.toDouble(); break;
     case Item::Desc: s.val_desc = value.value<ValueDescription>(); break;
@@ -189,7 +190,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
 bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) {
   auto msg = dbc()->msg(msg_id);
   if (s.name != origin_s->name && msg->sig(s.name) != nullptr) {
-    QString text = tr("There is already a signal with the same name '%1'").arg(s.name);
+    QString text = tr("There is already a signal with the same name '%1'").arg(QString::fromStdString(s.name));
     QMessageBox::warning(nullptr, tr("Failed to save signal"), text);
     return false;
   }
@@ -197,7 +198,7 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s)
   if (s.is_little_endian != origin_s->is_little_endian) {
     s.start_bit = flipBitPos(s.start_bit);
   }
-  UndoStack::push(new EditSignalCommand(msg_id, origin_s, s));
+  UndoStack::instance()->push(new EditSignalCommand(msg_id, origin_s, s));
   return true;
 }
 
@@ -214,7 +215,7 @@ void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
       beginInsertRows({}, i, i);
       insertItem(root.get(), i, sig);
       endInsertRows();
-    } else if (sig->name.contains(filter_str, Qt::CaseInsensitive)) {
+    } else if (QString::fromStdString(sig->name).contains(filter_str, Qt::CaseInsensitive)) {
       refresh();
     }
   }
@@ -229,7 +230,9 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
       int to = dbc()->msg(msg_id)->indexOf(sig);
       if (to != row) {
         beginMoveRows({}, row, row, {}, to > row ? to + 1 : to);
-        root->children.move(row, to);
+        auto item = root->children[row];
+        root->children.erase(root->children.begin() + row);
+        root->children.insert(root->children.begin() + to, item);
         endMoveRows();
       }
     }
@@ -239,7 +242,8 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
 void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
   if (int row = signalRow(sig); row != -1) {
     beginRemoveRows({}, row, row);
-    delete root->children.takeAt(row);
+    delete root->children[row];
+    root->children.erase(root->children.begin() + row);
     endRemoveRows();
   }
 }
@@ -248,7 +252,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
 
 SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
   name_validator = new NameValidator(this);
-  node_validator = new QRegExpValidator(QRegExp("^\\w+(,\\w+)*$"), this);
+  node_validator = new NodeValidator(this);
   double_validator = new DoubleValidator(this);
 
   label_font.setPointSize(8);
@@ -301,7 +305,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       path.addRoundedRect(icon_rect, 3, 3);
       painter->setPen(item->highlight ? Qt::white : Qt::black);
       painter->setFont(label_font);
-      painter->fillPath(path, item->sig->color.darker(item->highlight ? 125 : 0));
+      painter->fillPath(path, toQColor(item->sig->color.darker(item->highlight ? 125 : 0)));
       painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1));
 
       rect.setLeft(icon_rect.right() + h_margin * 2);
@@ -372,12 +376,6 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     else if (item->type == SignalModel::Item::Node) e->setValidator(node_validator);
     else e->setValidator(double_validator);
 
-    if (item->type == SignalModel::Item::Name) {
-      QCompleter *completer = new QCompleter(dbc()->signalNames(), e);
-      completer->setCaseSensitivity(Qt::CaseInsensitive);
-      completer->setFilterMode(Qt::MatchContains);
-      e->setCompleter(completer);
-    }
     return e;
   } else if (item->type == SignalModel::Item::Size) {
     QSpinBox *spin = new QSpinBox(parent);
@@ -395,7 +393,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     return c;
   } else if (item->type == SignalModel::Item::Desc) {
     ValueDescriptionDlg dlg(item->sig->val_desc, parent);
-    dlg.setWindowTitle(item->sig->name);
+    dlg.setWindowTitle(QString::fromStdString(item->sig->name));
     if (dlg.exec()) {
       ((QAbstractItemModel *)index.model())->setData(index, QVariant::fromValue(dlg.val_desc));
     }
@@ -422,8 +420,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QHBoxLayout *hl = new QHBoxLayout(title_bar);
   hl->addWidget(signal_count_lb = new QLabel());
   filter_edit = new QLineEdit(this);
-  QRegularExpression re("\\S+");
-  filter_edit->setValidator(new QRegularExpressionValidator(re, this));
+  filter_edit->setValidator(new NonWhitespaceValidator(this));
   filter_edit->setClearButtonEnabled(true);
   filter_edit->setPlaceholderText(tr("Filter Signal"));
   hl->addWidget(filter_edit);
@@ -475,8 +472,8 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); });
   QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged);
   QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged);
-  QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalView::handleSignalAdded);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalView::handleSignalUpdated);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalAdded, this, &SignalView::handleSignalAdded);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::signalUpdated, this, &SignalView::handleSignalUpdated);
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); });
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); });
   QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
@@ -489,7 +486,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 
   setWhatsThis(tr(R"(
     <b>Signal view</b><br />
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
   )"));
 }
 
@@ -518,7 +515,7 @@ void SignalView::rowsChanged() {
 
       tree->setIndexWidget(index, w);
       auto sig = model->getItem(index)->sig;
-      QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::push(new RemoveSigCommand(model->msg_id, sig)); });
+      QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::instance()->push(new RemoveSigCommand(model->msg_id, sig)); });
       QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) {
         emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
       });
@@ -621,7 +618,7 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
   for (auto item : model->root->children) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
-      item->sig_val = item->sig->formatValue(value);
+      item->sig_val = QString::fromStdString(item->sig->formatValue(value));
       max_value_width = std::max(max_value_width, fontMetrics().horizontalAdvance(item->sig_val));
     }
   }
@@ -635,13 +632,13 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
                delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
 
     auto [first, last] = can->eventsInRange(model->msg_id, std::make_pair(last_msg.ts -settings.sparkline_range, last_msg.ts));
-    QFutureSynchronizer<void> synchronizer;
+    std::vector<std::future<void>> futures;
     for (int i = first_visible.row(); i <= last_visible.row(); ++i) {
       auto item = model->getItem(model->index(i, 1));
-      synchronizer.addFuture(QtConcurrent::run(
-          &item->sparkline, &Sparkline::update, item->sig, first, last, settings.sparkline_range, size));
+      futures.push_back(std::async(std::launch::async,
+          &Sparkline::update, &item->sparkline, item->sig, first, last, settings.sparkline_range, size));
     }
-    synchronizer.waitForFinished();
+    for (auto &f : futures) f.get();
   }
 
   for (int i = 0; i < model->rowCount(); ++i) {
@@ -677,7 +674,7 @@ ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, Q
   int row = 0;
   for (auto &[val, desc] : descriptions) {
     table->setItem(row, 0, new QTableWidgetItem(QString::number(val)));
-    table->setItem(row, 1, new QTableWidgetItem(desc));
+    table->setItem(row, 1, new QTableWidgetItem(QString::fromStdString(desc)));
     ++row;
   }
 
@@ -706,7 +703,7 @@ void ValueDescriptionDlg::save() {
     QString val = table->item(i, 0)->text().trimmed();
     QString desc = table->item(i, 1)->text().trimmed();
     if (!val.isEmpty() && !desc.isEmpty()) {
-      val_desc.push_back({val.toDouble(), desc});
+      val_desc.push_back({val.toDouble(), desc.toStdString()});
     }
   }
   QDialog::accept();
diff --git a/tools/cabana/signalview.h b/openpilot/tools/cabana/signalview.h
similarity index 88%
rename from tools/cabana/signalview.h
rename to openpilot/tools/cabana/signalview.h
index 4e746ea105..bccfbab0cc 100644
--- a/tools/cabana/signalview.h
+++ b/openpilot/tools/cabana/signalview.h
@@ -20,12 +20,15 @@ class SignalModel : public QAbstractItemModel {
 public:
   struct Item {
     enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
-    ~Item() { qDeleteAll(children); }
-    inline int row() { return parent->children.indexOf(this); }
+    ~Item() { for (auto c : children) delete c; }
+    inline int row() {
+      auto it = std::find(parent->children.begin(), parent->children.end(), this);
+      return it != parent->children.end() ? std::distance(parent->children.begin(), it) : -1;
+    }
 
     Type type = Type::Root;
     Item *parent = nullptr;
-    QList<Item *> children;
+    std::vector<Item *> children;
 
     const cabana::Signal *sig = nullptr;
     QString title;
@@ -126,9 +129,12 @@ private:
       // update widget geometries in QTreeView::rowsInserted
       QTreeView::rowsInserted(parent, start, end);
     }
-    void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override {
+    void setModel(QAbstractItemModel *m) override {
+      QTreeView::setModel(m);
       // Bypass the slow call to QTreeView::dataChanged.
-      QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
+      QObject::disconnect(m, &QAbstractItemModel::dataChanged, this, nullptr);
+      QObject::connect(m, &QAbstractItemModel::dataChanged, this,
+                       [this](const QModelIndex &tl, const QModelIndex &br, const auto &roles) { QAbstractItemView::dataChanged(tl, br, roles); });
     }
     void leaveEvent(QEvent *event) override {
       emit static_cast<SignalView *>(parentWidget())->highlight(nullptr);
diff --git a/tools/cabana/streams/abstractstream.cc b/openpilot/tools/cabana/streams/abstractstream.cc
similarity index 93%
rename from tools/cabana/streams/abstractstream.cc
rename to openpilot/tools/cabana/streams/abstractstream.cc
index 1582fcd34d..c58a98084f 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/openpilot/tools/cabana/streams/abstractstream.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/dbc/dbcqt.h"
 
 #include <limits>
 #include <utility>
@@ -18,8 +19,8 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
   QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
   QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
-  QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::DBCFileChanged, this, &AbstractStream::updateMasks);
+  QObject::connect(dbcNotifier(), &QtDBCNotifier::maskUpdated, this, &AbstractStream::updateMasks);
 }
 
 void AbstractStream::updateMasks() {
@@ -233,18 +234,18 @@ std::pair<CanEventIter, CanEventIter> AbstractStream::eventsInRange(const Messag
 namespace {
 
 enum Color { GREYISH_BLUE, CYAN, RED};
-QColor getColor(int c) {
+CabanaColor getColor(int c) {
   constexpr int start_alpha = 128;
-  static const QColor colors[] = {
-      [GREYISH_BLUE] = QColor(102, 86, 169, start_alpha / 2),
-      [CYAN] = QColor(0, 187, 255, start_alpha),
-      [RED] = QColor(255, 0, 0, start_alpha),
+  static const CabanaColor colors[] = {
+      [GREYISH_BLUE] = CabanaColor(102, 86, 169, start_alpha / 2),
+      [CYAN] = CabanaColor(0, 187, 255, start_alpha),
+      [RED] = CabanaColor(255, 0, 0, start_alpha),
   };
   return settings.theme == LIGHT_THEME ? colors[c] : colors[c].lighter(135);
 }
 
-inline QColor blend(const QColor &a, const QColor &b) {
-  return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
+inline CabanaColor blend(const CabanaColor &a, const CabanaColor &b) {
+  return CabanaColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
 }
 
 // Calculate the frequency from the past one minute data
@@ -271,7 +272,7 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
 
   if (dat.size() != size) {
     dat.assign(can_data, can_data + size);
-    colors.assign(size, QColor(0, 0, 0, 0));
+    colors.assign(size, CabanaColor(0, 0, 0, 0));
     last_changes.resize(size);
     bit_flip_counts.resize(size);
     std::for_each(last_changes.begin(), last_changes.end(), [current_sec](auto &c) { c.ts = current_sec; });
@@ -317,7 +318,7 @@ void CanData::compute(const MessageId &msg_id, const uint8_t *can_data, const in
         last_change.delta = delta;
       } else {
         // Fade out
-        colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
+        colors[i].setAlphaF(std::max(0.0f, colors[i].alphaF() - alpha_delta));
       }
     }
   }
diff --git a/tools/cabana/streams/abstractstream.h b/openpilot/tools/cabana/streams/abstractstream.h
similarity index 72%
rename from tools/cabana/streams/abstractstream.h
rename to openpilot/tools/cabana/streams/abstractstream.h
index f35b19d34f..82cb899937 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/openpilot/tools/cabana/streams/abstractstream.h
@@ -3,6 +3,7 @@
 #include <algorithm>
 #include <array>
 #include <condition_variable>
+#include <chrono>
 #include <memory>
 #include <mutex>
 #include <optional>
@@ -11,51 +12,12 @@
 #include <utility>
 #include <vector>
 
-#include <QColor>
-#include <QDateTime>
-
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
+#include "tools/cabana/core/can_data.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/utils/util.h"
 #include "tools/replay/util.h"
 
-struct CanData {
-  void compute(const MessageId &msg_id, const uint8_t *dat, const int size, double current_sec,
-               double playback_speed, const std::vector<uint8_t> &mask, double in_freq = 0);
-
-  double ts = 0.;
-  uint32_t count = 0;
-  double freq = 0;
-  std::vector<uint8_t> dat;
-  std::vector<QColor> colors;
-
-  struct ByteLastChange {
-    double ts = 0;
-    int delta = 0;
-    int same_delta_counter = 0;
-    bool suppressed = false;
-  };
-  std::vector<ByteLastChange> last_changes;
-  std::vector<std::array<uint32_t, 8>> bit_flip_counts;
-  double last_freq_update_ts = 0;
-};
-
-struct CanEvent {
-  uint8_t src;
-  uint32_t address;
-  uint64_t mono_time;
-  uint8_t size;
-  uint8_t dat[];
-};
-
-struct CompareCanEvent {
-  constexpr bool operator()(const CanEvent *const e, uint64_t ts) const { return e->mono_time < ts; }
-  constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; }
-};
-
-typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
-using CanEventIter = std::vector<const CanEvent *>::const_iterator;
-
 class AbstractStream : public QObject {
   Q_OBJECT
 
@@ -65,9 +27,9 @@ public:
   virtual void start() = 0;
   virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
-  virtual QString routeName() const = 0;
-  virtual QString carFingerprint() const { return ""; }
-  virtual QDateTime beginDateTime() const { return {}; }
+  virtual std::string routeName() const = 0;
+  virtual std::string carFingerprint() const { return ""; }
+  virtual std::chrono::system_clock::time_point beginDateTime() const { return {}; }
   virtual uint64_t beginMonoTime() const { return 0; }
   virtual double minSeconds() const { return 0; }
   virtual double maxSeconds() const { return 0; }
@@ -113,12 +75,12 @@ protected:
   const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
   void waitForSeekFinshed();
+  virtual void updateLastMessages();
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
   std::optional<std::pair<double, double>> time_range_;
 
 private:
-  void updateLastMessages();
   void updateLastMsgsTo(double sec);
   void updateMasks();
 
@@ -149,7 +111,7 @@ class DummyStream : public AbstractStream {
   Q_OBJECT
 public:
   DummyStream(QObject *parent) : AbstractStream(parent) {}
-  QString routeName() const override { return tr("No Stream"); }
+  std::string routeName() const override { return "No Stream"; }
   void start() override {}
 };
 
diff --git a/openpilot/tools/cabana/streams/devicestream.cc b/openpilot/tools/cabana/streams/devicestream.cc
new file mode 100644
index 0000000000..3bd51c079d
--- /dev/null
+++ b/openpilot/tools/cabana/streams/devicestream.cc
@@ -0,0 +1,148 @@
+#include "tools/cabana/streams/devicestream.h"
+
+#include <cerrno>
+#include <chrono>
+#include <csignal>
+#include <cstring>
+#include <fcntl.h>
+#include <filesystem>
+#include <memory>
+#include <string>
+#include <thread>
+#include <unistd.h>
+#include <sys/wait.h>
+
+#include "openpilot/cereal/services.h"
+
+#include <QButtonGroup>
+#include <QFormLayout>
+#include <QMessageBox>
+#include <QRadioButton>
+
+#include "tools/cabana/utils/util.h"
+
+// DeviceStream
+
+DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
+}
+
+DeviceStream::~DeviceStream() {
+  stop();
+  stopBridge();
+}
+
+void DeviceStream::stopBridge() {
+  if (bridge_pid <= 0) return;
+
+  ::kill(bridge_pid, SIGTERM);
+  for (int i = 0; i < 30; ++i) {
+    int status = 0;
+    pid_t r = ::waitpid(bridge_pid, &status, WNOHANG);
+    if (r == bridge_pid || (r < 0 && errno == ECHILD)) {
+      bridge_pid = -1;
+      return;
+    }
+    usleep(100000);  // 100ms, up to ~3s
+  }
+  ::kill(bridge_pid, SIGKILL);
+  ::waitpid(bridge_pid, nullptr, 0);
+  bridge_pid = -1;
+}
+
+void DeviceStream::start() {
+  if (!zmq_address.isEmpty()) {
+    stopBridge();
+    const std::string path = (std::filesystem::path(QCoreApplication::applicationDirPath().toStdString()) /
+                              "../../cereal/messaging/bridge").lexically_normal().string();
+    const std::string addr = zmq_address.toStdString();
+    const char *can_filter = "/\"can/\"";
+
+    // Self-pipe: write end is CLOEXEC so it closes on successful exec. If exec
+    // fails, the child writes errno and the parent aborts stream start.
+    int err_pipe[2] = {-1, -1};
+    if (::pipe(err_pipe) != 0) {
+      QMessageBox::warning(nullptr, tr("Error"),
+                           tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(errno))));
+      return;
+    }
+
+    pid_t pid = ::fork();
+    if (pid == 0) {
+      ::close(err_pipe[0]);
+      ::fcntl(err_pipe[1], F_SETFD, FD_CLOEXEC);
+      execl(path.c_str(), path.c_str(), addr.c_str(), can_filter, static_cast<char *>(nullptr));
+      const int err = errno;
+      (void)!::write(err_pipe[1], &err, sizeof(err));
+      _exit(127);
+    }
+
+    ::close(err_pipe[1]);
+    if (pid < 0) {
+      ::close(err_pipe[0]);
+      QMessageBox::warning(nullptr, tr("Error"),
+                           tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(errno))));
+      return;
+    }
+
+    int exec_errno = 0;
+    const ssize_t n = ::read(err_pipe[0], &exec_errno, sizeof(exec_errno));
+    ::close(err_pipe[0]);
+    if (n == static_cast<ssize_t>(sizeof(exec_errno))) {
+      // Child failed to exec; reap and surface the error.
+      int status = 0;
+      ::waitpid(pid, &status, 0);
+      QMessageBox::warning(nullptr, tr("Error"),
+                           tr("Failed to start bridge: %1").arg(QString::fromLocal8Bit(strerror(exec_errno))));
+      return;
+    }
+
+    bridge_pid = pid;
+  }
+
+  LiveStream::start();
+}
+
+void DeviceStream::streamThread() {
+  zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1);
+
+  std::unique_ptr<Context> context(Context::create());
+  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", "127.0.0.1", false, true, services.at("can").queue_size));
+  assert(sock != NULL);
+  // run as fast as messages come in
+  while (!exit_) {
+    std::unique_ptr<Message> msg(sock->receive(true));
+    if (!msg) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(50));
+      continue;
+    }
+    handleEvent(kj::ArrayPtr<capnp::word>((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word)));
+  }
+}
+
+// OpenDeviceWidget
+
+OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
+  QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
+  QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
+  ip_address = new QLineEdit(this);
+  ip_address->setPlaceholderText(tr("Enter device Ip Address"));
+  ip_address->setValidator(new IpAddressValidator(this));
+
+  group = new QButtonGroup(this);
+  group->addButton(msgq, 0);
+  group->addButton(zmq, 1);
+
+  QFormLayout *form_layout = new QFormLayout(this);
+  form_layout->addRow(msgq);
+  form_layout->addRow(zmq, ip_address);
+  QObject::connect(group, qOverload<QAbstractButton *, bool>(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) {
+    ip_address->setEnabled(button == zmq && checked);
+  });
+  zmq->setChecked(true);
+}
+
+AbstractStream *OpenDeviceWidget::open() {
+  QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
+  bool msgq = group->checkedId() == 0;
+  return new DeviceStream(qApp, msgq ? "" : ip);
+}
diff --git a/tools/cabana/streams/devicestream.h b/openpilot/tools/cabana/streams/devicestream.h
similarity index 63%
rename from tools/cabana/streams/devicestream.h
rename to openpilot/tools/cabana/streams/devicestream.h
index 3bdf224998..0e6951c92c 100644
--- a/tools/cabana/streams/devicestream.h
+++ b/openpilot/tools/cabana/streams/devicestream.h
@@ -2,16 +2,22 @@
 
 #include "tools/cabana/streams/livestream.h"
 
+#include <sys/types.h>
+
 class DeviceStream : public LiveStream {
   Q_OBJECT
 public:
   DeviceStream(QObject *parent, QString address = {});
-  inline QString routeName() const override {
-    return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
+  ~DeviceStream();
+  inline std::string routeName() const override {
+    return "Live Streaming From " + (zmq_address.isEmpty() ? std::string("127.0.0.1") : zmq_address.toStdString());
   }
 
 protected:
+  void start() override;
   void streamThread() override;
+  void stopBridge();
+  pid_t bridge_pid = -1;
   const QString zmq_address;
 };
 
diff --git a/tools/cabana/streams/livestream.cc b/openpilot/tools/cabana/streams/livestream.cc
similarity index 64%
rename from tools/cabana/streams/livestream.cc
rename to openpilot/tools/cabana/streams/livestream.cc
index ac9a6fa105..019a67e8f2 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/openpilot/tools/cabana/streams/livestream.cc
@@ -1,9 +1,11 @@
 #include "tools/cabana/streams/livestream.h"
 
-#include <QThread>
 #include <algorithm>
+#include <chrono>
 #include <fstream>
+#include <iomanip>
 #include <memory>
+#include <sstream>
 
 #include "common/timing.h"
 #include "common/util.h"
@@ -14,9 +16,14 @@ struct LiveStream::Logger {
   void write(kj::ArrayPtr<capnp::word> data) {
     int n = (seconds_since_epoch() - start_ts) / 60.0;
     if (std::exchange(segment_num, n) != segment_num) {
+      const time_t start_time = start_ts;
+      std::tm local_time = {};
+      localtime_r(&start_time, &local_time);
+      std::ostringstream date;
+      date << std::put_time(&local_time, "%Y-%m-%d--%H-%M-%S");
       QString dir = QString("%1/%2--%3")
-                        .arg(settings.log_path)
-                        .arg(QDateTime::fromSecsSinceEpoch(start_ts).toString("yyyy-MM-dd--hh-mm-ss"))
+                        .arg(QString::fromStdString(settings.log_path))
+                        .arg(QString::fromStdString(date.str()))
                         .arg(n);
       util::create_directories(dir.toStdString(), 0755);
       fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out));
@@ -35,37 +42,34 @@ LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
   if (settings.log_livestream) {
     logger = std::make_unique<Logger>();
   }
-  stream_thread = new QThread(this);
-
-  QObject::connect(&settings, &Settings::changed, this, &LiveStream::startUpdateTimer);
-  QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); });
-  QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater);
 }
 
 LiveStream::~LiveStream() {
   stop();
 }
 
-void LiveStream::startUpdateTimer() {
-  update_timer.stop();
-  update_timer.start(1000.0 / settings.fps, this);
-  timer_id = update_timer.timerId();
-}
-
 void LiveStream::start() {
-  stream_thread->start();
-  startUpdateTimer();
-  begin_date_time = QDateTime::currentDateTime();
+  begin_date_time = std::chrono::system_clock::now();
+  fps_ = settings.fps;
+  exit_ = false;
+  stream_thread = std::thread(&LiveStream::streamThread, this);
+  update_thread = std::thread(&LiveStream::updateThread, this);
 }
 
 void LiveStream::stop() {
-  if (!stream_thread) return;
+  exit_ = true;
+  if (stream_thread.joinable()) stream_thread.join();
+  if (update_thread.joinable()) update_thread.join();
+}
 
-  update_timer.stop();
-  stream_thread->requestInterruption();
-  stream_thread->quit();
-  stream_thread->wait();
-  stream_thread = nullptr;
+void LiveStream::updateThread() {
+  while (!exit_) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000 / fps_));
+    // coalesce: skip the emit if the main thread hasn't processed the previous one yet.
+    if (!update_pending_.exchange(true)) {
+      emit privateUpdateLastMsgsSignal();
+    }
+  }
 }
 
 // called in streamThread
@@ -85,23 +89,22 @@ void LiveStream::handleEvent(kj::ArrayPtr<capnp::word> data) {
   }
 }
 
-void LiveStream::timerEvent(QTimerEvent *event) {
-  if (event->timerId() == timer_id) {
-    {
-      // merge events received from live stream thread.
-      std::lock_guard lk(lock);
-      mergeEvents(received_events_);
-      uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0;
-      lastest_event_ts = std::max(lastest_event_ts, last_received_ts);
-      received_events_.clear();
-    }
-    if (!all_events_.empty()) {
-      begin_event_ts = all_events_.front()->mono_time;
-      updateEvents();
-      return;
-    }
+// called on the main thread by the queued privateUpdateLastMsgsSignal connection
+void LiveStream::updateLastMessages() {
+  update_pending_ = false;
+  fps_ = settings.fps;
+  {
+    // merge events received from live stream thread.
+    std::lock_guard lk(lock);
+    mergeEvents(received_events_);
+    uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0;
+    lastest_event_ts = std::max(lastest_event_ts, last_received_ts);
+    received_events_.clear();
+  }
+  if (!all_events_.empty()) {
+    begin_event_ts = all_events_.front()->mono_time;
+    updateEvents();
   }
-  QObject::timerEvent(event);
 }
 
 void LiveStream::updateEvents() {
@@ -131,7 +134,7 @@ void LiveStream::updateEvents() {
     updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size);
     current_event_ts = e->mono_time;
   }
-  emit privateUpdateLastMsgsSignal();
+  AbstractStream::updateLastMessages();
 }
 
 void LiveStream::seekTo(double sec) {
diff --git a/tools/cabana/streams/livestream.h b/openpilot/tools/cabana/streams/livestream.h
similarity index 74%
rename from tools/cabana/streams/livestream.h
rename to openpilot/tools/cabana/streams/livestream.h
index 24b9285092..5d65b1743f 100644
--- a/tools/cabana/streams/livestream.h
+++ b/openpilot/tools/cabana/streams/livestream.h
@@ -1,11 +1,11 @@
 #pragma once
 
 #include <algorithm>
+#include <atomic>
 #include <memory>
+#include <thread>
 #include <vector>
 
-#include <QBasicTimer>
-
 #include "tools/cabana/streams/abstractstream.h"
 
 class LiveStream : public AbstractStream {
@@ -16,7 +16,7 @@ public:
   virtual ~LiveStream();
   void start() override;
   void stop();
-  inline QDateTime beginDateTime() const { return begin_date_time; }
+  inline std::chrono::system_clock::time_point beginDateTime() const override { return begin_date_time; }
   inline uint64_t beginMonoTime() const override { return begin_event_ts; }
   double maxSeconds() const override { return std::max(1.0, (lastest_event_ts - begin_event_ts) / 1e9); }
   void setSpeed(float speed) override { speed_ = speed; }
@@ -29,19 +29,20 @@ protected:
   virtual void streamThread() = 0;
   void handleEvent(kj::ArrayPtr<capnp::word> event);
 
+  std::atomic<bool> exit_ = false;
+
 private:
-  void startUpdateTimer();
-  void timerEvent(QTimerEvent *event) override;
+  void updateThread();
+  void updateLastMessages() override;
   void updateEvents();
 
   std::mutex lock;
-  QThread *stream_thread;
+  std::thread stream_thread, update_thread;
+  std::atomic<bool> update_pending_ = false;
+  std::atomic<int> fps_ = 10;
   std::vector<const CanEvent *> received_events_;
 
-  int timer_id;
-  QBasicTimer update_timer;
-
-  QDateTime begin_date_time;
+  std::chrono::system_clock::time_point begin_date_time;
   uint64_t begin_event_ts = 0;
   uint64_t lastest_event_ts = 0;
   uint64_t current_event_ts = 0;
diff --git a/tools/cabana/streams/pandastream.cc b/openpilot/tools/cabana/streams/pandastream.cc
similarity index 89%
rename from tools/cabana/streams/pandastream.cc
rename to openpilot/tools/cabana/streams/pandastream.cc
index a2430c665f..7ccb18a756 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/openpilot/tools/cabana/streams/pandastream.cc
@@ -1,11 +1,13 @@
 #include "tools/cabana/streams/pandastream.h"
 
-#include <QDebug>
+#include <chrono>
+#include <cstdio>
+#include <thread>
+
 #include <QCheckBox>
 #include <QLabel>
 #include <QMessageBox>
 #include <QPushButton>
-#include <QThread>
 #include <QTimer>
 
 PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
@@ -16,10 +18,10 @@ PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(co
 
 bool PandaStream::connect() {
   try {
-    qDebug() << "Connecting to panda " << config.serial;
-    panda.reset(new Panda(config.serial.toStdString()));
+    fprintf(stderr, "Connecting to panda %s\n", config.serial.c_str());
+    panda.reset(new Panda(config.serial));
     config.bus_config.resize(3);
-    qDebug() << "Connected";
+    fprintf(stderr, "Connected\n");
   } catch (const std::exception& e) {
     return false;
   }
@@ -44,20 +46,20 @@ bool PandaStream::connect() {
 void PandaStream::streamThread() {
   std::vector<can_frame> raw_can_data;
 
-  while (!QThread::currentThread()->isInterruptionRequested()) {
-    QThread::msleep(1);
+  while (!exit_) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
 
     if (!panda->connected()) {
-      qDebug() << "Connection to panda lost. Attempting reconnect.";
+      fprintf(stderr, "Connection to panda lost. Attempting reconnect.\n");
       if (!connect()){
-        QThread::msleep(1000);
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
         continue;
       }
     }
 
     raw_can_data.clear();
     if (!panda->can_receive(raw_can_data)) {
-      qDebug() << "failed to receive";
+      fprintf(stderr, "failed to receive\n");
       continue;
     }
 
@@ -81,7 +83,7 @@ void PandaStream::streamThread() {
 OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   form_layout = new QFormLayout(this);
   if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
-    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
+    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(QString::fromStdString(can->routeName()))));
     form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda."));
     QTimer::singleShot(0, [this]() { emit enableOpenButton(false); });
     return;
@@ -123,13 +125,13 @@ void OpenPandaWidget::buildConfigForm() {
       Panda panda(serial.toStdString());
       has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2);
     } catch (const std::exception& e) {
-      qDebug() << "failed to open panda" << serial;
+      fprintf(stderr, "failed to open panda %s\n", serial.toUtf8().constData());
       has_panda = false;
     }
   }
 
   if (has_panda) {
-    config.serial = serial;
+    config.serial = serial.toStdString();
     config.bus_config.resize(3);
     for (int i = 0; i < config.bus_config.size(); i++) {
       QHBoxLayout *bus_layout = new QHBoxLayout;
diff --git a/tools/cabana/streams/pandastream.h b/openpilot/tools/cabana/streams/pandastream.h
similarity index 90%
rename from tools/cabana/streams/pandastream.h
rename to openpilot/tools/cabana/streams/pandastream.h
index e17ad887fc..f8847f65e5 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/openpilot/tools/cabana/streams/pandastream.h
@@ -19,7 +19,7 @@ struct BusConfig {
 };
 
 struct PandaStreamConfig {
-  QString serial = "";
+  std::string serial = "";
   std::vector<BusConfig> bus_config;
 };
 
@@ -28,8 +28,8 @@ class PandaStream : public LiveStream {
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
   ~PandaStream() { stop(); }
-  inline QString routeName() const override {
-    return QString("Panda: %1").arg(config.serial);
+  inline std::string routeName() const override {
+    return "Panda: " + config.serial;
   }
 
 protected:
diff --git a/tools/cabana/streams/replaystream.cc b/openpilot/tools/cabana/streams/replaystream.cc
similarity index 84%
rename from tools/cabana/streams/replaystream.cc
rename to openpilot/tools/cabana/streams/replaystream.cc
index b8cf1be299..6d54369aef 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/openpilot/tools/cabana/streams/replaystream.cc
@@ -1,5 +1,7 @@
 #include "tools/cabana/streams/replaystream.h"
 
+#include <filesystem>
+
 #include <QLabel>
 #include <QFileDialog>
 #include <QGridLayout>
@@ -14,10 +16,7 @@ ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
   unsetenv("ZMQ");
   setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1);
 
-  // TODO: Remove when OpenpilotPrefix supports ZMQ
-#ifndef __APPLE__
   op_prefix = std::make_unique<OpenpilotPrefix>();
-#endif
 
   QObject::connect(&settings, &Settings::changed, this, [this]() {
     if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
@@ -46,9 +45,9 @@ void ReplayStream::mergeSegments() {
   }
 }
 
-bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags, bool auto_source) {
-  replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
-                          {}, nullptr, replay_flags, data_dir.toStdString(), auto_source));
+bool ReplayStream::loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags, bool auto_source) {
+  replay.reset(new Replay(route, {"can", "narrowRoadEncodeIdx", "cabinEncodeIdx", "wideRoadEncodeIdx", "carParams"},
+                          {}, nullptr, replay_flags, data_dir, auto_source));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter([this](const Event *event) { return eventFilter(event); });
 
@@ -68,21 +67,21 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
       QString message;
       if (auth_content.empty()) {
         message = "Authentication Required. Please run the following command to authenticate:\n\n"
-                  "python3 tools/lib/auth.py\n\n"
+                  "python3 openpilot/tools/lib/auth.py\n\n"
                   "This will grant access to routes from your comma account.";
       } else {
         message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
-                     "This is likely a private route.").arg(route);
+                     "This is likely a private route.").arg(QString::fromStdString(route));
       }
       QMessageBox::warning(nullptr, tr("Access Denied"), message);
     } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
       QMessageBox::warning(nullptr, tr("Network Error"),
-                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route));
+                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(QString::fromStdString(route)));
     } else if (replay->lastRouteError() == RouteLoadError::FileNotFound) {
       QMessageBox::warning(nullptr, tr("Route Not Found"),
-                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(route));
+                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(QString::fromStdString(route)));
     } else {
-      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route));
+      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(QString::fromStdString(route)));
     }
   }
   return success;
@@ -136,10 +135,10 @@ OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(p
 
   setMinimumWidth(550);
   QObject::connect(browse_local_btn, &QPushButton::clicked, [=]() {
-    QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
+    QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), QString::fromStdString(settings.last_route_dir));
     if (!dir.isEmpty()) {
       route_edit->setText(dir);
-      settings.last_route_dir = QFileInfo(dir).absolutePath();
+      settings.last_route_dir = std::filesystem::absolute(dir.toStdString()).parent_path().string();
     }
   });
   QObject::connect(browse_remote_btn, &QPushButton::clicked, [this]() {
@@ -164,11 +163,11 @@ AbstractStream *OpenReplayWidget::open() {
   } else {
     auto replay_stream = std::make_unique<ReplayStream>(qApp);
     uint32_t flags = REPLAY_FLAG_NONE;
-    if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_DCAM;
-    if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
+    if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_CABIN_CAMERA;
+    if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_WIDE_ROAD;
     if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
 
-    if (replay_stream->loadRoute(route, data_dir, flags)) {
+    if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) {
       return replay_stream.release();
     }
   }
diff --git a/tools/cabana/streams/replaystream.h b/openpilot/tools/cabana/streams/replaystream.h
similarity index 76%
rename from tools/cabana/streams/replaystream.h
rename to openpilot/tools/cabana/streams/replaystream.h
index d429ed1f95..eecd345715 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/openpilot/tools/cabana/streams/replaystream.h
@@ -18,15 +18,17 @@ class ReplayStream : public AbstractStream {
 public:
   ReplayStream(QObject *parent);
   void start() override { replay->start(); }
-  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
+  bool loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
-  inline QString routeName() const override { return QString::fromStdString(replay->route().name()); }
-  inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
+  inline std::string routeName() const override { return replay->route().name(); }
+  inline std::string carFingerprint() const override { return replay->carFingerprint(); }
   double minSeconds() const override { return replay->minSeconds(); }
   double maxSeconds() const { return replay->maxSeconds(); }
-  inline QDateTime beginDateTime() const { return QDateTime::fromSecsSinceEpoch(replay->routeDateTime()); }
+  inline std::chrono::system_clock::time_point beginDateTime() const override {
+    return std::chrono::system_clock::from_time_t(replay->routeDateTime());
+  }
   inline uint64_t beginMonoTime() const override { return replay->routeStartNanos(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
   inline float getSpeed() const { return replay->getSpeed(); }
diff --git a/openpilot/tools/cabana/streams/routes.cc b/openpilot/tools/cabana/streams/routes.cc
new file mode 100644
index 0000000000..b6f98da533
--- /dev/null
+++ b/openpilot/tools/cabana/streams/routes.cc
@@ -0,0 +1,196 @@
+#include "tools/cabana/streams/routes.h"
+
+#include <chrono>
+#include <ctime>
+#include <string>
+#include <thread>
+#include <utility>
+
+#include <QApplication>
+#include <QDialogButtonBox>
+#include <QFormLayout>
+#include <QListWidget>
+#include <QMessageBox>
+#include <QPainter>
+
+#include "json11/json11.hpp"
+#include "tools/replay/py_downloader.h"
+
+namespace {
+
+// Parse a PyDownloader JSON response into (success, error_code).
+std::pair<bool, int> checkApiResponse(const std::string &result) {
+  if (result.empty()) return {false, 500};
+  std::string err;
+  auto doc = json11::Json::parse(result, err);
+  if (!err.empty()) return {false, 500};
+  if (doc.is_object() && doc["error"].is_string()) {
+    return {false, doc["error"].string_value() == "unauthorized" ? 401 : 500};
+  }
+  return {true, 0};
+}
+
+int64_t nowUnixMs() {
+  return std::chrono::duration_cast<std::chrono::milliseconds>(
+             std::chrono::system_clock::now().time_since_epoch())
+      .count();
+}
+
+// Parse ISO-8601 (with optional fractional seconds / Z) to unix ms. Returns 0 on failure.
+int64_t parseIsoToUnixMs(const std::string &s) {
+  std::string bytes = s;
+  if (!bytes.empty() && (bytes.back() == 'Z' || bytes.back() == 'z')) bytes.pop_back();
+  int millis = 0;
+  auto dot = bytes.find('.');
+  if (dot != std::string::npos) {
+    std::string frac = bytes.substr(dot + 1);
+    bytes = bytes.substr(0, dot);
+    while (frac.size() < 3) frac.push_back('0');
+    millis = std::atoi(frac.substr(0, 3).c_str());
+  }
+  std::tm tm{};
+  const char *ret = strptime(bytes.c_str(), "%Y-%m-%dT%H:%M:%S", &tm);
+  if (!ret) ret = strptime(bytes.c_str(), "%Y-%m-%d %H:%M:%S", &tm);
+  if (!ret) return 0;
+  tm.tm_isdst = -1;
+  time_t secs = timegm(&tm);
+  if (secs == static_cast<time_t>(-1)) return 0;
+  return static_cast<int64_t>(secs) * 1000 + millis;
+}
+
+QString formatUnixMs(int64_t ms) {
+  time_t secs = static_cast<time_t>(ms / 1000);
+  std::tm tm{};
+  localtime_r(&secs, &tm);
+  char buf[64];
+  std::strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S", &tm);
+  return QString::fromUtf8(buf);
+}
+
+}  // namespace
+
+// The RouteListWidget class extends QListWidget to display a custom message when empty
+class RouteListWidget : public QListWidget {
+public:
+  RouteListWidget(QWidget *parent = nullptr) : QListWidget(parent) {}
+  void setEmptyText(const QString &text) {
+    empty_text_ = text;
+    viewport()->update();
+  }
+  void paintEvent(QPaintEvent *event) override {
+    QListWidget::paintEvent(event);
+    if (count() == 0) {
+      QPainter painter(viewport());
+      painter.drawText(viewport()->rect(), Qt::AlignCenter, empty_text_);
+    }
+  }
+  QString empty_text_ = tr("No items");
+};
+
+RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Remote routes"));
+
+  QFormLayout *layout = new QFormLayout(this);
+  layout->addRow(tr("Device"), device_list_ = new QComboBox(this));
+  layout->addRow(period_selector_ = new QComboBox(this));
+  layout->addRow(route_list_ = new RouteListWidget(this));
+  auto button_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  layout->addRow(button_box);
+
+  device_list_->addItem(tr("Loading..."));
+  period_selector_->addItem(tr("Last week"), 7);
+  period_selector_->addItem(tr("Last 2 weeks"), 14);
+  period_selector_->addItem(tr("Last month"), 30);
+  period_selector_->addItem(tr("Last 6 months"), 180);
+  period_selector_->addItem(tr("Preserved"), -1);
+
+  connect(device_list_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
+  connect(period_selector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
+  connect(route_list_, &QListWidget::itemDoubleClicked, this, &QDialog::accept);
+  connect(button_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+
+  // Fetch devices
+  std::thread([this, alive = std::weak_ptr<bool>(alive_)]() {
+    std::string result = PyDownloader::getDevices();
+    QMetaObject::invokeMethod(qApp, [this, alive, r = QString::fromStdString(result), response = checkApiResponse(result)]() {
+      if (!alive.expired()) parseDeviceList(r, response.first, response.second);
+    }, Qt::QueuedConnection);
+  }).detach();
+}
+
+void RoutesDialog::parseDeviceList(const QString &json, bool success, int error_code) {
+  if (success) {
+    device_list_->clear();
+    std::string err;
+    auto doc = json11::Json::parse(json.toStdString(), err);
+    if (err.empty() && doc.is_array()) {
+      for (const auto &device : doc.array_items()) {
+        QString dongle_id = QString::fromStdString(device["dongle_id"].string_value());
+        device_list_->addItem(dongle_id, dongle_id);
+      }
+    }
+  } else {
+    QMessageBox::warning(this, tr("Error"), error_code == 401 ? tr("Unauthorized. Authenticate with openpilot/tools/lib/auth.py") : tr("Network error"));
+    reject();
+  }
+}
+
+void RoutesDialog::fetchRoutes() {
+  if (device_list_->currentIndex() == -1 || device_list_->currentData().isNull())
+    return;
+
+  route_list_->clear();
+  route_list_->setEmptyText(tr("Loading..."));
+
+  std::string did = device_list_->currentText().toStdString();
+  int period = period_selector_->currentData().toInt();
+
+  bool preserved = (period == -1);
+  int64_t start_ms = 0, end_ms = 0;
+  if (!preserved) {
+    end_ms = nowUnixMs();
+    start_ms = end_ms - static_cast<int64_t>(period) * 24LL * 60LL * 60LL * 1000LL;
+  }
+
+  int request_id = ++fetch_id_;
+  std::thread([this, alive = std::weak_ptr<bool>(alive_), did, start_ms, end_ms, preserved, request_id]() {
+    std::string result = PyDownloader::getDeviceRoutes(did, start_ms, end_ms, preserved);
+    QMetaObject::invokeMethod(qApp, [this, alive, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() {
+      if (!alive.expired() && fetch_id_ == request_id) parseRouteList(r, response.first, response.second);
+    }, Qt::QueuedConnection);
+  }).detach();
+}
+
+void RoutesDialog::parseRouteList(const QString &json, bool success, int error_code) {
+  if (success) {
+    std::string err;
+    auto doc = json11::Json::parse(json.toStdString(), err);
+    if (err.empty() && doc.is_array()) {
+      for (const auto &route : doc.array_items()) {
+        int64_t from_ms = 0, to_ms = 0;
+        if (period_selector_->currentData().toInt() == -1) {
+          from_ms = parseIsoToUnixMs(route["start_time"].string_value());
+          to_ms = parseIsoToUnixMs(route["end_time"].string_value());
+        } else {
+          from_ms = static_cast<int64_t>(route["start_time_utc_millis"].number_value());
+          to_ms = static_cast<int64_t>(route["end_time_utc_millis"].number_value());
+        }
+        const int mins = static_cast<int>((to_ms - from_ms) / 60000);
+        auto item = new QListWidgetItem(QString("%1    %2min").arg(formatUnixMs(from_ms)).arg(mins));
+        item->setData(Qt::UserRole, QString::fromStdString(route["fullname"].string_value()));
+        route_list_->addItem(item);
+      }
+    }
+    if (route_list_->count() > 0) route_list_->setCurrentRow(0);
+  } else {
+    QMessageBox::warning(this, tr("Error"), tr("Failed to fetch routes. Check your network connection."));
+    reject();
+  }
+  route_list_->setEmptyText(tr("No items"));
+}
+
+QString RoutesDialog::route() {
+  auto current_item = route_list_->currentItem();
+  return current_item ? current_item->data(Qt::UserRole).toString() : "";
+}
diff --git a/openpilot/tools/cabana/streams/routes.h b/openpilot/tools/cabana/streams/routes.h
new file mode 100644
index 0000000000..6ed145603f
--- /dev/null
+++ b/openpilot/tools/cabana/streams/routes.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <atomic>
+#include <memory>
+
+#include <QComboBox>
+#include <QDialog>
+
+class RouteListWidget;
+
+class RoutesDialog : public QDialog {
+  Q_OBJECT
+public:
+  RoutesDialog(QWidget *parent);
+  QString route();
+
+protected:
+  void parseDeviceList(const QString &json, bool success, int error_code);
+  void parseRouteList(const QString &json, bool success, int error_code);
+  void fetchRoutes();
+
+  QComboBox *device_list_;
+  QComboBox *period_selector_;
+  RouteListWidget *route_list_;
+  std::atomic<int> fetch_id_{0};
+  // expires on destruction; guards main-thread callbacks from detached worker threads
+  std::shared_ptr<bool> alive_ = std::make_shared<bool>(true);
+};
diff --git a/openpilot/tools/cabana/streams/socketcanstream.cc b/openpilot/tools/cabana/streams/socketcanstream.cc
new file mode 100644
index 0000000000..b616e7f242
--- /dev/null
+++ b/openpilot/tools/cabana/streams/socketcanstream.cc
@@ -0,0 +1,148 @@
+#include "tools/cabana/streams/socketcanstream.h"
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <cstdio>
+#include <filesystem>
+#include <fstream>
+
+#include <QFormLayout>
+#include <QHBoxLayout>
+#include <QMessageBox>
+#include <QPushButton>
+
+SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
+  if (!available()) {
+    throw std::runtime_error("SocketCAN not available");
+  }
+
+  fprintf(stderr, "Connecting to SocketCAN device %s\n", config.device.c_str());
+  if (!connect()) {
+    throw std::runtime_error("Failed to connect to SocketCAN device");
+  }
+}
+
+SocketCanStream::~SocketCanStream() {
+  stop();
+  if (sock_fd >= 0) {
+    ::close(sock_fd);
+    sock_fd = -1;
+  }
+}
+
+bool SocketCanStream::available() {
+  int fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (fd < 0) return false;
+  ::close(fd);
+  return true;
+}
+
+bool SocketCanStream::connect() {
+  sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (sock_fd < 0) {
+    fprintf(stderr, "Failed to create CAN socket\n");
+    return false;
+  }
+
+  // Enable CAN-FD
+  int fd_enable = 1;
+  setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fd_enable, sizeof(fd_enable));
+
+  struct ifreq ifr = {};
+  strncpy(ifr.ifr_name, config.device.c_str(), IFNAMSIZ - 1);
+  if (ioctl(sock_fd, SIOCGIFINDEX, &ifr) < 0) {
+    fprintf(stderr, "Failed to get interface index for %s\n", config.device.c_str());
+    ::close(sock_fd);
+    sock_fd = -1;
+    return false;
+  }
+
+  struct sockaddr_can addr = {};
+  addr.can_family = AF_CAN;
+  addr.can_ifindex = ifr.ifr_ifindex;
+  if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+    fprintf(stderr, "Failed to bind CAN socket\n");
+    ::close(sock_fd);
+    sock_fd = -1;
+    return false;
+  }
+
+  // Set read timeout so the thread can check for interruption
+  struct timeval tv = {.tv_sec = 0, .tv_usec = 100000};  // 100ms
+  setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
+  return true;
+}
+
+void SocketCanStream::streamThread() {
+  struct canfd_frame frame;
+
+  while (!exit_) {
+    ssize_t nbytes = read(sock_fd, &frame, sizeof(frame));
+    if (nbytes <= 0) continue;
+
+    uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len;  // works for both CAN and CAN-FD
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    auto canData = evt.initCan(1);
+    canData[0].setAddress(frame.can_id & CAN_EFF_MASK);
+    canData[0].setSrc(0);
+    canData[0].setDat(kj::arrayPtr(frame.data, len));
+
+    handleEvent(capnp::messageToFlatArray(msg));
+  }
+}
+
+OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addStretch(1);
+
+  QFormLayout *form_layout = new QFormLayout();
+
+  QHBoxLayout *device_layout = new QHBoxLayout();
+  device_edit = new QComboBox();
+  device_edit->setFixedWidth(300);
+  device_layout->addWidget(device_edit);
+
+  QPushButton *refresh = new QPushButton(tr("Refresh"));
+  refresh->setFixedWidth(100);
+  device_layout->addWidget(refresh);
+  form_layout->addRow(tr("Device"), device_layout);
+  main_layout->addLayout(form_layout);
+
+  main_layout->addStretch(1);
+
+  QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
+  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); });
+
+  // Populate devices
+  refreshDevices();
+}
+
+void OpenSocketCanWidget::refreshDevices() {
+  device_edit->clear();
+  // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN)
+  std::error_code ec;
+  for (const auto &entry : std::filesystem::directory_iterator("/sys/class/net", ec)) {
+    std::ifstream type_file(entry.path() / "type");
+    int type = 0;
+    if (type_file >> type && type == 280) {
+      device_edit->addItem(QString::fromStdString(entry.path().filename().string()));
+    }
+  }
+}
+
+AbstractStream *OpenSocketCanWidget::open() {
+  try {
+    return new SocketCanStream(qApp, config);
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
+    return nullptr;
+  }
+}
diff --git a/tools/cabana/streams/socketcanstream.h b/openpilot/tools/cabana/streams/socketcanstream.h
similarity index 62%
rename from tools/cabana/streams/socketcanstream.h
rename to openpilot/tools/cabana/streams/socketcanstream.h
index 8083b687e9..3c5cd184f7 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/openpilot/tools/cabana/streams/socketcanstream.h
@@ -1,27 +1,22 @@
 #pragma once
 
-#include <memory>
-
-#include <QtSerialBus/QCanBus>
-#include <QtSerialBus/QCanBusDevice>
-#include <QtSerialBus/QCanBusDeviceInfo>
 #include <QComboBox>
 
 #include "tools/cabana/streams/livestream.h"
 
 struct SocketCanStreamConfig {
-  QString device = ""; // TODO: support multiple devices/buses at once
+  std::string device = ""; // TODO: support multiple devices/buses at once
 };
 
 class SocketCanStream : public LiveStream {
   Q_OBJECT
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
-  ~SocketCanStream() { stop(); }
+  ~SocketCanStream();
   static bool available();
 
-  inline QString routeName() const override {
-    return QString("Live Streaming From Socket CAN %1").arg(config.device);
+  inline std::string routeName() const override {
+    return "Live Streaming From Socket CAN " + config.device;
   }
 
 protected:
@@ -29,7 +24,7 @@ protected:
   bool connect();
 
   SocketCanStreamConfig config = {};
-  std::unique_ptr<QCanBusDevice> device;
+  int sock_fd = -1;
 };
 
 class OpenSocketCanWidget : public AbstractOpenStreamWidget {
diff --git a/tools/cabana/streamselector.cc b/openpilot/tools/cabana/streamselector.cc
similarity index 90%
rename from tools/cabana/streamselector.cc
rename to openpilot/tools/cabana/streamselector.cc
index efd00d3985..7e8adc568d 100644
--- a/tools/cabana/streamselector.cc
+++ b/openpilot/tools/cabana/streamselector.cc
@@ -1,14 +1,17 @@
 #include "tools/cabana/streamselector.h"
 
+#include <filesystem>
+
 #include <QFileDialog>
 #include <QLabel>
 #include <QPushButton>
 
-#include "streams/socketcanstream.h"
 #include "tools/cabana/streams/devicestream.h"
 #include "tools/cabana/streams/pandastream.h"
 #include "tools/cabana/streams/replaystream.h"
+#ifdef __linux__
 #include "tools/cabana/streams/socketcanstream.h"
+#endif
 
 StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Open stream"));
@@ -35,9 +38,11 @@ StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
 
   addStreamWidget(new OpenReplayWidget, tr("&Replay"));
   addStreamWidget(new OpenPandaWidget, tr("&Panda"));
+#ifdef __linux__
   if (SocketCanStream::available()) {
     addStreamWidget(new OpenSocketCanWidget, tr("&SocketCAN"));
   }
+#endif
   addStreamWidget(new OpenDeviceWidget, tr("&Device"));
 
   QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
@@ -49,10 +54,10 @@ StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
     setEnabled(true);
   });
   QObject::connect(file_btn, &QPushButton::clicked, [this]() {
-    QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
+    QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), QString::fromStdString(settings.last_dir), "DBC (*.dbc)");
     if (!fn.isEmpty()) {
       dbc_file->setText(fn);
-      settings.last_dir = QFileInfo(fn).absolutePath();
+      settings.last_dir = std::filesystem::absolute(fn.toStdString()).parent_path().string();
     }
   });
 }
diff --git a/tools/cabana/streamselector.h b/openpilot/tools/cabana/streamselector.h
similarity index 100%
rename from tools/cabana/streamselector.h
rename to openpilot/tools/cabana/streamselector.h
diff --git a/tools/cabana/tests/test_cabana.cc b/openpilot/tools/cabana/tests/test_cabana.cc
similarity index 62%
rename from tools/cabana/tests/test_cabana.cc
rename to openpilot/tools/cabana/tests/test_cabana.cc
index d9fcae6f21..53be1b0afa 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/openpilot/tools/cabana/tests/test_cabana.cc
@@ -1,14 +1,15 @@
 
-#undef INFO
-#include <QDir>
+#include <filesystem>
+#include <sstream>
 
-#include "catch2/catch.hpp"
+#include "common/tests/native_test.h"
+#include "tools/cabana/dbc/dbcfile.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
-TEST_CASE("DBCFile::generateDBC") {
-  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
+void test_generate_dbc() {
+  std::string fn = std::string(OPENDBC_FILE_PATH) + "/tesla_can.dbc";
   DBCFile dbc_origin(fn);
   DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
@@ -28,9 +29,9 @@ TEST_CASE("DBCFile::generateDBC") {
   }
 }
 
-TEST_CASE("DBCFile::generateDBC - comment order") {
+void test_comment_order() {
   // Ensure that message comments are followed by signal comments and in the correct order
-  auto content = R"(BO_ 160 message_1: 8 EON
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 BO_ 162 message_2: 8 EON
@@ -45,8 +46,8 @@ CM_ SG_ 162 signal_2 "signal comment";
   REQUIRE(dbc.generateDBC() == content);
 }
 
-TEST_CASE("DBCFile::generateDBC -- preserve original header") {
-  QString content = R"(VERSION "1.0"
+void test_preserve_original_header() {
+  std::string content = R"(VERSION "1.0"
 
 NS_ :
  CM_
@@ -65,8 +66,8 @@ CM_ SG_ 160 signal_1 "signal comment";
   REQUIRE(dbc.generateDBC() == content);
 }
 
-TEST_CASE("DBCFile::generateDBC - escaped quotes") {
-  QString content = R"(BO_ 160 message_1: 8 EON
+void test_escaped_quotes() {
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 CM_ BO_ 160 "message comment with \"escaped quotes\"";
@@ -76,8 +77,8 @@ CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(dbc.generateDBC() == content);
 }
 
-TEST_CASE("parse_dbc") {
-  QString content = R"(
+void test_parse_dbc() {
+  std::string content = R"(
 BO_ 160 message_1: 8 EON
   SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
   SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] ""  XXX
@@ -119,9 +120,9 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(sig_1->comment == "signal comment");
   REQUIRE(sig_1->receiver_name == "XXX");
   REQUIRE(sig_1->val_desc.size() == 3);
-  REQUIRE(sig_1->val_desc[0] == std::pair<double, QString>{0, "disabled"});
-  REQUIRE(sig_1->val_desc[1] == std::pair<double, QString>{1.2, "initializing"});
-  REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
+  REQUIRE(sig_1->val_desc[0] == std::pair<double, std::string>{0, "disabled"});
+  REQUIRE(sig_1->val_desc[1] == std::pair<double, std::string>{1.2, "initializing"});
+  REQUIRE(sig_1->val_desc[2] == std::pair<double, std::string>{2, "fault"});
 
   auto &sig_2 = msg->sigs[1];
   REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
@@ -142,16 +143,59 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(msg->sigs[0]->comment == "signal comment with \"escaped quotes\"");
 }
 
-TEST_CASE("parse_opendbc") {
-  QDir dir(OPENDBC_FILE_PATH);
-  QStringList errors;
-  for (auto fn : dir.entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
+void test_parse_opendbc() {
+  std::vector<std::string> errors;
+  for (const auto &entry : std::filesystem::directory_iterator(OPENDBC_FILE_PATH)) {
+    if (!entry.is_regular_file() || entry.path().extension() != ".dbc") continue;
     try {
-      auto dbc = DBCFile(dir.filePath(fn));
+      auto dbc = DBCFile(entry.path().string());
     } catch (std::exception &e) {
       errors.push_back(e.what());
     }
   }
-  INFO(errors.join("\n").toStdString());
+  std::ostringstream details;
+  for (const auto &error : errors) details << error << '\n';
+  if (!errors.empty()) std::cerr << details.str();
   REQUIRE(errors.empty());
 }
+
+void test_dbc_manager() {
+  DBCManager manager;
+  int files_changed = 0;
+  int signals_added = 0;
+  int masks_updated = 0;
+  manager.setCallbacks({
+    .signal_added = [&](MessageId, const cabana::Signal *) { ++signals_added; },
+    .file_changed = [&]() { ++files_changed; },
+    .mask_updated = [&]() { ++masks_updated; },
+  });
+
+  std::string error;
+  REQUIRE(manager.open(SOURCE_ALL, "test", "BO_ 160 message: 8 XXX\n", &error));
+  REQUIRE(error.empty());
+  REQUIRE(files_changed == 1);
+
+  cabana::Signal signal{};
+  signal.name = "speed";
+  signal.start_bit = 0;
+  signal.size = 8;
+  signal.is_little_endian = true;
+  manager.addSignal({.source = 0, .address = 160}, signal);
+  REQUIRE(signals_added == 1);
+  REQUIRE(masks_updated == 1);
+  REQUIRE(manager.msg({.source = 0, .address = 160})->sig("speed") != nullptr);
+}
+
+void test_cabana_core() {
+  test_generate_dbc();
+  test_comment_order();
+  test_preserve_original_header();
+  test_escaped_quotes();
+  test_parse_dbc();
+  test_parse_opendbc();
+  test_dbc_manager();
+}
+
+int main() {
+  return run_native_test(test_cabana_core);
+}
diff --git a/tools/cabana/tools/findsignal.cc b/openpilot/tools/cabana/tools/findsignal.cc
similarity index 79%
rename from tools/cabana/tools/findsignal.cc
rename to openpilot/tools/cabana/tools/findsignal.cc
index ec56fcaac0..4511af7c01 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/openpilot/tools/cabana/tools/findsignal.cc
@@ -1,10 +1,12 @@
 #include "tools/cabana/tools/findsignal.h"
 
+#include <set>
+#include <thread>
+
 #include <QFormLayout>
 #include <QHBoxLayout>
 #include <QHeaderView>
 #include <QMenu>
-#include <QtConcurrent>
 #include <QTimer>
 #include <QVBoxLayout>
 
@@ -20,7 +22,7 @@ QVariant FindSignalModel::data(const QModelIndex &index, int role) const {
   if (role == Qt::DisplayRole) {
     const auto &s = filtered_signals[index.row()];
     switch (index.column()) {
-      case 0: return s.id.toString();
+      case 0: return QString::fromStdString(s.id.toString());
       case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size);
       case 2: return s.values.join(" ");
     }
@@ -32,36 +34,49 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
   beginResetModel();
 
   std::mutex lock;
-  const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals;
+  const auto prev_sigs = !histories.empty() ? histories.back() : initial_signals;
   filtered_signals.clear();
   filtered_signals.reserve(prev_sigs.size());
-  QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
-    const auto &events = can->events(s.id);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
-    auto last = events.cend();
-    if (last_time < std::numeric_limits<uint64_t>::max()) {
-      last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
-    }
 
-    auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
-    if (it != last) {
-      auto values = s.values;
-      values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
-      std::lock_guard lk(lock);
-      filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
-    }
-  });
+  unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency());
+  size_t chunk = (prev_sigs.size() + num_threads - 1) / num_threads;
+  std::vector<std::thread> threads;
+  for (unsigned int t = 0; t < num_threads && t * chunk < (size_t)prev_sigs.size(); ++t) {
+    size_t start = t * chunk;
+    size_t end = std::min(start + chunk, (size_t)prev_sigs.size());
+    threads.emplace_back([&, start, end]() {
+      for (size_t i = start; i < end; ++i) {
+        const auto &s = prev_sigs[i];
+        const auto &events = can->events(s.id);
+        auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
+        auto last = events.cend();
+        if (last_time < std::numeric_limits<uint64_t>::max()) {
+          last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
+        }
+
+        auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
+        if (it != last) {
+          auto values = s.values;
+          values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+          std::lock_guard lk(lock);
+          filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
+        }
+      }
+    });
+  }
+  for (auto &th : threads) th.join();
+
   histories.push_back(filtered_signals);
 
   endResetModel();
 }
 
 void FindSignalModel::undo() {
-  if (!histories.isEmpty()) {
+  if (!histories.empty()) {
     beginResetModel();
     histories.pop_back();
     filtered_signals.clear();
-    if (!histories.isEmpty()) filtered_signals = histories.back();
+    if (!histories.empty()) filtered_signals = histories.back();
     endResetModel();
   }
 }
@@ -84,9 +99,9 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
   message_group = new QGroupBox(tr("Messages"), this);
   QFormLayout *message_layout = new QFormLayout(message_group);
   message_layout->addRow(tr("Bus"), bus_edit = new QLineEdit());
-  bus_edit->setPlaceholderText(tr("comma-seperated values. Leave blank for all"));
+  bus_edit->setPlaceholderText(tr("comma-separated values. Leave blank for all"));
   message_layout->addRow(tr("Address"), address_edit = new QLineEdit());
-  address_edit->setPlaceholderText(tr("comma-seperated hex values. Leave blank for all"));
+  address_edit->setPlaceholderText(tr("comma-separated hex values. Leave blank for all"));
   QHBoxLayout *hlayout = new QHBoxLayout();
   hlayout->addWidget(first_time_edit = new QLineEdit("0"));
   hlayout->addWidget(new QLabel("-"));
@@ -172,7 +187,7 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
 }
 
 void FindSignalDlg::search() {
-  if (model->histories.isEmpty()) {
+  if (model->histories.empty()) {
     setInitialSignals();
   }
   auto v1 = value1->text().toDouble();
@@ -196,13 +211,13 @@ void FindSignalDlg::search() {
 }
 
 void FindSignalDlg::setInitialSignals() {
-  QSet<ushort> buses;
+  std::set<ushort> buses;
   for (auto bus : bus_edit->text().trimmed().split(",")) {
     bus = bus.trimmed();
     if (!bus.isEmpty()) buses.insert(bus.toUShort());
   }
 
-  QSet<uint32_t> addresses;
+  std::set<uint32_t> addresses;
   for (auto addr : address_edit->text().trimmed().split(",")) {
     addr = addr.trimmed();
     if (!addr.isEmpty()) addresses.insert(addr.toULong(nullptr, 16));
@@ -225,7 +240,7 @@ void FindSignalDlg::setInitialSignals() {
   model->initial_signals.clear();
 
   for (const auto &[id, m] : can->lastMessages()) {
-    if ((buses.isEmpty() || buses.contains(id.source)) && (addresses.isEmpty() || addresses.contains(id.address))) {
+    if ((buses.empty() || buses.count(id.source)) && (addresses.empty() || addresses.count(id.address))) {
       const auto &events = can->events(id);
       auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, CompareCanEvent());
       if (e != events.cend()) {
@@ -246,12 +261,12 @@ void FindSignalDlg::setInitialSignals() {
 }
 
 void FindSignalDlg::modelReset() {
-  properties_group->setEnabled(model->histories.isEmpty());
-  message_group->setEnabled(model->histories.isEmpty());
-  search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next"));
-  reset_btn->setEnabled(!model->histories.isEmpty());
+  properties_group->setEnabled(model->histories.empty());
+  message_group->setEnabled(model->histories.empty());
+  search_btn->setText(model->histories.empty() ? tr("Find") : tr("Find Next"));
+  reset_btn->setEnabled(!model->histories.empty());
   undo_btn->setEnabled(model->histories.size() > 1);
-  search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty());
+  search_btn->setEnabled(model->rowCount() > 0 || model->histories.empty());
   stats_label->setVisible(true);
   stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size()));
 }
@@ -262,7 +277,7 @@ void FindSignalDlg::customMenuRequested(const QPoint &pos) {
     menu.addAction(tr("Create Signal"));
     if (menu.exec(view->mapToGlobal(pos))) {
       auto &s = model->filtered_signals[index.row()];
-      UndoStack::push(new AddSigCommand(s.id, s.sig));
+      UndoStack::instance()->push(new AddSigCommand(s.id, s.sig));
       emit openMessage(s.id);
     }
   }
diff --git a/tools/cabana/tools/findsignal.h b/openpilot/tools/cabana/tools/findsignal.h
similarity index 87%
rename from tools/cabana/tools/findsignal.h
rename to openpilot/tools/cabana/tools/findsignal.h
index 5ef7461fee..239a08c9c4 100644
--- a/tools/cabana/tools/findsignal.h
+++ b/openpilot/tools/cabana/tools/findsignal.h
@@ -2,6 +2,8 @@
 
 #include <algorithm>
 #include <limits>
+#include <string>
+#include <vector>
 
 #include <QAbstractTableModel>
 #include <QCheckBox>
@@ -26,14 +28,14 @@ public:
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; }
-  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 300); }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min((int)filtered_signals.size(), 300); }
   void search(std::function<bool(double)> cmp);
   void reset();
   void undo();
 
-  QList<SearchSignal> filtered_signals;
-  QList<SearchSignal> initial_signals;
-  QList<QList<SearchSignal>> histories;
+  std::vector<SearchSignal> filtered_signals;
+  std::vector<SearchSignal> initial_signals;
+  std::vector<std::vector<SearchSignal>> histories;
   uint64_t last_time = std::numeric_limits<uint64_t>::max();
 };
 
diff --git a/tools/cabana/tools/findsimilarbits.cc b/openpilot/tools/cabana/tools/findsimilarbits.cc
similarity index 88%
rename from tools/cabana/tools/findsimilarbits.cc
rename to openpilot/tools/cabana/tools/findsimilarbits.cc
index c3c659791a..8062b61199 100644
--- a/tools/cabana/tools/findsimilarbits.cc
+++ b/openpilot/tools/cabana/tools/findsimilarbits.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/tools/findsimilarbits.h"
 
 #include <algorithm>
+#include <unordered_map>
 
 #include <QGridLayout>
 #include <QHeaderView>
@@ -31,7 +32,7 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
   msg_cb = new QComboBox(this);
   // TODO: update when src_bus_combo changes
   for (auto &[address, msg] : dbc()->getMessages(-1)) {
-    msg_cb->addItem(msg.name, address);
+    msg_cb->addItem(QString::fromStdString(msg.name), address);
   }
   msg_cb->model()->sort(0);
   msg_cb->setCurrentIndex(0);
@@ -114,10 +115,10 @@ void FindSimilarBitsDlg::find() {
   search_btn->setEnabled(true);
 }
 
-QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
-                                                                          int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
-  QHash<uint32_t, QVector<uint32_t>> mismatches;
-  QHash<uint32_t, uint32_t> msg_count;
+std::vector<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
+                                                                               int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
+  std::unordered_map<uint32_t, std::vector<uint32_t>> mismatches;
+  std::unordered_map<uint32_t, uint32_t> msg_count;
   const auto &events = can->allEvents();
   int bit_to_find = -1;
   for (const CanEvent *e : events) {
@@ -143,14 +144,14 @@ QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_
     }
   }
 
-  QList<mismatched_struct> result;
+  std::vector<mismatched_struct> result;
   result.reserve(mismatches.size());
   for (auto it = mismatches.begin(); it != mismatches.end(); ++it) {
-    if (auto cnt = msg_count[it.key()]; cnt > min_msgs_cnt) {
-      auto &mismatched = it.value();
-      for (int i = 0; i < mismatched.size(); ++i) {
+    if (auto cnt = msg_count[it->first]; cnt > (uint32_t)min_msgs_cnt) {
+      auto &mismatched = it->second;
+      for (int i = 0; i < (int)mismatched.size(); ++i) {
         if (float perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
-          result.push_back({it.key(), (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
+          result.push_back({it->first, (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
         }
       }
     }
diff --git a/tools/cabana/tools/findsimilarbits.h b/openpilot/tools/cabana/tools/findsimilarbits.h
similarity index 82%
rename from tools/cabana/tools/findsimilarbits.h
rename to openpilot/tools/cabana/tools/findsimilarbits.h
index 77bfac19ca..3451360654 100644
--- a/tools/cabana/tools/findsimilarbits.h
+++ b/openpilot/tools/cabana/tools/findsimilarbits.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <vector>
+
 #include <QComboBox>
 #include <QDialog>
 #include <QLineEdit>
@@ -22,7 +24,7 @@ private:
     uint32_t address, byte_idx, bit_idx, mismatches, total;
     float perc;
   };
-  QList<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
+  std::vector<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
                                     bool equal, int min_msgs_cnt);
   void find();
 
diff --git a/tools/cabana/tools/routeinfo.cc b/openpilot/tools/cabana/tools/routeinfo.cc
similarity index 86%
rename from tools/cabana/tools/routeinfo.cc
rename to openpilot/tools/cabana/tools/routeinfo.cc
index 77a0e065cd..dc272e3d12 100644
--- a/tools/cabana/tools/routeinfo.cc
+++ b/openpilot/tools/cabana/tools/routeinfo.cc
@@ -14,7 +14,7 @@ RouteInfoDlg::RouteInfoDlg(QWidget *parent) : QDialog(parent) {
   table->setEditTriggers(QAbstractItemView::NoEditTriggers);
   table->setSelectionBehavior(QAbstractItemView::SelectRows);
   table->setSelectionMode(QAbstractItemView::SingleSelection);
-  table->setHorizontalHeaderLabels({"", "rlog", "fcam", "ecam", "dcam", "qlog", "qcam"});
+  table->setHorizontalHeaderLabels({"", "rlog", "narrow road", "wide road", "driver", "qlog", "qcam"});
   table->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
   table->verticalHeader()->setVisible(false);
   table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@@ -23,9 +23,9 @@ RouteInfoDlg::RouteInfoDlg(QWidget *parent) : QDialog(parent) {
   for (const auto &[seg_num, seg] : replay->route().segments()) {
     table->setItem(row, 0, new QTableWidgetItem(QString::number(seg_num)));
     table->setItem(row, 1, new QTableWidgetItem(seg.rlog.empty() ? "--" : "Yes"));
-    table->setItem(row, 2, new QTableWidgetItem(seg.road_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 2, new QTableWidgetItem(seg.narrow_road_cam.empty() ? "--" : "Yes"));
     table->setItem(row, 3, new QTableWidgetItem(seg.wide_road_cam.empty() ? "--" : "Yes"));
-    table->setItem(row, 4, new QTableWidgetItem(seg.driver_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 4, new QTableWidgetItem(seg.cabin_cam.empty() ? "--" : "Yes"));
     table->setItem(row, 5, new QTableWidgetItem(seg.qlog.empty() ? "--" : "Yes"));
     table->setItem(row, 6, new QTableWidgetItem(seg.qcamera.empty() ? "--" : "Yes"));
     ++row;
diff --git a/tools/cabana/tools/routeinfo.h b/openpilot/tools/cabana/tools/routeinfo.h
similarity index 100%
rename from tools/cabana/tools/routeinfo.h
rename to openpilot/tools/cabana/tools/routeinfo.h
diff --git a/tools/cabana/utils/elidedlabel.cc b/openpilot/tools/cabana/utils/elidedlabel.cc
similarity index 100%
rename from tools/cabana/utils/elidedlabel.cc
rename to openpilot/tools/cabana/utils/elidedlabel.cc
diff --git a/tools/cabana/utils/elidedlabel.h b/openpilot/tools/cabana/utils/elidedlabel.h
similarity index 100%
rename from tools/cabana/utils/elidedlabel.h
rename to openpilot/tools/cabana/utils/elidedlabel.h
diff --git a/openpilot/tools/cabana/utils/export.cc b/openpilot/tools/cabana/utils/export.cc
new file mode 100644
index 0000000000..d585827ef5
--- /dev/null
+++ b/openpilot/tools/cabana/utils/export.cc
@@ -0,0 +1,45 @@
+#include "tools/cabana/utils/export.h"
+
+#include <fstream>
+#include <iomanip>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+namespace utils {
+
+void exportToCSV(const std::string &file_name, std::optional<MessageId> msg_id) {
+  std::ofstream stream(file_name, std::ios::trunc);
+  if (stream) {
+    stream << "time,addr,bus,data\n";
+    for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) {
+      stream << std::fixed << std::setprecision(3) << can->toSeconds(e->mono_time) << ","
+             << "0x" << std::hex << e->address << std::dec << "," << static_cast<int>(e->src) << ",0x"
+             << std::uppercase << std::hex << std::setfill('0');
+      for (int i = 0; i < e->size; ++i) stream << std::setw(2) << static_cast<int>(e->dat[i]);
+      stream << std::nouppercase << std::dec << "\n";
+    }
+  }
+}
+
+void exportSignalsToCSV(const std::string &file_name, const MessageId &msg_id) {
+  std::ofstream stream(file_name, std::ios::trunc);
+  if (auto msg = dbc()->msg(msg_id); msg && !msg->sigs.empty() && stream) {
+    stream << "time,addr,bus";
+    for (auto s : msg->sigs)
+      stream << "," << s->name.c_str();
+    stream << "\n";
+
+    for (auto e : can->events(msg_id)) {
+      stream << std::fixed << std::setprecision(3) << can->toSeconds(e->mono_time) << ","
+             << "0x" << std::hex << e->address << std::dec << "," << static_cast<int>(e->src);
+      for (auto s : msg->sigs) {
+        double value = 0;
+        s->getValue(e->dat, e->size, &value);
+        stream << "," << std::fixed << std::setprecision(s->precision) << value;
+      }
+      stream << "\n";
+    }
+  }
+}
+
+}  // namespace utils
diff --git a/openpilot/tools/cabana/utils/export.h b/openpilot/tools/cabana/utils/export.h
new file mode 100644
index 0000000000..ee110e8321
--- /dev/null
+++ b/openpilot/tools/cabana/utils/export.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#include <optional>
+#include <string>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+namespace utils {
+void exportToCSV(const std::string &file_name, std::optional<MessageId> msg_id = std::nullopt);
+void exportSignalsToCSV(const std::string &file_name, const MessageId &msg_id);
+}  // namespace utils
diff --git a/openpilot/tools/cabana/utils/util.cc b/openpilot/tools/cabana/utils/util.cc
new file mode 100644
index 0000000000..87a0f89427
--- /dev/null
+++ b/openpilot/tools/cabana/utils/util.cc
@@ -0,0 +1,542 @@
+#include "tools/cabana/utils/util.h"
+
+#include <algorithm>
+#include <cerrno>
+#include <cmath>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <csignal>
+#include <ctime>
+#include <filesystem>
+#include <limits>
+#include <memory>
+#include <string>
+#include <sys/socket.h>
+#include <sys/wait.h>
+#include <unistd.h>
+
+#include <QColor>
+#include <QFontDatabase>
+#include <QPixmapCache>
+#include <QPainterPath>
+#include <unordered_map>
+#include "common/util.h"
+
+// SegmentTree
+
+void SegmentTree::build(const std::vector<QPointF> &arr) {
+  size = arr.size();
+  tree.resize(4 * size);  // size of the tree is 4 times the size of the array
+  if (size > 0) {
+    build_tree(arr, 1, 0, size - 1);
+  }
+}
+
+void SegmentTree::build_tree(const std::vector<QPointF> &arr, int n, int left, int right) {
+  if (left == right) {
+    const double y = arr[left].y();
+    tree[n] = {y, y};
+  } else {
+    const int mid = (left + right) >> 1;
+    build_tree(arr, 2 * n, left, mid);
+    build_tree(arr, 2 * n + 1, mid + 1, right);
+    tree[n] = {std::min(tree[2 * n].first, tree[2 * n + 1].first), std::max(tree[2 * n].second, tree[2 * n + 1].second)};
+  }
+}
+
+std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, int range_left, int range_right) const {
+  if (range_left > right || range_right < left)
+    return {std::numeric_limits<double>::max(), std::numeric_limits<double>::lowest()};
+  if (range_left <= left && range_right >= right)
+    return tree[n];
+  int mid = (left + right) >> 1;
+  auto l = get_minmax(2 * n, left, mid, range_left, range_right);
+  auto r = get_minmax(2 * n + 1, mid + 1, right, range_left, range_right);
+  return {std::min(l.first, r.first), std::max(l.second, r.second)};
+}
+
+// MessageBytesDelegate
+
+MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines)
+    : font_metrics(QApplication::font()), multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
+  fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
+  byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, fixed_font);
+  }
+  h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+  v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
+}
+
+QSize MessageBytesDelegate::sizeForBytes(int n) const {
+  int rows = multiple_lines ? std::max(1, n / 8) : 1;
+  return {(n / rows) * byte_size.width() + h_margin * 2, rows * byte_size.height() + v_margin * 2};
+}
+
+QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto data = index.data(BytesRole);
+  return sizeForBytes(data.isValid() ? static_cast<std::vector<uint8_t> *>(data.value<void *>())->size() : 0);
+}
+
+void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  if (option.state & QStyle::State_Selected) {
+    painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
+  }
+
+  QRect item_rect = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
+  QColor highlighted_color = option.palette.color(QPalette::HighlightedText);
+  auto text_color = index.data(Qt::ForegroundRole).value<QColor>();
+  bool inactive = text_color.isValid();
+  if (!inactive) {
+    text_color = option.palette.color(QPalette::Text);
+  }
+  auto data = index.data(BytesRole);
+  if (!data.isValid()) {
+    painter->setFont(option.font);
+    painter->setPen(option.state & QStyle::State_Selected ? highlighted_color : text_color);
+    QString text = font_metrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, item_rect.width());
+    painter->drawText(item_rect, Qt::AlignLeft | Qt::AlignVCenter, text);
+    return;
+  }
+
+  // Paint hex column
+  const auto &bytes = *static_cast<std::vector<uint8_t> *>(data.value<void *>());
+  const auto &colors = *static_cast<std::vector<CabanaColor> *>(index.data(ColorsRole).value<void *>());
+
+  painter->setFont(fixed_font);
+  const QPen text_pen(option.state & QStyle::State_Selected ? highlighted_color : text_color);
+  const QPoint pt = item_rect.topLeft();
+  for (int i = 0; i < bytes.size(); ++i) {
+    int row = !multiple_lines ? 0 : i / 8;
+    int column = !multiple_lines ? i : i % 8;
+    QRect r({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
+
+    if (!inactive && i < colors.size() && colors[i].alpha() > 0) {
+      if (option.state & QStyle::State_Selected) {
+        painter->setPen(option.palette.color(QPalette::Text));
+        painter->fillRect(r, option.palette.color(QPalette::Window));
+      }
+      painter->fillRect(r, toQColor(colors[i]));
+    } else {
+      painter->setPen(text_pen);
+    }
+    utils::drawStaticText(painter, r, hex_text_table[bytes[i]]);
+  }
+}
+
+// TabBar
+
+int TabBar::addTab(const QString &text) {
+  int index = QTabBar::addTab(text);
+  QToolButton *btn = new ToolButton("x", tr("Close Tab"));
+  int width = style()->pixelMetric(QStyle::PM_TabCloseIndicatorWidth, nullptr, btn);
+  int height = style()->pixelMetric(QStyle::PM_TabCloseIndicatorHeight, nullptr, btn);
+  btn->setFixedSize({width, height});
+  setTabButton(index, QTabBar::RightSide, btn);
+  QObject::connect(btn, &QToolButton::clicked, this, &TabBar::closeTabClicked);
+  return index;
+}
+
+void TabBar::closeTabClicked() {
+  QObject *object = sender();
+  for (int i = 0; i < count(); ++i) {
+    if (tabButton(i, QTabBar::RightSide) == object) {
+      emit tabCloseRequested(i);
+      break;
+    }
+  }
+}
+
+// UnixSignalHandler
+
+UnixSignalHandler::UnixSignalHandler() {
+  if (::socketpair(AF_UNIX, SOCK_STREAM, 0, sig_fd)) {
+    qFatal("Couldn't create TERM socketpair");
+  }
+
+  waiter = std::thread([this]() {
+    int tmp = 0;
+    while (::read(sig_fd[1], &tmp, sizeof(tmp)) < 0) {
+      if (errno != EINTR) return;
+    }
+    if (shutting_down.load()) return;
+
+    // Marshal exit onto the GUI thread (qApp methods are not thread-safe).
+    QMetaObject::invokeMethod(qApp, []() {
+      printf("\nexiting...\n");
+      qApp->closeAllWindows();
+      qApp->exit();
+    }, Qt::QueuedConnection);
+  });
+
+  std::signal(SIGINT, signalHandler);
+  std::signal(SIGTERM, UnixSignalHandler::signalHandler);
+}
+
+UnixSignalHandler::~UnixSignalHandler() {
+  shutting_down.store(true);
+  int dummy = 0;
+  (void)!::write(sig_fd[0], &dummy, sizeof(dummy));
+  if (waiter.joinable()) waiter.join();
+  ::close(sig_fd[0]);
+  ::close(sig_fd[1]);
+}
+
+void UnixSignalHandler::signalHandler(int s) {
+  (void)!::write(sig_fd[0], &s, sizeof(s));
+}
+
+// NameValidator
+
+NameValidator::NameValidator(QObject *parent) : QValidator(parent) {}
+
+QValidator::State NameValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
+  input.replace(' ', '_');
+  if (input.isEmpty()) return QValidator::Intermediate;
+  for (const QChar &c : input) {
+    if (!c.isLetterOrNumber() && c != '_') return QValidator::Invalid;
+  }
+  return QValidator::Acceptable;
+}
+
+// NodeValidator
+
+NodeValidator::NodeValidator(QObject *parent) : QValidator(parent) {}
+
+QValidator::State NodeValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
+  if (input.isEmpty()) return QValidator::Intermediate;
+  // Match ^\w+(,\w+)*$ ; a trailing comma is Intermediate (user still typing).
+  bool need_word = true;
+  for (const QChar &c : input) {
+    if (c.isLetterOrNumber() || c == '_') {
+      need_word = false;
+    } else if (c == ',' && !need_word) {
+      need_word = true;
+    } else {
+      return QValidator::Invalid;
+    }
+  }
+  return need_word ? QValidator::Intermediate : QValidator::Acceptable;
+}
+
+// NonWhitespaceValidator
+
+NonWhitespaceValidator::NonWhitespaceValidator(QObject *parent) : QValidator(parent) {}
+
+QValidator::State NonWhitespaceValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
+  if (input.isEmpty()) return QValidator::Intermediate;
+  for (const QChar &c : input) {
+    if (c.isSpace()) return QValidator::Invalid;
+  }
+  return QValidator::Acceptable;
+}
+
+// IpAddressValidator
+
+IpAddressValidator::IpAddressValidator(QObject *parent) : QValidator(parent) {}
+
+QValidator::State IpAddressValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
+  if (input.isEmpty()) return QValidator::Intermediate;
+
+  int dots = 0;
+  int value = 0;
+  bool has_digit = false;
+  for (const QChar &c : input) {
+    if (c.isDigit()) {
+      value = has_digit ? value * 10 + c.digitValue() : c.digitValue();
+      if (value > 255) return QValidator::Invalid;
+      has_digit = true;
+    } else if (c == '.') {
+      if (!has_digit || dots >= 3) return QValidator::Invalid;
+      ++dots;
+      has_digit = false;
+      value = 0;
+    } else {
+      return QValidator::Invalid;
+    }
+  }
+  return (dots == 3 && has_digit) ? QValidator::Acceptable : QValidator::Intermediate;
+}
+
+DoubleValidator::DoubleValidator(QObject *parent) : QValidator(parent) {}
+
+QValidator::State DoubleValidator::validate(QString &input, int &pos) const {
+  Q_UNUSED(pos);
+  if (input.isEmpty()) return QValidator::Intermediate;
+
+  // Match QString::toDouble(): C locale, no hex floats / inf / nan.
+  const std::string bytes = input.toLatin1().toStdString();
+  // strtod accepts 0x… hex floats and p-exponents; QString::toDouble does not.
+  if (bytes.find_first_of("xXpP") != std::string::npos) {
+    return QValidator::Invalid;
+  }
+
+  const char *start = bytes.c_str();
+  char *end = nullptr;
+  const double value = std::strtod(start, &end);
+  if (end == start) {
+    // Still typing a sign, decimal point, or exponent prefix.
+    if (input == "-" || input == "+" || input == "." || input == "-." || input == "+.") {
+      return QValidator::Intermediate;
+    }
+    return QValidator::Invalid;
+  }
+  if (*end == '\0') {
+    // Reject inf/nan (strtod accepts them; QDoubleValidator / toDouble path should not).
+    return std::isfinite(value) ? QValidator::Acceptable : QValidator::Invalid;
+  }
+
+  // Partial exponent / trailing sign while typing (e.g. "1e", "1e-", "1.").
+  for (const char *p = end; *p; ++p) {
+    const char c = *p;
+    if (!(c == 'e' || c == 'E' || c == '+' || c == '-' || c == '.' || (c >= '0' && c <= '9'))) {
+      return QValidator::Invalid;
+    }
+  }
+  return QValidator::Intermediate;
+}
+
+namespace utils {
+
+std::string homePath() {
+  const char *home = ::getenv("HOME");
+  return home ? home : "";
+}
+
+std::filesystem::path configPath() {
+#ifdef __APPLE__
+  return std::filesystem::path(homePath()) / "Library/Preferences";
+#else
+  const char *xdg = ::getenv("XDG_CONFIG_HOME");
+  return (xdg && xdg[0]) ? std::filesystem::path(xdg) : std::filesystem::path(homePath()) / ".config";
+#endif
+}
+
+#ifdef __APPLE__
+static const char *clipboard_read_cmds[] = {"pbpaste"};
+static const char *clipboard_write_cmds[] = {"pbcopy"};
+#else
+static const char *clipboard_read_cmds[] = {"wl-paste --no-newline 2>/dev/null", "xclip -selection clipboard -o 2>/dev/null", "xsel -ob 2>/dev/null"};
+static const char *clipboard_write_cmds[] = {"wl-copy 2>/dev/null", "xclip -selection clipboard 2>/dev/null", "xsel -ib 2>/dev/null"};
+#endif
+
+bool getClipboardText(std::string *text) {
+  text->clear();
+  bool has_tool = false;
+  for (const char *cmd : clipboard_read_cmds) {
+    FILE *f = ::popen(cmd, "r");
+    if (!f) continue;
+    std::string out;
+    char buf[4096];
+    for (size_t n; (n = ::fread(buf, 1, sizeof(buf), f)) > 0;) out.append(buf, n);
+    int status = ::pclose(f);
+    if (status == 0) {
+      *text = std::move(out);
+      return true;
+    }
+    has_tool |= WIFEXITED(status) && WEXITSTATUS(status) != 127;  // 127: command not found
+  }
+  return has_tool;  // tool present but clipboard empty
+}
+
+bool setClipboardText(const std::string &text) {
+  std::signal(SIGPIPE, SIG_IGN);
+  for (const char *cmd : clipboard_write_cmds) {
+    FILE *f = ::popen(cmd, "w");
+    if (!f) continue;
+    size_t written = ::fwrite(text.data(), 1, text.size(), f);
+    if (::pclose(f) == 0 && written == text.size()) return true;
+  }
+  return false;
+}
+
+bool isDarkTheme() {
+  QColor windowColor = QApplication::palette().color(QPalette::Window);
+  return windowColor.lightness() < 128;
+}
+
+QPixmap icon(const QString &id) {
+  bool dark_theme = isDarkTheme();
+
+  QPixmap pm;
+  QString key = "bootstrap_" % id % (dark_theme ? "1" : "0");
+  if (!QPixmapCache::find(key, &pm)) {
+    pm = bootstrapPixmap(id);
+    if (dark_theme) {
+      QPainter p(&pm);
+      p.setCompositionMode(QPainter::CompositionMode_SourceIn);
+      p.fillRect(pm.rect(), QColor("#bbbbbb"));
+    }
+    QPixmapCache::insert(key, pm);
+  }
+  return pm;
+}
+
+void setTheme(int theme) {
+  auto style = QApplication::style();
+  if (!style) return;
+
+  static int prev_theme = 0;
+  if (theme != prev_theme) {
+    prev_theme = theme;
+    QPalette new_palette;
+    if (theme == DARK_THEME) {
+      // "Darcula" like dark theme
+      new_palette.setColor(QPalette::Window, QColor("#353535"));
+      new_palette.setColor(QPalette::WindowText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Base, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::AlternateBase, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ToolTipBase, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ToolTipText, QColor("#bbb"));
+      new_palette.setColor(QPalette::Text, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Button, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ButtonText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Highlight, QColor("#2f65ca"));
+      new_palette.setColor(QPalette::HighlightedText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0"));
+      new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777"));
+      new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777"));
+      new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));
+      new_palette.setColor(QPalette::Light, QColor("#777777"));
+      new_palette.setColor(QPalette::Dark, QColor("#353535"));
+    } else {
+      new_palette = style->standardPalette();
+    }
+    qApp->setPalette(new_palette);
+    style->polish(qApp);
+    for (auto w : QApplication::allWidgets()) {
+      w->setPalette(new_palette);
+    }
+  }
+}
+
+QString formatSeconds(double sec, bool include_milliseconds, bool absolute_time) {
+  if (absolute_time) {
+    const auto ms_total = static_cast<int64_t>(std::llround(sec * 1000.0));
+    const std::time_t secs = static_cast<std::time_t>(ms_total / 1000);
+    int millis = static_cast<int>(ms_total % 1000);
+    if (millis < 0) millis = -millis;
+    std::tm tm{};
+    localtime_r(&secs, &tm);
+    char buf[64];
+    std::strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S", &tm);
+    if (include_milliseconds) {
+      return QString::asprintf("%s.%03d", buf, millis);
+    }
+    return QString::fromUtf8(buf);
+  }
+
+  // Relative duration (not wall-clock).
+  const bool show_hours = sec > 60 * 60;
+  int total_ms = static_cast<int>(std::llround(std::max(0.0, sec) * 1000.0));
+  const int hours = total_ms / (3600 * 1000);
+  const int minutes = (total_ms / (60 * 1000)) % 60;
+  const int seconds = (total_ms / 1000) % 60;
+  const int millis = total_ms % 1000;
+  if (show_hours) {
+    return include_milliseconds ? QString::asprintf("%02d:%02d:%02d.%03d", hours, minutes, seconds, millis)
+                                : QString::asprintf("%02d:%02d:%02d", hours, minutes, seconds);
+  }
+  return include_milliseconds ? QString::asprintf("%02d:%02d.%03d", minutes, seconds, millis)
+                              : QString::asprintf("%02d:%02d", minutes, seconds);
+}
+
+}  // namespace utils
+
+int num_decimals(double num) {
+  const QString string = QString::number(num);
+  auto dot_pos = string.indexOf('.');
+  return dot_pos == -1 ? 0 : string.size() - dot_pos - 1;
+}
+
+QString signalToolTip(const cabana::Signal *sig) {
+  return QObject::tr(R"(
+    %1<br /><span font-size:small">
+    Start Bit: %2 Size: %3<br />
+    MSB: %4 LSB: %5<br />
+    Little Endian: %6 Signed: %7</span>
+  )").arg(QString::fromStdString(sig->name)).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
+     .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
+}
+
+void sigTermHandler(int s) {
+  std::signal(s, SIG_DFL);
+  qApp->quit();
+}
+
+void initApp(int argc, char *argv[], bool disable_hidpi) {
+  // setup signal handlers to exit gracefully
+  std::signal(SIGINT, sigTermHandler);
+  std::signal(SIGTERM, sigTermHandler);
+
+  std::filesystem::path app_dir;
+#ifdef __APPLE__
+  // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
+  QApplication tmp(argc, argv);
+  app_dir = QCoreApplication::applicationDirPath().toStdString();
+  if (disable_hidpi) {
+    qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit());
+  }
+#else
+  app_dir = std::filesystem::path(util::readlink("/proc/self/exe")).parent_path();
+#endif
+
+  qputenv("QT_DBL_CLICK_DIST", "150");
+  // ensure the current dir matches the exectuable's directory
+  std::error_code ec;
+  std::filesystem::current_path(app_dir, ec);
+}
+
+// embedded at build time from the bootstrap_icons package (see SConscript)
+extern const unsigned char bootstrap_icons_svg[];
+extern const size_t bootstrap_icons_svg_len;
+
+static std::unordered_map<std::string, std::string> load_bootstrap_icons() {
+  std::unordered_map<std::string, std::string> icons;
+
+  const std::string content(reinterpret_cast<const char *>(bootstrap_icons_svg), bootstrap_icons_svg_len);
+  const std::string sym_open = "<symbol ";
+  const std::string sym_close = "</symbol>";
+  const std::string id_attr = "id=\"";
+
+  size_t pos = 0;
+  while ((pos = content.find(sym_open, pos)) != std::string::npos) {
+    size_t end = content.find(sym_close, pos);
+    if (end == std::string::npos) break;
+    end += sym_close.size();
+
+    // extract id
+    size_t id_start = content.find(id_attr, pos);
+    if (id_start != std::string::npos && id_start < end) {
+      id_start += id_attr.size();
+      size_t id_end = content.find('"', id_start);
+      if (id_end != std::string::npos && id_end < end) {
+        std::string id = content.substr(id_start, id_end - id_start);
+        std::string svg_str = content.substr(pos, end - pos);
+        // replace <symbol with <svg, </symbol> with </svg>
+        svg_str.replace(0, 7, "<svg");               // "<symbol" (7) -> "<svg" (4)
+        svg_str.replace(svg_str.size() - 9, 9, "</svg>");  // "</symbol>" (9) -> "</svg>" (6)
+        icons[id] = std::move(svg_str);
+      }
+    }
+    pos = end;
+  }
+  return icons;
+}
+
+QPixmap bootstrapPixmap(const QString &id) {
+  static auto icons = load_bootstrap_icons();
+
+  QPixmap pixmap;
+  auto it = icons.find(id.toStdString());
+  if (it != icons.end()) {
+    pixmap.loadFromData((const uchar *)it->second.data(), it->second.size(), "svg");
+  }
+  return pixmap;
+}
diff --git a/tools/cabana/utils/util.h b/openpilot/tools/cabana/utils/util.h
similarity index 65%
rename from tools/cabana/utils/util.h
rename to openpilot/tools/cabana/utils/util.h
index f839ffe7fe..5a3c62d118 100644
--- a/tools/cabana/utils/util.h
+++ b/openpilot/tools/cabana/utils/util.h
@@ -1,26 +1,32 @@
 #pragma once
 
 #include <array>
+#include <atomic>
 #include <cmath>
+#include <filesystem>
+#include <string>
+#include <thread>
 #include <vector>
 #include <utility>
 
 #include <QApplication>
-#include <QByteArray>
-#include <QDoubleValidator>
+#include <QColor>
 #include <QFont>
 #include <QFontMetrics>
 #include <QPainter>
-#include <QRegExpValidator>
-#include <QSocketNotifier>
 #include <QStaticText>
 #include <QStringBuilder>
 #include <QStyledItemDelegate>
 #include <QToolButton>
+#include <QValidator>
 
 #include "tools/cabana/dbc/dbc.h"
 #include "tools/cabana/settings.h"
 
+inline QColor toQColor(const CabanaColor &color) {
+  return QColor(color.r, color.g, color.b, color.a);
+}
+
 class LogSlider : public QSlider {
   Q_OBJECT
 
@@ -84,22 +90,53 @@ private:
   int h_margin, v_margin;
 };
 
-class NameValidator : public QRegExpValidator {
+// Accepts a single identifier: one or more [A-Za-z0-9_], spaces rewritten to '_'.
+class NameValidator : public QValidator {
   Q_OBJECT
 public:
   NameValidator(QObject *parent=nullptr);
   QValidator::State validate(QString &input, int &pos) const override;
 };
 
-class DoubleValidator : public QDoubleValidator {
+// Accepts comma-separated identifiers: \w+(,\w+)*
+class NodeValidator : public QValidator {
+  Q_OBJECT
+public:
+  NodeValidator(QObject *parent=nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
+};
+
+// Accepts one or more non-whitespace characters (\S+).
+class NonWhitespaceValidator : public QValidator {
+  Q_OBJECT
+public:
+  NonWhitespaceValidator(QObject *parent=nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
+};
+
+// Accepts a dotted IPv4 address (0-255 per octet).
+class IpAddressValidator : public QValidator {
+  Q_OBJECT
+public:
+  IpAddressValidator(QObject *parent=nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
+};
+
+// C-locale floating-point validator (matches QString::toDouble).
+class DoubleValidator : public QValidator {
   Q_OBJECT
 public:
   DoubleValidator(QObject *parent = nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
 };
 
 namespace utils {
 
 QPixmap icon(const QString &id);
+std::string homePath();
+std::filesystem::path configPath();
+bool getClipboardText(std::string *text);  // false if no clipboard tool is available
+bool setClipboardText(const std::string &text);
 bool isDarkTheme();
 void setTheme(int theme);
 QString formatSeconds(double sec, bool include_milliseconds = false, bool absolute_time = false);
@@ -108,7 +145,22 @@ inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text)
   p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
 }
 inline QString toHex(const std::vector<uint8_t> &dat, char separator = '\0') {
-  return QByteArray::fromRawData((const char *)dat.data(), dat.size()).toHex(separator).toUpper();
+  static const char digits[] = "0123456789ABCDEF";
+  QString hex;
+  hex.reserve(dat.size() * (separator ? 3 : 2));
+  for (size_t i = 0; i < dat.size(); ++i) {
+    if (separator && i) hex += QLatin1Char(separator);
+    hex += QLatin1Char(digits[dat[i] >> 4]);
+    hex += QLatin1Char(digits[dat[i] & 0xf]);
+  }
+  return hex;
+}
+
+// boundary conversions for the remaining Qt byte-array based state APIs
+template <typename T>
+std::vector<uint8_t> toBytes(const T &dat) { return {dat.begin(), dat.end()}; }
+inline auto qbytes(const std::vector<uint8_t> &dat) {
+  return decltype(QString().toUtf8())((const char *)dat.data(), (int)dat.size());
 }
 
 }
@@ -147,20 +199,18 @@ private:
   void closeTabClicked();
 };
 
-class UnixSignalHandler : public QObject {
-  Q_OBJECT
-
+// Watches SIGINT/SIGTERM via a self-pipe and a dedicated waiter thread
+// (no Qt notifiers/timers). Exit is marshaled onto the GUI thread.
+class UnixSignalHandler {
 public:
-  UnixSignalHandler(QObject *parent = nullptr);
+  UnixSignalHandler();
   ~UnixSignalHandler();
   static void signalHandler(int s);
 
-public slots:
-  void handleSigTerm();
-
 private:
   inline static int sig_fd[2] = {};
-  QSocketNotifier *sn;
+  std::atomic<bool> shutting_down{false};
+  std::thread waiter;
 };
 
 int num_decimals(double num);
diff --git a/tools/cabana/videowidget.cc b/openpilot/tools/cabana/videowidget.cc
similarity index 87%
rename from tools/cabana/videowidget.cc
rename to openpilot/tools/cabana/videowidget.cc
index 55018f28f0..bd61573658 100644
--- a/tools/cabana/videowidget.cc
+++ b/openpilot/tools/cabana/videowidget.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/videowidget.h"
 
 #include <algorithm>
+#include <thread>
 
 #include <QAction>
 #include <QActionGroup>
@@ -9,20 +10,20 @@
 #include <QPainter>
 #include <QStyleOptionSlider>
 #include <QVBoxLayout>
-#include <QtConcurrent>
 
 #include "tools/cabana/tools/routeinfo.h"
 
 const int MIN_VIDEO_HEIGHT = 100;
 const int THUMBNAIL_MARGIN = 3;
 
+// Indexed by TimelineType: None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark
 static const QColor timeline_colors[] = {
-  [(int)TimelineType::None] = QColor(111, 143, 175),
-  [(int)TimelineType::Engaged] = QColor(0, 163, 108),
-  [(int)TimelineType::UserBookmark] = Qt::magenta,
-  [(int)TimelineType::AlertInfo] = Qt::green,
-  [(int)TimelineType::AlertWarning] = QColor(255, 195, 0),
-  [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
+  QColor(111, 143, 175),
+  QColor(0, 163, 108),
+  Qt::green,
+  QColor(255, 195, 0),
+  QColor(199, 0, 57),
+  Qt::magenta,
 };
 
 static Replay *getReplay() {
@@ -50,7 +51,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   updatePlayBtnState();
   setWhatsThis(tr(R"(
     <b>Video</b><br />
-    <!-- TODO: add descprition here -->
+    <!-- TODO: add description here -->
     <span style="color:gray">Timeline color</span>
     <table>
     <tr><td><span style="color:%1;">■ </span>Disengaged </td>
@@ -147,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() {
   camera_tab->setAutoHide(true);
   camera_tab->setExpanding(false);
 
-  l->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
+  l->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_NARROW_ROAD));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
 
@@ -156,7 +157,7 @@ QWidget *VideoWidget::createCameraWidget() {
   slider->setTimeRange(can->minSeconds(), can->maxSeconds());
 
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
-  QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); });
+  QObject::connect(can, &AbstractStream::paused, cam_widget, qOverload<>(&StreamCameraView::update));
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
@@ -202,7 +203,7 @@ void VideoWidget::timeRangeChanged() {
 
 QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
   if (settings.absolute_time)
-    sec = can->beginDateTime().addMSecs(sec * 1000).toMSecsSinceEpoch() / 1000.0;
+    sec += std::chrono::duration<double>(can->beginDateTime().time_since_epoch()).count();
   return utils::formatSeconds(sec, include_milliseconds, settings.absolute_time);
 }
 
@@ -323,34 +324,40 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 // StreamCameraView
 StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent)
     : CameraWidget(stream_name, stream_type, parent) {
-  fade_animation = new QPropertyAnimation(this, "overlayOpacity");
-  fade_animation->setDuration(500);
-  fade_animation->setStartValue(0.2f);
-  fade_animation->setEndValue(0.7f);
-  fade_animation->setEasingCurve(QEasingCurve::InOutQuad);
-  connect(fade_animation, &QPropertyAnimation::valueChanged, this, QOverload<>::of(&StreamCameraView::update));
 }
 
 void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
   std::mutex mutex;
-  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) {
-    if (e.which == cereal::Event::Which::THUMBNAIL) {
-      capnp::FlatArrayMessageReader reader(e.data);
-      auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
-      auto image_data = thumb_data.getThumbnail();
-      if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
-        QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
-        std::lock_guard lock(mutex);
-        thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
-        big_thumbnails[thumb_data.getTimestampEof()] = thumb;
+  const auto &events = qlog->events;
+  unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency());
+  size_t chunk = (events.size() + num_threads - 1) / num_threads;
+  std::vector<std::thread> threads;
+  for (unsigned int t = 0; t < num_threads && t * chunk < events.size(); ++t) {
+    size_t start = t * chunk;
+    size_t end = std::min(start + chunk, events.size());
+    threads.emplace_back([this, &mutex, &events, start, end]() {
+      for (size_t i = start; i < end; ++i) {
+        const Event &e = events[i];
+        if (e.which == cereal::Event::Which::THUMBNAIL) {
+          capnp::FlatArrayMessageReader reader(e.data);
+          auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
+          auto image_data = thumb_data.getThumbnail();
+          if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
+            QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
+            std::lock_guard lock(mutex);
+            thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
+            big_thumbnails[thumb_data.getTimestampEof()] = thumb;
+          }
+        }
       }
-    }
-  });
+    });
+  }
+  for (auto &th : threads) th.join();
   update();
 }
 
-void StreamCameraView::paintGL() {
-  CameraWidget::paintGL();
+void StreamCameraView::paintEvent(QPaintEvent *event) {
+  CameraWidget::paintEvent(event);
 
   QPainter p(this);
   bool scrubbing = false;
@@ -363,7 +370,7 @@ void StreamCameraView::paintGL() {
   }
 
   if (can->isPaused()) {
-    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * fade_animation->currentValue().toFloat())));
+    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * 0.7f)));
     p.setFont(QFont(font().family(), 16, QFont::Bold));
     p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
   }
@@ -383,9 +390,9 @@ QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
 
 void StreamCameraView::drawScrubThumbnail(QPainter &p) {
   p.fillRect(rect(), Qt::black);
-  auto it = big_thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  auto it = big_thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != big_thumbnails.end()) {
-    QPixmap scaled_thumb = it.value().scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+    QPixmap scaled_thumb = it->second.scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
     QRect thumb_rect(rect().center() - scaled_thumb.rect().center(), scaled_thumb.size());
     p.drawPixmap(thumb_rect.topLeft(), scaled_thumb);
     drawTime(p, thumb_rect, thumbnail_dispaly_time);
@@ -393,9 +400,9 @@ void StreamCameraView::drawScrubThumbnail(QPainter &p) {
 }
 
 void StreamCameraView::drawThumbnail(QPainter &p) {
-  auto it = thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  auto it = thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != thumbnails.end()) {
-    const QPixmap &thumb = it.value();
+    const QPixmap &thumb = it->second;
     auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
     int pos = (thumbnail_dispaly_time - min_sec) * width() / (max_sec - min_sec);
     int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
diff --git a/tools/cabana/videowidget.h b/openpilot/tools/cabana/videowidget.h
similarity index 90%
rename from tools/cabana/videowidget.h
rename to openpilot/tools/cabana/videowidget.h
index 6da0023123..09f7a9931b 100644
--- a/tools/cabana/videowidget.h
+++ b/openpilot/tools/cabana/videowidget.h
@@ -1,12 +1,12 @@
 #pragma once
 
+#include <map>
 #include <memory>
 #include <set>
 #include <string>
 #include <utility>
 
 #include <QFrame>
-#include <QPropertyAnimation>
 #include <QSlider>
 #include <QToolBar>
 #include <QTabBar>
@@ -35,8 +35,7 @@ class StreamCameraView : public CameraWidget {
 
 public:
   StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr);
-  void paintGL() override;
-  void showPausedOverlay() { fade_animation->start(); }
+  void paintEvent(QPaintEvent *event) override;
   void parseQLog(std::shared_ptr<LogReader> qlog);
 
 private:
@@ -46,9 +45,8 @@ private:
   void drawScrubThumbnail(QPainter &p);
   void drawTime(QPainter &p, const QRect &rect, double seconds);
 
-  QPropertyAnimation *fade_animation;
-  QMap<uint64_t, QPixmap> big_thumbnails;
-  QMap<uint64_t, QPixmap> thumbnails;
+  std::map<uint64_t, QPixmap> big_thumbnails;
+  std::map<uint64_t, QPixmap> thumbnails;
   double thumbnail_dispaly_time = -1;
   friend class VideoWidget;
 };
diff --git a/tools/camerastream/README.md b/openpilot/tools/camerastream/README.md
similarity index 74%
rename from tools/camerastream/README.md
rename to openpilot/tools/camerastream/README.md
index 2f7498a07c..9671199297 100644
--- a/tools/camerastream/README.md
+++ b/openpilot/tools/camerastream/README.md
@@ -7,7 +7,7 @@
 ### On the device
 SSH into the device and run following in separate terminals:
 
-`cd /data/openpilot/cereal/messaging && ./bridge`
+`cd /data/openpilot && ./openpilot/cereal/messaging/bridge`
 
 `cd /data/openpilot/system/loggerd && ./encoderd`
 
@@ -18,8 +18,8 @@ Note that both the device and your PC must be on the same openpilot commit.
 Alternatively paste this as a single command:
 ```
 (
-  cd /data/openpilot/cereal/messaging/
-  ./bridge &
+  cd /data/openpilot
+  ./openpilot/cereal/messaging/bridge &
 
   cd /data/openpilot/system/camerad/
   ./camerad &
@@ -44,18 +44,18 @@ To actually display the stream, run `watch3` in separate terminal:
 ## compressed_vipc.py usage
 ```
 $ python3 compressed_vipc.py -h
-usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr
+usage: compressed_vipc.py [-h] [--cams CAMS] [--server SERVER] [--silent] addr
 
 Decode video streams and broadcast on VisionIPC
 
 positional arguments:
-  addr         Address of comma three
+  addr             Address of comma three
 
 options:
-  -h, --help   show this help message and exit
-  --nvidia     Use nvidia instead of ffmpeg
-  --cams CAMS  Cameras to decode
-  --silent     Suppress debug output
+  -h, --help       show this help message and exit
+  --cams CAMS      Cameras to decode
+  --server SERVER  choose vipc server name
+  --silent         Suppress debug output
 ```
 
 
diff --git a/tools/camerastream/compressed_vipc.py b/openpilot/tools/camerastream/compressed_vipc.py
similarity index 55%
rename from tools/camerastream/compressed_vipc.py
rename to openpilot/tools/camerastream/compressed_vipc.py
index 4dc74272ea..e85c88d40c 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/openpilot/tools/camerastream/compressed_vipc.py
@@ -1,16 +1,16 @@
 #!/usr/bin/env python3
-import av
 import os
-import sys
 import argparse
-import numpy as np
 import multiprocessing
 import time
 import signal
+from collections import deque
 
 
-import cereal.messaging as messaging
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
+from openpilot.tools.camerastream.ffmpeg_decoder import Decoder, FFmpegError
 
 V4L2_BUF_FLAG_KEYFRAME = 8
 
@@ -19,28 +19,17 @@ V4L2_BUF_FLAG_KEYFRAME = 8
 # then run this "./compressed_vipc.py <ip>"
 
 ENCODE_SOCKETS = {
-  VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData",
-  VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
+  VisionStreamType.VISION_STREAM_NARROW_ROAD: "narrowRoadEncodeData",
+  VisionStreamType.VISION_STREAM_CABIN: "cabinEncodeData",
   VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
 }
 
-def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
+def decoder(addr, vipc_server, vst, W, H, debug=False):
   sock_name = ENCODE_SOCKETS[vst]
   if debug:
     print(f"start decoder for {sock_name}, {W}x{H}")
 
-  if nvidia:
-    os.environ["NV_LOW_LATENCY"] = "3"    # both bLowLatency and CUVID_PKT_ENDOFPICTURE
-    sys.path += os.environ["LD_LIBRARY_PATH"].split(":")
-    import PyNvCodec as nvc
-
-    nvDec = nvc.PyNvDecoder(W, H, nvc.PixelFormat.NV12, nvc.CudaVideoCodec.HEVC, 0)
-    cc1 = nvc.ColorspaceConversionContext(nvc.ColorSpace.BT_709, nvc.ColorRange.JPEG)
-    conv_yuv = nvc.PySurfaceConverter(W, H, nvc.PixelFormat.NV12, nvc.PixelFormat.YUV420, 0)
-    nvDwn_yuv = nvc.PySurfaceDownloader(W, H, nvc.PixelFormat.YUV420, 0)
-    img_yuv = np.ndarray((H*W//2*3), dtype=np.uint8)
-  else:
-    codec = av.CodecContext.create("hevc", "r")
+  codec = Decoder("hevc")
 
   os.environ["ZMQ"] = "1"
   messaging.reset_context()
@@ -49,13 +38,22 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
   last_idx = -1
   seen_iframe = False
 
-  time_q = []
+  time_q = deque()
+
+  def resync():
+    nonlocal seen_iframe
+    codec.reset()
+    seen_iframe = False
+    time_q.clear()
+
   while 1:
     msgs = messaging.drain_sock(sock, wait_for_one=True)
     for evt in msgs:
       evta = getattr(evt, evt.which())
-      if debug and evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1):
-        print("DROP PACKET!")
+      if last_idx != -1 and evta.idx.encodeId != (last_idx + 1):
+        if debug:
+          print("DROP PACKET!")
+        resync()
       last_idx = evta.idx.encodeId
       if not seen_iframe and not (evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME):
         if debug:
@@ -66,48 +64,48 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
       frame_latency = ((evta.idx.timestampEof/1e9) - (evta.idx.timestampSof/1e9))*1000
       process_latency = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000
 
-      # put in header (first)
+      # put in header (first) — VPS/SPS/PPS only, no frame expected
       if not seen_iframe:
-        if nvidia:
-          nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.header, dtype=np.uint8))
-        else:
-          codec.decode(av.packet.Packet(evta.header))
+        try:
+          codec.decode(evta.header)
+        except FFmpegError as e:
+          if debug:
+            print(f"HEADER ERROR: {e}")
+          resync()
+          continue
         seen_iframe = True
 
-      if nvidia:
-        rawSurface = nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.data, dtype=np.uint8))
-        if rawSurface.Empty():
-          if debug:
-            print("DROP SURFACE")
-          continue
-        convSurface = conv_yuv.Execute(rawSurface, cc1)
-        nvDwn_yuv.DownloadSingleSurface(convSurface, img_yuv)
-      else:
-        frames = codec.decode(av.packet.Packet(evta.data))
-        if len(frames) == 0:
-          if debug:
-            print("DROP SURFACE")
-          continue
-        assert len(frames) == 1
-        img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten()
-        uv_offset = H*W
-        y = img_yuv[:uv_offset]
-        uv = img_yuv[uv_offset:].reshape(2, -1).ravel('F')
-        img_yuv = np.hstack((y, uv))
+      try:
+        img_yuv = codec.decode(evta.data)
+      except FFmpegError as e:
+        if debug:
+          print(f"DECODE ERROR: {e}")
+        resync()
+        continue
 
-      vipc_server.send(vst, img_yuv.data, cnt, int(time_q[0]*1e9), int(time.monotonic()*1e9))
+      if img_yuv is None:
+        if debug:
+          print("DROP SURFACE")
+        continue
+
+      if codec.width != W or codec.height != H:
+        if debug:
+          print(f"DECODE ERROR: decoded frame is {codec.width}x{codec.height}, expected {W}x{H}")
+        resync()
+        continue
+
+      frame_start_time = time_q.popleft()
+      vipc_server.send(vst, img_yuv.data, cnt, int(frame_start_time*1e9), int(time.monotonic()*1e9))
       cnt += 1
 
-      pc_latency = (time.monotonic()-time_q[0])*1000
-      time_q = time_q[1:]
+      pc_latency = (time.monotonic()-frame_start_time)*1000
       if debug:
         print(f"{len(msgs):2d} {evta.idx.encodeId:4d} {evt.logMonoTime/1e9:.3f} {evta.idx.timestampEof/1e6:.3f} \
             roll {frame_latency:6.2f} ms latency {process_latency:6.2f} ms + {network_latency:6.2f} ms + {pc_latency:6.2f} ms \
             = {process_latency+network_latency+pc_latency:6.2f} ms", len(evta.data), sock_name)
 
-
 class CompressedVipc:
-  def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
+  def __init__(self, addr, vision_streams, server_name, debug=False):
     print("getting frame sizes")
     os.environ["ZMQ"] = "1"
     messaging.reset_context()
@@ -126,7 +124,7 @@ class CompressedVipc:
     self.procs = []
     for vst in vision_streams:
       ed = sm[ENCODE_SOCKETS[vst]]
-      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, ed.width, ed.height, debug))
+      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, ed.width, ed.height, debug))
       p.start()
       self.procs.append(p)
 
@@ -142,20 +140,19 @@ class CompressedVipc:
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC")
   parser.add_argument("addr", help="Address of comma three")
-  parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
   parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
   parser.add_argument("--server", default="camerad", help="choose vipc server name")
   parser.add_argument("--silent", action="store_true", help="Suppress debug output")
   args = parser.parse_args()
 
   vision_streams = [
-    VisionStreamType.VISION_STREAM_ROAD,
-    VisionStreamType.VISION_STREAM_DRIVER,
+    VisionStreamType.VISION_STREAM_NARROW_ROAD,
+    VisionStreamType.VISION_STREAM_CABIN,
     VisionStreamType.VISION_STREAM_WIDE_ROAD,
   ]
 
   vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
-  cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))
+  cvipc = CompressedVipc(args.addr, vsts, args.server, debug=(not args.silent))
 
   # register exit handler
   signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
diff --git a/openpilot/tools/camerastream/ffmpeg_decoder.py b/openpilot/tools/camerastream/ffmpeg_decoder.py
new file mode 100644
index 0000000000..13cdc12df1
--- /dev/null
+++ b/openpilot/tools/camerastream/ffmpeg_decoder.py
@@ -0,0 +1,261 @@
+import ctypes
+import errno
+import os
+
+import ffmpeg
+import numpy as np
+
+
+AV_INPUT_BUFFER_PADDING_SIZE = 64
+AV_LOG_QUIET = -8
+SWS_FAST_BILINEAR = 1
+
+
+class FFmpegError(RuntimeError):
+  pass
+
+
+class AVPacket(ctypes.Structure):
+  # Public prefix of AVPacket. Only data and size are modified here; the packet
+  # remains non-refcounted and points at Decoder._packet_buffer.
+  _fields_ = [
+    ("buf", ctypes.c_void_p),
+    ("pts", ctypes.c_int64),
+    ("dts", ctypes.c_int64),
+    ("data", ctypes.POINTER(ctypes.c_uint8)),
+    ("size", ctypes.c_int),
+  ]
+
+
+class AVFrame(ctypes.Structure):
+  # Public prefix of AVFrame through format. Stable within a libavutil major
+  _fields_ = [
+    ("data", ctypes.POINTER(ctypes.c_uint8) * 8),
+    ("linesize", ctypes.c_int * 8),
+    ("extended_data", ctypes.POINTER(ctypes.POINTER(ctypes.c_uint8))),
+    ("width", ctypes.c_int),
+    ("height", ctypes.c_int),
+    ("nb_samples", ctypes.c_int),
+    ("format", ctypes.c_int),
+  ]
+
+
+def _bind(fn, restype, *argtypes):
+  fn.restype = restype
+  fn.argtypes = list(argtypes)
+  return fn
+
+
+def _load_libraries():
+  avutil = ctypes.CDLL(os.path.join(ffmpeg.LIB_DIR, "libavutil.so.59"), mode=ctypes.RTLD_GLOBAL)
+  avcodec = ctypes.CDLL(os.path.join(ffmpeg.LIB_DIR, "libavcodec.so.61"), mode=ctypes.RTLD_GLOBAL)
+  swscale = ctypes.CDLL(os.path.join(ffmpeg.LIB_DIR, "libswscale.so.8"), mode=ctypes.RTLD_GLOBAL)
+
+  c_int, c_char_p, c_void_p, c_size_t = ctypes.c_int, ctypes.c_char_p, ctypes.c_void_p, ctypes.c_size_t
+  c_uint8_p = ctypes.POINTER(ctypes.c_uint8)
+  c_void_p_p = ctypes.POINTER(c_void_p)
+
+  _bind(avutil.av_log_set_level, None, c_int)
+  _bind(avutil.av_opt_set, c_int, c_void_p, c_char_p, c_char_p, c_int)
+  _bind(avutil.av_strerror, c_int, c_int, c_char_p, c_size_t)
+  _bind(avutil.av_get_pix_fmt, c_int, c_char_p)
+
+  _bind(avcodec.avcodec_find_decoder_by_name, c_void_p, c_char_p)
+  _bind(avcodec.avcodec_alloc_context3, c_void_p, c_void_p)
+  _bind(avcodec.avcodec_open2, c_int, c_void_p, c_void_p, c_void_p)
+  _bind(avcodec.avcodec_free_context, None, c_void_p_p)
+  _bind(avcodec.avcodec_flush_buffers, None, c_void_p)
+  _bind(avcodec.avcodec_send_packet, c_int, c_void_p, ctypes.POINTER(AVPacket))
+  _bind(avcodec.avcodec_receive_frame, c_int, c_void_p, ctypes.POINTER(AVFrame))
+  _bind(avcodec.av_packet_alloc, ctypes.POINTER(AVPacket))
+  _bind(avcodec.av_packet_free, None, ctypes.POINTER(ctypes.POINTER(AVPacket)))
+  _bind(avcodec.av_frame_alloc, ctypes.POINTER(AVFrame))
+  _bind(avcodec.av_frame_free, None, ctypes.POINTER(ctypes.POINTER(AVFrame)))
+  _bind(avcodec.av_frame_unref, None, ctypes.POINTER(AVFrame))
+
+  _bind(swscale.sws_getCachedContext, c_void_p,
+        c_void_p, c_int, c_int, c_int, c_int, c_int, c_int, c_int, c_void_p, c_void_p, c_void_p)
+  _bind(swscale.sws_scale, c_int,
+        c_void_p, ctypes.POINTER(c_uint8_p), ctypes.POINTER(c_int),
+        c_int, c_int, ctypes.POINTER(c_uint8_p), ctypes.POINTER(c_int))
+  _bind(swscale.sws_freeContext, None, c_void_p)
+
+  avutil.av_log_set_level(AV_LOG_QUIET)
+  return avutil, avcodec, swscale
+_avutil, _avcodec, _swscale = _load_libraries()
+
+_DataArray = ctypes.POINTER(ctypes.c_uint8) * 4
+_LinesizeArray = ctypes.c_int * 4
+
+AV_PIX_FMT_NV12 = _avutil.av_get_pix_fmt(b"nv12")
+assert AV_PIX_FMT_NV12 >= 0
+
+
+def _error_string(code: int) -> str:
+  buf = ctypes.create_string_buffer(256)
+  if _avutil.av_strerror(code, buf, len(buf)) == 0:
+    return buf.value.decode(errors="replace")
+  return f"FFmpeg error {code}"
+
+
+def _check(code: int, operation: str) -> None:
+  if code < 0:
+    raise FFmpegError(f"{operation}: {_error_string(code)}")
+
+
+class Decoder:
+  def __init__(self, codec_name: str = "hevc"):
+    self.closed = True
+    self._sws_context = ctypes.c_void_p()
+    self._packet_buffer = bytearray()
+    self._packet_address = 0
+    self._packet_data = None
+    self._output = np.empty(0, dtype=np.uint8)
+    self._dst_data = _DataArray()
+    self._dst_linesize = _LinesizeArray()
+    self.width = 0
+    self.height = 0
+    self._src_format = -1
+
+    codec = _avcodec.avcodec_find_decoder_by_name(codec_name.encode())
+    if not codec:
+      raise FFmpegError(f"decoder not found: {codec_name}")
+
+    self._context = ctypes.c_void_p(_avcodec.avcodec_alloc_context3(codec))
+    if not self._context:
+      raise MemoryError("avcodec_alloc_context3 failed")
+
+    self._packet = _avcodec.av_packet_alloc()
+    if not self._packet:
+      _avcodec.avcodec_free_context(ctypes.byref(self._context))
+      raise MemoryError("av_packet_alloc failed")
+
+    self._frame = _avcodec.av_frame_alloc()
+    if not self._frame:
+      _avcodec.av_packet_free(ctypes.byref(self._packet))
+      _avcodec.avcodec_free_context(ctypes.byref(self._context))
+      raise MemoryError("av_frame_alloc failed")
+
+    try:
+      # Frame threading holds decoded frames to populate worker pipelines.
+      # Slice threads can reduce decode time without adding that frame queue;
+      # four was the latency minimum on the replay camera workload.
+      _check(_avutil.av_opt_set(self._context, b"threads", b"4", 0), "set decoder threads")
+      _check(_avutil.av_opt_set(self._context, b"thread_type", b"slice", 0), "set decoder thread type")
+      _check(_avutil.av_opt_set(self._context, b"flags", b"+low_delay", 0), "set low-delay mode")
+      _check(_avcodec.avcodec_open2(self._context, codec, None), "open decoder")
+    except Exception:
+      _avcodec.av_frame_free(ctypes.byref(self._frame))
+      _avcodec.av_packet_free(ctypes.byref(self._packet))
+      _avcodec.avcodec_free_context(ctypes.byref(self._context))
+      raise
+
+    self.closed = False
+
+  def __enter__(self):
+    self._ensure_open()
+    return self
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+  def _ensure_open(self) -> None:
+    if self.closed:
+      raise RuntimeError("decoder is closed")
+
+  def _prepare_packet(self, data) -> None:
+    size = len(data)
+    required = size + AV_INPUT_BUFFER_PADDING_SIZE
+    if len(self._packet_buffer) < required:
+      # Grow-only; the address stays valid until the next reallocation.
+      self._packet_buffer = bytearray(required)
+      self._packet_address = ctypes.addressof(ctypes.c_uint8.from_buffer(self._packet_buffer))
+      self._packet_data = ctypes.cast(self._packet_address, ctypes.POINTER(ctypes.c_uint8))
+
+    self._packet_buffer[:size] = data
+    ctypes.memset(self._packet_address + size, 0, AV_INPUT_BUFFER_PADDING_SIZE)
+    self._packet.contents.data = self._packet_data
+    self._packet.contents.size = size
+
+  def _prepare_output(self, frame: AVFrame) -> None:
+    width, height, src_format = frame.width, frame.height, frame.format
+    if width <= 0 or height <= 0 or width % 2 or height % 2:
+      raise FFmpegError(f"unsupported frame dimensions: {width}x{height}")
+    if (width, height, src_format) == (self.width, self.height, self._src_format):
+      return
+
+    sws_context = _swscale.sws_getCachedContext(
+      self._sws_context, width, height, src_format,
+      width, height, AV_PIX_FMT_NV12, SWS_FAST_BILINEAR,
+      None, None, None,
+    )
+    if not sws_context:
+      raise FFmpegError("sws_getCachedContext failed")
+    self._sws_context = ctypes.c_void_p(sws_context)
+
+    self.width, self.height = width, height
+    self._src_format = src_format
+    self._output = np.empty(width * height * 3 // 2, dtype=np.uint8)
+    output_address = self._output.ctypes.data
+    self._dst_data = _DataArray(
+      ctypes.cast(output_address, ctypes.POINTER(ctypes.c_uint8)),
+      ctypes.cast(output_address + width * height, ctypes.POINTER(ctypes.c_uint8)),
+      None,
+      None,
+    )
+    self._dst_linesize = _LinesizeArray(width, width, 0, 0)
+
+  def _receive(self) -> np.ndarray | None:
+    """Return one NV12 frame, or None if the decoder needs more input.
+
+    The returned buffer is reused on the next successful decode; callers must
+    use or copy it before calling decode again.
+    """
+    result = _avcodec.avcodec_receive_frame(self._context, self._frame)
+    if result == -errno.EAGAIN:
+      return None
+    _check(result, "receive decoded frame")
+
+    try:
+      frame = self._frame.contents
+      self._prepare_output(frame)
+      rows = _swscale.sws_scale(
+        self._sws_context, frame.data, frame.linesize, 0, frame.height,
+        self._dst_data, self._dst_linesize,
+      )
+      if rows != frame.height:
+        raise FFmpegError(f"convert decoded frame: produced {rows} of {frame.height} rows")
+      return self._output
+    finally:
+      _avcodec.av_frame_unref(self._frame)
+
+  def decode(self, data) -> np.ndarray | None:
+    self._ensure_open()
+    if len(data) == 0:
+      return None
+
+    self._prepare_packet(data)
+    result = _avcodec.avcodec_send_packet(self._context, self._packet)
+    # The packet buffer is ours, not FFmpeg's. Clear the borrowed pointer so
+    # packet teardown can never attempt to release it.
+    self._packet.contents.data = None
+    self._packet.contents.size = 0
+    _check(result, "send packet to decoder")
+    return self._receive()
+
+  def reset(self) -> None:
+    """Discard decoder state after a stream discontinuity."""
+    self._ensure_open()
+    _avcodec.avcodec_flush_buffers(self._context)
+
+  def close(self) -> None:
+    if self.closed:
+      return
+    self.closed = True
+    _swscale.sws_freeContext(self._sws_context)
+    _avcodec.av_frame_free(ctypes.byref(self._frame))
+    _avcodec.av_packet_free(ctypes.byref(self._packet))
+    _avcodec.avcodec_free_context(ctypes.byref(self._context))
+
+  def __del__(self):
+    self.close()
diff --git a/tools/clip/run.py b/openpilot/tools/clip/run.py
similarity index 87%
rename from tools/clip/run.py
rename to openpilot/tools/clip/run.py
index d338f097d6..81145e2259 100755
--- a/tools/clip/run.py
+++ b/openpilot/tools/clip/run.py
@@ -11,6 +11,7 @@ import itertools
 import numpy as np
 import tqdm
 from argparse import ArgumentParser
+from collections.abc import Callable
 from pathlib import Path
 from concurrent.futures import ThreadPoolExecutor, as_completed
 
@@ -21,10 +22,11 @@ from openpilot.tools.lib.framereader import FrameReader, ffprobe
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.utils import Timer
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 
 FRAMERATE = 20
-DEMO_ROUTE, DEMO_START, DEMO_END = 'a2a0ccea32023010/2023-07-27--13-01-19', 90, 105
+DEMO_ROUTE, DEMO_START, DEMO_END = '5beb9b58bd12b691/0000010a--a51155e496', 90, 105
 
 logger = logging.getLogger('clip')
 
@@ -63,8 +65,10 @@ def parse_args():
   return args
 
 
-def setup_env(output_path: str, big: bool = False, speed: int = 1, target_mb: float = 0, duration: int = 0):
-  os.environ.update({"RECORD": "1", "OFFSCREEN": "1", "RECORD_OUTPUT": str(Path(output_path).with_suffix(".mp4"))})
+def setup_env(output_path: str, big: bool = False, speed: int = 1, target_mb: float = 0, duration: int = 0, headless: bool = True):
+  os.environ.update({"RECORD": "1", "RECORD_OUTPUT": str(Path(output_path).with_suffix(".mp4"))})
+  if headless:
+    os.environ["OFFSCREEN"] = "1"
   if speed > 1:
     os.environ["RECORD_SPEED"] = str(speed)
   if target_mb > 0 and duration > 0:
@@ -85,7 +89,7 @@ def _parse_and_chunk_segment(args: tuple) -> list[dict]:
   if not messages:
     return []
 
-  dt_ns, chunks, current, next_time = 1e9 / fps, [], {}, messages[0].logMonoTime + 1e9 / fps  # type: ignore[var-annotated]
+  dt_ns, chunks, current, next_time = 1e9 / fps, [], {}, messages[0].logMonoTime + 1e9 / fps
   for msg in messages:
     if msg.logMonoTime >= next_time:
       chunks.append(current)
@@ -136,7 +140,7 @@ def iter_segment_frames(camera_paths, start_time, end_time, fps=20, use_qcam=Fal
   frames_per_seg = fps * 60
   start_frame, end_frame = int(start_time * fps), int(end_time * fps)
   current_seg: int = -1
-  seg_frames: FrameReader | np.ndarray | None = None
+  get_frame: Callable[[int], np.ndarray] | None = None
 
   for global_idx in range(start_frame, end_frame):
     seg_idx, local_idx = global_idx // frames_per_seg, global_idx % frames_per_seg
@@ -155,12 +159,12 @@ def iter_segment_frames(camera_paths, start_time, end_time, fps=20, use_qcam=Fal
         if result.returncode != 0:
           raise RuntimeError(f"ffmpeg failed: {result.stderr.decode()}")
         seg_frames = np.frombuffer(result.stdout, dtype=np.uint8).reshape(-1, w * h * 3 // 2)
+        get_frame = seg_frames.__getitem__
       else:
-        seg_frames = FrameReader(path, pix_fmt="nv12")
+        get_frame = FrameReader(path, pix_fmt="nv12").get
 
-    assert seg_frames is not None
-    frame = seg_frames[local_idx] if use_qcam else seg_frames.get(local_idx)  # type: ignore[index, union-attr]
-    yield global_idx, frame
+    assert get_frame is not None
+    yield global_idx, get_frame(local_idx)
 
 
 class FrameQueue:
@@ -217,7 +221,7 @@ def load_route_metadata(route):
   params = Params()
   for entry in init_data.params.entries:
     try:
-      params.put(entry.key, params.cpp2python(entry.key, entry.value))
+      params.put(entry.key, params.cpp2python(entry.key, entry.value), block=True)
     except UnknownKeyName:
       pass
 
@@ -286,7 +290,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
   if big:
     from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
   else:
-    from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView  # type: ignore[assignment]
+    from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
   from openpilot.selfdrive.ui.ui_state import ui_state
   from openpilot.system.ui.lib.application import gui_app, FontWeight
   timer.lap("import")
@@ -302,16 +306,23 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
     logger.error("No messages to render")
     sys.exit(1)
 
-  metadata = load_route_metadata(route) if show_metadata else None
   if headless:
     rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
 
   with OpenpilotPrefix(shared_download_cache=True):
+    metadata = load_route_metadata(route) if show_metadata else None
     camera_paths = route.qcamera_paths() if use_qcam else route.camera_paths()
     frame_queue = FrameQueue(camera_paths, start, end, fps=FRAMERATE, use_qcam=use_qcam)
 
+    ecamera_paths = route.ecamera_paths() if not use_qcam else []
+    wide_frame_queue: FrameQueue | None = None
+    if any(p for p in ecamera_paths[seg_start:seg_end] if p):
+      wide_frame_queue = FrameQueue(ecamera_paths, start, end, fps=FRAMERATE)
+
     vipc = VisionIpcServer("camerad")
-    vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 4, frame_queue.frame_w, frame_queue.frame_h)
+    vipc.create_buffers(VisionStreamType.VISION_STREAM_NARROW_ROAD, 4, frame_queue.frame_w, frame_queue.frame_h)
+    if wide_frame_queue:
+      vipc.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 4, wide_frame_queue.frame_w, wide_frame_queue.frame_h)
     vipc.start_listener()
 
     patch_submaster(message_chunks, ui_state)
@@ -324,11 +335,14 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
 
     frame_idx = 0
     with tqdm.tqdm(total=len(message_chunks), desc="Rendering", unit="frame") as pbar:
-      for should_render in gui_app.render():
+      for should_render, _, _ in gui_app.render():
         if frame_idx >= len(message_chunks):
           break
         _, frame_bytes = frame_queue.get()
-        vipc.send(VisionStreamType.VISION_STREAM_ROAD, frame_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
+        vipc.send(VisionStreamType.VISION_STREAM_NARROW_ROAD, frame_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
+        if wide_frame_queue:
+          _, wide_bytes = wide_frame_queue.get()
+          vipc.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, wide_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
         ui_state.update()
         if should_render:
           road_view.render()
@@ -338,6 +352,8 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
     timer.lap("render")
 
     frame_queue.stop()
+    if wide_frame_queue:
+      wide_frame_queue.stop()
     gui_app.close()
     timer.lap("ffmpeg")
 
@@ -349,8 +365,9 @@ def main():
   logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s\t%(message)s")
   args = parse_args()
 
-  setup_env(args.output, big=args.big, speed=args.speed, target_mb=args.file_size, duration=args.end - args.start)
-  clip(Route(args.route, data_dir=args.data_dir), args.output, args.start, args.end, not args.windowed,
+  headless = not args.windowed
+  setup_env(args.output, big=args.big, speed=args.speed, target_mb=args.file_size, duration=args.end - args.start, headless=headless)
+  clip(Route(args.route, data_dir=args.data_dir), args.output, args.start, args.end, headless,
        args.big, args.title, not args.no_metadata, not args.no_time_overlay, args.qcam)
 
 
diff --git a/openpilot/tools/jotpluggler/.gitignore b/openpilot/tools/jotpluggler/.gitignore
new file mode 100644
index 0000000000..5f5f9dbdec
--- /dev/null
+++ b/openpilot/tools/jotpluggler/.gitignore
@@ -0,0 +1,10 @@
+__pycache__/
+jot_*.o
+*.o
+jotpluggler
+car_fingerprint_to_dbc.h
+generated_event_extractors.h
+generated_dbcs/.stamp
+generated_dbcs/*.dbc
+layouts/.jotpluggler_autosave/
+reports/
diff --git a/openpilot/tools/jotpluggler/SConscript b/openpilot/tools/jotpluggler/SConscript
new file mode 100644
index 0000000000..bfe6e90742
--- /dev/null
+++ b/openpilot/tools/jotpluggler/SConscript
@@ -0,0 +1,114 @@
+import os
+import subprocess
+import bootstrap_icons
+import imgui
+import libusb
+from opendbc import get_generated_dbcs
+from opendbc.car import Bus
+from opendbc.car.fingerprints import MIGRATION
+from opendbc.car.values import PLATFORMS
+from openpilot.common.basedir import BASEDIR
+
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib', 'ffmpeg_libs')
+
+jot_env = env.Clone()
+jot_env["LIBPATH"] += [imgui.MESA_DIR, libusb.LIB_DIR]
+jot_env["CPPPATH"] += [imgui.INCLUDE_DIR, libusb.INCLUDE_DIR]
+jot_env["CXXFLAGS"] += [
+  "-DGLFW_INCLUDE_NONE",
+  '-DJOTP_REPO_ROOT=\'"%s"\'' % os.path.realpath(BASEDIR),
+  '-DBOOTSTRAP_ICONS_TTF=\'"%s"\'' % bootstrap_icons.TTF_PATH,
+]
+
+def materialize_generated_dbcs(target, source, env):
+  out_dir = os.path.dirname(str(target[0]))
+  os.makedirs(out_dir, exist_ok=True)
+
+  for name in os.listdir(out_dir):
+    if name.endswith('.dbc'):
+      os.unlink(os.path.join(out_dir, name))
+
+  for name, content in sorted(get_generated_dbcs().items()):
+    with open(os.path.join(out_dir, f"{name}.dbc"), "w") as f:
+      f.write(content)
+
+  with open(str(target[0]), "w") as f:
+    f.write("ok\n")
+
+  return None
+
+def write_car_fingerprint_to_dbc_header(target, source, env):
+  pairs = {}
+
+  for name, platform in sorted(PLATFORMS.items()):
+    dbc = platform.config.dbc_dict.get(Bus.pt, "")
+    if not dbc and name.startswith("TESLA_"):
+      dbc = platform.config.dbc_dict.get(Bus.party, "")
+    if not dbc and name == "COMMA_BODY":
+      dbc = "comma_body"
+    if dbc and name != "MOCK":
+      pairs[name] = dbc
+
+  for fingerprint, car in sorted(MIGRATION.items()):
+    dbc = pairs.get(str(car), "")
+    if dbc:
+      pairs[fingerprint] = dbc
+
+  lines = [
+    "#pragma once",
+    "",
+    "#include <string_view>",
+    "#include <utility>",
+    "",
+    "inline constexpr std::pair<std::string_view, std::string_view> kCarFingerprintToDbc[] = {",
+  ]
+  lines.extend(f'  {{"{fingerprint}", "{dbc}"}},' for fingerprint, dbc in sorted(pairs.items()))
+  lines.extend([
+    "};",
+    "",
+    "inline std::string_view dbc_for_car_fingerprint(std::string_view fingerprint) {",
+    "  for (const auto &[car_fingerprint, dbc] : kCarFingerprintToDbc) {",
+    "    if (car_fingerprint == fingerprint) return dbc;",
+    "  }",
+    "  return {};",
+    "}",
+    "",
+  ])
+
+  with open(str(target[0]), "w") as f:
+    f.write("\n".join(lines))
+
+  return None
+
+def generate_event_extractors(target, source, env):
+  subprocess.check_call([
+    "python3",
+    "openpilot/tools/jotpluggler/generate_event_extractors.py",
+    os.path.realpath(BASEDIR),
+    str(target[0]),
+  ])
+  return None
+
+generated_dbc_stamp = jot_env.Command(f"generated_dbcs/.stamp", [], materialize_generated_dbcs)
+car_fingerprint_to_dbc = jot_env.Command("car_fingerprint_to_dbc.h", [], write_car_fingerprint_to_dbc_header)
+event_extractors = jot_env.Command("generated_event_extractors.h", [
+    "generate_event_extractors.py",
+    jot_env.Glob("#openpilot/cereal/*.capnp"),
+    jot_env.Glob("#openpilot/cereal/include/*.capnp"),
+    "#opendbc_repo/opendbc/car/car.capnp",
+    "#opendbc_repo/opendbc/car/include/c++.capnp",
+  ],
+  generate_event_extractors,
+)
+
+libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a")] + \
+        ffmpeg_libs + ["zstd", "m", "pthread", "usb-1.0"]
+if arch == "Darwin":
+  jot_env["FRAMEWORKS"] = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
+else:
+  libs += ["GL", "dl"]
+
+program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
+jot_env.Depends(program, generated_dbc_stamp)
+jot_env.Depends(program, car_fingerprint_to_dbc)
+jot_env.Depends(program, event_extractors)
diff --git a/openpilot/tools/jotpluggler/app.cc b/openpilot/tools/jotpluggler/app.cc
new file mode 100644
index 0000000000..e6ba696bae
--- /dev/null
+++ b/openpilot/tools/jotpluggler/app.cc
@@ -0,0 +1,1907 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/camera.h"
+#include "tools/jotpluggler/common.h"
+#include "tools/jotpluggler/internal.h"
+#include "tools/jotpluggler/map.h"
+#include "tools/jotpluggler/thumbnail.h"
+#include "common/hardware/hw.h"
+#include "imgui_impl_glfw.h"
+
+#include "imgui_internal.h"
+#include "imgui_impl_opengl3.h"
+#include "imgui_impl_opengl3_loader.h"
+#include "implot.h"
+
+#include <GLFW/glfw3.h>
+
+#include <chrono>
+#include <cmath>
+#include <cfloat>
+#include <cstring>
+#include <condition_variable>
+#include <iomanip>
+#include <iostream>
+#include <limits>
+#include <mutex>
+#include <stdexcept>
+#include <thread>
+#include <unordered_set>
+#include <unistd.h>
+
+#include "json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+constexpr const char *UNTITLED_PANE_TITLE = "...";
+ImFont *g_ui_font = nullptr;
+ImFont *g_ui_bold_font = nullptr;
+ImFont *g_mono_font = nullptr;
+
+std::string layout_name_from_arg(const std::string &layout_arg) {
+  const fs::path raw(layout_arg);
+  if (raw.extension() == ".xml" || raw.extension() == ".json") {
+    return raw.stem().string();
+  }
+  if (raw.filename() != raw) {
+    return raw.filename().replace_extension("").string();
+  }
+  fs::path stem_path = raw;
+  return stem_path.replace_extension("").string();
+}
+
+fs::path layouts_dir() {
+  return repo_root() / "openpilot" / "tools" / "jotpluggler" / "layouts";
+}
+
+std::string sanitize_layout_stem(std::string_view name) {
+  std::string out;
+  out.reserve(name.size());
+  bool last_was_dash = false;
+  for (const char raw : name) {
+    const unsigned char c = static_cast<unsigned char>(raw);
+    if (std::isalnum(c) != 0) {
+      out.push_back(static_cast<char>(std::tolower(c)));
+      last_was_dash = false;
+    } else if (raw == '-' || raw == '_') {
+      out.push_back(raw);
+      last_was_dash = false;
+    } else if (!last_was_dash && !out.empty()) {
+      out.push_back('-');
+      last_was_dash = true;
+    }
+  }
+  while (!out.empty() && out.back() == '-') {
+    out.pop_back();
+  }
+  return out.empty() ? "untitled" : out;
+}
+
+fs::path autosave_dir() {
+  return layouts_dir() / ".jotpluggler_autosave";
+}
+
+fs::path resolve_layout_path(const std::string &layout_arg) {
+  const fs::path direct(layout_arg);
+  if (fs::exists(direct)) {
+    if (direct.extension() == ".json") return fs::absolute(direct);
+    const fs::path sibling_json = direct.parent_path() / (direct.stem().string() + ".json");
+    if (direct.extension() == ".xml" && fs::exists(sibling_json)) {
+      return fs::absolute(sibling_json);
+    }
+  }
+  const fs::path candidate = layouts_dir() / (layout_name_from_arg(layout_arg) + ".json");
+  if (!fs::exists(candidate)) throw std::runtime_error("Unknown layout: " + layout_arg);
+  return candidate;
+}
+
+fs::path autosave_path_for_layout(const fs::path &layout_path) {
+  const std::string stem = layout_path.empty() ? "untitled" : layout_path.stem().string();
+  return autosave_dir() / (sanitize_layout_stem(stem) + ".json");
+}
+
+std::vector<std::string> available_layout_names() {
+  std::vector<std::string> names;
+  const fs::path root = layouts_dir();
+  if (!fs::exists(root) || !fs::is_directory(root)) {
+    return names;
+  }
+  for (const auto &entry : fs::directory_iterator(root)) {
+    if (!entry.is_regular_file() || entry.path().extension() != ".json") {
+      continue;
+    }
+    names.push_back(entry.path().stem().string());
+  }
+  std::sort(names.begin(), names.end());
+  return names;
+}
+
+void refresh_replaced_layout_ui(AppSession *session, UiState *state, bool mark_docks) {
+  state->tabs.clear();
+  cancel_rename_tab(state);
+  sync_ui_state(state, session->layout);
+  sync_layout_buffers(state, *session);
+  if (mark_docks) {
+    mark_all_docks_dirty(state);
+  }
+}
+
+void start_new_layout(AppSession *session, UiState *state, const std::string &status_text) {
+  session->layout = make_empty_layout();
+  session->layout_path.clear();
+  session->autosave_path.clear();
+  state->undo.reset(session->layout);
+  state->layout_dirty = false;
+  state->status_text = status_text;
+  refresh_replaced_layout_ui(session, state, true);
+  reset_shared_range(state, *session);
+}
+
+bool is_decoded_can_series_path(std::string_view path) {
+  const std::string value(path);
+  return util::starts_with(value, "/can/") || util::starts_with(value, "/sendcan/");
+}
+
+bool apply_route_can_decode_update(AppSession *session, UiState *state);
+
+void rebuild_series_lookup_preserving_formats(AppSession *session,
+                                              std::string_view updated_prefix,
+                                              bool refresh_updated_formats_only) {
+  const std::string prefix(updated_prefix);
+  if (!updated_prefix.empty()) {
+    for (auto it = session->route_data.series_formats.begin(); it != session->route_data.series_formats.end();) {
+      if (util::starts_with(it->first, prefix)) {
+        it = session->route_data.series_formats.erase(it);
+      } else {
+        ++it;
+      }
+    }
+  }
+  session->series_by_path.clear();
+  session->series_by_path.reserve(session->route_data.series.size());
+  for (RouteSeries &series : session->route_data.series) {
+    session->series_by_path.emplace(series.path, &series);
+    if (refresh_updated_formats_only) {
+      if (!updated_prefix.empty() && util::starts_with(series.path, prefix)) {
+        const bool enum_like = session->route_data.enum_info.find(series.path) != session->route_data.enum_info.end();
+        session->route_data.series_formats[series.path] = compute_series_format(series.values, enum_like);
+      }
+    } else {
+      const bool enum_like = session->route_data.enum_info.find(series.path) != session->route_data.enum_info.end();
+      session->route_data.series_formats[series.path] = compute_series_format(series.values, enum_like);
+    }
+  }
+}
+
+bool apply_route_can_decode_update(AppSession *session, UiState *state) {
+  const std::string active_dbc_name = !session->dbc_override.empty() ? session->dbc_override : session->route_data.dbc_name;
+  if (!active_dbc_name.empty() && !load_dbc_by_name(active_dbc_name).has_value()) {
+    state->error_text = "DBC not found: " + active_dbc_name;
+    state->open_error_popup = true;
+    return false;
+  }
+  std::unordered_map<std::string, EnumInfo> can_enum_info;
+  std::vector<RouteSeries> can_series = decode_can_messages(session->route_data.can_messages, active_dbc_name, &can_enum_info);
+
+  std::vector<RouteSeries> updated_series;
+  updated_series.reserve(session->route_data.series.size() + can_series.size());
+  for (RouteSeries &series : session->route_data.series) {
+    if (!is_decoded_can_series_path(series.path)) {
+      updated_series.push_back(std::move(series));
+    }
+  }
+  for (RouteSeries &series : can_series) {
+    updated_series.push_back(std::move(series));
+  }
+  std::sort(updated_series.begin(), updated_series.end(), [](const RouteSeries &a, const RouteSeries &b) {
+    return a.path < b.path;
+  });
+
+  std::unordered_map<std::string, EnumInfo> updated_enum_info;
+  updated_enum_info.reserve(session->route_data.enum_info.size() + can_enum_info.size());
+  for (auto &[path, info] : session->route_data.enum_info) {
+    if (!is_decoded_can_series_path(path)) {
+      updated_enum_info.emplace(path, std::move(info));
+    }
+  }
+  for (auto &[path, info] : can_enum_info) {
+    updated_enum_info[path] = std::move(info);
+  }
+
+  session->route_data.series = std::move(updated_series);
+  session->route_data.enum_info = std::move(updated_enum_info);
+  session->route_data.paths.clear();
+  session->route_data.paths.reserve(session->route_data.series.size());
+  for (const RouteSeries &series : session->route_data.series) {
+    session->route_data.paths.push_back(series.path);
+  }
+  std::sort(session->route_data.paths.begin(), session->route_data.paths.end());
+  session->route_data.roots = collect_route_roots_for_paths(session->route_data.paths);
+
+  rebuild_route_index(session);
+  rebuild_browser_nodes(session, state);
+  refresh_all_custom_curves(session, state);
+  sync_camera_feeds(session);
+  return true;
+}
+
+void apply_dbc_override_change(AppSession *session, UiState *state, const std::string &dbc_override) {
+  session->dbc_override = dbc_override;
+  if (session->data_mode == SessionDataMode::Stream) {
+    start_stream_session(session, state, session->stream_source, session->stream_buffer_seconds, false);
+  } else if (!session->route_name.empty()) {
+    const bool ok = apply_route_can_decode_update(session, state);
+    if (ok) {
+      state->status_text = dbc_override.empty() ? "DBC auto-detect enabled" : "DBC set to " + dbc_override;
+    } else {
+      state->status_text = "Failed to apply DBC";
+    }
+  } else if (dbc_override.empty()) {
+    state->status_text = "DBC auto-detect enabled";
+  } else {
+    state->status_text = "DBC set to " + dbc_override;
+  }
+}
+
+void configure_style() {
+  ImGui::StyleColorsLight();
+  ImPlot::StyleColorsLight();
+
+  ImGuiIO &io = ImGui::GetIO();
+  g_ui_font = nullptr;
+  g_ui_bold_font = nullptr;
+  g_mono_font = nullptr;
+  const fs::path fonts_dir = repo_root() / "openpilot" / "selfdrive" / "assets" / "fonts";
+  ImFontConfig font_cfg;
+  font_cfg.OversampleH = 2;
+  font_cfg.OversampleV = 2;
+  font_cfg.RasterizerDensity = 1.0f;
+  icon_add_font(16.0f);
+  const auto add_font_with_icons = [&](const fs::path &path, float size) -> ImFont * {
+    ImFont *font = io.Fonts->AddFontFromFileTTF(path.c_str(), size, &font_cfg);
+    if (font != nullptr) {
+      icon_add_font(size, true, font);
+    }
+    return font;
+  };
+  if (ImFont *font = add_font_with_icons(fonts_dir / "Inter-Regular.ttf", 16.0f); font != nullptr) {
+    g_ui_font = font;
+    io.FontDefault = font;
+  }
+  g_ui_bold_font = add_font_with_icons(fonts_dir / "Inter-SemiBold.ttf", 16.75f);
+  if (g_ui_font == nullptr) {
+    if (ImFont *font = add_font_with_icons(fonts_dir / "JetBrainsMono-Medium.ttf", 15.75f); font != nullptr) {
+      g_mono_font = font;
+      io.FontDefault = font;
+    }
+  }
+  if (g_mono_font == nullptr) {
+    g_mono_font = add_font_with_icons(fonts_dir / "JetBrainsMono-Medium.ttf", 15.75f);
+  }
+  if (g_ui_bold_font == nullptr) {
+    g_ui_bold_font = g_ui_font;
+  }
+
+  ImGuiStyle &style = ImGui::GetStyle();
+  style.WindowRounding = 0.0f;
+  style.ChildRounding = 0.0f;
+  style.PopupRounding = 0.0f;
+  style.FrameRounding = 2.0f;
+  style.ScrollbarRounding = 2.0f;
+  style.GrabRounding = 2.0f;
+  style.TabRounding = 0.0f;
+  style.WindowBorderSize = 1.0f;
+  style.ChildBorderSize = 1.0f;
+  style.FrameBorderSize = 1.0f;
+  style.WindowPadding = ImVec2(8.0f, 7.0f);
+  style.FramePadding = ImVec2(6.0f, 3.0f);
+  style.ItemSpacing = ImVec2(8.0f, 5.0f);
+  style.ItemInnerSpacing = ImVec2(6.0f, 3.0f);
+  struct ColorDef { ImGuiCol idx; int r, g, b; };
+  constexpr ColorDef COLORS[] = {
+    {ImGuiCol_WindowBg, 250, 250, 251},  {ImGuiCol_ChildBg, 255, 255, 255},
+    {ImGuiCol_Border, 194, 198, 204},    {ImGuiCol_TitleBg, 252, 252, 253},
+    {ImGuiCol_TitleBgActive, 252, 252, 253}, {ImGuiCol_TitleBgCollapsed, 252, 252, 253},
+    {ImGuiCol_Text, 74, 80, 88},         {ImGuiCol_TextDisabled, 108, 118, 128},
+    {ImGuiCol_Button, 255, 255, 255},    {ImGuiCol_ButtonHovered, 246, 248, 250},
+    {ImGuiCol_ButtonActive, 238, 240, 244}, {ImGuiCol_FrameBg, 255, 255, 255},
+    {ImGuiCol_FrameBgHovered, 248, 249, 251}, {ImGuiCol_FrameBgActive, 241, 244, 248},
+    {ImGuiCol_Header, 243, 245, 248},    {ImGuiCol_HeaderHovered, 237, 240, 244},
+    {ImGuiCol_HeaderActive, 232, 236, 240}, {ImGuiCol_PopupBg, 248, 249, 251},
+    {ImGuiCol_MenuBarBg, 232, 236, 241}, {ImGuiCol_Separator, 194, 198, 204},
+    {ImGuiCol_ScrollbarBg, 240, 242, 245}, {ImGuiCol_ScrollbarGrab, 202, 207, 214},
+    {ImGuiCol_ScrollbarGrabHovered, 180, 186, 194}, {ImGuiCol_ScrollbarGrabActive, 164, 171, 180},
+    {ImGuiCol_Tab, 219, 224, 230},       {ImGuiCol_TabHovered, 232, 236, 241},
+    {ImGuiCol_TabSelected, 250, 251, 253}, {ImGuiCol_TabSelectedOverline, 92, 109, 136},
+    {ImGuiCol_TabDimmed, 213, 219, 226}, {ImGuiCol_TabDimmedSelected, 244, 247, 249},
+    {ImGuiCol_TabDimmedSelectedOverline, 92, 109, 136}, {ImGuiCol_DockingEmptyBg, 244, 246, 248},
+  };
+  for (const auto &c : COLORS) { style.Colors[c.idx] = color_rgb(c.r, c.g, c.b); }
+  style.Colors[ImGuiCol_DockingPreview] = color_rgb(69, 115, 184, 0.22f);
+
+  ImPlotStyle &plot_style = ImPlot::GetStyle();
+  plot_style.PlotBorderSize = 1.0f;
+  plot_style.MinorAlpha = 0.65f;
+  plot_style.LegendPadding = ImVec2(6.0f, 5.0f);
+  plot_style.LegendInnerPadding = ImVec2(6.0f, 3.0f);
+  plot_style.LegendSpacing = ImVec2(7.0f, 2.0f);
+  plot_style.PlotPadding = ImVec2(4.0f, 8.0f);
+  plot_style.FitPadding = ImVec2(0.02f, static_cast<float>(PLOT_Y_PADDING_FRACTION));
+
+  ImPlot::MapInputDefault();
+  ImPlotInputMap &input_map = ImPlot::GetInputMap();
+  input_map.Pan = ImGuiMouseButton_Right;
+  input_map.PanMod = ImGuiMod_None;
+  input_map.Select = ImGuiMouseButton_Left;
+  input_map.SelectCancel = ImGuiMouseButton_Right;
+  input_map.SelectMod = ImGuiMod_None;
+}
+
+void app_push_mono_font() {
+  if (g_mono_font != nullptr) {
+    ImGui::PushFont(g_mono_font);
+  }
+}
+
+void app_pop_mono_font() {
+  if (g_mono_font != nullptr) {
+    ImGui::PopFont();
+  }
+}
+
+void app_push_bold_font() {
+  if (g_ui_bold_font != nullptr) {
+    ImGui::PushFont(g_ui_bold_font);
+  }
+}
+
+void app_pop_bold_font() {
+  if (g_ui_bold_font != nullptr) {
+    ImGui::PopFont();
+  }
+}
+
+UiMetrics compute_ui_metrics(const ImVec2 &size, float top_offset, float sidebar_width) {
+  UiMetrics ui;
+  ui.width = size.x;
+  ui.height = size.y;
+  ui.top_offset = top_offset;
+  ui.sidebar_width = sidebar_width <= 0.0f
+    ? 0.0f
+    : std::clamp(sidebar_width, SIDEBAR_MIN_WIDTH, std::min(SIDEBAR_MAX_WIDTH, size.x * 0.6f));
+  ui.content_x = ui.sidebar_width;
+  ui.content_y = top_offset;
+  ui.content_w = std::max(1.0f, size.x - ui.content_x);
+  ui.content_h = std::max(1.0f, size.y - ui.content_y - STATUS_BAR_HEIGHT);
+  ui.status_bar_y = std::max(0.0f, size.y - STATUS_BAR_HEIGHT);
+  return ui;
+}
+
+void sync_ui_state(UiState *state, const SketchLayout &layout) {
+  const bool initializing = state->tabs.empty();
+  state->tabs.resize(layout.tabs.size());
+  if (layout.tabs.empty()) {
+    state->active_tab_index = 0;
+    state->requested_tab_index = -1;
+    return;
+  }
+  if (initializing) {
+    state->active_tab_index = std::clamp(layout.current_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+    state->requested_tab_index = state->active_tab_index;
+  }
+  state->active_tab_index = std::clamp(state->active_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+  for (size_t i = 0; i < layout.tabs.size(); ++i) {
+    if (state->tabs[i].runtime_id == 0) {
+      state->tabs[i].runtime_id = state->next_tab_runtime_id++;
+    }
+    const int pane_count = static_cast<int>(layout.tabs[i].panes.size());
+    state->tabs[i].map_panes.resize(static_cast<size_t>(std::max(0, pane_count)));
+    state->tabs[i].camera_panes.resize(static_cast<size_t>(std::max(0, pane_count)));
+    state->tabs[i].active_pane_index = pane_count <= 0
+      ? 0
+      : std::clamp(state->tabs[i].active_pane_index, 0, pane_count - 1);
+  }
+}
+
+void resize_tab_pane_state(TabUiState *tab_state, size_t pane_count) {
+  if (tab_state == nullptr) return;
+  tab_state->map_panes.resize(pane_count);
+  tab_state->camera_panes.resize(pane_count);
+}
+
+void sync_route_buffers(UiState *state, const AppSession &session) {
+  state->route_buffer = session.route_name;
+  state->data_dir_buffer = session.data_dir;
+}
+
+void sync_stream_buffers(UiState *state, const AppSession &session) {
+  state->stream_address_buffer = session.stream_source.address;
+  state->stream_source_kind = session.stream_source.kind;
+  state->stream_buffer_seconds = session.stream_buffer_seconds;
+}
+
+fs::path default_layout_save_path(const AppSession &session) {
+  return session.layout_path.empty() ? layouts_dir() / "new-layout.json" : session.layout_path;
+}
+
+void sync_layout_buffers(UiState *state, const AppSession &session) {
+  state->load_layout_buffer = session.layout_path.empty() ? std::string() : session.layout_path.string();
+  state->save_layout_buffer = default_layout_save_path(session).string();
+}
+
+const WorkspaceTab *app_active_tab(const SketchLayout &layout, const UiState &state) {
+  if (layout.tabs.empty()) return nullptr;
+  const int index = std::clamp(state.active_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+  return &layout.tabs[static_cast<size_t>(index)];
+}
+
+WorkspaceTab *app_active_tab(SketchLayout *layout, const UiState &state) {
+  if (layout->tabs.empty()) return nullptr;
+  const int index = std::clamp(state.active_tab_index, 0, static_cast<int>(layout->tabs.size()) - 1);
+  return &layout->tabs[static_cast<size_t>(index)];
+}
+
+TabUiState *app_active_tab_state(UiState *state) {
+  if (state->tabs.empty()) return nullptr;
+  const int index = std::clamp(state->active_tab_index, 0, static_cast<int>(state->tabs.size()) - 1);
+  return &state->tabs[static_cast<size_t>(index)];
+}
+
+std::string pane_window_name(int tab_runtime_id, int pane_index, const Pane &pane) {
+  const char *title = pane.title.empty() ? UNTITLED_PANE_TITLE : pane.title.c_str();
+  return util::string_format("%s###tab%d_pane%d", title, tab_runtime_id, pane_index);
+}
+
+std::string tab_item_label(const WorkspaceTab &tab, int tab_runtime_id) {
+  return util::string_format("%s##workspace_tab_%d", tab.tab_name.c_str(), tab_runtime_id);
+}
+
+void request_tab_selection(UiState *state, int tab_index) {
+  state->active_tab_index = tab_index;
+  state->requested_tab_index = tab_index;
+}
+
+void begin_rename_tab(const SketchLayout &layout, UiState *state, int tab_index) {
+  if (tab_index < 0 || tab_index >= static_cast<int>(layout.tabs.size())) {
+    return;
+  }
+  state->rename_tab_buffer = layout.tabs[static_cast<size_t>(tab_index)].tab_name;
+  state->rename_tab_index = tab_index;
+  state->focus_rename_tab_input = true;
+  request_tab_selection(state, tab_index);
+}
+
+void cancel_rename_tab(UiState *state) {
+  state->rename_tab_index = -1;
+  state->focus_rename_tab_input = false;
+}
+
+ImGuiID dockspace_id_for_tab(int tab_runtime_id) {
+  return ImHashStr(util::string_format("jotpluggler_dockspace_%d", tab_runtime_id).c_str());
+}
+
+bool curve_has_local_samples(const Curve &curve) {
+  return curve.xs.size() > 1 && curve.xs.size() == curve.ys.size();
+}
+
+void mark_all_docks_dirty(UiState *state) {
+  for (TabUiState &tab_state : state->tabs) {
+    tab_state.dock_needs_build = true;
+  }
+}
+
+void mark_tab_dock_dirty(UiState *state, int tab_index) {
+  if (tab_index >= 0 && tab_index < static_cast<int>(state->tabs.size())) {
+    state->tabs[static_cast<size_t>(tab_index)].dock_needs_build = true;
+  }
+}
+
+void normalize_split_node(WorkspaceNode *node) {
+  if (node->is_pane) {
+    return;
+  }
+  for (WorkspaceNode &child : node->children) {
+    normalize_split_node(&child);
+  }
+  if (node->children.empty()) {
+    return;
+  }
+  if (node->children.size() == 1) {
+    *node = node->children.front();
+    return;
+  }
+  if (node->sizes.size() != node->children.size()) {
+    node->sizes.assign(node->children.size(), 1.0f / static_cast<float>(node->children.size()));
+    return;
+  }
+  float total = 0.0f;
+  for (float &size : node->sizes) {
+    size = std::max(size, 0.0f);
+    total += size;
+  }
+  if (total <= 0.0f) {
+    node->sizes.assign(node->children.size(), 1.0f / static_cast<float>(node->children.size()));
+    return;
+  }
+  for (float &size : node->sizes) {
+    size /= total;
+  }
+}
+
+void decrement_pane_indices(WorkspaceNode *node, int removed_index) {
+  if (node->is_pane) {
+    if (node->pane_index > removed_index) {
+      node->pane_index -= 1;
+    }
+    return;
+  }
+  for (WorkspaceNode &child : node->children) {
+    decrement_pane_indices(&child, removed_index);
+  }
+}
+
+bool remove_pane_node(WorkspaceNode *node, int pane_index) {
+  if (node->is_pane) return node->pane_index == pane_index;
+
+  for (size_t i = 0; i < node->children.size();) {
+    if (remove_pane_node(&node->children[i], pane_index)) {
+      node->children.erase(node->children.begin() + static_cast<std::ptrdiff_t>(i));
+      if (i < node->sizes.size()) {
+        node->sizes.erase(node->sizes.begin() + static_cast<std::ptrdiff_t>(i));
+      }
+    } else {
+      ++i;
+    }
+  }
+
+  normalize_split_node(node);
+  return !node->is_pane && node->children.empty();
+}
+
+bool split_pane_node(WorkspaceNode *node, int target_pane_index, SplitOrientation orientation,
+                     bool new_before, int new_pane_index) {
+  if (node->is_pane) {
+    if (node->pane_index != target_pane_index) return false;
+    WorkspaceNode existing_pane;
+    existing_pane.is_pane = true;
+    existing_pane.pane_index = target_pane_index;
+
+    WorkspaceNode new_pane;
+    new_pane.is_pane = true;
+    new_pane.pane_index = new_pane_index;
+
+    node->is_pane = false;
+    node->pane_index = -1;
+    node->orientation = orientation;
+    node->sizes = {0.5f, 0.5f};
+    node->children.clear();
+    if (new_before) {
+      node->children.push_back(std::move(new_pane));
+      node->children.push_back(std::move(existing_pane));
+    } else {
+      node->children.push_back(std::move(existing_pane));
+      node->children.push_back(std::move(new_pane));
+    }
+    return true;
+  }
+
+  if (node->orientation == orientation) {
+    for (size_t i = 0; i < node->children.size(); ++i) {
+      WorkspaceNode &child = node->children[i];
+      if (!child.is_pane || child.pane_index != target_pane_index) {
+        continue;
+      }
+
+      WorkspaceNode new_pane;
+      new_pane.is_pane = true;
+      new_pane.pane_index = new_pane_index;
+
+      const auto insert_it = node->children.begin() + static_cast<std::ptrdiff_t>(new_before ? i : i + 1);
+      node->children.insert(insert_it, std::move(new_pane));
+      node->sizes.assign(node->children.size(), 1.0f / static_cast<float>(node->children.size()));
+      return true;
+    }
+  }
+
+  for (WorkspaceNode &child : node->children) {
+    if (split_pane_node(&child, target_pane_index, orientation, new_before, new_pane_index)) return true;
+  }
+  return false;
+}
+
+Pane make_empty_pane(const std::string &title = UNTITLED_PANE_TITLE) {
+  Pane pane;
+  pane.title = title;
+  return pane;
+}
+
+WorkspaceTab make_empty_tab(const std::string &tab_name) {
+  WorkspaceTab tab;
+  tab.tab_name = tab_name;
+  tab.panes.push_back(make_empty_pane());
+  tab.root.is_pane = true;
+  tab.root.pane_index = 0;
+  return tab;
+}
+
+SketchLayout make_empty_layout() {
+  SketchLayout layout;
+  layout.tabs.push_back(make_empty_tab("tab1"));
+  layout.current_tab_index = 0;
+  layout.roots.push_back("layout");
+  return layout;
+}
+
+bool tab_name_exists(const SketchLayout &layout, const std::string &name) {
+  return std::any_of(layout.tabs.begin(), layout.tabs.end(), [&](const WorkspaceTab &tab) {
+    return tab.tab_name == name;
+  });
+}
+
+std::string next_tab_name(const SketchLayout &layout, const std::string &base_name) {
+  if (base_name == "tab" || base_name == "tab1") {
+    int max_suffix = 0;
+    for (const WorkspaceTab &tab : layout.tabs) {
+      if (tab.tab_name.size() > 3 && util::starts_with(tab.tab_name, "tab")) {
+        const std::string suffix = tab.tab_name.substr(3);
+        if (!suffix.empty() && std::all_of(suffix.begin(), suffix.end(), ::isdigit)) {
+          max_suffix = std::max(max_suffix, std::stoi(suffix));
+        }
+      }
+    }
+    return "tab" + std::to_string(std::max(1, max_suffix + 1));
+  }
+  std::string base = base_name.empty() ? "tab" : base_name;
+  if (!tab_name_exists(layout, base)) return base;
+  for (int i = 2; i < 1000; ++i) {
+    const std::string candidate = base + " " + std::to_string(i);
+    if (!tab_name_exists(layout, candidate)) return candidate;
+  }
+  return base + " copy";
+}
+
+void clear_layout_autosave(const AppSession &session) {
+  if (!session.autosave_path.empty() && fs::exists(session.autosave_path)) {
+    fs::remove(session.autosave_path);
+  }
+}
+
+bool autosave_layout(AppSession *session, UiState *state) {
+  try {
+    if (session->autosave_path.empty()) {
+      session->autosave_path = autosave_path_for_layout(session->layout_path);
+    }
+    session->layout.current_tab_index = state->active_tab_index;
+    save_layout_json(session->layout, session->autosave_path);
+    state->layout_dirty = true;
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to save layout draft";
+    return false;
+  }
+}
+
+bool mark_layout_dirty(AppSession *session, UiState *state) {
+  return autosave_layout(session, state);
+}
+
+bool active_tab_has_map_pane(const SketchLayout &layout) {
+  if (layout.tabs.empty()) {
+    return false;
+  }
+  const int tab_index = std::clamp(layout.current_tab_index, 0, static_cast<int>(layout.tabs.size()) - 1);
+  const WorkspaceTab &tab = layout.tabs[static_cast<size_t>(tab_index)];
+  return std::any_of(tab.panes.begin(), tab.panes.end(), [](const Pane &pane) {
+    return pane_kind_is_special(pane.kind);
+  });
+}
+
+void draw_browser_special_item(const char *item_id, const char *label) {
+  const ImGuiStyle &style = ImGui::GetStyle();
+  const ImVec2 row_size(std::max(1.0f, ImGui::GetContentRegionAvail().x), ImGui::GetFrameHeight());
+  ImGui::PushID(item_id);
+  ImGui::InvisibleButton("##special_data_row", row_size);
+  const bool hovered = ImGui::IsItemHovered();
+  const bool held = ImGui::IsItemActive();
+  const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  if (hovered) {
+    const ImU32 bg = ImGui::GetColorU32(held ? ImGuiCol_HeaderActive : ImGuiCol_HeaderHovered);
+    draw_list->AddRectFilled(rect.Min, rect.Max, bg, 0.0f);
+  }
+  ImGui::RenderTextEllipsis(draw_list,
+                            ImVec2(rect.Min.x + style.FramePadding.x, rect.Min.y + style.FramePadding.y),
+                            ImVec2(rect.Max.x - style.FramePadding.x, rect.Max.y),
+                            rect.Max.x - style.FramePadding.x,
+                            label,
+                            nullptr,
+                            nullptr);
+  if (ImGui::BeginDragDropSource(ImGuiDragDropFlags_SourceAllowNullID)) {
+    ImGui::SetDragDropPayload("JOTP_SPECIAL_ITEM", item_id, std::strlen(item_id) + 1);
+    ImGui::TextUnformatted(label);
+    ImGui::EndDragDropSource();
+  }
+  ImGui::PopID();
+}
+
+std::array<uint8_t, 3> app_next_curve_color(const Pane &pane) {
+  static constexpr std::array<std::array<uint8_t, 3>, 10> PALETTE = {{
+    {35, 107, 180},
+    {220, 82, 52},
+    {67, 160, 71},
+    {243, 156, 18},
+    {123, 97, 255},
+    {0, 150, 136},
+    {214, 48, 49},
+    {52, 73, 94},
+    {197, 90, 17},
+    {96, 125, 139},
+  }};
+  return PALETTE[pane.curves.size() % PALETTE.size()];
+}
+
+void draw_sidebar(AppSession *session, const UiMetrics &ui, UiState *state, bool show_camera_feed) {
+  ImGui::SetNextWindowPos(ImVec2(0.0f, ui.top_offset));
+  ImGui::SetNextWindowSize(ImVec2(ui.sidebar_width, std::max(1.0f, ui.height - ui.top_offset)));
+  ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(238, 240, 244));
+  ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(190, 197, 205));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings;
+  if (ImGui::Begin("##sidebar", nullptr, flags)) {
+    const RouteLoadSnapshot load = session->route_loader ? session->route_loader->snapshot() : RouteLoadSnapshot{};
+    const bool show_load_progress = session->route_loader && (load.active || load.total_segments > 0);
+    const bool streaming = session->data_mode == SessionDataMode::Stream;
+    CameraFeedView *sidebar_camera = session->pane_camera_feeds[static_cast<size_t>(sidebar_preview_camera_view(*session))].get();
+    if (show_camera_feed && sidebar_camera != nullptr) {
+      sidebar_camera->draw(ImGui::GetContentRegionAvail().x, load.active);
+    } else if (streaming) {
+      ImGui::SeparatorText("Camera");
+      ImGui::TextDisabled("Camera not available during live stream.");
+      ImGui::Spacing();
+    }
+
+    ImGui::SeparatorText(streaming ? "Stream" : "Route");
+    if (streaming) {
+      const StreamPollSnapshot stream = session->stream_poller ? session->stream_poller->snapshot() : StreamPollSnapshot{};
+      const bool paused = stream.paused || session->stream_paused;
+      const bool live = stream.connected && !paused;
+      const ImVec4 status_color = live ? color_rgb(38, 135, 67) : (paused ? color_rgb(168, 119, 34) : color_rgb(155, 63, 63));
+      ImGui::TextColored(status_color, "%s %s", live ? "●" : "○", stream.source_label.c_str());
+      ImGui::TextDisabled("%s%s", stream_source_kind_label(stream.source_kind), paused ? "  paused" : "");
+      const double span = session->route_data.has_time_range ? (session->route_data.x_max - session->route_data.x_min) : 0.0;
+      const float fill = stream.buffer_seconds <= 0.0
+        ? 0.0f
+        : std::clamp(static_cast<float>(span / stream.buffer_seconds), 0.0f, 1.0f);
+      ImGui::ProgressBar(fill, ImVec2(-FLT_MIN, 0.0f), nullptr);
+      ImGui::TextDisabled("%.0fs buffer | %zu series", session->stream_buffer_seconds, session->route_data.series.size());
+      const char *button_label = paused ? "Resume" : "Pause";
+      if (ImGui::Button(button_label, ImVec2(std::max(1.0f, ImGui::GetContentRegionAvail().x), 0.0f))) {
+        if (paused) {
+          start_stream_session(session, state, session->stream_source, session->stream_buffer_seconds, true);
+        } else {
+          stop_stream_session(session, state);
+          state->status_text = "Paused stream " + stream_source_target_label(session->stream_source);
+        }
+      }
+    } else if (session->route_name.empty()) {
+      ImGui::TextDisabled("No route loaded");
+    }
+    if (!session->route_data.car_fingerprint.empty()) {
+      ImGui::TextWrapped("Car: %s", session->route_data.car_fingerprint.c_str());
+    }
+    const std::vector<std::string> dbc_names = available_dbc_names();
+    ImGui::SetNextItemWidth(-FLT_MIN);
+    if (ImGui::BeginCombo("##dbc_combo", dbc_combo_label(*session).c_str())) {
+      const bool auto_selected = session->dbc_override.empty();
+      if (ImGui::Selectable("Auto", auto_selected)) {
+        apply_dbc_override_change(session, state, {});
+      }
+      if (auto_selected) {
+        ImGui::SetItemDefaultFocus();
+      }
+      ImGui::Separator();
+      for (const std::string &dbc_name : dbc_names) {
+        const bool selected = session->dbc_override == dbc_name;
+        if (ImGui::Selectable(dbc_name.c_str(), selected) && !selected) {
+          apply_dbc_override_change(session, state, dbc_name);
+        }
+        if (selected) {
+          ImGui::SetItemDefaultFocus();
+        }
+      }
+      ImGui::EndCombo();
+    }
+    ImGui::SeparatorText("Layout");
+    ImGui::SetNextItemWidth(-FLT_MIN);
+    const std::string layout_combo_label = [&] {
+      const std::string base = session->layout_path.empty() ? std::string("untitled") : session->layout_path.stem().string();
+      return state->layout_dirty ? base + " *" : base;
+    }();
+    if (ImGui::BeginCombo("##layout_combo", layout_combo_label.c_str())) {
+      if (ImGui::Selectable("New Layout")) {
+        start_new_layout(session, state);
+      }
+      ImGui::Separator();
+      const std::vector<std::string> layouts = available_layout_names();
+      const std::string current_layout = session->layout_path.empty() ? std::string("untitled") : session->layout_path.stem().string();
+      for (const std::string &layout_name : layouts) {
+        const bool selected = layout_name == current_layout;
+        if (ImGui::Selectable(layout_name.c_str(), selected) && !selected) {
+          reload_layout(session, state, layout_name);
+        }
+        if (selected) {
+          ImGui::SetItemDefaultFocus();
+        }
+      }
+      ImGui::EndCombo();
+    }
+    const float layout_button_gap = ImGui::GetStyle().ItemSpacing.x;
+    const float layout_row_width = std::max(1.0f, ImGui::GetContentRegionAvail().x);
+    const float layout_button_width = std::max(1.0f, (layout_row_width - 2.0f * layout_button_gap) / 3.0f);
+    if (ImGui::Button("New", ImVec2(layout_button_width, 0.0f))) {
+      start_new_layout(session, state);
+    }
+    ImGui::SameLine(0.0f, layout_button_gap);
+    if (ImGui::Button("Save", ImVec2(layout_button_width, 0.0f))) {
+      state->request_save_layout = true;
+    }
+    ImGui::SameLine(0.0f, layout_button_gap);
+    ImGui::BeginDisabled(!state->layout_dirty);
+    if (ImGui::Button("Reset", ImVec2(layout_button_width, 0.0f))) {
+      state->request_reset_layout = true;
+    }
+    ImGui::EndDisabled();
+    ImGui::Spacing();
+
+    ImGui::SeparatorText("Data Sources");
+    ImGui::SetNextItemWidth(-FLT_MIN);
+    input_text_with_hint_string("##browser_filter", "Search...", &state->browser_filter);
+    const float footer_height = ImGui::GetFrameHeightWithSpacing()
+                              + ImGui::GetTextLineHeightWithSpacing()
+                              + 16.0f
+                              + (show_load_progress ? (ImGui::GetFrameHeightWithSpacing() + 12.0f) : 0.0f);
+    const float browser_height = std::max(1.0f, ImGui::GetContentRegionAvail().y - footer_height);
+    ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(6.0f, 2.0f));
+    ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(8.0f, 3.0f));
+    if (ImGui::BeginChild("##timeseries_browser", ImVec2(0.0f, browser_height), true)) {
+      const std::string filter = lowercase_copy(state->browser_filter);
+      std::vector<std::string> visible_paths;
+      for (const BrowserNode &node : session->browser_nodes) {
+        collect_visible_leaf_paths(node, filter, &visible_paths);
+      }
+      for (const SpecialItemSpec &spec : kSpecialItemSpecs) {
+        draw_browser_special_item(spec.id, spec.label);
+      }
+      ImGui::Dummy(ImVec2(0.0f, 2.0f));
+      ImGui::Separator();
+      ImGui::Dummy(ImVec2(0.0f, 2.0f));
+      for (const BrowserNode &node : session->browser_nodes) {
+        draw_browser_node(session, node, state, filter, visible_paths);
+      }
+    }
+    ImGui::EndChild();
+    ImGui::PopStyleVar(2);
+
+    ImGui::SeparatorText("Custom Series");
+    if (ImGui::Button("Create...", ImVec2(std::max(1.0f, ImGui::GetContentRegionAvail().x), 0.0f))) {
+      open_custom_series_editor(state, state->selected_browser_path);
+    }
+    if (show_load_progress) {
+      const float total = static_cast<float>(std::max<size_t>(1, load.total_segments));
+      const bool finalizing = load.active
+                           && load.total_segments > 0
+                           && load.segments_downloaded >= load.total_segments
+                           && load.segments_parsed >= load.total_segments;
+      const float progress = load.total_segments == 0
+        ? 0.0f
+        : (finalizing
+            ? 0.99f
+            : std::clamp(static_cast<float>(load.segments_downloaded + load.segments_parsed) / (2.0f * total), 0.0f, 0.99f));
+      ImGui::Dummy(ImVec2(0.0f, 8.0f));
+      ImGui::ProgressBar(progress, ImVec2(-FLT_MIN, 0.0f), finalizing ? "Finalizing..." : nullptr);
+    }
+  }
+  ImGui::End();
+  ImGui::PopStyleColor(2);
+}
+
+std::string app_curve_display_name(const Curve &curve) {
+  if (!curve.label.empty()) return curve.label;
+  if (!curve.name.empty()) return curve.name;
+  return "curve";
+}
+
+Curve make_curve_for_path(const Pane &pane, const std::string &path) {
+  Curve curve;
+  curve.name = path;
+  curve.label = path;
+  curve.color = app_next_curve_color(pane);
+  return curve;
+}
+
+bool add_curve_to_pane(WorkspaceTab *tab, int pane_index, Curve curve) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  if (pane.kind != PaneKind::Plot) {
+    pane.kind = PaneKind::Plot;
+    if (is_default_special_title(pane.title)) {
+      pane.title = UNTITLED_PANE_TITLE;
+    }
+  }
+  for (Curve &existing : pane.curves) {
+    const bool same_named_curve = !curve.name.empty() && existing.name == curve.name;
+    const bool same_unnamed_curve = curve.name.empty() && existing.name.empty() && existing.label == curve.label;
+    if (same_named_curve || same_unnamed_curve) {
+      existing.visible = true;
+      return false;
+    }
+  }
+  pane.curves.push_back(std::move(curve));
+  return true;
+}
+
+bool add_path_curve_to_pane(AppSession *session, UiState *state, int pane_index, const std::string &path) {
+  if (app_find_route_series(*session, path) == nullptr) {
+    state->status_text = "Path not found in route";
+    return false;
+  }
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  if (tab == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    state->status_text = "No active pane";
+    return false;
+  }
+  const SketchLayout before_layout = session->layout;
+  const bool inserted = add_curve_to_pane(tab, pane_index, make_curve_for_path(tab->panes[static_cast<size_t>(pane_index)], path));
+  bool autosave_ok = true;
+  if (inserted) {
+    state->undo.push(before_layout);
+    autosave_ok = mark_layout_dirty(session, state);
+  }
+  if (autosave_ok) {
+    state->status_text = inserted ? "Added " + path : "Curve already present";
+  }
+  return true;
+}
+
+int add_path_curves_to_pane(AppSession *session, UiState *state, int pane_index, const std::vector<std::string> &paths) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  if (tab == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    state->status_text = "No active pane";
+    return 0;
+  }
+
+  int inserted_count = 0;
+  int duplicate_count = 0;
+  const SketchLayout before_layout = session->layout;
+  for (const std::string &path : paths) {
+    if (app_find_route_series(*session, path) == nullptr) continue;
+    if (add_curve_to_pane(tab, pane_index, make_curve_for_path(tab->panes[static_cast<size_t>(pane_index)], path))) {
+      ++inserted_count;
+    } else {
+      ++duplicate_count;
+    }
+  }
+
+  if (inserted_count > 0) {
+    state->undo.push(before_layout);
+    if (mark_layout_dirty(session, state)) {
+      state->status_text = inserted_count == 1
+        ? "Added " + paths.front()
+        : "Added " + std::to_string(inserted_count) + " curves";
+    }
+    return inserted_count;
+  }
+
+  if (duplicate_count > 0) {
+    state->status_text = duplicate_count == 1 ? "Curve already present" : "Curves already present";
+  } else {
+    state->status_text = "No matching series found";
+  }
+  return 0;
+}
+
+bool app_add_curve_to_active_pane(AppSession *session, UiState *state, const std::string &path) {
+  const TabUiState *tab_state = app_active_tab_state(state);
+  if (tab_state == nullptr) {
+    state->status_text = "No active pane";
+    return false;
+  }
+  return add_path_curve_to_pane(session, state, tab_state->active_pane_index, path);
+}
+
+bool apply_special_item_to_pane(WorkspaceTab *tab, TabUiState *tab_state, int pane_index, std::string_view item_id) {
+  if (tab == nullptr || tab_state == nullptr) return false;
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) return false;
+  const SpecialItemSpec *spec = special_item_spec(item_id);
+  if (spec == nullptr) return false;
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  if (!((pane.kind == PaneKind::Plot && pane.curves.empty()) || pane_kind_is_special(pane.kind))) {
+    return false;
+  }
+  if (pane.kind == spec->kind && (spec->kind != PaneKind::Camera || pane.camera_view == spec->camera_view)) {
+    tab_state->active_pane_index = pane_index;
+    return false;
+  }
+  const PaneKind previous_kind = pane.kind;
+  pane.kind = spec->kind;
+  pane.camera_view = spec->camera_view;
+  if (spec->kind == PaneKind::Map) {
+    if (pane.title == UNTITLED_PANE_TITLE || previous_kind != PaneKind::Plot) {
+      pane.title = spec->label;
+    }
+  } else if (spec->kind == PaneKind::Camera) {
+    pane.title = spec->label;
+    resize_tab_pane_state(tab_state, tab->panes.size());
+    tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane = true;
+  } else {
+    pane.title = spec->label;
+  }
+  tab_state->active_pane_index = pane_index;
+  return true;
+}
+
+bool split_pane(WorkspaceTab *tab, int pane_index, PaneDropZone zone, std::optional<Curve> curve = std::nullopt) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  if (zone == PaneDropZone::Center) return false;
+
+  const int new_pane_index = static_cast<int>(tab->panes.size());
+  Pane new_pane = make_empty_pane();
+  if (curve.has_value()) {
+    new_pane.curves.push_back(*curve);
+  }
+  tab->panes.push_back(std::move(new_pane));
+
+  const bool vertical = zone == PaneDropZone::Top || zone == PaneDropZone::Bottom;
+  const bool new_before = zone == PaneDropZone::Left || zone == PaneDropZone::Top;
+  return split_pane_node(&tab->root, pane_index,
+    vertical ? SplitOrientation::Vertical : SplitOrientation::Horizontal,
+    new_before, new_pane_index);
+}
+
+bool close_pane(WorkspaceTab *tab, int pane_index) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  if (tab->panes.size() <= 1) {
+    tab->panes[static_cast<size_t>(pane_index)] = make_empty_pane();
+    return true;
+  }
+  if (remove_pane_node(&tab->root, pane_index)) return false;
+  tab->panes.erase(tab->panes.begin() + static_cast<std::ptrdiff_t>(pane_index));
+  decrement_pane_indices(&tab->root, pane_index);
+  normalize_split_node(&tab->root);
+  return true;
+}
+
+void clear_pane(WorkspaceTab *tab, int pane_index) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return;
+  }
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  pane.curves.clear();
+  pane.title = UNTITLED_PANE_TITLE;
+}
+
+void create_runtime_tab(SketchLayout *layout, UiState *state) {
+  const std::string tab_name = next_tab_name(*layout, "tab1");
+  layout->tabs.push_back(make_empty_tab(tab_name));
+  state->tabs.push_back(TabUiState{.dock_needs_build = true, .active_pane_index = 0, .runtime_id = state->next_tab_runtime_id++});
+  request_tab_selection(state, static_cast<int>(layout->tabs.size()) - 1);
+  state->status_text = "Created " + tab_name;
+}
+
+void duplicate_runtime_tab(SketchLayout *layout, UiState *state) {
+  if (layout->tabs.empty()) {
+    return;
+  }
+  const int source_index = std::clamp(state->active_tab_index, 0, static_cast<int>(layout->tabs.size()) - 1);
+  WorkspaceTab copy = layout->tabs[static_cast<size_t>(source_index)];
+  copy.tab_name = next_tab_name(*layout, copy.tab_name + " copy");
+  layout->tabs.push_back(std::move(copy));
+  const int active_pane_index = source_index < static_cast<int>(state->tabs.size()) ? state->tabs[static_cast<size_t>(source_index)].active_pane_index : 0;
+  state->tabs.push_back(TabUiState{.dock_needs_build = true, .active_pane_index = active_pane_index, .runtime_id = state->next_tab_runtime_id++});
+  request_tab_selection(state, static_cast<int>(layout->tabs.size()) - 1);
+  state->status_text = "Duplicated tab";
+}
+
+void close_runtime_tab(SketchLayout *layout, UiState *state) {
+  if (layout->tabs.empty()) {
+    return;
+  }
+  const int tab_index = std::clamp(state->active_tab_index, 0, static_cast<int>(layout->tabs.size()) - 1);
+  if (layout->tabs.size() == 1) {
+    layout->tabs[0] = make_empty_tab(layout->tabs[0].tab_name.empty() ? "tab1" : layout->tabs[0].tab_name);
+    if (state->tabs.empty()) {
+      state->tabs.push_back(TabUiState{.dock_needs_build = true, .active_pane_index = 0});
+    } else {
+      state->tabs.resize(1);
+      state->tabs[0] = TabUiState{
+        .dock_needs_build = true,
+        .active_pane_index = 0,
+        .runtime_id = state->tabs[0].runtime_id == 0 ? state->next_tab_runtime_id++ : state->tabs[0].runtime_id,
+      };
+    }
+    state->active_tab_index = 0;
+    state->requested_tab_index = 0;
+    layout->current_tab_index = 0;
+    cancel_rename_tab(state);
+    state->status_text = "Closed tab";
+    return;
+  }
+  layout->tabs.erase(layout->tabs.begin() + static_cast<std::ptrdiff_t>(tab_index));
+  if (tab_index < static_cast<int>(state->tabs.size())) {
+    state->tabs.erase(state->tabs.begin() + static_cast<std::ptrdiff_t>(tab_index));
+  }
+  if (state->active_tab_index >= static_cast<int>(layout->tabs.size())) {
+    state->active_tab_index = static_cast<int>(layout->tabs.size()) - 1;
+  }
+  sync_ui_state(state, *layout);
+  state->requested_tab_index = state->active_tab_index;
+  state->status_text = "Closed tab";
+}
+
+void rename_runtime_tab(SketchLayout *layout, UiState *state) {
+  if (state->rename_tab_index < 0 || state->rename_tab_index >= static_cast<int>(layout->tabs.size())) {
+    return;
+  }
+  layout->tabs[static_cast<size_t>(state->rename_tab_index)].tab_name = state->rename_tab_buffer;
+  state->status_text = "Renamed tab";
+  layout->current_tab_index = state->rename_tab_index;
+  cancel_rename_tab(state);
+}
+
+void draw_inline_tab_editor(AppSession *session, UiState *state, const ImRect &tab_rect) {
+  const int rename_tab_index = state->rename_tab_index;
+  if (rename_tab_index < 0 || rename_tab_index >= static_cast<int>(session->layout.tabs.size())) {
+    return;
+  }
+
+  const float width = std::max(48.0f, tab_rect.Max.x - tab_rect.Min.x - 10.0f);
+  const ImVec2 pos = ImVec2(tab_rect.Min.x + 5.0f, tab_rect.Min.y + 2.0f);
+  ImGui::SetCursorScreenPos(pos);
+  ImGui::PushItemWidth(width);
+  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(4.0f, 2.0f));
+  if (state->focus_rename_tab_input) {
+    ImGui::SetKeyboardFocusHere();
+    state->focus_rename_tab_input = false;
+  }
+  const bool submitted = input_text_string("##rename_tab_inline",
+                                           &state->rename_tab_buffer,
+                                           ImGuiInputTextFlags_AutoSelectAll | ImGuiInputTextFlags_EnterReturnsTrue);
+  const bool active = ImGui::IsItemActive();
+  const bool escape = active && ImGui::IsKeyPressed(ImGuiKey_Escape);
+  const bool deactivated = ImGui::IsItemDeactivated();
+  ImGui::PopStyleVar();
+  ImGui::PopItemWidth();
+
+  if (escape) {
+    cancel_rename_tab(state);
+  } else if (submitted || deactivated) {
+    const SketchLayout before_layout = session->layout;
+    rename_runtime_tab(&session->layout, state);
+    state->undo.push(before_layout);
+    mark_layout_dirty(session, state);
+  }
+}
+
+
+std::optional<PaneDropAction> draw_pane_drop_target(int tab_index, int pane_index, const Pane &target_pane) {
+  if (ImGui::GetDragDropPayload() == nullptr) return std::nullopt;
+
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImVec2 content_max = ImGui::GetWindowContentRegionMax();
+  ImRect content_rect(ImVec2(window_pos.x + content_min.x, window_pos.y + content_min.y),
+                      ImVec2(window_pos.x + content_max.x, window_pos.y + content_max.y));
+  content_rect.Expand(ImVec2(-6.0f, -6.0f));
+  if (content_rect.GetWidth() < 60.0f || content_rect.GetHeight() < 60.0f) {
+    return std::nullopt;
+  }
+
+  const float edge_w = std::min(90.0f, content_rect.GetWidth() * 0.24f);
+  const float edge_h = std::min(72.0f, content_rect.GetHeight() * 0.24f);
+  struct ZoneRect {
+    PaneDropZone zone;
+    ImRect rect;
+  };
+  const std::array<ZoneRect, 5> zones = {{
+    {PaneDropZone::Left, ImRect(content_rect.Min, ImVec2(content_rect.Min.x + edge_w, content_rect.Max.y))},
+    {PaneDropZone::Right, ImRect(ImVec2(content_rect.Max.x - edge_w, content_rect.Min.y), content_rect.Max)},
+    {PaneDropZone::Top, ImRect(content_rect.Min, ImVec2(content_rect.Max.x, content_rect.Min.y + edge_h))},
+    {PaneDropZone::Bottom, ImRect(ImVec2(content_rect.Min.x, content_rect.Max.y - edge_h), content_rect.Max)},
+    {PaneDropZone::Center, ImRect(ImVec2(content_rect.Min.x + edge_w, content_rect.Min.y + edge_h),
+                                  ImVec2(content_rect.Max.x - edge_w, content_rect.Max.y - edge_h))},
+  }};
+
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  for (const ZoneRect &zone : zones) {
+    if (zone.rect.GetWidth() <= 0.0f || zone.rect.GetHeight() <= 0.0f) {
+      continue;
+    }
+
+    ImGui::PushID(static_cast<int>(zone.zone) * 1000 + pane_index + tab_index * 100);
+    ImGui::SetCursorScreenPos(zone.rect.Min);
+    ImGui::InvisibleButton("##drop_zone", zone.rect.GetSize());
+    if (ImGui::BeginDragDropTarget()) {
+      auto try_accept = [&](const char *type) -> const ImGuiPayload * {
+        const ImGuiPayload *p = ImGui::AcceptDragDropPayload(type, ImGuiDragDropFlags_AcceptBeforeDelivery);
+        if (p && p->Preview) {
+          draw_list->AddRectFilled(zone.rect.Min, zone.rect.Max, IM_COL32(70, 130, 220, 55));
+          draw_list->AddRect(zone.rect.Min, zone.rect.Max, IM_COL32(45, 95, 175, 220), 0.0f, 0, 2.0f);
+        }
+        return p;
+      };
+      auto deliver = [&](PaneDropAction action) -> std::optional<PaneDropAction> {
+        action.zone = zone.zone;
+        action.target_pane_index = pane_index;
+        ImGui::EndDragDropTarget();
+        ImGui::PopID();
+        return action;
+      };
+      if (const ImGuiPayload *p = try_accept("JOTP_BROWSER_PATHS"); p && p->Delivery) {
+        if (zone.zone != PaneDropZone::Center || target_pane.kind == PaneKind::Plot) {
+          PaneDropAction action;
+          action.from_browser = true;
+          action.browser_paths = decode_browser_drag_payload(static_cast<const char *>(p->Data));
+          return deliver(std::move(action));
+        }
+      }
+      if (zone.zone != PaneDropZone::Center || (target_pane.kind == PaneKind::Plot && target_pane.curves.empty()) || pane_kind_is_special(target_pane.kind)) {
+        if (const ImGuiPayload *p = try_accept("JOTP_SPECIAL_ITEM"); p && p->Delivery) {
+          PaneDropAction action;
+          action.special_item_id = static_cast<const char *>(p->Data);
+          return deliver(std::move(action));
+        }
+      }
+      if (const ImGuiPayload *p = try_accept("JOTP_PANE_CURVE"); p && p->Delivery) {
+        if (zone.zone != PaneDropZone::Center || target_pane.kind == PaneKind::Plot) {
+          PaneDropAction action;
+          action.curve_ref = *static_cast<const PaneCurveDragPayload *>(p->Data);
+          return deliver(std::move(action));
+        }
+      }
+      ImGui::EndDragDropTarget();
+    }
+    ImGui::PopID();
+  }
+  return std::nullopt;
+}
+
+bool commit_tab_layout_change(AppSession *session,
+                              UiState *state,
+                              WorkspaceTab *tab,
+                              TabUiState *tab_state,
+                              const SketchLayout &before_layout,
+                              std::string_view status_text,
+                              bool dock_changed) {
+  if (dock_changed) {
+    mark_tab_dock_dirty(state, state->active_tab_index);
+  }
+  resize_tab_pane_state(tab_state, tab->panes.size());
+  state->undo.push(before_layout);
+  if (mark_layout_dirty(session, state)) {
+    state->status_text = std::string(status_text);
+  }
+  return true;
+}
+
+bool apply_pane_menu_action(AppSession *session, UiState *state, int pane_index,
+                            const PaneMenuAction &action) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) return false;
+
+  const int original_pane_count = static_cast<int>(tab->panes.size());
+  const SketchLayout before_layout = session->layout;
+  bool dock_changed = false;
+  bool layout_changed = false;
+  std::string_view success_status = "Workspace updated";
+  switch (action.kind) {
+    case PaneMenuActionKind::OpenAxisLimits:
+      tab_state->active_pane_index = pane_index;
+      open_axis_limits_editor(*session, state, pane_index);
+      state->status_text = "Axis limits editor opened";
+      return true;
+    case PaneMenuActionKind::OpenCustomSeries:
+      tab_state->active_pane_index = pane_index;
+      open_custom_series_editor(state, preferred_custom_series_source(tab->panes[static_cast<size_t>(pane_index)]));
+      state->status_text = "Custom series editor opened";
+      return true;
+    case PaneMenuActionKind::SplitLeft:
+    case PaneMenuActionKind::SplitRight:
+    case PaneMenuActionKind::SplitTop:
+    case PaneMenuActionKind::SplitBottom: {
+      constexpr PaneDropZone kZones[] = {PaneDropZone::Left, PaneDropZone::Right, PaneDropZone::Top, PaneDropZone::Bottom};
+      const auto zone = kZones[static_cast<int>(action.kind) - static_cast<int>(PaneMenuActionKind::SplitLeft)];
+      if (split_pane(tab, pane_index, zone)) {
+        tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+        dock_changed = true;
+        layout_changed = true;
+      }
+      break;
+    }
+    case PaneMenuActionKind::ResetView:
+      reset_shared_range(state, *session);
+      state->follow_latest = session->data_mode == SessionDataMode::Stream;
+      state->suppress_range_side_effects = true;
+      clamp_shared_range(state, *session);
+      persist_shared_range_to_tab(tab, *state);
+      clear_pane_vertical_limits(&tab->panes[static_cast<size_t>(pane_index)]);
+      layout_changed = true;
+      success_status = "Plot view reset";
+      break;
+    case PaneMenuActionKind::Clear:
+      clear_pane(tab, pane_index);
+      tab_state->active_pane_index = pane_index;
+      layout_changed = true;
+      break;
+    case PaneMenuActionKind::Close:
+      if (close_pane(tab, pane_index)) {
+        tab_state->active_pane_index = std::clamp(pane_index, 0, static_cast<int>(tab->panes.size()) - 1);
+        layout_changed = true;
+        dock_changed = static_cast<int>(tab->panes.size()) != original_pane_count;
+      }
+      break;
+    case PaneMenuActionKind::None:
+      return false;
+  }
+
+  if (!layout_changed) {
+    return false;
+  }
+  return commit_tab_layout_change(session, state, tab, tab_state, before_layout, success_status, dock_changed);
+}
+
+bool apply_pane_drop_action(AppSession *session, UiState *state, const PaneDropAction &action) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) return false;
+
+  if (!action.special_item_id.empty()) {
+    const SpecialItemSpec *spec = special_item_spec(action.special_item_id);
+    if (spec == nullptr) {
+      return false;
+    }
+    if (action.zone == PaneDropZone::Center) {
+      if (action.target_pane_index < 0 || action.target_pane_index >= static_cast<int>(tab->panes.size())) {
+        return false;
+      }
+      if (!((tab->panes[static_cast<size_t>(action.target_pane_index)].kind == PaneKind::Plot
+             && tab->panes[static_cast<size_t>(action.target_pane_index)].curves.empty())
+             || pane_kind_is_special(tab->panes[static_cast<size_t>(action.target_pane_index)].kind))) {
+        state->status_text = std::string(special_item_label(action.special_item_id)) + " can only replace another special pane or use an empty pane";
+        return false;
+      }
+      const SketchLayout before_layout = session->layout;
+      const bool changed = apply_special_item_to_pane(tab, tab_state, action.target_pane_index, spec->id);
+      if (!changed) {
+        state->status_text = std::string(special_item_label(action.special_item_id)) + " already shown in pane";
+        return false;
+      }
+      return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                      std::string(special_item_label(action.special_item_id)) + " added to pane",
+                                      false);
+    }
+    const SketchLayout before_layout = session->layout;
+    if (split_pane(tab, action.target_pane_index, action.zone)) {
+      tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+      const bool changed = apply_special_item_to_pane(tab, tab_state, tab_state->active_pane_index, spec->id);
+      if (!changed) {
+        return false;
+      }
+      return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                      "Split pane and added " + std::string(special_item_label(action.special_item_id)),
+                                      true);
+    }
+    return false;
+  }
+
+  if (action.from_browser) {
+    if (action.browser_paths.empty()) return false;
+    if (action.zone == PaneDropZone::Center) {
+      const int inserted_count = add_path_curves_to_pane(session, state, action.target_pane_index, action.browser_paths);
+      if (inserted_count > 0) {
+        tab_state->active_pane_index = action.target_pane_index;
+      }
+      return inserted_count > 0;
+    }
+    const SketchLayout before_layout = session->layout;
+    if (split_pane(tab, action.target_pane_index, action.zone)) {
+      tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+      int inserted_count = 0;
+      for (const std::string &path : action.browser_paths) {
+        if (app_find_route_series(*session, path) == nullptr) continue;
+        if (add_curve_to_pane(tab, tab_state->active_pane_index,
+                              make_curve_for_path(tab->panes[static_cast<size_t>(tab_state->active_pane_index)], path))) {
+          ++inserted_count;
+        }
+      }
+      if (inserted_count > 0) {
+        return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                        inserted_count == 1
+                                          ? "Split pane and added " + action.browser_paths.front()
+                                          : "Split pane and added " + std::to_string(inserted_count) + " curves",
+                                        true);
+      }
+      return false;
+    }
+    return false;
+  }
+
+  if (action.curve_ref.tab_index < 0
+      || action.curve_ref.tab_index >= static_cast<int>(session->layout.tabs.size())) {
+    return false;
+  }
+  WorkspaceTab &source_tab = session->layout.tabs[static_cast<size_t>(action.curve_ref.tab_index)];
+  if (action.curve_ref.pane_index < 0
+      || action.curve_ref.pane_index >= static_cast<int>(source_tab.panes.size())) {
+    return false;
+  }
+  const Pane &source_pane = source_tab.panes[static_cast<size_t>(action.curve_ref.pane_index)];
+  if (action.curve_ref.curve_index < 0
+      || action.curve_ref.curve_index >= static_cast<int>(source_pane.curves.size())) {
+    return false;
+  }
+  const Curve curve = source_pane.curves[static_cast<size_t>(action.curve_ref.curve_index)];
+
+  if (action.zone == PaneDropZone::Center) {
+    const SketchLayout before_layout = session->layout;
+    const bool inserted = add_curve_to_pane(tab, action.target_pane_index, curve);
+    tab_state->active_pane_index = action.target_pane_index;
+    if (inserted) {
+      state->undo.push(before_layout);
+      if (mark_layout_dirty(session, state)) {
+        state->status_text = "Added " + app_curve_display_name(curve);
+      }
+    } else {
+      state->status_text = "Curve already present";
+    }
+    return true;
+  }
+  const SketchLayout before_layout = session->layout;
+  if (split_pane(tab, action.target_pane_index, action.zone, curve)) {
+    tab_state->active_pane_index = static_cast<int>(tab->panes.size()) - 1;
+    return commit_tab_layout_change(session, state, tab, tab_state, before_layout,
+                                    "Split pane and added " + app_curve_display_name(curve),
+                                    true);
+  }
+  return false;
+}
+
+ImGuiDir dock_direction(SplitOrientation orientation) {
+  return orientation == SplitOrientation::Horizontal ? ImGuiDir_Left : ImGuiDir_Up;
+}
+
+void build_dock_tree(const WorkspaceNode &node, const WorkspaceTab &tab, int tab_runtime_id, ImGuiID dock_id) {
+  if (node.is_pane) {
+    if (node.pane_index >= 0 && node.pane_index < static_cast<int>(tab.panes.size())) {
+      ImGui::DockBuilderDockWindow(
+        pane_window_name(tab_runtime_id, node.pane_index, tab.panes[static_cast<size_t>(node.pane_index)]).c_str(),
+        dock_id);
+      if (ImGuiDockNode *dock_node = ImGui::DockBuilderGetNode(dock_id); dock_node != nullptr) {
+        dock_node->LocalFlags |= ImGuiDockNodeFlags_AutoHideTabBar |
+                                 ImGuiDockNodeFlags_NoWindowMenuButton |
+                                 ImGuiDockNodeFlags_NoCloseButton;
+      }
+    }
+    return;
+  }
+  if (node.children.empty()) {
+    return;
+  }
+  if (node.children.size() == 1) {
+    build_dock_tree(node.children.front(), tab, tab_runtime_id, dock_id);
+    return;
+  }
+
+  float remaining = 1.0f;
+  ImGuiID current = dock_id;
+  for (size_t i = 0; i + 1 < node.children.size(); ++i) {
+    const float child_size = i < node.sizes.size() ? node.sizes[i] : 0.0f;
+    const float ratio = remaining <= 0.0f ? 0.5f : std::clamp(child_size / remaining, 0.05f, 0.95f);
+    ImGuiID child_id = 0;
+    ImGuiID remainder_id = 0;
+    ImGui::DockBuilderSplitNode(current, dock_direction(node.orientation), ratio, &child_id, &remainder_id);
+    build_dock_tree(node.children[i], tab, tab_runtime_id, child_id);
+    current = remainder_id;
+    remaining = std::max(0.0f, remaining - child_size);
+  }
+  build_dock_tree(node.children.back(), tab, tab_runtime_id, current);
+}
+
+void ensure_dockspace(const WorkspaceTab &tab, TabUiState *tab_state, ImVec2 dockspace_size) {
+  if (dockspace_size.x <= 0.0f || dockspace_size.y <= 0.0f || tab_state == nullptr) {
+    return;
+  }
+  const bool size_changed = std::abs(tab_state->last_dockspace_size.x - dockspace_size.x) > 1.0f
+                         || std::abs(tab_state->last_dockspace_size.y - dockspace_size.y) > 1.0f;
+  if (!tab_state->dock_needs_build && !size_changed) {
+    return;
+  }
+
+  const ImGuiID dockspace_id = dockspace_id_for_tab(tab_state->runtime_id);
+  ImGui::DockBuilderRemoveNode(dockspace_id);
+  ImGui::DockBuilderAddNode(dockspace_id, ImGuiDockNodeFlags_DockSpace | ImGuiDockNodeFlags_AutoHideTabBar);
+  ImGui::DockBuilderSetNodeSize(dockspace_id, dockspace_size);
+  build_dock_tree(tab.root, tab, tab_state->runtime_id, dockspace_id);
+  ImGui::DockBuilderFinish(dockspace_id);
+  tab_state->dock_needs_build = false;
+  tab_state->last_dockspace_size = dockspace_size;
+}
+
+void draw_pane_windows(AppSession *session, UiState *state) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) {
+    return;
+  }
+
+  std::optional<std::pair<int, PaneMenuAction>> pending_menu_action;
+  std::optional<int> pending_close_pane;
+  std::optional<PaneDropAction> pending_drop_action;
+
+  for (size_t i = 0; i < tab->panes.size(); ++i) {
+    Pane &pane = tab->panes[i];
+    std::optional<PaneMenuAction> menu_action;
+    std::optional<PaneDropAction> drop_action;
+    bool close_pane_requested = false;
+    ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(2.0f, 2.0f));
+    ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(250, 250, 251));
+    ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(194, 198, 204));
+    ImGui::PushStyleColor(ImGuiCol_TitleBg, color_rgb(252, 252, 253));
+    ImGui::PushStyleColor(ImGuiCol_TitleBgActive, color_rgb(252, 252, 253));
+    ImGui::PushStyleColor(ImGuiCol_TitleBgCollapsed, color_rgb(252, 252, 253));
+    const ImGuiWindowFlags flags = ImGuiWindowFlags_NoCollapse;
+    const std::string window_name = pane_window_name(tab_state->runtime_id, static_cast<int>(i), pane);
+    const bool opened = ImGui::Begin(window_name.c_str(), nullptr, flags);
+    if (opened) {
+      if (ImGui::IsWindowFocused(ImGuiFocusedFlags_RootAndChildWindows)
+          || (ImGui::IsWindowHovered(ImGuiHoveredFlags_RootAndChildWindows) && ImGui::IsMouseClicked(0))) {
+        tab_state->active_pane_index = static_cast<int>(i);
+      }
+      if (pane.kind == PaneKind::Map) {
+        draw_map_pane(session, state, &pane, static_cast<int>(i));
+      } else if (pane.kind == PaneKind::Thumbnail) {
+        draw_thumbnail_pane(session, state);
+      } else if (pane.kind == PaneKind::Camera) {
+        draw_camera_pane(session, state, tab_state, static_cast<int>(i), pane);
+      } else {
+        draw_plot(*session, &pane, state);
+      }
+      draw_pane_frame_overlay();
+      close_pane_requested = draw_pane_close_button_overlay();
+      menu_action = draw_pane_context_menu(*tab, static_cast<int>(i));
+      drop_action = draw_pane_drop_target(state->active_tab_index, static_cast<int>(i), pane);
+    }
+    ImGui::End();
+    ImGui::PopStyleVar();
+    ImGui::PopStyleColor(5);
+    if (!pending_menu_action.has_value() && menu_action.has_value()) {
+      pending_menu_action = std::make_pair(static_cast<int>(i), *menu_action);
+    }
+    if (!pending_menu_action.has_value() && !pending_close_pane.has_value() && close_pane_requested) {
+      pending_close_pane = static_cast<int>(i);
+    }
+    if (!pending_menu_action.has_value() && !pending_close_pane.has_value()
+        && !pending_drop_action.has_value() && drop_action.has_value()) {
+      pending_drop_action = *drop_action;
+    }
+  }
+
+  if (pending_menu_action.has_value()) {
+    apply_pane_menu_action(session, state, pending_menu_action->first, pending_menu_action->second);
+    return;
+  }
+  if (pending_close_pane.has_value()) {
+    PaneMenuAction action;
+    action.kind = PaneMenuActionKind::Close;
+    action.pane_index = *pending_close_pane;
+    apply_pane_menu_action(session, state, *pending_close_pane, action);
+    return;
+  }
+  if (pending_drop_action.has_value()) {
+    apply_pane_drop_action(session, state, *pending_drop_action);
+  }
+}
+
+void draw_workspace(AppSession *session, const UiMetrics &ui, UiState *state) {
+  state->custom_series.selected = false;
+  state->logs.selected = false;
+  ImGui::SetNextWindowPos(ImVec2(ui.content_x, ui.content_y));
+  ImGui::SetNextWindowSize(ImVec2(ui.content_w, ui.content_h));
+  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
+  ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(244, 246, 248));
+  ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(186, 191, 198));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings |
+                                 ImGuiWindowFlags_NoScrollbar |
+                                 ImGuiWindowFlags_NoScrollWithMouse;
+  if (ImGui::Begin("##workspace_host", nullptr, flags)) {
+    const int selection_request = state->requested_tab_index;
+    std::optional<ImRect> rename_tab_rect;
+    ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(10.0f, 6.0f));
+    ImGui::PushStyleVar(ImGuiStyleVar_ItemInnerSpacing, ImVec2(8.0f, 4.0f));
+    ImGui::PushStyleColor(ImGuiCol_Button, ImVec4(0.0f, 0.0f, 0.0f, 0.0f));
+    ImGui::PushStyleColor(ImGuiCol_ButtonHovered, ImVec4(0.0f, 0.0f, 0.0f, 0.0f));
+    ImGui::PushStyleColor(ImGuiCol_ButtonActive, ImVec4(0.0f, 0.0f, 0.0f, 0.0f));
+    if (ImGui::BeginTabBar("##layout_tabs", ImGuiTabBarFlags_FittingPolicyScroll)) {
+      enum class TabActionKind {
+        None,
+        New,
+        Rename,
+        Duplicate,
+        Close,
+      };
+      TabActionKind pending_action = TabActionKind::None;
+      int pending_tab_index = -1;
+      bool custom_series_tab_open = state->custom_series.open;
+      bool suppress_aux_tabs_this_frame = state->request_close_tab && session->layout.tabs.size() == 1;
+      for (size_t i = 0; i < session->layout.tabs.size(); ++i) {
+        const WorkspaceTab &tab = session->layout.tabs[i];
+        const TabUiState &tab_ui = state->tabs[i];
+        ImGuiTabItemFlags tab_flags = ImGuiTabItemFlags_None;
+        if (static_cast<int>(i) == selection_request) {
+          tab_flags |= ImGuiTabItemFlags_SetSelected;
+        }
+        bool tab_open = true;
+        const bool opened = ImGui::BeginTabItem(tab_item_label(tab, tab_ui.runtime_id).c_str(), &tab_open, tab_flags);
+        if (state->rename_tab_index == static_cast<int>(i)) {
+          rename_tab_rect = ImRect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+        }
+        if (ImGui::IsItemHovered() && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
+          pending_action = TabActionKind::Rename;
+          pending_tab_index = static_cast<int>(i);
+        }
+        if (!tab_open) {
+          pending_action = TabActionKind::Close;
+          pending_tab_index = static_cast<int>(i);
+          if (session->layout.tabs.size() == 1) {
+            suppress_aux_tabs_this_frame = true;
+          }
+        }
+        if (ImGui::BeginPopupContextItem()) {
+          if (ImGui::MenuItem("New Tab")) {
+            pending_action = TabActionKind::New;
+          }
+          if (ImGui::MenuItem("Rename Tab...")) {
+            pending_action = TabActionKind::Rename;
+            pending_tab_index = static_cast<int>(i);
+          }
+          if (ImGui::MenuItem("Duplicate Tab")) {
+            pending_action = TabActionKind::Duplicate;
+            pending_tab_index = static_cast<int>(i);
+          }
+          if (ImGui::MenuItem("Close Tab")) {
+            pending_action = TabActionKind::Close;
+            pending_tab_index = static_cast<int>(i);
+          }
+          ImGui::EndPopup();
+        }
+        if (opened) {
+          state->active_tab_index = static_cast<int>(i);
+          session->layout.current_tab_index = state->active_tab_index;
+          if (i < state->tabs.size()) {
+            ensure_dockspace(tab, &state->tabs[i], ImGui::GetContentRegionAvail());
+          }
+          ImGui::DockSpace(dockspace_id_for_tab(tab_ui.runtime_id),
+                           ImVec2(0.0f, 0.0f),
+                           ImGuiDockNodeFlags_AutoHideTabBar |
+                             ImGuiDockNodeFlags_NoWindowMenuButton |
+                             ImGuiDockNodeFlags_NoCloseButton);
+          ImGui::EndTabItem();
+        }
+      }
+      if (!suppress_aux_tabs_this_frame) {
+        ImGuiTabItemFlags logs_flags = ImGuiTabItemFlags_None;
+        if (state->logs.request_select) {
+          logs_flags |= ImGuiTabItemFlags_SetSelected;
+        }
+        if (ImGui::BeginTabItem("Logs##workspace_logs", nullptr, logs_flags)) {
+          state->logs.request_select = false;
+          state->logs.selected = true;
+          draw_logs_tab(session, state);
+          ImGui::EndTabItem();
+        }
+        if (custom_series_tab_open) {
+          ImGuiTabItemFlags custom_flags = ImGuiTabItemFlags_None;
+          if (state->custom_series.request_select) {
+            custom_flags |= ImGuiTabItemFlags_SetSelected;
+          }
+          if (ImGui::BeginTabItem("Custom Series##workspace_custom_series", &custom_series_tab_open, custom_flags)) {
+            state->custom_series.request_select = false;
+            state->custom_series.selected = true;
+            draw_custom_series_editor(session, state);
+            ImGui::EndTabItem();
+          }
+        }
+      }
+      ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(12.0f, 5.0f));
+      ImGui::PushStyleColor(ImGuiCol_Tab, color_rgb(210, 217, 225));
+      ImGui::PushStyleColor(ImGuiCol_TabHovered, color_rgb(224, 230, 237));
+      ImGui::PushStyleColor(ImGuiCol_TabSelected, color_rgb(242, 245, 248));
+      if (ImGui::TabItemButton("   ##new_tab_button", ImGuiTabItemFlags_Trailing)) {
+        pending_action = TabActionKind::New;
+      }
+      {
+        const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+        ImDrawList *draw_list = ImGui::GetWindowDrawList();
+        const ImU32 color = ImGui::GetColorU32(color_rgb(72, 79, 88));
+        const ImVec2 center((rect.Min.x + rect.Max.x) * 0.5f, (rect.Min.y + rect.Max.y) * 0.5f);
+        constexpr float half_extent = 6.25f;
+        constexpr float thickness = 2.0f;
+        draw_list->AddLine(ImVec2(center.x - half_extent, center.y),
+                           ImVec2(center.x + half_extent, center.y),
+                           color,
+                           thickness);
+        draw_list->AddLine(ImVec2(center.x, center.y - half_extent),
+                           ImVec2(center.x, center.y + half_extent),
+                           color,
+                           thickness);
+      }
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+        ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(8.0f, 6.0f));
+        ImGui::BeginTooltip();
+        ImGui::TextUnformatted("New Tab");
+        ImGui::EndTooltip();
+        ImGui::PopStyleVar();
+      }
+      ImGui::PopStyleColor(3);
+      ImGui::PopStyleVar();
+      ImGui::EndTabBar();
+
+      if (!custom_series_tab_open) {
+        state->custom_series.open = false;
+        state->custom_series.request_select = false;
+      }
+
+      if (rename_tab_rect.has_value()) {
+        draw_inline_tab_editor(session, state, *rename_tab_rect);
+      }
+
+      if (state->request_new_tab || pending_action == TabActionKind::New) {
+        const SketchLayout before_layout = session->layout;
+        create_runtime_tab(&session->layout, state);
+        state->undo.push(before_layout);
+        mark_layout_dirty(session, state);
+        state->request_new_tab = false;
+      } else if (pending_action == TabActionKind::Rename) {
+        begin_rename_tab(session->layout, state, pending_tab_index);
+      } else if (state->request_duplicate_tab || pending_action == TabActionKind::Duplicate) {
+        if (pending_tab_index >= 0) {
+          request_tab_selection(state, pending_tab_index);
+        }
+        const SketchLayout before_layout = session->layout;
+        duplicate_runtime_tab(&session->layout, state);
+        state->undo.push(before_layout);
+        mark_layout_dirty(session, state);
+        state->request_duplicate_tab = false;
+      } else if (state->request_close_tab || pending_action == TabActionKind::Close) {
+        if (pending_tab_index >= 0) {
+          request_tab_selection(state, pending_tab_index);
+        }
+        const SketchLayout before_layout = session->layout;
+        close_runtime_tab(&session->layout, state);
+        state->undo.push(before_layout);
+        mark_layout_dirty(session, state);
+        state->request_close_tab = false;
+      }
+      if (state->requested_tab_index == selection_request) {
+        state->requested_tab_index = -1;
+      }
+    }
+    ImGui::PopStyleColor(3);
+    ImGui::PopStyleVar(2);
+  }
+  ImGui::End();
+  ImGui::PopStyleVar();
+  ImGui::PopStyleColor(2);
+}
+
+int run(const Options &options) {
+  try {
+  const fs::path layout_path = options.layout.empty() ? fs::path() : resolve_layout_path(options.layout);
+  AppSession session = {
+    .layout_path = layout_path,
+    .autosave_path = layout_path.empty() ? fs::path() : autosave_path_for_layout(layout_path),
+    .route_name = options.route_name,
+    .data_dir = options.data_dir,
+    .dbc_override = {},
+    .stream_source = StreamSourceConfig{.kind = is_local_stream_address(options.stream_address)
+                                                 ? StreamSourceKind::CerealLocal
+                                                 : StreamSourceKind::CerealRemote,
+                                        .address = options.stream_address},
+    .stream_buffer_seconds = options.stream_buffer_seconds,
+    .data_mode = options.stream ? SessionDataMode::Stream : SessionDataMode::Route,
+    .route_id = options.stream ? RouteIdentifier{} : parse_route_identifier(options.route_name),
+    .layout = options.layout.empty() ? make_empty_layout() : load_sketch_layout(layout_path),
+  };
+  UiState ui_state;
+  if (!layout_path.empty() && !session.autosave_path.empty() && fs::exists(session.autosave_path)) {
+    session.layout = load_sketch_layout(session.autosave_path);
+    ui_state.layout_dirty = true;
+  }
+  ui_state.undo.reset(session.layout);
+  sync_ui_state(&ui_state, session.layout);
+  sync_route_buffers(&ui_state, session);
+  sync_stream_buffers(&ui_state, session);
+  sync_layout_buffers(&ui_state, session);
+
+  session.async_route_loading = session.data_mode == SessionDataMode::Route
+    && options.show && options.output_path.empty() && !options.sync_load;
+  if (session.data_mode == SessionDataMode::Route && !session.async_route_loading) {
+    TerminalRouteProgress route_progress(::isatty(STDERR_FILENO) != 0);
+    rebuild_session_route_data(&session, &ui_state, [&](const RouteLoadProgress &update) {
+      route_progress.update(update);
+    });
+    route_progress.finish();
+  }
+
+  GlfwRuntime glfw_runtime(options);
+  ImGuiRuntime imgui_runtime(glfw_runtime.window());
+  configure_style();
+  session.map_data = std::make_unique<MapDataManager>();
+  for (std::unique_ptr<CameraFeedView> &feed : session.pane_camera_feeds) {
+    feed = std::make_unique<CameraFeedView>();
+  }
+  session.thumbnail_view = std::make_unique<ThumbnailView>();
+  sync_camera_feeds(&session);
+
+  if (session.async_route_loading) {
+    session.route_loader = std::make_unique<AsyncRouteLoader>(::isatty(STDERR_FILENO) != 0);
+    start_async_route_load(&session, &ui_state);
+  } else if (session.data_mode == SessionDataMode::Stream) {
+    session.stream_poller = std::make_unique<StreamPoller>();
+    start_stream_session(&session, &ui_state, session.stream_source, session.stream_buffer_seconds);
+  }
+
+  const bool should_capture = !options.output_path.empty();
+  const fs::path output_path = should_capture ? fs::path(options.output_path) : fs::path();
+  const bool capture_has_map = should_capture && active_tab_has_map_pane(session.layout);
+  if (options.show) {
+    bool captured = false;
+    const auto capture_ready_at = std::chrono::steady_clock::now() + (capture_has_map ? std::chrono::milliseconds(1800)
+                                                                                      : std::chrono::milliseconds(0));
+    while (!glfwWindowShouldClose(glfw_runtime.window())) {
+      const bool capture_ready = std::chrono::steady_clock::now() >= capture_ready_at;
+      const fs::path *capture_path = (!captured && should_capture && capture_ready) ? &output_path : nullptr;
+      render_frame(glfw_runtime.window(), &session, &ui_state, capture_path);
+      captured = captured || capture_path != nullptr;
+    }
+  } else {
+    render_frame(glfw_runtime.window(), &session, &ui_state, nullptr);
+    if (should_capture) {
+      for (int i = 0; i < 3; ++i) {
+        render_frame(glfw_runtime.window(), &session, &ui_state, nullptr);
+      }
+      if (capture_has_map) {
+        for (int i = 0; i < 18; ++i) {
+          std::this_thread::sleep_for(std::chrono::milliseconds(100));
+          render_frame(glfw_runtime.window(), &session, &ui_state, nullptr);
+        }
+      }
+      render_frame(glfw_runtime.window(), &session, &ui_state, &output_path);
+    }
+  }
+  if (session.stream_poller) {
+    session.stream_poller->stop();
+  }
+  session.map_data.reset();
+  for (std::unique_ptr<CameraFeedView> &feed : session.pane_camera_feeds) {
+    feed.reset();
+  }
+  session.thumbnail_view.reset();
+  return 0;
+  } catch (const std::exception &err) {
+    std::cerr << err.what() << "\n";
+    return 1;
+  }
+}
diff --git a/openpilot/tools/jotpluggler/app.h b/openpilot/tools/jotpluggler/app.h
new file mode 100644
index 0000000000..9a6777ee90
--- /dev/null
+++ b/openpilot/tools/jotpluggler/app.h
@@ -0,0 +1,914 @@
+#pragma once
+
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
+#include "imgui.h"
+#include "tools/jotpluggler/dbc.h"
+#include "tools/jotpluggler/util.h"
+
+#include <algorithm>
+#include <array>
+#include <atomic>
+#include <cstdint>
+#include <filesystem>
+#include <future>
+#include <functional>
+#include <memory>
+#include <optional>
+#include <string>
+#include <string_view>
+#include <unordered_map>
+#include <vector>
+
+// *****
+// app options & entry point
+// *****
+
+struct Options {
+  std::string layout;
+  std::string route_name;
+  std::string data_dir;
+  std::string output_path;
+  std::string stream_address = "127.0.0.1";
+  int width = 1600;
+  int height = 900;
+  bool show = false;
+  bool sync_load = false;
+  bool stream = false;
+  double stream_buffer_seconds = 30.0;
+};
+
+int run(const Options &options);
+
+// *****
+// sketch layout & route data
+// *****
+
+struct PlotRange {
+  bool valid = false;
+  double left = 0.0;
+  double right = 0.0;
+  double bottom = 0.0;
+  double top = 1.0;
+  bool has_y_limit_min = false;
+  bool has_y_limit_max = false;
+  double y_limit_min = 0.0;
+  double y_limit_max = 1.0;
+};
+
+struct CustomPythonSeries {
+  std::string linked_source;
+  std::vector<std::string> additional_sources;
+  std::string globals_code;
+  std::string function_code;
+};
+
+struct Curve {
+  std::string name;
+  std::string label;
+  std::array<uint8_t, 3> color = {160, 170, 180};
+  bool visible = true;
+  bool derivative = false;
+  double derivative_dt = 0.0;
+  double value_scale = 1.0;
+  double value_offset = 0.0;
+  bool runtime_only = false;
+  std::optional<CustomPythonSeries> custom_python;
+  std::string runtime_error_message;
+  std::vector<double> xs;
+  std::vector<double> ys;
+};
+
+enum class PaneKind : uint8_t {
+  Plot,
+  Map,
+  Thumbnail,
+  Camera,
+};
+
+enum class CameraViewKind : uint8_t {
+  Road,
+  Cabin,
+  WideRoad,
+  QRoad,
+};
+
+struct Pane {
+  PaneKind kind = PaneKind::Plot;
+  CameraViewKind camera_view = CameraViewKind::Road;
+  std::string title;
+  PlotRange range;
+  std::vector<Curve> curves;
+};
+
+enum class SplitOrientation {
+  Horizontal,
+  Vertical,
+};
+
+struct WorkspaceNode {
+  bool is_pane = false;
+  int pane_index = -1;
+  SplitOrientation orientation = SplitOrientation::Horizontal;
+  std::vector<float> sizes;
+  std::vector<WorkspaceNode> children;
+};
+
+struct WorkspaceTab {
+  std::string tab_name;
+  WorkspaceNode root;
+  std::vector<Pane> panes;
+};
+
+struct RouteSeries {
+  std::string path;
+  std::vector<double> times;
+  std::vector<double> values;
+};
+
+struct CameraSegmentFile {
+  int segment = -1;
+  std::string path;
+};
+
+struct CameraFrameIndexEntry {
+  double timestamp = 0.0;
+  int segment = -1;
+  int decode_index = -1;
+  uint32_t frame_id = 0;
+};
+
+struct CameraFeedIndex {
+  std::vector<CameraSegmentFile> segment_files;
+  std::vector<CameraFrameIndexEntry> entries;
+};
+
+struct ThumbnailFrame {
+  double timestamp = 0.0;
+  int segment = -1;
+  std::vector<uint8_t> jpeg;
+};
+
+enum class LogOrigin : uint8_t {
+  Log,
+  OperatingSystem,
+  Alert,
+};
+
+struct LogEntry {
+  double mono_time = 0.0;
+  double boot_time = 0.0;
+  double wall_time = 0.0;
+  uint8_t level = 20;
+  std::string source;
+  std::string func;
+  std::string message;
+  std::string context;
+  LogOrigin origin = LogOrigin::Log;
+};
+
+struct EnumInfo {
+  std::vector<std::string> names;
+};
+
+struct SeriesFormat {
+  int decimals = 3;
+  bool integer_like = false;
+  bool has_negative = false;
+  int digits_before = 1;
+  int total_width = 0;
+  char fmt[16] = "%7.3f";
+};
+
+enum class CanServiceKind : uint8_t {
+  Can,
+  Sendcan,
+};
+
+struct CanMessageId {
+  CanServiceKind service = CanServiceKind::Can;
+  uint8_t bus = 0;
+  uint32_t address = 0;
+
+  bool operator==(const CanMessageId &other) const {
+    return service == other.service && bus == other.bus && address == other.address;
+  }
+};
+
+struct CanMessageIdHash {
+  size_t operator()(const CanMessageId &id) const {
+    return (static_cast<size_t>(id.service) << 40)
+         ^ (static_cast<size_t>(id.bus) << 32)
+         ^ static_cast<size_t>(id.address);
+  }
+};
+
+struct CanFrameSample {
+  double mono_time = 0.0;
+  uint16_t bus_time = 0;
+  std::string data;
+};
+
+struct LiveCanFrame {
+  double mono_time = 0.0;
+  uint8_t bus = 0;
+  uint32_t address = 0;
+  uint16_t bus_time = 0;
+  std::string data;
+};
+
+struct CanMessageData {
+  CanMessageId id;
+  std::vector<CanFrameSample> samples;
+};
+
+struct TimelineEntry {
+  enum class Type : uint8_t {
+    None,
+    Engaged,
+    AlertInfo,
+    AlertWarning,
+    AlertCritical,
+  };
+
+  double start_time = 0.0;
+  double end_time = 0.0;
+  Type type = Type::None;
+};
+
+struct GpsPoint {
+  double time = 0.0;
+  double lat = 0.0;
+  double lon = 0.0;
+  float bearing = 0.0f;
+  TimelineEntry::Type type = TimelineEntry::Type::None;
+};
+
+struct GpsTrace {
+  std::vector<GpsPoint> points;
+  double min_lat = 0.0;
+  double max_lat = 0.0;
+  double min_lon = 0.0;
+  double max_lon = 0.0;
+};
+
+enum class LogSelector : uint8_t {
+  Auto,
+  RLog,
+  QLog,
+};
+
+struct RouteIdentifier {
+  std::string dongle_id;
+  std::string log_id;
+  int slice_begin = 0;
+  int slice_end = -1;
+  bool slice_explicit = false;
+  LogSelector selector = LogSelector::Auto;
+  bool selector_explicit = false;
+  int available_begin = 0;
+  int available_end = 0;
+
+  bool empty() const {
+    return dongle_id.empty() || log_id.empty();
+  }
+
+  std::string canonical() const {
+    return empty() ? std::string() : dongle_id + "/" + log_id;
+  }
+
+  std::string onebox() const {
+    return empty() ? std::string() : dongle_id + "|" + log_id;
+  }
+
+  std::string display_slice() const {
+    const int begin = slice_explicit ? slice_begin : available_begin;
+    const int end = slice_explicit ? slice_end : available_end;
+    if (end < 0) {
+      return std::to_string(begin) + ":";
+    }
+    if (end == begin) {
+      return std::to_string(begin);
+    }
+    return std::to_string(begin) + ":" + std::to_string(end);
+  }
+
+  char selector_char() const {
+    switch (selector) {
+      case LogSelector::RLog: return 'r';
+      case LogSelector::QLog: return 'q';
+      case LogSelector::Auto:
+      default: return 'a';
+    }
+  }
+
+  std::string full_spec() const {
+    if (empty()) return {};
+    std::string spec = dongle_id + "/" + log_id;
+    if (slice_explicit) {
+      spec += "/";
+      spec += display_slice();
+    }
+    if (selector_explicit) {
+      spec += "/";
+      spec.push_back(selector_char());
+    }
+    return spec;
+  }
+};
+
+struct RouteData {
+  std::vector<RouteSeries> series;
+  std::vector<std::string> paths;
+  std::vector<std::string> roots;
+  std::vector<CanMessageData> can_messages;
+  CameraFeedIndex road_camera;
+  CameraFeedIndex cabin_camera;
+  CameraFeedIndex wide_road_camera;
+  CameraFeedIndex qroad_camera;
+  std::vector<ThumbnailFrame> thumbnails;
+  GpsTrace gps_trace;
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+  std::unordered_map<std::string, SeriesFormat> series_formats;
+  std::string car_fingerprint;
+  std::string dbc_name;
+  RouteIdentifier route_id;
+  bool has_time_range = false;
+  double x_min = 0.0;
+  double x_max = 1.0;
+};
+
+struct StreamExtractBatch {
+  std::vector<RouteSeries> series;
+  std::vector<CanMessageData> can_messages;
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+  std::string car_fingerprint;
+  std::string dbc_name;
+  bool has_time_offset = false;
+  double time_offset = 0.0;
+};
+
+struct SketchLayout {
+  std::vector<WorkspaceTab> tabs;
+  std::vector<std::string> roots;
+  int current_tab_index = 0;
+};
+
+enum class RouteLoadStage {
+  Resolving,
+  DownloadingSegment,
+  ParsingSegment,
+  Finished,
+};
+
+struct RouteLoadProgress {
+  RouteLoadStage stage = RouteLoadStage::Resolving;
+  size_t segment_index = 0;
+  size_t segment_count = 0;
+  uint64_t current = 0;
+  uint64_t total = 0;
+  size_t segments_downloaded = 0;
+  size_t segments_parsed = 0;
+  size_t total_segments = 0;
+  uint64_t bytes_downloaded = 0;
+  int num_workers = 1;
+  std::string segment_name;
+};
+
+using RouteLoadProgressCallback = std::function<void(const RouteLoadProgress &)>;
+
+class StreamAccumulator {
+public:
+  explicit StreamAccumulator(const std::string &dbc_name = {}, std::optional<double> time_offset = std::nullopt);
+  ~StreamAccumulator();
+
+  StreamAccumulator(const StreamAccumulator &) = delete;
+  StreamAccumulator &operator=(const StreamAccumulator &) = delete;
+
+  void setDbcName(const std::string &dbc_name);
+  void appendEvent(kj::ArrayPtr<const capnp::word> data);
+  void appendCanFrames(CanServiceKind service, const std::vector<LiveCanFrame> &frames);
+  StreamExtractBatch takeBatch();
+  const std::string &carFingerprint() const;
+  const std::string &dbc_name() const;
+  std::optional<double> timeOffset() const;
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+SketchLayout load_sketch_layout(const std::filesystem::path &layout_path);
+std::vector<std::string> available_dbc_names();
+std::vector<std::string> collect_route_roots_for_paths(const std::vector<std::string> &paths);
+std::optional<dbc::Database> load_dbc_by_name(const std::string &dbc_name);
+std::vector<RouteSeries> decode_can_messages(const std::vector<CanMessageData> &can_messages,
+                                             const std::string &dbc_name,
+                                             std::unordered_map<std::string, EnumInfo> *enum_info = nullptr);
+RouteData load_route_data(const std::string &route_name,
+                          const std::string &data_dir = {},
+                          const std::string &dbc_name = {},
+                          const RouteLoadProgressCallback &progress = {});
+RouteIdentifier parse_route_identifier(std::string_view route_name);
+void rebuild_gps_trace(RouteData *route_data);
+
+// *****
+// icons
+// *****
+
+namespace icon {
+constexpr const char ARROW_DOWN_UP[]         = "\xef\x84\xa7";
+constexpr const char ARROW_LEFT_RIGHT[]      = "\xef\x84\xab";
+constexpr const char BAR_CHART[]             = "\xef\x85\xbe";
+constexpr const char BOX_ARROW_UP_RIGHT[]    = "\xef\x87\x85";
+constexpr const char CLIPBOARD[]             = "\xef\x8a\x90";
+constexpr const char CLIPBOARD2[]            = "\xef\x9c\xb3";
+constexpr const char DISTRIBUTE_HORIZONTAL[] = "\xef\x8c\x83";
+constexpr const char DISTRIBUTE_VERTICAL[]   = "\xef\x8c\x84";
+constexpr const char FILE_EARMARK_IMAGE[]    = "\xef\x8d\xad";
+constexpr const char FILES[]                 = "\xef\x8f\x82";
+constexpr const char INFO_CIRCLE[]           = "\xef\x90\xb1";
+constexpr const char PALETTE[]               = "\xef\x92\xb1";
+constexpr const char PLUS_SLASH_MINUS[]       = "\xef\x9a\xaa";
+constexpr const char SAVE[]                  = "\xef\x94\xa5";
+constexpr const char SLIDERS[]               = "\xef\x95\xab";
+constexpr const char TRASH[]                 = "\xef\x97\x9e";
+constexpr const char X_SQUARE[]              = "\xef\x98\xa9";
+constexpr const char ZOOM_OUT[]              = "\xef\x98\xad";
+}  // namespace icon
+
+void icon_add_font(float size, bool merge = false, const ImFont *base_font = nullptr);
+bool icon_menu_item(const char *glyph,
+                    const char *label,
+                    const char *shortcut = nullptr,
+                    bool selected = false,
+                    bool enabled = true);
+
+// *****
+// app session, UI state, & internal API
+// *****
+
+class AsyncRouteLoader;
+class CameraFeedView;
+class ThumbnailView;
+class StreamPoller;
+class MapDataManager;
+
+enum class SessionDataMode : uint8_t {
+  Route,
+  Stream,
+};
+
+enum class StreamSourceKind : uint8_t {
+  CerealLocal,
+  CerealRemote,
+};
+
+struct StreamSourceConfig {
+  StreamSourceKind kind = StreamSourceKind::CerealLocal;
+  std::string address = "127.0.0.1";
+};
+
+struct BrowserNode {
+  std::string label;
+  std::string full_path;
+  std::vector<BrowserNode> children;
+};
+
+struct AppSession {
+  std::filesystem::path layout_path;
+  std::filesystem::path autosave_path;
+  std::string route_name;
+  std::string data_dir;
+  std::string dbc_override;
+  StreamSourceConfig stream_source;
+  double stream_buffer_seconds = 30.0;
+  SessionDataMode data_mode = SessionDataMode::Route;
+  RouteIdentifier route_id;
+  SketchLayout layout;
+  RouteData route_data;
+  std::unordered_map<std::string, RouteSeries *> series_by_path;
+  std::vector<BrowserNode> browser_nodes;
+  std::unique_ptr<AsyncRouteLoader> route_loader;
+  std::unique_ptr<StreamPoller> stream_poller;
+  std::array<std::unique_ptr<CameraFeedView>, 4> pane_camera_feeds;
+  std::unique_ptr<ThumbnailView> thumbnail_view;
+  std::unique_ptr<MapDataManager> map_data;
+  bool async_route_loading = false;
+  double next_stream_custom_refresh_time = 0.0;
+  bool stream_paused = false;
+  std::optional<double> stream_time_offset;
+};
+
+struct TabUiState {
+  struct MapPaneState {
+    bool initialized = false;
+    bool follow = false;
+    float zoom = 1.0f;
+    double center_lat = 0.0;
+    double center_lon = 0.0;
+  };
+
+  struct CameraPaneState {
+    bool fit_to_pane = true;
+  };
+
+  bool dock_needs_build = true;
+  int active_pane_index = 0;
+  int runtime_id = 0;
+  ImVec2 last_dockspace_size = ImVec2(0.0f, 0.0f);
+  std::vector<MapPaneState> map_panes;
+  std::vector<CameraPaneState> camera_panes;
+};
+
+struct CustomSeriesEditorState {
+  bool open = false;
+  bool open_help = false;
+  bool request_select = false;
+  bool selected = false;
+  bool focus_name = false;
+  int selected_template = 0;
+  int selected_additional_source = -1;
+  std::string name;
+  std::string linked_source;
+  std::vector<std::string> additional_sources;
+  std::string globals_code;
+  std::string function_code = "return value";
+  std::string preview_label;
+  std::vector<double> preview_xs;
+  std::vector<double> preview_ys;
+  bool preview_is_result = false;
+};
+
+enum class LogTimeMode : uint8_t {
+  Route,
+  Boot,
+  WallClock,
+};
+
+struct LogsUiState {
+  bool selected = false;
+  bool request_select = false;
+  bool all_sources = true;
+  uint32_t enabled_levels_mask = 0b11110;
+  int expanded_index = -1;
+  std::string search;
+  std::vector<std::string> selected_sources;
+  double last_auto_scroll_time = -1.0;
+  LogTimeMode time_mode = LogTimeMode::Route;
+};
+
+struct AxisLimitsEditorState {
+  bool open = false;
+  int pane_index = -1;
+  double x_min = 0.0;
+  double x_max = 1.0;
+  bool y_min_enabled = false;
+  bool y_max_enabled = false;
+  double y_min = 0.0;
+  double y_max = 1.0;
+};
+
+struct DbcEditorState {
+  bool open = false;
+  bool loaded = false;
+  std::string source_name;
+  std::filesystem::path source_path;
+  enum class SourceKind : uint8_t {
+    None,
+    Generated,
+    Opendbc,
+  };
+  SourceKind source_kind = SourceKind::None;
+  std::string save_name;
+  std::string text;
+};
+
+enum class TimelineDragMode : uint8_t {
+  None,
+  ScrubCursor,
+  PanViewport,
+  ResizeLeft,
+  ResizeRight,
+};
+
+struct UndoStack {
+  static constexpr size_t kMaxHistory = 50;
+
+  std::vector<SketchLayout> history;
+  int position = -1;
+
+  void reset(const SketchLayout &layout) {
+    history.clear();
+    history.push_back(layout);
+    position = 0;
+  }
+
+  void push(const SketchLayout &layout) {
+    if (position < 0) {
+      reset(layout);
+      return;
+    }
+    if (position + 1 < static_cast<int>(history.size())) {
+      history.resize(static_cast<size_t>(position + 1));
+    }
+    history.push_back(layout);
+    if (history.size() > kMaxHistory) {
+      history.erase(history.begin());
+    }
+    position = static_cast<int>(history.size()) - 1;
+  }
+
+  bool can_undo() const {
+    return position > 0;
+  }
+
+  bool can_redo() const {
+    return position >= 0 && position + 1 < static_cast<int>(history.size());
+  }
+
+  const SketchLayout &undo() {
+    return history[static_cast<size_t>(--position)];
+  }
+
+  const SketchLayout &redo() {
+    return history[static_cast<size_t>(++position)];
+  }
+};
+
+struct UiState {
+  bool open_open_route = false;
+  bool open_stream = false;
+  bool open_load_layout = false;
+  bool open_save_layout = false;
+  bool open_preferences = false;
+  bool open_find_signal = false;
+  bool request_close = false;
+  bool request_reset_layout = false;
+  bool request_save_layout = false;
+  bool request_new_tab = false;
+  bool request_duplicate_tab = false;
+  bool request_close_tab = false;
+  bool follow_latest = false;
+  bool has_shared_range = false;
+  bool has_tracker_time = false;
+  bool layout_dirty = false;
+  bool playback_loop = false;
+  bool playback_playing = false;
+  bool show_deprecated_fields = false;
+  bool show_fps_overlay = false;
+  bool fps_overlay_initialized = false;
+  bool suppress_range_side_effects = false;
+  bool browser_nodes_dirty = false;
+  int active_tab_index = 0;
+  int next_tab_runtime_id = 1;
+  int requested_tab_index = -1;
+  int rename_tab_index = -1;
+  bool focus_rename_tab_input = false;
+  std::vector<TabUiState> tabs;
+  std::string route_buffer;
+  std::string stream_address_buffer;
+  std::string rename_tab_buffer;
+  std::string browser_filter;
+  std::string data_dir_buffer;
+  std::string load_layout_buffer;
+  std::string save_layout_buffer;
+  std::string find_signal_buffer;
+  std::string selected_browser_path;
+  std::vector<std::string> selected_browser_paths;
+  std::string browser_selection_anchor;
+  std::string route_slice_buffer;
+  std::string error_text;
+  bool open_error_popup = false;
+  std::string status_text = "Ready";
+  std::string route_copy_feedback_text;
+  double route_copy_feedback_until = 0.0;
+  bool editing_route_slice = false;
+  bool focus_route_slice_input = false;
+  StreamSourceKind stream_source_kind = StreamSourceKind::CerealLocal;
+  float sidebar_width = 320.0f;
+  double route_x_min = 0.0;
+  double route_x_max = 1.0;
+  double x_view_min = 0.0;
+  double x_view_max = 1.0;
+  double tracker_time = 0.0;
+  double playback_rate = 1.0;
+  double playback_step = 0.1;
+  double stream_buffer_seconds = 30.0;
+  TimelineDragMode timeline_drag_mode = TimelineDragMode::None;
+  double timeline_drag_anchor_time = 0.0;
+  double timeline_drag_anchor_x_min = 0.0;
+  double timeline_drag_anchor_x_max = 0.0;
+  AxisLimitsEditorState axis_limits;
+  DbcEditorState dbc_editor;
+  CustomSeriesEditorState custom_series;
+  LogsUiState logs;
+  UndoStack undo;
+};
+
+// app.cc public API
+
+const WorkspaceTab *app_active_tab(const SketchLayout &layout, const UiState &state);
+WorkspaceTab *app_active_tab(SketchLayout *layout, const UiState &state);
+TabUiState *app_active_tab_state(UiState *state);
+
+void app_push_mono_font();
+void app_pop_mono_font();
+bool app_add_curve_to_active_pane(AppSession *session, UiState *state, const std::string &path);
+
+std::string app_curve_display_name(const Curve &curve);
+std::array<uint8_t, 3> app_next_curve_color(const Pane &pane);
+const RouteSeries *app_find_route_series(const AppSession &session, const std::string &path);
+void app_decimate_samples(const std::vector<double> &xs_in,
+                          const std::vector<double> &ys_in,
+                          int max_points,
+                          std::vector<double> *xs_out,
+                          std::vector<double> *ys_out);
+std::optional<double> app_sample_xy_value_at_time(const std::vector<double> &xs,
+                                                   const std::vector<double> &ys,
+                                                   bool stairs,
+                                                   double tm);
+void save_layout_json(const SketchLayout &layout, const std::filesystem::path &path);
+
+// *****
+// browser
+// *****
+
+void rebuild_route_index(AppSession *session);
+void rebuild_browser_nodes(AppSession *session, UiState *state);
+SeriesFormat compute_series_format(const std::vector<double> &values, bool enum_like = false);
+std::string format_display_value(double display_value,
+                                 const SeriesFormat &format,
+                                 const EnumInfo *enum_info);
+std::vector<std::string> decode_browser_drag_payload(std::string_view payload);
+void collect_visible_leaf_paths(const BrowserNode &node,
+                                const std::string &filter,
+                                std::vector<std::string> *out);
+void draw_browser_node(AppSession *session,
+                       const BrowserNode &node,
+                       UiState *state,
+                       const std::string &filter,
+                       const std::vector<std::string> &visible_paths);
+
+// *****
+// custom series
+// *****
+
+void open_custom_series_editor(UiState *state, const std::string &preferred_source = {});
+std::string preferred_custom_series_source(const Pane &pane);
+void refresh_all_custom_curves(AppSession *session, UiState *state);
+void draw_custom_series_editor(AppSession *session, UiState *state);
+
+// *****
+// logs
+// *****
+
+void draw_logs_tab(AppSession *session, UiState *state);
+
+// *****
+// map
+// *****
+
+void draw_map_pane(AppSession *session, UiState *state, Pane *pane, int pane_index);
+
+// *****
+// runtime (GLFW, async loaders, streaming, camera)
+// *****
+
+struct GLFWwindow;
+
+struct RouteLoadSnapshot {
+  bool active = false;
+  size_t total_segments = 0;
+  size_t segments_downloaded = 0;
+  size_t segments_parsed = 0;
+};
+
+struct StreamPollSnapshot {
+  bool active = false;
+  bool connected = false;
+  bool paused = false;
+  StreamSourceKind source_kind = StreamSourceKind::CerealLocal;
+  std::string source_label;
+  std::string dbc_name;
+  std::string car_fingerprint;
+  double buffer_seconds = 30.0;
+  uint64_t received_messages = 0;
+};
+
+class GlfwRuntime {
+public:
+  explicit GlfwRuntime(const Options &options);
+  ~GlfwRuntime();
+
+  GlfwRuntime(const GlfwRuntime &) = delete;
+  GlfwRuntime &operator=(const GlfwRuntime &) = delete;
+
+  GLFWwindow *window() const;
+
+private:
+  GLFWwindow *window_ = nullptr;
+};
+
+class ImGuiRuntime {
+public:
+  explicit ImGuiRuntime(GLFWwindow *window);
+  ~ImGuiRuntime();
+
+  ImGuiRuntime(const ImGuiRuntime &) = delete;
+  ImGuiRuntime &operator=(const ImGuiRuntime &) = delete;
+};
+
+class TerminalRouteProgress {
+public:
+  explicit TerminalRouteProgress(bool enabled);
+  ~TerminalRouteProgress();
+
+  TerminalRouteProgress(const TerminalRouteProgress &) = delete;
+  TerminalRouteProgress &operator=(const TerminalRouteProgress &) = delete;
+
+  void update(const RouteLoadProgress &progress);
+  void finish();
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class AsyncRouteLoader {
+public:
+  explicit AsyncRouteLoader(bool enable_terminal_progress);
+  ~AsyncRouteLoader();
+
+  AsyncRouteLoader(const AsyncRouteLoader &) = delete;
+  AsyncRouteLoader &operator=(const AsyncRouteLoader &) = delete;
+
+  void start(const std::string &route_name, const std::string &data_dir, const std::string &dbc_name);
+  RouteLoadSnapshot snapshot() const;
+  bool consume(RouteData *route_data, std::string *error_text);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class StreamPoller {
+public:
+  StreamPoller();
+  ~StreamPoller();
+
+  StreamPoller(const StreamPoller &) = delete;
+  StreamPoller &operator=(const StreamPoller &) = delete;
+
+  void start(const StreamSourceConfig &source,
+             double buffer_seconds,
+             const std::string &dbc_name,
+             std::optional<double> time_offset = std::nullopt);
+  void setPaused(bool paused);
+  void stop();
+  StreamPollSnapshot snapshot() const;
+  bool consume(StreamExtractBatch *batch, std::string *error_text);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class CameraFeedView {
+public:
+  CameraFeedView();
+  ~CameraFeedView();
+
+  CameraFeedView(const CameraFeedView &) = delete;
+  CameraFeedView &operator=(const CameraFeedView &) = delete;
+
+  void setRouteData(const RouteData &route_data);
+  void setCameraIndex(const CameraFeedIndex &camera_index, CameraViewKind view);
+  void update(double tracker_time);
+  void draw(float width, bool loading);
+  void drawSized(ImVec2 size, bool loading, bool fit_to_pane = false);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
+
+class ThumbnailView {
+public:
+  ThumbnailView();
+  ~ThumbnailView();
+
+  ThumbnailView(const ThumbnailView &) = delete;
+  ThumbnailView &operator=(const ThumbnailView &) = delete;
+
+  void setThumbnails(const std::vector<ThumbnailFrame> &thumbnails);
+  void update(double tracker_time);
+  void drawSized(ImVec2 size, bool loading);
+
+private:
+  struct Impl;
+  std::unique_ptr<Impl> impl_;
+};
diff --git a/openpilot/tools/jotpluggler/browser.cc b/openpilot/tools/jotpluggler/browser.cc
new file mode 100644
index 0000000000..91e4a707da
--- /dev/null
+++ b/openpilot/tools/jotpluggler/browser.cc
@@ -0,0 +1,458 @@
+#include "tools/jotpluggler/app.h"
+
+#include "imgui_internal.h"
+
+#include <cmath>
+#include <cstdio>
+#include <unordered_set>
+
+namespace {
+
+constexpr float BROWSER_VALUE_WIDTH = 88.0f;
+
+bool path_matches_filter(const std::string &path, const std::string &lower_filter) {
+  if (lower_filter.empty()) return true;
+  return lowercase_copy(path).find(lower_filter) != std::string::npos;
+}
+
+void insert_browser_path(std::vector<BrowserNode> *nodes, const std::string &path) {
+  size_t start = 0;
+  while (start < path.size() && path[start] == '/') {
+    ++start;
+  }
+  std::vector<std::string> parts;
+  while (start < path.size()) {
+    const size_t end = path.find('/', start);
+    parts.push_back(path.substr(start, end == std::string::npos ? std::string::npos : end - start));
+    if (end == std::string::npos) break;
+    start = end + 1;
+  }
+  if (parts.empty()) {
+    return;
+  }
+
+  std::vector<BrowserNode> *current_nodes = nodes;
+  std::string current_path;
+  for (size_t i = 0; i < parts.size(); ++i) {
+    if (!current_path.empty()) {
+      current_path += "/";
+    }
+    current_path += parts[i];
+    auto it = std::find_if(current_nodes->begin(), current_nodes->end(),
+                           [&](const BrowserNode &node) { return node.label == parts[i]; });
+    if (it == current_nodes->end()) {
+      current_nodes->push_back(BrowserNode{.label = parts[i]});
+      it = std::prev(current_nodes->end());
+    }
+    if (i + 1 == parts.size()) {
+      it->full_path = "/" + current_path;
+    }
+    current_nodes = &it->children;
+  }
+}
+
+void sort_browser_nodes(std::vector<BrowserNode> *nodes) {
+  std::sort(nodes->begin(), nodes->end(), [](const BrowserNode &a, const BrowserNode &b) {
+    if (a.children.empty() != b.children.empty()) {
+      return !a.children.empty();
+    }
+    return a.label < b.label;
+  });
+  for (BrowserNode &node : *nodes) {
+    sort_browser_nodes(&node.children);
+  }
+}
+
+std::vector<BrowserNode> build_browser_tree(const std::vector<std::string> &paths) {
+  std::vector<BrowserNode> nodes;
+  for (const std::string &path : paths) {
+    insert_browser_path(&nodes, path);
+  }
+  sort_browser_nodes(&nodes);
+  return nodes;
+}
+
+bool is_deprecated_browser_path(const std::string &path) {
+  return path.find("DEPRECATED") != std::string::npos || path.find("/deprecated/") != std::string::npos;
+}
+
+std::vector<std::string> visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) {
+  if (show_deprecated_fields) return route_data.paths;
+  std::vector<std::string> filtered;
+  filtered.reserve(route_data.paths.size());
+  for (const std::string &path : route_data.paths) {
+    if (!is_deprecated_browser_path(path)) {
+      filtered.push_back(path);
+    }
+  }
+  return filtered;
+}
+
+bool browser_selection_contains(const UiState &state, std::string_view path) {
+  return std::find(state.selected_browser_paths.begin(), state.selected_browser_paths.end(), path)
+    != state.selected_browser_paths.end();
+}
+
+std::vector<std::string> browser_drag_paths(const UiState &state, const std::string &dragged_path) {
+  if (browser_selection_contains(state, dragged_path) && !state.selected_browser_paths.empty()) {
+    return state.selected_browser_paths;
+  }
+  return {dragged_path};
+}
+
+std::string encode_browser_drag_payload(const std::vector<std::string> &paths) {
+  std::string payload;
+  for (size_t i = 0; i < paths.size(); ++i) {
+    if (i != 0) {
+      payload.push_back('\n');
+    }
+    payload += paths[i];
+  }
+  return payload;
+}
+
+void set_browser_selection_single(UiState *state, const std::string &path) {
+  state->selected_browser_paths = {path};
+  state->selected_browser_path = path;
+  state->browser_selection_anchor = path;
+}
+
+void toggle_browser_selection(UiState *state, const std::string &path) {
+  auto it = std::find(state->selected_browser_paths.begin(), state->selected_browser_paths.end(), path);
+  if (it == state->selected_browser_paths.end()) {
+    state->selected_browser_paths.push_back(path);
+  } else {
+    state->selected_browser_paths.erase(it);
+  }
+  state->selected_browser_path = path;
+  state->browser_selection_anchor = path;
+  if (state->selected_browser_paths.empty()) {
+    state->selected_browser_path.clear();
+  }
+}
+
+void select_browser_range(UiState *state, const std::vector<std::string> &visible_paths, const std::string &clicked_path) {
+  if (visible_paths.empty()) {
+    set_browser_selection_single(state, clicked_path);
+    return;
+  }
+
+  const std::string anchor = state->browser_selection_anchor.empty() ? clicked_path : state->browser_selection_anchor;
+  const auto anchor_it = std::find(visible_paths.begin(), visible_paths.end(), anchor);
+  const auto clicked_it = std::find(visible_paths.begin(), visible_paths.end(), clicked_path);
+  if (clicked_it == visible_paths.end()) {
+    return;
+  }
+  if (anchor_it == visible_paths.end()) {
+    set_browser_selection_single(state, clicked_path);
+    return;
+  }
+
+  const auto [begin_it, end_it] = std::minmax(anchor_it, clicked_it);
+  std::vector<std::string> selected;
+  selected.reserve(static_cast<size_t>(std::distance(begin_it, end_it)) + 1);
+  for (auto it = begin_it; it != end_it + 1; ++it) {
+    selected.push_back(*it);
+  }
+  state->selected_browser_paths = std::move(selected);
+  state->selected_browser_path = clicked_path;
+}
+
+void prune_browser_selection(UiState *state, const std::vector<std::string> &visible_paths) {
+  const std::unordered_set<std::string> visible_set(visible_paths.begin(), visible_paths.end());
+  auto is_visible = [&](const std::string &path) {
+    return visible_set.count(path) > 0;
+  };
+
+  state->selected_browser_paths.erase(
+    std::remove_if(state->selected_browser_paths.begin(), state->selected_browser_paths.end(),
+                   [&](const std::string &path) { return !is_visible(path); }),
+    state->selected_browser_paths.end());
+
+  if (!state->selected_browser_path.empty() && !is_visible(state->selected_browser_path)) {
+    state->selected_browser_path.clear();
+  }
+  if (!state->browser_selection_anchor.empty() && !is_visible(state->browser_selection_anchor)) {
+    state->browser_selection_anchor.clear();
+  }
+  if (state->selected_browser_paths.empty()) {
+    state->selected_browser_path.clear();
+  } else if (state->selected_browser_path.empty()) {
+    state->selected_browser_path = state->selected_browser_paths.back();
+  }
+}
+
+std::optional<double> sample_route_series_value(const RouteSeries &series, double tm, bool stairs) {
+  return app_sample_xy_value_at_time(series.times, series.values, stairs, tm);
+}
+
+std::string browser_series_value_text(const AppSession &session, const UiState &state, std::string_view path) {
+  auto it = session.series_by_path.find(std::string(path));
+  if (it == session.series_by_path.end() || it->second == nullptr) return {};
+
+  const RouteSeries &series = *it->second;
+  if (series.values.empty()) return {};
+
+  const auto enum_it = session.route_data.enum_info.find(series.path);
+  const EnumInfo *enum_info = enum_it == session.route_data.enum_info.end() ? nullptr : &enum_it->second;
+  const bool stairs = enum_info != nullptr;
+
+  std::optional<double> value;
+  if (state.has_tracker_time) {
+    value = sample_route_series_value(series, state.tracker_time, stairs);
+  } else {
+    value = series.values.back();
+  }
+  if (!value.has_value()) return {};
+
+  const auto display_it = session.route_data.series_formats.find(series.path);
+  const SeriesFormat display_info = display_it == session.route_data.series_formats.end()
+    ? compute_series_format(series.values, enum_info != nullptr)
+    : display_it->second;
+
+  return format_display_value(*value, display_info, enum_info);
+}
+
+bool browser_node_matches(const BrowserNode &node, const std::string &filter) {
+  if (filter.empty()) return true;
+  if (!node.full_path.empty() && path_matches_filter(node.full_path, filter)) {
+    return true;
+  }
+  for (const BrowserNode &child : node.children) {
+    if (browser_node_matches(child, filter)) return true;
+  }
+  return false;
+}
+
+}  // namespace
+
+namespace {
+
+int decimals_needed(double value) {
+  const double abs_value = std::abs(value);
+  if (abs_value < 1.0e-12) return 0;
+  for (int decimals = 0; decimals <= 6; ++decimals) {
+    const double scale = std::pow(10.0, decimals);
+    if (std::abs(abs_value * scale - std::round(abs_value * scale)) < 1.0e-6) {
+      return decimals;
+    }
+  }
+  return 6;
+}
+
+void finalize_series_format(SeriesFormat *format) {
+  format->digits_before = std::max(format->digits_before, 1);
+  format->decimals = std::clamp(format->decimals, 0, 6);
+  format->integer_like = format->decimals == 0;
+  const int sign_width = format->has_negative ? 1 : 0;
+  const int dot_width = format->decimals > 0 ? 1 : 0;
+  format->total_width = sign_width + format->digits_before + dot_width + format->decimals;
+  std::snprintf(format->fmt, sizeof(format->fmt), "%%%d.%df", format->total_width, format->decimals);
+}
+
+}  // namespace
+
+SeriesFormat compute_series_format(const std::vector<double> &values, bool enum_like) {
+  SeriesFormat format;
+  if (values.empty()) return format;
+
+  const size_t step = std::max<size_t>(1, values.size() / 256);
+  bool saw_finite = false;
+  bool all_integer = enum_like;
+  double min_value = 0.0;
+  double max_value = 0.0;
+  int max_needed_decimals = 0;
+
+  for (size_t i = 0; i < values.size(); i += step) {
+    const double value = values[i];
+    if (!std::isfinite(value)) continue;
+    if (!saw_finite) {
+      min_value = value;
+      max_value = value;
+      saw_finite = true;
+    } else {
+      min_value = std::min(min_value, value);
+      max_value = std::max(max_value, value);
+    }
+    if (std::abs(value - std::round(value)) > 1.0e-9) {
+      all_integer = false;
+    }
+    if (!all_integer) {
+      max_needed_decimals = std::max(max_needed_decimals, decimals_needed(value));
+    }
+  }
+
+  if (!saw_finite) return format;
+
+  format.has_negative = min_value < 0.0;
+  const double peak = std::max(std::abs(min_value), std::abs(max_value));
+  format.digits_before = peak < 1.0 ? 1 : static_cast<int>(std::floor(std::log10(peak))) + 1;
+
+  if (enum_like || all_integer) {
+    format.decimals = 0;
+  } else if (peak >= 1000.0) {
+    format.decimals = std::min(max_needed_decimals, 1);
+  } else if (peak >= 100.0) {
+    format.decimals = std::min(max_needed_decimals, 2);
+  } else {
+    format.decimals = std::min(max_needed_decimals, 4);
+  }
+
+  finalize_series_format(&format);
+  return format;
+}
+
+std::string format_display_value(double display_value,
+                                 const SeriesFormat &display_info,
+                                 const EnumInfo *enum_info) {
+  if (!std::isfinite(display_value)) return "---";
+  if (enum_info != nullptr) {
+    const int idx = static_cast<int>(std::llround(display_value));
+    if (idx >= 0 && std::abs(display_value - static_cast<double>(idx)) < 0.01
+        && static_cast<size_t>(idx) < enum_info->names.size()
+        && !enum_info->names[static_cast<size_t>(idx)].empty()) {
+      return enum_info->names[static_cast<size_t>(idx)];
+    }
+  }
+  char buf[64] = {};
+  std::snprintf(buf, sizeof(buf), display_info.fmt, display_value);
+  return buf;
+}
+
+std::vector<std::string> decode_browser_drag_payload(std::string_view payload) {
+  std::vector<std::string> out;
+  size_t begin = 0;
+  while (begin <= payload.size()) {
+    const size_t end = payload.find('\n', begin);
+    const size_t length = (end == std::string_view::npos ? payload.size() : end) - begin;
+    if (length > 0) {
+      out.emplace_back(payload.substr(begin, length));
+    }
+    if (end == std::string_view::npos) break;
+    begin = end + 1;
+  }
+  return out;
+}
+
+void collect_visible_leaf_paths(const BrowserNode &node,
+                                const std::string &filter,
+                                std::vector<std::string> *out) {
+  if (!browser_node_matches(node, filter)) {
+    return;
+  }
+  if (node.children.empty()) {
+    if (!node.full_path.empty()) {
+      out->push_back(node.full_path);
+    }
+    return;
+  }
+  for (const BrowserNode &child : node.children) {
+    collect_visible_leaf_paths(child, filter, out);
+  }
+}
+
+void rebuild_browser_nodes(AppSession *session, UiState *state) {
+  const std::vector<std::string> paths = visible_browser_paths(session->route_data, state->show_deprecated_fields);
+  session->browser_nodes = build_browser_tree(paths);
+  prune_browser_selection(state, paths);
+}
+
+void rebuild_route_index(AppSession *session) {
+  session->series_by_path.clear();
+  session->route_data.series_formats.clear();
+  for (RouteSeries &series : session->route_data.series) {
+    session->series_by_path.emplace(series.path, &series);
+    const bool enum_like = session->route_data.enum_info.find(series.path) != session->route_data.enum_info.end();
+    session->route_data.series_formats.emplace(series.path, compute_series_format(series.values, enum_like));
+  }
+}
+
+void draw_browser_node(AppSession *session,
+                       const BrowserNode &node,
+                       UiState *state,
+                       const std::string &filter,
+                       const std::vector<std::string> &visible_paths) {
+  if (!browser_node_matches(node, filter)) {
+    return;
+  }
+
+  if (node.children.empty()) {
+    const std::string value_text = browser_series_value_text(*session, *state, node.full_path);
+    const ImGuiStyle &style = ImGui::GetStyle();
+    const ImVec2 row_size(std::max(1.0f, ImGui::GetContentRegionAvail().x), ImGui::GetFrameHeight());
+    ImGui::PushID(node.full_path.c_str());
+    const bool clicked = ImGui::InvisibleButton("##browser_leaf", row_size);
+    const bool hovered = ImGui::IsItemHovered();
+    const ImRect rect(ImGui::GetItemRectMin(), ImGui::GetItemRectMax());
+    ImDrawList *draw_list = ImGui::GetWindowDrawList();
+    if (hovered) {
+      const ImU32 bg = ImGui::GetColorU32(ImGuiCol_HeaderHovered);
+      draw_list->AddRectFilled(rect.Min, rect.Max, bg, 0.0f);
+    }
+
+    const float value_right = rect.Max.x - style.FramePadding.x;
+    const float value_left = value_right - (value_text.empty() ? 0.0f : BROWSER_VALUE_WIDTH);
+    const float label_left = rect.Min.x + style.FramePadding.x;
+    const float label_right = value_text.empty()
+      ? rect.Max.x - style.FramePadding.x
+      : std::max(label_left + 40.0f, value_left - 10.0f);
+    ImGui::RenderTextEllipsis(draw_list,
+                              ImVec2(label_left, rect.Min.y + style.FramePadding.y),
+                              ImVec2(label_right, rect.Max.y),
+                              label_right,
+                              node.label.c_str(),
+                              nullptr,
+                              nullptr);
+    if (!value_text.empty()) {
+      app_push_mono_font();
+      ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
+      ImGui::RenderTextClipped(ImVec2(value_left, rect.Min.y + style.FramePadding.y),
+                               ImVec2(value_right, rect.Max.y),
+                               value_text.c_str(),
+                               nullptr,
+                               nullptr,
+                               ImVec2(1.0f, 0.0f));
+      ImGui::PopStyleColor();
+      app_pop_mono_font();
+    }
+
+    if (clicked) {
+      const bool shift_down = ImGui::GetIO().KeyShift;
+      const bool ctrl_down = ImGui::GetIO().KeyCtrl || ImGui::GetIO().KeySuper;
+      if (shift_down) {
+        select_browser_range(state, visible_paths, node.full_path);
+      } else if (ctrl_down) {
+        toggle_browser_selection(state, node.full_path);
+      } else {
+        set_browser_selection_single(state, node.full_path);
+      }
+    }
+    if (hovered && ImGui::IsMouseDoubleClicked(0)) {
+      set_browser_selection_single(state, node.full_path);
+      app_add_curve_to_active_pane(session, state, node.full_path);
+    }
+    if (ImGui::BeginDragDropSource(ImGuiDragDropFlags_SourceAllowNullID)) {
+      const std::vector<std::string> drag_paths = browser_drag_paths(*state, node.full_path);
+      const std::string payload = encode_browser_drag_payload(drag_paths);
+      ImGui::SetDragDropPayload("JOTP_BROWSER_PATHS", payload.c_str(), payload.size() + 1);
+      if (drag_paths.size() == 1) {
+        ImGui::TextUnformatted(drag_paths.front().c_str());
+      } else {
+        ImGui::Text("%zu timeseries", drag_paths.size());
+        ImGui::TextUnformatted(drag_paths.front().c_str());
+      }
+      ImGui::EndDragDropSource();
+    }
+    ImGui::PopID();
+    return;
+  }
+
+  ImGuiTreeNodeFlags flags = ImGuiTreeNodeFlags_SpanAvailWidth;
+  const bool open = ImGui::TreeNodeEx(node.label.c_str(), flags);
+  if (open) {
+    for (const BrowserNode &child : node.children) {
+      draw_browser_node(session, child, state, filter, visible_paths);
+    }
+    ImGui::TreePop();
+  }
+}
diff --git a/openpilot/tools/jotpluggler/camera.cc b/openpilot/tools/jotpluggler/camera.cc
new file mode 100644
index 0000000000..24a35d8794
--- /dev/null
+++ b/openpilot/tools/jotpluggler/camera.cc
@@ -0,0 +1,54 @@
+#include "tools/jotpluggler/camera.h"
+
+#include "imgui.h"
+#include "imgui_internal.h"
+
+namespace {
+
+bool draw_camera_fit_toggle_overlay(bool fit_to_pane) {
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImRect rect(ImVec2(window_pos.x + content_min.x + 8.0f, window_pos.y + content_min.y + 8.0f),
+                    ImVec2(window_pos.x + content_min.x + 58.0f, window_pos.y + content_min.y + 28.0f));
+  const bool hovered = ImGui::IsMouseHoveringRect(rect.Min, rect.Max, false);
+  const bool held = hovered && ImGui::IsMouseDown(ImGuiMouseButton_Left);
+  if (hovered) ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  draw_list->AddRectFilled(rect.Min, rect.Max, hovered ? IM_COL32(255, 255, 255, 234) : IM_COL32(255, 255, 255, 214), 4.0f);
+  draw_list->AddRect(rect.Min, rect.Max, IM_COL32(184, 189, 196, 255), 4.0f, 0, 1.0f);
+  const ImRect box(ImVec2(rect.Min.x + 6.0f, rect.Min.y + 4.0f), ImVec2(rect.Min.x + 18.0f, rect.Min.y + 16.0f));
+  draw_list->AddRect(box.Min, box.Max, IM_COL32(112, 120, 129, 255), 2.0f, 0, 1.0f);
+  if (fit_to_pane) {
+    draw_list->AddLine(ImVec2(box.Min.x + 2.5f, box.Min.y + 6.5f), ImVec2(box.Min.x + 5.5f, box.Max.y - 2.5f), IM_COL32(60, 111, 202, 255), 1.8f);
+    draw_list->AddLine(ImVec2(box.Min.x + 5.5f, box.Max.y - 2.5f), ImVec2(box.Max.x - 2.5f, box.Min.y + 2.5f), IM_COL32(60, 111, 202, 255), 1.8f);
+  }
+  draw_list->AddText(ImVec2(box.Max.x + 6.0f, rect.Min.y + 3.0f), IM_COL32(72, 79, 88, 255), "Fit");
+  return hovered && !held && ImGui::IsMouseReleased(ImGuiMouseButton_Left);
+}
+
+}  // namespace
+
+void draw_camera_pane(AppSession *session, UiState *state, TabUiState *tab_state, int pane_index, const Pane &pane) {
+  CameraFeedView *feed = session->pane_camera_feeds[static_cast<size_t>(pane.camera_view)].get();
+  if (feed == nullptr) {
+    ImGui::TextDisabled("Camera unavailable");
+    return;
+  }
+
+  const bool fit_to_pane = tab_state != nullptr
+    && pane_index >= 0
+    && pane_index < static_cast<int>(tab_state->camera_panes.size())
+    ? tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane
+    : true;
+  if (state->has_tracker_time) {
+    feed->update(state->tracker_time);
+  }
+  feed->drawSized(ImGui::GetContentRegionAvail(), session->async_route_loading, fit_to_pane);
+  if (tab_state != nullptr
+      && pane_index >= 0
+      && pane_index < static_cast<int>(tab_state->camera_panes.size())
+      && draw_camera_fit_toggle_overlay(fit_to_pane)) {
+    tab_state->camera_panes[static_cast<size_t>(pane_index)].fit_to_pane = !fit_to_pane;
+  }
+}
diff --git a/openpilot/tools/jotpluggler/camera.h b/openpilot/tools/jotpluggler/camera.h
new file mode 100644
index 0000000000..666e335af8
--- /dev/null
+++ b/openpilot/tools/jotpluggler/camera.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include "tools/jotpluggler/app.h"
+
+void draw_camera_pane(AppSession *session, UiState *state, TabUiState *tab_state, int pane_index, const Pane &pane);
diff --git a/openpilot/tools/jotpluggler/common.cc b/openpilot/tools/jotpluggler/common.cc
new file mode 100644
index 0000000000..50f5fc0b95
--- /dev/null
+++ b/openpilot/tools/jotpluggler/common.cc
@@ -0,0 +1,187 @@
+#include "tools/jotpluggler/common.h"
+
+#include <algorithm>
+#include <array>
+#include <cstdlib>
+
+namespace {
+
+std::string format_coord(const GpsPoint &point) {
+  return util::string_format("%.5f,%.5f", point.lat, point.lon);
+}
+
+}  // namespace
+
+const CameraViewSpec &camera_view_spec(CameraViewKind view) {
+  auto it = std::find_if(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return spec.view == view;
+  });
+  return it != kCameraViewSpecs.end() ? *it : kCameraViewSpecs.front();
+}
+
+const CameraViewSpec *camera_view_spec_from_special_item(std::string_view item_id) {
+  auto it = std::find_if(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return item_id == spec.special_item_id;
+  });
+  return it != kCameraViewSpecs.end() ? &*it : nullptr;
+}
+
+const CameraViewSpec *camera_view_spec_from_layout_name(std::string_view layout_name) {
+  auto it = std::find_if(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return layout_name == spec.layout_name;
+  });
+  return it != kCameraViewSpecs.end() ? &*it : nullptr;
+}
+
+const SpecialItemSpec *special_item_spec(std::string_view item_id) {
+  auto it = std::find_if(kSpecialItemSpecs.begin(), kSpecialItemSpecs.end(), [&](const SpecialItemSpec &spec) {
+    return item_id == spec.id;
+  });
+  return it != kSpecialItemSpecs.end() ? &*it : nullptr;
+}
+
+const char *special_item_label(std::string_view item_id) {
+  const SpecialItemSpec *spec = special_item_spec(item_id);
+  return spec != nullptr ? spec->label : "Item";
+}
+
+bool pane_kind_is_special(PaneKind kind) {
+  return kind == PaneKind::Map || kind == PaneKind::Thumbnail || kind == PaneKind::Camera;
+}
+
+bool is_default_special_title(std::string_view title) {
+  if (title == "Map" || title == "Thumbnail") return true;
+  return std::any_of(kCameraViewSpecs.begin(), kCameraViewSpecs.end(), [&](const CameraViewSpec &spec) {
+    return title == spec.label;
+  });
+}
+
+CameraViewKind sidebar_preview_camera_view(const AppSession &session) {
+  return session.route_data.road_camera.entries.empty() && !session.route_data.qroad_camera.entries.empty()
+    ? CameraViewKind::QRoad
+    : CameraViewKind::Road;
+}
+
+const std::filesystem::path &repo_root() {
+  static const std::filesystem::path root(JOTP_REPO_ROOT);
+  return root;
+}
+
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha) {
+  return timeline_entry_color(type, alpha, {111, 143, 175});
+}
+
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha, std::array<uint8_t, 3> none_color) {
+  switch (type) {
+    case TimelineEntry::Type::Engaged:
+      return ImGui::GetColorU32(color_rgb(0, 163, 108, alpha));
+    case TimelineEntry::Type::AlertInfo:
+      return ImGui::GetColorU32(color_rgb(255, 195, 0, alpha));
+    case TimelineEntry::Type::AlertWarning:
+    case TimelineEntry::Type::AlertCritical:
+      return ImGui::GetColorU32(color_rgb(199, 0, 57, alpha));
+    case TimelineEntry::Type::None:
+    default:
+      return ImGui::GetColorU32(color_rgb(none_color, alpha));
+  }
+}
+
+const char *timeline_entry_label(TimelineEntry::Type type) {
+  static constexpr const char *kLabels[] = {
+    "disengaged",
+    "engaged",
+    "alert info",
+    "alert warning",
+    "alert critical",
+  };
+  const size_t index = static_cast<size_t>(type);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+TimelineEntry::Type timeline_type_at_time(const std::vector<TimelineEntry> &timeline, double time_value) {
+  for (const TimelineEntry &entry : timeline) {
+    if (time_value >= entry.start_time && time_value <= entry.end_time) {
+      return entry.type;
+    }
+  }
+  return TimelineEntry::Type::None;
+}
+
+std::string normalize_stream_address(std::string address) {
+  return is_local_stream_address(address) ? "127.0.0.1" : address;
+}
+
+const char *stream_source_kind_label(StreamSourceKind kind) {
+  static constexpr const char *kLabels[] = {
+    "Local (MSGQ)",
+    "Remote (ZMQ)",
+  };
+  const size_t index = static_cast<size_t>(kind);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+std::string stream_source_target_label(const StreamSourceConfig &source) {
+  switch (source.kind) {
+    case StreamSourceKind::CerealRemote:
+      return normalize_stream_address(source.address);
+    case StreamSourceKind::CerealLocal:
+    default:
+      return "127.0.0.1";
+  }
+}
+
+bool env_flag_enabled(const char *name, bool default_value) {
+  const char *raw = std::getenv(name);
+  if (raw == nullptr || raw[0] == '\0') {
+    return default_value;
+  }
+  const std::string value = lowercase_copy(util::strip(raw));
+  return !(value == "0" || value == "false" || value == "no" || value == "off");
+}
+
+bool app_begin_popup(const char *str_id, ImGuiWindowFlags flags) {
+  return ImGui::BeginPopup(str_id, flags | ImGuiWindowFlags_NoMove);
+}
+
+bool app_begin_popup_modal(const char *name, bool *p_open, ImGuiWindowFlags flags) {
+  return ImGui::BeginPopupModal(name, p_open, flags | ImGuiWindowFlags_NoMove);
+}
+
+void open_external_url(std::string_view url) {
+#ifdef __APPLE__
+  const std::string command = "open " + shell_quote(url) + " &";
+#else
+  const std::string command = "xdg-open " + shell_quote(url) + " >/dev/null 2>&1 &";
+#endif
+  util::check_system(command);
+}
+
+std::string route_useradmin_url(const RouteIdentifier &route_id) {
+  return route_id.empty() ? std::string()
+                          : "https://useradmin.comma.ai/?onebox=" + route_id.dongle_id + "%7C" + route_id.log_id;
+}
+
+std::string route_connect_url(const RouteIdentifier &route_id) {
+  return route_id.empty() ? std::string()
+                          : "https://connect.comma.ai/" + route_id.canonical();
+}
+
+std::string route_google_maps_url(const GpsTrace &trace) {
+  if (trace.points.size() < 2) {
+    return {};
+  }
+
+  const std::string prefix = "https://www.google.com/maps/dir/?api=1&travelmode=driving&origin="
+                           + format_coord(trace.points.front()) + "&destination=" + format_coord(trace.points.back());
+  for (size_t n = std::min<size_t>(9, trace.points.size() > 2 ? trace.points.size() - 2 : 0); ; --n) {
+    std::string url = prefix;
+    if (n > 0) {
+      url += "&waypoints=";
+      for (size_t i = 0; i < n; ++i) {
+        if (i) url += "%7C";
+        url += format_coord(trace.points[1 + ((trace.points.size() - 2) * (i + 1)) / (n + 1)]);
+      }
+    }
+    if (url.size() <= 1900 || n == 0) return url;
+  }
+}
diff --git a/openpilot/tools/jotpluggler/common.h b/openpilot/tools/jotpluggler/common.h
new file mode 100644
index 0000000000..7149bbe54d
--- /dev/null
+++ b/openpilot/tools/jotpluggler/common.h
@@ -0,0 +1,68 @@
+#pragma once
+
+#include "tools/jotpluggler/app.h"
+
+#include <array>
+#include <string_view>
+
+struct CameraViewSpec {
+  CameraViewKind view = CameraViewKind::Road;
+  const char *label = "";
+  const char *runtime_name = "";
+  const char *layout_name = "";
+  const char *special_item_id = "";
+  CameraFeedIndex RouteData::*route_member = nullptr;
+};
+
+struct SpecialItemSpec {
+  const char *id = "";
+  const char *label = "";
+  PaneKind kind = PaneKind::Plot;
+  CameraViewKind camera_view = CameraViewKind::Road;
+};
+
+inline constexpr std::array<CameraViewSpec, 4> kCameraViewSpecs = {{
+  {CameraViewKind::Road,     "Road Camera",      "road",   "road",      "camera_road",      &RouteData::road_camera},
+  {CameraViewKind::Cabin,    "Cabin Camera",     "driver", "driver",    "camera_driver",    &RouteData::cabin_camera},
+  {CameraViewKind::WideRoad, "Wide Road Camera", "wide",   "wide_road", "camera_wide_road", &RouteData::wide_road_camera},
+  {CameraViewKind::QRoad,    "qRoad Camera",     "qroad",  "qroad",     "camera_qroad",     &RouteData::qroad_camera},
+}};
+
+inline constexpr std::array<SpecialItemSpec, 6> kSpecialItemSpecs = {{
+  {"map", "Map", PaneKind::Map, CameraViewKind::Road},
+  {"thumbnail", "Thumbnail", PaneKind::Thumbnail, CameraViewKind::Road},
+  {kCameraViewSpecs[0].special_item_id, kCameraViewSpecs[0].label, PaneKind::Camera, kCameraViewSpecs[0].view},
+  {kCameraViewSpecs[1].special_item_id, kCameraViewSpecs[1].label, PaneKind::Camera, kCameraViewSpecs[1].view},
+  {kCameraViewSpecs[2].special_item_id, kCameraViewSpecs[2].label, PaneKind::Camera, kCameraViewSpecs[2].view},
+  {kCameraViewSpecs[3].special_item_id, kCameraViewSpecs[3].label, PaneKind::Camera, kCameraViewSpecs[3].view},
+}};
+
+const CameraViewSpec &camera_view_spec(CameraViewKind view);
+const CameraViewSpec *camera_view_spec_from_special_item(std::string_view item_id);
+const CameraViewSpec *camera_view_spec_from_layout_name(std::string_view layout_name);
+
+const SpecialItemSpec *special_item_spec(std::string_view item_id);
+const char *special_item_label(std::string_view item_id);
+
+bool pane_kind_is_special(PaneKind kind);
+bool is_default_special_title(std::string_view title);
+CameraViewKind sidebar_preview_camera_view(const AppSession &session);
+const std::filesystem::path &repo_root();
+
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha = 1.0f);
+ImU32 timeline_entry_color(TimelineEntry::Type type, float alpha, std::array<uint8_t, 3> none_color);
+const char *timeline_entry_label(TimelineEntry::Type type);
+TimelineEntry::Type timeline_type_at_time(const std::vector<TimelineEntry> &timeline, double time_value);
+std::string normalize_stream_address(std::string address);
+const char *stream_source_kind_label(StreamSourceKind kind);
+std::string stream_source_target_label(const StreamSourceConfig &source);
+
+bool env_flag_enabled(const char *name, bool default_value = false);
+bool app_begin_popup(const char *str_id, ImGuiWindowFlags flags = 0);
+bool app_begin_popup_modal(const char *name,
+                           bool *p_open = nullptr,
+                           ImGuiWindowFlags flags = ImGuiWindowFlags_AlwaysAutoResize);
+void open_external_url(std::string_view url);
+std::string route_useradmin_url(const RouteIdentifier &route_id);
+std::string route_connect_url(const RouteIdentifier &route_id);
+std::string route_google_maps_url(const GpsTrace &trace);
diff --git a/openpilot/tools/jotpluggler/custom_series.cc b/openpilot/tools/jotpluggler/custom_series.cc
new file mode 100644
index 0000000000..70b3e8c3cb
--- /dev/null
+++ b/openpilot/tools/jotpluggler/custom_series.cc
@@ -0,0 +1,750 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include "implot.h"
+
+#include <cfloat>
+#include <chrono>
+#include <cstring>
+#include <regex>
+#include <set>
+#include <stdexcept>
+#include <unistd.h>
+
+#include "json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+struct PythonEvalResult {
+  std::vector<double> xs;
+  std::vector<double> ys;
+};
+
+struct CustomSeriesTemplate {
+  const char *name;
+  const char *globals_code;
+  const char *function_code;
+  const char *preview_text;
+  int required_additional_sources;
+  const char *requirement_text;
+};
+
+void write_binary_vector(const fs::path &path, const std::vector<double> &values) {
+  write_file_or_throw(path, values.data(), values.size() * sizeof(double));
+}
+
+std::vector<double> read_binary_vector(const fs::path &path) {
+  const std::string raw = read_file_or_throw(path);
+  if (raw.size() % sizeof(double) != 0) {
+    throw std::runtime_error("Invalid binary series file: " + path.string());
+  }
+  std::vector<double> values(raw.size() / sizeof(double));
+  if (!values.empty()) {
+    std::memcpy(values.data(), raw.data(), raw.size());
+  }
+  return values;
+}
+
+void write_text_file(const fs::path &path, std::string_view text) {
+  write_file_or_throw(path, text);
+}
+
+fs::path create_custom_series_temp_dir() {
+  const auto stamp = std::chrono::steady_clock::now().time_since_epoch().count();
+  const fs::path dir = fs::temp_directory_path() / ("jotpluggler_math_" + std::to_string(::getpid()) + "_" + std::to_string(stamp));
+  fs::create_directories(dir);
+  return dir;
+}
+
+void reset_custom_series_editor(CustomSeriesEditorState *editor) {
+  *editor = CustomSeriesEditorState{};
+}
+
+bool add_additional_source(CustomSeriesEditorState *editor, const std::string &path) {
+  if (path.empty() || path == editor->linked_source) return false;
+  if (std::find(editor->additional_sources.begin(), editor->additional_sources.end(), path) != editor->additional_sources.end()) {
+    return false;
+  }
+  editor->additional_sources.push_back(path);
+  return true;
+}
+
+std::string next_custom_curve_name(const Pane &pane) {
+  std::set<std::string> used;
+  for (const Curve &curve : pane.curves) {
+    if (!curve.label.empty()) {
+      used.insert(curve.label);
+    }
+    if (!curve.name.empty()) {
+      used.insert(curve.name);
+    }
+  }
+  for (int i = 1; i < 1000; ++i) {
+    const std::string candidate = "series" + std::to_string(i);
+    if (used.find(candidate) == used.end()) {
+      return candidate;
+    }
+  }
+  return "series";
+}
+
+Curve make_custom_curve(const Pane &pane,
+                        const std::string &name,
+                        const CustomPythonSeries &spec,
+                        PythonEvalResult result) {
+  Curve curve;
+  curve.name = name;
+  curve.label = name;
+  curve.color = app_next_curve_color(pane);
+  curve.runtime_only = true;
+  curve.custom_python = spec;
+  curve.xs = std::move(result.xs);
+  curve.ys = std::move(result.ys);
+  return curve;
+}
+
+bool upsert_custom_curve_in_pane(WorkspaceTab *tab, int pane_index, Curve curve) {
+  if (pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return false;
+  }
+  Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  for (Curve &existing : pane.curves) {
+    if (existing.runtime_only && existing.name == curve.name) {
+      existing.visible = true;
+      existing.label = curve.label;
+      existing.custom_python = curve.custom_python;
+      existing.xs = std::move(curve.xs);
+      existing.ys = std::move(curve.ys);
+      return false;
+    }
+  }
+  pane.curves.push_back(std::move(curve));
+  return true;
+}
+
+std::set<std::string> collect_custom_series_paths(const CustomPythonSeries &spec,
+                                                  std::string_view globals_code,
+                                                  std::string_view function_code) {
+  std::set<std::string> paths;
+  if (!spec.linked_source.empty()) {
+    paths.insert(spec.linked_source);
+  }
+  paths.insert(spec.additional_sources.begin(), spec.additional_sources.end());
+
+  static const std::regex kPathRegex(R"([tv]\(\s*["']([^"']+)["']\s*\))");
+  const auto collect_from = [&](std::string_view code) {
+    std::string owned(code);
+    for (std::sregex_iterator it(owned.begin(), owned.end(), kPathRegex), end; it != end; ++it) {
+      paths.insert((*it)[1].str());
+    }
+  };
+  collect_from(globals_code);
+  collect_from(function_code);
+  return paths;
+}
+
+PythonEvalResult evaluate_custom_python_series(const AppSession &session,
+                                               const CustomPythonSeries &spec) {
+  const std::set<std::string> referenced_paths =
+    collect_custom_series_paths(spec, spec.globals_code, spec.function_code);
+  if (referenced_paths.empty()) throw std::runtime_error("No input series referenced. Set an input timeseries or reference route paths in code.");
+
+  const fs::path temp_dir = create_custom_series_temp_dir();
+  try {
+    const fs::path globals_path = temp_dir / "globals.py";
+    const fs::path code_path = temp_dir / "code.py";
+    const fs::path manifest_path = temp_dir / "manifest.json";
+    const fs::path out_t_path = temp_dir / "result.t.bin";
+    const fs::path out_v_path = temp_dir / "result.v.bin";
+
+    write_text_file(globals_path, spec.globals_code);
+    write_text_file(code_path, spec.function_code);
+
+    json11::Json::array paths_json(session.route_data.paths.begin(), session.route_data.paths.end());
+    json11::Json::array additional_json(spec.additional_sources.begin(), spec.additional_sources.end());
+    json11::Json::array series_json;
+    size_t series_index = 0;
+    for (const std::string &path : referenced_paths) {
+      const RouteSeries *series = app_find_route_series(session, path);
+      if (series == nullptr || series->times.size() < 2 || series->times.size() != series->values.size()) {
+        throw std::runtime_error("Missing route series " + path);
+      }
+      const std::string prefix = "series_" + std::to_string(series_index++);
+      const fs::path time_path = temp_dir / (prefix + ".t.bin");
+      const fs::path value_path = temp_dir / (prefix + ".v.bin");
+      write_binary_vector(time_path, series->times);
+      write_binary_vector(value_path, series->values);
+      series_json.push_back(json11::Json::object{
+        {"path", path}, {"t", time_path.string()}, {"v", value_path.string()}});
+    }
+    const json11::Json manifest_json = json11::Json::object{
+      {"paths", std::move(paths_json)},
+      {"linked_source", spec.linked_source},
+      {"additional_sources", std::move(additional_json)},
+      {"series", std::move(series_json)},
+    };
+    write_text_file(manifest_path, manifest_json.dump());
+
+    const CommandResult process = run_process_capture_output({
+      "python3",
+      (repo_root() / "openpilot" / "tools" / "jotpluggler" / "math_eval.py").string(),
+      manifest_path.string(),
+      globals_path.string(),
+      code_path.string(),
+      out_t_path.string(),
+      out_v_path.string(),
+    });
+    if (process.exit_code != 0) {
+      const std::string error_text = util::strip(process.output);
+      throw std::runtime_error(error_text.empty() ? "Python evaluation failed" : error_text);
+    }
+
+    PythonEvalResult result;
+    result.xs = read_binary_vector(out_t_path);
+    result.ys = read_binary_vector(out_v_path);
+    if (result.xs.size() < 2 || result.xs.size() != result.ys.size()) {
+      throw std::runtime_error("Custom series returned invalid output");
+    }
+    fs::remove_all(temp_dir);
+    return result;
+  } catch (...) {
+    std::error_code ignore_error;
+    fs::remove_all(temp_dir, ignore_error);
+    throw;
+  }
+}
+
+void refresh_custom_curve_samples(AppSession *session, UiState *state, Curve *curve) {
+  if (!curve->custom_python.has_value()) {
+    return;
+  }
+  if (!session->route_data.has_time_range || session->route_data.series.empty()) {
+    curve->runtime_error_message.clear();
+    curve->xs.clear();
+    curve->ys.clear();
+    return;
+  }
+  try {
+    PythonEvalResult result = evaluate_custom_python_series(*session, *curve->custom_python);
+    curve->runtime_error_message.clear();
+    curve->xs = std::move(result.xs);
+    curve->ys = std::move(result.ys);
+  } catch (const std::exception &err) {
+    curve->xs.clear();
+    curve->ys.clear();
+    const std::string err_text = err.what();
+    if (session->data_mode == SessionDataMode::Stream && util::starts_with(err_text, "Missing route series ")) {
+      curve->runtime_error_message = err_text;
+      return;
+    }
+    const std::string error_message = std::string("Failed to evaluate custom series \"")
+      + app_curve_display_name(*curve) + "\":\n\n" + err_text;
+    if (curve->runtime_error_message != error_message) {
+      curve->runtime_error_message = error_message;
+      state->error_text = error_message;
+      state->open_error_popup = true;
+    }
+  }
+}
+
+const std::array<CustomSeriesTemplate, 4> &custom_series_templates() {
+  static constexpr std::array<CustomSeriesTemplate, 4> kTemplates = {{
+    {
+      .name = "Derivative",
+      .globals_code = "",
+      .function_code = "return np.gradient(value, time)",
+      .preview_text = "return np.gradient(value, time)",
+      .required_additional_sources = 0,
+      .requirement_text = "",
+    },
+    {
+      .name = "Difference",
+      .globals_code = "",
+      .function_code = "return value - v1",
+      .preview_text = "Requires one additional source timeseries.\n\nreturn value - v1",
+      .required_additional_sources = 1,
+      .requirement_text = "Difference requires one additional source timeseries for v1.",
+    },
+    {
+      .name = "Smoothing",
+      .globals_code = "window = 20\nweights = np.ones(window) / window",
+      .function_code = "return np.convolve(value, weights, mode='same')",
+      .preview_text = "window = 20\nweights = np.ones(window) / window\n\nreturn np.convolve(value, weights, mode='same')",
+      .required_additional_sources = 0,
+      .requirement_text = "",
+    },
+    {
+      .name = "Integral",
+      .globals_code = "",
+      .function_code = "dt = np.mean(np.diff(time))\nreturn np.cumsum(value) * dt",
+      .preview_text = "dt = np.mean(np.diff(time))\nreturn np.cumsum(value) * dt",
+      .required_additional_sources = 0,
+      .requirement_text = "",
+    },
+  }};
+  return kTemplates;
+}
+
+void draw_custom_series_help_popup(CustomSeriesEditorState *editor) {
+  if (editor->open_help) {
+    ImGui::OpenPopup("Custom Series Help");
+    editor->open_help = false;
+  }
+  if (!app_begin_popup_modal("Custom Series Help")) {
+    return;
+  }
+  ImGui::TextUnformatted("Available variables");
+  ImGui::Separator();
+  ImGui::BulletText("np: numpy");
+  ImGui::BulletText("t(path), v(path): timestamps and values for a route series");
+  ImGui::BulletText("paths: all available route series paths");
+  ImGui::BulletText("time, value: linked input timeseries");
+  ImGui::BulletText("t1, v1, t2, v2, ...: additional source timeseries");
+  ImGui::Spacing();
+  ImGui::TextWrapped("Write either a single expression like \"return np.gradient(value, time)\" "
+                     "or a multi-line Python body that returns an array or a (times, values) tuple.");
+  ImGui::Spacing();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+void draw_custom_series_preview(const AppSession &session, CustomSeriesEditorState *editor) {
+  std::vector<double> preview_xs;
+  std::vector<double> preview_ys;
+  std::string preview_label = editor->preview_label;
+  if (editor->preview_is_result && editor->preview_xs.size() > 1 && editor->preview_xs.size() == editor->preview_ys.size()) {
+    preview_xs = editor->preview_xs;
+    preview_ys = editor->preview_ys;
+    if (preview_label.empty()) {
+      preview_label = "Result preview";
+    }
+  } else if (!editor->linked_source.empty()) {
+    if (const RouteSeries *series = app_find_route_series(session, editor->linked_source); series != nullptr
+        && series->times.size() > 1 && series->times.size() == series->values.size()) {
+      preview_xs = series->times;
+      preview_ys = series->values;
+      preview_label = "Input preview (not result)";
+    }
+  }
+
+  if (!preview_xs.empty() && preview_xs.size() == preview_ys.size()) {
+    std::vector<double> plot_xs;
+    std::vector<double> plot_ys;
+    app_decimate_samples(preview_xs, preview_ys, 1200, &plot_xs, &plot_ys);
+    const double preview_x_min = preview_xs.front();
+    const double preview_x_max = preview_xs.back() > preview_xs.front()
+      ? preview_xs.back()
+      : preview_xs.front() + 1e-6;
+    std::string plot_id = "##custom_series_preview";
+    if (editor->preview_is_result) {
+      plot_id += "_result_";
+      plot_id += editor->name.empty() ? preview_label : editor->name;
+    } else if (!editor->linked_source.empty()) {
+      plot_id += "_input_";
+      plot_id += editor->linked_source;
+    }
+    ImGui::TextUnformatted(preview_label.c_str());
+    if (!editor->linked_source.empty() && !editor->preview_is_result) {
+      ImGui::SameLine();
+      ImGui::TextDisabled("%s", editor->linked_source.c_str());
+    }
+    if (ImPlot::BeginPlot(plot_id.c_str(),
+                          ImVec2(-1.0f, std::max(180.0f, ImGui::GetContentRegionAvail().y - 6.0f)),
+                          ImPlotFlags_NoTitle | ImPlotFlags_NoMenus | ImPlotFlags_NoLegend)) {
+      ImPlot::SetupAxes(nullptr, nullptr, ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight,
+                        ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight | ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit);
+      ImPlot::SetupAxisLimitsConstraints(ImAxis_X1, preview_x_min, preview_x_max);
+      ImPlot::SetupAxisLimits(ImAxis_X1, preview_x_min, preview_x_max, ImPlotCond_Once);
+      ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
+      ImPlot::SetupAxisFormat(ImAxis_Y1, "%.6g");
+      ImPlotSpec spec;
+      spec.LineColor = color_rgb(35, 107, 180);
+      spec.LineWeight = 2.0f;
+      ImPlot::PlotLine("##custom_preview_line", plot_xs.data(), plot_ys.data(), static_cast<int>(plot_xs.size()), spec);
+      ImPlot::EndPlot();
+    }
+  } else {
+    ImGui::SetCursorPosY(ImGui::GetCursorPosY() + 72.0f);
+    ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
+    ImGui::TextWrapped("Choose an input timeseries or click Preview to evaluate the custom result.");
+    ImGui::PopStyleColor();
+  }
+}
+
+std::string custom_series_name_status(const Pane &pane, std::string_view name) {
+  const std::string trimmed = util::strip(std::string(name));
+  if (trimmed.empty()) return "name required";
+  if (!trimmed.empty() && trimmed.front() == '/') {
+    return "cannot start with /";
+  }
+  for (const Curve &curve : pane.curves) {
+    if (curve.runtime_only && curve.name == trimmed) return "updates existing curve";
+  }
+  return "new curve";
+}
+
+const CustomSeriesTemplate &selected_custom_series_template(const CustomSeriesEditorState &editor) {
+  const auto &templates = custom_series_templates();
+  return templates[static_cast<size_t>(std::clamp(editor.selected_template, 0, static_cast<int>(templates.size()) - 1))];
+}
+
+bool custom_series_template_ready(const CustomSeriesEditorState &editor) {
+  const CustomSeriesTemplate &templ = selected_custom_series_template(editor);
+  return !editor.linked_source.empty()
+      && static_cast<int>(editor.additional_sources.size()) >= templ.required_additional_sources;
+}
+
+bool prepare_custom_series_spec(CustomSeriesEditorState *editor,
+                                UiState *state,
+                                bool require_name,
+                                CustomPythonSeries *out_spec) {
+  editor->name = util::strip(editor->name);
+  editor->linked_source = util::strip(editor->linked_source);
+  for (std::string &path : editor->additional_sources) {
+    path = util::strip(path);
+  }
+  editor->additional_sources.erase(
+    std::remove_if(editor->additional_sources.begin(), editor->additional_sources.end(),
+                   [&](const std::string &path) { return path.empty() || path == editor->linked_source; }),
+    editor->additional_sources.end());
+
+  if (require_name && editor->name.empty()) {
+    state->error_text = "Custom series name is required.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (require_name && !editor->name.empty() && editor->name.front() == '/') {
+    state->error_text = "Custom series names may not start with '/'.";
+    state->open_error_popup = true;
+    return false;
+  }
+
+  *out_spec = CustomPythonSeries{
+    .linked_source = editor->linked_source,
+    .additional_sources = editor->additional_sources,
+    .globals_code = editor->globals_code,
+    .function_code = editor->function_code,
+  };
+  return true;
+}
+
+bool preview_custom_series_editor(AppSession *session, UiState *state) {
+  CustomSeriesEditorState &editor = state->custom_series;
+  const CustomSeriesTemplate &templ = selected_custom_series_template(editor);
+  if (editor.linked_source.empty()) {
+    state->error_text = "Choose an input timeseries before previewing.";
+    state->open_error_popup = true;
+    state->status_text = "Custom series preview failed";
+    return false;
+  }
+  if (static_cast<int>(editor.additional_sources.size()) < templ.required_additional_sources) {
+    state->error_text = templ.requirement_text;
+    state->open_error_popup = true;
+    state->status_text = "Custom series preview failed";
+    return false;
+  }
+  CustomPythonSeries spec;
+  if (!prepare_custom_series_spec(&editor, state, false, &spec)) return false;
+
+  try {
+    PythonEvalResult result = evaluate_custom_python_series(*session, spec);
+    editor.preview_label = editor.name.empty() ? "Result preview" : editor.name;
+    editor.preview_xs = std::move(result.xs);
+    editor.preview_ys = std::move(result.ys);
+    editor.preview_is_result = true;
+    state->status_text = "Previewed custom series";
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Custom series preview failed";
+    return false;
+  }
+}
+
+bool apply_custom_series_editor(AppSession *session, UiState *state) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab == nullptr || tab_state == nullptr) {
+    state->status_text = "No active pane";
+    return false;
+  }
+  if (tab_state->active_pane_index < 0 || tab_state->active_pane_index >= static_cast<int>(tab->panes.size())) {
+    state->status_text = "No active pane";
+    return false;
+  }
+
+  CustomSeriesEditorState &editor = state->custom_series;
+  CustomPythonSeries spec;
+  if (!prepare_custom_series_spec(&editor, state, true, &spec)) return false;
+
+  try {
+    PythonEvalResult result = evaluate_custom_python_series(*session, spec);
+    const SketchLayout before_layout = session->layout;
+    Pane &pane = tab->panes[static_cast<size_t>(tab_state->active_pane_index)];
+    editor.preview_label = editor.name;
+    editor.preview_xs = result.xs;
+    editor.preview_ys = result.ys;
+    editor.preview_is_result = true;
+    const bool inserted = upsert_custom_curve_in_pane(tab,
+                                                      tab_state->active_pane_index,
+                                                      make_custom_curve(pane, editor.name, spec, std::move(result)));
+    state->undo.push(before_layout);
+    state->status_text = inserted ? "Created custom series " + editor.name
+                                  : "Updated custom series " + editor.name;
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Custom series failed";
+    return false;
+  }
+}
+
+}  // namespace
+
+void open_custom_series_editor(UiState *state, const std::string &preferred_source) {
+  CustomSeriesEditorState &editor = state->custom_series;
+  if (!editor.open && editor.name.empty() && editor.linked_source.empty() && editor.function_code == "return value") {
+    editor.focus_name = true;
+  }
+  if (editor.linked_source.empty() && !preferred_source.empty()) {
+    editor.linked_source = preferred_source;
+  }
+  editor.open = true;
+  editor.request_select = true;
+}
+
+std::string preferred_custom_series_source(const Pane &pane) {
+  for (const Curve &curve : pane.curves) {
+    if (!curve.name.empty() && curve.name.front() == '/') {
+      return curve.name;
+    }
+    if (curve.custom_python.has_value() && !curve.custom_python->linked_source.empty()) {
+      return curve.custom_python->linked_source;
+    }
+  }
+  return {};
+}
+
+void refresh_all_custom_curves(AppSession *session, UiState *state) {
+  for (WorkspaceTab &tab : session->layout.tabs) {
+    for (Pane &pane : tab.panes) {
+      for (Curve &curve : pane.curves) {
+        refresh_custom_curve_samples(session, state, &curve);
+      }
+    }
+  }
+}
+
+void draw_editor_source_panel(UiState *state, CustomSeriesEditorState &editor) {
+  ImGui::TextWrapped("Input timeseries. Provides arguments time and value:");
+  ImGui::SetNextItemWidth(-FLT_MIN);
+  input_text_string("##custom_linked_source", &editor.linked_source, ImGuiInputTextFlags_ReadOnly);
+  if (ImGui::BeginDragDropTarget()) {
+    if (const ImGuiPayload *payload = ImGui::AcceptDragDropPayload("JOTP_BROWSER_PATH")) {
+      editor.linked_source = static_cast<const char *>(payload->Data);
+      editor.additional_sources.erase(
+        std::remove(editor.additional_sources.begin(), editor.additional_sources.end(), editor.linked_source),
+        editor.additional_sources.end());
+      editor.preview_is_result = false;
+    }
+    ImGui::EndDragDropTarget();
+  }
+  if (ImGui::Button("Use Selected", ImVec2(120.0f, 0.0f)) && !state->selected_browser_path.empty()) {
+    editor.linked_source = state->selected_browser_path;
+    editor.additional_sources.erase(
+      std::remove(editor.additional_sources.begin(), editor.additional_sources.end(), editor.linked_source),
+      editor.additional_sources.end());
+    editor.preview_is_result = false;
+  }
+  ImGui::SameLine();
+  if (ImGui::Button("Clear", ImVec2(120.0f, 0.0f))) {
+    editor.linked_source.clear();
+    editor.preview_is_result = false;
+  }
+
+  ImGui::Spacing();
+  ImGui::TextUnformatted("Additional source timeseries:");
+  ImGui::SameLine();
+  const CustomSeriesTemplate &tmpl = selected_custom_series_template(editor);
+  if (tmpl.required_additional_sources > 0) {
+    const bool ready = static_cast<int>(editor.additional_sources.size()) >= tmpl.required_additional_sources;
+    ImGui::TextColored(ready ? color_rgb(58, 126, 73) : color_rgb(180, 122, 44), "%s", tmpl.requirement_text);
+  }
+  ImGui::SameLine();
+  ImGui::BeginDisabled(editor.selected_additional_source < 0
+                       || editor.selected_additional_source >= static_cast<int>(editor.additional_sources.size()));
+  if (ImGui::Button("Remove Selected", ImVec2(140.0f, 0.0f))
+      && editor.selected_additional_source >= 0
+      && editor.selected_additional_source < static_cast<int>(editor.additional_sources.size())) {
+    editor.additional_sources.erase(editor.additional_sources.begin()
+      + static_cast<std::ptrdiff_t>(editor.selected_additional_source));
+    editor.selected_additional_source = editor.additional_sources.empty()
+      ? -1 : std::clamp(editor.selected_additional_source, 0, static_cast<int>(editor.additional_sources.size()) - 1);
+    editor.preview_is_result = false;
+  }
+  ImGui::EndDisabled();
+
+  if (ImGui::BeginChild("##custom_additional_sources", ImVec2(0.0f, 156.0f), true)) {
+    if (ImGui::BeginTable("##custom_additional_table", 2,
+                          ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg | ImGuiTableFlags_SizingStretchProp)) {
+      ImGui::TableSetupColumn("id", ImGuiTableColumnFlags_WidthFixed, 42.0f);
+      ImGui::TableSetupColumn("path", ImGuiTableColumnFlags_WidthStretch);
+      for (size_t i = 0; i < editor.additional_sources.size(); ++i) {
+        ImGui::TableNextRow();
+        ImGui::TableNextColumn();
+        ImGui::Text("v%zu", i + 1);
+        ImGui::TableNextColumn();
+        if (ImGui::Selectable(editor.additional_sources[i].c_str(),
+                              editor.selected_additional_source == static_cast<int>(i),
+                              ImGuiSelectableFlags_SpanAllColumns)) {
+          editor.selected_additional_source = static_cast<int>(i);
+        }
+      }
+      ImGui::EndTable();
+    }
+    if (ImGui::BeginDragDropTarget()) {
+      if (const ImGuiPayload *payload = ImGui::AcceptDragDropPayload("JOTP_BROWSER_PATH")) {
+        if (add_additional_source(&editor, static_cast<const char *>(payload->Data)))
+          editor.preview_is_result = false;
+      }
+      ImGui::EndDragDropTarget();
+    }
+  }
+  ImGui::EndChild();
+  if (ImGui::Button("Add Selected", ImVec2(120.0f, 0.0f))) {
+    for (const std::string &path : state->selected_browser_paths) {
+      if (add_additional_source(&editor, path)) editor.preview_is_result = false;
+    }
+  }
+
+  ImGui::Spacing();
+  ImGui::SeparatorText("Function library");
+  const auto &templates = custom_series_templates();
+  if (ImGui::BeginChild("##custom_series_template_list", ImVec2(0.0f, 132.0f), true)) {
+    for (size_t i = 0; i < templates.size(); ++i) {
+      if (ImGui::Selectable(templates[i].name, editor.selected_template == static_cast<int>(i),
+                            ImGuiSelectableFlags_AllowDoubleClick)) {
+        editor.selected_template = static_cast<int>(i);
+        if (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
+          editor.globals_code = templates[i].globals_code;
+          editor.function_code = templates[i].function_code;
+          editor.preview_is_result = false;
+        }
+      }
+    }
+  }
+  ImGui::EndChild();
+  if (ImGui::Button("Use Selected Example")) {
+    const auto &sel = selected_custom_series_template(editor);
+    editor.globals_code = sel.globals_code;
+    editor.function_code = sel.function_code;
+    editor.preview_is_result = false;
+  }
+  ImGui::Spacing();
+  ImGui::TextDisabled("Preview");
+  ImGui::BeginChild("##custom_series_template_preview", ImVec2(0.0f, 0.0f), true);
+  ImGui::TextUnformatted(selected_custom_series_template(editor).preview_text);
+  ImGui::EndChild();
+}
+
+void draw_editor_code_panel(CustomSeriesEditorState &editor, const Pane *active_pane) {
+  const std::string name_status = active_pane != nullptr ? custom_series_name_status(*active_pane, editor.name) : "no active pane";
+  ImGui::TextUnformatted("New name:");
+  ImGui::SameLine();
+  const bool name_error = name_status == "name required" || name_status == "cannot start with /";
+  ImGui::TextColored(name_error ? color_rgb(200, 72, 64) : color_rgb(58, 126, 73), "%s", name_status.c_str());
+  if (editor.focus_name) { ImGui::SetKeyboardFocusHere(); editor.focus_name = false; }
+  ImGui::SetNextItemWidth(-FLT_MIN);
+  input_text_string("##custom_series_name", &editor.name, ImGuiInputTextFlags_AutoSelectAll);
+
+  ImGui::Spacing();
+  ImGui::SeparatorText("Global variables");
+  ImGui::SameLine();
+  if (ImGui::SmallButton("Help")) editor.open_help = true;
+  const float globals_h = std::max(96.0f, ImGui::GetContentRegionAvail().y * 0.28f);
+  if (input_text_multiline_string("##custom_series_globals", &editor.globals_code,
+                                  ImVec2(-FLT_MIN, globals_h), ImGuiInputTextFlags_AllowTabInput))
+    editor.preview_is_result = false;
+
+  ImGui::Spacing();
+  ImGui::TextUnformatted("def calc(time, value):");
+  const float func_h = std::max(180.0f, ImGui::GetContentRegionAvail().y - 16.0f);
+  if (input_text_multiline_string("##custom_series_function", &editor.function_code,
+                                  ImVec2(-FLT_MIN, func_h), ImGuiInputTextFlags_AllowTabInput))
+    editor.preview_is_result = false;
+}
+
+void draw_custom_series_editor(AppSession *session, UiState *state) {
+  CustomSeriesEditorState &editor = state->custom_series;
+  if (!editor.open) return;
+
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  TabUiState *tab_state = app_active_tab_state(state);
+  Pane *active_pane = (tab && tab_state && tab_state->active_pane_index >= 0
+                       && tab_state->active_pane_index < static_cast<int>(tab->panes.size()))
+    ? &tab->panes[static_cast<size_t>(tab_state->active_pane_index)] : nullptr;
+  if (editor.focus_name && active_pane && editor.name.empty())
+    editor.name = next_custom_curve_name(*active_pane);
+
+  draw_custom_series_help_popup(&editor);
+
+  if (ImGui::BeginTabBar("##custom_series_tabs")) {
+    if (ImGui::BeginTabItem("Single Function")) {
+      const float footer_height = ImGui::GetFrameHeightWithSpacing() * 2.0f + 10.0f;
+      if (ImGui::BeginChild("##custom_series_body",
+                            ImVec2(0.0f, std::max(1.0f, ImGui::GetContentRegionAvail().y - footer_height)), false)) {
+        if (ImGui::BeginChild("##custom_series_preview_child",
+                              ImVec2(0.0f, std::max(200.0f, ImGui::GetContentRegionAvail().y * 0.28f)), true))
+          draw_custom_series_preview(*session, &editor);
+        ImGui::EndChild();
+        ImGui::Spacing();
+
+        if (ImGui::BeginTable("##custom_series_editor_table", 2,
+                              ImGuiTableFlags_Resizable | ImGuiTableFlags_BordersInnerV | ImGuiTableFlags_SizingStretchProp,
+                              ImVec2(0.0f, std::max(1.0f, ImGui::GetContentRegionAvail().y)))) {
+          ImGui::TableSetupColumn("left", ImGuiTableColumnFlags_WidthFixed, 320.0f);
+          ImGui::TableSetupColumn("right", ImGuiTableColumnFlags_WidthStretch);
+          ImGui::TableNextColumn();
+          if (ImGui::BeginChild("##custom_series_left", ImVec2(0.0f, 0.0f), false))
+            draw_editor_source_panel(state, editor);
+          ImGui::EndChild();
+          ImGui::TableNextColumn();
+          if (ImGui::BeginChild("##custom_series_right", ImVec2(0.0f, 0.0f), false))
+            draw_editor_code_panel(editor, active_pane);
+          ImGui::EndChild();
+          ImGui::EndTable();
+        }
+      }
+      ImGui::EndChild();
+
+      ImGui::Spacing();
+      if (ImGui::Button("New", ImVec2(120.0f, 0.0f))) {
+        reset_custom_series_editor(&editor);
+        if (!state->selected_browser_path.empty()) editor.linked_source = state->selected_browser_path;
+        editor.open = true;
+        editor.focus_name = true;
+      }
+      ImGui::SameLine();
+      ImGui::BeginDisabled(!custom_series_template_ready(editor));
+      if (ImGui::Button("Preview Result", ImVec2(120.0f, 0.0f)))
+        preview_custom_series_editor(session, state);
+      ImGui::EndDisabled();
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_AllowWhenDisabled) && !custom_series_template_ready(editor)) {
+        if (editor.linked_source.empty()) ImGui::SetTooltip("Choose an input timeseries first.");
+        else ImGui::SetTooltip("%s", selected_custom_series_template(editor).requirement_text);
+      }
+      ImGui::SameLine();
+      if (ImGui::Button("Apply", ImVec2(120.0f, 0.0f))) apply_custom_series_editor(session, state);
+      ImGui::SameLine();
+      if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) { editor.open = false; editor.request_select = false; }
+      ImGui::EndTabItem();
+    }
+    ImGui::EndTabBar();
+  }
+}
diff --git a/openpilot/tools/jotpluggler/dbc.h b/openpilot/tools/jotpluggler/dbc.h
new file mode 100644
index 0000000000..d7c5461502
--- /dev/null
+++ b/openpilot/tools/jotpluggler/dbc.h
@@ -0,0 +1,400 @@
+#pragma once
+
+#include "common/util.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
+#include <fstream>
+#include <optional>
+#include <regex>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <tuple>
+#include <unordered_map>
+#include <vector>
+
+namespace dbc {
+
+
+struct ValueDescriptionEntry {
+  double value = 0.0;
+  std::string text;
+};
+
+struct Signal {
+  enum class Type {
+    Normal = 0,
+    Multiplexed,
+    Multiplexor,
+  };
+
+  Type type = Type::Normal;
+  std::string name;
+  int start_bit = 0;
+  int msb = 0;
+  int lsb = 0;
+  int size = 0;
+  double factor = 1.0;
+  double offset = 0.0;
+  double min = 0.0;
+  double max = 0.0;
+  bool is_signed = false;
+  bool is_little_endian = false;
+  std::string unit;
+  std::string comment;
+  std::string receiver_name;
+  int multiplex_value = 0;
+  int multiplexor_index = -1;
+  std::vector<ValueDescriptionEntry> value_descriptions;
+};
+
+struct Message {
+  uint32_t address = 0;
+  std::string name;
+  uint32_t size = 0;
+  std::string comment;
+  std::string transmitter;
+  std::vector<Signal> signals;
+  int multiplexor_index = -1;
+
+  const std::vector<Signal> &getSignals() const { return signals; }
+};
+
+class Database {
+public:
+  Database() = default;
+  explicit Database(const std::filesystem::path &path);
+  static Database fromContent(const std::string &content, const std::string &filename = "<dbc>");
+
+  const Message *message(uint32_t address) const;
+  const std::unordered_map<uint32_t, Message> &messages() const { return messages_; }
+  std::vector<std::string> enumNames(const Signal &signal) const;
+
+private:
+  void parse(const std::string &content, const std::string &filename);
+  void parseBo(const std::string &line, int line_number, Message **current_message);
+  void parseSg(const std::string &line, int line_number, Message *current_message);
+  void parseVal(const std::string &line, int line_number);
+  void parseCmBo(const std::string &line, int line_number);
+  void parseCmSg(const std::string &line, int line_number);
+  void finalize();
+
+  std::string filename_;
+  std::unordered_map<uint32_t, Message> messages_;
+};
+
+void updateMsbLsb(Signal *signal);
+double rawSignalValue(const Signal &signal, const uint8_t *data, size_t data_size);
+std::optional<double> signalValue(const Signal &signal, const Message &message, const uint8_t *data, size_t data_size);
+
+namespace {
+
+std::string unescape_dbc_string(std::string text) {
+  size_t pos = 0;
+  while ((pos = text.find("\\\"", pos)) != std::string::npos) {
+    text.replace(pos, 2, "\"");
+    ++pos;
+  }
+  return text;
+}
+
+int flip_bit_pos(int start_bit) {
+  return 8 * (start_bit / 8) + 7 - start_bit % 8;
+}
+
+std::string read_multiline_statement(std::istream &stream, std::string statement, int *line_number) {
+  static const std::regex statement_end(R"(\"\s*;\s*$)");
+  while (true) {
+    const std::string trimmed = util::strip(statement);
+    if (std::regex_search(trimmed, statement_end)) {
+      return trimmed;
+    }
+
+    std::string next_line;
+    if (!std::getline(stream, next_line)) {
+      return trimmed;
+    }
+    statement += "\n";
+    statement += next_line;
+    ++(*line_number);
+  }
+}
+
+}  // namespace
+
+inline void updateMsbLsb(Signal *signal) {
+  if (signal->is_little_endian) {
+    signal->lsb = signal->start_bit;
+    signal->msb = signal->start_bit + signal->size - 1;
+  } else {
+    signal->lsb = flip_bit_pos(flip_bit_pos(signal->start_bit) + signal->size - 1);
+    signal->msb = signal->start_bit;
+  }
+}
+
+inline double rawSignalValue(const Signal &signal, const uint8_t *data, size_t data_size) {
+  const int msb_byte = signal.msb / 8;
+  if (msb_byte >= static_cast<int>(data_size)) return 0.0;
+
+  const int lsb_byte = signal.lsb / 8;
+  uint64_t val = 0;
+  if (msb_byte == lsb_byte) {
+    val = (data[msb_byte] >> (signal.lsb & 7)) & ((1ULL << signal.size) - 1);
+  } else {
+    int bits = signal.size;
+    int i = msb_byte;
+    const int step = signal.is_little_endian ? -1 : 1;
+    while (i >= 0 && i < static_cast<int>(data_size) && bits > 0) {
+      const int msb = (i == msb_byte) ? signal.msb & 7 : 7;
+      const int lsb = (i == lsb_byte) ? signal.lsb & 7 : 0;
+      const int nbits = msb - lsb + 1;
+      val = (val << nbits) | ((data[i] >> lsb) & ((1ULL << nbits) - 1));
+      bits -= nbits;
+      i += step;
+    }
+  }
+
+  if (signal.is_signed && (val & (1ULL << (signal.size - 1)))) {
+    val |= ~((1ULL << signal.size) - 1);
+  }
+
+  return static_cast<int64_t>(val) * signal.factor + signal.offset;
+}
+
+[[noreturn]] inline void parse_error(const std::string &filename, int line_number, const std::string &message, const std::string &line) {
+  std::ostringstream out;
+  out << "[" << filename << ":" << line_number << "] " << message << ": " << line;
+  throw std::runtime_error(out.str());
+}
+
+inline Database::Database(const std::filesystem::path &path) {
+  const std::string content = util::read_file(path.string());
+  if (content.empty() && !std::filesystem::exists(path)) {
+    throw std::runtime_error("Failed to open DBC " + path.string());
+  }
+  parse(content, path.filename().string());
+}
+
+inline Database Database::fromContent(const std::string &content, const std::string &filename) {
+  Database db;
+  db.parse(content, filename);
+  return db;
+}
+
+inline const Message *Database::message(uint32_t address) const {
+  auto it = messages_.find(address);
+  return it == messages_.end() ? nullptr : &it->second;
+}
+
+inline std::vector<std::string> Database::enumNames(const Signal &signal) const {
+  if (signal.value_descriptions.empty()) return {};
+  int max_index = -1;
+  for (const auto &entry : signal.value_descriptions) {
+    const double rounded = std::round(entry.value);
+    if (std::abs(entry.value - rounded) > 1e-6 || rounded < 0.0 || rounded > 512.0) return {};
+    max_index = std::max(max_index, static_cast<int>(rounded));
+  }
+  if (max_index < 0) return {};
+  std::vector<std::string> names(static_cast<size_t>(max_index + 1));
+  for (const auto &entry : signal.value_descriptions) {
+    names[static_cast<size_t>(std::llround(entry.value))] = entry.text;
+  }
+  return names;
+}
+
+inline void Database::parse(const std::string &content, const std::string &filename) {
+  filename_ = filename;
+  messages_.clear();
+  std::istringstream stream(content);
+  std::string raw_line;
+  Message *current_message = nullptr;
+  int line_number = 0;
+  while (std::getline(stream, raw_line)) {
+    ++line_number;
+    std::string line = util::strip(raw_line);
+    if (line.empty()) continue;
+    if (util::starts_with(line, "BO_ ")) {
+      parseBo(line, line_number, &current_message);
+    } else if (util::starts_with(line, "SG_ ")) {
+      if (current_message == nullptr) {
+        parse_error(filename, line_number, "Signal without current message", line);
+      }
+      parseSg(line, line_number, current_message);
+    } else if (util::starts_with(line, "VAL_ ")) {
+      parseVal(line, line_number);
+    } else if (util::starts_with(line, "CM_ BO_")) {
+      parseCmBo(read_multiline_statement(stream, raw_line, &line_number), line_number);
+    } else if (util::starts_with(line, "CM_ SG_")) {
+      parseCmSg(read_multiline_statement(stream, raw_line, &line_number), line_number);
+    }
+  }
+  finalize();
+}
+
+inline void Database::parseBo(const std::string &line, int line_number, Message **current_message) {
+  static const std::regex pattern(R"(^BO_\s+(\w+)\s+(\w+)\s*:\s*(\w+)\s+(\w+)\s*$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, pattern)) {
+    parse_error("<dbc>", line_number, "Invalid BO_ line format", line);
+  }
+  uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  if (messages_.find(address) != messages_.end()) {
+    parse_error(filename_, line_number, "Duplicate message address", line);
+  }
+  Message &message = messages_[address];
+  message.address = address;
+  message.name = match[2].str();
+  message.size = static_cast<uint32_t>(std::stoul(match[3].str(), nullptr, 0));
+  message.transmitter = match[4].str();
+  message.signals.clear();
+  message.multiplexor_index = -1;
+  *current_message = &message;
+}
+
+inline void Database::parseSg(const std::string &line, int line_number, Message *current_message) {
+  static const std::regex multiplex_pattern(R"(^SG_\s+(\w+)\s+(\w+)\s*:\s*(\d+)\|(\d+)@(\d)([+-])\s+\(([0-9.+\-eE]+),([0-9.+\-eE]+)\)\s+\[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\]\s+\"(.*)\"\s+(.*)$)");
+  static const std::regex normal_pattern(R"(^SG_\s+(\w+)\s*:\s*(\d+)\|(\d+)@(\d)([+-])\s+\(([0-9.+\-eE]+),([0-9.+\-eE]+)\)\s+\[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\]\s+\"(.*)\"\s+(.*)$)");
+
+  std::smatch match;
+  Signal signal;
+  int offset = 0;
+  if (std::regex_match(line, match, normal_pattern)) {
+    offset = 0;
+  } else if (std::regex_match(line, match, multiplex_pattern)) {
+    offset = 1;
+    const std::string indicator = match[2].str();
+    if (indicator == "M") {
+      if (std::any_of(current_message->signals.begin(), current_message->signals.end(), [](const Signal &existing) {
+            return existing.type == Signal::Type::Multiplexor;
+          })) {
+        parse_error(filename_, line_number, "Multiple multiplexor", line);
+      }
+      signal.type = Signal::Type::Multiplexor;
+    } else if (!indicator.empty() && indicator.front() == 'm') {
+      signal.type = Signal::Type::Multiplexed;
+      signal.multiplex_value = std::stoi(indicator.substr(1));
+    } else {
+      parse_error("<dbc>", line_number, "Invalid multiplex indicator", line);
+    }
+  } else {
+    parse_error("<dbc>", line_number, "Invalid SG_ line format", line);
+  }
+
+  signal.name = match[1].str();
+  if (std::any_of(current_message->signals.begin(), current_message->signals.end(), [&](const Signal &existing) {
+        return existing.name == signal.name;
+      })) {
+    parse_error(filename_, line_number, "Duplicate signal name", line);
+  }
+  signal.start_bit = std::stoi(match[2 + offset].str());
+  signal.size = std::stoi(match[3 + offset].str());
+  signal.is_little_endian = match[4 + offset].str() == "1";
+  signal.is_signed = match[5 + offset].str() == "-";
+  signal.factor = std::stod(match[6 + offset].str());
+  signal.offset = std::stod(match[7 + offset].str());
+  signal.min = std::stod(match[8 + offset].str());
+  signal.max = std::stod(match[9 + offset].str());
+  signal.unit = match[10 + offset].str();
+  signal.receiver_name = util::strip(match[11 + offset].str());
+  updateMsbLsb(&signal);
+  current_message->signals.push_back(std::move(signal));
+}
+
+inline void Database::parseVal(const std::string &line, int line_number) {
+  static const std::regex prefix(R"(^VAL_\s+(\w+)\s+(\w+)\s+(.*);$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, prefix)) {
+    parse_error("<dbc>", line_number, "Invalid VAL_ line format", line);
+  }
+
+  const uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  auto msg_it = messages_.find(address);
+  if (msg_it == messages_.end()) {
+    return;
+  }
+  auto sig_it = std::find_if(msg_it->second.signals.begin(), msg_it->second.signals.end(), [&](const Signal &signal) {
+    return signal.name == match[2].str();
+  });
+  if (sig_it == msg_it->second.signals.end()) {
+    return;
+  }
+
+  static const std::regex entry_pattern(R"(([+-]?\d+(?:\.\d+)?)\s+\"((?:[^\"\\]|\\.)*)\")");
+  const std::string defs = match[3].str();
+  for (std::sregex_iterator it(defs.begin(), defs.end(), entry_pattern), end; it != end; ++it) {
+    sig_it->value_descriptions.push_back(ValueDescriptionEntry{
+      .value = std::stod((*it)[1].str()),
+      .text = (*it)[2].str(),
+    });
+  }
+}
+
+inline void Database::parseCmBo(const std::string &line, int line_number) {
+  static const std::regex pattern(R"(^CM_\s+BO_\s*(\w+)\s*\"((?:[^\"\\]|\\.|[\r\n])*)\"\s*;\s*$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, pattern)) {
+    parse_error(filename_, line_number, "Invalid message comment format", line);
+  }
+  const uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  auto it = messages_.find(address);
+  if (it != messages_.end()) {
+    it->second.comment = unescape_dbc_string(match[2].str());
+  }
+}
+
+inline void Database::parseCmSg(const std::string &line, int line_number) {
+  static const std::regex pattern(R"(^CM_\s+SG_\s*(\w+)\s*(\w+)\s*\"((?:[^\"\\]|\\.|[\r\n])*)\"\s*;\s*$)");
+  std::smatch match;
+  if (!std::regex_match(line, match, pattern)) {
+    parse_error(filename_, line_number, "Invalid signal comment format", line);
+  }
+
+  const uint32_t address = static_cast<uint32_t>(std::stoul(match[1].str(), nullptr, 0));
+  auto msg_it = messages_.find(address);
+  if (msg_it == messages_.end()) return;
+
+  auto sig_it = std::find_if(msg_it->second.signals.begin(), msg_it->second.signals.end(), [&](const Signal &signal) {
+    return signal.name == match[2].str();
+  });
+  if (sig_it != msg_it->second.signals.end()) {
+    sig_it->comment = unescape_dbc_string(match[3].str());
+  }
+}
+
+inline void Database::finalize() {
+  for (auto &[_, message] : messages_) {
+    std::sort(message.signals.begin(), message.signals.end(), [](const Signal &left, const Signal &right) {
+      return std::tie(right.type, left.multiplex_value, left.start_bit, left.name)
+           < std::tie(left.type, right.multiplex_value, right.start_bit, right.name);
+    });
+    message.multiplexor_index = -1;
+    for (size_t i = 0; i < message.signals.size(); ++i) {
+      if (message.signals[i].type == Signal::Type::Multiplexor) {
+        message.multiplexor_index = static_cast<int>(i);
+        break;
+      }
+    }
+    for (Signal &signal : message.signals) {
+      signal.multiplexor_index = signal.type == Signal::Type::Multiplexed ? message.multiplexor_index : -1;
+      if (signal.type == Signal::Type::Multiplexed && signal.multiplexor_index < 0) {
+        signal.type = Signal::Type::Normal;
+        signal.multiplex_value = 0;
+      }
+    }
+  }
+}
+
+inline std::optional<double> signalValue(const Signal &signal, const Message &message, const uint8_t *data, size_t data_size) {
+  if (signal.multiplexor_index >= 0) {
+    const Signal &multiplexor = message.signals[static_cast<size_t>(signal.multiplexor_index)];
+    const double mux_value = rawSignalValue(multiplexor, data, data_size);
+    if (std::llround(mux_value) != signal.multiplex_value) return std::nullopt;
+  }
+  return rawSignalValue(signal, data, data_size);
+}
+
+}  // namespace dbc
diff --git a/openpilot/tools/jotpluggler/generate_event_extractors.py b/openpilot/tools/jotpluggler/generate_event_extractors.py
new file mode 100644
index 0000000000..a424ebc237
--- /dev/null
+++ b/openpilot/tools/jotpluggler/generate_event_extractors.py
@@ -0,0 +1,404 @@
+import sys
+import capnp
+from pathlib import Path
+
+NO_DISCRIMINANT = 65535
+SCALAR_KINDS = {
+  "bool": "Bool",
+  "int8": "Int",
+  "int16": "Int",
+  "int32": "Int",
+  "int64": "Int",
+  "uint8": "UInt",
+  "uint16": "UInt",
+  "uint32": "UInt",
+  "uint64": "UInt",
+  "float32": "Float",
+  "float64": "Float",
+  "enum": "Enum",
+}
+NESTED_TYPE_KINDS = {"struct", "list"}
+IGNORED_TYPE_KINDS = {"void", "text", "data", "interface", "anyPointer"}
+
+
+def cxx_string(value):
+  return '"' + value.replace("\\", "\\\\").replace('"', '\\"') + '"'
+
+
+def accessor(prefix, name):
+  return prefix + name[:1].upper() + name[1:]
+
+
+def field_type(field):
+  if field.proto.which() == "group":
+    return "struct"
+  return field.proto.slot.type.which()
+
+
+def field_type_proto(field):
+  return field.proto.slot.type if field.proto.which() == "slot" else None
+
+
+def scalar_kind(type_proto):
+  if type_proto is None:
+    return None
+  return SCALAR_KINDS.get(type_proto.which())
+
+
+def enum_names(schema):
+  if schema is None:
+    return []
+  names_by_ordinal = schema.enumerants
+  if not names_by_ordinal:
+    return []
+  max_ordinal = max(names_by_ordinal.values())
+  out = [""] * (max_ordinal + 1)
+  for name, ordinal in names_by_ordinal.items():
+    out[ordinal] = name
+  return out
+
+
+class Generator:
+  def __init__(self, event_schema):
+    self.event_schema = event_schema
+    self.fixed_paths = []
+    self.event_base_slots = {}
+    self.static_enums = []
+    self.tmp_index = 0
+    self.lines = []
+    self.emits_memo = {}
+
+  def tmp(self, prefix):
+    self.tmp_index += 1
+    return f"{prefix}_{self.tmp_index}"
+
+  def add_fixed_path(self, path):
+    slot = len(self.fixed_paths)
+    self.fixed_paths.append(path)
+    return slot
+
+  def emit(self, indent, text=""):
+    self.lines.append(" " * indent + text)
+
+  def scalar_double_expr(self, value_expr, kind):
+    if kind == "Bool":
+      return f"({value_expr} ? 1.0 : 0.0)"
+    if kind == "Enum":
+      return f"static_cast<double>(static_cast<uint16_t>({value_expr}))"
+    return f"static_cast<double>({value_expr})"
+
+  def emit_enum_capture(self, indent, path_expr, names):
+    if not names:
+      return
+    names_expr = "{" + ", ".join(cxx_string(name) for name in names) + "}"
+    self.emit(indent, f"capture_static_enum_info({path_expr}, {names_expr}, series);")
+
+  def emit_node(self, indent, type_kind, type_proto, schema, expr, path, path_expr, dynamic_path):
+    if not self.node_emits(type_kind, type_proto, schema):
+      return
+    kind = scalar_kind(type_proto)
+    if kind is not None:
+      double_expr = self.scalar_double_expr(expr, kind)
+      if dynamic_path:
+        if kind == "Enum":
+          self.emit_enum_capture(indent, path_expr, enum_names(schema))
+        self.emit(indent, f"append_dynamic_scalar_point({path_expr}, tm, {double_expr}, series);")
+      else:
+        slot = self.add_fixed_path(path)
+        names = enum_names(schema) if kind == "Enum" else []
+        if names:
+          enum_index = len(self.static_enums)
+          self.static_enums.append(names)
+          self.emit(indent, f"append_fixed_enum_point({slot}, {enum_index}, tm, {double_expr}, series);")
+        else:
+          self.emit(indent, f"append_fixed_scalar_point(&series->fixed_series[{slot}], tm, {double_expr});")
+      return
+
+    if type_kind == "struct":
+      self.emit_struct(indent, schema, expr, path, path_expr, dynamic_path)
+      return
+
+    if type_kind == "list":
+      self.emit_list(indent, type_proto, schema, expr, path, path_expr, dynamic_path)
+
+  def emit_field(self, indent, struct_schema, reader_expr, field_name, base_path, base_path_expr, dynamic_path):
+    field = struct_schema.fields[field_name]
+    proto = field.proto
+    type_kind = field_type(field)
+    type_proto = field_type_proto(field)
+    kind = scalar_kind(type_proto)
+    value_schema = field.schema if kind == "Enum" or type_kind in NESTED_TYPE_KINDS else None
+    if not self.node_emits(type_kind, type_proto, value_schema):
+      return
+
+    field_path = f"{base_path}/{field_name}"
+    field_path_expr = None
+    if dynamic_path:
+      field_path_var = self.tmp("path")
+      self.emit(indent, f"const std::string {field_path_var} = {base_path_expr} + {cxx_string('/' + field_name)};")
+      field_path_expr = field_path_var
+
+    get_call = f"{reader_expr}.{accessor('get', field_name)}()"
+    has_call = f"{reader_expr}.{accessor('has', field_name)}()"
+    conditions = []
+    if proto.discriminantValue != NO_DISCRIMINANT:
+      conditions.append(f"{reader_expr}.which() == static_cast<decltype({reader_expr}.which())>({proto.discriminantValue})")
+    if proto.which() == "slot" and type_kind in NESTED_TYPE_KINDS:
+      conditions.append(has_call)
+
+    if conditions:
+      self.emit(indent, f"if ({' && '.join(conditions)}) {{")
+      indent += 2
+
+    # Scalar getters are only consumed once. Emitting them directly avoids
+    # thousands of single-use locals in the generated extractor.
+    value_expr = get_call
+    if kind is None:
+      value_expr = self.tmp("value")
+      self.emit(indent, f"const auto {value_expr} = {get_call};")
+    self.emit_node(indent, type_kind, type_proto, value_schema, value_expr, field_path, field_path_expr, dynamic_path)
+
+    if conditions:
+      indent -= 2
+      self.emit(indent, "}")
+
+  def emit_struct(self, indent, schema, reader_expr, path, path_expr, dynamic_path):
+    if schema is None:
+      return
+    for field_name in schema.fieldnames:
+      self.emit_field(indent, schema, reader_expr, field_name, path, path_expr, dynamic_path)
+
+  def emit_list(self, indent, type_proto, schema, list_expr, path, path_expr, dynamic_path):
+    elem_type = type_proto.list.elementType
+    elem_kind = elem_type.which()
+    if elem_kind in IGNORED_TYPE_KINDS:
+      return
+
+    base_path_var = path_expr
+    if base_path_var is None:
+      base_path_var = self.tmp("base_path")
+      self.emit(indent, f"const std::string {base_path_var} = {cxx_string(path)};")
+
+    elem_scalar = scalar_kind(elem_type)
+    if elem_scalar is not None:
+      self.emit(indent, f"if ({list_expr}.size() <= 16) {{")
+      index_var = self.tmp("i")
+      self.emit(indent + 2, f"for (uint {index_var} = 0; {index_var} < {list_expr}.size(); ++{index_var}) {{")
+      item_series = self.tmp("item_series")
+      self.emit(indent + 4, f"RouteSeries *{item_series} = ensure_list_scalar_series({base_path_var}, {index_var}, series);")
+      if elem_scalar == "Enum":
+        self.emit_enum_capture(indent + 4, f"{item_series}->path", enum_names(schema.elementType))
+      self.emit(indent + 4, f"append_fixed_scalar_point({item_series}, tm, {self.scalar_double_expr(f'{list_expr}[{index_var}]', elem_scalar)});")
+      self.emit(indent + 2, "}")
+      self.emit(indent, "}")
+      return
+
+    if elem_kind in {"struct", "list"}:
+      index_var = self.tmp("i")
+      self.emit(indent, f"for (uint {index_var} = 0; {index_var} < {list_expr}.size(); ++{index_var}) {{")
+      item_path = self.tmp("item_path")
+      self.emit(indent + 2, f"const std::string {item_path} = {base_path_var} + \"/\" + std::to_string({index_var});")
+      item = self.tmp("item")
+      self.emit(indent + 2, f"const auto {item} = {list_expr}[{index_var}];")
+      if elem_kind == "struct":
+        self.emit_struct(indent + 2, schema.elementType, item, path, item_path, True)
+      else:
+        self.emit_list(indent + 2, elem_type, schema.elementType, item, path, item_path, True)
+      self.emit(indent, "}")
+
+  def node_emits(self, type_kind, type_proto, schema, seen=frozenset()):
+    if scalar_kind(type_proto) is not None:
+      return True
+    if type_kind == "struct":
+      if schema is None:
+        return False
+      schema_id = int(schema.node.id)
+      if schema_id in seen:
+        return False
+      if schema_id in self.emits_memo:
+        return self.emits_memo[schema_id]
+      next_seen = seen | {schema_id}
+      for field_name in schema.fieldnames:
+        field = schema.fields[field_name]
+        ft = field_type(field)
+        ftp = field_type_proto(field)
+        fkind = scalar_kind(ftp)
+        if ft in IGNORED_TYPE_KINDS:
+          continue
+        fschema = field.schema if fkind == "Enum" or ft in NESTED_TYPE_KINDS else None
+        if self.node_emits(ft, ftp, fschema, next_seen):
+          self.emits_memo[schema_id] = True
+          return True
+      self.emits_memo[schema_id] = False
+      return False
+    if type_kind == "list":
+      if type_proto is None or schema is None:
+        return False
+      elem_type = type_proto.list.elementType
+      elem_kind = elem_type.which()
+      if elem_kind in IGNORED_TYPE_KINDS:
+        return False
+      if scalar_kind(elem_type) is not None:
+        return True
+      if elem_kind == "struct":
+        return self.node_emits("struct", None, schema.elementType, seen)
+      if elem_kind == "list":
+        return self.node_emits("list", elem_type, schema.elementType, seen)
+    return False
+
+  def emit_can_special(self, indent, service_name):
+    service_kind = "CanServiceKind::Can" if service_name == "can" else "CanServiceKind::Sendcan"
+    self.emit(indent, f"const CanServiceKind can_service = {service_kind};")
+    self.emit(indent, f"for (const auto &msg : event.{accessor('get', service_name)}()) {{")
+    self.emit(indent + 2, "append_can_frame(can_service, static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), msg.getDeprecated().getBusTime(), msg.getDat(), tm, series);")  # noqa: E501
+    self.emit(indent + 2, "if (skip_raw_can) {")
+    self.emit(indent + 4, "const auto dat = msg.getDat();")
+    self.emit(indent + 4, f"decode_can_frame(can_dbc, {cxx_string(service_name)}, static_cast<uint8_t>(msg.getSrc()), msg.getAddress(), dat.begin(), dat.size(), tm, series);")  # noqa: E501
+    self.emit(indent + 2, "}")
+    self.emit(indent, "}")
+    self.emit(indent, "if (skip_raw_can) {")
+    self.emit(indent + 2, "return;")
+    self.emit(indent, "}")
+
+  def emit_event_reader(self, field_name):
+    field = self.event_schema.fields[field_name]
+    proto = field.proto
+    type_kind = field_type(field)
+    type_proto = field_type_proto(field)
+    kind = scalar_kind(type_proto)
+    schema = field.schema if kind == "Enum" or type_kind in NESTED_TYPE_KINDS else None
+    valid_slot = self.add_fixed_path(f"/{field_name}/valid")
+    self.add_fixed_path(f"/{field_name}/logMonoTime")
+    self.add_fixed_path(f"/{field_name}/t")
+    self.event_base_slots[proto.discriminantValue] = valid_slot
+
+    emits_payload = self.node_emits(type_kind, type_proto, schema)
+    if field_name not in {"can", "sendcan"} and not emits_payload:
+      return None
+
+    reader_name = f"append_event_{proto.discriminantValue}"
+    needs_can = field_name in {"can", "sendcan"}
+    header_index = len(self.lines)
+    self.emit(0, "")
+    if needs_can:
+      self.emit_can_special(2, field_name)
+    if emits_payload:
+      payload = self.tmp("payload")
+      self.emit(2, f"const auto {payload} = event.{accessor('get', field_name)}();")
+      self.emit_node(2, type_kind, type_proto, schema, payload, f"/{field_name}", None, False)
+    self.emit(0, "}")
+    self.emit(0, "")
+    if needs_can:
+      signature = "const cereal::Event::Reader &event, const dbc::Database *can_dbc, bool skip_raw_can, double tm, SeriesAccumulator *series"
+    else:
+      signature = "const cereal::Event::Reader &event, double tm, SeriesAccumulator *series"
+    self.lines[header_index] = f"__attribute__((noinline)) void {reader_name}({signature}) {{"
+    return reader_name, needs_can
+
+  def generate(self):
+    self.lines = []
+    self.emit(0, "// Generated by openpilot/tools/jotpluggler/generate_event_extractors.py; do not edit.")
+    self.emit(0, "")
+    self.emit(0, "const std::vector<std::string> &static_event_fixed_paths() {")
+    self.emit(2, "static const std::vector<std::string> paths = {")
+    path_insert_at = len(self.lines)
+    self.emit(2, "};")
+    self.emit(2, "return paths;")
+    self.emit(0, "}")
+    self.emit(0, "")
+    self.emit(0, "void capture_static_enum_info(const std::string &path, std::initializer_list<std::string_view> names, SeriesAccumulator *series) {")
+    self.emit(2, "if (series->enum_info.find(path) != series->enum_info.end()) {")
+    self.emit(4, "return;")
+    self.emit(2, "}")
+    self.emit(2, "EnumInfo info;")
+    self.emit(2, "info.names.reserve(names.size());")
+    self.emit(2, "for (std::string_view name : names) {")
+    self.emit(4, "info.names.emplace_back(name);")
+    self.emit(2, "}")
+    self.emit(2, "if (!info.names.empty()) {")
+    self.emit(4, "series->enum_info.emplace(path, std::move(info));")
+    self.emit(2, "}")
+    self.emit(0, "}")
+    self.emit(0, "")
+    self.emit(0, "__attribute__((noinline)) void append_fixed_enum_point(size_t series_slot, size_t enum_index, double tm, double value, SeriesAccumulator *series);")  # noqa: E501
+    self.emit(0, "")
+
+    self.emit(0, "// Keep each event payload behind its own optimizer boundary. Combining the")
+    self.emit(0, "// whole schema into one function creates much more code and runs slower.")
+    event_readers = {}
+    for field_name in self.event_schema.union_fields:
+      event_readers[field_name] = self.emit_event_reader(field_name)
+
+    self.emit(0, "static const std::initializer_list<std::string_view> static_event_enum_names[] = {")
+    for names in self.static_enums:
+      names_expr = "{" + ", ".join(cxx_string(name) for name in names) + "}"
+      self.emit(2, f"{names_expr},")
+    self.emit(0, "};")
+    self.emit(0, "")
+    self.emit(0, "__attribute__((noinline)) void append_fixed_enum_point(size_t series_slot, size_t enum_index, double tm, double value, SeriesAccumulator *series) {")  # noqa: E501
+    self.emit(2, "RouteSeries *fixed_series = &series->fixed_series[series_slot];")
+    self.emit(2, "capture_static_enum_info(fixed_series->path, static_event_enum_names[enum_index], series);")
+    self.emit(2, "fixed_series->times.push_back(tm);")
+    self.emit(2, "fixed_series->values.push_back(value);")
+    self.emit(0, "}")
+    self.emit(0, "")
+
+    self.emit(0, "bool append_event_static_reader(cereal::Event::Which which, const cereal::Event::Reader &event, const dbc::Database *can_dbc, bool skip_raw_can, double time_offset, SeriesAccumulator *series) {")  # noqa: E501
+    self.emit(2, "const auto log_mono_time = event.getLogMonoTime();")
+    self.emit(2, "const double tm = static_cast<double>(log_mono_time) / 1.0e9 - time_offset;")
+
+    invalid_slot = "static_cast<size_t>(-1)"
+    max_discriminant = max(self.event_base_slots)
+    base_slots = [self.event_base_slots.get(i, invalid_slot) for i in range(max_discriminant + 1)]
+    self.emit(2, "static constexpr size_t event_base_slots[] = {")
+    for slot in base_slots:
+      self.emit(4, f"{slot},")
+    self.emit(2, "};")
+    self.emit(2, "const size_t event_index = static_cast<size_t>(which);")
+    self.emit(2, "if (event_index >= sizeof(event_base_slots) / sizeof(event_base_slots[0])) {")
+    self.emit(4, "return false;")
+    self.emit(2, "}")
+    self.emit(2, "const size_t base_slot = event_base_slots[event_index];")
+    self.emit(2, f"if (base_slot == {invalid_slot}) {{")
+    self.emit(4, "return false;")
+    self.emit(2, "}")
+    self.emit(2, "RouteSeries *base_series = &series->fixed_series[base_slot];")
+    self.emit(2, "base_series[0].times.push_back(tm);")
+    self.emit(2, "base_series[0].values.push_back(event.getValid() ? 1.0 : 0.0);")
+    self.emit(2, "base_series[1].times.push_back(tm);")
+    self.emit(2, "base_series[1].values.push_back(static_cast<double>(log_mono_time));")
+    self.emit(2, "base_series[2].times.push_back(tm);")
+    self.emit(2, "base_series[2].values.push_back(tm);")
+    self.emit(2, "switch (which) {")
+    for field_name in self.event_schema.union_fields:
+      field = self.event_schema.fields[field_name]
+      self.emit(4, f"case static_cast<cereal::Event::Which>({field.proto.discriminantValue}):")
+      reader = event_readers[field_name]
+      if reader is not None:
+        if reader[1]:
+          self.emit(6, f"{reader[0]}(event, can_dbc, skip_raw_can, tm, series);")
+        else:
+          self.emit(6, f"{reader[0]}(event, tm, series);")
+      self.emit(6, "return true;")
+    self.emit(4, "default:")
+    self.emit(6, "return false;")
+    self.emit(2, "}")
+    self.emit(0, "}")
+
+    path_lines = ["    " + cxx_string(path) + "," for path in self.fixed_paths]
+    self.lines[path_insert_at:path_insert_at] = path_lines
+    return "\n".join(self.lines) + "\n"
+
+
+if __name__ == "__main__":
+  if len(sys.argv) != 3:
+    print(f"usage: {sys.argv[0]} <repo-root> <output>", file=sys.stderr)
+    sys.exit(2)
+
+  repo_root = Path(sys.argv[1]).resolve()
+  output = Path(sys.argv[2])
+  capnp.remove_import_hook()
+  log = capnp.load(str(repo_root / "openpilot" / "cereal" / "log.capnp"), imports=[str(repo_root / "opendbc_repo" / "opendbc" / "car")])
+  generated = Generator(log.Event.schema).generate()
+  output.parent.mkdir(parents=True, exist_ok=True)
+  output.write_text(generated)
diff --git a/openpilot/tools/jotpluggler/generated_dbcs/.gitignore b/openpilot/tools/jotpluggler/generated_dbcs/.gitignore
new file mode 100644
index 0000000000..d6b7ef32c8
--- /dev/null
+++ b/openpilot/tools/jotpluggler/generated_dbcs/.gitignore
@@ -0,0 +1,2 @@
+*
+!.gitignore
diff --git a/openpilot/tools/jotpluggler/icons.cc b/openpilot/tools/jotpluggler/icons.cc
new file mode 100644
index 0000000000..29edabad4e
--- /dev/null
+++ b/openpilot/tools/jotpluggler/icons.cc
@@ -0,0 +1,24 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include <cmath>
+
+void icon_add_font(float size, bool merge, const ImFont *base_font) {
+  const std::filesystem::path ttf = BOOTSTRAP_ICONS_TTF;
+  ImGuiIO &io = ImGui::GetIO();
+  ImFontConfig config;
+  config.MergeMode = merge;
+  config.GlyphMinAdvanceX = size;
+  if (base_font != nullptr) {
+    ImFontBaked *baked = const_cast<ImFont *>(base_font)->GetFontBaked(size);
+    const float base_center = baked != nullptr ? (baked->Ascent + baked->Descent) * 0.5f : size * 0.5f;
+    config.GlyphOffset.y = std::round(size * 0.5f - base_center);
+  }
+  static const ImWchar ranges[] = {0xF000, 0xF8FF, 0};
+  io.Fonts->AddFontFromFileTTF(ttf.c_str(), size, &config, ranges);
+}
+
+bool icon_menu_item(const char *glyph, const char *label, const char *shortcut, bool selected, bool enabled) {
+  assert(glyph != nullptr && glyph[0] != '\0');
+  return ImGui::MenuItem(util::string_format("%s  %s", glyph, label).c_str(), shortcut, selected, enabled);
+}
diff --git a/openpilot/tools/jotpluggler/internal.h b/openpilot/tools/jotpluggler/internal.h
new file mode 100644
index 0000000000..7b898f0461
--- /dev/null
+++ b/openpilot/tools/jotpluggler/internal.h
@@ -0,0 +1,165 @@
+#pragma once
+
+#include "tools/jotpluggler/common.h"
+#include "tools/jotpluggler/map.h"
+
+#include <filesystem>
+#include <functional>
+#include <optional>
+
+struct GLFWwindow;
+
+enum class PaneDropZone {
+  Center,
+  Left,
+  Right,
+  Top,
+  Bottom,
+};
+
+enum class PaneMenuActionKind {
+  None,
+  OpenAxisLimits,
+  OpenCustomSeries,
+  SplitLeft,
+  SplitRight,
+  SplitTop,
+  SplitBottom,
+  ResetView,
+  Clear,
+  Close,
+};
+
+struct PaneMenuAction {
+  PaneMenuActionKind kind = PaneMenuActionKind::None;
+  int pane_index = -1;
+};
+
+struct PaneCurveDragPayload {
+  int tab_index = -1;
+  int pane_index = -1;
+  int curve_index = -1;
+};
+
+struct PaneDropAction {
+  PaneDropZone zone = PaneDropZone::Center;
+  int target_pane_index = -1;
+  bool from_browser = false;
+  std::vector<std::string> browser_paths;
+  std::string special_item_id;
+  PaneCurveDragPayload curve_ref;
+};
+
+inline constexpr float SIDEBAR_WIDTH = 320.0f;
+inline constexpr float SIDEBAR_MIN_WIDTH = 220.0f;
+inline constexpr float SIDEBAR_MAX_WIDTH = 520.0f;
+inline constexpr float TIMELINE_BAR_HEIGHT = 14.0f;
+inline constexpr float STATUS_BAR_HEIGHT = 52.0f;
+inline constexpr double MIN_HORIZONTAL_ZOOM_SECONDS = 2.0;
+inline constexpr double PLOT_Y_PADDING_FRACTION = 0.05;
+
+struct UiMetrics {
+  float width = 0.0f;
+  float height = 0.0f;
+  float top_offset = 0.0f;
+  float sidebar_width = SIDEBAR_WIDTH;
+  float content_x = 0.0f;
+  float content_y = 0.0f;
+  float content_w = 0.0f;
+  float content_h = 0.0f;
+  float status_bar_y = 0.0f;
+};
+
+std::filesystem::path resolve_layout_path(const std::string &layout_arg);
+std::filesystem::path autosave_path_for_layout(const std::filesystem::path &layout_path);
+std::vector<std::string> available_layout_names();
+
+SketchLayout make_empty_layout();
+void cancel_rename_tab(UiState *state);
+void sync_ui_state(UiState *state, const SketchLayout &layout);
+void sync_route_buffers(UiState *state, const AppSession &session);
+void sync_stream_buffers(UiState *state, const AppSession &session);
+void sync_layout_buffers(UiState *state, const AppSession &session);
+void mark_all_docks_dirty(UiState *state);
+void clear_layout_autosave(const AppSession &session);
+bool autosave_layout(AppSession *session, UiState *state);
+bool apply_axis_limits_editor(AppSession *session, UiState *state);
+void open_axis_limits_editor(const AppSession &session, UiState *state, int pane_index);
+void persist_shared_range_to_tab(WorkspaceTab *tab, const UiState &state);
+void clear_pane_vertical_limits(Pane *pane);
+
+void refresh_replaced_layout_ui(AppSession *session, UiState *state, bool mark_docks);
+void start_new_layout(AppSession *session, UiState *state, const std::string &status_text = "New untitled layout");
+void apply_dbc_override_change(AppSession *session, UiState *state, const std::string &dbc_override);
+
+void app_push_bold_font();
+void app_pop_bold_font();
+void draw_vertical_splitter(const char *id, float height, float min_left, float max_left, float *left_width);
+void draw_right_splitter(const char *id, float height, float min_right, float max_right, float *right_width);
+bool draw_horizontal_splitter(const char *id, float width, float min_top, float max_top, float *top_height);
+void draw_payload_bytes(std::string_view data, const std::string *prev_data = nullptr);
+void draw_payload_preview_boxes(const char *id, std::string_view data, const std::string *prev_data, float max_width);
+void draw_signal_sparkline(const AppSession &session,
+                           const UiState &state,
+                           std::string_view signal_path,
+                           bool selected,
+                           ImVec2 size = ImVec2(0.0f, 24.0f));
+ImU32 mix_color(ImU32 a, ImU32 b, float t);
+void draw_empty_panel(const char *title, const char *message);
+
+UiMetrics compute_ui_metrics(const ImVec2 &size, float top_offset, float sidebar_width);
+void draw_sidebar(AppSession *session, const UiMetrics &ui, UiState *state, bool show_camera_feed);
+void draw_workspace(AppSession *session, const UiMetrics &ui, UiState *state);
+void draw_pane_windows(AppSession *session, UiState *state);
+
+// plot.cc
+void draw_plot(const AppSession &session, Pane *pane, UiState *state);
+bool draw_pane_close_button_overlay();
+void draw_pane_frame_overlay();
+std::optional<PaneMenuAction> draw_pane_context_menu(const WorkspaceTab &tab, int pane_index);
+bool curve_has_samples(const AppSession &session, const Curve &curve);
+bool curve_has_local_samples(const Curve &curve);
+std::string app_curve_display_name(const Curve &curve);
+bool mark_layout_dirty(AppSession *session, UiState *state);
+
+const RouteSeries *app_find_route_series(const AppSession &session, const std::string &path);
+void sync_camera_feeds(AppSession *session);
+void apply_route_data(AppSession *session, UiState *state, RouteData route_data);
+bool apply_undo(AppSession *session, UiState *state);
+bool apply_redo(AppSession *session, UiState *state);
+bool infer_stream_follow_state(const UiState &state, const AppSession &session);
+void ensure_shared_range(UiState *state, const AppSession &session);
+void clamp_shared_range(UiState *state, const AppSession &session);
+void reset_shared_range(UiState *state, const AppSession &session);
+void update_follow_range(UiState *state, const AppSession &session);
+void advance_playback(UiState *state, const AppSession &session);
+void step_tracker(UiState *state, double direction);
+std::string dbc_combo_label(const AppSession &session);
+const char *log_selector_name(LogSelector selector);
+const char *log_selector_description(LogSelector selector);
+std::string format_cache_bytes(uint64_t bytes);
+MapCacheStats directory_cache_stats(const std::filesystem::path &root);
+float draw_main_menu_bar(AppSession *session, UiState *state);
+
+bool reset_layout(AppSession *session, UiState *state);
+bool reload_layout(AppSession *session, UiState *state, const std::string &layout_arg);
+bool save_layout(AppSession *session, UiState *state, const std::string &layout_path);
+void rebuild_session_route_data(AppSession *session, UiState *state,
+                                const RouteLoadProgressCallback &progress = {});
+void stop_stream_session(AppSession *session, UiState *state, bool preserve_data = true);
+bool start_stream_session(AppSession *session,
+                          UiState *state,
+                          const StreamSourceConfig &source,
+                          double buffer_seconds,
+                          bool preserve_existing_data = false);
+void start_async_route_load(AppSession *session, UiState *state);
+void poll_async_route_load(AppSession *session, UiState *state);
+bool reload_session(AppSession *session, UiState *state, const std::string &route_name, const std::string &data_dir);
+void draw_popups(AppSession *session, UiState *state);
+
+void draw_status_bar(const AppSession &session, const UiMetrics &ui, UiState *state);
+void draw_sidebar_resizer(const UiMetrics &ui, UiState *state);
+
+void apply_stream_batch(AppSession *session, UiState *state, StreamExtractBatch batch);
+
+void render_frame(GLFWwindow *window, AppSession *session, UiState *state, const std::filesystem::path *capture_path);
diff --git a/openpilot/tools/jotpluggler/layout.cc b/openpilot/tools/jotpluggler/layout.cc
new file mode 100644
index 0000000000..6bc3a6168a
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layout.cc
@@ -0,0 +1,704 @@
+#include "tools/jotpluggler/internal.h"
+#include "common/hardware/hw.h"
+
+#include <unistd.h>
+
+namespace fs = std::filesystem;
+
+namespace {
+
+enum class ModalAction {
+  None,
+  Primary,
+  Secondary,
+};
+
+struct FindSignalMatch {
+  const std::string *path = nullptr;
+  int score = 0;
+};
+
+struct DbcEditorSource {
+  fs::path path;
+  DbcEditorState::SourceKind kind = DbcEditorState::SourceKind::None;
+};
+
+StreamSourceConfig stream_source_config_from_ui(const UiState &state) {
+  StreamSourceConfig source;
+  source.kind = state.stream_source_kind;
+  source.address = util::strip(state.stream_address_buffer);
+  if (source.kind == StreamSourceKind::CerealLocal) {
+    source.address = "127.0.0.1";
+  } else {
+    source.address = normalize_stream_address(std::move(source.address));
+  }
+  return source;
+}
+
+void open_queued_popup(bool &flag, const char *name) {
+  if (flag) {
+    ImGui::OpenPopup(name);
+    flag = false;
+  }
+}
+
+ModalAction draw_modal_action_row(const char *primary_label,
+                                  const char *secondary_label = "Cancel",
+                                  float width = 120.0f) {
+  if (ImGui::Button(primary_label, ImVec2(width, 0.0f))) {
+    return ModalAction::Primary;
+  }
+  ImGui::SameLine();
+  if (ImGui::Button(secondary_label, ImVec2(width, 0.0f))) {
+    return ModalAction::Secondary;
+  }
+  return ModalAction::None;
+}
+
+std::vector<FindSignalMatch> find_signal_matches(const AppSession &session, std::string_view query) {
+  std::vector<FindSignalMatch> matches;
+  if (query.empty()) {
+    return matches;
+  }
+  const std::string needle = lowercase_copy(query);
+  for (const std::string &path : session.route_data.paths) {
+    const std::string hay = lowercase_copy(path);
+    const size_t pos = hay.find(needle);
+    if (pos == std::string::npos) {
+      continue;
+    }
+    const size_t slash = path.find_last_of('/');
+    const std::string_view label = slash == std::string::npos ? std::string_view(path) : std::string_view(path).substr(slash + 1);
+    int score = static_cast<int>(pos * 8 + path.size());
+    if (lowercase_copy(label) == needle) score -= 60;
+    if (util::starts_with(hay, needle)) score -= 30;
+    matches.push_back({.path = &path, .score = score});
+  }
+  std::sort(matches.begin(), matches.end(), [](const FindSignalMatch &a, const FindSignalMatch &b) {
+    return std::tie(a.score, *a.path) < std::tie(b.score, *b.path);
+  });
+  if (matches.size() > 200) {
+    matches.resize(200);
+  }
+  return matches;
+}
+
+bool open_find_signal_result(UiState *state, const std::string &path) {
+  state->selected_browser_paths = {path};
+  state->selected_browser_path = path;
+  state->browser_selection_anchor = path;
+  state->status_text = "Selected signal " + path;
+  return true;
+}
+
+void draw_open_route_popup(AppSession *session, UiState *state) {
+  if (!app_begin_popup_modal("Open Route")) {
+    return;
+  }
+  ImGui::TextUnformatted("Load a route into the current layout.");
+  ImGui::Separator();
+  input_text_string("Route", &state->route_buffer);
+  input_text_string("Data Dir", &state->data_dir_buffer);
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Load")) {
+    case ModalAction::Primary:
+      reload_session(session, state, state->route_buffer, state->data_dir_buffer);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::Secondary:
+      sync_route_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_stream_popup(AppSession *session, UiState *state) {
+  if (!app_begin_popup_modal("Live Stream")) {
+    return;
+  }
+
+  ImGui::TextUnformatted("Connect to a live source.");
+  ImGui::Separator();
+  if (ImGui::RadioButton("Local (MSGQ)", state->stream_source_kind == StreamSourceKind::CerealLocal)) {
+    state->stream_source_kind = StreamSourceKind::CerealLocal;
+  }
+  if (ImGui::RadioButton("Remote (ZMQ)", state->stream_source_kind == StreamSourceKind::CerealRemote)) {
+    state->stream_source_kind = StreamSourceKind::CerealRemote;
+  }
+
+  if (state->stream_source_kind == StreamSourceKind::CerealRemote) {
+    input_text_string("Address", &state->stream_address_buffer);
+  }
+  ImGui::InputDouble("Buffer (seconds)", &state->stream_buffer_seconds, 0.0, 0.0, "%.0f");
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Connect")) {
+    case ModalAction::Primary: {
+      const StreamSourceConfig source = stream_source_config_from_ui(*state);
+      if (start_stream_session(session, state, source, state->stream_buffer_seconds, false)) {
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    }
+    case ModalAction::Secondary:
+      sync_stream_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_load_layout_popup(AppSession *session, UiState *state) {
+  if (!app_begin_popup_modal("Load Layout")) {
+    return;
+  }
+  ImGui::TextUnformatted("Load a JotPlugger JSON layout.");
+  ImGui::Separator();
+  input_text_string("Layout", &state->load_layout_buffer);
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Load")) {
+    case ModalAction::Primary:
+      if (reload_layout(session, state, state->load_layout_buffer)) {
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    case ModalAction::Secondary:
+      sync_layout_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_save_layout_popup(AppSession *session, UiState *state) {
+  if (!app_begin_popup_modal("Save Layout")) {
+    return;
+  }
+  ImGui::TextUnformatted("Save the current workspace as a JotPlugger JSON layout.");
+  ImGui::Separator();
+  input_text_string("Layout", &state->save_layout_buffer);
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Save")) {
+    case ModalAction::Primary:
+      if (save_layout(session, state, state->save_layout_buffer)) {
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    case ModalAction::Secondary:
+      sync_layout_buffers(state, *session);
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_preferences_popup(AppSession *session, UiState *state) {
+  if (!app_begin_popup_modal("Preferences")) {
+    return;
+  }
+  if (session->map_data) {
+    const MapCacheStats map_cache = session->map_data->cacheStats();
+    const MapCacheStats download_cache = directory_cache_stats(Path::download_cache_root());
+    ImGui::TextUnformatted("Map");
+    ImGui::Separator();
+    ImGui::Text("Map cache: %s in %zu file%s",
+                format_cache_bytes(map_cache.bytes).c_str(),
+                map_cache.files,
+                map_cache.files == 1 ? "" : "s");
+    if (ImGui::Button("Clear Map Cache", ImVec2(120.0f, 0.0f))) {
+      session->map_data->clearCache();
+      state->status_text = "Cleared map cache";
+    }
+    ImGui::Spacing();
+    ImGui::TextUnformatted("comma Download Cache");
+    ImGui::Separator();
+    ImGui::Text("Download cache: %s in %zu file%s",
+                format_cache_bytes(download_cache.bytes).c_str(),
+                download_cache.files,
+                download_cache.files == 1 ? "" : "s");
+    ImGui::TextDisabled("%s", Path::download_cache_root().c_str());
+    ImGui::Spacing();
+  }
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+void draw_find_signal_popup(AppSession *session, UiState *state) {
+  if (!app_begin_popup_modal("Find Signal")) {
+    return;
+  }
+  ImGui::TextUnformatted("Search decoded signals across the loaded route.");
+  ImGui::Separator();
+  ImGui::SetNextItemWidth(560.0f);
+  input_text_with_hint_string("##find_signal_query", "Search signal path or name...", &state->find_signal_buffer);
+  if (ImGui::IsWindowAppearing()) {
+    ImGui::SetKeyboardFocusHere(-1);
+  }
+  const std::vector<FindSignalMatch> matches = find_signal_matches(*session, state->find_signal_buffer);
+  ImGui::Spacing();
+  ImGui::TextDisabled("%zu match%s", matches.size(), matches.size() == 1 ? "" : "es");
+  if (ImGui::BeginChild("##find_signal_results", ImVec2(760.0f, 360.0f), true)) {
+    for (const FindSignalMatch &match : matches) {
+      const std::string &path = *match.path;
+      const size_t slash = path.find_last_of('/');
+      const std::string_view label = slash == std::string::npos ? std::string_view(path) : std::string_view(path).substr(slash + 1);
+      if (ImGui::Selectable((std::string(label) + "##" + path).c_str(), false, ImGuiSelectableFlags_SpanAllColumns)) {
+        if (open_find_signal_result(state, path)) {
+          ImGui::CloseCurrentPopup();
+        }
+      }
+      ImGui::SameLine(280.0f);
+      ImGui::TextDisabled("%s", path.c_str());
+    }
+  }
+  ImGui::EndChild();
+  ImGui::Spacing();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+std::string default_dbc_template() {
+  return "VERSION \"\"\n\nNS_ :\nBS_:\nBU_: XXX\n";
+}
+
+DbcEditorSource resolve_dbc_editor_source(const std::string &dbc_name) {
+  const fs::path generated_dbc_dir = repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs";
+  const std::array<DbcEditorSource, 2> candidates = {{
+    {.path = repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Opendbc},
+    {.path = generated_dbc_dir / (dbc_name + ".dbc"), .kind = DbcEditorState::SourceKind::Generated},
+  }};
+  for (const DbcEditorSource &candidate : candidates) {
+    if (fs::exists(candidate.path)) {
+      return candidate;
+    }
+  }
+  return {};
+}
+
+void load_dbc_editor_state(const AppSession &session, UiState *state) {
+  DbcEditorState &editor = state->dbc_editor;
+  const std::string dbc_name = !session.dbc_override.empty() ? session.dbc_override : session.route_data.dbc_name;
+  editor.source_name = dbc_name.empty() ? "untitled" : dbc_name;
+  editor.source_path.clear();
+  editor.source_kind = DbcEditorState::SourceKind::None;
+  if (dbc_name.empty()) {
+    editor.save_name = "custom_can";
+    editor.text = default_dbc_template();
+  } else {
+    const DbcEditorSource source = resolve_dbc_editor_source(dbc_name);
+    editor.source_kind = source.kind;
+    editor.source_path = source.path;
+    editor.text = source.path.empty() ? default_dbc_template() : read_file_or_throw(source.path);
+    editor.save_name = source.kind == DbcEditorState::SourceKind::Generated ? dbc_name : dbc_name + "_edited";
+  }
+  editor.loaded = true;
+}
+
+bool ensure_dbc_editor_loaded(const AppSession &session, UiState *state) {
+  if (!state->dbc_editor.loaded) {
+    try {
+      load_dbc_editor_state(session, state);
+    } catch (const std::exception &err) {
+      state->error_text = err.what();
+      state->open_error_popup = true;
+      return false;
+    }
+  }
+  return true;
+}
+
+bool save_dbc_editor_contents(AppSession *session, UiState *state) {
+  DbcEditorState &editor = state->dbc_editor;
+  editor.save_name = util::strip(editor.save_name);
+  if (editor.save_name.empty()) {
+    state->error_text = "DBC name cannot be empty";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.source_kind == DbcEditorState::SourceKind::Opendbc && editor.save_name == editor.source_name) {
+    state->error_text = "Save edited opendbc files under a new name";
+    state->open_error_popup = true;
+    return false;
+  }
+  try {
+    dbc::Database::fromContent(editor.text, editor.save_name + ".dbc");
+    const fs::path generated_dbc_dir = repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs";
+    fs::create_directories(generated_dbc_dir);
+    const fs::path output = generated_dbc_dir / (editor.save_name + ".dbc");
+    write_file_or_throw(output, editor.text);
+    apply_dbc_override_change(session, state, editor.save_name);
+    editor.source_name = editor.save_name;
+    editor.source_path = output;
+    editor.source_kind = DbcEditorState::SourceKind::Generated;
+    editor.loaded = false;
+    state->status_text = "Saved DBC " + editor.save_name;
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    return false;
+  }
+}
+
+void draw_dbc_editor_popup(AppSession *session, UiState *state) {
+  if (!app_begin_popup_modal("DBC Editor")) {
+    return;
+  }
+  DbcEditorState &editor = state->dbc_editor;
+  if (!ensure_dbc_editor_loaded(*session, state)) {
+    ImGui::CloseCurrentPopup();
+    ImGui::EndPopup();
+    return;
+  }
+  ImGui::TextUnformatted("Edit DBC text and save it into generated_dbcs.");
+  ImGui::Separator();
+  ImGui::SetNextItemWidth(260.0f);
+  input_text_string("DBC Name", &editor.save_name, ImGuiInputTextFlags_AutoSelectAll);
+  if (!editor.source_path.empty()) {
+    ImGui::TextDisabled("%s", editor.source_path.string().c_str());
+  } else {
+    ImGui::TextDisabled("New in-memory DBC");
+  }
+  ImGui::Spacing();
+  input_text_multiline_string("##dbc_editor_text", &editor.text, ImVec2(920.0f, 520.0f), ImGuiInputTextFlags_AllowTabInput);
+  ImGui::Spacing();
+  if (ImGui::Button("Apply + Save", ImVec2(140.0f, 0.0f))) {
+    if (save_dbc_editor_contents(session, state)) {
+      ImGui::CloseCurrentPopup();
+    }
+  }
+  ImGui::SameLine();
+  if (ImGui::Button("Reload Source", ImVec2(140.0f, 0.0f))) {
+    editor.loaded = false;
+  }
+  ImGui::SameLine();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    editor.loaded = false;
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+void draw_axis_limits_popup(AppSession *session, UiState *state) {
+  if (!app_begin_popup_modal("Edit Axis Limits")) {
+    return;
+  }
+  const WorkspaceTab *tab = app_active_tab(session->layout, *state);
+  const bool valid_pane = tab != nullptr
+    && state->axis_limits.pane_index >= 0
+    && state->axis_limits.pane_index < static_cast<int>(tab->panes.size());
+  if (!valid_pane) {
+    ImGui::TextWrapped("The selected pane is no longer available.");
+    ImGui::Spacing();
+    if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+      state->axis_limits.pane_index = -1;
+      ImGui::CloseCurrentPopup();
+    }
+    ImGui::EndPopup();
+    return;
+  }
+
+  ImGui::TextUnformatted("X range applies to the active tab. Y limits apply to the selected pane.");
+  ImGui::Separator();
+  ImGui::TextUnformatted("Horizontal");
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("X Min", &state->axis_limits.x_min, 0.0, 0.0, "%.3f");
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("X Max", &state->axis_limits.x_max, 0.0, 0.0, "%.3f");
+  ImGui::Spacing();
+  ImGui::TextUnformatted("Vertical");
+  ImGui::Checkbox("Use Y Min", &state->axis_limits.y_min_enabled);
+  ImGui::BeginDisabled(!state->axis_limits.y_min_enabled);
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("Y Min", &state->axis_limits.y_min, 0.0, 0.0, "%.6g");
+  ImGui::EndDisabled();
+  ImGui::Checkbox("Use Y Max", &state->axis_limits.y_max_enabled);
+  ImGui::BeginDisabled(!state->axis_limits.y_max_enabled);
+  ImGui::SetNextItemWidth(180.0f);
+  ImGui::InputDouble("Y Max", &state->axis_limits.y_max, 0.0, 0.0, "%.6g");
+  ImGui::EndDisabled();
+  ImGui::Spacing();
+  switch (draw_modal_action_row("Apply")) {
+    case ModalAction::Primary:
+      if (apply_axis_limits_editor(session, state)) {
+        state->axis_limits.pane_index = -1;
+        ImGui::CloseCurrentPopup();
+      }
+      break;
+    case ModalAction::Secondary:
+      state->axis_limits.pane_index = -1;
+      ImGui::CloseCurrentPopup();
+      break;
+    case ModalAction::None:
+      break;
+  }
+  ImGui::EndPopup();
+}
+
+void draw_error_popup(UiState *state) {
+  if (state->open_error_popup) {
+    ImGui::OpenPopup("Error");
+    state->open_error_popup = false;
+  }
+  if (!app_begin_popup_modal("Error")) {
+    return;
+  }
+  ImGui::TextWrapped("%s", state->error_text.c_str());
+  ImGui::Spacing();
+  if (ImGui::Button("Close", ImVec2(120.0f, 0.0f))) {
+    ImGui::CloseCurrentPopup();
+  }
+  ImGui::EndPopup();
+}
+
+}  // namespace
+
+bool reset_layout(AppSession *session, UiState *state) {
+  try {
+    if (session->layout_path.empty()) {
+      start_new_layout(session, state, "Reset layout");
+      return true;
+    }
+    clear_layout_autosave(*session);
+    session->layout = load_sketch_layout(session->layout_path);
+    state->layout_dirty = false;
+    session->autosave_path = autosave_path_for_layout(session->layout_path);
+    state->undo.reset(session->layout);
+    refresh_replaced_layout_ui(session, state, false);
+    reset_shared_range(state, *session);
+    state->status_text = "Reset layout";
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to reset layout";
+    return false;
+  }
+}
+
+bool reload_layout(AppSession *session, UiState *state, const std::string &layout_arg) {
+  try {
+    const bool preserve_shared_range = session->route_data.has_time_range && state->has_shared_range;
+    const double preserved_x_min = state->x_view_min;
+    const double preserved_x_max = state->x_view_max;
+    const fs::path layout_path = resolve_layout_path(layout_arg);
+    session->autosave_path = autosave_path_for_layout(layout_path);
+    const bool load_draft = fs::exists(session->autosave_path);
+    session->layout = load_sketch_layout(load_draft ? session->autosave_path : layout_path);
+    session->layout_path = layout_path;
+    state->layout_dirty = load_draft;
+    state->undo.reset(session->layout);
+    refresh_replaced_layout_ui(session, state, true);
+    if (preserve_shared_range) {
+      state->has_shared_range = true;
+      state->x_view_min = preserved_x_min;
+      state->x_view_max = preserved_x_max;
+      clamp_shared_range(state, *session);
+    } else {
+      reset_shared_range(state, *session);
+    }
+    state->status_text = std::string(load_draft ? "Loaded layout draft " : "Loaded layout ")
+      + layout_path.filename().string();
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to load layout";
+    return false;
+  }
+}
+
+bool save_layout(AppSession *session, UiState *state, const std::string &layout_path) {
+  try {
+    if (layout_path.empty()) throw std::runtime_error("Layout path is empty");
+    session->layout.current_tab_index = state->active_tab_index;
+    const fs::path previous_autosave = session->autosave_path;
+    const fs::path output = fs::absolute(fs::path(layout_path));
+    save_layout_json(session->layout, output);
+    session->layout_path = output;
+    session->autosave_path = autosave_path_for_layout(output);
+    if (!previous_autosave.empty() && previous_autosave != session->autosave_path && fs::exists(previous_autosave)) {
+      fs::remove(previous_autosave);
+    }
+    clear_layout_autosave(*session);
+    state->layout_dirty = false;
+    sync_layout_buffers(state, *session);
+    state->status_text = "Saved layout " + output.filename().string();
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to save layout";
+    return false;
+  }
+}
+
+void rebuild_session_route_data(AppSession *session, UiState *state,
+                                const RouteLoadProgressCallback &progress) {
+  apply_route_data(session, state, load_route_data(session->route_name, session->data_dir, session->dbc_override, progress));
+}
+
+void stop_stream_session(AppSession *session, UiState *state, bool preserve_data) {
+  if (preserve_data && session->stream_poller && session->data_mode == SessionDataMode::Stream) {
+    session->stream_poller->setPaused(true);
+  } else if (session->stream_poller) {
+    session->stream_poller->stop();
+  }
+  session->stream_paused = preserve_data && session->data_mode == SessionDataMode::Stream;
+  if (!preserve_data) {
+    session->stream_time_offset.reset();
+    apply_route_data(session, state, RouteData{});
+  }
+  sync_stream_buffers(state, *session);
+}
+
+bool start_stream_session(AppSession *session,
+                          UiState *state,
+                          const StreamSourceConfig &source,
+                          double buffer_seconds,
+                          bool preserve_existing_data) {
+  try {
+    if (session->route_loader) {
+      session->route_loader.reset();
+    }
+    session->data_mode = SessionDataMode::Stream;
+    session->route_id = {};
+    session->route_name.clear();
+    session->data_dir.clear();
+    session->stream_source = source;
+    if (session->stream_source.kind == StreamSourceKind::CerealLocal) {
+      session->stream_source.address = "127.0.0.1";
+    }
+    session->stream_buffer_seconds = std::max(1.0, buffer_seconds);
+    session->next_stream_custom_refresh_time = 0.0;
+    session->stream_paused = false;
+    if (preserve_existing_data && session->stream_poller) {
+      StreamPollSnapshot snapshot = session->stream_poller->snapshot();
+      if (snapshot.active) {
+        session->stream_poller->setPaused(false);
+        sync_route_buffers(state, *session);
+        sync_stream_buffers(state, *session);
+        state->follow_latest = true;
+        state->playback_playing = false;
+        state->status_text = "Resumed stream " + stream_source_target_label(session->stream_source);
+        return true;
+      }
+    }
+    if (!preserve_existing_data) {
+      session->stream_time_offset.reset();
+      apply_route_data(session, state, RouteData{});
+    }
+    if (!session->stream_poller) {
+      session->stream_poller = std::make_unique<StreamPoller>();
+    }
+    session->stream_poller->start(session->stream_source,
+                                  session->stream_buffer_seconds,
+                                  session->dbc_override,
+                                  session->stream_time_offset);
+    sync_route_buffers(state, *session);
+    sync_stream_buffers(state, *session);
+    state->follow_latest = true;
+    state->playback_playing = false;
+    state->status_text = preserve_existing_data ? "Resumed stream " + stream_source_target_label(session->stream_source)
+                                                : "Streaming from " + stream_source_target_label(session->stream_source);
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to start stream";
+    return false;
+  }
+}
+
+void start_async_route_load(AppSession *session, UiState *state) {
+  if (!session->route_loader) {
+    return;
+  }
+  apply_route_data(session, state, RouteData{});
+  session->route_loader->start(session->route_name, session->data_dir, session->dbc_override);
+  state->status_text = session->route_name.empty() ? "Ready" : "Loading route " + session->route_name;
+}
+
+void poll_async_route_load(AppSession *session, UiState *state) {
+  if (!session->route_loader) {
+    return;
+  }
+  RouteData loaded_route;
+  std::string error_text;
+  if (!session->route_loader->consume(&loaded_route, &error_text)) {
+    return;
+  }
+  if (!error_text.empty()) {
+    state->error_text = error_text;
+    state->open_error_popup = true;
+    state->status_text = "Failed to load route";
+    return;
+  }
+  apply_route_data(session, state, std::move(loaded_route));
+  state->status_text = session->route_name.empty() ? "Ready" : "Loaded route " + session->route_name;
+}
+
+bool reload_session(AppSession *session, UiState *state, const std::string &route_name, const std::string &data_dir) {
+  try {
+    stop_stream_session(session, state, false);
+    session->data_mode = SessionDataMode::Route;
+    session->route_name = route_name;
+    session->route_id = parse_route_identifier(route_name);
+    session->data_dir = data_dir;
+    if (session->async_route_loading) {
+      if (!session->route_loader) {
+        session->route_loader = std::make_unique<AsyncRouteLoader>(::isatty(STDERR_FILENO) != 0);
+      }
+      start_async_route_load(session, state);
+    } else {
+      rebuild_session_route_data(session, state);
+      state->status_text = "Loaded route " + route_name;
+    }
+    sync_route_buffers(state, *session);
+    return true;
+  } catch (const std::exception &err) {
+    state->error_text = err.what();
+    state->open_error_popup = true;
+    state->status_text = "Failed to load route";
+    return false;
+  }
+}
+
+void draw_popups(AppSession *session, UiState *state) {
+  open_queued_popup(state->open_open_route, "Open Route");
+  if (state->open_stream) {
+    sync_stream_buffers(state, *session);
+  }
+  open_queued_popup(state->open_stream, "Live Stream");
+  if (state->open_load_layout || state->open_save_layout) {
+    sync_layout_buffers(state, *session);
+  }
+  open_queued_popup(state->open_load_layout, "Load Layout");
+  open_queued_popup(state->open_save_layout, "Save Layout");
+  open_queued_popup(state->open_preferences, "Preferences");
+  open_queued_popup(state->dbc_editor.open, "DBC Editor");
+  open_queued_popup(state->open_find_signal, "Find Signal");
+  open_queued_popup(state->axis_limits.open, "Edit Axis Limits");
+
+  draw_open_route_popup(session, state);
+  draw_stream_popup(session, state);
+  draw_load_layout_popup(session, state);
+  draw_save_layout_popup(session, state);
+  draw_preferences_popup(session, state);
+  draw_dbc_editor_popup(session, state);
+  draw_find_signal_popup(session, state);
+  draw_axis_limits_popup(session, state);
+  draw_error_popup(state);
+}
diff --git a/openpilot/tools/jotpluggler/layout_io.cc b/openpilot/tools/jotpluggler/layout_io.cc
new file mode 100644
index 0000000000..24e3a4b51f
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layout_io.cc
@@ -0,0 +1,130 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include <cmath>
+#include <iomanip>
+#include <sstream>
+#include <stdexcept>
+
+#include "json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+std::string curve_color_hex(const std::array<uint8_t, 3> &color) {
+  std::ostringstream hex;
+  hex << "#" << std::hex << std::setfill('0')
+      << std::setw(2) << static_cast<int>(color[0])
+      << std::setw(2) << static_cast<int>(color[1])
+      << std::setw(2) << static_cast<int>(color[2]);
+  return hex.str();
+}
+
+json11::Json curve_to_json(const Curve &curve) {
+  json11::Json::object obj = {
+    {"name", curve.name},
+    {"color", curve_color_hex(curve.color)},
+  };
+  if (curve.derivative) {
+    obj["transform"] = "derivative";
+    if (curve.derivative_dt > 0.0) {
+      obj["derivative_dt"] = curve.derivative_dt;
+    }
+  } else if (std::abs(curve.value_scale - 1.0) > 1.0e-9 || std::abs(curve.value_offset) > 1.0e-9) {
+    obj["transform"] = "scale";
+    obj["scale"] = curve.value_scale;
+    obj["offset"] = curve.value_offset;
+  }
+  if (curve.custom_python.has_value()) {
+    json11::Json::array additional_sources;
+    for (const std::string &path : curve.custom_python->additional_sources) {
+      additional_sources.push_back(path);
+    }
+    obj["custom_python"] = json11::Json::object{
+      {"linked_source", curve.custom_python->linked_source},
+      {"additional_sources", additional_sources},
+      {"globals_code", curve.custom_python->globals_code},
+      {"function_code", curve.custom_python->function_code},
+    };
+  }
+  return obj;
+}
+
+json11::Json workspace_node_to_json(const WorkspaceNode &node, const WorkspaceTab &tab) {
+  if (node.is_pane) {
+    if (node.pane_index < 0 || node.pane_index >= static_cast<int>(tab.panes.size())) {
+      return nullptr;
+    }
+    const Pane &pane = tab.panes[static_cast<size_t>(node.pane_index)];
+    json11::Json::object obj = {
+      {"title", pane.title.empty() ? std::string("...") : pane.title},
+    };
+    if (pane.kind == PaneKind::Map) {
+      obj["kind"] = "map";
+    } else if (pane.kind == PaneKind::Thumbnail) {
+      obj["kind"] = "thumbnail";
+    } else if (pane.kind == PaneKind::Camera) {
+      obj["kind"] = "camera";
+      obj["camera_view"] = camera_view_spec(pane.camera_view).layout_name;
+    }
+    if (pane.range.valid) {
+      obj["range"] = json11::Json::object{
+        {"left", pane.range.left}, {"right", pane.range.right},
+        {"top", pane.range.top}, {"bottom", pane.range.bottom},
+      };
+    }
+    if (pane.range.has_y_limit_min || pane.range.has_y_limit_max) {
+      json11::Json::object limits;
+      if (pane.range.has_y_limit_min) {
+        limits["min"] = pane.range.y_limit_min;
+      }
+      if (pane.range.has_y_limit_max) {
+        limits["max"] = pane.range.y_limit_max;
+      }
+      obj["y_limits"] = limits;
+    }
+    json11::Json::array curves;
+    for (const Curve &curve : pane.curves) {
+      if (!curve.runtime_only) {
+        curves.push_back(curve_to_json(curve));
+      }
+    }
+    obj["curves"] = curves;
+    return obj;
+  }
+
+  if (node.children.empty()) return nullptr;
+  json11::Json::array sizes;
+  for (size_t i = 0; i < node.children.size(); ++i) {
+    sizes.push_back(i < node.sizes.size() ? static_cast<double>(node.sizes[i])
+                                          : 1.0 / static_cast<double>(node.children.size()));
+  }
+  json11::Json::array children;
+  for (const WorkspaceNode &child : node.children) {
+    children.push_back(workspace_node_to_json(child, tab));
+  }
+  return json11::Json::object{
+    {"split", node.orientation == SplitOrientation::Horizontal ? "horizontal" : "vertical"},
+    {"sizes", sizes},
+    {"children", children},
+  };
+}
+
+}  // namespace
+
+void save_layout_json(const SketchLayout &layout, const fs::path &path) {
+  ensure_parent_dir(path);
+  json11::Json::array tabs;
+  for (const WorkspaceTab &tab : layout.tabs) {
+    tabs.push_back(json11::Json::object{
+      {"name", tab.tab_name},
+      {"root", workspace_node_to_json(tab.root, tab)},
+    });
+  }
+  const json11::Json root = json11::Json::object{
+    {"current_tab_index", std::clamp(layout.current_tab_index, 0, std::max(0, static_cast<int>(layout.tabs.size()) - 1))},
+    {"tabs", tabs},
+  };
+  write_file_or_throw(path, root.dump() + "\n");
+}
diff --git a/openpilot/tools/jotpluggler/layouts/.gitignore b/openpilot/tools/jotpluggler/layouts/.gitignore
new file mode 100644
index 0000000000..a965bb777d
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/.gitignore
@@ -0,0 +1 @@
+.jotpluggler_autosave/
diff --git a/openpilot/tools/jotpluggler/layouts/CAN-bus-debug.json b/openpilot/tools/jotpluggler/layouts/CAN-bus-debug.json
new file mode 100644
index 0000000000..496993a1fd
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/CAN-bus-debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.33362,0.33276,0.33362],"children":[{"title":"CAN RX","range":{"left":0.0,"right":60.526742,"top":1101.875,"bottom":-26.875},"curves":[{"name":"/pandaStates/0/canState0/totalRxCnt","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState1/totalRxCnt","color":"#9467bd","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState2/totalRxCnt","color":"#ff7f0e","transform":"derivative","derivative_dt":1.0}]},{"title":"CAN TX","range":{"left":0.0,"right":60.526742,"top":455.1,"bottom":-11.1},"curves":[{"name":"/pandaStates/0/canState0/totalTxCnt","color":"#17becf","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState1/totalTxCnt","color":"#bcbd22","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState2/totalTxCnt","color":"#1f77b4","transform":"derivative","derivative_dt":1.0}]},{"title":"CAN errors","range":{"left":0.0,"right":60.526742,"top":2515.35,"bottom":-61.35},"curves":[{"name":"/pandaStates/0/canState0/totalErrorCnt","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState1/totalErrorCnt","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/pandaStates/0/canState2/totalErrorCnt","color":"#1ac938","transform":"derivative","derivative_dt":1.0}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/camera-timings.json b/openpilot/tools/jotpluggler/layouts/camera-timings.json
new file mode 100644
index 0000000000..643a7bc43a
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/camera-timings.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"SOF / EOF (encodeIdx)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/cabinEncodeIdx/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/narrowRoadEncodeIdx/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/cabinEncodeIdx/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/narrowRoadEncodeIdx/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampEof","color":"#17becf","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}},{"name":"model timings","root":{"split":"vertical","sizes":[0.5,0.5],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.016865,"bottom":0.015143},"curves":[{"name":"/modelV2/modelExecutionTime","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/modelV2/frameDropPerc","color":"#f14cc1"}]}]}},{"name":"sensor info","root":{"split":"vertical","sizes":[1.0],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/cabinCameraState/sensor","color":"#bcbd22"},{"name":"/narrowRoadCameraState/sensor","color":"#1f77b4"},{"name":"/wideRoadCameraState/sensor","color":"#d62728"}]}]}},{"name":"SOF / EOF (cameraState)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/cabinCameraState/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/narrowRoadCameraState/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/cabinCameraState/timestampEof","color":"#ff7f0e","transform":"derivative","derivative_dt":1.0},{"name":"/narrowRoadCameraState/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/cameras-and-map.json b/openpilot/tools/jotpluggler/layouts/cameras-and-map.json
new file mode 100644
index 0000000000..7e120fcd5c
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/cameras-and-map.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"curves": [], "kind": "map", "title": "Map"}, {"camera_view": "road", "curves": [], "kind": "camera", "title": "Road Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}, {"children": [{"camera_view": "wide_road", "curves": [], "kind": "camera", "title": "Wide Road Camera"}, {"camera_view": "driver", "curves": [], "kind": "camera", "title": "Cabin Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}], "sizes": [0.5, 0.5], "split": "vertical"}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/can-states.json b/openpilot/tools/jotpluggler/layouts/can-states.json
new file mode 100644
index 0000000000..6f04940a33
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/can-states.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.500381,0.499619],"children":[{"split":"horizontal","sizes":[0.5,0.5],"children":[{"title":"...","range":{"left":0.0,"right":632.799721,"top":771630.925,"bottom":-17755.925},"curves":[{"name":"/pandaStates/0/canState0/totalRxCnt","color":"#1f77b4"},{"name":"/pandaStates/0/canState1/totalRxCnt","color":"#d62728"},{"name":"/pandaStates/0/canState2/totalRxCnt","color":"#1ac938"}]},{"title":"...","range":{"left":0.0,"right":632.799721,"top":760365.5,"bottom":-18545.5},"curves":[{"name":"/pandaStates/0/canState0/totalTxCnt","color":"#ff7f0e"},{"name":"/pandaStates/0/canState1/totalTxCnt","color":"#f14cc1"},{"name":"/pandaStates/0/canState2/totalTxCnt","color":"#9467bd"}]}]},{"split":"horizontal","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"...","range":{"left":0.0,"right":632.799721,"top":55.35,"bottom":-1.35},"curves":[{"name":"/pandaStates/0/canState0/totalRxLostCnt","color":"#ff7f0e"},{"name":"/pandaStates/0/canState1/totalRxLostCnt","color":"#f14cc1"},{"name":"/pandaStates/0/canState2/totalRxLostCnt","color":"#9467bd"}]},{"title":"...","range":{"left":0.0,"right":632.799721,"top":2.05,"bottom":-0.05},"curves":[{"name":"/pandaStates/0/canState0/totalTxLostCnt","color":"#17becf"},{"name":"/pandaStates/0/canState1/totalTxLostCnt","color":"#bcbd22"},{"name":"/pandaStates/0/canState2/totalTxLostCnt","color":"#1f77b4"}]},{"title":"...","range":{"left":0.0,"right":632.799721,"top":0.1,"bottom":-0.1},"curves":[{"name":"/pandaStates/0/canState0/busOffCnt","color":"#17becf"},{"name":"/pandaStates/0/canState1/busOffCnt","color":"#1ac938"},{"name":"/pandaStates/0/canState2/busOffCnt","color":"#bcbd22"}]}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/controls_mismatch_debug.json b/openpilot/tools/jotpluggler/layouts/controls_mismatch_debug.json
new file mode 100644
index 0000000000..16912cd684
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/controls_mismatch_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.2,0.2,0.2,0.2,0.2],"children":[{"title":"...","range":{"left":0.018309,"right":59.674401,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/enabled","color":"#1f77b4"},{"name":"/pandaStates/0/controlsAllowed","color":"#d62728"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":27.087398,"bottom":-0.905168},"curves":[{"name":"/carState/cumLagMs","color":"#9467bd"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":1.025,"bottom":-0.025},"curves":[{"name":"/pandaStates/0/safetyRxInvalid","color":"#1f77b4"},{"name":"/pandaStates/0/safetyRxChecksInvalid","color":"#e801ce"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":158.85,"bottom":-2.85},"curves":[{"name":"/pandaStates/0/safetyTxBlocked","color":"#d62728"}]},{"title":"...","range":{"left":0.018309,"right":59.674401,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carState/gasPressed","color":"#1ac938"},{"name":"/carState/brakePressed","color":"#ff7f0e"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json b/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json
new file mode 100644
index 0000000000..3197f40ad8
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"camera_view": "driver", "curves": [], "kind": "camera", "title": "Cabin Camera"}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/alertLevel"}], "title": "..."}], "sizes": [0.5, 0.5], "split": "vertical"}, {"children": [{"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/activePolicy"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/faceDetected"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/eye"}, {"color": "#dc5234", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/phone"}, {"color": "#43a047", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/pose"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/awarenessPercent"}], "title": "..."}], "sizes": [0.25, 0.25, 0.25, 0.25], "split": "vertical"}], "sizes": [0.5, 0.5], "split": "horizontal"}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/gps.json b/openpilot/tools/jotpluggler/layouts/gps.json
new file mode 100644
index 0000000000..fdabbfd381
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/gps.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.24977,0.250689,0.24977,0.24977],"children":[{"title":"...","range":{"left":0.0,"right":1678.753571,"top":1.025,"bottom":-0.025},"curves":[{"name":"/gpsLocationExternal/hasFix","color":"#1f77b4"}]},{"title":"...","range":{"left":0.0,"right":1678.753571,"top":17.425,"bottom":-0.425},"curves":[{"name":"/gpsLocationExternal/satelliteCount","color":"#d62728"}]},{"title":"...","range":{"left":0.0,"right":1678.753571,"top":3.0,"bottom":0.0},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#1ac938"}],"y_limits":{"min":0.0,"max":3.0}},{"title":"...","range":{"left":0.0,"right":1678.753571,"top":766.374004,"bottom":-17.262},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#1ac938"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/gps_vs_llk.json b/openpilot/tools/jotpluggler/layouts/gps_vs_llk.json
new file mode 100644
index 0000000000..878e0a57a8
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/gps_vs_llk.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.333805,0.33239,0.333805],"children":[{"title":"...","range":{"left":76.646983,"right":196.811937,"top":32.070386,"bottom":0.368228},"curves":[{"name":"haversine distance [m]","color":"#1f77b4","custom_python":{"linked_source":"/gpsLocationExternal/latitude","additional_sources":["/gpsLocationExternal/longitude","/liveLocationKalmanDEPRECATED/positionGeodetic/value/0","/liveLocationKalmanDEPRECATED/positionGeodetic/value/1"],"globals_code":"R = 6378.137 # Radius of earth in KM","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global R\n    # Compute the Haversine distance between\n    # two points defined by latitude and longitude.\n    # Return the distance in meters\n    lat1, lon1 = value, v1\n    lat2, lon2 = v2, v3\n    dLat = (lat2 - lat1) * np.pi / 180\n    dLon = (lon2 - lon1) * np.pi / 180\n    a = np.sin(dLat/2) * np.sin(dLat/2) +\n    np.cos(lat1 * np.pi / 180) * np.cos(lat2 * np.pi / 180) *\n    np.sin(dLon/2) * np.sin(dLon/2)\n    c = 2 * np.arctan2(np.sqrt(a), np.sqrt(1-a))\n    d = R * c\n    distance = d * 1000 # meters\n    return distance\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":76.646983,"right":196.811937,"top":12.637299,"bottom":-0.259115},"curves":[{"name":"/carState/vEgo","color":"#17becf"},{"name":"/gpsLocationExternal/speed","color":"#bcbd22"}]},{"split":"horizontal","sizes":[0.500516,0.499484],"children":[{"title":"...","range":{"left":76.646983,"right":196.811937,"top":0.1,"bottom":-0.1},"curves":[{"name":"/liveLocationKalmanDEPRECATED/positionGeodetic/std/0","color":"#d62728"},{"name":"/liveLocationKalmanDEPRECATED/positionGeodetic/std/1","color":"#1ac938"}]},{"title":"...","range":{"left":76.646983,"right":196.811937,"top":7.160833,"bottom":-0.449385},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#ff7f0e"},{"name":"/gpsLocationExternal/verticalAccuracy","color":"#f14cc1"},{"name":"/gpsLocationExternal/speedAccuracy","color":"#9467bd"}]}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/locationd_debug.json b/openpilot/tools/jotpluggler/layouts/locationd_debug.json
new file mode 100644
index 0000000000..53112f31d6
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/locationd_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.166588,0.167062,0.166113,0.166588,0.167062,0.166588],"children":[{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/deviceMotion/inputsOK","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":14.542814,"bottom":-5.586039},"curves":[{"name":"/accelerometer/acceleration/v/0","color":"#f14cc1"},{"name":"/accelerometer/acceleration/v/1","color":"#9467bd"},{"name":"/accelerometer/acceleration/v/2","color":"#17becf"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":0.988911,"bottom":-0.745939},"curves":[{"name":"/gyroscope/gyroUncalibrated/v/0","color":"#d62728"},{"name":"/gyroscope/gyroUncalibrated/v/1","color":"#1ac938"},{"name":"/gyroscope/gyroUncalibrated/v/2","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/accelerometer/__valid","color":"#17becf"},{"name":"/gyroscope/__valid","color":"#bcbd22"},{"name":"/carState/__valid","color":"#f14cc1"},{"name":"/extrinsicsCalibration/__valid","color":"#1ac938"},{"name":"/cameraOdometry/__valid","color":"#9467bd"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1000000000.292252,"bottom":999999999.735447},"curves":[{"name":"/gyroscope/__logMonoTime","color":"#1f77b4","transform":"derivative"},{"name":"/accelerometer/__logMonoTime","color":"#d62728","transform":"derivative"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":20790107743.93223,"bottom":-529653831.495853},"curves":[{"name":"/accelerometer/timestamp","color":"#bcbd22","transform":"derivative"},{"name":"/gyroscope/timestamp","color":"#1f77b4","transform":"derivative"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/longitudinal.json b/openpilot/tools/jotpluggler/layouts/longitudinal.json
new file mode 100644
index 0000000000..27f43eb357
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/longitudinal.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.250401,0.249599,0.250401,0.249599],"children":[{"title":"...","range":{"left":104.907277,"right":126.285782,"top":1.391623,"bottom":-2.563614},"curves":[{"name":"/carState/aEgo","color":"#f14cc1"},{"name":"/longitudinalPlan/accels/0","color":"#9467bd"},{"name":"/carControl/actuators/accel","color":"#17becf"},{"name":"/carOutput/actuatorsOutput/accel","color":"#d62728"}]},{"title":"...","range":{"left":104.907277,"right":126.285782,"top":1.18496,"bottom":-1.811222},"curves":[{"name":"/controlsState/upAccelCmd","color":"#1f77b4"},{"name":"/controlsState/uiAccelCmd","color":"#d62728"},{"name":"/controlsState/ufAccelCmd","color":"#1ac938"}]},{"title":"...","range":{"left":104.907277,"right":126.285782,"top":15.862889,"bottom":-0.568809},"curves":[{"name":"/carState/vEgo","color":"#1ac938"},{"name":"/longitudinalPlan/speeds/0","color":"#ff7f0e"}]},{"title":"...","range":{"left":104.907277,"right":126.285782,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/longActive","color":"#1f77b4"},{"name":"/carState/gasPressed","color":"#d62728"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/max-torque-debug.json b/openpilot/tools/jotpluggler/layouts/max-torque-debug.json
new file mode 100644
index 0000000000..b587b695a9
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/max-torque-debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.249724,0.250829,0.249724,0.249724],"children":[{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":6.050533,"bottom":-7.599037},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":5.384416,"bottom":-7.503945},"curves":[{"name":"roll compensated lateral acceleration","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll","/carState/steeringPressed","/carControl/latActive"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3, v4):\n    if (v3 == 0 and v4 == 1):\n        return  (value * v1 ** 2) - (v2 * 9.81)\n    return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i], v4[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carState/steeringPressed","color":"#0097ff"},{"name":"/carOutput/actuatorsOutput/torque","color":"#d62728"}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":80.762969,"bottom":-2.181837},"curves":[{"name":"/carState/vEgo","color":"#f14cc1","transform":"scale","scale":2.23694,"offset":0.0}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/new-layout.json b/openpilot/tools/jotpluggler/layouts/new-layout.json
new file mode 100644
index 0000000000..bffb62d7c7
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/new-layout.json
@@ -0,0 +1 @@
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"curves": [], "title": "..."}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/system_lag_debug.json b/openpilot/tools/jotpluggler/layouts/system_lag_debug.json
new file mode 100644
index 0000000000..281de440fa
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/system_lag_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.249729,0.250814,0.249729,0.249729],"children":[{"title":"...","range":{"left":0.0,"right":59.992103,"top":102.5,"bottom":-2.5},"curves":[{"name":"/deviceState/cpuUsagePercent/0","color":"#1f77b4"},{"name":"/deviceState/cpuUsagePercent/1","color":"#d62728"},{"name":"/deviceState/cpuUsagePercent/2","color":"#1ac938"},{"name":"/deviceState/cpuUsagePercent/3","color":"#ff7f0e"},{"name":"/deviceState/cpuUsagePercent/4","color":"#f14cc1"},{"name":"/deviceState/cpuUsagePercent/5","color":"#9467bd"},{"name":"/deviceState/cpuUsagePercent/6","color":"#17becf"},{"name":"/deviceState/cpuUsagePercent/7","color":"#bcbd22"}]},{"title":"...","range":{"left":0.0,"right":59.992103,"top":64.005001,"bottom":51.195},"curves":[{"name":"/deviceState/cpuTempC/0","color":"#d62728"},{"name":"/deviceState/cpuTempC/1","color":"#1ac938"},{"name":"/deviceState/cpuTempC/2","color":"#ff7f0e"},{"name":"/deviceState/cpuTempC/3","color":"#f14cc1"},{"name":"/deviceState/cpuTempC/4","color":"#9467bd"},{"name":"/deviceState/cpuTempC/5","color":"#17becf"},{"name":"/deviceState/cpuTempC/6","color":"#bcbd22"},{"name":"/deviceState/cpuTempC/7","color":"#1f77b4"},{"name":"/deviceState/gpuTempC/0","color":"#d62728"},{"name":"/deviceState/gpuTempC/1","color":"#1ac938"}]},{"title":"...","range":{"left":0.0,"right":59.992103,"top":37.371108,"bottom":-0.91149},"curves":[{"name":"/modelV2/frameDropPerc","color":"#f14cc1"}]},{"title":"...","range":{"left":0.0,"right":59.992103,"top":-3.593455,"bottom":-12.190956},"curves":[{"name":"/carState/cumLagMs","color":"#9467bd"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/thermal_debug.json b/openpilot/tools/jotpluggler/layouts/thermal_debug.json
new file mode 100644
index 0000000000..3a7ce454cf
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/thermal_debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.166785,0.166785,0.166075,0.166785,0.166785,0.166785],"children":[{"title":"...","range":{"left":0.006955,"right":301.842654,"top":87.987497,"bottom":75.912497},"curves":[{"name":"/deviceState/cpuTempC/0","color":"#1f77b4"},{"name":"/deviceState/cpuTempC/1","color":"#d62728"},{"name":"/deviceState/cpuTempC/2","color":"#1ac938"},{"name":"/deviceState/cpuTempC/3","color":"#ff7f0e"},{"name":"/deviceState/cpuTempC/4","color":"#f14cc1"},{"name":"/deviceState/cpuTempC/5","color":"#9467bd"},{"name":"/deviceState/cpuTempC/6","color":"#17becf"},{"name":"/deviceState/cpuTempC/7","color":"#bcbd22"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":85.861052,"bottom":66.49695},"curves":[{"name":"/deviceState/pmicTempC/0","color":"#1f77b4"},{"name":"/deviceState/gpuTempC/0","color":"#d62728"},{"name":"/deviceState/gpuTempC/1","color":"#1ac938"},{"name":"/deviceState/memoryTempC","color":"#f14cc1"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":86.207876,"bottom":70.665918},"curves":[{"name":"/deviceState/maxTempC","color":"#1f77b4"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":1.025,"bottom":-0.025},"curves":[{"name":"/deviceState/thermalStatus","color":"#1f77b4"}]},{"split":"horizontal","sizes":[0.333124,0.333752,0.333124],"children":[{"title":"...","range":{"left":0.006955,"right":301.842654,"top":12.057358,"bottom":4.843517},"curves":[{"name":"/deviceState/powerDrawW","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":100.0,"bottom":0.0},"curves":[{"name":"/deviceState/fanSpeedPercentDesired","color":"#9467bd"},{"name":"/pandaStates/0/fanPower","color":"#1f77b4"}],"y_limits":{"min":0.0,"max":100.0}},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":5018.4,"bottom":255.6},"curves":[{"name":"/peripheralState/fanSpeedRpm","color":"#1f77b4"}]}]},{"split":"horizontal","sizes":[0.502513,0.497487],"children":[{"title":"...","range":{"left":0.006955,"right":301.842654,"top":100.025,"bottom":14.975},"curves":[{"name":"/deviceState/cpuUsagePercent/0","color":"#1f77b4"},{"name":"/deviceState/cpuUsagePercent/1","color":"#d62728"},{"name":"/deviceState/cpuUsagePercent/2","color":"#1ac938"},{"name":"/deviceState/cpuUsagePercent/3","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.006955,"right":301.842654,"top":102.5,"bottom":-2.5},"curves":[{"name":"/deviceState/cpuUsagePercent/4","color":"#f14cc1"},{"name":"/deviceState/cpuUsagePercent/5","color":"#9467bd"},{"name":"/deviceState/cpuUsagePercent/6","color":"#17becf"},{"name":"/deviceState/cpuUsagePercent/7","color":"#bcbd22"}]}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/torque-controller.json b/openpilot/tools/jotpluggler/layouts/torque-controller.json
new file mode 100644
index 0000000000..a794c725d6
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/torque-controller.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"Lateral Plan Conformance","root":{"split":"vertical","sizes":[0.250949,0.249051,0.250949,0.249051],"children":[{"title":"desired vs actual lateral acceleration (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":1.858161,"bottom":-1.823407},"curves":[{"name":"/controlsState/lateralControlState/torqueState/actualLateralAccel","color":"#1f77b4"},{"name":"/controlsState/lateralControlState/torqueState/desiredLateralAccel","color":"#d62728"}]},{"title":"desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":2.749816,"bottom":-3.723091},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891674,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"vehicle speed","range":{"left":0.000194,"right":1138.891674,"top":105.981304,"bottom":-2.709314},"curves":[{"name":"carState.vEgo mph","color":"#d62728","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 2.23694\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"carState.vEgo kmh","color":"#1ac938","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 3.6\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/carState/vEgo","color":"#ff7f0e"}]}]}},{"name":"Vehicle Dynamics","root":{"split":"vertical","sizes":[0.334282,0.331437,0.334282],"children":[{"title":"configured-initial vs online-learned steerRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":19.665784,"bottom":19.359553},"curves":[{"name":"/carParams/steerRatio","color":"#1f77b4"},{"name":"/vehicleParameters/steerRatio","color":"#1ac938"}]},{"title":"configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":1.11221,"bottom":0.995631},"curves":[{"name":"/carParams/tireStiffnessFactor","color":"#d62728"},{"name":"/vehicleParameters/stiffnessFactor","color":"#ff7f0e"}]},{"title":"online-learned steering angle offsets for straight-ahead driving, large values here may indicate alignment problems","range":{"left":0.0,"right":1138.816328,"top":-1.081041,"bottom":-4.494133},"curves":[{"name":"/vehicleParameters/angleOffsetAverageDeg","color":"#f14cc1"},{"name":"/vehicleParameters/angleOffsetDeg","color":"#9467bd"}]}]}},{"name":"Actuator Performance","root":{"split":"vertical","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output","range":{"left":0.0,"right":1138.920072,"top":1.21611,"bottom":0.539474},"curves":[{"name":"/lateralTorqueParameters/latAccelFactorFiltered","color":"#1f77b4"},{"name":"/lateralTorqueParameters/latAccelFactorRaw","color":"#d62728"},{"name":"/carParams/lateralTuning/torque/latAccelFactor","color":"#1c9222"}]},{"title":"learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel","range":{"left":0.0,"right":1138.920072,"top":-0.304367,"bottom":-0.418688},"curves":[{"name":"/lateralTorqueParameters/latAccelOffsetFiltered","color":"#1ac938"},{"name":"/lateralTorqueParameters/latAccelOffsetRaw","color":"#ff7f0e"}]},{"title":"offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel","range":{"left":0.0,"right":1138.920072,"top":0.226389,"bottom":0.15805},"curves":[{"name":"/lateralTorqueParameters/frictionCoefficientFiltered","color":"#f14cc1"},{"name":"/lateralTorqueParameters/frictionCoefficientRaw","color":"#9467bd"},{"name":"/carParams/lateralTuning/torque/friction","color":"#1c9222"}]}]}},{"name":"Actuator Delay","root":{"split":"vertical","sizes":[0.30441,0.358464,0.337127],"children":[{"title":"actuator lag learning state, 0 = learning, 1 = learned/applying, 2 = invalid","range":{"left":0.0,"right":1138.749979,"top":1.025,"bottom":-0.025},"curves":[{"name":"/lateralDelay/status","color":"#ff7f0e"}]},{"title":"offline default vs online estimated steering actuator lag","range":{"left":0.0,"right":1138.749979,"top":0.419648,"bottom":0.318362},"curves":[{"name":"/lateralDelay/lateralDelay","color":"#1f77b4"},{"name":"/lateralDelay/lateralDelayEstimate","color":"#d62728"},{"name":"opendbc default steering lag","color":"#1ac938","custom_python":{"linked_source":"/carParams/steerActuatorDelay","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value + 0.2\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"online estimated steering actuator lag, standard deviation","range":{"left":0.0,"right":1138.749979,"top":0.06732,"bottom":-0.001642},"curves":[{"name":"/lateralDelay/lateralDelayEstimateStd","color":"#f14cc1"}]}]}},{"name":"Controls Performance","root":{"split":"vertical","sizes":[0.265655,0.251898,0.245731,0.236717],"children":[{"title":"rate-of-change limits on steering actuator (blue = original, green = rate-limited before CAN output)","range":{"left":0.000194,"right":1138.891921,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carControl/actuators/torque","color":"#0c00f2"},{"name":"/carOutput/actuatorsOutput/torque","color":"#2cd63a"}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891921,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)","range":{"left":0.000194,"right":1138.891921,"top":2.099784,"bottom":-4.027542},"curves":[{"name":"/controlsState/lateralControlState/torqueState/f","color":"#0ab027"},{"name":"/controlsState/lateralControlState/torqueState/p","color":"#d62728"},{"name":"/controlsState/lateralControlState/torqueState/i","color":"#ffaf00"},{"name":"Zero","color":"#756a6a","custom_python":{"linked_source":"/carState/canValid","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return (0)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"road roll angle, from openpilot localizer","range":{"left":0.000194,"right":1138.891921,"top":0.109446,"bottom":-0.045525},"curves":[{"name":"/vehicleParameters/roll","color":"#f14cc1"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/tuning.json b/openpilot/tools/jotpluggler/layouts/tuning.json
new file mode 100644
index 0000000000..0a8e81743e
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/tuning.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"Lateral","root":{"split":"vertical","sizes":[0.200458,0.199313,0.200458,0.199313,0.200458],"children":[{"title":"Velocity [m/s]","range":{"left":1.253354,"right":631.055584,"top":29.954036,"bottom":-0.841715},"curves":[{"name":"/carState/vEgo","color":"#0072b2"}]},{"title":"Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]","range":{"left":0.0,"right":631.055209,"top":0.006648,"bottom":-0.00315},"curves":[{"name":"engaged curvature plan","color":"#009e73","custom_python":{"linked_source":"/modelV2/action/desiredCurvature","additional_sources":["/carState/steeringPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    global engage_delay, last_bad_time\n    curvature = value\n    pressed = v1\n    enabled = v2\n    if (pressed == 1 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged curvature vehicle model","color":"#785ef0","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/steeringPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    global engage_delay, last_bad_time\n    curvature = value\n    pressed = v1\n    enabled = v2\n    if (pressed == 1 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged curvature yaw","color":"#0072b2","custom_python":{"linked_source":"/carControl/angularVelocity/2","additional_sources":["/carState/steeringPressed","/carControl/enabled","/carState/vEgo"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    curvature = value / v3\n    pressed = v1\n    enabled = v2\n    if (pressed == 1 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return curvature\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"Roll [rad]","range":{"left":0.0,"right":631.038276,"top":0.166067,"bottom":-1.598381},"curves":[{"name":"/carControl/orientationNED/0","color":"#ffb000"}]},{"title":"Engaged [green] Steering Pressed [blue]","range":{"left":1.252984,"right":631.055584,"top":1.025,"bottom":-0.025},"curves":[{"name":"/selfdriveState/enabled","color":"#009e73"},{"name":"/carState/steeringPressed","color":"#0072b2"}]},{"title":"Steering Limited: Rate [orange] Saturated [magenta]","range":{"left":1.253354,"right":631.055584,"top":1.025,"bottom":-0.025},"curves":[{"name":"steering rate limited","color":"#ffb000","custom_python":{"linked_source":"/carControl/actuators/torque","additional_sources":["/carOutput/actuatorsOutput/torque","/carControl/actuators/steeringAngleDeg","/carOutput/actuatorsOutput/steeringAngleDeg"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    return (np.abs(value - v1) > 0.001 or np.abs(v2 - v3) > 0.05) and 1 or 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/controlsState/lateralControlState/pidState/saturated","color":"#dc267f"}]}]}},{"name":"Longitudinal","root":{"split":"vertical","sizes":[0.1875,0.1875,0.1875,0.1875,0.25],"children":[{"title":"Velocity [m/s] True [blue] Plan [green] Cruise [magenta]","range":{"left":0.0,"right":631.055584,"top":42.713492,"bottom":-1.041792},"curves":[{"name":"/carState/cruiseState/speed","color":"#dc267f"},{"name":"/longitudinalPlan/speeds/0","color":"#009e73"},{"name":"/carState/vEgo","color":"#0072b2"}]},{"title":"Acceleration [m/s^2] True [blue] Actuator [purple] Plan [green]","range":{"left":1.253354,"right":631.055759,"top":0.808303,"bottom":-1.213305},"curves":[{"name":"engaged_accel_plan","color":"#009e73","custom_python":{"linked_source":"/longitudinalPlan/accels/0","additional_sources":["/carState/brakePressed","/carState/gasPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    accel = value\n    brake = v1\n    gas = v2\n    enabled = v3\n    if (brake != 0 or gas != 0 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged_accel_actuator","color":"#785ef0","custom_python":{"linked_source":"/carControl/actuators/accel","additional_sources":["/carState/brakePressed","/carState/gasPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    accel = value\n    brake = v1\n    gas = v2\n    enabled = v3\n    if (brake != 0 or gas != 0 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"engaged_accel_actual","color":"#0072b2","custom_python":{"linked_source":"/carState/aEgo","additional_sources":["/carState/brakePressed","/carState/gasPressed","/carControl/enabled"],"globals_code":"engage_delay = 5\nlast_bad_time = -engage_delay","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    global engage_delay, last_bad_time\n    accel = value\n    brake = v1\n    gas = v2\n    enabled = v3\n    if (brake != 0 or gas != 0 or enabled == 0):\n        last_bad_time = time\n    if (time > last_bad_time + engage_delay):\n        return value\n    else:\n        return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"Pitch [rad]","range":{"left":0.0,"right":631.038276,"top":0.158854,"bottom":-0.594843},"curves":[{"name":"/carControl/orientationNED/1","color":"#ffb000"}]},{"title":"Engaged [green] Gas [orange] Brake [magenta]","range":{"left":1.253354,"right":631.055759,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/enabled","color":"#009e73"},{"name":"/carState/gasPressed","color":"#ffb000"},{"name":"/carState/brakePressed","color":"#dc267f"}]},{"title":"State [blue: off,pid,stop,start] Source [green: cruise,lead0,lead1,lead2,e2e]","range":{"left":1.25362,"right":631.055759,"top":5.125,"bottom":-0.125},"curves":[{"name":"/carControl/actuators/longControlState","color":"#0072b2"},{"name":"/longitudinalPlan/longitudinalPlanSource","color":"#009e73"}]}]}},{"name":"Lateral Debug","root":{"split":"vertical","sizes":[0.25,0.25,0.25,0.25],"children":[{"title":"Controller F [magenta] P [purple] I [blue]","range":{"left":0.0,"right":1.0,"top":1.0,"bottom":0.0},"curves":[{"name":"/controlsState/lateralControlState/pidState/f","color":"#f14cc1"},{"name":"/controlsState/lateralControlState/pidState/p","color":"#9467bd"},{"name":"/controlsState/lateralControlState/pidState/i","color":"#17becf"}]},{"title":"Driver Torque [blue] EPS Torque [green]","range":{"left":1.253354,"right":631.055584,"top":2690.99903,"bottom":-3450.198981},"curves":[{"name":"/carState/steeringTorqueEps","color":"#009e73"},{"name":"/carState/steeringTorque","color":"#0072b2"}]},{"title":"Engaged [green] Steering Pressed [blue]","range":{"left":1.253354,"right":631.055759,"top":1.025,"bottom":-0.025},"curves":[{"name":"/carControl/enabled","color":"#009e73"},{"name":"/carState/steeringPressed","color":"#0072b2"}]},{"title":"Steering Limited: Rate [orange] Saturated [magenta]","range":{"left":1.253354,"right":631.055584,"top":1.025,"bottom":-0.025},"curves":[{"name":"steering rate limited","color":"#ffb000","custom_python":{"linked_source":"/carControl/actuators/torque","additional_sources":["/carOutput/actuatorsOutput/torque","/carControl/actuators/steeringAngleDeg","/carOutput/actuatorsOutput/steeringAngleDeg"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3):\n    return (np.abs(value - v1) > 0.001 or np.abs(v2 - v3) > 0.05) and 1 or 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/controlsState/lateralControlState/pidState/saturated","color":"#dc267f"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/ublox-debug.json b/openpilot/tools/jotpluggler/layouts/ublox-debug.json
new file mode 100644
index 0000000000..4509a192df
--- /dev/null
+++ b/openpilot/tools/jotpluggler/layouts/ublox-debug.json
@@ -0,0 +1 @@
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"...","range":{"left":0.0,"right":134.825489,"top":4402341.574525,"bottom":-107369.555525},"curves":[{"name":"/gpsLocationExternal/horizontalAccuracy","color":"#1f77b4"}]},{"title":"...","range":{"left":0.0,"right":134.825489,"top":1.025,"bottom":-0.025},"curves":[{"name":"/gpsLocationExternal/flags","color":"#d62728"}]},{"title":"...","range":{"left":0.0,"right":134.825489,"top":6.15,"bottom":-0.15},"curves":[{"name":"/ubloxGnss/measurementReport/numMeas","color":"#1ac938"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/logs.cc b/openpilot/tools/jotpluggler/logs.cc
new file mode 100644
index 0000000000..4da1cbf501
--- /dev/null
+++ b/openpilot/tools/jotpluggler/logs.cc
@@ -0,0 +1,419 @@
+#include "tools/jotpluggler/app.h"
+
+#include <cmath>
+#include <ctime>
+
+namespace {
+
+struct LevelOption {
+  const char *label;
+  int value;
+};
+
+constexpr std::array<LevelOption, 5> LEVEL_OPTIONS = {{
+  {"DEBUG", 10},
+  {"INFO", 20},
+  {"WARNING", 30},
+  {"ERROR", 40},
+  {"CRITICAL", 50},
+}};
+constexpr uint32_t ALL_LEVEL_MASK = (1u << LEVEL_OPTIONS.size()) - 1u;
+
+bool log_matches_search(const LogEntry &entry, std::string_view query) {
+  if (query.empty()) return true;
+  const std::string needle = lowercase_copy(query);
+  const auto contains = [&](std::string_view haystack) {
+    return lowercase_copy(haystack).find(needle) != std::string::npos;
+  };
+  return contains(entry.message) || contains(entry.source) || contains(entry.func);
+}
+
+std::vector<std::string> collect_log_sources(const std::vector<LogEntry> &logs) {
+  std::vector<std::string> sources;
+  for (const LogEntry &entry : logs) {
+    if (entry.source.empty()) continue;
+    if (std::find(sources.begin(), sources.end(), entry.source) == sources.end()) {
+      sources.push_back(entry.source);
+    }
+  }
+  std::sort(sources.begin(), sources.end());
+  return sources;
+}
+
+std::vector<int> filter_log_indices(const RouteData &route_data, const LogsUiState &logs_state) {
+  std::vector<int> indices;
+  indices.reserve(route_data.logs.size());
+  for (size_t i = 0; i < route_data.logs.size(); ++i) {
+    const LogEntry &entry = route_data.logs[i];
+    int level_index = 0;
+    if (entry.level >= 50) {
+      level_index = 4;
+    } else if (entry.level >= 40) {
+      level_index = 3;
+    } else if (entry.level >= 30) {
+      level_index = 2;
+    } else if (entry.level >= 20) {
+      level_index = 1;
+    }
+    if ((logs_state.enabled_levels_mask & (1u << level_index)) == 0) {
+      continue;
+    }
+    if (!logs_state.all_sources) {
+      const auto it = std::find(logs_state.selected_sources.begin(),
+                                logs_state.selected_sources.end(),
+                                entry.source);
+      if (it == logs_state.selected_sources.end()) continue;
+    }
+    if (!log_matches_search(entry, logs_state.search)) continue;
+    indices.push_back(static_cast<int>(i));
+  }
+  return indices;
+}
+
+int find_active_log_position(const RouteData &route_data,
+                             const std::vector<int> &filtered_indices,
+                             double tracker_time) {
+  if (filtered_indices.empty()) return -1;
+  auto it = std::lower_bound(filtered_indices.begin(), filtered_indices.end(), tracker_time,
+                             [&](int log_index, double tm) {
+                               return route_data.logs[static_cast<size_t>(log_index)].mono_time < tm;
+                             });
+  if (it == filtered_indices.begin()) return static_cast<int>(std::distance(filtered_indices.begin(), it));
+  if (it == filtered_indices.end()) return static_cast<int>(filtered_indices.size()) - 1;
+  if (route_data.logs[static_cast<size_t>(*it)].mono_time > tracker_time) {
+    --it;
+  }
+  return static_cast<int>(std::distance(filtered_indices.begin(), it));
+}
+
+std::string format_route_time(double seconds) {
+  if (seconds < 0.0) {
+    seconds = 0.0;
+  }
+  const int minutes = static_cast<int>(seconds / 60.0);
+  const double remaining = seconds - static_cast<double>(minutes) * 60.0;
+  return util::string_format("%d:%06.3f", minutes, remaining);
+}
+
+std::string format_boot_time(double seconds) {
+  return util::string_format("%.3f", seconds);
+}
+
+std::string format_wall_time(double seconds) {
+  if (seconds <= 0.0) return "--";
+  const time_t wall_seconds = static_cast<time_t>(seconds);
+  std::tm wall_tm = {};
+  localtime_r(&wall_seconds, &wall_tm);
+  const int millis = static_cast<int>(std::llround((seconds - std::floor(seconds)) * 1000.0));
+  return util::string_format("%02d:%02d:%02d.%03d",
+                             wall_tm.tm_hour, wall_tm.tm_min, wall_tm.tm_sec, millis);
+}
+
+std::string format_log_time(const LogEntry &entry, LogTimeMode mode) {
+  switch (mode) {
+    case LogTimeMode::Route:
+      return format_route_time(entry.mono_time);
+    case LogTimeMode::Boot:
+      return format_boot_time(entry.boot_time);
+    case LogTimeMode::WallClock:
+      return format_wall_time(entry.wall_time);
+  }
+  return format_route_time(entry.mono_time);
+}
+
+const char *time_mode_label(LogTimeMode mode) {
+  switch (mode) {
+    case LogTimeMode::Route: return "Route";
+    case LogTimeMode::Boot: return "Boot";
+    case LogTimeMode::WallClock: return "Wall clock";
+  }
+  return "Route";
+}
+
+std::string level_filter_label(uint32_t mask) {
+  if (mask == ALL_LEVEL_MASK) return "All levels";
+  if (mask == 0b11110) return "INFO+";
+  if (mask == 0b11100) return "WARNING+";
+  if (mask == 0b11000) return "ERROR+";
+  if (mask == 0b10000) return "CRITICAL";
+
+  int enabled_count = 0;
+  const char *last_label = "None";
+  for (size_t i = 0; i < LEVEL_OPTIONS.size(); ++i) {
+    if ((mask & (1u << i)) == 0) {
+      continue;
+    }
+    ++enabled_count;
+    last_label = LEVEL_OPTIONS[i].label;
+  }
+  if (enabled_count == 0) return "None";
+  if (enabled_count == 1) return last_label;
+  return "Custom";
+}
+
+std::string source_filter_label(const LogsUiState &logs_state, const std::vector<std::string> &sources) {
+  if (logs_state.all_sources || logs_state.selected_sources.size() == sources.size()) {
+    return "All sources";
+  }
+  if (logs_state.selected_sources.empty()) return "No sources";
+  if (logs_state.selected_sources.size() == 1) return logs_state.selected_sources.front();
+  return std::to_string(logs_state.selected_sources.size()) + " sources";
+}
+
+const char *level_label(const LogEntry &entry) {
+  if (entry.origin == LogOrigin::Alert) return "ALRT";
+  if (entry.level >= 50) return "CRIT";
+  if (entry.level >= 40) return "ERR";
+  if (entry.level >= 30) return "WARN";
+  if (entry.level >= 20) return "INFO";
+  return "DBG";
+}
+
+ImVec4 level_text_color(const LogEntry &entry, bool active) {
+  if (active) return color_rgb(46, 54, 63);
+  if (entry.origin == LogOrigin::Alert) return color_rgb(50, 100, 200);
+  if (entry.level >= 50) return color_rgb(176, 26, 18);
+  if (entry.level >= 40) return color_rgb(200, 50, 40);
+  if (entry.level >= 30) return color_rgb(200, 130, 0);
+  if (entry.level >= 20) return color_rgb(80, 86, 94);
+  return color_rgb(126, 133, 141);
+}
+
+ImU32 row_bg_color(const LogEntry &entry, bool active) {
+  if (active) return IM_COL32(80, 140, 210, 38);
+  return 0;
+}
+
+void set_tracker_to_log(UiState *state, const LogEntry &entry) {
+  state->tracker_time = entry.mono_time;
+  state->has_tracker_time = true;
+  state->logs.last_auto_scroll_time = entry.mono_time;
+}
+
+void draw_log_expansion_row(const LogEntry &entry) {
+  ImGui::TableNextRow();
+  ImGui::TableSetColumnIndex(0);
+  ImGui::TextUnformatted("");
+  ImGui::TableSetColumnIndex(1);
+  ImGui::TextUnformatted("");
+  ImGui::TableSetColumnIndex(2);
+  ImGui::TextUnformatted(entry.func.empty() ? "" : entry.func.c_str());
+  ImGui::TableSetColumnIndex(3);
+  ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(96, 104, 113));
+  ImGui::TextWrapped("%s", entry.message.c_str());
+  if (!entry.func.empty()) {
+    ImGui::TextWrapped("func: %s", entry.func.c_str());
+  }
+  if (!entry.context.empty()) {
+    ImGui::TextWrapped("ctx: %s", entry.context.c_str());
+  }
+  ImGui::PopStyleColor();
+}
+
+void draw_log_row(const LogEntry &entry,
+                  int log_index,
+                  bool active,
+                  UiState *state) {
+  ImGui::PushID(log_index);
+  const ImU32 bg = row_bg_color(entry, active);
+  ImGui::TableNextRow();
+  if (bg != 0) {
+    ImGui::TableSetBgColor(ImGuiTableBgTarget_RowBg0, bg);
+  }
+
+  const std::string time_text = std::string(active ? "\xE2\x96\xB6 " : "  ") + format_log_time(entry, state->logs.time_mode);
+  const auto clickable_text = [&](const char *id, const std::string &text, ImVec4 color = color_rgb(74, 80, 88)) {
+    ImGui::PushID(id);
+    ImGui::PushStyleColor(ImGuiCol_Text, color);
+    ImGui::PushStyleColor(ImGuiCol_Header, ImVec4(0, 0, 0, 0));
+    ImGui::PushStyleColor(ImGuiCol_HeaderHovered, ImVec4(0, 0, 0, 0));
+    ImGui::PushStyleColor(ImGuiCol_HeaderActive, ImVec4(0, 0, 0, 0));
+    const bool clicked = ImGui::Selectable(text.c_str(), false, ImGuiSelectableFlags_AllowDoubleClick);
+    ImGui::PopStyleColor(4);
+    ImGui::PopID();
+    return clicked;
+  };
+
+  bool clicked = false;
+  ImGui::TableSetColumnIndex(0);
+  app_push_mono_font();
+  clicked = clickable_text("time", time_text);
+  app_pop_mono_font();
+
+  ImGui::TableSetColumnIndex(1);
+  clicked = clickable_text("level", level_label(entry), level_text_color(entry, active)) || clicked;
+
+  ImGui::TableSetColumnIndex(2);
+  clicked = clickable_text("source", entry.source) || clicked;
+
+  ImGui::TableSetColumnIndex(3);
+  clicked = clickable_text("message", entry.message) || clicked;
+
+  if (clicked) {
+    set_tracker_to_log(state, entry);
+    state->logs.expanded_index = state->logs.expanded_index == log_index ? -1 : log_index;
+  }
+  ImGui::PopID();
+}
+
+}  // namespace
+
+void draw_logs_tab(AppSession *session, UiState *state) {
+  LogsUiState &logs_state = state->logs;
+  const RouteData &route_data = session->route_data;
+  const RouteLoadSnapshot load = session->route_loader ? session->route_loader->snapshot() : RouteLoadSnapshot{};
+  const bool loading_logs = load.active && route_data.logs.empty();
+  const std::vector<std::string> sources = collect_log_sources(route_data.logs);
+
+  if (!logs_state.all_sources) {
+    logs_state.selected_sources.erase(
+      std::remove_if(logs_state.selected_sources.begin(),
+                     logs_state.selected_sources.end(),
+                     [&](const std::string &source) {
+                       return std::find(sources.begin(), sources.end(), source) == sources.end();
+                     }),
+      logs_state.selected_sources.end());
+  }
+
+  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(6.0f, 3.0f));
+  ImGui::SetNextItemWidth(110.0f);
+  const std::string levels_label = level_filter_label(logs_state.enabled_levels_mask);
+  if (ImGui::BeginCombo("##logs_level", levels_label.c_str())) {
+    bool all_levels = logs_state.enabled_levels_mask == ALL_LEVEL_MASK;
+    if (ImGui::Checkbox("All levels", &all_levels)) {
+      logs_state.enabled_levels_mask = all_levels ? ALL_LEVEL_MASK : 0u;
+    }
+    ImGui::Separator();
+    for (size_t i = 0; i < LEVEL_OPTIONS.size(); ++i) {
+      bool enabled = (logs_state.enabled_levels_mask & (1u << i)) != 0;
+      if (ImGui::Checkbox(LEVEL_OPTIONS[i].label, &enabled)) {
+        if (enabled) {
+          logs_state.enabled_levels_mask |= (1u << i);
+        } else {
+          logs_state.enabled_levels_mask &= ~(1u << i);
+        }
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SameLine();
+
+  ImGui::SetNextItemWidth(150.0f);
+  input_text_with_hint_string("##logs_search", "Search...", &logs_state.search);
+  ImGui::SameLine();
+
+  const std::string sources_label = source_filter_label(logs_state, sources);
+  ImGui::SetNextItemWidth(180.0f);
+  if (ImGui::BeginCombo("##logs_source", sources_label.c_str())) {
+    bool all_sources = logs_state.all_sources;
+    if (ImGui::Checkbox("All sources", &all_sources)) {
+      logs_state.all_sources = all_sources;
+      if (logs_state.all_sources) {
+        logs_state.selected_sources.clear();
+      } else {
+        logs_state.selected_sources = sources;
+      }
+    }
+    ImGui::Separator();
+    for (const std::string &source : sources) {
+      bool enabled = logs_state.all_sources
+        || std::find(logs_state.selected_sources.begin(), logs_state.selected_sources.end(), source) != logs_state.selected_sources.end();
+      if (ImGui::Checkbox(source.c_str(), &enabled)) {
+        if (logs_state.all_sources) {
+          logs_state.all_sources = false;
+          logs_state.selected_sources = sources;
+        }
+        auto it = std::find(logs_state.selected_sources.begin(), logs_state.selected_sources.end(), source);
+        if (enabled) {
+          if (it == logs_state.selected_sources.end()) {
+            logs_state.selected_sources.push_back(source);
+          }
+        } else if (it != logs_state.selected_sources.end()) {
+          logs_state.selected_sources.erase(it);
+        }
+        if (logs_state.selected_sources.size() == sources.size()) {
+          logs_state.all_sources = true;
+          logs_state.selected_sources.clear();
+        }
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SameLine();
+
+  ImGui::SetNextItemWidth(110.0f);
+  if (ImGui::BeginCombo("##logs_time_mode", time_mode_label(logs_state.time_mode))) {
+    for (LogTimeMode mode : {LogTimeMode::Route, LogTimeMode::Boot, LogTimeMode::WallClock}) {
+      const bool selected = logs_state.time_mode == mode;
+      if (ImGui::Selectable(time_mode_label(mode), selected)) {
+        logs_state.time_mode = mode;
+      }
+    }
+    ImGui::EndCombo();
+  }
+
+  const std::vector<int> filtered_indices = filter_log_indices(route_data, logs_state);
+  const bool have_tracker = state->has_tracker_time && !filtered_indices.empty();
+  const int active_pos = have_tracker ? find_active_log_position(route_data, filtered_indices, state->tracker_time) : -1;
+
+  ImGui::SameLine();
+  ImGui::SetCursorPosX(std::max(ImGui::GetCursorPosX(), ImGui::GetWindowContentRegionMax().x - 110.0f));
+  ImGui::Text("%zu / %zu", filtered_indices.size(), route_data.logs.size());
+  ImGui::PopStyleVar();
+
+  if (route_data.logs.empty()) {
+    ImGui::Spacing();
+    ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(116, 124, 133));
+    ImGui::TextWrapped("%s", loading_logs ? "Loading logs..." : "No text logs available for this route.");
+    ImGui::PopStyleColor();
+    return;
+  }
+
+  if (ImGui::BeginChild("##logs_table_child", ImVec2(0.0f, 0.0f), false)) {
+    if (have_tracker && std::abs(logs_state.last_auto_scroll_time - state->tracker_time) > 1.0e-6) {
+      const float row_height = ImGui::GetTextLineHeightWithSpacing() + 6.0f;
+      const float visible_h = std::max(1.0f, ImGui::GetWindowHeight());
+      const float target = std::max(0.0f, static_cast<float>(active_pos) * row_height - visible_h * 0.45f);
+      ImGui::SetScrollY(target);
+      logs_state.last_auto_scroll_time = state->tracker_time;
+    }
+
+    if (ImGui::BeginTable("##logs_table",
+                          4,
+                          ImGuiTableFlags_BordersInnerV |
+                            ImGuiTableFlags_RowBg |
+                            ImGuiTableFlags_Resizable |
+                            ImGuiTableFlags_SizingStretchProp)) {
+      ImGui::TableSetupColumn("Time", ImGuiTableColumnFlags_WidthFixed, 120.0f);
+      ImGui::TableSetupColumn("Level", ImGuiTableColumnFlags_WidthFixed, 72.0f);
+      ImGui::TableSetupColumn("Source", ImGuiTableColumnFlags_WidthFixed, 180.0f);
+      ImGui::TableSetupColumn("Message", ImGuiTableColumnFlags_WidthStretch);
+      ImGui::TableHeadersRow();
+
+      const bool use_clipper = logs_state.expanded_index < 0;
+      if (use_clipper) {
+        ImGuiListClipper clipper;
+        clipper.Begin(static_cast<int>(filtered_indices.size()));
+        while (clipper.Step()) {
+          for (int i = clipper.DisplayStart; i < clipper.DisplayEnd; ++i) {
+            const int log_index = filtered_indices[static_cast<size_t>(i)];
+            const LogEntry &entry = route_data.logs[static_cast<size_t>(log_index)];
+            draw_log_row(entry, log_index, i == active_pos, state);
+          }
+        }
+      } else {
+        for (int i = 0; i < static_cast<int>(filtered_indices.size()); ++i) {
+          const int log_index = filtered_indices[static_cast<size_t>(i)];
+          const LogEntry &entry = route_data.logs[static_cast<size_t>(log_index)];
+          draw_log_row(entry, log_index, i == active_pos, state);
+          if (logs_state.expanded_index == log_index) {
+            draw_log_expansion_row(entry);
+          }
+        }
+      }
+
+      ImGui::EndTable();
+    }
+  }
+  ImGui::EndChild();
+}
diff --git a/openpilot/tools/jotpluggler/main.cc b/openpilot/tools/jotpluggler/main.cc
new file mode 100644
index 0000000000..22bc29664c
--- /dev/null
+++ b/openpilot/tools/jotpluggler/main.cc
@@ -0,0 +1,126 @@
+#include <cstdlib>
+#include <iostream>
+
+#include "tools/jotpluggler/app.h"
+
+namespace {
+
+constexpr const char *DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496";
+
+void print_usage(const char *argv0) {
+  std::cerr
+      << "Usage: " << argv0 << " [--layout <layout>] [options] [route]\n"
+      << "\n"
+      << "Options:\n"
+      << "  --demo\n"
+      << "  --data-dir <dir>\n"
+      << "  --stream\n"
+      << "  --address <host>\n"
+      << "  --buffer-seconds <seconds>\n"
+      << "  --width <pixels>\n"
+      << "  --height <pixels>\n"
+      << "  --output <png>\n"
+      << "  --show\n"
+      << "  --sync-load\n"
+      << "\n"
+      << "Examples:\n"
+      << "  " << argv0 << "\n"
+      << "  " << argv0 << " --demo\n"
+      << "  " << argv0 << " --layout longitudinal --demo\n"
+      << "  " << argv0 << " --layout longitudinal --demo --output /tmp/longitudinal.png\n"
+      << "  " << argv0 << " --stream --show\n"
+      << "  " << argv0 << " --stream --address 192.168.60.52 --buffer-seconds 45 --show\n";
+}
+
+bool parse_int(const char *value, int *out) {
+  char *end = nullptr;
+  const long parsed = std::strtol(value, &end, 10);
+  if (end == nullptr || *end != '\0') return false;
+  *out = static_cast<int>(parsed);
+  return true;
+}
+
+bool parse_double(const char *value, double *out) {
+  char *end = nullptr;
+  const double parsed = std::strtod(value, &end);
+  if (end == nullptr || *end != '\0') return false;
+  *out = parsed;
+  return true;
+}
+
+}  // namespace
+
+int main(int argc, char *argv[]) {
+  Options options;
+  for (int i = 1; i < argc; ++i) {
+    const std::string arg = argv[i];
+    const auto require_value = [&](const char *flag) -> const char * {
+      if (i + 1 >= argc) {
+        std::cerr << "Missing value for " << flag << "\n";
+        print_usage(argv[0]);
+        std::exit(2);
+      }
+      return argv[++i];
+    };
+
+    if (arg == "--layout") {
+      options.layout = require_value("--layout");
+    } else if (arg == "--demo") {
+      options.route_name = DEMO_ROUTE;
+    } else if (arg == "--data-dir") {
+      options.data_dir = require_value("--data-dir");
+    } else if (arg == "--stream") {
+      options.stream = true;
+    } else if (arg == "--address") {
+      options.stream_address = require_value("--address");
+    } else if (arg == "--buffer-seconds") {
+      if (!parse_double(require_value("--buffer-seconds"), &options.stream_buffer_seconds)) {
+        std::cerr << "Invalid buffer seconds\n";
+        return 2;
+      }
+    } else if (arg == "--output") {
+      options.output_path = require_value("--output");
+    } else if (arg == "--width") {
+      if (!parse_int(require_value("--width"), &options.width)) {
+        std::cerr << "Invalid width\n";
+        return 2;
+      }
+    } else if (arg == "--height") {
+      if (!parse_int(require_value("--height"), &options.height)) {
+        std::cerr << "Invalid height\n";
+        return 2;
+      }
+    } else if (arg == "--show") {
+      options.show = true;
+    } else if (arg == "--sync-load") {
+      options.sync_load = true;
+    } else if (arg == "--help" || arg == "-h") {
+      print_usage(argv[0]);
+      return 0;
+    } else if (!arg.empty() && arg[0] != '-' && options.route_name.empty()) {
+      options.route_name = arg;
+    } else {
+      std::cerr << "Unknown argument: " << arg << "\n";
+      print_usage(argv[0]);
+      return 2;
+    }
+  }
+
+  if (options.output_path.empty() && !options.show) {
+    options.show = true;
+  }
+  if (options.width <= 0 || options.height <= 0) {
+    std::cerr << "Width and height must be positive\n";
+    return 2;
+  }
+  if (options.stream && !options.route_name.empty()) {
+    std::cerr << "Route/file mode and --stream are mutually exclusive\n";
+    return 2;
+  }
+  if (options.stream_buffer_seconds <= 0.0) {
+    std::cerr << "Buffer seconds must be positive\n";
+    return 2;
+  }
+
+  return run(options);
+}
diff --git a/openpilot/tools/jotpluggler/map.cc b/openpilot/tools/jotpluggler/map.cc
new file mode 100644
index 0000000000..fb4e03c912
--- /dev/null
+++ b/openpilot/tools/jotpluggler/map.cc
@@ -0,0 +1,1328 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+#include "tools/jotpluggler/map.h"
+
+#include <GLFW/glfw3.h>
+
+extern "C" {
+#include <zstd.h>
+}
+
+#include <array>
+#include <algorithm>
+#include <cmath>
+#include <condition_variable>
+#include <cstdint>
+#include <cstring>
+#include <filesystem>
+#include <limits>
+#include <mutex>
+#include <optional>
+#include <string_view>
+#include <thread>
+#include <unordered_set>
+#include <utility>
+#include <vector>
+
+#include "common/util.h"
+#include "json11/json11.hpp"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+constexpr int MAP_MIN_ZOOM = 1;
+constexpr int MAP_MAX_ZOOM = 18;
+constexpr int MAP_SINGLE_POINT_MIN_ZOOM = 14;
+constexpr float MAP_WHEEL_ZOOM_STEP = 0.25f;
+constexpr double MAP_TRACE_PAD_FRAC = 0.45;
+constexpr double MAP_TRACE_MIN_LAT_PAD = 0.01;
+constexpr double MAP_BOUNDS_GRID = 0.005;
+constexpr double MAP_CORRIDOR_LAT_PAD = 0.010;
+constexpr double MAP_CORRIDOR_MIN_STEP_S = 1.5;
+constexpr size_t MAP_CORRIDOR_MAX_BOXES = 36;
+constexpr float MAP_INITIAL_FIT_FILL = 0.88f;
+constexpr float MAP_MIN_ZOOM_FILL = 0.98f;
+constexpr float MAP_EDGE_FADE_FRAC = 0.28f;
+constexpr const char *MAP_QUERY_ENDPOINTS[] = {
+  "https://overpass-api.de/api/interpreter",
+  "https://overpass.private.coffee/api/interpreter",
+};
+struct GeoPoint {
+  double lat = 0.0;
+  double lon = 0.0;
+};
+
+struct ProjectedPoint {
+  float x = 0.0f;
+  float y = 0.0f;
+};
+
+struct ProjectedBounds {
+  float min_x = 0.0f;
+  float min_y = 0.0f;
+  float max_x = 0.0f;
+  float max_y = 0.0f;
+
+  bool valid() const {
+    return max_x >= min_x && max_y >= min_y;
+  }
+};
+
+enum class RoadClass : uint8_t {
+  Motorway,
+  Primary,
+  Secondary,
+  Local,
+};
+
+struct RoadFeature {
+  RoadClass road_class = RoadClass::Local;
+  ProjectedBounds bounds;
+  std::vector<ProjectedPoint> points;
+};
+
+struct WaterLineFeature {
+  ProjectedBounds bounds;
+  std::vector<ProjectedPoint> points;
+};
+
+struct WaterPolygonFeature {
+  ProjectedBounds bounds;
+  std::vector<ProjectedPoint> ring;
+};
+
+}  // namespace
+
+struct RouteBasemap {
+  std::string key;
+  GeoBounds bounds;
+  ProjectedBounds projected_bounds;
+  std::vector<RoadFeature> roads;
+  std::vector<WaterLineFeature> water_lines;
+  std::vector<WaterPolygonFeature> water_polygons;
+};
+
+struct MapRequestSpec {
+  std::string key;
+  GeoBounds bounds;
+  std::string query;
+};
+
+namespace {
+
+double lon_to_world_x(double lon, double zoom) {
+  return (lon + 180.0) / 360.0 * 256.0 * std::exp2(zoom);
+}
+
+double lat_to_world_y(double lat, double zoom) {
+  const double lat_rad = lat * M_PI / 180.0;
+  return (1.0 - std::log(std::tan(lat_rad) + 1.0 / std::cos(lat_rad)) / M_PI) / 2.0 * 256.0 * std::exp2(zoom);
+}
+
+double world_x_to_lon(double x, double zoom) {
+  return x / std::exp2(zoom) / 256.0 * 360.0 - 180.0;
+}
+
+double world_y_to_lat(double y, double zoom) {
+  const double n = M_PI - (2.0 * M_PI * (y / std::exp2(zoom))) / 256.0;
+  return 180.0 / M_PI * std::atan(std::sinh(n));
+}
+
+double map_trace_center_lat(const GpsTrace &trace) {
+  return (trace.min_lat + trace.max_lat) * 0.5;
+}
+
+double map_trace_center_lon(const GpsTrace &trace) {
+  return (trace.min_lon + trace.max_lon) * 0.5;
+}
+
+double clamp_lat(double lat) {
+  return std::clamp(lat, -85.0, 85.0);
+}
+
+double clamp_lon(double lon) {
+  return std::clamp(lon, -179.999, 179.999);
+}
+
+float project_lon0(double lon) {
+  return static_cast<float>((lon + 180.0) / 360.0 * 256.0);
+}
+
+float project_lat0(double lat) {
+  const double lat_rad = lat * M_PI / 180.0;
+  return static_cast<float>((1.0 - std::log(std::tan(lat_rad) + 1.0 / std::cos(lat_rad)) / M_PI) / 2.0 * 256.0);
+}
+
+double cos_lat_scale(double lat) {
+  return std::max(0.2, std::cos(lat * M_PI / 180.0));
+}
+
+double quantize_down(double value, double step) {
+  return std::floor(value / step) * step;
+}
+
+double quantize_up(double value, double step) {
+  return std::ceil(value / step) * step;
+}
+
+ProjectedBounds compute_projected_bounds(const std::vector<ProjectedPoint> &points) {
+  ProjectedBounds bounds;
+  if (points.empty()) {
+    return bounds;
+  }
+  bounds.min_x = bounds.max_x = points.front().x;
+  bounds.min_y = bounds.max_y = points.front().y;
+  for (const ProjectedPoint &point : points) {
+    bounds.min_x = std::min(bounds.min_x, point.x);
+    bounds.max_x = std::max(bounds.max_x, point.x);
+    bounds.min_y = std::min(bounds.min_y, point.y);
+    bounds.max_y = std::max(bounds.max_y, point.y);
+  }
+  return bounds;
+}
+
+ProjectedBounds project_bounds0(const GeoBounds &bounds) {
+  if (!bounds.valid()) {
+    return {};
+  }
+  return ProjectedBounds{
+    .min_x = project_lon0(bounds.west),
+    .min_y = project_lat0(bounds.north),
+    .max_x = project_lon0(bounds.east),
+    .max_y = project_lat0(bounds.south),
+  };
+}
+
+bool feature_intersects_view(const ProjectedBounds &feature, const ProjectedBounds &view, float zoom_scale) {
+  const float min_x = feature.min_x * zoom_scale;
+  const float max_x = feature.max_x * zoom_scale;
+  const float min_y = feature.min_y * zoom_scale;
+  const float max_y = feature.max_y * zoom_scale;
+  return !(max_x < view.min_x || min_x > view.max_x
+        || max_y < view.min_y || min_y > view.max_y);
+}
+
+GeoBounds requested_bounds_for_trace(const GpsTrace &trace) {
+  if (trace.points.empty()) {
+    return {};
+  }
+  const double center_lat = map_trace_center_lat(trace);
+  const double lat_span = std::max(trace.max_lat - trace.min_lat, 0.002);
+  const double lon_span = std::max(trace.max_lon - trace.min_lon, 0.002 / cos_lat_scale(center_lat));
+  const double lat_pad = std::max(lat_span * MAP_TRACE_PAD_FRAC, MAP_TRACE_MIN_LAT_PAD);
+  const double lon_pad = std::max(lon_span * MAP_TRACE_PAD_FRAC, MAP_TRACE_MIN_LAT_PAD / cos_lat_scale(center_lat));
+
+  GeoBounds bounds;
+  bounds.south = clamp_lat(quantize_down(trace.min_lat - lat_pad, MAP_BOUNDS_GRID));
+  bounds.north = clamp_lat(quantize_up(trace.max_lat + lat_pad, MAP_BOUNDS_GRID));
+  bounds.west = clamp_lon(quantize_down(trace.min_lon - lon_pad, MAP_BOUNDS_GRID));
+  bounds.east = clamp_lon(quantize_up(trace.max_lon + lon_pad, MAP_BOUNDS_GRID));
+  return bounds;
+}
+
+GeoBounds merge_bounds(const GeoBounds &a, const GeoBounds &b) {
+  if (!a.valid()) return b;
+  if (!b.valid()) return a;
+  return GeoBounds{
+    .south = std::min(a.south, b.south),
+    .west = std::min(a.west, b.west),
+    .north = std::max(a.north, b.north),
+    .east = std::max(a.east, b.east),
+  };
+}
+
+bool bounds_overlap_or_touch(const GeoBounds &a, const GeoBounds &b) {
+  return !(a.east < b.west || b.east < a.west || a.north < b.south || b.north < a.south);
+}
+
+std::vector<GeoBounds> corridor_boxes_for_trace(const GpsTrace &trace) {
+  std::vector<GeoBounds> boxes;
+  if (trace.points.empty()) {
+    return boxes;
+  }
+
+  const double center_lat = map_trace_center_lat(trace);
+  const double lon_pad = MAP_CORRIDOR_LAT_PAD / cos_lat_scale(center_lat);
+  const double total_time = trace.points.back().time - trace.points.front().time;
+  const double target_boxes = std::min<double>(MAP_CORRIDOR_MAX_BOXES, std::max<double>(8.0, total_time / MAP_CORRIDOR_MIN_STEP_S));
+  const size_t stride = std::max<size_t>(1, static_cast<size_t>(std::ceil(trace.points.size() / target_boxes)));
+
+  auto add_box = [&](double lat, double lon) {
+    GeoBounds box{
+      .south = clamp_lat(quantize_down(lat - MAP_CORRIDOR_LAT_PAD, MAP_BOUNDS_GRID)),
+      .west = clamp_lon(quantize_down(lon - lon_pad, MAP_BOUNDS_GRID)),
+      .north = clamp_lat(quantize_up(lat + MAP_CORRIDOR_LAT_PAD, MAP_BOUNDS_GRID)),
+      .east = clamp_lon(quantize_up(lon + lon_pad, MAP_BOUNDS_GRID)),
+    };
+    if (!box.valid()) {
+      return;
+    }
+    for (GeoBounds &existing : boxes) {
+      if (bounds_overlap_or_touch(existing, box)) {
+        existing = merge_bounds(existing, box);
+        return;
+      }
+    }
+    boxes.push_back(box);
+  };
+
+  add_box(trace.points.front().lat, trace.points.front().lon);
+  for (size_t i = stride; i < trace.points.size(); i += stride) {
+    add_box(trace.points[i].lat, trace.points[i].lon);
+  }
+  add_box(trace.points.back().lat, trace.points.back().lon);
+
+  bool merged = true;
+  while (merged) {
+    merged = false;
+    for (size_t i = 0; i < boxes.size() && !merged; ++i) {
+      for (size_t j = i + 1; j < boxes.size(); ++j) {
+        if (bounds_overlap_or_touch(boxes[i], boxes[j])) {
+          boxes[i] = merge_bounds(boxes[i], boxes[j]);
+          boxes.erase(boxes.begin() + static_cast<std::ptrdiff_t>(j));
+          merged = true;
+          break;
+        }
+      }
+    }
+  }
+  return boxes;
+}
+
+ProjectedBounds view_bounds(double top_left_x, double top_left_y, float width, float height) {
+  return ProjectedBounds{
+    .min_x = static_cast<float>(top_left_x),
+    .min_y = static_cast<float>(top_left_y),
+    .max_x = static_cast<float>(top_left_x + width),
+    .max_y = static_cast<float>(top_left_y + height),
+  };
+}
+
+int fit_map_zoom_for_bounds(const GeoBounds &bounds, float width, float height, float fill_fraction) {
+  if (!bounds.valid()) {
+    return MAP_MIN_ZOOM;
+  }
+  const double max_width = std::max(1.0f, width * fill_fraction);
+  const double max_height = std::max(1.0f, height * fill_fraction);
+  for (int z = MAP_MAX_ZOOM; z >= MAP_MIN_ZOOM; --z) {
+    const double pixel_width = std::abs(lon_to_world_x(bounds.east, z) - lon_to_world_x(bounds.west, z));
+    const double pixel_height = std::abs(lat_to_world_y(bounds.south, z) - lat_to_world_y(bounds.north, z));
+    if (pixel_width <= max_width && pixel_height <= max_height) {
+      return z;
+    }
+  }
+  return MAP_MIN_ZOOM;
+}
+
+int fit_map_zoom_for_trace(const GpsTrace &trace, float width, float height) {
+  return fit_map_zoom_for_bounds(requested_bounds_for_trace(trace), width, height, MAP_INITIAL_FIT_FILL);
+}
+
+int minimum_allowed_map_zoom(const GeoBounds &bounds, const GpsTrace &trace, ImVec2 size) {
+  if (trace.points.size() <= 1) {
+    return MAP_SINGLE_POINT_MIN_ZOOM;
+  }
+  const int fit_zoom = fit_map_zoom_for_bounds(bounds.valid() ? bounds : requested_bounds_for_trace(trace),
+                                               size.x, size.y, MAP_MIN_ZOOM_FILL);
+  return std::clamp(fit_zoom, MAP_MIN_ZOOM, MAP_MAX_ZOOM);
+}
+
+std::optional<GpsPoint> interpolate_gps(const GpsTrace &trace, double time_value) {
+  if (trace.points.empty()) {
+    return std::nullopt;
+  }
+  if (time_value <= trace.points.front().time) {
+    return trace.points.front();
+  }
+  if (time_value >= trace.points.back().time) {
+    return trace.points.back();
+  }
+  auto upper = std::lower_bound(trace.points.begin(), trace.points.end(), time_value,
+                                [](const GpsPoint &point, double target) {
+                                  return point.time < target;
+                                });
+  if (upper == trace.points.begin()) {
+    return trace.points.front();
+  }
+  const GpsPoint &p1 = *upper;
+  const GpsPoint &p0 = *(upper - 1);
+  const double dt = p1.time - p0.time;
+  if (dt <= 1.0e-9) {
+    return p0;
+  }
+  const double alpha = (time_value - p0.time) / dt;
+  GpsPoint out;
+  out.time = time_value;
+  out.lat = p0.lat + (p1.lat - p0.lat) * alpha;
+  out.lon = p0.lon + (p1.lon - p0.lon) * alpha;
+  out.bearing = static_cast<float>(p0.bearing + (p1.bearing - p0.bearing) * alpha);
+  out.type = alpha < 0.5 ? p0.type : p1.type;
+  return out;
+}
+
+ImU32 map_timeline_color(TimelineEntry::Type type, float alpha = 1.0f) {
+  return timeline_entry_color(type, alpha, {140, 150, 165});
+}
+
+ImVec2 gps_to_screen(double lat, double lon, double zoom, double top_left_x, double top_left_y, const ImVec2 &rect_min) {
+  return ImVec2(rect_min.x + static_cast<float>(lon_to_world_x(lon, zoom) - top_left_x),
+                rect_min.y + static_cast<float>(lat_to_world_y(lat, zoom) - top_left_y));
+}
+
+bool point_in_rect_with_margin(const ImVec2 &point, const ImVec2 &rect_min, const ImVec2 &rect_max,
+                               float margin_fraction) {
+  const float width = rect_max.x - rect_min.x;
+  const float height = rect_max.y - rect_min.y;
+  const float margin_x = width * margin_fraction;
+  const float margin_y = height * margin_fraction;
+  return point.x >= rect_min.x + margin_x && point.x <= rect_max.x - margin_x
+      && point.y >= rect_min.y + margin_y && point.y <= rect_max.y - margin_y;
+}
+
+void draw_car_marker(ImDrawList *draw_list, ImVec2 center, float bearing_deg, ImU32 color, float size) {
+  const float rad = bearing_deg * static_cast<float>(M_PI / 180.0);
+  const ImVec2 forward(std::sin(rad), -std::cos(rad));
+  const ImVec2 perp(-forward.y, forward.x);
+  const ImVec2 tip(center.x + forward.x * size, center.y + forward.y * size);
+  const ImVec2 base(center.x - forward.x * size * 0.45f, center.y - forward.y * size * 0.45f);
+  const ImVec2 left(base.x + perp.x * size * 0.6f, base.y + perp.y * size * 0.6f);
+  const ImVec2 right(base.x - perp.x * size * 0.6f, base.y - perp.y * size * 0.6f);
+  draw_list->AddTriangleFilled(tip, left, right, color);
+  draw_list->AddTriangle(tip, left, right, IM_COL32(255, 255, 255, 210), 2.0f);
+}
+
+bool is_convex_ring(const std::vector<ImVec2> &points) {
+  if (points.size() < 4) {
+    return false;
+  }
+  float sign = 0.0f;
+  const size_t n = points.size();
+  for (size_t i = 0; i < n; ++i) {
+    const ImVec2 &a = points[i];
+    const ImVec2 &b = points[(i + 1) % n];
+    const ImVec2 &c = points[(i + 2) % n];
+    const float cross = (b.x - a.x) * (c.y - b.y) - (b.y - a.y) * (c.x - b.x);
+    if (std::abs(cross) < 1.0e-3f) {
+      continue;
+    }
+    if (sign == 0.0f) {
+      sign = cross;
+    } else if ((cross > 0.0f) != (sign > 0.0f)) {
+      return false;
+    }
+  }
+  return sign != 0.0f;
+}
+
+uint64_t fnv1a64(std::string_view text) {
+  uint64_t value = 1469598103934665603ULL;
+  for (unsigned char c : text) {
+    value ^= static_cast<uint64_t>(c);
+    value *= 1099511628211ULL;
+  }
+  return value;
+}
+
+fs::path basemap_cache_root() {
+  const char *home = std::getenv("HOME");
+  fs::path root = home != nullptr ? fs::path(home) / ".comma" : fs::temp_directory_path();
+  root /= "jotpluggler_vector_map";
+  fs::create_directories(root);
+  return root;
+}
+
+std::string bounds_key(const GeoBounds &bounds) {
+  return util::string_format("v2_%.5f_%.5f_%.5f_%.5f",
+                             bounds.south, bounds.west, bounds.north, bounds.east);
+}
+
+fs::path basemap_cache_path(const std::string &key) {
+  const uint64_t hash = fnv1a64(key);
+  return basemap_cache_root() / util::string_format("%016llx.bin.zst", static_cast<unsigned long long>(hash));
+}
+
+uint64_t cache_directory_size_bytes() {
+  uint64_t total = 0;
+  const fs::path root = basemap_cache_root();
+  if (!fs::exists(root)) {
+    return 0;
+  }
+  for (const fs::directory_entry &entry : fs::directory_iterator(root)) {
+    if (entry.is_regular_file()) {
+      total += static_cast<uint64_t>(entry.file_size());
+    }
+  }
+  return total;
+}
+
+size_t cache_directory_file_count() {
+  size_t count = 0;
+  const fs::path root = basemap_cache_root();
+  if (!fs::exists(root)) {
+    return 0;
+  }
+  for (const fs::directory_entry &entry : fs::directory_iterator(root)) {
+    if (entry.is_regular_file()) {
+      ++count;
+    }
+  }
+  return count;
+}
+
+void clear_cache_directory() {
+  const fs::path root = basemap_cache_root();
+  if (!fs::exists(root)) {
+    return;
+  }
+  for (const fs::directory_entry &entry : fs::directory_iterator(root)) {
+    if (entry.is_regular_file()) {
+      std::error_code ec;
+      fs::remove(entry.path(), ec);
+    }
+  }
+}
+
+std::string percent_encode(std::string_view text) {
+  std::string out;
+  out.reserve(text.size() * 3);
+  for (unsigned char c : text) {
+    if ((c >= 'a' && c <= 'z') || (c >= 'A' && c <= 'Z') || (c >= '0' && c <= '9')
+        || c == '-' || c == '_' || c == '.' || c == '~') {
+      out.push_back(static_cast<char>(c));
+    } else {
+      out += util::string_format("%%%02X", static_cast<unsigned int>(c));
+    }
+  }
+  return out;
+}
+
+std::string bbox_string(const GeoBounds &bounds) {
+  return util::string_format("%.6f,%.6f,%.6f,%.6f",
+                             bounds.south, bounds.west, bounds.north, bounds.east);
+}
+
+MapRequestSpec build_request_for_trace(const GpsTrace &trace) {
+  const std::vector<GeoBounds> boxes = corridor_boxes_for_trace(trace);
+  GeoBounds union_bounds;
+  std::string query = "[out:json][timeout:25];(";
+  for (const GeoBounds &box : boxes) {
+    union_bounds = merge_bounds(union_bounds, box);
+    const std::string bbox = bbox_string(box);
+    query += "way[\"highway\"][\"area\"!=\"yes\"](" + bbox + ");";
+    query += "way[\"natural\"=\"water\"](" + bbox + ");";
+    query += "way[\"waterway\"=\"riverbank\"](" + bbox + ");";
+    query += "way[\"waterway\"~\"river|stream|canal\"](" + bbox + ");";
+  }
+  query += ");out tags geom;";
+
+  std::string key = bounds_key(union_bounds);
+  key += ":";
+  key += std::to_string(boxes.size());
+  for (const GeoBounds &box : boxes) {
+    key += ":";
+    key += bbox_string(box);
+  }
+  return MapRequestSpec{
+    .key = std::move(key),
+    .bounds = union_bounds,
+    .query = std::move(query),
+  };
+}
+
+bool fetch_overpass_json(std::string_view query, std::string *out) {
+  const std::string body = std::string("data=") + percent_encode(query);
+  for (const char *endpoint : MAP_QUERY_ENDPOINTS) {
+    const std::string command = "curl -fsSL --compressed --connect-timeout 8 --max-time 30 "
+                              "-A 'jotpluggler-vector-map/1.0' "
+                              "-H 'Content-Type: application/x-www-form-urlencoded; charset=UTF-8' "
+                              "--data-raw " + shell_quote(body) + " "
+                              + shell_quote(endpoint);
+    const std::string response = util::check_output(command);
+    if (!response.empty() && response.front() == '{') {
+      *out = response;
+      return true;
+    }
+  }
+  return false;
+}
+
+std::string load_overpass_json(std::string_view query) {
+  std::string response;
+  if (!fetch_overpass_json(query, &response)) {
+    return {};
+  }
+  return response;
+}
+
+template <typename T>
+void append_pod(std::string *out, const T &value) {
+  const size_t start = out->size();
+  out->resize(start + sizeof(T));
+  std::memcpy(out->data() + start, &value, sizeof(T));
+}
+
+template <typename T>
+bool read_pod(std::string_view data, size_t *offset, T *value) {
+  if (*offset + sizeof(T) > data.size()) {
+    return false;
+  }
+  std::memcpy(value, data.data() + *offset, sizeof(T));
+  *offset += sizeof(T);
+  return true;
+}
+
+void append_points(std::string *out, const std::vector<ProjectedPoint> &points) {
+  const uint32_t count = static_cast<uint32_t>(points.size());
+  append_pod(out, count);
+  for (const ProjectedPoint &point : points) {
+    append_pod(out, point.x);
+    append_pod(out, point.y);
+  }
+}
+
+bool read_points(std::string_view data, size_t *offset, std::vector<ProjectedPoint> *points) {
+  uint32_t count = 0;
+  if (!read_pod(data, offset, &count)) {
+    return false;
+  }
+  points->clear();
+  points->reserve(count);
+  for (uint32_t i = 0; i < count; ++i) {
+    ProjectedPoint point;
+    if (!read_pod(data, offset, &point.x) || !read_pod(data, offset, &point.y)) {
+      return false;
+    }
+    points->push_back(point);
+  }
+  return true;
+}
+
+std::string serialize_basemap_payload(const RouteBasemap &basemap) {
+  std::string raw;
+  raw.reserve(1024 + basemap.roads.size() * 48);
+  raw.append("JBM2", 4);
+  append_pod(&raw, basemap.bounds.south);
+  append_pod(&raw, basemap.bounds.west);
+  append_pod(&raw, basemap.bounds.north);
+  append_pod(&raw, basemap.bounds.east);
+
+  const uint32_t road_count = static_cast<uint32_t>(basemap.roads.size());
+  const uint32_t water_line_count = static_cast<uint32_t>(basemap.water_lines.size());
+  const uint32_t water_polygon_count = static_cast<uint32_t>(basemap.water_polygons.size());
+  append_pod(&raw, road_count);
+  append_pod(&raw, water_line_count);
+  append_pod(&raw, water_polygon_count);
+
+  for (const RoadFeature &road : basemap.roads) {
+    const uint8_t kind = static_cast<uint8_t>(road.road_class);
+    append_pod(&raw, kind);
+    append_points(&raw, road.points);
+  }
+  for (const WaterLineFeature &water : basemap.water_lines) {
+    append_points(&raw, water.points);
+  }
+  for (const WaterPolygonFeature &water : basemap.water_polygons) {
+    append_points(&raw, water.ring);
+  }
+  return raw;
+}
+
+std::optional<RouteBasemap> deserialize_basemap_payload(std::string_view raw, const std::string &key) {
+  if (!util::starts_with(std::string(raw), "JBM2")) {
+    return std::nullopt;
+  }
+  size_t offset = 4;
+  RouteBasemap basemap;
+  basemap.key = key;
+  if (!read_pod(raw, &offset, &basemap.bounds.south)
+      || !read_pod(raw, &offset, &basemap.bounds.west)
+      || !read_pod(raw, &offset, &basemap.bounds.north)
+      || !read_pod(raw, &offset, &basemap.bounds.east)) {
+    return std::nullopt;
+  }
+  basemap.projected_bounds = project_bounds0(basemap.bounds);
+
+  uint32_t road_count = 0;
+  uint32_t water_line_count = 0;
+  uint32_t water_polygon_count = 0;
+  if (!read_pod(raw, &offset, &road_count)
+      || !read_pod(raw, &offset, &water_line_count)
+      || !read_pod(raw, &offset, &water_polygon_count)) {
+    return std::nullopt;
+  }
+
+  basemap.roads.reserve(road_count);
+  for (uint32_t i = 0; i < road_count; ++i) {
+    uint8_t kind = 0;
+    std::vector<ProjectedPoint> points;
+    if (!read_pod(raw, &offset, &kind) || !read_points(raw, &offset, &points)) {
+      return std::nullopt;
+    }
+    basemap.roads.push_back(RoadFeature{
+      .road_class = static_cast<RoadClass>(kind),
+      .bounds = compute_projected_bounds(points),
+      .points = std::move(points),
+    });
+  }
+
+  basemap.water_lines.reserve(water_line_count);
+  for (uint32_t i = 0; i < water_line_count; ++i) {
+    std::vector<ProjectedPoint> points;
+    if (!read_points(raw, &offset, &points)) {
+      return std::nullopt;
+    }
+    basemap.water_lines.push_back(WaterLineFeature{
+      .bounds = compute_projected_bounds(points),
+      .points = std::move(points),
+    });
+  }
+
+  basemap.water_polygons.reserve(water_polygon_count);
+  for (uint32_t i = 0; i < water_polygon_count; ++i) {
+    std::vector<ProjectedPoint> ring;
+    if (!read_points(raw, &offset, &ring)) {
+      return std::nullopt;
+    }
+    basemap.water_polygons.push_back(WaterPolygonFeature{
+      .bounds = compute_projected_bounds(ring),
+      .ring = std::move(ring),
+    });
+  }
+  return basemap;
+}
+
+bool save_compressed_basemap(const fs::path &path, const RouteBasemap &basemap) {
+  const std::string raw = serialize_basemap_payload(basemap);
+  const size_t bound = ZSTD_compressBound(raw.size());
+  std::string compressed(bound, '\0');
+  const size_t size = ZSTD_compress(compressed.data(), compressed.size(), raw.data(), raw.size(), 5);
+  if (ZSTD_isError(size)) {
+    return false;
+  }
+  compressed.resize(size);
+  ensure_parent_dir(path);
+  const std::string path_string = path.string();
+  return util::write_file(path_string.c_str(), compressed.data(), compressed.size(), O_WRONLY | O_CREAT | O_TRUNC) == 0;
+}
+
+std::optional<RouteBasemap> load_compressed_basemap(const fs::path &path, const std::string &key) {
+  const std::string compressed = util::read_file(path.string());
+  if (compressed.empty()) {
+    return std::nullopt;
+  }
+  const unsigned long long raw_size = ZSTD_getFrameContentSize(compressed.data(), compressed.size());
+  if (raw_size == ZSTD_CONTENTSIZE_ERROR || raw_size == ZSTD_CONTENTSIZE_UNKNOWN || raw_size > (1ULL << 31)) {
+    return std::nullopt;
+  }
+  std::string raw(static_cast<size_t>(raw_size), '\0');
+  const size_t actual = ZSTD_decompress(raw.data(), raw.size(), compressed.data(), compressed.size());
+  if (ZSTD_isError(actual)) {
+    return std::nullopt;
+  }
+  raw.resize(actual);
+  return deserialize_basemap_payload(raw, key);
+}
+
+std::vector<ProjectedPoint> geometry_points(const json11::Json &geometry_json) {
+  std::vector<ProjectedPoint> points;
+  const auto items = geometry_json.array_items();
+  points.reserve(items.size());
+  for (const json11::Json &point : items) {
+    if (!point["lat"].is_number() || !point["lon"].is_number()) {
+      continue;
+    }
+    points.push_back(ProjectedPoint{
+      .x = project_lon0(point["lon"].number_value()),
+      .y = project_lat0(point["lat"].number_value()),
+    });
+  }
+  return points;
+}
+
+std::optional<RoadClass> classify_road(std::string_view highway) {
+  if (highway == "motorway" || highway == "motorway_link" || highway == "trunk" || highway == "trunk_link") {
+    return RoadClass::Motorway;
+  }
+  if (highway == "primary" || highway == "primary_link") {
+    return RoadClass::Primary;
+  }
+  if (highway == "secondary" || highway == "secondary_link" || highway == "tertiary" || highway == "tertiary_link") {
+    return RoadClass::Secondary;
+  }
+  if (highway == "residential" || highway == "unclassified" || highway == "living_street" || highway == "road") {
+    return RoadClass::Local;
+  }
+  return std::nullopt;
+}
+
+std::optional<RouteBasemap> parse_basemap_json(const std::string &raw, const GeoBounds &bounds, const std::string &key) {
+  std::string parse_error;
+  const json11::Json root = json11::Json::parse(raw, parse_error);
+  if (!parse_error.empty() || !root.is_object()) {
+    return std::nullopt;
+  }
+
+  RouteBasemap basemap;
+  basemap.key = key;
+  basemap.bounds = bounds;
+  basemap.projected_bounds = project_bounds0(bounds);
+
+  for (const json11::Json &element : root["elements"].array_items()) {
+    if (element["type"].string_value() != "way") {
+      continue;
+    }
+    const json11::Json &tags = element["tags"];
+    const std::vector<ProjectedPoint> points = geometry_points(element["geometry"]);
+    if (points.size() < 2) {
+      continue;
+    }
+
+    const std::string highway = tags["highway"].string_value();
+    if (!highway.empty()) {
+      const std::optional<RoadClass> road_class = classify_road(highway);
+      if (!road_class.has_value()) {
+        continue;
+      }
+      basemap.roads.push_back(RoadFeature{
+        .road_class = *road_class,
+        .bounds = compute_projected_bounds(points),
+        .points = points,
+      });
+      continue;
+    }
+
+    const std::string natural = tags["natural"].string_value();
+    const std::string waterway = tags["waterway"].string_value();
+    const bool closed = points.size() >= 4
+                     && std::abs(points.front().x - points.back().x) < 1.0e-6f
+                     && std::abs(points.front().y - points.back().y) < 1.0e-6f;
+    if ((natural == "water" || waterway == "riverbank") && closed) {
+      basemap.water_polygons.push_back(WaterPolygonFeature{
+        .bounds = compute_projected_bounds(points),
+        .ring = points,
+      });
+      continue;
+    }
+    if (waterway == "river" || waterway == "stream" || waterway == "canal") {
+      basemap.water_lines.push_back(WaterLineFeature{
+        .bounds = compute_projected_bounds(points),
+        .points = points,
+      });
+    }
+  }
+
+  return basemap;
+}
+
+struct RoadPaint {
+  ImU32 casing = 0;
+  ImU32 fill = 0;
+  float casing_width = 1.0f;
+  float fill_width = 1.0f;
+};
+
+constexpr ImU32 MAP_BG_COLOR = IM_COL32(244, 243, 238, 255);
+constexpr ImU32 MAP_WATER_FILL = IM_COL32(193, 216, 235, 185);
+constexpr ImU32 MAP_WATER_OUTLINE = IM_COL32(143, 173, 201, 220);
+constexpr ImU32 MAP_WATER_LINE = IM_COL32(156, 186, 214, 205);
+constexpr ImU32 MAP_ROUTE_HALO = IM_COL32(31, 40, 50, 92);
+
+RoadPaint road_paint(RoadClass road_class, float zoom) {
+  const float scale = std::clamp(0.88f + 0.12f * (zoom - 12.0f), 0.76f, 1.95f);
+  switch (road_class) {
+    case RoadClass::Motorway:
+      return {
+        .casing = IM_COL32(163, 157, 149, 235),
+        .fill = IM_COL32(245, 235, 215, 255),
+        .casing_width = 5.6f * scale,
+        .fill_width = 3.7f * scale,
+      };
+    case RoadClass::Primary:
+      return {
+        .casing = IM_COL32(171, 171, 168, 220),
+        .fill = IM_COL32(249, 246, 237, 248),
+        .casing_width = 4.6f * scale,
+        .fill_width = 2.95f * scale,
+      };
+    case RoadClass::Secondary:
+      return {
+        .casing = IM_COL32(183, 186, 189, 210),
+        .fill = IM_COL32(252, 251, 247, 240),
+        .casing_width = 3.5f * scale,
+        .fill_width = 2.15f * scale,
+      };
+    case RoadClass::Local:
+    default:
+      return {
+        .casing = IM_COL32(200, 202, 205, 195),
+        .fill = IM_COL32(255, 255, 254, 230),
+        .casing_width = 2.5f * scale,
+        .fill_width = 1.5f * scale,
+      };
+  }
+}
+
+void clamp_map_center(TabUiState::MapPaneState *map_state, const GeoBounds &bounds, const ImVec2 &size) {
+  if (!bounds.valid() || size.x <= 1.0f || size.y <= 1.0f) {
+    return;
+  }
+  const double zoom = map_state->zoom;
+  const double min_x = lon_to_world_x(bounds.west, zoom);
+  const double max_x = lon_to_world_x(bounds.east, zoom);
+  const double min_y = lat_to_world_y(bounds.north, zoom);
+  const double max_y = lat_to_world_y(bounds.south, zoom);
+  const double half_w = size.x * 0.5;
+  const double half_h = size.y * 0.5;
+  double center_x = lon_to_world_x(map_state->center_lon, zoom);
+  double center_y = lat_to_world_y(map_state->center_lat, zoom);
+  if (max_x - min_x <= size.x) {
+    center_x = (min_x + max_x) * 0.5;
+  } else {
+    center_x = std::clamp(center_x, min_x + half_w, max_x - half_w);
+  }
+  if (max_y - min_y <= size.y) {
+    center_y = (min_y + max_y) * 0.5;
+  } else {
+    center_y = std::clamp(center_y, min_y + half_h, max_y - half_h);
+  }
+  map_state->center_lon = world_x_to_lon(center_x, zoom);
+  map_state->center_lat = world_y_to_lat(center_y, zoom);
+}
+
+void initialize_map_pane_state(TabUiState::MapPaneState *map_state,
+                               const GpsTrace &trace,
+                               const GeoBounds &bounds,
+                               ImVec2 size,
+                               SessionDataMode mode,
+                               std::optional<GpsPoint> cursor_point) {
+  if (trace.points.empty()) {
+    return;
+  }
+  map_state->initialized = true;
+  map_state->follow = mode == SessionDataMode::Stream;
+  const int min_zoom = minimum_allowed_map_zoom(bounds, trace, size);
+  if (mode == SessionDataMode::Stream && cursor_point.has_value()) {
+    map_state->zoom = std::max(16.0f, static_cast<float>(min_zoom));
+    map_state->center_lat = cursor_point->lat;
+    map_state->center_lon = cursor_point->lon;
+  } else {
+    map_state->zoom = std::max(static_cast<float>(fit_map_zoom_for_trace(trace, size.x, size.y)),
+                               static_cast<float>(min_zoom));
+    map_state->center_lat = map_trace_center_lat(trace);
+    map_state->center_lon = map_trace_center_lon(trace);
+  }
+  clamp_map_center(map_state, bounds, size);
+}
+
+void draw_feature_polyline(ImDrawList *draw_list,
+                           const std::vector<ProjectedPoint> &points,
+                           float zoom_scale,
+                           double top_left_x,
+                           double top_left_y,
+                           const ImVec2 &rect_min,
+                           ImU32 color,
+                           float thickness,
+                           bool closed = false) {
+  if (points.size() < 2) {
+    return;
+  }
+  std::vector<ImVec2> screen;
+  screen.reserve(points.size());
+  for (const ProjectedPoint &point : points) {
+    screen.push_back(ImVec2(rect_min.x + point.x * zoom_scale - static_cast<float>(top_left_x),
+                            rect_min.y + point.y * zoom_scale - static_cast<float>(top_left_y)));
+  }
+  draw_list->AddPolyline(screen.data(), static_cast<int>(screen.size()), color,
+                         closed ? ImDrawFlags_Closed : ImDrawFlags_None, thickness);
+}
+
+void draw_water_polygon(ImDrawList *draw_list,
+                        const WaterPolygonFeature &feature,
+                        float zoom_scale,
+                        double top_left_x,
+                        double top_left_y,
+                        const ImVec2 &rect_min) {
+  if (feature.ring.size() < 3) {
+    return;
+  }
+  std::vector<ImVec2> screen;
+  screen.reserve(feature.ring.size());
+  for (const ProjectedPoint &point : feature.ring) {
+    screen.push_back(ImVec2(rect_min.x + point.x * zoom_scale - static_cast<float>(top_left_x),
+                            rect_min.y + point.y * zoom_scale - static_cast<float>(top_left_y)));
+  }
+  if (screen.size() >= 3 && is_convex_ring(screen)) {
+    draw_list->AddConvexPolyFilled(screen.data(), static_cast<int>(screen.size()), MAP_WATER_FILL);
+  }
+  draw_list->AddPolyline(screen.data(), static_cast<int>(screen.size()), MAP_WATER_OUTLINE,
+                         ImDrawFlags_Closed, 1.8f);
+}
+
+void draw_edge_fade(ImDrawList *draw_list,
+                    const GeoBounds &bounds,
+                    double zoom,
+                    double top_left_x,
+                    double top_left_y,
+                    const ImVec2 &rect_min,
+                    const ImVec2 &rect_max) {
+  if (!bounds.valid()) {
+    return;
+  }
+
+  const float west_x = rect_min.x + static_cast<float>(lon_to_world_x(bounds.west, zoom) - top_left_x);
+  const float east_x = rect_min.x + static_cast<float>(lon_to_world_x(bounds.east, zoom) - top_left_x);
+  const float north_y = rect_min.y + static_cast<float>(lat_to_world_y(bounds.north, zoom) - top_left_y);
+  const float south_y = rect_min.y + static_cast<float>(lat_to_world_y(bounds.south, zoom) - top_left_y);
+
+  const float fade_x = std::max(28.0f, (rect_max.x - rect_min.x) * MAP_EDGE_FADE_FRAC);
+  const float fade_y = std::max(28.0f, (rect_max.y - rect_min.y) * MAP_EDGE_FADE_FRAC);
+  const ImU32 solid = MAP_BG_COLOR;
+  const ImU32 clear = IM_COL32(244, 243, 238, 6);
+
+  if (west_x > rect_min.x) {
+    const float x0 = rect_min.x;
+    const float x1 = std::min(rect_max.x, west_x);
+    const float xfade = std::max(x0, x1 - fade_x);
+    draw_list->AddRectFilledMultiColor(ImVec2(x0, rect_min.y), ImVec2(xfade, rect_max.y), solid, solid, solid, solid);
+    draw_list->AddRectFilledMultiColor(ImVec2(xfade, rect_min.y), ImVec2(x1, rect_max.y), solid, clear, clear, solid);
+  }
+  if (east_x < rect_max.x) {
+    const float x0 = std::max(rect_min.x, east_x);
+    const float x1 = rect_max.x;
+    const float xfade = std::min(x1, x0 + fade_x);
+    draw_list->AddRectFilledMultiColor(ImVec2(x0, rect_min.y), ImVec2(xfade, rect_max.y), clear, solid, solid, clear);
+    draw_list->AddRectFilledMultiColor(ImVec2(xfade, rect_min.y), ImVec2(x1, rect_max.y), solid, solid, solid, solid);
+  }
+  if (north_y > rect_min.y) {
+    const float y0 = rect_min.y;
+    const float y1 = std::min(rect_max.y, north_y);
+    const float yfade = std::max(y0, y1 - fade_y);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, y0), ImVec2(rect_max.x, yfade), solid, solid, solid, solid);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, yfade), ImVec2(rect_max.x, y1), solid, solid, clear, clear);
+  }
+  if (south_y < rect_max.y) {
+    const float y0 = std::max(rect_min.y, south_y);
+    const float y1 = rect_max.y;
+    const float yfade = std::min(y1, y0 + fade_y);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, y0), ImVec2(rect_max.x, yfade), clear, clear, solid, solid);
+    draw_list->AddRectFilledMultiColor(ImVec2(rect_min.x, yfade), ImVec2(rect_max.x, y1), solid, solid, solid, solid);
+  }
+}
+
+}  // namespace
+
+MapDataManager::MapDataManager() : worker_([this]() { run(); }) {}
+
+MapDataManager::~MapDataManager() {
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    stopping_ = true;
+  }
+  cv_.notify_all();
+  if (worker_.joinable()) {
+    worker_.join();
+  }
+}
+
+void MapDataManager::pump() {
+  std::unique_ptr<RouteBasemap> ready;
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    ready = std::move(completed_);
+  }
+  if (ready) {
+    current_ = std::move(ready);
+  }
+}
+
+void MapDataManager::ensureTrace(const GpsTrace &trace) {
+  if (trace.points.empty()) {
+    return;
+  }
+  const MapRequestSpec wanted = build_request_for_trace(trace);
+  if (!wanted.bounds.valid()) {
+    return;
+  }
+
+  std::lock_guard<std::mutex> lock(mutex_);
+  if ((current_ && current_->key == wanted.key) || (pending_ && pending_->key == wanted.key)) {
+    return;
+  }
+
+  if (const auto cached = load_compressed_basemap(basemap_cache_path(wanted.key), wanted.key)) {
+    current_ = std::make_unique<RouteBasemap>(std::move(*cached));
+    completed_.reset();
+    pending_.reset();
+    active_.reset();
+    return;
+  }
+
+  pending_ = std::make_unique<Request>(Request{
+    .key = wanted.key,
+    .bounds = wanted.bounds,
+    .query = wanted.query,
+  });
+  cv_.notify_one();
+}
+
+bool MapDataManager::loading() const {
+  std::lock_guard<std::mutex> lock(mutex_);
+  return active_ || pending_;
+}
+
+const RouteBasemap *MapDataManager::current() const {
+  return current_.get();
+}
+
+void MapDataManager::clearCache() {
+  std::lock_guard<std::mutex> lock(mutex_);
+  clear_cache_directory();
+}
+
+MapCacheStats MapDataManager::cacheStats() const {
+  return MapCacheStats{
+    .bytes = cache_directory_size_bytes(),
+    .files = cache_directory_file_count(),
+  };
+}
+
+void MapDataManager::run() {
+  while (true) {
+    Request request;
+    {
+      std::unique_lock<std::mutex> lock(mutex_);
+      cv_.wait(lock, [&]() { return stopping_ || pending_ != nullptr; });
+      if (stopping_) {
+        return;
+      }
+      request = *pending_;
+      active_ = std::move(pending_);
+    }
+
+    std::unique_ptr<RouteBasemap> parsed;
+    const std::string raw = load_overpass_json(request.query);
+    if (!raw.empty()) {
+      if (auto basemap = parse_basemap_json(raw, request.bounds, request.key)) {
+        save_compressed_basemap(basemap_cache_path(request.key), *basemap);
+        parsed = std::make_unique<RouteBasemap>(std::move(*basemap));
+      }
+    }
+
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      if (active_ && active_->key == request.key) {
+        completed_ = std::move(parsed);
+        active_.reset();
+      }
+    }
+  }
+}
+
+void draw_map_pane(AppSession *session, UiState *state, Pane *, int pane_index) {
+  TabUiState *tab_state = app_active_tab_state(state);
+  if (tab_state == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab_state->map_panes.size())) {
+    ImGui::TextUnformatted("Map unavailable");
+    return;
+  }
+  if (!session->map_data) {
+    ImGui::TextUnformatted("Map unavailable");
+    return;
+  }
+
+  session->map_data->ensureTrace(session->route_data.gps_trace);
+  session->map_data->pump();
+
+  TabUiState::MapPaneState &map_state = tab_state->map_panes[static_cast<size_t>(pane_index)];
+  const GpsTrace &trace = session->route_data.gps_trace;
+  const RouteBasemap *basemap = session->map_data->current();
+  const GeoBounds map_bounds = basemap != nullptr ? basemap->bounds : requested_bounds_for_trace(trace);
+
+  const ImVec2 rect_min = ImGui::GetCursorScreenPos();
+  const ImVec2 size = ImGui::GetContentRegionAvail();
+  const ImVec2 input_size(std::max(1.0f, size.x - 22.0f), std::max(1.0f, size.y));
+  ImGui::SetNextItemAllowOverlap();
+  ImGui::InvisibleButton("##map_canvas", input_size);
+  const ImVec2 rect_max(rect_min.x + size.x, rect_min.y + size.y);
+  const float rect_width = rect_max.x - rect_min.x;
+  const float rect_height = rect_max.y - rect_min.y;
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+
+  draw_list->PushClipRect(rect_min, rect_max, true);
+  draw_list->AddRectFilled(rect_min, rect_max, MAP_BG_COLOR);
+
+  if (trace.points.empty()) {
+    const char *label = session->async_route_loading ? "Loading map..." : "No GPS trace";
+    const ImVec2 text = ImGui::CalcTextSize(label);
+    draw_list->AddText(ImVec2(rect_min.x + (rect_width - text.x) * 0.5f,
+                              rect_min.y + (rect_height - text.y) * 0.5f),
+                       IM_COL32(110, 118, 128, 255), label);
+    draw_list->PopClipRect();
+    return;
+  }
+
+  const std::optional<GpsPoint> cursor_point = state->has_tracker_time
+    ? interpolate_gps(trace, state->tracker_time)
+    : std::optional<GpsPoint>{};
+  if (!map_state.initialized) {
+    initialize_map_pane_state(&map_state, trace, map_bounds, size, session->data_mode, cursor_point);
+  }
+
+  const int min_zoom = minimum_allowed_map_zoom(map_bounds, trace, size);
+  if (map_state.follow && cursor_point.has_value()) {
+    const float follow_zoom = std::clamp(map_state.zoom, static_cast<float>(min_zoom), static_cast<float>(MAP_MAX_ZOOM));
+    const double center_x = lon_to_world_x(map_state.center_lon, follow_zoom);
+    const double center_y = lat_to_world_y(map_state.center_lat, follow_zoom);
+    const double top_left_x = center_x - rect_width * 0.5;
+    const double top_left_y = center_y - rect_height * 0.5;
+    const ImVec2 car_screen = gps_to_screen(cursor_point->lat, cursor_point->lon, follow_zoom, top_left_x, top_left_y, rect_min);
+    if (!point_in_rect_with_margin(car_screen, rect_min, rect_max, 0.22f)) {
+      map_state.center_lat = cursor_point->lat;
+      map_state.center_lon = cursor_point->lon;
+    }
+  }
+
+  map_state.zoom = std::clamp(map_state.zoom, static_cast<float>(min_zoom), static_cast<float>(MAP_MAX_ZOOM));
+  clamp_map_center(&map_state, map_bounds, size);
+
+  const double zoom = map_state.zoom;
+  const float zoom_scale = static_cast<float>(std::exp2(zoom));
+  const double center_x = lon_to_world_x(map_state.center_lon, zoom);
+  const double center_y = lat_to_world_y(map_state.center_lat, zoom);
+  const double top_left_x = center_x - rect_width * 0.5;
+  const double top_left_y = center_y - rect_height * 0.5;
+  const ProjectedBounds current_view = view_bounds(top_left_x, top_left_y, rect_width, rect_height);
+
+  if (basemap != nullptr) {
+    for (const WaterPolygonFeature &water : basemap->water_polygons) {
+      if (feature_intersects_view(water.bounds, current_view, zoom_scale)) {
+        draw_water_polygon(draw_list, water, zoom_scale, top_left_x, top_left_y, rect_min);
+      }
+    }
+    for (const WaterLineFeature &water : basemap->water_lines) {
+      if (feature_intersects_view(water.bounds, current_view, zoom_scale)) {
+        draw_feature_polyline(draw_list, water.points, zoom_scale, top_left_x, top_left_y, rect_min,
+                              MAP_WATER_LINE, 2.4f);
+      }
+    }
+
+    std::array<RoadClass, 4> order = {
+      RoadClass::Local,
+      RoadClass::Secondary,
+      RoadClass::Primary,
+      RoadClass::Motorway,
+    };
+    for (RoadClass road_class : order) {
+      const RoadPaint paint = road_paint(road_class, static_cast<float>(zoom));
+      for (const RoadFeature &road : basemap->roads) {
+        if (road.road_class != road_class || !feature_intersects_view(road.bounds, current_view, zoom_scale)) {
+          continue;
+        }
+        draw_feature_polyline(draw_list, road.points, zoom_scale, top_left_x, top_left_y, rect_min,
+                              paint.casing, paint.casing_width);
+        draw_feature_polyline(draw_list, road.points, zoom_scale, top_left_x, top_left_y, rect_min,
+                              paint.fill, paint.fill_width);
+      }
+    }
+  }
+
+  if (basemap != nullptr) {
+    draw_edge_fade(draw_list, basemap->bounds, zoom, top_left_x, top_left_y, rect_min, rect_max);
+  }
+
+  for (size_t i = 1; i < trace.points.size(); ++i) {
+    const GpsPoint &p0 = trace.points[i - 1];
+    const GpsPoint &p1 = trace.points[i];
+    const ImVec2 s0 = gps_to_screen(p0.lat, p0.lon, zoom, top_left_x, top_left_y, rect_min);
+    const ImVec2 s1 = gps_to_screen(p1.lat, p1.lon, zoom, top_left_x, top_left_y, rect_min);
+    draw_list->AddLine(s0, s1, MAP_ROUTE_HALO, 5.8f);
+    draw_list->AddLine(s0, s1, map_timeline_color(p1.type, 1.0f), 3.25f);
+  }
+
+  if (cursor_point.has_value()) {
+    const ImVec2 marker = gps_to_screen(cursor_point->lat, cursor_point->lon, zoom, top_left_x, top_left_y, rect_min);
+    const float marker_size = std::clamp(9.0f + 1.0f * static_cast<float>(zoom - min_zoom), 9.0f, 20.0f);
+    draw_car_marker(draw_list, marker, cursor_point->bearing, map_timeline_color(cursor_point->type, 1.0f), marker_size);
+  }
+
+  if (session->map_data->loading()) {
+    const char *label = basemap != nullptr ? "Refreshing roads..." : "Loading roads...";
+    const ImVec2 text = ImGui::CalcTextSize(label);
+    const ImVec2 pos(rect_min.x + 12.0f, rect_max.y - text.y - 12.0f);
+    draw_list->AddRectFilled(ImVec2(pos.x - 6.0f, pos.y - 4.0f),
+                             ImVec2(pos.x + text.x + 6.0f, pos.y + text.y + 4.0f),
+                             IM_COL32(255, 255, 255, 180), 4.0f);
+    draw_list->AddText(pos, IM_COL32(84, 93, 105, 255), label);
+  }
+  draw_list->PopClipRect();
+
+  const bool canvas_hovered = ImGui::IsItemHovered();
+  const bool double_clicked = canvas_hovered && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left);
+  bool overlay_hovered = false;
+  if (const std::string google_maps_url = route_google_maps_url(trace); !google_maps_url.empty()) {
+    std::string label = std::string("Google Maps ") + icon::BOX_ARROW_UP_RIGHT;
+    const ImVec2 text_size = ImGui::CalcTextSize(label.c_str());
+    const ImVec2 button_size(text_size.x + 20.0f, text_size.y + 10.0f);
+    const ImVec2 button_pos(rect_max.x - button_size.x - 28.0f, rect_min.y + 10.0f);
+    ImGui::SetCursorScreenPos(button_pos);
+    ImGui::SetNextItemAllowOverlap();
+    if (ImGui::Button("##open_google_maps", button_size)) {
+      open_external_url(google_maps_url);
+      state->status_text = "Opened Google Maps";
+    }
+    overlay_hovered = ImGui::IsItemHovered();
+    draw_list->AddText(ImVec2(button_pos.x + 10.0f, button_pos.y + (button_size.y - text_size.y) * 0.5f),
+                       ImGui::GetColorU32(ImGuiCol_Text), label.c_str());
+  }
+  const bool hovered = canvas_hovered && !overlay_hovered;
+  if (hovered && ImGui::GetIO().MouseWheel != 0.0f) {
+    const float next_zoom = std::clamp(static_cast<float>(zoom) + ImGui::GetIO().MouseWheel * MAP_WHEEL_ZOOM_STEP,
+                                       static_cast<float>(min_zoom), static_cast<float>(MAP_MAX_ZOOM));
+    if (std::abs(next_zoom - zoom) > 1.0e-4f) {
+      const ImVec2 mouse = ImGui::GetIO().MousePos;
+      const double mouse_world_x = top_left_x + (mouse.x - rect_min.x);
+      const double mouse_world_y = top_left_y + (mouse.y - rect_min.y);
+      const double mouse_lon = world_x_to_lon(mouse_world_x, zoom);
+      const double mouse_lat = world_y_to_lat(mouse_world_y, zoom);
+      const double next_center_x = lon_to_world_x(mouse_lon, next_zoom) - (mouse.x - rect_min.x) + rect_width * 0.5;
+      const double next_center_y = lat_to_world_y(mouse_lat, next_zoom) - (mouse.y - rect_min.y) + rect_height * 0.5;
+      map_state.zoom = next_zoom;
+      map_state.center_lon = world_x_to_lon(next_center_x, next_zoom);
+      map_state.center_lat = world_y_to_lat(next_center_y, next_zoom);
+      map_state.follow = false;
+      clamp_map_center(&map_state, map_bounds, size);
+    }
+  }
+  if (hovered && ImGui::IsMouseDragging(ImGuiMouseButton_Left, 2.0f)) {
+    const ImVec2 delta = ImGui::GetIO().MouseDelta;
+    const double next_center_x = center_x - delta.x;
+    const double next_center_y = center_y - delta.y;
+    map_state.center_lon = world_x_to_lon(next_center_x, zoom);
+    map_state.center_lat = world_y_to_lat(next_center_y, zoom);
+    map_state.follow = false;
+    clamp_map_center(&map_state, map_bounds, size);
+  } else if (hovered && ImGui::IsMouseReleased(ImGuiMouseButton_Left)) {
+    const ImVec2 drag_delta = ImGui::GetMouseDragDelta(ImGuiMouseButton_Left);
+    if (drag_delta.x * drag_delta.x + drag_delta.y * drag_delta.y < 16.0f) {
+      const ImVec2 mouse = ImGui::GetIO().MousePos;
+      double best_dist = std::numeric_limits<double>::max();
+      double best_time = state->tracker_time;
+      for (const GpsPoint &point : trace.points) {
+        const ImVec2 screen = gps_to_screen(point.lat, point.lon, zoom, top_left_x, top_left_y, rect_min);
+        const double dx = static_cast<double>(screen.x - mouse.x);
+        const double dy = static_cast<double>(screen.y - mouse.y);
+        const double dist = dx * dx + dy * dy;
+        if (dist < best_dist) {
+          best_dist = dist;
+          best_time = point.time;
+        }
+      }
+      state->tracker_time = best_time;
+      state->has_tracker_time = true;
+    }
+    ImGui::ResetMouseDragDelta(ImGuiMouseButton_Left);
+  }
+  if (double_clicked) {
+    map_state.initialized = false;
+  }
+}
diff --git a/openpilot/tools/jotpluggler/map.h b/openpilot/tools/jotpluggler/map.h
new file mode 100644
index 0000000000..97473f1ba9
--- /dev/null
+++ b/openpilot/tools/jotpluggler/map.h
@@ -0,0 +1,61 @@
+#pragma once
+
+#include <condition_variable>
+#include <cstddef>
+#include <cstdint>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <thread>
+
+struct GpsTrace;
+struct GeoBounds {
+  double south = 0.0;
+  double west = 0.0;
+  double north = 0.0;
+  double east = 0.0;
+
+  bool valid() const {
+    return south < north && west < east;
+  }
+};
+
+struct RouteBasemap;
+struct MapCacheStats {
+  uint64_t bytes = 0;
+  size_t files = 0;
+};
+
+class MapDataManager {
+public:
+  MapDataManager();
+  ~MapDataManager();
+
+  MapDataManager(const MapDataManager &) = delete;
+  MapDataManager &operator=(const MapDataManager &) = delete;
+
+  void pump();
+  void ensureTrace(const GpsTrace &trace);
+  void clearCache();
+  bool loading() const;
+  const RouteBasemap *current() const;
+  MapCacheStats cacheStats() const;
+
+private:
+  struct Request {
+    std::string key;
+    GeoBounds bounds;
+    std::string query;
+  };
+
+  void run();
+
+  mutable std::mutex mutex_;
+  std::condition_variable cv_;
+  bool stopping_ = false;
+  std::unique_ptr<Request> pending_;
+  std::unique_ptr<Request> active_;
+  std::unique_ptr<RouteBasemap> completed_;
+  std::unique_ptr<RouteBasemap> current_;
+  std::thread worker_;
+};
diff --git a/openpilot/tools/jotpluggler/math_eval.py b/openpilot/tools/jotpluggler/math_eval.py
new file mode 100755
index 0000000000..a865c88a3a
--- /dev/null
+++ b/openpilot/tools/jotpluggler/math_eval.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python3
+
+import json
+import sys
+import textwrap
+import traceback
+
+import numpy as np
+
+
+def _load_manifest(path: str) -> dict:
+  with open(path, encoding="utf-8") as f:
+    return json.load(f)
+
+
+def _load_vector(path: str) -> np.ndarray:
+  return np.fromfile(path, dtype=np.float64)
+
+
+def _write_vector(path: str, values: np.ndarray) -> None:
+  np.asarray(values, dtype=np.float64).tofile(path)
+
+
+def _resample_to_reference(ref_t: np.ndarray, src_t: np.ndarray, src_v: np.ndarray) -> np.ndarray:
+  ref_t = np.asarray(ref_t, dtype=np.float64).reshape(-1)
+  src_t = np.asarray(src_t, dtype=np.float64).reshape(-1)
+  src_v = np.asarray(src_v, dtype=np.float64).reshape(-1)
+  if ref_t.size == 0 or src_t.size == 0 or src_v.size == 0:
+    return np.empty_like(ref_t)
+  indices = np.searchsorted(src_t, ref_t, side="right") - 1
+  indices = np.clip(indices, 0, src_v.size - 1)
+  return src_v[indices]
+
+
+def _evaluate_user_code(code: str, env: dict):
+  stripped = code.strip()
+  if not stripped:
+    raise ValueError("Function body is empty")
+
+  expr = stripped
+  if expr.startswith("return "):
+    expr = expr[7:].strip()
+  try:
+    return eval(expr, env, env)
+  except SyntaxError:
+    pass
+
+  function_src = "def __jotpluggler_eval__():\n" + textwrap.indent(code, "    ")
+  exec(function_src, env, env)
+  return env["__jotpluggler_eval__"]()
+
+
+def main() -> int:
+  if len(sys.argv) != 6:
+    print("usage: math_eval.py <manifest.json> <globals.py> <code.py> <out_t.bin> <out_v.bin>", file=sys.stderr)
+    return 2
+
+  manifest_path, globals_path, code_path, out_t_path, out_v_path = sys.argv[1:6]
+  manifest = _load_manifest(manifest_path)
+
+  series_t = {}
+  series_v = {}
+  for entry in manifest.get("series", []):
+    path = entry["path"]
+    series_t[path] = _load_vector(entry["t"])
+    series_v[path] = _load_vector(entry["v"])
+
+  first_path = manifest.get("linked_source") or None
+
+  def remember(path: str) -> None:
+    nonlocal first_path
+    if first_path is None:
+      first_path = path
+
+  def t(path: str) -> np.ndarray:
+    remember(path)
+    return series_t[path]
+
+  def v(path: str) -> np.ndarray:
+    remember(path)
+    return series_v[path]
+
+  additional_sources = list(manifest.get("additional_sources", []))
+  linked_source = manifest.get("linked_source") or ""
+  paths = list(manifest.get("paths", []))
+
+  env = {
+    "__builtins__": __builtins__,
+    "np": np,
+    "t": t,
+    "v": v,
+    "paths": paths,
+    "linked_source": linked_source,
+    "additional_sources": additional_sources,
+  }
+
+  reference_time = None
+  if linked_source:
+    reference_time = series_t[linked_source]
+    env["time"] = reference_time
+    env["value"] = series_v[linked_source]
+
+  for i, path in enumerate(additional_sources, start=1):
+    if reference_time is None:
+      env[f"t{i}"] = series_t[path]
+      env[f"v{i}"] = series_v[path]
+    else:
+      env[f"t{i}"] = reference_time
+      env[f"v{i}"] = _resample_to_reference(reference_time, series_t[path], series_v[path])
+
+  with open(globals_path, encoding="utf-8") as f:
+    globals_code = f.read()
+  if globals_code.strip():
+    exec(globals_code, env, env)
+
+  with open(code_path, encoding="utf-8") as f:
+    user_code = f.read()
+  result = _evaluate_user_code(user_code, env)
+
+  if isinstance(result, tuple) and len(result) == 2:
+    result_t, result_v = result
+  else:
+    if first_path is None:
+      raise ValueError("No reference series found. Set an input timeseries or return (times, values).")
+    result_t = series_t[first_path]
+    result_v = result
+
+  result_t = np.asarray(result_t, dtype=np.float64).reshape(-1)
+  result_v = np.asarray(result_v, dtype=np.float64).reshape(-1)
+  if result_t.size == 0 or result_v.size == 0:
+    raise ValueError("Custom series returned an empty result")
+  if result_t.shape != result_v.shape:
+    raise ValueError(f"Time/value arrays must have the same shape, got {result_t.shape} and {result_v.shape}")
+
+  _write_vector(out_t_path, result_t)
+  _write_vector(out_v_path, result_v)
+  return 0
+
+
+if __name__ == "__main__":
+  try:
+    raise SystemExit(main())
+  except Exception as err:
+    traceback.print_exc()
+    raise SystemExit(1) from err
diff --git a/openpilot/tools/jotpluggler/plot.cc b/openpilot/tools/jotpluggler/plot.cc
new file mode 100644
index 0000000000..019eff7070
--- /dev/null
+++ b/openpilot/tools/jotpluggler/plot.cc
@@ -0,0 +1,936 @@
+#include "tools/jotpluggler/internal.h"
+
+#include "implot.h"
+#include "imgui_internal.h"
+
+#include <cmath>
+#include <cstdio>
+#include <limits>
+
+struct PlotBounds {
+  double x_min = 0.0;
+  double x_max = 1.0;
+  double y_min = 0.0;
+  double y_max = 1.0;
+};
+
+bool curve_has_samples(const AppSession &session, const Curve &curve) {
+  if (curve_has_local_samples(curve)) return true;
+  if (curve.name.empty() || curve.name.front() != '/') {
+    return false;
+  }
+  const RouteSeries *series = app_find_route_series(session, curve.name);
+  return series != nullptr && series->times.size() > 1 && series->times.size() == series->values.size();
+}
+
+void extend_range(const std::vector<double> &values, bool *found, double *min_value, double *max_value) {
+  if (values.empty()) {
+    return;
+  }
+  const auto [min_it, max_it] = std::minmax_element(values.begin(), values.end());
+  if (!*found) {
+    *min_value = *min_it;
+    *max_value = *max_it;
+    *found = true;
+    return;
+  }
+  *min_value = std::min(*min_value, *min_it);
+  *max_value = std::max(*max_value, *max_it);
+}
+
+void ensure_non_degenerate_range(double *min_value, double *max_value, double pad_fraction, double fallback_pad) {
+  if (*max_value <= *min_value) {
+    const double pad = std::max(std::abs(*min_value) * 0.1, fallback_pad);
+    *min_value -= pad;
+    *max_value += pad;
+    return;
+  }
+  const double span = *max_value - *min_value;
+  const double pad = std::max(span * pad_fraction, fallback_pad);
+  *min_value -= pad;
+  *max_value += pad;
+}
+
+struct PreparedCurve {
+  int pane_curve_index = -1;
+  std::string label;
+  std::array<uint8_t, 3> color = {160, 170, 180};
+  float line_weight = 2.0f;
+  bool stairs = false;
+  const EnumInfo *enum_info = nullptr;
+  SeriesFormat display_info;
+  std::optional<double> legend_value;
+  std::vector<double> xs;
+  std::vector<double> ys;
+};
+
+struct StateBlock {
+  double t0 = 0.0;
+  double t1 = 0.0;
+  int value = 0;
+  std::string label;
+};
+
+struct PaneValueFormatContext {
+  SeriesFormat format;
+  bool valid = false;
+};
+
+bool curves_are_bool_like(const std::vector<PreparedCurve> &prepared_curves) {
+  if (prepared_curves.empty()) {
+    return false;
+  }
+  for (const PreparedCurve &curve : prepared_curves) {
+    if (!curve.display_info.integer_like || curve.ys.empty()) {
+      return false;
+    }
+    bool found_finite = false;
+    for (double value : curve.ys) {
+      if (!std::isfinite(value)) continue;
+      found_finite = true;
+      if (std::abs(value) > 0.01 && std::abs(value - 1.0) > 0.01) {
+        return false;
+      }
+    }
+    if (!found_finite) {
+      return false;
+    }
+  }
+  return true;
+}
+
+ImU32 state_block_color(int value, float alpha = 1.0f) {
+  static constexpr std::array<std::array<uint8_t, 3>, 8> kPalette = {{
+    {{111, 143, 175}},
+    {{0, 163, 108}},
+    {{255, 195, 0}},
+    {{199, 0, 57}},
+    {{123, 97, 255}},
+    {{0, 150, 136}},
+    {{214, 48, 49}},
+    {{52, 73, 94}},
+  }};
+  const size_t index = static_cast<size_t>(std::abs(value)) % kPalette.size();
+  return ImGui::GetColorU32(color_rgb(kPalette[index], alpha));
+}
+
+std::string state_block_label(const PreparedCurve &curve, int value) {
+  if (curve.enum_info != nullptr && value >= 0 && static_cast<size_t>(value) < curve.enum_info->names.size()) {
+    const std::string &name = curve.enum_info->names[static_cast<size_t>(value)];
+    if (!name.empty()) {
+      return name;
+    }
+  }
+  return std::to_string(value);
+}
+
+std::vector<StateBlock> build_state_blocks(const PreparedCurve &curve) {
+  std::vector<StateBlock> blocks;
+  if (curve.xs.size() < 2 || curve.xs.size() != curve.ys.size()) {
+    return blocks;
+  }
+
+  int current_value = static_cast<int>(std::llround(curve.ys.front()));
+  double start_time = curve.xs.front();
+  for (size_t i = 1; i < curve.xs.size(); ++i) {
+    const int value = static_cast<int>(std::llround(curve.ys[i]));
+    if (value == current_value) {
+      continue;
+    }
+    const double end_time = curve.xs[i];
+    if (end_time > start_time) {
+      blocks.push_back(StateBlock{
+        .t0 = start_time,
+        .t1 = end_time,
+        .value = current_value,
+        .label = state_block_label(curve, current_value),
+      });
+    }
+    current_value = value;
+    start_time = end_time;
+  }
+
+  const double final_time = curve.xs.back();
+  if (final_time >= start_time) {
+    blocks.push_back(StateBlock{
+      .t0 = start_time,
+      .t1 = final_time,
+      .value = current_value,
+      .label = state_block_label(curve, current_value),
+    });
+  }
+  return blocks;
+}
+
+void app_decimate_samples_impl(const std::vector<double> &xs_in,
+                           const std::vector<double> &ys_in,
+                           int max_points,
+                           std::vector<double> *xs_out,
+                           std::vector<double> *ys_out) {
+
+  const size_t bucket_count = std::max<size_t>(1, static_cast<size_t>(max_points / 4));
+  const size_t bucket_size = std::max<size_t>(
+    1,
+    static_cast<size_t>(std::ceil(static_cast<double>(xs_in.size()) / static_cast<double>(bucket_count))));
+  xs_out->reserve(bucket_count * 4 + 2);
+  ys_out->reserve(bucket_count * 4 + 2);
+
+  size_t last_index = std::numeric_limits<size_t>::max();
+  auto append_index = [&](size_t index) {
+    if (index >= xs_in.size() || index == last_index) {
+      return;
+    }
+    xs_out->push_back(xs_in[index]);
+    ys_out->push_back(ys_in[index]);
+    last_index = index;
+  };
+
+  for (size_t start = 0; start < xs_in.size(); start += bucket_size) {
+    const size_t end = std::min(xs_in.size(), start + bucket_size);
+    size_t min_index = start;
+    size_t max_index = start;
+    for (size_t index = start + 1; index < end; ++index) {
+      if (ys_in[index] < ys_in[min_index]) {
+        min_index = index;
+      }
+      if (ys_in[index] > ys_in[max_index]) {
+        max_index = index;
+      }
+    }
+
+    std::array<size_t, 4> indices = {start, min_index, max_index, end - 1};
+    std::sort(indices.begin(), indices.end());
+    for (size_t index : indices) {
+      append_index(index);
+    }
+  }
+}
+
+void app_decimate_samples(const std::vector<double> &xs_in,
+                      const std::vector<double> &ys_in,
+                      int max_points,
+                      std::vector<double> *xs_out,
+                      std::vector<double> *ys_out) {
+  xs_out->clear();
+  ys_out->clear();
+  if (xs_in.empty() || xs_in.size() != ys_in.size()) {
+    return;
+  }
+  if (max_points <= 0 || static_cast<int>(xs_in.size()) <= max_points) {
+    *xs_out = xs_in;
+    *ys_out = ys_in;
+    return;
+  }
+  app_decimate_samples_impl(xs_in, ys_in, max_points, xs_out, ys_out);
+}
+
+void app_decimate_samples(std::vector<double> &&xs_in,
+                      std::vector<double> &&ys_in,
+                      int max_points,
+                      std::vector<double> *xs_out,
+                      std::vector<double> *ys_out) {
+  xs_out->clear();
+  ys_out->clear();
+  if (xs_in.empty() || xs_in.size() != ys_in.size()) {
+    return;
+  }
+  if (max_points <= 0 || static_cast<int>(xs_in.size()) <= max_points) {
+    *xs_out = std::move(xs_in);
+    *ys_out = std::move(ys_in);
+    return;
+  }
+  app_decimate_samples_impl(xs_in, ys_in, max_points, xs_out, ys_out);
+}
+
+std::optional<double> app_sample_xy_value_at_time(const std::vector<double> &xs,
+                                              const std::vector<double> &ys,
+                                              bool stairs,
+                                              double tm) {
+  if (xs.size() < 2 || xs.size() != ys.size()) {
+    return std::nullopt;
+  }
+  if (tm <= xs.front()) return ys.front();
+  if (tm >= xs.back()) return ys.back();
+
+  const auto upper = std::lower_bound(xs.begin(), xs.end(), tm);
+  if (upper == xs.begin()) return ys.front();
+  if (upper == xs.end()) return ys.back();
+
+  const size_t upper_index = static_cast<size_t>(std::distance(xs.begin(), upper));
+  const size_t lower_index = upper_index - 1;
+  const double x0 = xs[lower_index];
+  const double x1 = xs[upper_index];
+  const double y0 = ys[lower_index];
+  const double y1 = ys[upper_index];
+  if (std::abs(tm - x1) < 1.0e-9) return y1;
+  if (stairs || x1 <= x0) return y0;
+  const double alpha = (tm - x0) / (x1 - x0);
+  return y0 + (y1 - y0) * alpha;
+}
+
+int format_numeric_axis_tick(double value, char *buf, int size, void *user_data) {
+  const auto *ctx = static_cast<const PaneValueFormatContext *>(user_data);
+  if (ctx == nullptr || !ctx->valid) {
+    return std::snprintf(buf, size, "%.6g", value);
+  }
+  if (ctx->format.integer_like) {
+    const double nearest_int = std::round(value);
+    if (std::abs(value - nearest_int) > 1.0e-6) {
+      int decimals = 1;
+      while (decimals < 4) {
+        const double scale = std::pow(10.0, decimals);
+        const double rounded = std::round(value * scale) / scale;
+        if (std::abs(value - rounded) <= 1.0e-6) {
+          break;
+        }
+        ++decimals;
+      }
+      return std::snprintf(buf, size, "%.*f", decimals, value);
+    }
+  }
+  return std::snprintf(buf, size, ctx->format.fmt, value);
+}
+
+void merge_pane_value_format(PaneValueFormatContext *ctx, const SeriesFormat &format) {
+  if (!ctx->valid) {
+    ctx->format = format;
+    ctx->valid = true;
+    return;
+  }
+  ctx->format.has_negative = ctx->format.has_negative || format.has_negative;
+  ctx->format.digits_before = std::max(ctx->format.digits_before, format.digits_before);
+  ctx->format.decimals = std::max(ctx->format.decimals, format.decimals);
+  ctx->format.integer_like = ctx->format.decimals == 0;
+  const int sign_width = ctx->format.has_negative ? 1 : 0;
+  const int dot_width = ctx->format.decimals > 0 ? 1 : 0;
+  ctx->format.total_width = sign_width + ctx->format.digits_before + dot_width + ctx->format.decimals;
+  std::snprintf(ctx->format.fmt, sizeof(ctx->format.fmt), "%%%d.%df",
+                ctx->format.total_width, ctx->format.decimals);
+}
+
+std::string curve_legend_label(const PreparedCurve &curve, bool has_cursor_time, size_t label_width) {
+  if (!has_cursor_time) return curve.label;
+  if (!curve.legend_value.has_value()) return curve.label;
+  const std::string value_text = format_display_value(*curve.legend_value, curve.display_info, curve.enum_info);
+  if (value_text.empty()) return curve.label;
+  const size_t padded_width = std::max(label_width, curve.label.size());
+  return curve.label + std::string(padded_width - curve.label.size() + 2, ' ') + value_text;
+}
+
+bool build_curve_series(const AppSession &session,
+                        const Curve &curve,
+                        const UiState &state,
+                        int max_points,
+                        PreparedCurve *prepared) {
+  std::vector<double> xs;
+  std::vector<double> ys;
+  if (curve_has_local_samples(curve)) {
+    xs = curve.xs;
+    ys = curve.ys;
+  } else {
+    const RouteSeries *series = app_find_route_series(session, curve.name);
+    if (series == nullptr || series->times.size() < 2 || series->times.size() != series->values.size()) {
+      return false;
+    }
+
+    size_t begin_index = 0;
+    size_t end_index = series->times.size();
+    if (state.has_shared_range && state.x_view_max > state.x_view_min) {
+      auto begin_it = std::lower_bound(series->times.begin(), series->times.end(), state.x_view_min);
+      auto end_it = std::upper_bound(series->times.begin(), series->times.end(), state.x_view_max);
+      begin_index = begin_it == series->times.begin() ? 0 : static_cast<size_t>(std::distance(series->times.begin(), begin_it - 1));
+      end_index = end_it == series->times.end() ? series->times.size() : static_cast<size_t>(std::distance(series->times.begin(), end_it + 1));
+      end_index = std::min(end_index, series->times.size());
+    }
+    if (end_index <= begin_index + 1) return false;
+    xs.assign(series->times.begin() + begin_index, series->times.begin() + end_index);
+    ys.assign(series->values.begin() + begin_index, series->values.begin() + end_index);
+  }
+
+  std::vector<double> transformed_xs;
+  std::vector<double> transformed_ys;
+  if (curve.derivative) {
+    if (xs.size() < 2) return false;
+    transformed_xs.reserve(xs.size() - 1);
+    transformed_ys.reserve(ys.size() - 1);
+    for (size_t i = 1; i < xs.size(); ++i) {
+      const double dt = curve.derivative_dt > 0.0 ? curve.derivative_dt : (xs[i] - xs[i - 1]);
+      if (dt <= 0.0) continue;
+      transformed_xs.push_back(xs[i]);
+      transformed_ys.push_back((ys[i] - ys[i - 1]) / dt);
+    }
+  } else {
+    transformed_xs = std::move(xs);
+    transformed_ys = std::move(ys);
+  }
+
+  if (transformed_xs.size() < 2 || transformed_xs.size() != transformed_ys.size()) {
+    return false;
+  }
+
+  for (double &value : transformed_ys) {
+    value = value * curve.value_scale + curve.value_offset;
+  }
+
+  prepared->label = app_curve_display_name(curve);
+  prepared->color = curve.color;
+  prepared->line_weight = curve.derivative ? 1.8f : 2.25f;
+  if (!curve.derivative
+      && curve.value_scale == 1.0
+      && curve.value_offset == 0.0
+      && !curve_has_local_samples(curve)
+      && !curve.name.empty()
+      && curve.name.front() == '/') {
+    auto it = session.route_data.enum_info.find(curve.name);
+    if (it != session.route_data.enum_info.end()) {
+      prepared->enum_info = &it->second;
+    }
+  }
+  if (prepared->enum_info != nullptr) {
+    prepared->display_info = compute_series_format(transformed_ys, true);
+  } else if (!curve_has_local_samples(curve)
+             && !curve.derivative
+             && curve.value_scale == 1.0
+             && curve.value_offset == 0.0
+             && !curve.name.empty()
+             && curve.name.front() == '/') {
+    auto display_it = session.route_data.series_formats.find(curve.name);
+    if (display_it != session.route_data.series_formats.end()) {
+      prepared->display_info = display_it->second;
+    } else {
+      prepared->display_info = compute_series_format(transformed_ys, false);
+    }
+  } else {
+    prepared->display_info = compute_series_format(transformed_ys, false);
+  }
+  const bool stairs = !curve.derivative && prepared->display_info.integer_like;
+  if (state.has_tracker_time) {
+    prepared->legend_value = app_sample_xy_value_at_time(transformed_xs, transformed_ys, stairs, state.tracker_time);
+  }
+  if (stairs) {
+    prepared->xs = std::move(transformed_xs);
+    prepared->ys = std::move(transformed_ys);
+  } else {
+    app_decimate_samples(std::move(transformed_xs), std::move(transformed_ys), max_points, &prepared->xs, &prepared->ys);
+  }
+  prepared->stairs = stairs;
+  return prepared->xs.size() > 1 && prepared->xs.size() == prepared->ys.size();
+}
+
+bool draw_pane_close_button_overlay() {
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImVec2 content_max = ImGui::GetWindowContentRegionMax();
+  const ImRect rect(ImVec2(window_pos.x + content_max.x - 42.0f, window_pos.y + content_min.y + 4.0f),
+                    ImVec2(window_pos.x + content_max.x - 4.0f, window_pos.y + content_min.y + 42.0f));
+  const bool hovered = ImGui::IsMouseHoveringRect(rect.Min, rect.Max, false);
+  const bool held = hovered && ImGui::IsMouseDown(ImGuiMouseButton_Left);
+  if (hovered) {
+    ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+  }
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  const float pad = 11.0f;
+  const ImU32 color = hovered || held
+    ? ImGui::GetColorU32(color_rgb(72, 79, 88))
+    : ImGui::GetColorU32(color_rgb(138, 146, 156));
+  draw_list->AddLine(ImVec2(rect.Min.x + pad, rect.Min.y + pad),
+                     ImVec2(rect.Max.x - pad, rect.Max.y - pad),
+                     color,
+                     2.4f);
+  draw_list->AddLine(ImVec2(rect.Min.x + pad, rect.Max.y - pad),
+                     ImVec2(rect.Max.x - pad, rect.Min.y + pad),
+                     color,
+                     2.4f);
+  return hovered && ImGui::IsMouseClicked(ImGuiMouseButton_Left);
+}
+
+void draw_pane_frame_overlay() {
+  const ImVec2 window_pos = ImGui::GetWindowPos();
+  const ImVec2 content_min = ImGui::GetWindowContentRegionMin();
+  const ImVec2 content_max = ImGui::GetWindowContentRegionMax();
+  const ImRect frame_rect(ImVec2(window_pos.x + content_min.x, window_pos.y + content_min.y),
+                          ImVec2(window_pos.x + content_max.x, window_pos.y + content_max.y));
+  ImGui::GetWindowDrawList()->AddRect(frame_rect.Min,
+                                      frame_rect.Max,
+                                      ImGui::GetColorU32(color_rgb(186, 190, 196)),
+                                      0.0f,
+                                      0,
+                                      1.0f);
+}
+
+PlotBounds compute_plot_bounds(const Pane &pane,
+                               const std::vector<PreparedCurve> &prepared_curves,
+                               const UiState &state) {
+  PlotBounds bounds;
+  bounds.x_min = state.has_shared_range ? state.x_view_min : 0.0;
+  bounds.x_max = state.has_shared_range ? state.x_view_max : 1.0;
+  if (bounds.x_max <= bounds.x_min) {
+    bounds.x_max = bounds.x_min + 1.0;
+  }
+
+  bool found = false;
+  double min_value = 0.0;
+  double max_value = 1.0;
+  for (const PreparedCurve &curve : prepared_curves) {
+    extend_range(curve.ys, &found, &min_value, &max_value);
+  }
+  if (!found) {
+    min_value = 0.0;
+    max_value = 1.0;
+  }
+  if (curves_are_bool_like(prepared_curves)) {
+    min_value = std::min(min_value, 0.0);
+    max_value = std::max(max_value, 1.0);
+  }
+  ensure_non_degenerate_range(&min_value, &max_value, PLOT_Y_PADDING_FRACTION, 0.1);
+  if (pane.range.has_y_limit_min) {
+    min_value = pane.range.y_limit_min;
+  }
+  if (pane.range.has_y_limit_max) {
+    max_value = pane.range.y_limit_max;
+  }
+  ensure_non_degenerate_range(&min_value, &max_value, 0.0, 0.1);
+  bounds.y_min = min_value;
+  bounds.y_max = max_value;
+  return bounds;
+}
+
+void draw_state_blocks_pane(const std::vector<PreparedCurve> &prepared_curves, UiState *state) {
+  if (prepared_curves.empty() || !state->has_shared_range || state->x_view_max <= state->x_view_min) {
+    return;
+  }
+
+  ImDrawList *draw_list = ImPlot::GetPlotDrawList();
+  const ImVec2 plot_min = ImPlot::GetPlotPos();
+  const ImVec2 plot_size = ImPlot::GetPlotSize();
+  const int curve_count = static_cast<int>(prepared_curves.size());
+  if (plot_size.x <= 2.0f || plot_size.y <= 2.0f || curve_count <= 0) {
+    return;
+  }
+
+  float label_width = 0.0f;
+  if (curve_count > 1) {
+    for (const PreparedCurve &curve : prepared_curves) {
+      label_width = std::max(label_width, ImGui::CalcTextSize(curve.label.c_str()).x);
+    }
+    label_width = std::clamp(label_width + 14.0f, 72.0f, std::min(160.0f, plot_size.x * 0.35f));
+  }
+
+  const float row_height = plot_size.y / static_cast<float>(curve_count);
+  const float blocks_min_x = plot_min.x + label_width;
+  const float blocks_max_x = plot_min.x + plot_size.x;
+  const float blocks_width = std::max(1.0f, blocks_max_x - blocks_min_x);
+  const double x_span = std::max(1.0e-9, state->x_view_max - state->x_view_min);
+
+  struct HoveredBlock {
+    int curve_index = -1;
+    StateBlock block;
+  };
+  std::optional<HoveredBlock> hovered;
+
+  const ImVec2 mouse_pos = ImGui::GetMousePos();
+  const bool plot_hovered = ImPlot::IsPlotHovered();
+
+  for (int curve_index = 0; curve_index < curve_count; ++curve_index) {
+    const PreparedCurve &curve = prepared_curves[static_cast<size_t>(curve_index)];
+    const float y0 = plot_min.y + row_height * static_cast<float>(curve_index);
+    const float y1 = y0 + row_height;
+    const std::vector<StateBlock> blocks = build_state_blocks(curve);
+
+    if (curve_index > 0) {
+      draw_list->AddLine(ImVec2(plot_min.x, y0), ImVec2(plot_min.x + plot_size.x, y0),
+                         IM_COL32(210, 214, 220, 255), 1.0f);
+    }
+    if (curve_count > 1) {
+      draw_list->AddLine(ImVec2(blocks_min_x, y0), ImVec2(blocks_min_x, y1),
+                         IM_COL32(210, 214, 220, 255), 1.0f);
+      const float label_left = plot_min.x + 6.0f;
+      const float label_right = std::max(label_left + 12.0f, blocks_min_x - 6.0f);
+      ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(120, 128, 138));
+      ImGui::RenderTextEllipsis(draw_list,
+                                ImVec2(label_left, y0 + 4.0f),
+                                ImVec2(label_right, y1 - 4.0f),
+                                label_right,
+                                curve.label.c_str(),
+                                nullptr,
+                                nullptr);
+      ImGui::PopStyleColor();
+    }
+
+    for (const StateBlock &block : blocks) {
+      const double visible_t0 = std::max(block.t0, state->x_view_min);
+      const double visible_t1 = std::min(block.t1, state->x_view_max);
+      if (visible_t1 <= visible_t0) {
+        continue;
+      }
+      const float x0 = blocks_min_x + static_cast<float>((visible_t0 - state->x_view_min) / x_span) * blocks_width;
+      const float x1 = blocks_min_x + static_cast<float>((visible_t1 - state->x_view_min) / x_span) * blocks_width;
+      const ImU32 fill_color = state_block_color(block.value, 0.15f);
+      const ImU32 line_color = state_block_color(block.value, 0.90f);
+      draw_list->AddRectFilled(ImVec2(x0, y0), ImVec2(std::max(x1, x0 + 1.0f), y1), fill_color);
+      draw_list->AddLine(ImVec2(x0, y0), ImVec2(x0, y1), line_color, 2.0f);
+
+      const float block_width = x1 - x0;
+      if (block_width > 14.0f) {
+        const float text_left = x0 + 6.0f;
+        const float text_right = x1 - 6.0f;
+        if (text_right > text_left) {
+          ImGui::PushStyleColor(ImGuiCol_Text, ImGui::ColorConvertU32ToFloat4(state_block_color(block.value, 0.80f)));
+          ImGui::RenderTextEllipsis(draw_list,
+                                    ImVec2(text_left, y0 + 4.0f),
+                                    ImVec2(text_right, y1 - 4.0f),
+                                    text_right,
+                                    block.label.c_str(),
+                                    nullptr,
+                                    nullptr);
+          ImGui::PopStyleColor();
+        }
+      }
+
+      if (plot_hovered && mouse_pos.x >= blocks_min_x && mouse_pos.x <= blocks_max_x && mouse_pos.y >= y0 && mouse_pos.y <= y1) {
+        const double hover_time = state->x_view_min + static_cast<double>((mouse_pos.x - blocks_min_x) / blocks_width) * x_span;
+        if (hover_time >= block.t0 && hover_time <= block.t1) {
+          hovered = HoveredBlock{
+            .curve_index = curve_index,
+            .block = block,
+          };
+        }
+      }
+    }
+  }
+
+  if (hovered.has_value()) {
+    const HoveredBlock &info = *hovered;
+    ImGui::BeginTooltip();
+    if (curve_count > 1) {
+      ImGui::Text("%s: %s (%d)", prepared_curves[static_cast<size_t>(info.curve_index)].label.c_str(),
+                  info.block.label.c_str(), info.block.value);
+    } else {
+      ImGui::Text("%s (%d)", info.block.label.c_str(), info.block.value);
+    }
+    ImGui::Separator();
+    ImGui::Text("%.3fs -> %.3fs", info.block.t0, info.block.t1);
+    ImGui::Text("duration: %.3fs", info.block.t1 - info.block.t0);
+    ImGui::EndTooltip();
+  }
+}
+
+void persist_shared_range_to_tab(WorkspaceTab *tab, const UiState &state) {
+  if (tab == nullptr || !state.has_shared_range) {
+    return;
+  }
+  const double x_min = state.x_view_min;
+  const double x_max = state.x_view_max > state.x_view_min ? state.x_view_max : state.x_view_min + 1.0;
+  for (Pane &pane : tab->panes) {
+    pane.range.valid = true;
+    pane.range.left = x_min;
+    pane.range.right = x_max;
+  }
+}
+
+void clear_pane_vertical_limits(Pane *pane) {
+  if (pane == nullptr) {
+    return;
+  }
+  pane->range.has_y_limit_min = false;
+  pane->range.has_y_limit_max = false;
+}
+
+PlotBounds current_plot_bounds_for_pane(const AppSession &session, const Pane &pane, const UiState &state) {
+  std::vector<PreparedCurve> prepared_curves;
+  prepared_curves.reserve(pane.curves.size());
+  constexpr int kAxisEditorMaxPoints = 2048;
+  for (size_t curve_index = 0; curve_index < pane.curves.size(); ++curve_index) {
+    const Curve &curve = pane.curves[curve_index];
+    if (!curve.visible || !curve_has_samples(session, curve)) continue;
+    PreparedCurve prepared;
+    if (build_curve_series(session, curve, state, kAxisEditorMaxPoints, &prepared)) {
+      prepared.pane_curve_index = static_cast<int>(curve_index);
+      prepared_curves.push_back(std::move(prepared));
+    }
+  }
+  return compute_plot_bounds(pane, prepared_curves, state);
+}
+
+void open_axis_limits_editor(const AppSession &session, UiState *state, int pane_index) {
+  ensure_shared_range(state, session);
+  clamp_shared_range(state, session);
+  const WorkspaceTab *tab = app_active_tab(session.layout, *state);
+  if (tab == nullptr || pane_index < 0 || pane_index >= static_cast<int>(tab->panes.size())) {
+    return;
+  }
+
+  const Pane &pane = tab->panes[static_cast<size_t>(pane_index)];
+  const PlotBounds bounds = current_plot_bounds_for_pane(session, pane, *state);
+  AxisLimitsEditorState &editor = state->axis_limits;
+  editor.open = true;
+  editor.pane_index = pane_index;
+  editor.x_min = state->x_view_min;
+  editor.x_max = state->x_view_max;
+  editor.y_min_enabled = pane.range.has_y_limit_min;
+  editor.y_max_enabled = pane.range.has_y_limit_max;
+  editor.y_min = pane.range.has_y_limit_min ? pane.range.y_limit_min : bounds.y_min;
+  editor.y_max = pane.range.has_y_limit_max ? pane.range.y_limit_max : bounds.y_max;
+}
+
+bool apply_axis_limits_editor(AppSession *session, UiState *state) {
+  WorkspaceTab *tab = app_active_tab(&session->layout, *state);
+  if (tab == nullptr) return false;
+
+  AxisLimitsEditorState &editor = state->axis_limits;
+  if (editor.pane_index < 0 || editor.pane_index >= static_cast<int>(tab->panes.size())) {
+    state->error_text = "The selected pane is no longer available.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (!std::isfinite(editor.x_min) || !std::isfinite(editor.x_max)) {
+    state->error_text = "Axis limits must be finite numbers.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.x_max <= editor.x_min) {
+    state->error_text = "X max must be greater than X min.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.y_min_enabled && !std::isfinite(editor.y_min)) {
+    state->error_text = "Y min must be a finite number.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.y_max_enabled && !std::isfinite(editor.y_max)) {
+    state->error_text = "Y max must be a finite number.";
+    state->open_error_popup = true;
+    return false;
+  }
+  if (editor.y_min_enabled && editor.y_max_enabled && editor.y_max <= editor.y_min) {
+    state->error_text = "Y max must be greater than Y min.";
+    state->open_error_popup = true;
+    return false;
+  }
+
+  const SketchLayout before_layout = session->layout;
+  state->has_shared_range = true;
+  state->x_view_min = editor.x_min;
+  state->x_view_max = editor.x_max;
+  if (session->data_mode == SessionDataMode::Stream) {
+    state->follow_latest = infer_stream_follow_state(*state, *session);
+  } else {
+    state->follow_latest = false;
+  }
+  state->suppress_range_side_effects = true;
+  clamp_shared_range(state, *session);
+  persist_shared_range_to_tab(tab, *state);
+
+  Pane &pane = tab->panes[static_cast<size_t>(editor.pane_index)];
+  pane.range.has_y_limit_min = editor.y_min_enabled;
+  pane.range.has_y_limit_max = editor.y_max_enabled;
+  if (editor.y_min_enabled) {
+    pane.range.y_limit_min = editor.y_min;
+  }
+  if (editor.y_max_enabled) {
+    pane.range.y_limit_max = editor.y_max;
+  }
+
+  const PlotBounds bounds = current_plot_bounds_for_pane(*session, pane, *state);
+  pane.range.valid = true;
+  pane.range.left = state->x_view_min;
+  pane.range.right = state->x_view_max;
+  pane.range.bottom = bounds.y_min;
+  pane.range.top = bounds.y_max;
+
+  state->undo.push(before_layout);
+  const bool ok = mark_layout_dirty(session, state);
+  if (ok) {
+    state->status_text = "Axis limits updated";
+  }
+  return ok;
+}
+
+void draw_plot(const AppSession &session, Pane *pane, UiState *state) {
+  std::vector<PreparedCurve> prepared_curves;
+  prepared_curves.reserve(pane->curves.size());
+  const int max_points = std::max(256, static_cast<int>(ImGui::GetContentRegionAvail().x) * 2);
+  for (size_t curve_index = 0; curve_index < pane->curves.size(); ++curve_index) {
+    const Curve &curve = pane->curves[curve_index];
+    if (!curve.visible || !curve_has_samples(session, curve)) continue;
+    PreparedCurve prepared;
+    if (build_curve_series(session, curve, *state, max_points, &prepared)) {
+      prepared.pane_curve_index = static_cast<int>(curve_index);
+      prepared_curves.push_back(std::move(prepared));
+    }
+  }
+
+  const PlotBounds bounds = compute_plot_bounds(*pane, prepared_curves, *state);
+  PaneValueFormatContext pane_value_format;
+  bool state_block_mode = !prepared_curves.empty();
+  size_t max_legend_label_width = 0;
+  for (const PreparedCurve &curve : prepared_curves) {
+    max_legend_label_width = std::max(max_legend_label_width, curve.label.size());
+    if (curve.enum_info == nullptr) {
+      state_block_mode = false;
+      merge_pane_value_format(&pane_value_format, curve.display_info);
+    }
+  }
+  const int supported_count = static_cast<int>(prepared_curves.size());
+  const ImVec2 plot_size = ImGui::GetContentRegionAvail();
+  const bool has_cursor_time = state->has_tracker_time;
+  const double cursor_time = state->tracker_time;
+
+  ImPlot::PushStyleColor(ImPlotCol_PlotBg, color_rgb(255, 255, 255));
+  ImPlot::PushStyleColor(ImPlotCol_PlotBorder, color_rgb(186, 190, 196));
+  ImPlot::PushStyleColor(ImPlotCol_LegendBg, color_rgb(248, 249, 251, 0.92f));
+  ImPlot::PushStyleColor(ImPlotCol_LegendBorder, color_rgb(168, 175, 184));
+  ImPlot::PushStyleColor(ImPlotCol_LegendText, color_rgb(57, 62, 69));
+  ImPlot::PushStyleColor(ImPlotCol_TitleText, color_rgb(57, 62, 69));
+  ImPlot::PushStyleColor(ImPlotCol_InlayText, color_rgb(95, 103, 112));
+  ImPlot::PushStyleColor(ImPlotCol_AxisGrid, color_rgb(188, 196, 206));
+  ImPlot::PushStyleColor(ImPlotCol_AxisText, color_rgb(95, 103, 112));
+  ImPlot::PushStyleColor(ImPlotCol_AxisBg, color_rgb(255, 255, 255, 0.0f));
+  ImPlot::PushStyleColor(ImPlotCol_AxisBgHovered, color_rgb(214, 220, 228, 0.45f));
+  ImPlot::PushStyleColor(ImPlotCol_AxisBgActive, color_rgb(199, 209, 222, 0.55f));
+  ImPlot::PushStyleColor(ImPlotCol_Selection, color_rgb(252, 211, 77, 0.28f));
+  ImPlot::PushStyleColor(ImPlotCol_Crosshairs, color_rgb(120, 128, 138, 0.70f));
+  ImPlot::PushStyleVar(ImPlotStyleVar_LegendPadding, ImVec2(56.0f, 10.0f));
+
+  ImPlotFlags plot_flags = ImPlotFlags_NoTitle | ImPlotFlags_NoMenus;
+  if (state_block_mode) {
+    plot_flags |= ImPlotFlags_NoLegend | ImPlotFlags_NoMouseText;
+  }
+  if (supported_count == 0) {
+    plot_flags |= ImPlotFlags_NoLegend;
+  }
+
+  const ImPlotAxisFlags x_axis_flags = ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight;
+  ImPlotAxisFlags y_axis_flags = ImPlotAxisFlags_NoMenus | ImPlotAxisFlags_NoHighlight;
+  if (state_block_mode) {
+    y_axis_flags |= ImPlotAxisFlags_NoDecorations;
+  }
+  const bool explicit_y = pane->range.has_y_limit_min || pane->range.has_y_limit_max;
+  if (!state_block_mode && !explicit_y && supported_count > 0) {
+    y_axis_flags |= ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_RangeFit;
+  }
+
+  const double previous_x_min = state->x_view_min;
+  const double previous_x_max = state->x_view_max;
+  app_push_mono_font();
+  if (ImPlot::BeginPlot("##plot", plot_size, plot_flags)) {
+    ImPlot::SetupAxes(nullptr, nullptr, x_axis_flags, y_axis_flags);
+    ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f");
+    if (state_block_mode) {
+      ImPlot::SetupAxisLimits(ImAxis_Y1, 0.0, 1.0, ImPlotCond_Always);
+    } else if (pane_value_format.valid) {
+      ImPlot::SetupAxisFormat(ImAxis_Y1, format_numeric_axis_tick, &pane_value_format);
+    } else {
+      ImPlot::SetupAxisFormat(ImAxis_Y1, "%.6g");
+    }
+    ImPlot::SetupAxisLinks(ImAxis_X1, &state->x_view_min, &state->x_view_max);
+    if (state->route_x_max > state->route_x_min) {
+      const double x_constraint_min = session.data_mode == SessionDataMode::Stream
+        ? state->route_x_min - std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds)
+        : state->route_x_min;
+      ImPlot::SetupAxisLimitsConstraints(ImAxis_X1, x_constraint_min, state->route_x_max);
+    }
+    if (!state_block_mode) {
+      ImPlot::SetupMouseText(ImPlotLocation_SouthEast, ImPlotMouseTextFlags_NoAuxAxes);
+    }
+    if (!state_block_mode && (explicit_y || supported_count == 0)) {
+      ImPlot::SetupAxisLimits(ImAxis_Y1, bounds.y_min, bounds.y_max, ImPlotCond_Always);
+    }
+    if (!state_block_mode && supported_count > 0) {
+      ImPlot::SetupLegend(ImPlotLocation_NorthEast);
+    }
+
+    if (state_block_mode) {
+      draw_state_blocks_pane(prepared_curves, state);
+    } else {
+      for (size_t i = 0; i < prepared_curves.size(); ++i) {
+        const PreparedCurve &curve = prepared_curves[i];
+        std::string series_id = curve_legend_label(curve, has_cursor_time, max_legend_label_width) + "###curve" + std::to_string(curve.pane_curve_index);
+        ImPlotSpec spec;
+        spec.LineColor = color_rgb(curve.color);
+        spec.LineWeight = curve.line_weight;
+        spec.Flags = ImPlotLineFlags_SkipNaN;
+        if (!curve.xs.empty() && curve.xs.size() == curve.ys.size()) {
+          if (curve.stairs) {
+            spec.Flags = ImPlotStairsFlags_PreStep;
+            ImPlot::PlotStairs(series_id.c_str(), curve.xs.data(), curve.ys.data(), static_cast<int>(curve.xs.size()), spec);
+          } else {
+            ImPlot::PlotLine(series_id.c_str(), curve.xs.data(), curve.ys.data(), static_cast<int>(curve.xs.size()), spec);
+          }
+        }
+      }
+    }
+    if (has_cursor_time) {
+      const double clamped_cursor_time = std::clamp(cursor_time, state->route_x_min, state->route_x_max);
+      ImPlotSpec cursor_spec;
+      cursor_spec.LineColor = color_rgb(108, 118, 128, 0.7f);
+      cursor_spec.LineWeight = 1.0f;
+      cursor_spec.Flags = ImPlotItemFlags_NoLegend;
+      ImPlot::PlotInfLines("##tracker_cursor", &clamped_cursor_time, 1, cursor_spec);
+    }
+    if (ImPlot::IsPlotHovered() && ImGui::IsMouseClicked(ImGuiMouseButton_Left)) {
+      state->tracker_time = std::clamp(ImPlot::GetPlotMousePos().x, state->route_x_min, state->route_x_max);
+      state->has_tracker_time = true;
+    }
+    ImPlot::EndPlot();
+  }
+  app_pop_mono_font();
+  clamp_shared_range(state, session);
+  if (std::abs(state->x_view_min - previous_x_min) > 1.0e-6
+      || std::abs(state->x_view_max - previous_x_max) > 1.0e-6) {
+    if (!state->suppress_range_side_effects) {
+      if (session.data_mode == SessionDataMode::Stream) {
+        state->follow_latest = infer_stream_follow_state(*state, session);
+      } else {
+        state->follow_latest = false;
+      }
+    }
+  }
+  ImPlot::PopStyleVar();
+  ImPlot::PopStyleColor(12);
+}
+
+std::optional<PaneMenuAction> draw_pane_context_menu(const WorkspaceTab &tab, int pane_index) {
+  if (!ImGui::BeginPopupContextWindow("##pane_context")) return std::nullopt;
+
+  PaneMenuAction action;
+  action.pane_index = pane_index;
+  const Pane *pane = pane_index >= 0 && pane_index < static_cast<int>(tab.panes.size())
+    ? &tab.panes[static_cast<size_t>(pane_index)]
+    : nullptr;
+  const bool has_curves = pane_index >= 0
+    && pane_index < static_cast<int>(tab.panes.size())
+    && !tab.panes[static_cast<size_t>(pane_index)].curves.empty();
+  const bool is_plot = pane != nullptr && pane->kind == PaneKind::Plot;
+  if (icon_menu_item(icon::SLIDERS, "Edit Axis Limits...", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::OpenAxisLimits;
+  }
+  icon_menu_item(icon::PALETTE, "Edit Curve Style...", nullptr, false, false && is_plot);
+  if (action.kind == PaneMenuActionKind::None
+      && icon_menu_item(icon::PLUS_SLASH_MINUS, "Apply filter to data...", nullptr, false, has_curves && is_plot)) {
+    action.kind = PaneMenuActionKind::OpenCustomSeries;
+  }
+  ImGui::Separator();
+  if (action.kind == PaneMenuActionKind::None && icon_menu_item(icon::DISTRIBUTE_HORIZONTAL, "Split Left / Right")) {
+    action.kind = PaneMenuActionKind::SplitRight;
+  } else if (action.kind == PaneMenuActionKind::None
+             && icon_menu_item(icon::DISTRIBUTE_VERTICAL, "Split Top / Bottom")) {
+    action.kind = PaneMenuActionKind::SplitBottom;
+  }
+  ImGui::Separator();
+  if (icon_menu_item(icon::ZOOM_OUT, "Zoom Out", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::ResetView;
+  }
+  ImGui::Separator();
+  if (icon_menu_item(icon::TRASH, "Remove ALL curves", nullptr, false, is_plot)) {
+    action.kind = PaneMenuActionKind::Clear;
+  }
+  ImGui::Separator();
+  icon_menu_item(icon::FILE_EARMARK_IMAGE, "Copy image to clipboard", nullptr, false, false);
+  icon_menu_item(icon::SAVE, "Save plot to file", nullptr, false, false);
+  icon_menu_item(icon::BAR_CHART, "Show data statistics", nullptr, false, false);
+  ImGui::EndPopup();
+  if (action.kind == PaneMenuActionKind::None) return std::nullopt;
+  return action;
+}
diff --git a/openpilot/tools/jotpluggler/render.cc b/openpilot/tools/jotpluggler/render.cc
new file mode 100644
index 0000000000..54f0c16cc3
--- /dev/null
+++ b/openpilot/tools/jotpluggler/render.cc
@@ -0,0 +1,173 @@
+#include "tools/jotpluggler/internal.h"
+
+#include "imgui_impl_glfw.h"
+#include "imgui_impl_opengl3.h"
+#include "imgui_impl_opengl3_loader.h"
+
+#include <GLFW/glfw3.h>
+
+namespace fs = std::filesystem;
+
+void draw_fps_overlay(const UiState &state, float top_offset) {
+  if (!state.show_fps_overlay) {
+    return;
+  }
+  ImGuiViewport *viewport = ImGui::GetMainViewport();
+  const ImGuiIO &io = ImGui::GetIO();
+  const float fps = io.Framerate;
+  const std::string label = util::string_format("%.1f fps", fps);
+
+  const ImVec2 padding(10.0f, 8.0f);
+  const ImVec2 margin(12.0f, 10.0f);
+  app_push_mono_font();
+  ImFont *font = ImGui::GetFont();
+  const float font_size = ImGui::GetFontSize();
+  const ImVec2 text_size = ImGui::CalcTextSize(label.c_str());
+  app_pop_mono_font();
+  const ImVec2 size(text_size.x + padding.x * 2.0f, text_size.y + padding.y * 2.0f);
+  const ImVec2 pos(viewport->Pos.x + viewport->Size.x - size.x - margin.x,
+                   viewport->Pos.y + top_offset + margin.y);
+  ImDrawList *draw_list = ImGui::GetForegroundDrawList(viewport);
+  const ImVec2 max(pos.x + size.x, pos.y + size.y);
+  draw_list->AddRectFilled(pos, max, ImGui::GetColorU32(color_rgb(248, 249, 251, 0.92f)), 4.0f);
+  draw_list->AddRect(pos, max, ImGui::GetColorU32(color_rgb(182, 188, 196, 0.95f)), 4.0f);
+  draw_list->AddText(font, font_size, ImVec2(pos.x + padding.x, pos.y + padding.y),
+                     ImGui::GetColorU32(color_rgb(57, 62, 69)), label.c_str(), nullptr);
+}
+
+void render_layout(AppSession *session, UiState *state, bool show_camera_feed) {
+  if (!state->fps_overlay_initialized) {
+    state->show_fps_overlay = false;
+    state->fps_overlay_initialized = true;
+  }
+  ensure_shared_range(state, *session);
+  if (state->follow_latest) {
+    update_follow_range(state, *session);
+    state->suppress_range_side_effects = true;
+  } else {
+    clamp_shared_range(state, *session);
+  }
+  const bool ctrl = ImGui::GetIO().KeyCtrl || ImGui::GetIO().KeySuper;
+  const bool shift = ImGui::GetIO().KeyShift;
+  if (!ImGui::GetIO().WantTextInput && ctrl && ImGui::IsKeyPressed(ImGuiKey_Z, false)) {
+    if (shift) {
+      apply_redo(session, state);
+    } else {
+      apply_undo(session, state);
+    }
+  }
+  if (!ImGui::GetIO().WantTextInput && ctrl && ImGui::IsKeyPressed(ImGuiKey_F, false)) {
+    state->open_find_signal = true;
+  }
+  if (ImGui::IsKeyPressed(ImGuiKey_LeftArrow, false)) {
+    step_tracker(state, -1.0);
+  }
+  if (ImGui::IsKeyPressed(ImGuiKey_RightArrow, false)) {
+    step_tracker(state, 1.0);
+  }
+  if (!ImGui::GetIO().WantTextInput && ImGui::IsKeyPressed(ImGuiKey_Space, false)) {
+    state->playback_playing = !state->playback_playing;
+  }
+  advance_playback(state, *session);
+  CameraFeedView *sidebar_camera = session->pane_camera_feeds[static_cast<size_t>(sidebar_preview_camera_view(*session))].get();
+  if (show_camera_feed && sidebar_camera != nullptr && state->has_tracker_time) {
+    sidebar_camera->update(state->tracker_time);
+  }
+  const float menu_height = draw_main_menu_bar(session, state);
+  UiMetrics ui = compute_ui_metrics(ImGui::GetMainViewport()->Size, menu_height, state->sidebar_width);
+  if (state->browser_nodes_dirty) {
+    rebuild_browser_nodes(session, state);
+    state->browser_nodes_dirty = false;
+  }
+  state->sidebar_width = ui.sidebar_width;
+  draw_sidebar(session, ui, state, show_camera_feed);
+  draw_workspace(session, ui, state);
+  draw_sidebar_resizer(ui, state);
+  if (!state->custom_series.selected && !state->logs.selected) {
+    draw_pane_windows(session, state);
+  }
+  draw_status_bar(*session, ui, state);
+  draw_popups(session, state);
+  draw_fps_overlay(*state, menu_height);
+}
+
+void save_framebuffer_png(const fs::path &output_path, int width, int height) {
+  ensure_parent_dir(output_path);
+  if (width <= 0 || height <= 0) throw std::runtime_error("Invalid framebuffer size");
+
+  std::vector<uint8_t> pixels(static_cast<size_t>(width) * static_cast<size_t>(height) * 4U, 0);
+  glPixelStorei(GL_PACK_ALIGNMENT, 1);
+  glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, pixels.data());
+
+  const fs::path ppm_path = output_path.parent_path() / (output_path.stem().string() + ".ppm");
+  std::string ppm = util::string_format("P6\n%d %d\n255\n", width, height);
+  ppm.reserve(ppm.size() + static_cast<size_t>(width) * static_cast<size_t>(height) * 3U);
+  for (int y = height - 1; y >= 0; --y) {
+    for (int x = 0; x < width; ++x) {
+      const size_t index = static_cast<size_t>((y * width + x) * 4);
+      ppm.append(reinterpret_cast<const char *>(&pixels[index]), 3);
+    }
+  }
+  write_file_or_throw(ppm_path, ppm.data(), ppm.size());
+
+  const std::string command = "convert " + shell_quote(ppm_path.string()) + " " + shell_quote(output_path.string());
+  run_system_or_throw(command, "image conversion");
+  fs::remove(ppm_path);
+}
+
+void render_frame(GLFWwindow *window, AppSession *session, UiState *state, const fs::path *capture_path) {
+  glfwPollEvents();
+
+  int framebuffer_width = 0;
+  int framebuffer_height = 0;
+  glfwGetFramebufferSize(window, &framebuffer_width, &framebuffer_height);
+
+  ImGui_ImplOpenGL3_NewFrame();
+  ImGui_ImplGlfw_NewFrame();
+  ImGui::NewFrame();
+
+  if (state->request_save_layout) {
+    if (session->layout_path.empty()) {
+      state->open_save_layout = true;
+    } else {
+      save_layout(session, state, session->layout_path.string());
+    }
+    state->request_save_layout = false;
+  }
+  if (state->request_reset_layout) {
+    reset_layout(session, state);
+    state->request_reset_layout = false;
+  }
+  poll_async_route_load(session, state);
+  if (session->data_mode == SessionDataMode::Stream && session->stream_poller) {
+    StreamExtractBatch batch;
+    std::string error_text;
+    if (session->stream_poller->consume(&batch, &error_text)) {
+      if (!error_text.empty()) {
+        state->error_text = error_text;
+        state->open_error_popup = true;
+        state->status_text = "Stream disconnected";
+      } else {
+        apply_stream_batch(session, state, std::move(batch));
+      }
+    }
+  }
+
+  const bool show_camera = capture_path == nullptr && session->data_mode != SessionDataMode::Stream;
+  render_layout(session, state, show_camera);
+  ImGui::Render();
+  if (state->request_close) {
+    glfwSetWindowShouldClose(window, GLFW_TRUE);
+    state->request_close = false;
+  }
+
+  glViewport(0, 0, framebuffer_width, framebuffer_height);
+  glClearColor(227.0f / 255.0f, 229.0f / 255.0f, 233.0f / 255.0f, 1.0f);
+  glClear(GL_COLOR_BUFFER_BIT);
+  ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+  if (capture_path != nullptr) {
+    save_framebuffer_png(*capture_path, framebuffer_width, framebuffer_height);
+  }
+  glfwSwapBuffers(window);
+  state->suppress_range_side_effects = false;
+}
diff --git a/openpilot/tools/jotpluggler/runtime.cc b/openpilot/tools/jotpluggler/runtime.cc
new file mode 100644
index 0000000000..d7d0fc79c4
--- /dev/null
+++ b/openpilot/tools/jotpluggler/runtime.cc
@@ -0,0 +1,1277 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/common.h"
+
+#include "openpilot/cereal/services.h"
+#include "common/timing.h"
+#include "imgui_impl_glfw.h"
+#include "imgui_impl_opengl3.h"
+#include "imgui_impl_opengl3_loader.h"
+#include "implot.h"
+#include "common/yuv.h"
+#include "msgq_repo/msgq/ipc.h"
+#include "tools/replay/framereader.h"
+
+#include <GLFW/glfw3.h>
+
+#include <chrono>
+#include <cmath>
+#include <condition_variable>
+#include <cstdio>
+#include <cstdlib>
+#include <deque>
+#include <iomanip>
+#include <iostream>
+#include <mutex>
+#include <sstream>
+#include <stdexcept>
+#include <memory>
+#include <thread>
+#include <unordered_map>
+#include <unordered_set>
+#include <unistd.h>
+
+#include "system/camerad/cameras/nv12_info.h"
+
+namespace {
+
+std::atomic<bool> g_glfw_alive{false};
+const bool kLogCameraTimings = env_flag_enabled("JOTP_CAMERA_TIMINGS");
+
+CameraType decoder_camera_type(CameraViewKind view) {
+  switch (view) {
+    case CameraViewKind::Cabin: return CabinCam;
+    case CameraViewKind::WideRoad: return WideRoadCam;
+    case CameraViewKind::QRoad: return NarrowRoadCam;
+    case CameraViewKind::Road:
+    default: return NarrowRoadCam;
+  }
+}
+
+bool stream_batch_has_data(const StreamExtractBatch &batch) {
+  return !batch.series.empty()
+      || !batch.can_messages.empty()
+      || !batch.logs.empty()
+      || !batch.timeline.empty()
+      || !batch.enum_info.empty()
+      || !batch.car_fingerprint.empty()
+      || !batch.dbc_name.empty();
+}
+
+bool should_subscribe_stream_service(const std::string &name) {
+  static const std::array<std::string_view, 13> kSkippedServices = {{
+    "narrowRoadEncodeIdx",
+    "cabinEncodeIdx",
+    "wideRoadEncodeIdx",
+    "qNarrowRoadEncodeIdx",
+    "narrowRoadEncodeData",
+    "cabinEncodeData",
+    "wideRoadEncodeData",
+    "qNarrowRoadEncodeData",
+    "livestreamWideRoadEncodeIdx",
+    "livestreamNarrowRoadEncodeIdx",
+    "livestreamCabinEncodeIdx",
+    "thumbnail",
+  }};
+  if (name == "rawAudioData") return false;
+  for (std::string_view skipped : kSkippedServices) {
+    if (name == skipped) return false;
+  }
+  return true;
+}
+
+void glfw_error_callback(int error, const char *description) {
+  const std::string_view desc = description != nullptr ? description : "unknown";
+  if (error == 65539 && desc.find("Invalid window attribute 0x0002000D") != std::string_view::npos) {
+    return;
+  }
+  std::cerr << "GLFW error " << error << ": " << desc << "\n";
+}
+
+}  // namespace
+
+GlfwRuntime::GlfwRuntime(const Options &options) {
+  glfwSetErrorCallback(glfw_error_callback);
+  if (!glfwInit()) throw std::runtime_error("glfwInit failed");
+  g_glfw_alive.store(true);
+
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+  glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+#ifdef __APPLE__
+  glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GLFW_TRUE);
+#endif
+  const bool fixed_size = !options.show;
+  glfwWindowHint(GLFW_RESIZABLE, fixed_size ? GLFW_FALSE : GLFW_TRUE);
+  glfwWindowHint(GLFW_VISIBLE, options.show ? GLFW_TRUE : GLFW_FALSE);
+
+  window_ = glfwCreateWindow(options.width, options.height, "jotpluggler", nullptr, nullptr);
+  if (window_ == nullptr) {
+    glfwTerminate();
+    throw std::runtime_error("glfwCreateWindow failed");
+  }
+
+  if (fixed_size) {
+    glfwSetWindowSizeLimits(window_, options.width, options.height, options.width, options.height);
+  }
+  glfwMakeContextCurrent(window_);
+  glfwSwapInterval(options.show ? 1 : 0);
+}
+
+GlfwRuntime::~GlfwRuntime() {
+  if (window_ != nullptr) {
+    glfwDestroyWindow(window_);
+  }
+  g_glfw_alive.store(false);
+  glfwTerminate();
+}
+
+GLFWwindow *GlfwRuntime::window() const {
+  return window_;
+}
+
+ImGuiRuntime::ImGuiRuntime(GLFWwindow *window) {
+  IMGUI_CHECKVERSION();
+  ImGui::CreateContext();
+  ImPlot::CreateContext();
+
+  ImGuiIO &io = ImGui::GetIO();
+  io.ConfigFlags |= ImGuiConfigFlags_DockingEnable;
+  io.IniFilename = nullptr;
+  io.LogFilename = nullptr;
+
+  if (!ImGui_ImplGlfw_InitForOpenGL(window, true)) {
+    ImPlot::DestroyContext();
+    ImGui::DestroyContext();
+    throw std::runtime_error("ImGui_ImplGlfw_InitForOpenGL failed");
+  }
+  if (!ImGui_ImplOpenGL3_Init("#version 330")) {
+    ImGui_ImplGlfw_Shutdown();
+    ImPlot::DestroyContext();
+    ImGui::DestroyContext();
+    throw std::runtime_error("ImGui_ImplOpenGL3_Init failed");
+  }
+}
+
+ImGuiRuntime::~ImGuiRuntime() {
+  ImGui_ImplOpenGL3_Shutdown();
+  ImGui_ImplGlfw_Shutdown();
+  ImPlot::DestroyContext();
+  ImGui::DestroyContext();
+}
+
+struct TerminalRouteProgress::Impl {
+  explicit Impl(bool enabled) : enabled_(enabled) {}
+
+  void update(const RouteLoadProgress &progress) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (!enabled_) {
+      return;
+    }
+
+    double overall = 0.0;
+    std::string detail = "Resolving route";
+    if (progress.stage == RouteLoadStage::Finished) {
+      overall = 1.0;
+      detail = "Ready";
+    } else if (progress.total_segments > 0) {
+      const bool finalizing = progress.segments_downloaded >= progress.total_segments
+                           && progress.segments_parsed >= progress.total_segments;
+      if (finalizing) {
+        overall = 0.99;
+        detail = "Finalizing route data";
+      } else {
+        const double total_work = static_cast<double>(progress.total_segments) * 2.0;
+        const double complete_work = static_cast<double>(progress.segments_downloaded + progress.segments_parsed);
+        overall = total_work <= 0.0 ? 0.0 : std::clamp(complete_work / total_work, 0.0, 0.99);
+        std::ostringstream desc;
+        desc << "Downloaded " << progress.segments_downloaded << "/" << progress.total_segments
+             << "  Parsed " << progress.segments_parsed << "/" << progress.total_segments;
+        detail = desc.str();
+      }
+    }
+
+    render(overall, detail);
+  }
+
+  void finish() {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (!enabled_ || !rendered_) {
+      return;
+    }
+    render(1.0, "Ready");
+    std::fputc('\n', stderr);
+    std::fflush(stderr);
+    rendered_ = false;
+  }
+
+  void render(double progress, const std::string &detail) {
+    const int percent = std::clamp(static_cast<int>(std::round(progress * 100.0)), 0, 100);
+    if (percent == last_percent_ && detail == last_detail_) {
+      return;
+    }
+
+    constexpr int kWidth = 20;
+    const int filled = std::clamp(static_cast<int>(std::round(progress * kWidth)), 0, kWidth);
+    const std::string bar = std::string(static_cast<size_t>(filled), '=') + std::string(static_cast<size_t>(kWidth - filled), ' ');
+    std::ostringstream line;
+    line << "\r[" << bar << "] " << percent << "% " << detail;
+
+    const std::string text = line.str();
+    std::fprintf(stderr, "%s", text.c_str());
+    if (text.size() < last_line_width_) {
+      std::fprintf(stderr, "%s", std::string(last_line_width_ - text.size(), ' ').c_str());
+    }
+    std::fflush(stderr);
+
+    rendered_ = true;
+    last_percent_ = percent;
+    last_detail_ = detail;
+    last_line_width_ = text.size();
+  }
+
+  bool enabled_ = false;
+  bool rendered_ = false;
+  int last_percent_ = -1;
+  size_t last_line_width_ = 0;
+  std::string last_detail_;
+  std::mutex mutex_;
+};
+
+TerminalRouteProgress::TerminalRouteProgress(bool enabled)
+  : impl_(std::make_unique<Impl>(enabled)) {}
+
+TerminalRouteProgress::~TerminalRouteProgress() {
+  finish();
+}
+
+void TerminalRouteProgress::update(const RouteLoadProgress &progress) {
+  impl_->update(progress);
+}
+
+void TerminalRouteProgress::finish() {
+  impl_->finish();
+}
+
+struct AsyncRouteLoader::Impl {
+  explicit Impl(bool enable_terminal_progress)
+      : terminal_progress(enable_terminal_progress) {}
+
+  ~Impl() {
+    join();
+  }
+
+  void start(const std::string &route_name_value, const std::string &data_dir_value, const std::string &dbc_name_value) {
+    join();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      route_name = route_name_value;
+      data_dir = data_dir_value;
+      dbc_name = dbc_name_value;
+      result.reset();
+      error_text.clear();
+    }
+    active.store(!route_name_value.empty());
+    completed.store(route_name_value.empty());
+    success.store(route_name_value.empty());
+    total_segments.store(0);
+    segments_downloaded.store(0);
+    segments_parsed.store(0);
+    if (route_name_value.empty()) {
+      return;
+    }
+
+    worker = std::thread([this]() {
+      try {
+        RouteData route_data = load_route_data(route_name, data_dir, dbc_name, [this](const RouteLoadProgress &progress) {
+          total_segments.store(progress.total_segments > 0 ? progress.total_segments : progress.segment_count);
+          segments_downloaded.store(progress.segments_downloaded);
+          segments_parsed.store(progress.segments_parsed);
+          terminal_progress.update(progress);
+        });
+        {
+          std::lock_guard<std::mutex> lock(mutex);
+          result = std::make_unique<RouteData>(std::move(route_data));
+          error_text.clear();
+        }
+        success.store(true);
+      } catch (const std::exception &err) {
+        std::lock_guard<std::mutex> lock(mutex);
+        result.reset();
+        error_text = err.what();
+        success.store(false);
+      }
+      active.store(false);
+      completed.store(true);
+      terminal_progress.finish();
+    });
+  }
+
+  RouteLoadSnapshot snapshot() const {
+    RouteLoadSnapshot snapshot;
+    snapshot.active = active.load();
+    snapshot.total_segments = total_segments.load();
+    snapshot.segments_downloaded = segments_downloaded.load();
+    snapshot.segments_parsed = segments_parsed.load();
+    return snapshot;
+  }
+
+  bool consume(RouteData *route_data, std::string *error_text_out) {
+    if (!completed.load()) return false;
+    join();
+    std::lock_guard<std::mutex> lock(mutex);
+    completed.store(false);
+    if (result) {
+      *route_data = std::move(*result);
+      result.reset();
+      if (error_text_out != nullptr) {
+        error_text_out->clear();
+      }
+      return true;
+    }
+    if (error_text_out != nullptr) {
+      *error_text_out = error_text;
+    }
+    return true;
+  }
+
+  void join() {
+    if (worker.joinable()) {
+      worker.join();
+    }
+  }
+
+  mutable std::mutex mutex;
+  std::thread worker;
+  std::unique_ptr<RouteData> result;
+  std::string route_name;
+  std::string data_dir;
+  std::string dbc_name;
+  std::string error_text;
+  std::atomic<bool> active{false};
+  std::atomic<bool> completed{false};
+  std::atomic<bool> success{false};
+  std::atomic<size_t> total_segments{0};
+  std::atomic<size_t> segments_downloaded{0};
+  std::atomic<size_t> segments_parsed{0};
+  TerminalRouteProgress terminal_progress;
+};
+
+AsyncRouteLoader::AsyncRouteLoader(bool enable_terminal_progress)
+  : impl_(std::make_unique<Impl>(enable_terminal_progress)) {}
+
+AsyncRouteLoader::~AsyncRouteLoader() = default;
+
+void AsyncRouteLoader::start(const std::string &route_name, const std::string &data_dir, const std::string &dbc_name) {
+  impl_->start(route_name, data_dir, dbc_name);
+}
+
+RouteLoadSnapshot AsyncRouteLoader::snapshot() const {
+  return impl_->snapshot();
+}
+
+bool AsyncRouteLoader::consume(RouteData *route_data, std::string *error_text) {
+  return impl_->consume(route_data, error_text);
+}
+
+struct StreamPoller::Impl {
+  ~Impl() {
+    stop();
+  }
+
+  void start(const StreamSourceConfig &requested_source,
+             double requested_buffer_seconds,
+             const std::string &dbc_name,
+             std::optional<double> time_offset) {
+    stop();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      pending = {};
+      pending_series_slots.clear();
+      pending_can_slots.clear();
+      error_text.clear();
+      source = requested_source;
+      if (source.kind == StreamSourceKind::CerealLocal) {
+        source.address = "127.0.0.1";
+      } else if (source.kind == StreamSourceKind::CerealRemote) {
+        source.address = normalize_stream_address(source.address);
+      }
+      buffer_seconds = std::max(1.0, requested_buffer_seconds);
+      latest_dbc_name = dbc_name;
+      latest_car_fingerprint.clear();
+    }
+    received_messages.store(0);
+    connected.store(false);
+    paused.store(false);
+    running.store(true);
+    worker = std::thread([this, dbc_name, time_offset]() {
+      try {
+        StreamAccumulator accumulator(dbc_name, time_offset);
+        switch (source.kind) {
+          case StreamSourceKind::CerealLocal:
+          case StreamSourceKind::CerealRemote:
+            run_cereal_source(&accumulator);
+            break;
+        }
+      } catch (const std::exception &err) {
+        std::lock_guard<std::mutex> lock(mutex);
+        error_text = err.what();
+      }
+      connected.store(false);
+      running.store(false);
+    });
+  }
+
+  void setPaused(bool paused_value) {
+    paused.store(paused_value);
+    if (paused_value) {
+      std::lock_guard<std::mutex> lock(mutex);
+      pending = {};
+      pending_series_slots.clear();
+      pending_can_slots.clear();
+      error_text.clear();
+    }
+  }
+
+  void set_error_text(std::string text) {
+    std::lock_guard<std::mutex> lock(mutex);
+    error_text = std::move(text);
+  }
+
+  void clear_error_text() {
+    std::lock_guard<std::mutex> lock(mutex);
+    error_text.clear();
+  }
+
+  void stop() {
+    running.store(false);
+    paused.store(false);
+    if (worker.joinable()) {
+      worker.join();
+    }
+    connected.store(false);
+  }
+
+  StreamPollSnapshot snapshot() const {
+    StreamPollSnapshot out;
+    out.active = running.load();
+    out.connected = connected.load();
+    out.paused = paused.load();
+    out.source_kind = source.kind;
+    out.source_label = stream_source_target_label(source);
+    out.buffer_seconds = buffer_seconds;
+    out.received_messages = received_messages.load();
+    std::lock_guard<std::mutex> lock(mutex);
+    out.dbc_name = latest_dbc_name;
+    out.car_fingerprint = latest_car_fingerprint;
+    return out;
+  }
+
+  bool consume(StreamExtractBatch *batch, std::string *out_error_text) {
+    std::lock_guard<std::mutex> lock(mutex);
+    const bool has_error = !error_text.empty();
+    const bool has_batch = stream_batch_has_data(pending);
+    if (!has_error && !has_batch) return false;
+    if (batch != nullptr) {
+      *batch = std::move(pending);
+      pending = {};
+      pending_series_slots.clear();
+      pending_can_slots.clear();
+    }
+    if (out_error_text != nullptr) {
+      *out_error_text = error_text;
+      error_text.clear();
+    }
+    return true;
+  }
+
+  static void merge_route_series(RouteSeries *dst, RouteSeries *src) {
+    if (src->times.empty()) {
+      return;
+    }
+    if (dst->path.empty()) {
+      dst->path = src->path;
+    }
+    dst->times.insert(dst->times.end(), src->times.begin(), src->times.end());
+    dst->values.insert(dst->values.end(), src->values.begin(), src->values.end());
+  }
+
+  static void merge_can_message_data(CanMessageData *dst, CanMessageData *src) {
+    if (src->samples.empty()) {
+      return;
+    }
+    if (dst->samples.empty()) {
+      *dst = std::move(*src);
+      return;
+    }
+    dst->samples.insert(dst->samples.end(),
+                        std::make_move_iterator(src->samples.begin()),
+                        std::make_move_iterator(src->samples.end()));
+  }
+
+  static void merge_batch(StreamExtractBatch *dst,
+                          std::unordered_map<std::string, size_t> *series_slots,
+                          std::unordered_map<CanMessageId, size_t, CanMessageIdHash> *can_slots,
+                          StreamExtractBatch *src) {
+    for (RouteSeries &series : src->series) {
+      auto [it, inserted] = series_slots->try_emplace(series.path, dst->series.size());
+      if (inserted) {
+        dst->series.push_back(RouteSeries{.path = series.path});
+      }
+      merge_route_series(&dst->series[it->second], &series);
+    }
+    for (CanMessageData &message : src->can_messages) {
+      auto [it, inserted] = can_slots->try_emplace(message.id, dst->can_messages.size());
+      if (inserted) {
+        dst->can_messages.push_back(CanMessageData{.id = message.id});
+      }
+      merge_can_message_data(&dst->can_messages[it->second], &message);
+    }
+    if (!src->logs.empty()) {
+      dst->logs.insert(dst->logs.end(),
+                       std::make_move_iterator(src->logs.begin()),
+                       std::make_move_iterator(src->logs.end()));
+    }
+    if (!src->timeline.empty()) {
+      dst->timeline.insert(dst->timeline.end(),
+                           std::make_move_iterator(src->timeline.begin()),
+                           std::make_move_iterator(src->timeline.end()));
+    }
+    for (auto &[path, info] : src->enum_info) {
+      dst->enum_info[path] = std::move(info);
+    }
+    if (!src->car_fingerprint.empty()) {
+      dst->car_fingerprint = src->car_fingerprint;
+    }
+    if (!src->dbc_name.empty()) {
+      dst->dbc_name = src->dbc_name;
+    }
+  }
+
+  void publish_batch(StreamAccumulator *accumulator) {
+    StreamExtractBatch batch = accumulator->takeBatch();
+    if (!stream_batch_has_data(batch)) {
+      return;
+    }
+    std::lock_guard<std::mutex> lock(mutex);
+    merge_batch(&pending, &pending_series_slots, &pending_can_slots, &batch);
+    latest_dbc_name = pending.dbc_name;
+    latest_car_fingerprint = pending.car_fingerprint;
+  }
+
+  void run_cereal_source(StreamAccumulator *accumulator) {
+    if (source.kind == StreamSourceKind::CerealRemote) {
+      setenv("ZMQ", "1", 1);
+    } else {
+      unsetenv("ZMQ");
+    }
+
+    std::unique_ptr<Context> context(Context::create());
+    std::unique_ptr<Poller> poller(Poller::create());
+    std::vector<std::unique_ptr<SubSocket>> sockets;
+    sockets.reserve(services.size());
+    for (const auto &[name, info] : services) {
+      if (!should_subscribe_stream_service(name)) continue;
+      std::unique_ptr<SubSocket> socket(
+        SubSocket::create(context.get(), name.c_str(), source.address.c_str(), false, true, info.queue_size));
+      if (socket == nullptr) continue;
+      socket->setTimeout(0);
+      poller->registerSocket(socket.get());
+      sockets.push_back(std::move(socket));
+    }
+    if (sockets.empty()) throw std::runtime_error("Failed to connect to any cereal service");
+    connected.store(true);
+
+    while (running.load()) {
+      std::vector<SubSocket *> ready = poller->poll(1);
+      for (SubSocket *socket : ready) {
+        while (running.load()) {
+          std::unique_ptr<Message> msg(socket->receive(true));
+          if (!msg) break;
+          const size_t size = msg->getSize();
+          if (size < sizeof(capnp::word) || (size % sizeof(capnp::word)) != 0) {
+            continue;
+          }
+          if (paused.load()) {
+            received_messages.fetch_add(1);
+            continue;
+          }
+          kj::ArrayPtr<const capnp::word> data(reinterpret_cast<const capnp::word *>(msg->getData()),
+                                               size / sizeof(capnp::word));
+          accumulator->appendEvent(data);
+          received_messages.fetch_add(1);
+        }
+      }
+      publish_batch(accumulator);
+    }
+  }
+
+  mutable std::mutex mutex;
+  std::thread worker;
+  std::atomic<bool> running{false};
+  std::atomic<bool> connected{false};
+  std::atomic<bool> paused{false};
+  std::atomic<uint64_t> received_messages{0};
+  StreamExtractBatch pending;
+  std::unordered_map<std::string, size_t> pending_series_slots;
+  std::unordered_map<CanMessageId, size_t, CanMessageIdHash> pending_can_slots;
+  std::string error_text;
+  StreamSourceConfig source;
+  std::string latest_dbc_name;
+  std::string latest_car_fingerprint;
+  double buffer_seconds = 30.0;
+};
+
+StreamPoller::StreamPoller()
+  : impl_(std::make_unique<Impl>()) {}
+
+StreamPoller::~StreamPoller() = default;
+
+void StreamPoller::start(const StreamSourceConfig &source,
+                         double buffer_seconds,
+                         const std::string &dbc_name,
+                         std::optional<double> time_offset) {
+  impl_->start(source, buffer_seconds, dbc_name, time_offset);
+}
+
+void StreamPoller::setPaused(bool paused) {
+  impl_->setPaused(paused);
+}
+
+void StreamPoller::stop() {
+  impl_->stop();
+}
+
+StreamPollSnapshot StreamPoller::snapshot() const {
+  return impl_->snapshot();
+}
+
+bool StreamPoller::consume(StreamExtractBatch *batch, std::string *error_text) {
+  return impl_->consume(batch, error_text);
+}
+
+struct CameraFeedView::Impl {
+  struct RequestKey {
+    int segment = -1;
+    int decode_index = -1;
+  };
+
+  struct DecodeRequest {
+    RequestKey key;
+    std::string path;
+    uint64_t serial = 0;
+    uint64_t generation = 0;
+  };
+
+  struct PreloadTask {
+    int segment = -1;
+    std::string path;
+    uint64_t generation = 0;
+  };
+
+  struct DecodeResult {
+    RequestKey key;
+    bool success = false;
+    int width = 0;
+    int height = 0;
+    double decode_ms = 0.0;
+    std::vector<uint8_t> rgba;
+  };
+
+  static constexpr float kDefaultAspect = 1208.0f / 1928.0f;
+  static constexpr size_t kCachedFrames = 8;
+  static constexpr int kPrefetchAhead = 2;
+  static constexpr int kImmediateNearbyFrameDistance = 8;
+  static constexpr int kPreloadWorkerCount = 2;
+
+  Impl() {
+    demand_worker = std::thread([this]() { demand_worker_loop(); });
+    for (int i = 0; i < kPreloadWorkerCount; ++i) {
+      preload_workers.emplace_back([this]() { preload_worker_loop(); });
+    }
+  }
+
+  ~Impl() {
+    stop.store(true);
+    cv.notify_all();
+    if (demand_worker.joinable()) {
+      demand_worker.join();
+    }
+    for (std::thread &worker : preload_workers) {
+      if (worker.joinable()) {
+        worker.join();
+      }
+    }
+    destroy_texture();
+  }
+
+  void setRouteData(const RouteData &route_data) {
+    setCameraIndex(route_data.road_camera, CameraViewKind::Road);
+  }
+
+  void setCameraIndex(const CameraFeedIndex &camera_index, CameraViewKind view) {
+    destroy_texture();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      route_index = camera_index;
+      camera_view = view;
+      pending_request.reset();
+      pending_result.reset();
+      cached_results.clear();
+      preload_queue.clear();
+      preload_focus_segment = -1;
+      ++route_generation;
+      latest_request_serial = 0;
+      int initial_focus_segment = -1;
+      if (!route_index.entries.empty()) {
+        initial_focus_segment = route_index.entries.front().segment;
+      } else {
+        for (const CameraSegmentFile &segment_file : route_index.segment_files) {
+          if (!segment_file.path.empty()) {
+            initial_focus_segment = segment_file.segment;
+            break;
+          }
+        }
+      }
+      if (initial_focus_segment >= 0) {
+        rebuild_preload_queue_locked(initial_focus_segment);
+      }
+    }
+    abort_demand_work.store(true);
+    abort_preload_work.store(true);
+    active_request.reset();
+    displayed_request.reset();
+    failed_request.reset();
+    frame_width = 0;
+    frame_height = 0;
+    cv.notify_all();
+  }
+
+  void update(double tracker_time) {
+    upload_pending_result();
+    std::optional<DecodeRequest> request = request_for_time(tracker_time);
+    if (!request.has_value()) {
+      return;
+    }
+    if (same_request(active_request, request->key) || same_request(displayed_request, request->key) ||
+        same_request(failed_request, request->key)) {
+      return;
+    }
+    if (try_upload_cached_result(request->key)) {
+      return;
+    }
+    try_upload_nearby_cached_result(request->key);
+
+    bool focus_changed = false;
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      if (preload_focus_segment != request->key.segment) {
+        rebuild_preload_queue_locked(request->key.segment);
+        focus_changed = true;
+      }
+      request->serial = ++latest_request_serial;
+      request->generation = route_generation;
+      pending_request = request;
+    }
+    abort_demand_work.store(true);
+    if (focus_changed) {
+      abort_preload_work.store(true);
+    }
+    active_request = request->key;
+    failed_request.reset();
+    cv.notify_all();
+  }
+
+  void draw(float width, bool loading) {
+    const float preview_width = std::max(1.0f, width);
+    const float preview_height = preview_width * preview_aspect();
+    drawSized(ImVec2(preview_width, preview_height), loading, false);
+    ImGui::Spacing();
+  }
+
+  void drawSized(ImVec2 size, bool loading, bool fit_to_pane) {
+    size.x = std::max(1.0f, size.x);
+    size.y = std::max(1.0f, size.y);
+    const float aspect = preview_aspect();
+    ImVec2 frame_size = size;
+    ImVec2 top_left = ImGui::GetCursorScreenPos();
+    ImVec2 uv0(0.0f, 0.0f);
+    ImVec2 uv1(1.0f, 1.0f);
+    if (aspect > 0.0f && !fit_to_pane) {
+      frame_size.y = std::min(size.y, size.x * aspect);
+      frame_size.x = std::min(size.x, frame_size.y / aspect);
+      top_left = ImVec2(top_left.x + (size.x - frame_size.x) * 0.5f,
+                        top_left.y + (size.y - frame_size.y) * 0.5f);
+    } else if (aspect > 0.0f && fit_to_pane) {
+      const float src_aspect = 1.0f / aspect;
+      const float dst_aspect = size.x / size.y;
+      if (dst_aspect > src_aspect) {
+        const float visible_v = std::clamp(src_aspect / dst_aspect, 0.0f, 1.0f);
+        const float v_pad = (1.0f - visible_v) * 0.5f;
+        uv0.y = v_pad;
+        uv1.y = 1.0f - v_pad;
+      } else if (dst_aspect < src_aspect) {
+        const float visible_u = std::clamp(dst_aspect / src_aspect, 0.0f, 1.0f);
+        const float u_pad = (1.0f - visible_u) * 0.5f;
+        uv0.x = u_pad;
+        uv1.x = 1.0f - u_pad;
+      }
+    }
+    ImGui::InvisibleButton("##camera_feed_sized", size);
+    if (texture != 0) {
+      ImGui::GetWindowDrawList()->AddImage(static_cast<ImTextureID>(texture),
+                                           top_left,
+                                           ImVec2(top_left.x + frame_size.x, top_left.y + frame_size.y),
+                                           uv0,
+                                           uv1);
+    } else {
+      ImDrawList *draw_list = ImGui::GetWindowDrawList();
+      draw_list->AddRectFilled(top_left, ImVec2(top_left.x + frame_size.x, top_left.y + frame_size.y), IM_COL32(45, 47, 50, 255));
+      draw_list->AddRect(top_left, ImVec2(top_left.x + frame_size.x, top_left.y + frame_size.y), IM_COL32(95, 100, 106, 255));
+
+      const char *label = (loading || has_video_source()) ? "loading" : "no video";
+      const ImVec2 text_size = ImGui::CalcTextSize(label);
+      const ImVec2 text_pos(top_left.x + (frame_size.x - text_size.x) * 0.5f,
+                            top_left.y + (frame_size.y - text_size.y) * 0.5f);
+      draw_list->AddText(text_pos, IM_COL32(187, 187, 187, 255), label);
+    }
+  }
+
+  static bool same_request(const std::optional<RequestKey> &lhs, const RequestKey &rhs) {
+    return lhs.has_value() && lhs->segment == rhs.segment && lhs->decode_index == rhs.decode_index;
+  }
+
+  bool has_video_source() const {
+    std::lock_guard<std::mutex> lock(mutex);
+    return !route_index.entries.empty() && !route_index.segment_files.empty();
+  }
+
+  float preview_aspect() const {
+    if (frame_width > 0 && frame_height > 0) return static_cast<float>(frame_height) / static_cast<float>(frame_width);
+    return kDefaultAspect;
+  }
+
+  std::optional<DecodeRequest> request_for_time(double tracker_time) const {
+    std::lock_guard<std::mutex> lock(mutex);
+    if (route_index.entries.empty()) return std::nullopt;
+
+    auto it = std::lower_bound(route_index.entries.begin(), route_index.entries.end(), tracker_time,
+                               [](const CameraFrameIndexEntry &entry, double tm) {
+                                 return entry.timestamp < tm;
+                               });
+    if (it == route_index.entries.end()) {
+      it = std::prev(route_index.entries.end());
+    } else if (it != route_index.entries.begin()) {
+      const auto prev = std::prev(it);
+      if (std::abs(prev->timestamp - tracker_time) <= std::abs(it->timestamp - tracker_time)) {
+        it = prev;
+      }
+    }
+
+    auto path_it = std::find_if(route_index.segment_files.begin(), route_index.segment_files.end(),
+                                [&](const CameraSegmentFile &segment) {
+                                  return segment.segment == it->segment && !segment.path.empty();
+                                });
+    if (path_it == route_index.segment_files.end()) return std::nullopt;
+
+    return DecodeRequest{
+      .key = RequestKey{.segment = it->segment, .decode_index = it->decode_index},
+      .path = path_it->path,
+    };
+  }
+
+  void upload_pending_result() {
+    std::optional<DecodeResult> result;
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      if (!pending_result.has_value()) {
+        return;
+      }
+      result = std::move(pending_result);
+      pending_result.reset();
+    }
+
+    active_request.reset();
+    if (!result->success || result->rgba.empty() || result->width <= 0 || result->height <= 0) {
+      failed_request = result->key;
+      return;
+    }
+
+    upload_result(*result);
+  }
+
+  void upload_result(const DecodeResult &result) {
+    remember_cached_result(result);
+
+    const bool new_size = texture_width != result.width || texture_height != result.height;
+    if (texture == 0) {
+      glGenTextures(1, &texture);
+    }
+    glBindTexture(GL_TEXTURE_2D, texture);
+    if (new_size) {
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+      glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+      glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
+      glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, result.width, result.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, result.rgba.data());
+      texture_width = result.width;
+      texture_height = result.height;
+    } else {
+      glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, result.width, result.height, GL_RGBA, GL_UNSIGNED_BYTE, result.rgba.data());
+    }
+    glBindTexture(GL_TEXTURE_2D, 0);
+
+    frame_width = result.width;
+    frame_height = result.height;
+    displayed_request = result.key;
+    failed_request.reset();
+  }
+
+  bool try_upload_cached_result(const RequestKey &key) {
+    std::optional<DecodeResult> result;
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      auto it = std::find_if(cached_results.begin(), cached_results.end(), [&](const DecodeResult &cached) {
+        return cached.key.segment == key.segment && cached.key.decode_index == key.decode_index;
+      });
+      if (it == cached_results.end()) {
+        return false;
+      }
+      result = *it;
+    }
+    active_request.reset();
+    upload_result(*result);
+    return true;
+  }
+
+  bool try_upload_nearby_cached_result(const RequestKey &key) {
+    std::optional<DecodeResult> result;
+    int best_distance = std::numeric_limits<int>::max();
+    {
+      std::lock_guard<std::mutex> lock(mutex);
+      for (const DecodeResult &cached : cached_results) {
+        if (cached.key.segment != key.segment) continue;
+        const int distance = std::abs(cached.key.decode_index - key.decode_index);
+        if (distance == 0 || distance > kImmediateNearbyFrameDistance || distance >= best_distance) continue;
+        best_distance = distance;
+        result = cached;
+      }
+    }
+    if (!result.has_value()) {
+      return false;
+    }
+    upload_result(*result);
+    return true;
+  }
+
+  void remember_cached_result(const DecodeResult &result) {
+    std::lock_guard<std::mutex> lock(mutex);
+    auto it = std::find_if(cached_results.begin(), cached_results.end(), [&](const DecodeResult &cached) {
+      return cached.key.segment == result.key.segment && cached.key.decode_index == result.key.decode_index;
+    });
+    if (it != cached_results.end()) {
+      cached_results.erase(it);
+    }
+    cached_results.push_front(result);
+    while (cached_results.size() > kCachedFrames) {
+      cached_results.pop_back();
+    }
+  }
+
+  void destroy_texture() {
+    if (texture != 0 && g_glfw_alive.load() && glfwGetCurrentContext() != nullptr) {
+      glDeleteTextures(1, &texture);
+    }
+    texture = 0;
+    texture_width = 0;
+    texture_height = 0;
+    frame_width = 0;
+    frame_height = 0;
+  }
+
+  static bool ensure_decode_buffer(FrameReader *reader, VisionBuf *buf, bool &allocated, int &w, int &h) {
+    if (!reader) return false;
+    if (allocated && w == reader->width && h == reader->height) return true;
+    if (allocated) { buf->free(); allocated = false; }
+    const auto [stride, y_height, _uv_height, size] = get_nv12_info(reader->width, reader->height);
+    buf->allocate(size);
+    buf->init_yuv(reader->width, reader->height, stride, stride * y_height);
+    w = reader->width;
+    h = reader->height;
+    allocated = true;
+    return true;
+  }
+
+  void publish_result(const DecodeRequest &request, DecodeResult result) {
+    std::lock_guard<std::mutex> lock(mutex);
+    if (!pending_request.has_value() || pending_request->serial != request.serial ||
+        pending_request->generation != request.generation) {
+      return;
+    }
+    pending_result = std::move(result);
+  }
+
+  bool has_newer_pending_request(uint64_t serial) const {
+    std::lock_guard<std::mutex> lock(mutex);
+    return pending_request.has_value() && pending_request->serial != serial;
+  }
+
+  void rebuild_preload_queue_locked(int focus_segment) {
+    std::vector<PreloadTask> ordered;
+    ordered.reserve(route_index.segment_files.size());
+    for (const CameraSegmentFile &segment_file : route_index.segment_files) {
+      if (segment_file.path.empty()) continue;
+      if (segment_file.segment == focus_segment) continue;
+      ordered.push_back(PreloadTask{
+        .segment = segment_file.segment,
+        .path = segment_file.path,
+        .generation = route_generation,
+      });
+    }
+    std::sort(ordered.begin(), ordered.end(), [&](const PreloadTask &a, const PreloadTask &b) {
+      const int distance_a = std::abs(a.segment - focus_segment);
+      const int distance_b = std::abs(b.segment - focus_segment);
+      if (distance_a != distance_b) return distance_a < distance_b;
+      return a.segment < b.segment;
+    });
+    preload_queue.assign(ordered.begin(), ordered.end());
+    preload_focus_segment = focus_segment;
+  }
+
+  std::shared_ptr<FrameReader> find_loaded_reader_locked(int segment, uint64_t generation) {
+    if (readers_generation != generation) {
+      readers.clear();
+      loading_segments.clear();
+      readers_generation = generation;
+    }
+    auto it = readers.find(segment);
+    return it != readers.end() ? it->second : nullptr;
+  }
+
+  std::shared_ptr<FrameReader> ensure_reader_loaded(int segment,
+                                                    const std::string &path,
+                                                    uint64_t generation,
+                                                    const char *reason,
+                                                    std::atomic<bool> *abort_flag,
+                                                    bool wait_for_inflight) {
+    while (!stop.load()) {
+      {
+        std::unique_lock<std::mutex> lock(readers_mutex);
+        if (std::shared_ptr<FrameReader> cached = find_loaded_reader_locked(segment, generation)) {
+          return cached;
+        }
+        if (loading_segments.find(segment) != loading_segments.end()) {
+          if (!wait_for_inflight) {
+            return nullptr;
+          }
+          readers_cv.wait(lock, [&]() {
+            return stop.load()
+                || readers_generation != generation
+                || loading_segments.find(segment) == loading_segments.end();
+          });
+          continue;
+        }
+        loading_segments.insert(segment);
+      }
+
+      auto reader = std::make_shared<FrameReader>();
+      const auto load_begin = std::chrono::steady_clock::now();
+      const bool loaded = reader->load(decoder_camera_type(camera_view), path, false, abort_flag, true);
+
+      {
+        std::lock_guard<std::mutex> lock(readers_mutex);
+        if (readers_generation != generation) {
+          readers.clear();
+          loading_segments.clear();
+          readers_generation = generation;
+        }
+        loading_segments.erase(segment);
+        if (loaded) {
+          readers[segment] = reader;
+        }
+      }
+      readers_cv.notify_all();
+
+      if (!loaded) {
+        return nullptr;
+      }
+      if (kLogCameraTimings) {
+        const double load_ms = std::chrono::duration<double, std::milli>(std::chrono::steady_clock::now() - load_begin).count();
+        std::fprintf(stderr, "camera[%s] %s-load seg=%d %.1fms\n",
+                     camera_view_spec(camera_view).runtime_name, reason, segment, load_ms);
+      }
+      return reader;
+    }
+    return nullptr;
+  }
+
+  void preload_worker_loop() {
+    while (true) {
+      std::optional<PreloadTask> preload;
+      {
+        std::unique_lock<std::mutex> lock(mutex);
+        cv.wait(lock, [&]() { return stop.load() || !preload_queue.empty(); });
+        if (stop.load()) {
+          break;
+        }
+        preload = preload_queue.front();
+        preload_queue.pop_front();
+      }
+
+      abort_preload_work.store(false);
+      {
+        std::lock_guard<std::mutex> lock(readers_mutex);
+        if (find_loaded_reader_locked(preload->segment, preload->generation)) {
+          continue;
+        }
+      }
+      ensure_reader_loaded(preload->segment, preload->path, preload->generation, "preload",
+                           &abort_preload_work, false);
+    }
+  }
+
+  void demand_worker_loop() {
+    uint64_t handled_serial = 0;
+    VisionBuf decode_buffer;
+    bool buffer_allocated = false;
+    int buffer_width = 0;
+    int buffer_height = 0;
+
+    while (true) {
+      std::optional<DecodeRequest> request;
+      {
+        std::unique_lock<std::mutex> lock(mutex);
+        cv.wait(lock, [&]() {
+          return stop.load() || (pending_request.has_value() && pending_request->serial != handled_serial);
+        });
+        if (stop.load()) break;
+        request = *pending_request;
+        handled_serial = request->serial;
+      }
+
+      abort_demand_work.store(false);
+
+      DecodeResult result{.key = request->key};
+      std::shared_ptr<FrameReader> reader = ensure_reader_loaded(request->key.segment, request->path,
+                                                                 request->generation, "demand",
+                                                                 &abort_demand_work, true);
+      if (!reader) {
+        publish_result(*request, std::move(result));
+        continue;
+      }
+      if (has_newer_pending_request(request->serial)) {
+        continue;
+      }
+
+      const auto decode_begin = std::chrono::steady_clock::now();
+      if (!ensure_decode_buffer(reader.get(), &decode_buffer, buffer_allocated, buffer_width, buffer_height) ||
+          !reader->get(request->key.decode_index, &decode_buffer)) {
+        publish_result(*request, std::move(result));
+        continue;
+      }
+
+      result.width = reader->width;
+      result.height = reader->height;
+      result.rgba.resize(static_cast<size_t>(result.width) * static_cast<size_t>(result.height) * 4U, 0);
+      yuv::nv12_to_rgba(decode_buffer.y,
+                        static_cast<int>(decode_buffer.stride),
+                        decode_buffer.uv,
+                        static_cast<int>(decode_buffer.stride),
+                        result.rgba.data(),
+                        result.width * 4,
+                        result.width,
+                        result.height);
+      result.success = true;
+      result.decode_ms = std::chrono::duration<double, std::milli>(std::chrono::steady_clock::now() - decode_begin).count();
+      publish_result(*request, std::move(result));
+
+      for (int offset = 1; offset <= kPrefetchAhead; ++offset) {
+        if (stop.load() || has_newer_pending_request(request->serial)) {
+          break;
+        }
+        const int next_index = request->key.decode_index + offset;
+        if (next_index < 0 || next_index >= static_cast<int>(reader->getFrameCount())) {
+          break;
+        }
+        if (!reader->get(next_index, &decode_buffer)) {
+          break;
+        }
+        DecodeResult prefetched{
+          .key = RequestKey{.segment = request->key.segment, .decode_index = next_index},
+          .success = true,
+          .width = reader->width,
+          .height = reader->height,
+        };
+        prefetched.rgba.resize(static_cast<size_t>(prefetched.width) * static_cast<size_t>(prefetched.height) * 4U, 0);
+        yuv::nv12_to_rgba(decode_buffer.y,
+                          static_cast<int>(decode_buffer.stride),
+                          decode_buffer.uv,
+                          static_cast<int>(decode_buffer.stride),
+                          prefetched.rgba.data(),
+                          prefetched.width * 4,
+                          prefetched.width,
+                          prefetched.height);
+        remember_cached_result(prefetched);
+      }
+    }
+
+    if (buffer_allocated) {
+      decode_buffer.free();
+    }
+  }
+
+  mutable std::mutex mutex;
+  std::condition_variable cv;
+  std::thread demand_worker;
+  std::vector<std::thread> preload_workers;
+  std::atomic<bool> stop{false};
+  std::atomic<bool> abort_demand_work{false};
+  std::atomic<bool> abort_preload_work{false};
+  CameraFeedIndex route_index;
+  CameraViewKind camera_view = CameraViewKind::Road;
+  std::optional<DecodeRequest> pending_request;
+  std::optional<DecodeResult> pending_result;
+  std::deque<PreloadTask> preload_queue;
+  int preload_focus_segment = -1;
+  std::deque<DecodeResult> cached_results;
+  uint64_t latest_request_serial = 0;
+  uint64_t route_generation = 1;
+  std::optional<RequestKey> active_request;
+  std::optional<RequestKey> displayed_request;
+  std::optional<RequestKey> failed_request;
+  std::mutex readers_mutex;
+  std::condition_variable readers_cv;
+  std::unordered_map<int, std::shared_ptr<FrameReader>> readers;
+  std::unordered_set<int> loading_segments;
+  uint64_t readers_generation = 0;
+  GLuint texture = 0;
+  int texture_width = 0;
+  int texture_height = 0;
+  int frame_width = 0;
+  int frame_height = 0;
+};
+
+CameraFeedView::CameraFeedView()
+  : impl_(std::make_unique<Impl>()) {}
+
+CameraFeedView::~CameraFeedView() = default;
+
+void CameraFeedView::setRouteData(const RouteData &route_data) {
+  impl_->setRouteData(route_data);
+}
+
+void CameraFeedView::setCameraIndex(const CameraFeedIndex &camera_index, CameraViewKind view) {
+  impl_->setCameraIndex(camera_index, view);
+}
+
+void CameraFeedView::update(double tracker_time) {
+  impl_->update(tracker_time);
+}
+
+void CameraFeedView::draw(float width, bool loading) {
+  impl_->draw(width, loading);
+}
+
+void CameraFeedView::drawSized(ImVec2 size, bool loading, bool fit_to_pane) {
+  impl_->drawSized(size, loading, fit_to_pane);
+}
diff --git a/openpilot/tools/jotpluggler/session.cc b/openpilot/tools/jotpluggler/session.cc
new file mode 100644
index 0000000000..4c694a8daa
--- /dev/null
+++ b/openpilot/tools/jotpluggler/session.cc
@@ -0,0 +1,775 @@
+#include "tools/jotpluggler/internal.h"
+
+#include "imgui_internal.h"
+
+#include <array>
+#include <cmath>
+#include <cstdlib>
+
+namespace fs = std::filesystem;
+
+const RouteSeries *app_find_route_series(const AppSession &session, const std::string &path) {
+  auto it = session.series_by_path.find(path);
+  return it == session.series_by_path.end() ? nullptr : it->second;
+}
+
+void sync_camera_feeds(AppSession *session) {
+  for (size_t i = 0; i < kCameraViewSpecs.size(); ++i) {
+    if (session->pane_camera_feeds[i]) {
+      session->pane_camera_feeds[i]->setCameraIndex(session->route_data.*(kCameraViewSpecs[i].route_member), kCameraViewSpecs[i].view);
+    }
+  }
+  if (session->thumbnail_view) {
+    session->thumbnail_view->setThumbnails(session->route_data.thumbnails);
+  }
+}
+
+void apply_route_data(AppSession *session, UiState *state, RouteData route_data) {
+  if (!route_data.route_id.empty()) {
+    session->route_id = route_data.route_id;
+  } else if (session->route_name.empty() && session->data_mode == SessionDataMode::Route) {
+    session->route_id = {};
+  }
+  session->route_data = std::move(route_data);
+  rebuild_route_index(session);
+  rebuild_browser_nodes(session, state);
+  state->browser_nodes_dirty = false;
+  refresh_all_custom_curves(session, state);
+  sync_camera_feeds(session);
+  state->has_shared_range = false;
+  state->has_tracker_time = false;
+  reset_shared_range(state, *session);
+}
+
+bool restore_undo_layout(AppSession *session, UiState *state, const SketchLayout &layout, const char *status_text) {
+  session->layout = layout;
+  cancel_rename_tab(state);
+  state->custom_series.request_select = false;
+  state->active_tab_index = std::clamp(layout.current_tab_index, 0, std::max(0, static_cast<int>(layout.tabs.size()) - 1));
+  state->requested_tab_index = state->active_tab_index;
+  sync_ui_state(state, session->layout);
+  mark_all_docks_dirty(state);
+  const bool autosave_ok = autosave_layout(session, state);
+  if (autosave_ok) {
+    state->status_text = status_text;
+  }
+  return autosave_ok;
+}
+
+bool apply_undo(AppSession *session, UiState *state) {
+  if (!state->undo.can_undo()) {
+    return false;
+  }
+  return restore_undo_layout(session, state, state->undo.undo(), "Undo");
+}
+
+bool apply_redo(AppSession *session, UiState *state) {
+  if (!state->undo.can_redo()) {
+    return false;
+  }
+  return restore_undo_layout(session, state, state->undo.redo(), "Redo");
+}
+
+std::optional<std::pair<double, double>> tab_default_x_range(const WorkspaceTab &tab) {
+  bool found = false;
+  double min_value = 0.0;
+  double max_value = 1.0;
+  for (const Pane &pane : tab.panes) {
+    if (!pane.range.valid || pane.range.right <= pane.range.left) continue;
+    if (!found) {
+      min_value = pane.range.left;
+      max_value = pane.range.right;
+      found = true;
+    } else {
+      min_value = std::min(min_value, pane.range.left);
+      max_value = std::max(max_value, pane.range.right);
+    }
+  }
+  if (!found) return std::nullopt;
+  return std::make_pair(min_value, max_value);
+}
+
+bool infer_stream_follow_state(const UiState &state, const AppSession &session) {
+  if (session.data_mode != SessionDataMode::Stream || !state.has_shared_range || !session.route_data.has_time_range) {
+    return false;
+  }
+  const double target_span = std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds);
+  const double current_span = std::max(0.0, state.x_view_max - state.x_view_min);
+  const double edge_epsilon = std::max(0.05, target_span * 0.02);
+  return std::abs(state.x_view_max - state.route_x_max) <= edge_epsilon
+      && std::abs(current_span - target_span) <= edge_epsilon;
+}
+
+void ensure_shared_range(UiState *state, const AppSession &session) {
+  if (session.route_data.has_time_range) {
+    state->route_x_min = session.route_data.x_min;
+    state->route_x_max = session.route_data.x_max;
+  } else {
+    state->route_x_min = 0.0;
+    state->route_x_max = 1.0;
+  }
+
+  if (state->has_shared_range) {
+    return;
+  }
+
+  if (session.data_mode == SessionDataMode::Stream) {
+    const double target_span = std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds);
+    if (session.route_data.has_time_range) {
+      state->x_view_max = state->route_x_max;
+      state->x_view_min = state->x_view_max - target_span;
+    } else {
+      state->x_view_min = 0.0;
+      state->x_view_max = target_span;
+    }
+    if (state->x_view_max <= state->x_view_min) {
+      state->x_view_max = state->x_view_min + 1.0;
+    }
+    state->has_shared_range = true;
+    if (!state->has_tracker_time || state->tracker_time < state->route_x_min || state->tracker_time > state->route_x_max) {
+      state->tracker_time = state->route_x_max;
+      state->has_tracker_time = session.route_data.has_time_range;
+    }
+    return;
+  }
+
+  if (const WorkspaceTab *tab = app_active_tab(session.layout, *state); tab != nullptr) {
+    if (std::optional<std::pair<double, double>> tab_range = tab_default_x_range(*tab); tab_range.has_value()) {
+      state->x_view_min = tab_range->first;
+      state->x_view_max = tab_range->second;
+      state->has_shared_range = true;
+      if (!state->has_tracker_time || state->tracker_time < state->route_x_min || state->tracker_time > state->route_x_max) {
+        state->tracker_time = state->route_x_min;
+        state->has_tracker_time = true;
+      }
+      return;
+    }
+  }
+
+  state->x_view_min = state->route_x_min;
+  state->x_view_max = state->route_x_max;
+  if (state->x_view_max <= state->x_view_min) {
+    state->x_view_max = state->x_view_min + 1.0;
+  }
+  state->has_shared_range = true;
+  if (!state->has_tracker_time || state->tracker_time < state->route_x_min || state->tracker_time > state->route_x_max) {
+    state->tracker_time = state->route_x_min;
+    state->has_tracker_time = true;
+  }
+}
+
+void clamp_shared_range(UiState *state, const AppSession &session) {
+  if (!state->has_shared_range) {
+    return;
+  }
+  const double min_span = MIN_HORIZONTAL_ZOOM_SECONDS;
+  double span = state->x_view_max - state->x_view_min;
+  if (span < min_span) {
+    const double center = 0.5 * (state->x_view_min + state->x_view_max);
+    span = min_span;
+    state->x_view_min = center - span * 0.5;
+    state->x_view_max = center + span * 0.5;
+  }
+  if (session.data_mode == SessionDataMode::Stream) {
+    if (session.route_data.has_time_range && state->x_view_max > state->route_x_max) {
+      state->x_view_min -= state->x_view_max - state->route_x_max;
+      state->x_view_max = state->route_x_max;
+    }
+    if (state->x_view_max <= state->x_view_min) {
+      state->x_view_max = state->x_view_min + min_span;
+    }
+    if (state->has_tracker_time && session.route_data.has_time_range) {
+      state->tracker_time = std::clamp(state->tracker_time, state->route_x_min, state->route_x_max);
+    }
+    if (session.route_data.has_time_range) {
+      state->follow_latest = infer_stream_follow_state(*state, session);
+    }
+    return;
+  }
+  if (state->route_x_max > state->route_x_min) {
+    if (state->x_view_min < state->route_x_min) {
+      state->x_view_max += state->route_x_min - state->x_view_min;
+      state->x_view_min = state->route_x_min;
+    }
+    if (state->x_view_max > state->route_x_max) {
+      state->x_view_min -= state->x_view_max - state->route_x_max;
+      state->x_view_max = state->route_x_max;
+    }
+    if (state->x_view_min < state->route_x_min) {
+      state->x_view_min = state->route_x_min;
+    }
+    if (state->x_view_max <= state->x_view_min) {
+      state->x_view_max = std::min(state->route_x_max, state->x_view_min + min_span);
+    }
+  }
+  if (state->has_tracker_time) {
+    state->tracker_time = std::clamp(state->tracker_time, state->route_x_min, state->route_x_max);
+  }
+}
+
+void reset_shared_range(UiState *state, const AppSession &session) {
+  state->has_shared_range = false;
+  ensure_shared_range(state, session);
+  clamp_shared_range(state, session);
+}
+
+void update_follow_range(UiState *state, const AppSession &session) {
+  if (!state->follow_latest || !state->has_shared_range) {
+    return;
+  }
+  const double span = session.data_mode == SessionDataMode::Stream
+    ? std::max(MIN_HORIZONTAL_ZOOM_SECONDS, session.stream_buffer_seconds)
+    : std::max(MIN_HORIZONTAL_ZOOM_SECONDS, state->x_view_max - state->x_view_min);
+  const double route_span = state->route_x_max - state->route_x_min;
+  if (route_span <= 0.0) {
+    return;
+  }
+  state->x_view_max = state->route_x_max;
+  state->x_view_min = state->x_view_max - span;
+  clamp_shared_range(state, session);
+}
+
+void advance_playback(UiState *state, const AppSession &session) {
+  if (!state->playback_playing || !state->has_shared_range || state->route_x_max <= state->route_x_min) {
+    return;
+  }
+
+  const double delta = std::max(0.0, static_cast<double>(ImGui::GetIO().DeltaTime)) * state->playback_rate;
+  const double view_span = std::max(MIN_HORIZONTAL_ZOOM_SECONDS, state->x_view_max - state->x_view_min);
+  const double loop_min = state->playback_loop
+    ? std::clamp(state->x_view_min, state->route_x_min, state->route_x_max)
+    : state->route_x_min;
+  const double loop_max = state->playback_loop
+    ? std::clamp(state->x_view_max, state->route_x_min, state->route_x_max)
+    : state->route_x_max;
+
+  state->tracker_time += delta;
+  if (state->tracker_time >= loop_max) {
+    if (state->playback_loop) {
+      state->tracker_time = loop_min;
+    } else {
+      state->tracker_time = state->route_x_max;
+      state->playback_playing = false;
+    }
+  }
+
+  if (!state->playback_loop) {
+    constexpr double kScrollStartFraction = 0.70;
+    const double scroll_anchor = state->x_view_min + view_span * kScrollStartFraction;
+    if (state->tracker_time > scroll_anchor && state->x_view_max < state->route_x_max) {
+      state->x_view_min = state->tracker_time - view_span * kScrollStartFraction;
+      state->x_view_max = state->x_view_min + view_span;
+      clamp_shared_range(state, session);
+    } else if (state->tracker_time < state->x_view_min || state->tracker_time > state->x_view_max) {
+      state->x_view_min = state->tracker_time - view_span * 0.5;
+      state->x_view_max = state->x_view_min + view_span;
+      clamp_shared_range(state, session);
+    }
+  }
+}
+
+void step_tracker(UiState *state, double direction) {
+  if (!state->has_shared_range) {
+    return;
+  }
+  state->tracker_time += direction * std::max(0.001, state->playback_step);
+  state->tracker_time = std::clamp(state->tracker_time, state->route_x_min, state->route_x_max);
+}
+
+const char *log_selector_name(LogSelector selector) {
+  static constexpr const char *kLabels[] = {"a", "r", "q"};
+  const size_t index = static_cast<size_t>(selector);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+const char *log_selector_description(LogSelector selector) {
+  static constexpr const char *kLabels[] = {
+    "any of rlog or qlog",
+    "rlog only",
+    "qlog only",
+  };
+  const size_t index = static_cast<size_t>(selector);
+  return index < std::size(kLabels) ? kLabels[index] : kLabels[0];
+}
+
+std::string shorten_route_part(std::string_view text, size_t keep) {
+  if (text.size() <= keep) {
+    return std::string(text);
+  }
+  return std::string(text.substr(0, keep));
+}
+
+bool parse_slice_spec(std::string_view text, int *begin, int *end) {
+  const auto parse_nonnegative = [](std::string_view value, int *out) {
+    if (value.empty()) return false;
+    char *end_ptr = nullptr;
+    const long parsed = std::strtol(std::string(value).c_str(), &end_ptr, 10);
+    if (end_ptr == nullptr || *end_ptr != '\0' || parsed < 0) {
+      return false;
+    }
+    *out = static_cast<int>(parsed);
+    return true;
+  };
+  const std::string trimmed = util::strip(std::string(text));
+  if (trimmed.empty()) {
+    return false;
+  }
+  const size_t colon = trimmed.find(':');
+  int parsed_begin = 0;
+  if (!parse_nonnegative(trimmed.substr(0, colon), &parsed_begin)) {
+    return false;
+  }
+  int parsed_end = parsed_begin;
+  if (colon != std::string::npos) {
+    const std::string end_text = trimmed.substr(colon + 1);
+    if (end_text.empty()) {
+      parsed_end = -1;
+    } else if (!parse_nonnegative(end_text, &parsed_end) || parsed_end < parsed_begin) {
+      return false;
+    }
+  }
+  *begin = parsed_begin;
+  *end = parsed_end;
+  return true;
+}
+
+std::string format_duration_short(double seconds) {
+  const double clamped = std::max(0.0, seconds);
+  const int total_ms = static_cast<int>(std::round(clamped * 1000.0));
+  const int minutes = total_ms / 60000;
+  const int rem_ms = total_ms % 60000;
+  const int secs = rem_ms / 1000;
+  const int millis = rem_ms % 1000;
+  return util::string_format("%d:%02d.%03d", minutes, secs, millis);
+}
+
+bool apply_route_identifier(AppSession *session, UiState *state, const RouteIdentifier &route_id, const char *status_text) {
+  if (route_id.empty()) {
+    return false;
+  }
+  if (!reload_session(session, state, route_id.full_spec(), session->data_dir)) {
+    return false;
+  }
+  state->status_text = status_text;
+  return true;
+}
+
+bool apply_route_slice_change(AppSession *session, UiState *state, std::string_view slice_text) {
+  int begin = 0;
+  int end = 0;
+  if (!parse_slice_spec(slice_text, &begin, &end)) {
+    state->error_text = "Slice must be N, N:, or N:M.";
+    state->open_error_popup = true;
+    return false;
+  }
+  RouteIdentifier next = session->route_id;
+  next.slice_begin = begin;
+  next.slice_end = end;
+  next.slice_explicit = true;
+  return apply_route_identifier(session, state, next, "Updated route slice");
+}
+
+bool apply_route_selector_change(AppSession *session, UiState *state, LogSelector selector) {
+  RouteIdentifier next = session->route_id;
+  next.selector = selector;
+  next.selector_explicit = true;
+  return apply_route_identifier(session, state, next, "Updated log selector");
+}
+
+ImU32 route_chip_part_color(int part_index, bool explicit_part) {
+  constexpr std::array<std::array<int, 3>, 4> BASE = {{
+    {70, 96, 126},   // dongle
+    {100, 86, 148},  // log id
+    {72, 112, 86},   // slice
+    {156, 104, 38},  // selector
+  }};
+  const std::array<int, 3> &base = BASE[static_cast<size_t>(std::clamp(part_index, 0, 3))];
+  if (explicit_part) {
+    return ImGui::GetColorU32(color_rgb(base[0], base[1], base[2]));
+  }
+  const int gray = 144;
+  return ImGui::GetColorU32(color_rgb((base[0] + gray) / 2, (base[1] + gray) / 2, (base[2] + gray) / 2));
+}
+
+bool draw_route_chip_text_button(const char *id,
+                                 std::string_view text,
+                                 ImVec2 pos,
+                                 ImU32 color,
+                                 ImDrawList *draw_list,
+                                 const char *tooltip = nullptr) {
+  const ImVec2 size = ImGui::CalcTextSize(text.data(), text.data() + text.size());
+  ImGui::SetCursorScreenPos(pos);
+  ImGui::InvisibleButton(id, size);
+  const bool hovered = ImGui::IsItemHovered();
+  if (hovered) {
+    ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+    draw_list->AddRectFilled(ImVec2(pos.x - 5.0f, pos.y - 1.0f),
+                             ImVec2(pos.x + size.x + 5.0f, pos.y + size.y + 2.0f),
+                             ImGui::GetColorU32(color_rgb(225, 231, 239, 0.95f)), 0.0f);
+  }
+  draw_list->AddText(pos, color, text.data(), text.data() + text.size());
+  if (tooltip != nullptr && ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+    ImGui::BeginTooltip();
+    ImGui::TextUnformatted(tooltip);
+    ImGui::EndTooltip();
+  }
+  return ImGui::IsItemClicked(ImGuiMouseButton_Left);
+}
+
+void draw_route_copy_feedback(UiState *state, ImDrawList *draw_list, ImVec2 chip_max) {
+  if (state->route_copy_feedback_text.empty()) {
+    return;
+  }
+  const double now = ImGui::GetTime();
+  if (now >= state->route_copy_feedback_until) {
+    state->route_copy_feedback_text.clear();
+    state->route_copy_feedback_until = 0.0;
+    return;
+  }
+
+  const float alpha = static_cast<float>(std::clamp((state->route_copy_feedback_until - now) / 1.1, 0.0, 1.0));
+  const ImVec2 text_size = ImGui::CalcTextSize(state->route_copy_feedback_text.c_str());
+  const ImVec2 pad(9.0f, 5.0f);
+  const ImVec2 bubble_min(chip_max.x - text_size.x - pad.x * 2.0f, chip_max.y + 7.0f);
+  const ImVec2 bubble_max(chip_max.x, bubble_min.y + text_size.y + pad.y * 2.0f);
+  draw_list->AddRectFilled(bubble_min, bubble_max,
+                           ImGui::GetColorU32(color_rgb(46, 125, 80, 0.96f * alpha)), 7.0f);
+  draw_list->AddRect(bubble_min, bubble_max,
+                     ImGui::GetColorU32(color_rgb(35, 96, 61, 0.9f * alpha)), 7.0f, 0, 1.0f);
+  draw_list->AddText(ImVec2(std::floor(bubble_min.x + pad.x), std::floor(bubble_min.y + pad.y)),
+                     ImGui::GetColorU32(color_rgb(247, 251, 248, alpha)),
+                     state->route_copy_feedback_text.c_str());
+}
+
+void draw_route_info_popup(AppSession *session, UiState *state, ImVec2 anchor) {
+  if (session->route_id.empty()) {
+    return;
+  }
+  ImGui::SetNextWindowPos(anchor, ImGuiCond_Appearing);
+  ImGui::SetNextWindowSizeConstraints(ImVec2(300.0f, 0.0f), ImVec2(420.0f, FLT_MAX));
+  if (!app_begin_popup("##route_info_popup", ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings)) {
+    return;
+  }
+
+  ImGui::TextUnformatted("Route Info");
+  ImGui::Separator();
+  app_push_mono_font();
+  ImGui::TextUnformatted(session->route_id.canonical().c_str());
+  app_pop_mono_font();
+
+  const char *copy_icon = icon::CLIPBOARD;
+  const char *link_icon = icon::BOX_ARROW_UP_RIGHT;
+  const std::string useradmin_label = std::string("Useradmin ") + link_icon;
+  const std::string connect_label = std::string("comma connect ") + link_icon;
+  if (ImGui::Button(copy_icon, ImVec2(34.0f, 26.0f))) {
+    ImGui::SetClipboardText(session->route_id.canonical().c_str());
+    state->status_text = "Copied route to clipboard";
+    state->route_copy_feedback_text = "Copied";
+    state->route_copy_feedback_until = ImGui::GetTime() + 1.1;
+  }
+  if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+    ImGui::BeginTooltip();
+    ImGui::TextUnformatted("Copy route");
+    ImGui::EndTooltip();
+  }
+  ImGui::SameLine();
+  if (ImGui::Button(useradmin_label.c_str(), ImVec2(132.0f, 26.0f))) {
+    open_external_url(route_useradmin_url(session->route_id));
+    state->status_text = "Opened useradmin";
+  }
+  ImGui::SameLine();
+  if (ImGui::Button(connect_label.c_str(), ImVec2(156.0f, 26.0f))) {
+    open_external_url(route_connect_url(session->route_id));
+    state->status_text = "Opened comma connect";
+  }
+
+  ImGui::Spacing();
+  const int loaded_begin = session->route_id.available_begin;
+  const int loaded_end = session->route_id.available_end;
+  const int loaded_count = loaded_end >= loaded_begin ? (loaded_end - loaded_begin + 1) : 0;
+  ImGui::Text("Duration   %s", format_duration_short(session->route_data.x_max - session->route_data.x_min).c_str());
+  ImGui::Text("Segments   %s (%d)", session->route_id.display_slice().c_str(), loaded_count);
+  ImGui::Text("Selector   %s", log_selector_description(session->route_id.selector));
+  if (!session->route_data.car_fingerprint.empty()) {
+    ImGui::TextWrapped("Car        %s", session->route_data.car_fingerprint.c_str());
+  }
+  if (!session->route_data.dbc_name.empty()) {
+    ImGui::TextWrapped("DBC        %s", session->route_data.dbc_name.c_str());
+  }
+
+  ImGui::EndPopup();
+}
+
+void draw_route_id_chip(AppSession *session, UiState *state) {
+  if (session->data_mode != SessionDataMode::Route || session->route_id.empty()) {
+    return;
+  }
+
+  ImGuiWindow *window = ImGui::GetCurrentWindow();
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+  const RouteIdentifier &route_id = session->route_id;
+  app_push_bold_font();
+  const std::string dongle_text = shorten_route_part(route_id.dongle_id, 8);
+  const std::string log_text = shorten_route_part(route_id.log_id, 16);
+  const std::string slice_text = route_id.display_slice();
+  const std::string selector_text(1, route_id.selector_char());
+  const std::string sep_text = " / ";
+
+  const ImVec2 dongle_size = ImGui::CalcTextSize(dongle_text.c_str());
+  const ImVec2 log_size = ImGui::CalcTextSize(log_text.c_str());
+  const ImVec2 slice_size = state->editing_route_slice
+    ? ImVec2(68.0f, ImGui::GetFrameHeight())
+    : ImGui::CalcTextSize(slice_text.c_str());
+  const ImVec2 selector_size = ImGui::CalcTextSize(selector_text.c_str());
+  const ImVec2 sep_size = ImGui::CalcTextSize(sep_text.c_str());
+  constexpr float chip_pad_x = 12.0f;
+  constexpr float info_size = 18.0f;
+  const float chip_h = 28.0f;
+  const float chip_w = chip_pad_x * 2.0f + dongle_size.x + sep_size.x + log_size.x + sep_size.x
+                     + slice_size.x + sep_size.x + selector_size.x + 10.0f + info_size;
+  const float menu_right = window->Pos.x + window->Size.x - 8.0f;
+  const float cursor_x = ImGui::GetCursorScreenPos().x + 4.0f;
+  const float chip_x = std::clamp(cursor_x, window->Pos.x + 48.0f, std::max(window->Pos.x + 48.0f, menu_right - chip_w));
+  const float chip_y = std::floor(window->Pos.y + std::max(0.0f, (window->Size.y - chip_h) * 0.5f));
+  const ImVec2 chip_min(chip_x, chip_y);
+  const ImVec2 chip_max(chip_x + chip_w, chip_y + chip_h);
+  const float text_y = std::floor(chip_y + std::max(0.0f, (chip_h - ImGui::GetTextLineHeight()) * 0.5f));
+  const ImU32 chip_bg = ImGui::GetColorU32(color_rgb(247, 249, 252));
+  const ImU32 chip_border = ImGui::GetColorU32(color_rgb(184, 191, 200));
+  const ImU32 sep = ImGui::GetColorU32(color_rgb(162, 170, 178));
+  draw_list->AddRectFilled(chip_min, chip_max, chip_bg, 0.0f);
+  draw_list->AddRect(chip_min, chip_max, chip_border, 0.0f, 0, 1.0f);
+
+  float x = chip_x + chip_pad_x;
+  const bool dongle_click = draw_route_chip_text_button(
+    "##route_dongle", dongle_text, ImVec2(x, text_y), route_chip_part_color(0, true), draw_list,
+    "Device identifier");
+  x += dongle_size.x;
+  draw_list->AddText(ImVec2(x, text_y), sep, sep_text.c_str());
+  x += sep_size.x;
+  const bool log_click = draw_route_chip_text_button(
+    "##route_log", log_text, ImVec2(x, text_y), route_chip_part_color(1, true), draw_list,
+    "Route identifier");
+  x += log_size.x;
+  draw_list->AddText(ImVec2(x, text_y), sep, sep_text.c_str());
+  x += sep_size.x;
+
+  if (state->editing_route_slice) {
+    ImGui::SetCursorScreenPos(ImVec2(x - 4.0f, chip_y + 1.0f));
+    ImGui::SetNextItemWidth(76.0f);
+    if (state->focus_route_slice_input) {
+      ImGui::SetKeyboardFocusHere();
+      state->focus_route_slice_input = false;
+    }
+    const bool applied = input_text_string("##route_slice_edit", &state->route_slice_buffer,
+                                           ImGuiInputTextFlags_EnterReturnsTrue);
+    const bool deactivated = ImGui::IsItemDeactivated();
+    const bool clicked_elsewhere = ImGui::IsMouseClicked(ImGuiMouseButton_Left)
+                                && !ImGui::IsItemHovered()
+                                && !ImGui::IsItemActive();
+    if (applied) {
+      if (apply_route_slice_change(session, state, state->route_slice_buffer)) {
+        state->editing_route_slice = false;
+      }
+    } else if (ImGui::IsKeyPressed(ImGuiKey_Escape)) {
+      state->editing_route_slice = false;
+    } else if (deactivated || clicked_elsewhere) {
+      const std::string trimmed = util::strip(state->route_slice_buffer);
+      if (trimmed != route_id.display_slice()) {
+        int begin = 0;
+        int end = 0;
+        if (parse_slice_spec(trimmed, &begin, &end)) {
+          apply_route_slice_change(session, state, trimmed);
+        } else {
+          state->status_text = "Canceled route slice edit";
+        }
+      }
+      state->editing_route_slice = false;
+    }
+    x += slice_size.x;
+  } else {
+    const bool slice_click = draw_route_chip_text_button(
+      "##route_slice", slice_text, ImVec2(x, text_y),
+      route_chip_part_color(2, route_id.slice_explicit), draw_list,
+      "Segment range");
+    if (slice_click) {
+      state->editing_route_slice = true;
+      state->focus_route_slice_input = true;
+      state->route_slice_buffer = route_id.display_slice();
+    }
+    x += slice_size.x;
+  }
+
+  draw_list->AddText(ImVec2(x, text_y), sep, sep_text.c_str());
+  x += sep_size.x;
+  const bool selector_click = draw_route_chip_text_button(
+    "##route_selector", selector_text, ImVec2(x, text_y),
+    route_chip_part_color(3, route_id.selector_explicit), draw_list,
+    "Log selector");
+  if (selector_click) {
+    ImGui::OpenPopup("##route_selector_popup");
+  }
+  x += selector_size.x + 10.0f;
+
+  const ImVec2 info_center(x + info_size * 0.5f, chip_y + chip_h * 0.5f);
+  ImGui::SetCursorScreenPos(ImVec2(x, chip_y + (chip_h - info_size) * 0.5f));
+  ImGui::InvisibleButton("##route_info_button", ImVec2(info_size, info_size));
+  const bool info_hovered = ImGui::IsItemHovered();
+  if (info_hovered) {
+    ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+  }
+  draw_list->AddCircleFilled(info_center, info_size * 0.5f,
+                             ImGui::GetColorU32(info_hovered ? color_rgb(220, 229, 240) : color_rgb(239, 243, 248)));
+  draw_list->AddCircle(info_center, info_size * 0.5f, chip_border, 20, 1.0f);
+  const char *info_text = icon::INFO_CIRCLE;
+  const ImVec2 info_text_size = ImGui::CalcTextSize(info_text);
+  draw_list->AddText(ImVec2(std::floor(info_center.x - info_text_size.x * 0.5f),
+                            std::floor(info_center.y - info_text_size.y * 0.5f)),
+                     route_chip_part_color(0, true), info_text);
+  if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayShort)) {
+    ImGui::BeginTooltip();
+    ImGui::TextUnformatted("Route details");
+    ImGui::EndTooltip();
+  }
+  if (ImGui::IsItemClicked(ImGuiMouseButton_Left)) {
+    ImGui::OpenPopup("##route_info_popup");
+  }
+
+  app_pop_bold_font();
+
+  if (dongle_click || log_click) {
+    ImGui::SetClipboardText(route_id.canonical().c_str());
+    state->status_text = "Copied route to clipboard";
+    state->route_copy_feedback_text = "Copied";
+    state->route_copy_feedback_until = ImGui::GetTime() + 1.1;
+  }
+
+  ImGui::SetNextWindowPos(ImVec2(chip_max.x - 60.0f, chip_max.y + 4.0f), ImGuiCond_Appearing);
+  if (app_begin_popup("##route_selector_popup")) {
+    for (LogSelector selector : {LogSelector::Auto, LogSelector::RLog, LogSelector::QLog}) {
+      const bool selected = route_id.selector == selector;
+      const std::string label = std::string(log_selector_name(selector)) + "  " + log_selector_description(selector);
+      if (ImGui::Selectable(label.c_str(), selected) && !selected) {
+        apply_route_selector_change(session, state, selector);
+      }
+      if (selected) {
+        ImGui::SetItemDefaultFocus();
+      }
+    }
+    ImGui::EndPopup();
+  }
+
+  draw_route_copy_feedback(state, draw_list, chip_max);
+  draw_route_info_popup(session, state, ImVec2(std::max(window->Pos.x + 16.0f, chip_max.x - 360.0f), chip_max.y + 6.0f));
+}
+
+std::string format_cache_bytes(uint64_t bytes) {
+  if (bytes >= (1ULL << 30)) {
+    return util::string_format("%.1f GiB", static_cast<double>(bytes) / static_cast<double>(1ULL << 30));
+  } else if (bytes >= (1ULL << 20)) {
+    return util::string_format("%.1f MiB", static_cast<double>(bytes) / static_cast<double>(1ULL << 20));
+  } else if (bytes >= (1ULL << 10)) {
+    return util::string_format("%.1f KiB", static_cast<double>(bytes) / static_cast<double>(1ULL << 10));
+  }
+  return util::string_format("%llu B", static_cast<unsigned long long>(bytes));
+}
+
+MapCacheStats directory_cache_stats(const fs::path &root) {
+  MapCacheStats stats;
+  std::error_code ec;
+  if (!fs::exists(root, ec)) {
+    return stats;
+  }
+  fs::recursive_directory_iterator it(root, fs::directory_options::skip_permission_denied, ec);
+  for (const fs::directory_entry &entry : it) {
+    if (ec) {
+      ec.clear();
+      continue;
+    }
+    const fs::file_status status = entry.symlink_status(ec);
+    if (ec || !fs::is_regular_file(status)) {
+      ec.clear();
+      continue;
+    }
+    const uintmax_t size = entry.file_size(ec);
+    if (!ec) {
+      stats.bytes += static_cast<uint64_t>(size);
+      ++stats.files;
+    } else {
+      ec.clear();
+    }
+  }
+  return stats;
+}
+
+float draw_main_menu_bar(AppSession *session, UiState *state) {
+  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(7.0f, 5.0f));
+  ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(9.0f, 6.0f));
+  float height = ImGui::GetFrameHeight();
+  if (ImGui::BeginMainMenuBar()) {
+    if (ImGui::BeginMenu("File")) {
+      if (ImGui::MenuItem("Undo", "Ctrl+Z", false, state->undo.can_undo())) {
+        apply_undo(session, state);
+      }
+      if (ImGui::MenuItem("Redo", "Ctrl+Shift+Z", false, state->undo.can_redo())) {
+        apply_redo(session, state);
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Open Route...")) {
+        state->open_open_route = true;
+      }
+      if (ImGui::MenuItem("Stream...")) {
+        state->open_stream = true;
+      }
+      if (ImGui::MenuItem("Find Signal...", "Ctrl+F")) {
+        state->open_find_signal = true;
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("New Layout")) {
+        start_new_layout(session, state);
+      }
+      if (ImGui::MenuItem("Load Layout...")) {
+        state->open_load_layout = true;
+      }
+      if (ImGui::MenuItem("Save Layout")) {
+        state->request_save_layout = true;
+      }
+      if (ImGui::MenuItem("Save Layout As...")) {
+        state->open_save_layout = true;
+      }
+      if (ImGui::MenuItem("Reset Layout")) {
+        state->request_reset_layout = true;
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Show DEPRECATED Fields", nullptr, state->show_deprecated_fields)) {
+        state->show_deprecated_fields = !state->show_deprecated_fields;
+        rebuild_browser_nodes(session, state);
+      }
+      if (ImGui::MenuItem("Show FPS", nullptr, state->show_fps_overlay)) {
+        state->show_fps_overlay = !state->show_fps_overlay;
+      }
+      if (ImGui::MenuItem("Preferences...")) {
+        state->open_preferences = true;
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Reset Plot View")) {
+        reset_shared_range(state, *session);
+        state->follow_latest = session->data_mode == SessionDataMode::Stream;
+        clamp_shared_range(state, *session);
+        state->suppress_range_side_effects = true;
+        state->status_text = "Plot view reset";
+      }
+      ImGui::Separator();
+      if (ImGui::MenuItem("Close")) {
+        state->request_close = true;
+      }
+      ImGui::EndMenu();
+    }
+    ImGui::SameLine(0.0f, 8.0f);
+    draw_route_id_chip(session, state);
+    height = ImGui::GetWindowSize().y;
+    ImGui::EndMainMenuBar();
+  }
+  ImGui::PopStyleVar(2);
+  return height;
+}
diff --git a/openpilot/tools/jotpluggler/sidebar.cc b/openpilot/tools/jotpluggler/sidebar.cc
new file mode 100644
index 0000000000..c120b47908
--- /dev/null
+++ b/openpilot/tools/jotpluggler/sidebar.cc
@@ -0,0 +1,215 @@
+#include "tools/jotpluggler/internal.h"
+
+std::string dbc_combo_label(const AppSession &session) {
+  if (!session.dbc_override.empty()) return session.dbc_override;
+  if (!session.route_data.dbc_name.empty()) return "Auto: " + session.route_data.dbc_name;
+  return "Auto";
+}
+
+float timeline_time_to_x(double time_value, double route_min, double route_max, float x_min, float x_max) {
+  const double span = route_max - route_min;
+  if (span <= 0.0) {
+    return x_min;
+  }
+  const double ratio = (time_value - route_min) / span;
+  return x_min + static_cast<float>(ratio * static_cast<double>(x_max - x_min));
+}
+
+double timeline_x_to_time(float x, double route_min, double route_max, float x_min, float x_max) {
+  const float width = std::max(1.0f, x_max - x_min);
+  const float clamped_x = std::clamp(x, x_min, x_max);
+  const double ratio = static_cast<double>((clamped_x - x_min) / width);
+  return route_min + ratio * (route_max - route_min);
+}
+
+void reset_timeline_view(UiState *state, const AppSession &session) {
+  state->follow_latest = session.data_mode == SessionDataMode::Stream;
+  reset_shared_range(state, session);
+}
+
+void draw_timeline_bar_contents(const AppSession &session, UiState *state, float width) {
+  if (!session.route_data.has_time_range) {
+    ImGui::Dummy(ImVec2(width, TIMELINE_BAR_HEIGHT));
+    return;
+  }
+
+  const ImVec2 cursor = ImGui::GetCursorScreenPos();
+  const ImVec2 size(width, TIMELINE_BAR_HEIGHT);
+  const ImVec2 bar_min(cursor.x + 1.0f, cursor.y + 1.0f);
+  const ImVec2 bar_max(cursor.x + size.x - 1.0f, cursor.y + size.y - 1.0f);
+  const double route_min = state->route_x_min;
+  const double route_max = state->route_x_max;
+  const float vp_left = timeline_time_to_x(std::clamp(state->x_view_min, route_min, route_max),
+                                           route_min, route_max, bar_min.x, bar_max.x);
+  const float vp_right = timeline_time_to_x(std::clamp(state->x_view_max, route_min, route_max),
+                                            route_min, route_max, bar_min.x, bar_max.x);
+
+  ImGui::InvisibleButton("##timeline_button", size);
+  const bool hovered = ImGui::IsItemHovered();
+  const bool active = ImGui::IsItemActive();
+  const bool double_clicked = hovered && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left);
+  ImDrawList *draw_list = ImGui::GetWindowDrawList();
+
+  draw_list->AddRectFilled(bar_min, bar_max, timeline_entry_color(TimelineEntry::Type::None, 0.2f));
+  if (session.route_data.timeline.empty()) {
+    draw_list->AddRectFilled(ImVec2(vp_left, bar_min.y), ImVec2(vp_right, bar_max.y),
+                             timeline_entry_color(TimelineEntry::Type::None, 1.0f));
+  } else {
+    for (const TimelineEntry &entry : session.route_data.timeline) {
+      float x0 = timeline_time_to_x(entry.start_time, route_min, route_max, bar_min.x, bar_max.x);
+      float x1 = timeline_time_to_x(entry.end_time, route_min, route_max, bar_min.x, bar_max.x);
+      x1 = std::max(x1, x0 + 1.0f);
+      draw_list->AddRectFilled(ImVec2(x0, bar_min.y), ImVec2(x1, bar_max.y),
+                               timeline_entry_color(entry.type, 0.25f));
+    }
+    for (const TimelineEntry &entry : session.route_data.timeline) {
+      float x0 = std::max(timeline_time_to_x(entry.start_time, route_min, route_max, bar_min.x, bar_max.x), vp_left);
+      float x1 = std::min(std::max(timeline_time_to_x(entry.end_time, route_min, route_max, bar_min.x, bar_max.x), x0 + 1.0f), vp_right);
+      if (x1 <= x0) {
+        continue;
+      }
+      draw_list->AddRectFilled(ImVec2(x0, bar_min.y), ImVec2(x1, bar_max.y),
+                               timeline_entry_color(entry.type, 1.0f));
+    }
+  }
+
+  draw_list->AddLine(ImVec2(vp_left, bar_min.y), ImVec2(vp_left, bar_max.y), IM_COL32(60, 70, 80, 200), 1.0f);
+  draw_list->AddLine(ImVec2(vp_right, bar_min.y), ImVec2(vp_right, bar_max.y), IM_COL32(60, 70, 80, 200), 1.0f);
+  if (state->has_tracker_time) {
+    const float cx = timeline_time_to_x(std::clamp(state->tracker_time, route_min, route_max),
+                                        route_min, route_max, bar_min.x, bar_max.x);
+    draw_list->AddLine(ImVec2(cx, bar_min.y), ImVec2(cx, bar_max.y), IM_COL32(220, 60, 50, 255), 1.5f);
+  }
+  draw_list->AddRect(bar_min, bar_max, IM_COL32(170, 178, 186, 255), 0.0f, 0, 1.0f);
+
+  const float edge_grab = 4.0f;
+  const float mouse_x = ImGui::GetIO().MousePos.x;
+  const double mouse_time = timeline_x_to_time(mouse_x, route_min, route_max, bar_min.x, bar_max.x);
+  if (double_clicked) {
+    reset_timeline_view(state, session);
+  } else if (hovered && ImGui::IsMouseClicked(ImGuiMouseButton_Left)) {
+    state->timeline_drag_anchor_time = mouse_time;
+    state->timeline_drag_anchor_x_min = state->x_view_min;
+    state->timeline_drag_anchor_x_max = state->x_view_max;
+    if (std::abs(mouse_x - vp_left) <= edge_grab) {
+      state->timeline_drag_mode = TimelineDragMode::ResizeLeft;
+    } else if (std::abs(mouse_x - vp_right) <= edge_grab) {
+      state->timeline_drag_mode = TimelineDragMode::ResizeRight;
+    } else if (mouse_x >= vp_left && mouse_x <= vp_right) {
+      state->timeline_drag_mode = TimelineDragMode::PanViewport;
+    } else {
+      state->timeline_drag_mode = TimelineDragMode::ScrubCursor;
+      state->tracker_time = std::clamp(mouse_time, route_min, route_max);
+      state->has_tracker_time = true;
+    }
+  }
+
+  if (!ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
+    state->timeline_drag_mode = TimelineDragMode::None;
+  } else if (active || state->timeline_drag_mode != TimelineDragMode::None) {
+    switch (state->timeline_drag_mode) {
+      case TimelineDragMode::ScrubCursor:
+        state->tracker_time = std::clamp(mouse_time, route_min, route_max);
+        state->has_tracker_time = true;
+        break;
+      case TimelineDragMode::PanViewport: {
+        const double delta = mouse_time - state->timeline_drag_anchor_time;
+        state->x_view_min = state->timeline_drag_anchor_x_min + delta;
+        state->x_view_max = state->timeline_drag_anchor_x_max + delta;
+        clamp_shared_range(state, session);
+        break;
+      }
+      case TimelineDragMode::ResizeLeft:
+        state->x_view_min = std::min(mouse_time, state->x_view_max - MIN_HORIZONTAL_ZOOM_SECONDS);
+        clamp_shared_range(state, session);
+        break;
+      case TimelineDragMode::ResizeRight:
+        state->x_view_max = std::max(mouse_time, state->x_view_min + MIN_HORIZONTAL_ZOOM_SECONDS);
+        clamp_shared_range(state, session);
+        break;
+      case TimelineDragMode::None:
+        break;
+    }
+  }
+
+  if (hovered) {
+    if (std::abs(mouse_x - vp_left) <= edge_grab || std::abs(mouse_x - vp_right) <= edge_grab) {
+      ImGui::SetMouseCursor(ImGuiMouseCursor_ResizeEW);
+    } else if (mouse_x >= vp_left && mouse_x <= vp_right) {
+      ImGui::SetMouseCursor(ImGuiMouseCursor_Hand);
+    }
+    ImGui::BeginTooltip();
+    ImGui::Text("t=%.1fs — %s", mouse_time, timeline_entry_label(timeline_type_at_time(session.route_data.timeline, mouse_time)));
+    ImGui::EndTooltip();
+  }
+}
+
+void draw_status_bar(const AppSession &session, const UiMetrics &ui, UiState *state) {
+  ImGui::SetNextWindowPos(ImVec2(ui.content_x, ui.status_bar_y));
+  ImGui::SetNextWindowSize(ImVec2(ui.content_w, STATUS_BAR_HEIGHT));
+  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
+  ImGui::PushStyleColor(ImGuiCol_WindowBg, color_rgb(247, 248, 250));
+  ImGui::PushStyleColor(ImGuiCol_Border, color_rgb(188, 193, 199));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings;
+  if (ImGui::Begin("##status_bar", nullptr, flags)) {
+    draw_timeline_bar_contents(session, state, ui.content_w);
+    const float row_y = TIMELINE_BAR_HEIGHT + 8.0f;
+    ImGui::SetCursorPos(ImVec2(8.0f, row_y));
+    ImGui::BeginDisabled(!session.route_data.has_time_range);
+    ImGui::Checkbox("Loop", &state->playback_loop);
+    ImGui::SameLine(0.0f, 10.0f);
+    if (ImGui::Button(state->playback_playing ? "Pause" : "Play", ImVec2(56.0f, 0.0f))) {
+      state->playback_playing = !state->playback_playing;
+    }
+    ImGui::SameLine(0.0f, 10.0f);
+    if (ImGui::Button("Reset View", ImVec2(86.0f, 0.0f))) {
+      reset_timeline_view(state, session);
+    }
+    const float controls_end_x = ImGui::GetItemRectMax().x - ImGui::GetWindowPos().x;
+    ImGui::EndDisabled();
+
+    const char *status_text = state->status_text.empty() ? "Ready" : state->status_text.c_str();
+    const float status_x = controls_end_x + 16.0f;
+    ImGui::SetCursorPos(ImVec2(status_x, row_y + 2.0f));
+    ImGui::PushStyleColor(ImGuiCol_Text, color_rgb(102, 110, 118));
+    ImGui::TextUnformatted(status_text);
+    ImGui::PopStyleColor();
+
+  }
+  ImGui::End();
+  ImGui::PopStyleColor(2);
+  ImGui::PopStyleVar();
+}
+
+void draw_sidebar_resizer(const UiMetrics &ui, UiState *state) {
+  constexpr float kHandleWidth = 14.0f;
+  ImGui::SetNextWindowPos(ImVec2(ui.sidebar_width - kHandleWidth * 0.5f, ui.top_offset));
+  ImGui::SetNextWindowSize(ImVec2(kHandleWidth, std::max(1.0f, ui.height - ui.top_offset)));
+  const ImGuiWindowFlags flags = ImGuiWindowFlags_NoDecoration |
+                                 ImGuiWindowFlags_NoMove |
+                                 ImGuiWindowFlags_NoResize |
+                                 ImGuiWindowFlags_NoSavedSettings |
+                                 ImGuiWindowFlags_NoBackground;
+  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
+  if (ImGui::Begin("##sidebar_resizer", nullptr, flags)) {
+    ImGui::InvisibleButton("##sidebar_resizer_button", ImVec2(kHandleWidth, std::max(1.0f, ui.height - ui.top_offset)));
+    if (ImGui::IsItemHovered() || ImGui::IsItemActive()) {
+      ImGui::SetMouseCursor(ImGuiMouseCursor_ResizeEW);
+    }
+    if (ImGui::IsItemActive()) {
+      const float max_width = std::min(SIDEBAR_MAX_WIDTH, ui.width * 0.6f);
+      state->sidebar_width = std::clamp(ImGui::GetIO().MousePos.x, SIDEBAR_MIN_WIDTH, max_width);
+    }
+
+    ImDrawList *draw_list = ImGui::GetWindowDrawList();
+    const ImVec2 origin = ImGui::GetWindowPos();
+    draw_list->AddLine(ImVec2(origin.x + kHandleWidth * 0.5f, origin.y),
+                       ImVec2(origin.x + kHandleWidth * 0.5f, origin.y + std::max(1.0f, ui.height - ui.top_offset)),
+                       IM_COL32(194, 198, 204, 255));
+  }
+  ImGui::End();
+  ImGui::PopStyleVar();
+}
diff --git a/openpilot/tools/jotpluggler/sketch_layout.cc b/openpilot/tools/jotpluggler/sketch_layout.cc
new file mode 100644
index 0000000000..5440d9dd8d
--- /dev/null
+++ b/openpilot/tools/jotpluggler/sketch_layout.cc
@@ -0,0 +1,1947 @@
+#include "tools/jotpluggler/app.h"
+#include "tools/jotpluggler/car_fingerprint_to_dbc.h"
+#include "tools/jotpluggler/common.h"
+
+#include <kj/exception.h>
+
+#include <chrono>
+#include <cmath>
+#include <cstdlib>
+#include <cstring>
+#include <iostream>
+#include <initializer_list>
+#include <map>
+#include <mutex>
+#include <limits>
+#include <numeric>
+#include <regex>
+#include <set>
+#include <stdexcept>
+#include <thread>
+#include <tuple>
+#include <unordered_set>
+#include <utility>
+
+#include "common/util.h"
+#include "json11/json11.hpp"
+#include "tools/replay/logreader.h"
+#include "tools/replay/py_downloader.h"
+
+namespace fs = std::filesystem;
+
+namespace {
+
+struct RouteSelection {
+  std::string dongle_id;
+  std::string timestamp;
+  int begin_segment = 0;
+  int end_segment = -1;
+  bool slice_explicit = false;
+  LogSelector selector = LogSelector::Auto;
+  bool selector_explicit = false;
+  std::string canonical_name;
+};
+
+struct SegmentLogs {
+  std::string rlog;
+  std::string qlog;
+  std::string narrow_road;
+  std::string cabin;
+  std::string wide_road;
+  std::string qcamera;
+};
+
+struct SchemaIndex {
+  size_t fixed_series_count = 0;
+  std::vector<std::string> fixed_paths;
+
+  static const SchemaIndex &instance();
+};
+
+constexpr size_t INVALID_DYNAMIC_SLOT = std::numeric_limits<size_t>::max();
+
+struct SeriesAccumulator {
+  explicit SeriesAccumulator(size_t fixed_count = 0) : fixed_series(fixed_count) {}
+
+  std::vector<RouteSeries> fixed_series;
+  std::vector<RouteSeries> dynamic_series;
+  std::vector<CanMessageData> can_messages;
+  std::unordered_map<std::string, size_t> dynamic_slots;
+  std::unordered_map<std::string, std::vector<size_t>> list_scalar_slots;
+  std::unordered_map<CanMessageId, size_t, CanMessageIdHash> can_message_slots;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+};
+
+void append_fixed_scalar_point(RouteSeries *series, double tm, double value);
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series);
+RouteSeries *ensure_list_scalar_series(const std::string &base_path, size_t index, SeriesAccumulator *series);
+void append_can_frame(CanServiceKind service,
+                      uint8_t bus,
+                      uint32_t address,
+                      uint16_t bus_time,
+                      capnp::Data::Reader dat,
+                      double tm,
+                      SeriesAccumulator *series);
+void decode_can_frame(const dbc::Database *can_dbc,
+                      const std::string &service_name,
+                      uint8_t bus,
+                      uint32_t address,
+                      const uint8_t *raw,
+                      size_t data_size,
+                      double tm,
+                      SeriesAccumulator *series);
+
+#include "tools/jotpluggler/generated_event_extractors.h"
+
+struct LoadedRouteArtifacts {
+  std::vector<RouteSeries> series;
+  std::vector<CanMessageData> can_messages;
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::vector<ThumbnailFrame> thumbnails;
+  std::unordered_map<std::string, EnumInfo> enum_info;
+};
+
+struct RouteMetadata {
+  std::string car_fingerprint;
+};
+
+struct LoadStats {
+  using Clock = std::chrono::steady_clock;
+  using TimePoint = Clock::time_point;
+
+  struct SegmentStats {
+    int segment_number = -1;
+    std::string log_path;
+    double download_seconds = 0.0;
+    double decompress_seconds = 0.0;
+    double parse_seconds = 0.0;
+    double extract_seconds = 0.0;
+    size_t compressed_bytes = 0;
+    size_t decompressed_bytes = 0;
+    size_t event_count = 0;
+    size_t series_count = 0;
+    bool failed = false;
+  };
+
+  explicit LoadStats(const RouteLoadProgressCallback &callback) : progress(callback) {}
+
+  void publish(RouteLoadStage stage, size_t segment_index, const std::string &segment_name) {
+    if (!progress) {
+      return;
+    }
+    RouteLoadProgress update;
+    update.stage = stage;
+    update.segment_index = segment_index;
+    update.segment_count = segment_count;
+    update.current = stage == RouteLoadStage::DownloadingSegment
+      ? segments_downloaded.load()
+      : segments_parsed.load();
+    update.total = total_segments.load();
+    update.segments_downloaded = segments_downloaded.load();
+    update.segments_parsed = segments_parsed.load();
+    update.total_segments = total_segments.load();
+    update.bytes_downloaded = bytes_downloaded.load();
+    update.num_workers = num_workers;
+    update.segment_name = segment_name;
+    std::lock_guard<std::mutex> lock(progress_mutex);
+    progress(update);
+  }
+
+  void print_summary(size_t final_series_count) const {
+    const auto secs = [](TimePoint a, TimePoint b) { return std::chrono::duration<double>(b - a).count(); };
+    const auto mb = [](size_t bytes) { return static_cast<double>(bytes) / (1024.0 * 1024.0); };
+    double dl = 0, dc = 0, pa = 0, ex = 0;
+    size_t ev = 0, cb = 0, db = 0;
+    for (const auto &s : segments) {
+      dl += s.download_seconds; dc += s.decompress_seconds;
+      pa += s.parse_seconds; ex += s.extract_seconds;
+      ev += s.event_count; cb += s.compressed_bytes; db += s.decompressed_bytes;
+    }
+    std::cerr << std::fixed << std::setprecision(1)
+      << "route loaded in " << secs(load_start, load_end) << "s (" << segment_count << " segments, " << num_workers << " workers)\n"
+      << "  resolve: " << secs(load_start, resolve_end) << "s  fetch: " << dl << "s (" << mb(cb) << " MB)"
+      << "  decompress: " << dc << "s (" << mb(db) << " MB)\n"
+      << "  parse: " << pa << "s (" << ev << " events)  extract: " << ex << "s  merge: " << secs(merge_start, merge_end) << "s"
+      << "  series: " << final_series_count << " paths\n";
+    for (const auto &s : segments) {
+      std::cerr << "    seg " << std::setw(2) << s.segment_number << ": "
+        << (s.failed ? "FAILED" : std::to_string(s.download_seconds) + "s + " + std::to_string(s.parse_seconds)
+          + "s (" + std::to_string(s.event_count) + " ev, " + std::to_string(s.series_count) + " series)") << "\n";
+    }
+    std::cerr.unsetf(std::ios::floatfield);
+  }
+
+  TimePoint load_start;
+  TimePoint resolve_end;
+  TimePoint merge_start;
+  TimePoint merge_end;
+  TimePoint load_end;
+  size_t segment_count = 0;
+  int num_workers = 1;
+  std::vector<SegmentStats> segments;
+  std::atomic<size_t> segments_downloaded{0};
+  std::atomic<size_t> segments_parsed{0};
+  std::atomic<size_t> total_segments{0};
+  std::atomic<uint64_t> bytes_downloaded{0};
+  RouteLoadProgressCallback progress;
+  mutable std::mutex progress_mutex;
+};
+
+// Skip individual messages that our local Cap'n Proto schema can't project,
+// such as logs recorded by a newer build.
+template <typename Fn>
+void with_parseable_event(kj::ArrayPtr<const capnp::word> data, Fn &&fn) {
+  try {
+    capnp::FlatArrayMessageReader event_reader(data);
+    fn(event_reader.getRoot<cereal::Event>());
+  } catch (const kj::Exception &) {
+    return;
+  }
+}
+
+std::string curve_label(std::string_view series_name) {
+  return std::string(series_name.empty() ? std::string_view{"plot"} : series_name);
+}
+
+bool parse_segment_number(std::string_view value, int *out) {
+  if (value.empty()) return false;
+  char *end = nullptr;
+  const long parsed = std::strtol(std::string(value).c_str(), &end, 10);
+  if (end == nullptr || *end != '\0') return false;
+  *out = static_cast<int>(parsed);
+  return true;
+}
+
+bool is_log_selector_char(char c) {
+  return c == 'a' || c == 'r' || c == 'q';
+}
+
+LogSelector parse_log_selector_char(char c) {
+  switch (c) {
+    case 'r': return LogSelector::RLog;
+    case 'q': return LogSelector::QLog;
+    case 'a':
+    default: return LogSelector::Auto;
+  }
+}
+
+const std::string &selected_log_path(const SegmentLogs &segment, LogSelector selector) {
+  switch (selector) {
+    case LogSelector::RLog:
+      return segment.rlog;
+    case LogSelector::QLog:
+      return segment.qlog;
+    case LogSelector::Auto:
+    default:
+      return !segment.rlog.empty() ? segment.rlog : segment.qlog;
+  }
+}
+
+RouteSelection parse_route_selection(std::string route_name) {
+  RouteSelection route = {};
+  route_name = util::strip(route_name);
+  if (route_name.size() >= 2 && route_name[route_name.size() - 2] == '/'
+      && is_log_selector_char(static_cast<char>(std::tolower(route_name.back())))) {
+    route.selector = parse_log_selector_char(static_cast<char>(std::tolower(route_name.back())));
+    route.selector_explicit = true;
+    route_name.resize(route_name.size() - 2);
+  }
+  static const std::regex pattern(R"(^(([a-z0-9]{16})[|_/])?(.{20})((--|/)((-?\d+(:(-?\d+)?)?)|(:-?\d+)))?$)");
+  std::smatch match;
+  if (!std::regex_match(route_name, match, pattern)) return route;
+
+  route.dongle_id = match[2].str();
+  route.timestamp = match[3].str();
+  route.canonical_name = route.dongle_id + "|" + route.timestamp;
+
+  const std::string separator = match[5].str();
+  const std::string range_str = match[6].str();
+  if (!range_str.empty()) {
+    route.slice_explicit = true;
+    if (separator == "/") {
+      size_t pos = range_str.find(':');
+      int begin_segment = 0;
+      const std::string begin_str = range_str.substr(0, pos);
+      if (!begin_str.empty() && !parse_segment_number(begin_str, &begin_segment)) {
+        return {};
+      }
+      route.begin_segment = begin_segment;
+      route.end_segment = begin_segment;
+      if (pos != std::string::npos) {
+        int end_segment = -1;
+        const std::string end_str = range_str.substr(pos + 1);
+        if (!end_str.empty() && !parse_segment_number(end_str, &end_segment)) {
+          return {};
+        }
+        route.end_segment = end_str.empty() ? -1 : end_segment;
+      }
+    } else if (separator == "--") {
+      int begin_segment = 0;
+      if (!parse_segment_number(range_str, &begin_segment)) return {};
+      route.begin_segment = begin_segment;
+    }
+  }
+  return route;
+}
+
+void add_log_file_to_segments(std::map<int, SegmentLogs> *segments, int segment_number, const std::string &file) {
+  std::string name = extractFileName(file);
+  const size_t pos = name.find_last_of("--");
+  name = pos != std::string::npos ? name.substr(pos + 2) : name;
+  SegmentLogs &segment = (*segments)[segment_number];
+  if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") {
+    segment.rlog = file;
+  } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
+    segment.qlog = file;
+  } else if (name == "fcamera.hevc") {
+    segment.narrow_road = file;
+  } else if (name == "dcamera.hevc") {
+    segment.cabin = file;
+  } else if (name == "ecamera.hevc") {
+    segment.wide_road = file;
+  } else if (name == "qcamera.ts") {
+    segment.qcamera = file;
+  }
+}
+
+std::map<int, SegmentLogs> trim_segments(std::map<int, SegmentLogs> segments, const RouteSelection &route) {
+  if (route.begin_segment > 0) {
+    segments.erase(segments.begin(), segments.lower_bound(route.begin_segment));
+  }
+  if (route.end_segment >= 0) {
+    segments.erase(segments.upper_bound(route.end_segment), segments.end());
+  }
+  return segments;
+}
+
+std::map<int, SegmentLogs> load_segments_from_json(const json11::Json &json) {
+  std::map<int, SegmentLogs> segments;
+  static const std::regex rx(R"(\/(\d+)\/)");
+  for (const auto &value : json.object_items()) {
+    for (const auto &url : value.second.array_items()) {
+      const std::string url_str = url.string_value();
+      std::smatch match;
+      if (!std::regex_search(url_str, match, rx)) continue;
+      add_log_file_to_segments(&segments, std::stoi(match[1].str()), url_str);
+    }
+  }
+  return segments;
+}
+
+std::map<int, SegmentLogs> load_segments_from_server(const RouteSelection &route) {
+  const std::string result = PyDownloader::getRouteFiles(route.canonical_name);
+  if (result.empty()) throw std::runtime_error("Failed to fetch route files for " + route.canonical_name);
+
+  std::string parse_error;
+  const auto json = json11::Json::parse(result, parse_error);
+  if (!parse_error.empty()) throw std::runtime_error("Failed to parse route file list for " + route.canonical_name);
+  if (json.is_object() && json["error"].is_string()) {
+    throw std::runtime_error("Route API error for " + route.canonical_name + ": " + json["error"].string_value());
+  }
+  return load_segments_from_json(json);
+}
+
+std::map<int, SegmentLogs> load_segments_from_local(const RouteSelection &route, const std::string &data_dir) {
+  std::map<int, SegmentLogs> segments;
+  const std::string pattern = route.timestamp + "--";
+  for (const auto &entry : fs::directory_iterator(data_dir)) {
+    if (!entry.is_directory()) continue;
+    const std::string dirname = entry.path().filename().string();
+    if (dirname.find(pattern) == std::string::npos) continue;
+    const size_t marker = dirname.rfind("--");
+    if (marker == std::string::npos) continue;
+    int segment_number = 0;
+    if (!parse_segment_number(dirname.substr(marker + 2), &segment_number)) {
+      continue;
+    }
+    for (const auto &file : fs::directory_iterator(entry.path())) {
+      if (file.is_regular_file()) {
+        add_log_file_to_segments(&segments, segment_number, file.path().string());
+      }
+    }
+  }
+  return segments;
+}
+
+RouteIdentifier make_route_identifier(const RouteSelection &route, const std::map<int, SegmentLogs> &segments) {
+  RouteIdentifier route_id;
+  route_id.dongle_id = route.dongle_id;
+  route_id.log_id = route.timestamp;
+  route_id.slice_begin = route.begin_segment;
+  route_id.slice_end = route.end_segment;
+  route_id.slice_explicit = route.slice_explicit;
+  route_id.selector = route.selector;
+  route_id.selector_explicit = route.selector_explicit;
+  if (!segments.empty()) {
+    route_id.available_begin = segments.begin()->first;
+    route_id.available_end = segments.rbegin()->first;
+  }
+  return route_id;
+}
+
+std::string detect_dbc_for_fingerprint(std::string_view car_fingerprint) {
+  return std::string(dbc_for_car_fingerprint(car_fingerprint));
+}
+
+std::vector<std::string> available_dbc_names_impl() {
+  std::set<std::string> names;
+  for (const fs::path &dbc_dir : {
+         repo_root() / "opendbc_repo" / "opendbc" / "dbc",
+         repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs",
+       }) {
+    if (fs::exists(dbc_dir) && fs::is_directory(dbc_dir)) {
+      for (const auto &entry : fs::directory_iterator(dbc_dir)) {
+        if (!entry.is_regular_file() || entry.path().extension() != ".dbc") {
+          continue;
+        }
+        names.insert(entry.path().stem().string());
+      }
+    }
+  }
+  for (const auto &[_, dbc_name] : kCarFingerprintToDbc) {
+    if (!dbc_name.empty()) {
+      names.insert(std::string(dbc_name));
+    }
+  }
+  return std::vector<std::string>(names.begin(), names.end());
+}
+
+fs::path resolve_dbc_path(const std::string &dbc_name) {
+  for (const fs::path &candidate : {
+         repo_root() / "opendbc_repo" / "opendbc" / "dbc" / (dbc_name + ".dbc"),
+         repo_root() / "openpilot" / "tools" / "jotpluggler" / "generated_dbcs" / (dbc_name + ".dbc"),
+       }) {
+    if (fs::exists(candidate)) return candidate;
+  }
+  throw std::runtime_error("DBC not found: " + dbc_name);
+}
+
+std::array<uint8_t, 3> parse_color(std::string_view color) {
+  if (!color.empty() && color.front() == '#') {
+    color.remove_prefix(1);
+  }
+  if (color.size() != 6) return {160, 170, 180};
+
+  std::array<uint8_t, 3> out = {};
+  for (size_t i = 0; i < 3; ++i) {
+    const std::string byte(color.substr(i * 2, 2));
+    char *end = nullptr;
+    const long parsed = std::strtol(byte.c_str(), &end, 16);
+    if (end == nullptr || *end != '\0' || parsed < 0 || parsed > 255) return {160, 170, 180};
+    out[i] = static_cast<uint8_t>(parsed);
+  }
+  return out;
+}
+
+uint8_t operating_system_priority_to_level(uint8_t priority) {
+  switch (priority) {
+    case 2:
+    case 3:
+      return 10;
+    case 4:
+      return 20;
+    case 5:
+      return 30;
+    case 6:
+      return 40;
+    case 7:
+    default:
+      return 50;
+  }
+}
+
+uint8_t alert_status_to_level(cereal::SelfdriveState::AlertStatus status) {
+  switch (status) {
+    case cereal::SelfdriveState::AlertStatus::NORMAL:
+      return 20;
+    case cereal::SelfdriveState::AlertStatus::USER_PROMPT:
+      return 30;
+    case cereal::SelfdriveState::AlertStatus::CRITICAL:
+      return 40;
+  }
+  return 20;
+}
+
+TimelineEntry::Type alert_status_to_timeline_type(cereal::SelfdriveState::AlertStatus status, bool enabled) {
+  if (!enabled) {
+    return TimelineEntry::Type::None;
+  }
+  switch (status) {
+    case cereal::SelfdriveState::AlertStatus::NORMAL:
+      return TimelineEntry::Type::Engaged;
+    case cereal::SelfdriveState::AlertStatus::USER_PROMPT:
+      return TimelineEntry::Type::AlertInfo;
+    case cereal::SelfdriveState::AlertStatus::CRITICAL:
+      return TimelineEntry::Type::AlertCritical;
+  }
+  return TimelineEntry::Type::Engaged;
+}
+
+void append_timeline_entry(std::vector<TimelineEntry> *timeline, double mono_time, TimelineEntry::Type type) {
+  if (timeline == nullptr) {
+    return;
+  }
+  if (!timeline->empty() && timeline->back().type == type) {
+    timeline->back().end_time = std::max(timeline->back().end_time, mono_time);
+    return;
+  }
+  timeline->push_back(TimelineEntry{
+    .start_time = mono_time,
+    .end_time = mono_time,
+    .type = type,
+  });
+}
+
+double operating_system_wall_time_seconds(uint64_t timestamp) {
+  if (timestamp == 0) return 0.0;
+  if (timestamp > 1000000000000ULL) return static_cast<double>(timestamp) / 1.0e9;
+  if (timestamp > 1000000000ULL) return static_cast<double>(timestamp) / 1.0e6;
+  return static_cast<double>(timestamp);
+}
+
+std::optional<uint64_t> json_u64_value(const json11::Json &value) {
+  if (value.is_number()) {
+    const double number = value.number_value();
+    if (number >= 0.0) return static_cast<uint64_t>(number);
+  }
+  if (value.is_string()) {
+    try {
+      return static_cast<uint64_t>(std::stoull(value.string_value()));
+    } catch (...) {
+    }
+  }
+  return std::nullopt;
+}
+
+std::optional<int> json_int_value(const json11::Json &value) {
+  if (value.is_number()) return value.int_value();
+  if (value.is_string()) {
+    try {
+      return std::stoi(value.string_value());
+    } catch (...) {
+    }
+  }
+  return std::nullopt;
+}
+
+std::string json_value_for_log(const json11::Json &value) {
+  if (value.is_string()) return value.string_value();
+  if (value.is_bool()) return value.bool_value() ? "true" : "false";
+  return value.dump();
+}
+
+std::string format_journal_context(const json11::Json &parsed, int pid, int tid) {
+  std::vector<std::string> lines;
+  if (pid != 0 || tid != 0) {
+    lines.push_back("pid=" + std::to_string(pid) + ", tid=" + std::to_string(tid));
+  }
+
+  const std::array<const char *, 5> preferred_keys = {
+    "_HOSTNAME",
+    "_TRANSPORT",
+    "PRIORITY",
+    "SYSLOG_FACILITY",
+    "__MONOTONIC_TIMESTAMP",
+  };
+  for (const char *key : preferred_keys) {
+    const json11::Json &value = parsed[key];
+    if (!value.is_null()) {
+      lines.push_back(std::string(key) + "=" + json_value_for_log(value));
+    }
+  }
+  return join(lines, "\n");
+}
+
+std::string alert_message_text(const cereal::SelfdriveState::Reader &state) {
+  std::string text = state.getAlertText1().cStr();
+  const std::string text2 = state.getAlertText2().cStr();
+  if (!text2.empty()) {
+    text += " - " + text2;
+  }
+  return text;
+}
+
+bool same_log_entry(const LogEntry &a, const LogEntry &b) {
+  return a.mono_time == b.mono_time
+      && a.level == b.level
+      && a.source == b.source
+      && a.func == b.func
+      && a.message == b.message
+      && a.context == b.context
+      && a.origin == b.origin;
+}
+
+void append_log_event(cereal::Event::Which which,
+                      const cereal::Event::Reader &event,
+                      double time_offset,
+                      std::vector<LogEntry> *logs,
+                      std::string *last_alert_key) {
+  const double boot_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+  const double mono_time = boot_time - time_offset;
+
+  auto make_entry = [&](LogOrigin origin, uint8_t level = 20) {
+    LogEntry e;
+    e.mono_time = mono_time;
+    e.boot_time = boot_time;
+    e.origin = origin;
+    e.level = level;
+    return e;
+  };
+
+  switch (which) {
+    case cereal::Event::Which::LOG_MESSAGE:
+    case cereal::Event::Which::ERROR_LOG_MESSAGE: {
+      const std::string raw = which == cereal::Event::Which::LOG_MESSAGE
+        ? event.getLogMessage().cStr() : event.getErrorLogMessage().cStr();
+      auto entry = make_entry(LogOrigin::Log, which == cereal::Event::Which::ERROR_LOG_MESSAGE ? 40 : 20);
+      entry.source = "log";
+      entry.message = raw;
+      std::string err;
+      if (const auto p = json11::Json::parse(raw, err); err.empty() && p.is_object()) {
+        entry.wall_time = p["created"].number_value();
+        if (p["levelnum"].is_number()) entry.level = static_cast<uint8_t>(p["levelnum"].int_value());
+        const std::string fn = p["filename"].string_value();
+        const int ln = p["lineno"].is_number() ? p["lineno"].int_value() : 0;
+        entry.source = fn.empty() ? "log" : fn + (ln > 0 ? ":" + std::to_string(ln) : "");
+        entry.func = p["funcname"].string_value();
+        if (p["msg"].is_string()) entry.message = p["msg"].string_value();
+        if (!p["ctx"].is_null()) entry.context = p["ctx"].dump();
+      }
+      logs->push_back(std::move(entry));
+      break;
+    }
+    case cereal::Event::Which::OPERATING_SYSTEM_LOG: {
+      const auto operating_system_log = event.getOperatingSystemLog();
+      auto entry = make_entry(LogOrigin::OperatingSystem, operating_system_priority_to_level(operating_system_log.getPriority()));
+      entry.wall_time = operating_system_wall_time_seconds(operating_system_log.getTs());
+      entry.source = operating_system_log.hasTag() ? operating_system_log.getTag().cStr() : "operating_system";
+      entry.message = operating_system_log.hasMessage() ? operating_system_log.getMessage().cStr() : std::string();
+      entry.context = "pid=" + std::to_string(operating_system_log.getPid()) + ", tid=" + std::to_string(operating_system_log.getTid());
+      if (!entry.message.empty()) {
+        std::string err;
+        if (const auto p = json11::Json::parse(entry.message, err); err.empty() && p.is_object()) {
+          if (p["MESSAGE"].is_string()) entry.message = p["MESSAGE"].string_value();
+          if (p["SYSLOG_IDENTIFIER"].is_string() && !p["SYSLOG_IDENTIFIER"].string_value().empty())
+            entry.source = p["SYSLOG_IDENTIFIER"].string_value();
+          if (auto pri = json_int_value(p["PRIORITY"]); pri.has_value())
+            entry.level = operating_system_priority_to_level(*pri);
+          if (auto ts = json_u64_value(p["__REALTIME_TIMESTAMP"]); ts.has_value())
+            entry.wall_time = operating_system_wall_time_seconds(*ts);
+          entry.context = format_journal_context(p, operating_system_log.getPid(), operating_system_log.getTid());
+        }
+      }
+      logs->push_back(std::move(entry));
+      break;
+    }
+    case cereal::Event::Which::SELFDRIVE_STATE: {
+      const auto sd = event.getSelfdriveState();
+      const std::string alert_type = sd.getAlertType().cStr();
+      const std::string alert_text1 = sd.getAlertText1().cStr();
+      if (alert_text1.empty() && alert_type.empty()) break;
+      const std::string key = alert_type + "\n" + alert_text1 + "\n" + std::string(sd.getAlertText2().cStr());
+      if (last_alert_key != nullptr && key == *last_alert_key) break;
+      if (last_alert_key != nullptr) *last_alert_key = key;
+      auto entry = make_entry(LogOrigin::Alert, alert_status_to_level(sd.getAlertStatus()));
+      entry.source = "alert";
+      entry.func = alert_type;
+      entry.message = alert_message_text(sd);
+      logs->push_back(std::move(entry));
+      break;
+    }
+    default:
+      break;
+  }
+}
+
+std::vector<TimelineEntry> extract_segment_timeline(const std::vector<Event> &events) {
+  std::vector<TimelineEntry> timeline;
+  timeline.reserve(events.size() / 16);
+
+  for (const Event &event_record : events) {
+    if (event_record.which != cereal::Event::Which::SELFDRIVE_STATE) {
+      continue;
+    }
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      const auto sd = event.getSelfdriveState();
+      const double mono_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+      append_timeline_entry(&timeline, mono_time, alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+    });
+  }
+
+  return timeline;
+}
+
+std::vector<LogEntry> extract_segment_logs(const std::vector<Event> &events) {
+  std::vector<LogEntry> logs;
+  logs.reserve(events.size() / 8);
+  std::string last_alert_key;
+
+  for (const Event &event_record : events) {
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      append_log_event(event_record.which, event, 0.0, &logs, &last_alert_key);
+    });
+  }
+
+  return logs;
+}
+
+std::vector<ThumbnailFrame> extract_segment_thumbnails(const std::vector<Event> &events, int segment) {
+  std::vector<ThumbnailFrame> thumbnails;
+  for (const Event &event_record : events) {
+    if (event_record.which != cereal::Event::Which::THUMBNAIL) continue;
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      const auto thumbnail = event.getThumbnail();
+      const auto jpeg = thumbnail.getThumbnail();
+      if (jpeg.size() == 0) return;
+      const uint64_t timestamp = thumbnail.getTimestampEof();
+      ThumbnailFrame frame;
+      frame.timestamp = static_cast<double>(timestamp != 0 ? timestamp : event.getLogMonoTime()) / 1.0e9;
+      frame.segment = segment;
+      frame.jpeg.assign(jpeg.begin(), jpeg.end());
+      thumbnails.push_back(std::move(frame));
+    });
+  }
+  return thumbnails;
+}
+
+RouteMetadata extract_segment_metadata(const std::vector<Event> &events) {
+  RouteMetadata metadata;
+  for (const Event &event_record : events) {
+    if (event_record.which != cereal::Event::Which::CAR_PARAMS) continue;
+    with_parseable_event(event_record.data, [&](const cereal::Event::Reader &event) {
+      metadata.car_fingerprint = event.getCarParams().getCarFingerprint().cStr();
+    });
+    if (!metadata.car_fingerprint.empty()) break;
+  }
+  return metadata;
+}
+
+RouteMetadata detect_route_metadata(const std::map<int, SegmentLogs> &segments, LogSelector selector) {
+  for (const auto &[_, segment] : segments) {
+    const std::string &log_path = selector == LogSelector::Auto
+      ? (!segment.qlog.empty() ? segment.qlog : segment.rlog)
+      : selected_log_path(segment, selector);
+    if (log_path.empty()) {
+      continue;
+    }
+    LogReader reader;
+    if (!reader.load(log_path, nullptr, true)) continue;
+    RouteMetadata metadata = extract_segment_metadata(reader.events);
+    if (!metadata.car_fingerprint.empty()) return metadata;
+  }
+  return {};
+}
+
+std::vector<double> normalize_sizes(const json11::Json &sizes_json, size_t child_count) {
+  std::vector<double> parsed;
+  if (sizes_json.is_array()) {
+    for (const json11::Json &value : sizes_json.array_items()) {
+      if (value.is_number()) {
+        parsed.push_back(std::max(value.number_value(), 0.0));
+      }
+    }
+  }
+
+  if (parsed.size() != child_count || child_count == 0) return std::vector<double>(child_count, child_count == 0 ? 0.0 : 1.0 / static_cast<double>(child_count));
+
+  const double total = std::accumulate(parsed.begin(), parsed.end(), 0.0);
+  if (total <= 0.0) return std::vector<double>(child_count, 1.0 / static_cast<double>(child_count));
+  for (double &value : parsed) {
+    value /= total;
+  }
+  return parsed;
+}
+
+PlotRange parse_range(const json11::Json &pane_node) {
+  PlotRange range;
+  const json11::Json &range_node = pane_node["range"];
+  if (range_node.is_object()) {
+    range.valid = true;
+    range.left = range_node["left"].number_value();
+    range.right = range_node["right"].number_value();
+    range.bottom = range_node["bottom"].number_value();
+    range.top = range_node["top"].is_number() ? range_node["top"].number_value() : 1.0;
+  }
+  const json11::Json &limit_y_node = pane_node["y_limits"];
+  if (limit_y_node.is_object()) {
+    if (limit_y_node["min"].is_number()) {
+      range.has_y_limit_min = true;
+      range.y_limit_min = limit_y_node["min"].number_value();
+    }
+    if (limit_y_node["max"].is_number()) {
+      range.has_y_limit_max = true;
+      range.y_limit_max = limit_y_node["max"].number_value();
+    }
+  }
+  return range;
+}
+
+Curve parse_curve(const json11::Json &curve_node) {
+  Curve curve;
+  curve.name = curve_node["name"].string_value();
+  curve.label = curve_label(curve.name);
+  curve.color = parse_color(curve_node["color"].string_value());
+
+  const std::string transform_name = curve_node["transform"].string_value();
+  if (transform_name == "derivative") {
+    curve.derivative = true;
+    curve.derivative_dt = curve_node["derivative_dt"].is_number() ? curve_node["derivative_dt"].number_value() : 0.0;
+  } else if (transform_name == "scale") {
+    curve.value_scale = curve_node["scale"].is_number() ? curve_node["scale"].number_value() : 1.0;
+    curve.value_offset = curve_node["offset"].is_number() ? curve_node["offset"].number_value() : 0.0;
+  }
+  const json11::Json &custom_node = curve_node["custom_python"];
+  if (custom_node.is_object()) {
+    CustomPythonSeries spec;
+    spec.linked_source = custom_node["linked_source"].string_value();
+    spec.globals_code = custom_node["globals_code"].string_value();
+    spec.function_code = custom_node["function_code"].string_value();
+    for (const json11::Json &source : custom_node["additional_sources"].array_items()) {
+      if (source.is_string()) {
+        spec.additional_sources.push_back(source.string_value());
+      }
+    }
+    curve.custom_python = std::move(spec);
+  }
+  return curve;
+}
+
+std::string pane_title(const json11::Json &dock_area_node) {
+  const std::string raw = dock_area_node["title"].string_value();
+  return raw.empty() ? "..." : raw;
+}
+
+Pane parse_dock_area(const json11::Json &dock_area_node) {
+  Pane pane;
+  const std::string kind = dock_area_node["kind"].string_value();
+  if (kind == "map") {
+    pane.kind = PaneKind::Map;
+  } else if (kind == "thumbnail") {
+    pane.kind = PaneKind::Thumbnail;
+  } else if (kind == "camera") {
+    pane.kind = PaneKind::Camera;
+    const std::string camera_view = dock_area_node["camera_view"].string_value();
+    if (const CameraViewSpec *spec = camera_view_spec_from_layout_name(camera_view)) {
+      pane.camera_view = spec->view;
+    } else {
+      pane.camera_view = CameraViewKind::Road;
+    }
+  }
+  pane.range = parse_range(dock_area_node);
+  const json11::Json &curves_node = dock_area_node["curves"];
+  if (curves_node.is_array()) {
+    for (const json11::Json &curve_node : curves_node.array_items()) {
+      if (curve_node.is_object()) {
+        pane.curves.push_back(parse_curve(curve_node));
+      }
+    }
+  }
+  pane.title = pane_title(dock_area_node);
+  return pane;
+}
+
+WorkspaceNode parse_workspace_node(const json11::Json &node, WorkspaceTab *tab) {
+  WorkspaceNode workspace_node;
+  if (!node.is_object()) return workspace_node;
+
+  if (node["curves"].is_array()) {
+    workspace_node.is_pane = true;
+    workspace_node.pane_index = static_cast<int>(tab->panes.size());
+    tab->panes.push_back(parse_dock_area(node));
+    return workspace_node;
+  }
+
+  const json11::Json &children_node = node["children"];
+  if (!children_node.is_array()) return workspace_node;
+
+  const std::vector<json11::Json> children = children_node.array_items();
+  if (children.empty()) return workspace_node;
+
+  const std::string split = node["split"].string_value();
+  workspace_node.orientation = split == "vertical" ? SplitOrientation::Vertical : SplitOrientation::Horizontal;
+  const std::vector<double> sizes = normalize_sizes(node["sizes"], children.size());
+  workspace_node.sizes.reserve(sizes.size());
+  workspace_node.children.reserve(children.size());
+  for (size_t i = 0; i < children.size(); ++i) {
+    workspace_node.sizes.push_back(static_cast<float>(sizes[i]));
+    workspace_node.children.push_back(parse_workspace_node(children[i], tab));
+  }
+  return workspace_node;
+}
+
+WorkspaceTab parse_tab(const json11::Json &tab, const fs::path &layout_path) {
+  WorkspaceTab workspace_tab;
+  workspace_tab.tab_name = tab["name"].string_value().empty() ? "tab1" : tab["name"].string_value();
+  const json11::Json &dock_root = tab["root"];
+  if (!dock_root.is_object()) throw std::runtime_error("Layout tab has no dock content: " + layout_path.string());
+  workspace_tab.root = parse_workspace_node(dock_root, &workspace_tab);
+  return workspace_tab;
+}
+
+SketchLayout parse_layout(const fs::path &layout_path) {
+  const std::string text = util::read_file(layout_path.string());
+  if (text.empty()) throw std::runtime_error("Failed to read layout JSON: " + layout_path.string());
+
+  std::string parse_error;
+  const json11::Json root = json11::Json::parse(text, parse_error);
+  if (!parse_error.empty() || !root.is_object()) {
+    throw std::runtime_error("Failed to parse layout JSON: " + layout_path.string());
+  }
+  SketchLayout layout;
+  for (const json11::Json &tab : root["tabs"].array_items()) {
+    if (tab.is_object()) {
+      layout.tabs.push_back(parse_tab(tab, layout_path));
+    }
+  }
+  if (layout.tabs.empty()) throw std::runtime_error("Layout has no tabs: " + layout_path.string());
+  const json11::Json &tab_index = root["current_tab_index"].is_number() ? root["current_tab_index"] : root["currentTabIndex"];
+  layout.current_tab_index = std::clamp(tab_index.is_number() ? tab_index.int_value() : 0,
+                                        0,
+                                        static_cast<int>(layout.tabs.size()) - 1);
+  return layout;
+}
+
+const SchemaIndex &SchemaIndex::instance() {
+  static const SchemaIndex index = [] {
+    SchemaIndex out;
+    out.fixed_paths = static_event_fixed_paths();
+    out.fixed_series_count = out.fixed_paths.size();
+    return out;
+  }();
+  return index;
+}
+
+bool is_absolute_curve(const std::string &name) {
+  return !name.empty() && name.front() == '/';
+}
+
+void append_scalar_point(RouteSeries *series,
+                         const std::string &path,
+                         double tm,
+                         double value) {
+  if (series->path.empty()) {
+    series->path = path;
+  }
+  series->times.push_back(tm);
+  series->values.push_back(value);
+}
+
+// This has thousands of generated call sites. Inlining it duplicates vector
+// growth logic throughout the extractor and is slower both to compile and run.
+__attribute__((noinline)) void append_fixed_scalar_point(RouteSeries *series, double tm, double value) {
+  series->times.push_back(tm);
+  series->values.push_back(value);
+}
+
+CanMessageData *ensure_can_message(CanServiceKind service, uint8_t bus, uint32_t address, SeriesAccumulator *series) {
+  const CanMessageId id{service, bus, address};
+  auto [it, inserted] = series->can_message_slots.try_emplace(id, series->can_messages.size());
+  if (inserted) {
+    series->can_messages.push_back(CanMessageData{.id = id});
+  }
+  return &series->can_messages[it->second];
+}
+
+void append_can_frame(CanServiceKind service,
+                      uint8_t bus,
+                      uint32_t address,
+                      uint16_t bus_time,
+                      capnp::Data::Reader dat,
+                      double tm,
+                      SeriesAccumulator *series) {
+  CanMessageData *message = ensure_can_message(service, bus, address, series);
+  message->samples.push_back(CanFrameSample{
+    .mono_time = tm,
+    .bus_time = bus_time,
+    .data = std::string(reinterpret_cast<const char *>(dat.begin()), dat.size()),
+  });
+}
+
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series);
+
+void decode_can_frame(const dbc::Database *can_dbc,
+                      const std::string &service_name,
+                      uint8_t bus,
+                      uint32_t address,
+                      const uint8_t *raw,
+                      size_t data_size,
+                      double tm,
+                      SeriesAccumulator *series) {
+  if (can_dbc == nullptr) {
+    return;
+  }
+  const dbc::Message *message = can_dbc->message(address);
+  if (message == nullptr) {
+    return;
+  }
+  const std::string base_path = "/" + service_name + "/" + std::to_string(bus) + "/" + message->name;
+  for (const dbc::Signal &signal : message->signals) {
+    std::optional<double> value = dbc::signalValue(signal, *message, raw, data_size);
+    if (!value.has_value()) continue;
+    const std::string path = base_path + "/" + signal.name;
+    append_dynamic_scalar_point(path, tm, *value, series);
+    if (series->enum_info.find(path) == series->enum_info.end()) {
+      std::vector<std::string> enum_names = can_dbc->enumNames(signal);
+      if (!enum_names.empty()) {
+        series->enum_info.emplace(path, EnumInfo{.names = std::move(enum_names)});
+      }
+    }
+  }
+}
+
+void append_live_can_frame(CanServiceKind service,
+                           const LiveCanFrame &frame,
+                           double time_offset,
+                           const dbc::Database *can_dbc,
+                           SeriesAccumulator *series) {
+  const double tm = frame.mono_time - time_offset;
+  CanMessageData *message = ensure_can_message(service, frame.bus, frame.address, series);
+  message->samples.push_back(CanFrameSample{
+    .mono_time = tm,
+    .bus_time = frame.bus_time,
+    .data = frame.data,
+  });
+  decode_can_frame(can_dbc,
+                   service == CanServiceKind::Can ? "can" : "sendcan",
+                   frame.bus,
+                   frame.address,
+                   reinterpret_cast<const uint8_t *>(frame.data.data()),
+                   frame.data.size(),
+                   tm,
+                   series);
+}
+
+SeriesAccumulator make_series_accumulator(const SchemaIndex &schema) {
+  SeriesAccumulator out(schema.fixed_series_count);
+  for (size_t i = 0; i < schema.fixed_paths.size(); ++i) {
+    out.fixed_series[i].path = schema.fixed_paths[i];
+  }
+  return out;
+}
+
+size_t ensure_dynamic_slot(const std::string &path, SeriesAccumulator *series) {
+  auto [it, inserted] = series->dynamic_slots.try_emplace(path, series->dynamic_series.size());
+  if (inserted) {
+    series->dynamic_series.push_back(RouteSeries{it->first});
+  }
+  return it->second;
+}
+
+RouteSeries *ensure_dynamic_series(const std::string &path, SeriesAccumulator *series) {
+  return &series->dynamic_series[ensure_dynamic_slot(path, series)];
+}
+
+RouteSeries *ensure_list_scalar_series(const std::string &base_path, size_t index, SeriesAccumulator *series) {
+  auto [it, _] = series->list_scalar_slots.try_emplace(base_path);
+  std::vector<size_t> &slots = it->second;
+  if (slots.size() <= index) {
+    slots.resize(index + 1, INVALID_DYNAMIC_SLOT);
+  }
+  if (slots[index] == INVALID_DYNAMIC_SLOT) {
+    slots[index] = ensure_dynamic_slot(base_path + "/" + std::to_string(index), series);
+  }
+  return &series->dynamic_series[slots[index]];
+}
+
+void append_dynamic_scalar_point(const std::string &path, double tm, double value, SeriesAccumulator *series) {
+  append_scalar_point(ensure_dynamic_series(path, series), path, tm, value);
+}
+
+void append_event_fast(cereal::Event::Which which,
+                       int32_t eidx_segnum,
+                       kj::ArrayPtr<const capnp::word> data,
+                       const dbc::Database *can_dbc,
+                       bool skip_raw_can,
+                       double time_offset,
+                       SeriesAccumulator *series) {
+  if (eidx_segnum != -1) {
+    return;
+  }
+  with_parseable_event(data, [&](const cereal::Event::Reader &event) {
+    append_event_static_reader(which, event, can_dbc, skip_raw_can, time_offset, series);
+  });
+}
+
+void append_events_fast_range(const std::vector<Event> &events,
+                              size_t begin,
+                              size_t end,
+                              const dbc::Database *can_dbc,
+                              bool skip_raw_can,
+                              SeriesAccumulator *series) {
+  for (size_t i = begin; i < end; ++i) {
+    const Event &event_record = events[i];
+    append_event_fast(event_record.which,
+                      event_record.eidx_segnum,
+                      event_record.data,
+                      can_dbc,
+                      skip_raw_can,
+                      0.0,
+                      series);
+  }
+}
+
+void merge_route_series(RouteSeries *dst, RouteSeries *src) {
+  if (src->times.empty()) {
+    return;
+  }
+  if (dst->times.empty()) {
+    *dst = std::move(*src);
+    return;
+  }
+
+  dst->times.reserve(dst->times.size() + src->times.size());
+  dst->values.reserve(dst->values.size() + src->values.size());
+  dst->times.insert(dst->times.end(), src->times.begin(), src->times.end());
+  dst->values.insert(dst->values.end(), src->values.begin(), src->values.end());
+}
+
+void merge_can_message_data(CanMessageData *dst, CanMessageData *src) {
+  if (src->samples.empty()) {
+    return;
+  }
+  if (dst->samples.empty()) {
+    *dst = std::move(*src);
+    return;
+  }
+  dst->samples.reserve(dst->samples.size() + src->samples.size());
+  dst->samples.insert(dst->samples.end(),
+                      std::make_move_iterator(src->samples.begin()),
+                      std::make_move_iterator(src->samples.end()));
+}
+
+void merge_series_accumulator(SeriesAccumulator *dst, SeriesAccumulator *src) {
+  if (dst->fixed_series.size() != src->fixed_series.size()) {
+    throw std::runtime_error("Fixed-series slot count mismatch during merge");
+  }
+
+  for (size_t i = 0; i < dst->fixed_series.size(); ++i) {
+    merge_route_series(&dst->fixed_series[i], &src->fixed_series[i]);
+  }
+  for (auto &series : src->dynamic_series) {
+    if (series.path.empty()) continue;
+    RouteSeries &dst_series = dst->dynamic_series[ensure_dynamic_slot(series.path, dst)];
+    merge_route_series(&dst_series, &series);
+  }
+  for (auto &message : src->can_messages) {
+    CanMessageData &dst_message = *ensure_can_message(message.id.service, message.id.bus, message.id.address, dst);
+    merge_can_message_data(&dst_message, &message);
+  }
+  for (auto &[path, info] : src->enum_info) {
+    dst->enum_info.try_emplace(path, std::move(info));
+  }
+}
+
+size_t populated_series_count(const SeriesAccumulator &series) {
+  size_t count = 0;
+  for (const RouteSeries &fixed : series.fixed_series) {
+    count += !fixed.times.empty();
+  }
+  for (const RouteSeries &dynamic : series.dynamic_series) {
+    count += !dynamic.times.empty();
+  }
+  return count;
+}
+
+bool series_is_sorted(const RouteSeries &series) {
+  for (size_t i = 1; i < series.times.size(); ++i) {
+    if (series.times[i] < series.times[i - 1]) return false;
+  }
+  return true;
+}
+
+void sort_series_by_time(RouteSeries *series) {
+  if (series->times.size() <= 1 || series_is_sorted(*series)) {
+    return;
+  }
+  std::vector<size_t> order(series->times.size());
+  std::iota(order.begin(), order.end(), 0);
+  std::sort(order.begin(), order.end(), [&](size_t a, size_t b) {
+    return series->times[a] < series->times[b];
+  });
+
+  std::vector<double> sorted_times(series->times.size());
+  std::vector<double> sorted_values(series->values.size());
+  for (size_t i = 0; i < order.size(); ++i) {
+    sorted_times[i] = series->times[order[i]];
+    sorted_values[i] = series->values[order[i]];
+  }
+  series->times = std::move(sorted_times);
+  series->values = std::move(sorted_values);
+}
+
+std::vector<RouteSeries> collect_series(SeriesAccumulator &&series) {
+  std::vector<RouteSeries> out;
+  out.reserve(series.fixed_series.size() + series.dynamic_series.size());
+  for (auto &fixed : series.fixed_series) {
+    sort_series_by_time(&fixed);
+    if (!fixed.times.empty()) {
+      out.push_back(std::move(fixed));
+    }
+  }
+  for (auto &dynamic : series.dynamic_series) {
+    sort_series_by_time(&dynamic);
+    if (!dynamic.times.empty()) {
+      out.push_back(std::move(dynamic));
+    }
+  }
+  return out;
+}
+
+RouteData build_route_data(std::vector<RouteSeries> &&series_list,
+                           std::vector<CanMessageData> &&can_messages,
+                           std::vector<LogEntry> &&logs,
+                           std::vector<TimelineEntry> &&timeline,
+                           std::vector<ThumbnailFrame> &&thumbnails,
+                           std::unordered_map<std::string, EnumInfo> &&enum_info,
+                           std::string car_fingerprint,
+                           std::string dbc_name) {
+  RouteData route_data;
+  route_data.series.reserve(series_list.size());
+  route_data.paths.reserve(series_list.size());
+  for (RouteSeries &series : series_list) {
+    if (series.times.empty()) continue;
+    route_data.has_time_range = true;
+    route_data.x_min = route_data.series.empty() ? series.times.front() : std::min(route_data.x_min, series.times.front());
+    route_data.x_max = route_data.series.empty() ? series.times.back() : std::max(route_data.x_max, series.times.back());
+    route_data.paths.push_back(series.path);
+    route_data.series.push_back(std::move(series));
+  }
+
+  std::sort(route_data.paths.begin(), route_data.paths.end());
+  std::sort(route_data.series.begin(), route_data.series.end(), [](const RouteSeries &a, const RouteSeries &b) {
+    return a.path < b.path;
+  });
+  std::sort(logs.begin(), logs.end(), [](const LogEntry &a, const LogEntry &b) {
+    return a.mono_time < b.mono_time;
+  });
+  logs.erase(std::unique(logs.begin(), logs.end(), [](const LogEntry &a, const LogEntry &b) {
+               return same_log_entry(a, b);
+             }),
+             logs.end());
+
+  std::vector<LogEntry> deduped_logs;
+  deduped_logs.reserve(logs.size());
+  for (LogEntry &entry : logs) {
+    if (!deduped_logs.empty()
+        && entry.origin == LogOrigin::Alert
+        && deduped_logs.back().origin == LogOrigin::Alert
+        && deduped_logs.back().func == entry.func
+        && deduped_logs.back().message == entry.message) {
+      continue;
+    }
+    deduped_logs.push_back(std::move(entry));
+  }
+  route_data.logs = std::move(deduped_logs);
+
+  if (!route_data.has_time_range && !route_data.logs.empty()) {
+    route_data.has_time_range = true;
+    route_data.x_min = route_data.logs.front().mono_time;
+    route_data.x_max = route_data.logs.back().mono_time;
+  }
+  if (!route_data.has_time_range) {
+    bool initialized = false;
+    for (const CanMessageData &message : can_messages) {
+      if (message.samples.empty()) continue;
+      if (!initialized) {
+        route_data.x_min = message.samples.front().mono_time;
+        route_data.x_max = message.samples.back().mono_time;
+        initialized = true;
+      } else {
+        route_data.x_min = std::min(route_data.x_min, message.samples.front().mono_time);
+        route_data.x_max = std::max(route_data.x_max, message.samples.back().mono_time);
+      }
+    }
+    route_data.has_time_range = initialized;
+  }
+  if (!route_data.has_time_range && !timeline.empty()) {
+    route_data.has_time_range = true;
+    route_data.x_min = timeline.front().start_time;
+    route_data.x_max = timeline.back().end_time;
+  }
+  std::sort(thumbnails.begin(), thumbnails.end(), [](const ThumbnailFrame &a, const ThumbnailFrame &b) {
+    return a.timestamp < b.timestamp;
+  });
+  if (!route_data.has_time_range && !thumbnails.empty()) {
+    route_data.has_time_range = true;
+    route_data.x_min = thumbnails.front().timestamp;
+    route_data.x_max = thumbnails.back().timestamp;
+  }
+
+  if (route_data.has_time_range) {
+    const double time_offset = route_data.x_min;
+    for (RouteSeries &series : route_data.series) {
+      for (double &tm : series.times) {
+        tm -= time_offset;
+      }
+    }
+    for (LogEntry &entry : route_data.logs) {
+      entry.boot_time = entry.mono_time;
+      entry.mono_time -= time_offset;
+    }
+    for (CanMessageData &message : can_messages) {
+      for (CanFrameSample &sample : message.samples) {
+        sample.mono_time -= time_offset;
+      }
+    }
+    for (TimelineEntry &entry : timeline) {
+      entry.start_time -= time_offset;
+      entry.end_time -= time_offset;
+    }
+    for (ThumbnailFrame &thumbnail : thumbnails) {
+      thumbnail.timestamp -= time_offset;
+    }
+    route_data.x_max -= time_offset;
+    route_data.x_min = 0.0;
+  }
+
+  std::sort(timeline.begin(), timeline.end(), [](const TimelineEntry &a, const TimelineEntry &b) {
+    return a.start_time < b.start_time;
+  });
+  std::vector<TimelineEntry> merged_timeline;
+  merged_timeline.reserve(timeline.size());
+  for (TimelineEntry &entry : timeline) {
+    if (!merged_timeline.empty() && merged_timeline.back().type == entry.type) {
+      merged_timeline.back().end_time = std::max(merged_timeline.back().end_time, entry.end_time);
+      continue;
+    }
+    merged_timeline.push_back(std::move(entry));
+  }
+  route_data.timeline = std::move(merged_timeline);
+  route_data.thumbnails = std::move(thumbnails);
+  std::sort(can_messages.begin(), can_messages.end(), [](const CanMessageData &a, const CanMessageData &b) {
+    return std::make_tuple(a.id.service, a.id.bus, a.id.address)
+         < std::make_tuple(b.id.service, b.id.bus, b.id.address);
+  });
+  route_data.can_messages = std::move(can_messages);
+
+  route_data.enum_info = std::move(enum_info);
+  route_data.car_fingerprint = std::move(car_fingerprint);
+  route_data.dbc_name = std::move(dbc_name);
+  rebuild_gps_trace(&route_data);
+  route_data.roots = collect_route_roots_for_paths(route_data.paths);
+  return route_data;
+}
+
+const RouteSeries *find_route_series(const RouteData &route_data, std::string_view path) {
+  auto it = std::lower_bound(route_data.series.begin(), route_data.series.end(), path,
+                             [](const RouteSeries &series, std::string_view target) {
+                               return series.path < target;
+                             });
+  if (it == route_data.series.end() || it->path != path) return nullptr;
+  return &(*it);
+}
+
+std::optional<double> sample_series_at_time(const RouteSeries &series, double tm) {
+  if (series.times.empty() || series.times.size() != series.values.size()) {
+    return std::nullopt;
+  }
+  if (tm <= series.times.front()) {
+    return series.values.front();
+  }
+  if (tm >= series.times.back()) {
+    return series.values.back();
+  }
+  auto upper = std::lower_bound(series.times.begin(), series.times.end(), tm);
+  if (upper == series.times.begin()) {
+    return series.values.front();
+  }
+  if (upper == series.times.end()) {
+    return series.values.back();
+  }
+  const size_t upper_index = static_cast<size_t>(std::distance(series.times.begin(), upper));
+  const size_t lower_index = upper_index - 1;
+  const double t0 = series.times[lower_index];
+  const double t1 = series.times[upper_index];
+  const double v0 = series.values[lower_index];
+  const double v1 = series.values[upper_index];
+  if (t1 <= t0) {
+    return v0;
+  }
+  const double alpha = (tm - t0) / (t1 - t0);
+  return v0 + (v1 - v0) * alpha;
+}
+
+}  // namespace
+
+void rebuild_gps_trace(RouteData *route_data) {
+  route_data->gps_trace = {};
+  const RouteSeries *latitude = find_route_series(*route_data, "/gpsLocationExternal/latitude");
+  const RouteSeries *longitude = find_route_series(*route_data, "/gpsLocationExternal/longitude");
+  const RouteSeries *has_fix = find_route_series(*route_data, "/gpsLocationExternal/hasFix");
+  if (latitude == nullptr || longitude == nullptr || has_fix == nullptr) {
+    return;
+  }
+
+  const RouteSeries *bearing = find_route_series(*route_data, "/gpsLocationExternal/bearingDeg");
+  size_t count = std::min({latitude->times.size(), latitude->values.size(),
+                           longitude->times.size(), longitude->values.size(),
+                           has_fix->times.size(), has_fix->values.size()});
+  if (count == 0) {
+    return;
+  }
+
+  bool found = false;
+  route_data->gps_trace.points.reserve(count);
+  for (size_t i = 0; i < count; ++i) {
+    if (has_fix->values[i] < 0.5) {
+      continue;
+    }
+    const double lat = latitude->values[i];
+    const double lon = longitude->values[i];
+    if (!std::isfinite(lat) || !std::isfinite(lon)) {
+      continue;
+    }
+    const double tm = latitude->times[i];
+    const float bearing_value = bearing != nullptr
+      ? static_cast<float>(sample_series_at_time(*bearing, tm).value_or(0.0))
+      : 0.0f;
+    route_data->gps_trace.points.push_back(GpsPoint{
+      .time = tm,
+      .lat = lat,
+      .lon = lon,
+      .bearing = bearing_value,
+      .type = timeline_type_at_time(route_data->timeline, tm),
+    });
+    if (!found) {
+      route_data->gps_trace.min_lat = route_data->gps_trace.max_lat = lat;
+      route_data->gps_trace.min_lon = route_data->gps_trace.max_lon = lon;
+      found = true;
+    } else {
+      route_data->gps_trace.min_lat = std::min(route_data->gps_trace.min_lat, lat);
+      route_data->gps_trace.max_lat = std::max(route_data->gps_trace.max_lat, lat);
+      route_data->gps_trace.min_lon = std::min(route_data->gps_trace.min_lon, lon);
+      route_data->gps_trace.max_lon = std::max(route_data->gps_trace.max_lon, lon);
+    }
+  }
+  if (!found) {
+    route_data->gps_trace = {};
+  }
+}
+
+namespace {
+
+void build_camera_index(const std::map<int, SegmentLogs> &segments,
+                        const RouteData &route_data,
+                        std::string SegmentLogs::*file_member,
+                        std::string_view index_name,
+                        CameraFeedIndex *out) {
+  *out = {};
+  out->segment_files.reserve(segments.size());
+
+  std::unordered_set<int> available_segments;
+  available_segments.reserve(segments.size());
+  for (const auto &[segment_number, segment] : segments) {
+    const std::string &path = segment.*file_member;
+    if (path.empty()) continue;
+    out->segment_files.push_back(CameraSegmentFile{
+      .segment = segment_number,
+      .path = path,
+    });
+    available_segments.insert(segment_number);
+  }
+  if (out->segment_files.empty()) {
+    return;
+  }
+
+  const std::string prefix = "/" + std::string(index_name);
+  const RouteSeries *segment_numbers = find_route_series(route_data, prefix + "/segmentNum");
+  const RouteSeries *decode_indices = find_route_series(route_data, prefix + "/segmentId");
+  if (decode_indices == nullptr) {
+    decode_indices = find_route_series(route_data, prefix + "/segmentIdEncode");
+  }
+  const RouteSeries *frame_ids = find_route_series(route_data, prefix + "/frameId");
+  if (segment_numbers == nullptr || decode_indices == nullptr) {
+    return;
+  }
+
+  size_t count = std::min(segment_numbers->times.size(), segment_numbers->values.size());
+  count = std::min(count, decode_indices->values.size());
+  if (frame_ids != nullptr) {
+    count = std::min(count, frame_ids->values.size());
+  }
+  out->entries.reserve(count);
+  for (size_t i = 0; i < count; ++i) {
+    const int segment_number = static_cast<int>(std::llround(segment_numbers->values[i]));
+    if (available_segments.find(segment_number) == available_segments.end()) {
+      continue;
+    }
+    const int decode_index = static_cast<int>(std::llround(decode_indices->values[i]));
+    const uint32_t frame_id = frame_ids != nullptr
+      ? static_cast<uint32_t>(std::llround(frame_ids->values[i]))
+      : static_cast<uint32_t>(std::max(0, decode_index));
+    out->entries.push_back(CameraFrameIndexEntry{
+      .timestamp = segment_numbers->times[i],
+      .segment = segment_number,
+      .decode_index = decode_index,
+      .frame_id = frame_id,
+    });
+  }
+
+  std::sort(out->entries.begin(), out->entries.end(),
+            [](const CameraFrameIndexEntry &a, const CameraFrameIndexEntry &b) {
+              return a.timestamp < b.timestamp;
+            });
+}
+
+size_t load_worker_budget() {
+  size_t worker_count = std::thread::hardware_concurrency();
+  if (worker_count == 0) {
+    worker_count = 1;
+  }
+  if (const char *raw = std::getenv("JOTP_LOAD_WORKERS"); raw != nullptr && std::strlen(raw) > 0) {
+    char *end = nullptr;
+    const unsigned long parsed = std::strtoul(raw, &end, 10);
+    if (end != nullptr && *end == '\0' && parsed > 0) {
+      worker_count = static_cast<size_t>(parsed);
+    }
+  }
+  return std::max<size_t>(1, worker_count);
+}
+
+size_t segment_worker_count(size_t segment_count, size_t worker_budget) {
+  return std::max<size_t>(1, std::min(worker_budget, segment_count));
+}
+
+size_t extract_chunk_count(size_t event_count, size_t worker_budget, size_t segment_workers) {
+  if (event_count < 4096) return 1;
+  const size_t per_segment_budget = std::max<size_t>(1, worker_budget / std::max<size_t>(1, segment_workers));
+  const size_t chunk_target = std::max<size_t>(1, (event_count + 14999) / 15000);
+  return std::max<size_t>(1, std::min({per_segment_budget, chunk_target, static_cast<size_t>(8)}));
+}
+
+SeriesAccumulator extract_segment_series(const std::vector<Event> &events,
+                                         const SchemaIndex &schema,
+                                         const dbc::Database *can_dbc,
+                                         bool skip_raw_can,
+                                         size_t worker_budget,
+                                         size_t segment_workers) {
+  const size_t chunk_count = extract_chunk_count(events.size(), worker_budget, segment_workers);
+  if (chunk_count <= 1 || events.empty()) {
+    SeriesAccumulator series = make_series_accumulator(schema);
+    append_events_fast_range(events, 0, events.size(), can_dbc, skip_raw_can, &series);
+    return series;
+  }
+
+  const size_t events_per_chunk = (events.size() + chunk_count - 1) / chunk_count;
+  std::vector<SeriesAccumulator> chunk_results;
+  chunk_results.reserve(chunk_count);
+  for (size_t i = 0; i < chunk_count; ++i) {
+    chunk_results.push_back(make_series_accumulator(schema));
+  }
+
+  std::vector<std::thread> workers;
+  workers.reserve(chunk_count > 0 ? chunk_count - 1 : 0);
+  for (size_t chunk = 1; chunk < chunk_count; ++chunk) {
+    workers.emplace_back([&, chunk]() {
+      const size_t begin = chunk * events_per_chunk;
+      const size_t end = std::min(events.size(), begin + events_per_chunk);
+      append_events_fast_range(events, begin, end, can_dbc, skip_raw_can, &chunk_results[chunk]);
+    });
+  }
+  append_events_fast_range(events, 0, std::min(events.size(), events_per_chunk), can_dbc, skip_raw_can, &chunk_results[0]);
+  for (std::thread &worker : workers) {
+    worker.join();
+  }
+
+  SeriesAccumulator merged = make_series_accumulator(schema);
+  for (SeriesAccumulator &chunk : chunk_results) {
+    merge_series_accumulator(&merged, &chunk);
+  }
+  return merged;
+}
+
+LoadedRouteArtifacts load_route_series_parallel(
+    const std::map<int, SegmentLogs> &segments,
+    const SchemaIndex &schema,
+    const dbc::Database *can_dbc,
+    LogSelector selector,
+    bool skip_raw_can,
+    LoadStats *stats) {
+  struct SegmentResult {
+    SeriesAccumulator series;
+    std::vector<LogEntry> logs;
+    std::vector<TimelineEntry> timeline;
+    std::vector<ThumbnailFrame> thumbnails;
+  };
+
+  const std::vector<std::pair<int, SegmentLogs>> segment_list(segments.begin(), segments.end());
+  std::vector<SegmentResult> results;
+  results.reserve(segment_list.size());
+  for (size_t i = 0; i < segment_list.size(); ++i) {
+    results.emplace_back(SegmentResult{make_series_accumulator(schema)});
+  }
+  std::atomic<size_t> next_segment{0};
+  std::mutex error_mutex;
+  std::string first_error;
+  const size_t worker_budget = static_cast<size_t>(stats->num_workers);
+  const size_t segment_workers = segment_worker_count(segment_list.size(), worker_budget);
+
+  auto worker = [&]() {
+    while (true) {
+      const size_t index = next_segment.fetch_add(1);
+      if (index >= segment_list.size()) {
+        return;
+      }
+
+      const auto &[segment_number, segment] = segment_list[index];
+      const std::string &log_path = selected_log_path(segment, selector);
+      LoadStats::SegmentStats &segment_stats = stats->segments[index];
+      segment_stats.segment_number = segment_number;
+      segment_stats.log_path = log_path;
+      if (log_path.empty()) {
+        segment_stats.failed = true;
+        std::lock_guard<std::mutex> lock(error_mutex);
+        if (first_error.empty()) {
+          first_error = "Missing log path for segment " + std::to_string(segment_number);
+        }
+        stats->publish(RouteLoadStage::DownloadingSegment, index, std::to_string(segment_number));
+        stats->publish(RouteLoadStage::ParsingSegment, index, std::to_string(segment_number));
+        continue;
+      }
+
+      LogReader reader;
+      if (!reader.load(log_path, nullptr, true)) {
+        segment_stats.failed = true;
+        std::lock_guard<std::mutex> lock(error_mutex);
+        if (first_error.empty()) {
+          first_error = "Failed to load log segment: " + log_path;
+        }
+        stats->publish(RouteLoadStage::DownloadingSegment, index, std::to_string(segment_number));
+        stats->publish(RouteLoadStage::ParsingSegment, index, std::to_string(segment_number));
+        continue;
+      }
+
+      segment_stats.download_seconds = reader.download_seconds();
+      segment_stats.decompress_seconds = reader.decompress_seconds();
+      segment_stats.parse_seconds = reader.parse_seconds();
+      segment_stats.compressed_bytes = reader.compressed_size();
+      segment_stats.decompressed_bytes = reader.decompressed_size();
+      stats->bytes_downloaded.fetch_add(reader.compressed_size());
+      stats->segments_downloaded.fetch_add(1);
+      stats->publish(RouteLoadStage::DownloadingSegment, index, std::to_string(segment_number));
+
+      const auto extract_start = LoadStats::Clock::now();
+      results[index].series = extract_segment_series(reader.events, schema, can_dbc, skip_raw_can, worker_budget, segment_workers);
+      results[index].logs = extract_segment_logs(reader.events);
+      results[index].timeline = extract_segment_timeline(reader.events);
+      results[index].thumbnails = extract_segment_thumbnails(reader.events, segment_number);
+      segment_stats.extract_seconds = std::chrono::duration<double>(LoadStats::Clock::now() - extract_start).count();
+      segment_stats.event_count = reader.events.size();
+      segment_stats.series_count = populated_series_count(results[index].series);
+      stats->segments_parsed.fetch_add(1);
+      stats->publish(RouteLoadStage::ParsingSegment, index, std::to_string(segment_number));
+    }
+  };
+
+  std::vector<std::thread> workers;
+  workers.reserve(segment_workers);
+  for (size_t i = 0; i < segment_workers; ++i) {
+    workers.emplace_back(worker);
+  }
+  for (std::thread &thread : workers) {
+    thread.join();
+  }
+
+  if (!first_error.empty()) throw std::runtime_error(first_error);
+
+  stats->merge_start = LoadStats::Clock::now();
+  SeriesAccumulator merged = make_series_accumulator(schema);
+  for (size_t i = 0; i < results.size(); ++i) {
+    merge_series_accumulator(&merged, &results[i].series);
+  }
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::vector<ThumbnailFrame> thumbnails;
+  for (SegmentResult &result : results) {
+    if (!result.logs.empty()) {
+      logs.insert(logs.end(),
+                  std::make_move_iterator(result.logs.begin()),
+                  std::make_move_iterator(result.logs.end()));
+    }
+    if (!result.timeline.empty()) {
+      timeline.insert(timeline.end(),
+                      std::make_move_iterator(result.timeline.begin()),
+                      std::make_move_iterator(result.timeline.end()));
+    }
+    if (!result.thumbnails.empty()) {
+      thumbnails.insert(thumbnails.end(),
+                        std::make_move_iterator(result.thumbnails.begin()),
+                        std::make_move_iterator(result.thumbnails.end()));
+    }
+  }
+  LoadedRouteArtifacts artifacts;
+  artifacts.series = collect_series(std::move(merged));
+  artifacts.can_messages = std::move(merged.can_messages);
+  artifacts.logs = std::move(logs);
+  artifacts.timeline = std::move(timeline);
+  artifacts.thumbnails = std::move(thumbnails);
+  artifacts.enum_info = std::move(merged.enum_info);
+  stats->merge_end = LoadStats::Clock::now();
+  return artifacts;
+}
+
+std::vector<std::string> collect_layout_roots(const SketchLayout &layout) {
+  std::vector<std::string> roots;
+  for (const auto &tab : layout.tabs) {
+    for (const auto &pane : tab.panes) {
+      for (const auto &curve : pane.curves) {
+        std::string root = "custom";
+        if (is_absolute_curve(curve.name)) {
+          const size_t slash = curve.name.find('/', 1);
+          root = curve.name.substr(1, slash == std::string::npos ? std::string::npos : slash - 1);
+        }
+        if (std::find(roots.begin(), roots.end(), root) == roots.end()) {
+          roots.push_back(root);
+        }
+      }
+    }
+  }
+  if (roots.empty()) {
+    roots.push_back("layout");
+  }
+  return roots;
+}
+
+}  // namespace
+
+std::vector<std::string> collect_route_roots_for_paths(const std::vector<std::string> &paths) {
+  std::vector<std::string> roots;
+  for (const std::string &path : paths) {
+    if (!is_absolute_curve(path)) continue;
+    const size_t slash = path.find('/', 1);
+    const std::string root = path.substr(1, slash == std::string::npos ? std::string::npos : slash - 1);
+    if (!root.empty() && std::find(roots.begin(), roots.end(), root) == roots.end()) {
+      roots.push_back(root);
+    }
+  }
+  std::sort(roots.begin(), roots.end());
+  return roots;
+}
+
+struct StreamAccumulator::Impl {
+  const SchemaIndex &schema = SchemaIndex::instance();
+  SeriesAccumulator series = make_series_accumulator(schema);
+  std::vector<LogEntry> logs;
+  std::vector<TimelineEntry> timeline;
+  std::string last_alert_key;
+  std::string manual_dbc_name;
+  std::string detected_dbc_name;
+  std::string car_fingerprint;
+  std::optional<dbc::Database> can_dbc;
+  std::optional<double> time_offset;
+
+  void refresh_dbc() {
+    const std::string next_dbc = !manual_dbc_name.empty() ? manual_dbc_name : detect_dbc_for_fingerprint(car_fingerprint);
+    if (next_dbc == detected_dbc_name) {
+      return;
+    }
+    detected_dbc_name = next_dbc;
+    can_dbc = load_dbc_by_name(detected_dbc_name);
+  }
+};
+
+StreamAccumulator::StreamAccumulator(const std::string &dbc_name, std::optional<double> time_offset)
+  : impl_(std::make_unique<Impl>()) {
+  impl_->manual_dbc_name = dbc_name;
+  impl_->time_offset = time_offset;
+  impl_->refresh_dbc();
+}
+
+StreamAccumulator::~StreamAccumulator() = default;
+
+void StreamAccumulator::setDbcName(const std::string &dbc_name) {
+  impl_->manual_dbc_name = dbc_name;
+  impl_->refresh_dbc();
+}
+
+void StreamAccumulator::appendEvent(kj::ArrayPtr<const capnp::word> data) {
+  with_parseable_event(data, [&](const cereal::Event::Reader &event) {
+    const cereal::Event::Which which = event.which();
+    const double boot_time = static_cast<double>(event.getLogMonoTime()) / 1.0e9;
+    if (!impl_->time_offset.has_value()) {
+      impl_->time_offset = boot_time;
+    }
+    if (which == cereal::Event::Which::CAR_PARAMS) {
+      const std::string fingerprint = event.getCarParams().getCarFingerprint().cStr();
+      if (!fingerprint.empty() && fingerprint != impl_->car_fingerprint) {
+        impl_->car_fingerprint = fingerprint;
+        impl_->refresh_dbc();
+      }
+    }
+
+    append_event_static_reader(which,
+                               event,
+                               impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                               impl_->can_dbc.has_value(),
+                               *impl_->time_offset,
+                               &impl_->series);
+    append_log_event(which, event, *impl_->time_offset, &impl_->logs, &impl_->last_alert_key);
+    if (which == cereal::Event::Which::SELFDRIVE_STATE) {
+      const auto sd = event.getSelfdriveState();
+      append_timeline_entry(&impl_->timeline, boot_time - *impl_->time_offset,
+                            alert_status_to_timeline_type(sd.getAlertStatus(), sd.getEnabled()));
+    }
+  });
+}
+
+void StreamAccumulator::appendCanFrames(CanServiceKind service, const std::vector<LiveCanFrame> &frames) {
+  if (frames.empty()) {
+    return;
+  }
+  if (!impl_->time_offset.has_value()) {
+    impl_->time_offset = frames.front().mono_time;
+  }
+  for (const LiveCanFrame &frame : frames) {
+    append_live_can_frame(service,
+                          frame,
+                          *impl_->time_offset,
+                          impl_->can_dbc ? &*impl_->can_dbc : nullptr,
+                          &impl_->series);
+  }
+}
+
+StreamExtractBatch StreamAccumulator::takeBatch() {
+  StreamExtractBatch batch;
+  batch.car_fingerprint = impl_->car_fingerprint;
+  batch.dbc_name = impl_->detected_dbc_name;
+  if (impl_->time_offset.has_value()) {
+    batch.has_time_offset = true;
+    batch.time_offset = *impl_->time_offset;
+  }
+  if (impl_->logs.empty() && impl_->timeline.empty()
+      && populated_series_count(impl_->series) == 0
+      && impl_->series.enum_info.empty()
+      && impl_->series.can_messages.empty()) {
+    return batch;
+  }
+
+  SeriesAccumulator emitted = std::move(impl_->series);
+  batch.can_messages = std::move(emitted.can_messages);
+  batch.enum_info = std::move(emitted.enum_info);
+  batch.series = collect_series(std::move(emitted));
+  batch.logs = std::move(impl_->logs);
+  batch.timeline = std::move(impl_->timeline);
+  impl_->series = make_series_accumulator(impl_->schema);
+  impl_->logs.clear();
+  impl_->timeline.clear();
+  return batch;
+}
+
+const std::string &StreamAccumulator::carFingerprint() const {
+  return impl_->car_fingerprint;
+}
+
+const std::string &StreamAccumulator::dbc_name() const {
+  return impl_->detected_dbc_name;
+}
+
+std::optional<double> StreamAccumulator::timeOffset() const {
+  return impl_->time_offset;
+}
+
+SketchLayout load_sketch_layout(const fs::path &layout_path) {
+  SketchLayout layout = parse_layout(layout_path);
+  layout.roots = collect_layout_roots(layout);
+  return layout;
+}
+
+RouteData load_route_data(const std::string &route_name,
+                          const std::string &data_dir,
+                          const std::string &dbc_name,
+                          const RouteLoadProgressCallback &progress) {
+  if (route_name.empty()) return RouteData{};
+
+  const RouteSelection route = parse_route_selection(route_name);
+  if (route.canonical_name.empty() || (data_dir.empty() && route.dongle_id.empty())) {
+    throw std::runtime_error("Invalid route format: " + route_name);
+  }
+  LoadStats stats(progress);
+  stats.load_start = LoadStats::Clock::now();
+  std::map<int, SegmentLogs> segments = data_dir.empty()
+    ? load_segments_from_server(route)
+    : load_segments_from_local(route, data_dir);
+  segments = trim_segments(std::move(segments), route);
+  if (segments.empty()) throw std::runtime_error("No log segments found for " + route_name);
+  stats.resolve_end = LoadStats::Clock::now();
+  stats.segment_count = segments.size();
+  stats.total_segments.store(segments.size());
+  stats.num_workers = static_cast<int>(load_worker_budget());
+  stats.segments.resize(segments.size());
+  stats.publish(RouteLoadStage::Resolving, 0, {});
+
+  const RouteMetadata metadata = detect_route_metadata(segments, route.selector);
+  const std::string resolved_dbc = !dbc_name.empty() ? dbc_name : detect_dbc_for_fingerprint(metadata.car_fingerprint);
+  const std::optional<dbc::Database> can_dbc = load_dbc_by_name(resolved_dbc);
+
+  const SchemaIndex &schema = SchemaIndex::instance();
+  LoadedRouteArtifacts artifacts = load_route_series_parallel(segments, schema, can_dbc ? &*can_dbc : nullptr,
+                                                             route.selector, can_dbc.has_value(), &stats);
+  RouteData route_data = build_route_data(std::move(artifacts.series),
+                                          std::move(artifacts.can_messages),
+                                          std::move(artifacts.logs),
+                                          std::move(artifacts.timeline),
+                                          std::move(artifacts.thumbnails),
+                                          std::move(artifacts.enum_info),
+                                          metadata.car_fingerprint,
+                                          resolved_dbc);
+  route_data.route_id = make_route_identifier(route, segments);
+  build_camera_index(segments, route_data, &SegmentLogs::narrow_road, "narrowRoadEncodeIdx", &route_data.road_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::cabin, "cabinEncodeIdx", &route_data.cabin_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::wide_road, "wideRoadEncodeIdx", &route_data.wide_road_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::qcamera, "qNarrowRoadEncodeIdx", &route_data.qroad_camera);
+  stats.load_end = LoadStats::Clock::now();
+  stats.publish(RouteLoadStage::Finished, segments.size(), {});
+  stats.print_summary(route_data.series.size());
+  return route_data;
+}
+
+RouteIdentifier parse_route_identifier(std::string_view route_name) {
+  return make_route_identifier(parse_route_selection(std::string(route_name)), {});
+}
+
+std::vector<std::string> available_dbc_names() {
+  return available_dbc_names_impl();
+}
+
+std::optional<dbc::Database> load_dbc_by_name(const std::string &dbc_name) {
+  if (dbc_name.empty()) {
+    return std::nullopt;
+  }
+  try {
+    return std::optional<dbc::Database>(std::in_place, resolve_dbc_path(dbc_name));
+  } catch (...) {
+    return std::nullopt;
+  }
+}
+
+std::vector<RouteSeries> decode_can_messages(const std::vector<CanMessageData> &can_messages,
+                                             const std::string &dbc_name,
+                                             std::unordered_map<std::string, EnumInfo> *enum_info) {
+  if (enum_info != nullptr) {
+    enum_info->clear();
+  }
+  const std::optional<dbc::Database> can_dbc = load_dbc_by_name(dbc_name);
+  if (!can_dbc.has_value()) {
+    return {};
+  }
+
+  SeriesAccumulator series;
+  for (const CanMessageData &message : can_messages) {
+    const char *service_name = message.id.service == CanServiceKind::Can ? "can" : "sendcan";
+    for (const CanFrameSample &sample : message.samples) {
+      decode_can_frame(&*can_dbc,
+                       service_name,
+                       message.id.bus,
+                       message.id.address,
+                       reinterpret_cast<const uint8_t *>(sample.data.data()),
+                       sample.data.size(),
+                       sample.mono_time,
+                       &series);
+    }
+  }
+  if (enum_info != nullptr) {
+    *enum_info = std::move(series.enum_info);
+  }
+  return collect_series(std::move(series));
+}
diff --git a/openpilot/tools/jotpluggler/stream.cc b/openpilot/tools/jotpluggler/stream.cc
new file mode 100644
index 0000000000..fcfa6585bb
--- /dev/null
+++ b/openpilot/tools/jotpluggler/stream.cc
@@ -0,0 +1,207 @@
+#include "tools/jotpluggler/internal.h"
+
+#include <tuple>
+
+template <typename Cmp, typename SeriesAccessor, typename LogAccessor>
+std::optional<double> stream_batch_extreme_time(const StreamExtractBatch &batch,
+                                                Cmp cmp,
+                                                SeriesAccessor series_time,
+                                                LogAccessor log_time_fn) {
+  std::optional<double> result;
+  for (const RouteSeries &series : batch.series) {
+    if (!series.times.empty()) {
+      const double t = series_time(series);
+      result = result.has_value() ? cmp(*result, t) : t;
+    }
+  }
+  if (!batch.logs.empty()) {
+    const double t = log_time_fn(batch);
+    result = result.has_value() ? cmp(*result, t) : t;
+  }
+  if (!batch.timeline.empty()) {
+    const double t = cmp(batch.timeline.front().start_time, batch.timeline.back().end_time);
+    result = result.has_value() ? cmp(*result, t) : t;
+  }
+  for (const CanMessageData &message : batch.can_messages) {
+    if (!message.samples.empty()) {
+      const double t = cmp(message.samples.front().mono_time, message.samples.back().mono_time);
+      result = result.has_value() ? cmp(*result, t) : t;
+    }
+  }
+  return result;
+}
+
+std::optional<double> earliest_stream_batch_time(const StreamExtractBatch &batch) {
+  return stream_batch_extreme_time(batch,
+    [](double a, double b) { return std::min(a, b); },
+    [](const RouteSeries &s) { return s.times.front(); },
+    [](const StreamExtractBatch &b) { return b.logs.front().mono_time; });
+}
+
+std::optional<double> latest_stream_batch_time(const StreamExtractBatch &batch) {
+  return stream_batch_extreme_time(batch,
+    [](double a, double b) { return std::max(a, b); },
+    [](const RouteSeries &s) { return s.times.back(); },
+    [](const StreamExtractBatch &b) { return b.logs.back().mono_time; });
+}
+
+bool layout_has_custom_curves(const SketchLayout &layout) {
+  for (const WorkspaceTab &tab : layout.tabs) {
+    for (const Pane &pane : tab.panes) {
+      for (const Curve &curve : pane.curves) {
+        if (curve.custom_python.has_value()) return true;
+      }
+    }
+  }
+  return false;
+}
+
+void append_stream_timeline_entries(std::vector<TimelineEntry> *timeline, std::vector<TimelineEntry> entries) {
+  for (TimelineEntry &entry : entries) {
+    if (!timeline->empty() && timeline->back().type == entry.type) {
+      timeline->back().end_time = std::max(timeline->back().end_time, entry.end_time);
+    } else {
+      timeline->push_back(std::move(entry));
+    }
+  }
+}
+
+bool can_message_less(const CanMessageData &a, const CanMessageData &b) {
+  return std::make_tuple(a.id.service, a.id.bus, a.id.address)
+       < std::make_tuple(b.id.service, b.id.bus, b.id.address);
+}
+
+void apply_stream_batch(AppSession *session, UiState *state, StreamExtractBatch batch) {
+  if (batch.has_time_offset) {
+    session->stream_time_offset = batch.time_offset;
+  }
+  if (!batch.car_fingerprint.empty()) {
+    session->route_data.car_fingerprint = batch.car_fingerprint;
+  }
+  if (!batch.dbc_name.empty()) {
+    session->route_data.dbc_name = batch.dbc_name;
+  }
+  if (!batch.enum_info.empty()) {
+    for (auto &[path, info] : batch.enum_info) {
+      session->route_data.enum_info[path] = std::move(info);
+    }
+  }
+
+  bool new_paths = false;
+  std::vector<RouteSeries> new_series;
+  std::vector<std::string> touched_paths;
+  touched_paths.reserve(batch.series.size());
+  for (RouteSeries &incoming : batch.series) {
+    touched_paths.push_back(incoming.path);
+    auto existing_it = session->series_by_path.find(incoming.path);
+    if (existing_it == session->series_by_path.end()) {
+      new_series.push_back(std::move(incoming));
+      new_paths = true;
+      continue;
+    }
+    RouteSeries &existing = *existing_it->second;
+    existing.times.insert(existing.times.end(), incoming.times.begin(), incoming.times.end());
+    existing.values.insert(existing.values.end(), incoming.values.begin(), incoming.values.end());
+  }
+  for (RouteSeries &series : new_series) {
+    session->route_data.paths.push_back(series.path);
+    session->route_data.series.push_back(std::move(series));
+  }
+
+  if (!batch.logs.empty()) {
+    std::sort(batch.logs.begin(), batch.logs.end(), [](const LogEntry &a, const LogEntry &b) {
+      return a.mono_time < b.mono_time;
+    });
+    const size_t old_size = session->route_data.logs.size();
+    session->route_data.logs.insert(session->route_data.logs.end(),
+                                    std::make_move_iterator(batch.logs.begin()),
+                                    std::make_move_iterator(batch.logs.end()));
+    if (old_size > 0 && session->route_data.logs.size() > old_size
+        && session->route_data.logs[old_size - 1].mono_time > session->route_data.logs[old_size].mono_time) {
+      std::inplace_merge(session->route_data.logs.begin(),
+                         session->route_data.logs.begin() + static_cast<ptrdiff_t>(old_size),
+                         session->route_data.logs.end(),
+                         [](const LogEntry &a, const LogEntry &b) {
+                           return a.mono_time < b.mono_time;
+                         });
+    }
+  }
+  if (!batch.timeline.empty()) {
+    append_stream_timeline_entries(&session->route_data.timeline, std::move(batch.timeline));
+  }
+
+  for (CanMessageData &incoming : batch.can_messages) {
+    auto it = std::lower_bound(session->route_data.can_messages.begin(),
+                               session->route_data.can_messages.end(),
+                               incoming,
+                               can_message_less);
+    if (it == session->route_data.can_messages.end()
+        || can_message_less(incoming, *it)
+        || can_message_less(*it, incoming)) {
+      session->route_data.can_messages.insert(it, std::move(incoming));
+    } else {
+      it->samples.insert(it->samples.end(),
+                         std::make_move_iterator(incoming.samples.begin()),
+                         std::make_move_iterator(incoming.samples.end()));
+    }
+  }
+
+  if (new_paths) {
+    const size_t old_path_count = session->route_data.paths.size() - new_series.size();
+    std::sort(session->route_data.paths.begin() + static_cast<ptrdiff_t>(old_path_count), session->route_data.paths.end());
+    std::inplace_merge(session->route_data.paths.begin(),
+                       session->route_data.paths.begin() + static_cast<ptrdiff_t>(old_path_count),
+                       session->route_data.paths.end());
+    const size_t old_series_count = session->route_data.series.size() - new_series.size();
+    auto series_cmp = [](const RouteSeries &a, const RouteSeries &b) { return a.path < b.path; };
+    std::sort(session->route_data.series.begin() + static_cast<ptrdiff_t>(old_series_count),
+              session->route_data.series.end(), series_cmp);
+    std::inplace_merge(session->route_data.series.begin(),
+                       session->route_data.series.begin() + static_cast<ptrdiff_t>(old_series_count),
+                       session->route_data.series.end(), series_cmp);
+    session->route_data.roots = collect_route_roots_for_paths(session->route_data.paths);
+    rebuild_route_index(session);
+    rebuild_browser_nodes(session, state);
+    state->browser_nodes_dirty = false;
+  } else {
+    for (const std::string &path : touched_paths) {
+      auto series_it = session->series_by_path.find(path);
+      if (series_it == session->series_by_path.end() || series_it->second == nullptr) continue;
+      const bool enum_like = session->route_data.enum_info.find(path) != session->route_data.enum_info.end();
+      session->route_data.series_formats[path] = compute_series_format(series_it->second->values, enum_like);
+    }
+  }
+  const std::optional<double> earliest_time = earliest_stream_batch_time(batch);
+  const std::optional<double> latest_time = latest_stream_batch_time(batch);
+  if (earliest_time.has_value() && latest_time.has_value()) {
+    if (!session->route_data.has_time_range) {
+      session->route_data.x_min = *earliest_time;
+      session->route_data.x_max = *latest_time;
+    } else {
+      session->route_data.x_min = std::min(session->route_data.x_min, *earliest_time);
+      session->route_data.x_max = std::max(session->route_data.x_max, *latest_time);
+    }
+    session->route_data.has_time_range = true;
+  }
+
+  if (new_paths
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/latitude") != touched_paths.end()
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/longitude") != touched_paths.end()
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/hasFix") != touched_paths.end()
+      || std::find(touched_paths.begin(), touched_paths.end(), "/gpsLocationExternal/bearingDeg") != touched_paths.end()) {
+    rebuild_gps_trace(&session->route_data);
+  }
+
+  if (latest_time.has_value() && layout_has_custom_curves(session->layout)
+      && *latest_time >= session->next_stream_custom_refresh_time) {
+    refresh_all_custom_curves(session, state);
+    session->next_stream_custom_refresh_time = *latest_time + 0.1;
+  }
+  if (state->follow_latest || !state->has_tracker_time) {
+    state->tracker_time = session->route_data.x_max;
+    state->has_tracker_time = session->route_data.has_time_range;
+  }
+  if (!state->has_shared_range) {
+    reset_shared_range(state, *session);
+  }
+}
diff --git a/openpilot/tools/jotpluggler/test_jotpluggler.py b/openpilot/tools/jotpluggler/test_jotpluggler.py
new file mode 100644
index 0000000000..cbcc0a8168
--- /dev/null
+++ b/openpilot/tools/jotpluggler/test_jotpluggler.py
@@ -0,0 +1,13 @@
+import subprocess
+from pathlib import Path
+
+
+JOTPLUGGLER_DIR = Path(__file__).parent
+
+
+from openpilot.common.test import OpenpilotTestCase
+class TestJotpluggler(OpenpilotTestCase):
+  def test_help(self):
+    result = subprocess.run(["./jotpluggler", "-h"], cwd=JOTPLUGGLER_DIR, capture_output=True, text=True)
+    assert result.returncode == 0, result.stderr
+    assert "Usage:" in result.stderr
diff --git a/openpilot/tools/jotpluggler/thumbnail.cc b/openpilot/tools/jotpluggler/thumbnail.cc
new file mode 100644
index 0000000000..11e184323a
--- /dev/null
+++ b/openpilot/tools/jotpluggler/thumbnail.cc
@@ -0,0 +1,253 @@
+#include "tools/jotpluggler/thumbnail.h"
+
+#include "imgui_impl_opengl3_loader.h"
+
+#include <algorithm>
+#include <cmath>
+#include <limits>
+
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavutil/pixfmt.h>
+}
+
+namespace {
+
+bool decode_jpeg(const std::vector<uint8_t> &jpeg, int *width, int *height, std::vector<uint8_t> *rgba) {
+  if (jpeg.empty()) return false;
+
+  const AVCodec *codec = avcodec_find_decoder(AV_CODEC_ID_MJPEG);
+  AVCodecContext *context = codec != nullptr ? avcodec_alloc_context3(codec) : nullptr;
+  AVFrame *frame = av_frame_alloc();
+  AVPacket *packet = av_packet_alloc();
+  if (context == nullptr || frame == nullptr || packet == nullptr) {
+    av_packet_free(&packet);
+    av_frame_free(&frame);
+    avcodec_free_context(&context);
+    return false;
+  }
+
+  const bool packet_ready = jpeg.size() <= static_cast<size_t>(std::numeric_limits<int>::max())
+                         && av_new_packet(packet, static_cast<int>(jpeg.size())) >= 0;
+  if (packet_ready) {
+    std::copy(jpeg.begin(), jpeg.end(), packet->data);
+  }
+  const bool decoded = packet_ready
+                    && avcodec_open2(context, codec, nullptr) >= 0
+                    && avcodec_send_packet(context, packet) >= 0
+                    && avcodec_receive_frame(context, frame) >= 0;
+  if (!decoded || frame->width <= 0 || frame->height <= 0) {
+    av_packet_free(&packet);
+    av_frame_free(&frame);
+    avcodec_free_context(&context);
+    return false;
+  }
+
+  int chroma_x_shift = 0;
+  int chroma_y_shift = 0;
+  switch (static_cast<AVPixelFormat>(frame->format)) {
+    case AV_PIX_FMT_YUV420P:
+    case AV_PIX_FMT_YUVJ420P:
+      chroma_x_shift = 1;
+      chroma_y_shift = 1;
+      break;
+    case AV_PIX_FMT_YUV422P:
+    case AV_PIX_FMT_YUVJ422P:
+      chroma_x_shift = 1;
+      break;
+    case AV_PIX_FMT_YUV444P:
+    case AV_PIX_FMT_YUVJ444P:
+      break;
+    default:
+      av_packet_free(&packet);
+      av_frame_free(&frame);
+      avcodec_free_context(&context);
+      return false;
+  }
+
+  *width = frame->width;
+  *height = frame->height;
+  rgba->resize(static_cast<size_t>(*width) * static_cast<size_t>(*height) * 4U);
+  const bool full_range = frame->color_range == AVCOL_RANGE_JPEG
+                       || frame->format == AV_PIX_FMT_YUVJ420P
+                       || frame->format == AV_PIX_FMT_YUVJ422P
+                       || frame->format == AV_PIX_FMT_YUVJ444P;
+  for (int y = 0; y < *height; ++y) {
+    const uint8_t *y_row = frame->data[0] + y * frame->linesize[0];
+    const uint8_t *u_row = frame->data[1] + (y >> chroma_y_shift) * frame->linesize[1];
+    const uint8_t *v_row = frame->data[2] + (y >> chroma_y_shift) * frame->linesize[2];
+    uint8_t *out = rgba->data() + static_cast<size_t>(y) * static_cast<size_t>(*width) * 4U;
+    for (int x = 0; x < *width; ++x) {
+      const double luma = full_range ? static_cast<double>(y_row[x])
+                                     : 1.164383 * (static_cast<double>(y_row[x]) - 16.0);
+      const double u = static_cast<double>(u_row[x >> chroma_x_shift]) - 128.0;
+      const double v = static_cast<double>(v_row[x >> chroma_x_shift]) - 128.0;
+      const double red = luma + (full_range ? 1.402 : 1.596027) * v;
+      const double green = luma - (full_range ? 0.344136 : 0.391762) * u
+                                - (full_range ? 0.714136 : 0.812968) * v;
+      const double blue = luma + (full_range ? 1.772 : 2.017232) * u;
+      out[x * 4 + 0] = static_cast<uint8_t>(std::clamp(std::lround(red), 0L, 255L));
+      out[x * 4 + 1] = static_cast<uint8_t>(std::clamp(std::lround(green), 0L, 255L));
+      out[x * 4 + 2] = static_cast<uint8_t>(std::clamp(std::lround(blue), 0L, 255L));
+      out[x * 4 + 3] = 255;
+    }
+  }
+
+  av_packet_free(&packet);
+  av_frame_free(&frame);
+  avcodec_free_context(&context);
+  return true;
+}
+
+std::string format_thumbnail_time(double seconds) {
+  const int rounded = std::max(0, static_cast<int>(std::lround(seconds)));
+  const int hours = rounded / 3600;
+  const int minutes = (rounded % 3600) / 60;
+  const int secs = rounded % 60;
+  if (hours > 0) {
+    return util::string_format("%d:%02d:%02d", hours, minutes, secs);
+  }
+  return util::string_format("%02d:%02d", minutes, secs);
+}
+
+}  // namespace
+
+struct ThumbnailView::Impl {
+  ~Impl() {
+    destroy_texture();
+  }
+
+  void setThumbnails(const std::vector<ThumbnailFrame> &next_thumbnails) {
+    destroy_texture();
+    thumbnails = &next_thumbnails;
+    displayed_index = -1;
+    failed_index = -1;
+  }
+
+  void update(double tracker_time) {
+    if (thumbnails == nullptr || thumbnails->empty()) return;
+    auto it = std::lower_bound(thumbnails->begin(), thumbnails->end(), tracker_time,
+                               [](const ThumbnailFrame &frame, double time) {
+                                 return frame.timestamp < time;
+                               });
+    if (it == thumbnails->end()) {
+      it = std::prev(thumbnails->end());
+    } else if (it != thumbnails->begin()) {
+      const auto previous = std::prev(it);
+      if (std::abs(previous->timestamp - tracker_time) <= std::abs(it->timestamp - tracker_time)) {
+        it = previous;
+      }
+    }
+    const int index = static_cast<int>(std::distance(thumbnails->begin(), it));
+    if (index == displayed_index || index == failed_index) return;
+
+    int width = 0;
+    int height = 0;
+    std::vector<uint8_t> rgba;
+    if (!decode_jpeg(it->jpeg, &width, &height, &rgba)) {
+      failed_index = index;
+      return;
+    }
+
+    if (texture == 0) {
+      glGenTextures(1, &texture);
+    }
+    glBindTexture(GL_TEXTURE_2D, texture);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+    glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgba.data());
+    glBindTexture(GL_TEXTURE_2D, 0);
+    texture_width = width;
+    texture_height = height;
+    displayed_index = index;
+    failed_index = -1;
+  }
+
+  void drawSized(ImVec2 size, bool loading) const {
+    size.x = std::max(1.0f, size.x);
+    size.y = std::max(1.0f, size.y);
+    ImGui::InvisibleButton("##thumbnail_sized", size);
+    const ImVec2 pane_min = ImGui::GetItemRectMin();
+    const ImVec2 pane_max = ImGui::GetItemRectMax();
+    ImDrawList *draw_list = ImGui::GetWindowDrawList();
+    draw_list->AddRectFilled(pane_min, pane_max, IM_COL32(24, 24, 24, 255));
+
+    if (texture != 0 && texture_width > 0 && texture_height > 0) {
+      const float scale = std::min(size.x / static_cast<float>(texture_width),
+                                   size.y / static_cast<float>(texture_height));
+      const ImVec2 image_size(static_cast<float>(texture_width) * scale,
+                              static_cast<float>(texture_height) * scale);
+      const ImVec2 image_min(pane_min.x + (size.x - image_size.x) * 0.5f,
+                             pane_min.y + (size.y - image_size.y) * 0.5f);
+      const ImVec2 image_max(image_min.x + image_size.x, image_min.y + image_size.y);
+      draw_list->AddImage(static_cast<ImTextureID>(texture), image_min, image_max);
+
+      if (thumbnails != nullptr && displayed_index >= 0
+          && displayed_index < static_cast<int>(thumbnails->size())) {
+        const ThumbnailFrame &frame = (*thumbnails)[static_cast<size_t>(displayed_index)];
+        const std::string label = util::string_format("%s  ·  segment %d  ·  %d/%zu",
+                                                      format_thumbnail_time(frame.timestamp).c_str(),
+                                                      frame.segment,
+                                                      displayed_index + 1,
+                                                      thumbnails->size());
+        const ImVec2 text_size = ImGui::CalcTextSize(label.c_str());
+        const ImVec2 label_min(image_min.x, std::max(image_min.y, image_max.y - text_size.y - 14.0f));
+        draw_list->AddRectFilled(label_min, image_max, IM_COL32(0, 0, 0, 175));
+        draw_list->AddText(ImVec2(label_min.x + 7.0f, label_min.y + 7.0f), IM_COL32_WHITE, label.c_str());
+      }
+      return;
+    }
+
+    const bool has_thumbnails = thumbnails != nullptr && !thumbnails->empty();
+    const char *label = loading ? "loading" : (has_thumbnails ? "invalid thumbnail" : "no thumbnails");
+    const ImVec2 text_size = ImGui::CalcTextSize(label);
+    draw_list->AddText(ImVec2(pane_min.x + (size.x - text_size.x) * 0.5f,
+                              pane_min.y + (size.y - text_size.y) * 0.5f),
+                       IM_COL32(187, 187, 187, 255), label);
+  }
+
+  void destroy_texture() {
+    if (texture != 0) {
+      glDeleteTextures(1, &texture);
+    }
+    texture = 0;
+    texture_width = 0;
+    texture_height = 0;
+  }
+
+  const std::vector<ThumbnailFrame> *thumbnails = nullptr;
+  int displayed_index = -1;
+  int failed_index = -1;
+  GLuint texture = 0;
+  int texture_width = 0;
+  int texture_height = 0;
+};
+
+ThumbnailView::ThumbnailView() : impl_(std::make_unique<Impl>()) {}
+ThumbnailView::~ThumbnailView() = default;
+
+void ThumbnailView::setThumbnails(const std::vector<ThumbnailFrame> &thumbnails) {
+  impl_->setThumbnails(thumbnails);
+}
+
+void ThumbnailView::update(double tracker_time) {
+  impl_->update(tracker_time);
+}
+
+void ThumbnailView::drawSized(ImVec2 size, bool loading) {
+  impl_->drawSized(size, loading);
+}
+
+void draw_thumbnail_pane(AppSession *session, UiState *state) {
+  if (session->thumbnail_view == nullptr) {
+    ImGui::TextDisabled("Thumbnails unavailable");
+    return;
+  }
+  if (state->has_tracker_time) {
+    session->thumbnail_view->update(state->tracker_time);
+  }
+  session->thumbnail_view->drawSized(ImGui::GetContentRegionAvail(), session->async_route_loading);
+}
diff --git a/openpilot/tools/jotpluggler/thumbnail.h b/openpilot/tools/jotpluggler/thumbnail.h
new file mode 100644
index 0000000000..6970173a5c
--- /dev/null
+++ b/openpilot/tools/jotpluggler/thumbnail.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include "tools/jotpluggler/app.h"
+
+void draw_thumbnail_pane(AppSession *session, UiState *state);
diff --git a/openpilot/tools/jotpluggler/util.cc b/openpilot/tools/jotpluggler/util.cc
new file mode 100644
index 0000000000..5c20e795f6
--- /dev/null
+++ b/openpilot/tools/jotpluggler/util.cc
@@ -0,0 +1,59 @@
+#include "tools/jotpluggler/util.h"
+
+#include <cstdio>
+#include <cstdlib>
+#include <stdexcept>
+#include <sys/wait.h>
+
+std::string read_file_or_throw(const std::filesystem::path &path) {
+  const std::string contents = util::read_file(path.string());
+  if (!contents.empty() || std::filesystem::exists(path)) {
+    return contents;
+  }
+  throw std::runtime_error("Failed to read " + path.string());
+}
+
+void write_file_or_throw(const std::filesystem::path &path, const void *data, size_t size) {
+  ensure_parent_dir(path);
+  const std::string path_string = path.string();
+  const void *bytes = size == 0 ? static_cast<const void *>("") : data;
+  if (util::write_file(path_string.c_str(), bytes, size, O_WRONLY | O_CREAT | O_TRUNC) != 0) {
+    throw std::runtime_error("Failed to write " + path_string);
+  }
+}
+
+void write_file_or_throw(const std::filesystem::path &path, std::string_view contents) {
+  write_file_or_throw(path, contents.data(), contents.size());
+}
+
+void run_system_or_throw(const std::string &command, std::string_view action) {
+  const int ret = std::system(command.c_str());
+  if (ret != 0) {
+    throw std::runtime_error(util::string_format("%.*s failed with exit code %d",
+                                                 static_cast<int>(action.size()), action.data(), ret));
+  }
+}
+
+CommandResult run_process_capture_output(const std::vector<std::string> &args) {
+  std::string command;
+  for (const std::string &arg : args) {
+    if (!command.empty()) command += ' ';
+    command += shell_quote(arg);
+  }
+  command += " 2>&1";
+
+  FILE *pipe = popen(command.c_str(), "r");
+  if (pipe == nullptr) {
+    throw std::runtime_error("popen() failed");
+  }
+
+  CommandResult result;
+  std::array<char, 4096> buf = {};
+  while (fgets(buf.data(), static_cast<int>(buf.size()), pipe) != nullptr) {
+    result.output += buf.data();
+  }
+
+  const int status = pclose(pipe);
+  result.exit_code = WIFEXITED(status) ? WEXITSTATUS(status) : 1;
+  return result;
+}
diff --git a/openpilot/tools/jotpluggler/util.h b/openpilot/tools/jotpluggler/util.h
new file mode 100644
index 0000000000..ea77a236f0
--- /dev/null
+++ b/openpilot/tools/jotpluggler/util.h
@@ -0,0 +1,103 @@
+#pragma once
+
+#include "common/util.h"
+#include "imgui.h"
+
+#include <algorithm>
+#include <array>
+#include <cctype>
+#include <cstddef>
+#include <cstdint>
+#include <filesystem>
+#include <string>
+#include <string_view>
+#include <vector>
+
+inline ImVec4 color_rgb(int r, int g, int b, float alpha = 1.0f) {
+  return ImVec4(static_cast<float>(r) / 255.0f,
+                static_cast<float>(g) / 255.0f,
+                static_cast<float>(b) / 255.0f,
+                alpha);
+}
+
+inline ImVec4 color_rgb(const std::array<uint8_t, 3> &color, float alpha = 1.0f) {
+  return color_rgb(color[0], color[1], color[2], alpha);
+}
+
+inline std::string lowercase_copy(std::string_view value) {
+  std::string out(value);
+  std::transform(out.begin(), out.end(), out.begin(), [](unsigned char c) {
+    return static_cast<char>(std::tolower(c));
+  });
+  return out;
+}
+
+inline int imgui_resize_callback(ImGuiInputTextCallbackData *data) {
+  if (data->EventFlag != ImGuiInputTextFlags_CallbackResize || data->UserData == nullptr) return 0;
+  auto *text = static_cast<std::string *>(data->UserData);
+  text->resize(static_cast<size_t>(data->BufTextLen));
+  data->Buf = text->data();
+  return 0;
+}
+
+inline bool input_text_string(const char *label,
+                              std::string *text,
+                              ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_CallbackResize;
+  return ImGui::InputText(label, text->data(), text->capacity() + 1,
+                          flags, imgui_resize_callback, text);
+}
+
+inline bool input_text_with_hint_string(const char *label,
+                                        const char *hint,
+                                        std::string *text,
+                                        ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_CallbackResize;
+  return ImGui::InputTextWithHint(label, hint, text->data(), text->capacity() + 1,
+                                  flags, imgui_resize_callback, text);
+}
+
+inline bool input_text_multiline_string(const char *label,
+                                        std::string *text,
+                                        const ImVec2 &size = ImVec2(0.0f, 0.0f),
+                                        ImGuiInputTextFlags flags = 0) {
+  flags |= ImGuiInputTextFlags_CallbackResize;
+  return ImGui::InputTextMultiline(label, text->data(), text->capacity() + 1,
+                                   size, flags, imgui_resize_callback, text);
+}
+
+inline bool is_local_stream_address(std::string_view address) {
+  return address.empty() || address == "127.0.0.1" || address == "localhost";
+}
+
+inline void ensure_parent_dir(const std::filesystem::path &path) {
+  if (path.has_parent_path()) {
+    std::filesystem::create_directories(path.parent_path());
+  }
+}
+
+inline std::string shell_quote(std::string_view value) {
+  std::string quoted;
+  quoted.reserve(value.size() + 8);
+  quoted.push_back('\'');
+  for (char c : value) {
+    if (c == '\'') {
+      quoted += "'\\''";
+    } else {
+      quoted.push_back(c);
+    }
+  }
+  quoted.push_back('\'');
+  return quoted;
+}
+
+struct CommandResult {
+  int exit_code = 0;
+  std::string output;
+};
+
+std::string read_file_or_throw(const std::filesystem::path &path);
+void write_file_or_throw(const std::filesystem::path &path, std::string_view contents);
+void write_file_or_throw(const std::filesystem::path &path, const void *data, size_t size);
+void run_system_or_throw(const std::string &command, std::string_view action);
+CommandResult run_process_capture_output(const std::vector<std::string> &args);
diff --git a/tools/joystick/README.md b/openpilot/tools/joystick/README.md
similarity index 92%
rename from tools/joystick/README.md
rename to openpilot/tools/joystick/README.md
index eb67060ca8..3ce308927c 100644
--- a/tools/joystick/README.md
+++ b/openpilot/tools/joystick/README.md
@@ -14,7 +14,7 @@ The car must be off, and openpilot must be offroad before starting `joystick_con
 SSH into your comma device and start joystick_control with the following command:
 
 ```shell
-tools/joystick/joystick_control.py --keyboard
+openpilot/tools/joystick/joystick_control.py --keyboard
 ```
 
 The available buttons and axes will print showing their key mappings. In general, the WASD keys control gas and brakes and steering torque in 5% increments.
@@ -36,13 +36,13 @@ In order to use a joystick over the network, we need to run joystick_control loc
 3. Run bridge with your laptop's IP address. This republishes the `testJoystick` packets sent from your laptop so that openpilot can receive them:
    ```shell
    # on your comma device
-   cereal/messaging/bridge {LAPTOP_IP} testJoystick
+   openpilot/cereal/messaging/bridge {LAPTOP_IP} testJoystick
    ```
 4. Start joystick_control on your laptop in ZMQ mode.
    ```shell
    # on your laptop
    export ZMQ=1
-   tools/joystick/joystick_control.py
+   openpilot/tools/joystick/joystick_control.py
    ```
 
 ---
diff --git a/tools/joystick/joystick_control.py b/openpilot/tools/joystick/joystick_control.py
similarity index 94%
rename from tools/joystick/joystick_control.py
rename to openpilot/tools/joystick/joystick_control.py
index 11d17e587e..9a39d564db 100755
--- a/tools/joystick/joystick_control.py
+++ b/openpilot/tools/joystick/joystick_control.py
@@ -5,10 +5,10 @@ import threading
 import numpy as np
 from inputs import UnpluggedError, get_gamepad
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit
 
 EXPO = 0.4
@@ -110,7 +110,7 @@ def send_thread(joystick):
 
 
 def joystick_control_thread(joystick):
-  Params().put_bool('JoystickDebugMode', True)
+  Params().put_bool('JoystickDebugMode', True, block=True)
   threading.Thread(target=send_thread, args=(joystick,), daemon=True).start()
   while True:
     joystick.update()
@@ -140,7 +140,7 @@ if __name__ == '__main__':
     print('- `R`: Resets axes')
     print('- `C`: Cancel cruise control')
   else:
-    print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
+    print('Using joystick, make sure to run openpilot/cereal/messaging/bridge on your device if running over the network!')
     print('If not running on a comma device, the mapping may need to be adjusted.')
 
   joystick = Keyboard() if args.keyboard else Joystick()
diff --git a/tools/joystick/joystickd.py b/openpilot/tools/joystick/joystickd.py
similarity index 81%
rename from tools/joystick/joystickd.py
rename to openpilot/tools/joystick/joystickd.py
index 789dad5623..f8a2598361 100755
--- a/tools/joystick/joystickd.py
+++ b/openpilot/tools/joystick/joystickd.py
@@ -3,11 +3,13 @@
 import math
 import numpy as np
 
-from cereal import messaging, car
+from openpilot.cereal import messaging
+from opendbc.car.structs import car
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL, Ratekeeper
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.drive_helpers import should_stop
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 MAX_LAT_ACCEL = 3.0
@@ -19,7 +21,7 @@ def joystickd_thread():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   VM = VehicleModel(CP)
 
-  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
+  sm = messaging.SubMaster(['carState', 'onroadEvents', 'vehicleParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
   pm = messaging.PubMaster(['carControl', 'controlsState'])
 
   rk = Ratekeeper(100, print_delay_threshold=None)
@@ -32,6 +34,7 @@ def joystickd_thread():
     CC.enabled = sm['selfdriveState'].enabled
     CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
     CC.hudControl.leadDistanceBars = 2
 
@@ -47,12 +50,12 @@ def joystickd_thread():
 
     if CC.longActive:
       actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
-      actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping
+      actuators.longControlState = LongCtrlState.stopping if should_stop(sm['carState'].vEgo, actuators.accel) else LongCtrlState.pid
       CC.cruiseControl.resume = actuators.accel > 0.0
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
-      max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
+      max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['vehicleParameters'].roll))
 
       actuators.torque = float(np.clip(joystick_axes[1], -1, 1))
       actuators.steeringAngleDeg, actuators.curvature = actuators.torque * max_angle, actuators.torque * -max_curvature
@@ -64,7 +67,7 @@ def joystickd_thread():
     controlsState = cs_msg.controlsState
     controlsState.lateralControlState.init('debugState')
 
-    lp = sm['liveParameters']
+    lp = sm['vehicleParameters']
     steer_angle_without_offset = math.radians(sm['carState'].steeringAngleDeg - lp.angleOffsetDeg)
     controlsState.curvature = -VM.calc_curvature(steer_angle_without_offset, sm['carState'].vEgo, lp.roll)
 
diff --git a/openpilot/tools/lateral_maneuvers/.gitignore b/openpilot/tools/lateral_maneuvers/.gitignore
new file mode 100644
index 0000000000..a0b6efe6b3
--- /dev/null
+++ b/openpilot/tools/lateral_maneuvers/.gitignore
@@ -0,0 +1 @@
+/lateral_reports/
diff --git a/openpilot/tools/lateral_maneuvers/README.md b/openpilot/tools/lateral_maneuvers/README.md
new file mode 100644
index 0000000000..7a4c381b15
--- /dev/null
+++ b/openpilot/tools/lateral_maneuvers/README.md
@@ -0,0 +1,42 @@
+# Lateral Maneuvers Testing Tool
+
+> [!WARNING]
+> Use caution when using this tool.
+
+Test your vehicle's lateral control tuning with this tool. The tool will test the vehicle's ability to follow a few lateral maneuvers and includes a tool to generate a report from the route.
+
+## Instructions
+
+1. Check out a development branch such as `master` on your comma device.
+2. The full maneuver suite runs at 20 and 30 mph.
+3. Enable "Lateral Maneuver Mode" in Settings > Developer on the device while offroad. Alternatively, set the parameter manually:
+
+   ```sh
+   echo -n 1 > /data/params/d/LateralManeuverMode
+   ```
+
+4. Turn your vehicle back on. You will see "Lateral Maneuver Mode".
+
+5. Ensure the area ahead is clear, as openpilot will command lateral acceleration steps in this mode. Once you are ready, set ACC manually to the target speed shown on screen and let openpilot stabilize lateral. After 1 seconds of steady straight driving, the maneuver will begin automatically. openpilot lateral control stays engaged between maneuvers normally while waiting for the next maneuver's readiness conditions. The maneuver will be aborted and repeated if speed is out of range, steering is touched or openpilot disengages.
+
+6. When the testing is complete, you'll see an alert that says "Maneuvers Finished." Complete the route by pulling over and turning off the vehicle.
+
+7. Visit https://connect.comma.ai and locate the route(s). They will stand out with lots of orange intervals in their timeline. Ensure "All logs" show as "uploaded."
+
+   ![image](https://github.com/user-attachments/assets/cfe4c6d9-752f-4b24-b421-4b90a01933dc)
+
+8. Gather the route ID and then run the report generator. The file will be exported to the same directory:
+
+    ```sh
+    $ python openpilot/tools/lateral_maneuvers/generate_report.py 98395b7c5b27882e/000001cc--5a73bde686
+
+    processing report for KIA_EV6
+    plotting maneuver: step right 20mph, runs: 3
+    plotting maneuver: step left 20mph, runs: 3
+    plotting maneuver: sine 0.5Hz 20mph, runs: 3
+    plotting maneuver: step right 30mph, runs: 3
+
+    Opening report: /home/batman/openpilot/tools/lateral_maneuvers/lateral_reports/KIA_EV6_98395b7c5b27882e_000001cc--5a73bde686.html
+    ```
+
+You can reach out on [Discord](https://discord.comma.ai) if you have any questions about these instructions or the tool itself.
diff --git a/openpilot/tools/lateral_maneuvers/generate_report.py b/openpilot/tools/lateral_maneuvers/generate_report.py
new file mode 100755
index 0000000000..e26690e2da
--- /dev/null
+++ b/openpilot/tools/lateral_maneuvers/generate_report.py
@@ -0,0 +1,251 @@
+#!/usr/bin/env python3
+import argparse
+import base64
+import io
+import math
+import numpy as np
+import os
+import webbrowser
+from collections import defaultdict
+from pathlib import Path
+import matplotlib.pyplot as plt
+from openpilot.common.utils import tabulate
+
+from opendbc.car.structs import car
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LP_FILTER_CUTOFF_HZ
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.constants import CV
+from openpilot.tools.longitudinal_maneuvers.generate_report import format_car_params
+
+
+def lat_accel(curvature, v):
+  return curvature * max(v, 1.0) ** 2
+
+
+def report(platform, route, _description, CP, ID, maneuvers):
+  output_path = Path(__file__).resolve().parent / "lateral_reports"
+  output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
+  output_path.mkdir(exist_ok=True)
+  target_cross_times = defaultdict(list)
+
+  builder = [
+    "<style>summary { cursor: pointer; }\n td, th { padding: 8px; } </style>\n",
+    "<h1>Lateral maneuver report</h1>\n",
+    f"<h3>{platform}</h3>\n",
+    f"<h3>{route}</h3>\n",
+    f"<h3>{ID.gitCommit}, {ID.gitBranch}, {ID.gitRemote}</h3>\n",
+  ]
+  if _description is not None:
+    builder.append(f"<h3>Description: {_description}</h3>\n")
+  builder.append(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
+  builder.append('{ summary }')  # to be replaced below
+  for description, runs in maneuvers:
+    # filter incomplete runs
+    completed_runs = [msgs for msgs in runs
+                      if any(m.alertDebug.alertText1 == 'Complete' for m in msgs if m.which() == 'alertDebug')]
+    print(f'plotting maneuver: {description}')
+    if not completed_runs:
+      continue
+    builder.append("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
+    builder.append(f"<h2>{description}</h2>\n")
+    for run, msgs in enumerate(completed_runs):
+      last_active = max(m.logMonoTime for m in msgs if m.which() == 'lateralManeuverPlan' and m.valid)
+      msgs = [m for m in msgs if m.logMonoTime <= last_active]
+      t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
+      t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
+      t_controlsState, controlsState = zip(*[(m.logMonoTime, m.controlsState) for m in msgs if m.which() == 'controlsState'], strict=True)
+      t_lateralPlan, lateralPlan = zip(*[(m.logMonoTime, m.lateralManeuverPlan) for m in msgs if m.which() == 'lateralManeuverPlan' and m.valid], strict=True)
+      t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
+
+      # make time relative seconds
+      t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
+      t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
+      t_controlsState = [(t - t_controlsState[0]) / 1e9 for t in t_controlsState]
+      t_lateralPlan = [(t - t_lateralPlan[0]) / 1e9 for t in t_lateralPlan]
+      t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
+
+      # maneuver validity
+      latActive = [m.latActive for m in carControl]
+      maneuver_valid = all(latActive) and not any(cs.steeringPressed for cs in carState)
+
+      _open = 'open' if maneuver_valid else ''
+      title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')
+
+      builder.append(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")
+
+      baseline_accel = lat_accel(controlsState[0].curvature, carState[0].vEgo)
+      v_ego = [m.vEgo for m in carState]
+      cross_markers = []
+
+      if description.startswith(('sine', 'jitter')):
+        amplitude = max(abs(lat_accel(lp.desiredCurvature, v) - baseline_accel)
+                        for lp, v in zip(lateralPlan, v_ego, strict=False))
+        threshold = amplitude * 0.5
+        builder.append('<h3 style="font-weight: normal">50% peak')
+        for t, cs, v in zip(t_controlsState, controlsState, v_ego, strict=False):
+          actual = lat_accel(cs.curvature, v) - baseline_accel
+          if abs(actual) > threshold:
+            builder.append(f', <strong>crossed in {t:.3f}s</strong>')
+            cross_markers.append((t, actual + baseline_accel))
+            if maneuver_valid:
+              target_cross_times[description].append(t)
+            break
+        else:
+          builder.append(', <strong>not crossed</strong>')
+        builder.append('</h3>')
+        if maneuver_valid:
+          target_cross_times.setdefault(description, [])
+      else:
+        action_targets = [(0, lat_accel(lateralPlan[0].desiredCurvature, v_ego[0]) - baseline_accel)]
+        for i in range(1, min(len(lateralPlan), len(v_ego))):
+          if abs(lateralPlan[i].desiredCurvature - lateralPlan[i - 1].desiredCurvature) > 0.001:
+            desired = lat_accel(lateralPlan[i].desiredCurvature, v_ego[i]) - baseline_accel
+            action_targets.append((i, desired))
+
+        for j, (start_i, act_target) in enumerate(action_targets):
+          start_time = t_lateralPlan[start_i]
+          end_time = t_lateralPlan[action_targets[j + 1][0]] if j + 1 < len(action_targets) else t_controlsState[-1]
+
+          builder.append(f'<h3 style="font-weight: normal">aTarget: {round(act_target, 1)} m/s^2')
+          prev_crossed = False
+          for t, cs, v in zip(t_controlsState, controlsState, v_ego, strict=False):
+            if not (start_time <= t <= end_time):
+              continue
+            actual_accel = lat_accel(cs.curvature, v) - baseline_accel
+            crossed = (0 < act_target < actual_accel) or (0 > act_target > actual_accel)
+            if crossed and prev_crossed:
+              cross_time = t - start_time
+              builder.append(f', <strong>crossed in {cross_time:.3f}s</strong>')
+              cross_markers.append((t, act_target + baseline_accel))
+              if maneuver_valid:
+                target_cross_times[description].append(cross_time)
+              break
+            prev_crossed = crossed
+          else:
+            builder.append(', <strong>not crossed</strong>')
+          builder.append('</h3>')
+          if maneuver_valid:
+            target_cross_times.setdefault(description, [])
+
+      plt.rcParams['font.size'] = 40
+      fig = plt.figure(figsize=(30, 40))
+      ax = fig.subplots(5, 1, sharex=True, gridspec_kw={'height_ratios': [5, 5, 3, 3, 3]})
+
+      ax[0].grid(linewidth=4)
+      desired_label = 'lateralManeuverPlan.desiredCurvature * vEgo^2'
+      desired_lat_accel = [lat_accel(m.desiredCurvature, v) for m, v in zip(lateralPlan, v_ego, strict=False)]
+      if description.startswith(('sine', 'jitter')):
+        ax[0].plot(t_lateralPlan[:len(desired_lat_accel)], desired_lat_accel, 'C1', label=desired_label, linewidth=6)
+      else:
+        t_desired = [t_lateralPlan[0]] + t_lateralPlan[:len(desired_lat_accel)]
+        desired_lat_accel = [baseline_accel] + desired_lat_accel
+        ax[0].step(t_desired, desired_lat_accel, 'C1', label=desired_label, linewidth=6, where='post')
+      actual_lat_accel = [lat_accel(cs.curvature, v) for cs, v in zip(controlsState, v_ego, strict=False)]
+      ax[0].plot(t_controlsState[:len(actual_lat_accel)], actual_lat_accel, 'g', label='controlsState.curvature * vEgo^2', linewidth=6)
+      ax[0].set_ylabel('Lateral Accel (m/s^2)')
+      for ct, cv in cross_markers:
+        ax[0].plot(ct, cv, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
+      ax[0].legend(prop={'size': 30})
+
+      ax[1].grid(linewidth=4)
+      if CP.steerControlType == car.CarParams.SteerControlType.angle:
+        steer_field, steer_ylabel = 'steeringAngleDeg', 'Steer angle (deg)'
+      elif CP.steerControlType == car.CarParams.SteerControlType.curvature:
+        steer_field, steer_ylabel = 'curvature', 'Curvature (1/m)'
+      else:
+        steer_field, steer_ylabel = 'torque', 'Steer torque'
+      ax[1].plot(t_carControl, [getattr(m.actuators, steer_field) for m in carControl], 'C1', label=f'carControl.actuators.{steer_field}', linewidth=6)
+      ax[1].plot(t_carOutput, [getattr(m.actuatorsOutput, steer_field) for m in carOutput], 'g', label=f'carOutput.actuatorsOutput.{steer_field}', linewidth=6)
+      ax[1].set_ylabel(steer_ylabel)
+      ax[1].legend(prop={'size': 30})
+
+      ax[2].grid(linewidth=4)
+      ax[2].plot(t_carState, [v * CV.MS_TO_MPH for v in v_ego], label='carState.vEgo', linewidth=6)
+      ax[2].set_ylabel('Velocity (mph)')
+      ax[2].yaxis.set_major_formatter(plt.FormatStrFormatter('%.1f'))
+      ax[2].legend()
+
+      t_accel = np.array(t_controlsState[:len(actual_lat_accel)])
+      raw_jerk = np.gradient(actual_lat_accel, t_accel)
+      dt_avg = np.mean(np.diff(t_accel))
+      jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), dt_avg)
+      filtered_jerk = [jerk_filter.update(j) for j in raw_jerk]
+      ax[3].grid(linewidth=4)
+      ax[3].plot(t_accel, filtered_jerk, label='d/dt(controlsState.curvature * vEgo^2)', linewidth=6)
+      ax[3].set_ylabel('Jerk (m/s^3)')
+      ax[3].legend()
+
+      ax[4].grid(linewidth=4)
+      ax[4].plot(t_carControl, [math.degrees(m.orientationNED[0]) for m in carControl], label='carControl.orientationNED[0]', linewidth=6)
+      ax[4].set_ylabel('Roll (deg)')
+      ax[4].legend()
+
+      ax[-1].set_xlabel("Time (s)")
+      fig.tight_layout()
+
+      buffer = io.BytesIO()
+      fig.savefig(buffer, format='webp')
+      plt.close(fig)
+      buffer.seek(0)
+      builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
+      builder.append("</details>\n")
+
+  summary = ["<h2>Summary</h2>\n"]
+  cols = ['maneuver', 'crossed', 'mean', 'min', 'max']
+  table = []
+  for description, times in target_cross_times.items():
+    l = [description, len(times)]
+    if len(times):
+      l.extend([round(sum(times) / len(times), 2), round(min(times), 2), round(max(times), 2)])
+    table.append(l)
+  summary.append(tabulate(table, headers=cols, tablefmt='html', numalign='left') + '\n')
+
+  sum_idx = builder.index('{ summary }')
+  builder[sum_idx:sum_idx + 1] = summary
+
+  with open(output_fn, "w") as f:
+    f.write(''.join(builder))
+
+  print(f"\nOpening report: {output_fn}\n")
+  webbrowser.open_new_tab(str(output_fn))
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description='Generate lateral maneuver report from route')
+  parser.add_argument('route', type=str, help='Route name (e.g. 00000000--5f742174be)')
+  parser.add_argument('description', type=str, nargs='?')
+
+  args = parser.parse_args()
+
+  if '/' in args.route or '|' in args.route:
+    lr = LogReader(args.route, only_union_types=True)
+  else:
+    segs = [seg for seg in os.listdir(Paths.log_root()) if args.route in seg]
+    lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog.zst') for seg in segs], only_union_types=True)
+
+  CP = lr.first('carParams')
+  ID = lr.first('initData')
+  platform = CP.carFingerprint
+  print('processing report for', platform)
+
+  maneuvers: list[tuple[str, list[list]]] = []
+  active_prev = False
+  description_prev = None
+
+  for msg in lr:
+    if msg.which() == 'alertDebug':
+      active = 'Active' in msg.alertDebug.alertText1 or msg.alertDebug.alertText1 == 'Complete'
+      if active and not active_prev:
+        if msg.alertDebug.alertText2 == description_prev:
+          maneuvers[-1][1].append([])
+        else:
+          maneuvers.append((msg.alertDebug.alertText2, [[]]))
+        description_prev = maneuvers[-1][0]
+      active_prev = active
+
+    if active_prev:
+      maneuvers[-1][1][-1].append(msg)
+
+  report(platform, args.route, args.description, CP, ID, maneuvers)
diff --git a/openpilot/tools/lateral_maneuvers/lateral_maneuversd.py b/openpilot/tools/lateral_maneuvers/lateral_maneuversd.py
new file mode 100755
index 0000000000..ed07c896f9
--- /dev/null
+++ b/openpilot/tools/lateral_maneuvers/lateral_maneuversd.py
@@ -0,0 +1,204 @@
+#!/usr/bin/env python3
+import numpy as np
+from dataclasses import dataclass
+
+from openpilot.cereal import messaging
+from opendbc.car.structs import car
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.tools.longitudinal_maneuvers.maneuversd import Action, Maneuver as _Maneuver
+
+# thresholds for starting maneuvers
+MAX_SPEED_DEV = 0.7 # deviation in m/s
+MAX_CURV = 0.004 # 250 m radius
+MAX_ROLL = 0.12 # 6.8°
+TIMER = 2.0 # sec stable conditions before starting maneuver
+
+@dataclass
+class Maneuver(_Maneuver):
+  _baseline_curvature: float = 0.0
+
+  def get_accel(self, v_ego: float, lat_active: bool, curvature: float, roll: float) -> float:
+    self._run_completed = False
+    # only start maneuver on straight, flat roads
+    ready = abs(v_ego - self.initial_speed) < MAX_SPEED_DEV and lat_active and abs(curvature) < MAX_CURV and abs(roll) < MAX_ROLL
+    self._ready_cnt = (self._ready_cnt + 1) if ready else max(self._ready_cnt - 1, 0)
+
+    if self._ready_cnt > (TIMER / DT_MDL):
+      if not self._active:
+        self._baseline_curvature = curvature
+      self._active = True
+
+    if not self._active:
+      return 0.0
+
+    return self._step()
+
+  def reset(self):
+    super().reset()
+    self._ready_cnt = 0
+
+
+def _sine_action(amplitude, period, duration):
+  t = np.linspace(0, duration, int(duration / DT_MDL) + 1)
+  a = amplitude * np.sin(2 * np.pi * t / period)
+  return Action(a.tolist(), t.tolist())
+
+
+MANEUVERS = [
+  Maneuver(
+    "step right 20mph",
+    [Action([0.5], [1.0]), Action([-0.5], [1.5])],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "step left 20mph",
+    [Action([-0.5], [1.0]), Action([0.5], [1.5])],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "sine 0.5Hz 20mph",
+    [_sine_action(1.0, 2.0, 2.0), Action([0.0], [0.5])],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "jitter 20mph",
+    [Action([-0.5 if i % 2 == 0 else 0.5], [0.1]) for i in range(10)],
+    repeat=2,
+    initial_speed=20. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "step right 30mph",
+    [Action([0.5], [1.0]), Action([-0.5], [1.5])],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "step left 30mph",
+    [Action([-0.5], [1.0]), Action([0.5], [1.5])],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "sine 0.5Hz 30mph",
+    [_sine_action(1.0, 2.0, 2.0), Action([0.0], [0.5])],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+  Maneuver(
+    "jitter 30mph",
+    [Action([-0.5 if i % 2 == 0 else 0.5], [0.1]) for i in range(10)],
+    repeat=2,
+    initial_speed=30. * CV.MPH_TO_MS,
+  ),
+]
+
+
+def main():
+  params = Params()
+  cloudlog.info("lateral_maneuversd is waiting for CarParams")
+  messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
+  sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
+  pm = messaging.PubMaster(['lateralManeuverPlan', 'alertDebug'])
+
+  maneuvers = iter(MANEUVERS)
+  maneuver = None
+  complete_cnt = 0
+  aborted_cnt = 0
+  abort_reason = ''
+  display_holdoff = 0
+  prev_text = ''
+
+  while True:
+    sm.update()
+
+    if maneuver is None:
+      maneuver = next(maneuvers, None)
+
+    alert_msg = messaging.new_message('alertDebug')
+    alert_msg.valid = True
+
+    plan_send = messaging.new_message('lateralManeuverPlan')
+
+    accel = 0
+    v_ego = max(sm['carState'].vEgo, 0)
+    curvature = sm['controlsState'].desiredCurvature
+
+    if complete_cnt > 0:
+      complete_cnt -= 1
+      alert_msg.alertDebug.alertText1 = 'Completed'
+      alert_msg.alertDebug.alertText2 = maneuver.description
+    elif maneuver is not None:
+      # any driver input aborts the maneuver
+      CS = sm['carState']
+      if CS.steeringPressed or CS.gasPressed:
+        aborted_cnt = int(1.0 / DT_MDL)
+        abort_reason = ('steering pressed' if CS.steeringPressed else 'gas pressed').ljust(20)
+      aborted = aborted_cnt > 0
+      speed_out_of_range = maneuver.active and abs(v_ego - maneuver.initial_speed) > MAX_SPEED_DEV
+      if aborted or speed_out_of_range:
+        maneuver.reset()
+
+      roll = sm['carControl'].orientationNED[0] if len(sm['carControl'].orientationNED) == 3 else 0.0
+      accel = maneuver.get_accel(v_ego, sm['carControl'].latActive, curvature, roll)
+
+      if maneuver._run_completed:
+        complete_cnt = int(1.0 / DT_MDL)
+        alert_msg.alertDebug.alertText1 = 'Complete'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+      elif maneuver.active:
+        action_remaining = maneuver.actions[maneuver._action_index].time_bp[-1] - maneuver._action_frames * DT_MDL
+        if maneuver.description.startswith('sine'):
+          freq = maneuver.description.split()[1]
+          alert_msg.alertDebug.alertText1 = f'Active sine {freq} {max(action_remaining, 0):.1f}s'
+        else:
+          alert_msg.alertDebug.alertText1 = f'Active {accel:+.1f}m/s² {max(action_remaining, 0):.1f}s'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+      elif aborted_cnt > 0:
+        aborted_cnt -= 1
+        alert_msg.alertDebug.alertText1 = abort_reason
+      elif not (abs(v_ego - maneuver.initial_speed) < MAX_SPEED_DEV and sm['carControl'].latActive):
+        alert_msg.alertDebug.alertText1 = f'Set speed to {maneuver.initial_speed * CV.MS_TO_MPH:0.0f} mph'
+      elif maneuver._ready_cnt > 0:
+        ready_time = max(TIMER - maneuver._ready_cnt * DT_MDL, 0)
+        alert_msg.alertDebug.alertText1 = f'Starting: {int(ready_time) + 1}'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+      else:
+        curv_ok = abs(curvature) < MAX_CURV
+        reason = 'road not straight' if not curv_ok else 'road not flat'
+        alert_msg.alertDebug.alertText1 = f'Waiting: {reason}'
+        alert_msg.alertDebug.alertText2 = maneuver.description
+    else:
+      alert_msg.alertDebug.alertText1 = 'Maneuvers Finished'
+
+    # prevent flickering text
+    setup = ('Set speed', 'Starting', 'Waiting')
+    text = alert_msg.alertDebug.alertText1
+    same = text == prev_text or (text.startswith('Starting') and prev_text.startswith('Starting'))
+    if not same and text.startswith(setup) and prev_text.startswith(setup) and display_holdoff > 0:
+      alert_msg.alertDebug.alertText1 = prev_text
+      display_holdoff -= 1
+    else:
+      prev_text = text
+      display_holdoff = int(0.5 / DT_MDL) if text.startswith(setup) else 0
+
+    pm.send('alertDebug', alert_msg)
+
+    plan_send.valid = maneuver is not None and maneuver.active and complete_cnt == 0
+    if plan_send.valid:
+      plan_send.lateralManeuverPlan.desiredCurvature = maneuver._baseline_curvature + accel / max(v_ego, MIN_SPEED) ** 2
+    pm.send('lateralManeuverPlan', plan_send)
+
+    if maneuver is not None and maneuver.finished and complete_cnt == 0:
+      maneuver = None
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/lib/README.md b/openpilot/tools/lib/README.md
similarity index 87%
rename from tools/lib/README.md
rename to openpilot/tools/lib/README.md
index af1ad0de22..17e24816ec 100644
--- a/tools/lib/README.md
+++ b/openpilot/tools/lib/README.md
@@ -1,6 +1,6 @@
 ## LogReader
 
-Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
+Route is a class for conveniently accessing all the [logs](/openpilot/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
 
 ```python
 from openpilot.tools.lib.route import Route
diff --git a/tools/lib/__init__.py b/openpilot/tools/lib/__init__.py
similarity index 100%
rename from tools/lib/__init__.py
rename to openpilot/tools/lib/__init__.py
diff --git a/tools/lib/api.py b/openpilot/tools/lib/api.py
similarity index 97%
rename from tools/lib/api.py
rename to openpilot/tools/lib/api.py
index f84fe75869..7fca9b320f 100644
--- a/tools/lib/api.py
+++ b/openpilot/tools/lib/api.py
@@ -20,7 +20,7 @@ class CommaApi:
       resp_json = resp.json()
       if isinstance(resp_json, dict) and resp_json.get('error'):
         if resp.status_code in [401, 403]:
-          raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
+          raise UnauthorizedError('Unauthorized. Authenticate with openpilot/tools/lib/auth.py')
 
         e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
         e.status_code = resp.status_code
diff --git a/tools/lib/auth.py b/openpilot/tools/lib/auth.py
similarity index 90%
rename from tools/lib/auth.py
rename to openpilot/tools/lib/auth.py
index 5988397d0a..6a685e38d9 100755
--- a/tools/lib/auth.py
+++ b/openpilot/tools/lib/auth.py
@@ -32,9 +32,6 @@ from urllib.parse import parse_qs, urlencode
 from openpilot.tools.lib.api import APIError, CommaApi, UnauthorizedError
 from openpilot.tools.lib.auth_config import set_token, get_token
 
-PORT = 3000
-
-
 class ClientRedirectServer(HTTPServer):
   query_params: dict[str, Any] = {}
 
@@ -54,11 +51,11 @@ class ClientRedirectHandler(BaseHTTPRequestHandler):
     self.end_headers()
     self.wfile.write(b'Return to the CLI to continue')
 
-  def log_message(self, *args):
+  def log_message(self, format: str, *args: object) -> None:  # noqa: A002  # stdlib override
     pass  # this prevent http server from dumping messages to stdout
 
 
-def auth_redirect_link(method):
+def auth_redirect_link(method, port):
   provider_id = {
     'google': 'g',
     'apple': 'a',
@@ -67,7 +64,7 @@ def auth_redirect_link(method):
 
   params = {
     'redirect_uri': f"https://api.comma.ai/v2/auth/{provider_id}/redirect/",
-    'state': f'service,localhost:{PORT}',
+    'state': f'service,localhost:{port}',
   }
 
   if method == 'google':
@@ -98,9 +95,9 @@ def auth_redirect_link(method):
 
 
 def login(method):
-  oauth_uri = auth_redirect_link(method)
-
-  web_server = ClientRedirectServer(('localhost', PORT), ClientRedirectHandler)
+  # Let the OS select an available port to avoid colliding with other services.
+  web_server = ClientRedirectServer(('localhost', 0), ClientRedirectHandler)
+  oauth_uri = auth_redirect_link(method, web_server.server_port)
   print(f'To sign in, use your browser and navigate to {oauth_uri}')
   webbrowser.open(oauth_uri, new=2)
 
diff --git a/tools/lib/auth_config.py b/openpilot/tools/lib/auth_config.py
similarity index 92%
rename from tools/lib/auth_config.py
rename to openpilot/tools/lib/auth_config.py
index c4e7b6261b..5966bd34a9 100644
--- a/tools/lib/auth_config.py
+++ b/openpilot/tools/lib/auth_config.py
@@ -1,6 +1,6 @@
 import json
 import os
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 class MissingAuthConfigError(Exception):
diff --git a/tools/lib/azure_container.py b/openpilot/tools/lib/azure_container.py
similarity index 100%
rename from tools/lib/azure_container.py
rename to openpilot/tools/lib/azure_container.py
diff --git a/tools/lib/bootlog.py b/openpilot/tools/lib/bootlog.py
similarity index 100%
rename from tools/lib/bootlog.py
rename to openpilot/tools/lib/bootlog.py
diff --git a/tools/lib/cache.py b/openpilot/tools/lib/cache.py
similarity index 100%
rename from tools/lib/cache.py
rename to openpilot/tools/lib/cache.py
diff --git a/tools/lib/comma_car_segments.py b/openpilot/tools/lib/comma_car_segments.py
similarity index 97%
rename from tools/lib/comma_car_segments.py
rename to openpilot/tools/lib/comma_car_segments.py
index cd19356d66..b27887ed29 100644
--- a/tools/lib/comma_car_segments.py
+++ b/openpilot/tools/lib/comma_car_segments.py
@@ -74,7 +74,7 @@ def get_repo_url(path):
 
   response = requests.head(get_repo_raw_url(path))
 
-  if "text/plain" in response.headers.get("content-type"):
+  if "text/plain" in response.headers.get("content-type", ""):
     # This is an LFS pointer, so download the raw data from lfs
     response = requests.get(get_repo_raw_url(path))
     assert response.status_code == 200
diff --git a/tools/lib/exceptions.py b/openpilot/tools/lib/exceptions.py
similarity index 100%
rename from tools/lib/exceptions.py
rename to openpilot/tools/lib/exceptions.py
diff --git a/openpilot/tools/lib/file_downloader.py b/openpilot/tools/lib/file_downloader.py
new file mode 100755
index 0000000000..efb06095be
--- /dev/null
+++ b/openpilot/tools/lib/file_downloader.py
@@ -0,0 +1,259 @@
+#!/usr/bin/env python3
+"""
+CLI tool for downloading files and querying the comma API.
+Called by C++ replay/cabana via subprocess.
+
+Subcommands:
+  route-files <route>    - Get route file URLs as JSON
+  download <url>         - Download/decompress URL to local cache, print local path
+  decompress <path>      - Decompress a local log file, print temporary path
+  devices                - List user's devices as JSON
+  device-routes <did>    - List routes for a device as JSON
+"""
+import argparse
+import bz2
+import hashlib
+import json
+import os
+import shutil
+import sys
+import tempfile
+
+import zstandard as zstd
+
+from openpilot.common.hardware.hw import Paths
+from openpilot.tools.lib.api import CommaApi, UnauthorizedError, APIError
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.url_file import URLFile
+
+
+def api_call(func):
+  """Run an API call, outputting JSON result or error to stdout."""
+  try:
+    result = func(CommaApi(get_token()))
+    json.dump(result, sys.stdout)
+  except UnauthorizedError:
+    json.dump({"error": "unauthorized"}, sys.stdout)
+  except APIError as e:
+    error = "not_found" if getattr(e, 'status_code', 0) == 404 else str(e)
+    json.dump({"error": error}, sys.stdout)
+  except Exception as e:
+    json.dump({"error": str(e)}, sys.stdout)
+  sys.stdout.write("\n")
+  sys.stdout.flush()
+
+
+def cache_file_path(url, compression=None):
+  url_without_query = url.split("?")[0]
+  if compression:
+    url_without_query = f"decompressed-{compression}:{url_without_query}"
+  return os.path.join(Paths.download_cache_root(), hashlib.sha256(url_without_query.encode()).hexdigest())
+
+
+def compression_type(data):
+  if data.startswith(b'BZh'):
+    return 'bz2'
+  if data.startswith(b'\x28\xb5\x2f\xfd'):
+    return 'zst'
+  return None
+
+
+def make_decompressor(compression):
+  if compression == 'bz2':
+    return bz2.BZ2Decompressor()
+  if compression == 'zst':
+    return zstd.ZstdDecompressor().decompressobj()
+  raise ValueError(f"Unsupported compression type: {compression}")
+
+
+def decompress_file(source, destination, compression=None):
+  with open(source, 'rb') as src, open(destination, 'wb') as dst:
+    header = src.read(4)
+    compression = compression or compression_type(header)
+    decompressor = make_decompressor(compression)
+    dst.write(decompressor.decompress(header))
+    while data := src.read(1024 * 1024):
+      dst.write(decompressor.decompress(data))
+  if not decompressor.eof:
+    raise EOFError(f"Compressed {compression} file ended before the end-of-stream marker")
+
+
+def materialize_cached_file(source, url, compression):
+  local_path = cache_file_path(url, compression)
+  if os.path.exists(local_path):
+    return local_path
+
+  tmp_fd, tmp_path = tempfile.mkstemp(dir=Paths.download_cache_root())
+  os.close(tmp_fd)
+  try:
+    decompress_file(source, tmp_path, compression)
+    shutil.move(tmp_path, local_path)
+  except Exception:
+    try:
+      os.unlink(tmp_path)
+    except OSError:
+      pass
+    raise
+  return local_path
+
+
+def cmd_route_files(args):
+  api_call(lambda api: api.get(f"v1/route/{args.route}/files"))
+
+
+def cmd_download(args):
+  url = args.url
+  use_cache = not args.no_cache
+
+  if use_cache:
+    for compression in ('bz2', 'zst'):
+      decompressed_path = cache_file_path(url, compression)
+      if os.path.exists(decompressed_path):
+        sys.stdout.write(decompressed_path + "\n")
+        sys.stdout.flush()
+        return
+
+    local_path = cache_file_path(url)
+    if os.path.exists(local_path):
+      with open(local_path, 'rb') as f:
+        compression = compression_type(f.read(4))
+        if compression:
+          local_path = materialize_cached_file(local_path, url, compression)
+      sys.stdout.write(local_path + "\n")
+      sys.stdout.flush()
+      return
+
+  try:
+    # Stream the file in a single HTTP request instead of making
+    # a separate Range request per chunk (which was very slow).
+    pool = URLFile.pool_manager()
+    r = pool.request("GET", url, preload_content=False)
+    if r.status not in (200, 206):
+      sys.stderr.write(f"ERROR:HTTP {r.status}\n")
+      sys.stderr.flush()
+      sys.exit(1)
+
+    total = int(r.headers.get('content-length', 0))
+    if total <= 0:
+      sys.stderr.write("ERROR:File not found or empty\n")
+      sys.stderr.flush()
+      sys.exit(1)
+
+    os.makedirs(Paths.download_cache_root(), exist_ok=True)
+    tmp_fd, tmp_path = tempfile.mkstemp(dir=Paths.download_cache_root())
+    try:
+      downloaded = 0
+      chunk_size = 1024 * 1024
+      compression = None
+      decompressor = None
+      with os.fdopen(tmp_fd, 'wb') as f:
+        for data in r.stream(chunk_size):
+          if downloaded == 0:
+            compression = compression_type(data)
+            if compression:
+              decompressor = make_decompressor(compression)
+          f.write(decompressor.decompress(data) if decompressor else data)
+          downloaded += len(data)
+          sys.stderr.write(f"PROGRESS:{downloaded}:{total}\n")
+          sys.stderr.flush()
+
+      if decompressor and not decompressor.eof:
+        raise EOFError(f"Compressed {compression} file ended before the end-of-stream marker")
+
+      if decompressor:
+        if use_cache:
+          output_path = cache_file_path(url, compression)
+          shutil.move(tmp_path, output_path)
+        else:
+          output_path = tmp_path
+        sys.stdout.write(output_path + "\n")
+      elif use_cache:
+        shutil.move(tmp_path, local_path)
+        sys.stdout.write(local_path + "\n")
+      else:
+        sys.stdout.write(tmp_path + "\n")
+    except Exception:
+      try:
+        os.unlink(tmp_path)
+      except OSError:
+        pass
+      raise
+    finally:
+      r.release_conn()
+
+  except Exception as e:
+    sys.stderr.write(f"ERROR:{e}\n")
+    sys.stderr.flush()
+    sys.exit(1)
+
+  sys.stdout.flush()
+
+
+def cmd_decompress(args):
+  os.makedirs(Paths.download_cache_root(), exist_ok=True)
+  output_fd, output_path = tempfile.mkstemp(dir=Paths.download_cache_root())
+  os.close(output_fd)
+  try:
+    decompress_file(args.path, output_path)
+  except Exception as e:
+    try:
+      os.unlink(output_path)
+    except OSError:
+      pass
+    sys.stderr.write(f"ERROR:{e}\n")
+    sys.stderr.flush()
+    sys.exit(1)
+  sys.stdout.write(output_path + "\n")
+  sys.stdout.flush()
+
+
+def cmd_devices(args):
+  api_call(lambda api: api.get("v1/me/devices/"))
+
+
+def cmd_device_routes(args):
+  def fetch(api):
+    if args.preserved:
+      return api.get(f"v1/devices/{args.dongle_id}/routes/preserved")
+    params = {}
+    if args.start is not None:
+      params['start'] = args.start
+    if args.end is not None:
+      params['end'] = args.end
+    return api.get(f"v1/devices/{args.dongle_id}/routes_segments", params=params)
+  api_call(fetch)
+
+
+def main():
+  parser = argparse.ArgumentParser(description="File downloader CLI for openpilot tools")
+  subparsers = parser.add_subparsers(dest="command", required=True)
+
+  p_rf = subparsers.add_parser("route-files")
+  p_rf.add_argument("route")
+  p_rf.set_defaults(func=cmd_route_files)
+
+  p_dl = subparsers.add_parser("download")
+  p_dl.add_argument("url")
+  p_dl.add_argument("--no-cache", action="store_true")
+  p_dl.set_defaults(func=cmd_download)
+
+  p_dc = subparsers.add_parser("decompress")
+  p_dc.add_argument("path")
+  p_dc.set_defaults(func=cmd_decompress)
+
+  p_dev = subparsers.add_parser("devices")
+  p_dev.set_defaults(func=cmd_devices)
+
+  p_dr = subparsers.add_parser("device-routes")
+  p_dr.add_argument("dongle_id")
+  p_dr.add_argument("--start", type=int, default=None)
+  p_dr.add_argument("--end", type=int, default=None)
+  p_dr.add_argument("--preserved", action="store_true")
+  p_dr.set_defaults(func=cmd_device_routes)
+
+  args = parser.parse_args()
+  args.func(args)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/lib/file_sources.py b/openpilot/tools/lib/file_sources.py
similarity index 92%
rename from tools/lib/file_sources.py
rename to openpilot/tools/lib/file_sources.py
index cb7bf15114..2d2bfccfd7 100755
--- a/tools/lib/file_sources.py
+++ b/openpilot/tools/lib/file_sources.py
@@ -12,7 +12,7 @@ Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]]
 InternalUnavailableException = Exception("Internal source not available")
 
 
-def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, /) -> dict[int, str]:
   route = Route(sr.route_name)
 
   # comma api will have already checked if the file exists
@@ -22,7 +22,7 @@ def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> d
     return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
 
 
-def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
+def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, /, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
   if not internal_source_available(endpoint_url):
     raise InternalUnavailableException
 
@@ -32,11 +32,11 @@ def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpo
   return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
 
 
-def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, /) -> dict[int, str]:
   return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
 
 
-def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, /) -> dict[int, str]:
   return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
 
 
diff --git a/tools/lib/filereader.py b/openpilot/tools/lib/filereader.py
similarity index 100%
rename from tools/lib/filereader.py
rename to openpilot/tools/lib/filereader.py
diff --git a/tools/lib/framereader.py b/openpilot/tools/lib/framereader.py
similarity index 98%
rename from tools/lib/framereader.py
rename to openpilot/tools/lib/framereader.py
index c13f7fd313..62c75b95f7 100644
--- a/tools/lib/framereader.py
+++ b/openpilot/tools/lib/framereader.py
@@ -28,7 +28,7 @@ class LRUCache:
   def __setitem__(self, key, value):
     self._cache[key] = value
     if len(self._cache) > self.capacity:
-        self._cache.popitem(last=False)
+      self._cache.popitem(last=False)
 
   def __contains__(self, key):
     return key in self._cache
@@ -51,10 +51,10 @@ def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc', hwaccel
           "-vsync", "0",
           "-f", vid_fmt,
           "-flags2", "showall",
-          "-i", "-",
+          "-i", "pipe:0",
           "-f", "rawvideo",
           "-pix_fmt", pix_fmt,
-          "-"]
+          "pipe:1"]
   dat = subprocess.check_output(args, input=rawdat)
 
   ret: np.ndarray
@@ -71,7 +71,7 @@ def ffprobe(fn, fmt=None):
   cmd = ["ffprobe", "-v", "quiet", "-print_format", "json", "-show_format", "-show_streams"]
   if fmt:
     cmd += ["-f", fmt]
-  cmd += ["-i", "-"]
+  cmd += ["-i", "pipe:0"]
 
   try:
     with FileReader(fn) as f:
diff --git a/tools/lib/github_utils.py b/openpilot/tools/lib/github_utils.py
similarity index 98%
rename from tools/lib/github_utils.py
rename to openpilot/tools/lib/github_utils.py
index 46a0dcf3cb..6a443b4155 100644
--- a/tools/lib/github_utils.py
+++ b/openpilot/tools/lib/github_utils.py
@@ -62,7 +62,7 @@ class GithubUtils:
     self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True)
 
   def get_bucket_sha(self, bucket):
-    github_path = f"git/refs/heads/{bucket}"
+    github_path = f"git/ref/heads/{bucket}"
     r = self.api_call(github_path, data_call=True, raise_on_failure=False)
     return r.json()['object']['sha'] if r.ok else None
 
diff --git a/tools/lib/helpers.py b/openpilot/tools/lib/helpers.py
similarity index 100%
rename from tools/lib/helpers.py
rename to openpilot/tools/lib/helpers.py
diff --git a/tools/lib/kbhit.py b/openpilot/tools/lib/kbhit.py
similarity index 100%
rename from tools/lib/kbhit.py
rename to openpilot/tools/lib/kbhit.py
diff --git a/tools/lib/live_logreader.py b/openpilot/tools/lib/live_logreader.py
similarity index 87%
rename from tools/lib/live_logreader.py
rename to openpilot/tools/lib/live_logreader.py
index edc4ac1611..20f8c3502c 100644
--- a/tools/lib/live_logreader.py
+++ b/openpilot/tools/lib/live_logreader.py
@@ -1,6 +1,6 @@
 import os
-from cereal import log as capnp_log, messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log as capnp_log, messaging
+from openpilot.cereal.services import SERVICE_LIST
 
 from openpilot.tools.lib.logreader import LogIterable, RawLogIterable
 
diff --git a/tools/lib/log_time_series.py b/openpilot/tools/lib/log_time_series.py
similarity index 95%
rename from tools/lib/log_time_series.py
rename to openpilot/tools/lib/log_time_series.py
index 5e8aa4f73b..eba821bc84 100644
--- a/tools/lib/log_time_series.py
+++ b/openpilot/tools/lib/log_time_series.py
@@ -80,5 +80,5 @@ if __name__ == "__main__":
   import sys
   from openpilot.tools.lib.logreader import LogReader
   m = msgs_to_time_series(LogReader(sys.argv[1]))
-  print(m['driverCameraState']['t'])
-  print(np.diff(m['driverCameraState']['timestampSof']))
+  print(m['cabinCameraState']['t'])
+  print(np.diff(m['cabinCameraState']['timestampSof']))
diff --git a/tools/lib/logreader.py b/openpilot/tools/lib/logreader.py
similarity index 97%
rename from tools/lib/logreader.py
rename to openpilot/tools/lib/logreader.py
index 9696c8524d..fbfb28dbe0 100755
--- a/tools/lib/logreader.py
+++ b/openpilot/tools/lib/logreader.py
@@ -15,13 +15,15 @@ import zstandard as zstd
 from collections.abc import Iterable, Iterator
 from urllib.parse import parse_qs, urlparse
 
-from cereal import log as capnp_log
+from openpilot.cereal import log as capnp_log
 from openpilot.common.swaglog import cloudlog
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
 from openpilot.tools.lib.route import SegmentRange, FileName
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 
+from openpilot.sunnypilot.tools.lib.sunnypilot_car_segments import sunnypilot_car_segments_source
+
 LogMessage = type[capnp._DynamicStructReader]
 LogIterable = Iterable[LogMessage]
 RawLogIterable = Iterable[bytes]
@@ -246,7 +248,7 @@ class LogReader:
   def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
                sources: list[Source] | None = None, sort_by_time=False, only_union_types=False):
     if sources is None:
-      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source]
+      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source, sunnypilot_car_segments_source]
 
     self.default_mode = default_mode
     self.sources = sources
diff --git a/tools/lib/openpilotci.py b/openpilot/tools/lib/openpilotci.py
similarity index 100%
rename from tools/lib/openpilotci.py
rename to openpilot/tools/lib/openpilotci.py
diff --git a/tools/lib/openpilotcontainers.py b/openpilot/tools/lib/openpilotcontainers.py
similarity index 100%
rename from tools/lib/openpilotcontainers.py
rename to openpilot/tools/lib/openpilotcontainers.py
diff --git a/tools/lib/route.py b/openpilot/tools/lib/route.py
similarity index 100%
rename from tools/lib/route.py
rename to openpilot/tools/lib/route.py
diff --git a/tools/lib/sanitizer.py b/openpilot/tools/lib/sanitizer.py
similarity index 100%
rename from tools/lib/sanitizer.py
rename to openpilot/tools/lib/sanitizer.py
diff --git a/tools/lib/tests/__init__.py b/openpilot/tools/lib/tests/__init__.py
similarity index 100%
rename from tools/lib/tests/__init__.py
rename to openpilot/tools/lib/tests/__init__.py
diff --git a/tools/lib/tests/test_caching.py b/openpilot/tools/lib/tests/test_caching.py
similarity index 93%
rename from tools/lib/tests/test_caching.py
rename to openpilot/tools/lib/tests/test_caching.py
index cb14098e6d..565bac40dd 100644
--- a/tools/lib/tests/test_caching.py
+++ b/openpilot/tools/lib/tests/test_caching.py
@@ -3,10 +3,11 @@ import os
 import shutil
 import socket
 import tempfile
-import pytest
 
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.test.helpers import http_server_context
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.tools.lib.url_file import URLFile, prune_cache
 import openpilot.tools.lib.url_file as url_file_module
 
@@ -16,7 +17,7 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
 
   def do_GET(self):
     if self.FILE_EXISTS:
-      self.send_response(206 if "Range" in self.headers else 200, b'1234')
+      self.send_response(206 if "Range" in self.headers else 200, '1234')
     else:
       self.send_response(404)
     self.end_headers()
@@ -30,12 +31,11 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
     self.end_headers()
 
 
-@pytest.fixture
 def host():
   with http_server_context(handler=CachingTestRequestHandler) as (host, port):
     yield f"http://{host}:{port}"
 
-class TestFileDownload:
+class TestFileDownload(OpenpilotTestCase):
 
   def test_pipeline_defaults(self, host):
     # TODO: parameterize the defaults so we don't rely on hard-coded values in xx
@@ -59,7 +59,7 @@ class TestFileDownload:
     # ensure caching on by default and cache dir gets created
     os.environ.pop("DISABLE_FILEREADER_CACHE", None)
     if os.path.exists(Paths.download_cache_root()):
-      shutil.rmtree(Paths.download_cache_root())
+      shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
     URLFile(f"{host}/test.txt").get_length()
     URLFile(f"{host}/test.txt").read()
     assert os.path.exists(Paths.download_cache_root())
@@ -117,7 +117,7 @@ class TestFileDownload:
     self.compare_loads(large_file_url, length - 100, 100)
     self.compare_loads(large_file_url)
 
-  @pytest.mark.parametrize("cache_enabled", [True, False])
+  @parameterized.expand([True, False], names=("cache_enabled",))
   def test_recover_from_missing_file(self, host, cache_enabled):
     if cache_enabled:
       os.environ.pop("DISABLE_FILEREADER_CACHE", None)
@@ -135,7 +135,7 @@ class TestFileDownload:
     assert length == 4
 
 
-class TestCache:
+class TestCache(OpenpilotTestCase):
   def test_prune_cache(self, monkeypatch):
     with tempfile.TemporaryDirectory() as tmpdir:
       monkeypatch.setattr(Paths, 'download_cache_root', staticmethod(lambda: tmpdir + "/"))
diff --git a/tools/lib/tests/test_comma_car_segments.py b/openpilot/tools/lib/tests/test_comma_car_segments.py
similarity index 80%
rename from tools/lib/tests/test_comma_car_segments.py
rename to openpilot/tools/lib/tests/test_comma_car_segments.py
index 1b0f07ee63..a678aad51d 100644
--- a/tools/lib/tests/test_comma_car_segments.py
+++ b/openpilot/tools/lib/tests/test_comma_car_segments.py
@@ -1,13 +1,14 @@
-import pytest
+import unittest
 import requests
 from opendbc.car.fingerprints import MIGRATION
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import SegmentRange
 
 
-@pytest.mark.skip(reason="huggingface is flaky, run this test manually to check for issues")
-class TestCommaCarSegments:
+@unittest.skip("huggingface is flaky, run this test manually to check for issues")
+class TestCommaCarSegments(OpenpilotTestCase):
   def test_database(self):
     database = get_comma_car_segments_database()
 
diff --git a/tools/lib/tests/test_logreader.py b/openpilot/tools/lib/tests/test_logreader.py
similarity index 71%
rename from tools/lib/tests/test_logreader.py
rename to openpilot/tools/lib/tests/test_logreader.py
index 0151940c44..9d5691abd8 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/openpilot/tools/lib/tests/test_logreader.py
@@ -4,15 +4,16 @@ import io
 import shutil
 import tempfile
 import os
-import pytest
+import unittest
 import requests
 
-from parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.parameterized import parameterized
 
-from cereal import log as capnp_log
-from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
-from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
-from openpilot.tools.lib.route import SegmentRange
+from openpilot.cereal import log as capnp_log
+from openpilot.tools.lib.logreader import _LogFileReader, LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
+from openpilot.tools.lib.file_sources import InternalUnavailableException
+from openpilot.tools.lib.route import FileName, SegmentRange
 from openpilot.tools.lib.url_file import URLFileException
 
 NUM_SEGS = 17  # number of segments in the test route
@@ -47,7 +48,46 @@ def setup_source_scenario(mocker, is_internal=False):
   yield
 
 
-class TestLogReader:
+class TestLogReader(OpenpilotTestCase):
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    cls.tmpdir = tempfile.TemporaryDirectory()
+    cls.qlog_path = os.path.join(cls.tmpdir.name, "qlog")
+    cls.rlog_path = os.path.join(cls.tmpdir.name, "rlog")
+    cls._write_test_log(cls.qlog_path, 10, include_car_params=True)
+    cls._write_test_log(cls.rlog_path, 100)
+
+  @classmethod
+  def tearDownClass(cls):
+    cls.tmpdir.cleanup()
+    super().tearDownClass()
+
+  @staticmethod
+  def _write_test_log(path, count, include_car_params=False):
+    events = []
+    for i in range(count):
+      event = capnp_log.Event.new_message()
+      event.logMonoTime = count - i  # deliberately unsorted
+      if include_car_params and i == 0:
+        event.init("carParams")
+        event.carParams.carFingerprint = "SUBARU OUTBACK 6TH GEN"
+      else:
+        event.init("can", 0)
+      events.append(event.to_bytes())
+
+    with open(path, "wb") as f:
+      f.write(b"".join(events))
+
+  def local_source(self, sr, seg_idxs, fns):
+    path = self.qlog_path if fns == FileName.QLOG else self.rlog_path
+    return dict.fromkeys(seg_idxs, path)
+
+  def local_auto_source(self, sr, seg_idxs, fns):
+    if fns == FileName.RLOG:
+      return {}
+    return dict.fromkeys(seg_idxs, self.qlog_path)
+
   @parameterized.expand([
     (f"{TEST_ROUTE}", ALL_SEGS),
     (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
@@ -72,7 +112,7 @@ class TestLogReader:
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS),
   ])
-  @pytest.mark.skip("this got flaky. internet tests are stupid.")
+  @unittest.skip("this got flaky. internet tests are stupid.")
   def test_indirect_parsing(self, identifier, expected):
     parsed = parse_indirect(identifier)
     sr = SegmentRange(parsed)
@@ -90,7 +130,7 @@ class TestLogReader:
     sr = SegmentRange(identifier)
     assert str(sr) == expected
 
-  @pytest.mark.parametrize("cache_enabled", [True, False])
+  @parameterized.expand([True, False], names=("cache_enabled",))
   def test_direct_parsing(self, mocker, cache_enabled):
     file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
     if cache_enabled:
@@ -107,7 +147,7 @@ class TestLogReader:
       l = len(list(LogReader(f)))
       assert l > 100
 
-    with pytest.raises(URLFileException) if not cache_enabled else pytest.raises(AssertionError):
+    with self.assertRaises(URLFileException if not cache_enabled else AssertionError):
       l = len(list(LogReader(QLOG_FILE.replace("/3/", "/200/"))))
 
     # file_exists should not be called for direct files
@@ -126,47 +166,43 @@ class TestLogReader:
     (f"{TEST_ROUTE}--3a",),
   ])
   def test_bad_ranges(self, segment_range):
-    with pytest.raises(AssertionError):
+    with self.assertRaises(AssertionError):
       _ = SegmentRange(segment_range).seg_idxs
 
-  @pytest.mark.parametrize("segment_range, api_call", [
+  @parameterized.expand([
     (f"{TEST_ROUTE}/0", False),
     (f"{TEST_ROUTE}/:2", False),
     (f"{TEST_ROUTE}/0:", True),
     (f"{TEST_ROUTE}/-1", True),
     (f"{TEST_ROUTE}", True),
-  ])
+  ], names=("segment_range", "api_call"))
   def test_slicing_api_call(self, mocker, segment_range, api_call):
     max_seg_mock = mocker.patch("openpilot.tools.lib.route.get_max_seg_number_cached")
     max_seg_mock.return_value = NUM_SEGS
     _ = SegmentRange(segment_range).seg_idxs
     assert api_call == max_seg_mock.called
 
-  @pytest.mark.slow
   def test_modes(self):
-    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG)))
-    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG)))
+    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG, sources=[self.local_source])))
+    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG, sources=[self.local_source])))
 
     assert qlog_len * 6 < rlog_len
 
-  @pytest.mark.slow
   def test_modes_from_name(self):
-    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q")))
-    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r")))
+    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q", sources=[self.local_source])))
+    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r", sources=[self.local_source])))
 
     assert qlog_len * 6 < rlog_len
 
-  @pytest.mark.slow
   def test_list(self):
-    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q")))
-    qlog_len_2 = len(list(LogReader([f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"])))
+    qlog_len = len(list(LogReader(self.qlog_path)))
+    qlog_len_2 = len(list(LogReader([self.qlog_path, self.qlog_path])))
 
     assert qlog_len * 2 == qlog_len_2
 
-  @pytest.mark.slow
   def test_multiple_iterations(self, mocker):
-    init_mock = mocker.patch("openpilot.tools.lib.logreader._LogFileReader")
-    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    init_mock = mocker.patch("openpilot.tools.lib.logreader._LogFileReader", wraps=_LogFileReader)
+    lr = LogReader(self.qlog_path)
     qlog_len1 = len(list(lr))
     qlog_len2 = len(list(lr))
 
@@ -175,47 +211,37 @@ class TestLogReader:
 
     assert qlog_len1 == qlog_len2
 
-  @pytest.mark.slow
   def test_helpers(self):
-    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    lr = LogReader(self.qlog_path)
     assert lr.first("carParams").carFingerprint == "SUBARU OUTBACK 6TH GEN"
     assert 0 < len(list(lr.filter("carParams"))) < len(list(lr))
 
-  @parameterized.expand([(True,), (False,)])
-  @pytest.mark.slow
-  def test_run_across_segments(self, cache_enabled):
-    if cache_enabled:
-      os.environ.pop("DISABLE_FILEREADER_CACHE", None)
-    else:
-      os.environ["DISABLE_FILEREADER_CACHE"] = "1"
-    lr = LogReader(f"{TEST_ROUTE}/0:4")
+  def test_run_across_segments(self):
+    lr = LogReader([self.qlog_path] * 4)
     assert len(lr.run_across_segments(4, noop)) == len(list(lr))
 
-  @pytest.mark.slow
   def test_auto_mode(self, subtests, mocker):
-    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    lr = LogReader(self.qlog_path)
     qlog_len = len(list(lr))
-    log_paths_mock = mocker.patch("openpilot.tools.lib.route.Route.log_paths")
-    log_paths_mock.return_value = [None] * NUM_SEGS
     # Should fall back to qlogs since rlogs are not available
 
     with subtests.test("interactive_yes"):
       mocker.patch("sys.stdin", new=io.StringIO("y\n"))
-      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[comma_api_source])
+      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[self.local_auto_source])
       log_len = len(list(lr))
       assert qlog_len == log_len
 
     with subtests.test("interactive_no"):
       mocker.patch("sys.stdin", new=io.StringIO("n\n"))
-      with pytest.raises(LogsUnavailable):
-        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[comma_api_source])
+      with self.assertRaises(LogsUnavailable):
+        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[self.local_auto_source])
 
     with subtests.test("non_interactive"):
-      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, sources=[comma_api_source])
+      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, sources=[self.local_auto_source])
       log_len = len(list(lr))
       assert qlog_len == log_len
 
-  @pytest.mark.parametrize("is_internal", [True, False])
+  @parameterized.expand([True, False], names=("is_internal",))
   def test_auto_source_scenarios(self, mocker, is_internal):
     lr = LogReader(QLOG_FILE)
     qlog_len = len(list(lr))
@@ -225,12 +251,11 @@ class TestLogReader:
       log_len = len(list(lr))
       assert qlog_len == log_len
 
-  @pytest.mark.slow
   def test_sort_by_time(self):
-    msgs = list(LogReader(f"{TEST_ROUTE}/0/q"))
+    msgs = list(LogReader(self.qlog_path))
     assert msgs != sorted(msgs, key=lambda m: m.logMonoTime)
 
-    msgs = list(LogReader(f"{TEST_ROUTE}/0/q", sort_by_time=True))
+    msgs = list(LogReader(self.qlog_path, sort_by_time=True))
     assert msgs == sorted(msgs, key=lambda m: m.logMonoTime)
 
   def test_only_union_types(self):
@@ -254,7 +279,7 @@ class TestLogReader:
       # ensure new message is added, but is not a union type
       msgs = list(LogReader(qlog.name))
       assert len(msgs) == num_msgs + 1
-      with pytest.raises(capnp.KjException):
+      with self.assertRaises(capnp.KjException):
         [m.which() for m in msgs]
 
       # should not be added when only_union_types=True
diff --git a/tools/lib/tests/test_route_library.py b/openpilot/tools/lib/tests/test_route_library.py
similarity index 94%
rename from tools/lib/tests/test_route_library.py
rename to openpilot/tools/lib/tests/test_route_library.py
index 491bb81327..392484c794 100644
--- a/tools/lib/tests/test_route_library.py
+++ b/openpilot/tools/lib/tests/test_route_library.py
@@ -1,8 +1,9 @@
 from collections import namedtuple
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.tools.lib.route import SegmentName
 
-class TestRouteLibrary:
+class TestRouteLibrary(OpenpilotTestCase):
   def test_segment_name_formats(self):
     Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir'])
 
diff --git a/tools/lib/url_file.py b/openpilot/tools/lib/url_file.py
similarity index 98%
rename from tools/lib/url_file.py
rename to openpilot/tools/lib/url_file.py
index de12070465..ec0a3d5815 100644
--- a/tools/lib/url_file.py
+++ b/openpilot/tools/lib/url_file.py
@@ -9,7 +9,7 @@ from urllib3.response import BaseHTTPResponse
 from urllib3.util import Timeout
 
 from openpilot.common.utils import atomic_write
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from urllib3.exceptions import MaxRetryError
 
 #  Cache chunk size
@@ -21,7 +21,7 @@ logging.getLogger("urllib3").setLevel(logging.WARNING)
 
 
 def hash_url(link: str) -> str:
-  return md5((link.split("?")[0]).encode('utf-8')).hexdigest()
+  return md5(link.split("?", maxsplit=1)[0].encode('utf-8')).hexdigest()
 
 
 def prune_cache(new_entry: str | None = None) -> None:
diff --git a/tools/lib/vidindex.py b/openpilot/tools/lib/vidindex.py
similarity index 99%
rename from tools/lib/vidindex.py
rename to openpilot/tools/lib/vidindex.py
index 4aef6fb4d5..b200700887 100755
--- a/tools/lib/vidindex.py
+++ b/openpilot/tools/lib/vidindex.py
@@ -269,7 +269,7 @@ def hevc_index(hevc_file_name: str, allow_corrupt: bool=False) -> tuple[list, in
     raise VideoFileInvalid("first byte must be 0x00")
 
   prefix_dat = b""
-  frame_types = list()
+  frame_types = []
 
   i = 1 # skip past first byte 0x00
   try:
diff --git a/tools/longitudinal_maneuvers/.gitignore b/openpilot/tools/longitudinal_maneuvers/.gitignore
similarity index 100%
rename from tools/longitudinal_maneuvers/.gitignore
rename to openpilot/tools/longitudinal_maneuvers/.gitignore
diff --git a/tools/longitudinal_maneuvers/README.md b/openpilot/tools/longitudinal_maneuvers/README.md
similarity index 95%
rename from tools/longitudinal_maneuvers/README.md
rename to openpilot/tools/longitudinal_maneuvers/README.md
index 643af7fd82..96b989b555 100644
--- a/tools/longitudinal_maneuvers/README.md
+++ b/openpilot/tools/longitudinal_maneuvers/README.md
@@ -35,7 +35,7 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te
 8. Gather the route ID and then run the report generator. The file will be exported to the same directory:
 
     ```sh
-    $ python tools/longitudinal_maneuvers/generate_report.py 57048cfce01d9625/0000010e--5b26bc3be7 'pcm accel compensation'
+    $ python openpilot/tools/longitudinal_maneuvers/generate_report.py 57048cfce01d9625/0000010e--5b26bc3be7 'pcm accel compensation'
 
     processing report for LEXUS_ES_TSS2
     plotting maneuver: start from stop, runs: 4
diff --git a/tools/longitudinal_maneuvers/generate_report.py b/openpilot/tools/longitudinal_maneuvers/generate_report.py
similarity index 94%
rename from tools/longitudinal_maneuvers/generate_report.py
rename to openpilot/tools/longitudinal_maneuvers/generate_report.py
index 32bdb5b1c4..2d7f81a7f8 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/openpilot/tools/longitudinal_maneuvers/generate_report.py
@@ -12,7 +12,7 @@ import matplotlib.pyplot as plt
 from openpilot.common.utils import tabulate
 
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def format_car_params(CP):
@@ -44,14 +44,14 @@ def report(platform, route, _description, CP, ID, maneuvers):
       t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
       t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
       t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
-      t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
+      t_deviceMotion, deviceMotion = zip(*[(m.logMonoTime, m.deviceMotion) for m in msgs if m.which() == 'deviceMotion'], strict=True)
       t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
 
       # make time relative seconds
       t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
       t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
       t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
-      t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
+      t_deviceMotion = [(t - t_deviceMotion[0]) / 1e9 for t in t_deviceMotion]
       t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
 
       # maneuver validity
@@ -70,7 +70,7 @@ def report(platform, route, _description, CP, ID, maneuvers):
 
       # Localizer is noisy, require two consecutive 20Hz frames above threshold
       prev_crossed = False
-      for t, lp in zip(t_livePose, livePose, strict=True):
+      for t, lp in zip(t_deviceMotion, deviceMotion, strict=True):
         crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
         if crossed and prev_crossed:
           builder.append(f', <strong>crossed in {t:.3f}s</strong>')
@@ -95,7 +95,7 @@ def report(platform, route, _description, CP, ID, maneuvers):
       ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
       ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
       ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
-      ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
+      ax[0].plot(t_deviceMotion, [m.accelerationDevice.x for m in deviceMotion], label='deviceMotion.accelerationDevice.x', linewidth=6)
       # TODO localizer accel
       ax[0].set_ylabel('Acceleration (m/s^2)')
       #ax[0].set_ylim(-6.5, 6.5)
diff --git a/openpilot/tools/longitudinal_maneuvers/maneuver_helpers.py b/openpilot/tools/longitudinal_maneuvers/maneuver_helpers.py
new file mode 100644
index 0000000000..9fc65fb9e6
--- /dev/null
+++ b/openpilot/tools/longitudinal_maneuvers/maneuver_helpers.py
@@ -0,0 +1,18 @@
+from enum import IntEnum
+
+class Axis(IntEnum):
+  TIME = 0
+  EGO_POSITION = 1
+  LEAD_DISTANCE= 2
+  EGO_V = 3
+  LEAD_V = 4
+  EGO_A = 5
+  D_REL = 6
+
+axis_labels = {Axis.TIME: 'Time (s)',
+               Axis.EGO_POSITION: 'Ego position (m)',
+               Axis.LEAD_DISTANCE: 'Lead absolute position (m)',
+               Axis.EGO_V: 'Ego Velocity (m/s)',
+               Axis.LEAD_V: 'Lead Velocity (m/s)',
+               Axis.EGO_A: 'Ego acceleration (m/s^2)',
+               Axis.D_REL: 'Lead distance (m)'}
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/openpilot/tools/longitudinal_maneuvers/maneuversd.py
similarity index 85%
rename from tools/longitudinal_maneuvers/maneuversd.py
rename to openpilot/tools/longitudinal_maneuvers/maneuversd.py
index 9044afaa8f..3cba805f00 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/openpilot/tools/longitudinal_maneuvers/maneuversd.py
@@ -2,11 +2,12 @@
 import numpy as np
 from dataclasses import dataclass
 
-from cereal import messaging, car
+from openpilot.cereal import messaging
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.drive_helpers import should_stop
 
 
 @dataclass
@@ -27,23 +28,14 @@ class Maneuver:
 
   _active: bool = False
   _finished: bool = False
+  _run_completed: bool = False
   _action_index: int = 0
   _action_frames: int = 0
   _ready_cnt: int = 0
   _repeated: int = 0
 
-  def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float:
-    ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
-    if self.initial_speed < 0.01:
-      ready = ready and standstill
-    self._ready_cnt = (self._ready_cnt + 1) if ready else 0
-
-    if self._ready_cnt > (3. / DT_MDL):
-      self._active = True
-
-    if not self._active:
-      return min(max(self.initial_speed - v_ego, -2.), 2.)
-
+  def _step(self) -> float:
+    self._run_completed = False
     action = self.actions[self._action_index]
     action_accel = np.interp(self._action_frames * DT_MDL, action.time_bp, action.accel_bp)
 
@@ -58,15 +50,34 @@ class Maneuver:
       # repeat maneuver
       elif self._repeated < self.repeat:
         self._repeated += 1
-        self._action_index = 0
-        self._action_frames = 0
-        self._active = False
+        self._run_completed = True
+        self.reset()
       # finish maneuver
       else:
+        self._run_completed = True
         self._finished = True
 
     return float(action_accel)
 
+  def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool, /) -> float:
+    ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
+    if self.initial_speed < 0.01:
+      ready = ready and standstill
+    self._ready_cnt = (self._ready_cnt + 1) if ready else 0
+
+    if self._ready_cnt > (3. / DT_MDL):
+      self._active = True
+
+    if not self._active:
+      return min(max(self.initial_speed - v_ego, -2.), 2.)
+
+    return self._step()
+
+  def reset(self):
+    self._active = False
+    self._action_frames = 0
+    self._action_index = 0
+
   @property
   def finished(self):
     return self._finished
@@ -106,8 +117,8 @@ MANEUVERS = [
     initial_speed=20. * CV.MPH_TO_MS,
   ),
   Maneuver(
-    "brake step response: -4m/s^2 from 20mph",
-    [Action([-4], [3])],
+    "brake step response: -3.5m/s^2 from 20mph",
+    [Action([-3.5], [3])],
     repeat=2,
     initial_speed=20. * CV.MPH_TO_MS,
   ),
@@ -118,8 +129,8 @@ MANEUVERS = [
     initial_speed=20. * CV.MPH_TO_MS,
   ),
   Maneuver(
-    "gas step response: +4m/s^2 from 20mph",
-    [Action([4], [3])],
+    "gas step response: +2m/s^2 from 20mph",
+    [Action([2], [3])],
     repeat=2,
     initial_speed=20. * CV.MPH_TO_MS,
   ),
@@ -128,8 +139,8 @@ MANEUVERS = [
 
 def main():
   params = Params()
-  cloudlog.info("joystickd is waiting for CarParams")
-  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  cloudlog.info("maneuversd is waiting for CarParams")
+  params.get("CarParams", block=True)
 
   sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
   pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP', 'driverAssistance', 'alertDebug'])
@@ -167,7 +178,7 @@ def main():
     pm.send('alertDebug', alert_msg)
 
     longitudinalPlan.aTarget = accel
-    longitudinalPlan.shouldStop = v_ego < CP.vEgoStopping and accel < 1e-2
+    longitudinalPlan.shouldStop = should_stop(v_ego, accel)
 
     longitudinalPlan.allowBrake = True
     longitudinalPlan.allowThrottle = True
diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/openpilot/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
similarity index 73%
rename from tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
rename to openpilot/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
index 7623f669cd..6b711a0847 100644
--- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
+++ b/openpilot/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
@@ -5,29 +5,16 @@ import numpy as np
 import matplotlib.pyplot as plt
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance
+from openpilot.tools.longitudinal_maneuvers.maneuver_helpers import Axis, axis_labels
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
-TIME = 0
-LEAD_DISTANCE= 2
-EGO_V = 3
-EGO_A = 5
-D_REL = 6
-
-axis_labels = ['Time (s)',
-               'Ego position (m)',
-               'Lead absolute position (m)',
-               'Ego Velocity (m/s)',
-               'Lead Velocity (m/s)',
-               'Ego acceleration (m/s^2)',
-               'Lead distance (m)'
-               ]
 
 def get_html_from_results(results, labels, AXIS):
   fig, ax = plt.subplots(figsize=(16, 8))
-  for idx, speed in enumerate(list(results.keys())):
-    ax.plot(results[speed][:, TIME], results[speed][:, AXIS], label=labels[idx])
+  for idx, key in enumerate(results.keys()):
+    ax.plot(results[key][:, Axis.TIME], results[key][:, AXIS], label=labels[idx])
 
-  ax.set_xlabel('Time (s)')
+  ax.set_xlabel(axis_labels[Axis.TIME])
   ax.set_ylabel(axis_labels[AXIS])
   ax.legend(bbox_to_anchor=(1.02, 1), loc='upper left', borderaxespad=0)
   ax.grid(True, linestyle='--', alpha=0.7)
@@ -38,7 +25,7 @@ def get_html_from_results(results, labels, AXIS):
   plt.close(fig)
   return fig_buffer.getvalue() + '<br/>'
 
-def generate_mpc_tuning_report():
+def generate_mpc_tuning_report(e2e=False):
   htmls = []
 
   results = {}
@@ -55,13 +42,14 @@ def generate_mpc_tuning_report():
       cruise_values=[100, 100],
       prob_lead_values=[1.0, 1.0],
       breakpoints=[1., 11],
+      e2e=e2e,
     )
     valid, results[lead_accel] = man.evaluate()
     labels.append(f'{lead_accel} m/s^2 lead acceleration')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, EGO_V))
-  htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
 
 
   results = {}
@@ -76,14 +64,14 @@ def generate_mpc_tuning_report():
       initial_distance_lead=140.,
       speed_lead_values=[0.0, 0.],
       breakpoints=[0., 30.],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
-    results[speed][:,2] = results[speed][:,2] - results[speed][:,1]
     labels.append(f'{speed} m/s approach speed')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, EGO_A))
-  htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
 
 
   results = {}
@@ -99,14 +87,15 @@ def generate_mpc_tuning_report():
       initial_distance_lead=desired_follow_distance(speed, speed),
       speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil],
       breakpoints=[0.,2., 5, 8, 15, 18, 25.],
+      e2e=e2e,
     )
     valid, results[oscil] = man.evaluate()
     labels.append(f'{oscil} m/s oscillation size')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, D_REL))
-  htmls.append(get_html_from_results(results, labels, EGO_V))
-  htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
 
 
   results = {}
@@ -126,14 +115,15 @@ def generate_mpc_tuning_report():
       initial_distance_lead=desired_follow_distance(speed, speed),
       speed_lead_values=lead_speeds,
       breakpoints=bps,
+      e2e=e2e,
     )
     valid, results[oscil] = man.evaluate()
-    labels.append(f'{oscil} m/s oscilliation size')
+    labels.append(f'{oscil} m/s oscillation size')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, D_REL))
-  htmls.append(get_html_from_results(results, labels, EGO_V))
-  htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
 
 
   results = {}
@@ -148,14 +138,14 @@ def generate_mpc_tuning_report():
       initial_distance_lead=distance,
       speed_lead_values=[30.0],
       breakpoints=[0.],
+      e2e=e2e,
     )
     valid, results[distance] = man.evaluate()
-    results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
     labels.append(f'{distance} m initial distance')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, EGO_V))
-  htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
 
 
   results = {}
@@ -170,14 +160,14 @@ def generate_mpc_tuning_report():
       initial_distance_lead=distance,
       speed_lead_values=[20.0],
       breakpoints=[0.],
+      e2e=e2e,
     )
     valid, results[distance] = man.evaluate()
-    results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
     labels.append(f'{distance} m initial distance')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, EGO_V))
-  htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
 
 
   results = {}
@@ -193,14 +183,14 @@ def generate_mpc_tuning_report():
       initial_distance_lead=60.0,
       speed_lead_values=[30.0, 30.0, 0.0],
       breakpoints=[0., 5., 5 + stop_time],
+      e2e=e2e,
     )
     valid, results[stop_time] = man.evaluate()
-    results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1]
     labels.append(f'{stop_time} seconds stop time')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, EGO_A))
-  htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
 
 
   results = {}
@@ -217,13 +207,14 @@ def generate_mpc_tuning_report():
       speed_lead_values=[speed, speed, speed],
       prob_lead_values=[0.0, 0.0, 1.0],
       breakpoints=[0., 5.0, 5.01],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
     labels.append(f'{speed} m/s speed')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, EGO_A))
-  htmls.append(get_html_from_results(results, labels, D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
 
 
   results = {}
@@ -239,13 +230,14 @@ def generate_mpc_tuning_report():
       speed_lead_values=[0.0, 0.0, speed],
       prob_lead_values=[1.0, 1.0, 1.0],
       breakpoints=[0., 1.0, speed/2],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
     labels.append(f'{speed} m/s speed')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, EGO_V))
-  htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
 
 
   results = {}
@@ -262,13 +254,14 @@ def generate_mpc_tuning_report():
       cruise_values=[0.0, speed],
       prob_lead_values=[0.0, 0.0],
       breakpoints=[1., 1.01],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
     labels.append(f'{speed} m/s speed')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, EGO_V))
-  htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
 
 
   results = {}
@@ -285,23 +278,26 @@ def generate_mpc_tuning_report():
       cruise_values=[speed, 10.0],
       prob_lead_values=[0.0, 0.0],
       breakpoints=[1., 1.01],
+      e2e=e2e,
     )
     valid, results[speed] = man.evaluate()
     labels.append(f'{speed} m/s speed')
 
   htmls.append(markdown.markdown('# ' + name))
-  htmls.append(get_html_from_results(results, labels, EGO_V))
-  htmls.append(get_html_from_results(results, labels, EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
 
   return htmls
 
 if __name__ == '__main__':
-  htmls = generate_mpc_tuning_report()
+  e2e = '--e2e' in sys.argv
+  file_name = 'long_mpc_tune_report.html'
+  for arg in sys.argv[1:]:
+    if not arg.startswith('-'):
+      file_name = arg
+      break
 
-  if len(sys.argv) < 2:
-    file_name = 'long_mpc_tune_report.html'
-  else:
-    file_name = sys.argv[1]
+  htmls = generate_mpc_tuning_report(e2e=e2e)
 
   with open(file_name, 'w') as f:
     f.write(markdown.markdown('# MPC longitudinal tuning report'))
diff --git a/tools/plotjuggler/README.md b/openpilot/tools/plotjuggler/README.md
similarity index 82%
rename from tools/plotjuggler/README.md
rename to openpilot/tools/plotjuggler/README.md
index 62905a252d..e87fc2c3d4 100644
--- a/tools/plotjuggler/README.md
+++ b/openpilot/tools/plotjuggler/README.md
@@ -4,9 +4,9 @@
 
 ## Installation
 
-Once you've [set up the openpilot environment](../README.md), this command will download PlotJuggler and install our plugins:
+Once you've [set up the openpilot environment](/tools/README.md), this command will download PlotJuggler and install our plugins:
 
-`cd tools/plotjuggler && ./juggle.py --install`
+`cd openpilot/tools/plotjuggler && ./juggle.py --install`
 
 ## Usage
 
@@ -35,23 +35,23 @@ optional arguments:
 
 Example using route name:
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496"`
 
 Examples using segment:
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496/1"`
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496/1/q" # use qlogs`
 
 Example using segment range:
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/0:1"`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496/0:1"`
 
 ## Streaming
 
 Explore live data from your car! Follow these steps to stream from your comma device to your laptop:
 - Enable wifi tethering on your comma device
-- [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and run `cd /data/openpilot && ./cereal/messaging/bridge`
+- [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and run `cd /data/openpilot && ./openpilot/cereal/messaging/bridge`
 - On your laptop, connect to the device's wifi hotspot
 - Start PlotJuggler with `ZMQ=1 ./juggle.py --stream`, find the `Cereal Subscriber` plugin in the dropdown under Streaming, and click `Start`.
 
diff --git a/tools/plotjuggler/juggle.py b/openpilot/tools/plotjuggler/juggle.py
similarity index 71%
rename from tools/plotjuggler/juggle.py
rename to openpilot/tools/plotjuggler/juggle.py
index 142e640504..6ddbdbeb3e 100755
--- a/tools/plotjuggler/juggle.py
+++ b/openpilot/tools/plotjuggler/juggle.py
@@ -9,7 +9,6 @@ import tempfile
 import requests
 import argparse
 from functools import partial
-
 from opendbc.car.fingerprints import MIGRATION
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
@@ -21,7 +20,7 @@ juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
 os.environ['LD_LIBRARY_PATH'] = os.environ.get('LD_LIBRARY_PATH', '') + f":{juggle_dir}/bin/"
 
-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")
 PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
@@ -29,9 +28,21 @@ MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
 MAX_STREAMING_BUFFER_SIZE = 1000
 
 
+def print_jotpluggler_banner():
+  purple = "\033[95m" if sys.stdout.isatty() else ""
+  reset = "\033[0m" if purple else ""
+  print(f"{purple}+-------------------------------------------------------------+{reset}")
+  print(f"{purple}|{reset} JotPluggler is the future! Try it like this:                {purple}|{reset}")
+  print(f"{purple}|{reset}   ./openpilot/tools/jotpluggler/jotpluggler --demo --layout tuning    {purple}|{reset}")
+  print(f"{purple}|{reset}                                                             {purple}|{reset}")
+  print(f"{purple}|{reset} PlotJuggler will be deleted soon.                           {purple}|{reset}")
+  print(f"{purple}|{reset} Missing a feature? Open an issue or post in #dev-openpilot. {purple}|{reset}")
+  print(f"{purple}+-------------------------------------------------------------+{reset}")
+
+
 def install():
   m = f"{platform.system()}-{platform.machine()}"
-  supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64")
+  supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64")
   if m not in supported:
     raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}")
 
@@ -58,7 +69,6 @@ def get_plotjuggler_version():
 
 def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, platform=None):
   env = os.environ.copy()
-  env["BASEDIR"] = BASEDIR
   env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
   if dbc:
     if os.path.exists(dbc):
@@ -74,7 +84,21 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
     extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""
 
   cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}'
-  subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
+  with tempfile.TemporaryDirectory() as schema_root:
+    tmp_cereal = os.path.join(schema_root, "cereal")
+    os.mkdir(tmp_cereal)
+    for schema in ("log.capnp", "deprecated.capnp", "custom.capnp"):
+      with open(os.path.join(BASEDIR, "openpilot", "cereal", schema)) as src:
+        contents = src.read()
+      contents = contents.replace('import "/include/c++.capnp"', 'import "./include/c++.capnp"')
+      contents = contents.replace('import "/car.capnp"', 'import "car.capnp"')
+      with open(os.path.join(tmp_cereal, schema), "w") as dst:
+        dst.write(contents)
+    os.symlink(os.path.join(BASEDIR, "openpilot", "cereal", "include"), os.path.join(tmp_cereal, "include"), target_is_directory=True)
+    os.symlink(os.path.join(BASEDIR, "opendbc_repo", "opendbc", "car", "car.capnp"), os.path.join(tmp_cereal, "car.capnp"))
+    os.symlink(os.path.join(BASEDIR, "opendbc_repo", "opendbc"), os.path.join(schema_root, "opendbc"), target_is_directory=True)
+    env["BASEDIR"] = schema_root
+    subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 
 
 def process(can, lr):
@@ -118,10 +142,15 @@ if __name__ == "__main__":
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
 
   if len(sys.argv) == 1:
+    print_jotpluggler_banner()
+    print()
     parser.print_help()
     sys.exit()
   args = parser.parse_args()
 
+  print_jotpluggler_banner()
+  print()
+
   if args.install:
     install()
     sys.exit()
diff --git a/tools/plotjuggler/layouts/CAN-bus-debug.xml b/openpilot/tools/plotjuggler/layouts/CAN-bus-debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/CAN-bus-debug.xml
rename to openpilot/tools/plotjuggler/layouts/CAN-bus-debug.xml
diff --git a/tools/plotjuggler/layouts/camera-timings.xml b/openpilot/tools/plotjuggler/layouts/camera-timings.xml
similarity index 77%
rename from tools/plotjuggler/layouts/camera-timings.xml
rename to openpilot/tools/plotjuggler/layouts/camera-timings.xml
index f91cbd3f53..2abff4d508 100644
--- a/tools/plotjuggler/layouts/camera-timings.xml
+++ b/openpilot/tools/plotjuggler/layouts/camera-timings.xml
@@ -8,13 +8,13 @@
       <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
        <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
        <limitY max="6.5e+07" min="3.5e+07"/>
-       <curve color="#1f77b4" name="/driverEncodeIdx/timestampSof">
-        <transform name="Derivative" alias="/driverEncodeIdx/timestampSof[Derivative]">
+       <curve color="#1f77b4" name="/cabinEncodeIdx/timestampSof">
+        <transform name="Derivative" alias="/cabinEncodeIdx/timestampSof[Derivative]">
          <options lineEdit="1.0" radioChecked="radioCustom"/>
         </transform>
        </curve>
-       <curve color="#d62728" name="/roadEncodeIdx/timestampSof">
-        <transform name="Derivative" alias="/roadEncodeIdx/timestampSof[Derivative]">
+       <curve color="#d62728" name="/narrowRoadEncodeIdx/timestampSof">
+        <transform name="Derivative" alias="/narrowRoadEncodeIdx/timestampSof[Derivative]">
          <options lineEdit="1.0" radioChecked="radioCustom"/>
         </transform>
        </curve>
@@ -29,13 +29,13 @@
       <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
        <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
        <limitY max="6.5e+07" min="3.5e+07"/>
-       <curve color="#f14cc1" name="/driverEncodeIdx/timestampEof">
-        <transform name="Derivative" alias="/driverEncodeIdx/timestampEof[Derivative]">
+       <curve color="#f14cc1" name="/cabinEncodeIdx/timestampEof">
+        <transform name="Derivative" alias="/cabinEncodeIdx/timestampEof[Derivative]">
          <options lineEdit="1.0" radioChecked="radioCustom"/>
         </transform>
        </curve>
-       <curve color="#9467bd" name="/roadEncodeIdx/timestampEof">
-        <transform name="Derivative" alias="/roadEncodeIdx/timestampEof[Derivative]">
+       <curve color="#9467bd" name="/narrowRoadEncodeIdx/timestampEof">
+        <transform name="Derivative" alias="/narrowRoadEncodeIdx/timestampEof[Derivative]">
          <options lineEdit="1.0" radioChecked="radioCustom"/>
         </transform>
        </curve>
@@ -76,8 +76,8 @@
       <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
        <range bottom="-0.100000" left="0.000000" top="0.100000" right="630.006367"/>
        <limitY/>
-       <curve color="#bcbd22" name="/driverCameraState/sensor"/>
-       <curve color="#1f77b4" name="/roadCameraState/sensor"/>
+       <curve color="#bcbd22" name="/cabinCameraState/sensor"/>
+       <curve color="#1f77b4" name="/narrowRoadCameraState/sensor"/>
        <curve color="#d62728" name="/wideRoadCameraState/sensor"/>
       </plot>
      </DockArea>
@@ -91,13 +91,13 @@
       <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
        <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
        <limitY max="6.5e+07" min="3.5e+07"/>
-       <curve color="#1f77b4" name="/driverCameraState/timestampSof">
-        <transform name="Derivative" alias="/driverCameraState/timestampSof[Derivative]">
+       <curve color="#1f77b4" name="/cabinCameraState/timestampSof">
+        <transform name="Derivative" alias="/cabinCameraState/timestampSof[Derivative]">
          <options lineEdit="1.0" radioChecked="radioCustom"/>
         </transform>
        </curve>
-       <curve color="#d62728" name="/roadCameraState/timestampSof">
-        <transform name="Derivative" alias="/roadCameraState/timestampSof[Derivative]">
+       <curve color="#d62728" name="/narrowRoadCameraState/timestampSof">
+        <transform name="Derivative" alias="/narrowRoadCameraState/timestampSof[Derivative]">
          <options lineEdit="1.0" radioChecked="radioCustom"/>
         </transform>
        </curve>
@@ -112,13 +112,13 @@
       <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
        <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
        <limitY max="6.5e+07" min="3.5e+07"/>
-       <curve color="#ff7f0e" name="/driverCameraState/timestampEof">
-        <transform name="Derivative" alias="/driverCameraState/timestampEof[Derivative]">
+       <curve color="#ff7f0e" name="/cabinCameraState/timestampEof">
+        <transform name="Derivative" alias="/cabinCameraState/timestampEof[Derivative]">
          <options lineEdit="1.0" radioChecked="radioCustom"/>
         </transform>
        </curve>
-       <curve color="#f14cc1" name="/roadCameraState/timestampEof">
-        <transform name="Derivative" alias="/roadCameraState/timestampEof[Derivative]">
+       <curve color="#f14cc1" name="/narrowRoadCameraState/timestampEof">
+        <transform name="Derivative" alias="/narrowRoadCameraState/timestampEof[Derivative]">
          <options lineEdit="1.0" radioChecked="radioCustom"/>
         </transform>
        </curve>
@@ -145,4 +145,3 @@
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/can-states.xml b/openpilot/tools/plotjuggler/layouts/can-states.xml
similarity index 100%
rename from tools/plotjuggler/layouts/can-states.xml
rename to openpilot/tools/plotjuggler/layouts/can-states.xml
diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/openpilot/tools/plotjuggler/layouts/controls_mismatch_debug.xml
similarity index 97%
rename from tools/plotjuggler/layouts/controls_mismatch_debug.xml
rename to openpilot/tools/plotjuggler/layouts/controls_mismatch_debug.xml
index 646e12a281..cf337aa7df 100644
--- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml
+++ b/openpilot/tools/plotjuggler/layouts/controls_mismatch_debug.xml
@@ -16,7 +16,7 @@
       <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
        <range top="27.087398" bottom="-0.905168" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve color="#9467bd" name="/controlsState/cumLagMs"/>
+       <curve color="#9467bd" name="/carState/cumLagMs"/>
       </plot>
      </DockArea>
      <DockArea name="...">
@@ -58,4 +58,3 @@
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/gps.xml b/openpilot/tools/plotjuggler/layouts/gps.xml
similarity index 100%
rename from tools/plotjuggler/layouts/gps.xml
rename to openpilot/tools/plotjuggler/layouts/gps.xml
diff --git a/tools/plotjuggler/layouts/gps_vs_llk.xml b/openpilot/tools/plotjuggler/layouts/gps_vs_llk.xml
similarity index 90%
rename from tools/plotjuggler/layouts/gps_vs_llk.xml
rename to openpilot/tools/plotjuggler/layouts/gps_vs_llk.xml
index 69b8f20058..2051c2bef2 100644
--- a/tools/plotjuggler/layouts/gps_vs_llk.xml
+++ b/openpilot/tools/plotjuggler/layouts/gps_vs_llk.xml
@@ -24,8 +24,8 @@
        <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
         <range bottom="-0.100000" right="196.811937" left="76.646983" top="0.100000"/>
         <limitY/>
-        <curve name="/liveLocationKalman/positionGeodetic/std/0" color="#d62728"/>
-        <curve name="/liveLocationKalman/positionGeodetic/std/1" color="#1ac938"/>
+        <curve name="/liveLocationKalmanDEPRECATED/positionGeodetic/std/0" color="#d62728"/>
+        <curve name="/liveLocationKalmanDEPRECATED/positionGeodetic/std/1" color="#1ac938"/>
        </plot>
       </DockArea>
       <DockArea name="...">
@@ -72,12 +72,11 @@ return distance</function>
    <linked_source>/gpsLocationExternal/latitude</linked_source>
    <additional_sources>
     <v1>/gpsLocationExternal/longitude</v1>
-    <v2>/liveLocationKalman/positionGeodetic/value/0</v2>
-    <v3>/liveLocationKalman/positionGeodetic/value/1</v3>
+    <v2>/liveLocationKalmanDEPRECATED/positionGeodetic/value/0</v2>
+    <v3>/liveLocationKalmanDEPRECATED/positionGeodetic/value/1</v3>
    </additional_sources>
   </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/locationd_debug.xml b/openpilot/tools/plotjuggler/layouts/locationd_debug.xml
similarity index 96%
rename from tools/plotjuggler/layouts/locationd_debug.xml
rename to openpilot/tools/plotjuggler/layouts/locationd_debug.xml
index 5377e1535c..6e1cd35039 100644
--- a/tools/plotjuggler/layouts/locationd_debug.xml
+++ b/openpilot/tools/plotjuggler/layouts/locationd_debug.xml
@@ -8,7 +8,7 @@
       <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
        <range right="2280.128382" left="0.000000" top="1.025000" bottom="-0.025000"/>
        <limitY/>
-       <curve color="#ff7f0e" name="/livePose/inputsOK"/>
+       <curve color="#ff7f0e" name="/deviceMotion/inputsOK"/>
       </plot>
      </DockArea>
      <DockArea name="...">
@@ -36,7 +36,7 @@
        <curve color="#17becf" name="/accelerometer/__valid"/>
        <curve color="#bcbd22" name="/gyroscope/__valid"/>
        <curve color="#f14cc1" name="/carState/__valid"/>
-       <curve color="#1ac938" name="/liveCalibration/__valid"/>
+       <curve color="#1ac938" name="/extrinsicsCalibration/__valid"/>
        <curve color="#9467bd" name="/cameraOdometry/__valid"/>
       </plot>
      </DockArea>
@@ -97,4 +97,3 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/openpilot/tools/plotjuggler/layouts/longitudinal.xml
similarity index 100%
rename from tools/plotjuggler/layouts/longitudinal.xml
rename to openpilot/tools/plotjuggler/layouts/longitudinal.xml
diff --git a/tools/plotjuggler/layouts/max-torque-debug.xml b/openpilot/tools/plotjuggler/layouts/max-torque-debug.xml
similarity index 96%
rename from tools/plotjuggler/layouts/max-torque-debug.xml
rename to openpilot/tools/plotjuggler/layouts/max-torque-debug.xml
index 9a6693165e..2089b826d9 100644
--- a/tools/plotjuggler/layouts/max-torque-debug.xml
+++ b/openpilot/tools/plotjuggler/layouts/max-torque-debug.xml
@@ -62,7 +62,7 @@ return 0</function>
    <linked_source>/controlsState/curvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
+    <v2>/vehicleParameters/roll</v2>
     <v3>/carState/steeringPressed</v3>
     <v4>/carControl/latActive</v4>
    </additional_sources>
@@ -73,7 +73,7 @@ return 0</function>
    <linked_source>/controlsState/desiredCurvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
+    <v2>/vehicleParameters/roll</v2>
    </additional_sources>
   </snippet>
   <snippet name="Actual lateral accel (roll compensated)">
@@ -82,11 +82,10 @@ return 0</function>
    <linked_source>/controlsState/curvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
+    <v2>/vehicleParameters/roll</v2>
    </additional_sources>
   </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/system_lag_debug.xml b/openpilot/tools/plotjuggler/layouts/system_lag_debug.xml
similarity index 97%
rename from tools/plotjuggler/layouts/system_lag_debug.xml
rename to openpilot/tools/plotjuggler/layouts/system_lag_debug.xml
index a90bba0e27..88511ffe09 100644
--- a/tools/plotjuggler/layouts/system_lag_debug.xml
+++ b/openpilot/tools/plotjuggler/layouts/system_lag_debug.xml
@@ -45,7 +45,7 @@
       <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
        <range top="-3.593455" right="59.992103" left="0.000000" bottom="-12.190956"/>
        <limitY/>
-       <curve name="/controlsState/cumLagMs" color="#9467bd"/>
+       <curve name="/carState/cumLagMs" color="#9467bd"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -64,4 +64,3 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/thermal_debug.xml b/openpilot/tools/plotjuggler/layouts/thermal_debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/thermal_debug.xml
rename to openpilot/tools/plotjuggler/layouts/thermal_debug.xml
diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/openpilot/tools/plotjuggler/layouts/torque-controller.xml
similarity index 90%
rename from tools/plotjuggler/layouts/torque-controller.xml
rename to openpilot/tools/plotjuggler/layouts/torque-controller.xml
index 8e9a1a8526..671b47c355 100644
--- a/tools/plotjuggler/layouts/torque-controller.xml
+++ b/openpilot/tools/plotjuggler/layouts/torque-controller.xml
@@ -53,7 +53,7 @@
        <range top="19.665784" bottom="19.359553" right="1138.816328" left="0.000000"/>
        <limitY/>
        <curve name="/carParams/steerRatio" color="#1f77b4"/>
-       <curve name="/liveParameters/steerRatio" color="#1ac938"/>
+       <curve name="/vehicleParameters/steerRatio" color="#1ac938"/>
       </plot>
      </DockArea>
      <DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
@@ -61,15 +61,15 @@
        <range top="1.112210" bottom="0.995631" right="1138.816328" left="0.000000"/>
        <limitY/>
        <curve name="/carParams/tireStiffnessFactor" color="#d62728"/>
-       <curve name="/liveParameters/stiffnessFactor" color="#ff7f0e"/>
+       <curve name="/vehicleParameters/stiffnessFactor" color="#ff7f0e"/>
       </plot>
      </DockArea>
-     <DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
+     <DockArea name="online-learned steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
        <range top="-1.081041" bottom="-4.494133" right="1138.816328" left="0.000000"/>
        <limitY/>
-       <curve name="/liveParameters/angleOffsetAverageDeg" color="#f14cc1"/>
-       <curve name="/liveParameters/angleOffsetDeg" color="#9467bd"/>
+       <curve name="/vehicleParameters/angleOffsetAverageDeg" color="#f14cc1"/>
+       <curve name="/vehicleParameters/angleOffsetDeg" color="#9467bd"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -82,8 +82,8 @@
       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
        <range top="1.216110" bottom="0.539474" right="1138.920072" left="0.000000"/>
        <limitY/>
-       <curve name="/liveTorqueParameters/latAccelFactorFiltered" color="#1f77b4"/>
-       <curve name="/liveTorqueParameters/latAccelFactorRaw" color="#d62728"/>
+       <curve name="/lateralTorqueParameters/latAccelFactorFiltered" color="#1f77b4"/>
+       <curve name="/lateralTorqueParameters/latAccelFactorRaw" color="#d62728"/>
        <curve name="/carParams/lateralTuning/torque/latAccelFactor" color="#1c9222"/>
       </plot>
      </DockArea>
@@ -91,16 +91,16 @@
       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
        <range top="-0.304367" bottom="-0.418688" right="1138.920072" left="0.000000"/>
        <limitY/>
-       <curve name="/liveTorqueParameters/latAccelOffsetFiltered" color="#1ac938"/>
-       <curve name="/liveTorqueParameters/latAccelOffsetRaw" color="#ff7f0e"/>
+       <curve name="/lateralTorqueParameters/latAccelOffsetFiltered" color="#1ac938"/>
+       <curve name="/lateralTorqueParameters/latAccelOffsetRaw" color="#ff7f0e"/>
       </plot>
      </DockArea>
      <DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
        <range top="0.226389" bottom="0.158050" right="1138.920072" left="0.000000"/>
        <limitY/>
-       <curve name="/liveTorqueParameters/frictionCoefficientFiltered" color="#f14cc1"/>
-       <curve name="/liveTorqueParameters/frictionCoefficientRaw" color="#9467bd"/>
+       <curve name="/lateralTorqueParameters/frictionCoefficientFiltered" color="#f14cc1"/>
+       <curve name="/lateralTorqueParameters/frictionCoefficientRaw" color="#9467bd"/>
        <curve name="/carParams/lateralTuning/torque/friction" color="#1c9222"/>
       </plot>
      </DockArea>
@@ -114,15 +114,15 @@
       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
        <range top="1.025000" bottom="-0.025000" right="1138.749979" left="0.000000"/>
        <limitY/>
-       <curve name="/liveDelay/status" color="#ff7f0e"/>
+       <curve name="/lateralDelay/status" color="#ff7f0e"/>
       </plot>
      </DockArea>
      <DockArea name="offline default vs online estimated steering actuator lag">
       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
        <range top="0.419648" bottom="0.318362" right="1138.749979" left="0.000000"/>
        <limitY/>
-       <curve name="/liveDelay/lateralDelay" color="#1f77b4"/>
-       <curve name="/liveDelay/lateralDelayEstimate" color="#d62728"/>
+       <curve name="/lateralDelay/lateralDelay" color="#1f77b4"/>
+       <curve name="/lateralDelay/lateralDelayEstimate" color="#d62728"/>
        <curve name="opendbc default steering lag" color="#1ac938"/>
       </plot>
      </DockArea>
@@ -130,7 +130,7 @@
       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
        <range top="0.067320" bottom="-0.001642" right="1138.749979" left="0.000000"/>
        <limitY/>
-       <curve name="/liveDelay/lateralDelayEstimateStd" color="#f14cc1"/>
+       <curve name="/lateralDelay/lateralDelayEstimateStd" color="#f14cc1"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -174,7 +174,7 @@
       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
        <range top="0.109446" bottom="-0.045525" right="1138.891921" left="0.000194"/>
        <limitY/>
-       <curve name="/liveParameters/roll" color="#f14cc1"/>
+       <curve name="/vehicleParameters/roll" color="#f14cc1"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -221,7 +221,7 @@
    <linked_source>/controlsState/desiredCurvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
+    <v2>/vehicleParameters/roll</v2>
    </additional_sources>
   </snippet>
   <snippet name="Actual lateral accel (roll compensated)">
@@ -230,7 +230,7 @@
    <linked_source>/controlsState/curvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
+    <v2>/vehicleParameters/roll</v2>
    </additional_sources>
   </snippet>
   <snippet name="opendbc default steering lag">
@@ -247,4 +247,3 @@
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/tuning.xml b/openpilot/tools/plotjuggler/layouts/tuning.xml
similarity index 91%
rename from tools/plotjuggler/layouts/tuning.xml
rename to openpilot/tools/plotjuggler/layouts/tuning.xml
index 503e726caf..699f6ff683 100644
--- a/tools/plotjuggler/layouts/tuning.xml
+++ b/openpilot/tools/plotjuggler/layouts/tuning.xml
@@ -24,14 +24,14 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="0.000000" top="0.166067" bottom="-1.598381" right="631.038276"/>
        <limitY/>
-       <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/0"/>
+       <curve color="#ffb000" name="/carControl/orientationNED/0"/>
       </plot>
      </DockArea>
      <DockArea name="Engaged [green] Steering Pressed [blue]">
       <plot style="Lines" mode="TimeSeries">
        <range left="1.252984" top="1.025000" bottom="-0.025000" right="631.055584"/>
        <limitY/>
-       <curve color="#009e73" name="/controlsState/enabled"/>
+       <curve color="#009e73" name="/selfdriveState/enabled"/>
        <curve color="#0072b2" name="/carState/steeringPressed"/>
       </plot>
      </DockArea>
@@ -39,7 +39,7 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
        <limitY/>
-       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="steering rate limited" color="#ffb000"/>
        <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
       </plot>
      </DockArea>
@@ -71,7 +71,7 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="0.000000" top="0.158854" bottom="-0.594843" right="631.038276"/>
        <limitY/>
-       <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/1"/>
+       <curve color="#ffb000" name="/carControl/orientationNED/1"/>
       </plot>
      </DockArea>
      <DockArea name="Engaged [green] Gas [orange] Brake [magenta]">
@@ -126,7 +126,7 @@
       <plot style="Lines" mode="TimeSeries">
        <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
        <limitY/>
-       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="steering rate limited" color="#ffb000"/>
        <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
       </plot>
      </DockArea>
@@ -161,11 +161,11 @@ if (time > last_bad_time + engage_delay) then
 else
   return 0
 end</function>
-   <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
+   <linked_source>/carControl/angularVelocity/2</linked_source>
    <additional_sources>
     <v1>/carState/steeringPressed</v1>
     <v2>/carControl/enabled</v2>
-    <v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
+    <v3>/carState/vEgo</v3>
    </additional_sources>
   </snippet>
   <snippet name="engaged curvature vehicle model">
@@ -206,7 +206,7 @@ if (time > last_bad_time + engage_delay) then
 else
   return 0
 end</function>
-   <linked_source>/lateralPlan/curvatures/0</linked_source>
+   <linked_source>/modelV2/action/desiredCurvature</linked_source>
    <additional_sources>
     <v1>/carState/steeringPressed</v1>
     <v2>/carControl/enabled</v2>
@@ -284,8 +284,17 @@ end</function>
     <v3>/carControl/enabled</v3>
    </additional_sources>
   </snippet>
+  <snippet name="steering rate limited">
+   <global></global>
+   <function>return (math.abs(value - v1) > 0.001 or math.abs(v2 - v3) > 0.05) and 1 or 0</function>
+   <linked_source>/carControl/actuators/torque</linked_source>
+   <additional_sources>
+    <v1>/carOutput/actuatorsOutput/torque</v1>
+    <v2>/carControl/actuators/steeringAngleDeg</v2>
+    <v3>/carOutput/actuatorsOutput/steeringAngleDeg</v3>
+   </additional_sources>
+  </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
-
diff --git a/tools/plotjuggler/layouts/ublox-debug.xml b/openpilot/tools/plotjuggler/layouts/ublox-debug.xml
similarity index 100%
rename from tools/plotjuggler/layouts/ublox-debug.xml
rename to openpilot/tools/plotjuggler/layouts/ublox-debug.xml
diff --git a/tools/plotjuggler/test_plotjuggler.py b/openpilot/tools/plotjuggler/test_plotjuggler.py
similarity index 86%
rename from tools/plotjuggler/test_plotjuggler.py
rename to openpilot/tools/plotjuggler/test_plotjuggler.py
index a2c509f943..10cd342dc8 100644
--- a/tools/plotjuggler/test_plotjuggler.py
+++ b/openpilot/tools/plotjuggler/test_plotjuggler.py
@@ -1,17 +1,22 @@
 import os
 import glob
+import shutil
 import signal
 import subprocess
 import time
 
+import unittest
+
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
 
-PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler")
+PJ_DIR = os.path.join(BASEDIR, "openpilot/tools/plotjuggler")
 
-class TestPlotJuggler:
+class TestPlotJuggler(OpenpilotTestCase):
 
+  @unittest.skipIf(not shutil.which('qmake'), "Qt not installed")
   def test_demo(self):
     install()
 
diff --git a/tools/replay/.gitignore b/openpilot/tools/replay/.gitignore
similarity index 65%
rename from tools/replay/.gitignore
rename to openpilot/tools/replay/.gitignore
index 83f0e99a8b..aa615770a2 100644
--- a/tools/replay/.gitignore
+++ b/openpilot/tools/replay/.gitignore
@@ -1,5 +1,2 @@
-moc_*
-*.moc
-
 replay
 tests/test_replay
diff --git a/tools/replay/README.md b/openpilot/tools/replay/README.md
similarity index 79%
rename from tools/replay/README.md
rename to openpilot/tools/replay/README.md
index 794c08f6a3..1d500eac96 100644
--- a/tools/replay/README.md
+++ b/openpilot/tools/replay/README.md
@@ -8,7 +8,7 @@ Before starting a replay, you need to authenticate with your comma account using
 
 ```bash
 # Authenticate to access routes from your comma account:
-python3 tools/lib/auth.py
+python3 openpilot/tools/lib/auth.py
 ```
 
 ## Replay a Remote Route
@@ -16,13 +16,13 @@ You can replay a route from your comma account by specifying the route name.
 
 ```bash
 # Start a replay with a specific route:
-tools/replay/replay <route-name>
+openpilot/tools/replay/replay <route-name>
 
 # Example:
-tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
+openpilot/tools/replay/replay '5beb9b58bd12b691/0000010a--a51155e496'
 
 # Replay the default demo route:
-tools/replay/replay --demo
+openpilot/tools/replay/replay --demo
 ```
 
 ## Replay a Local Route
@@ -30,14 +30,14 @@ To replay a route stored locally on your machine, specify the route name and pro
 
 ```bash
 # Replay a local route
-tools/replay/replay <route-name> --data_dir="/path_to/route"
+openpilot/tools/replay/replay <route-name> --data_dir="/path_to/route"
 
 # Example:
 # If you have a local route stored at /path_to_routes with segments like:
-# a2a0ccea32023010|2023-07-27--13-01-19--0
-# a2a0ccea32023010|2023-07-27--13-01-19--1
+# 5beb9b58bd12b691/0000010a--a51155e496--0
+# 5beb9b58bd12b691/0000010a--a51155e496--1
 # You can replay it like this:
-tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data_dir="/path_to_routes"
+openpilot/tools/replay/replay "5beb9b58bd12b691/0000010a--a51155e496" --data_dir="/path_to_routes"
 ```
 
 ## Send Messages via ZMQ
@@ -45,15 +45,15 @@ By default, replay sends messages via MSGQ. To switch to ZMQ, set the ZMQ enviro
 
 ```bash
 # Start replay and send messages via ZMQ:
-ZMQ=1 tools/replay/replay <route-name>
+ZMQ=1 openpilot/tools/replay/replay <route-name>
 ```
 
 ## Usage
 For more information on available options and arguments, use the help command:
 
 ``` bash
-$ tools/replay/replay -h
-Usage: tools/replay/replay [options] route
+$ openpilot/tools/replay/replay -h
+Usage: openpilot/tools/replay/replay [options] route
 Mock openpilot components by publishing logged messages.
 
 Options:
@@ -68,8 +68,8 @@ Options:
                          internal, openpilotci, comma_api, car_segments, testing_closet
   --data_dir <data_dir>  local directory with routes
   --prefix <prefix>      set OPENPILOT_PREFIX
-  --dcam                 load driver camera
-  --ecam                 load wide road camera
+  --cabin                  load cabin camera
+  --wide-road                 load wide road camera
   --no-loop              stop at the end of the route
   --no-cache             turn off local cache
   --qcam                 load qcamera
@@ -87,30 +87,30 @@ Arguments:
 To visualize the replay within the openpilot UI, run the following commands:
 
 ```bash
-tools/replay/replay <route-name>
-cd selfdrive/ui && ./ui.py
+openpilot/tools/replay/replay <route-name>
+cd openpilot/selfdrive/ui && ./ui.py
 ```
 
 ## Work with plotjuggler
 If you want to use replay with plotjuggler, you can stream messages by running:
 
 ```bash
-tools/replay/replay <route-name>
-tools/plotjuggler/juggle.py --stream
+openpilot/tools/replay/replay <route-name>
+openpilot/tools/plotjuggler/juggle.py --stream
 ```
 
 ## watch3
 
 watch all three cameras simultaneously from your comma three routes with watch3
 
-simply replay a route using the `--dcam` and `--ecam` flags:
+simply replay a route using the `--cabin` and `--wide-road` flags:
 
 ```bash
 # start a replay
-cd tools/replay && ./replay --demo --dcam --ecam
+cd openpilot/tools/replay && ./replay --demo --cabin --wide-road
 
 # then start watch3
-cd selfdrive/ui && ./watch3.py
+cd openpilot/selfdrive/ui && ./watch3.py
 ```
 
 ![](https://i.imgur.com/IeaOdAb.png)
diff --git a/tools/replay/SConscript b/openpilot/tools/replay/SConscript
similarity index 53%
rename from tools/replay/SConscript
rename to openpilot/tools/replay/SConscript
index 136c4119f6..9e060bc829 100644
--- a/tools/replay/SConscript
+++ b/openpilot/tools/replay/SConscript
@@ -1,24 +1,16 @@
-Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'ffmpeg_libs')
 
 replay_env = env.Clone()
 replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
 
-base_frameworks = []
-base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread']
-
-if arch == "Darwin":
-  base_frameworks.append('OpenCL')
-else:
-  base_libs.append('OpenCL')
+base_frameworks = ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo'] if arch == "Darwin" else []
+base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread']
 
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
-                  "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"]
+                  "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "py_downloader.cc"]
 if arch != "Darwin":
-  replay_lib_src.append("qcom_decoder.cc")
+  replay_lib_src.append("#openpilot/system/loggerd/encoder/v4l_decoder.cc")
 replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
+replay_libs = [replay_lib] + ffmpeg_libs + ['ncurses'] + base_libs
 replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
-
-if GetOption('extras'):
-  replay_env.Program('tests/test_replay', ['tests/test_replay.cc'], LIBS=replay_libs)
diff --git a/tools/replay/__init__.py b/openpilot/tools/replay/__init__.py
similarity index 100%
rename from tools/replay/__init__.py
rename to openpilot/tools/replay/__init__.py
diff --git a/tools/replay/camera.cc b/openpilot/tools/replay/camera.cc
similarity index 100%
rename from tools/replay/camera.cc
rename to openpilot/tools/replay/camera.cc
diff --git a/tools/replay/camera.h b/openpilot/tools/replay/camera.h
similarity index 85%
rename from tools/replay/camera.h
rename to openpilot/tools/replay/camera.h
index 9433018848..81b3bb1a81 100644
--- a/tools/replay/camera.h
+++ b/openpilot/tools/replay/camera.h
@@ -5,6 +5,7 @@
 #include <tuple>
 #include <utility>
 
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_server.h"
 #include "common/queue.h"
 #include "tools/replay/framereader.h"
@@ -32,8 +33,8 @@ protected:
   VisionBuf *getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id);
 
   Camera cameras_[MAX_CAMERAS] = {
-      {.type = RoadCam, .stream_type = VISION_STREAM_ROAD},
-      {.type = DriverCam, .stream_type = VISION_STREAM_DRIVER},
+      {.type = NarrowRoadCam, .stream_type = VISION_STREAM_NARROW_ROAD},
+      {.type = CabinCam, .stream_type = VISION_STREAM_CABIN},
       {.type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD},
   };
   std::atomic<int> publishing_ = 0;
diff --git a/tools/replay/can_replay.py b/openpilot/tools/replay/can_replay.py
similarity index 100%
rename from tools/replay/can_replay.py
rename to openpilot/tools/replay/can_replay.py
diff --git a/tools/replay/consoleui.cc b/openpilot/tools/replay/consoleui.cc
similarity index 98%
rename from tools/replay/consoleui.cc
rename to openpilot/tools/replay/consoleui.cc
index a57c8a125d..6dbc984b2f 100644
--- a/tools/replay/consoleui.cc
+++ b/openpilot/tools/replay/consoleui.cc
@@ -9,6 +9,7 @@
 #include "common/ratekeeper.h"
 #include "common/util.h"
 #include "common/version.h"
+#include "tools/replay/py_downloader.h"
 
 #include "sunnypilot/common/version.h"
 
@@ -61,7 +62,7 @@ ExitHandler do_exit;
 
 }  // namespace
 
-ConsoleUI::ConsoleUI(Replay *replay) : replay(replay), sm({"carState", "liveParameters"}) {
+ConsoleUI::ConsoleUI(Replay *replay) : replay(replay), sm({"carState", "vehicleParameters"}) {
   // Initialize curses
   initscr();
   clear();
@@ -175,7 +176,7 @@ void ConsoleUI::updateStatus() {
   std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60));
   write_item(0, 25, "TIME:  ", time_string, current_segment, true);
 
-  auto p = sm["liveParameters"].getLiveParameters();
+  auto p = sm["vehicleParameters"].getVehicleParameters();
   write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), "  ");
   write_item(1, 25, "SPEED: ", util::string_format("%.2f", sm["carState"].getCarState().getVEgo()), " m/s");
   write_item(2, 0, "STEER RATIO: ", util::string_format("%.2f", p.getSteerRatio()), "");
diff --git a/tools/replay/consoleui.h b/openpilot/tools/replay/consoleui.h
similarity index 100%
rename from tools/replay/consoleui.h
rename to openpilot/tools/replay/consoleui.h
diff --git a/openpilot/tools/replay/filereader.cc b/openpilot/tools/replay/filereader.cc
new file mode 100644
index 0000000000..6ad56bbfc6
--- /dev/null
+++ b/openpilot/tools/replay/filereader.cc
@@ -0,0 +1,29 @@
+#include "tools/replay/filereader.h"
+
+#include <fstream>
+#include <unistd.h>
+
+#include "common/util.h"
+#include "tools/replay/py_downloader.h"
+
+std::string FileReader::read(const std::string &file, std::atomic<bool> *abort) {
+  const bool is_remote = (file.find("https://") == 0) || (file.find("http://") == 0);
+  if (is_remote) {
+    std::string local_path = PyDownloader::download(file, cache_to_local_, abort);
+    if (local_path.empty()) return {};
+    return util::read_file(local_path);
+  }
+  char header[4] = {};
+  std::ifstream stream(file, std::ios::binary);
+  stream.read(header, sizeof(header));
+  const std::string magic(header, stream.gcount());
+  if (util::ends_with(file, ".bz2") || util::ends_with(file, ".zst") ||
+      util::starts_with(magic, "BZh") || magic == "\x28\xB5\x2F\xFD") {
+    std::string local_path = PyDownloader::decompress(file, abort);
+    if (local_path.empty()) return {};
+    std::string data = util::read_file(local_path);
+    unlink(local_path.c_str());
+    return data;
+  }
+  return util::read_file(file);
+}
diff --git a/openpilot/tools/replay/filereader.h b/openpilot/tools/replay/filereader.h
new file mode 100644
index 0000000000..30740cd0ac
--- /dev/null
+++ b/openpilot/tools/replay/filereader.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include <atomic>
+#include <string>
+
+class FileReader {
+public:
+  FileReader(bool cache_to_local) : cache_to_local_(cache_to_local) {}
+  virtual ~FileReader() {}
+  std::string read(const std::string &file, std::atomic<bool> *abort = nullptr);
+
+private:
+  bool cache_to_local_;
+};
diff --git a/tools/replay/framereader.cc b/openpilot/tools/replay/framereader.cc
similarity index 88%
rename from tools/replay/framereader.cc
rename to openpilot/tools/replay/framereader.cc
index 96ec5915b4..19e5fa0d0f 100644
--- a/tools/replay/framereader.cc
+++ b/openpilot/tools/replay/framereader.cc
@@ -6,9 +6,10 @@
 #include <utility>
 
 #include "common/util.h"
-#include "third_party/libyuv/include/libyuv.h"
+#include "common/yuv.h"
+#include "tools/replay/py_downloader.h"
 #include "tools/replay/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 #ifdef __APPLE__
 #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX
@@ -41,7 +42,7 @@ struct DecoderManager {
     std::unique_ptr<VideoDecoder> decoder;
     #ifndef __APPLE__
     if (!Hardware::PC() && hw_decoder) {
-      decoder = std::make_unique<QcomVideoDecoder>();
+      decoder = std::make_unique<V4LVideoDecoder>();
     } else
     #endif
     {
@@ -71,13 +72,13 @@ FrameReader::~FrameReader() {
   if (input_ctx) avformat_close_input(&input_ctx);
 }
 
-bool FrameReader::load(CameraType type, const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  auto local_file_path = (url.find("https://") == 0 || url.find("http://") == 0) ? cacheFilePath(url) : url;
-  if (!util::file_exists(local_file_path)) {
-    FileReader f(local_cache, chunk_size, retries);
-    if (f.read(url, abort).empty()) {
-      return false;
-    }
+bool FrameReader::load(CameraType type, const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache) {
+  std::string local_file_path;
+  if (url.find("https://") == 0 || url.find("http://") == 0) {
+    local_file_path = PyDownloader::download(url, local_cache, abort);
+    if (local_file_path.empty()) return false;
+  } else {
+    local_file_path = url;
   }
   return loadFromFile(type, local_file_path, no_hw_decoder, abort);
 }
@@ -257,29 +258,29 @@ bool FFmpegVideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
       memcpy(buf->uv + i*buf->stride, f->data[1] + i*f->linesize[1], width);
     }
   } else {
-    libyuv::I420ToNV12(f->data[0], f->linesize[0],
-                       f->data[1], f->linesize[1],
-                       f->data[2], f->linesize[2],
-                       buf->y, buf->stride,
-                       buf->uv, buf->stride,
-                       width, height);
+    yuv::i420_to_nv12(f->data[0], f->linesize[0],
+                      f->data[1], f->linesize[1],
+                      f->data[2], f->linesize[2],
+                      buf->y, buf->stride,
+                      buf->uv, buf->stride,
+                      width, height);
   }
   return true;
 }
 
 #ifndef __APPLE__
-bool QcomVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
+bool V4LVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
   if (codecpar->codec_id != AV_CODEC_ID_HEVC) {
     rError("Hardware decoder only supports HEVC codec");
     return false;
   }
   width = codecpar->width;
   height = codecpar->height;
-  msm_vidc.init(VIDEO_DEVICE, width, height, V4L2_PIX_FMT_HEVC);
+  v4l_decoder.init(V4LDecoder::DEVICE, width, height, V4L2_PIX_FMT_HEVC);
   return true;
 }
 
-bool QcomVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
+bool V4LVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
   int from_idx = idx;
   if (idx != reader->prev_idx + 1) {
     // seeking to the nearest key frame
@@ -300,10 +301,10 @@ bool QcomVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
   reader->prev_idx = idx;
   bool result = false;
   AVPacket pkt;
-  msm_vidc.avctx = reader->input_ctx;
+  v4l_decoder.avctx = reader->input_ctx;
   for (int i = from_idx; i <= idx; ++i) {
     if (av_read_frame(reader->input_ctx, &pkt) == 0) {
-      result = msm_vidc.decodeFrame(&pkt, buf) && (i == idx);
+      result = v4l_decoder.decodeFrame(&pkt, buf) && (i == idx);
       av_packet_unref(&pkt);
     }
   }
diff --git a/tools/replay/framereader.h b/openpilot/tools/replay/framereader.h
similarity index 87%
rename from tools/replay/framereader.h
rename to openpilot/tools/replay/framereader.h
index d8e86fce0f..65feb5b3b7 100644
--- a/tools/replay/framereader.h
+++ b/openpilot/tools/replay/framereader.h
@@ -4,11 +4,10 @@
 #include <vector>
 
 #include "msgq/visionipc/visionbuf.h"
-#include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
 
 #ifndef __APPLE__
-#include "tools/replay/qcom_decoder.h"
+#include "system/loggerd/encoder/v4l_decoder.h"
 #endif
 
 extern "C" {
@@ -22,8 +21,7 @@ class FrameReader {
 public:
   FrameReader();
   ~FrameReader();
-  bool load(CameraType type, const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
-            int chunk_size = -1, int retries = 0);
+  bool load(CameraType type, const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false);
   bool loadFromFile(CameraType type, const std::string &file, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
   bool get(int idx, VisionBuf *buf);
   size_t getFrameCount() const { return packets_info.size(); }
@@ -69,14 +67,14 @@ private:
 };
 
 #ifndef __APPLE__
-class QcomVideoDecoder : public VideoDecoder {
+class V4LVideoDecoder : public VideoDecoder {
 public:
-  QcomVideoDecoder() {};
-  ~QcomVideoDecoder() override {};
+  V4LVideoDecoder() {};
+  ~V4LVideoDecoder() override {};
   bool open(AVCodecParameters *codecpar, bool hw_decoder) override;
   bool decode(FrameReader *reader, int idx, VisionBuf *buf) override;
 
 private:
-  MsmVidc msm_vidc = MsmVidc();
+  V4LDecoder v4l_decoder;
 };
 #endif
diff --git a/tools/replay/lib/__init__.py b/openpilot/tools/replay/lib/__init__.py
similarity index 100%
rename from tools/replay/lib/__init__.py
rename to openpilot/tools/replay/lib/__init__.py
diff --git a/tools/replay/lib/ui_helpers.py b/openpilot/tools/replay/lib/ui_helpers.py
similarity index 88%
rename from tools/replay/lib/ui_helpers.py
rename to openpilot/tools/replay/lib/ui_helpers.py
index 7c95e9cad4..b9da0d225f 100644
--- a/tools/replay/lib/ui_helpers.py
+++ b/openpilot/tools/replay/lib/ui_helpers.py
@@ -5,6 +5,8 @@ import numpy as np
 import pyray as rl
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
+from matplotlib.artist import Artist
+from matplotlib.offsetbox import AnchoredOffsetbox, HPacker, TextArea
 
 from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
 from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
@@ -94,6 +96,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
 
 def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
   color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)}
+  label_palette = {**color_palette, "b": (43/255, 114/255, 1.0)}
 
   dpi = 90
   fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
@@ -116,10 +119,18 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
       plots.append(plot)
       idxs.append(name_to_arr_idx[item])
       plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
+    # Build colored title: each label colored to match its plot line
+    title_texts: list[Artist] = []
+    for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)):
+      if j2 > 0:
+        title_texts.append(TextArea(", ", textprops={"color": "white", "fontsize": 10}))
+      title_texts.append(TextArea(nm, textprops={"color": label_palette[cl], "fontsize": 10}))
+    packed = HPacker(children=title_texts, pad=0, sep=0)
+    ab = AnchoredOffsetbox(loc='lower center', child=packed, bbox_to_anchor=(0.5, 1.0),
+                           bbox_transform=axs[i].transAxes, frameon=False, pad=0)
+    axs[i].add_artist(ab)
     axs[i].tick_params(axis="x", colors="white")
     axs[i].tick_params(axis="y", colors="white")
-    axs[i].title.set_color("white")
 
     if i < len(plot_ylims) - 1:
       axs[i].set_xticks([])
@@ -177,7 +188,7 @@ def plot_model(m, img, calibration, top_down):
 
 def plot_lead(rs, top_down):
   for lead in [rs.leadOne, rs.leadTwo]:
-    if not lead.status:
+    if not lead.present:
       continue
 
     x = lead.dRel
@@ -191,7 +202,7 @@ def maybe_update_radar_points(lt, lid_overlay):
   if lt is not None:
     ar_pts = {}
     for track in lt:
-      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel]
+      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel]
   for pt in ar_pts.values():
     # negative here since radar is left positive
     px, py = to_topdown_pt(pt[0], -pt[1])
diff --git a/tools/replay/logreader.cc b/openpilot/tools/replay/logreader.cc
similarity index 57%
rename from tools/replay/logreader.cc
rename to openpilot/tools/replay/logreader.cc
index 75abb8417b..315aed9741 100644
--- a/tools/replay/logreader.cc
+++ b/openpilot/tools/replay/logreader.cc
@@ -1,31 +1,58 @@
 #include "tools/replay/logreader.h"
 
 #include <algorithm>
+#include <chrono>
 #include <utility>
 #include "tools/replay/filereader.h"
+#include "tools/replay/py_downloader.h"
 #include "tools/replay/util.h"
 #include "common/util.h"
 
-bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
-  if (!data.empty()) {
-    if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) {
-      data = decompressBZ2(data, abort);
-    } else if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) {
-      data = decompressZST(data, abort);
-    }
-  }
+bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache,
+                     const ProgressCallback &progress) {
+  using Clock = std::chrono::steady_clock;
+  compressed_size_ = 0;
+  decompressed_size_ = 0;
+  download_seconds_ = 0.0;
+  decompress_seconds_ = 0.0;
+  parse_seconds_ = 0.0;
 
-  bool success = !data.empty() && load(data.data(), data.size(), abort);
+  if (progress) {
+    installDownloadProgressHandler([progress](uint64_t cur, uint64_t total, bool success) {
+      if (success) {
+        progress(ProgressStage::Downloading, cur, total);
+      }
+    });
+  }
+  const auto download_start = Clock::now();
+  std::string data = FileReader(local_cache).read(url, abort);
+  const auto download_end = Clock::now();
+  if (progress) {
+    installDownloadProgressHandler(nullptr);
+  }
+  compressed_size_ = data.size();
+  download_seconds_ = std::chrono::duration<double>(download_end - download_start).count();
+  decompressed_size_ = data.size();
+
+  bool success = !data.empty() && load(data.data(), data.size(), abort, progress);
   if (filters_.empty())
     raw_ = std::move(data);
   return success;
 }
 
-bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
+bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort,
+                     const ProgressCallback &progress) {
+  using Clock = std::chrono::steady_clock;
+  const auto parse_start = Clock::now();
   try {
     events.reserve(65000);
     kj::ArrayPtr<const capnp::word> words((const capnp::word *)data, size / sizeof(capnp::word));
+    const uint64_t total_bytes = size;
+    const uint64_t report_step = std::max<uint64_t>(1, total_bytes / 200);
+    uint64_t last_reported = 0;
+    if (progress) {
+      progress(ProgressStage::Parsing, 0, total_bytes);
+    }
     while (words.size() > 0 && !(abort && *abort)) {
       capnp::FlatArrayMessageReader reader(words);
       auto event = reader.getRoot<cereal::Event>();
@@ -47,8 +74,8 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
       uint64_t mono_time = event.getLogMonoTime();
       const Event &evt = events.emplace_back(which, mono_time, event_data);
       // Add encodeIdx packet again as a frame packet for the video stream
-      if (evt.which == cereal::Event::ROAD_ENCODE_IDX ||
-          evt.which == cereal::Event::DRIVER_ENCODE_IDX ||
+      if (evt.which == cereal::Event::NARROW_ROAD_ENCODE_IDX ||
+          evt.which == cereal::Event::CABIN_ENCODE_IDX ||
           evt.which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
         auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
         if (idx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
@@ -56,15 +83,30 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
           events.emplace_back(which, sof ? sof : mono_time, event_data, idx.getSegmentNum());
         }
       }
+
+      if (progress) {
+        const uint64_t current_bytes =
+          total_bytes - static_cast<uint64_t>(words.size() * sizeof(capnp::word));
+        if (current_bytes >= total_bytes || current_bytes - last_reported >= report_step) {
+          progress(ProgressStage::Parsing, current_bytes, total_bytes);
+          last_reported = current_bytes;
+        }
+      }
     }
   } catch (const kj::Exception &e) {
     rWarning("Failed to parse log : %s.\nRetrieved %zu events from corrupt log", e.getDescription().cStr(), events.size());
   }
 
+  if (progress) {
+    progress(ProgressStage::Parsing, size, size);
+  }
+
   if (requires_migration) {
     migrateOldEvents();
   }
 
+  parse_seconds_ = std::chrono::duration<double>(Clock::now() - parse_start).count();
+
   if (!events.empty() && !(abort && *abort)) {
     events.shrink_to_fit();
     std::sort(events.begin(), events.end());
@@ -90,18 +132,19 @@ void LogReader::migrateOldEvents() {
       new_evt.setLogMonoTime(old_evt.getLogMonoTime());
       auto new_state = new_evt.initSelfdriveState();
 
-      new_state.setActive(old_state.getActiveDEPRECATED());
-      new_state.setAlertSize(old_state.getAlertSizeDEPRECATED());
-      new_state.setAlertSound(old_state.getAlertSound2DEPRECATED());
-      new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED());
-      new_state.setAlertText1(old_state.getAlertText1DEPRECATED());
-      new_state.setAlertText2(old_state.getAlertText2DEPRECATED());
-      new_state.setAlertType(old_state.getAlertTypeDEPRECATED());
-      new_state.setEnabled(old_state.getEnabledDEPRECATED());
-      new_state.setEngageable(old_state.getEngageableDEPRECATED());
-      new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED());
-      new_state.setPersonality(old_state.getPersonalityDEPRECATED());
-      new_state.setState(old_state.getStateDEPRECATED());
+      auto old_dep = old_state.getDeprecated();
+      new_state.setActive(old_dep.getActive());
+      new_state.setAlertSize(old_dep.getAlertSize());
+      new_state.setAlertSound(old_dep.getAlertSound2());
+      new_state.setAlertStatus(old_dep.getAlertStatus());
+      new_state.setAlertText1(old_dep.getAlertText1());
+      new_state.setAlertText2(old_dep.getAlertText2());
+      new_state.setAlertType(old_dep.getAlertType());
+      new_state.setEnabled(old_dep.getEnabled());
+      new_state.setEngageable(old_dep.getEngageable());
+      new_state.setExperimentalMode(old_dep.getExperimentalMode());
+      new_state.setPersonality(old_dep.getPersonality());
+      new_state.setState(old_dep.getState());
 
       // Serialize the new event to the buffer
       auto buf_size = msg.getSerializedSize();
diff --git a/tools/replay/logreader.h b/openpilot/tools/replay/logreader.h
similarity index 52%
rename from tools/replay/logreader.h
rename to openpilot/tools/replay/logreader.h
index f8d60ffadd..52e82c46ad 100644
--- a/tools/replay/logreader.h
+++ b/openpilot/tools/replay/logreader.h
@@ -1,12 +1,14 @@
 #pragma once
 
+#include <cstdint>
+#include <functional>
 #include <string>
 #include <vector>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "tools/replay/util.h"
 
-const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
+const CameraType ALL_CAMERAS[] = {NarrowRoadCam, CabinCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
 
 class Event {
@@ -26,12 +28,26 @@ public:
 
 class LogReader {
 public:
+  enum class ProgressStage {
+    Downloading,
+    Parsing,
+  };
+
+  using ProgressCallback = std::function<void(ProgressStage stage, uint64_t current, uint64_t total)>;
+
   LogReader(const std::vector<bool> &filters = {}) { filters_ = filters; }
   bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
-            bool local_cache = false, int chunk_size = -1, int retries = 0);
-  bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr);
+            bool local_cache = false, const ProgressCallback &progress = {});
+  bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr,
+            const ProgressCallback &progress = {});
   std::vector<Event> events;
 
+  uint64_t compressed_size() const { return compressed_size_; }
+  uint64_t decompressed_size() const { return decompressed_size_; }
+  double download_seconds() const { return download_seconds_; }
+  double decompress_seconds() const { return decompress_seconds_; }
+  double parse_seconds() const { return parse_seconds_; }
+
 private:
   void migrateOldEvents();
 
@@ -39,4 +55,9 @@ private:
   bool requires_migration = true;
   std::vector<bool> filters_;
   MonotonicBuffer buffer_{1024 * 1024};
+  uint64_t compressed_size_ = 0;
+  uint64_t decompressed_size_ = 0;
+  double download_seconds_ = 0.0;
+  double decompress_seconds_ = 0.0;
+  double parse_seconds_ = 0.0;
 };
diff --git a/tools/replay/main.cc b/openpilot/tools/replay/main.cc
similarity index 88%
rename from tools/replay/main.cc
rename to openpilot/tools/replay/main.cc
index 30f85b1700..50233189a1 100644
--- a/tools/replay/main.cc
+++ b/openpilot/tools/replay/main.cc
@@ -1,5 +1,6 @@
 #include <getopt.h>
 
+#include <cstdlib>
 #include <iomanip>
 #include <iostream>
 #include <map>
@@ -25,8 +26,8 @@ Options:
                      internal, openpilotci, comma_api, car_segments, testing_closet
   -d, --data_dir     Local directory with routes
   -p, --prefix       Set OPENPILOT_PREFIX
-      --dcam         Load driver camera
-      --ecam         Load wide road camera
+      --cabin        Load cabin camera (alias: --dcam)
+      --wide-road    Load wide road camera (alias: --ecam)
       --no-loop      Stop at the end of the route
       --no-cache     Turn off local cache
       --qcam         Load qcamera
@@ -61,8 +62,10 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
       {"auto", no_argument, nullptr, 0},
       {"data_dir", required_argument, nullptr, 'd'},
       {"prefix", required_argument, nullptr, 'p'},
-      {"dcam", no_argument, nullptr, 0},
-      {"ecam", no_argument, nullptr, 0},
+      {"cabin", no_argument, nullptr, 0},
+      {"dcam", no_argument, nullptr, 0},  // deprecated alias
+      {"wide-road", no_argument, nullptr, 0},
+      {"ecam", no_argument, nullptr, 0},  // deprecated alias
       {"no-loop", no_argument, nullptr, 0},
       {"no-cache", no_argument, nullptr, 0},
       {"qcam", no_argument, nullptr, 0},
@@ -75,8 +78,10 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
   };
 
   const std::map<std::string, REPLAY_FLAGS> flag_map = {
-      {"dcam", REPLAY_FLAG_DCAM},
-      {"ecam", REPLAY_FLAG_ECAM},
+      {"cabin", REPLAY_FLAG_CABIN_CAMERA},
+      {"dcam", REPLAY_FLAG_CABIN_CAMERA},  // deprecated alias
+      {"wide-road", REPLAY_FLAG_WIDE_ROAD},
+      {"ecam", REPLAY_FLAG_WIDE_ROAD},  // deprecated alias
       {"no-loop", REPLAY_FLAG_NO_LOOP},
       {"no-cache", REPLAY_FLAG_NO_FILE_CACHE},
       {"qcam", REPLAY_FLAG_QCAMERA},
@@ -132,6 +137,10 @@ int main(int argc, char *argv[]) {
   util::set_file_descriptor_limit(1024);
 #endif
 
+  // The vendored ncurses static library has a wrong compiled-in terminfo path.
+  // Point it at the system terminfo database if not already set.
+  setenv("TERMINFO_DIRS", "/usr/share/terminfo:/lib/terminfo:/usr/lib/terminfo", 0);
+
   ReplayConfig config;
 
   if (!parseArgs(argc, argv, config)) {
diff --git a/openpilot/tools/replay/py_downloader.cc b/openpilot/tools/replay/py_downloader.cc
new file mode 100644
index 0000000000..a265dfd6a3
--- /dev/null
+++ b/openpilot/tools/replay/py_downloader.cc
@@ -0,0 +1,184 @@
+#include "tools/replay/py_downloader.h"
+
+#include <csignal>
+#include <fcntl.h>
+#include <mutex>
+#include <sys/wait.h>
+#include <unistd.h>
+#include <vector>
+
+#include "tools/replay/util.h"
+
+namespace {
+
+static std::mutex handler_mutex;
+static DownloadProgressHandler progress_handler = nullptr;
+
+// Run a Python command and capture stdout. Stderr is left attached to the parent.
+// Returns stdout content. If abort is signaled, kills the child process.
+std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *abort = nullptr) {
+  // Build argv for execvp
+  std::vector<const char *> argv;
+  argv.push_back("python3");
+  argv.push_back("-m");
+  argv.push_back("openpilot.tools.lib.file_downloader");
+  for (const auto &a : args) {
+    argv.push_back(a.c_str());
+  }
+  argv.push_back(nullptr);
+
+  int stdout_pipe[2];
+  if (pipe(stdout_pipe) != 0) {
+    rWarning("py_downloader: pipe() failed");
+    return {};
+  }
+
+  pid_t pid = fork();
+  if (pid < 0) {
+    rWarning("py_downloader: fork() failed");
+    close(stdout_pipe[0]); close(stdout_pipe[1]);
+    return {};
+  }
+
+  if (pid == 0) {
+    // Child process — detach from controlling terminal so Python
+    // cannot corrupt terminal settings needed by ncurses in the parent.
+    setsid();
+    int devnull = open("/dev/null", O_RDONLY);
+    if (devnull >= 0) {
+      dup2(devnull, STDIN_FILENO);
+      if (devnull > STDERR_FILENO) close(devnull);
+    }
+
+    // Clear OPENPILOT_PREFIX so the Python process uses default paths
+    // (e.g. ~/.comma/auth.json). The prefix is only for IPC in the parent.
+    unsetenv("OPENPILOT_PREFIX");
+
+    close(stdout_pipe[0]);
+    dup2(stdout_pipe[1], STDOUT_FILENO);
+    close(stdout_pipe[1]);
+
+    execvp("python3", const_cast<char *const *>(argv.data()));
+    _exit(127);
+  }
+
+  // Parent process
+  close(stdout_pipe[1]);
+
+  std::string stdout_data;
+  char buf[4096];
+
+  // Use select() so abort can interrupt while waiting for Python output.
+  fd_set rfds;
+  bool stdout_open = true;
+
+  while (stdout_open) {
+    if (abort && *abort) {
+      kill(pid, SIGTERM);
+      break;
+    }
+
+    FD_ZERO(&rfds);
+    FD_SET(stdout_pipe[0], &rfds);
+
+    struct timeval tv = {0, 100000};  // 100ms timeout
+    int ret = select(stdout_pipe[0] + 1, &rfds, nullptr, nullptr, &tv);
+    if (ret < 0) break;
+
+    if (FD_ISSET(stdout_pipe[0], &rfds)) {
+      ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
+      if (n <= 0) {
+        stdout_open = false;
+      } else {
+        stdout_data.append(buf, n);
+      }
+    }
+  }
+
+  // Drain remaining pipe data to prevent child from blocking on write
+  while (true) {
+    ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
+    if (n <= 0) break;
+    stdout_data.append(buf, n);
+  }
+  close(stdout_pipe[0]);
+
+  int status;
+  waitpid(pid, &status, 0);
+
+  const bool aborted = abort && *abort;
+  const bool expected_sigterm = aborted && WIFSIGNALED(status) && WTERMSIG(status) == SIGTERM;
+  bool failed = aborted ||
+                (WIFEXITED(status) && WEXITSTATUS(status) != 0) ||
+                WIFSIGNALED(status);
+  if (failed) {
+    if (expected_sigterm) {
+      // Route/camera teardown cancels outstanding downloader subprocesses.
+      // Keep that expected shutdown path quiet.
+    } else if (WIFEXITED(status) && WEXITSTATUS(status) != 0) {
+      rWarning("py_downloader: process exited with code %d", WEXITSTATUS(status));
+    } else if (WIFSIGNALED(status)) {
+      rWarning("py_downloader: process killed by signal %d", WTERMSIG(status));
+    }
+    std::lock_guard<std::mutex> lk(handler_mutex);
+    if (progress_handler) {
+      progress_handler(0, 0, false);
+    }
+    return {};
+  }
+
+  // Trim trailing newline
+  while (!stdout_data.empty() && (stdout_data.back() == '\n' || stdout_data.back() == '\r')) {
+    stdout_data.pop_back();
+  }
+
+  return stdout_data;
+}
+
+}  // namespace
+
+void installDownloadProgressHandler(DownloadProgressHandler handler) {
+  std::lock_guard<std::mutex> lk(handler_mutex);
+  progress_handler = handler;
+}
+
+namespace PyDownloader {
+
+std::string download(const std::string &url, bool use_cache, std::atomic<bool> *abort) {
+  std::vector<std::string> args = {"download", url};
+  if (!use_cache) {
+    args.push_back("--no-cache");
+  }
+  return runPython(args, abort);
+}
+
+std::string decompress(const std::string &path, std::atomic<bool> *abort) {
+  return runPython({"decompress", path}, abort);
+}
+
+std::string getRouteFiles(const std::string &route) {
+  return runPython({"route-files", route});
+}
+
+std::string getDevices() {
+  return runPython({"devices"});
+}
+
+std::string getDeviceRoutes(const std::string &dongle_id, int64_t start_ms, int64_t end_ms, bool preserved) {
+  std::vector<std::string> args = {"device-routes", dongle_id};
+  if (preserved) {
+    args.push_back("--preserved");
+  } else {
+    if (start_ms > 0) {
+      args.push_back("--start");
+      args.push_back(std::to_string(start_ms));
+    }
+    if (end_ms > 0) {
+      args.push_back("--end");
+      args.push_back(std::to_string(end_ms));
+    }
+  }
+  return runPython(args);
+}
+
+}  // namespace PyDownloader
diff --git a/openpilot/tools/replay/py_downloader.h b/openpilot/tools/replay/py_downloader.h
new file mode 100644
index 0000000000..80fab6ab00
--- /dev/null
+++ b/openpilot/tools/replay/py_downloader.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <atomic>
+#include <functional>
+#include <string>
+
+typedef std::function<void(uint64_t cur, uint64_t total, bool success)> DownloadProgressHandler;
+void installDownloadProgressHandler(DownloadProgressHandler handler);
+
+namespace PyDownloader {
+
+// Downloads url to local cache, returns local file path. Reports progress via installDownloadProgressHandler.
+std::string download(const std::string &url, bool use_cache = true, std::atomic<bool> *abort = nullptr);
+
+// Decompresses a local log file and returns the temporary output path.
+std::string decompress(const std::string &path, std::atomic<bool> *abort = nullptr);
+
+// Returns JSON string of route files (same format as /v1/route/.../files API)
+std::string getRouteFiles(const std::string &route);
+
+// Returns JSON string of user's devices
+std::string getDevices();
+
+// Returns JSON string of device routes
+std::string getDeviceRoutes(const std::string &dongle_id, int64_t start_ms = 0, int64_t end_ms = 0, bool preserved = false);
+
+}  // namespace PyDownloader
diff --git a/tools/replay/replay.cc b/openpilot/tools/replay/replay.cc
similarity index 97%
rename from tools/replay/replay.cc
rename to openpilot/tools/replay/replay.cc
index d8d59e41a4..6449fc30ea 100644
--- a/tools/replay/replay.cc
+++ b/openpilot/tools/replay/replay.cc
@@ -4,7 +4,7 @@
 #include <csignal>
 #include <iomanip>
 #include <sstream>
-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 #include "common/params.h"
 #include "tools/replay/util.h"
 
@@ -193,7 +193,7 @@ void Replay::startStream(const std::shared_ptr<Segment> segment) {
     auto event = reader.getRoot<cereal::Event>();
     uint64_t wall_time = event.getInitData().getWallTimeNanos();
     if (wall_time > 0) {
-      route_date_time_ = wall_time / 1e6;
+      route_date_time_ = wall_time / 1e9;
     }
   }
 
@@ -251,13 +251,13 @@ void Replay::publishMessage(const Event *e) {
 void Replay::publishFrame(const Event *e) {
   CameraType cam;
   switch (e->which) {
-    case cereal::Event::ROAD_ENCODE_IDX: cam = RoadCam; break;
-    case cereal::Event::DRIVER_ENCODE_IDX: cam = DriverCam; break;
+    case cereal::Event::NARROW_ROAD_ENCODE_IDX: cam = NarrowRoadCam; break;
+    case cereal::Event::CABIN_ENCODE_IDX: cam = CabinCam; break;
     case cereal::Event::WIDE_ROAD_ENCODE_IDX: cam = WideRoadCam; break;
     default: return;  // Invalid event type
   }
 
-  if ((cam == DriverCam && !hasFlag(REPLAY_FLAG_DCAM)) || (cam == WideRoadCam && !hasFlag(REPLAY_FLAG_ECAM)))
+  if ((cam == CabinCam && !hasFlag(REPLAY_FLAG_CABIN_CAMERA)) || (cam == WideRoadCam && !hasFlag(REPLAY_FLAG_WIDE_ROAD)))
     return;  // Camera isdisabled
 
   auto seg_it = event_data_->segments.find(e->eidx_segnum);
diff --git a/tools/replay/replay.h b/openpilot/tools/replay/replay.h
similarity index 96%
rename from tools/replay/replay.h
rename to openpilot/tools/replay/replay.h
index 58c1b71b8a..7cd5fbecd0 100644
--- a/tools/replay/replay.h
+++ b/openpilot/tools/replay/replay.h
@@ -12,12 +12,12 @@
 #include "tools/replay/seg_mgr.h"
 #include "tools/replay/timeline.h"
 
-#define DEMO_ROUTE "a2a0ccea32023010|2023-07-27--13-01-19"
+#define DEMO_ROUTE "5beb9b58bd12b691/0000010a--a51155e496"
 
 enum REPLAY_FLAGS {
   REPLAY_FLAG_NONE = 0x0000,
-  REPLAY_FLAG_DCAM = 0x0002,
-  REPLAY_FLAG_ECAM = 0x0004,
+  REPLAY_FLAG_CABIN_CAMERA = 0x0002,
+  REPLAY_FLAG_WIDE_ROAD = 0x0004,
   REPLAY_FLAG_NO_LOOP = 0x0010,
   REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
   REPLAY_FLAG_QCAMERA = 0x0040,
@@ -100,7 +100,7 @@ private:
   std::atomic<bool> exit_ = false;
   std::atomic<bool> interrupt_requested_ = false;
   bool events_ready_ = false;
-  std::time_t route_date_time_;
+  std::time_t route_date_time_ = 0;
   uint64_t route_start_ts_ = 0;
   std::atomic<uint64_t> cur_mono_time_ = 0;
   cereal::Event::Which cur_which_ = cereal::Event::Which::INIT_DATA;
diff --git a/tools/replay/route.cc b/openpilot/tools/replay/route.cc
similarity index 80%
rename from tools/replay/route.cc
rename to openpilot/tools/replay/route.cc
index ba00828267..f38c2b1971 100644
--- a/tools/replay/route.cc
+++ b/openpilot/tools/replay/route.cc
@@ -4,9 +4,9 @@
 #include <filesystem>
 #include <regex>
 
-#include "third_party/json11/json11.hpp"
-#include "system/hardware/hw.h"
-#include "tools/replay/api.h"
+#include "json11/json11.hpp"
+#include "common/hardware/hw.h"
+#include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
 
@@ -103,43 +103,44 @@ bool Route::loadFromAutoSource() {
   return !segments_.empty();
 }
 
-bool Route::loadFromServer(int retries) {
-  const std::string url = CommaApi2::BASE_URL + "/v1/route/" + route_.str + "/files";
-  for (int i = 1; i <= retries; ++i) {
-    long response_code = 0;
-    std::string result = CommaApi2::httpGet(url, &response_code);
-    if (response_code == 200) {
-      return loadFromJson(result);
-    }
-
-    if (response_code == 401 || response_code == 403) {
-      rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<");
-      err_ = RouteLoadError::Unauthorized;
-      break;
-    }
-    if (response_code == 404) {
-      rWarning("The specified route could not be found on the server.");
-      err_ = RouteLoadError::FileNotFound;
-      break;
-    }
-
+bool Route::loadFromServer() {
+  std::string result = PyDownloader::getRouteFiles(route_.str);
+  if (result.empty()) {
     err_ = RouteLoadError::NetworkError;
-    rWarning("Retrying %d/%d", i, retries);
-    util::sleep_for(3000);
-  }
-
-  return false;
-}
-
-bool Route::loadFromJson(const std::string &json) {
-  const static std::regex rx(R"(\/(\d+)\/)");
-  std::string err;
-  auto jsonData = json11::Json::parse(json, err);
-  if (!err.empty()) {
-    rWarning("JSON parsing error: %s", err.c_str());
+    rWarning("Failed to fetch route files from server");
     return false;
   }
-  for (const auto &value : jsonData.object_items()) {
+
+  // Check for error field in JSON response
+  std::string parse_err;
+  auto json = json11::Json::parse(result, parse_err);
+  if (!parse_err.empty()) {
+    err_ = RouteLoadError::NetworkError;
+    rWarning("Failed to parse route files response");
+    return false;
+  }
+
+  if (json.is_object() && json["error"].is_string()) {
+    const std::string &error = json["error"].string_value();
+    if (error == "unauthorized") {
+      rWarning(">> Unauthorized. Authenticate with openpilot/tools/lib/auth.py <<");
+      err_ = RouteLoadError::Unauthorized;
+    } else if (error == "not_found") {
+      rWarning("The specified route could not be found on the server.");
+      err_ = RouteLoadError::FileNotFound;
+    } else {
+      rWarning("API error: %s", error.c_str());
+      err_ = RouteLoadError::NetworkError;
+    }
+    return false;
+  }
+
+  return loadFromJson(json);
+}
+
+bool Route::loadFromJson(const json11::Json &json) {
+  const static std::regex rx(R"(\/(\d+)\/)");
+  for (const auto &value : json.object_items()) {
     const auto &urlArray = value.second.array_items();
     for (const auto &url : urlArray) {
       std::string url_str = url.string_value();
@@ -179,9 +180,9 @@ void Route::addFileToSegment(int n, const std::string &file) {
   } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
     segments_[n].qlog = file;
   } else if (name == "fcamera.hevc") {
-    segments_[n].road_cam = file;
+    segments_[n].narrow_road_cam = file;
   } else if (name == "dcamera.hevc") {
-    segments_[n].driver_cam = file;
+    segments_[n].cabin_cam = file;
   } else if (name == "ecamera.hevc") {
     segments_[n].wide_road_cam = file;
   } else if (name == "qcamera.ts") {
@@ -194,11 +195,11 @@ void Route::addFileToSegment(int n, const std::string &file) {
 Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector<bool> &filters,
                  std::function<void(int, bool)> callback)
     : seg_num(n), flags(flags), filters_(filters), on_load_finished_(callback) {
-  // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
+  // [NarrowRoadCam, CabinCam, WideRoadCam, log]. fallback to qcamera/qlog
   const std::array file_list = {
-      (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.empty() ? files.qcamera : files.road_cam,
-      flags & REPLAY_FLAG_DCAM ? files.driver_cam : "",
-      flags & REPLAY_FLAG_ECAM ? files.wide_road_cam : "",
+      (flags & REPLAY_FLAG_QCAMERA) || files.narrow_road_cam.empty() ? files.qcamera : files.narrow_road_cam,
+      flags & REPLAY_FLAG_CABIN_CAMERA ? files.cabin_cam : "",
+      flags & REPLAY_FLAG_WIDE_ROAD ? files.wide_road_cam : "",
       files.rlog.empty() ? files.qlog : files.rlog,
   };
   for (int i = 0; i < file_list.size(); ++i) {
@@ -225,10 +226,10 @@ void Segment::loadFile(int id, const std::string file) {
   bool success = false;
   if (id < MAX_CAMERAS) {
     frames[id] = std::make_unique<FrameReader>();
-    success = frames[id]->load((CameraType)id, file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
+    success = frames[id]->load((CameraType)id, file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache);
   } else {
     log = std::make_unique<LogReader>(filters_);
-    success = log->load(file, &abort_, local_cache, 0, 3);
+    success = log->load(file, &abort_, local_cache);
   }
 
   if (!success) {
diff --git a/tools/replay/route.h b/openpilot/tools/replay/route.h
similarity index 93%
rename from tools/replay/route.h
rename to openpilot/tools/replay/route.h
index 0375252a19..7a55997969 100644
--- a/tools/replay/route.h
+++ b/openpilot/tools/replay/route.h
@@ -8,6 +8,7 @@
 #include <thread>
 #include <vector>
 
+#include "json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
@@ -32,8 +33,8 @@ struct RouteIdentifier {
 struct SegmentFile {
   std::string rlog;
   std::string qlog;
-  std::string road_cam;
-  std::string driver_cam;
+  std::string narrow_road_cam;
+  std::string cabin_cam;
   std::string wide_road_cam;
   std::string qcamera;
 };
@@ -55,8 +56,8 @@ protected:
   bool loadSegments();
   bool loadFromAutoSource();
   bool loadFromLocal();
-  bool loadFromServer(int retries = 3);
-  bool loadFromJson(const std::string &json);
+  bool loadFromServer();
+  bool loadFromJson(const json11::Json &json);
   void addFileToSegment(int seg_num, const std::string &file);
   RouteIdentifier route_ = {};
   std::string data_dir_;
diff --git a/tools/replay/seg_mgr.cc b/openpilot/tools/replay/seg_mgr.cc
similarity index 100%
rename from tools/replay/seg_mgr.cc
rename to openpilot/tools/replay/seg_mgr.cc
diff --git a/tools/replay/seg_mgr.h b/openpilot/tools/replay/seg_mgr.h
similarity index 100%
rename from tools/replay/seg_mgr.h
rename to openpilot/tools/replay/seg_mgr.h
diff --git a/tools/replay/timeline.cc b/openpilot/tools/replay/timeline.cc
similarity index 98%
rename from tools/replay/timeline.cc
rename to openpilot/tools/replay/timeline.cc
index 39ea8b1bed..34729f5214 100644
--- a/tools/replay/timeline.cc
+++ b/openpilot/tools/replay/timeline.cc
@@ -3,7 +3,7 @@
 #include <algorithm>
 #include <array>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 
 Timeline::~Timeline() {
   should_exit_.store(true);
@@ -55,7 +55,7 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
     if (should_exit_) break;
 
     auto log = std::make_shared<LogReader>();
-    if (!log->load(segment.second.qlog, &should_exit_, local_cache, 0, 3) || log->events.empty()) {
+    if (!log->load(segment.second.qlog, &should_exit_, local_cache) || log->events.empty()) {
       continue;  // Skip if log loading fails or no events
     }
 
diff --git a/tools/replay/timeline.h b/openpilot/tools/replay/timeline.h
similarity index 100%
rename from tools/replay/timeline.h
rename to openpilot/tools/replay/timeline.h
diff --git a/tools/replay/ui.py b/openpilot/tools/replay/ui.py
similarity index 68%
rename from tools/replay/ui.py
rename to openpilot/tools/replay/ui.py
index 8707f2be99..7f34f1303d 100755
--- a/tools/replay/ui.py
+++ b/openpilot/tools/replay/ui.py
@@ -3,11 +3,10 @@ import argparse
 import os
 import sys
 
-import cv2
 import numpy as np
 import pyray as rl
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.tools.replay.lib.ui_helpers import (
@@ -22,7 +21,8 @@ from openpilot.tools.replay.lib.ui_helpers import (
   plot_lead,
   plot_model,
 )
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 
 os.environ['BASEDIR'] = BASEDIR
 
@@ -30,8 +30,6 @@ ANGLE_SCALE = 5.0
 
 
 def ui_thread(addr):
-  cv2.setNumThreads(1)
-
   # Get monitor info before creating window
   rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
   rl.init_window(1, 1, "")
@@ -56,17 +54,18 @@ def ui_thread(addr):
   rl.set_target_fps(60)
 
   # Load font
-  font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
+  font_path = os.path.join(BASEDIR, "openpilot/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
   font = rl.load_font_ex(font_path, 32, None, 0)
 
-  # Create textures for camera and top-down view
-  camera_image = rl.gen_image_color(640, 480, rl.BLACK)
-  camera_texture = rl.load_texture_from_image(camera_image)
-  rl.unload_image(camera_image)
+  camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_NARROW_ROAD)
+
+  # Overlay texture for model/lane line drawing
+  overlay_img = np.zeros((480, 640, 4), dtype='uint8')
+  overlay_image = rl.gen_image_color(640, 480, rl.BLANK)
+  overlay_texture = rl.load_texture_from_image(overlay_image)
+  rl.unload_image(overlay_image)
 
   # lid_overlay array is (lidar_x, lidar_y) = (384, 960)
-  # pygame treats first axis as width, so texture is 384 wide x 960 tall
-  # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array
   top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK)
   top_down_texture = rl.load_texture_from_image(top_down_image)
   rl.unload_image(top_down_image)
@@ -77,19 +76,18 @@ def ui_thread(addr):
       'longitudinalPlan',
       'carControl',
       'radarState',
-      'liveCalibration',
+      'extrinsicsCalibration',
       'controlsState',
       'selfdriveState',
-      'liveTracks',
+      'radarTracks',
       'modelV2',
-      'liveParameters',
-      'roadCameraState',
+      'vehicleParameters',
+      'narrowRoadCameraState',
     ],
     addr=addr,
   )
 
   img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
   num_px = 0
   calibration = None
 
@@ -116,7 +114,7 @@ def ui_thread(addr):
   plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
 
   plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)]
+  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.5, 2.0)]
   plot_names = [
     ["gas", "computer_gas", "user_brake", "computer_brake"],
     ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
@@ -138,42 +136,29 @@ def ui_thread(addr):
   palette[110] = [110, 110, 110, 255]  # car_color (gray)
   palette[255] = [255, 255, 255, 255]  # WHITE
 
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
   while not rl.window_should_close():
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(False)
-
     rl.begin_drawing()
     rl.clear_background(rl.Color(64, 64, 64, 255))
 
-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      rl.draw_text_ex(font, "waiting for frames", rl.Vector2(200, 200), 30, 0, rl.WHITE)
-      rl.end_drawing()
-      continue
+    # Render camera (NV12->RGB on GPU via shader)
+    if camera_view.frame:
+      cam_h = 640.0 * camera_view.frame.height / camera_view.frame.width
+    else:
+      cam_h = 480.0
+    camera_view.render(rl.Rectangle(0, 0, 640, cam_h))
 
     lid_overlay = lid_overlay_blank.copy()
     top_down = top_down_texture, lid_overlay
 
     sm.update(0)
 
-    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
+    camera = DEVICE_CAMERAS[("tici", str(sm['narrowRoadCameraState'].sensor))]
+    calib_scale = camera.narrow_road.width / 640.0
 
-    # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding)
-    h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride
-    nv12_size = h * 3 // 2 * stride
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride))
-    num_px = w * h
-    rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12)
+    if camera_view.frame:
+      num_px = camera_view.frame.width * camera_view.frame.height
 
-    qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.0
-    calib_scale = camera.fcam.width / 640.0
-    zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
-
-    intrinsic_matrix = camera.fcam.intrinsics
+    intrinsic_matrix = camera.narrow_road.intrinsics
 
     w = sm['controlsState'].lateralControlState.which()
     if w == 'lqrStateDEPRECATED':
@@ -183,14 +168,15 @@ def ui_thread(addr):
     else:
       angle_steers_k = np.inf
 
-    plot_arr[:-1] = plot_arr[1:]
+    if sm.updated['carState']:
+      plot_arr[:-1] = plot_arr[1:]
     plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
-    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED
+    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].deprecated.gas
     # TODO gas is deprecated
     plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
+    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brakePressed
     plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE
     # TODO brake is deprecated
     plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
@@ -198,9 +184,10 @@ def ui_thread(addr):
     plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
     plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
 
-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
+    plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget
 
+    # Draw model overlays onto img, then blit as transparent overlay
+    img[:] = 0
     if sm.recv_frame['modelV2']:
       plot_model(sm['modelV2'], img, calibration, top_down)
 
@@ -208,17 +195,18 @@ def ui_thread(addr):
       plot_lead(sm['radarState'], top_down)
 
     # draw all radar points
-    maybe_update_radar_points(sm['liveTracks'].points, top_down[1])
+    maybe_update_radar_points(sm['radarTracks'].points, top_down[1])
 
-    if sm.updated['liveCalibration'] and num_px:
-      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
+    if sm.updated['extrinsicsCalibration'] and num_px:
+      rpyCalib = np.asarray(sm['extrinsicsCalibration'].rpyCalib)
       calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
 
-    # *** blits ***
-    # Update camera texture from numpy array
-    img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA)
-    rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data))
-    rl.draw_texture(camera_texture, 0, 0, rl.WHITE)
+    # Update overlay texture (RGB img -> RGBA with non-black pixels visible)
+    mask = np.any(img > 0, axis=2)
+    overlay_img[:, :, :3] = img
+    overlay_img[:, :, 3] = mask * 255
+    rl.update_texture(overlay_texture, rl.ffi.cast("void *", overlay_img.ctypes.data))
+    rl.draw_texture(overlay_texture, 0, 0, rl.WHITE)  # noqa: TID251
 
     # display alerts
     rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
@@ -227,15 +215,15 @@ def ui_thread(addr):
     # draw plots (texture is reused internally)
     plot_texture = draw_plots(plot_arr)
     if hor_mode:
-      rl.draw_texture(plot_texture, 640 + 384, 0, rl.WHITE)
+      rl.draw_texture(plot_texture, 640 + 384, 0, rl.WHITE)  # noqa: TID251
     else:
-      rl.draw_texture(plot_texture, 0, 600, rl.WHITE)
+      rl.draw_texture(plot_texture, 0, 600, rl.WHITE)  # noqa: TID251
 
     # Convert lid_overlay to RGBA and update top_down texture
     # lid_overlay is (384, 960), need to transpose to (960, 384) for row-major RGBA buffer
     lid_rgba = palette[lid_overlay.T]
     rl.update_texture(top_down_texture, rl.ffi.cast("void *", np.ascontiguousarray(lid_rgba).ctypes.data))
-    rl.draw_texture(top_down_texture, 640, 0, rl.WHITE)
+    rl.draw_texture(top_down_texture, 640, 0, rl.WHITE)  # noqa: TID251
 
     SPACING = 25
     lines = [
@@ -244,10 +232,10 @@ def ui_thread(addr):
       ("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), YELLOW),
       ("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), YELLOW),
       None,
-      ("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", YELLOW),
-      ("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", YELLOW),
-      ("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100.0, 2)) + " %", YELLOW),
-      ("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), YELLOW),
+      ("ANGLE OFFSET (AVG): " + str(round(sm['vehicleParameters'].angleOffsetAverageDeg, 2)) + " deg", YELLOW),
+      ("ANGLE OFFSET (INSTANT): " + str(round(sm['vehicleParameters'].angleOffsetDeg, 2)) + " deg", YELLOW),
+      ("STIFFNESS: " + str(round(sm['vehicleParameters'].stiffnessFactor * 100.0, 2)) + " %", YELLOW),
+      ("STEER RATIO: " + str(round(sm['vehicleParameters'].steerRatio, 2)), YELLOW),
     ]
 
     for i, line in enumerate(lines):
@@ -257,9 +245,10 @@ def ui_thread(addr):
 
     rl.end_drawing()
 
-  rl.unload_texture(camera_texture)
+  rl.unload_texture(overlay_texture)
   rl.unload_texture(top_down_texture)
   rl.unload_font(font)
+  camera_view.close()
   rl.close_window()
 
 
diff --git a/openpilot/tools/replay/util.cc b/openpilot/tools/replay/util.cc
new file mode 100644
index 0000000000..44e144443a
--- /dev/null
+++ b/openpilot/tools/replay/util.cc
@@ -0,0 +1,117 @@
+#include "tools/replay/util.h"
+
+#include <cassert>
+#include <cstdarg>
+#include <cstring>
+#include <iostream>
+#include <mutex>
+#include "common/timing.h"
+#include "common/util.h"
+
+ReplayMessageHandler message_handler = nullptr;
+void installMessageHandler(ReplayMessageHandler handler) { message_handler = handler; }
+
+void logMessage(ReplyMsgType type, const char *fmt, ...) {
+  static std::mutex lock;
+  std::lock_guard lk(lock);
+
+  char *msg_buf = nullptr;
+  va_list args;
+  va_start(args, fmt);
+  int ret = vasprintf(&msg_buf, fmt, args);
+  va_end(args);
+  if (ret <= 0 || !msg_buf) return;
+
+  if (message_handler) {
+    message_handler(type, msg_buf);
+  } else {
+    if (type == ReplyMsgType::Debug) {
+      std::cout << "\033[38;5;248m" << msg_buf << "\033[00m" << std::endl;
+    } else if (type == ReplyMsgType::Warning) {
+      std::cout << "\033[38;5;227m" << msg_buf << "\033[00m" << std::endl;
+    } else if (type == ReplyMsgType::Critical) {
+      std::cout << "\033[38;5;196m" << msg_buf << "\033[00m" << std::endl;
+    } else {
+      std::cout << msg_buf << std::endl;
+    }
+  }
+
+  free(msg_buf);
+}
+
+std::string formattedDataSize(size_t size) {
+  if (size < 1024) {
+    return std::to_string(size) + " B";
+  } else if (size < 1024 * 1024) {
+    return util::string_format("%.2f KB", (float)size / 1024);
+  } else {
+    return util::string_format("%.2f MB", (float)size / (1024 * 1024));
+  }
+}
+
+std::string getUrlWithoutQuery(const std::string &url) {
+  size_t idx = url.find("?");
+  return (idx == std::string::npos ? url : url.substr(0, idx));
+}
+
+void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &interrupt_requested) {
+  struct timespec req, rem;
+  req.tv_sec = nanoseconds / 1000000000;
+  req.tv_nsec = nanoseconds % 1000000000;
+  while (!interrupt_requested) {
+#ifdef __APPLE__
+    int ret = nanosleep(&req, &rem);
+    if (ret == 0 || errno != EINTR)
+      break;
+#else
+    int ret = clock_nanosleep(CLOCK_MONOTONIC, 0, &req, &rem);
+    if (ret == 0 || ret != EINTR)
+      break;
+#endif
+    // Retry sleep if interrupted by a signal
+    req = rem;
+  }
+}
+
+std::vector<std::string> split(std::string_view source, char delimiter) {
+  std::vector<std::string> fields;
+  size_t last = 0;
+  for (size_t i = 0; i < source.length(); ++i) {
+    if (source[i] == delimiter) {
+      fields.emplace_back(source.substr(last, i - last));
+      last = i + 1;
+    }
+  }
+  fields.emplace_back(source.substr(last));
+  return fields;
+}
+
+std::string extractFileName(const std::string &file) {
+  size_t queryPos = file.find_first_of("?");
+  std::string path = (queryPos != std::string::npos) ? file.substr(0, queryPos) : file;
+  size_t lastSlash = path.find_last_of("/\\");
+  return (lastSlash != std::string::npos) ? path.substr(lastSlash + 1) : path;
+}
+
+// MonotonicBuffer
+
+void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) {
+  assert(bytes > 0);
+  void *p = std::align(alignment, bytes, current_buf, available);
+  if (p == nullptr) {
+    available = next_buffer_size = std::max(next_buffer_size, bytes);
+    current_buf = buffers.emplace_back(std::aligned_alloc(alignment, next_buffer_size));
+    next_buffer_size *= growth_factor;
+    p = current_buf;
+  }
+
+  current_buf = (char *)current_buf + bytes;
+  available -= bytes;
+  return p;
+}
+
+MonotonicBuffer::~MonotonicBuffer() {
+  for (auto buf : buffers) {
+    free(buf);
+  }
+}
diff --git a/tools/replay/util.h b/openpilot/tools/replay/util.h
similarity index 64%
rename from tools/replay/util.h
rename to openpilot/tools/replay/util.h
index 1f61951d21..5cffc11706 100644
--- a/tools/replay/util.h
+++ b/openpilot/tools/replay/util.h
@@ -7,11 +7,11 @@
 #include <string>
 #include <string_view>
 #include <vector>
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 
 enum CameraType {
-  RoadCam = 0,
-  DriverCam,
+  NarrowRoadCam = 0,
+  CabinCam,
   WideRoadCam
 };
 
@@ -46,19 +46,8 @@ private:
   static constexpr float growth_factor = 1.5;
 };
 
-std::string sha256(const std::string &str);
 void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &interrupt_requested);
-std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
-std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
-std::string decompressZST(const std::string &in, std::atomic<bool> *abort = nullptr);
-std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);
-size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort = nullptr);
-std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);
-
-typedef std::function<void(uint64_t cur, uint64_t total, bool success)> DownloadProgressHandler;
-void installDownloadProgressHandler(DownloadProgressHandler);
-bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);
 std::string formattedDataSize(size_t size);
 std::string extractFileName(const std::string& file);
 std::vector<std::string> split(std::string_view source, char delimiter);
diff --git a/tools/sim/README.md b/openpilot/tools/sim/README.md
similarity index 91%
rename from tools/sim/README.md
rename to openpilot/tools/sim/README.md
index f6ddde2580..b3e60a119b 100644
--- a/tools/sim/README.md
+++ b/openpilot/tools/sim/README.md
@@ -7,7 +7,7 @@ openpilot implements a [bridge](run_bridge.py) that allows it to run in the [Met
 First, start openpilot.
 ``` bash
 # Run locally
-./tools/sim/launch_openpilot.sh
+./openpilot/tools/sim/launch_openpilot.sh
 ```
 
 ## Bridge usage
@@ -44,7 +44,7 @@ options:
 ## MetaDrive
 
 ### Launching Metadrive
-Start bridge processes located in tools/sim:
+Start bridge processes located in openpilot/tools/sim:
 ``` bash
 ./run_bridge.py
 ```
\ No newline at end of file
diff --git a/tools/sim/__init__.py b/openpilot/tools/sim/__init__.py
similarity index 100%
rename from tools/sim/__init__.py
rename to openpilot/tools/sim/__init__.py
diff --git a/tools/sim/bridge/__init__.py b/openpilot/tools/sim/bridge/__init__.py
similarity index 100%
rename from tools/sim/bridge/__init__.py
rename to openpilot/tools/sim/bridge/__init__.py
diff --git a/tools/sim/bridge/common.py b/openpilot/tools/sim/bridge/common.py
similarity index 98%
rename from tools/sim/bridge/common.py
rename to openpilot/tools/sim/bridge/common.py
index 69dec173ca..1d00e3b0f9 100644
--- a/tools/sim/bridge/common.py
+++ b/openpilot/tools/sim/bridge/common.py
@@ -7,7 +7,6 @@ from collections import namedtuple
 from enum import Enum
 from multiprocessing import Process, Queue, Value
 from abc import ABC, abstractmethod
-
 from opendbc.car.honda.values import CruiseButtons
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
@@ -40,7 +39,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
-    self.params.put_bool("AlphaLongitudinalEnabled", True)
+    self.params.put_bool("AlphaLongitudinalEnabled", True, block=True)
 
     self.rk = Ratekeeper(100, None)
 
@@ -95,7 +94,7 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
     """)
 
   @abstractmethod
-  def spawn_world(self, q: Queue) -> World:
+  def spawn_world(self, q: Queue, /) -> World:
     pass
 
   def _run(self, q: Queue):
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/openpilot/tools/sim/bridge/metadrive/metadrive_bridge.py
similarity index 66%
rename from tools/sim/bridge/metadrive/metadrive_bridge.py
rename to openpilot/tools/sim/bridge/metadrive/metadrive_bridge.py
index b8dc94cf86..4222ba45a7 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/openpilot/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -29,11 +29,11 @@ def curve_block(length, angle=45, direction=0):
 
 def create_map(track_size=60):
   curve_len = track_size * 2
-  return dict(
-    type=MapGenerateMethod.PG_MAP_FILE,
-    lane_num=2,
-    lane_width=4.5,
-    config=[
+  return {
+    "type": MapGenerateMethod.PG_MAP_FILE,
+    "lane_num": 2,
+    "lane_width": 4.5,
+    "config": [
       None,
       straight_block(track_size),
       curve_block(curve_len, 90),
@@ -44,7 +44,7 @@ def create_map(track_size=60):
       straight_block(track_size),
       curve_block(curve_len, 90),
     ]
-  )
+  }
 
 
 class MetaDriveBridge(SimulatorBridge):
@@ -65,29 +65,29 @@ class MetaDriveBridge(SimulatorBridge):
     if self.dual_camera:
       sensors["rgb_wide"] = (RGBCameraWide, W, H)
 
-    config = dict(
-      use_render=self.should_render,
-      vehicle_config=dict(
-        enable_reverse=False,
-        render_vehicle=False,
-        image_source="rgb_road",
-      ),
-      sensors=sensors,
-      image_on_cuda=_cuda_enable,
-      image_observation=True,
-      interface_panel=[],
-      out_of_route_done=False,
-      on_continuous_line_done=False,
-      crash_vehicle_done=False,
-      crash_object_done=False,
-      arrive_dest_done=False,
-      traffic_density=0.0, # traffic is incredibly expensive
-      map_config=create_map(),
-      decision_repeat=1,
-      physics_world_step_size=self.TICKS_PER_FRAME/100,
-      preload_models=False,
-      show_logo=False,
-      anisotropic_filtering=False
-    )
+    config = {
+      "use_render": self.should_render,
+      "vehicle_config": {
+        "enable_reverse": False,
+        "render_vehicle": False,
+        "image_source": "rgb_road",
+      },
+      "sensors": sensors,
+      "image_on_cuda": _cuda_enable,
+      "image_observation": True,
+      "interface_panel": [],
+      "out_of_route_done": False,
+      "on_continuous_line_done": False,
+      "crash_vehicle_done": False,
+      "crash_object_done": False,
+      "arrive_dest_done": False,
+      "traffic_density": 0.0, # traffic is incredibly expensive
+      "map_config": create_map(),
+      "decision_repeat": 1,
+      "physics_world_step_size": self.TICKS_PER_FRAME/100,
+      "preload_models": False,
+      "show_logo": False,
+      "anisotropic_filtering": False
+    }
 
     return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)
diff --git a/tools/sim/bridge/metadrive/metadrive_common.py b/openpilot/tools/sim/bridge/metadrive/metadrive_common.py
similarity index 82%
rename from tools/sim/bridge/metadrive/metadrive_common.py
rename to openpilot/tools/sim/bridge/metadrive/metadrive_common.py
index 42a7eb60dd..0106579b20 100644
--- a/tools/sim/bridge/metadrive/metadrive_common.py
+++ b/openpilot/tools/sim/bridge/metadrive/metadrive_common.py
@@ -13,11 +13,9 @@ class CopyRamRGBCamera(RGBCamera):
 
   def get_rgb_array_cpu(self):
     origin_img = self.cpu_texture
-    img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
-    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
-    img = img[:,:,:3] # RGBA to RGB
-    # img = np.swapaxes(img, 1, 0)
-    img = img[::-1] # Flip on vertical axis
+    img = np.frombuffer(origin_img.getRamImageAs("RGB").getData(), dtype=np.uint8)
+    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), 3))
+    img = img[::-1]  # Flip on vertical axis
     return img
 
 
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/openpilot/tools/sim/bridge/metadrive/metadrive_process.py
similarity index 98%
rename from tools/sim/bridge/metadrive/metadrive_process.py
rename to openpilot/tools/sim/bridge/metadrive/metadrive_process.py
index 2486d87ff9..01d0473755 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/openpilot/tools/sim/bridge/metadrive/metadrive_process.py
@@ -27,9 +27,9 @@ def apply_metadrive_patches(arrive_dest_done=True):
   # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
   def add_image_sensor_patched(self, name: str, cls, args):
     if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
-        sensor = cls(*args, self, cuda=True)
+      sensor = cls(*args, self, cuda=True)
     else:
-        sensor = cls(*args, self, cuda=False)
+      sensor = cls(*args, self, cuda=False)
     assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
     self.sensors[name] = sensor
 
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/openpilot/tools/sim/bridge/metadrive/metadrive_world.py
similarity index 97%
rename from tools/sim/bridge/metadrive/metadrive_world.py
rename to openpilot/tools/sim/bridge/metadrive/metadrive_world.py
index c5111289d0..54b461a46c 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/openpilot/tools/sim/bridge/metadrive/metadrive_world.py
@@ -97,7 +97,7 @@ class MetaDriveWorld(World):
         self.op_engaged.set()
 
       # check moving 5 seconds after engaged, doesn't move right away
-      after_engaged_check = is_engaged and time.monotonic() - self.first_engage >= 5 and self.test_run
+      after_engaged_check = is_engaged and self.first_engage is not None and time.monotonic() - self.first_engage >= 5 and self.test_run
 
       x_dist = abs(curr_pos[0] - self.vehicle_last_pos[0])
       y_dist = abs(curr_pos[1] - self.vehicle_last_pos[1])
diff --git a/tools/sim/launch_openpilot.sh b/openpilot/tools/sim/launch_openpilot.sh
similarity index 94%
rename from tools/sim/launch_openpilot.sh
rename to openpilot/tools/sim/launch_openpilot.sh
index fa5ac731bd..ea3c4cb8f1 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/openpilot/tools/sim/launch_openpilot.sh
@@ -6,7 +6,7 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA_CIVIC_2022"
 
-export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged"
+export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged,manage_athenad,manage_sunnylinkd"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"
diff --git a/tools/sim/lib/__init__.py b/openpilot/tools/sim/lib/__init__.py
similarity index 100%
rename from tools/sim/lib/__init__.py
rename to openpilot/tools/sim/lib/__init__.py
diff --git a/tools/sim/lib/camerad.py b/openpilot/tools/sim/lib/camerad.py
similarity index 86%
rename from tools/sim/lib/camerad.py
rename to openpilot/tools/sim/lib/camerad.py
index 7634b8524d..206e4fdf90 100644
--- a/tools/sim/lib/camerad.py
+++ b/openpilot/tools/sim/lib/camerad.py
@@ -1,7 +1,8 @@
 import numpy as np
 
-from msgq.visionipc import VisionIpcServer, VisionStreamType
-from cereal import messaging
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
+from openpilot.cereal import messaging
 
 from openpilot.tools.sim.lib.common import W, H
 
@@ -37,20 +38,20 @@ def rgb_to_nv12(rgb):
 class Camerad:
   """Simulates the camerad daemon"""
   def __init__(self, dual_camera):
-    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState'])
+    self.pm = messaging.PubMaster(['narrowRoadCameraState', 'wideRoadCameraState'])
 
     self.frame_road_id = 0
     self.frame_wide_id = 0
     self.vipc_server = VisionIpcServer("camerad")
 
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_NARROW_ROAD, 5, W, H)
     if dual_camera:
       self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, W, H)
 
     self.vipc_server.start_listener()
 
   def cam_send_yuv_road(self, yuv):
-    self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
+    self._send_yuv(yuv, self.frame_road_id, 'narrowRoadCameraState', VisionStreamType.VISION_STREAM_NARROW_ROAD)
     self.frame_road_id += 1
 
   def cam_send_yuv_wide_road(self, yuv):
diff --git a/tools/sim/lib/common.py b/openpilot/tools/sim/lib/common.py
similarity index 92%
rename from tools/sim/lib/common.py
rename to openpilot/tools/sim/lib/common.py
index 1324932131..eb29119fb4 100644
--- a/tools/sim/lib/common.py
+++ b/openpilot/tools/sim/lib/common.py
@@ -40,7 +40,7 @@ class SimulatorState:
     self.is_engaged = False
     self.ignition = True
 
-    self.velocity: vec3 = None
+    self.velocity = vec3(0, 0, 0)
     self.bearing: float = 0
     self.gps = GPSState()
     self.imu = IMUState()
@@ -72,7 +72,7 @@ class World(ABC):
     self.exit_event = multiprocessing.Event()
 
   @abstractmethod
-  def apply_controls(self, steer_sim, throttle_out, brake_out):
+  def apply_controls(self, steer_sim, throttle_out, brake_out, /):
     pass
 
   @abstractmethod
@@ -84,7 +84,7 @@ class World(ABC):
     pass
 
   @abstractmethod
-  def read_sensors(self, simulator_state: SimulatorState):
+  def read_sensors(self, simulator_state: SimulatorState, /):
     pass
 
   @abstractmethod
diff --git a/tools/sim/lib/keyboard_ctrl.py b/openpilot/tools/sim/lib/keyboard_ctrl.py
similarity index 100%
rename from tools/sim/lib/keyboard_ctrl.py
rename to openpilot/tools/sim/lib/keyboard_ctrl.py
diff --git a/tools/sim/lib/manual_ctrl.py b/openpilot/tools/sim/lib/manual_ctrl.py
similarity index 100%
rename from tools/sim/lib/manual_ctrl.py
rename to openpilot/tools/sim/lib/manual_ctrl.py
diff --git a/tools/sim/lib/simulated_car.py b/openpilot/tools/sim/lib/simulated_car.py
similarity index 95%
rename from tools/sim/lib/simulated_car.py
rename to openpilot/tools/sim/lib/simulated_car.py
index 68ff3050db..9c430646f2 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/openpilot/tools/sim/lib/simulated_car.py
@@ -1,5 +1,5 @@
 import traceback
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 from opendbc.can.packer import CANPacker
 from opendbc.can.parser import CANParser
@@ -84,7 +84,7 @@ class SimulatedCar:
 
     if self.params.get_bool("ObdMultiplexingEnabled") != self.obd_multiplexing:
       self.obd_multiplexing = not self.obd_multiplexing
-      self.params.put_bool("ObdMultiplexingChanged", True)
+      self.params.put_bool("ObdMultiplexingChanged", True, block=True)
 
     dat = messaging.new_message('pandaStates', 1)
     dat.valid = True
@@ -92,6 +92,8 @@ class SimulatedCar:
       'ignitionLine': simulator_state.ignition,
       'pandaType': "blackPanda",
       'controlsAllowed': True,
+      'controlsAllowedLateral': True,
+      'controlsAllowedLongitudinal': True,
       'safetyModel': 'hondaBosch',
       'alternativeExperience': self.sm["carParams"].alternativeExperience,
       'safetyParam': HondaSafetyFlags.RADARLESS.value | HondaSafetyFlags.BOSCH_LONG.value,
diff --git a/tools/sim/lib/simulated_sensors.py b/openpilot/tools/sim/lib/simulated_sensors.py
similarity index 91%
rename from tools/sim/lib/simulated_sensors.py
rename to openpilot/tools/sim/lib/simulated_sensors.py
index a8374a00cd..63935d3068 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/openpilot/tools/sim/lib/simulated_sensors.py
@@ -1,7 +1,7 @@
 import time
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 
 from openpilot.common.realtime import DT_DMON
 from openpilot.tools.sim.lib.camerad import Camerad
@@ -23,17 +23,12 @@ class SimulatedSensors:
   def send_imu_message(self, simulator_state: 'SimulatorState'):
     for _ in range(5):
       dat = messaging.new_message('accelerometer', valid=True)
-      dat.accelerometer.sensor = 4
-      dat.accelerometer.type = 0x10
       dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.accelerometer.init('acceleration')
       dat.accelerometer.acceleration.v = [simulator_state.imu.accelerometer.x, simulator_state.imu.accelerometer.y, simulator_state.imu.accelerometer.z]
       self.pm.send('accelerometer', dat)
 
-      # copied these numbers from locationd
       dat = messaging.new_message('gyroscope', valid=True)
-      dat.gyroscope.sensor = 5
-      dat.gyroscope.type = 0x10
       dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
       dat.gyroscope.init('gyroUncalibrated')
       dat.gyroscope.gyroUncalibrated.v = [simulator_state.imu.gyroscope.x, simulator_state.imu.gyroscope.y, simulator_state.imu.gyroscope.z]
@@ -92,11 +87,12 @@ class SimulatedSensors:
 
     # dmonitoringd output
     dat = messaging.new_message('driverMonitoringState', valid=True)
-    dat.driverMonitoringState = {
-      "faceDetected": True,
-      "isDistracted": False,
-      "awarenessStatus": 1.,
-    }
+    dm = dat.driverMonitoringState
+    dm.alertLevel = log.DriverMonitoringState.AlertLevel.none
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision
+    dm.visionPolicyState.faceDetected = True
+    dm.visionPolicyState.isDistracted = False
+    dm.visionPolicyState.awarenessPercent = 100
     self.pm.send('driverMonitoringState', dat)
 
   def send_camera_images(self, world: 'World'):
diff --git a/tools/sim/run_bridge.py b/openpilot/tools/sim/run_bridge.py
similarity index 100%
rename from tools/sim/run_bridge.py
rename to openpilot/tools/sim/run_bridge.py
diff --git a/tools/sim/tests/__init__.py b/openpilot/tools/sim/tests/__init__.py
similarity index 100%
rename from tools/sim/tests/__init__.py
rename to openpilot/tools/sim/tests/__init__.py
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/openpilot/tools/sim/tests/test_metadrive_bridge.py
similarity index 51%
rename from tools/sim/tests/test_metadrive_bridge.py
rename to openpilot/tools/sim/tests/test_metadrive_bridge.py
index 9be640d736..4e7560907b 100644
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/openpilot/tools/sim/tests/test_metadrive_bridge.py
@@ -1,17 +1,22 @@
-import pytest
 import warnings
+import unittest
+import importlib
 
 # Since metadrive depends on pkg_resources, and pkg_resources is deprecated as an API
 warnings.filterwarnings("ignore", category=DeprecationWarning)
 
-from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
+try:
+  MetaDriveBridge = importlib.import_module("openpilot.tools.sim.bridge.metadrive.metadrive_bridge").MetaDriveBridge
+except ModuleNotFoundError:
+  MetaDriveBridge = None
 from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 
-@pytest.mark.slow
+@unittest.skipIf(MetaDriveBridge is None, "metadrive is not installed")
 class TestMetaDriveBridge(TestSimBridgeBase):
-  @pytest.fixture(autouse=True)
-  def setup_create_bridge(self, test_duration):
+  def setup_method(self):
+    super().openpilot_setup_method()
     self.test_duration = 30
 
   def create_bridge(self):
+    assert MetaDriveBridge is not None
     return MetaDriveBridge(False, False, self.test_duration, True)
diff --git a/tools/sim/tests/test_sim_bridge.py b/openpilot/tools/sim/tests/test_sim_bridge.py
similarity index 89%
rename from tools/sim/tests/test_sim_bridge.py
rename to openpilot/tools/sim/tests/test_sim_bridge.py
index d58cddff7f..a2c0611937 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/openpilot/tools/sim/tests/test_sim_bridge.py
@@ -1,25 +1,27 @@
 import os
 import subprocess
 import time
-import pytest
+import unittest
 
 from multiprocessing import Queue
 
-from cereal import messaging
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.cereal import messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.sim.bridge.common import QueueMessageType
 
-SIM_DIR = os.path.join(BASEDIR, "tools/sim")
+SIM_DIR = os.path.join(BASEDIR, "openpilot/tools/sim")
 
-class TestSimBridgeBase:
+class TestSimBridgeBase(OpenpilotTestCase):
   @classmethod
   def setup_class(cls):
     if cls is TestSimBridgeBase:
-      raise pytest.skip("Don't run this base class, run test_metadrive_bridge.py instead")
+      raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead")
 
   def setup_method(self):
     self.processes = []
 
+  @unittest.skip("TODO: re-enable simulator bridge test")
   def test_driving(self):
     # Startup manager and bridge.py. Check processes are running, then engage and verify.
     p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
diff --git a/panda b/panda
index a95e060e85..ea5a83a956 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a95e060e855dc59898dd3bf2274a598dacdd2571
+Subproject commit ea5a83a956d61c7540c1a13a8d76f08c24675d1b
diff --git a/pyproject.toml b/pyproject.toml
index 3d6eb07475..dcc1024479 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -8,148 +8,114 @@ authors = [
   {name = "Vehicle Researcher", email="user@comma.ai"}
 ]
 
+# ------------------------------------------
+# > this dependencies list *only* goes down.
+# ------------------------------------------
+# Linux and Python is all we need, otherwise
+# we write and own the lines ourselves.
+# ------------------------------------------
 dependencies = [
   # multiple users
   "sounddevice",  # micd + soundd
-  "pyserial",     # pigeond + qcomgpsd
   "requests",     # many one-off uses
-  "sympy",        # rednose + friends
-  "crcmod-plus",  # cars + qcomgpsd
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # core
-  "cffi",
   "scons",
-  "pycapnp==2.1.0",
-  "Cython",
-  "setuptools",
+  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
   "numpy >=2.0",
 
-  # body / webrtcd
-  "aiohttp",
-  "aiortc",
-  # aiortc does not put an upper bound on pyopenssl and is now incompatible
-  # with the latest release
-  "pyopenssl < 24.3.0",
-  "pyaudio",
-
-  # panda
-  "libusb1",
-  "spidev; platform_system == 'Linux'",
-
-  # modeld
-  "onnx >= 1.14.0",
-
-  # logging
-  "pyzmq",
-  "sentry-sdk",
-  "xattr",  # used in place of 'os.getxattr' for macOS compatibility
+  # vendored native dependencies
+  "comma-deps-capnproto",
+  "comma-deps-acados",
+  "comma-deps-ffmpeg",
+  "comma-deps-zstd",
+  "comma-deps-zeromq",
+  "comma-deps-json11",
+  "comma-deps-git-lfs",
+  "comma-deps-gcc-arm-none-eabi",
 
   # athena
-  "PyJWT",
-  "json-rpc",
+  "PyJWT[crypto]",
   "websocket_client",
 
-  # acados deps
-  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
-
   # joystickd
   "inputs",
 
   # these should be removed
-  "psutil",
-  "pycryptodome", # used in updated/casync, panda, body, and a test
+  "pyzmq",
+  "sentry-sdk",
   "setproctitle",
-
-  # logreader
-  "zstandard",
+  "jeepney",
+  "zstandard",  # this can go once we're on Python 3.14+
 
   # ui
-  "raylib > 5.5.0.3",
-  "qrcode",
-  "mapbox-earcut",
-  "jeepney",
+  "comma-deps-raylib",
 ]
 
 [project.optional-dependencies]
 docs = [
-  "Jinja2",
-  "mkdocs",
+  "zensical",
+]
+
+dev = [
+  "huggingface_hub",
 ]
 
 testing = [
   "coverage",
-  "hypothesis ==6.47.*",
   "ty",
-  "pytest",
-  "pytest-cpp",
-  "pytest-subtests",
-  # https://github.com/pytest-dev/pytest-xdist/pull/1229
-  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
-  "pytest-timeout",
-  "pytest-asyncio",
-  "pytest-mock",
   "ruff",
   "codespell",
-  "pre-commit-hooks",
-]
-
-dev = [
-  "av",
-  "dictdiffer",
-  "matplotlib",
-  "opencv-python-headless",
-  "parameterized >=0.8, <0.9",
-  "pyautogui",
-  "pywinctl",
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
+  "matplotlib",
+
+  "comma-deps-imgui",
+  "comma-deps-bootstrap-icons",
+  "comma-deps-libusb",
+  "comma-deps-ncurses",
+
+  # this can be added back once it's stripped down some more
+  #"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
+]
+
+submodules = [
+  "msgq",
+  "opendbc",
+  "pandacan",
+  "rednose",
+  "teleoprtc",
+  "tinygrad",
 ]
 
 [project.urls]
 Homepage = "https://github.com/commaai/openpilot"
 
+[dependency-groups]
+standalone = [
+  "openpilot[submodules]",
+]
+
 [build-system]
 requires = ["hatchling"]
 build-backend = "hatchling.build"
 
 [tool.hatch.build.targets.wheel]
-packages = [ "." ]
+packages = [
+  "openpilot",
+]
 
 [tool.hatch.metadata]
 allow-direct-references = true
 
-[tool.pytest.ini_options]
-minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
-cpp_files = "test_*"
-cpp_harness = "selfdrive/test/cpp_harness.py"
-python_files = "test_*.py"
-asyncio_default_fixture_loop_scope = "function"
-#timeout = "30"  # you get this long by default
-markers = [
-  "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
-  "tici: tests that are only meant to run on the C3/C3X",
-  "skip_tici_setup: mark test to skip tici setup fixture"
-]
-testpaths = [
-  "common",
-  "selfdrive",
-  "system",
-  "tools",
-  "cereal",
-  "sunnypilot",
-]
-
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "*.po, uv.lock, *.onnx, *.pem, */c_generated_code/*, docs/assets/*, openpilot/tools/plotjuggler/layouts/*, openpilot/selfdrive/assets/offroad/mici_fcc.html, ./openpilot/third_party/*, ./openpilot/cereal/gen/*"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
@@ -158,94 +124,60 @@ lint.select = [
   "E", "F", "W", "PIE", "C4", "ISC", "A", "B",
   "NPY", # numpy
   "UP",  # pyupgrade
+  "ASYNC",
+  "B904", "B905",
+  "PLC0207",
   "TRY203", "TRY400", "TRY401", # try/excepts
-  "RUF008", "RUF100",
+  "RUF006", "RUF008", "RUF009", "RUF061", "RUF064", "RUF100", "RUF102", "RUF103", "RUF104",
   "TID251",
   "PLE", "PLR1704",
 ]
 lint.ignore = [
   "E741",
   "E402",
-  "C408",
-  "ISC003",
   "B027",
-  "B024",
-  "NPY002",  # new numpy random syntax is worse
-  "UP045", "UP007",  # these don't play nice with raylib atm
+  "UP007",  # this doesn't play nice with raylib atm
 ]
 line-length = 160
-target-version ="py311"
 exclude = [
-  "body",
-  "cereal",
-  "panda",
-  "opendbc",
-  "opendbc_repo",
-  "rednose_repo",
-  "tinygrad_repo",
-  "teleoprtc",
-  "teleoprtc_repo",
-  "third_party",
+  "openpilot/cereal",
+  "openpilot/third_party",
   "*.ipynb",
   "generated",
 ]
 lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
-"selfdrive".msg = "Use openpilot.selfdrive"
-"common".msg = "Use openpilot.common"
-"system".msg = "Use openpilot.system"
-"third_party".msg = "Use openpilot.third_party"
-"tools".msg = "Use openpilot.tools"
-"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
-"unittest".msg = "Use pytest"
-"time.time".msg = "Use time.monotonic"
-
-# raylib banned APIs
+"time.time".msg = "Use time.monotonic. time.time can skip due to its reference clock, you probably want a monotonic clock"
 "pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
 "pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
 "pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
 "pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
+"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"
 
 [tool.ruff.format]
 quote-style = "preserve"
 
 [tool.ty.src]
 exclude = [
-  "cereal/",
-  "msgq/",
-  "msgq_repo/",
-  "opendbc/",
-  "opendbc_repo/",
-  "panda/",
-  "rednose/",
-  "rednose_repo/",
-  "tinygrad/",
-  "tinygrad_repo/",
-  "teleoprtc/",
-  "teleoprtc_repo/",
-  "third_party/",
+  "openpilot/third_party/",
 ]
 
 [tool.ty.rules]
-# Ignore unresolved imports for Cython-compiled modules (.pyx)
-unresolved-import = "ignore"
-# Ignore unresolved attributes - many from capnp and Cython modules
-unresolved-attribute = "ignore"
-# Ignore invalid method overrides - signature variance issues
-invalid-method-override = "ignore"
-# Ignore possibly-missing-attribute - too many false positives
-possibly-missing-attribute = "ignore"
-# Ignore invalid assignment - often intentional monkey-patching
-invalid-assignment = "ignore"
-# Ignore no-matching-overload - numpy/ctypes overload matching issues
-no-matching-overload = "ignore"
-# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
-invalid-argument-type = "ignore"
-# Ignore call-non-callable - false positives from dynamic types
-call-non-callable = "ignore"
-# Ignore unsupported-operator - false positives from dynamic types
-unsupported-operator = "ignore"
-# Ignore not-subscriptable - false positives from dynamic types
-not-subscriptable = "ignore"
-# not-iterable errors are now fixed
+unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
+unresolved-attribute = "ignore"  # many from capnp and Cython modules
+
+[tool.uv]
+python-preference = "only-managed"
+default-groups = ["standalone"]
+override-dependencies = [
+  "opendbc",  # panda pins opendbc from git for standalone use; always use our submodule
+]
+
+[tool.uv.sources]
+msgq = { path = "msgq_repo", editable = true }
+opendbc = { path = "opendbc_repo", editable = true }
+pandacan = { path = "panda", editable = true }
+rednose = { path = "rednose_repo", editable = true }
+teleoprtc = { path = "teleoprtc_repo", editable = true }
+tinygrad = { path = "tinygrad_repo", editable = true }
diff --git a/rednose b/rednose
deleted file mode 120000
index 674cfec35f..0000000000
--- a/rednose
+++ /dev/null
@@ -1 +0,0 @@
-rednose_repo/rednose
\ No newline at end of file
diff --git a/rednose_repo b/rednose_repo
index 7fddc8e6d4..28d4a7f69e 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 7fddc8e6d49def83c952a78673179bdc62789214
+Subproject commit 28d4a7f69e80e1c3e0d24ca0733d7daeaeade3d0
diff --git a/release/ci/docker_build_sp.sh b/release/ci/docker_build_sp.sh
deleted file mode 100755
index 9a8d390c61..0000000000
--- a/release/ci/docker_build_sp.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
-# mkdir -p .ci_cache/scons_cache
-# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
-
-SCRIPT_DIR=$(dirname "$0")
-OPENPILOT_DIR=$SCRIPT_DIR/../../
-if [ -n "$TARGET_ARCHITECTURE" ]; then
-  PLATFORM="linux/$TARGET_ARCHITECTURE"
-  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
-else
-  PLATFORM="linux/$(uname -m)"
-  TAG_SUFFIX=""
-fi
-
-source $SCRIPT_DIR/docker_common_sp.sh $1 "$TAG_SUFFIX"
-
-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
-
-if [ -n "$PUSH_IMAGE" ]; then
-  docker push $REMOTE_TAG
-  docker tag $REMOTE_TAG $REMOTE_SHA_TAG
-  docker push $REMOTE_SHA_TAG
-fi
diff --git a/release/ci/docker_common_sp.sh b/release/ci/docker_common_sp.sh
deleted file mode 100755
index e8f515762a..0000000000
--- a/release/ci/docker_common_sp.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-base
-  export DOCKER_FILE=Dockerfile.sunnypilot_base
-elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-prebuilt
-  export DOCKER_FILE=Dockerfile.sunnypilot
-else
-  echo "Invalid docker build image: '$1'"
-  exit 1
-fi
-
-export DOCKER_REGISTRY=ghcr.io/sunnypilot
-export COMMIT_SHA=$(git rev-parse HEAD)
-
-TAG_SUFFIX=$2
-LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
index 96352254b6..76935f3627 100755
--- a/release/ci/model_generator.py
+++ b/release/ci/model_generator.py
@@ -1,4 +1,10 @@
-import os
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
 import sys
 import hashlib
 import json
@@ -7,7 +13,7 @@ from pathlib import Path
 from datetime import datetime, UTC
 
 
-def create_short_name(full_name):
+def create_short_name(full_name: str) -> str:
   # Remove parentheses and extract alphanumeric words
   clean_name = re.sub(r'\([^)]*\)', '', full_name)
   words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
@@ -42,58 +48,74 @@ def create_short_name(full_name):
   return result[:8]
 
 
-def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
-  model_path = model_path
-  output_path = output_dir
-  base = model_path.stem
+def _read_pkl_bytes(pkl_path: Path) -> bytes:
+  manifest = Path(f"{pkl_path}.chunkmanifest")
+  if manifest.exists():
+    num_chunks = int(manifest.read_text().strip())
+    parts = []
+    for i in range(num_chunks):
+      chunk = Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}")
+      parts.append(chunk.read_bytes())
+    return b''.join(parts)
+  return pkl_path.read_bytes()
 
-  # Define output files for tinygrad and metadata
-  tinygrad_file = output_path / f"{base}_tinygrad.pkl"
-  metadata_file = output_path / f"{base}_metadata.pkl"
 
-  if not tinygrad_file.exists() or not metadata_file.exists():
-    print(f"Error: Missing files for model {base} ({tinygrad_file} or {metadata_file})", file=sys.stderr)
-    return
+def _find_driving_pkl(output_path: Path) -> Path | None:
+  for pattern in ('driving_tinygrad.pkl', 'driving_*_tinygrad.pkl'):
+    matches = sorted(output_path.glob(pattern))
+    if matches:
+      return matches[0]
+  for pattern in ('driving_tinygrad.pkl.chunkmanifest', 'driving_*_tinygrad.pkl.chunkmanifest'):
+    matches = sorted(output_path.glob(pattern))
+    if matches:
+      return Path(str(matches[0]).removesuffix('.chunkmanifest'))
+  return None
 
-  # Calculate the sha256 hashes
-  with open(tinygrad_file, 'rb') as f:
-    tinygrad_hash = hashlib.sha256(f.read()).hexdigest()
 
-  with open(metadata_file, 'rb') as f:
-    metadata_hash = hashlib.sha256(f.read()).hexdigest()
+def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
+  manifest = Path(f"{old_pkl}.chunkmanifest")
+  if manifest.exists():
+    for f in sorted(old_pkl.parent.glob(f"{old_pkl.name}.chunk*")):
+      f.rename(old_pkl.parent / f.name.replace(old_pkl.name, new_pkl.name, 1))
+    return new_pkl
+  return old_pkl.rename(new_pkl)
 
-  # Rename the files if a custom file name is provided
-  if short_name:
-    tinygrad_file = tinygrad_file.rename(output_path / f"{base}_{short_name.lower()}_tinygrad.pkl")
-    metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
 
-  # Build the metadata structure
-  model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1]
+def generate_chunked_model(driving_pkl: Path) -> dict:
+  tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
 
-  model_metadata = {
-    "type": model_type,
-    "artifact": {
-      "file_name": tinygrad_file.name,
-      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
-        "sha256": tinygrad_hash
-      }
-    },
-    "metadata": {
-      "file_name": metadata_file.name,
-      "download_uri": {
-        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
-        "sha256": metadata_hash
-      }
+  chunks_config = []
+  manifest_file = Path(f"{driving_pkl}.chunkmanifest")
+  if manifest_file.exists():
+    num_chunks = int(manifest_file.read_text().strip())
+    for i in range(num_chunks):
+      chunk_path = Path(f"{driving_pkl}.chunk{i + 1:02d}of{num_chunks:02d}")
+      if chunk_path.exists():
+        chunk_hash = hashlib.sha256(chunk_path.read_bytes()).hexdigest()
+        chunks_config.append({
+          "file_name": chunk_path.name,
+          "sha256": chunk_hash
+        })
+
+  artifact_data = {
+    "file_name": driving_pkl.name,
+    "download_uri": {
+      "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
+      "sha256": tinygrad_hash
     }
   }
 
-  # Return model metadata
-  return model_metadata
+  if chunks_config:
+    artifact_data["chunks"] = chunks_config
+
+  return {
+    "type": "chunked",
+    "artifact": artifact_data,
+  }
 
 
-def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
-  metadata_json = {
+def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown") -> None:
+  bundle_json = {
     "short_name": short_name,
     "display_name": custom_name or upstream_branch,
     "is_20hz": is_20hz,
@@ -109,40 +131,41 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
   }
 
   # Write metadata to output_dir
+  metadata_json = {
+    "bundles": [bundle_json]
+  }
+
   with open(output_dir / "metadata.json", "w") as f:
     json.dump(metadata_json, f, indent=2)
-
-  print(f"Generated metadata.json with {len(models)} models.")
+  print("Generated metadata.json")
 
 
 if __name__ == "__main__":
   import argparse
-  import glob
 
-  parser = argparse.ArgumentParser(description="Generate metadata for model files")
-  parser.add_argument("--model-dir", default="./models", help="Directory containing ONNX model files")
+  parser = argparse.ArgumentParser(description="Generate metadata JSON for the compiled JIT model")
+  parser.add_argument("--model-dir", default="./models", help="Directory containing the model files")
   parser.add_argument("--output-dir", default="./output", help="Output directory for metadata")
   parser.add_argument("--custom-name", help="Custom display name for the model")
   parser.add_argument("--is-20hz", action="store_true", help="Whether this is a 20Hz model")
   parser.add_argument("--upstream-branch", default="unknown", help="Upstream branch name")
   args = parser.parse_args()
 
-  # Find all ONNX files in the given directory
-  model_paths = glob.glob(os.path.join(args.model_dir, "*.onnx"))
-  if not model_paths:
-    print(f"No ONNX files found in {args.model_dir}", file=sys.stderr)
-    sys.exit(1)
-
   _output_dir = Path(args.output_dir)
   _output_dir.mkdir(exist_ok=True, parents=True)
-  _models = []
+  _short_name = create_short_name(args.custom_name) if args.custom_name else None
 
-  for _model_path in model_paths:
-    _model_metadata = generate_metadata(Path(_model_path), _output_dir, create_short_name(args.custom_name))
-    if _model_metadata:
-      _models.append(_model_metadata)
+  _driving_pkl = _find_driving_pkl(_output_dir)
+  if not _driving_pkl:
+    print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr)
+    sys.exit(1)
 
-  if _models:
-    create_metadata_json(_models, _output_dir, args.custom_name, create_short_name(args.custom_name), args.is_20hz, args.upstream_branch)
-  else:
-    print("No models processed.", file=sys.stderr)
+  if _short_name:
+    new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl"
+    if not new_pkl.exists():
+      _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
+    else:
+      _driving_pkl = new_pkl
+
+  _model_metadata = generate_chunked_model(_driving_pkl)
+  create_metadata_json([_model_metadata], _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch)
diff --git a/release/ci/publish.sh b/release/ci/publish.sh
index 315ae22bfe..27904caf5d 100755
--- a/release/ci/publish.sh
+++ b/release/ci/publish.sh
@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
 fi
 
 # "Tagging"
-echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
+echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/openpilot/sunnypilot/common/version.h
 
 ## set git identity
 #source $DIR/identity.sh
@@ -55,7 +55,7 @@ git add -f .
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/openpilot/sunnypilot/common/version.h)
 
 # Commit with detailed message
 git commit -a -m "sunnypilot v$VERSION
diff --git a/scripts/cell.sh b/scripts/cell.sh
deleted file mode 100755
index 310a9694fd..0000000000
--- a/scripts/cell.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/usr/bin/env bash
-nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1
-nmcli con up esim
diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py
index 367b4108b0..093275fd77 100755
--- a/scripts/disable-powersave.py
+++ b/scripts/disable-powersave.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 if __name__ == "__main__":
   HARDWARE.set_power_save(False)
diff --git a/scripts/lint/check_added_large_files.py b/scripts/lint/check_added_large_files.py
new file mode 100755
index 0000000000..c1aa820181
--- /dev/null
+++ b/scripts/lint/check_added_large_files.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import argparse
+import math
+import os
+import subprocess
+
+
+def lfs_files(filenames: list[str]) -> set[str]:
+  if not filenames:
+    return set()
+
+  result = subprocess.run(
+    ("git", "check-attr", "filter", "-z", "--stdin"),
+    input="\0".join(filenames),
+    check=True,
+    capture_output=True,
+    text=True,
+  )
+  fields = result.stdout.rstrip("\0").split("\0") if result.stdout else []
+  return {fields[i] for i in range(0, len(fields), 3) if fields[i + 2] == "lfs"}
+
+
+def check_added_large_files(filenames: list[str], max_kb: int) -> int:
+  failed = False
+  ignored = lfs_files(filenames)
+  for filename in filenames:
+    if filename in ignored:
+      continue
+
+    size_kb = math.ceil(os.stat(filename).st_size / 1024)
+    if size_kb > max_kb:
+      print(f"{filename} ({size_kb} KB) exceeds {max_kb} KB.")
+      failed = True
+
+  return int(failed)
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="Check that tracked files do not exceed a size limit.")
+  parser.add_argument("filenames", nargs="*")
+  parser.add_argument("--maxkb", type=int, default=500, help="maximum allowable size in KiB")
+  args = parser.parse_args()
+  return check_added_large_files(args.filenames, args.maxkb)
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/scripts/lint/check_indentation.py b/scripts/lint/check_indentation.py
new file mode 100755
index 0000000000..533dd2efa9
--- /dev/null
+++ b/scripts/lint/check_indentation.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+import argparse
+import tokenize
+
+
+# TODO: remove this once https://github.com/astral-sh/ruff/issues/8705 is closed
+def check_indentation(filename: str, indent_width: int = 2) -> bool:
+  failed = False
+  indent_stack = [0]
+
+  with tokenize.open(filename) as f:
+    tokens = tokenize.generate_tokens(f.readline)
+    for token in tokens:
+      if token.type == tokenize.INDENT:
+        indentation = token.string
+        width = len(indentation)
+        expected = indent_stack[-1] + indent_width
+
+        if indentation != " " * expected:
+          found = "indentation containing tabs" if "\t" in indentation else f"{width} spaces"
+          print(f"{filename}:{token.start[0]}:1: expected {expected} spaces, found {found}")
+          failed = True
+        indent_stack.append(width)
+      elif token.type == tokenize.DEDENT:
+        indent_stack.pop()
+
+  return failed
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Check Python block indentation.")
+  parser.add_argument("filenames", nargs="+")
+  args = parser.parse_args()
+
+  failed = False
+  for filename in args.filenames:
+    failed |= check_indentation(filename)
+  raise SystemExit(failed)
diff --git a/scripts/lint/check_raylib_includes.sh b/scripts/lint/check_raylib_includes.sh
deleted file mode 100755
index e3be73a489..0000000000
--- a/scripts/lint/check_raylib_includes.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-FAIL=0
-
-if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
-  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
-  FAIL=1
-fi
-
-exit $FAIL
diff --git a/scripts/lint/check_shebang_scripts_are_executable.py b/scripts/lint/check_shebang_scripts_are_executable.py
new file mode 100755
index 0000000000..7288640091
--- /dev/null
+++ b/scripts/lint/check_shebang_scripts_are_executable.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import argparse
+import shlex
+import subprocess
+import sys
+
+
+def staged_modes(filenames: list[str]) -> list[tuple[str, str]]:
+  if not filenames:
+    return []
+
+  result = subprocess.run(
+    ("git", "ls-files", "-z", "--stage", "--", *filenames),
+    check=True,
+    capture_output=True,
+    text=True,
+  )
+  entries = result.stdout.rstrip("\0").split("\0") if result.stdout else []
+  return [(entry.split(" ", 1)[0], entry.split("\t", 1)[1]) for entry in entries]
+
+
+def has_shebang(filename: str) -> bool:
+  with open(filename, "rb") as f:
+    return f.read(2) == b"#!"
+
+
+def check_shebang_scripts_are_executable(filenames: list[str]) -> int:
+  failed = False
+  for mode, filename in staged_modes(filenames):
+    if mode != "100755" and has_shebang(filename):
+      quoted = shlex.quote(filename)
+      print("\n".join((
+        f"{filename}: has a shebang but is not marked executable!",
+        f"  If it is supposed to be executable, try: `chmod +x {quoted}`",
+        "  If it is not supposed to be executable, double-check its shebang is wanted.\n",
+      )), file=sys.stderr)
+      failed = True
+
+  return int(failed)
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="Check that tracked files with shebangs are executable.")
+  parser.add_argument("filenames", nargs="*")
+  args = parser.parse_args()
+  return check_shebang_scripts_are_executable(args.filenames)
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 3255c9eb82..8f3aab4e52 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -13,9 +13,6 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
-IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
-
 function run() {
   shopt -s extglob
   case $1 in
@@ -48,14 +45,15 @@ function run_tests() {
   ALL_FILES=$1
   PYTHON_FILES=$2
 
-  run "ruff" ruff check $ROOT --quiet
-  run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
-  run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+  run "ruff" ruff check openpilot --quiet
+  run "check_indentation" $DIR/check_indentation.py $PYTHON_FILES
+  run "check_added_large_files" $DIR/check_added_large_files.py --maxkb=120 $ALL_FILES
+  run "check_shebang_scripts_are_executable" $DIR/check_shebang_scripts_are_executable.py $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
-    run "ty" ty check
+    run "ty" ty check openpilot
     run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
@@ -69,6 +67,7 @@ function help() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
   echo -e "  ${BOLD}ruff${NC}"
+  echo -e "  ${BOLD}check_indentation${NC}"
   echo -e "  ${BOLD}ty${NC}"
   echo -e "  ${BOLD}codespell${NC}"
   echo -e "  ${BOLD}check_added_large_files${NC}"
@@ -105,7 +104,8 @@ done
 RUN=$([ -z "$RUN" ] && echo "" || echo "!($(echo $RUN | sed 's/ /|/g'))")
 SKIP="@($(echo $SKIP | sed 's/ /|/g'))"
 
-GIT_FILES="$(git ls-files | sed -E "s/$IGNORED_FILES|$IGNORED_DIRS//g")"
+IGNORED_DIRS="^openpilot/third_party/.*"
+GIT_FILES="$(git ls-files openpilot | grep -vE "$IGNORED_DIRS")"
 ALL_FILES=""
 for f in $GIT_FILES; do
   if [[ -f $f ]]; then
diff --git a/scripts/manage-powersave.py b/scripts/manage-powersave.py
index 1a82810a7f..2c736ecd69 100755
--- a/scripts/manage-powersave.py
+++ b/scripts/manage-powersave.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import multiprocessing
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 
 def main():
diff --git a/scripts/reporter.py b/scripts/reporter.py
deleted file mode 100755
index 903fcc8911..0000000000
--- a/scripts/reporter.py
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env python3
-import os
-import glob
-import onnx
-
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
-MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
-MODEL_PATH = "/selfdrive/modeld/models/"
-
-def get_checkpoint(f):
-  model = onnx.load(f)
-  metadata = {prop.key: prop.value for prop in model.metadata_props}
-  return metadata['model_checkpoint'].split('/')[0]
-
-if __name__ == "__main__":
-  print("| | master | PR branch |")
-  print("|-| -----  | --------- |")
-
-  for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
-    # TODO: add checkpoint to DM
-    if "dmonitoring" in f:
-      continue
-
-    fn = os.path.basename(f)
-    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
-    pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print(
-      "|", fn, "|",
-      f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
-      f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
-    )
diff --git a/scripts/stop_updater.sh b/scripts/stop_updater.sh
deleted file mode 100755
index 703b363928..0000000000
--- a/scripts/stop_updater.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/usr/bin/env sh
-
-# Stop updater
-pkill -2 -f system.updated.updated
-
-# Remove pending update
-rm -f /data/safe_staging/finalized/.overlay_consistent
diff --git a/scripts/test_pip_install.sh b/scripts/test_pip_install.sh
new file mode 100755
index 0000000000..d2dbedff0a
--- /dev/null
+++ b/scripts/test_pip_install.sh
@@ -0,0 +1,22 @@
+#!/usr/bin/env bash
+set -euxo pipefail
+
+SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(git -C "$SCRIPT_DIR/.." rev-parse --show-toplevel)"
+PYTHON_VERSION="$(cat "$REPO_ROOT/.python-version")"
+PACKAGE="${1:-$REPO_ROOT}"
+
+TMPDIR="$(mktemp -d)"
+trap 'rm -rf "$TMPDIR"' EXIT
+
+cd "$TMPDIR"
+
+uv venv --python "$PYTHON_VERSION"
+source .venv/bin/activate
+uv pip install "$PACKAGE"
+python3 - <<'PY'
+from openpilot.tools.lib.logreader import LogReader
+
+assert LogReader.__name__ == "LogReader"
+print("ok: imported LogReader")
+PY
diff --git a/scripts/usb.sh b/scripts/usb.sh
deleted file mode 100755
index 5796cfa028..0000000000
--- a/scripts/usb.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/usr/bin/env bash
-
-# testing the GPU box
-
-export XDG_CACHE_HOME=/data/tinycache
-mkdir -p $XDG_CACHE_HOME
-
-cd /data/openpilot/tinygrad_repo/examples
-while true; do
-  AMD=1 AMD_IFACE=usb python ./beautiful_cartpole.py
-  sleep 1
-done
diff --git a/scripts/usbgpu/benchmark.sh b/scripts/usbgpu/benchmark.sh
deleted file mode 100755
index 04a76d054e..0000000000
--- a/scripts/usbgpu/benchmark.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR/../../tinygrad_repo
-
-GREEN='\033[0;32m'
-NC='\033[0m'
-
-
-#export DEBUG=2
-export PYTHONPATH=.
-export AM_RESET=1
-export AMD=1
-export AMD_IFACE=USB
-export AMD_LLVM=1
-
-python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
-  > /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
-printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
-printf "${GREEN}=============${NC}\n"
-
-printf "\n\n"
-printf "${GREEN}Transfer speeds:${NC}\n"
-printf "${GREEN}================${NC}\n"
-python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds
diff --git a/scripts/waste.c b/scripts/waste.c
index 2e492916a7..fc230846f2 100644
--- a/scripts/waste.c
+++ b/scripts/waste.c
@@ -11,7 +11,7 @@
 #include <pthread.h>
 #include <arm_neon.h>
 #include <sys/sysinfo.h>
-#include "../common/timing.h"
+#include "../openpilot/common/timing.h"
 
 int get_nprocs(void);
 double *ttime, *oout;
@@ -86,4 +86,3 @@ int main() {
     sleep(1);
   }
 }
-
diff --git a/selfdrive/SConscript b/selfdrive/SConscript
deleted file mode 100644
index 55f347c44e..0000000000
--- a/selfdrive/SConscript
+++ /dev/null
@@ -1,6 +0,0 @@
-SConscript(['pandad/SConscript'])
-SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['locationd/SConscript'])
-SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
diff --git a/selfdrive/assets/.gitignore b/selfdrive/assets/.gitignore
deleted file mode 100644
index fffd4b4ed9..0000000000
--- a/selfdrive/assets/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-*.cc
-fonts/*.fnt
-fonts/*.png
-translations_assets.qrc
diff --git a/selfdrive/assets/fonts/NotoColorEmoji.ttf b/selfdrive/assets/fonts/NotoColorEmoji.ttf
deleted file mode 100644
index 778e821ce3..0000000000
--- a/selfdrive/assets/fonts/NotoColorEmoji.ttf
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:93cdc4ee9aa40e2afceecc63da0ca05ec7aab4bec991ece51a6b52389f48a477
-size 10788068
diff --git a/selfdrive/assets/fonts/process.py b/selfdrive/assets/fonts/process.py
deleted file mode 100755
index 30ccf9ca55..0000000000
--- a/selfdrive/assets/fonts/process.py
+++ /dev/null
@@ -1,132 +0,0 @@
-#!/usr/bin/env python3
-from pathlib import Path
-import json
-
-import pyray as rl
-
-FONT_DIR = Path(__file__).resolve().parent
-SELFDRIVE_DIR = FONT_DIR.parents[1]
-TRANSLATIONS_DIR = SELFDRIVE_DIR / "ui" / "translations"
-LANGUAGES_FILE = TRANSLATIONS_DIR / "languages.json"
-
-GLYPH_PADDING = 6
-EXTRA_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥"
-UNIFONT_LANGUAGES = {"th", "zh-CHT", "zh-CHS", "ko", "ja"}
-
-
-def _languages():
-  if not LANGUAGES_FILE.exists():
-    return {}
-  with LANGUAGES_FILE.open(encoding="utf-8") as f:
-    return json.load(f)
-
-
-def _char_sets():
-  base = set(map(chr, range(32, 127))) | set(EXTRA_CHARS)
-  unifont = set(base)
-
-  for language, code in _languages().items():
-    unifont.update(language)
-    po_path = TRANSLATIONS_DIR / f"app_{code}.po"
-    try:
-      chars = set(po_path.read_text(encoding="utf-8"))
-    except FileNotFoundError:
-      continue
-    (unifont if code in UNIFONT_LANGUAGES else base).update(chars)
-
-  return tuple(sorted(ord(c) for c in base)), tuple(sorted(ord(c) for c in unifont))
-
-
-def _glyph_metrics(glyphs, rects, codepoints):
-  entries = []
-  min_offset_y, max_extent = None, 0
-  for idx, codepoint in enumerate(codepoints):
-    glyph = glyphs[idx]
-    rect = rects[idx]
-    width = int(round(rect.width))
-    height = int(round(rect.height))
-    offset_y = int(round(glyph.offsetY))
-    min_offset_y = offset_y if min_offset_y is None else min(min_offset_y, offset_y)
-    max_extent = max(max_extent, offset_y + height)
-    entries.append({
-      "id": codepoint,
-      "x": int(round(rect.x)),
-      "y": int(round(rect.y)),
-      "width": width,
-      "height": height,
-      "xoffset": int(round(glyph.offsetX)),
-      "yoffset": offset_y,
-      "xadvance": int(round(glyph.advanceX)),
-    })
-
-  if min_offset_y is None:
-    raise RuntimeError("No glyphs were generated")
-
-  line_height = int(round(max_extent - min_offset_y))
-  base = int(round(max_extent))
-  return entries, line_height, base
-
-
-def _write_bmfont(path: Path, font_size: int, face: str, atlas_name: str, line_height: int, base: int, atlas_size, entries):
-  # TODO: why doesn't raylib calculate these metrics correctly?
-  if line_height != font_size:
-    print("using font size for line height", atlas_name)
-    line_height = font_size
-  lines = [
-    f"info face=\"{face}\" size=-{font_size} bold=0 italic=0 charset=\"\" unicode=1 stretchH=100 smooth=0 aa=1 padding=0,0,0,0 spacing=0,0 outline=0",
-    f"common lineHeight={line_height} base={base} scaleW={atlas_size[0]} scaleH={atlas_size[1]} pages=1 packed=0 alphaChnl=0 redChnl=4 greenChnl=4 blueChnl=4",
-    f"page id=0 file=\"{atlas_name}\"",
-    f"chars count={len(entries)}",
-  ]
-  for entry in entries:
-    lines.append(
-      ("char id={id:<4} x={x:<5} y={y:<5} width={width:<5} height={height:<5} " +
-       "xoffset={xoffset:<5} yoffset={yoffset:<5} xadvance={xadvance:<5} page=0  chnl=15").format(**entry)
-    )
-  path.write_text("\n".join(lines) + "\n")
-
-
-def _process_font(font_path: Path, codepoints: tuple[int, ...]):
-  print(f"Processing {font_path.name}...")
-
-  font_size = {
-    "unifont.otf": 16,  # unifont is only 16x8 or 16x16 pixels per glyph
-  }.get(font_path.name, 200)
-
-  data = font_path.read_bytes()
-  file_buf = rl.ffi.new("unsigned char[]", data)
-  cp_buffer = rl.ffi.new("int[]", codepoints)
-  cp_ptr = rl.ffi.cast("int *", cp_buffer)
-  glyphs = rl.load_font_data(rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints), rl.FontType.FONT_DEFAULT)
-  if glyphs == rl.ffi.NULL:
-    raise RuntimeError("raylib failed to load font data")
-
-  rects_ptr = rl.ffi.new("Rectangle **")
-  image = rl.gen_image_font_atlas(glyphs, rects_ptr, len(codepoints), font_size, GLYPH_PADDING, 0)
-  if image.width == 0 or image.height == 0:
-    raise RuntimeError("raylib returned an empty atlas")
-
-  rects = rects_ptr[0]
-  atlas_name = f"{font_path.stem}.png"
-  atlas_path = FONT_DIR / atlas_name
-  entries, line_height, base = _glyph_metrics(glyphs, rects, codepoints)
-
-  if not rl.export_image(image, atlas_path.as_posix()):
-    raise RuntimeError("Failed to export atlas image")
-
-  _write_bmfont(FONT_DIR / f"{font_path.stem}.fnt", font_size, font_path.stem, atlas_name, line_height, base, (image.width, image.height), entries)
-
-
-def main():
-  base_cp, unifont_cp = _char_sets()
-  fonts = sorted(FONT_DIR.glob("*.ttf")) + sorted(FONT_DIR.glob("*.otf"))
-  for font in fonts:
-    if "emoji" in font.name.lower():
-      continue
-    glyphs = unifont_cp if font.stem.lower().startswith("unifont") else base_cp
-    _process_font(font, glyphs)
-  return 0
-
-
-if __name__ == "__main__":
-  raise SystemExit(main())
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_hover.png b/selfdrive/assets/icons_mici/buttons/button_circle_hover.png
deleted file mode 100644
index 5cae152106..0000000000
--- a/selfdrive/assets/icons_mici/buttons/button_circle_hover.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:20024203288f144633014422e16119278477099f24fba5c155a804a1864a26b4
-size 7511
diff --git a/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png b/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png
deleted file mode 100644
index 3696334d5e..0000000000
--- a/selfdrive/assets/icons_mici/buttons/button_circle_red_hover.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:279c1d8f95eb9f4a3058dff76b0f316ce9eef7bc8f4296936ad25fd08703ce13
-size 10380
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle.png b/selfdrive/assets/icons_mici/buttons/button_rectangle.png
deleted file mode 100644
index 230c537d6d..0000000000
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ffb293236f5f8f7da44b5a3c4c0b72e86c4e1fdb04f89c94507af008ff7de139
-size 8210
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png b/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
deleted file mode 100644
index 76e75d5421..0000000000
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle_disabled.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bda53863c9a46c50a1e2920a76c2d2f1fe4df8a94b8d2e26f5d83eef3a9c3bd3
-size 3627
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png b/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png
deleted file mode 100644
index a9fd28cc35..0000000000
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle_hover.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6b55e43c50e805ac5e8357e5943374ed02d756cefa3aaffb58c568a0b125c30b
-size 7750
diff --git a/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png b/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
deleted file mode 100644
index 779c219fcb..0000000000
--- a/selfdrive/assets/icons_mici/buttons/button_rectangle_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5528e9c041b824f005bf1ef6e49b2dbbc4ba10f994b0726d2a17a4fbf8c80f55
-size 21379
diff --git a/selfdrive/assets/icons_mici/onroad/blind_spot_right.png b/selfdrive/assets/icons_mici/onroad/blind_spot_right.png
deleted file mode 100644
index b6cd7834ef..0000000000
--- a/selfdrive/assets/icons_mici/onroad/blind_spot_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:584cea202afff6dd20d67ae1a9cd6d2b8cc07598bccb91a8d1bac0142567308e
-size 45489
diff --git a/selfdrive/assets/icons_mici/onroad/bookmark_fill.png b/selfdrive/assets/icons_mici/onroad/bookmark_fill.png
deleted file mode 100644
index 531d5db1cf..0000000000
--- a/selfdrive/assets/icons_mici/onroad/bookmark_fill.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f3f57346a1cf9a66f9fd746f87bcebb23b7a403e9d6e4fd7701b126abcdd47ea
-size 18476
diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png
deleted file mode 100644
index a8a68b372c..0000000000
--- a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b5aee9f6cec03f1967014cd2ea2a23982b262e7d86dadca602ecfa8875b38101
-size 5875
diff --git a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png b/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
deleted file mode 100644
index ec2f948998..0000000000
--- a/selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:26b3660dbd1e60b0ba98914afa7cb3a67151bb6990d218f55c901f243e38ff3e
-size 3631
diff --git a/selfdrive/assets/icons_mici/onroad/turn_signal_right.png b/selfdrive/assets/icons_mici/onroad/turn_signal_right.png
deleted file mode 100644
index 6bcb68dac5..0000000000
--- a/selfdrive/assets/icons_mici/onroad/turn_signal_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7fae4872ab3c24d5e4c2be6150127a844f89bbdcadfccdff2dfed180e125d577
-size 45699
diff --git a/selfdrive/assets/icons_mici/settings/device/language.png b/selfdrive/assets/icons_mici/settings/device/language.png
deleted file mode 100644
index d2ef27de36..0000000000
--- a/selfdrive/assets/icons_mici/settings/device/language.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f646263b26de46f79cac836ef6865b0f25ddc91e386b99311723b68bd06693c9
-size 3304
diff --git a/selfdrive/assets/icons_mici/settings/network/new/connect_button.png b/selfdrive/assets/icons_mici/settings/network/new/connect_button.png
deleted file mode 100644
index eae5af77f0..0000000000
--- a/selfdrive/assets/icons_mici/settings/network/new/connect_button.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:04236fa0f2759a01c6e321ac7b1c86c7a039215a7953b1a23d250ecf2ef1fa87
-size 8563
diff --git a/selfdrive/assets/icons_mici/settings/network/new/connect_button_pressed.png b/selfdrive/assets/icons_mici/settings/network/new/connect_button_pressed.png
deleted file mode 100644
index 0da6c384d9..0000000000
--- a/selfdrive/assets/icons_mici/settings/network/new/connect_button_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4337098554af30c98ebd512e17ab08207db868ff34acca5f865fcbfc940286d3
-size 21123
diff --git a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button.png b/selfdrive/assets/icons_mici/settings/network/new/full_connect_button.png
deleted file mode 100644
index 905170fd10..0000000000
--- a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ffd37d5e5d5980efa98fee1cd0e8ebbf4139149b41c099e7dc3d5bd402cffb92
-size 9072
diff --git a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button_pressed.png b/selfdrive/assets/icons_mici/settings/network/new/full_connect_button_pressed.png
deleted file mode 100644
index 88eb4ac2a3..0000000000
--- a/selfdrive/assets/icons_mici/settings/network/new/full_connect_button_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1b1d58704f8808dcb5a7ce9d86bc4212477759e96ac2419475f16f9184ee6a42
-size 21892
diff --git a/selfdrive/assets/icons_mici/settings/network/new/lock.png b/selfdrive/assets/icons_mici/settings/network/new/lock.png
deleted file mode 100644
index 9fc152d3db..0000000000
--- a/selfdrive/assets/icons_mici/settings/network/new/lock.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:782161f35b4925c7063c441b0c341331c814614cf241f21b4e70134280c630f0
-size 1182
diff --git a/selfdrive/assets/icons_mici/settings/network/new/wifi_selected.png b/selfdrive/assets/icons_mici/settings/network/new/wifi_selected.png
deleted file mode 100644
index 2a3e837138..0000000000
--- a/selfdrive/assets/icons_mici/settings/network/new/wifi_selected.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:160f67162e075436200d6719e614ddf96caaa2b7c0a3943f728c2afef10aa4ad
-size 2489
diff --git a/selfdrive/assets/icons_mici/setup/back_new.png b/selfdrive/assets/icons_mici/setup/back_new.png
deleted file mode 100644
index 20e7fe3b88..0000000000
--- a/selfdrive/assets/icons_mici/setup/back_new.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d29a9c295b33b3164c37a68ad77795595e6ac877a5b308d28112b0315ecd498f
-size 1687
diff --git a/selfdrive/assets/icons_mici/setup/green_button.png b/selfdrive/assets/icons_mici/setup/green_button.png
deleted file mode 100644
index 9708cfe284..0000000000
--- a/selfdrive/assets/icons_mici/setup/green_button.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:163ac31cb990bdddfe552efef9a68870404caadb1c40fa8a5042b5ae956e6b4c
-size 24687
diff --git a/selfdrive/assets/icons_mici/setup/green_button_pressed.png b/selfdrive/assets/icons_mici/setup/green_button_pressed.png
deleted file mode 100644
index 030ce61d5b..0000000000
--- a/selfdrive/assets/icons_mici/setup/green_button_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6e4614adb2d3d0e44c64a855c221ec462a7aee22fff26132ad551035141c1a53
-size 62056
diff --git a/selfdrive/assets/icons_mici/setup/medium_button_bg.png b/selfdrive/assets/icons_mici/setup/medium_button_bg.png
deleted file mode 100644
index e79dc2eb58..0000000000
--- a/selfdrive/assets/icons_mici/setup/medium_button_bg.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9e363a79dc35ca4c4e9efaa6a843d37ad219efa5299d3e538d8249affa230096
-size 7935
diff --git a/selfdrive/assets/icons_mici/setup/medium_button_pressed_bg.png b/selfdrive/assets/icons_mici/setup/medium_button_pressed_bg.png
deleted file mode 100644
index e52fb0c17d..0000000000
--- a/selfdrive/assets/icons_mici/setup/medium_button_pressed_bg.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cc6fb48520143b6fa1f060d8212e6d929917ab616ce943b5fab5a60665f00da5
-size 18225
diff --git a/selfdrive/assets/icons_mici/setup/reset/small_button.png b/selfdrive/assets/icons_mici/setup/reset/small_button.png
deleted file mode 100644
index e3f58b1078..0000000000
--- a/selfdrive/assets/icons_mici/setup/reset/small_button.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7a198f13f30b3dbc09f30d7fd8033a0bc07a0da9b010b7ca6ed2678430c9e5b4
-size 6949
diff --git a/selfdrive/assets/icons_mici/setup/reset/small_button_pressed.png b/selfdrive/assets/icons_mici/setup/reset/small_button_pressed.png
deleted file mode 100644
index 5b502e00aa..0000000000
--- a/selfdrive/assets/icons_mici/setup/reset/small_button_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:75289d004709def2a2d6101a0330ec867895068ec3807aefc2a26d423d907a13
-size 13437
diff --git a/selfdrive/assets/icons_mici/setup/reset/wide_button.png b/selfdrive/assets/icons_mici/setup/reset/wide_button.png
deleted file mode 100644
index 3892f6eb8c..0000000000
--- a/selfdrive/assets/icons_mici/setup/reset/wide_button.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2452aaf59da18be1b74b475851d66e5c73c50aa49820419a288b1fdb7b42dee1
-size 9071
diff --git a/selfdrive/assets/icons_mici/setup/reset/wide_button_pressed.png b/selfdrive/assets/icons_mici/setup/reset/wide_button_pressed.png
deleted file mode 100644
index 3a34af8846..0000000000
--- a/selfdrive/assets/icons_mici/setup/reset/wide_button_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6478f7c1c5ef2013e94fc4218ab370889883c5c12231ba3e0975874cb0b6fec9
-size 21893
diff --git a/selfdrive/assets/icons_mici/setup/restore.png b/selfdrive/assets/icons_mici/setup/restore.png
deleted file mode 100644
index 5eff924040..0000000000
--- a/selfdrive/assets/icons_mici/setup/restore.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1f5ee67cd334d259ac33f932281db36533877009b5769c92d9cff3054fd5627c
-size 2942
diff --git a/selfdrive/assets/icons_mici/setup/scroll_down_indicator.png b/selfdrive/assets/icons_mici/setup/scroll_down_indicator.png
deleted file mode 100644
index 3cd26e5181..0000000000
--- a/selfdrive/assets/icons_mici/setup/scroll_down_indicator.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a733c425113a7f6ff5ec3dc50ef94b5481c0f2d306e33d1485be8ee6b2798532
-size 1136
diff --git a/selfdrive/assets/icons_mici/setup/small_red_pill.png b/selfdrive/assets/icons_mici/setup/small_red_pill.png
deleted file mode 100644
index 4a7db930a0..0000000000
--- a/selfdrive/assets/icons_mici/setup/small_red_pill.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b3a336afddad80dc91caca91d54bd29897ce491f180374edf9a5ba517cbc00e9
-size 8765
diff --git a/selfdrive/assets/icons_mici/setup/small_red_pill_pressed.png b/selfdrive/assets/icons_mici/setup/small_red_pill_pressed.png
deleted file mode 100644
index a8d51960c4..0000000000
--- a/selfdrive/assets/icons_mici/setup/small_red_pill_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8eee9f10ca80a4e6100c00c02bb46aa5f253b14b086ab9982cfa85ee94eec162
-size 22512
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_bg.png b/selfdrive/assets/icons_mici/setup/small_slider/slider_bg.png
deleted file mode 100644
index 43c10a54ad..0000000000
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_bg.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:94a86fac6ffe8a8179812cf55350ab9ca6935f36244c6f679c1cf521a842316b
-size 5723
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png b/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png
deleted file mode 100644
index 9ebff76b50..0000000000
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bcd08444c77b3e559876eeb88d17808f72496adc26e27c3c21c00ff410879447
-size 10966
diff --git a/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle.png b/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle.png
deleted file mode 100644
index 541433be76..0000000000
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6ccb5f2298389ae36df87de84d85440ee5a82c50e803c9bd362c9b89ea45aa69
-size 6611
diff --git a/selfdrive/assets/icons_mici/setup/smaller_button.png b/selfdrive/assets/icons_mici/setup/smaller_button.png
deleted file mode 100644
index 9b4851c568..0000000000
--- a/selfdrive/assets/icons_mici/setup/smaller_button.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89ca7e6bb01dfa78300126ce828cb2a64e7a2e68e1e9152de242f57a36d0e57a
-size 8604
diff --git a/selfdrive/assets/icons_mici/setup/smaller_button_disabled.png b/selfdrive/assets/icons_mici/setup/smaller_button_disabled.png
deleted file mode 100644
index 6514791de7..0000000000
--- a/selfdrive/assets/icons_mici/setup/smaller_button_disabled.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b3242a411b559f1d0308f189fe0d25b81d6c7d964ca418a0c599a1bab4bffcbb
-size 5341
diff --git a/selfdrive/assets/icons_mici/setup/smaller_button_pressed.png b/selfdrive/assets/icons_mici/setup/smaller_button_pressed.png
deleted file mode 100644
index 64235b3a2f..0000000000
--- a/selfdrive/assets/icons_mici/setup/smaller_button_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d354651c0c8107dcc5f599777d260f53ef1901123315785ed8190466166cdce8
-size 17554
diff --git a/selfdrive/assets/icons_mici/setup/widish_button.png b/selfdrive/assets/icons_mici/setup/widish_button.png
deleted file mode 100644
index 529b7c80cc..0000000000
--- a/selfdrive/assets/icons_mici/setup/widish_button.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:74fc21132b1e761ea54ce64617730c6ee79d01668244ab555b3b89870cfea181
-size 7112
diff --git a/selfdrive/assets/icons_mici/setup/widish_button_disabled.png b/selfdrive/assets/icons_mici/setup/widish_button_disabled.png
deleted file mode 100644
index 5028a8cd21..0000000000
--- a/selfdrive/assets/icons_mici/setup/widish_button_disabled.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9728423bd5e3197ef02d62e4bae415e6694aab875ca8630ffc9f188c38e18e5f
-size 4141
diff --git a/selfdrive/assets/icons_mici/setup/widish_button_pressed.png b/selfdrive/assets/icons_mici/setup/widish_button_pressed.png
deleted file mode 100644
index 1095d4fc23..0000000000
--- a/selfdrive/assets/icons_mici/setup/widish_button_pressed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0ff179f93f421edcb503ca5c22a12b37e3a2aaabc414bf90f57e20ff5255dd75
-size 15572
diff --git a/selfdrive/assets/icons_mici/turn_intent_right.png b/selfdrive/assets/icons_mici/turn_intent_right.png
deleted file mode 100644
index e342778731..0000000000
--- a/selfdrive/assets/icons_mici/turn_intent_right.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7b7e0194a8b9009e493cdce35cd15711596a54227c740e9d6419a3891c6c4037
-size 912
diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav
deleted file mode 100644
index 7bfd97ad71..0000000000
--- a/selfdrive/assets/sounds/disengage.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
-size 48044
diff --git a/selfdrive/assets/sounds/disengage_tizi.wav b/selfdrive/assets/sounds/disengage_tizi.wav
deleted file mode 100644
index f3b5f21a27..0000000000
--- a/selfdrive/assets/sounds/disengage_tizi.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1f061777d66d8d856a5fcb17378416f959088885ed770181355195ad15de881b
-size 68628
diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav
deleted file mode 100644
index 8633b5ac2d..0000000000
--- a/selfdrive/assets/sounds/engage.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
-size 48044
diff --git a/selfdrive/assets/sounds/engage_tizi.wav b/selfdrive/assets/sounds/engage_tizi.wav
deleted file mode 100644
index fc24a23c2f..0000000000
--- a/selfdrive/assets/sounds/engage_tizi.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6b54a85cc09b8ee79fce23d48209205d2e70510eed4c5a86fa400fe3f7caebfd
-size 63120
diff --git a/selfdrive/assets/sounds/prompt.wav b/selfdrive/assets/sounds/prompt.wav
deleted file mode 100644
index e482c85a62..0000000000
--- a/selfdrive/assets/sounds/prompt.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ad19268e4aaaeac8dd21f6b26c16a121e7b3f50bba867748e7226727643ae682
-size 144642
diff --git a/selfdrive/assets/sounds/prompt_distracted.wav b/selfdrive/assets/sounds/prompt_distracted.wav
deleted file mode 100644
index 750d580f04..0000000000
--- a/selfdrive/assets/sounds/prompt_distracted.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1810ad0418ac234f02dec005883c8f0e1c3e0e5ece7a3157803c5a66cb8e5adc
-size 85662
diff --git a/selfdrive/assets/sounds/refuse.wav b/selfdrive/assets/sounds/refuse.wav
deleted file mode 100644
index 1e0c47697d..0000000000
--- a/selfdrive/assets/sounds/refuse.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4af81cbf1d96a42cc351878b015298aee82874b46baaf1a615ca91ec36c0ced6
-size 83228
diff --git a/selfdrive/assets/sounds/warning_immediate.wav b/selfdrive/assets/sounds/warning_immediate.wav
deleted file mode 100644
index fcbfed79ed..0000000000
--- a/selfdrive/assets/sounds/warning_immediate.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5a390831afca3bfc6ea3c2739b872ebf866e70df8ae30653f8587e5cd3993959
-size 68306
diff --git a/selfdrive/assets/sounds/warning_soft.wav b/selfdrive/assets/sounds/warning_soft.wav
deleted file mode 100644
index 7db30303d6..0000000000
--- a/selfdrive/assets/sounds/warning_soft.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:67e636d072703e6b1233a12344c0a6304fd43d64dbb31c66b71c2c8870a339c1
-size 153764
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
deleted file mode 100755
index f807fc320e..0000000000
--- a/selfdrive/car/docs.py
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-
-from openpilot.common.basedir import BASEDIR
-from opendbc.car.docs import get_all_car_docs, generate_cars_md
-
-CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
-CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
-                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
-  parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
-  args = parser.parse_args()
-
-  with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_docs(), args.template))
-  print(f"Generated and written to {args.out}")
diff --git a/selfdrive/car/tests/.gitignore b/selfdrive/car/tests/.gitignore
deleted file mode 100644
index 192fb0945e..0000000000
--- a/selfdrive/car/tests/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.bz2
diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh
deleted file mode 100755
index bb6e82dd0e..0000000000
--- a/selfdrive/car/tests/big_cars_test.sh
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-SCRIPT_DIR=$(dirname "$0")
-BASEDIR=$(realpath "$SCRIPT_DIR/../../../")
-cd $BASEDIR
-
-export MAX_EXAMPLES=300
-export INTERNAL_SEG_CNT=300
-export INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
-
-cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
deleted file mode 100644
index 6e13d55b29..0000000000
--- a/selfdrive/car/tests/test_docs.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import os
-
-from openpilot.common.basedir import BASEDIR
-from opendbc.car.docs import generate_cars_md, get_all_car_docs
-from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
-from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
-from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
-
-
-class TestCarDocs:
-  @classmethod
-  def setup_class(cls):
-    cls.all_cars = get_all_car_docs()
-
-  def test_generator(self):
-    generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-
-  def test_docs_diff(self):
-    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
-    dump_car_docs(dump_path)
-    print_car_docs_diff(dump_path)
-    os.remove(dump_path)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
deleted file mode 100644
index a5a0b1ce6a..0000000000
--- a/selfdrive/car/tests/test_models.py
+++ /dev/null
@@ -1,484 +0,0 @@
-import time
-import copy
-import os
-import pytest
-import random
-import unittest # noqa: TID251
-from collections import defaultdict, Counter
-import hypothesis.strategies as st
-from hypothesis import Phase, given, settings
-from parameterized import parameterized_class
-
-from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
-from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
-from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
-from opendbc.car.structs import car
-from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from opendbc.car.values import Platform, PLATFORMS
-from opendbc.safety.tests.libsafety import libsafety_py
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.pandad import can_capnp_to_list
-from openpilot.selfdrive.test.helpers import read_segment_list
-from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
-from openpilot.tools.lib.route import SegmentName
-
-SafetyModel = car.CarParams.SafetyModel
-SteerControlType = structs.CarParams.SteerControlType
-
-NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
-JOB_ID = int(os.environ.get("JOB_ID", "0"))
-INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
-INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0"))
-MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300"))
-CI = os.environ.get("CI", None) is not None
-
-
-def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
-  # build list of test cases
-  test_cases = []
-  if not len(INTERNAL_SEG_LIST):
-    routes_by_car = defaultdict(set)
-    for r in routes:
-      routes_by_car[str(r.car_model)].add(r)
-
-    for i, c in enumerate(sorted(PLATFORMS)):
-      if i % NUM_JOBS == JOB_ID:
-        test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,))))
-
-  else:
-    segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST))
-    segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list))
-    for platform, segment in segment_list:
-      platform = MIGRATION.get(platform, platform)
-      segment_name = SegmentName(segment)
-      test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform,
-                                                segment=segment_name.segment_num)))
-  return test_cases
-
-
-@pytest.mark.slow
-@pytest.mark.shared_download_cache
-class TestCarModelBase(unittest.TestCase):
-  platform: Platform | None = None
-  test_route: CarTestRoute | None = None
-
-  can_msgs: list[tuple[int, list[CanData]]]
-  fingerprint: dict[int, dict[int, int]]
-  elm_frame: int | None
-  car_safety_mode_frame: int | None
-
-  @classmethod
-  def get_testing_data_from_logreader(cls, lr):
-    car_fw = []
-    can_msgs = []
-    cls.elm_frame = None
-    cls.car_safety_mode_frame = None
-    cls.fingerprint = gen_empty_fingerprint()
-    alpha_long = False
-    for msg in lr:
-      if msg.which() == "can":
-        can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
-        can_msgs.append((can[0], [CanData(*can) for can in can[1]]))
-        if len(can_msgs) <= FRAME_FINGERPRINT:
-          for m in msg.can:
-            if m.src < 64:
-              cls.fingerprint[m.src][m.address] = len(m.dat)
-
-      elif msg.which() == "carParams":
-        car_fw = msg.carParams.carFw
-        if msg.carParams.openpilotLongitudinalControl:
-          alpha_long = True
-        if cls.platform is None:
-          live_fingerprint = msg.carParams.carFingerprint
-          cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
-
-      # Log which can frame the panda safety mode left ELM327, for CAN validity checks
-      elif msg.which() == 'pandaStates':
-        for ps in msg.pandaStates:
-          if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
-            cls.elm_frame = len(can_msgs)
-          if cls.car_safety_mode_frame is None and ps.safetyModel not in \
-            (SafetyModel.elm327, SafetyModel.noOutput):
-            cls.car_safety_mode_frame = len(can_msgs)
-
-      elif msg.which() == 'pandaStateDEPRECATED':
-        if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
-          cls.elm_frame = len(can_msgs)
-        if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \
-          (SafetyModel.elm327, SafetyModel.noOutput):
-          cls.car_safety_mode_frame = len(can_msgs)
-
-    assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
-    return car_fw, can_msgs, alpha_long
-
-  @classmethod
-  def get_testing_data(cls):
-    test_segs = (2, 1, 0)
-    if cls.test_route.segment is not None:
-      test_segs = (cls.test_route.segment,)
-
-    for seg in test_segs:
-      segment_range = f"{cls.test_route.route}/{seg}"
-
-      try:
-        sources = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
-        lr = LogReader(segment_range, sources=sources, sort_by_time=True)
-        return cls.get_testing_data_from_logreader(lr)
-      except (LogsUnavailable, AssertionError):
-        pass
-
-    raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
-
-
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
-      raise unittest.SkipTest
-
-    if cls.test_route is None:
-      if cls.platform in non_tested_cars:
-        print(f"Skipping tests for {cls.platform}: missing route")
-        raise unittest.SkipTest
-      raise Exception(f"missing test route for {cls.platform}")
-
-    car_fw, cls.can_msgs, alpha_long = cls.get_testing_data()
-
-    # if relay is expected to be open in the route
-    cls.openpilot_enabled = cls.car_safety_mode_frame is not None
-
-    cls.CarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, False, docs=False)
-    assert cls.CP
-    assert cls.CP_SP
-    assert cls.CP.carFingerprint == cls.platform
-
-    os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
-
-  @classmethod
-  def tearDownClass(cls):
-    del cls.can_msgs
-
-  def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP))
-    assert self.CI
-
-    # TODO: check safetyModel is in release panda build
-    self.safety = libsafety_py.libsafety
-
-    safety_param_sp = self.CP_SP.safetyParam
-    self.safety.set_current_safety_param_sp(safety_param_sp)
-
-    cfg = self.CP.safetyConfigs[-1]
-    set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
-    self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
-    self.safety.init_tests()
-
-  def test_car_params(self):
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check carParams for dashcamOnly")
-
-    # make sure car params are within a valid range
-    self.assertGreater(self.CP.mass, 1)
-
-    if self.CP.steerControlType != SteerControlType.angle:
-      tuning = self.CP.lateralTuning.which()
-      if tuning == 'pid':
-        self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
-      elif tuning == 'torque':
-        self.assertTrue(self.CP.lateralTuning.torque.latAccelFactor > 0)
-      else:
-        raise Exception("unknown tuning")
-
-  def test_car_interface(self):
-    # TODO: also check for checksum violations from can parser
-    can_invalid_cnt = 0
-    CC = structs.CarControl().as_reader()
-    CC_SP = structs.CarControlSP()
-
-    for i, msg in enumerate(self.can_msgs):
-      CS, _ = self.CI.update(msg)
-      self.CI.apply(CC, CC_SP, msg[0])
-
-      # wait max of 2s for low frequency msgs to be seen
-      if i > 250:
-        can_invalid_cnt += not CS.canValid
-
-    self.assertEqual(can_invalid_cnt, 0)
-
-  def test_radar_interface(self):
-    RI = self.CarInterface.RadarInterface(self.CP, self.CP_SP)
-    assert RI
-
-    # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
-    # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
-    error_cnt = 0
-    for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr: structs.RadarData | None = RI.update(msg)
-      if rr is not None and i > 50:
-        error_cnt += rr.errors.canError
-    self.assertEqual(error_cnt, 0)
-
-  def test_panda_safety_rx_checks(self):
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check panda safety for dashcamOnly")
-
-    start_ts = self.can_msgs[0][0]
-
-    failed_addrs = Counter()
-    for can in self.can_msgs:
-      # update panda timer
-      t = (can[0] - start_ts) / 1e3
-      self.safety.set_timer(int(t))
-
-      # run all msgs through the safety RX hook
-      for msg in can[1]:
-        if msg.src >= 64:
-          continue
-
-        to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
-        if self.safety.safety_rx_hook(to_send) != 1:
-          failed_addrs[hex(msg.address)] += 1
-
-      # ensure all msgs defined in the addr checks are valid
-      self.safety.safety_tick_current_safety_config()
-      if t > 1e6:
-        self.assertTrue(self.safety.safety_config_valid())
-
-      # Don't check relay malfunction on disabled routes (relay closed),
-      # or before fingerprinting is done (elm327 and noOutput)
-      if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame:
-        self.assertFalse(self.safety.get_relay_malfunction())
-      else:
-        self.safety.set_relay_malfunction(False)
-
-    self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
-
-    # ensure RX checks go invalid after small time with no traffic
-    self.safety.set_timer(int(t + (2*1e6)))
-    self.safety.safety_tick_current_safety_config()
-    self.assertFalse(self.safety.safety_config_valid())
-
-  def test_panda_safety_tx_cases(self, data=None):
-    """Asserts we can tx common messages"""
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check panda safety for dashcamOnly")
-
-    if self.CP.notCar:
-      self.skipTest("Skipping test for notCar")
-
-    def test_car_controller(car_control, car_control_sp):
-      now_nanos = 0
-      msgs_sent = 0
-      CI = self.CarInterface(self.CP, self.CP_SP)
-      for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
-        CI.update([])
-        _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
-
-        now_nanos += DT_CTRL * 1e9
-        msgs_sent += len(sendcan)
-        for addr, dat, bus in sendcan:
-          to_send = libsafety_py.make_CANPacket(addr, bus % 4, dat)
-          self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
-
-      # Make sure we attempted to send messages
-      self.assertGreater(msgs_sent, 50)
-
-    # Make sure we can send all messages while inactive
-    CC = structs.CarControl()
-    CC_SP = structs.CarControlSP()
-    test_car_controller(CC.as_reader(), CC_SP)
-
-    # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
-    self.safety.set_cruise_engaged_prev(True)
-    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader(), CC_SP)
-
-    # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
-    self.safety.set_controls_allowed(True)
-    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader(), CC_SP)
-
-  # Skip stdout/stderr capture with pytest, causes elevated memory usage
-  @pytest.mark.nocapture
-  @settings(max_examples=MAX_EXAMPLES, deadline=None,
-            phases=(Phase.reuse, Phase.generate, Phase.shrink))
-  @given(data=st.data())
-  def test_panda_safety_carstate_fuzzy(self, data):
-    """
-      For each example, pick a random CAN message on the bus and fuzz its data,
-      checking for panda state mismatches.
-    """
-
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check panda safety for dashcamOnly")
-
-    valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()]
-    address, bus, size = data.draw(st.sampled_from(valid_addrs))
-
-    msg_strategy = st.binary(min_size=size, max_size=size)
-    msgs = data.draw(st.lists(msg_strategy, min_size=20))
-
-    vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
-
-    for n, dat in enumerate(msgs):
-      # due to panda updating state selectively, only edges are expected to match
-      # TODO: warm up CarState with real CAN messages to check edge of both sources
-      #  (eg. toyota's gasPressed is the inverse of a signal being set)
-      prev_panda_gas = self.safety.get_gas_pressed_prev()
-      prev_panda_brake = self.safety.get_brake_pressed_prev()
-      prev_panda_regen_braking = self.safety.get_regen_braking_prev()
-      prev_panda_steering_disengage = self.safety.get_steering_disengage_prev()
-      prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
-      prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min()
-      prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max()
-      prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev()
-      prev_panda_acc_main_on = self.safety.get_acc_main_on()
-
-      to_send = libsafety_py.make_CANPacket(address, bus, dat)
-      self.safety.safety_rx_hook(to_send)
-
-      can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
-      CS, _ = self.CI.update(can)
-      if n < 5:  # CANParser warmup time
-        continue
-
-      if self.safety.get_gas_pressed_prev() != prev_panda_gas:
-        self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
-
-      if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        # TODO: remove this exception once this mismatch is resolved
-        brake_pressed = CS.brakePressed
-        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-            brake_pressed = False
-
-        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
-
-      if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
-        self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
-
-      if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage:
-        self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev())
-
-      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving and not self.CP.notCar:
-        self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
-
-      # check vehicle speed if angle control car or available
-      if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0:
-        vehicle_speed_seen = True
-
-      if vehicle_speed_seen and (self.safety.get_vehicle_speed_min() != prev_panda_vehicle_speed_min or
-                                 self.safety.get_vehicle_speed_max() != prev_panda_vehicle_speed_max):
-        v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor
-        self.assertFalse(v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
-                         v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
-
-      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
-        if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
-          self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
-
-      if self.CP.brand == "honda":
-        if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
-          self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
-
-  def test_panda_safety_carstate(self):
-    """
-      Assert that panda safety matches openpilot's carState
-    """
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check panda safety for dashcamOnly")
-
-    # warm up pass, as initial states may be different
-    for can in self.can_msgs[:300]:
-      self.CI.update(can)
-      for msg in filter(lambda m: m.src < 64, can[1]):
-        to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
-        self.safety.safety_rx_hook(to_send)
-
-    controls_allowed_prev = False
-    CS_prev = car.CarState.new_message()
-    checks = defaultdict(int)
-    vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
-    for idx, can in enumerate(self.can_msgs):
-      CS, _ = self.CI.update(can)
-      CS = CS.as_reader()
-      for msg in filter(lambda m: m.src < 64, can[1]):
-        to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
-        ret = self.safety.safety_rx_hook(to_send)
-        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}")
-
-      # Skip first frame so CS_prev is properly initialized
-      if idx == 0:
-        CS_prev = CS
-        # Button may be left pressed in warm up period
-        if not self.CP.pcmCruise:
-          self.safety.set_controls_allowed(0)
-        continue
-
-      # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
-
-      checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
-      checks['standstill'] += (CS.standstill == self.safety.get_vehicle_moving()) and not self.CP.notCar
-
-      # check vehicle speed if angle control car or available
-      if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0:
-        vehicle_speed_seen = True
-
-      if vehicle_speed_seen:
-        v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor
-        checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
-                              v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
-
-      # TODO: remove this exception once this mismatch is resolved
-      brake_pressed = CS.brakePressed
-      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-          brake_pressed = False
-      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
-      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
-      checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
-
-      if self.CP.pcmCruise:
-        # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
-        # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
-        # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
-          # only the rising edges are expected to match
-          if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
-            checks['controlsAllowed'] += not self.safety.get_controls_allowed()
-        else:
-          checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
-
-        # TODO: fix notCar mismatch
-        if not self.CP.notCar:
-          checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
-      else:
-        # Check for user button enable on rising edge of controls allowed
-        button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill)
-        mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
-        checks['controlsAllowed'] += mismatch
-        controls_allowed_prev = self.safety.get_controls_allowed()
-        if button_enable and not mismatch:
-          self.safety.set_controls_allowed(False)
-
-      if self.CP.brand == "honda":
-        checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
-
-      CS_prev = CS
-
-    failed_checks = {k: v for k, v in checks.items() if v > 0}
-    self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
-
-
-@parameterized_class(('platform', 'test_route'), get_test_cases())
-@pytest.mark.xdist_group_class_property('test_route')
-class TestCarModel(TestCarModelBase):
-  pass
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt
deleted file mode 100644
index c983fb08e7..0000000000
--- a/selfdrive/car/tests/test_models_segs.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0810a361ec5b5f5f9a2ee73b89ffb2df62ef40e8feff7e97ecb62f80fa53f6f5
-size 124950
diff --git a/selfdrive/controls/.gitignore b/selfdrive/controls/.gitignore
deleted file mode 100644
index 22a371d8ff..0000000000
--- a/selfdrive/controls/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-calibration_param
-traces
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/.gitignore b/selfdrive/controls/lib/lateral_mpc_lib/.gitignore
deleted file mode 100644
index aff2eb082b..0000000000
--- a/selfdrive/controls/lib/lateral_mpc_lib/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-acados_ocp_lat.json
-c_generated_code/
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
deleted file mode 100644
index c9ebf89207..0000000000
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ /dev/null
@@ -1,97 +0,0 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
-
-gen = "c_generated_code"
-
-casadi_model = [
-  f'{gen}/lat_model/lat_expl_ode_fun.c',
-  f'{gen}/lat_model/lat_expl_vde_forw.c',
-]
-
-casadi_cost_y = [
-  f'{gen}/lat_cost/lat_cost_y_fun.c',
-  f'{gen}/lat_cost/lat_cost_y_fun_jac_ut_xt.c',
-  f'{gen}/lat_cost/lat_cost_y_hess.c',
-]
-
-casadi_cost_e = [
-  f'{gen}/lat_cost/lat_cost_y_e_fun.c',
-  f'{gen}/lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',
-  f'{gen}/lat_cost/lat_cost_y_e_hess.c',
-]
-
-casadi_cost_0 = [
-  f'{gen}/lat_cost/lat_cost_y_0_fun.c',
-  f'{gen}/lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',
-  f'{gen}/lat_cost/lat_cost_y_0_hess.c',
-]
-
-build_files = [f'{gen}/acados_solver_lat.c'] + casadi_model + casadi_cost_y + casadi_cost_e + casadi_cost_0
-
-# extra generated files used to trigger a rebuild
-generated_files = [
-  f'{gen}/Makefile',
-
-  f'{gen}/main_lat.c',
-  f'{gen}/main_sim_lat.c',
-  f'{gen}/acados_solver_lat.h',
-  f'{gen}/acados_sim_solver_lat.h',
-  f'{gen}/acados_sim_solver_lat.c',
-  f'{gen}/acados_solver.pxd',
-
-  f'{gen}/lat_model/lat_expl_vde_adj.c',
-
-  f'{gen}/lat_model/lat_model.h',
-  f'{gen}/lat_constraints/lat_constraints.h',
-  f'{gen}/lat_cost/lat_cost.h',
-] + build_files
-
-acados_dir = '#third_party/acados'
-acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
-
-source_list = ['lat_mpc.py',
-  '#selfdrive/modeld/constants.py',
-  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_templates_dir}/acados_solver.in.c',
-]
-
-lenv = env.Clone()
-acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
-lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
-lenv.Clean(generated_files, Dir(gen))
-
-generated_lat = lenv.Command(generated_files,
-                             source_list,
-                             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
-lenv.Depends(generated_lat, [msgq_python, common_python])
-
-lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
-lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
-lenv["CCFLAGS"].append("-Wno-unused")
-if arch != "Darwin":
-  lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
-else:
-  lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_lat.dylib")
-  lenv["LINKFLAGS"].append(f"-Wl,-rpath,@loader_path/{acados_rel_path}")
-lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
-                                build_files,
-                                LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
-
-# generate cython stuff
-acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
-libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
-libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
-
-lenv2 = envCython.Clone()
-lenv2["LIBPATH"] += [lib_solver[0].dir.abspath]
-lenv2["RPATH"] += [lenv2.Literal('\\$$ORIGIN')]
-lenv2.Command(libacados_ocp_solver_c,
-  [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
-  f'cython' + \
-  f' -o {libacados_ocp_solver_c.get_labspath()}' + \
-  f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
-  f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
-  f' {acados_ocp_solver_pyx.get_labspath()}')
-lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_lat'])
-lenv2.Depends(lib_cython, lib_solver)
-lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
deleted file mode 100755
index ad60861088..0000000000
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ /dev/null
@@ -1,199 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import numpy as np
-
-from casadi import SX, vertcat, sin, cos
-# WARNING: imports outside of constants will not trigger a rebuild
-from openpilot.selfdrive.modeld.constants import ModelConstants
-
-if __name__ == '__main__':  # generating code
-  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
-else:
-  from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
-
-LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
-EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
-JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json")
-X_DIM = 4
-P_DIM = 2
-COST_E_DIM = 3
-COST_DIM = COST_E_DIM + 2
-SPEED_OFFSET = 10.0
-MODEL_NAME = 'lat'
-ACADOS_SOLVER_TYPE = 'SQP_RTI'
-N = 32
-
-def gen_lat_model():
-  model = AcadosModel()
-  model.name = MODEL_NAME
-
-  # set up states & controls
-  x_ego = SX.sym('x_ego')
-  y_ego = SX.sym('y_ego')
-  psi_ego = SX.sym('psi_ego')
-  psi_rate_ego = SX.sym('psi_rate_ego')
-  model.x = vertcat(x_ego, y_ego, psi_ego, psi_rate_ego)
-
-  # parameters
-  v_ego = SX.sym('v_ego')
-  rotation_radius = SX.sym('rotation_radius')
-  model.p = vertcat(v_ego, rotation_radius)
-
-  # controls
-  psi_accel_ego = SX.sym('psi_accel_ego')
-  model.u = vertcat(psi_accel_ego)
-
-  # xdot
-  x_ego_dot = SX.sym('x_ego_dot')
-  y_ego_dot = SX.sym('y_ego_dot')
-  psi_ego_dot = SX.sym('psi_ego_dot')
-  psi_rate_ego_dot = SX.sym('psi_rate_ego_dot')
-
-  model.xdot = vertcat(x_ego_dot, y_ego_dot, psi_ego_dot, psi_rate_ego_dot)
-
-  # dynamics model
-  f_expl = vertcat(v_ego * cos(psi_ego) - rotation_radius * sin(psi_ego) * psi_rate_ego,
-                   v_ego * sin(psi_ego) + rotation_radius * cos(psi_ego) * psi_rate_ego,
-                   psi_rate_ego,
-                   psi_accel_ego)
-  model.f_impl_expr = model.xdot - f_expl
-  model.f_expl_expr = f_expl
-  return model
-
-
-def gen_lat_ocp():
-  ocp = AcadosOcp()
-  ocp.model = gen_lat_model()
-
-  Tf = np.array(ModelConstants.T_IDXS)[N]
-
-  # set dimensions
-  ocp.dims.N = N
-
-  # set cost module
-  ocp.cost.cost_type = 'NONLINEAR_LS'
-  ocp.cost.cost_type_e = 'NONLINEAR_LS'
-
-  Q = np.diag(np.zeros(COST_E_DIM))
-  QR = np.diag(np.zeros(COST_DIM))
-
-  ocp.cost.W = QR
-  ocp.cost.W_e = Q
-
-  y_ego, psi_ego, psi_rate_ego = ocp.model.x[1], ocp.model.x[2], ocp.model.x[3]
-  psi_rate_ego_dot = ocp.model.u[0]
-  v_ego = ocp.model.p[0]
-
-  ocp.parameter_values = np.zeros((P_DIM, ))
-
-  ocp.cost.yref = np.zeros((COST_DIM, ))
-  ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
-  # Add offset to smooth out low speed control
-  # TODO unclear if this right solution long term
-  v_ego_offset = v_ego + SPEED_OFFSET
-  # TODO there are two costs on psi_rate_ego_dot, one
-  # is correlated to jerk the other to steering wheel movement
-  # the steering wheel movement cost is added to prevent excessive
-  # wheel movements
-  ocp.model.cost_y_expr = vertcat(y_ego,
-                                  v_ego_offset * psi_ego,
-                                  v_ego_offset * psi_rate_ego,
-                                  v_ego_offset * psi_rate_ego_dot,
-                                  psi_rate_ego_dot / (v_ego + 0.1))
-  ocp.model.cost_y_expr_e = vertcat(y_ego,
-                                   v_ego_offset * psi_ego,
-                                   v_ego_offset * psi_rate_ego)
-
-  # set constraints
-  ocp.constraints.constr_type = 'BGH'
-  ocp.constraints.idxbx = np.array([2,3])
-  ocp.constraints.ubx = np.array([np.radians(90), np.radians(50)])
-  ocp.constraints.lbx = np.array([-np.radians(90), -np.radians(50)])
-  x0 = np.zeros((X_DIM,))
-  ocp.constraints.x0 = x0
-
-  ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
-  ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
-  ocp.solver_options.integrator_type = 'ERK'
-  ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
-  ocp.solver_options.qp_solver_iter_max = 1
-  ocp.solver_options.qp_solver_cond_N = 1
-
-  # set prediction horizon
-  ocp.solver_options.tf = Tf
-  ocp.solver_options.shooting_nodes = np.array(ModelConstants.T_IDXS)[:N+1]
-
-  ocp.code_export_directory = EXPORT_DIR
-  return ocp
-
-
-class LateralMpc:
-  def __init__(self, x0=None):
-    if x0 is None:
-      x0 = np.zeros(X_DIM)
-    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
-    self.reset(x0)
-
-  def reset(self, x0=None):
-    if x0 is None:
-      x0 = np.zeros(X_DIM)
-    self.x_sol = np.zeros((N+1, X_DIM))
-    self.u_sol = np.zeros((N, 1))
-    self.yref = np.zeros((N+1, COST_DIM))
-    for i in range(N):
-      self.solver.cost_set(i, "yref", self.yref[i])
-    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
-
-    # Somehow needed for stable init
-    for i in range(N+1):
-      self.solver.set(i, 'x', np.zeros(X_DIM))
-      self.solver.set(i, 'p', np.zeros(P_DIM))
-    self.solver.constraints_set(0, "lbx", x0)
-    self.solver.constraints_set(0, "ubx", x0)
-    self.solver.solve()
-    self.solution_status = 0
-    self.solve_time = 0.0
-    self.cost = 0
-
-  def set_weights(self, path_weight, heading_weight,
-                  lat_accel_weight, lat_jerk_weight,
-                  steering_rate_weight):
-    W = np.asfortranarray(np.diag([path_weight, heading_weight,
-                                   lat_accel_weight, lat_jerk_weight,
-                                   steering_rate_weight]))
-    for i in range(N):
-      self.solver.cost_set(i, 'W', W)
-    self.solver.cost_set(N, 'W', W[:COST_E_DIM,:COST_E_DIM])
-
-  def run(self, x0, p, y_pts, heading_pts, yaw_rate_pts):
-    x0_cp = np.copy(x0)
-    p_cp = np.copy(p)
-    self.solver.constraints_set(0, "lbx", x0_cp)
-    self.solver.constraints_set(0, "ubx", x0_cp)
-    self.yref[:,0] = y_pts
-    v_ego = p_cp[0, 0]
-    # rotation_radius = p_cp[1]
-    self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET)
-    self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET)
-    for i in range(N):
-      self.solver.cost_set(i, "yref", self.yref[i])
-      self.solver.set(i, "p", p_cp[i])
-    self.solver.set(N, "p", p_cp[N])
-    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
-
-    t = time.monotonic()
-    self.solution_status = self.solver.solve()
-    self.solve_time = time.monotonic() - t
-
-    for i in range(N+1):
-      self.x_sol[i] = self.solver.get(i, 'x')
-    for i in range(N):
-      self.u_sol[i] = self.solver.get(i, 'u')
-    self.cost = self.solver.get_cost()
-
-
-if __name__ == "__main__":
-  ocp = gen_lat_ocp()
-  AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
-  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py
deleted file mode 100644
index 3aa0fd1bce..0000000000
--- a/selfdrive/controls/tests/test_lateral_mpc.py
+++ /dev/null
@@ -1,85 +0,0 @@
-import pytest
-import numpy as np
-from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
-from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS
-from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
-
-
-def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0.,
-            lane_width=3.6, poly_shift=0.):
-
-  if lat_mpc is None:
-    lat_mpc = LateralMpc()
-  lat_mpc.set_weights(1., .1, 0.0, .05, 800)
-
-  y_pts = poly_shift * np.ones(LAT_MPC_N + 1)
-  heading_pts = np.zeros(LAT_MPC_N + 1)
-  curv_rate_pts = np.zeros(LAT_MPC_N + 1)
-
-  x0 = np.array([x_init, y_init, psi_init, curvature_init])
-  p = np.column_stack([v_ref * np.ones(LAT_MPC_N + 1),
-                      CAR_ROTATION_RADIUS * np.ones(LAT_MPC_N + 1)])
-
-  # converge in no more than 10 iterations
-  for _ in range(10):
-    lat_mpc.run(x0, p,
-                y_pts, heading_pts, curv_rate_pts)
-  return lat_mpc.x_sol
-
-
-class TestLateralMpc:
-
-  def _assert_null(self, sol, curvature=1e-6):
-    for i in range(len(sol)):
-      assert sol[0,i,1] == pytest.approx(0, abs=curvature)
-      assert sol[0,i,2] == pytest.approx(0, abs=curvature)
-      assert sol[0,i,3] == pytest.approx(0, abs=curvature)
-
-  def _assert_simmetry(self, sol, curvature=1e-6):
-    for i in range(len(sol)):
-      assert sol[0,i,1] == pytest.approx(-sol[1,i,1], abs=curvature)
-      assert sol[0,i,2] == pytest.approx(-sol[1,i,2], abs=curvature)
-      assert sol[0,i,3] == pytest.approx(-sol[1,i,3], abs=curvature)
-      assert sol[0,i,0] == pytest.approx(sol[1,i,0], abs=curvature)
-
-  def test_straight(self):
-    sol = run_mpc()
-    self._assert_null(np.array([sol]))
-
-  def test_y_symmetry(self):
-    sol = []
-    for y_init in [-0.5, 0.5]:
-      sol.append(run_mpc(y_init=y_init))
-    self._assert_simmetry(np.array(sol))
-
-  def test_poly_symmetry(self):
-    sol = []
-    for poly_shift in [-1., 1.]:
-      sol.append(run_mpc(poly_shift=poly_shift))
-    self._assert_simmetry(np.array(sol))
-
-  def test_curvature_symmetry(self):
-    sol = []
-    for curvature_init in [-0.1, 0.1]:
-      sol.append(run_mpc(curvature_init=curvature_init))
-    self._assert_simmetry(np.array(sol))
-
-  def test_psi_symmetry(self):
-    sol = []
-    for psi_init in [-0.1, 0.1]:
-      sol.append(run_mpc(psi_init=psi_init))
-    self._assert_simmetry(np.array(sol))
-
-  def test_no_overshoot(self):
-    y_init = 1.
-    sol = run_mpc(y_init=y_init)
-    for y in list(sol[:,1]):
-      assert y_init >= abs(y)
-
-  def test_switch_convergence(self):
-    lat_mpc = LateralMpc()
-    sol = run_mpc(lat_mpc=lat_mpc, poly_shift=3.0, v_ref=7.0)
-    right_psi_deg = np.degrees(sol[:,2])
-    sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-3.0, v_ref=7.0)
-    left_psi_deg = np.degrees(sol[:,2])
-    np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3)
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
deleted file mode 100644
index cf0ab24e0b..0000000000
--- a/selfdrive/controls/tests/test_longcontrol.py
+++ /dev/null
@@ -1,59 +0,0 @@
-from cereal import car, custom
-from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
-
-
-
-
-class TestLongControlStateTransition:
-
-  def test_stay_stopped(self):
-    CP = car.CarParams.new_message()
-    CP_SP = custom.CarParamsSP.new_message()
-    active = True
-    current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
-                             should_stop=True, brake_pressed=False, cruise_standstill=False)
-    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=True, cruise_standstill=False)
-    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=False, cruise_standstill=True)
-    assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-    assert next_state == LongCtrlState.pid
-    active = False
-    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-    assert next_state == LongCtrlState.off
-
-def test_engage():
-  CP = car.CarParams.new_message()
-  CP_SP = custom.CarParamsSP.new_message()
-  active = True
-  current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
-                             should_stop=True, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=True, cruise_standstill=False)
-  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=False, cruise_standstill=True)
-  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.pid
-
-def test_starting():
-  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
-  CP_SP = custom.CarParamsSP.new_message()
-  active = True
-  current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.starting
-  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
-                             should_stop=False, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.pid
diff --git a/selfdrive/debug/README.md b/selfdrive/debug/README.md
deleted file mode 100644
index 83b8a994db..0000000000
--- a/selfdrive/debug/README.md
+++ /dev/null
@@ -1,59 +0,0 @@
-# debug scripts
-
-## [can_printer.py](can_printer.py)
-
-```
-usage: can_printer.py [-h] [--bus BUS] [--max_msg MAX_MSG] [--addr ADDR]
-
-simple CAN data viewer
-
-optional arguments:
-  -h, --help         show this help message and exit
-  --bus BUS          CAN bus to print out (default: 0)
-  --max_msg MAX_MSG  max addr (default: None)
-  --addr ADDR
-```
-
-## [dump.py](dump.py)
-
-```
-usage: dump.py [-h] [--pipe] [--raw] [--json] [--dump-json] [--no-print] [--addr ADDR] [--values VALUES] [socket [socket ...]]
-
-Dump communication sockets. See cereal/services.py for a complete list of available sockets.
-
-positional arguments:
-  socket           socket names to dump. defaults to all services defined in cereal
-
-optional arguments:
-  -h, --help       show this help message and exit
-  --pipe
-  --raw
-  --json
-  --dump-json
-  --no-print
-  --addr ADDR
-  --values VALUES  values to monitor (instead of entire event)
-```
-
-## [vw_mqb_config.py](vw_mqb_config.py)
-
-```
-usage: vw_mqb_config.py [-h] [--debug] {enable,show,disable}
-
-Shows Volkswagen EPS software and coding info, and enables or disables Heading Control
-Assist (Lane Assist). Useful for enabling HCA on cars without factory Lane Assist that want
-to use openpilot integrated at the CAN gateway (J533).
-
-positional arguments:
-  {enable,show,disable}
-                        show or modify current EPS HCA config
-
-optional arguments:
-  -h, --help            show this help message and exit
-  --debug               enable ISO-TP/UDS stack debugging output
-
-This tool is meant to run directly on a vehicle-installed comma three, with
-the openpilot/tmux processes stopped. It should also work on a separate PC with a USB-
-attached comma panda. Vehicle ignition must be on. Recommend engine not be running when
-making changes. Must turn ignition off and on again for any changes to take effect.
-```
diff --git a/selfdrive/debug/analyze-msg-size.py b/selfdrive/debug/analyze-msg-size.py
deleted file mode 100755
index 69015a6be2..0000000000
--- a/selfdrive/debug/analyze-msg-size.py
+++ /dev/null
@@ -1,82 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-from tqdm import tqdm
-
-from cereal.services import SERVICE_LIST, QueueSize
-from openpilot.tools.lib.logreader import LogReader
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Analyze message sizes from a log route")
-  parser.add_argument("route", nargs="?", default="98395b7c5b27882e/000000a8--f87e7cd255",
-                      help="Log route to analyze (default: 98395b7c5b27882e/000000a8--f87e7cd255)")
-  args = parser.parse_args()
-
-  lr = LogReader(args.route)
-
-  szs = {}
-  for msg in tqdm(lr):
-    sz = len(msg.as_builder().to_bytes())
-    msg_type = msg.which()
-    if msg_type not in szs:
-      szs[msg_type] = {'min': sz, 'max': sz, 'sum': sz, 'count': 1}
-    else:
-      szs[msg_type]['min'] = min(szs[msg_type]['min'], sz)
-      szs[msg_type]['max'] = max(szs[msg_type]['max'], sz)
-      szs[msg_type]['sum'] += sz
-      szs[msg_type]['count'] += 1
-
-  print()
-  print(f"{'Service':<36} {'Min (KB)':>12} {'Max (KB)':>12} {'Avg (KB)':>12} {'KB/min':>12} {'KB/sec':>12} {'Minutes in 10MB':>18} {'Seconds in Queue':>18}")
-  print("-" * 132)
-  def sort_key(x):
-    k, v = x
-    avg = v['sum'] / v['count']
-    freq = SERVICE_LIST.get(k, None)
-    freq_val = freq.frequency if freq else 0.0
-    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
-    return kb_per_min
-  total_kb_per_min = 0.0
-  RINGBUFFER_SIZE_KB = 10 * 1024  # 10MB old default
-  for k, v in sorted(szs.items(), key=sort_key, reverse=True):
-    avg = v['sum'] / v['count']
-    service = SERVICE_LIST.get(k, None)
-    freq_val = service.frequency if service else 0.0
-    queue_size_kb = (service.queue_size / 1024) if service else 250  # default to SMALL
-    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
-    kb_per_sec = kb_per_min / 60
-    minutes_in_buffer = RINGBUFFER_SIZE_KB / kb_per_min if kb_per_min > 0 else float('inf')
-    seconds_in_queue = (queue_size_kb / kb_per_sec) if kb_per_sec > 0 else float('inf')
-    total_kb_per_min += kb_per_min
-    min_str = f"{minutes_in_buffer:.2f}" if minutes_in_buffer != float('inf') else "inf"
-    sec_queue_str = f"{seconds_in_queue:.2f}" if seconds_in_queue != float('inf') else "inf"
-    print(f"{k:<36} {v['min']/1024:>12.2f} {v['max']/1024:>12.2f} {avg/1024:>12.2f} {kb_per_min:>12.2f} {kb_per_sec:>12.2f} {min_str:>18} {sec_queue_str:>18}")
-
-  # Summary section
-  print()
-  print(f"Total usage: {total_kb_per_min / 1024:.2f} MB/min")
-
-  # Calculate memory usage: old (10MB for all) vs new (from services.py)
-  OLD_SIZE = 10 * 1024 * 1024  # 10MB was the old default
-  old_total = len(SERVICE_LIST) * OLD_SIZE
-
-  new_total = sum(s.queue_size for s in SERVICE_LIST.values())
-
-  # Count by queue size
-  size_counts = {QueueSize.BIG: 0, QueueSize.MEDIUM: 0, QueueSize.SMALL: 0}
-  for s in SERVICE_LIST.values():
-    size_counts[s.queue_size] += 1
-
-  savings_pct = (1 - new_total / old_total) * 100
-
-  print()
-  print(f"{'Queue Size Comparison':<40}")
-  print("-" * 60)
-  print(f"{'Old (10MB default):':<30} {old_total / 1024 / 1024:>10.2f} MB")
-  print(f"{'New (from services.py):':<30} {new_total / 1024 / 1024:>10.2f} MB")
-  print(f"{'Savings:':<30} {savings_pct:>10.1f}%")
-  print()
-  print(f"{'Breakdown:':<30}")
-  print(f"  BIG (10MB):    {size_counts[QueueSize.BIG]:>3} services")
-  print(f"  MEDIUM (2MB):  {size_counts[QueueSize.MEDIUM]:>3} services")
-  print(f"  SMALL (250KB): {size_counts[QueueSize.SMALL]:>3} services")
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
deleted file mode 100755
index 20987b3cf4..0000000000
--- a/selfdrive/debug/check_can_parser_performance.py
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-import time
-from tqdm import tqdm
-
-from cereal import car
-from opendbc.car.tests.routes import CarTestRoute
-from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
-from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
-
-N_RUNS = 10
-
-
-class CarModelTestCase(TestCarModelBase):
-  test_route = CarTestRoute(DEMO_ROUTE, None)
-
-
-if __name__ == '__main__':
-  # Get CAN messages and parsers
-  tm = CarModelTestCase()
-  tm.setUpClass()
-  tm.setUp()
-
-  CC = car.CarControl.new_message()
-  ets = []
-  for _ in tqdm(range(N_RUNS)):
-    start_t = time.process_time_ns()
-    for msg in tm.can_msgs:
-      for cp in tm.CI.can_parsers.values():
-        if cp is not None:
-          cp.update_strings(msg)
-    ets.append((time.process_time_ns() - start_t) * 1e-6)
-
-  print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
-  print(f'{np.mean(ets):.2f} mean ms, {max(ets):.2f} max ms, {min(ets):.2f} min ms, {np.std(ets):.2f} std ms')
-  print(f'{np.mean(ets) / len(tm.can_msgs):.4f} mean ms / CAN packet')
diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py
deleted file mode 100755
index 1765aeb86b..0000000000
--- a/selfdrive/debug/check_freq.py
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import numpy as np
-import time
-from collections import defaultdict, deque
-from collections.abc import MutableSequence
-
-import cereal.messaging as messaging
-
-
-if __name__ == "__main__":
-  context = messaging.Context()
-  poller = messaging.Poller()
-
-  parser = argparse.ArgumentParser()
-  parser.add_argument("socket", type=str, nargs='*', help="socket name")
-  args = parser.parse_args()
-
-  socket_names = args.socket
-  sockets = {}
-
-  rcv_times: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
-  valids: defaultdict[str, deque[bool]] = defaultdict(lambda: deque(maxlen=100))
-
-  t = time.monotonic()
-  for name in socket_names:
-    sock = messaging.sub_sock(name, poller=poller)
-    sockets[sock] = name
-
-  prev_print = t
-  while True:
-    for socket in poller.poll(100):
-      msg = messaging.recv_one(socket)
-      if msg is None:
-        continue
-
-      name = msg.which()
-
-      t = time.monotonic()
-      rcv_times[name].append(msg.logMonoTime / 1e9)
-      valids[name].append(msg.valid)
-
-    if t - prev_print > 1:
-      print()
-      for name in socket_names:
-        dts = np.diff(rcv_times[name])
-        mean = np.mean(dts)
-        print(f"{name}: Freq {1.0 / mean:.2f} Hz, Min {np.min(dts) / mean * 100:.2f}%, Max {np.max(dts) / mean * 100:.2f}%, valid ", all(valids[name]))
-
-      prev_print = t
diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py
deleted file mode 100755
index 341ae79c8b..0000000000
--- a/selfdrive/debug/check_lag.py
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
-
-TO_CHECK = ['carState']
-
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(TO_CHECK)
-
-  prev_t: dict[str, float] = {}
-
-  while True:
-    sm.update()
-
-    for s in TO_CHECK:
-      if sm.updated[s]:
-        t = sm.logMonoTime[s] / 1e9
-
-        if s in prev_t:
-          expected = 1.0 / (SERVICE_LIST[s].frequency)
-          dt = t - prev_t[s]
-          if dt > 10 * expected:
-            print(t, s, dt)
-
-        prev_t[s] = t
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
deleted file mode 100755
index fc527cd81b..0000000000
--- a/selfdrive/debug/check_timings.py
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import time
-import numpy as np
-import datetime
-from collections.abc import MutableSequence
-from collections import defaultdict
-
-import cereal.messaging as messaging
-
-
-if __name__ == "__main__":
-  ts: defaultdict[str, MutableSequence[float]] = defaultdict(list)
-  socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
-  try:
-    st = time.monotonic()
-    while True:
-      print()
-      for s, sock in socks.items():
-        msgs = messaging.drain_sock(sock)
-        for m in msgs:
-          ts[s].append(m.logMonoTime / 1e6)
-
-        if len(ts[s]) > 2:
-          d = np.diff(ts[s])[-100:]
-          print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
-      time.sleep(1)
-  except KeyboardInterrupt:
-    print("\n")
-    print("="*5, "timing summary", "="*5)
-    for s, sock in socks.items():
-      msgs = messaging.drain_sock(sock)
-      if len(ts[s]) > 2:
-        d = np.diff(ts[s])
-        print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}")
-    print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5)
diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py
deleted file mode 100755
index 089685103f..0000000000
--- a/selfdrive/debug/cpu_usage_stat.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python3
-'''
-System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
-  Features:
-    Use psutil library to sample cpu usage(avergage for all cores) of openpilot processes, at a rate of 5 samples/sec.
-    Do cpu usage statistics periodically, 5 seconds as a cycle.
-    Calculate the average cpu usage within this cycle.
-    Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
-    Monitor multiple processes simuteneously.
-  Sample usage:
-    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd
-    ('Add monitored proc:', './pandad')
-    ('Add monitored proc:', 'python locationd/ubloxd.py')
-    pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
-    ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
-'''
-import psutil
-import time
-import os
-import sys
-import numpy as np
-import argparse
-import re
-from collections import defaultdict
-
-from openpilot.system.manager.process_config import managed_processes
-
-# Do statistics every 5 seconds
-PRINT_INTERVAL = 5
-SLEEP_INTERVAL = 0.2
-
-monitored_proc_names = [
-  # android procs
-  'SurfaceFlinger', 'sensors.qcom'
-] + list(managed_processes.keys())
-
-cpu_time_names = ['user', 'system', 'children_user', 'children_system']
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("proc_names", nargs="?", default='',
-                      help="Process names to be monitored, comma separated")
-  parser.add_argument("--list_all", action='store_true',
-                      help="Show all running processes' cmdline")
-  parser.add_argument("--detailed_times", action='store_true',
-                      help="show cpu time details (split by user, system, child user, child system)")
-  return parser
-
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-  if args.list_all:
-    for p in psutil.process_iter():
-      print('cmdline', p.cmdline(), 'name', p.name())
-    sys.exit(0)
-
-  if len(args.proc_names) > 0:
-    monitored_proc_names = args.proc_names.split(',')
-  monitored_procs = []
-  stats = {}
-  for p in psutil.process_iter():
-    if p == psutil.Process():
-      continue
-    matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(fr'.*{pn}.*', l, re.M | re.I)))
-    if matched:
-      k = ' '.join(p.cmdline())
-      print('Add monitored proc:', k)
-      stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
-                  'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None}
-      stats[k]['last_sys_time'] = time.monotonic()
-      stats[k]['last_cpu_times'] = p.cpu_times()
-      monitored_procs.append(p)
-  i = 0
-  interval_int = int(PRINT_INTERVAL / SLEEP_INTERVAL)
-  while True:
-    for p in monitored_procs:
-      k = ' '.join(p.cmdline())
-      cur_sys_time = time.monotonic()
-      cur_cpu_times = p.cpu_times()
-      cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time'])
-      stats[k]['last_sys_time'] = cur_sys_time
-      stats[k]['last_cpu_times'] = cur_cpu_times
-      cpu_percent = 0
-      for num, name in enumerate(cpu_time_names):
-        stats[k]['cpu_samples'][name].append(cpu_times[num])
-        cpu_percent += cpu_times[num]
-      stats[k]['cpu_samples']['total'].append(cpu_percent)
-    time.sleep(SLEEP_INTERVAL)
-    i += 1
-    if i % interval_int == 0:
-      l = []
-      for k, stat in stats.items():
-        if len(stat['cpu_samples']) <= 0:
-          continue
-        for name, samples in stat['cpu_samples'].items():
-          samples = np.array(samples)
-          avg = samples.mean()
-          c = samples.size
-          min_cpu = np.amin(samples)
-          max_cpu = np.amax(samples)
-          if stat['min'][name] is None or min_cpu < stat['min'][name]:
-            stat['min'][name] = min_cpu
-          if stat['max'][name] is None or max_cpu > stat['max'][name]:
-            stat['max'][name] = max_cpu
-          stat['avg'][name] = (stat['avg'][name] * (i - c) + avg * c) / (i)
-          stat['cpu_samples'][name] = []
-
-        msg = f"avg: {stat['avg']['total']:.2%}, min: {stat['min']['total']:.2%}, max: {stat['max']['total']:.2%} {os.path.basename(k)}"
-        if args.detailed_times:
-          for stat_type in ['avg', 'min', 'max']:
-            msg += f"\n {stat_type}: {[(name + ':' + str(round(stat[stat_type][name] * 100, 2))) for name in cpu_time_names]}"
-        l.append((os.path.basename(k), stat['avg']['total'], msg))
-      l.sort(key=lambda x: -x[1])
-      for x in l:
-        print(x[2])
-      print('avg sum: {:.2%} over {} samples {} seconds\n'.format(
-        sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL
-      ))
diff --git a/selfdrive/debug/dump_car_docs.py b/selfdrive/debug/dump_car_docs.py
deleted file mode 100755
index f0e99cda24..0000000000
--- a/selfdrive/debug/dump_car_docs.py
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import pickle
-
-from opendbc.car.docs import get_all_car_docs
-
-
-def dump_car_docs(path):
-  with open(path, 'wb') as f:
-    pickle.dump(get_all_car_docs(), f)
-  print(f'Dumping car info to {path}')
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--path", required=True)
-  args = parser.parse_args()
-  dump_car_docs(args.path)
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
deleted file mode 100755
index 388acf3af5..0000000000
--- a/selfdrive/debug/print_docs_diff.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-from collections import defaultdict
-import difflib
-import pickle
-
-from opendbc.car.docs import get_all_car_docs
-from opendbc.car.docs_definitions import Column
-
-FOOTNOTE_TAG = "<sup>{}</sup>"
-STAR_ICON = '<a href="##"><img valign="top" ' + \
-            'src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
-VIDEO_ICON = '<a href="{}" target="_blank">' + \
-             '<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
-COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
-COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
-ARROW_SYMBOL = "➡️"
-
-
-def load_base_car_docs(path):
-  with open(path, "rb") as f:
-    return pickle.load(f)
-
-
-def match_cars(base_cars, new_cars):
-  changes = []
-  additions = []
-  for new in new_cars:
-    # Addition if no close matches or close match already used
-    # Change if close match and not already used
-    matches = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.)
-    if not len(matches) or matches[0] in [c[1].name for c in changes]:
-      additions.append(new)
-    else:
-      changes.append((new, next(car for car in base_cars if car.name == matches[0])))
-
-  # Removal if base car not in changes
-  removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]]
-  return changes, additions, removals
-
-
-def build_column_diff(base_car, new_car):
-  row_builder = []
-  for column in Column:
-    base_column = base_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG)
-    new_column = new_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG)
-
-    if base_column != new_column:
-      row_builder.append(f"{base_column} {ARROW_SYMBOL} {new_column}")
-    else:
-      row_builder.append(new_column)
-
-  return format_row(row_builder)
-
-
-def format_row(builder):
-  return "|" + "|".join(builder) + "|"
-
-
-def print_car_docs_diff(path):
-  base_car_docs = defaultdict(list)
-  new_car_docs = defaultdict(list)
-
-  for car in load_base_car_docs(path):
-    base_car_docs[car.car_fingerprint].append(car)
-  for car in get_all_car_docs():
-    new_car_docs[car.car_fingerprint].append(car)
-
-  # Add new platforms to base cars so we can detect additions and removals in one pass
-  base_car_docs.update({car: [] for car in new_car_docs if car not in base_car_docs})
-
-  changes = defaultdict(list)
-  for base_car_model, base_cars in base_car_docs.items():
-    # Match car info changes, and get additions and removals
-    new_cars = new_car_docs[base_car_model]
-    car_changes, car_additions, car_removals = match_cars(base_cars, new_cars)
-
-    # Removals
-    for car_docs in car_removals:
-      changes["removals"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
-
-    # Additions
-    for car_docs in car_additions:
-      changes["additions"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
-
-    for new_car, base_car in car_changes:
-      # Column changes
-      row_diff = build_column_diff(base_car, new_car)
-      if ARROW_SYMBOL in row_diff:
-        changes["column"].append(row_diff)
-
-      # Detail sentence changes
-      if base_car.detail_sentence != new_car.detail_sentence:
-        changes["detail"].append(f"- Sentence for {base_car.name} changed!\n" +
-                                 "  ```diff\n" +
-                                 f"  - {base_car.detail_sentence}\n" +
-                                 f"  + {new_car.detail_sentence}\n" +
-                                 "  ```")
-
-  # Print diff
-  if any(len(c) for c in changes.values()):
-    markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
-
-    for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"),
-                            ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
-      if len(changes[category]):
-        markdown_builder.append(title)
-        if category not in ("detail",):
-          markdown_builder.append(COLUMNS)
-          markdown_builder.append(COLUMN_HEADER)
-        markdown_builder.extend(changes[category])
-
-    print("\n".join(markdown_builder))
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--path", required=True)
-  args = parser.parse_args()
-  print_car_docs_diff(args.path)
diff --git a/selfdrive/debug/touch_replay.py b/selfdrive/debug/touch_replay.py
deleted file mode 100755
index 6e5ecbbe5b..0000000000
--- a/selfdrive/debug/touch_replay.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-
-import numpy as np
-import matplotlib.pyplot as plt
-
-from openpilot.tools.lib.logreader import LogReader
-
-if __name__ == '__main__':
-  parser = argparse.ArgumentParser()
-  parser.add_argument('--width', default=2160, type=int)
-  parser.add_argument('--height', default=1080, type=int)
-  parser.add_argument('--route', default='rlog', type=str)
-  args = parser.parse_args()
-
-  w = args.width
-  h = args.height
-  route = args.route
-
-  fingers = [[-1, -1]] * 5
-  touch_points = []
-  current_slot = 0
-
-  lr = list(LogReader(route))
-  for msg in lr:
-    if msg.which() == 'touch':
-      for event in msg.touch:
-        if event.type == 3 and event.code == 47:
-          current_slot = event.value
-        elif event.type == 3 and event.code == 57 and event.value == -1:
-          fingers[current_slot] = [-1, -1]
-        elif event.type == 3 and event.code == 53:
-          fingers[current_slot][1] = event.value
-          if fingers[current_slot][0] != -1:
-            touch_points.append(fingers[current_slot].copy())
-        elif event.type == 3 and event.code == 54:
-          fingers[current_slot][0] = w - event.value
-          if fingers[current_slot][1] != -1:
-            touch_points.append(fingers[current_slot].copy())
-
-  if not touch_points:
-    print(f'No touch events found for {route}')
-    quit()
-
-  unique_points, counts = np.unique(touch_points, axis=0, return_counts=True)
-
-  plt.figure(figsize=(10, 3))
-  plt.scatter(unique_points[:, 0], unique_points[:, 1], c=counts, s=counts * 20, edgecolors='red')
-  plt.colorbar()
-  plt.title(f'Touches for {route}')
-  plt.xlim(0, w)
-  plt.ylim(0, h)
-  plt.grid(True)
-  plt.show()
diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore
deleted file mode 100644
index 1a8c72388a..0000000000
--- a/selfdrive/locationd/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-params_learner
-paramsd
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
deleted file mode 100644
index a3dfce9c29..0000000000
--- a/selfdrive/locationd/test/test_lagd.py
+++ /dev/null
@@ -1,136 +0,0 @@
-import random
-import numpy as np
-import time
-import pytest
-
-from cereal import messaging, log, car
-from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
-                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
-from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
-from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
-from openpilot.common.params import Params
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.system.hardware import PC
-
-MAX_ERR_FRAMES = 1
-DT = 0.05
-
-
-def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
-  for i in range(n_frames):
-    t = i * estimator.dt
-    desired_la = np.cos(10 * t) * 0.1
-    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.1
-
-    # if sample is masked out, set it to desired value (no lag)
-    rejected = random.uniform(0, 1) < rejection_threshold
-    if rejected:
-      actual_la = desired_la
-
-    desired_cuvature = float(desired_la / (vego ** 2))
-    actual_yr = float(actual_la / vego)
-    msgs = [
-      (t, "carControl", car.CarControl(latActive=not rejected)),
-      (t, "carState", car.CarState(vEgo=vego, steeringPressed=False)),
-      (t, "controlsState", log.ControlsState(desiredCurvature=desired_cuvature)),
-      (t, "livePose", log.LivePose(angularVelocityDevice=log.LivePose.XYZMeasurement(z=actual_yr, valid=True),
-                                   posenetOK=True, inputsOK=True)),
-      (t, "liveCalibration", log.LiveCalibrationData(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
-    ]
-    for t, w, m in msgs:
-      estimator.handle_log(t, w, m)
-    estimator.update_points()
-    estimator.update_estimate()
-
-
-class TestLagd:
-  def test_read_saved_params(self):
-    params = Params()
-
-    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
-    CP = next(m for m in lr if m.which() == "carParams").carParams
-
-    msg = messaging.new_message('liveDelay')
-    msg.liveDelay.lateralDelayEstimate = random.random()
-    msg.liveDelay.validBlocks = random.randint(1, 10)
-    params.put("LiveDelay", msg.to_bytes())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
-
-    saved_lag_params = retrieve_initial_lag(params, CP)
-    assert saved_lag_params is not None
-
-    lag, valid_blocks = saved_lag_params
-    assert lag == msg.liveDelay.lateralDelayEstimate
-    assert valid_blocks == msg.liveDelay.validBlocks
-
-  def test_ncc(self):
-    lag_frames = random.randint(1, 19)
-
-    desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
-    actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1)
-    mask = np.ones(len(desired_sig), dtype=bool)
-
-    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
-    assert np.argmax(corr) == lag_frames
-
-    # add some noise
-    desired_sig += np.random.normal(0, 0.05, len(desired_sig))
-    actual_sig += np.random.normal(0, 0.05, len(actual_sig))
-    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
-    assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
-
-    # mask out 40% of the values, and make them noise
-    mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
-    desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
-    actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
-    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
-    assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
-
-  def test_empty_estimator(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
-    estimator = LateralLagEstimator(mocked_CP, DT)
-    msg = estimator.get_msg(True)
-    assert msg.liveDelay.status == 'unestimated'
-    assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
-    assert msg.liveDelay.validBlocks == 0
-    assert msg.liveDelay.calPerc == 0
-
-  def test_estimator_basics(self, subtests):
-    for lag_frames in range(5):
-      with subtests.test(msg=f"lag_frames={lag_frames}"):
-        mocked_CP = car.CarParams(steerActuatorDelay=0.8)
-        estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
-        process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
-        msg = estimator.get_msg(True)
-        assert msg.liveDelay.status == 'estimated'
-        assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
-        assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
-        assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
-        assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
-        assert msg.liveDelay.calPerc == 100
-
-  def test_estimator_masking(self):
-    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
-    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
-    process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
-    msg = estimator.get_msg(True)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
-    assert msg.liveDelay.calPerc == 100
-
-  @pytest.mark.skipif(PC, reason="only on device")
-  @pytest.mark.timeout(60)
-  def test_estimator_performance(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
-    estimator = LateralLagEstimator(mocked_CP, DT)
-
-    ds = []
-    for _ in range(1000):
-      st = time.perf_counter()
-      estimator.update_points()
-      estimator.update_estimate()
-      d = time.perf_counter() - st
-      ds.append(d)
-
-    assert np.mean(ds) < DT
diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py
deleted file mode 100644
index dd496b7675..0000000000
--- a/selfdrive/locationd/test/test_paramsd.py
+++ /dev/null
@@ -1,67 +0,0 @@
-import random
-import numpy as np
-
-from cereal import messaging
-from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
-from openpilot.selfdrive.locationd.models.car_kf import CarKalman
-from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
-from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
-from openpilot.common.params import Params
-from openpilot.tools.lib.logreader import LogReader
-
-
-def get_random_live_parameters(CP):
-  msg = messaging.new_message("liveParameters")
-  msg.liveParameters.steerRatio = (random.random() + 0.5) * CP.steerRatio
-  msg.liveParameters.stiffnessFactor = random.random()
-  msg.liveParameters.angleOffsetAverageDeg = random.random()
-  msg.liveParameters.debugFilterState.std = [random.random() for _ in range(CarKalman.P_initial.shape[0])]
-  return msg
-
-
-class TestParamsd:
-  def test_read_saved_params(self):
-    params = Params()
-
-    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
-    CP = next(m for m in lr if m.which() == "carParams").carParams
-
-    msg = get_random_live_parameters(CP)
-    params.put("LiveParametersV2", msg.to_bytes())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
-
-    migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
-    sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
-    np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
-    np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
-    np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
-    np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
-    np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
-
-  # TODO Remove this test after the support for old format is removed
-  def test_read_saved_params_old_format(self):
-    params = Params()
-
-    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
-    CP = next(m for m in lr if m.which() == "carParams").carParams
-
-    msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.liveParameters.to_dict())
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
-    params.remove("LiveParametersV2")
-
-    migrate_cached_vehicle_params_if_needed(params)
-    sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
-    np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
-    np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
-    np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
-    assert params.get("LiveParametersV2") is not None
-
-  def test_read_saved_params_corrupted_old_format(self):
-    params = Params()
-    params.put("LiveParameters", {})
-    params.remove("LiveParametersV2")
-
-    migrate_cached_vehicle_params_if_needed(params)
-    assert params.get("LiveParameters") is None
-    assert params.get("LiveParametersV2") is None
diff --git a/selfdrive/locationd/test/test_torqued.py b/selfdrive/locationd/test/test_torqued.py
deleted file mode 100644
index 53f3120c36..0000000000
--- a/selfdrive/locationd/test/test_torqued.py
+++ /dev/null
@@ -1,25 +0,0 @@
-from cereal import car
-from openpilot.selfdrive.locationd.torqued import TorqueEstimator
-
-
-def test_cal_percent():
-  est = TorqueEstimator(car.CarParams())
-  msg = est.get_msg()
-  assert msg.liveTorqueParameters.calPerc == 0
-
-  for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
-                                  est.filtered_points.buckets_min_points.values(), strict=True):
-    for _ in range(int(min_pts)):
-      est.filtered_points.add_point((low + high) / 2.0, 0.0)
-
-  # enough bucket points, but not enough total points
-  msg = est.get_msg()
-  assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
-
-  # add enough points to bucket with most capacity
-  key = list(est.filtered_points.buckets)[0]
-  for _ in range(est.min_points_total - len(est.filtered_points)):
-    est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
-
-  msg = est.get_msg()
-  assert msg.liveTorqueParameters.calPerc == 100
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
deleted file mode 100644
index 7865e86f66..0000000000
--- a/selfdrive/modeld/SConscript
+++ /dev/null
@@ -1,70 +0,0 @@
-import os
-import glob
-
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
-lenv = env.Clone()
-lenvCython = envCython.Clone()
-
-libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
-frameworks = []
-
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-# Compile cython
-cython_libs = envCython["LIBS"] + libs
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x])
-
-# Get model metadata
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
-
-def tg_compile(flags, model_name):
-  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-  fn = File(f"models/{model_name}").abspath
-  return lenv.Command(
-    fn + "_tinygrad.pkl",
-    [fn + ".onnx"] + tinygrad_files,
-    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  )
-
-# Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-  flags = {
-    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
-    'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
-  }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
-  tg_compile(flags, model_name)
-
-# Compile BIG model if USB GPU is available
-if "USBGPU" in os.environ:
-  import subprocess
-  # because tg doesn't support multi-process
-  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
-  if b"AMD" in devs:
-    print("USB GPU detected... building")
-    flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
-    bp = tg_compile(flags, "big_driving_policy")
-    bv = tg_compile(flags, "big_driving_vision")
-    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
-  else:
-    print("USB GPU not detected... skipping")
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
deleted file mode 100755
index 2001d23d75..0000000000
--- a/selfdrive/modeld/get_model_metadata.py
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import pathlib
-import onnx
-import codecs
-import pickle
-from typing import Any
-
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
-  return name, shape
-
-def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
-  for prop in model.metadata_props:
-    if prop.key == name:
-      return prop.value
-  return None
-
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
-  output_slices = get_metadata_value_by_name(model, 'output_slices')
-  assert output_slices is not None, 'output_slices not found in metadata'
-
-  metadata = {
-    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
-    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
-  }
-
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
-
-  print(f'saved metadata to {metadata_path}')
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
deleted file mode 100755
index 216c5da443..0000000000
--- a/selfdrive/modeld/modeld.py
+++ /dev/null
@@ -1,421 +0,0 @@
-#!/usr/bin/env python3
-import os
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
-USBGPU = "USBGPU" in os.environ
-if USBGPU:
-  os.environ['DEV'] = 'AMD'
-  os.environ['AMD_IFACE'] = 'USB'
-from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
-import time
-import pickle
-import numpy as np
-import cereal.messaging as messaging
-from cereal import car, log
-from pathlib import Path
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process, DT_MDL
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
-from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
-from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-
-
-PROCESS_NAME = "selfdrive.modeld.modeld"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
-POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
-VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
-POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
-
-LAT_SMOOTH_SECONDS = 0.0
-LONG_SMOOTH_SECONDS = 0.3
-MIN_LAT_CONTROL_SPEED = 0.3
-
-
-def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
-    plan = model_output['plan'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
-                                                     plan[:,Plan.ACCELERATION][:,0],
-                                                     ModelConstants.T_IDXS,
-                                                     action_t=long_action_t)
-    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
-
-    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
-                                                plan[:,Plan.ORIENTATION_RATE][:,2],
-                                                ModelConstants.T_IDXS,
-                                                v_ego,
-                                                lat_action_t)
-    if v_ego > MIN_LAT_CONTROL_SPEED:
-      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
-    else:
-      desired_curvature = prev_action.desiredCurvature
-
-    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
-                                  desiredAcceleration=float(desired_accel),
-                                  shouldStop=bool(should_stop))
-
-class FrameMeta:
-  frame_id: int = 0
-  timestamp_sof: int = 0
-  timestamp_eof: int = 0
-
-  def __init__(self, vipc=None):
-    if vipc is not None:
-      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
-
-class InputQueues:
-  def __init__ (self, model_fps, env_fps, n_frames_input):
-    assert env_fps % model_fps == 0
-    assert env_fps >= model_fps
-    self.model_fps = model_fps
-    self.env_fps = env_fps
-    self.n_frames_input = n_frames_input
-
-    self.dtypes = {}
-    self.shapes = {}
-    self.q = {}
-
-  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
-    self.dtypes.update(input_dtypes)
-    if self.env_fps == self.model_fps:
-      self.shapes.update(input_shapes)
-    else:
-      for k in input_shapes:
-        shape = list(input_shapes[k])
-        if 'img' in k:
-          n_channels = shape[1] // self.n_frames_input
-          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
-        else:
-          shape[1] = (self.env_fps // self.model_fps) * shape[1]
-        self.shapes[k] = tuple(shape)
-
-  def reset(self) -> None:
-    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
-
-  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
-    for k in inputs.keys():
-      if inputs[k].dtype != self.dtypes[k]:
-        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
-      input_shape = list(self.shapes[k])
-      input_shape[1] = -1
-      single_input = inputs[k].reshape(tuple(input_shape))
-      sz = single_input.shape[1]
-      self.q[k][:,:-sz] = self.q[k][:,sz:]
-      self.q[k][:,-sz:] = single_input
-
-  def get(self, *names) -> dict[str, np.ndarray]:
-    if self.env_fps == self.model_fps:
-      return {k: self.q[k] for k in names}
-    else:
-      out = {}
-      for k in names:
-        shape = self.shapes[k]
-        if 'img' in k:
-          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
-          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
-        elif 'pulse' in k:
-          # any pulse within interval counts
-          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
-        else:
-          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
-          out[k] = self.q[k][:, idxs]
-      return out
-
-class ModelState(ModelStateBase):
-  frames: dict[str, DrivingModelFrame]
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
-  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-
-  def __init__(self, context: CLContext):
-    ModelStateBase.__init__(self)
-    self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
-    with open(VISION_METADATA_PATH, 'rb') as f:
-      vision_metadata = pickle.load(f)
-      self.vision_input_shapes =  vision_metadata['input_shapes']
-      self.vision_input_names = list(self.vision_input_shapes.keys())
-      self.vision_output_slices = vision_metadata['output_slices']
-      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
-
-    with open(POLICY_METADATA_PATH, 'rb') as f:
-      policy_metadata = pickle.load(f)
-      self.policy_input_shapes =  policy_metadata['input_shapes']
-      self.policy_output_slices = policy_metadata['output_slices']
-      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
-
-    self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-
-    # policy inputs
-    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
-    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
-    for k in ['desire_pulse', 'features_buffer']:
-      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
-    self.full_input_queues.reset()
-
-    # img buffers are managed in openCL transform code
-    self.vision_inputs: dict[str, Tensor] = {}
-    self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
-    self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-    self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
-    self.parser = Parser()
-
-    with open(VISION_PKL_PATH, "rb") as f:
-      self.vision_run = pickle.load(f)
-
-    with open(POLICY_PKL_PATH, "rb") as f:
-      self.policy_run = pickle.load(f)
-
-  def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
-    return parsed_model_outputs
-
-  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
-    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
-
-    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
-
-    if TICI and not USBGPU:
-      # The imgs tensors are backed by opencl memory, only need init once
-      for key in imgs_cl:
-        if key not in self.vision_inputs:
-          self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8)
-    else:
-      for key in imgs_cl:
-        frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key])
-        self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize()
-
-    if prepare_only:
-      return None
-
-    self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
-    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
-
-    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
-    for k in ['desire_pulse', 'features_buffer']:
-      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-
-    self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten()
-    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
-
-    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
-    if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
-
-    return combined_outputs_dict
-
-
-def main(demo=False):
-  cloudlog.warning("modeld init")
-
-  if not USBGPU:
-    # USB GPU currently saturates a core so can't do this yet,
-    # also need to move the aux USB interrupts for good timings
-    config_realtime_process(7, 54)
-
-  st = time.monotonic()
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
-  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
-
-  # visionipc clients
-  while True:
-    available_streams = VisionIpcClient.available_streams("camerad", block=False)
-    if available_streams:
-      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
-      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
-      break
-    time.sleep(.1)
-
-  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
-  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
-
-  while not vipc_client_main.connect(False):
-    time.sleep(0.1)
-  while use_extra_client and not vipc_client_extra.connect(False):
-    time.sleep(0.1)
-
-  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
-  if use_extra_client:
-    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
-
-  # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
-
-  publish_state = PublishState()
-  params = Params()
-
-  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
-  frame_id = 0
-  last_vipc_frame_id = 0
-  run_count = 0
-
-  model_transform_main = np.zeros((3, 3), dtype=np.float32)
-  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
-  live_calib_seen = False
-  buf_main, buf_extra = None, None
-  meta_main = FrameMeta()
-  meta_extra = FrameMeta()
-
-
-  if demo:
-    CP = get_demo_car_params()
-  else:
-    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.brand)
-
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  # TODO Move smooth seconds to action function
-  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
-  prev_action = log.ModelDataV2.Action()
-
-  DH = DesireHelper()
-
-  while True:
-    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
-    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-      buf_main = vipc_client_main.recv()
-      meta_main = FrameMeta(vipc_client_main)
-      if buf_main is None:
-        break
-
-    if buf_main is None:
-      cloudlog.debug("vipc_client_main no frame")
-      continue
-
-    if use_extra_client:
-      # Keep receiving extra frames until frame id matches main camera
-      while True:
-        buf_extra = vipc_client_extra.recv()
-        meta_extra = FrameMeta(vipc_client_extra)
-        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-          break
-
-      if buf_extra is None:
-        cloudlog.debug("vipc_client_extra no frame")
-        continue
-
-      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
-
-    else:
-      # Use single camera
-      buf_extra = buf_main
-      meta_extra = meta_main
-
-    sm.update(0)
-    desire = DH.desire
-    is_rhd = sm["driverMonitoringState"].isRHD
-    frame_id = sm["roadCameraState"].frameId
-    v_ego = max(sm["carState"].vEgo, 0.)
-    if sm.frame % 60 == 0:
-      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
-    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
-    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
-      live_calib_seen = True
-
-    traffic_convention = np.zeros(2)
-    traffic_convention[int(is_rhd)] = 1
-
-    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
-      vec_desire[desire] = 1
-
-    # tracked dropped frames
-    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
-    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
-    if run_count < 10: # let frame drops warm up
-      frame_dropped_filter.x = 0.
-      frames_dropped = 0.
-    run_count = run_count + 1
-
-    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
-    prepare_only = vipc_dropped_frames > 0
-    if prepare_only:
-      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
-
-    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
-    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
-    inputs:dict[str, np.ndarray] = {
-      'desire_pulse': vec_desire,
-      'traffic_convention': traffic_convention,
-    }
-
-    mt1 = time.perf_counter()
-    model_output = model.run(bufs, transforms, inputs, prepare_only)
-    mt2 = time.perf_counter()
-    model_execution_time = mt2 - mt1
-
-    if model_output is not None:
-      modelv2_send = messaging.new_message('modelV2')
-      drivingdata_send = messaging.new_message('drivingModelData')
-      posenet_send = messaging.new_message('cameraOdometry')
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
-
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
-      prev_action = action
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
-                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
-
-      desire_state = modelv2_send.modelV2.meta.desireState
-      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
-      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
-      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
-      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
-      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
-      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
-
-      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
-      pm.send('modelV2', modelv2_send)
-      pm.send('drivingModelData', drivingdata_send)
-      pm.send('cameraOdometry', posenet_send)
-      pm.send('modelDataV2SP', mdv2sp_send)
-    last_vipc_frame_id = meta_main.frame_id
-
-
-if __name__ == "__main__":
-  try:
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
-    args = parser.parse_args()
-    main(demo=args.demo)
-  except KeyboardInterrupt:
-    cloudlog.warning("got SIGINT")
diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md
deleted file mode 100644
index 04b69c61c3..0000000000
--- a/selfdrive/modeld/models/README.md
+++ /dev/null
@@ -1,66 +0,0 @@
-## Neural networks in openpilot
-To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
-
-## Driving Model (vision model + temporal policy model)
-### Vision inputs (Full size: 799906 x float32)
-* **image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **wide image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-### Policy inputs
-* **desire**
-  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
-* **traffic convention**
-  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **lateral control params**
-  * speed and steering delay for predicting the desired curvature: 2
-* **previous desired curvatures**
-  * vector of previously predicted desired curvatures: 100 * 1
-* **feature buffer**
-  * a buffer of intermediate features including the current feature to form a 5 seconds temporal context (at 20FPS) : 100 * 512
-
-
-### Driving Model output format (Full size: XXX x float32)
-Refer to **slice_outputs** and **parse_vision_outputs/parse_policy_outputs** in modeld.
-
-
-## Driver Monitoring Model
-* .onnx model can be run with onnx runtimes
-* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
-
-### input format
-* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
-  * full input size is 1440 * 960 = 1382400
-  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
-* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
-
-### output format
-* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
-  * for each person in the front seats (2 * 41)
-    * face pose: 12 = 6 + 6
-      * face orientation [pitch, yaw, roll] in camera frame: 3
-      * face position [dx, dy] relative to image center: 2
-      * normalized face size: 1
-      * standard deviations for above outputs: 6
-    * face visible probability: 1
-    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-      * eye position and size, and their standard deviations: 8
-      * eye visible probability: 1
-      * eye closed probability: 1
-    * wearing sunglasses probability: 1
-    * face occluded probability: 1
-    * touching wheel probability: 1
-    * paying attention probability: 1
-    * (deprecated) distracted probabilities: 2
-    * using phone probability: 1
-    * distracted probability: 1
-  * common outputs 1
-    * left hand drive probability: 1
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
deleted file mode 120000
index e1b653a14a..0000000000
--- a/selfdrive/modeld/models/big_driving_policy.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_policy.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
deleted file mode 120000
index 28ee71dd74..0000000000
--- a/selfdrive/modeld/models/big_driving_vision.onnx
+++ /dev/null
@@ -1 +0,0 @@
-driving_vision.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
deleted file mode 100644
index d3341e76ec..0000000000
--- a/selfdrive/modeld/models/commonmodel.cc
+++ /dev/null
@@ -1,64 +0,0 @@
-#include "selfdrive/modeld/models/commonmodel.h"
-
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  temporal_skip = _temporal_skip;
-  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err));
-  region.origin = temporal_skip * frame_size_bytes;
-  region.size = frame_size_bytes;
-  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
-
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-
-  for (int i = 0; i < temporal_skip; i++) {
-    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
-  }
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
-  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
-  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
-
-  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-  clFinish(q);
-  return &input_frames_cl;
-}
-
-DrivingModelFrame::~DrivingModelFrame() {
-  deinit_transform();
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(input_frames_cl));
-  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
-  CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  clFinish(q);
-  return &y_cl;
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
-  deinit_transform();
-  CL_CHECK(clReleaseMemObject(input_frame_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
deleted file mode 100644
index 176d7eb6dc..0000000000
--- a/selfdrive/modeld/models/commonmodel.h
+++ /dev/null
@@ -1,97 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-#include <cassert>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "selfdrive/modeld/transforms/loadyuv.h"
-#include "selfdrive/modeld/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context) {
-    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  }
-  virtual ~ModelFrame() {}
-  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
-  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
-    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  }
-
-  int MODEL_WIDTH;
-  int MODEL_HEIGHT;
-  int MODEL_FRAME_SIZE;
-  int buf_size;
-
-protected:
-  cl_mem y_cl, u_cl, v_cl;
-  Transform transform;
-  cl_command_queue q;
-  std::unique_ptr<uint8_t[]> input_frames;
-
-  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
-    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
-    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    transform_init(&transform, context, device_id);
-  }
-
-  void deinit_transform() {
-    transform_destroy(&transform);
-    CL_CHECK(clReleaseMemObject(v_cl));
-    CL_CHECK(clReleaseMemObject(u_cl));
-    CL_CHECK(clReleaseMemObject(y_cl));
-  }
-
-  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-    transform_queue(&transform, q,
-        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-        y_cl, u_cl, v_cl, model_width, model_height, projection);
-  }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip);
-  ~DrivingModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart
-  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-
-private:
-  LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
-  cl_buffer_region region;
-  int temporal_skip;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
-  MonitoringModelFrame(cl_device_id device_id, cl_context context);
-  ~MonitoringModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 1440;
-  const int MODEL_HEIGHT = 960;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
-  const int buf_size = MODEL_FRAME_SIZE;
-
-private:
-  cl_mem input_frame_cl;
-};
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
deleted file mode 100644
index 4ac64d9172..0000000000
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ /dev/null
@@ -1,27 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-  void cl_release_context(cl_context)
-
-cdef extern from "selfdrive/modeld/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    unsigned char * buffer_from_cl(cl_mem*, int);
-    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-
-  cppclass DrivingModelFrame:
-    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context, int)
-
-  cppclass MonitoringModelFrame:
-    int buf_size
-    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625b..0000000000
--- a/selfdrive/modeld/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
deleted file mode 100644
index 5b7d11bc71..0000000000
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,74 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-  def __dealloc__(self):
-    if self.context:
-      cl_release_context(self.context)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-  cdef int buf_size
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef cl_mem * data
-    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
-    return CLMem.create(data)
-
-  def buffer_from_cl(self, CLMem in_frames):
-    cdef unsigned char * data2
-    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
-  cdef cppDrivingModelFrame * _frame
-
-  def __cinit__(self, CLContext context, int temporal_skip):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
-  cdef cppMonitoringModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
deleted file mode 100644
index 9b1c4a1834..0000000000
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59
-size 6954368
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
deleted file mode 100644
index 611ae9fe85..0000000000
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
-size 14060847
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
deleted file mode 100644
index 6c9fc4c84d..0000000000
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
-size 46877473
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
deleted file mode 100644
index 776381341c..0000000000
--- a/selfdrive/modeld/runners/tinygrad_helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import to_mv
-
-def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
-  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
-  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
-  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
deleted file mode 100644
index c93f5cd038..0000000000
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "selfdrive/modeld/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl) {
-  cl_int global_out_off = 0;
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size) {
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
-  const size_t copy_work_size = size/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                              &copy_work_size, NULL, 0, 0, NULL));
-}
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
deleted file mode 100644
index 970187a6d7..0000000000
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global uchar * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-
-    // 02
-    // 13
-
-    __global uchar* outy0;
-    __global uchar* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global uchar8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  out[gid + out_offset / 8] = inv;
-}
-
-__kernel void copy(__global uchar8 * in,
-                   __global uchar8 * out,
-                   int in_offset,
-                   int out_offset)
-{
-  const int gid = get_global_id(0);
-  out[gid + out_offset / 8] = in[gid + in_offset / 8];
-}
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
deleted file mode 100644
index 659059cd25..0000000000
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl);
-
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc
deleted file mode 100644
index 305643cf42..0000000000
--- a/selfdrive/modeld/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "selfdrive/modeld/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd..0000000000
--- a/selfdrive/modeld/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h
deleted file mode 100644
index 771a7054b3..0000000000
--- a/selfdrive/modeld/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/selfdrive/monitoring/README.md b/selfdrive/monitoring/README.md
deleted file mode 100644
index 2a29ea06b5..0000000000
--- a/selfdrive/monitoring/README.md
+++ /dev/null
@@ -1,15 +0,0 @@
-# driver monitoring (DM)
-
-Uploading driver-facing camera footage is opt-in, but it is encouraged to opt-in to improve the DM model. You can always change your preference using the "Record and Upload Driver Camera" toggle.
-
-## Troubleshooting
-
-Before creating a bug report, go through these troubleshooting steps.
-
-* Ensure the driver-facing camera has a good view of the driver in normal driving positions.
- * This can be checked in Settings -> Device -> Preview Driver Camera (when car is off).
-* If the camera can't see the driver, the device should be re-mounted.
-
-## Bug report
-
-In order for us to look into DM bug reports, we'll need the driver-facing camera footage. If you don't normally have this enabled, simply enable the toggle for a single drive. Also ensure the "Upload Raw Logs" toggle is enabled before going for a drive.
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
deleted file mode 100644
index 4f068c4f5a..0000000000
--- a/selfdrive/monitoring/helpers.py
+++ /dev/null
@@ -1,480 +0,0 @@
-from math import atan2
-import numpy as np
-
-from cereal import car, log
-import cereal.messaging as messaging
-from openpilot.selfdrive.selfdrived.events import Events
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.common.realtime import DT_DMON
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.params import Params
-from openpilot.common.stat_live import RunningStatFilter
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.system.hardware import HARDWARE
-
-EventName = log.OnroadEvent.EventName
-
-# ******************************************************************************************
-#  NOTE: To fork maintainers.
-#  Disabling or nerfing safety features will get you and your users banned from our servers.
-#  We recommend that you do not change these numbers from the defaults.
-# ******************************************************************************************
-
-class DRIVER_MONITOR_SETTINGS:
-  def __init__(self, device_type):
-    self._DT_DMON = DT_DMON
-    # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
-    self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
-    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
-    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
-    self._DISTRACTED_TIME = 11. # active monitoring total timeout
-    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
-    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
-
-    self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.65
-    self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.865
-
-    self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4
-    self._PHONE_THRESH2 = 15.0
-    self._PHONE_MAX_OFFSET = 0.06
-    self._PHONE_MIN_OFFSET = 0.025
-    self._PHONE_DATA_AVG = 0.05
-    self._PHONE_DATA_VAR = 3*0.005
-    self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
-
-    self._POSE_PITCH_THRESHOLD = 0.3133
-    self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
-    self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
-    self._POSE_YAW_THRESHOLD = 0.4020
-    self._POSE_YAW_THRESHOLD_SLACK = 0.5042
-    self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
-    self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
-    self._PITCH_NATURAL_VAR = 3*0.01
-    self._YAW_NATURAL_VAR = 3*0.05
-    self._PITCH_MAX_OFFSET = 0.124
-    self._PITCH_MIN_OFFSET = -0.0881
-    self._YAW_MAX_OFFSET = 0.289
-    self._YAW_MIN_OFFSET = -0.0246
-
-    self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
-    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / self._DT_DMON)
-    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / self._DT_DMON)
-    self._POSESTD_THRESHOLD = 0.3
-    self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
-    self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
-    self._ALWAYS_ON_ALERT_MIN_SPEED = 11
-
-    self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
-    self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
-    self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
-
-    self._WHEELPOS_CALIB_MIN_SPEED = 11
-    self._WHEELPOS_THRESHOLD = 0.5
-    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
-    self._WHEELPOS_DATA_AVG = 0.03
-    self._WHEELPOS_DATA_VAR = 3*5.5e-5
-    self._WHEELPOS_MAX_COUNT = -1
-
-    self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
-    self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
-
-    self._MAX_TERMINAL_ALERTS = 3  # not allowed to engage after 3 terminal alerts
-    self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
-
-class DistractedType:
-
-  NOT_DISTRACTED = 0
-  DISTRACTED_POSE = 1 << 0
-  DISTRACTED_BLINK = 1 << 1
-  DISTRACTED_PHONE = 1 << 2
-
-class DriverPose:
-  def __init__(self, settings):
-    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
-    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
-    self.yaw = 0.
-    self.pitch = 0.
-    self.roll = 0.
-    self.yaw_std = 0.
-    self.pitch_std = 0.
-    self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
-    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
-    self.calibrated = False
-    self.low_std = True
-    self.cfactor_pitch = 1.
-    self.cfactor_yaw = 1.
-
-class DriverProb:
-  def __init__(self, raw_priors, max_trackable):
-    self.prob = 0.
-    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
-    self.prob_calibrated = False
-
-class DriverBlink:
-  def __init__(self):
-    self.left = 0.
-    self.right = 0.
-
-
-# model output refers to center of undistorted+leveled image
-EFL = 598.0 # focal length in K
-cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
-W, H = (cam.dcam.width, cam.dcam.height)  # corrected image has same size as raw
-
-def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
-  # the output of these angles are in device frame
-  # so from driver's perspective, pitch is up and yaw is right
-
-  pitch_net, yaw_net, roll_net = angles_desc
-
-  face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
-
-  pitch = pitch_net + pitch_focal_angle
-  yaw = -yaw_net + yaw_focal_angle
-
-  # no calib for roll
-  pitch -= rpy_calib[1]
-  yaw -= rpy_calib[2]
-  return roll_net, pitch, yaw
-
-
-class DriverMonitoring:
-  def __init__(self, rhd_saved=False, settings=None, always_on=False):
-    # init policy settings
-    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
-
-    # init driver status
-    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
-    phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
-    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
-    self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
-    self.pose = DriverPose(settings=self.settings)
-    self.blink = DriverBlink()
-
-    self.always_on = always_on
-    self.distracted_types = []
-    self.driver_distracted = False
-    self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
-    self.wheel_on_right = False
-    self.wheel_on_right_last = None
-    self.wheel_on_right_default = rhd_saved
-    self.face_detected = False
-    self.terminal_alert_cnt = 0
-    self.terminal_time = 0
-    self.step_change = 0.
-    self.active_monitoring_mode = True
-    self.is_model_uncertain = False
-    self.hi_stds = 0
-    self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-    self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-    self.dcam_uncertain_cnt = 0
-    self.dcam_uncertain_alerted = False # once per drive
-    self.dcam_reset_cnt = 0
-
-    self.params = Params()
-    self.too_distracted = self.params.get_bool("DriverTooDistracted")
-
-    self._reset_awareness()
-    self._set_timers(active_monitoring=True)
-    self._reset_events()
-
-  def _reset_awareness(self):
-    self.awareness = 1.
-    self.awareness_active = 1.
-    self.awareness_passive = 1.
-
-  def _reset_events(self):
-    self.current_events = Events()
-
-  def _set_timers(self, active_monitoring):
-    if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
-      if active_monitoring:
-        self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
-      else:
-        self.step_change = 0.
-      return  # no exploit after orange alert
-    elif self.awareness <= 0.:
-      return
-
-    if active_monitoring:
-      # when falling back from passive mode to active mode, reset awareness to avoid false alert
-      if not self.active_monitoring_mode:
-        self.awareness_passive = self.awareness
-        self.awareness = self.awareness_active
-
-      self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
-      self.active_monitoring_mode = True
-    else:
-      if self.active_monitoring_mode:
-        self.awareness_active = self.awareness
-        self.awareness = self.awareness_passive
-
-      self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
-      self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
-      self.active_monitoring_mode = False
-
-  def _set_policy(self, brake_disengage_prob, car_speed):
-    bp = brake_disengage_prob
-    k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
-    bp_normal = max(min(bp / k1, 0.5),0)
-    self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
-                                           [self.settings._POSE_PITCH_THRESHOLD_SLACK,
-                                            self.settings._POSE_PITCH_THRESHOLD_STRICT]) / self.settings._POSE_PITCH_THRESHOLD
-    self.pose.cfactor_yaw = np.interp(bp_normal, [0, 0.5],
-                                           [self.settings._POSE_YAW_THRESHOLD_SLACK,
-                                            self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
-
-  def _get_distracted_types(self):
-    distracted_types = []
-
-    if not self.pose.calibrated:
-      pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET
-      yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET
-    else:
-      pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(),
-                                                       self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET)
-      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
-                                                    self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
-    pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
-    yaw_error = abs(yaw_error)
-
-    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
-    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
-
-    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
-      distracted_types.append(DistractedType.DISTRACTED_POSE)
-
-    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
-      distracted_types.append(DistractedType.DISTRACTED_BLINK)
-
-    if self.phone.prob_calibrated:
-      using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \
-                                      * self.settings._PHONE_THRESH2
-    else:
-      using_phone = self.phone.prob > self.settings._PHONE_THRESH
-    if using_phone:
-      distracted_types.append(DistractedType.DISTRACTED_PHONE)
-
-    return distracted_types
-
-  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
-    rhd_pred = driver_state.wheelOnRightProb
-    # calibrates only when there's movement and either face detected
-    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
-                                          driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
-
-    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
-
-    if self.wheelpos.prob_calibrated or demo_mode:
-      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
-    else:
-      self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
-    # make sure no switching when engaged
-    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
-      self.wheel_on_right = self.wheel_on_right_last
-    driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
-    if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
-                                    driver_data.faceOrientationStd, driver_data.facePositionStd)):
-      return
-
-    self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
-    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
-    if self.wheel_on_right:
-      self.pose.yaw *= -1
-    self.wheel_on_right_last = self.wheel_on_right
-    self.pose.pitch_std = driver_data.faceOrientationStd[0]
-    self.pose.yaw_std = driver_data.faceOrientationStd[1]
-    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
-    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.phone.prob = driver_data.phoneProb
-
-    self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
-                              or DistractedType.DISTRACTED_POSE in self.distracted_types
-                              or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
-                              and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
-    self.driver_distraction_filter.update(self.driver_distracted)
-
-    # update offseter
-    # only update when driver is actively driving the car above a certain speed
-    if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
-      self.pose.pitch_offseter.push_and_update(self.pose.pitch)
-      self.pose.yaw_offseter.push_and_update(self.pose.yaw)
-      self.phone.prob_offseter.push_and_update(self.phone.prob)
-
-    self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
-                           self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
-    self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
-
-    if self.face_detected and not self.driver_distracted:
-      if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
-        if not standstill:
-          self.dcam_uncertain_cnt += 1
-          self.dcam_reset_cnt = 0
-      else:
-        self.dcam_reset_cnt += 1
-        if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
-          self.dcam_uncertain_cnt = 0
-
-    self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
-    self._set_timers(self.face_detected and not self.is_model_uncertain)
-    if self.face_detected and not self.pose.low_std and not self.driver_distracted:
-      self.hi_stds += 1
-    elif self.face_detected and self.pose.low_std:
-      self.hi_stds = 0
-
-  def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
-    self._reset_events()
-    # Block engaging until ignition cycle after max number or time of distractions
-    if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
-       self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
-      if not self.too_distracted:
-        self.params.put_bool_nonblocking("DriverTooDistracted", True)
-      self.too_distracted = True
-
-    # Always-on distraction lockout is temporary
-    if self.too_distracted or (self.always_on and self.awareness <= self.threshold_prompt):
-      self.current_events.add(EventName.tooDistracted)
-
-    always_on_valid = self.always_on and not wrong_gear
-    if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \
-       (not always_on_valid and not op_engaged) or \
-       (always_on_valid and not op_engaged and self.awareness <= 0):
-      # always reset on disengage with normal mode; disengage resets only on red if always on
-      self._reset_awareness()
-      return
-
-    driver_attentive = self.driver_distraction_filter.x < 0.37
-    awareness_prev = self.awareness
-
-    if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0):
-      if driver_engaged:
-        self._reset_awareness()
-        return
-      # only restore awareness when paying attention and alert is not red
-      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
-                                             (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
-      if self.awareness == 1.:
-        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
-      # don't display alert banner when awareness is recovering and has cleared orange
-      if self.awareness > self.threshold_prompt:
-        return
-
-    _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
-    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_orange_exemption = standstill and _reaching_audible
-    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
-    always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED
-
-    certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
-    maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
-
-    if certainly_distracted or maybe_distracted:
-      # should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange
-      # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_orange_exemption or always_on_red_exemption or (always_on_lowspeed_exemption and _reaching_audible)):
-        self.awareness = max(self.awareness - self.step_change, -0.1)
-
-    alert = None
-    if self.awareness <= 0.:
-      # terminal red alert: disengagement required
-      alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
-      self.terminal_time += 1
-      if awareness_prev > 0.:
-        self.terminal_alert_cnt += 1
-    elif self.awareness <= self.threshold_prompt:
-      # prompt orange alert
-      alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
-    elif self.awareness <= self.threshold_pre and not always_on_lowspeed_exemption:
-      # pre green alert
-      alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
-
-    if alert is not None:
-      self.current_events.add(alert)
-
-    if self.dcam_uncertain_cnt > self.settings._DCAM_UNCERTAIN_ALERT_COUNT and not self.dcam_uncertain_alerted:
-      set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
-      self.dcam_uncertain_alerted = True
-
-
-  def get_state_packet(self, valid=True):
-    # build driverMonitoringState packet
-    dat = messaging.new_message('driverMonitoringState', valid=valid)
-    dat.driverMonitoringState = {
-      "events": self.current_events.to_msg(),
-      "faceDetected": self.face_detected,
-      "isDistracted": self.driver_distracted,
-      "distractedType": sum(self.distracted_types),
-      "awarenessStatus": self.awareness,
-      "posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(),
-      "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
-      "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
-      "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
-      "phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(),
-      "phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n,
-      "stepChange": self.step_change,
-      "awarenessActive": self.awareness_active,
-      "awarenessPassive": self.awareness_passive,
-      "isLowStd": self.pose.low_std,
-      "hiStdCount": self.hi_stds,
-      "isActiveMode": self.active_monitoring_mode,
-      "isRHD": self.wheel_on_right,
-      "uncertainCount": self.dcam_uncertain_cnt,
-    }
-    return dat
-
-  def run_step(self, sm, demo=False):
-    if demo:
-      highway_speed = 30
-      enabled = True
-      wrong_gear = False
-      standstill = False
-      driver_engaged = False
-      brake_disengage_prob = 1.0
-      rpyCalib = [0., 0., 0.]
-    else:
-      highway_speed = sm['carState'].vEgo
-      enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
-      wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
-      standstill = sm['carState'].standstill
-      driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
-      brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
-      rpyCalib = sm['liveCalibration'].rpyCalib
-    self._set_policy(
-      brake_disengage_prob=brake_disengage_prob,
-      car_speed=highway_speed,
-    )
-
-    # Parse data from dmonitoringmodeld
-    self._update_states(
-      driver_state=sm['driverStateV2'],
-      cal_rpy=rpyCalib,
-      car_speed=highway_speed,
-      op_engaged=enabled,
-      standstill=standstill,
-      demo_mode=demo,
-    )
-
-    # Update distraction events
-    self._update_events(
-      driver_engaged=driver_engaged,
-      op_engaged=enabled,
-      standstill=standstill,
-      wrong_gear=wrong_gear,
-      car_speed=highway_speed
-    )
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
deleted file mode 100644
index 75adb6a2c8..0000000000
--- a/selfdrive/monitoring/test_monitoring.py
+++ /dev/null
@@ -1,270 +0,0 @@
-import numpy as np
-import pytest
-
-from cereal import log, car
-from openpilot.common.realtime import DT_DMON
-from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
-from openpilot.system.hardware import HARDWARE
-
-EventName = log.OnroadEvent.EventName
-dm_settings = DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
-
-TEST_TIMESPAN = 120  # seconds
-DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
-DISTRACTED_SECONDS_TO_RED = dm_settings._DISTRACTED_TIME + 1
-INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1
-INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
-
-def make_msg(face_detected, distracted=False, model_uncertain=False):
-  ds = log.DriverStateV2.new_message()
-  ds.leftDriverData.faceOrientation = [0., 0., 0.]
-  ds.leftDriverData.facePosition = [0., 0.]
-  ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.leftEyeProb = 1.
-  ds.leftDriverData.rightEyeProb = 1.
-  ds.leftDriverData.leftBlinkProb = 1. * distracted
-  ds.leftDriverData.rightBlinkProb = 1. * distracted
-  ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
-  ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
-  # TODO: test both separately when e2e is used
-  ds.leftDriverData.phoneProb = 0.
-  return ds
-
-
-# driver state from neural net, 10Hz
-msg_NO_FACE_DETECTED = make_msg(False)
-msg_ATTENTIVE = make_msg(True)
-msg_DISTRACTED = make_msg(True, distracted=True)
-msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True)
-msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True)
-msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._POSESTD_THRESHOLD*1.5)
-
-# driver interaction with car
-car_interaction_DETECTED = True
-car_interaction_NOT_DETECTED = False
-
-# some common state vectors
-always_no_face = [msg_NO_FACE_DETECTED] * int(TEST_TIMESPAN / DT_DMON)
-always_attentive = [msg_ATTENTIVE] * int(TEST_TIMESPAN / DT_DMON)
-always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON)
-always_true = [True] * int(TEST_TIMESPAN / DT_DMON)
-always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
-
-class TestMonitoring:
-  def _run_seq(self, msgs, interaction, engaged, standstill):
-    DM = DriverMonitoring()
-    events = []
-    for idx in range(len(msgs)):
-      DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], standstill[idx])
-      # cal_rpy and car_speed don't matter here
-
-      # evaluate events at 10Hz for tests
-      DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0)
-      events.append(DM.current_events)
-    assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
-    return events, DM
-
-  def _assert_no_events(self, events):
-    assert all(not len(e) for e in events)
-
-  # engaged, driver is attentive all the time
-  def test_fully_aware_driver(self):
-    events, _ = self._run_seq(always_attentive, always_false, always_true, always_false)
-    self._assert_no_events(events)
-
-  # engaged, driver is distracted and does nothing
-  def test_fully_distracted_driver(self):
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                    EventName.preDriverDistracted
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \
-                    ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((d_status.settings._DISTRACTED_TIME + \
-                    ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted
-    assert isinstance(d_status.awareness, float)
-
-  # engaged, no face detected the whole time, no action
-  def test_fully_invisible_driver(self):
-    events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
-    assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \
-                      EventName.preDriverUnresponsive
-    assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \
-                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert events[int((d_status.settings._AWARENESS_TIME + \
-                      ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive
-
-  # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
-  #  - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention
-  def test_normal_driver(self):
-    ds_vector = [msg_DISTRACTED] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
-                [msg_ATTENTIVE] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \
-                [msg_DISTRACTED] * int((DISTRACTED_SECONDS_TO_ORANGE+2)/DT_DMON) + \
-                [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON))
-    interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
-                         [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
-    events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0
-
-  # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
-  #                          driver dodges, and then touches wheel to no avail, disengages and reengages
-  #  - orange/red alert should remain after disappearance, and only disengaging clears red
-  def test_biggest_comma_fan(self):
-    _invisible_time = 2  # seconds
-    ds_vector = always_distracted[:]
-    interaction_vector = always_false[:]
-    op_vector = always_true[:]
-    ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \
-                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \
-                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \
-                                                        = [True] * int(1/DT_DMON)
-    op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
-                                                        = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted
-    assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted
-    assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0
-
-  # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
-  #  - both actions should clear the alert, but momentary appearance should not
-  def test_sometimes_transparent_commuter(self):
-    _visible_time = np.random.choice([0.5, 10])
-    ds_vector = always_no_face[:]*2
-    interaction_vector = always_false[:]*2
-    ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
-                                                                                             [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
-    interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0
-    if _visible_time == 0.5:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive
-    elif _visible_time == 10:
-      assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-      assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0
-
-  # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages
-  #  - only disengage will clear the alert
-  def test_last_second_responder(self):
-    _visible_time = 2  # seconds
-    ds_vector = always_no_face[:]
-    interaction_vector = always_false[:]
-    op_vector = always_true[:]
-    ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
-    interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
-    op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
-    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
-    assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0
-    assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive
-    assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0
-
-  # disengaged, always distracted driver
-  #  - dm should stay quiet when not engaged
-  def test_pure_dashcam_user(self):
-    events, _ = self._run_seq(always_distracted, always_false, always_false, always_false)
-    assert sum(len(event) for event in events) == 0
-
-  # engaged, car stops at traffic light, down to orange, no action, then car starts moving
-  #  - should only reach green when stopped, but continues counting down on launch
-  def test_long_traffic_light_victim(self):
-    _redlight_time = 60  # seconds
-    standstill_vector = always_true[:]
-    standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
-    events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \
-                                                                                                                    EventName.preDriverDistracted
-    assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
-
-  # engaged, model is somehow uncertain and driver is distracted
-  #  - should fall back to wheel touch after uncertain alert
-  def test_somehow_indecisive_model(self):
-    ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
-    interaction_vector = always_false[:]
-    events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    assert EventName.preDriverUnresponsive in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names
-    assert EventName.promptDriverUnresponsive in \
-                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-    assert EventName.driverUnresponsive in \
-                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
-
-
-@pytest.mark.parametrize("enabled_state, lat_active_state, expected", [
-  (False, False, False), # Both Disabled
-  (True, False, True),   # OP Enabled, Lat Inactive
-  (False, True, True),   # OP Disabled, Lat Active (e.g. MADS)
-  (True, True, True)     # Both Active
-])
-def test_enabled_states(enabled_state, lat_active_state, expected):
-  """
-  Test DriverMonitoring.run_step with all 4 combinations of:
-  - selfdriveState.enabled (True/False)
-  - carControl.latActive (True/False)
-  """
-  cs = car.CarState.new_message()
-  cs.vEgo = 30.0
-  cs.gearShifter = car.CarState.GearShifter.drive
-  cs.standstill = False
-  cs.steeringPressed = False
-  cs.gasPressed = False
-
-  ss = log.SelfdriveState.new_message()
-  ss.enabled = enabled_state
-
-  cc = car.CarControl.new_message()
-  cc.latActive = lat_active_state
-
-  mv2 = log.ModelDataV2.new_message()
-  mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0]
-
-  lc = log.LiveCalibrationData.new_message()
-  lc.rpyCalib = [0.0, 0.0, 0.0]
-
-  ds = make_msg(False)
-
-  sm = {
-      'carState': cs,
-      'selfdriveState': ss,
-      'carControl': cc,
-      'modelV2': mv2,
-      'liveCalibration': lc,
-      'driverStateV2': ds
-  }
-
-  driver_monitoring = DriverMonitoring()
-
-  # run_test doesn't assign enabled to a variable, so we need to spy on _update_events to see its value
-  captured_args = []
-  original_update_events = driver_monitoring._update_events
-
-  def spy_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
-      captured_args.append(op_engaged)
-      return original_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
-
-  driver_monitoring._update_events = spy_update_events
-
-  driver_monitoring.run_step(sm, demo=False)
-
-  # Assertion
-  assert len(captured_args) == 1, "Expected _update_events to be called exactly once"
-  actual_enabled = captured_args[0]
-
-  assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}"
-
diff --git a/selfdrive/pandad/.gitignore b/selfdrive/pandad/.gitignore
deleted file mode 100644
index f7226cdb87..0000000000
--- a/selfdrive/pandad/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-pandad
-pandad_api_impl.cpp
-tests/test_pandad_usbprotocol
diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
deleted file mode 100644
index 5e0b782c1e..0000000000
--- a/selfdrive/pandad/SConscript
+++ /dev/null
@@ -1,9 +0,0 @@
-Import('env', 'common', 'messaging')
-
-libs = ['usb-1.0', common, messaging, 'pthread']
-panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
-
-env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
-
-if GetOption('extras'):
-  env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/pandad/panda_comms.cc b/selfdrive/pandad/panda_comms.cc
deleted file mode 100644
index 8a20f397d3..0000000000
--- a/selfdrive/pandad/panda_comms.cc
+++ /dev/null
@@ -1,227 +0,0 @@
-#include "selfdrive/pandad/panda.h"
-
-#include <cassert>
-#include <stdexcept>
-#include <memory>
-
-#include "common/swaglog.h"
-
-static libusb_context *init_usb_ctx() {
-  libusb_context *context = nullptr;
-  int err = libusb_init(&context);
-  if (err != 0) {
-    LOGE("libusb initialization error");
-    return nullptr;
-  }
-
-#if LIBUSB_API_VERSION >= 0x01000106
-  libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
-#else
-  libusb_set_debug(context, 3);
-#endif
-  return context;
-}
-
-PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
-  // init libusb
-  ssize_t num_devices;
-  libusb_device **dev_list = NULL;
-  int err = 0;
-  ctx = init_usb_ctx();
-  if (!ctx) { goto fail; }
-
-  // connect by serial
-  num_devices = libusb_get_device_list(ctx, &dev_list);
-  if (num_devices < 0) { goto fail; }
-  for (size_t i = 0; i < num_devices; ++i) {
-    libusb_device_descriptor desc;
-    libusb_get_device_descriptor(dev_list[i], &desc);
-    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
-      int ret = libusb_open(dev_list[i], &dev_handle);
-      if (dev_handle == NULL || ret < 0) { goto fail; }
-
-      unsigned char desc_serial[26] = { 0 };
-      ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
-      if (ret < 0) { goto fail; }
-
-      hw_serial = std::string((char *)desc_serial, ret);
-      if (serial.empty() || serial == hw_serial) {
-        break;
-      }
-      libusb_close(dev_handle);
-      dev_handle = NULL;
-    }
-  }
-  if (dev_handle == NULL) goto fail;
-  libusb_free_device_list(dev_list, 1);
-  dev_list = nullptr;
-
-  if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
-    libusb_detach_kernel_driver(dev_handle, 0);
-  }
-
-  err = libusb_set_configuration(dev_handle, 1);
-  if (err != 0) { goto fail; }
-
-  err = libusb_claim_interface(dev_handle, 0);
-  if (err != 0) { goto fail; }
-
-  return;
-
-fail:
-  if (dev_list != NULL) {
-    libusb_free_device_list(dev_list, 1);
-  }
-  cleanup();
-  throw std::runtime_error("Error connecting to panda");
-}
-
-PandaUsbHandle::~PandaUsbHandle() {
-  std::lock_guard lk(hw_lock);
-  cleanup();
-  connected = false;
-}
-
-void PandaUsbHandle::cleanup() {
-  if (dev_handle) {
-    libusb_release_interface(dev_handle, 0);
-    libusb_close(dev_handle);
-  }
-
-  if (ctx) {
-    libusb_exit(ctx);
-  }
-}
-
-std::vector<std::string> PandaUsbHandle::list() {
-  static std::unique_ptr<libusb_context, decltype(&libusb_exit)> context(init_usb_ctx(), libusb_exit);
-  // init libusb
-  ssize_t num_devices;
-  libusb_device **dev_list = NULL;
-  std::vector<std::string> serials;
-  if (!context) { return serials; }
-
-  num_devices = libusb_get_device_list(context.get(), &dev_list);
-  if (num_devices < 0) {
-    LOGE("libusb can't get device list");
-    goto finish;
-  }
-  for (size_t i = 0; i < num_devices; ++i) {
-    libusb_device *device = dev_list[i];
-    libusb_device_descriptor desc;
-    libusb_get_device_descriptor(device, &desc);
-    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
-      libusb_device_handle *handle = NULL;
-      int ret = libusb_open(device, &handle);
-      if (ret < 0) { goto finish; }
-
-      unsigned char desc_serial[26] = { 0 };
-      ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
-      libusb_close(handle);
-      if (ret < 0) { goto finish; }
-
-      serials.push_back(std::string((char *)desc_serial, ret));
-    }
-  }
-
-finish:
-  if (dev_list != NULL) {
-    libusb_free_device_list(dev_list, 1);
-  }
-  return serials;
-}
-
-void PandaUsbHandle::handle_usb_issue(int err, const char func[]) {
-  LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
-  if (err == LIBUSB_ERROR_NO_DEVICE) {
-    LOGE("lost connection");
-    connected = false;
-  }
-  // TODO: check other errors, is simply retrying okay?
-}
-
-int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
-  int err;
-  const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
-
-  if (!connected) {
-    return LIBUSB_ERROR_NO_DEVICE;
-  }
-
-  std::lock_guard lk(hw_lock);
-  do {
-    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
-    if (err < 0) handle_usb_issue(err, __func__);
-  } while (err < 0 && connected);
-
-  return err;
-}
-
-int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
-  int err;
-  const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
-
-  if (!connected) {
-    return LIBUSB_ERROR_NO_DEVICE;
-  }
-
-  std::lock_guard lk(hw_lock);
-  do {
-    err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
-    if (err < 0) handle_usb_issue(err, __func__);
-  } while (err < 0 && connected);
-
-  return err;
-}
-
-int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
-  int err;
-  int transferred = 0;
-
-  if (!connected) {
-    return 0;
-  }
-
-  std::lock_guard lk(hw_lock);
-  do {
-    // Try sending can messages. If the receive buffer on the panda is full it will NAK
-    // and libusb will try again. After 5ms, it will time out. We will drop the messages.
-    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
-
-    if (err == LIBUSB_ERROR_TIMEOUT) {
-      LOGW("Transmit buffer full");
-      break;
-    } else if (err != 0 || length != transferred) {
-      handle_usb_issue(err, __func__);
-    }
-  } while (err != 0 && connected);
-
-  return transferred;
-}
-
-int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
-  int err;
-  int transferred = 0;
-
-  if (!connected) {
-    return 0;
-  }
-
-  std::lock_guard lk(hw_lock);
-
-  do {
-    err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
-
-    if (err == LIBUSB_ERROR_TIMEOUT) {
-      break; // timeout is okay to exit, recv still happened
-    } else if (err == LIBUSB_ERROR_OVERFLOW) {
-      comms_healthy = false;
-      LOGE_100("overflow got 0x%x", transferred);
-    } else if (err != 0) {
-      handle_usb_issue(err, __func__);
-    }
-
-  } while (err != 0 && connected);
-
-  return transferred;
-}
diff --git a/selfdrive/pandad/panda_comms.h b/selfdrive/pandad/panda_comms.h
deleted file mode 100644
index 9c452faf6d..0000000000
--- a/selfdrive/pandad/panda_comms.h
+++ /dev/null
@@ -1,93 +0,0 @@
-#pragma once
-
-#include <atomic>
-#include <cstdint>
-#include <mutex>
-#include <string>
-#include <vector>
-
-#ifndef __APPLE__
-#include <linux/spi/spidev.h>
-#endif
-
-#include <libusb-1.0/libusb.h>
-
-
-#define TIMEOUT 0
-#define SPI_BUF_SIZE 2048
-
-
-// comms base class
-class PandaCommsHandle {
-public:
-  PandaCommsHandle(std::string serial) {}
-  virtual ~PandaCommsHandle() {}
-  virtual void cleanup() = 0;
-
-  std::string hw_serial;
-  std::atomic<bool> connected = true;
-  std::atomic<bool> comms_healthy = true;
-  static std::vector<std::string> list();
-
-  // HW communication
-  virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0;
-  virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
-  virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
-  virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
-};
-
-class PandaUsbHandle : public PandaCommsHandle {
-public:
-  PandaUsbHandle(std::string serial);
-  ~PandaUsbHandle();
-  int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
-  int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
-  int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
-  int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
-  void cleanup();
-
-  static std::vector<std::string> list();
-
-private:
-  libusb_context *ctx = NULL;
-  libusb_device_handle *dev_handle = NULL;
-  std::recursive_mutex hw_lock;
-  void handle_usb_issue(int err, const char func[]);
-};
-
-#ifndef __APPLE__
-struct __attribute__((packed)) spi_header {
-  uint8_t sync;
-  uint8_t endpoint;
-  uint16_t tx_len;
-  uint16_t max_rx_len;
-};
-
-class PandaSpiHandle : public PandaCommsHandle {
-public:
-  PandaSpiHandle(std::string serial);
-  ~PandaSpiHandle();
-  int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
-  int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
-  int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
-  int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
-  void cleanup();
-
-  static std::vector<std::string> list();
-
-private:
-  int spi_fd = -1;
-  uint8_t tx_buf[SPI_BUF_SIZE];
-  uint8_t rx_buf[SPI_BUF_SIZE];
-  inline static std::recursive_mutex hw_lock;
-
-  int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
-  int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
-  int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
-  int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
-  int lltransfer(spi_ioc_transfer &t);
-
-  spi_header header;
-  uint32_t xfer_count = 0;
-};
-#endif
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
deleted file mode 100644
index 5d0ce4ecf3..0000000000
--- a/selfdrive/pandad/pandad.cc
+++ /dev/null
@@ -1,563 +0,0 @@
-#include "selfdrive/pandad/pandad.h"
-
-#include <algorithm>
-#include <array>
-#include <bitset>
-#include <cassert>
-#include <cerrno>
-#include <memory>
-#include <thread>
-#include <utility>
-
-#include "cereal/gen/cpp/car.capnp.h"
-#include "cereal/messaging/messaging.h"
-#include "cereal/services.h"
-#include "common/ratekeeper.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-
-// -- Multi-panda conventions --
-// Ordering:
-// - The internal panda will always be the first panda
-// - Consecutive pandas will be sorted based on panda type, and then serial number
-// Connecting:
-// - If a panda connection is dropped, pandad will reconnect to all pandas
-// - If a panda is added, we will only reconnect when we are offroad
-// CAN buses:
-// - Each panda will have its block of 4 buses. E.g.: the second panda will use
-//   bus numbers 4, 5, 6 and 7
-// - The internal panda will always be used for accessing the OBD2 port,
-//   and thus firmware queries
-// Safety:
-// - SafetyConfig is a list, which is mapped to the connected pandas
-// - If there are more pandas connected than there are SafetyConfigs,
-//   the excess pandas will remain in "silent" or "noOutput" mode
-// Ignition:
-// - If any of the ignition sources in any panda is high, ignition is high
-
-#define MAX_IR_PANDA_VAL 50
-#define CUTOFF_IL 400
-#define SATURATE_IL 1000
-
-#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
-
-ExitHandler do_exit;
-
-bool check_all_connected(const std::vector<Panda *> &pandas) {
-  for (const auto& panda : pandas) {
-    if (!panda->connected()) {
-      do_exit = true;
-      return false;
-    }
-  }
-  return true;
-}
-
-bool process_mads_heartbeat(SubMaster *sm) {
-  const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
-
-  const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
-  const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
-
-  const bool engaged = sm->allAliveAndValid({"selfdriveStateSP"}) && heartbeat_type;
-
-  return engaged;
-}
-
-Panda *connect(std::string serial="", uint32_t index=0) {
-  std::unique_ptr<Panda> panda;
-  try {
-    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_OFFSET));
-  } catch (std::exception &e) {
-    return nullptr;
-  }
-
-  // common panda config
-  if (getenv("BOARDD_LOOPBACK")) {
-    panda->set_loopback(true);
-  }
-  //panda->enable_deepsleep();
-
-  for (int i = 0; i < PANDA_CAN_CNT; i++) {
-    panda->set_can_fd_auto(i, true);
-  }
-
-  bool is_supported_panda = std::find(SUPPORTED_PANDA_TYPES.begin(), SUPPORTED_PANDA_TYPES.end(), panda->hw_type) != SUPPORTED_PANDA_TYPES.end();
-
-  if (!is_supported_panda) {
-    LOGW("panda %s is not supported (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
-    return panda.release();
-  }
-
-  if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
-    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
-  }
-
-  return panda.release();
-}
-
-void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
-  util::set_thread_name("pandad_can_send");
-
-  AlignedBuffer aligned_buf;
-  std::unique_ptr<Context> context(Context::create());
-  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan", "127.0.0.1", false, true, services.at("sendcan").queue_size));
-  assert(subscriber != NULL);
-  subscriber->setTimeout(100);
-
-  // run as fast as messages come in
-  while (!do_exit && check_all_connected(pandas)) {
-    std::unique_ptr<Message> msg(subscriber->receive());
-    if (!msg) {
-      continue;
-    }
-
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
-    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-    // Don't send if older than 1 second
-    if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
-      for (const auto& panda : pandas) {
-        LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
-        panda->can_send(event.getSendcan());
-        LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
-      }
-    } else {
-      LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
-    }
-  }
-}
-
-void can_recv(std::vector<Panda *> &pandas, PubMaster *pm) {
-  static std::vector<can_frame> raw_can_data;
-  {
-    bool comms_healthy = true;
-    raw_can_data.clear();
-    for (const auto& panda : pandas) {
-      comms_healthy &= panda->can_receive(raw_can_data);
-    }
-
-    MessageBuilder msg;
-    auto evt = msg.initEvent();
-    evt.setValid(comms_healthy);
-    auto canData = evt.initCan(raw_can_data.size());
-    for (size_t i = 0; i < raw_can_data.size(); ++i) {
-      canData[i].setAddress(raw_can_data[i].address);
-      canData[i].setDat(kj::arrayPtr((uint8_t*)raw_can_data[i].dat.data(), raw_can_data[i].dat.size()));
-      canData[i].setSrc(raw_can_data[i].src);
-    }
-    pm->send("can", msg);
-  }
-}
-
-void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::PandaType hw_type, const health_t &health) {
-  ps.setVoltage(health.voltage_pkt);
-  ps.setCurrent(health.current_pkt);
-  ps.setUptime(health.uptime_pkt);
-  ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
-  ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
-  ps.setIgnitionLine(health.ignition_line_pkt);
-  ps.setIgnitionCan(health.ignition_can_pkt);
-  ps.setControlsAllowed(health.controls_allowed_pkt);
-  ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
-  ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
-  ps.setPandaType(hw_type);
-  ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt));
-  ps.setSafetyParam(health.safety_param_pkt);
-  ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt));
-  ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt));
-  ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
-  ps.setAlternativeExperience(health.alternative_experience_pkt);
-  ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
-  ps.setInterruptLoad(health.interrupt_load_pkt);
-  ps.setFanPower(health.fan_power);
-  ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
-  ps.setSpiErrorCount(health.spi_error_count_pkt);
-  ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
-  ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
-}
-
-void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
-  cs.setBusOff((bool)can_health.bus_off);
-  cs.setBusOffCnt(can_health.bus_off_cnt);
-  cs.setErrorWarning((bool)can_health.error_warning);
-  cs.setErrorPassive((bool)can_health.error_passive);
-  cs.setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error));
-  cs.setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error));
-  cs.setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error));
-  cs.setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error));
-  cs.setReceiveErrorCnt(can_health.receive_error_cnt);
-  cs.setTransmitErrorCnt(can_health.transmit_error_cnt);
-  cs.setTotalErrorCnt(can_health.total_error_cnt);
-  cs.setTotalTxLostCnt(can_health.total_tx_lost_cnt);
-  cs.setTotalRxLostCnt(can_health.total_rx_lost_cnt);
-  cs.setTotalTxCnt(can_health.total_tx_cnt);
-  cs.setTotalRxCnt(can_health.total_rx_cnt);
-  cs.setTotalFwdCnt(can_health.total_fwd_cnt);
-  cs.setCanSpeed(can_health.can_speed);
-  cs.setCanDataSpeed(can_health.can_data_speed);
-  cs.setCanfdEnabled(can_health.canfd_enabled);
-  cs.setBrsEnabled(can_health.brs_enabled);
-  cs.setCanfdNonIso(can_health.canfd_non_iso);
-  cs.setIrq0CallRate(can_health.irq0_call_rate);
-  cs.setIrq1CallRate(can_health.irq1_call_rate);
-  cs.setIrq2CallRate(can_health.irq2_call_rate);
-  cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
-}
-
-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool is_onroad, bool spoofing_started, bool always_offroad) {
-  bool ignition_local = false;
-  const uint32_t pandas_cnt = pandas.size();
-
-  // build msg
-  MessageBuilder msg;
-  auto evt = msg.initEvent();
-  auto pss = evt.initPandaStates(pandas_cnt);
-
-  std::vector<health_t> pandaStates;
-  pandaStates.reserve(pandas_cnt);
-
-  std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
-  pandaCanStates.reserve(pandas_cnt);
-
-  const bool red_panda_comma_three = (pandas.size() == 2) &&
-                                     (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
-                                     (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
-
-  for (const auto& panda : pandas){
-    auto health_opt = panda->get_state();
-    if (!health_opt) {
-      return std::nullopt;
-    }
-
-    health_t health = *health_opt;
-
-    std::array<can_health_t, PANDA_CAN_CNT> can_health{};
-    for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) {
-      auto can_health_opt = panda->get_can_state(i);
-      if (!can_health_opt) {
-        return std::nullopt;
-      }
-      can_health[i] = *can_health_opt;
-    }
-    pandaCanStates.push_back(can_health);
-
-    if (spoofing_started) {
-      health.ignition_line_pkt = 1;
-    }
-
-    // on comma three setups with a red panda, the dos can
-    // get false positive ignitions due to the harness box
-    // without a harness connector, so ignore it
-    if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
-      health.ignition_line_pkt = 0;
-    }
-
-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
-
-    pandaStates.push_back(health);
-  }
-
-  for (uint32_t i = 0; i < pandas_cnt; i++) {
-    auto panda = pandas[i];
-    const auto &health = pandaStates[i];
-
-    // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
-    if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
-      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
-    }
-
-    bool power_save_desired = !ignition_local;
-    if (health.power_save_enabled_pkt != power_save_desired) {
-      panda->set_power_saving(power_save_desired);
-    }
-
-    // set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect
-    bool should_close_relay = !ignition_local || !is_onroad;
-    if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
-      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
-    }
-
-    if (!panda->comms_healthy()) {
-      evt.setValid(false);
-    }
-
-    auto ps = pss[i];
-    fill_panda_state(ps, panda->hw_type, health);
-
-    auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
-    for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) {
-      fill_panda_can_state(cs[j], pandaCanStates[i][j]);
-    }
-
-    // Convert faults bitset to capnp list
-    std::bitset<sizeof(health.faults_pkt) * 8> fault_bits(health.faults_pkt);
-    auto faults = ps.initFaults(fault_bits.count());
-
-    size_t j = 0;
-    for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
-         f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
-      if (fault_bits.test(f)) {
-        faults.set(j, cereal::PandaState::FaultType(f));
-        j++;
-      }
-    }
-  }
-
-  pm->send("pandaStates", msg);
-  return ignition_local;
-}
-
-void send_peripheral_state(Panda *panda, PubMaster *pm) {
-  // build msg
-  MessageBuilder msg;
-  auto evt = msg.initEvent();
-  evt.setValid(panda->comms_healthy());
-
-  auto ps = evt.initPeripheralState();
-  ps.setPandaType(panda->hw_type);
-
-  double read_time = millis_since_boot();
-  ps.setVoltage(Hardware::get_voltage());
-  ps.setCurrent(Hardware::get_current());
-  read_time = millis_since_boot() - read_time;
-  if (read_time > 50) {
-    LOGW("reading hwmon took %lfms", read_time);
-  }
-
-  // fall back to panda's voltage and current measurement
-  if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
-    auto health_opt = panda->get_state();
-    if (health_opt) {
-      health_t health = *health_opt;
-      ps.setVoltage(health.voltage_pkt);
-      ps.setCurrent(health.current_pkt);
-    }
-  }
-
-  uint16_t fan_speed_rpm = panda->get_fan_speed();
-  ps.setFanSpeedRpm(fan_speed_rpm);
-
-  pm->send("peripheralState", msg);
-}
-
-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool is_onroad, bool spoofing_started, bool always_offroad) {
-  std::vector<std::string> connected_serials;
-  for (Panda *p : pandas) {
-    connected_serials.push_back(p->hw_serial());
-  }
-
-  {
-    auto ignition_opt = send_panda_states(pm, pandas, is_onroad, spoofing_started, always_offroad);
-    if (!ignition_opt) {
-      LOGE("Failed to get ignition_opt");
-      return;
-    }
-
-    // check if we should have pandad reconnect
-    if (!ignition_opt.value()) {
-      bool comms_healthy = true;
-      for (const auto &panda : pandas) {
-        comms_healthy &= panda->comms_healthy();
-      }
-
-      if (!comms_healthy) {
-        LOGE("Reconnecting, communication to pandas not healthy");
-        do_exit = true;
-
-      } else {
-        // check for new pandas
-        for (std::string &s : Panda::list(true)) {
-          if (!std::count(connected_serials.begin(), connected_serials.end(), s)) {
-            LOGW("Reconnecting to new panda: %s", s.c_str());
-            do_exit = true;
-            break;
-          }
-        }
-      }
-    }
-
-    for (const auto &panda : pandas) {
-      panda->send_heartbeat(engaged, engaged_mads);
-    }
-  }
-}
-
-void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
-  static Params params;
-  static SubMaster sm({"deviceState", "driverCameraState"});
-
-  static uint64_t last_driver_camera_t = 0;
-  static uint16_t prev_fan_speed = 999;
-  static int ir_pwr = 0;
-  static int prev_ir_pwr = 999;
-  static uint32_t prev_frame_id = UINT32_MAX;
-  static bool driver_view = false;
-
-  // TODO: can we merge these?
-  static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
-  static FirstOrderFilter integ_lines_filter_driver_view(0, 5.0, 0.05);
-
-  {
-    sm.update(0);
-    if (sm.updated("deviceState") && !no_fan_control) {
-      // Fan speed
-      uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
-      if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) {
-        panda->set_fan_speed(fan_speed);
-        prev_fan_speed = fan_speed;
-      }
-    }
-
-    if (sm.updated("driverCameraState")) {
-      auto event = sm["driverCameraState"];
-      int cur_integ_lines = event.getDriverCameraState().getIntegLines();
-
-      // reset the filter when camerad restarts
-      if (event.getDriverCameraState().getFrameId() < prev_frame_id) {
-        integ_lines_filter.reset(0);
-        integ_lines_filter_driver_view.reset(0);
-        driver_view = params.getBool("IsDriverViewEnabled");
-      }
-      prev_frame_id = event.getDriverCameraState().getFrameId();
-
-      cur_integ_lines = (driver_view ? integ_lines_filter_driver_view : integ_lines_filter).update(cur_integ_lines);
-      last_driver_camera_t = event.getLogMonoTime();
-
-      if (cur_integ_lines <= CUTOFF_IL) {
-        ir_pwr = 0;
-      } else if (cur_integ_lines > SATURATE_IL) {
-        ir_pwr = 100;
-      } else {
-        ir_pwr = 100 * (cur_integ_lines - CUTOFF_IL) / (SATURATE_IL - CUTOFF_IL);
-      }
-    }
-
-    // Disable IR on input timeout
-    if (nanos_since_boot() - last_driver_camera_t > 1e9) {
-      ir_pwr = 0;
-    }
-
-    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
-      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
-      panda->set_ir_pwr(ir_panda);
-      Hardware::set_ir_power(ir_pwr);
-      prev_ir_pwr = ir_pwr;
-    }
-  }
-}
-
-void pandad_run(std::vector<Panda *> &pandas) {
-  const bool no_fan_control = getenv("NO_FAN_CONTROL") != nullptr;
-  const bool spoofing_started = getenv("STARTED") != nullptr;
-  const bool fake_send = getenv("FAKESEND") != nullptr;
-
-  // Start the CAN send thread
-  std::thread send_thread(can_send_thread, pandas, fake_send);
-
-  Params params;
-  RateKeeper rk("pandad", 100);
-  SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
-  PubMaster pm({"can", "pandaStates", "peripheralState"});
-  PandaSafety panda_safety(pandas);
-  Panda *peripheral_panda = pandas[0];
-  bool engaged = false;
-  bool engaged_mads = false;
-  bool is_onroad = false;
-  bool always_offroad = false;
-
-  // Main loop: receive CAN data and process states
-  while (!do_exit && check_all_connected(pandas)) {
-    can_recv(pandas, &pm);
-
-    // Process peripheral state at 20 Hz
-    if (rk.frame() % 5 == 0) {
-      process_peripheral_state(peripheral_panda, &pm, no_fan_control);
-    }
-
-    // Process panda state at 10 Hz
-    if (rk.frame() % 10 == 0) {
-      sm.update(0);
-      engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-      engaged_mads = process_mads_heartbeat(&sm);
-      is_onroad = params.getBool("IsOnroad");
-      always_offroad = panda_safety.getOffroadMode();
-      process_panda_state(pandas, &pm, engaged, engaged_mads, is_onroad, spoofing_started, always_offroad);
-      panda_safety.configureSafetyMode(is_onroad);
-    }
-
-    // Send out peripheralState at 2Hz
-    if (rk.frame() % 50 == 0) {
-      send_peripheral_state(peripheral_panda, &pm);
-    }
-
-    // Forward logs from pandas to cloudlog if available
-    for (auto *panda : pandas) {
-      std::string log = panda->serial_read();
-      if (!log.empty()) {
-        if (log.find("Register 0x") != std::string::npos) {
-          // Log register divergent faults as errors
-          LOGE("%s", log.c_str());
-        } else {
-          LOGD("%s", log.c_str());
-        }
-      }
-    }
-
-    rk.keepTime();
-  }
-
-  // Close relay on exit to prevent a fault
-  if (is_onroad && !engaged) {
-    for (auto &p : pandas) {
-      if (p->connected()) {
-        p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
-      }
-    }
-  }
-
-  send_thread.join();
-}
-
-void pandad_main_thread(std::vector<std::string> serials) {
-  if (serials.size() == 0) {
-    serials = Panda::list();
-
-    if (serials.size() == 0) {
-      LOGW("no pandas found, exiting");
-      return;
-    }
-  }
-
-  std::string serials_str;
-  for (int i = 0; i < serials.size(); i++) {
-    serials_str += serials[i];
-    if (i < serials.size() - 1) serials_str += ", ";
-  }
-  LOGW("connecting to pandas: %s", serials_str.c_str());
-
-  // connect to all provided serials
-  std::vector<Panda *> pandas;
-  for (int i = 0; i < serials.size() && !do_exit; /**/) {
-    Panda *p = connect(serials[i], i);
-    if (!p) {
-      util::sleep_for(100);
-      continue;
-    }
-
-    pandas.push_back(p);
-    ++i;
-  }
-
-  if (!do_exit) {
-    LOGW("connected to all pandas");
-    pandad_run(pandas);
-  }
-
-  for (Panda *panda : pandas) {
-    delete panda;
-  }
-}
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
deleted file mode 100755
index d21e60f838..0000000000
--- a/selfdrive/pandad/pandad.py
+++ /dev/null
@@ -1,194 +0,0 @@
-#!/usr/bin/env python3
-# simple pandad wrapper that updates the panda first
-import os
-import usb1
-import time
-import signal
-import subprocess
-
-from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, FW_PATH
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
-from openpilot.common.swaglog import cloudlog
-
-
-def get_expected_signature() -> bytes:
-  try:
-    fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
-    return Panda.get_signature_from_firmware(fn)
-  except Exception:
-    cloudlog.exception("Error computing expected signature")
-    return b""
-
-def flash_panda(panda_serial: str) -> Panda:
-  try:
-    panda = Panda(panda_serial)
-  except PandaProtocolMismatch:
-    cloudlog.warning("detected protocol mismatch, reflashing panda")
-    HARDWARE.recover_internal_panda()
-    raise
-
-  # skip flashing if the detected panda is not supported
-  supported_panda = check_panda_support(panda)
-  if not supported_panda:
-    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
-    return panda
-
-  fw_signature = get_expected_signature()
-  internal_panda = panda.is_internal()
-
-  panda_version = "bootstub" if panda.bootstub else panda.get_version()
-  panda_signature = b"" if panda.bootstub else panda.get_signature()
-  cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
-
-  if panda.bootstub or panda_signature != fw_signature:
-    cloudlog.info("Panda firmware out of date, update required")
-    panda.flash()
-    cloudlog.info("Done flashing")
-
-  if panda.bootstub:
-    bootstub_version = panda.get_version()
-    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}")
-    if internal_panda:
-      HARDWARE.recover_internal_panda()
-    panda.recover(reset=(not internal_panda))
-    cloudlog.info("Done flashing bootstub")
-
-  if panda.bootstub:
-    cloudlog.info("Panda still not booting, exiting")
-    raise AssertionError
-
-  panda_signature = panda.get_signature()
-  if panda_signature != fw_signature:
-    cloudlog.info("Version mismatch after flashing, exiting")
-    raise AssertionError
-
-  return panda
-
-
-def check_panda_support(panda) -> bool:
-  hw_type = panda.get_type()
-  if hw_type in Panda.SUPPORTED_DEVICES:
-    return True
-
-  return False
-
-
-def main() -> None:
-  # signal pandad to close the relay and exit
-  def signal_handler(signum, frame):
-    cloudlog.info(f"Caught signal {signum}, exiting")
-    nonlocal do_exit
-    do_exit = True
-    if process is not None:
-      process.send_signal(signal.SIGINT)
-
-  process = None
-  do_exit = False
-  signal.signal(signal.SIGINT, signal_handler)
-
-  count = 0
-  first_run = True
-  params = Params()
-  no_internal_panda_count = 0
-
-  while not do_exit:
-    try:
-      count += 1
-      cloudlog.event("pandad.flash_and_connect", count=count)
-      params.remove("PandaSignatures")
-
-      # Handle missing internal panda
-      if no_internal_panda_count > 0:
-        if no_internal_panda_count == 3:
-          cloudlog.info("No pandas found, putting internal panda into DFU")
-          HARDWARE.recover_internal_panda()
-        else:
-          cloudlog.info("No pandas found, resetting internal panda")
-          HARDWARE.reset_internal_panda()
-        time.sleep(3)  # wait to come back up
-
-      # Flash all Pandas in DFU mode
-      dfu_serials = PandaDFU.list()
-      if len(dfu_serials) > 0:
-        for serial in dfu_serials:
-          cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
-          PandaDFU(serial).recover()
-        time.sleep(1)
-
-      panda_serials = Panda.list()
-      if len(panda_serials) == 0:
-        no_internal_panda_count += 1
-        continue
-
-      cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
-
-      # Flash pandas
-      pandas: list[Panda] = []
-      for serial in panda_serials:
-        pandas.append(flash_panda(serial))
-
-      # Ensure internal panda is present if expected
-      internal_pandas = [panda for panda in pandas if panda.is_internal()]
-      if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
-        cloudlog.error("Internal panda is missing, trying again")
-        no_internal_panda_count += 1
-        continue
-      no_internal_panda_count = 0
-
-      # sort pandas to have deterministic order
-      # * the internal one is always first
-      # * then sort by hardware type
-      # * as a last resort, sort by serial number
-      pandas.sort(key=lambda x: (not x.is_internal(), x.get_type(), x.get_usb_serial()))
-      panda_serials = [p.get_usb_serial() for p in pandas]
-
-      # log panda fw versions
-      params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
-
-      for panda in pandas:
-        # skip health check if the detected panda is not supported
-        supported_panda = check_panda_support(panda)
-        if not supported_panda:
-          cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
-          continue
-
-        # check health for lost heartbeat
-        health = panda.health()
-        if health["heartbeat_lost"]:
-          params.put_bool("PandaHeartbeatLost", True)
-          cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
-        if health["som_reset_triggered"]:
-          params.put_bool("PandaSomResetTriggered", True)
-          cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
-
-        if first_run:
-          # reset panda to ensure we're in a good state
-          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          panda.reset(reconnect=True)
-
-      for p in pandas:
-        p.close()
-    # TODO: wrap all panda exceptions in a base panda exception
-    except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
-      # a panda was disconnected while setting everything up. let's try again
-      cloudlog.exception("Panda USB exception while setting up")
-      continue
-    except PandaProtocolMismatch:
-      cloudlog.exception("pandad.protocol_mismatch")
-      continue
-    except Exception:
-      cloudlog.exception("pandad.uncaught_exception")
-      continue
-
-    first_run = False
-
-    # run pandad with all connected serials as arguments
-    os.environ['MANAGER_DAEMON'] = 'pandad'
-    process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
-    process.wait()
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin
deleted file mode 100755
index 5cf2fa4519..0000000000
Binary files a/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin and /dev/null differ
diff --git a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc b/selfdrive/pandad/tests/test_pandad_usbprotocol.cc
deleted file mode 100644
index 11f7184efd..0000000000
--- a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc
+++ /dev/null
@@ -1,135 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#define CATCH_CONFIG_ENABLE_BENCHMARKING
-
-#include "catch2/catch.hpp"
-#include "cereal/messaging/messaging.h"
-#include "common/util.h"
-#include "selfdrive/pandad/panda.h"
-
-struct PandaTest : public Panda {
-  PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);
-  void test_can_send();
-  void test_can_recv(uint32_t chunk_size = 0);
-  void test_chunked_can_recv();
-
-  std::map<int, std::string> test_data;
-  int can_list_size = 0;
-  int total_pakets_size = 0;
-  MessageBuilder msg;
-  capnp::List<cereal::CanData>::Reader can_data_list;
-};
-
-PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState::PandaType hw_type) : can_list_size(can_list_size), Panda(bus_offset_) {
-  this->hw_type = hw_type;
-  int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8);
-  // prepare test data
-  for (int i = 0; i < data_limit; ++i) {
-    std::random_device rd;
-    std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
-
-    int data_len = dlc_to_len[i];
-    std::string bytes(data_len, '\0');
-    std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
-    test_data[data_len] = bytes;
-  }
-
-  // generate can messages for this panda
-  auto can_list = msg.initEvent().initSendcan(can_list_size);
-  for (uint8_t i = 0; i < can_list_size; ++i) {
-    auto can = can_list[i];
-    uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
-    const std::string &dat = test_data[dlc_to_len[id]];
-    can.setAddress(i);
-    can.setSrc(util::random_int(0, 2) + bus_offset);
-    can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
-    total_pakets_size += sizeof(can_header) + dat.size();
-  }
-
-  can_data_list = can_list.asReader();
-  INFO("test " << can_list_size << " packets, total size " << total_pakets_size);
-}
-
-void PandaTest::test_can_send() {
-  std::vector<uint8_t> unpacked_data;
-  this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) {
-    unpacked_data.insert(unpacked_data.end(), chunk, &chunk[size]);
-  });
-  REQUIRE(unpacked_data.size() == total_pakets_size);
-
-  int cnt = 0;
-  INFO("test can message integrity");
-  for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) {
-    can_header header;
-    memcpy(&header, &unpacked_data[pos], sizeof(can_header));
-    const uint8_t data_len = dlc_to_len[header.data_len_code];
-    pckt_len = sizeof(can_header) + data_len;
-
-    REQUIRE(header.addr == cnt);
-    REQUIRE(test_data.find(data_len) != test_data.end());
-    const std::string &dat = test_data[data_len];
-    REQUIRE(memcmp(dat.data(), &unpacked_data[pos + sizeof(can_header)], dat.size()) == 0);
-    ++cnt;
-  }
-  REQUIRE(cnt == can_list_size);
-}
-
-void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
-  std::vector<can_frame> frames;
-  this->pack_can_buffer(can_data_list, [&](uint8_t *data, uint32_t size) {
-    if (rx_chunk_size == 0) {
-      REQUIRE(this->unpack_can_buffer(data, size, frames));
-    } else {
-      this->receive_buffer_size = 0;
-      uint32_t pos = 0;
-
-      while (pos < size) {
-        uint32_t chunk_size = std::min(rx_chunk_size, size - pos);
-        memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size);
-        this->receive_buffer_size += chunk_size;
-        pos += chunk_size;
-
-        REQUIRE(this->unpack_can_buffer(this->receive_buffer, this->receive_buffer_size, frames));
-      }
-    }
-  });
-
-  REQUIRE(frames.size() == can_list_size);
-  for (int i = 0; i < frames.size(); ++i) {
-    REQUIRE(frames[i].address == i);
-    REQUIRE(test_data.find(frames[i].dat.size()) != test_data.end());
-    const std::string &dat = test_data[frames[i].dat.size()];
-    REQUIRE(memcmp(dat.data(), frames[i].dat.data(), dat.size()) == 0);
-  }
-}
-
-TEST_CASE("send/recv CAN 2.0 packets") {
-  auto bus_offset = GENERATE(0, 4);
-  auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
-  PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::DOS);
-
-  SECTION("can_send") {
-    test.test_can_send();
-  }
-  SECTION("can_receive") {
-    test.test_can_recv();
-  }
-  SECTION("chunked_can_receive") {
-    test.test_can_recv(0x40);
-  }
-}
-
-TEST_CASE("send/recv CAN FD packets") {
-  auto bus_offset = GENERATE(0, 4);
-  auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
-  PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::RED_PANDA);
-
-  SECTION("can_send") {
-    test.test_can_send();
-  }
-  SECTION("can_receive") {
-    test.test_can_recv();
-  }
-  SECTION("chunked_can_receive") {
-    test.test_can_recv(0x40);
-  }
-}
diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py
deleted file mode 100755
index f9f425102b..0000000000
--- a/selfdrive/test/cpp_harness.py
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env python3
-import subprocess
-import sys
-
-from openpilot.common.prefix import OpenpilotPrefix
-
-with OpenpilotPrefix():
-  ret = subprocess.call(sys.argv[1:])
-
-sys.exit(ret)
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
deleted file mode 100755
index 4d58a1507c..0000000000
--- a/selfdrive/test/docker_build.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
-# mkdir -p .ci_cache/scons_cache
-# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
-
-SCRIPT_DIR=$(dirname "$0")
-OPENPILOT_DIR=$SCRIPT_DIR/../../
-if [ -n "$TARGET_ARCHITECTURE" ]; then
-  PLATFORM="linux/$TARGET_ARCHITECTURE"
-  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
-else
-  PLATFORM="linux/$(uname -m)"
-  TAG_SUFFIX=""
-fi
-
-source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
-
-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
-
-if [ -n "$PUSH_IMAGE" ]; then
-  docker push $REMOTE_TAG
-  docker tag $REMOTE_TAG $REMOTE_SHA_TAG
-  docker push $REMOTE_SHA_TAG
-fi
diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh
deleted file mode 100644
index 2887fff74b..0000000000
--- a/selfdrive/test/docker_common.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=openpilot-base
-  export DOCKER_FILE=Dockerfile.openpilot_base
-elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=openpilot-prebuilt
-  export DOCKER_FILE=Dockerfile.openpilot
-else
-  echo "Invalid docker build image: '$1'"
-  exit 1
-fi
-
-export DOCKER_REGISTRY=ghcr.io/commaai
-export COMMIT_SHA=$(git rev-parse HEAD)
-
-TAG_SUFFIX=$2
-LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py
deleted file mode 100644
index 131dab47b2..0000000000
--- a/selfdrive/test/fuzzy_generation.py
+++ /dev/null
@@ -1,81 +0,0 @@
-import capnp
-import hypothesis.strategies as st
-from typing import Any
-from collections.abc import Callable
-from functools import cache
-
-from cereal import log
-
-DrawType = Callable[[st.SearchStrategy], Any]
-
-
-class FuzzyGenerator:
-  def __init__(self, draw: DrawType, real_floats: bool):
-    self.draw = draw
-    self.native_type_map = FuzzyGenerator._get_native_type_map(real_floats)
-
-  def generate_native_type(self, field: str) -> st.SearchStrategy[bool | int | float | str | bytes]:
-    value_func = self.native_type_map.get(field)
-    if value_func is not None:
-      return value_func
-    else:
-      raise NotImplementedError(f'Invalid type: {field}')
-
-  def generate_field(self, field: capnp.lib.capnp._StructSchemaField) -> st.SearchStrategy:
-    def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy:
-      type_which = field_type.which()
-      if type_which == 'struct':
-        return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema)
-      elif type_which == 'list':
-        return st.lists(rec(field_type.list.elementType))
-      elif type_which == 'enum':
-        schema = field.schema.elementType if base_type == 'list' else field.schema
-        return st.sampled_from(list(schema.enumerants.keys()))
-      else:
-        return self.generate_native_type(type_which)
-
-    try:
-      if hasattr(field.proto, 'slot'):
-        slot_type =  field.proto.slot.type
-        base_type = slot_type.which()
-        return rec(slot_type)
-      else:
-        return self.generate_struct(field.schema)
-    except capnp.lib.capnp.KjException:
-      return self.generate_struct(field.schema)
-
-  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
-    single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
-    fields_to_generate = schema.non_union_fields + single_fill
-    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})
-
-  @staticmethod
-  @cache
-  def _get_native_type_map(real_floats: bool) -> dict[str, st.SearchStrategy]:
-    return {
-      'bool': st.booleans(),
-      'int8': st.integers(min_value=-2**7, max_value=2**7-1),
-      'int16': st.integers(min_value=-2**15, max_value=2**15-1),
-      'int32': st.integers(min_value=-2**31, max_value=2**31-1),
-      'int64': st.integers(min_value=-2**63, max_value=2**63-1),
-      'uint8': st.integers(min_value=0, max_value=2**8-1),
-      'uint16': st.integers(min_value=0, max_value=2**16-1),
-      'uint32': st.integers(min_value=0, max_value=2**32-1),
-      'uint64': st.integers(min_value=0, max_value=2**64-1),
-      'float32': st.floats(width=32, allow_nan=not real_floats, allow_infinity=not real_floats),
-      'float64': st.floats(width=64, allow_nan=not real_floats, allow_infinity=not real_floats),
-      'text': st.text(max_size=1000),
-      'data': st.binary(max_size=1000),
-      'anyPointer': st.text(),  # Note: No need to define a separate function for anyPointer
-    }
-
-  @classmethod
-  def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> dict[str, Any]:
-    fg = cls(draw, real_floats=real_floats)
-    data: dict[str, Any] = draw(fg.generate_struct(struct.schema))
-    return data
-
-  @classmethod
-  def get_random_event_msg(cls, draw: DrawType, events: list[str], real_floats: bool = False) -> list[dict[str, Any]]:
-    fg = cls(draw, real_floats=real_floats)
-    return [draw(fg.generate_struct(log.Event.schema, e)) for e in sorted(events)]
diff --git a/selfdrive/test/process_replay/.gitignore b/selfdrive/test/process_replay/.gitignore
deleted file mode 100644
index a35cd58d41..0000000000
--- a/selfdrive/test/process_replay/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-fakedata/
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
deleted file mode 100755
index c501a4b250..0000000000
--- a/selfdrive/test/process_replay/regen.py
+++ /dev/null
@@ -1,118 +0,0 @@
-#!/usr/bin/env python3
-import os
-import argparse
-import time
-import capnp
-
-from typing import Any
-from collections.abc import Iterable
-
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
-                                                                   check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
-from openpilot.selfdrive.test.update_ci_routes import upload_route
-from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
-from openpilot.tools.lib.openpilotci import get_url
-
-
-def regen_segment(
-  lr: LogIterable, frs: dict[str, Any] | None = None,
-  processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
-) -> list[capnp._DynamicStructReader]:
-  all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
-  custom_params = get_custom_params_from_lr(all_msgs)
-
-  print("Replayed processes:", [p.proc_name for p in processes])
-  print("\n\n", "*"*30, "\n\n", sep="")
-
-  output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
-
-  return output_logs
-
-
-def setup_data_readers(
-    route: str, sidx: int, needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
-) -> tuple[LogReader, dict[str, Any]]:
-  lr = LogReader(f"{route}/{sidx}/r")
-  frs = {}
-  if needs_road_cam:
-    frs['roadCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc"))
-    if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-      frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
-  if needs_driver_cam:
-    if dummy_driver_cam:
-      frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc")) # Use fcam as dummy
-    else:
-      device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
-      assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
-      frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "dcamera.hevc"))
-
-  return lr, frs
-
-
-def regen_and_save(
-  route: str, sidx: int, processes: str | Iterable[str] = "all", outdir: str = FAKEDATA,
-  upload: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
-) -> str:
-  if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
-    raise ValueError("whitelist_proc must be a string or iterable")
-
-  if processes != "all":
-    if isinstance(processes, str):
-      raise ValueError(f"Invalid value for processes: {processes}")
-
-    replayed_processes = []
-    for d in processes:
-      cfg = get_process_config(d)
-      replayed_processes.append(cfg)
-  else:
-    replayed_processes = CONFIGS
-
-  all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
-  lr, frs = setup_data_readers(route, sidx,
-                               needs_driver_cam="driverCameraState" in all_vision_pubs,
-                               needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
-                               dummy_driver_cam=dummy_driver_cam)
-  output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
-
-  log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
-  rel_log_dir = os.path.relpath(log_dir)
-  rpath = os.path.join(log_dir, "rlog.zst")
-
-  os.makedirs(log_dir)
-  save_log(rpath, output_logs, compress=True)
-
-  print("\n\n", "*"*30, "\n\n", sep="")
-  print("New route:", rel_log_dir, "\n")
-
-  if not check_openpilot_enabled(output_logs):
-    raise Exception("Route did not engage for long enough")
-  if not check_most_messages_valid(output_logs):
-    raise Exception("Route has too many invalid messages")
-
-  if upload:
-    upload_route(rel_log_dir)
-
-  return rel_log_dir
-
-
-if __name__ == "__main__":
-  def comma_separated_list(string):
-    return string.split(",")
-
-  all_procs = [p.proc_name for p in CONFIGS]
-  parser = argparse.ArgumentParser(description="Generate new segments from old ones")
-  parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
-  parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
-  parser.add_argument("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera")
-  parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
-                      help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
-  parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
-                      help="Comma-separated blacklist of processes to regen (e.g. controlsd,radard)")
-  parser.add_argument("route", type=str, help="The source route")
-  parser.add_argument("seg", type=int, help="Segment in source route")
-  args = parser.parse_args()
-
-  blacklist_set = set(args.blacklist_procs)
-  processes = [p for p in args.whitelist_procs if p not in blacklist_set]
-  regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera)
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
deleted file mode 100755
index 78a90b420c..0000000000
--- a/selfdrive/test/process_replay/regen_all.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import concurrent.futures
-import os
-import random
-import traceback
-from tqdm import tqdm
-
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.selfdrive.test.process_replay.regen import regen_and_save
-from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments
-from openpilot.tools.lib.route import SegmentName
-
-
-def regen_job(segment, upload, disable_tqdm):
-  with OpenpilotPrefix():
-    sn = SegmentName(segment[1])
-    fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
-    try:
-      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload,
-                            outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
-      relr = '|'.join(relr.split('/')[-2:])
-      return f'  ("{segment[0]}", "{relr}"), '
-    except Exception as e:
-      err = f"  {segment} failed: {str(e)}"
-      err += traceback.format_exc()
-      err += "\n\n"
-      return err
-
-
-if __name__ == "__main__":
-  all_cars = {car for car, _ in segments}
-
-  parser = argparse.ArgumentParser(description="Generate new segments from old ones")
-  parser.add_argument("-j", "--jobs", type=int, default=1)
-  parser.add_argument("--no-upload", action="store_true")
-  parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars,
-                      help="Whitelist given cars from the test (e.g. HONDA)")
-  parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
-                      help="Blacklist given cars from the test (e.g. HONDA)")
-  args = parser.parse_args()
-
-  tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars)
-  tested_cars = {c.upper() for c in tested_cars}
-  tested_segments = [(car, segment) for car, segment in segments if car in tested_cars]
-
-  with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    p = pool.map(regen_job, tested_segments, [not args.no_upload] * len(tested_segments), [args.jobs > 1] * len(tested_segments))
-    msg = "Copy these new segments into test_processes.py:"
-    for seg in tqdm(p, desc="Generating segments", total=len(tested_segments)):
-      msg += "\n" + str(seg)
-    print()
-    print()
-    print(msg)
diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py
deleted file mode 100644
index 5f26daf786..0000000000
--- a/selfdrive/test/process_replay/test_regen.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from parameterized import parameterized
-
-from openpilot.selfdrive.test.process_replay.regen import regen_segment
-from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.framereader import FrameReader
-
-TESTED_SEGMENTS = [
-  ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS:     NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
-  # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
-  # ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"),  # MAZDA.CX9_2021:        TICI, incomplete managerState
-  # ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"),   # FORD.BRONCO_SPORT_MK1: TICI
-]
-
-
-def ci_setup_data_readers(route, sidx):
-  lr = LogReader(get_url(route, sidx, "rlog.bz2"))
-  frs = {
-    'roadCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
-    'driverCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
-  }
-  if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-    frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera.hevc"))
-
-  return lr, frs
-
-
-class TestRegen:
-  @parameterized.expand(TESTED_SEGMENTS)
-  def test_engaged(self, case_name, segment):
-    route, sidx = segment.rsplit("--", 1)
-    lr, frs = ci_setup_data_readers(route, sidx)
-    output_logs = regen_segment(lr, frs, disable_tqdm=True)
-
-    engaged = check_openpilot_enabled(output_logs)
-    assert engaged, f"openpilot not engaged in {case_name}"
diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh
deleted file mode 100755
index aab1499744..0000000000
--- a/selfdrive/test/setup_vsound.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-{
-  #start pulseaudio daemon
-  sudo pulseaudio -D
-
-  # create a virtual null audio and set it to default device
-  sudo pactl load-module module-null-sink sink_name=virtual_audio
-  sudo pactl set-default-sink virtual_audio
-} > /dev/null 2>&1
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
deleted file mode 100755
index 692b84d65f..0000000000
--- a/selfdrive/test/setup_xvfb.sh
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/usr/bin/env bash
-
-# Sets up a virtual display for running map renderer and simulator without an X11 display
-
-DISP_ID=99
-export DISPLAY=:$DISP_ID
-
-sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
-
-# check for x11 socket for the specified display ID
-while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
-do
-  echo "Waiting for Xvfb..."
-  sleep 1
-done
-
-touch ~/.Xauthority
-export XDG_SESSION_TYPE="x11"
-xset -q
\ No newline at end of file
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
deleted file mode 100644
index 95365640f5..0000000000
--- a/selfdrive/test/test_updated.py
+++ /dev/null
@@ -1,295 +0,0 @@
-import datetime
-import os
-import pytest
-import time
-import tempfile
-import shutil
-import signal
-import subprocess
-import random
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
-
-
-@pytest.mark.tici
-class TestUpdated:
-
-  def setup_method(self):
-    self.updated_proc = None
-
-    self.tmp_dir = tempfile.TemporaryDirectory()
-    org_dir = os.path.join(self.tmp_dir.name, "commaai")
-
-    self.basedir = os.path.join(org_dir, "openpilot")
-    self.git_remote_dir = os.path.join(org_dir, "openpilot_remote")
-    self.staging_dir = os.path.join(org_dir, "safe_staging")
-    for d in [org_dir, self.basedir, self.git_remote_dir, self.staging_dir]:
-      os.mkdir(d)
-
-    self.neos_version = os.path.join(org_dir, "neos_version")
-    self.neosupdate_dir = os.path.join(org_dir, "neosupdate")
-    with open(self.neos_version, "w") as f:
-      v = subprocess.check_output(r"bash -c 'source launch_env.sh && echo $REQUIRED_NEOS_VERSION'",
-                                  cwd=BASEDIR, shell=True, encoding='utf8').strip()
-      f.write(v)
-
-    self.upper_dir = os.path.join(self.staging_dir, "upper")
-    self.merged_dir = os.path.join(self.staging_dir, "merged")
-    self.finalized_dir = os.path.join(self.staging_dir, "finalized")
-
-    # setup local submodule remotes
-    submodules = subprocess.check_output("git submodule --quiet foreach 'echo $name'",
-                                         shell=True, cwd=BASEDIR, encoding='utf8').split()
-    for s in submodules:
-      sub_path = os.path.join(org_dir, s.split("_repo")[0])
-      self._run(f"git clone {s} {sub_path}.git", cwd=BASEDIR)
-
-    # setup two git repos, a remote and one we'll run updated in
-    self._run([
-      f"git clone {BASEDIR} {self.git_remote_dir}",
-      f"git clone {self.git_remote_dir} {self.basedir}",
-      f"cd {self.basedir} && git submodule init && git submodule update",
-      f"cd {self.basedir} && scons -j{os.cpu_count()} cereal/ common/"
-    ])
-
-    self.params = Params(os.path.join(self.basedir, "persist/params"))
-    self.params.clear_all()
-    os.sync()
-
-  def teardown_method(self):
-    try:
-      if self.updated_proc is not None:
-        self.updated_proc.terminate()
-        self.updated_proc.wait(30)
-    except Exception as e:
-      print(e)
-    self.tmp_dir.cleanup()
-
-
-  # *** test helpers ***
-
-
-  def _run(self, cmd, cwd=None):
-    if not isinstance(cmd, list):
-      cmd = (cmd,)
-
-    for c in cmd:
-      subprocess.check_output(c, cwd=cwd, shell=True)
-
-  def _get_updated_proc(self):
-    os.environ["PYTHONPATH"] = self.basedir
-    os.environ["GIT_AUTHOR_NAME"] = "testy tester"
-    os.environ["GIT_COMMITTER_NAME"] = "testy tester"
-    os.environ["GIT_AUTHOR_EMAIL"] = "testy@tester.test"
-    os.environ["GIT_COMMITTER_EMAIL"] = "testy@tester.test"
-    os.environ["UPDATER_TEST_IP"] = "localhost"
-    os.environ["UPDATER_LOCK_FILE"] = os.path.join(self.tmp_dir.name, "updater.lock")
-    os.environ["UPDATER_STAGING_ROOT"] = self.staging_dir
-    os.environ["UPDATER_NEOS_VERSION"] = self.neos_version
-    os.environ["UPDATER_NEOSUPDATE_DIR"] = self.neosupdate_dir
-    updated_path = os.path.join(self.basedir, "system/updated.py")
-    return subprocess.Popen(updated_path, env=os.environ)
-
-  def _start_updater(self, offroad=True, nosleep=False):
-    self.params.put_bool("IsOffroad", offroad)
-    self.updated_proc = self._get_updated_proc()
-    if not nosleep:
-      time.sleep(1)
-
-  def _update_now(self):
-    self.updated_proc.send_signal(signal.SIGHUP)
-
-  # TODO: this should be implemented in params
-  def _read_param(self, key, timeout=1):
-    ret = None
-    start_time = time.monotonic()
-    while ret is None:
-      ret = self.params.get(key)
-      if time.monotonic() - start_time > timeout:
-        break
-      time.sleep(0.01)
-    return ret
-
-  def _wait_for_update(self, timeout=30, clear_param=False):
-    if clear_param:
-      self.params.remove("LastUpdateTime")
-
-    self._update_now()
-    t = self._read_param("LastUpdateTime", timeout=timeout)
-    if t is None:
-      raise Exception("timed out waiting for update to complete")
-
-  def _make_commit(self):
-    all_dirs, all_files = [], []
-    for root, dirs, files in os.walk(self.git_remote_dir):
-      if ".git" in root:
-        continue
-      for d in dirs:
-        all_dirs.append(os.path.join(root, d))
-      for f in files:
-        all_files.append(os.path.join(root, f))
-
-    # make a new dir and some new files
-    new_dir = os.path.join(self.git_remote_dir, "this_is_a_new_dir")
-    os.mkdir(new_dir)
-    for _ in range(random.randrange(5, 30)):
-      for d in (new_dir, random.choice(all_dirs)):
-        with tempfile.NamedTemporaryFile(dir=d, delete=False) as f:
-          f.write(os.urandom(random.randrange(1, 1000000)))
-
-    # modify some files
-    for f in random.sample(all_files, random.randrange(5, 50)):
-      with open(f, "w+") as ff:
-        txt = ff.readlines()
-        ff.seek(0)
-        for line in txt:
-          ff.write(line[::-1])
-
-    # remove some files
-    for f in random.sample(all_files, random.randrange(5, 50)):
-      os.remove(f)
-
-    # remove some dirs
-    for d in random.sample(all_dirs, random.randrange(1, 10)):
-      shutil.rmtree(d)
-
-    # commit the changes
-    self._run([
-      "git add -A",
-      "git commit -m 'an update'",
-    ], cwd=self.git_remote_dir)
-
-  def _check_update_state(self, update_available):
-    # make sure LastUpdateTime is recent
-    last_update_time = self._read_param("LastUpdateTime")
-    td = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_update_time
-    assert td.total_seconds() < 10
-    self.params.remove("LastUpdateTime")
-
-    # wait a bit for the rest of the params to be written
-    time.sleep(0.1)
-
-    # check params
-    update = self._read_param("UpdateAvailable")
-    assert update == "1" == update_available, f"UpdateAvailable: {repr(update)}"
-    assert self._read_param("UpdateFailedCount") == 0
-
-    # TODO: check that the finalized update actually matches remote
-    # check the .overlay_init and .overlay_consistent flags
-    assert os.path.isfile(os.path.join(self.basedir, ".overlay_init"))
-    assert os.path.isfile(os.path.join(self.finalized_dir, ".overlay_consistent")) == update_available
-
-
-  # *** test cases ***
-
-
-  # Run updated for 100 cycles with no update
-  def test_no_update(self):
-    self._start_updater()
-    for _ in range(100):
-      self._wait_for_update(clear_param=True)
-      self._check_update_state(False)
-
-  # Let the updater run with no update for a cycle, then write an update
-  def test_update(self):
-    self._start_updater()
-
-    # run for a cycle with no update
-    self._wait_for_update(clear_param=True)
-    self._check_update_state(False)
-
-    # write an update to our remote
-    self._make_commit()
-
-    # run for a cycle to get the update
-    self._wait_for_update(timeout=60, clear_param=True)
-    self._check_update_state(True)
-
-    # run another cycle with no update
-    self._wait_for_update(clear_param=True)
-    self._check_update_state(True)
-
-  # Let the updater run for 10 cycles, and write an update every cycle
-  @pytest.mark.skip("need to make this faster")
-  def test_update_loop(self):
-    self._start_updater()
-
-    # run for a cycle with no update
-    self._wait_for_update(clear_param=True)
-    for _ in range(10):
-      time.sleep(0.5)
-      self._make_commit()
-      self._wait_for_update(timeout=90, clear_param=True)
-      self._check_update_state(True)
-
-  # Test overlay re-creation after tracking a new file in basedir's git
-  def test_overlay_reinit(self):
-    self._start_updater()
-
-    overlay_init_fn = os.path.join(self.basedir, ".overlay_init")
-
-    # run for a cycle with no update
-    self._wait_for_update(clear_param=True)
-    self.params.remove("LastUpdateTime")
-    first_mtime = os.path.getmtime(overlay_init_fn)
-
-    # touch a file in the basedir
-    self._run("touch new_file && git add new_file", cwd=self.basedir)
-
-    # run another cycle, should have a new mtime
-    self._wait_for_update(clear_param=True)
-    second_mtime = os.path.getmtime(overlay_init_fn)
-    assert first_mtime != second_mtime
-
-    # run another cycle, mtime should be same as last cycle
-    self._wait_for_update(clear_param=True)
-    new_mtime = os.path.getmtime(overlay_init_fn)
-    assert second_mtime == new_mtime
-
-  # Make sure updated exits if another instance is running
-  def test_multiple_instances(self):
-    # start updated and let it run for a cycle
-    self._start_updater()
-    time.sleep(1)
-    self._wait_for_update(clear_param=True)
-
-    # start another instance
-    second_updated = self._get_updated_proc()
-    ret_code = second_updated.wait(timeout=5)
-    assert ret_code is not None
-
-
-  # *** test cases with NEOS updates ***
-
-
-  # Run updated with no update, make sure it clears the old NEOS update
-  def test_clear_neos_cache(self):
-    # make the dir and some junk files
-    os.mkdir(self.neosupdate_dir)
-    for _ in range(15):
-      with tempfile.NamedTemporaryFile(dir=self.neosupdate_dir, delete=False) as f:
-        f.write(os.urandom(random.randrange(1, 1000000)))
-
-    self._start_updater()
-    self._wait_for_update(clear_param=True)
-    self._check_update_state(False)
-    assert not os.path.isdir(self.neosupdate_dir)
-
-  # Let the updater run with no update for a cycle, then write an update
-  @pytest.mark.skip("TODO: only runs on device")
-  def test_update_with_neos_update(self):
-    # bump the NEOS version and commit it
-    self._run([
-      "echo 'export REQUIRED_NEOS_VERSION=3' >> launch_env.sh",
-      "git -c user.name='testy' -c user.email='testy@tester.test' \
-       commit -am 'a neos update'",
-    ], cwd=self.git_remote_dir)
-
-    # run for a cycle to get the update
-    self._start_updater()
-    self._wait_for_update(timeout=60, clear_param=True)
-    self._check_update_state(True)
-
-    # TODO: more comprehensive check
-    assert os.path.isdir(self.neosupdate_dir)
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
deleted file mode 100644
index 945928f617..0000000000
--- a/selfdrive/ui/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-installer/installers/*
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
deleted file mode 100644
index 0de3e13c01..0000000000
--- a/selfdrive/ui/SConscript
+++ /dev/null
@@ -1,71 +0,0 @@
-import os
-import re
-import json
-from pathlib import Path
-Import('env', 'arch', 'common')
-
-# build the fonts
-generator = File("#selfdrive/assets/fonts/process.py")
-source_files = Glob("#selfdrive/assets/fonts/*.ttf") + Glob("#selfdrive/assets/fonts/*.otf")
-output_files = [
-  (f.abspath.split('.')[0] + ".fnt", f.abspath.split('.')[0] + ".png")
-  for f in source_files
-  if "NotoColor" not in f.name
-]
-env.Command(
-  target=output_files,
-  source=[generator, source_files],
-  action=f"python3 {generator}",
-)
-
-# compile gettext .po -> .mo translations
-with open(File("translations/languages.json").abspath) as f:
-  languages = json.loads(f.read())
-
-po_sources = [f"#selfdrive/ui/translations/app_{l}.po" for l in languages.values()]
-po_sources = [src for src in po_sources if os.path.exists(File(src).abspath)]
-mo_targets = [src.replace(".po", ".mo") for src in po_sources]
-mo_build = []
-for src, tgt in zip(po_sources, mo_targets):
-  mo_build.append(env.Command(tgt, src, "msgfmt -o $TARGET $SOURCE"))
-mo_alias = env.Alias('mo', mo_build)
-env.AlwaysBuild(mo_alias)
-
-if GetOption('extras'):
-  # build installers
-  if arch != "Darwin":
-    raylib_env = env.Clone()
-    raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
-    raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
-
-    raylib_libs = common + ["raylib"]
-    if arch == "larch64":
-      raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
-    else:
-      raylib_libs += ["GL"]
-
-    release = "release3"
-    installers = [
-      ("openpilot", release),
-      ("openpilot_test", f"{release}-staging"),
-      ("openpilot_nightly", "nightly"),
-      ("openpilot_internal", "nightly-dev"),
-    ]
-
-    cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
-                              "ld -r -b binary -o $TARGET $SOURCE")
-    inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
-                               "ld -r -b binary -o $TARGET $SOURCE")
-    inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
-                                "ld -r -b binary -o $TARGET $SOURCE")
-    for name, branch in installers:
-      d = {'BRANCH': f"'\"{branch}\"'"}
-      if "internal" in name:
-        d['INTERNAL'] = "1"
-
-      obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
-      # keep installers small
-      assert f[0].get_size() < 1900*1e3, f[0].get_size()
diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py
deleted file mode 100755
index 3018fbdb5c..0000000000
--- a/selfdrive/ui/feedback/feedbackd.py
+++ /dev/null
@@ -1,98 +0,0 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
-from enum import Enum
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from cereal import car
-from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
-
-FEEDBACK_MAX_DURATION = 10.0
-ButtonType = car.CarState.ButtonEvent.Type
-
-# TODO-SP: Use common python enum when we move to raylib?
-CUSTOM_MAPPING_BOOKMARK = 1  # Custom button mapping value for bookmark action
-
-class ButtonPressType(Enum):
-  NONE = 'NONE'
-  LKAS = 'LKAS'
-  CUSTOM = 'CUSTOM'
-
-
-def main():
-  params = Params()
-  pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
-  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState', 'selfdriveStateSP'])
-  should_record_audio = False
-  block_num = 0
-  waiting_for_release = False
-  early_stop_triggered = False
-
-  while True:
-    sm.update()
-    should_send_bookmark = False
-    btn_pressed = get_button_event(sm, params)
-
-    if btn_pressed is not ButtonPressType.NONE:
-      if not should_record_audio:
-        if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
-          should_record_audio = True
-          block_num = 0
-          waiting_for_release = False
-          early_stop_triggered = False
-          cloudlog.info(f"{btn_pressed.value} button pressed - starting 10-second audio feedback")
-        else:
-          should_send_bookmark = True  # immediately send bookmark if toggle false
-          cloudlog.info(f"{btn_pressed.value} button pressed - bookmarking")
-      elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
-        waiting_for_release = True
-    elif waiting_for_release:  # Second press released
-      waiting_for_release = False
-      early_stop_triggered = True
-      cloudlog.info(f"{btn_pressed.value} button released - ending recording early")
-
-    if should_record_audio and sm.updated['rawAudioData']:
-      raw_audio = sm['rawAudioData']
-      msg = messaging.new_message('audioFeedback', valid=True)
-      msg.audioFeedback.audio.data = raw_audio.data
-      msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
-      msg.audioFeedback.blockNum = block_num
-      block_num += 1
-      if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered:  # Check for timeout or early stop
-        should_send_bookmark = True  # send bookmark at end of audio segment
-        should_record_audio = False
-        early_stop_triggered = False
-        cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
-      pm.send('audioFeedback', msg)
-
-    if sm.updated['bookmarkButton']:
-      cloudlog.info("Bookmark button pressed!")
-      should_send_bookmark = True
-
-    if should_send_bookmark:
-      msg = messaging.new_message('userBookmark', valid=True)
-      pm.send('userBookmark', msg)
-
-
-def get_button_event(sm, params):
-
-  custom_button_mapping = params.get("SteeringCustomButtonMapping")
-  custom_mapped = custom_button_mapping == CUSTOM_MAPPING_BOOKMARK
-  btn_pressed = ButtonPressType.NONE
-
-  # use custom button mapping if available
-  use_custom = custom_mapped and sm.updated['carState']
-  # only allow the LKAS button to record feedback when MADS is disabled & custom button mapping is not set
-  # TODO: https://github.com/commaai/openpilot/issues/36015
-  use_lkas = False #sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available
-
-  if use_custom or use_lkas:
-    for be in sm['carState'].buttonEvents:
-      if use_custom and be.type == ButtonType.altButton2:
-        btn_pressed = ButtonPressType.CUSTOM if be.pressed else ButtonPressType.NONE
-      elif use_lkas and be.type == ButtonType.lkas:
-        btn_pressed = ButtonPressType.LKAS if be.pressed else ButtonPressType.NONE
-
-  return btn_pressed
-
-if __name__ == '__main__':
-  main()
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
deleted file mode 100644
index 0da5445ed2..0000000000
--- a/selfdrive/ui/mici/layouts/home.py
+++ /dev/null
@@ -1,265 +0,0 @@
-import time
-
-from cereal import log
-import pyray as rl
-from collections.abc import Callable
-from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.text import wrap_text
-from openpilot.system.version import training_version, RELEASE_BRANCHES
-
-HEAD_BUTTON_FONT_SIZE = 40
-HOME_PADDING = 8
-
-NetworkType = log.DeviceState.NetworkType
-
-NETWORK_TYPES = {
-  NetworkType.none: "Offline",
-  NetworkType.wifi: "WiFi",
-  NetworkType.cell2G: "2G",
-  NetworkType.cell3G: "3G",
-  NetworkType.cell4G: "LTE",
-  NetworkType.cell5G: "5G",
-  NetworkType.ethernet: "Ethernet",
-}
-
-
-class DeviceStatus(Widget):
-  def __init__(self):
-    super().__init__()
-    self.set_rect(rl.Rectangle(0, 0, 300, 175))
-    self._update_state()
-    self._version_text = self._get_version_text()
-
-    self._do_welcome()
-
-  def _do_welcome(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
-
-  def refresh(self):
-    self._update_state()
-    self._version_text = self._get_version_text()
-
-  def _get_version_text(self) -> str:
-    brand = "sunnypilot"
-    description = ui_state.params.get("UpdaterCurrentDescription")
-    return f"{brand} {description}" if description else brand
-
-  def _update_state(self):
-    # TODO: refresh function that can be called periodically, not at 60 fps, so we can update version
-    # update system status
-    self._system_status = "SYSTEM READY ✓" if ui_state.panda_type != log.PandaState.PandaType.unknown else "BOOTING UP..."
-
-    # update network status
-    strength = ui_state.sm['deviceState'].networkStrength.raw
-    strength_text = "● " * strength + "○ " * (4 - strength)  # ◌ also works
-    network_type = NETWORK_TYPES[ui_state.sm['deviceState'].networkType.raw]
-    self._network_status = f"{network_type} {strength_text}"
-
-  def _render(self, _):
-    # draw status
-    status_rect = rl.Rectangle(self._rect.x, self._rect.y, self._rect.width, 40)
-    gui_label(status_rect, self._system_status, font_size=HEAD_BUTTON_FONT_SIZE, color=DEFAULT_TEXT_COLOR,
-              font_weight=FontWeight.BOLD, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-
-    # draw network status
-    network_rect = rl.Rectangle(self._rect.x, self._rect.y + 60, self._rect.width, 40)
-    gui_label(network_rect, self._network_status, font_size=40, color=DEFAULT_TEXT_COLOR,
-              font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-
-    # draw version
-    version_font_size = 30
-    version_rect = rl.Rectangle(self._rect.x, self._rect.y + 140, self._rect.width + 20, 40)
-    wrapped_text = '\n'.join(wrap_text(self._version_text, version_font_size, version_rect.width))
-    gui_label(version_rect, wrapped_text, font_size=version_font_size, color=DEFAULT_TEXT_COLOR,
-              font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
-
-
-class MiciHomeLayout(Widget):
-  def __init__(self):
-    super().__init__()
-    self._on_settings_click: Callable | None = None
-
-    self._last_refresh = 0
-    self._mouse_down_t: None | float = None
-    self._did_long_press = False
-    self._is_pressed_prev = False
-
-    self._version_text = None
-    self._experimental_mode = False
-
-    self._settings_txt = gui_app.texture("icons_mici/settings.png", 48, 48)
-    self._experimental_txt = gui_app.texture("icons_mici/experimental_mode.png", 48, 48)
-    self._mic_txt = gui_app.texture("icons_mici/microphone.png", 32, 46)
-
-    self._net_type = NETWORK_TYPES.get(NetworkType.none)
-    self._net_strength = 0
-
-    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44)
-    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 37)
-    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 37)
-    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 37)
-    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 37)
-
-    self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 54, 36)
-    self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 54, 36)
-    self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 54, 36)
-    self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 54, 36)
-    self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 54, 36)
-
-    self._openpilot_label = MiciLabel("sunnypilot", font_size=90, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.AUDIOWIDE)
-    self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
-    self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
-    self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-
-  def show_event(self):
-    self._version_text = self._get_version_text()
-    self._update_network_status(ui_state.sm['deviceState'])
-    self._update_params()
-
-  def _update_params(self):
-    self._experimental_mode = ui_state.params.get_bool("ExperimentalMode")
-
-  def _update_state(self):
-    if self.is_pressed and not self._is_pressed_prev:
-      self._mouse_down_t = time.monotonic()
-    elif not self.is_pressed and self._is_pressed_prev:
-      self._mouse_down_t = None
-      self._did_long_press = False
-    self._is_pressed_prev = self.is_pressed
-
-    if self._mouse_down_t is not None:
-      if time.monotonic() - self._mouse_down_t > 0.5:
-        # long gating for experimental mode - only allow toggle if longitudinal control is available
-        if ui_state.has_longitudinal_control:
-          self._experimental_mode = not self._experimental_mode
-          ui_state.params.put("ExperimentalMode", self._experimental_mode)
-        self._mouse_down_t = None
-        self._did_long_press = True
-
-    if rl.get_time() - self._last_refresh > 5.0:
-      device_state = ui_state.sm['deviceState']
-      self._update_network_status(device_state)
-
-      # Update version text
-      self._version_text = self._get_version_text()
-      self._last_refresh = rl.get_time()
-      self._update_params()
-
-  def _update_network_status(self, device_state):
-    self._net_type = device_state.networkType
-    strength = device_state.networkStrength
-    self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0
-
-  def set_callbacks(self, on_settings: Callable | None = None):
-    self._on_settings_click = on_settings
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    if not self._did_long_press:
-      if self._on_settings_click:
-        self._on_settings_click()
-    self._did_long_press = False
-
-  def _get_version_text(self) -> tuple[str, str, str, str] | None:
-    description = ui_state.params.get("UpdaterCurrentDescription")
-
-    if description is not None and len(description) > 0:
-      # Expect "version / branch / commit / date"; be tolerant of other formats
-      try:
-        version, branch, commit, date = description.split(" / ")
-        return version, branch, commit, date
-      except Exception:
-        return None
-
-    return None
-
-  def _render(self, _):
-    # TODO: why is there extra space here to get it to be flush?
-    text_pos = rl.Vector2(self.rect.x - 2 + HOME_PADDING, self.rect.y - 16)
-    self._openpilot_label.set_position(text_pos.x, text_pos.y)
-    self._openpilot_label.render()
-
-    if self._version_text is not None:
-      # release branch
-      release_branch = self._version_text[1] in RELEASE_BRANCHES
-      version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
-      self._version_label.set_text(self._version_text[0])
-      self._version_label.set_position(version_pos.x, version_pos.y)
-      self._version_label.render()
-
-      self._date_label.set_text(" " + self._version_text[3])
-      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
-      self._date_label.render()
-
-      self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
-      self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
-      self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
-      self._branch_label.render()
-
-      if not release_branch:
-        # 2nd line
-        self._version_commit_label.set_text(self._version_text[2])
-        self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
-        self._version_commit_label.render()
-
-    self._render_bottom_status_bar()
-
-  def _render_bottom_status_bar(self):
-    # ***** Center-aligned bottom section icons *****
-
-    # TODO: refactor repeated icon drawing into a small loop
-    ITEM_SPACING = 18
-    Y_CENTER = 24
-
-    last_x = self.rect.x + HOME_PADDING
-
-    # Draw settings icon in bottom left corner
-    rl.draw_texture(self._settings_txt, int(last_x), int(self._rect.y + self.rect.height - self._settings_txt.height / 2 - Y_CENTER),
-                    rl.Color(255, 255, 255, int(255 * 0.9)))
-    last_x = last_x + self._settings_txt.width + ITEM_SPACING
-
-    # draw network
-    if self._net_type == NetworkType.wifi:
-      # There is no 1
-      draw_net_txt = {0: self._wifi_none_txt,
-                      2: self._wifi_low_txt,
-                      3: self._wifi_medium_txt,
-                      4: self._wifi_full_txt,
-                      5: self._wifi_full_txt}.get(self._net_strength, self._wifi_low_txt)
-      rl.draw_texture(draw_net_txt, int(last_x),
-                      int(self._rect.y + self.rect.height - draw_net_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, int(255 * 0.9)))
-      last_x += draw_net_txt.width + ITEM_SPACING
-
-    elif self._net_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
-      draw_net_txt = {0: self._cell_none_txt,
-                      2: self._cell_low_txt,
-                      3: self._cell_medium_txt,
-                      4: self._cell_high_txt,
-                      5: self._cell_full_txt}.get(self._net_strength, self._cell_none_txt)
-      rl.draw_texture(draw_net_txt, int(last_x),
-                      int(self._rect.y + self.rect.height - draw_net_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, int(255 * 0.9)))
-      last_x += draw_net_txt.width + ITEM_SPACING
-
-    else:
-      # No network
-      # Offset by difference in height between slashless and slash icons to make center align match
-      rl.draw_texture(self._wifi_slash_txt, int(last_x), int(self._rect.y + self.rect.height - self._wifi_slash_txt.height / 2 -
-                                                             (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2 - Y_CENTER),
-                      rl.Color(255, 255, 255, 255))
-      last_x += self._wifi_slash_txt.width + ITEM_SPACING
-
-    # draw experimental icon
-    if self._experimental_mode:
-      rl.draw_texture(self._experimental_txt, int(last_x),
-                      int(self._rect.y + self.rect.height - self._experimental_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, 255))
-      last_x += self._experimental_txt.width + ITEM_SPACING
-
-    # draw microphone icon when recording audio is enabled
-    if ui_state.recording_audio:
-      rl.draw_texture(self._mic_txt, int(last_x),
-                      int(self._rect.y + self.rect.height - self._mic_txt.height / 2 - Y_CENTER), rl.Color(255, 255, 255, 255))
-      last_x += self._mic_txt.width + ITEM_SPACING
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
deleted file mode 100644
index 8f24d0b9b9..0000000000
--- a/selfdrive/ui/mici/layouts/main.py
+++ /dev/null
@@ -1,152 +0,0 @@
-import pyray as rl
-from enum import IntEnum
-import cereal.messaging as messaging
-from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
-from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
-from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
-from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
-from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.lib.application import gui_app
-
-if gui_app.sunnypilot_ui():
-  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
-
-
-ONROAD_DELAY = 2.5  # seconds
-
-
-class MainState(IntEnum):
-  MAIN = 0
-  SETTINGS = 1
-
-
-class MiciMainLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._pm = messaging.PubMaster(['bookmarkButton'])
-
-    self._current_mode: MainState | None = None
-    self._prev_onroad = False
-    self._prev_standstill = False
-    self._onroad_time_delay: float | None = None
-    self._setup = False
-
-    # Initialize widgets
-    self._home_layout = MiciHomeLayout()
-    self._alerts_layout = MiciOffroadAlerts()
-    self._settings_layout = SettingsLayout()
-    self._onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
-
-    # Initialize widget rects
-    for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout):
-      # TODO: set parent rect and use it if never passed rect from render (like in Scroller)
-      widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-
-    self._scroller = Scroller([
-      self._alerts_layout,
-      self._home_layout,
-      self._onroad_layout,
-    ], spacing=0, pad_start=0, pad_end=0, scroll_indicator=False)
-    self._scroller.set_reset_scroll_at_show(False)
-
-    # Disable scrolling when onroad is interacting with bookmark
-    self._scroller.set_scrolling_enabled(lambda: not self._onroad_layout.is_swiping_left())
-
-    self._layouts = {
-      MainState.MAIN: self._scroller,
-      MainState.SETTINGS: self._settings_layout,
-    }
-
-    # Set callbacks
-    self._setup_callbacks()
-
-    # Start onboarding if terms or training not completed
-    self._onboarding_window = OnboardingWindow()
-    if not self._onboarding_window.completed:
-      gui_app.set_modal_overlay(self._onboarding_window)
-
-  def _setup_callbacks(self):
-    self._home_layout.set_callbacks(on_settings=self._on_settings_clicked)
-    self._settings_layout.set_callbacks(on_close=self._on_settings_closed)
-    self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
-    device.add_interactive_timeout_callback(self._set_mode_for_started)
-
-  def _scroll_to(self, layout: Widget):
-    layout_x = int(layout.rect.x)
-    self._scroller.scroll_to(layout_x, smooth=True)
-
-  def _render(self, _):
-    # Initial show event
-    if self._current_mode is None:
-      self._set_mode(MainState.MAIN)
-
-    if not self._setup:
-      if self._alerts_layout.active_alerts() > 0:
-        self._scroller.scroll_to(self._alerts_layout.rect.x)
-      else:
-        self._scroller.scroll_to(self._rect.width)
-      self._setup = True
-
-    # Render
-    if self._current_mode == MainState.MAIN:
-      self._scroller.render(self._rect)
-
-    elif self._current_mode == MainState.SETTINGS:
-      self._settings_layout.render(self._rect)
-
-    self._handle_transitions()
-
-  def _set_mode(self, mode: MainState):
-    if mode != self._current_mode:
-      if self._current_mode is not None:
-        self._layouts[self._current_mode].hide_event()
-      self._layouts[mode].show_event()
-      self._current_mode = mode
-
-  def _handle_transitions(self):
-    if ui_state.started != self._prev_onroad:
-      self._prev_onroad = ui_state.started
-
-      if ui_state.started:
-        self._onroad_time_delay = rl.get_time()
-      else:
-        self._set_mode_for_started(True)
-
-    # delay so we show home for a bit after starting
-    if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
-      self._set_mode_for_started(True)
-      self._onroad_time_delay = None
-
-    CS = ui_state.sm["carState"]
-    if not CS.standstill and self._prev_standstill:
-      self._set_mode(MainState.MAIN)
-      self._scroll_to(self._onroad_layout)
-    self._prev_standstill = CS.standstill
-
-  def _set_mode_for_started(self, onroad_transition: bool = False):
-    if ui_state.started:
-      CS = ui_state.sm["carState"]
-      # Only go onroad if car starts or is not at a standstill
-      if not CS.standstill or onroad_transition:
-        self._set_mode(MainState.MAIN)
-        self._scroll_to(self._onroad_layout)
-    else:
-      # Stay in settings if car turns off while in settings
-      if not onroad_transition or self._current_mode != MainState.SETTINGS:
-        self._set_mode(MainState.MAIN)
-        self._scroll_to(self._home_layout)
-
-  def _on_settings_clicked(self):
-    self._set_mode(MainState.SETTINGS)
-
-  def _on_settings_closed(self):
-    self._set_mode(MainState.MAIN)
-
-  def _on_bookmark_clicked(self):
-    user_bookmark = messaging.new_message('bookmarkButton')
-    user_bookmark.valid = True
-    self._pm.send('bookmarkButton', user_bookmark)
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
deleted file mode 100644
index 9f9c7b83ab..0000000000
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ /dev/null
@@ -1,521 +0,0 @@
-from enum import IntEnum
-
-import weakref
-import math
-import numpy as np
-import pyray as rl
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import SmallSlider
-from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
-from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
-from openpilot.system.ui.widgets.label import gui_label
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.version import terms_version, training_version, terms_version_sp
-
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkOnboarding
-
-
-class OnboardingState(IntEnum):
-  TERMS = 0
-  ONBOARDING = 1
-  DECLINE = 2
-  SUNNYLINK_CONSENT = 3
-
-
-class DriverCameraSetupDialog(DriverCameraDialog):
-  def __init__(self):
-    super().__init__(no_escape=True)
-    self.driver_state_renderer = DriverStateRenderer(inset=True)
-    self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 120, 120))
-    self.driver_state_renderer.load_icons()
-    self.driver_state_renderer.set_force_active(True)
-
-  def _render(self, rect):
-    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
-    self._camera_view._render(rect)
-
-    if not self._camera_view.frame:
-      gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD,
-                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-      rl.end_scissor_mode()
-      return -1
-
-    # Position dmoji on opposite side from driver
-    is_rhd = self.driver_state_renderer.is_rhd
-    self.driver_state_renderer.set_position(
-      rect.x + 8 if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width - 8,
-      rect.y + 8,
-    )
-    self.driver_state_renderer.render()
-
-    self._draw_face_detection(rect)
-
-    rl.end_scissor_mode()
-    return -1
-
-
-class TrainingGuidePreDMTutorial(SetupTermsPage):
-  def __init__(self, continue_callback):
-    super().__init__(continue_callback, continue_text="continue")
-    self._title_header = TermsHeader("driver monitoring setup", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
-
-    self._dm_label = UnifiedLabel("Next, we'll ensure comma four is mounted properly.\n\nIf it does not have a clear view of the driver, " +
-                                  "unplug and remount before continuing.", 42,
-                                  FontWeight.ROMAN)
-
-  def show_event(self):
-    super().show_event()
-    # Get driver monitoring model ready for next step
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
-
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class DMBadFaceDetected(SetupTermsPage):
-  def __init__(self, continue_callback, back_callback):
-    super().__init__(continue_callback, back_callback, continue_text="power off")
-    self._title_header = TermsHeader("make sure comma four can see your face", gui_app.texture("icons_mici/setup/orange_dm.png", 60, 60))
-    self._dm_label = UnifiedLabel("Re-mount if your face is occluded or driver monitoring has difficulty tracking your face.", 42, FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuideDMTutorial(Widget):
-  PROGRESS_DURATION = 4
-  LOOKING_THRESHOLD_DEG = 30.0
-
-  def __init__(self, continue_callback):
-    super().__init__()
-    self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48))
-    self._back_button.set_click_callback(self._show_bad_face_page)
-    self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42))
-
-    # Wrap the continue callback to restore settings
-    def wrapped_continue_callback():
-      device.set_offroad_brightness(None)
-      continue_callback()
-
-    self._good_button.set_click_callback(wrapped_continue_callback)
-    self._good_button.set_enabled(False)
-
-    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
-    self._dialog = DriverCameraSetupDialog()
-    self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, self._hide_bad_face_page)
-    self._should_show_bad_face_page = False
-
-    # Disable driver monitoring model when device times out for inactivity
-    def inactivity_callback():
-      ui_state.params.put_bool("IsDriverViewEnabled", False)
-
-    device.add_interactive_timeout_callback(inactivity_callback)
-
-  def _show_bad_face_page(self):
-    self._bad_face_page.show_event()
-    self.hide_event()
-    self._should_show_bad_face_page = True
-
-  def _hide_bad_face_page(self):
-    self._bad_face_page.hide_event()
-    self.show_event()
-    self._should_show_bad_face_page = False
-
-  def show_event(self):
-    super().show_event()
-    self._dialog.show_event()
-    self._progress.x = 0.0
-
-    device.set_offroad_brightness(100)
-
-  def _update_state(self):
-    super()._update_state()
-    if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
-      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
-
-    sm = ui_state.sm
-    if sm.recv_frame.get("driverMonitoringState", 0) == 0:
-      return
-
-    dm_state = sm["driverMonitoringState"]
-    driver_data = self._dialog.driver_state_renderer.get_driver_data()
-
-    if len(driver_data.faceOrientation) == 3:
-      pitch, yaw, _ = driver_data.faceOrientation
-      looking_center = abs(math.degrees(pitch)) < self.LOOKING_THRESHOLD_DEG and abs(math.degrees(yaw)) < self.LOOKING_THRESHOLD_DEG
-    else:
-      looking_center = False
-
-    # stay at 100% once reached
-    if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99:
-      slow = self._progress.x < 0.25
-      duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
-      self._progress.x += 1.0 / (duration * gui_app.target_fps)
-      self._progress.x = min(1.0, self._progress.x)
-    else:
-      self._progress.update(0.0)
-
-    self._good_button.set_enabled(self._progress.x >= 0.999)
-
-  def _render(self, _):
-    if self._should_show_bad_face_page:
-      return self._bad_face_page.render(self._rect)
-
-    self._dialog.render(self._rect)
-
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
-                                 int(self._rect.width), 80, rl.BLANK, rl.BLACK)
-
-    # draw white ring around dm icon to indicate progress
-    ring_thickness = 8
-
-    # DM icon is 120x120, positioned on opposite side from driver
-    dm_size = 120
-    is_rhd = self._dialog.driver_state_renderer._is_rhd
-    dm_center_x = (self._rect.x + dm_size / 2 + 8) if is_rhd else (self._rect.x + self._rect.width - dm_size / 2 - 8)
-    dm_center_y = self._rect.y + dm_size / 2 + 8
-    icon_edge_radius = dm_size / 2
-    outer_radius = icon_edge_radius + 1  # 2px outward from icon edge
-    inner_radius = outer_radius - ring_thickness  # Inset by ring_thickness
-    start_angle = 90.0  # Start from bottom
-    end_angle = start_angle + self._progress.x * 360.0  # Clockwise
-
-    # Fade in alpha
-    current_angle = end_angle - start_angle
-    alpha = int(np.interp(current_angle, [0.0, 45.0], [0, 255]))
-
-    # White to green
-    color_t = np.clip(np.interp(current_angle, [45.0, 360.0], [0.0, 1.0]), 0.0, 1.0)
-    r = int(np.interp(color_t, [0.0, 1.0], [255, 0]))
-    g = int(np.interp(color_t, [0.0, 1.0], [255, 255]))
-    b = int(np.interp(color_t, [0.0, 1.0], [255, 64]))
-    ring_color = rl.Color(r, g, b, alpha)
-
-    rl.draw_ring(
-      rl.Vector2(dm_center_x, dm_center_y),
-      inner_radius,
-      outer_radius,
-      start_angle,
-      end_angle,
-      36,
-      ring_color,
-    )
-
-    if self._dialog._camera_view.frame:
-      self._back_button.render(rl.Rectangle(
-        self._rect.x + 8,
-        self._rect.y + self._rect.height - self._back_button.rect.height,
-        self._back_button.rect.width,
-        self._back_button.rect.height,
-      ))
-
-      self._good_button.render(rl.Rectangle(
-        self._rect.x + self._rect.width - self._good_button.rect.width - 8,
-        self._rect.y + self._rect.height - self._good_button.rect.height,
-        self._good_button.rect.width,
-        self._good_button.rect.height,
-      ))
-
-    # rounded border
-    rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
-
-
-class TrainingGuideRecordFront(SetupTermsPage):
-  def __init__(self, continue_callback):
-    def on_back():
-      ui_state.params.put_bool("RecordFront", False)
-      continue_callback()
-
-    def on_continue():
-      ui_state.params.put_bool("RecordFront", True)
-      continue_callback()
-
-    super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
-    self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
-
-    self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
-                                  FontWeight.ROMAN)
-
-  def show_event(self):
-    super().show_event()
-    # Disable driver monitoring model after last step
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuideAttentionNotice(SetupTermsPage):
-  def __init__(self, continue_callback):
-    super().__init__(continue_callback, continue_text="continue")
-    self._title_header = TermsHeader("driver assistance", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
-    self._warning_label = UnifiedLabel("1. sunnypilot is a driver assistance system.\n\n" +
-                                       "2. You must pay attention at all times.\n\n" +
-                                       "3. You must be ready to take over at any time.\n\n" +
-                                       "4. You are fully responsible for driving the car.", 42,
-                                       FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._warning_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._warning_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuide(Widget):
-  def __init__(self, completed_callback=None):
-    super().__init__()
-    self._completed_callback = completed_callback
-    self._step = 0
-
-    self_ref = weakref.ref(self)
-
-    def on_continue():
-      if obj := self_ref():
-        obj._advance_step()
-
-    self._steps = [
-      TrainingGuideAttentionNotice(continue_callback=on_continue),
-      TrainingGuidePreDMTutorial(continue_callback=on_continue),
-      TrainingGuideDMTutorial(continue_callback=on_continue),
-      TrainingGuideRecordFront(continue_callback=on_continue),
-    ]
-
-  def show_event(self):
-    super().show_event()
-    device.set_override_interactive_timeout(300)
-
-  def hide_event(self):
-    super().hide_event()
-    device.set_override_interactive_timeout(None)
-
-  def _advance_step(self):
-    if self._step < len(self._steps) - 1:
-      self._step += 1
-      self._steps[self._step].show_event()
-    else:
-      self._step = 0
-      if self._completed_callback:
-        self._completed_callback()
-
-  def _render(self, _):
-    if self._step < len(self._steps):
-      self._steps[self._step].render(self._rect)
-    return -1
-
-
-class DeclinePage(Widget):
-  def __init__(self, back_callback=None):
-    super().__init__()
-    self._uninstall_slider = SmallSlider("uninstall sunnypilot", self._on_uninstall)
-
-    self._back_button = SmallButton("back")
-    self._back_button.set_click_callback(back_callback)
-
-    self._warning_header = TermsHeader("you must accept the\nterms to use sunnypilot",
-                                       gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
-
-  def _on_uninstall(self):
-    ui_state.params.put_bool("DoUninstall", True)
-    gui_app.request_close()
-
-  def _render(self, _):
-    self._warning_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16,
-      self._warning_header.rect.width,
-      self._warning_header.rect.height,
-    ))
-
-    self._back_button.set_opacity(1 - self._uninstall_slider.slider_percentage)
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
-
-    self._uninstall_slider.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._uninstall_slider.rect.width,
-      self._rect.y + self._rect.height - self._uninstall_slider.rect.height,
-      self._uninstall_slider.rect.width,
-      self._uninstall_slider.rect.height,
-    ))
-
-
-class TermsPage(SetupTermsPage):
-  def __init__(self, on_accept=None, on_decline=None):
-    super().__init__(on_accept, on_decline, "decline")
-
-    info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
-    self._title_header = TermsHeader("terms of service", info_txt)
-
-    self._terms_label = UnifiedLabel("You must accept the Terms of Service to use sunnypilot. " +
-                                     "Read the latest terms at https://sunnypilot.ai/terms before continuing.", 36,
-                                     FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset)
-    self._title_header.render()
-
-    self._terms_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 100,
-      self._terms_label.get_content_height(int(self._rect.width - 100)),
-    ))
-
-
-class OnboardingWindow(Widget):
-  def __init__(self):
-    super().__init__()
-    self._accepted_terms: bool = ui_state.params.get("HasAcceptedTerms") == terms_version
-    self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version
-
-    self._state = OnboardingState.TERMS if not self._accepted_terms else OnboardingState.ONBOARDING
-
-    self.set_rect(rl.Rectangle(0, 0, 458, gui_app.height))
-
-    # Windows
-    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_terms_declined)
-    self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
-    self._decline_page = DeclinePage(back_callback=self._on_decline_back)
-
-    # sunnylink consent pages
-    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
-    self._sunnylink = SunnylinkOnboarding()
-    if not self._accepted_terms:
-      self._state = OnboardingState.TERMS
-    elif not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
-    elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
-    else:
-      self._state = OnboardingState.ONBOARDING
-
-  def show_event(self):
-    super().show_event()
-    device.set_override_interactive_timeout(300)
-
-  def hide_event(self):
-    super().hide_event()
-    device.set_override_interactive_timeout(None)
-
-  @property
-  def completed(self) -> bool:
-    return self._accepted_terms and self._sunnylink.completed and self._training_done
-
-  def _on_terms_declined(self):
-    self._state = OnboardingState.DECLINE
-
-  def _on_decline_back(self):
-    self._state = OnboardingState.TERMS
-
-  def close(self):
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-    gui_app.set_modal_overlay(None)
-
-  def _on_terms_accepted(self):
-    ui_state.params.put("HasAcceptedTerms", terms_version)
-    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
-    if not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
-    elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
-    else:
-      self.close()
-
-  def _on_completed_training(self):
-    ui_state.params.put("CompletedTrainingVersion", training_version)
-    self.close()
-
-  def _render(self, _):
-    if self._state == OnboardingState.TERMS:
-      self._terms.render(self._rect)
-    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
-      self._sunnylink.render(self._rect)
-      if self._sunnylink.completed:
-        if not self._training_done:
-          self._state = OnboardingState.ONBOARDING
-        else:
-          self.close()
-    elif self._state == OnboardingState.ONBOARDING:
-      if not self._training_done:
-        self._training_guide.render(self._rect)
-      else:
-        self.close()
-    elif self._state == OnboardingState.DECLINE:
-      self._decline_page.render(self._rect)
-    return -1
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
deleted file mode 100644
index 64ce80e231..0000000000
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ /dev/null
@@ -1,365 +0,0 @@
-import os
-import threading
-import pyray as rl
-from enum import IntEnum
-from collections.abc import Callable
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
-from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
-from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
-from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import Widget, NavWidget
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.widgets.label import MiciLabel
-from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer
-from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
-
-
-class MiciFccModal(NavWidget):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
-  def __init__(self, file_path: str | None = None, text: str | None = None):
-    super().__init__()
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
-    self._content = HtmlRenderer(file_path=file_path, text=text)
-    self._scroll_panel = GuiScrollPanel2(horizontal=False)
-    self._fcc_logo = gui_app.texture("icons_mici/settings/device/fcc_logo.png", 76, 64)
-
-  def _render(self, rect: rl.Rectangle):
-    content_height = self._content.get_total_height(int(rect.width))
-    content_height += self._fcc_logo.height + 20
-
-    scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
-    scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
-
-    fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
-
-    scroll_content_rect.y += scroll_offset + self._fcc_logo.height + 20
-    self._content.render(scroll_content_rect)
-
-    rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE)
-
-    return -1
-
-
-def _engaged_confirmation_callback(callback: Callable, action_text: str):
-  if not ui_state.engaged:
-    def confirm_callback():
-      # Check engaged again in case it changed while the dialog was open
-      if not ui_state.engaged:
-        callback()
-
-    red = False
-    if action_text == "power off":
-      icon = "icons_mici/settings/device/power.png"
-      red = True
-    elif action_text == "reboot":
-      icon = "icons_mici/settings/device/reboot.png"
-    elif action_text == "reset":
-      icon = "icons_mici/settings/device/lkas.png"
-    elif action_text == "uninstall":
-      icon = "icons_mici/settings/device/uninstall.png"
-    else:
-      # TODO: check
-      icon = "icons_mici/settings/comma_icon.png"
-
-    dlg: BigConfirmationDialogV2 | BigDialog = BigConfirmationDialogV2(f"slide to\n{action_text.lower()}", icon, red=red,
-                                                                       exit_on_confirm=action_text == "reset",
-                                                                       confirm_callback=confirm_callback)
-    gui_app.set_modal_overlay(dlg)
-  else:
-    dlg = BigDialog(f"Disengage to {action_text}", "")
-    gui_app.set_modal_overlay(dlg)
-
-
-class DeviceInfoLayoutMici(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self.set_rect(rl.Rectangle(0, 0, 360, 180))
-
-    params = Params()
-    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
-    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
-    max_width = int(self._rect.width - 20)
-    self._dongle_id_label = MiciLabel("device ID", 48, width=max_width, color=header_color, font_weight=FontWeight.DISPLAY)
-    self._dongle_id_text_label = MiciLabel(params.get("DongleId") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
-
-    self._serial_number_label = MiciLabel("serial", 48, color=header_color, font_weight=FontWeight.DISPLAY)
-    self._serial_number_text_label = MiciLabel(params.get("HardwareSerial") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
-
-  def _render(self, _):
-    self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10)
-    self._dongle_id_label.render()
-
-    self._dongle_id_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
-    self._dongle_id_text_label.render()
-
-    self._serial_number_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
-    self._serial_number_label.render()
-
-    self._serial_number_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
-    self._serial_number_text_label.render()
-
-
-class UpdaterState(IntEnum):
-  IDLE = 0
-  WAITING_FOR_UPDATER = 1
-  UPDATER_RESPONDING = 2
-
-
-class PairBigButton(BigButton):
-  def __init__(self):
-    super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png", icon_size=(33, 60))
-
-  def _get_label_font_size(self):
-    return 64
-
-  def _update_state(self):
-    if ui_state.prime_state.is_paired():
-      self.set_text("paired")
-      if ui_state.prime_state.is_prime():
-        self.set_value("subscribed")
-      else:
-        self.set_value("upgrade to prime")
-    else:
-      self.set_text("pair")
-      self.set_value("connect.comma.ai")
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    super()._handle_mouse_release(mouse_pos)
-
-    # TODO: show ad dialog when clicked if not prime
-    if ui_state.prime_state.is_paired():
-      return
-    dlg: BigDialog | PairingDialog
-    if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to complete initial pairing"), "")
-    elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID):
-      dlg = BigDialog(tr("Device must be registered with the comma.ai backend to pair"), "")
-    else:
-      dlg = PairingDialog()
-    gui_app.set_modal_overlay(dlg)
-
-
-UPDATER_TIMEOUT = 10.0  # seconds to wait for updater to respond
-
-
-class UpdateOpenpilotBigButton(BigButton):
-  def __init__(self):
-    self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
-    self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70)
-    self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
-    super().__init__("update sunnypilot", "", self._txt_update_icon)
-
-    self._waiting_for_updater_t: float | None = None
-    self._hide_value_t: float | None = None
-    self._state: UpdaterState = UpdaterState.IDLE
-
-    ui_state.add_offroad_transition_callback(self.offroad_transition)
-
-  def offroad_transition(self):
-    if ui_state.is_offroad():
-      self.set_enabled(True)
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    if not system_time_valid():
-      dlg = BigDialog(tr("Please connect to Wi-Fi to update"), "")
-      gui_app.set_modal_overlay(dlg)
-      return
-
-    self.set_enabled(False)
-    self._state = UpdaterState.WAITING_FOR_UPDATER
-    self.set_icon(self._txt_update_icon)
-
-    def run():
-      if self.get_value() == "download update":
-        os.system("pkill -SIGHUP -f system.updated.updated")
-      elif self.get_value() == "update now":
-        ui_state.params.put_bool("DoReboot", True)
-      else:
-        os.system("pkill -SIGUSR1 -f system.updated.updated")
-
-    threading.Thread(target=run, daemon=True).start()
-
-  def set_value(self, value: str):
-    super().set_value(value)
-    if value:
-      self.set_text("")
-    else:
-      self.set_text("update sunnypilot")
-
-  def _update_state(self):
-    if ui_state.started:
-      self.set_enabled(False)
-      return
-
-    updater_state = ui_state.params.get("UpdaterState") or ""
-    failed_count = ui_state.params.get("UpdateFailedCount")
-    failed = False if failed_count is None else int(failed_count) > 0
-
-    if ui_state.params.get_bool("UpdateAvailable"):
-      self.set_rotate_icon(False)
-      self.set_enabled(True)
-      if self.get_value() != "update now":
-        self.set_value("update now")
-        self.set_icon(self._txt_reboot_icon)
-
-    elif self._state == UpdaterState.WAITING_FOR_UPDATER:
-      self.set_rotate_icon(True)
-      if updater_state != "idle":
-        self._state = UpdaterState.UPDATER_RESPONDING
-
-      # Recover from updater not responding (time invalid shortly after boot)
-      if self._waiting_for_updater_t is None:
-        self._waiting_for_updater_t = rl.get_time()
-
-      if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT:
-        self.set_rotate_icon(False)
-        self.set_value("updater failed\nto respond")
-        self._state = UpdaterState.IDLE
-        self._hide_value_t = rl.get_time()
-
-    elif self._state == UpdaterState.UPDATER_RESPONDING:
-      if updater_state == "idle":
-        self.set_rotate_icon(False)
-        self._state = UpdaterState.IDLE
-        self._hide_value_t = rl.get_time()
-      else:
-        if self.get_value() != updater_state:
-          self.set_value(updater_state)
-
-    elif self._state == UpdaterState.IDLE:
-      self.set_rotate_icon(False)
-      if failed:
-        if self.get_value() != "failed to update":
-          self.set_value("failed to update")
-
-      elif ui_state.params.get_bool("UpdaterFetchAvailable"):
-        self.set_enabled(True)
-        if self.get_value() != "download update":
-          self.set_value("download update")
-
-      elif self._hide_value_t is not None:
-        self.set_enabled(True)
-        if self.get_value() == "checking...":
-          self.set_value("up to date")
-          self.set_icon(self._txt_up_to_date_icon)
-
-        # Hide previous text after short amount of time (up to date or failed)
-        if rl.get_time() - self._hide_value_t > 3.0:
-          self._hide_value_t = None
-          self.set_value("")
-          self.set_icon(self._txt_update_icon)
-      else:
-        if self.get_value() != "":
-          self.set_value("")
-
-    if self._state != UpdaterState.WAITING_FOR_UPDATER:
-      self._waiting_for_updater_t = None
-
-
-class DeviceLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
-    super().__init__()
-
-    self._fcc_dialog: HtmlModal | None = None
-    self._driver_camera: DriverCameraDialog | None = None
-    self._training_guide: TrainingGuide | None = None
-
-    def power_off_callback():
-      ui_state.params.put_bool("DoShutdown", True)
-
-    def reboot_callback():
-      ui_state.params.put_bool("DoReboot", True)
-
-    def reset_calibration_callback():
-      params = ui_state.params
-      params.remove("CalibrationParams")
-      params.remove("LiveTorqueParameters")
-      params.remove("LiveParameters")
-      params.remove("LiveParametersV2")
-      params.remove("LiveDelay")
-      params.put_bool("OnroadCycleRequested", True)
-
-    def uninstall_openpilot_callback():
-      ui_state.params.put_bool("DoUninstall", True)
-
-    reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png", icon_size=(114, 60))
-    reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
-
-    uninstall_openpilot_btn = BigButton("uninstall sunnypilot", "", "icons_mici/settings/device/uninstall.png")
-    uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall"))
-
-    reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False, icon_size=(64, 70))
-    reboot_btn.set_click_callback(lambda: _engaged_confirmation_callback(reboot_callback, "reboot"))
-
-    self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True, icon_size=(64, 66))
-    self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off"))
-
-    regulatory_btn = BigButton("regulatory info", "", "icons_mici/settings/device/info.png")
-    regulatory_btn.set_click_callback(self._on_regulatory)
-
-    driver_cam_btn = BigButton("driver\ncamera preview", "", "icons_mici/settings/device/cameras.png")
-    driver_cam_btn.set_click_callback(self._show_driver_camera)
-    driver_cam_btn.set_enabled(lambda: ui_state.is_offroad())
-
-    review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png")
-    review_training_guide_btn.set_click_callback(self._on_review_training_guide)
-    review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad())
-
-    self._scroller = Scroller([
-      DeviceInfoLayoutMici(),
-      UpdateOpenpilotBigButton(),
-      PairBigButton(),
-      review_training_guide_btn,
-      driver_cam_btn,
-      # lang_button,
-      reset_calibration_btn,
-      uninstall_openpilot_btn,
-      regulatory_btn,
-      reboot_btn,
-      self._power_off_btn,
-    ], snap_items=False)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
-
-    # Hide power off button when onroad
-    ui_state.add_offroad_transition_callback(self._offroad_transition)
-
-  def _on_regulatory(self):
-    if not self._fcc_dialog:
-      self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html"))
-    gui_app.set_modal_overlay(self._fcc_dialog)
-
-  def _offroad_transition(self):
-    self._power_off_btn.set_visible(ui_state.is_offroad())
-
-  def _show_driver_camera(self):
-    if not self._driver_camera:
-      self._driver_camera = DriverCameraDialog()
-    gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None))
-
-  def _on_review_training_guide(self):
-    if not self._training_guide:
-      def completed_callback():
-        gui_app.set_modal_overlay(None)
-
-      self._training_guide = TrainingGuide(completed_callback=completed_callback)
-    gui_app.set_modal_overlay(self._training_guide, callback=lambda result: setattr(self, '_training_guide', None))
-
-  def show_event(self):
-    super().show_event()
-    self._scroller.show_event()
-
-  def _render(self, rect: rl.Rectangle):
-    self._scroller.render(rect)
diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
deleted file mode 100644
index db68632c0e..0000000000
--- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
+++ /dev/null
@@ -1,459 +0,0 @@
-import math
-import numpy as np
-import pyray as rl
-from collections.abc import Callable
-
-from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
-from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
-from openpilot.system.ui.widgets import Widget, NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
-
-
-def normalize_ssid(ssid: str) -> str:
-  return ssid.replace("’", "'")  # for iPhone hotspots
-
-
-class LoadingAnimation(Widget):
-  def _render(self, _):
-    cx = int(self._rect.x + 70)
-    cy = int(self._rect.y + self._rect.height / 2 - 50)
-
-    y_mag = 20
-    anim_scale = 5
-    spacing = 28
-
-    for i in range(3):
-      x = cx - spacing + i * spacing
-      y = int(cy + min(math.sin((rl.get_time() - i * 0.2) * anim_scale) * y_mag, 0))
-      alpha = int(np.interp(cy - y, [0, y_mag], [255 * 0.45, 255 * 0.9]))
-      rl.draw_circle(x, y, 10, rl.Color(255, 255, 255, alpha))
-
-
-class WifiIcon(Widget):
-  def __init__(self):
-    super().__init__()
-    self.set_rect(rl.Rectangle(0, 0, 86, 64))
-
-    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 86, 64)
-    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 86, 64)
-    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 86, 64)
-    self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 22, 32)
-
-    self._network: Network | None = None
-    self._scale = 1.0
-
-  def set_current_network(self, network: Network):
-    self._network = network
-
-  def set_scale(self, scale: float):
-    self._scale = scale
-
-  @staticmethod
-  def get_strength_icon_idx(strength: int) -> int:
-    return round(strength / 100 * 2)
-
-  def _render(self, _):
-    if self._network is None:
-      return
-
-    # Determine which wifi strength icon to use
-    strength = self.get_strength_icon_idx(self._network.strength)
-    if strength == 2:
-      strength_icon = self._wifi_full_txt
-    elif strength == 1:
-      strength_icon = self._wifi_medium_txt
-    else:
-      strength_icon = self._wifi_low_txt
-
-    icon_x = int(self._rect.x + (self._rect.width - strength_icon.width * self._scale) // 2)
-    icon_y = int(self._rect.y + (self._rect.height - strength_icon.height * self._scale) // 2)
-    rl.draw_texture_ex(strength_icon, (icon_x, icon_y), 0.0, self._scale, rl.WHITE)
-
-    # Render lock icon at lower right of wifi icon if secured
-    if self._network.security_type not in (SecurityType.OPEN, SecurityType.UNSUPPORTED):
-      lock_scale = self._scale * 1.1
-      lock_x = int(icon_x + 1 + strength_icon.width * self._scale - self._lock_txt.width * lock_scale / 2)
-      lock_y = int(icon_y + 1 + strength_icon.height * self._scale - self._lock_txt.height * lock_scale / 2)
-      rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, lock_scale, rl.WHITE)
-
-
-class WifiItem(BigDialogOptionButton):
-  LEFT_MARGIN = 20
-
-  def __init__(self, network: Network):
-    super().__init__(network.ssid)
-
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
-
-    self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)
-
-    self._network = network
-    self._wifi_icon = WifiIcon()
-    self._wifi_icon.set_current_network(network)
-
-  def set_current_network(self, network: Network):
-    self._network = network
-    self._wifi_icon.set_current_network(network)
-
-  def _render(self, _):
-    if self._network.is_connected:
-      selected_x = int(self._rect.x - self._selected_txt.width / 2)
-      selected_y = int(self._rect.y + (self._rect.height - self._selected_txt.height) / 2)
-      rl.draw_texture(self._selected_txt, selected_x, selected_y, rl.WHITE)
-
-    self._wifi_icon.set_scale((1.0 if self._selected else 0.65) * 0.7)
-    self._wifi_icon.render(rl.Rectangle(
-      self._rect.x + self.LEFT_MARGIN,
-      self._rect.y,
-      self.SELECTED_HEIGHT,
-      self._rect.height
-    ))
-
-    if self._selected:
-      self._label.set_font_size(self.SELECTED_HEIGHT)
-      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
-      self._label.set_font_weight(FontWeight.DISPLAY)
-    else:
-      self._label.set_font_size(self.HEIGHT)
-      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
-      self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
-
-    label_offset = self.LEFT_MARGIN + self._wifi_icon.rect.width + 20
-    label_rect = rl.Rectangle(self._rect.x + label_offset, self._rect.y, self._rect.width - label_offset, self._rect.height)
-    self._label.set_text(normalize_ssid(self._network.ssid))
-    self._label.render(label_rect)
-
-
-class ConnectButton(Widget):
-  def __init__(self):
-    super().__init__()
-    self._bg_txt = gui_app.texture("icons_mici/settings/network/new/connect_button.png", 410, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/connect_button_pressed.png", 410, 100)
-    self._bg_full_txt = gui_app.texture("icons_mici/settings/network/new/full_connect_button.png", 520, 100)
-    self._bg_full_pressed_txt = gui_app.texture("icons_mici/settings/network/new/full_connect_button_pressed.png", 520, 100)
-
-    self._full: bool = False
-
-    self._label = UnifiedLabel("", 36, FontWeight.MEDIUM, rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-
-  @property
-  def full(self) -> bool:
-    return self._full
-
-  def set_full(self, full: bool):
-    self._full = full
-    self.set_rect(rl.Rectangle(0, 0, 520 if self._full else 410, 100))
-
-  def set_label(self, text: str):
-    self._label.set_text(text)
-
-  def _render(self, _):
-    if self._full:
-      bg_txt = self._bg_full_pressed_txt if self.is_pressed and self.enabled else self._bg_full_txt
-    else:
-      bg_txt = self._bg_pressed_txt if self.is_pressed and self.enabled else self._bg_txt
-
-    rl.draw_texture(bg_txt, int(self._rect.x), int(self._rect.y), rl.WHITE)
-
-    self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9) if self.enabled else int(255 * 0.9 * 0.65)))
-    self._label.render(self._rect)
-
-
-class ForgetButton(Widget):
-  HORIZONTAL_MARGIN = 8
-
-  def __init__(self, forget_network: Callable, open_network_manage_page):
-    super().__init__()
-    self._forget_network = forget_network
-    self._open_network_manage_page = open_network_manage_page
-
-    self._bg_txt = gui_app.texture("icons_mici/settings/network/new/forget_button.png", 100, 100)
-    self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/forget_button_pressed.png", 100, 100)
-    self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 35, 42)
-    self.set_rect(rl.Rectangle(0, 0, 100 + self.HORIZONTAL_MARGIN * 2, 100))
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    super()._handle_mouse_release(mouse_pos)
-    dlg = BigConfirmationDialogV2("slide to forget", "icons_mici/settings/network/new/trash.png", red=True,
-                                  confirm_callback=self._forget_network)
-    gui_app.set_modal_overlay(dlg, callback=self._open_network_manage_page)
-
-  def _render(self, _):
-    bg_txt = self._bg_pressed_txt if self.is_pressed else self._bg_txt
-    rl.draw_texture(bg_txt, int(self._rect.x + self.HORIZONTAL_MARGIN), int(self._rect.y), rl.WHITE)
-
-    trash_x = int(self._rect.x + (self._rect.width - self._trash_txt.width) // 2)
-    trash_y = int(self._rect.y + (self._rect.height - self._trash_txt.height) // 2)
-    rl.draw_texture(self._trash_txt, trash_x, trash_y, rl.WHITE)
-
-
-class NetworkInfoPage(NavWidget):
-  def __init__(self, wifi_manager, connect_callback: Callable, forget_callback: Callable, open_network_manage_page: Callable):
-    super().__init__()
-    self._wifi_manager = wifi_manager
-
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-
-    self._wifi_icon = WifiIcon()
-    self._forget_btn = ForgetButton(lambda: forget_callback(self._network.ssid) if self._network is not None else None,
-                                    open_network_manage_page)
-    self._connect_btn = ConnectButton()
-    self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)
-
-    self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
-    self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
-                                  alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-
-    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
-
-    # State
-    self._network: Network | None = None
-    self._connecting: Callable[[], str | None] | None = None
-
-  def show_event(self):
-    super().show_event()
-    self._title.reset_scroll()
-
-  def update_networks(self, networks: dict[str, Network]):
-    # update current network from latest scan results
-    for ssid, network in networks.items():
-      if self._network is not None and ssid == self._network.ssid:
-        self.set_current_network(network)
-        break
-    else:
-      # network disappeared, close page
-      gui_app.set_modal_overlay(None)
-
-  def _update_state(self):
-    super()._update_state()
-    # Modal overlays stop main UI rendering, so we need to call here
-    self._wifi_manager.process_callbacks()
-
-    if self._network is None:
-      return
-
-    self._connect_btn.set_full(not self._network.is_saved and not self._is_connecting)
-    if self._is_connecting:
-      self._connect_btn.set_label("connecting...")
-      self._connect_btn.set_enabled(False)
-    elif self._network.is_connected:
-      self._connect_btn.set_label("connected")
-      self._connect_btn.set_enabled(False)
-    elif self._network.security_type == SecurityType.UNSUPPORTED:
-      self._connect_btn.set_label("connect")
-      self._connect_btn.set_enabled(False)
-    else:  # saved or unknown
-      self._connect_btn.set_label("connect")
-      self._connect_btn.set_enabled(True)
-
-    self._title.set_text(normalize_ssid(self._network.ssid))
-    if self._network.security_type == SecurityType.OPEN:
-      self._subtitle.set_text("open")
-    elif self._network.security_type == SecurityType.UNSUPPORTED:
-      self._subtitle.set_text("unsupported")
-    else:
-      self._subtitle.set_text("secured")
-
-  def set_current_network(self, network: Network):
-    self._network = network
-    self._wifi_icon.set_current_network(network)
-
-  def set_connecting(self, is_connecting: Callable[[], str | None]):
-    self._connecting = is_connecting
-
-  @property
-  def _is_connecting(self):
-    if self._connecting is None or self._network is None:
-      return False
-    is_connecting = self._connecting() == self._network.ssid
-    return is_connecting
-
-  def _render(self, _):
-    self._wifi_icon.render(rl.Rectangle(
-      self._rect.x + 32,
-      self._rect.y + (self._rect.height - self._connect_btn.rect.height - self._wifi_icon.rect.height) / 2,
-      self._wifi_icon.rect.width,
-      self._wifi_icon.rect.height,
-    ))
-
-    self._title.render(rl.Rectangle(
-      self._rect.x + self._wifi_icon.rect.width + 32 + 32,
-      self._rect.y + 32 - 16,
-      self._rect.width - (self._wifi_icon.rect.width + 32 + 32),
-      64,
-    ))
-
-    self._subtitle.render(rl.Rectangle(
-      self._rect.x + self._wifi_icon.rect.width + 32 + 32,
-      self._rect.y + 32 + 64 - 16,
-      self._rect.width - (self._wifi_icon.rect.width + 32 + 32),
-      48,
-    ))
-
-    self._connect_btn.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._connect_btn.rect.height,
-      self._connect_btn.rect.width,
-      self._connect_btn.rect.height,
-    ))
-
-    if not self._connect_btn.full:
-      self._forget_btn.render(rl.Rectangle(
-        self._rect.x + self._rect.width - self._forget_btn.rect.width,
-        self._rect.y + self._rect.height - self._forget_btn.rect.height,
-        self._forget_btn.rect.width,
-        self._forget_btn.rect.height,
-      ))
-
-    return -1
-
-
-class WifiUIMici(BigMultiOptionDialog):
-  # Wait this long after user interacts with widget to update network list
-  INACTIVITY_TIMEOUT = 1
-
-  def __init__(self, wifi_manager: WifiManager, back_callback: Callable):
-    super().__init__([], None)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
-
-    self._network_info_page = NetworkInfoPage(wifi_manager, self._connect_to_network, self._forget_network, self._open_network_manage_page)
-    self._network_info_page.set_connecting(lambda: self._connecting)
-
-    self._loading_animation = LoadingAnimation()
-
-    self._wifi_manager = wifi_manager
-    self._connecting: str | None = None
-    self._networks: dict[str, Network] = {}
-
-    # widget state
-    self._last_interaction_time = -float('inf')
-    self._restore_selection = False
-
-    self._wifi_manager.add_callbacks(
-      need_auth=self._on_need_auth,
-      activated=self._on_activated,
-      forgotten=self._on_forgotten,
-      networks_updated=self._on_network_updated,
-      disconnected=self._on_disconnected,
-    )
-
-  def show_event(self):
-    # Call super to prepare scroller; selection scroll is handled dynamically
-    super().show_event()
-    self._wifi_manager.set_active(True)
-    self._last_interaction_time = -float('inf')
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_manager.set_active(False)
-
-  def _open_network_manage_page(self, result=None):
-    self._network_info_page.update_networks(self._networks)
-    gui_app.set_modal_overlay(self._network_info_page)
-
-  def _forget_network(self, ssid: str):
-    network = self._networks.get(ssid)
-    if network is None:
-      cloudlog.warning(f"Trying to forget unknown network: {ssid}")
-      return
-
-    self._wifi_manager.forget_connection(network.ssid)
-
-  def _on_network_updated(self, networks: list[Network]):
-    self._networks = {network.ssid: network for network in networks}
-    self._update_buttons()
-    self._network_info_page.update_networks(self._networks)
-
-  def _update_buttons(self):
-    # Don't update buttons while user is actively interacting
-    if rl.get_time() - self._last_interaction_time < self.INACTIVITY_TIMEOUT:
-      return
-
-    for network in self._networks.values():
-      # pop and re-insert to eliminate stuttering on update (prevents position lost for a frame)
-      network_button_idx = next((i for i, btn in enumerate(self._scroller._items) if btn.option == network.ssid), None)
-      if network_button_idx is not None:
-        network_button = self._scroller._items.pop(network_button_idx)
-        # Update network on existing button
-        network_button.set_current_network(network)
-      else:
-        network_button = WifiItem(network)
-
-      self._scroller.add_widget(network_button)
-
-    # remove networks no longer present
-    self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks]
-
-    # try to restore previous selection to prevent jumping from adding/removing/reordering buttons
-    self._restore_selection = True
-
-  def _connect_with_password(self, ssid: str, password: str):
-    if password:
-      self._connecting = ssid
-      self._wifi_manager.connect_to_network(ssid, password)
-      self._update_buttons()
-
-  def _on_option_selected(self, option: str):
-    super()._on_option_selected(option)
-
-    if option in self._networks:
-      self._network_info_page.set_current_network(self._networks[option])
-      self._open_network_manage_page()
-
-  def _connect_to_network(self, ssid: str):
-    network = self._networks.get(ssid)
-    if network is None:
-      cloudlog.warning(f"Trying to connect to unknown network: {ssid}")
-      return
-
-    if network.is_saved:
-      self._connecting = network.ssid
-      self._wifi_manager.activate_connection(network.ssid)
-      self._update_buttons()
-    elif network.security_type == SecurityType.OPEN:
-      self._connecting = network.ssid
-      self._wifi_manager.connect_to_network(network.ssid, "")
-      self._update_buttons()
-    else:
-      self._on_need_auth(network.ssid, False)
-
-  def _on_need_auth(self, ssid, incorrect_password=True):
-    hint = "incorrect password..." if incorrect_password else "enter password..."
-    dlg = BigInputDialog(hint, "", minimum_length=8,
-                         confirm_callback=lambda _password: self._connect_with_password(ssid, _password))
-    # go back to the manage network page
-    gui_app.set_modal_overlay(dlg, self._open_network_manage_page)
-
-  def _on_activated(self):
-    self._connecting = None
-
-  def _on_forgotten(self):
-    self._connecting = None
-
-  def _on_disconnected(self):
-    self._connecting = None
-
-  def _update_state(self):
-    super()._update_state()
-    if self.is_pressed:
-      self._last_interaction_time = rl.get_time()
-
-  def _render(self, _):
-    # Update Scroller layout and restore current selection whenever buttons are updated, before first render
-    current_selection = self.get_selected_option()
-    if self._restore_selection and current_selection in self._networks:
-      self._scroller._layout()
-      BigMultiOptionDialog._on_option_selected(self, current_selection)
-      self._restore_selection = None
-
-    super()._render(_)
-
-    if not self._networks:
-      self._loading_animation.render(self._rect)
diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py
deleted file mode 100644
index a6f59a0389..0000000000
--- a/selfdrive/ui/mici/layouts/settings/settings.py
+++ /dev/null
@@ -1,118 +0,0 @@
-import pyray as rl
-from dataclasses import dataclass
-from enum import IntEnum
-from collections.abc import Callable
-
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
-from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.widgets import Widget, NavWidget
-
-
-class PanelType(IntEnum):
-  TOGGLES = 0
-  NETWORK = 1
-  DEVICE = 2
-  DEVELOPER = 3
-  USER_MANUAL = 4
-  FIREHOSE = 5
-
-
-@dataclass
-class PanelInfo:
-  name: str
-  instance: Widget
-
-
-class SettingsBigButton(BigButton):
-  def _get_label_font_size(self):
-    return 64
-
-
-class SettingsLayout(NavWidget):
-  def __init__(self):
-    super().__init__()
-    self._params = Params()
-    self._current_panel = None  # PanelType.DEVICE
-
-    toggles_btn = SettingsBigButton("toggles", "", "icons_mici/settings.png")
-    toggles_btn.set_click_callback(lambda: self._set_current_panel(PanelType.TOGGLES))
-    network_btn = SettingsBigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56))
-    network_btn.set_click_callback(lambda: self._set_current_panel(PanelType.NETWORK))
-    device_btn = SettingsBigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60))
-    device_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVICE))
-    developer_btn = SettingsBigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60))
-    developer_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVELOPER))
-
-    firehose_btn = SettingsBigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62))
-    firehose_btn.set_click_callback(lambda: self._set_current_panel(PanelType.FIREHOSE))
-
-    self._scroller = Scroller([
-      toggles_btn,
-      network_btn,
-      device_btn,
-      PairBigButton(),
-      #BigDialogButton("manual", "", "icons_mici/settings/manual_icon.png", "Check out the mici user\nmanual at comma.ai/setup"),
-      firehose_btn,
-      developer_btn,
-    ], snap_items=False)
-
-    # Set up back navigation
-    self.set_back_callback(self.close_settings)
-    self.set_back_enabled(lambda: self._current_panel is None)
-
-    self._panels = {
-      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
-    }
-
-    self._font_medium = gui_app.font(FontWeight.MEDIUM)
-
-    # Callbacks
-    self._close_callback: Callable | None = None
-
-  def show_event(self):
-    super().show_event()
-    self._set_current_panel(None)
-    self._scroller.show_event()
-    if self._current_panel is not None:
-      self._panels[self._current_panel].instance.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    if self._current_panel is not None:
-      self._panels[self._current_panel].instance.hide_event()
-
-  def set_callbacks(self, on_close: Callable):
-    self._close_callback = on_close
-
-  def _render(self, rect: rl.Rectangle):
-    if self._current_panel is not None:
-      self._draw_current_panel()
-    else:
-      self._scroller.render(rect)
-
-  def _draw_current_panel(self):
-    panel = self._panels[self._current_panel]
-    panel.instance.render(self._rect)
-
-  def _set_current_panel(self, panel_type: PanelType | None):
-    if panel_type != self._current_panel:
-      if self._current_panel is not None:
-        self._panels[self._current_panel].instance.hide_event()
-      self._current_panel = panel_type
-      if self._current_panel is not None:
-        self._panels[self._current_panel].instance.show_event()
-
-  def close_settings(self):
-    if self._close_callback:
-      self._close_callback()
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
deleted file mode 100644
index b88ac20494..0000000000
--- a/selfdrive/ui/mici/widgets/dialog.py
+++ /dev/null
@@ -1,402 +0,0 @@
-import abc
-import math
-import pyray as rl
-from typing import Union
-from collections.abc import Callable
-from typing import cast
-from openpilot.system.ui.widgets import Widget, NavWidget, DialogResult
-from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
-from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-
-DEBUG = False
-
-PADDING = 20
-
-
-class BigDialogBase(NavWidget, abc.ABC):
-  def __init__(self):
-    super().__init__()
-    self._ret = DialogResult.NO_ACTION
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-    self.set_back_callback(lambda: setattr(self, '_ret', DialogResult.CANCEL))
-
-  def _render(self, _) -> DialogResult:
-    """
-    Allows `gui_app.set_modal_overlay(BigDialog(...))`.
-    The overlay runner keeps calling until result != NO_ACTION.
-    """
-
-    return self._ret
-
-
-class BigDialog(BigDialogBase):
-  def __init__(self,
-               title: str,
-               description: str):
-    super().__init__()
-    self._title = title
-    self._description = description
-
-  def _render(self, _) -> DialogResult:
-    super()._render(_)
-
-    # draw title
-    # TODO: we desperately need layouts
-    # TODO: coming up with these numbers manually is a pain and not scalable
-    # TODO: no clue what any of these numbers mean. VBox and HBox would remove all of this shite
-    max_width = self._rect.width - PADDING * 2
-
-    title_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.BOLD), self._title, 50, int(max_width)))
-    title_size = measure_text_cached(gui_app.font(FontWeight.BOLD), title_wrapped, 50)
-    text_x_offset = 0
-    title_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
-                              int(self._rect.y + PADDING),
-                              int(max_width),
-                              int(title_size.y))
-    gui_label(title_rect, title_wrapped, 50, font_weight=FontWeight.BOLD,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-
-    # draw description
-    desc_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.MEDIUM), self._description, 30, int(max_width)))
-    desc_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), desc_wrapped, 30)
-    desc_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
-                             int(self._rect.y + self._rect.height / 3),
-                             int(max_width),
-                             int(desc_size.y))
-    # TODO: text align doesn't seem to work properly with newlines
-    gui_label(desc_rect, desc_wrapped, 30, font_weight=FontWeight.MEDIUM,
-              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
-
-    return self._ret
-
-
-class BigConfirmationDialogV2(BigDialogBase):
-  def __init__(self, title: str, icon: str, red: bool = False,
-               exit_on_confirm: bool = True,
-               confirm_callback: Callable | None = None):
-    super().__init__()
-    self._confirm_callback = confirm_callback
-    self._exit_on_confirm = exit_on_confirm
-
-    icon_txt = gui_app.texture(icon, 64, 53)
-    self._slider: BigSlider | RedBigSlider
-    if red:
-      self._slider = RedBigSlider(title, icon_txt, confirm_callback=self._on_confirm)
-    else:
-      self._slider = BigSlider(title, icon_txt, confirm_callback=self._on_confirm)
-    self._slider.set_enabled(lambda: not self._swiping_away)
-
-  def _on_confirm(self):
-    if self._confirm_callback:
-      self._confirm_callback()
-    if self._exit_on_confirm:
-      self._ret = DialogResult.CONFIRM
-
-  def _update_state(self):
-    super()._update_state()
-    if self._swiping_away and not self._slider.confirmed:
-      self._slider.reset()
-
-  def _render(self, _) -> DialogResult:
-    self._slider.render(self._rect)
-    return self._ret
-
-
-class BigInputDialog(BigDialogBase):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.2
-  BACKSPACE_RATE = 25  # hz
-  TEXT_INPUT_SIZE = 35
-
-  def __init__(self,
-               hint: str,
-               default_text: str = "",
-               minimum_length: int = 1,
-               confirm_callback: Callable[[str], None] | None = None):
-    super().__init__()
-    self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
-                                    font_weight=FontWeight.MEDIUM)
-    self._keyboard = MiciKeyboard()
-    self._keyboard.set_text(default_text)
-    self._minimum_length = minimum_length
-
-    self._backspace_held_time: float | None = None
-
-    self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 42, 36)
-    self._backspace_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
-
-    self._enter_img = gui_app.texture("icons_mici/settings/keyboard/enter.png", 76, 62)
-    self._enter_disabled_img = gui_app.texture("icons_mici/settings/keyboard/enter_disabled.png", 76, 62)
-    self._enter_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
-
-    # rects for top buttons
-    self._top_left_button_rect = rl.Rectangle(0, 0, 0, 0)
-    self._top_right_button_rect = rl.Rectangle(0, 0, 0, 0)
-
-    def confirm_callback_wrapper():
-      self._ret = DialogResult.CONFIRM
-      if confirm_callback:
-        confirm_callback(self._keyboard.text())
-    self._confirm_callback = confirm_callback_wrapper
-
-  def _update_state(self):
-    super()._update_state()
-
-    last_mouse_event = gui_app.last_mouse_event
-    if last_mouse_event.left_down and rl.check_collision_point_rec(last_mouse_event.pos, self._top_right_button_rect) and self._backspace_img_alpha.x > 1:
-      if self._backspace_held_time is None:
-        self._backspace_held_time = rl.get_time()
-
-      if rl.get_time() - self._backspace_held_time > 0.5:
-        if gui_app.frame % round(gui_app.target_fps / self.BACKSPACE_RATE) == 0:
-          self._keyboard.backspace()
-
-    else:
-      self._backspace_held_time = None
-
-  def _render(self, _):
-    # draw current text so far below everything. text floats left but always stays in view
-    text = self._keyboard.text()
-    candidate_char = self._keyboard.get_candidate_character()
-    text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, self.TEXT_INPUT_SIZE)
-
-    bg_block_margin = 5
-    text_x = PADDING / 2 + self._enter_img.width + PADDING
-    text_field_rect = rl.Rectangle(text_x, int(self._rect.y + PADDING) - bg_block_margin,
-                                   int(self._rect.width - text_x * 2),
-                                   int(text_size.y))
-
-    # draw text input
-    # push text left with a gradient on left side if too long
-    if text_size.x > text_field_rect.width:
-      text_x -= text_size.x - text_field_rect.width
-
-    rl.begin_scissor_mode(int(text_field_rect.x), int(text_field_rect.y), int(text_field_rect.width), int(text_field_rect.height))
-    rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), text, rl.Vector2(text_x, text_field_rect.y), self.TEXT_INPUT_SIZE, 0, rl.WHITE)
-
-    # draw grayed out character user is hovering over
-    if candidate_char:
-      candidate_char_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), candidate_char, self.TEXT_INPUT_SIZE)
-      rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), candidate_char,
-                      rl.Vector2(min(text_x + text_size.x, text_field_rect.x + text_field_rect.width) - candidate_char_size.x, text_field_rect.y),
-                      self.TEXT_INPUT_SIZE, 0, rl.Color(255, 255, 255, 128))
-
-    rl.end_scissor_mode()
-
-    # draw gradient on left side to indicate more text
-    if text_size.x > text_field_rect.width:
-      rl.draw_rectangle_gradient_h(int(text_field_rect.x), int(text_field_rect.y), 80, int(text_field_rect.height),
-                                   rl.BLACK, rl.BLANK)
-
-    # draw cursor
-    if text:
-      blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2
-      cursor_x = min(text_x + text_size.x + 3, text_field_rect.x + text_field_rect.width)
-      rl.draw_rectangle_rounded(rl.Rectangle(int(cursor_x), int(text_field_rect.y), 4, int(text_size.y)),
-                                1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha)))
-
-    # draw backspace icon with nice fade
-    self._backspace_img_alpha.update(255 * bool(text))
-    if self._backspace_img_alpha.x > 1:
-      color = rl.Color(255, 255, 255, int(self._backspace_img_alpha.x))
-      rl.draw_texture(self._backspace_img, int(self._rect.width - self._backspace_img.width - 27), int(self._rect.y + 14), color)
-
-    if not text and self._hint_label.text and not candidate_char:
-      # draw description if no text entered yet and not drawing candidate char
-      self._hint_label.render(text_field_rect)
-
-    # TODO: move to update state
-    # make rect take up entire area so it's easier to click
-    self._top_left_button_rect = rl.Rectangle(self._rect.x, self._rect.y, text_field_rect.x, self._rect.height - self._keyboard.get_keyboard_height())
-    self._top_right_button_rect = rl.Rectangle(text_field_rect.x + text_field_rect.width, self._rect.y,
-                                               self._rect.width - (text_field_rect.x + text_field_rect.width), self._top_left_button_rect.height)
-
-    # draw enter button
-    self._enter_img_alpha.update(255 if len(text) >= self._minimum_length else 0)
-    color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x))
-    rl.draw_texture(self._enter_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)
-    color = rl.Color(255, 255, 255, 255 - int(self._enter_img_alpha.x))
-    rl.draw_texture(self._enter_disabled_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)
-
-    # keyboard goes over everything
-    self._keyboard.render(self._rect)
-
-    # draw debugging rect bounds
-    if DEBUG:
-      rl.draw_rectangle_lines_ex(text_field_rect, 1, rl.Color(100, 100, 100, 255))
-      rl.draw_rectangle_lines_ex(self._top_right_button_rect, 1, rl.Color(0, 255, 0, 255))
-      rl.draw_rectangle_lines_ex(self._top_left_button_rect, 1, rl.Color(0, 255, 0, 255))
-
-    return self._ret
-
-  def _handle_mouse_press(self, mouse_pos: MousePos):
-    super()._handle_mouse_press(mouse_pos)
-    # TODO: need to track where press was so enter and back can activate on release rather than press
-    #  or turn into icon widgets :eyes_open:
-    # handle backspace icon click
-    if rl.check_collision_point_rec(mouse_pos, self._top_right_button_rect) and self._backspace_img_alpha.x > 254:
-      self._keyboard.backspace()
-    elif rl.check_collision_point_rec(mouse_pos, self._top_left_button_rect) and self._enter_img_alpha.x > 254:
-      # handle enter icon click
-      self._confirm_callback()
-
-
-class BigDialogOptionButton(Widget):
-  HEIGHT = 64
-  SELECTED_HEIGHT = 74
-
-  def __init__(self, option: str):
-    super().__init__()
-    self.option = option
-    self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), self.HEIGHT))
-
-    self._selected = False
-
-    self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
-                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               scroll=True)
-
-  def show_event(self):
-    super().show_event()
-    self._label.reset_scroll()
-
-  def set_selected(self, selected: bool):
-    self._selected = selected
-    self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
-
-  def _render(self, _):
-    if DEBUG:
-      rl.draw_rectangle_lines_ex(self._rect, 1, rl.Color(0, 255, 0, 255))
-
-    # FIXME: offset x by -45 because scroller centers horizontally
-    if self._selected:
-      self._label.set_font_size(self.SELECTED_HEIGHT)
-      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
-      self._label.set_font_weight(FontWeight.DISPLAY)
-    else:
-      self._label.set_font_size(self.HEIGHT)
-      self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
-      self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
-
-    self._label.render(self._rect)
-
-
-class BigMultiOptionDialog(BigDialogBase):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
-  def __init__(self, options: list[str], default: str | None):
-    super().__init__()
-    self._options = options
-    if default is not None:
-      assert default in options
-
-    self._default_option: str | None = default
-    self._selected_option: str = self._default_option or (options[0] if len(options) > 0 else "")
-    self._last_selected_option: str = self._selected_option
-
-    # Widget doesn't differentiate between click and drag
-    self._can_click = True
-
-    self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
-
-    for option in options:
-      self._scroller.add_widget(BigDialogOptionButton(option))
-
-  def show_event(self):
-    super().show_event()
-    self._scroller.show_event()
-    if self._default_option is not None:
-      self._on_option_selected(self._default_option)
-
-  def get_selected_option(self) -> str:
-    return self._selected_option
-
-  def _on_option_selected(self, option: str):
-    y_pos = 0.0
-    for btn in self._scroller._items:
-      btn = cast(BigDialogOptionButton, btn)
-      if btn.option == option:
-        rect_center_y = self._rect.y + self._rect.height / 2
-        if btn._selected:
-          height = btn.rect.height
-        else:
-          # when selecting an option under current, account for changing heights
-          btn_center_y = btn.rect.y + btn.rect.height / 2  # not accurate, just to determine direction
-          height_offset = BigDialogOptionButton.SELECTED_HEIGHT - BigDialogOptionButton.HEIGHT
-          height = (BigDialogOptionButton.HEIGHT - height_offset) if rect_center_y < btn_center_y else BigDialogOptionButton.SELECTED_HEIGHT
-        y_pos = rect_center_y - (btn.rect.y + height / 2)
-        break
-
-    self._scroller.scroll_to(-y_pos)
-
-  def _selected_option_changed(self):
-    pass
-
-  def _handle_mouse_press(self, mouse_pos: MousePos):
-    super()._handle_mouse_press(mouse_pos)
-    self._can_click = True
-
-  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
-    super()._handle_mouse_event(mouse_event)
-
-    # # TODO: add generic _handle_mouse_click handler to Widget
-    if not self._scroller.scroll_panel.is_touch_valid():
-      self._can_click = False
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    super()._handle_mouse_release(mouse_pos)
-
-    if not self._can_click:
-      return
-
-    # select current option
-    for btn in self._scroller._items:
-      btn = cast(BigDialogOptionButton, btn)
-      if btn.option == self._selected_option:
-        self._on_option_selected(btn.option)
-        break
-
-  def _update_state(self):
-    super()._update_state()
-
-    # get selection by whichever button is closest to center
-    center_y = self._rect.y + self._rect.height / 2
-    closest_btn = (None, float('inf'))
-    for btn in self._scroller._items:
-      dist_y = abs((btn.rect.y + btn.rect.height / 2) - center_y)
-      if dist_y < closest_btn[1]:
-        closest_btn = (btn, dist_y)
-
-    if closest_btn[0]:
-      for btn in self._scroller._items:
-        btn.set_selected(btn.option == closest_btn[0].option)
-      self._selected_option = closest_btn[0].option
-
-    # Signal to subclasses if selection changed
-    if self._selected_option != self._last_selected_option:
-      self._selected_option_changed()
-      self._last_selected_option = self._selected_option
-
-  def _render(self, _):
-    super()._render(_)
-    self._scroller.render(self._rect)
-
-    return self._ret
-
-
-class BigDialogButton(BigButton):
-  def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", description: str = ""):
-    super().__init__(text, value, icon)
-    self._description = description
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    super()._handle_mouse_release(mouse_pos)
-
-    dlg = BigDialog(self.text, self._description)
-    gui_app.set_modal_overlay(dlg)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
deleted file mode 100644
index ac3d04f367..0000000000
--- a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
+++ /dev/null
@@ -1,59 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr, tr_noop
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-
-
-DESCRIPTIONS = {
-  'enforce_stock_longitudinal': tr_noop(
-    'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.'
-  ),
-}
-
-
-class ToyotaSettings(BrandSettings):
-  def __init__(self):
-    super().__init__()
-
-    self.enforce_stock_longitudinal = toggle_item_sp(
-      lambda: tr("Enforce Factory Longitudinal Control"),
-      description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]),
-      initial_state=ui_state.params.get_bool("ToyotaEnforceStockLongitudinal"),
-      callback=self._on_enable_enforce_stock_longitudinal,
-      enabled=lambda: not ui_state.engaged,
-    )
-
-    self.items = [self.enforce_stock_longitudinal, ]
-
-  def _on_enable_enforce_stock_longitudinal(self, state: bool):
-    if state:
-      def confirm_callback(result: int):
-        if result == DialogResult.CONFIRM:
-          ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True)
-          if ui_state.params.get_bool("AlphaLongitudinalEnabled"):
-            ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
-          ui_state.params.put_bool("OnroadCycleRequested", True)
-        else:
-          self.enforce_stock_longitudinal.action_item.set_state(False)
-
-      content = (f"<h1>{self.enforce_stock_longitudinal.title}</h1><br>" +
-                 f"<p>{self.enforce_stock_longitudinal.description}</p>")
-
-      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
-      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
-
-    else:
-      ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
-      ui_state.params.put_bool("OnroadCycleRequested", True)
-
-  def update_settings(self):
-    pass
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/models.py b/selfdrive/ui/sunnypilot/mici/layouts/models.py
deleted file mode 100644
index d5964ea964..0000000000
--- a/selfdrive/ui/sunnypilot/mici/layouts/models.py
+++ /dev/null
@@ -1,122 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from collections.abc import Callable
-
-from cereal import custom
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import NavWidget, Widget
-from openpilot.system.ui.widgets.scroller import Scroller
-
-
-class ModelsLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
-    super().__init__()
-    self.set_back_callback(back_callback)
-    self.original_back_callback = back_callback
-    self.focused_widget = None
-
-    self.current_model_btn = BigButton(tr("current model"), "", "")
-    self.current_model_btn.set_click_callback(self._show_folders)
-
-    self.cancel_download_btn = BigButton(tr("cancel download"), "", "")
-    self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
-
-    self.main_items: list[Widget] = [self.current_model_btn, self.cancel_download_btn]
-    self._scroller = Scroller(self.main_items, snap_items=False)
-
-  @property
-  def model_manager(self):
-    return ui_state.sm["modelManagerSP"]
-
-  def _get_grouped_bundles(self):
-    bundles = self.model_manager.availableBundles
-    folders = {}
-    for bundle in bundles:
-      folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
-      folders.setdefault(folder, []).append(bundle)
-    return folders
-
-  def _show_selection_view(self, items: list[Widget], back_callback: Callable):
-    self._scroller._items = items
-    for item in items:
-      item.set_touch_valid_callback(lambda: self._scroller.scroll_panel.is_touch_valid() and self._scroller.enabled)
-    self._scroller.scroll_panel.set_offset(0)
-    self.set_back_callback(back_callback)
-
-  def _show_folders(self):
-    self.focused_widget = self.current_model_btn
-    folders = self._get_grouped_bundles()
-    folder_buttons = []
-    default_btn = BigButton(tr("default model"), "", "")
-    default_btn.set_click_callback(self._select_default)
-    folder_buttons.append(default_btn)
-
-    for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
-      if folder.lower() in ["release models", "master models"]:
-        btn = BigButton(folder.lower(), "", "")
-        btn.set_click_callback(lambda f=folder: self._select_folder(f))
-        folder_buttons.append(btn)
-    self._show_selection_view(folder_buttons, self._reset_main_view)
-
-  def _select_model(self, bundle):
-    ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
-    self._reset_main_view()
-
-  def _select_default(self):
-    ui_state.params.remove("ModelManager_ActiveBundle")
-    self._reset_main_view()
-
-  def _select_folder(self, folder_name):
-    folders = self._get_grouped_bundles()
-    bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True)
-
-    btns = []
-    for bundle in bundles:
-      txt = bundle.displayName.lower()
-      btn = BigButton(txt, "", "")
-      btn.set_click_callback(lambda b=bundle: self._select_model(b))
-      btns.append(btn)
-    self._show_selection_view(btns, self._show_folders)
-
-  def _reset_main_view(self):
-    self._scroller._items = self.main_items
-    self.set_back_callback(self.original_back_callback)
-    if self.focused_widget and self.focused_widget in self.main_items:
-      x = self._scroller._pad_start
-      for item in self.main_items:
-        if not item.is_visible:
-          continue
-        if item == self.focused_widget:
-          break
-        x += item.rect.width + self._scroller._spacing
-      self._scroller.scroll_panel.set_offset(0)
-      self._scroller.scroll_to(x)
-      self.focused_widget = None
-    else:
-      self._scroller.scroll_panel.set_offset(0)
-
-  def _update_state(self):
-    super()._update_state()
-
-    manager = self.model_manager
-    if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
-      self.current_model_btn.set_value("downloading...")
-      self.cancel_download_btn.set_visible(True)
-    else:
-      self.current_model_btn.set_value(manager.activeBundle.internalName.lower() if manager.activeBundle else tr("default model"))
-      self.cancel_download_btn.set_visible(False)
-    self.current_model_btn.set_enabled(ui_state.is_offroad())
-    self.current_model_btn.set_text(tr("current model"))
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def show_event(self):
-    super().show_event()
-    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py b/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
deleted file mode 100644
index 930853e55c..0000000000
--- a/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
+++ /dev/null
@@ -1,97 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import pyray as rl
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import SmallSlider
-from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
-from openpilot.selfdrive.ui.ui_state import ui_state
-
-
-class SunnylinkConsentPage(SetupTermsPage):
-  def __init__(self, on_accept=None, on_decline=None, left_text: str = "disable", right_text: str = "enable"):
-    super().__init__(on_accept, on_decline, left_text, continue_text=right_text)
-
-    self._title_header = TermsHeader("sunnylink",
-                                     gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 66, 60))
-
-    self._terms_label = UnifiedLabel("sunnylink enables secured remote access to your comma device from anywhere, " +
-                                     "including settings management, remote monitoring, real-time dashboard, etc.",
-                                     36, FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render(self, _):
-    super()._render(_)
-    return -1
-
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset)
-    self._title_header.render()
-
-    self._terms_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 100,
-      self._terms_label.get_content_height(int(self._rect.width - 100)),
-    ))
-
-
-class SunnylinkConsentDisableConfirmPage(SunnylinkConsentPage):
-  def __init__(self, on_accept=None, on_decline=None):
-    super().__init__(on_accept=on_decline, on_decline=on_accept, left_text="enable", right_text="disable")
-
-    # we flip the continue & disable buttons to use slider for disable
-    self._continue_slider = True
-    self._continue_button = SmallSlider("disable", confirm_callback=on_decline)
-    self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed)
-
-    self._title_header = TermsHeader("disable sunnylink?",
-                                     gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
-
-    self._terms_label = UnifiedLabel("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " +
-                                     "If sunnylink is disabled, features such as settings management, " +
-                                     "remote monitoring, real-time dashboards will be unavailable.",
-                                     36, FontWeight.ROMAN)
-
-
-class SunnylinkOnboarding:
-  def __init__(self):
-    self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined}
-    self.disable_confirm = False
-
-    self.consent_page = SunnylinkConsentPage(on_decline=self._on_decline, on_accept=self._on_accept)
-    self.confirm_page = SunnylinkConsentDisableConfirmPage(on_decline=self._on_confirm_decline, on_accept=self._on_accept)
-
-  @property
-  def completed(self) -> bool:
-    return self.consent_done
-
-  def _on_accept(self):
-    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
-    ui_state.params.put_bool("SunnylinkEnabled", True)
-    self.consent_done = True
-
-  def _on_decline(self):
-    self.disable_confirm = True
-
-  def _on_confirm_decline(self):
-    ui_state.params.put_bool("SunnylinkEnabled", False)
-    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
-    self.consent_done = True
-
-  def render(self, rect):
-    if self.consent_done:
-      return
-
-    if self.disable_confirm:
-      self.confirm_page.render(rect)
-    else:
-      self.consent_page.render(rect)
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
deleted file mode 100644
index 69982e2298..0000000000
--- a/selfdrive/ui/sunnypilot/mici/layouts/settings.py
+++ /dev/null
@@ -1,47 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from enum import IntEnum
-
-from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
-
-ICON_SIZE = 70
-
-OP.PanelType = IntEnum(
-  "PanelType",
-  [es.name for es in OP.PanelType] + [
-    "SUNNYLINK",
-    "MODELS",
-  ],
-  start=0,
-)
-
-
-class SettingsLayoutSP(OP.SettingsLayout):
-  def __init__(self):
-    OP.SettingsLayout.__init__(self)
-
-    sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png")
-    sunnylink_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.SUNNYLINK))
-
-    models_btn = BigButton("models", "", "../../sunnypilot/selfdrive/assets/offroad/icon_models.png")
-    models_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.MODELS))
-
-    self._panels.update({
-      OP.PanelType.SUNNYLINK: OP.PanelInfo("sunnylink", SunnylinkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      OP.PanelType.MODELS: OP.PanelInfo("models", ModelsLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-    })
-
-    items = self._scroller._items.copy()
-
-    items.insert(1, sunnylink_btn)
-    items.insert(2, models_btn)
-    self._scroller._items.clear()
-    for item in items:
-      self._scroller.add_widget(item)
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
deleted file mode 100644
index 98f2a5e8ce..0000000000
--- a/selfdrive/ui/tests/.gitignore
+++ /dev/null
@@ -1,9 +0,0 @@
-test
-test_translations
-test_ui/report_1
-test_ui/raylib_report
-
-diff/*.mp4
-diff/*.html
-diff/.coverage
-diff/htmlcov/
diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py
deleted file mode 100755
index a581f68747..0000000000
--- a/selfdrive/ui/tests/diff/diff.py
+++ /dev/null
@@ -1,190 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import subprocess
-import tempfile
-import webbrowser
-import argparse
-from pathlib import Path
-from openpilot.common.basedir import BASEDIR
-
-DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
-
-
-def extract_frames(video_path, output_dir):
-  output_pattern = str(output_dir / "frame_%04d.png")
-  cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
-  subprocess.run(cmd, capture_output=True, check=True)
-  frames = sorted(output_dir.glob("frame_*.png"))
-  return frames
-
-
-def compare_frames(frame1_path, frame2_path):
-  result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
-  return result.returncode == 0
-
-
-def create_diff_video(video1, video2, output_path):
-  """Create a diff video using ffmpeg blend filter with difference mode."""
-  print("Creating diff video...")
-  cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
-  subprocess.run(cmd, capture_output=True, check=True)
-
-
-def find_differences(video1, video2):
-  with tempfile.TemporaryDirectory() as tmpdir:
-    tmpdir = Path(tmpdir)
-
-    print(f"Extracting frames from {video1}...")
-    frames1_dir = tmpdir / "frames1"
-    frames1_dir.mkdir()
-    frames1 = extract_frames(video1, frames1_dir)
-
-    print(f"Extracting frames from {video2}...")
-    frames2_dir = tmpdir / "frames2"
-    frames2_dir.mkdir()
-    frames2 = extract_frames(video2, frames2_dir)
-
-    if len(frames1) != len(frames2):
-      print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
-      min_frames = min(len(frames1), len(frames2))
-      frames1 = frames1[:min_frames]
-      frames2 = frames2[:min_frames]
-
-    print(f"Comparing {len(frames1)} frames...")
-    different_frames = []
-
-    for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
-      is_different = not compare_frames(f1, f2)
-      if is_different:
-        different_frames.append(i)
-
-    return different_frames, len(frames1)
-
-
-def generate_html_report(video1, video2, basedir, different_frames, total_frames):
-  chunks = []
-  if different_frames:
-    current_chunk = [different_frames[0]]
-    for i in range(1, len(different_frames)):
-      if different_frames[i] == different_frames[i - 1] + 1:
-        current_chunk.append(different_frames[i])
-      else:
-        chunks.append(current_chunk)
-        current_chunk = [different_frames[i]]
-    chunks.append(current_chunk)
-
-  result_text = (
-    f"✅ Videos are identical! ({total_frames} frames)"
-    if len(different_frames) == 0
-    else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
-  )
-
-  html = f"""<h2>UI Diff</h2>
-<table>
-<tr>
-<td width='33%'>
-  <p><strong>Video 1</strong></p>
-  <video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
-    <source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
-    Your browser does not support the video tag.
-  </video>
-</td>
-<td width='33%'>
-  <p><strong>Video 2</strong></p>
-  <video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
-    <source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
-    Your browser does not support the video tag.
-  </video>
-</td>
-<td width='33%'>
-  <p><strong>Pixel Diff</strong></p>
-  <video id='diffVideo' width='100%' autoplay muted loop>
-    <source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
-    Your browser does not support the video tag.
-  </video>
-</td>
-</tr>
-</table>
-<script>
-function syncVideos() {{
-  const video1 = document.getElementById('video1');
-  const video2 = document.getElementById('video2');
-  const diffVideo = document.getElementById('diffVideo');
-  video1.currentTime = video2.currentTime = diffVideo.currentTime;
-}}
-video1.addEventListener('timeupdate', () => {{
-  if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
-    video2.currentTime = video1.currentTime;
-  }}
-  if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
-    diffVideo.currentTime = video1.currentTime;
-  }}
-}});
-video2.addEventListener('timeupdate', () => {{
-  if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
-    video1.currentTime = video2.currentTime;
-  }}
-  if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
-    diffVideo.currentTime = video2.currentTime;
-  }}
-}});
-diffVideo.addEventListener('timeupdate', () => {{
-  if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
-    video1.currentTime = diffVideo.currentTime;
-    video2.currentTime = diffVideo.currentTime;
-  }}
-}});
-</script>
-<hr>
-<p><strong>Results:</strong> {result_text}</p>
-"""
-  return html
-
-
-def main():
-  parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
-  parser.add_argument('video1', help='First video file')
-  parser.add_argument('video2', help='Second video file')
-  parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
-  parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
-  parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
-
-  args = parser.parse_args()
-
-  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
-
-  print("=" * 60)
-  print("VIDEO DIFF - HTML REPORT")
-  print("=" * 60)
-  print(f"Video 1: {args.video1}")
-  print(f"Video 2: {args.video2}")
-  print(f"Output: {args.output}")
-  print()
-
-  # Create diff video
-  diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
-  create_diff_video(args.video1, args.video2, diff_video_path)
-
-  different_frames, total_frames = find_differences(args.video1, args.video2)
-
-  if different_frames is None:
-    sys.exit(1)
-
-  print()
-  print("Generating HTML report...")
-  html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, total_frames)
-
-  with open(DIFF_OUT_DIR / args.output, 'w') as f:
-    f.write(html)
-
-  # Open in browser by default
-  if not args.no_open:
-    print(f"Opening {args.output} in browser...")
-    webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
-
-  return 0 if len(different_frames) == 0 else 1
-
-
-if __name__ == "__main__":
-  sys.exit(main())
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
deleted file mode 100755
index ce24bf9190..0000000000
--- a/selfdrive/ui/tests/diff/replay.py
+++ /dev/null
@@ -1,130 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import coverage
-import pyray as rl
-from dataclasses import dataclass
-from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
-
-os.environ["RECORD"] = "1"
-if "RECORD_OUTPUT" not in os.environ:
-  os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
-
-os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
-
-from openpilot.common.params import Params
-from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version
-from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
-
-FPS = 60
-HEADLESS = os.getenv("WINDOWED", "0") == "1"
-
-
-@dataclass
-class DummyEvent:
-  click: bool = False
-  # TODO: add some kind of intensity
-  swipe_left: bool = False
-  swipe_right: bool = False
-  swipe_down: bool = False
-
-
-SCRIPT = [
-  (0, DummyEvent()),
-  (FPS * 1, DummyEvent(click=True)),
-  (FPS * 2, DummyEvent(click=True)),
-  (FPS * 3, DummyEvent()),
-]
-
-
-def setup_state():
-  params = Params()
-  params.put("HasAcceptedTerms", terms_version)
-  params.put("CompletedTrainingVersion", training_version)
-  params.put("DongleId", "test123456789")
-  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
-  params.put("HasAcceptedTermsSP", terms_version_sp)
-  params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
-  return None
-
-
-def inject_click(coords):
-  events = []
-  x, y = coords[0]
-  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic()))
-  for x, y in coords[1:]:
-    events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic()))
-  x, y = coords[-1]
-  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()))
-
-  with gui_app._mouse._lock:
-    gui_app._mouse._events.extend(events)
-
-
-def handle_event(event: DummyEvent):
-  if event.click:
-    inject_click([(gui_app.width // 2, gui_app.height // 2)])
-  if event.swipe_left:
-    inject_click([(gui_app.width * 3 // 4, gui_app.height // 2),
-                  (gui_app.width // 4, gui_app.height // 2),
-                  (0, gui_app.height // 2)])
-  if event.swipe_right:
-    inject_click([(gui_app.width // 4, gui_app.height // 2),
-                  (gui_app.width * 3 // 4, gui_app.height // 2),
-                  (gui_app.width, gui_app.height // 2)])
-  if event.swipe_down:
-    inject_click([(gui_app.width // 2, gui_app.height // 4),
-                  (gui_app.width // 2, gui_app.height * 3 // 4),
-                  (gui_app.width // 2, gui_app.height)])
-
-
-def run_replay():
-  setup_state()
-  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
-
-  if not HEADLESS:
-    rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
-  gui_app.init_window("ui diff test", fps=FPS)
-  main_layout = MiciMainLayout()
-  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-
-  frame = 0
-  script_index = 0
-
-  for should_render in gui_app.render():
-    while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
-      _, event = SCRIPT[script_index]
-      handle_event(event)
-      script_index += 1
-
-    ui_state.update()
-
-    if should_render:
-      main_layout.render()
-
-    frame += 1
-
-    if script_index >= len(SCRIPT):
-      break
-
-  gui_app.close()
-
-  print(f"Total frames: {frame}")
-  print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
-
-
-def main():
-  cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
-  with cov.collect():
-    run_replay()
-  cov.stop()
-  cov.save()
-  cov.report()
-  cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov'))
-  print("HTML report: htmlcov/index.html")
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py
deleted file mode 100644
index 6b7ec44863..0000000000
--- a/selfdrive/ui/tests/test_feedbackd.py
+++ /dev/null
@@ -1,53 +0,0 @@
-import pytest
-import cereal.messaging as messaging
-from cereal import car
-from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes
-
-
-@pytest.mark.skip("tmp disabled")
-class TestFeedbackd:
-  def setup_method(self):
-    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
-    self.sm = messaging.SubMaster(['audioFeedback'])
-
-  def _send_lkas_button(self, pressed: bool):
-    msg = messaging.new_message('carState')
-    msg.carState.canValid = True
-    msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
-    self.pm.send('carState', msg)
-
-  def _send_audio_data(self, count: int = 5):
-    for _ in range(count):
-      audio_msg = messaging.new_message('rawAudioData')
-      audio_msg.rawAudioData.data = bytes(1600)  # 800 samples of int16
-      audio_msg.rawAudioData.sampleRate = 16000
-      self.pm.send('rawAudioData', audio_msg)
-      self.sm.update(timeout=100)
-
-  @pytest.mark.parametrize("record_feedback", [False, True])
-  def test_audio_feedback(self, record_feedback):
-    Params().put_bool("RecordAudioFeedback", record_feedback)
-
-    managed_processes["feedbackd"].start()
-    assert self.pm.wait_for_readers_to_update('carState', timeout=5)
-    assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
-
-    self._send_lkas_button(pressed=True)
-    self._send_audio_data()
-    self._send_lkas_button(pressed=False)
-    self._send_audio_data()
-
-    if record_feedback:
-      assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
-    else:
-      assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
-
-    self._send_lkas_button(pressed=True)
-    self._send_audio_data()
-    self._send_lkas_button(pressed=False)
-    self._send_audio_data()
-
-    assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
-
-    managed_processes["feedbackd"].stop()
diff --git a/selfdrive/ui/tests/test_raylib_ui.py b/selfdrive/ui/tests/test_raylib_ui.py
deleted file mode 100644
index 69ba946dcd..0000000000
--- a/selfdrive/ui/tests/test_raylib_ui.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import time
-from openpilot.selfdrive.test.helpers import with_processes
-
-
-@with_processes(["ui"])
-def test_raylib_ui():
-  """Test initialization of the UI widgets is successful."""
-  time.sleep(1)
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
deleted file mode 100644
index a9da8455eb..0000000000
--- a/selfdrive/ui/tests/test_soundd.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from cereal import car
-from cereal import messaging
-from cereal.messaging import SubMaster, PubMaster
-from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
-
-import time
-
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-
-
-class TestSoundd:
-  def test_check_selfdrive_timeout_alert(self):
-    sm = SubMaster(['selfdriveState'])
-    pm = PubMaster(['selfdriveState'])
-
-    for _ in range(100):
-      cs = messaging.new_message('selfdriveState')
-      cs.selfdriveState.enabled = True
-
-      pm.send("selfdriveState", cs)
-
-      time.sleep(0.01)
-
-      sm.update(0)
-
-      assert not check_selfdrive_timeout_alert(sm)
-
-    for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
-      sm.update(0)
-      time.sleep(0.01)
-
-    assert check_selfdrive_timeout_alert(sm)
-
-  # TODO: add test with micd for checking that soundd actually outputs sounds
-
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
deleted file mode 100644
index 3177814f9f..0000000000
--- a/selfdrive/ui/tests/test_translations.py
+++ /dev/null
@@ -1,124 +0,0 @@
-import pytest
-import json
-import os
-import re
-import xml.etree.ElementTree as ET
-import string
-import requests
-from parameterized import parameterized_class
-from openpilot.system.ui.lib.multilang import TRANSLATIONS_DIR, LANGUAGES_FILE
-
-with open(str(LANGUAGES_FILE)) as f:
-  translation_files = json.load(f)
-
-UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\""  # non-empty translations can be marked unfinished
-LOCATION_TAG = "<location "
-FORMAT_ARG = re.compile("%[0-9]+")
-
-
-@pytest.mark.skip("TODO: update for raylib")
-@parameterized_class(("name", "file"), translation_files.items())
-class TestTranslations:
-  name: str
-  file: str
-
-  @staticmethod
-  def _read_translation_file(path, file):
-    tr_file = os.path.join(path, f"{file}.ts")
-    with open(tr_file) as f:
-      return f.read()
-
-  def test_missing_translation_files(self):
-    assert os.path.exists(os.path.join(str(TRANSLATIONS_DIR), f"{self.file}.ts")), \
-                    f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py"
-
-  @pytest.mark.skip("Only test unfinished translations before going to release")
-  def test_unfinished_translations(self):
-    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    assert UNFINISHED_TRANSLATION_TAG not in cur_translations, \
-                    f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist"
-
-  def test_vanished_translations(self):
-    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    assert "<translation type=\"vanished\">" not in cur_translations, \
-                    f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them"
-
-  def test_finished_translations(self):
-    """
-      Tests ran on each translation marked "finished"
-      Plural:
-      - that any numerus (plural) translations have all plural forms non-empty
-      - that the correct format specifier is used (%n)
-      Non-plural:
-      - that translation is not empty
-      - that translation format arguments are consistent
-    """
-    tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts"))
-
-    for context in tr_xml.getroot():
-      for message in context.iterfind("message"):
-        translation = message.find("translation")
-        source_text = message.find("source").text
-
-        # Do not test unfinished translations
-        if translation.get("type") == "unfinished":
-          continue
-
-        if message.get("numerus") == "yes":
-          numerusform = [t.text for t in translation.findall("numerusform")]
-
-          for nf in numerusform:
-            assert nf is not None, f"Ensure all plural translation forms are completed: {source_text}"
-            assert "%n" in nf, "Ensure numerus argument (%n) exists in translation."
-            assert FORMAT_ARG.search(nf) is None, f"Plural translations must use %n, not %1, %2, etc.: {numerusform}"
-
-        else:
-          assert translation.text is not None, f"Ensure translation is completed: {source_text}"
-
-          source_args = FORMAT_ARG.findall(source_text)
-          translation_args = FORMAT_ARG.findall(translation.text)
-          assert sorted(source_args) == sorted(translation_args), \
-                           f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`"
-
-  def test_no_locations(self):
-    for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines():
-      assert not line.strip().startswith(LOCATION_TAG), \
-                       f"Line contains location tag: {line.strip()}, remove all line numbers."
-
-  def test_entities_error(self):
-    cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
-    matches = re.findall(r'@(\w+);', cur_translations)
-    assert len(matches) == 0, f"The string(s) {matches} were found with '@' instead of '&'"
-
-  def test_bad_language(self):
-    IGNORED_WORDS = {'pédale'}
-
-    match = re.search(r'([a-zA-Z]{2,3})', self.file)
-    assert match, f"{self.name} - could not parse language"
-
-    try:
-      response = requests.get(
-        f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}"
-      )
-      response.raise_for_status()
-    except requests.exceptions.HTTPError as e:
-      if e.response is not None and e.response.status_code == 429:
-        pytest.skip("word list rate limited")
-      raise
-
-    banned_words = {line.strip() for line in response.text.splitlines()}
-
-    for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot():
-      for message in context.iterfind("message"):
-        translation = message.find("translation")
-        if translation.get("type") == "unfinished":
-          continue
-
-        translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text
-
-        if not translation_text:
-          continue
-
-        words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split())
-        bad_words_found = words & (banned_words - IGNORED_WORDS)
-        assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}"
diff --git a/selfdrive/ui/tests/test_ui/print_mouse_coords.py b/selfdrive/ui/tests/test_ui/print_mouse_coords.py
deleted file mode 100755
index 1e88ce57d3..0000000000
--- a/selfdrive/ui/tests/test_ui/print_mouse_coords.py
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env python3
-"""
-Simple script to print mouse coordinates on Ubuntu.
-Run with: python print_mouse_coords.py
-Press Ctrl+C to exit.
-"""
-
-from pynput import mouse
-
-print("Mouse coordinate printer - Press Ctrl+C to exit")
-print("Click to set the top left origin")
-
-origin: tuple[int, int] | None = None
-clicks: list[tuple[int, int]] = []
-
-
-def on_click(x, y, button, pressed):
-  global origin, clicks
-  if pressed:  # Only on mouse down, not up
-    if origin is None:
-      origin = (x, y)
-      print(f"Origin set to: {x},{y}")
-    else:
-      rel_x = x - origin[0]
-      rel_y = y - origin[1]
-      clicks.append((rel_x, rel_y))
-      print(f"Clicks: {clicks}")
-
-
-if __name__ == "__main__":
-  try:
-    # Start mouse listener
-    with mouse.Listener(on_click=on_click) as listener:
-      listener.join()
-  except KeyboardInterrupt:
-    print("\nExiting...")
diff --git a/selfdrive/ui/tests/test_ui/raylib_screenshots.py b/selfdrive/ui/tests/test_ui/raylib_screenshots.py
deleted file mode 100755
index cd27b1c12f..0000000000
--- a/selfdrive/ui/tests/test_ui/raylib_screenshots.py
+++ /dev/null
@@ -1,395 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import shutil
-import time
-import pathlib
-from collections import namedtuple
-
-import pyautogui
-import pywinctl
-
-from cereal import car, log
-from cereal import messaging
-from cereal.messaging import PubMaster
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.updated.updated import parse_release_notes
-from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version
-
-AlertSize = log.SelfdriveState.AlertSize
-AlertStatus = log.SelfdriveState.AlertStatus
-
-TEST_DIR = pathlib.Path(__file__).parent
-TEST_OUTPUT_DIR = TEST_DIR / "raylib_report"
-SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
-UI_DELAY = 0.5
-
-BRANCH_NAME = "this-is-a-really-super-mega-ultra-max-extreme-ultimate-long-branch-name"
-VERSION = f"0.10.1 / {BRANCH_NAME} / 7864838 / Oct 03"
-
-# Offroad alerts to test
-OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot']
-
-
-def put_update_params(params: Params):
-  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
-  params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
-  params.put("UpdaterTargetBranch", BRANCH_NAME)
-
-
-def setup_homescreen(click, pm: PubMaster, scroll=None):
-  pass
-
-
-def setup_homescreen_update_available(click, pm: PubMaster, scroll=None):
-  params = Params()
-  params.put_bool("UpdateAvailable", True)
-  put_update_params(params)
-  setup_offroad_alert(click, pm)
-
-
-def setup_settings(click, pm: PubMaster, scroll=None):
-  click(100, 100)
-
-
-def close_settings(click, pm: PubMaster, scroll=None):
-  click(140, 120)
-
-
-def setup_settings_network(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  click(278, 450)
-
-
-def setup_settings_network_advanced(click, pm: PubMaster, scroll=None):
-  setup_settings_network(click, pm, scroll=scroll)
-  click(1880, 100)
-
-
-def setup_settings_toggles(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  click(278, 620)
-
-
-def setup_settings_software(click, pm: PubMaster, scroll=None):
-  put_update_params(Params())
-  setup_settings(click, pm)
-  click(278, 730)
-
-
-def setup_settings_software_download(click, pm: PubMaster, scroll=None):
-  params = Params()
-  # setup_settings_software but with "DOWNLOAD" button to test long text
-  params.put("UpdaterState", "idle")
-  params.put_bool("UpdaterFetchAvailable", True)
-  setup_settings_software(click, pm)
-
-
-def setup_settings_software_release_notes(click, pm: PubMaster, scroll=None):
-  setup_settings_software(click, pm, scroll=scroll)
-  click(588, 110)  # expand description for current version
-
-
-def setup_settings_software_branch_switcher(click, pm: PubMaster, scroll=None):
-  setup_settings_software(click, pm, scroll=scroll)
-  params = Params()
-  params.put("UpdaterAvailableBranches", f"master,nightly,release,{BRANCH_NAME}")
-  params.put("GitBranch", BRANCH_NAME)  # should be on top
-  params.put("UpdaterTargetBranch", "nightly")  # should be selected
-  click(1984, 449)
-
-
-def setup_settings_firehose(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 850)
-
-
-def setup_settings_developer(click, pm: PubMaster, scroll=None):
-  CP = car.CarParams()
-  CP.alphaLongitudinalAvailable = True  # show alpha long control toggle
-  Params().put("CarParamsPersistent", CP.to_bytes())
-
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 950)
-
-
-def setup_keyboard(click, pm: PubMaster, scroll=None):
-  setup_settings_developer(click, pm, scroll=scroll)
-  click(1930, 470)
-
-
-def setup_pair_device(click, pm: PubMaster, scroll=None):
-  click(1950, 800)
-
-
-def setup_offroad_alert(click, pm: PubMaster, scroll=None):
-  put_update_params(Params())
-  set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
-  set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
-  for alert in OFFROAD_ALERTS:
-    set_offroad_alert(alert, True)
-
-  setup_settings(click, pm)
-  close_settings(click, pm)
-
-
-def setup_confirmation_dialog(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  click(1985, 791)  # reset calibration
-
-
-def setup_experimental_mode_description(click, pm: PubMaster, scroll=None):
-  setup_settings_toggles(click, pm)
-  click(1200, 280)  # expand description for experimental mode
-
-
-def setup_openpilot_long_confirmation_dialog(click, pm: PubMaster, scroll=None):
-  setup_settings_developer(click, pm, scroll=scroll)
-  click(650, 960)  # toggle sunnypilot longitudinal control
-
-
-def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  click(278, 510)
-
-
-def setup_settings_models(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  click(278, 840)
-
-
-def setup_settings_steering(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  click(278, 950)
-
-
-def setup_settings_cruise(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-4, 278, 950)
-  click(278, 860)
-
-
-def setup_settings_visuals(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 330)
-
-
-def setup_settings_display(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 420)
-
-
-def setup_settings_osm(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 520)
-
-
-def setup_settings_trips(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 630)
-
-
-def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
-  setup_settings(click, pm)
-  scroll(-20, 278, 950)
-  click(278, 750)
-
-
-def setup_onroad(click, pm: PubMaster, scroll=None):
-  ds = messaging.new_message('deviceState')
-  ds.deviceState.started = True
-
-  ps = messaging.new_message('pandaStates', 1)
-  ps.pandaStates[0].pandaType = log.PandaState.PandaType.dos
-  ps.pandaStates[0].ignitionLine = True
-
-  driverState = messaging.new_message('driverStateV2')
-  driverState.driverStateV2.leftDriverData.faceOrientation = [0, 0, 0]
-
-  for _ in range(5):
-    pm.send('deviceState', ds)
-    pm.send('pandaStates', ps)
-    pm.send('driverStateV2', driverState)
-    ds.clear_write_flag()
-    ps.clear_write_flag()
-    driverState.clear_write_flag()
-    time.sleep(0.05)
-
-
-def setup_onroad_sidebar(click, pm: PubMaster, scroll=None):
-  setup_onroad(click, pm)
-  click(100, 100)  # open sidebar
-
-
-def setup_onroad_alert(click, pm: PubMaster, size: log.SelfdriveState.AlertSize, text1: str, text2: str, status: log.SelfdriveState.AlertStatus):
-  setup_onroad(click, pm)
-  alert = messaging.new_message('selfdriveState')
-  ss = alert.selfdriveState
-  ss.alertSize = size
-  ss.alertText1 = text1
-  ss.alertText2 = text2
-  ss.alertStatus = status
-  for _ in range(5):
-    pm.send('selfdriveState', alert)
-    alert.clear_write_flag()
-    time.sleep(0.05)
-
-
-def setup_onroad_small_alert(click, pm: PubMaster, scroll=None):
-  setup_onroad_alert(click, pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal)
-
-
-def setup_onroad_medium_alert(click, pm: PubMaster, scroll=None):
-  setup_onroad_alert(click, pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt)
-
-
-def setup_onroad_full_alert(click, pm: PubMaster, scroll=None):
-  setup_onroad_alert(click, pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical)
-
-
-def setup_onroad_full_alert_multiline(click, pm: PubMaster, scroll=None):
-  setup_onroad_alert(click, pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal)
-
-
-def setup_onroad_full_alert_long_text(click, pm: PubMaster, scroll=None):
-  setup_onroad_alert(click, pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt)
-
-
-CASES = {
-  "homescreen": setup_homescreen,
-  "homescreen_paired": setup_homescreen,
-  "homescreen_prime": setup_homescreen,
-  "homescreen_update_available": setup_homescreen_update_available,
-  "homescreen_unifont": setup_homescreen,
-  "settings_device": setup_settings,
-  "settings_network": setup_settings_network,
-  "settings_network_advanced": setup_settings_network_advanced,
-  "settings_toggles": setup_settings_toggles,
-  "settings_software": setup_settings_software,
-  "settings_software_download": setup_settings_software_download,
-  "settings_software_release_notes": setup_settings_software_release_notes,
-  "settings_software_branch_switcher": setup_settings_software_branch_switcher,
-  "settings_firehose": setup_settings_firehose,
-  "settings_developer": setup_settings_developer,
-  "keyboard": setup_keyboard,
-  "pair_device": setup_pair_device,
-  "offroad_alert": setup_offroad_alert,
-  "confirmation_dialog": setup_confirmation_dialog,
-  "experimental_mode_description": setup_experimental_mode_description,
-  "openpilot_long_confirmation_dialog": setup_openpilot_long_confirmation_dialog,
-  "onroad": setup_onroad,
-  "onroad_sidebar": setup_onroad_sidebar,
-  "onroad_small_alert": setup_onroad_small_alert,
-  "onroad_medium_alert": setup_onroad_medium_alert,
-  "onroad_full_alert": setup_onroad_full_alert,
-  "onroad_full_alert_multiline": setup_onroad_full_alert_multiline,
-  "onroad_full_alert_long_text": setup_onroad_full_alert_long_text,
-}
-
-# sunnypilot cases
-CASES.update({
-  "settings_sunnylink": setup_settings_sunnylink,
-  "settings_models": setup_settings_models,
-  "settings_steering": setup_settings_steering,
-  "settings_cruise": setup_settings_cruise,
-  "settings_visuals": setup_settings_visuals,
-  "settings_display": setup_settings_display,
-  "settings_osm": setup_settings_osm,
-  "settings_trips": setup_settings_trips,
-  "settings_vehicle": setup_settings_vehicle,
-})
-
-
-class TestUI:
-  def __init__(self):
-    os.environ["SCALE"] = os.getenv("SCALE", "1")
-    os.environ["BIG"] = "1"
-    sys.modules["mouseinfo"] = False
-
-  def setup(self):
-    # Seed minimal offroad state
-    self.pm = PubMaster(["deviceState", "pandaStates", "driverStateV2", "selfdriveState"])
-    ds = messaging.new_message('deviceState')
-    ds.deviceState.networkType = log.DeviceState.NetworkType.wifi
-    for _ in range(5):
-      self.pm.send('deviceState', ds)
-      ds.clear_write_flag()
-      time.sleep(0.05)
-    time.sleep(0.5)
-    try:
-      self.ui = pywinctl.getWindowsWithTitle("UI")[0]
-    except Exception as e:
-      print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
-      self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0, 0, 2160, 1080)
-
-  def screenshot(self, name: str):
-    full_screenshot = pyautogui.screenshot()
-    cropped = full_screenshot.crop((self.ui.left, self.ui.top, self.ui.left + self.ui.width, self.ui.top + self.ui.height))
-    cropped.save(SCREENSHOTS_DIR / f"{name}.png")
-
-  def click(self, x: int, y: int, *args, **kwargs):
-    pyautogui.mouseDown(self.ui.left + x, self.ui.top + y, *args, **kwargs)
-    time.sleep(0.01)
-    pyautogui.mouseUp(self.ui.left + x, self.ui.top + y, *args, **kwargs)
-
-  def scroll(self, clicks: int, x, y, *args, **kwargs):
-    if clicks == 0:
-      return
-    click = -1 if clicks < 0 else 1  # -1 = down, 1 = up
-    for _ in range(abs(clicks)):
-      pyautogui.scroll(click, self.ui.left + x, self.ui.top + y, *args, **kwargs)  # scroll for individual clicks since we need to delay between clicks
-      time.sleep(0.01)  # small delay between scroll clicks to work properly
-    time.sleep(2)  # wait for scroll to fully settle
-
-  @with_processes(["ui"])
-  def test_ui(self, name, setup_case):
-    self.setup()
-    time.sleep(UI_DELAY)  # wait for UI to start
-    setup_case(self.click, self.pm, self.scroll)
-    self.screenshot(name)
-
-
-def create_screenshots():
-  if TEST_OUTPUT_DIR.exists():
-    shutil.rmtree(TEST_OUTPUT_DIR)
-  SCREENSHOTS_DIR.mkdir(parents=True)
-
-  t = TestUI()
-  for name, setup in CASES.items():
-    with OpenpilotPrefix():
-      params = Params()
-      params.put("DongleId", "123456789012345")
-      params.put("SunnylinkDongleId", "123456789012345")
-
-      # Set branch name
-      params.put("UpdaterCurrentDescription", VERSION)
-      params.put("UpdaterNewDescription", VERSION)
-
-      # Set terms and training version (to skip onboarding)
-      params.put("HasAcceptedTerms", terms_version)
-      params.put("CompletedTrainingVersion", training_version)
-      params.put("HasAcceptedTermsSP", terms_version_sp)
-      params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
-
-      if name == "homescreen_paired":
-        params.put("PrimeType", 0)  # NONE
-      elif name == "homescreen_prime":
-        params.put("PrimeType", 2)  # LITE
-      elif name == "homescreen_unifont":
-        params.put("LanguageSetting", "zh-CHT")  # Traditional Chinese
-
-      t.test_ui(name, setup)
-
-
-if __name__ == "__main__":
-  create_screenshots()
diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html
deleted file mode 100644
index 68df5879e6..0000000000
--- a/selfdrive/ui/tests/test_ui/template.html
+++ /dev/null
@@ -1,34 +0,0 @@
-<html>
-
-<style>
- .column {
-  float: left;
-  width: 50%;
-  padding: 5px;
-}
-
-.row::after {
-  content: "";
-  clear: both;
-  display: table;
-} 
-
-.image {
-  width: 100%;
-}
-
-</style>
-
-{% for name, (image, ref_image) in cases.items() %}
-
-<h1>{{name}}</h1>
-<div class="row">
-  <div class="column">
-    <img class="image" src="{{ image }}"  />
-  </div>
-</div>
-
-<br>
-
-{% endfor %}
-</html>
\ No newline at end of file
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
deleted file mode 100644
index 433eb7d64a..0000000000
--- a/selfdrive/ui/translations/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Multilanguage
-
-[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#)
diff --git a/selfdrive/ui/translations/app.pot b/selfdrive/ui/translations/app.pot
deleted file mode 100644
index abb6940a54..0000000000
--- a/selfdrive/ui/translations/app.pot
+++ /dev/null
@@ -1,1130 +0,0 @@
-# SOME DESCRIPTIVE TITLE.
-# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
-#
-#, fuzzy
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:51-0700\n"
-"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
-"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
-"Language-Team: LANGUAGE <LL@li.org>\n"
-"Language: \n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=INTEGER; plural=EXPRESSION;\n"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr ""
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr ""
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr ""
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr ""
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr ""
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr ""
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr ""
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr ""
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr ""
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr ""
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr ""
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr ""
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr ""
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr ""
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr ""
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr ""
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr ""
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr ""
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr ""
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr ""
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr ""
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr ""
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr ""
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr ""
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr ""
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr ""
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr ""
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr ""
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr ""
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr ""
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr ""
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr ""
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr ""
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr ""
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr ""
diff --git a/selfdrive/ui/translations/app_de.po b/selfdrive/ui/translations/app_de.po
deleted file mode 100644
index f32c27a9ef..0000000000
--- a/selfdrive/ui/translations/app_de.po
+++ /dev/null
@@ -1,1221 +0,0 @@
-# German translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 16:35-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: de\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=2; plural=(n != 1);\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " Die Lenkmoment-Reaktionskalibrierung ist abgeschlossen."
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " Die Lenkmoment-Reaktionskalibrierung ist zu {}% abgeschlossen."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " Ihr Gerät ist um {:.1f}° {} und {:.1f}° {} ausgerichtet."
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "1 Jahr Fahrtdatenspeicherung"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "24/7 LTE‑Verbindung"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>WARNUNG: Die Längsregelung von openpilot befindet sich für dieses "
-"Fahrzeug in der Alpha-Phase und deaktiviert das automatische Notbremssystem "
-"(AEB).</b><br><br>Auf diesem Fahrzeug verwendet openpilot standardmäßig den "
-"integrierten ACC statt der openpilot-Längsregelung. Aktivieren Sie dies, um "
-"auf die openpilot-Längsregelung umzuschalten. Das Aktivieren des "
-"Experimentalmodus wird empfohlen, wenn Sie die openpilot-Längsregelung "
-"(Alpha) aktivieren."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>Kalibrierung der Lenkverzögerung abgeschlossen."
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr "<br><br>Kalibrierung der Lenkverzögerung zu {}% abgeschlossen."
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "AKTIV"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) ermöglicht die Verbindung mit Ihrem Gerät über "
-"USB oder über das Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-"
-"comma für weitere Informationen."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "HINZUFÜGEN"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "APN‑Einstellung"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "Übermäßige Betätigung bestätigen"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "Erweitert"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "Aggressiv"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "Zustimmen"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "Immer aktive Fahrerüberwachung"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Eine Alpha-Version der openpilot-Längsregelung kann zusammen mit dem "
-"Experimentalmodus auf Nicht-Release-Zweigen getestet werden."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "Sind Sie sicher, dass Sie ausschalten möchten?"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "Sind Sie sicher, dass Sie neu starten möchten?"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "Sind Sie sicher, dass Sie die Kalibrierung zurücksetzen möchten?"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "Sind Sie sicher, dass Sie deinstallieren möchten?"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "Zurück"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "Werden Sie comma prime Mitglied auf connect.comma.ai"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"Fügen Sie connect.comma.ai Ihrem Startbildschirm hinzu, um es wie eine App "
-"zu verwenden"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "ÄNDERN"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "PRÜFEN"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "CHILL‑MODUS AKTIV"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "VERBINDUNG"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "VERBINDUNG"
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "Abbrechen"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "Getaktete Mobilfunkverbindung"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "Sprache ändern"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-" Durch Ändern dieser Einstellung wird openpilot neu gestartet, wenn das Auto "
-"eingeschaltet ist."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "Klicken Sie auf \"add new device\" und scannen Sie den QR‑Code rechts"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "Schließen"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "Aktuelle Version"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "HERUNTERLADEN"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "Ablehnen"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "Ablehnen, openpilot deinstallieren"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "Entwickler"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "Gerät"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "Beim Gaspedal deaktivieren"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "Zum Ausschalten deaktivieren"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "Zum Neustart deaktivieren"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "Zum Zurücksetzen der Kalibrierung deaktivieren"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "Geschwindigkeit in km/h statt mph anzeigen."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "Dongle-ID"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "Herunterladen"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "Fahrerkamera"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "Fahrstil"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "BEARBEITEN"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "FEHLER"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "EXPERIMENTALMODUS AKTIV"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "Aktivieren"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "ADB aktivieren"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "Spurverlassenswarnungen aktivieren"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "openpilot aktivieren"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "SSH aktivieren"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "Spurverlassenswarnungen aktivieren"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "openpilot aktivieren"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Den Schalter für die openpilot-Längsregelung (Alpha) aktivieren, um den "
-"Experimentalmodus zu erlauben."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "APN eingeben"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "SSID eingeben"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "Neues Tethering‑Passwort eingeben"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "Passwort eingeben"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "Geben Sie Ihren GitHub‑Benutzernamen ein"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "Fehler"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "Experimentalmodus"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Der Experimentalmodus ist derzeit auf diesem Fahrzeug nicht verfügbar, da "
-"der serienmäßige ACC für die Längsregelung verwendet wird."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "WIRD VERGESSEN..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "Einrichtung abschließen"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Firehose‑Modus"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Für maximale Wirksamkeit bringen Sie Ihr Gerät regelmäßig ins Haus und "
-"verbinden es wöchentlich mit einem guten USB‑C‑Adapter und WLAN.\n"
-"\n"
-"Der Firehose‑Modus kann auch während der Fahrt funktionieren, wenn eine "
-"Verbindung zu einem Hotspot oder einer unbegrenzten SIM besteht.\n"
-"\n"
-"\n"
-"Häufig gestellte Fragen\n"
-"\n"
-"Spielt es eine Rolle, wie oder wo ich fahre? Nein, fahren Sie einfach wie "
-"gewöhnlich.\n"
-"\n"
-"Werden alle meine Segmente im Firehose‑Modus abgeholt? Nein, wir ziehen "
-"selektiv eine Teilmenge Ihrer Segmente.\n"
-"\n"
-"Was ist ein guter USB‑C‑Adapter? Jeder schnelle Telefon‑ oder Laptoplader "
-"sollte ausreichen.\n"
-"\n"
-"Spielt es eine Rolle, welche Software ich verwende? Ja, nur "
-"Upstream‑openpilot (und bestimmte Forks) können für das Training verwendet "
-"werden."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "Vergessen"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "WLAN‑Netz „{}“ vergessen?"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "GUT"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "Gehen Sie auf Ihrem Telefon zu https://connect.comma.ai"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "HOCH"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "Netzwerk"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INAKTIV: Mit einem unlimitierten Netzwerk verbinden"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "INSTALLIEREN"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "IP‑Adresse"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "Update installieren"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "Joystick‑Debugmodus"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "LADEN"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "Längsmanövermodus"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "MAX"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximieren Sie Ihre Trainingsdaten‑Uploads, um die Fahrmodelle von openpilot "
-"zu verbessern."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "k. A."
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "KEIN"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "Netzwerk"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "Keine SSH‑Schlüssel gefunden"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "Keine SSH‑Schlüssel für Benutzer '{username}' gefunden"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "Keine Versionshinweise verfügbar."
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "OFFLINE"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "OK"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "ONLINE"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "Öffnen"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "KOPPELN"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "VORSCHAU"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "PRIME‑FUNKTIONEN:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "Gerät koppeln"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "Gerät koppeln"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "Koppeln Sie Ihr Gerät mit Ihrem comma‑Konto"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Koppeln Sie Ihr Gerät mit comma connect (connect.comma.ai) und lösen Sie Ihr "
-"comma‑prime‑Angebot ein."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "Ausschalten"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Vorschau der Fahrer‑Kamera, um sicherzustellen, dass die Fahrerüberwachung "
-"gute Sicht hat. (Fahrzeug muss ausgeschaltet sein)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "QR‑Code‑Fehler"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "ENTFERNEN"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "ZURÜCKSETZEN"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "ANSEHEN"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "Neustart"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "Gerät neu starten"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "Neustarten und aktualisieren"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Erhalten Sie Warnungen, um zurück in die Spur zu lenken, wenn Ihr Fahrzeug "
-"ohne Blinker über eine erkannte Spurlinie driftet und über 31 mph (50 km/h) "
-"fährt."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "Fahrerkamera aufzeichnen und hochladen"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "Mikrofonton aufzeichnen und hochladen"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Mikrofonton während der Fahrt aufzeichnen und speichern. Die Audiospur wird "
-"im Dashcam‑Video in comma connect enthalten sein."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "Vorschriften"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "Entspannt"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "Fernzugriff"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "Remote‑Schnappschüsse"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "Zeitüberschreitung bei der Anfrage"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "Zurücksetzen"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "Kalibrierung zurücksetzen"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "Trainingsanleitung ansehen"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr ""
-"Überprüfen Sie die Regeln, Funktionen und Einschränkungen von openpilot"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "SSH‑Schlüssel"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "WLAN‑Netzwerke werden gesucht..."
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "Auswählen"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "Sprache auswählen"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "Seriennummer"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "Update verschieben"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "Software"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "Standard"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Standard wird empfohlen. Im aggressiven Modus folgt openpilot "
-"vorausfahrenden Fahrzeugen näher und ist beim Gasgeben und Bremsen "
-"aggressiver. Im entspannten Modus bleibt openpilot weiter entfernt. Bei "
-"unterstützten Fahrzeugen können Sie mit der Abstandstaste am Lenkrad "
-"zwischen diesen Profilen wechseln."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "System reagiert nicht"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "SOFORT DIE KONTROLLE ÜBERNEHMEN"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "TEMP"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr ""
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "Tethering‑Passwort"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "Schalter"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "DEINSTALLIEREN"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "UPDATE"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "Deinstallieren"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "Unbekannt"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "Updates werden nur heruntergeladen, wenn das Auto aus ist."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "Jetzt abonnieren"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Daten von der Fahrer‑Kamera hochladen und den Fahrerüberwachungs‑Algorithmus "
-"verbessern."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "Metersystem verwenden"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Verwenden Sie openpilot für adaptive Geschwindigkeitsregelung und "
-"Spurhalteassistenz. Ihre Aufmerksamkeit ist jederzeit erforderlich, um diese "
-"Funktion zu nutzen."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "FAHRZEUG"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "ANSEHEN"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "Warten auf Start"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Warnung: Dies gewährt SSH‑Zugriff auf alle öffentlichen Schlüssel in Ihren "
-"GitHub‑Einstellungen. Geben Sie niemals einen anderen GitHub‑Benutzernamen "
-"als Ihren eigenen ein. Ein comma‑Mitarbeiter wird Sie NIEMALS bitten, seinen "
-"GitHub‑Benutzernamen hinzuzufügen."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "Willkommen bei openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr "Wenn aktiviert, deaktiviert das Drücken des Gaspedals openpilot."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "WLAN"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "Getaktetes WLAN‑Netzwerk"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "Falsches Passwort"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr ""
-"Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. "
-"Lesen Sie die aktuellen Bedingungen unter https://comma.ai/terms, bevor Sie "
-"fortfahren."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "Kamera startet"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "Standard"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "unten"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "Überprüfung auf Updates fehlgeschlagen"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "für „{}“"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "für automatische Konfiguration leer lassen"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "links"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "getaktet"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "nie"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "jetzt"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot Längsregelung (Alpha)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot nicht verfügbar"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot fährt standardmäßig im Chill‑Modus. Der Experimentalmodus "
-"aktiviert Funktionen im Alpha‑Status, die für den Chill‑Modus noch nicht "
-"bereit sind. Die experimentellen Funktionen sind unten aufgeführt:"
-"<br><h4>End-to‑End‑Längsregelung</h4><br>Das Fahrmodell steuert Gas und "
-"Bremse. openpilot fährt so, wie es einen Menschen einschätzt, einschließlich "
-"Anhalten an roten Ampeln und Stoppschildern. Da das Modell die "
-"Geschwindigkeit bestimmt, dient die eingestellte Geschwindigkeit nur als "
-"Obergrenze. Dies ist eine Alpha‑Funktion; Fehler sind zu erwarten."
-"<br><h4>Neue Fahrvisualisierung</h4><br>Die Visualisierung wechselt bei "
-"niedriger Geschwindigkeit auf die nach vorn gerichtete Weitwinkelkamera, um "
-"manche Kurven besser zu zeigen. Das Experimentalmodus‑Logo wird außerdem "
-"oben rechts angezeigt."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-" Durch Ändern dieser Einstellung wird openpilot neu gestartet, wenn das Auto "
-"eingeschaltet ist."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot lernt das Fahren, indem es Menschen wie Sie beobachtet.\n"
-"\n"
-"Der Firehose‑Modus ermöglicht es Ihnen, Ihre Trainingsdaten‑Uploads zu "
-"maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten "
-"bedeuten größere Modelle – und damit einen besseren Experimentalmodus."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "Die openpilot‑Längsregelung könnte in einem zukünftigen Update kommen."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot erfordert, dass das Gerät innerhalb von 4° nach links oder rechts "
-"und innerhalb von 5° nach oben oder 9° nach unten montiert ist."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "rechts"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "unbegrenzt"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "oben"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "Aktuell, zuletzt geprüft: nie"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "Aktuell, zuletzt geprüft: {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "Update verfügbar"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} WARNUNG"
-msgstr[1] "{} WARNUNGEN"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "vor {} Tag"
-msgstr[1] "vor {} Tagen"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "vor {} Stunde"
-msgstr[1] "vor {} Stunden"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "vor {} Minute"
-msgstr[1] "vor {} Minuten"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} Segment Ihrer Fahrten ist bisher im Trainingsdatensatz."
-msgstr[1] "{} Segmente Ihrer Fahrten sind bisher im Trainingsdatensatz."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ ABONNIERT"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Firehose‑Modus 🔥"
diff --git a/selfdrive/ui/translations/app_en.po b/selfdrive/ui/translations/app_en.po
deleted file mode 100644
index 6fbb537aff..0000000000
--- a/selfdrive/ui/translations/app_en.po
+++ /dev/null
@@ -1,1207 +0,0 @@
-# English translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-21 18:18-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: en\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=2; plural=(n != 1);\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " Steering torque response calibration is complete."
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " Steering torque response calibration is {}% complete."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "1 year of drive storage"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "24/7 LTE connectivity"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>Steering lag calibration is complete."
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr "<br><br>Steering lag calibration is {}% complete."
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "ACTIVE"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "ADD"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "APN Setting"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "Acknowledge Excessive Actuation"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "Advanced"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "Aggressive"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "Agree"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "Always-On Driver Monitoring"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "Are you sure you want to power off?"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "Are you sure you want to reboot?"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "Are you sure you want to reset calibration?"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "Are you sure you want to uninstall?"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "Back"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "Become a comma prime member at connect.comma.ai"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr "Bookmark connect.comma.ai to your home screen to use it like an app"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "CHANGE"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "CHECK"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "CHILL MODE ON"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "CONNECT"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "CONNECTING..."
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "Cancel"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "Cellular Metered"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "Change Language"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr "Changing this setting will restart openpilot if the car is powered on."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "Click \"add new device\" and scan the QR code on the right"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "Close"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "Current Version"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "DOWNLOAD"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "Decline"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "Decline, uninstall openpilot"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "Developer"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "Device"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "Disengage on Accelerator Pedal"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "Disengage to Power Off"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "Disengage to Reboot"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "Disengage to Reset Calibration"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "Display speed in km/h instead of mph."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "Dongle ID"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "Download"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "Driver Camera"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "Driving Personality"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "EDIT"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "ERROR"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "EXPERIMENTAL MODE ON"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "Enable"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "Enable ADB"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "Enable Lane Departure Warnings"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "Enable Roaming"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "Enable SSH"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "Enable Tethering"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "Enable driver monitoring even when openpilot is not engaged."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "Enable openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "Enter APN"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "Enter SSID"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "Enter new tethering password"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "Enter password"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "Enter your GitHub username"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "Error"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "Experimental Mode"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "FORGETTING..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "Finish Setup"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Firehose Mode"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "Forget"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "Forget Wi-Fi Network \"{}\"?"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "GOOD"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "Go to https://connect.comma.ai on your phone"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "HIGH"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "Hidden Network"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INACTIVE: connect to an unmetered network"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "INSTALL"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "IP Address"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "Install Update"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "Joystick Debug Mode"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "LOADING"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "Longitudinal Maneuver Mode"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "MAX"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximize your training data uploads to improve openpilot's driving models."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "N/A"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "NO"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "Network"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "No SSH keys found"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "No SSH keys found for user '{}'"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "No release notes available."
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "OFFLINE"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "OK"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "ONLINE"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "Open"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "PAIR"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "PREVIEW"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "PRIME FEATURES:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "Pair Device"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "Pair device"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "Pair your device to your comma account"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "Please connect to Wi-Fi to complete initial pairing"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "Power Off"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr "Prevent large data uploads when on a metered Wi-Fi connection"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr "Prevent large data uploads when on a metered cellular connection"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "QR Code Error"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "REMOVE"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "RESET"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "REVIEW"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "Reboot"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "Reboot Device"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "Reboot and Update"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "Record and Upload Driver Camera"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "Record and Upload Microphone Audio"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "Regulatory"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "Relaxed"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "Remote access"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "Remote snapshots"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "Request timed out"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "Reset"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "Reset Calibration"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "Review Training Guide"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "Review the rules, features, and limitations of openpilot"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "SSH Keys"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "Scanning Wi-Fi networks..."
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "Select"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "Select a language"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "Serial"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "Snooze Update"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "Software"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "Standard"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "System Unresponsive"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "TAKE CONTROL IMMEDIATELY"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "TEMP"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr ""
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "Tethering Password"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "Toggles"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "UNINSTALL"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "UPDATE"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "Uninstall"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "Unknown"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "Updates are only downloaded while the car is off."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "Upgrade Now"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "Use Metric System"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "VEHICLE"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "VIEW"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "Waiting to start"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "Welcome to openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr "When enabled, pressing the accelerator pedal will disengage openpilot."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi-Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "Wi-Fi Network Metered"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "Wrong password"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "You must accept the Terms and Conditions in order to use openpilot."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "camera starting"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "default"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "down"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "failed to check for update"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "for \"{}\""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "leave blank for automatic configuration"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "left"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "metered"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "never"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "now"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot Longitudinal Control (Alpha)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot Unavailable"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilot longitudinal control may come in a future update."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "right"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "unmetered"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "up"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "up to date, last checked never"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "up to date, last checked {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "update available"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} ALERT"
-msgstr[1] "{} ALERTS"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "{} day ago"
-msgstr[1] "{} days ago"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "{} hour ago"
-msgstr[1] "{} hours ago"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "{} minute ago"
-msgstr[1] "{} minutes ago"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} segment of your driving is in the training dataset so far."
-msgstr[1] "{} segments of your driving is in the training dataset so far."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ SUBSCRIBED"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Firehose Mode 🔥"
diff --git a/selfdrive/ui/translations/app_es.po b/selfdrive/ui/translations/app_es.po
deleted file mode 100644
index 59b9e6dfdb..0000000000
--- a/selfdrive/ui/translations/app_es.po
+++ /dev/null
@@ -1,1225 +0,0 @@
-# Spanish translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 16:35-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: es\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=2; plural=(n != 1);\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " La calibración de respuesta de par de dirección está completa."
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " La calibración de respuesta de par de dirección está {}% completa."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " Tu dispositivo está orientado {:.1f}° {} y {:.1f}° {}."
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "1 año de almacenamiento de conducción"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "Conectividad LTE 24/7"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>ADVERTENCIA: el control longitudinal de openpilot está en alpha para este "
-"coche y deshabilitará el Frenado Automático de Emergencia (AEB).</"
-"b><br><br>En este coche, openpilot usa por defecto el ACC integrado del "
-"coche en lugar del control longitudinal de openpilot. Activa esto para "
-"cambiar al control longitudinal de openpilot. Se recomienda activar el modo "
-"Experimental al habilitar el control longitudinal de openpilot (alpha)."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "ACTIVO"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) permite conectar tu dispositivo por USB o por la "
-"red. Consulta https://docs.comma.ai/how-to/connect-to-comma para más "
-"información."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "AÑADIR"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "Reconocer actuación excesiva"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "Agresivo"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "Aceptar"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "Supervisión del conductor siempre activa"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Se puede probar una versión alpha del control longitudinal de openpilot, "
-"junto con el modo Experimental, en ramas que no son de lanzamiento."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "¿Seguro que quieres apagar?"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "¿Seguro que quieres reiniciar?"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "¿Seguro que quieres restablecer la calibración?"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "¿Seguro que quieres desinstalar?"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "Atrás"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "Hazte miembro de comma prime en connect.comma.ai"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"Añade connect.comma.ai a tu pantalla de inicio para usarlo como una app"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "CAMBIAR"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "COMPROBAR"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "MODO CHILL ACTIVADO"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "CONECTAR"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "CONECTAR"
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr ""
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "Cambiar idioma"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-" Cambiar esta configuración reiniciará openpilot si el coche está encendido."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr ""
-"Haz clic en \"añadir nuevo dispositivo\" y escanea el código QR de la derecha"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "Cerrar"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "Versión actual"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "DESCARGAR"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "Rechazar"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "Rechazar, desinstalar openpilot"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "Desarrollador"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "Dispositivo"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "Desactivar con el pedal del acelerador"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "Desactivar para apagar"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "Desactivar para reiniciar"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "Desactivar para restablecer la calibración"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "Mostrar la velocidad en km/h en lugar de mph."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "ID del dongle"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "Descargar"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "Cámara del conductor"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "Estilo de conducción"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "ERROR"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "MODO EXPERIMENTAL ACTIVADO"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "Activar"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "Activar ADB"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "Activar advertencias de salida de carril"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "Activar openpilot"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "Activar SSH"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "Activar advertencias de salida de carril"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
-"Activar la supervisión del conductor incluso cuando openpilot no esté "
-"activado."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "Activar openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Activa el interruptor de control longitudinal de openpilot (alpha) para "
-"permitir el modo Experimental."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr ""
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr ""
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr ""
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "Introduce tu nombre de usuario de GitHub"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "Modo experimental"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"El modo experimental no está disponible actualmente en este coche, ya que se "
-"usa el ACC de fábrica para el control longitudinal."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "Finalizar configuración"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Modo Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Para la máxima efectividad, lleva tu dispositivo al interior y conéctalo "
-"semanalmente a un buen adaptador USB‑C y Wi‑Fi.\n"
-"\n"
-"El Modo Firehose también puede funcionar mientras conduces si está conectado "
-"a un hotspot o a una SIM ilimitada.\n"
-"\n"
-"\n"
-"Preguntas frecuentes\n"
-"\n"
-"¿Importa cómo o dónde conduzco? No, conduce como normalmente lo harías.\n"
-"\n"
-"¿Se suben todos mis segmentos en el Modo Firehose? No, seleccionamos un "
-"subconjunto de tus segmentos.\n"
-"\n"
-"¿Qué es un buen adaptador USB‑C? Cualquier cargador rápido de teléfono o "
-"laptop sirve.\n"
-"\n"
-"¿Importa qué software ejecuto? Sí, solo openpilot upstream (y forks "
-"particulares) pueden usarse para entrenamiento."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr ""
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "BUENO"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "Ve a https://connect.comma.ai en tu teléfono"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "ALTO"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "Red"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INACTIVO: conéctate a una red sin límites"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "INSTALAR"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "Instalar actualización"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "Modo de depuración de joystick"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "CARGANDO"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "Modo de maniobra longitudinal"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "MÁX"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximiza tus cargas de datos de entrenamiento para mejorar los modelos de "
-"conducción de openpilot."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "NO"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "Red"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "No se encontraron claves SSH"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "No se encontraron claves SSH para el usuario '{username}'"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "No hay notas de versión disponibles."
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "SIN CONEXIÓN"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "OK"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "EN LÍNEA"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "Abrir"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "EMPAREJAR"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "VISTA PREVIA"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "FUNCIONES PRIME:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "Emparejar dispositivo"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "Emparejar dispositivo"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "Empareja tu dispositivo con tu cuenta de comma"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu "
-"oferta de comma prime."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "Apagar"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Previsualiza la cámara hacia el conductor para asegurarte de que la "
-"supervisión del conductor tenga buena visibilidad. (el vehículo debe estar "
-"apagado)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "Error de código QR"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "ELIMINAR"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "RESTABLECER"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "REVISAR"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "Reiniciar"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "Reiniciar dispositivo"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "Reiniciar y actualizar"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Recibe alertas para volver al carril cuando tu vehículo se desvíe sobre una "
-"línea de carril detectada sin la direccional activada mientras conduces a "
-"más de 31 mph (50 km/h)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "Grabar y subir cámara del conductor"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "Grabar y subir audio del micrófono"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Grabar y almacenar audio del micrófono mientras conduces. El audio se "
-"incluirá en el video de la dashcam en comma connect."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "Reglamentario"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "Relajado"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "Acceso remoto"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "Capturas remotas"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "Se agotó el tiempo de espera de la solicitud"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "Restablecer"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "Restablecer calibración"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "Revisar guía de entrenamiento"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "Revisa las reglas, funciones y limitaciones de openpilot"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr ""
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr ""
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "Selecciona un idioma"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "Número de serie"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "Posponer actualización"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "Software"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "Estándar"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Se recomienda Estándar. En modo agresivo, openpilot seguirá más de cerca a "
-"los coches delanteros y será más agresivo con el acelerador y el freno. En "
-"modo relajado, openpilot se mantendrá más lejos de los coches delanteros. En "
-"coches compatibles, puedes cambiar entre estas personalidades con el botón "
-"de distancia del volante."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "Sistema sin respuesta"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "TOME EL CONTROL INMEDIATAMENTE"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "TEMP"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr ""
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "Interruptores"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "DESINSTALAR"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "ACTUALIZAR"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "Desinstalar"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "Desconocido"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "Las actualizaciones solo se descargan cuando el coche está apagado."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "Mejorar ahora"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Sube datos de la cámara orientada al conductor y ayuda a mejorar el "
-"algoritmo de supervisión del conductor."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "Usar sistema métrico"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Usa el sistema openpilot para control de crucero adaptativo y asistencia de "
-"mantenimiento de carril. Tu atención se requiere en todo momento para usar "
-"esta función."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "VEHÍCULO"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "VER"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "Esperando para iniciar"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Advertencia: Esto otorga acceso SSH a todas las claves públicas en tu "
-"configuración de GitHub. Nunca introduzcas un nombre de usuario de GitHub "
-"que no sea el tuyo. Un empleado de comma NUNCA te pedirá que agregues su "
-"nombre de usuario de GitHub."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "Bienvenido a openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-"Cuando está activado, al presionar el pedal del acelerador se desactivará "
-"openpilot."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr ""
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "Debes aceptar los Términos y Condiciones para poder usar openpilot."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Debes aceptar los Términos y Condiciones para usar openpilot. Lee los "
-"términos más recientes en https://comma.ai/terms antes de continuar."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "iniciando cámara"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "abajo"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "Error al buscar actualizaciones"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "izquierda"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "nunca"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "ahora"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "Control longitudinal de openpilot (Alpha)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot no disponible"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot conduce por defecto en modo chill. El modo Experimental habilita "
-"funciones de nivel alpha que no están listas para el modo chill. Las "
-"funciones experimentales se enumeran a continuación:<br><h4>Control "
-"longitudinal de extremo a extremo</h4><br>Deja que el modelo de conducción "
-"controle el acelerador y los frenos. openpilot conducirá como piensa que lo "
-"haría un humano, incluyendo detenerse en luces rojas y señales de alto. Dado "
-"que el modelo decide la velocidad a la que conducir, la velocidad "
-"establecida solo actuará como límite superior. Esta es una función de "
-"calidad alpha; se deben esperar errores.<br><h4>Nueva visualización de "
-"conducción</h4><br>La visualización de conducción hará la transición a la "
-"cámara gran angular orientada a la carretera a bajas velocidades para "
-"mostrar mejor algunos giros. El logotipo del modo Experimental también se "
-"mostrará en la esquina superior derecha."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-" Cambiar esta configuración reiniciará openpilot si el coche está encendido."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot aprende a conducir observando a humanos, como tú, conducir.\n"
-"\n"
-"El Modo Firehose te permite maximizar tus cargas de datos de entrenamiento "
-"para mejorar los modelos de conducción de openpilot. Más datos significan "
-"modelos más grandes, lo que significa un mejor Modo Experimental."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-"El control longitudinal de openpilot podría llegar en una actualización "
-"futura."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot requiere que el dispositivo esté montado dentro de 4° a izquierda "
-"o derecha y dentro de 5° hacia arriba o 9° hacia abajo."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "derecha"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "arriba"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "actualizado, última comprobación: nunca"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "actualizado, última comprobación: {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "actualización disponible"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} ALERTA"
-msgstr[1] "{} ALERTAS"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "hace {} día"
-msgstr[1] "hace {} días"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "hace {} hora"
-msgstr[1] "hace {} horas"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "hace {} minuto"
-msgstr[1] "hace {} minutos"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"{} segmento de tu conducción está en el conjunto de entrenamiento hasta "
-"ahora."
-msgstr[1] ""
-"{} segmentos de tu conducción están en el conjunto de entrenamiento hasta "
-"ahora."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ SUSCRITO"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Modo Firehose 🔥"
diff --git a/selfdrive/ui/translations/app_fr.po b/selfdrive/ui/translations/app_fr.po
deleted file mode 100644
index 409761588e..0000000000
--- a/selfdrive/ui/translations/app_fr.po
+++ /dev/null
@@ -1,1236 +0,0 @@
-# French translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: \n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2026-01-24 12:37+0100\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: fr\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=2; plural=(n > 1);\n"
-"X-Generator: Poedit 3.8\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " L'étalonnage de la réponse du couple de direction est terminé."
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " L'étalonnage de la réponse du couple de direction est terminé à {}%."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " Votre appareil est orienté {:.1f}° {} et {:.1f}° {}."
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "1 an de stockage de trajets"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "Connexion LTE 24/7"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette "
-"voiture et désactivera le freinage d'urgence automatique (AEB).</"
-"b><br><br>Sur cette voiture, openpilot utilise par défaut le régulateur de "
-"vitesse adaptatif intégré au véhicule plutôt que le contrôle longitudinal "
-"d'openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il "
-"est recommandé d'activer le mode expérimental lors de l'activation du "
-"contrôle longitudinal openpilot alpha."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>L'étalonnage du délai de réponse de la direction est terminé."
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
-"<br><br>L'étalonnage du délai de réponse de la direction est terminé à {}%."
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "ACTIF"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) permet de connecter votre appareil via USB ou via "
-"le réseau. Voir https://docs.comma.ai/how-to/connect-to-comma pour plus "
-"d'informations."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "AJOUTER"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "Paramètres APN"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "Accuser réception d'actionnement excessif"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "Avancé"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "Agressif"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "Accepter"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "Surveillance continue du conducteur"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Une version alpha du contrôle longitudinal openpilot peut être testée, avec "
-"le mode expérimental, sur des branches non publiées."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "Êtes-vous sûr de vouloir éteindre ?"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "Êtes-vous sûr de vouloir redémarrer ?"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "Êtes-vous sûr de vouloir réinitialiser la calibration ?"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "Êtes-vous sûr de vouloir désinstaller ?"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "Retour"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "Devenez membre comma prime sur connect.comma.ai"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une "
-"application"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "CHANGER"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "VÉRIFIER"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "MODE CHILL ACTIVÉ"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "CONNECTER"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "CONNECTER..."
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "Annuler"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "Données cellulaire limitées"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "Changer la langue"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-"La modification de ce réglage redémarrera openpilot si la voiture est sous "
-"tension."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "Cliquez sur \"add new device\" et scannez le code QR à droite"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "Fermer"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "Version actuelle"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "TÉLÉCHARGER"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "Refuser"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "Refuser, désinstaller openpilot"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "Développeur"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "Appareil"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "Désengager à l'appui sur l'accélérateur"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "Désengager pour éteindre"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "Désengager pour redémarrer"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "Désengager pour réinitialiser la calibration"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "Afficher la vitesse en km/h au lieu de mph."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "ID du dongle"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "Télécharger"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "Caméra conducteur"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "Personnalité de conduite"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "EDITER"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "ERREUR"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "MODE EXPÉRIMENTAL ACTIVÉ"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "Activer"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "Activer ADB"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "Activer les alertes de sortie de voie"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "Activer openpilot"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "Activer SSH"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "Activer les alertes de sortie de voie"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
-"Activer la surveillance du conducteur même lorsque openpilot n'est pas "
-"engagé."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "Activer openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Activez l'option de contrôle longitudinal openpilot (alpha) pour autoriser "
-"le mode expérimental."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "Saisir l'APN"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "Entrer le SSID"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "Saisir le mot de passe du partage de connexion"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "Saisir le mot de passe"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "Entrez votre nom d'utilisateur GitHub"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "Erreur"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "Mode expérimental"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Le mode expérimental est actuellement indisponible sur cette voiture car "
-"l'ACC d'origine est utilisé pour le contrôle longitudinal."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "OUBLIER..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "Terminer la configuration"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Mode Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Pour une efficacité maximale, rentrez votre appareil et connectez-le chaque "
-"semaine à un bon adaptateur USB-C et au Wi‑Fi.\n"
-"\n"
-"Le Mode Firehose peut aussi fonctionner pendant que vous conduisez si vous "
-"êtes connecté à un hotspot ou à une carte SIM illimitée.\n"
-"\n"
-"\n"
-"Foire aux questions\n"
-"\n"
-"Est-ce que la manière ou l'endroit où je conduis compte ? Non, conduisez "
-"normalement.\n"
-"\n"
-"Tous mes segments sont-ils récupérés en Mode Firehose ? Non, nous récupérons "
-"de façon sélective un sous-ensemble de vos segments.\n"
-"\n"
-"Quel est un bon adaptateur USB-C ? Tout chargeur rapide de téléphone ou "
-"d'ordinateur portable convient.\n"
-"\n"
-"Le logiciel utilisé importe-t-il ? Oui, seul openpilot amont (et certains "
-"forks) peut être utilisé pour l'entraînement."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "Oublier"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "Oublier le réseau Wi-Fi \"{}\" ?"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "BON"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "Allez sur https://connect.comma.ai sur votre téléphone"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "ÉLEVÉ"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "Réseau"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INACTIF : connectez-vous à un réseau non limité"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "INSTALLER"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "Adresse IP"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "Installer la mise à jour"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "Mode débogage joystick"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "CHARGEMENT"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "Mode de manœuvre longitudinale"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "MAX"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximisez vos envois de données d'entraînement pour améliorer les modèles de "
-"conduite d'openpilot."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "NC"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "NON"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "Réseau"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "Aucune clé SSH trouvée"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "Aucune clé SSH trouvée pour l'utilisateur '{}'"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "Aucune note de version disponible."
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "HORS LIGNE"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "OK"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "EN LIGNE"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "Ouvrir"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "ASSOCIER"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "APERÇU"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "FONCTIONNALITÉS PRIME :"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "Associer l'appareil"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "Associer l'appareil"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "Associez votre appareil à votre compte comma"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre "
-"offre comma prime."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "Éteindre"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
-"Eviter les transferts de données volumineux lorsque vous êtes connecté à un "
-"réseau Wi-Fi limité"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
-"Eviter les transferts de données volumineux lors d'une connexion à un réseau "
-"cellulaire limité"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Prévisualisez la caméra orientée conducteur pour vous assurer que la "
-"surveillance du conducteur a une bonne visibilité. (le véhicule doit être "
-"éteint)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "Erreur de code QR"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "SUPPRIMER"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "RÉINITIALISER"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "CONSULTER"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "Redémarrer"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "Redémarrer l'appareil"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "Redémarrer et mettre à jour"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Recevez des alertes pour revenir dans la voie lorsque votre véhicule dépasse "
-"une ligne de voie détectée sans clignotant activé en roulant au-delà de 31 "
-"mph (50 km/h)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "Enregistrer et téléverser la caméra conducteur"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "Enregistrer et téléverser l'audio du microphone"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Enregistrer et stocker l'audio du microphone pendant la conduite. L'audio "
-"sera inclus dans la vidéo dashcam dans comma connect."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "Réglementaire"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "Détendu"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "Accès à distance"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "Captures à distance"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "Délai de la requête dépassé"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "Réinitialiser"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "Réinitialiser la calibration"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "Consulter le guide d'entraînement"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "Consultez les règles, fonctionnalités et limitations d'openpilot"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr "SELECTIONNER"
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "Clefs SSH"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "Analyse des réseaux Wi-Fi..."
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "Sélectionner"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr "Sélectionner une branche"
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "Sélectionner un langage"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "Numéro de série"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "Reporter la mise à jour"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "Logiciel"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "Standard"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Le mode standard est recommandé. En mode agressif, openpilot suivra les "
-"véhicules de tête de plus près et sera plus agressif avec l'accélérateur et "
-"le frein. En mode détendu, openpilot restera plus éloigné des véhicules de "
-"tête. Sur les voitures compatibles, vous pouvez parcourir ces personnalités "
-"avec le bouton de distance du volant."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "Système non réactif"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "REPRENEZ IMMÉDIATEMENT LE CONTRÔLE"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "TEMPÉRATURE"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr "Branche cible"
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "Mot de passe du partage de connexion"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "Options"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "DÉSINSTALLER"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "METTRE À JOUR"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "Désinstaller"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "Inconnu"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr ""
-"Les mises à jour ne sont téléchargées que lorsque la voiture est éteinte."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "Mettre à niveau maintenant"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Téléverser les données de la caméra orientée conducteur et aider à améliorer "
-"l'algorithme de surveillance du conducteur."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "Utiliser le système métrique"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Utilisez le système openpilot pour l'ACC et l'assistance au maintien de "
-"voie. Votre attention est requise en permanence pour utiliser cette "
-"fonctionnalité."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "VÉHICULE"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "VOIR"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "En attente de démarrage"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Avertissement : Ceci accorde un accès SSH à toutes les clés publiques dans "
-"vos paramètres GitHub. N'entrez jamais un nom d'utilisateur GitHub autre que "
-"le vôtre. Un employé comma ne vous demandera JAMAIS d'ajouter son nom "
-"d'utilisateur GitHub."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "Bienvenue sur openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-"Lorsque activé, appuyer sur la pédale d'accélérateur désengagera openpilot."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "Réseau Wi-Fi limité"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "Mauvais mot de passe"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "Vous devez accepter les conditions générales pour utiliser openpilot."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Vous devez accepter les conditions générales pour utiliser openpilot. Lisez "
-"les dernières conditions sur https://comma.ai/terms avant de continuer."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "démarrage de la caméra"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "défaut"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "bas"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "échec de la vérification de mise à jour"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "pour \"{}\""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "ne pas remplir pour une configuration automatique"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "gauche"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "limité"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "jamais"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "maintenant"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "Contrôle longitudinal openpilot (Alpha)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot indisponible"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot roule par défaut en mode chill. Le mode expérimental active des "
-"fonctionnalités de niveau alpha qui ne sont pas prêtes pour le mode chill. "
-"Les fonctionnalités expérimentales sont listées ci‑dessous:<br><h4>Contrôle "
-"longitudinal de bout en bout</h4><br>Laissez le modèle de conduite contrôler "
-"l'accélérateur et les freins. openpilot conduira comme il pense qu'un humain "
-"le ferait, y compris s'arrêter aux feux rouges et aux panneaux stop. Comme "
-"le modèle décide de la vitesse à adopter, la vitesse réglée n'agira que "
-"comme une limite supérieure. C'est une fonctionnalité de qualité alpha ; des "
-"erreurs sont à prévoir.<br><h4>Nouvelle visualisation de conduite</h4><br>La "
-"visualisation passera à la caméra grand angle orientée route à basse vitesse "
-"pour mieux montrer certains virages. Le logo du mode expérimental sera "
-"également affiché en haut à droite."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"La modification de ce réglage redémarrera openpilot si la voiture est sous "
-"tension."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot apprend à conduire en regardant des humains, comme vous, "
-"conduire.\n"
-"\n"
-"Le Mode Firehose vous permet de maximiser vos envois de données "
-"d'entraînement pour améliorer les modèles de conduite d'openpilot. Plus de "
-"données signifie des modèles plus grands, ce qui signifie un meilleur Mode "
-"expérimental."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-"Le contrôle longitudinal openpilot pourra arriver dans une future mise à "
-"jour."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot exige que l'appareil soit monté à moins de 4° à gauche ou à droite "
-"et à moins de 5° vers le haut ou 9° vers le bas."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "droite"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "non limité"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "haut"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "à jour, dernière vérification jamais"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "à jour, dernière vérification {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "mise à jour disponible"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} ALERTE"
-msgstr[1] "{} ALERTES"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "il y a {} jour"
-msgstr[1] "il y a {} jours"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "il y a {} heure"
-msgstr[1] "il y a {} heures"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "il y a {} minute"
-msgstr[1] "il y a {} minutes"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"{} segment de votre conduite est dans l'ensemble d'entraînement jusqu'à "
-"présent."
-msgstr[1] ""
-"{} segments de votre conduite sont dans l'ensemble d'entraînement jusqu'à "
-"présent."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ ABONNÉ"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Mode Firehose 🔥"
diff --git a/selfdrive/ui/translations/app_ja.po b/selfdrive/ui/translations/app_ja.po
deleted file mode 100644
index ca8aac1515..0000000000
--- a/selfdrive/ui/translations/app_ja.po
+++ /dev/null
@@ -1,1197 +0,0 @@
-# Japanese translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: ja\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=1; plural=0;\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " ステアリングトルク応答のキャリブレーションが完了しました。"
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " ステアリングトルク応答のキャリブレーションは{}%完了しました。"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " デバイスは{:.1f}°{}、{:.1f}°{}の向きです。"
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "走行データを1年間保存"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "24時間365日のLTE接続"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>警告: この車におけるopenpilotの縦制御はアルファ版であり、自動緊急ブレーキ"
-"（AEB）を無効にします。</b><br><br>この車では、openpilotは縦制御として"
-"openpilotではなく車両の内蔵ACCを既定で使用します。openpilotの縦制御に切り替え"
-"るにはこの設定を有効にしてください。openpilot縦制御アルファを有効にする場合は"
-"実験モードの有効化を推奨します。この設定を変更すると、車が起動中の場合は"
-"openpilotが再起動します。"
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>ステアリング遅延のキャリブレーションが完了しました。"
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr "<br><br>ステアリング遅延のキャリブレーションは{}%完了しました。"
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "アクティブ"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB（Android Debug Bridge）を使用すると、USBまたはネットワーク経由でデバイス"
-"に接続できます。詳しくは https://docs.comma.ai/how-to/connect-to-comma を参照"
-"してください。"
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "追加"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "APN設定"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "過度な作動を承認"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "詳細設定"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "アグレッシブ"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "同意する"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "常時ドライバーモニタリング"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"openpilotの縦制御アルファ版は、実験モードと併せて非リリースブランチでテストで"
-"きます。"
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "本当に電源をオフにしますか？"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "本当に再起動しますか？"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "本当にキャリブレーションをリセットしますか？"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "本当にアンインストールしますか？"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "戻る"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "connect.comma.aiで comma prime に加入"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr "connect.comma.aiをホーム画面に追加してアプリのように使いましょう"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "変更"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "確認"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "チルモードON"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "接続"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "接続中..."
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "キャンセル"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "従量課金の携帯回線"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "言語を変更"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr "車が起動中の場合、この設定を変更するとopenpilotが再起動します。"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "\"add new device\"を押して右側のQRコードをスキャン"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "閉じる"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "現在のバージョン"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "ダウンロード"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "拒否する"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "拒否してopenpilotをアンインストール"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "開発者"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "デバイス"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "アクセルで解除"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "解除して電源オフ"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "解除して再起動"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "解除してキャリブレーションをリセット"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "速度をmphではなくkm/hで表示します。"
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "ドングルID"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "ダウンロード"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "ドライバーカメラ"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "走行性格"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "編集"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "エラー"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "実験モードON"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "有効化"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "ADBを有効化"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "車線逸脱警報を有効化"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "ローミングを有効化"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "SSHを有効化"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "テザリングを有効化"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "openpilotが未作動でもドライバーモニタリングを有効にします。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "openpilotを有効化"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"openpilot縦制御（アルファ）のトグルを有効にすると実験モードが使用できます。"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "APNを入力"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "SSIDを入力"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "新しいテザリングのパスワードを入力"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "パスワードを入力"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "GitHubユーザー名を入力"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "エラー"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "実験モード"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"この車では縦制御に純正ACCを使用するため、現在実験モードは利用できません。"
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "削除中..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "セットアップを完了"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Firehoseモード"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"最大限の効果を得るため、デバイスを屋内に持ち込み、週に一度は品質の良いUSB-Cア"
-"ダプターとWi‑Fiに接続してください。\n"
-"\n"
-"Firehoseモードは、ホットスポットや無制限SIMに接続していれば走行中でも動作しま"
-"す。\n"
-"\n"
-"\n"
-"よくある質問\n"
-"\n"
-"運転の仕方や場所は関係ありますか？ いいえ。普段どおりに運転してください。\n"
-"\n"
-"Firehoseモードではすべてのセグメントが取得されますか？ いいえ。セグメントの一"
-"部を選択的に取得します。\n"
-"\n"
-"良いUSB‑Cアダプターとは？ 高速なスマホまたはノートPC用充電器で問題ありませ"
-"ん。\n"
-"\n"
-"どのソフトウェアを使うかは重要ですか？ はい。学習に使えるのは上流のopenpilot"
-"（および特定のフォーク）のみです。"
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "削除"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "Wi‑Fiネットワーク「{}」を削除しますか？"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "良好"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "スマートフォンで https://connect.comma.ai にアクセス"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "高温"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "非公開ネットワーク"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "非アクティブ：非従量のネットワークに接続してください"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "インストール"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "IPアドレス"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "アップデートをインストール"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "ジョイスティックデバッグモード"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "読み込み中"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "縦制御マヌーバーモード"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "最大"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"学習データのアップロードを最大化してopenpilotの運転モデルを改善しましょう。"
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "該当なし"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "いいえ"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "ネットワーク"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "SSH鍵が見つかりません"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "ユーザー'{}'のSSH鍵が見つかりません"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "リリースノートはありません。"
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "オフライン"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "OK"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "オンライン"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "開く"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "ペアリング"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "プレビュー"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "prime の特典:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "デバイスをペアリング"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "デバイスをペアリング"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "デバイスをあなたの comma アカウントにペアリング"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"デバイスを comma connect（connect.comma.ai）とペアリングして、comma prime 特"
-"典を受け取りましょう。"
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "初回ペアリングを完了するにはWi‑Fiに接続してください"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "電源オフ"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr "従量課金のWi‑Fi接続時は大きなデータのアップロードを抑制"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr "従量課金の携帯回線接続時は大きなデータのアップロードを抑制"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"ドライバー向きカメラのプレビューでモニタリングの視界を確認します。（車両は停"
-"止状態である必要があります）"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "QRコードエラー"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "削除"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "リセット"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "確認"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "再起動"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "デバイスを再起動"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "再起動して更新"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"時速31mph（50km/h）を超えて走行中にウインカーを出さず検出された車線を外れた場"
-"合、車線内に戻るよう警告を受け取ります。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "ドライバーカメラを記録してアップロード"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "マイク音声を記録してアップロード"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"走行中にマイク音声を記録・保存します。音声は comma connect のドライブレコー"
-"ダー動画に含まれます。"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "規制情報"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "リラックス"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "リモートアクセス"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "リモートスナップショット"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "リクエストがタイムアウトしました"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "リセット"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "キャリブレーションをリセット"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "トレーニングガイドを確認"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "openpilotのルール、機能、制限を確認"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr "選択"
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "SSH鍵"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "Wi‑Fiネットワークを検索中..."
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "選択"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr "ブランチを選択"
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "言語を選択"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "シリアル"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "更新を後で通知"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "ソフトウェア"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "スタンダード"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"標準を推奨します。アグレッシブでは前走車に近づき、加減速も積極的になります。"
-"リラックスでは前走車との距離を保ちます。対応車種ではステアリングの車間ボタン"
-"でこれらの性格を切り替えられます。"
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "システムが応答しません"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "すぐに手動介入してください"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "温度"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr "対象ブランチ"
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "テザリングのパスワード"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "トグル"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "アンインストール"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "更新"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "アンインストール"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "不明"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "アップデートは車両の電源が切れている間のみダウンロードされます。"
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "今すぐアップグレード"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"ドライバー向きカメラのデータをアップロードしてモニタリングアルゴリズムの改善"
-"に協力してください。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "メートル法を使用"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"ACCと車線維持支援にopenpilotを使用します。本機能の使用中は常に注意が必要で"
-"す。"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "車両"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "表示"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "開始待機中"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"警告: これはGitHub設定内のすべての公開鍵にSSHアクセスを与えます。自分以外の"
-"GitHubユーザー名を絶対に入力しないでください。comma の従業員が自分のGitHub"
-"ユーザー名を追加するよう求めることは決してありません。"
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "openpilotへようこそ"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr "有効にすると、アクセルを踏むとopenpilotが解除されます。"
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "Wi‑Fiネットワーク（従量課金）"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "パスワードが違います"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "openpilotを使用するには、利用規約に同意する必要があります。"
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"openpilotを使用するには利用規約に同意する必要があります。続行する前に "
-"https://comma.ai/terms の最新の規約をお読みください。"
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "カメラを起動中"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "既定"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "下"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "アップデートの確認に失敗しました"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "「{}」向け"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "自動設定の場合は空欄のままにしてください"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "左"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "従量"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "なし"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "今"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot 縦制御（アルファ）"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilotは利用できません"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilotは既定でチルモードで走行します。実験モードでは、チルモードにはまだ準"
-"備ができていないアルファレベルの機能が有効になります。実験的な機能は以下のと"
-"おりです:<br><h4>エンドツーエンド縦制御</h4><br>運転モデルがアクセルとブレー"
-"キを制御します。openpilotは人間のように走行し、赤信号や一時停止でも停止しま"
-"す。走行速度は運転モデルが決めるため、設定速度は上限としてのみ機能します。こ"
-"れはアルファ品質の機能であり、誤動作が発生する可能性があります。<br><h4>新し"
-"い運転ビジュアライゼーション</h4><br>低速時には道路向きの広角カメラに切り替わ"
-"り、一部の曲がりをより良く表示します。画面右上には実験モードのロゴも表示され"
-"ます。"
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilotは継続的にキャリブレーションを行っており、リセットが必要になることは"
-"稀です。車が起動中にキャリブレーションをリセットするとopenpilotが再起動しま"
-"す。"
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilotは、あなたのような人間の運転を見て運転を学習します。\n"
-"\n"
-"Firehoseモードを使うと、学習データのアップロードを最大化してopenpilotの運転モ"
-"デルを改善できます。データが増えるほどモデルが大きくなり、実験モードがより良"
-"くなります。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilotの縦制御は将来のアップデートで提供される可能性があります。"
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilotでは、デバイスの取り付け角度が左右±4°、上方向5°以内、下方向9°以内で"
-"ある必要があります。"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "右"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "非従量"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "上"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "最新です。最終確認: なし"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "最新です。最終確認: {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "更新があります"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{}件のアラート"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "{}日前"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "{}時間前"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "{}分前"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"これまでにあなたの走行の{}セグメントが学習データセットに含まれています。"
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ 登録済み"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Firehoseモード 🔥"
diff --git a/selfdrive/ui/translations/app_ko.po b/selfdrive/ui/translations/app_ko.po
deleted file mode 100644
index f12aebaeb3..0000000000
--- a/selfdrive/ui/translations/app_ko.po
+++ /dev/null
@@ -1,1190 +0,0 @@
-# Korean translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: ko\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=1; plural=0;\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " 스티어링 토크 응답 보정이 완료되었습니다."
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " 스티어링 토크 응답 보정이 {}% 완료되었습니다."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " 장치는 {:.1f}° {} 및 {:.1f}° {} 방향을 가리키고 있습니다."
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "주행 데이터 1년 보관"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "연중무휴 LTE 연결"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동"
-"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 롱컨 제어 대신 "
-"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설"
-"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
-"원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>스티어링 지연 보정이 완료되었습니다."
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr "<br><br>스티어링 지연 보정이 {}% 완료되었습니다."
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "활성"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB(Android Debug Bridge)를 사용하면 USB 또는 네트워크로 장치에 연결할 수 있"
-"습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma 를 참고하"
-"세요."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "추가"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "APN 설정"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "과도한 작동을 확인"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "고급"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "공격적"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "동의"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "운전자 모니터링 항상 켜짐"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
-"할 수 있습니다."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "정말 전원을 끄시겠습니까?"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "정말 재시작하시겠습니까?"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "정말 보정을 재설정하시겠습니까?"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "정말 제거하시겠습니까?"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "뒤로"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "connect.comma.ai에서 comma prime 회원이 되세요"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr "connect.comma.ai를 홈 화면에 추가하여 앱처럼 사용하세요"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "변경"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "확인"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "안정적 모드 켜짐"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "연결"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "연결 중..."
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "취소"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "종량제 셀룰러"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "언어 변경"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr "차량 전원이 켜져 있으면 이 설정을 변경할 때 openpilot이 재시작됩니다."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "\"add new device\"를 눌러 오른쪽의 QR 코드를 스캔하세요"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "닫기"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "현재 버전"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "다운로드"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "거부"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "거부하고 openpilot 제거"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "개발자"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "장치"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "가속 페달로 해제"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "해제 후 전원 끄기"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "해제 후 재시작"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "해제 후 캘리브레이션 재설정"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "속도를 mph 대신 km/h로 표시합니다."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "동글 ID"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "다운로드"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "운전자 카메라"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "주행 성향"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "편집"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "오류"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "실험 모드 켜짐"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "사용"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "ADB 사용"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "차선 이탈 경고 사용"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "로밍 사용"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "SSH 사용"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "테더링 사용"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "openpilot이 작동 중이 아닐 때도 운전자 모니터링을 사용합니다."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "openpilot 사용"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "APN 입력"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "SSID 입력"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "새 테더링 비밀번호 입력"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "비밀번호 입력"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "GitHub 사용자 이름 입력"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "오류"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "실험 모드"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
-"니다."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "삭제 중..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "설정 완료"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "파이어호스"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "파이어호스 모드"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 "
-"Wi‑Fi에 연결하세요.\n"
-"\n"
-"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니"
-"다.\n"
-"\n"
-"\n"
-"자주 묻는 질문\n"
-"\n"
-"어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n"
-"\n"
-"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택"
-"적으로 가져갑니다.\n"
-"\n"
-"좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니"
-"다.\n"
-"\n"
-"어떤 소프트웨어를 실행하는지가 중요한가요? 예. 학습에는 업스트림 "
-"openpilot(및 일부 포크)만 사용할 수 있습니다."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "삭제"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "Wi‑Fi 네트워크 \"{}\"를 삭제하시겠습니까?"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "양호"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "휴대폰에서 https://connect.comma.ai 에 접속하세요"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "높음"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "숨겨진 네트워크"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "비활성: 비종량제 네트워크에 연결하세요"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "설치"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "IP 주소"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "업데이트 설치"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "조이스틱 디버그 모드"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "로딩 중"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "롱컨 기동 모드"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "최대"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr "학습 데이터 업로드를 최대화하여 openpilot의 주행 모델을 개선하세요."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "해당 없음"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "아니오"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "네트워크"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "SSH 키를 찾을 수 없습니다"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "사용자 '{}'의 SSH 키를 찾을 수 없습니다"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "릴리스 노트가 없습니다."
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "오프라인"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "확인"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "온라인"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "열기"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "페어링"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "미리보기"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "프라임 기능:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "장치 페어링"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "장치 페어링"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "장치를 귀하의 comma 계정에 페어링하세요"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세"
-"요."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "초기 페어링을 완료하려면 Wi‑Fi에 연결하세요"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "전원 끄기"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr "종량제 Wi‑Fi 연결 시 대용량 업로드 방지"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr "종량제 셀룰러 연결 시 대용량 업로드 방지"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"운전자 모니터링의 가시성을 확인하기 위해 운전자 카메라를 미리 봅니다. (차량"
-"은 꺼져 있어야 합니다)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "QR 코드 오류"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "제거"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "재설정"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "검토"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "재시작"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "장치 재시작"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "재시작 및 업데이트"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"시속 31mph(50km/h) 이상에서 방향지시등 없이 감지된 차선 밖으로 벗어나면 차선"
-"으로 복귀하라는 경고를 받습니다."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "운전자 카메라 기록 및 업로드"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "마이크 오디오 기록 및 업로드"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"주행 중 마이크 오디오를 기록하고 저장합니다. 오디오는 comma connect의 대시캠 "
-"영상에 포함됩니다."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "규제 정보"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "편안한"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "원격 액세스"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "원격 스냅샷"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "요청 시간이 초과되었습니다"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "재설정"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "캘리브레이션 재설정"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "학습 가이드 검토"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "openpilot의 규칙, 기능 및 제한을 검토"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr "선택"
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "SSH 키"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "Wi‑Fi 네트워크 검색 중..."
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "선택"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr "브랜치 선택"
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "언어 선택"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "시리얼"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "업데이트 나중에 알림"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "소프트웨어"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "표준"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적"
-"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
-"링의 차간 버튼으로 이 성향들을 전환할 수 있습니다."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "시스템 응답 없음"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "즉시 수동 조작하세요"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "온도"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr "대상 브랜치"
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "테더링 비밀번호"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "토글"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "제거"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "업데이트"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "제거"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "알수없음"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "업데이트는 차량 전원이 꺼져 있을 때만 다운로드됩니다."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "지금 업그레이드"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"운전자 방향 카메라 데이터를 업로드하여 운전자 모니터링 알고리즘 개선에 도움"
-"을 주세요."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "미터법 사용"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"ACC 및 차선 유지 보조에 openpilot을 사용합니다. 이 기능을 사용할 때는 항상 주"
-"의가 필요합니다."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "차량"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "보기"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "시작 대기 중"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"경고: 이는 GitHub 설정의 모든 공개 키에 SSH 액세스를 부여합니다. 자신의 것이 "
-"아닌 GitHub 사용자 이름을 절대 입력하지 마세요. comma 직원이 본인의 GitHub 사"
-"용자 이름 추가를 요구하는 일은 결코 없습니다."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "openpilot에 오신 것을 환영합니다"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr "이 옵션을 켜면 가속 페달을 밟을 때 openpilot이 해제됩니다."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "Wi‑Fi 네트워크 종량제"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "비밀번호가 올바르지 않습니다"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "openpilot을 사용하려면 약관에 동의해야 합니다."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"openpilot을 사용하려면 약관에 동의해야 합니다. 계속하기 전에 https://comma."
-"ai/terms 에서 최신 약관을 읽어주세요."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "카메라 시작 중"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma 프라임"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "기본값"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "아래"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "업데이트 확인 실패"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "\"{}\"용"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "자동 구성을 사용하려면 비워 두세요"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "왼쪽"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "종량제"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "없음"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "지금"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot 롱컨 제어(알파)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot 사용 불가"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 "
-"아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니"
-"다:<br><h4>엔드투엔드 롱컨 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
-"다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 "
-"판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한"
-"으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.<br><h4>"
-"새로운 주행 시각화</h4><br>저속에서는 도로 방향의 광각 카메라로 전환되어 일"
-"부 회전을 더 잘 보여줍니다. 화면 오른쪽 위에는 실험 모드 로고도 표시됩니다."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot은 지속적으로 보정을 진행하므로 재설정이 필요한 경우는 드뭅니다. 차"
-"량 전원이 켜져 있을 때 보정을 재설정하면 openpilot이 재시작됩니다."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot은 당신과 같은 사람의 운전을 보며 운전을 학습합니다.\n"
-"\n"
-"Firehose 모드는 학습 데이터 업로드를 최대화하여 openpilot의 주행 모델을 개선"
-"할 수 있게 해줍니다. 데이터가 많을수록 모델은 커지고, 실험 모드는 더 좋아집니"
-"다."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr "openpilot은 장치를 좌우 4°, 위쪽 5°, 아래쪽 9° 이내로 장착해야 합니다."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "오른쪽"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "비종량제"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "위"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "최신입니다. 마지막 확인: 없음"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "최신입니다. 마지막 확인: {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "업데이트 가능"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{}건의 알림"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "{}일 전"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "{}시간 전"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "{}분 전"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ 구독됨"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 파이어호스 모드 🔥"
diff --git a/selfdrive/ui/translations/app_pt-BR.po b/selfdrive/ui/translations/app_pt-BR.po
deleted file mode 100644
index 84b53c6e8d..0000000000
--- a/selfdrive/ui/translations/app_pt-BR.po
+++ /dev/null
@@ -1,1220 +0,0 @@
-# Language pt-BR translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-21 00:00-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: pt-BR\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=2; plural=(n > 1);\n"
-"X-Language: pt_BR\n"
-"X-Source-Language: C\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " A calibração da resposta de torque da direção foi concluída."
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " A calibração da resposta de torque da direção está {}% concluída."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " Seu dispositivo está apontado {:.1f}° {} e {:.1f}° {}."
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "1 ano de armazenamento de condução"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "Conectividade LTE 24/7"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>AVISO: o controle longitudinal do openpilot está em alpha para este carro "
-"e desativará a Frenagem Automática de Emergência (AEB).</b><br><br>Neste "
-"carro, o openpilot usa por padrão o ACC integrado do carro em vez do "
-"controle longitudinal do openpilot. Ative isto para alternar para o controle "
-"longitudinal do openpilot. Recomenda-se ativar o Modo Experimental ao ativar "
-"o controle longitudinal do openpilot em alpha."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>A calibração da latência da direção está concluída."
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr "<br><br>A calibração da latência da direção está {}% concluída."
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "ATIVO"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) permite conectar ao seu dispositivo via USB ou "
-"pela rede. Veja https://docs.comma.ai/how-to/connect-to-comma para mais "
-"informações."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "ADICIONAR"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "Configuração de APN"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "Reconhecer Atuação Excessiva"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "Avançado"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "Agressivo"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "Concordo"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "Monitoramento de Motorista Sempre Ativo"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Uma versão alpha do controle longitudinal do openpilot pode ser testada, "
-"junto com o Modo Experimental, em ramificações fora de release."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "Tem certeza de que deseja desligar?"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "Tem certeza de que deseja reiniciar?"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "Tem certeza de que deseja redefinir a calibração?"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "Tem certeza de que deseja desinstalar?"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "Voltar"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "Torne-se membro comma prime em connect.comma.ai"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr "Adicione connect.comma.ai à tela inicial para usá-lo como um app"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "ALTERAR"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "VERIFICAR"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "MODO CHILL ATIVO"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "CONECTAR"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "CONECTANDO..."
-
-#: system/ui/widgets/confirm_dialog.py:23
-#: system/ui/widgets/option_dialog.py:35 system/ui/widgets/keyboard.py:81
-#: system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "Cancelar"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "Dados móveis limitados"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "Alterar Idioma"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-"Alterar esta configuração reiniciará o openpilot se o carro estiver ligado."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "Toque em \"adicionar novo dispositivo\" e escaneie o QR code à direita"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "Fechar"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "Versão Atual"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "BAIXAR"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "Recusar"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "Recusar, desinstalar o openpilot"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "Desenvolv"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "Dispositivo"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "Desativar ao pressionar o acelerador"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "Desativar para Desligar"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "Desativar para Reiniciar"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "Desativar para Redefinir Calibração"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "Exibir velocidade em km/h em vez de mph."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "ID do Dongle"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "Baixar"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "Câmera do Motorista"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "Personalidade"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "EDITAR"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "ERRO"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "MODO EXPERIMENTAL ATIVO"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "Ativar"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "Ativar ADB"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "Ativar alertas de saída de faixa"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "Ativar openpilot"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "Ativar SSH"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "Ativar alertas de saída de faixa"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
-"Ativar monitoramento do motorista mesmo quando o openpilot não está engajado."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "Ativar openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Ative a opção de controle longitudinal do openpilot (alpha) para permitir o "
-"Modo Experimental."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "Digite APN"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "Digite SSID"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "Digite nova senha tethering"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "Digite a senha"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "Digite seu nome de usuário do GitHub"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "Erro"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "Modo Experimental"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"O Modo Experimental está indisponível neste carro pois o ACC original do "
-"carro é usado para controle longitudinal."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "ESQUECENDO..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "Configure"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Modo Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Para máxima efetividade, leve seu dispositivo para dentro e conecte a um bom "
-"adaptador USB-C e Wi‑Fi semanalmente.\n"
-"\n"
-"O Modo Firehose também pode funcionar enquanto você dirige se estiver "
-"conectado a um hotspot ou a um SIM ilimitado.\n"
-"\n"
-"\n"
-"Perguntas Frequentes\n"
-"\n"
-"Importa como ou onde eu dirijo? Não, apenas dirija como normalmente.\n"
-"\n"
-"Todos os meus segmentos são puxados no Modo Firehose? Não, puxamos "
-"seletivamente um subconjunto dos seus segmentos.\n"
-"\n"
-"Qual é um bom adaptador USB‑C? Qualquer carregador rápido de telefone ou "
-"laptop serve.\n"
-"\n"
-"Importa qual software eu executo? Sim, apenas o openpilot upstream (e forks "
-"específicos) podem ser usados para treinamento."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "Esquecer"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "Esquecer rede Wi-Fi \"{}\"?"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "BOM"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "Acesse https://connect.comma.ai no seu telefone"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "ALTO"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "Rede"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "INATIVO: conecte a uma rede sem franquia"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "INSTALAR"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "Endereço IP"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "Instalar Atualização"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "Modo de Depuração do Joystick"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "CARREGANDO"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "Modo de Manobra Longitudinal"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "MÁX"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Maximize seus envios de dados de treinamento para melhorar os modelos de "
-"condução do openpilot."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "N/A"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "NÃO"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "Rede"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "Nenhuma chave SSH encontrada"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "Nenhuma chave SSH encontrada para o usuário '{username}'"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "Sem notas de versão disponíveis."
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "OFFLINE"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "OK"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "ONLINE"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "Abrir"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "EMPARELHAR"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "PRÉVIA"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "RECURSOS PRIME:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "Emparelhar Dispositivo"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "Emparelhar dispositivo"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "Emparelhe seu dispositivo à sua conta comma"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Emparelhe seu dispositivo com o comma connect (connect.comma.ai) e resgate "
-"sua oferta comma prime."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "Desligar"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr "Evitar uploads grandes de dados em conexões Wi-Fi limitadas"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr "Evitar uploads grandes de dados em conexões móveis limitadas"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Pré-visualize a câmera voltada para o motorista para garantir que o "
-"monitoramento do motorista tenha boa visibilidade. (veículo deve estar "
-"desligado)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "Erro no QR Code"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "REMOVER"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "REDEFINIR"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "REVISAR"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "Reiniciar"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "Reiniciar Dispositivo"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "Reiniciar e Atualizar"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Receba alertas para voltar à faixa quando seu veículo cruzar uma linha de "
-"faixa detectada sem seta ativada ao dirigir acima de 31 mph (50 km/h)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "Gravar e Enviar Câmera do Motorista"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "Gravar e Enviar Áudio do Microfone"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Grave e armazene o áudio do microfone enquanto dirige. O áudio será incluído "
-"no vídeo da dashcam no comma connect."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "Regulatório"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "Relaxado"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "Acesso remoto"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "Capturas remotas"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "Tempo da solicitação esgotado"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "Redefinir"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "Redefinir Calibração"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "Revisar Guia de Treinamento"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "Revise as regras, recursos e limitações do openpilot"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr "SELECIONAR"
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "Chaves SSH"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "Procurando redes Wi-Fi..."
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "Selecione"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr "Selecione uma branch"
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "Selecione um idioma"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "Serial"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "Adiar Atualização"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "Software"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "Padrão"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Padrão é recomendado. No modo agressivo, o openpilot seguirá veículos à "
-"frente mais de perto e será mais agressivo com acelerador e freio. No modo "
-"relaxado, o openpilot ficará mais longe dos veículos à frente. Em carros "
-"compatíveis, você pode alternar essas personalidades com o botão de "
-"distância do volante."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "Sistema sem resposta"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "ASSUMA O CONTROLE IMEDIATAMENTE"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "TEMP"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr "Branch Alvo"
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "Senha Tethering"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "Toggles"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "DESINSTALAR"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "ATUALIZAR"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "Desinstalar"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "Desconhecido"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "Atualizações são baixadas apenas com o carro desligado."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "Atualizar Agora"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Envie dados da câmera voltada para o motorista e ajude a melhorar o "
-"algoritmo de monitoramento do motorista."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "Usar Sistema Métrico"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Use o sistema openpilot para controle de cruzeiro adaptativo e assistência "
-"de permanência em faixa. Sua atenção é necessária o tempo todo para usar "
-"este recurso."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "VEÍCULO"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "VER"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "Aguardando para iniciar"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Aviso: Isso concede acesso SSH a todas as chaves públicas nas suas "
-"configurações do GitHub. Nunca informe um nome de usuário do GitHub que não "
-"seja o seu. Um funcionário da comma NUNCA pedirá para você adicionar o nome "
-"de usuário do GitHub dele."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "Bem-vindo ao openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-"Quando ativado, pressionar o pedal do acelerador desengajará o openpilot."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "Rede Wi-Fi limitada"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "Senha errada"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "Você deve aceitar os Termos e Condições para usar o openpilot."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Você deve aceitar os Termos e Condições para usar o openpilot. Leia os "
-"termos mais recentes em https://comma.ai/terms antes de continuar."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "câmera iniciando"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "default"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "para baixo"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "falha ao verificar atualização"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "para \"{}\""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "deixe em branco para configuração automática"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "à esquerda"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "limitados"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "nunca"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "agora"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "Controle Longitudinal do openpilot (Alpha)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot Indisponível"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables "
-"alpha-level features that aren't ready for chill mode. Experimental features "
-"are listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the "
-"driving model control the gas and brakes. openpilot will drive as it thinks "
-"a human would, including stopping for red lights and stop signs. Since the "
-"driving model decides the speed to drive, the set speed will only act as an "
-"upper bound. This is an alpha quality feature; mistakes should be "
-"expected.<br><h4>New Driving Visualization</h4><br>The driving visualization "
-"will transition to the road-facing wide-angle camera at low speeds to better "
-"show some turns. The Experimental mode logo will also be shown in the top "
-"right corner."
-msgstr ""
-"o openpilot dirige por padrão no modo chill. O Modo Experimental habilita "
-"recursos em nível alpha que não estão prontos para o modo chill. Os recursos "
-"experimentais são listados abaixo:<br><h4>Controle Longitudinal "
-"End-to-End</h4><br>Permita que o modelo de condução controle o acelerador e "
-"os freios. O openpilot dirigirá como acha que um humano faria, incluindo "
-"parar em sinais e semáforos vermelhos. Como o modelo decide a velocidade, a "
-"velocidade definida atuará apenas como limite superior. Este é um recurso de "
-"qualidade alpha; erros devem ser esperados.<br><h4>Nova Visualização de "
-"Condução</h4><br>A visualização de condução mudará para a câmera "
-"grande-angular voltada para a estrada em baixas velocidades para mostrar "
-"melhor algumas curvas. O logotipo do Modo Experimental também será exibido "
-"no canto superior direito."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"O openpilot está continuamente calibrando, resetar é raramente solicitado. "
-"Alterar esta configuração reiniciará o openpilot se o carro estiver ligado."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"o openpilot aprende a dirigir observando humanos, como você, dirigirem.\n"
-"\n"
-"O Modo Firehose permite maximizar seus envios de dados de treinamento para "
-"melhorar os modelos de condução do openpilot. Mais dados significam modelos "
-"maiores, o que significa um Modo Experimental melhor."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-"o controle longitudinal do openpilot pode vir em uma atualização futura."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"o openpilot requer que o dispositivo seja montado dentro de 4° para a "
-"esquerda ou direita e dentro de 5° para cima ou 9° para baixo."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "à direita"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "ilimitados"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "para cima"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "atualizado, última verificação: nunca"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "atualizado, última verificação: {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "atualização disponível"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} ALERTA"
-msgstr[1] "{} ALERTAS"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "{} dia atrás"
-msgstr[1] "{} dias atrás"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "{} hora atrás"
-msgstr[1] "{} horas atrás"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "{} minuto atrás"
-msgstr[1] "{} minutos atrás"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"{} segmento da sua condução está no conjunto de treinamento até agora."
-msgstr[1] ""
-"{} segmentos da sua condução estão no conjunto de treinamento até agora."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ ASSINADO"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Modo Firehose 🔥"
diff --git a/selfdrive/ui/translations/app_th.po b/selfdrive/ui/translations/app_th.po
deleted file mode 100644
index f2e56f2882..0000000000
--- a/selfdrive/ui/translations/app_th.po
+++ /dev/null
@@ -1,1129 +0,0 @@
-# Thai translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: th\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=1; plural=0;\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr ""
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr ""
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr ""
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr ""
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr ""
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr ""
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr ""
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr ""
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr ""
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr ""
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr ""
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr ""
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr ""
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr ""
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr ""
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr ""
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr ""
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr ""
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr ""
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr ""
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr ""
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr ""
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr ""
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr ""
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr ""
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr ""
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr ""
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr ""
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr ""
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr ""
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr ""
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr ""
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr ""
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr ""
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr ""
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-msgstr[1] ""
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr ""
diff --git a/selfdrive/ui/translations/app_tr.po b/selfdrive/ui/translations/app_tr.po
deleted file mode 100644
index 10191234a1..0000000000
--- a/selfdrive/ui/translations/app_tr.po
+++ /dev/null
@@ -1,1210 +0,0 @@
-# Turkish translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 18:19-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: tr\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=2; plural=(n != 1);\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " Direksiyon tork tepkisi kalibrasyonu tamamlandı."
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " Direksiyon tork tepkisi kalibrasyonu {}% tamamlandı."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " Cihazınız {:.1f}° {} ve {:.1f}° {} yönünde konumlandırılmış."
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "1 yıl sürüş depolaması"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "7/24 LTE bağlantısı"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>UYARI: Bu araç için openpilot boylamsal kontrolü alfa aşamasındadır ve "
-"Otomatik Acil Frenlemeyi (AEB) devre dışı bırakacaktır.</b><br><br>Bu araçta "
-"openpilot, openpilot'un boylamsal kontrolü yerine aracın yerleşik ACC'sini "
-"varsayılan olarak kullanır. openpilot boylamsal kontrolüne geçmek için bunu "
-"etkinleştirin. openpilot boylamsal kontrol alfayı etkinleştirirken Deneysel "
-"modu etkinleştirmeniz önerilir."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "AKTİF"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge), cihazınıza USB veya ağ üzerinden bağlanmayı "
-"sağlar. Daha fazla bilgi için https://docs.comma.ai/how-to/connect-to-comma "
-"adresine bakın."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "EKLE"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr ""
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "Aşırı Müdahaleyi Onayla"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "Agresif"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "Kabul et"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "Sürekli Sürücü İzleme"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"openpilot boylamsal kontrolünün alfa sürümü, Deneysel mod ile birlikte, "
-"yayın dışı dallarda test edilebilir."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "Kapatmak istediğinizden emin misiniz?"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "Yeniden başlatmak istediğinizden emin misiniz?"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "Kalibrasyonu sıfırlamak istediğinizden emin misiniz?"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "Kaldırmak istediğinizden emin misiniz?"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "Geri"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "connect.comma.ai adresinde comma prime üyesi olun"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"connect.comma.ai'yi ana ekranınıza ekleyerek bir uygulama gibi kullanın"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "DEĞİŞTİR"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "KONTROL ET"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "CHILL MODU AÇIK"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "BAĞLAN"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "BAĞLAN"
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr ""
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "Dili Değiştir"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-" Bu ayarı değiştirmek, araç çalışıyorsa openpilot'u yeniden başlatacaktır."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "\"yeni cihaz ekle\"ye tıklayın ve sağdaki QR kodunu tarayın"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "Kapat"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "Geçerli Sürüm"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "İNDİR"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "Reddet"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "Reddet, openpilot'u kaldır"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "Geliştirici"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "Cihaz"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "Gaz Pedalında Devreden Çık"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "Kapatmak için Devreden Çıkın"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "Yeniden Başlatmak için Devreden Çıkın"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "Kalibrasyonu Sıfırlamak için Devreden Çıkın"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "Hızı mph yerine km/h olarak göster."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "Dongle ID"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "İndir"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "Sürücü Kamerası"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "Sürüş Kişiliği"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "HATA"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "DENEYSEL MOD AÇIK"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "Etkinleştir"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "ADB'yi Etkinleştir"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "Şerit Terk Uyarılarını Etkinleştir"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "openpilot'u etkinleştir"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "SSH'yi Etkinleştir"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "Şerit Terk Uyarılarını Etkinleştir"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "openpilot devrede değilken bile sürücü izlemesini etkinleştir."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "openpilot'u etkinleştir"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Deneysel modu etkinleştirmek için openpilot boylamsal kontrolünü (alfa) açın."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr ""
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr ""
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr ""
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr ""
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "GitHub kullanıcı adınızı girin"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "Deneysel Mod"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Bu araçta boylamsal kontrol için stok ACC kullanıldığından şu anda Deneysel "
-"mod kullanılamıyor."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr ""
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "Kurulumu Bitir"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Firehose Modu"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Maksimum verim için cihazınızı içeri alın ve haftalık olarak iyi bir USB-C "
-"adaptörüne ve Wi‑Fi'a bağlayın.\n"
-"\n"
-"Firehose Modu, bir hotspot'a veya sınırsız SIM karta bağlıyken sürüş "
-"sırasında da çalışabilir.\n"
-"\n"
-"\n"
-"Sıkça Sorulan Sorular\n"
-"\n"
-"Nasıl veya nerede sürdüğüm önemli mi? Hayır, normalde nasıl sürüyorsanız "
-"öyle sürün.\n"
-"\n"
-"Firehose Modu'nda tüm segmentlerim çekiliyor mu? Hayır, segmentlerinizin bir "
-"alt kümesini seçerek çekiyoruz.\n"
-"\n"
-"İyi bir USB‑C adaptörü nedir? Hızlı bir telefon veya dizüstü şarj cihazı "
-"uygundur.\n"
-"\n"
-"Hangi yazılımı çalıştırdığım önemli mi? Evet, yalnızca upstream openpilot "
-"(ve bazı fork'lar) eğitim için kullanılabilir."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr ""
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "İYİ"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "Telefonunuzda https://connect.comma.ai adresine gidin"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "YÜKSEK"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "Ağ"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "PASİF: sınırsız bir ağa bağlanın"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "YÜKLE"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "Güncellemeyi Yükle"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "Joystick Hata Ayıklama Modu"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "YÜKLENİYOR"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "Boylamsal Manevra Modu"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "MAKS"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"openpilot'un sürüş modellerini iyileştirmek için eğitim veri yüklemelerinizi "
-"en üst düzeye çıkarın."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr ""
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "HAYIR"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "Ağ"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "SSH anahtarı bulunamadı"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "'{username}' için SSH anahtarı bulunamadı"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "Sürüm notu mevcut değil."
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "ÇEVRİMDIŞI"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "OK"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "ÇEVRİMİÇİ"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "Aç"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "EŞLE"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "ÖNİZLEME"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "PRIME ÖZELLİKLERİ:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "Cihazı Eşle"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "Cihazı eşle"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "Cihazınızı comma hesabınızla eşleştirin"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime "
-"teklifinizi alın."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "Kapat"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Sürücü izleme görünürlüğünün iyi olduğundan emin olmak için sürücüye bakan "
-"kamerayı önizleyin. (araç kapalı olmalıdır)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "QR Kod Hatası"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "KALDIR"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "SIFIRLA"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "GÖZDEN GEÇİR"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "Yeniden Başlat"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "Cihazı Yeniden Başlat"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "Yeniden Başlat ve Güncelle"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Araç 31 mph (50 km/h) üzerindeyken sinyal verilmeden algılanan şerit "
-"çizgisini aştığınızda şeride geri dönmeniz için uyarılar alın."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "Sürücü Kamerasını Kaydet ve Yükle"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "Mikrofon Sesini Kaydet ve Yükle"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Sürüş sırasında mikrofon sesini kaydedip saklayın. Ses, comma connect'teki "
-"ön kamera videosuna dahil edilecektir."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "Mevzuat"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "Rahat"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "Uzaktan erişim"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "Uzaktan anlık görüntüler"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "İstek zaman aşımına uğradı"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "Sıfırla"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "Kalibrasyonu Sıfırla"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "Eğitim Kılavuzunu İncele"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr ""
-"openpilot'un kurallarını, özelliklerini ve sınırlamalarını gözden geçirin"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr ""
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr ""
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "Bir dil seçin"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "Seri"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "Güncellemeyi Ertele"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "Yazılım"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "Standart"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Standart önerilir. Agresif modda openpilot öndeki aracı daha yakından takip "
-"eder ve gaz/fren kullanımında daha ataktır. Rahat modda openpilot öndeki "
-"araçlardan daha uzak durur. Desteklenen araçlarda bu kişilikler arasında "
-"direksiyon mesafe düğmesiyle geçiş yapabilirsiniz."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "Sistem Yanıt Vermiyor"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "HEMEN KONTROLÜ DEVRALIN"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "TEMP"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr ""
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "Seçenekler"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "KALDIR"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "GÜNCELLE"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "Kaldır"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "Bilinmiyor"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "Güncellemeler yalnızca araç kapalıyken indirilir."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "Şimdi Yükselt"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Sürücüye bakan kameradan veri yükleyin ve sürücü izleme algoritmasını "
-"geliştirmeye yardımcı olun."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "Metrik Sistemi Kullan"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Uyarlanabilir hız sabitleyici ve şerit koruma sürücü yardımında openpilot "
-"sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız "
-"gerekir."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "ARAÇ"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "GÖRÜNTÜLE"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "Başlatma bekleniyor"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Uyarı: Bu, GitHub ayarlarınızdaki tüm açık anahtarlara SSH erişimi verir. "
-"Kendi adınız dışında asla bir GitHub kullanıcı adı girmeyin. Bir comma "
-"çalışanı sizden asla GitHub kullanıcı adlarını eklemenizi İSTEMEZ."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "openpilot'a hoş geldiniz"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr ""
-"Etkinleştirildiğinde, gaz pedalına basmak openpilot'u devreden çıkarır."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr ""
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr ""
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "openpilot'u kullanmak için Şartlar ve Koşulları kabul etmelisiniz."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"openpilot'u kullanmak için Şartlar ve Koşulları kabul etmelisiniz. Devam "
-"etmeden önce en güncel şartları https://comma.ai/terms adresinde okuyun."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "kamera başlatılıyor"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "aşağı"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "güncelleme kontrolü başarısız"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "sol"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr ""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "asla"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "şimdi"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot Boylamsal Kontrol (Alfa)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot Kullanılamıyor"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot varsayılan olarak chill modunda sürer. Deneysel mod, chill moduna "
-"hazır olmayan alfa seviyesindeki özellikleri etkinleştirir. Deneysel "
-"özellikler aşağıda listelenmiştir:<br><h4>Uçtan Uca Boylamsal Kontrol</"
-"h4><br>Sürüş modelinin gaz ve frenleri kontrol etmesine izin verin. "
-"openpilot, kırmızı ışıklarda ve dur işaretlerinde durmak dahil, bir insan "
-"nasıl sürer diye düşündüğüne göre sürer. Hızı sürüş modeli belirlediğinden, "
-"ayarlanan hız yalnızca üst sınır olarak işlev görür. Bu bir alfa kalitesinde "
-"özelliktir; hatalar beklenmelidir.<br><h4>Yeni Sürüş Görselleştirmesi</"
-"h4><br>Sürüş görselleştirmesi, düşük hızlarda bazı dönüşleri daha iyi "
-"göstermek için yola bakan geniş açılı kameraya geçer. Deneysel mod logosu "
-"sağ üst köşede de gösterilecektir."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-" Bu ayarı değiştirmek, araç çalışıyorsa openpilot'u yeniden başlatacaktır."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot, sizin gibi insanların nasıl sürdüğünü izleyerek sürmeyi öğrenir.\n"
-"\n"
-"Firehose Modu, openpilot'un sürüş modellerini geliştirmek için eğitim veri "
-"yüklemelerinizi en üst düzeye çıkarmanıza olanak tanır. Daha fazla veri, "
-"daha büyük modeller demektir; bu da daha iyi Deneysel Mod anlamına gelir."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilot boylamsal kontrolü gelecekteki bir güncellemede gelebilir."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"openpilot, cihazın sağa/sola 4° ve yukarı 5° veya aşağı 9° içinde monte "
-"edilmesini gerektirir."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "sağ"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr ""
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "yukarı"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "güncel, son kontrol asla"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "güncel, son kontrol {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "güncelleme mevcut"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} UYARI"
-msgstr[1] "{} UYARILAR"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "{} gün önce"
-msgstr[1] "{} gün önce"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "{} saat önce"
-msgstr[1] "{} saat önce"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "{} dakika önce"
-msgstr[1] "{} dakika önce"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} segment sürüşünüz eğitim veri setinde."
-msgstr[1] "{} segment sürüşünüz eğitim veri setinde."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ ABONE"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Firehose Modu 🔥"
diff --git a/selfdrive/ui/translations/app_uk.po b/selfdrive/ui/translations/app_uk.po
deleted file mode 100644
index cf78fb5a33..0000000000
--- a/selfdrive/ui/translations/app_uk.po
+++ /dev/null
@@ -1,1258 +0,0 @@
-# Ukrainian translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: \n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-11-19 12:21+0200\n"
-"PO-Revision-Date: 2025-11-19 13:27+0200\n"
-"Last-Translator: KeeFeeRe <me@keefeere.me>\n"
-"Language-Team: none\n"
-"Language: uk\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && "
-"n%10<=4 && (n%100<10 || n%100>=20) ? 1 : 2);\n"
-"X-Generator: Poedit 3.8\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " Калібрування реакції крутного моменту керма завершено."
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr "Калібрування реакції крутного моменту керма завершено на {}%."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " Ваш пристрій нахилено на {:.1f}° {} та {:.1f}° {}."
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "1 рік зберігання поїздок"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "Підключення LTE 24/7"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"ПОПЕРЕДЖЕННЯ: поздовжнє керування openpilot для цього автомобіля знаходиться "
-"в стадії альфа-тестування і вимкне автоматичне екстрене гальмування (AEB)."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>Калібрування затримки кермування завершено."
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr "<br><br>Калібрування затримки кермування завершено на {}%."
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "АКТИВНИЙ"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) дозволяє підключатися до вашого пристрою через "
-"USB або мережу. Дивіться https://docs.comma.ai/how-to/connect-to-comma для "
-"отримання додаткової інформації."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "ДОДАТИ"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "Налаштування APN"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "Визнайте надмірне спрацьовування"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "Розширені"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "Агресивн."
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "Погодитися"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "Постійний моніторинг водія"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"Альфа-версію поздовжнього керування openpilot можна протестувати разом з "
-"експериментальним режимом на нерелізних гілках."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "Ви впевнені, що хочете вимкнути?"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "Ви впевнені, що хочете перезавантажити?"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "Ви впевнені, що хочете скинути калібрування?"
-
-#: selfdrive/ui/layouts/settings/software.py:171
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "Ви впевнені, що хочете видалити?"
-
-#: system/ui/widgets/network.py:99
-#: selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "Назад"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "Станьте членом comma prime на connect.comma.ai"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:119
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr ""
-"Додайте connect.comma.ai до головного екрану, щоб використовувати його як "
-"додаток."
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "ЗМІНИТИ"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:115
-#: selfdrive/ui/layouts/settings/software.py:126
-#: selfdrive/ui/layouts/settings/software.py:155
-#, python-format
-msgid "CHECK"
-msgstr "ПЕРЕВІРИТИ"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "СПОКІЙНИЙ РЕЖИМ"
-
-#: system/ui/widgets/network.py:155
-#: selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134
-#: selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "CONNECT"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "ПІДКЛЮЧА..."
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/network.py:318 system/ui/widgets/keyboard.py:81
-#, python-format
-msgid "Cancel"
-msgstr "Скасувати"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "Лімітне стільникове з'єднання"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "Змінити мову"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-"Зміна цього параметра призведе до перезапуску openpilot, якщо автомобіль "
-"увімкнено."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:118
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "Натисніть «додати новий пристрій» і відскануйте QR-код праворуч."
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "Закрити"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "Поточна версія"
-
-#: selfdrive/ui/layouts/settings/software.py:118
-#, python-format
-msgid "DOWNLOAD"
-msgstr "ВАНТАЖ"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "Відхилити"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "Відхилити, видалити openpilot"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Developer"
-msgstr "Розробник"
-
-#: selfdrive/ui/layouts/settings/settings.py:59
-msgid "Device"
-msgstr "Пристрій"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "Вимкнення при натисканні на педаль газу"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "Вимкніть openpilot, щоб вимкнути пристрій"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "Вимкніть openpilot, щоб перезавантажити"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "Деактивуйте для скидання калібрування"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "Відображати швидкість у км/год замість миль/год."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "ID ключа"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "Завантажити"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "Камера водія"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "Стиль водіння"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "РЕДАГ."
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "ПОМИЛКА"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "ЕКСПЕРИМЕНТ. РЕЖИМ"
-
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#: selfdrive/ui/layouts/settings/developer.py:166
-#, python-format
-msgid "Enable"
-msgstr "Увімкнути"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "Увімкнути ADB"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "Увімкнути попередження про виїзд зі смуги"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "Увімкнути роумінг"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "Увімкнути SSH"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "Увімкнути точку доступу"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "Увімкнути моніторинг водія, навіть коли openpilot не ввімкнено."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "Увімкнути openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr ""
-"Увімкніть перемикач поздовжнього керування openpilot (альфа), щоб увімкнути "
-"експериментальний режим."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "Введіть APN"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "Введіть SSID"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "Введіть новий пароль для модему"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "Введіть пароль"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "Введіть ваш логін GitHub"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "Помилка"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "Експериментальний режим"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"Експериментальний режим наразі недоступний для цього автомобіля, оскільки "
-"для поздовжнього керування використовується штатний адаптивний круїз-"
-"контроль (ACC)."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "ЗАБУВАЮ..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "Завершити налаштування"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Firehose"
-msgstr "Злива"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Режим зливи"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"Для максимальної ефективності щотижня заносьте пристрій у приміщення та "
-"підключайте його до якісного адаптера USB-C і Wi-Fi.\n"
-"\n"
-"Режим Зливи також може працювати під час руху, якщо пристрій підключено до "
-"точки доступу або SIM-картки з необмеженим трафіком.\n"
-"\n"
-"\n"
-"Поширені запитання\n"
-"\n"
-"Чи має значення, як і де я їду? Ні, просто їдьте, як зазвичай.\n"
-"\n"
-"Чи всі мої сегменти потрапляють у режим Зливи? Ні, ми вибірково вибираємо "
-"підмножину ваших сегментів.\n"
-"\n"
-"Що таке хороший адаптер USB-C? Будь-який швидкий зарядний пристрій для "
-"телефону або ноутбука підійде.\n"
-"\n"
-"Чи має значення, яке програмне забезпечення я використовую? Так, для "
-"навчання можна використовувати тільки upstream openpilot (і певні його "
-"форки)."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "Заб-и"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "Забути мережу Wi-Fi \"{}\"?"
-
-#: selfdrive/ui/layouts/sidebar.py:71
-#: selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "ДОБРА"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:117
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "Перейдіть на сайт https://connect.comma.ai на своєму телефоні."
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "ВИСОКА"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "Прихована мережа"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "НЕАКТИВНО: підключення до мережі без ліміту трафіку"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:144
-#, python-format
-msgid "INSTALL"
-msgstr "ВСТАНОВ."
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "IP-адреса"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "Встановити оновлення"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "Режим зневадження джойстика"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "ЗАВАНТАЖЕННЯ"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "Режим поздовжнього маневрування"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "МАКС"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr ""
-"Максимізуйте завантаження навчальних даних, щоб поліпшити моделі openpilot."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "Н/Д"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "НЕМАЄ"
-
-#: selfdrive/ui/layouts/settings/settings.py:60
-msgid "Network"
-msgstr "Мережа"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "Не знайдено ключів SSH"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "Користувач '{}' не має ключів на GitHub"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "Інформація про випуск відсутня."
-
-#: selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "ОФЛАЙН"
-
-#: system/ui/widgets/confirm_dialog.py:93 system/ui/widgets/html_render.py:263
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "OK"
-
-#: selfdrive/ui/layouts/sidebar.py:72
-#: selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "ОНЛАЙН"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "ВІДКРИТИ"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "ПІДКЛЮЧИТИ"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "ПОКАЖИ"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "XАРАКТЕРИСТИКИ PRIME:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "Підключити пристрій"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "Підключити пристрій"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:92
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "Підключіть свій пристрій до обліковки comma connect"
-
-#: selfdrive/ui/widgets/setup.py:48
-#: selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"Підключіть свій пристрій до comma connect (connect.comma.ai) і отримайте "
-"свою пропозицію comma prime."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "Будь ласка, підключіться до Wi-Fi, щоб завершити початкове сполучення."
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "Вимкнути"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr ""
-"Запобігайте завантаженню великих обсягів даних під час використання Wi-Fi-"
-"з'єднання з обмеженим трафіком"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr ""
-"Запобігати великим завантаженням даних під час лімітного стільникового "
-"з'єднання"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"Попередньо перегляньте камеру, спрямовану на водія, щоб переконатися, що "
-"система моніторингу водія має добру видимість. (автомобіль повинен бути "
-"вимкнений)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:150
-#, python-format
-msgid "QR Code Error"
-msgstr "Помилка QR-коду"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "ВИДАЛИТИ"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "Скинути"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "ДИВИТИСЬ"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "Перезавантажити"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "Перезавантажте пристрій"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "Перезавантажити та оновити"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"Отримувати попередження про необхідність повернутися в смугу, коли ваш "
-"автомобіль перетинає виявлену лінію розмітки без увімкненого сигналу "
-"повороту під час руху зі швидкістю понад 31 миль/год (50 км/год)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "Писати та вантажити відео з камери водія"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "Запис та завантаження аудіо з мікрофона"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"Записуйте та зберігайте аудіо з мікрофона під час руху. Аудіо буде включено "
-"до відео з відеореєстратора в comma connect."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "Нормативні документи"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "Спокійний"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "Віддалений доступ"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "Віддалені знімки"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "Час запиту вичерпано"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "Скинути"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "Скинути калібрування"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "Переглянути посібник з навчання"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "Перегляньте правила, функції та обмеження openpilot"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr "ВИБРАТИ"
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "SSH ключі"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "Пошук мереж..."
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "Вибрати"
-
-#: selfdrive/ui/layouts/settings/software.py:191
-#, python-format
-msgid "Select a branch"
-msgstr "Виберіть гілку"
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "Виберіть мову"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "Серійний номер"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "Відкласти оновлення"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Software"
-msgstr "Програма"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "Стандарт"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"Рекомендується стандартний режим. В агресивному режимі openpilot буде "
-"триматися ближче до автомобілів попереду і більш агресивно використовувати "
-"газ і гальма. У спокійному режимі openpilot буде триматися на більшій "
-"відстані від автомобілів попереду. На підтримуваних автомобілях ви можете "
-"перемикатися між цими режимами за допомогою кнопки дистанції на кермі."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "Система не реагує"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "КЕРМУЙТЕ НЕГАЙНО"
-
-#: selfdrive/ui/layouts/sidebar.py:71
-#: selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "ТЕМП"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr "Цільова гілка"
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "Пароль для точки доступу"
-
-#: selfdrive/ui/layouts/settings/settings.py:61
-msgid "Toggles"
-msgstr "Перемикачі"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "ВИДАЛИТИ"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "ОНОВИТИ"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:171
-#, python-format
-msgid "Uninstall"
-msgstr "Видалити"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "Невідомо"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "Оновлення завантажуються лише тоді, коли автомобіль вимкнено."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "Оновити зараз"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"Завантажуйте дані з камери, спрямованої на водія, та допоможіть покращити "
-"алгоритм моніторингу водія."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "Використовувати метричну систему"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"Використовуйте систему openpilot для адаптивного круїз-контролю та допомоги "
-"в утриманні смуги руху. Ваша увага потрібна постійно при використанні цієї "
-"функції. Зміна цього налаштування набуває чинності після вимкнення живлення "
-"автомобіля."
-
-#: selfdrive/ui/layouts/sidebar.py:72
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "АВТО"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "ДИВИСЬ"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "Очікування початку"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"Попередження: це надає доступ по SSH до всіх публічних ключів у ваших "
-"налаштуваннях GitHub. Ніколи не вводьте ім'я користувача GitHub, окрім "
-"вашого власного. Співробітник comma НІКОЛИ не попросить вас додати його ім'я "
-"користувача GitHub."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "Ласкаво просимо до openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr "Якщо увімкнено, натискання на педаль акселератора вимкне openpilot."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi-Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "Трафік Wi-Fi"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "Невірний пароль"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "Ви повинні прийняти Умови та положення, щоб користуватися openpilot."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"Ви повинні прийняти Умови використання, щоб користуватися openpilot. Перед "
-"тим, як продовжити, ознайомтеся з останніми умовами на сайті https://"
-"comma.ai/terms."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "запуск камери"
-
-#: selfdrive/ui/layouts/settings/software.py:105
-#, python-format
-msgid "checking..."
-msgstr "перевіряю..."
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "замовч."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "вниз"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "downloading..."
-msgstr "завантажую..."
-
-#: selfdrive/ui/layouts/settings/software.py:114
-#, python-format
-msgid "failed to check for update"
-msgstr "не вдалося перевірити оновлення"
-
-#: selfdrive/ui/layouts/settings/software.py:107
-#, python-format
-msgid "finalizing update..."
-msgstr "завершую..."
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "для \"{}\""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "км/год"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "залиште порожнім для автоматичного налаштування"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "вліво"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "обмеж."
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "миль/год"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "ніколи"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "зараз"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "Поздовжнє керування openpilot (Альфа)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot Недоступний"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot за замовчуванням працює в режимі спокій. Експериментальний режим "
-"увімкне функції альфа-рівня, які ще не готові для режиму спокій. "
-"Експериментальні функції перелічені нижче:<br><h4>Кінцевий поздовжній "
-"контроль</h4><br>Дозвольте моделі водіння контролювати газ і гальма. "
-"openpilot буде керувати автомобілем так, як це робив би людина, включаючи "
-"зупинку на червоне світло і знаки зупинки. Оскільки модель водіння визначає "
-"швидкість руху, задана швидкість буде діяти лише як верхня межа. Це функція "
-"альфа-рівня; слід очікувати помилок.<br><h4>Нова візуалізація водіння</"
-"h4><br>Візуалізація водіння перейде на ширококутну камеру, спрямовану на "
-"дорогу, при низьких швидкостях, щоб краще показувати деякі повороти. Логотип "
-"експериментального режиму також буде показаний у верхньому правому куті."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot постійно калібрується, скидання рідко потрібне. Скидання "
-"калібрування призведе до перезапуску openpilot, якщо автомобіль увімкнено."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot вчиться керувати автомобілем, спостерігаючи за тим, як це роблять "
-"люди, такі як ви.\n"
-"\n"
-"Режим зливи дозволяє максимально збільшити обсяг завантажуваних навчальних "
-"даних, щоб поліпшити моделі керування автомобілем openpilot. Більше даних "
-"означає більші моделі, а це означає кращий експериментальний режим."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "Поздовжнє керування openpilot може з'явитися в майбутньому оновленні."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"Для роботи openpilot потрібно, щоб пристрій був встановлений з нахилом не "
-"більше 4° вліво або вправо та не більше 5° вгору або 9° вниз. openpilot "
-"постійно калібрується, тому скидання калібрування потрібне рідко."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "вправо"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "необмеж."
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "вгору"
-
-#: selfdrive/ui/layouts/settings/software.py:125
-#, python-format
-msgid "up to date, last checked never"
-msgstr "оновлено, ніколи не перевірялось"
-
-#: selfdrive/ui/layouts/settings/software.py:123
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "оновлено, перевірив {}"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "update available"
-msgstr "доступне оновлення"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} СПОВІЩЕННЯ"
-msgstr[1] "{} СПОВІЩЕННЯ"
-msgstr[2] "{} СПОВІЩЕНЬ"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "{} день тому"
-msgstr[1] "{} дні тому"
-msgstr[2] "{} днів тому"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "{} година тому"
-msgstr[1] "{} години тому"
-msgstr[2] "{} годин тому"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "{} хвилина тому"
-msgstr[1] "{} хвилини тому"
-msgstr[2] "{} хвилин тому"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] ""
-"{} сегмент вашого водіння на даний момент містяться в тренувальному наборі "
-"даних."
-msgstr[1] ""
-"{} сегменти вашого водіння на даний момент містяться в тренувальному наборі "
-"даних."
-msgstr[2] ""
-"{} сегментів вашого водіння на даний момент містяться в тренувальному наборі "
-"даних."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ ПІДПИСАНО"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🌧️ Режим зливи 🌧️"
diff --git a/selfdrive/ui/translations/app_zh-CHS.po b/selfdrive/ui/translations/app_zh-CHS.po
deleted file mode 100644
index 2400b6f44a..0000000000
--- a/selfdrive/ui/translations/app_zh-CHS.po
+++ /dev/null
@@ -1,1174 +0,0 @@
-# Language zh-CHS translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: zh-CHS\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=1; plural=0;\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " 转向扭矩响应校准完成。"
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " 转向扭矩响应校准已完成 {}%。"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " 您的设备朝向 {:.1f}° {} 与 {:.1f}° {}。"
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "1 年行驶数据存储"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "全天候 LTE 连接"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>警告：此车型的 openpilot 纵向控制仍为 alpha，将会停用自动紧急制动 (AEB)。"
-"</b><br><br>在此车型上，openpilot 默认使用车载 ACC，而非 openpilot 的纵向控"
-"制。启用此选项可切换为 openpilot 纵向控制。建议同时启用实验模式。若车辆通电，"
-"更改此设置将会重启 openpilot。"
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>转向延迟校准完成。"
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr "<br><br>转向延迟校准已完成 {}%。"
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "已启用"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB（Android 调试桥）可通过 USB 或网络连接到您的设备。详见 https://docs."
-"comma.ai/how-to/connect-to-comma。"
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "添加"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "APN 设置"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "确认过度作动"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "高级"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "激进"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "同意"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "始终启用驾驶员监控"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr "openpilot 纵向控制的 alpha 版本可在非发布分支搭配实验模式进行测试。"
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "确定要关机吗？"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "确定要重启吗？"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "确定要重置校准吗？"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "确定要卸载吗？"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "返回"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "前往 connect.comma.ai 成为 comma prime 会员"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr "将 connect.comma.ai 添加到主屏幕，像应用一样使用"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "更改"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "检查"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "安稳模式已开启"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "CONNECT"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "连接中..."
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "取消"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "蜂窝计量"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "更改语言"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr "若车辆通电，更改此设置将重启 openpilot。"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "点击“添加新设备”，扫描右侧二维码"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "关闭"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "当前版本"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "下载"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "拒绝"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "拒绝并卸载 openpilot"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "开发者"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "设备"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "踩下加速踏板时脱离"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "脱离以关机"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "脱离以重启"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "脱离以重置校准"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "以 km/h 显示速度（非 mph）。"
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "Dongle ID"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "下载"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "车内摄像头"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "驾驶风格"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "编辑"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "错误"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "实验模式已开启"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "启用"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "启用 ADB"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "启用车道偏离警示"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "启用漫游"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "启用 SSH"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "启用网络共享"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "即使未启用 openpilot 也启用驾驶员监控。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "启用 openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr "启用 openpilot 纵向控制（alpha）开关，以使用实验模式。"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "输入 APN"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "输入 SSID"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "输入新的网络共享密码"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "输入密码"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "输入您的 GitHub 用户名"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "错误"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "实验模式"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr "此车型当前无法使用实验模式，因为纵向控制使用的是原厂 ACC。"
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "正在遗忘..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "完成设置"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Firehose 模式"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"为达到最佳效果，请将设备带到室内，并每周连接优质 USB‑C 充电器与 Wi‑Fi。\n"
-"\n"
-"若连接热点或不限流量卡，行车中也可使用 Firehose 模式。\n"
-"\n"
-"\n"
-"常见问题\n"
-"\n"
-"我怎么开、在哪开有区别吗？没有，平常怎么开就怎么开。\n"
-"\n"
-"Firehose 模式会拉取我所有片段吗？不会，我们会选择性拉取部分片段。\n"
-"\n"
-"什么是好的 USB‑C 充电器？任何快速的手机或笔电充电器都可以。\n"
-"\n"
-"我跑什么软件有区别吗？有，只有上游 openpilot（及特定分支）可用于训练。"
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "忘记"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "要忘记 Wi‑Fi 网络“{}”吗？"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "良好"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "在手机上前往 https://connect.comma.ai"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "高"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "隐藏网络"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "未启用：请连接不限流量网络"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "安装"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "IP 地址"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "安装更新"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "摇杆调试模式"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "加载中"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "纵向操作模式"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "最大"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr "最大化上传训练数据，以改进 openpilot 的驾驶模型。"
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "无"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "否"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "网络"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "未找到 SSH 密钥"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "未找到用户“{}”的 SSH 密钥"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "暂无发行说明。"
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "离线"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "确定"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "在线"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "打开"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "配对"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "预览"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "PRIME 功能："
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "配对设备"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "配对设备"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "将设备配对到您的 comma 账号"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"将设备与 comma connect（connect.comma.ai）配对，领取您的 comma prime 优惠。"
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "请连接 Wi‑Fi 以完成初始配对"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "关机"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr "在计量制 Wi‑Fi 连接时避免大量上传"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr "在计量制蜂窝网络时避免大量上传"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr "预览车内摄像头以确保驾驶员监控视野良好。（车辆必须熄火）"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "二维码错误"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "移除"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "重置"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "查看"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "重启"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "重启设备"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "重启并更新"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"当车辆以超过 31 mph（50 km/h）行驶且未打转向灯越过检测到的车道线时，接收引导"
-"回车道的警报。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "录制并上传车内摄像头"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "录制并上传麦克风音频"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"行驶时录制并保存麦克风音频。音频将包含在 comma connect 的行车记录视频中。"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "法规"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "从容"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "远程访问"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "远程快照"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "请求超时"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "重置"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "重置校准"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "查看训练指南"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "查看 openpilot 的规则、功能与限制"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr "选择"
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "SSH 密钥"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "正在扫描 Wi‑Fi 网络…"
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "选择"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr "选择分支"
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "选择语言"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "序列号"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "延后更新"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "软件"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "标准"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"建议使用标准模式。激进模式下，openpilot 会更贴近前车，油门与刹车更为激进；从"
-"容模式下，会与前车保持更远距离。在支持的车型上，可用方向盘距离按钮切换这些风"
-"格。"
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "系统无响应"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "请立即接管控制"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "温度"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr "目标分支"
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "网络共享密码"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "切换"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "卸载"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "更新"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "卸载"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "未知"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "仅在车辆熄火时下载更新。"
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "立即升级"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr "上传车内摄像头数据，帮助改进驾驶员监控算法。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "使用公制"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"使用 openpilot 进行自适应巡航与车道保持辅助。使用此功能时，您必须始终保持专"
-"注。"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "车辆"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "查看"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "等待开始"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"警告：这将授予对您 GitHub 设置中所有公钥的 SSH 访问权限。请勿输入非您本人的 "
-"GitHub 用户名。comma 员工绝不会要求您添加他们的用户名。"
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "欢迎使用 openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr "启用后，踩下加速踏板将会脱离 openpilot。"
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "Wi‑Fi 计量网络"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "密码错误"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "您必须接受条款与条件才能使用 openpilot。"
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"您必须接受条款与条件才能使用 openpilot。继续前请阅读 https://comma.ai/terms "
-"上的最新条款。"
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "相机启动中"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "默认"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "下"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "检查更新失败"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "用于“{}”"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "留空以自动配置"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "左"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "计量"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "从不"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "现在"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot 纵向控制（Alpha）"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot 无法使用"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot 默认以安稳模式行驶。实验模式会启用尚未准备好用于安稳模式的 Alpha 级"
-"功能。实验功能如下：<br><h4>端到端纵向控制</h4><br>让驾驶模型控制油门与刹车。"
-"openpilot 会像人类一样驾驶，包括在红灯与停牌前停车。由于驾驶模型决定行驶速"
-"度，设定速度仅作为上限。这是 Alpha 质量功能；预期会有错误。<br><h4>全新驾驶可"
-"视化</h4><br>在低速时，驾驶可视化将切换至面向道路的广角摄像头以更好显示部分转"
-"弯。右上角也会显示实验模式图标。"
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot 持续进行校准，通常无需重置。若车辆通电，重置校准将会重启 "
-"openpilot。"
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot 通过观察人类（例如您）的驾驶来学习。\n"
-"\n"
-"Firehose 模式可让您最大化上传训练数据，以改进 openpilot 的驾驶模型。更多数据"
-"意味着更大的模型，也意味着更好的实验模式。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilot 纵向控制可能会在未来更新中提供。"
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr "openpilot 要求设备安装在左右 4°、上 5° 或下 9° 以内。"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "右"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "不限流量"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "上"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "已是最新，最后检查：从未"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "已是最新，最后检查：{}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "有可用更新"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} 条警报"
-msgstr[1] "{} 条警报"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "{} 天前"
-msgstr[1] "{} 天前"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "{} 小时前"
-msgstr[1] "{} 小时前"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "{} 分钟前"
-msgstr[1] "{} 分钟前"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "目前已有 {} 个您的驾驶片段被纳入训练数据集。"
-msgstr[1] "目前已有 {} 个您的驾驶片段被纳入训练数据集。"
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ 已订阅"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Firehose 模式 🔥"
diff --git a/selfdrive/ui/translations/app_zh-CHT.po b/selfdrive/ui/translations/app_zh-CHT.po
deleted file mode 100644
index f4d5e0a4ed..0000000000
--- a/selfdrive/ui/translations/app_zh-CHT.po
+++ /dev/null
@@ -1,1173 +0,0 @@
-# Language zh-CHT translations for PACKAGE package.
-# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
-# This file is distributed under the same license as the PACKAGE package.
-# Automatically generated, 2025.
-#
-msgid ""
-msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
-"Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-22 16:32-0700\n"
-"Last-Translator: Automatically generated\n"
-"Language-Team: none\n"
-"Language: zh-CHT\n"
-"MIME-Version: 1.0\n"
-"Content-Type: text/plain; charset=UTF-8\n"
-"Content-Transfer-Encoding: 8bit\n"
-"Plural-Forms: nplurals=1; plural=0;\n"
-
-#: selfdrive/ui/layouts/settings/device.py:160
-#, python-format
-msgid " Steering torque response calibration is complete."
-msgstr " 轉向扭矩回應校正完成。"
-
-#: selfdrive/ui/layouts/settings/device.py:158
-#, python-format
-msgid " Steering torque response calibration is {}% complete."
-msgstr " 轉向扭矩回應校正已完成 {}%。"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr " 您的裝置朝向 {:.1f}° {} 與 {:.1f}° {}。"
-
-#: selfdrive/ui/layouts/sidebar.py:43
-msgid "--"
-msgstr "--"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "1 year of drive storage"
-msgstr "1 年行駛資料儲存"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "24/7 LTE connectivity"
-msgstr "全年無休 LTE 連線"
-
-#: selfdrive/ui/layouts/sidebar.py:46
-msgid "2G"
-msgstr "2G"
-
-#: selfdrive/ui/layouts/sidebar.py:47
-msgid "3G"
-msgstr "3G"
-
-#: selfdrive/ui/layouts/sidebar.py:49
-msgid "5G"
-msgstr "5G"
-
-#: selfdrive/ui/layouts/settings/developer.py:23
-msgid ""
-"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
-"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"<b>警告：此車款的 openpilot 縱向控制仍為 alpha，將會停用自動緊急煞車 (AEB)。"
-"</b><br><br>在此車款上，openpilot 預設使用車載 ACC，而非 openpilot 的縱向控"
-"制。啟用此選項可切換為 openpilot 縱向控制。建議同時啟用實驗模式。若車輛通電，"
-"變更此設定將會重新啟動 openpilot。"
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "<br><br>Steering lag calibration is complete."
-msgstr "<br><br>轉向延遲校正完成。"
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "<br><br>Steering lag calibration is {}% complete."
-msgstr "<br><br>轉向延遲校正已完成 {}%。"
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "啟用"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"ADB (Android Debug Bridge) 可透過 USB 或網路連線至您的裝置。詳見 https://"
-"docs.comma.ai/how-to/connect-to-comma。"
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "新增"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "APN 設定"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "確認過度作動"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "進階"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "積極"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "同意"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "持續啟用駕駛監控"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr "openpilot 縱向控制的 alpha 版本可於非發行分支搭配實驗模式進行測試。"
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "確定要關機嗎？"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "確定要重新啟動嗎？"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "確定要重設校正嗎？"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "確定要解除安裝嗎？"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "返回"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "前往 connect.comma.ai 成為 comma prime 會員"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr "將 connect.comma.ai 加到主畫面，像 App 一樣使用"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "變更"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "檢查"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "安穩模式已開啟"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "CONNECT"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "連線中..."
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "取消"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "行動網路計量"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "變更語言"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr "若車輛通電，變更此設定將重新啟動 openpilot。"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "點選「新增裝置」，掃描右側 QR 碼"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "關閉"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "目前版本"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "下載"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "拒絕"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "拒絕並解除安裝 openpilot"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "開發人員"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "裝置"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "踩下加速踏板時脫離"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "脫離以關機"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "脫離以重新啟動"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "脫離以重設校正"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "以 km/h 顯示速度（非 mph）。"
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "Dongle ID"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "下載"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "車內鏡頭"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "駕駛風格"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "編輯"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "錯誤"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "實驗模式已開啟"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "啟用"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "啟用 ADB"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "啟用偏離車道警示"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "啟用漫遊"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "啟用 SSH"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "啟用網路共享"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "即使未啟動 openpilot 亦啟用駕駛監控。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "啟用 openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr "啟用 openpilot 縱向控制（alpha）切換，以使用實驗模式。"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "輸入 APN"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "輸入 SSID"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "輸入新的網路共享密碼"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "輸入密碼"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "輸入您的 GitHub 使用者名稱"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "錯誤"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "實驗模式"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr "此車款目前無法使用實驗模式，因為縱向控制使用的是原廠 ACC。"
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "正在遺忘..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "完成設定"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "Firehose 模式"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"為達最佳效果，請將裝置帶到室內，並每週連接優質 USB‑C 充電器與 Wi‑Fi。\n"
-"\n"
-"若連上熱點或吃到飽門號，行車中也可使用 Firehose 模式。\n"
-"\n"
-"\n"
-"常見問題\n"
-"\n"
-"我怎麼開、在哪裡開有差嗎？沒有，平常怎麼開就怎麼開。\n"
-"\n"
-"Firehose 模式會拉取我所有片段嗎？不會，我們會選擇性拉取部分片段。\n"
-"\n"
-"什麼是好的 USB‑C 充電器？任何快速的手機或筆電充電器都可以。\n"
-"\n"
-"我跑什麼軟體有差嗎？有，只有上游 openpilot（及特定分支）可用於訓練。"
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "忘記"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "要忘記 Wi‑Fi 網路「{}」嗎？"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "良好"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "在手機上前往 https://connect.comma.ai"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "高"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "隱藏網路"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "未啟用：請連接不限流量網路"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "安裝"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "IP 位址"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "安裝更新"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "搖桿除錯模式"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "載入中"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "縱向操作模式"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "最大"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr "最大化上傳訓練資料，以改進 openpilot 的駕駛模型。"
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "無"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "否"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "網路"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "找不到 SSH 金鑰"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "找不到使用者 '{}' 的 SSH 金鑰"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "無可用發行說明。"
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "離線"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "確定"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "線上"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "開啟"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "配對"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "預覽"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "PRIME 功能："
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "配對裝置"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "配對裝置"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "將裝置配對至您的 comma 帳號"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"將裝置與 comma connect（connect.comma.ai）配對，領取您的 comma prime 優惠。"
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "請連線至 Wi‑Fi 以完成初始化配對"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "關機"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr "在計量制 Wi‑Fi 連線時避免大量上傳"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr "在計量制行動網路時避免大量上傳"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr "預覽車內鏡頭以確保駕駛監控視野良好。（車輛須熄火）"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "QR 碼錯誤"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "移除"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "重設"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "檢視"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "重新啟動"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "重新啟動裝置"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "重新啟動並更新"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"當車輛以超過 31 mph（50 km/h）行駛且未打方向燈越過偵測到的車道線時，接收轉向"
-"回車道的警示。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "錄製並上傳車內鏡頭"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "錄製並上傳麥克風音訊"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"行車時錄製並儲存麥克風音訊。音訊將包含在 comma connect 的行車紀錄影片中。"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "法規"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "從容"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "遠端存取"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "遠端擷圖"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "要求逾時"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "重設"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "重設校正"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "檢視訓練指南"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "檢視 openpilot 的規則、功能與限制"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr "選取"
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "SSH 金鑰"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "正在掃描 Wi‑Fi 網路…"
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "選取"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr "選取分支"
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "選取語言"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "序號"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "延後更新"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "軟體"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "標準"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"建議使用標準模式。積極模式下，openpilot 會更貼近前車，油門與煞車反應更積極；"
-"從容模式下，會與前車保持更遠距離。於支援車款，可用方向盤距離按鈕切換這些風"
-"格。"
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "系統無回應"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "請立刻接手控制"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "溫度"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr "目標分支"
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "網路共享密碼"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "切換"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "解除安裝"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "更新"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "解除安裝"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "未知"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "僅在車輛熄火時下載更新。"
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "立即升級"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr "上傳車內鏡頭資料，協助改善駕駛監控演算法。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "使用公制"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"使用 openpilot 進行 ACC 與車道維持輔助。使用此功能時，您必須始終保持專注。"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "車輛"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "檢視"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "等待開始"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"警告：這將授予對您 GitHub 設定中所有公開金鑰的 SSH 存取權。請勿輸入非您本人"
-"的 GitHub 帳號。comma 員工絕不會要求您新增他們的帳號。"
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "歡迎使用 openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr "啟用後，踩下加速踏板將會脫離 openpilot。"
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "Wi‑Fi 計量網路"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "密碼錯誤"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "您必須接受條款與細則才能使用 openpilot。"
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"您必須接受條款與細則才能使用 openpilot。繼續前請閱讀 https://comma.ai/terms "
-"上的最新條款。"
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "相機啟動中"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "預設"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "下"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "檢查更新失敗"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "適用於「{}」"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "km/h"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "留空以自動設定"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "左"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "計量"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "mph"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "從不"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "現在"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot 縱向控制（Alpha）"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot 無法使用"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"openpilot 預設以安穩模式行駛。實驗模式啟用尚未準備好進入安穩模式的 Alpha 等級"
-"功能。實驗功能如下：<br><h4>端到端縱向控制</h4><br>讓駕駛模型控制油門與煞車。"
-"openpilot 會如同人類駕駛般行駛，包括在紅燈與停車標誌前停車。由於駕駛模型決定"
-"行駛速度，設定速度僅作為上限。此為 Alpha 品質功能；預期會有失誤。<br><h4>全新"
-"駕駛視覺化</h4><br>在低速時，駕駛視覺化將切換至面向道路的廣角鏡頭以更好呈現部"
-"分轉彎。右上角亦會顯示實驗模式圖示。"
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"openpilot 會持續校正，通常不需重設。若車輛通電，重設校正將重新啟動 "
-"openpilot。"
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"openpilot 透過觀察人類（也就是您）的駕駛方式來學習。\n"
-"\n"
-"Firehose 模式可讓您最大化上傳訓練資料，以改進 openpilot 的駕駛模型。更多資料"
-"代表更大的模型，也就代表更好的實驗模式。"
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilot 縱向控制可能於未來更新提供。"
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr "openpilot 要求裝置安裝在左右 4°、上 5° 或下 9° 以內。"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "右"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "不限流量"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "上"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "已為最新，最後檢查：從未"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "已為最新，最後檢查：{}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "有可用更新"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} 則警示"
-msgstr[1] "{} 則警示"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "{} 天前"
-msgstr[1] "{} 天前"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "{} 小時前"
-msgstr[1] "{} 小時前"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "{} 分鐘前"
-msgstr[1] "{} 分鐘前"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "目前已有 {} 個您的駕駛片段納入訓練資料集。"
-msgstr[1] "目前已有 {} 個您的駕駛片段納入訓練資料集。"
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ 已訂閱"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Firehose 模式 🔥"
diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py
deleted file mode 100755
index 9354790f94..0000000000
--- a/selfdrive/ui/translations/auto_translate.py
+++ /dev/null
@@ -1,138 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import json
-import os
-import pathlib
-import xml.etree.ElementTree as ET
-from typing import cast
-
-import requests
-
-TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent
-TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json"
-
-OPENAI_MODEL = "gpt-4"
-OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY")
-OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \
-                "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
-
-
-def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
-  files = {}
-
-  with open(TRANSLATIONS_LANGUAGES) as fp:
-    language_dict = json.load(fp)
-
-    for filename in language_dict.values():
-      path = TRANSLATIONS_DIR / f"{filename}.ts"
-      language = path.stem
-
-      if languages is None or language in languages:
-        files[language] = path
-
-  return files
-
-
-def translate_phrase(text: str, language: str) -> str:
-  response = requests.post(
-    "https://api.openai.com/v1/chat/completions",
-    json={
-      "model": OPENAI_MODEL,
-      "messages": [
-        {
-          "role": "system",
-          "content": OPENAI_PROMPT.format(language=language),
-        },
-        {
-          "role": "user",
-          "content": text,
-        },
-      ],
-      "temperature": 0.8,
-      "max_tokens": 1024,
-      "top_p": 1,
-    },
-    headers={
-      "Authorization": f"Bearer {OPENAI_API_KEY}",
-      "Content-Type": "application/json",
-    },
-  )
-
-  if 400 <= response.status_code < 600:
-    raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response)
-
-  data = response.json()
-
-  return cast(str, data["choices"][0]["message"]["content"])
-
-
-def translate_file(path: pathlib.Path, language: str, all_: bool) -> None:
-  tree = ET.parse(path)
-
-  root = tree.getroot()
-
-  for context in root.findall("./context"):
-    name = context.find("name")
-    if name is None:
-      raise ValueError("name not found")
-
-    print(f"Context: {name.text}")
-
-    for message in context.findall("./message"):
-      source = message.find("source")
-      translation = message.find("translation")
-
-      if source is None or translation is None:
-        raise ValueError("source or translation not found")
-
-      if not all_ and translation.attrib.get("type") != "unfinished":
-        continue
-
-      llm_translation = translate_phrase(cast(str, source.text), language)
-
-      print(f"Source: {source.text}\n" +
-            f"Current translation: {translation.text}\n" +
-            f"LLM translation: {llm_translation}")
-
-      translation.text = llm_translation
-
-  with path.open("w", encoding="utf-8") as fp:
-    fp.write('<?xml version="1.0" encoding="utf-8"?>\n' +
-             '<!DOCTYPE TS>\n' +
-             ET.tostring(root, encoding="utf-8").decode())
-
-
-def main():
-  arg_parser = argparse.ArgumentParser("Auto translate")
-
-  group = arg_parser.add_mutually_exclusive_group(required=True)
-  group.add_argument("-a", "--all-files", action="store_true", help="Translate all files")
-  group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)")
-
-  arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)")
-
-  args = arg_parser.parse_args()
-
-  if OPENAI_API_KEY is None:
-    print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" +
-          "If you don't have one go to: https://beta.openai.com/account/api-keys.")
-    exit(1)
-
-  files = get_language_files(None if args.all_files else args.file)
-
-  if args.file:
-    missing_files = set(args.file) - set(files)
-    if len(missing_files):
-      print(f"No language files found: {missing_files}")
-      exit(1)
-
-  print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}")
-
-  for lang, path in files.items():
-    print(f"Translate {lang} ({path})")
-    translate_file(path, lang, args.all_translations)
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
deleted file mode 100755
index 2948c4857d..0000000000
--- a/selfdrive/ui/translations/create_badges.py
+++ /dev/null
@@ -1,108 +0,0 @@
-#!/usr/bin/env python3
-import json
-import os
-import requests
-import xml.etree.ElementTree as ET
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
-
-BADGE_HEIGHT = 20 + 8
-SHIELDS_URL = "https://img.shields.io/badge"
-
-def parse_po_file(file_path):
-  """
-  Parse a .po file and count total and unfinished translations.
-  Returns: (total_translations, unfinished_translations)
-  """
-  with open(file_path) as f:
-    content = f.read()
-
-  total_translations = 0
-  unfinished_translations = 0
-
-  # Split into entries (separated by blank lines)
-  entries = content.split('\n\n')
-
-  for entry in entries:
-    # Skip header entry (contains Project-Id-Version)
-    if 'Project-Id-Version' in entry:
-      continue
-
-    # Check if this entry has a msgid (translation entry)
-    # After skipping header, any entry with msgid " is a translation
-    # (both msgid "content" and msgid "" for multiline contain msgid ")
-    if 'msgid "' not in entry:
-      continue
-
-    total_translations += 1
-
-    # Check if msgstr is empty (unfinished translation)
-    if 'msgstr ""' in entry:
-      # Check if there are continuation lines with content after msgstr ""
-      lines = entry.split('\n')
-      msgstr_idx = None
-      for i, line in enumerate(lines):
-        if line.strip().startswith('msgstr ""'):
-          msgstr_idx = i
-          break
-
-      if msgstr_idx is not None:
-        # Check if any continuation lines have content
-        has_content = False
-        for line in lines[msgstr_idx + 1:]:
-          stripped = line.strip()
-          # Continuation line with content
-          if stripped.startswith('"') and len(stripped) > 2:
-            has_content = True
-            break
-          # End of entry
-          if stripped.startswith(('msgid', '#')) or not stripped:
-            break
-
-        if not has_content:
-          unfinished_translations += 1
-
-  return (total_translations, unfinished_translations)
-
-if __name__ == "__main__":
-  with open(LANGUAGES_FILE) as f:
-    translation_files = json.load(f)
-
-  badge_svg = []
-  max_badge_width = 0  # keep track of max width to set parent element
-  for idx, (name, file) in enumerate(translation_files.items()):
-    po_file_path = os.path.join(str(TRANSLATIONS_DIR), f"app_{file}.po")
-
-    total_translations, unfinished_translations = parse_po_file(po_file_path)
-
-    percent_finished = int(100 - (unfinished_translations / total_translations * 100.)) if total_translations > 0 else 0
-    color = f"rgb{(94, 188, 0) if percent_finished == 100 else (248, 255, 50) if percent_finished > 90 else (204, 55, 27)}"
-
-    # Download badge
-    badge_label = f"LANGUAGE {name}"
-    badge_message = f"{percent_finished}% complete"
-    if unfinished_translations != 0:
-      badge_message += f" ({unfinished_translations} unfinished)"
-
-    r = requests.get(f"{SHIELDS_URL}/{badge_label}-{badge_message}-{color}", timeout=10)
-    assert r.status_code == 200, "Error downloading badge"
-    content_svg = r.content.decode("utf-8")
-
-    xml = ET.fromstring(content_svg)
-    assert "width" in xml.attrib
-    max_badge_width = max(max_badge_width, int(xml.attrib["width"]))
-
-    # Make tag ids in each badge unique to combine them into one svg
-    for tag in ("r", "s"):
-      content_svg = content_svg.replace(f'id="{tag}"', f'id="{tag}{idx}"')
-      content_svg = content_svg.replace(f'"url(#{tag})"', f'"url(#{tag}{idx})"')
-
-    badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])
-
-  badge_svg.insert(0, '<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" ' +
-                   f'height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
-  badge_svg.append("</svg>")
-
-  with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
-    badge_f.write("\n".join(badge_svg))
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
deleted file mode 100755
index 7fe0dfbbc9..0000000000
--- a/selfdrive/ui/ui.py
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/usr/bin/env python3
-import os
-import pyray as rl
-
-from openpilot.system.hardware import TICI
-from openpilot.common.realtime import config_realtime_process, set_core_affinity
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.selfdrive.ui.layouts.main import MainLayout
-from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
-from openpilot.selfdrive.ui.ui_state import ui_state
-
-
-def main():
-  cores = {5, }
-  config_realtime_process(0, 51)
-
-  gui_app.init_window("UI")
-  if gui_app.big_ui():
-    main_layout = MainLayout()
-  else:
-    main_layout = MiciMainLayout()
-  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-  for should_render in gui_app.render():
-    ui_state.update()
-    if should_render:
-      main_layout.render()
-
-      # reaffine after power save offlines our core
-      if TICI and os.sched_getaffinity(0) != cores:
-        try:
-          set_core_affinity(list(cores))
-        except OSError:
-          pass
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
deleted file mode 100755
index bded80b2e5..0000000000
--- a/selfdrive/ui/update_translations.py
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/usr/bin/env python3
-from itertools import chain
-import os
-from openpilot.common.basedir import BASEDIR
-from openpilot.system.ui.lib.multilang import SYSTEM_UI_DIR, UI_DIR, TRANSLATIONS_DIR, multilang
-
-LANGUAGES_FILE = os.path.join(str(TRANSLATIONS_DIR), "languages.json")
-POT_FILE = os.path.join(str(TRANSLATIONS_DIR), "app.pot")
-
-
-def update_translations():
-  files = []
-  for root, _, filenames in chain(os.walk(SYSTEM_UI_DIR),
-                                  os.walk(os.path.join(UI_DIR, "widgets")),
-                                  os.walk(os.path.join(UI_DIR, "layouts")),
-                                  os.walk(os.path.join(UI_DIR, "onroad"))):
-    for filename in filenames:
-      if filename.endswith(".py"):
-        files.append(os.path.relpath(os.path.join(root, filename), BASEDIR))
-
-  # Create main translation file
-  cmd = ("xgettext -L Python --keyword=tr --keyword=trn:1,2 --keyword=tr_noop --from-code=UTF-8 " +
-         "--flag=tr:1:python-brace-format --flag=trn:1:python-brace-format --flag=trn:2:python-brace-format " +
-         f"-D {BASEDIR} -o {POT_FILE} {' '.join(files)}")
-
-  ret = os.system(cmd)
-  assert ret == 0
-
-  # Generate/update translation files for each language
-  for name in multilang.languages.values():
-    if os.path.exists(os.path.join(TRANSLATIONS_DIR, f"app_{name}.po")):
-      cmd = f"msgmerge --update --no-fuzzy-matching --backup=none --sort-output {TRANSLATIONS_DIR}/app_{name}.po {POT_FILE}"
-      ret = os.system(cmd)
-      assert ret == 0
-    else:
-      cmd = f"msginit -l {name} --no-translator --input {POT_FILE} --output-file {TRANSLATIONS_DIR}/app_{name}.po"
-      ret = os.system(cmd)
-      assert ret == 0
-
-
-if __name__ == "__main__":
-  update_translations()
diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
deleted file mode 100644
index f11db1d71b..0000000000
--- a/site_scons/site_tools/cython.py
+++ /dev/null
@@ -1,75 +0,0 @@
-import re
-import SCons
-from SCons.Action import Action
-from SCons.Scanner import Scanner
-import numpy as np
-
-pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
-pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
-cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
-
-np_version = SCons.Script.Value(np.__version__)
-
-def pyx_scan(node, env, path, arg=None):
-  contents = node.get_text_contents()
-  env.Depends(str(node).split('.')[0] + env['CYTHONCFILESUFFIX'], np_version)
-
-  # from <module> cimport ...
-  matches = pyx_from_import_re.findall(contents)
-  # cimport <module>
-  matches += pyx_import_re.findall(contents)
-
-  # Modules can be either .pxd or .pyx files
-  files = [m.replace('.', '/') + '.pxd' for m in matches]
-  files += [m.replace('.', '/') + '.pyx' for m in matches]
-
-  # cdef extern from <file>
-  files += cdef_import_re.findall(contents)
-
-  # Handle relative imports
-  cur_dir = str(node.get_dir())
-  files = [cur_dir + f if f.startswith('/') else f for f in files]
-
-  # Filter out non-existing files (probably system imports)
-  files = [f for f in files if env.File(f).exists()]
-  return env.File(files)
-
-
-pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
-cythonAction = Action("$CYTHONCOM")
-
-
-def create_builder(env):
-  try:
-    cython = env['BUILDERS']['Cython']
-  except KeyError:
-    cython = SCons.Builder.Builder(
-      action=cythonAction,
-      emitter={},
-      suffix=cython_suffix_emitter,
-      single_source=1
-    )
-    env.Append(SCANNERS=pyxscanner)
-    env['BUILDERS']['Cython'] = cython
-  return cython
-
-def cython_suffix_emitter(env, source):
-  return "$CYTHONCFILESUFFIX"
-
-def generate(env):
-  env["CYTHON"] = "cythonize"
-  env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
-  env["CYTHONCFILESUFFIX"] = ".cpp"
-
-  c_file, _ = SCons.Tool.createCFileBuilders(env)
-
-  c_file.suffix['.pyx'] = cython_suffix_emitter
-  c_file.add_action('.pyx', cythonAction)
-
-  c_file.suffix['.py'] = cython_suffix_emitter
-  c_file.add_action('.py', cythonAction)
-
-  create_builder(env)
-
-def exists(env):
-  return True
diff --git a/sunnypilot/common/version.h b/sunnypilot/common/version.h
deleted file mode 100644
index 6833a508de..0000000000
--- a/sunnypilot/common/version.h
+++ /dev/null
@@ -1 +0,0 @@
-#define SUNNYPILOT_VERSION "2025.003.000"
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
deleted file mode 100644
index 777f842ac0..0000000000
--- a/sunnypilot/modeld/SConscript
+++ /dev/null
@@ -1,44 +0,0 @@
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
-lenv = env.Clone()
-lenvCython = envCython.Clone()
-
-libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
-frameworks = []
-
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
-
-thneed_src_common = [
-  "thneed/clutil_legacy.cc",
-  "thneed/thneed_common.cc",
-  "thneed/serialize.cc",
-]
-
-thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
-thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
-thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-cython_libs = envCython["LIBS"] + libs
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-
-lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-
-if arch == "larch64":
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, common, 'dl', 'OpenCL'])
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
deleted file mode 100644
index a62c451efd..0000000000
--- a/sunnypilot/modeld/fill_model_msg.py
+++ /dev/null
@@ -1,223 +0,0 @@
-import os
-import capnp
-import numpy as np
-from cereal import log
-from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
-from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
-from openpilot.sunnypilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-ConfidenceClass = log.ModelDataV2.ConfidenceClass
-
-class PublishState:
-  def __init__(self):
-    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
-    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
-    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
-
-def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.z = z.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if z_std is not None:
-    builder.zStd = z_std.tolist()
-
-def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.v = v.tolist()
-  builder.a = a.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if v_std is not None:
-    builder.vStd = v_std.tolist()
-  if a_std is not None:
-    builder.aStd = a_std.tolist()
-
-def fill_xyz_poly(builder, degree, x, y, z):
-  xyz = np.stack([x, y, z], axis=1)
-  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
-  builder.xCoefficients = coeffs[:, 0].tolist()
-  builder.yCoefficients = coeffs[:, 1].tolist()
-  builder.zCoefficients = coeffs[:, 2].tolist()
-
-def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action, publish_state: PublishState,
-                   vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
-                   timestamp_eof: int, model_execution_time: float, valid: bool,
-                   v_ego: float, steer_delay: float, meta_const) -> None:
-  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
-  frame_drop_perc = frame_drop * 100
-  extended_msg.valid = valid
-  base_msg.valid = valid
-
-  if 'lat_planner_solution' in net_output_data:
-    x, y, yaw, yawRate = [net_output_data['lat_planner_solution'][0, :, i].tolist() for i in range(4)]
-    x_sol = np.column_stack([x, y, yaw, yawRate])
-    v_ego = max(MIN_SPEED, v_ego)
-    psis = x_sol[0:CONTROL_N, 2].tolist()
-    curvatures = (x_sol[0:CONTROL_N, 3] / v_ego).tolist()
-    desired_curvature = get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures)
-  else:
-    desired_curvature = float(net_output_data['desired_curvature'][0, 0])
-
-  driving_model_data = base_msg.drivingModelData
-
-  driving_model_data.frameId = vipc_frame_id
-  driving_model_data.frameIdExtra = vipc_frame_id_extra
-  driving_model_data.frameDropPerc = frame_drop_perc
-  driving_model_data.modelExecutionTime = model_execution_time
-
-  # Populate drivingModelData.action
-  driving_model_data_action = driving_model_data.action
-  driving_model_data_action.desiredAcceleration = action.desiredAcceleration
-  driving_model_data_action.shouldStop = action.shouldStop
-  driving_model_data_action.desiredCurvature = desired_curvature
-
-  modelV2 = extended_msg.modelV2
-  modelV2.frameId = vipc_frame_id
-  modelV2.frameIdExtra = vipc_frame_id_extra
-  modelV2.frameAge = frame_age
-  modelV2.frameDropPerc = frame_drop_perc
-  modelV2.timestampEof = timestamp_eof
-  modelV2.modelExecutionTime = model_execution_time
-
-  # plan
-  position = modelV2.position
-  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  velocity = modelV2.velocity
-  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  acceleration = modelV2.acceleration
-  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  orientation = modelV2.orientation
-  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  orientation_rate = modelV2.orientationRate
-  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
-
-  # temporal pose
-  temporal_pose = modelV2.temporalPoseDEPRECATED
-  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
-
-  # poly path
-  poly_path = driving_model_data.path
-  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
-
-  # lateral planning
-  modelV2_action = modelV2.action
-  modelV2_action.desiredAcceleration = action.desiredAcceleration
-  modelV2_action.shouldStop = action.shouldStop
-  modelV2_action.desiredCurvature = desired_curvature
-
-  # times at X_IDXS according to model plan
-  PLAN_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
-
-  # lane lines
-  modelV2.init('laneLines', 4)
-  for i in range(4):
-    lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
-  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
-  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
-
-  lane_line_meta = driving_model_data.laneLineMeta
-  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
-  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
-  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
-  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
-
-  # road edges
-  modelV2.init('roadEdges', 2)
-  for i in range(2):
-    road_edge = modelV2.roadEdges[i]
-    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
-  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
-
-  # leads
-  modelV2.init('leadsV3', 3)
-  for i in range(3):
-    lead = modelV2.leadsV3[i]
-    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
-    lead.prob = net_output_data['lead_prob'][0,i].tolist()
-    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
-
-  # meta
-  meta = modelV2.meta
-  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
-  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,meta_const.ENGAGED].item()
-  meta.init('disengagePredictions')
-  disengage_predictions = meta.disengagePredictions
-  disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_5].tolist()
-  if 'sim_pose' not in net_output_data:
-    disengage_predictions.gasPressProbs = net_output_data['meta'][0,meta_const.GAS_PRESS].tolist()
-    disengage_predictions.brakePressProbs = net_output_data['meta'][0,meta_const.BRAKE_PRESS].tolist()
-
-  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_5][0]
-  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_3][0]
-  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
-    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
-  meta.hardBrakePredicted = hard_brake_predicted.item()
-
-  # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
-    # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE]
-    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
-    # independent disengage prob for each 2s slice
-    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
-    # rolling buf for 2, 4, 6, 8, 10s
-    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
-    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
-
-  score = 0.
-  for i in range(ModelConstants.DISENGAGE_WIDTH):
-    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
-  if score < ModelConstants.RYG_GREEN:
-    modelV2.confidence = ConfidenceClass.green
-  elif score < ModelConstants.RYG_YELLOW:
-    modelV2.confidence = ConfidenceClass.yellow
-  else:
-    modelV2.confidence = ConfidenceClass.red
-
-  # raw prediction if enabled
-  if SEND_RAW_PRED:
-    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
-
-def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
-                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
-  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
-  cameraOdometry = msg.cameraOdometry
-
-  cameraOdometry.frameId = vipc_frame_id
-  cameraOdometry.timestampEof = timestamp_eof
-
-  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
-  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
-  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
-  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
-  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
-  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/sunnypilot/modeld/get_model_metadata.py b/sunnypilot/modeld/get_model_metadata.py
deleted file mode 100755
index 144860204f..0000000000
--- a/sunnypilot/modeld/get_model_metadata.py
+++ /dev/null
@@ -1,28 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import pathlib
-import onnx
-import codecs
-import pickle
-
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
-  return name, shape
-
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
-  i = [x.key for x in model.metadata_props].index('output_slices')
-  output_slices = model.metadata_props[i].value
-
-  metadata = {}
-  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
-  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
-  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
-
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
-
-  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld/modeld b/sunnypilot/modeld/modeld
deleted file mode 100755
index e1cef4dcc3..0000000000
--- a/sunnypilot/modeld/modeld
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
-exec "$DIR/modeld.py" "$@"
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
deleted file mode 100755
index b36aea405a..0000000000
--- a/sunnypilot/modeld/modeld.py
+++ /dev/null
@@ -1,348 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import numpy as np
-import cereal.messaging as messaging
-from cereal import car, log
-from pathlib import Path
-from setproctitle import setproctitle
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_MDL, config_realtime_process
-from numpy import interp
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.system import sentry
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
-
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
-from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
-from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-
-
-PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
-
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
-
-
-class FrameMeta:
-  frame_id: int = 0
-  timestamp_sof: int = 0
-  timestamp_eof: int = 0
-
-  def __init__(self, vipc=None):
-    if vipc is not None:
-      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
-
-class ModelState(ModelStateBase):
-  frame: ModelFrame
-  wide_frame: ModelFrame
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
-  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  model: ModelRunner
-
-  def __init__(self, context: CLContext):
-    ModelStateBase.__init__(self)
-    self.frame = ModelFrame(context)
-    self.wide_frame = ModelFrame(context)
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    bundle = get_active_bundle()
-    overrides = {override.key: override.value for override in bundle.overrides}
-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
-    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
-
-    model_paths = get_model_path()
-    self.model_metadata = load_metadata()
-    self.inputs = prepare_inputs(self.model_metadata)
-    self.meta = load_meta_constants(self.model_metadata)
-
-    self.output_slices = self.model_metadata['output_slices']
-    net_output_size = self.model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
-    self.parser = Parser()
-
-    self.model = ModelRunner(model_paths, self.output, Runtime.GPU, False, context)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("big_input_imgs", None)
-    for k,v in self.inputs.items():
-      self.model.addInput(k, v)
-
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_model_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_model_outputs
-
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
-    self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-
-    for k in self.inputs:
-      if k in inputs and k != 'desire':
-        self.inputs[k][:] = inputs[k]
-
-    # if getCLBuffer is not None, frame will be None
-    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    if wbuf is not None:
-      self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
-
-    if prepare_only:
-      return None
-
-    self.model.execute()
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
-
-    self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
-    self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
-
-    if "lat_planner_solution" in outputs and "lat_planner_state" in self.inputs.keys():
-      self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
-      self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
-
-    if "desired_curvature" in outputs:
-      if "prev_desired_curvs" in self.inputs.keys():
-        self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:]
-        self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0]
-
-      if "prev_desired_curv" in self.inputs.keys():
-        self.inputs['prev_desired_curv'][:-1] = self.inputs['prev_desired_curv'][1:]
-        self.inputs['prev_desired_curv'][-1:] = outputs['desired_curvature'][0, :]
-    return outputs
-
-  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                            long_action_t: float) -> log.ModelDataV2.Action:
-    plan = model_output['plan'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], ModelConstants.T_IDXS,
-                                                     action_t=long_action_t)
-    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
-
-    return log.ModelDataV2.Action(desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
-
-
-def main(demo=False):
-  cloudlog.warning("modeld init")
-
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
-  config_realtime_process(7, 54)
-
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
-
-  # visionipc clients
-  while True:
-    available_streams = VisionIpcClient.available_streams("camerad", block=False)
-    if available_streams:
-      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
-      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
-      break
-    time.sleep(.1)
-
-  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
-  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
-
-  while not vipc_client_main.connect(False):
-    time.sleep(0.1)
-  while use_extra_client and not vipc_client_extra.connect(False):
-    time.sleep(0.1)
-
-  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
-  if use_extra_client:
-    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
-
-  # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
-
-  publish_state = PublishState()
-  params = Params()
-
-  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
-  frame_id = 0
-  last_vipc_frame_id = 0
-  run_count = 0
-
-  model_transform_main = np.zeros((3, 3), dtype=np.float32)
-  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
-  live_calib_seen = False
-  buf_main, buf_extra = None, None
-  meta_main = FrameMeta()
-  meta_extra = FrameMeta()
-  camera_offset_helper = CameraOffsetHelper()
-
-
-  if demo:
-    CP = get_demo_car_params()
-  else:
-    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-
-  cloudlog.info("modeld got CarParams: %s", CP.brand)
-
-  # Enable lagd support for sunnypilot modeld
-  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
-  prev_action = log.ModelDataV2.Action()
-
-  DH = DesireHelper()
-
-  while True:
-    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
-    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-      buf_main = vipc_client_main.recv()
-      meta_main = FrameMeta(vipc_client_main)
-      if buf_main is None:
-        break
-
-    if buf_main is None:
-      cloudlog.debug("vipc_client_main no frame")
-      continue
-
-    if use_extra_client:
-      # Keep receiving extra frames until frame id matches main camera
-      while True:
-        buf_extra = vipc_client_extra.recv()
-        meta_extra = FrameMeta(vipc_client_extra)
-        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-          break
-
-      if buf_extra is None:
-        cloudlog.debug("vipc_client_extra no frame")
-        continue
-
-      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
-
-    else:
-      # Use single camera
-      buf_extra = buf_main
-      meta_extra = meta_main
-
-    sm.update(0)
-    desire = DH.desire
-    v_ego = sm["carState"].vEgo
-    is_rhd = sm["driverMonitoringState"].isRHD
-    frame_id = sm["roadCameraState"].frameId
-    if sm.frame % 60 == 0:
-      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
-      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
-    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
-    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
-      model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
-      live_calib_seen = True
-
-    traffic_convention = np.zeros(2)
-    traffic_convention[int(is_rhd)] = 1
-
-    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
-      vec_desire[desire] = 1
-
-    # tracked dropped frames
-    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
-    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
-    if run_count < 10: # let frame drops warm up
-      frame_dropped_filter.x = 0.
-      frames_dropped = 0.
-    run_count = run_count + 1
-
-    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
-    prepare_only = vipc_dropped_frames > 0
-    if prepare_only:
-      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
-
-    inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
-      'traffic_convention': traffic_convention,
-      }
-
-    if "lateral_control_params" in model.inputs.keys():
-      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), lat_delay], dtype=np.float32)
-
-    if "driving_style" in model.inputs.keys():
-      inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
-
-    if "nav_features" in model.inputs.keys():
-      inputs['nav_features'] = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
-
-    if "nav_instructions" in model.inputs.keys():
-      inputs['nav_instructions'] = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
-
-    mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
-    mt2 = time.perf_counter()
-    model_execution_time = mt2 - mt1
-
-    if model_output is not None:
-      modelv2_send = messaging.new_message('modelV2')
-      drivingdata_send = messaging.new_message('drivingModelData')
-      posenet_send = messaging.new_message('cameraOdometry')
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
-      action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
-                     v_ego, lat_delay, model.meta)
-
-      desire_state = modelv2_send.modelV2.meta.desireState
-      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
-      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
-      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
-      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
-      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
-      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
-
-      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
-      pm.send('modelV2', modelv2_send)
-      pm.send('drivingModelData', drivingdata_send)
-      pm.send('cameraOdometry', posenet_send)
-      pm.send('modelDataV2SP', mdv2sp_send)
-
-    last_vipc_frame_id = meta_main.frame_id
-
-
-if __name__ == "__main__":
-  try:
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
-    args = parser.parse_args()
-    main(demo=args.demo)
-  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
diff --git a/sunnypilot/modeld/models/commonmodel.cc b/sunnypilot/modeld/models/commonmodel.cc
deleted file mode 100644
index f1e15e5a4e..0000000000
--- a/sunnypilot/modeld/models/commonmodel.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "sunnypilot/modeld/models/commonmodel.h"
-
-#include <cassert>
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
-  input_frames = std::make_unique<float[]>(buf_size);
-
-  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
-  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
-
-  transform_init(&transform, context, device_id);
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
-  transform_queue(&this->transform, q,
-                  yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
-
-  if (output == NULL) {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
-
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  } else {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
-    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-    clFinish(q);
-    return NULL;
-  }
-}
-
-ModelFrame::~ModelFrame() {
-  transform_destroy(&transform);
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(net_input_cl));
-  CL_CHECK(clReleaseMemObject(v_cl));
-  CL_CHECK(clReleaseMemObject(u_cl));
-  CL_CHECK(clReleaseMemObject(y_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/sunnypilot/modeld/models/commonmodel.h b/sunnypilot/modeld/models/commonmodel.h
deleted file mode 100644
index 9d34ebb6d3..0000000000
--- a/sunnypilot/modeld/models/commonmodel.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "sunnypilot/modeld/transforms/loadyuv.h"
-#include "sunnypilot/modeld/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context);
-  ~ModelFrame();
-  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2;
-
-private:
-  Transform transform;
-  LoadYUVState loadyuv;
-  cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, net_input_cl;
-  std::unique_ptr<float[]> input_frames;
-};
diff --git a/sunnypilot/modeld/models/commonmodel.pxd b/sunnypilot/modeld/models/commonmodel.pxd
deleted file mode 100644
index c7fd85411d..0000000000
--- a/sunnypilot/modeld/models/commonmodel.pxd
+++ /dev/null
@@ -1,18 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-
-cdef extern from "sunnypilot/modeld/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    ModelFrame(cl_device_id, cl_context)
-    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pxd b/sunnypilot/modeld/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625b..0000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pyx b/sunnypilot/modeld/models/commonmodel_pyx.pyx
deleted file mode 100644
index d66fddea54..0000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,45 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from openpilot.sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from openpilot.sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-
-  def __cinit__(self, CLContext context):
-    self.frame = new cppModelFrame(context.device_id, context.context)
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef float * data
-    if output is None:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
-    else:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
-    if not data:
-      return None
-    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
deleted file mode 100644
index 9cd5f1465c..0000000000
--- a/sunnypilot/modeld/parse_model_outputs.py
+++ /dev/null
@@ -1,107 +0,0 @@
-import numpy as np
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-
-def safe_exp(x, out=None):
-  # -11 is around 10**14, more causes float16 overflow
-  return np.exp(np.clip(x, -np.inf, 11), out=out)
-
-def sigmoid(x):
-  return 1. / (1. + safe_exp(-x))
-
-def softmax(x, axis=-1):
-  x -= np.max(x, axis=axis, keepdims=True)
-  if x.dtype == np.float32 or x.dtype == np.float64:
-    safe_exp(x, out=x)
-  else:
-    x = safe_exp(x)
-  x /= np.sum(x, axis=axis, keepdims=True)
-  return x
-
-class Parser:
-  def __init__(self, ignore_missing=False):
-    self.ignore_missing = ignore_missing
-
-  def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
-      raise ValueError(f"Missing output {name}")
-    return name not in outs
-
-  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    if out_shape is not None:
-      raw = raw.reshape((raw.shape[0],) + out_shape)
-    outs[name] = softmax(raw, axis=-1)
-
-  def parse_binary_crossentropy(self, name, outs):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    outs[name] = sigmoid(raw)
-
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
-
-    n_values = (raw.shape[2] - out_N)//2
-    pred_mu = raw[:,:,:n_values]
-    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
-
-    if in_N > 1:
-      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
-      for i in range(out_N):
-        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
-
-      if out_N == 1:
-        for fidx in range(weights.shape[0]):
-          idxs = np.argsort(weights[fidx][:,0])[::-1]
-          weights[fidx] = weights[fidx][idxs]
-          pred_mu[fidx] = pred_mu[fidx][idxs]
-          pred_std[fidx] = pred_std[fidx][idxs]
-      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
-      outs[name + '_weights'] = weights
-      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
-      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
-
-      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      for fidx in range(weights.shape[0]):
-        for hidx in range(out_N):
-          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
-          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
-          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
-    else:
-      pred_mu_final = pred_mu
-      pred_std_final = pred_std
-
-    if out_N > 1:
-      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
-    else:
-      final_shape = tuple([raw.shape[0],] + list(out_shape))
-    outs[name] = pred_mu_final.reshape(final_shape)
-    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
-
-  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'sim_pose' in outs:
-      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
-      self.parse_binary_crossentropy(k, outs)
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    return outs
diff --git a/sunnypilot/modeld/runners/__init__.py b/sunnypilot/modeld/runners/__init__.py
deleted file mode 100644
index d105685bd8..0000000000
--- a/sunnypilot/modeld/runners/__init__.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import os
-from openpilot.system.hardware import TICI
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel, Runtime
-assert Runtime
-
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-
-class ModelRunner(RunModel):
-  THNEED = 'THNEED'
-  ONNX = 'ONNX'
-
-  def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.THNEED in paths and USE_THNEED:
-      from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
-      runner_type = ModelRunner.THNEED
-    elif ModelRunner.ONNX in paths:
-      from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
-      runner_type = ModelRunner.ONNX
-    else:
-      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
-
-    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/sunnypilot/modeld/runners/onnxmodel.py b/sunnypilot/modeld/runners/onnxmodel.py
deleted file mode 100644
index 047f13dc9d..0000000000
--- a/sunnypilot/modeld/runners/onnxmodel.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import onnx
-import itertools
-import os
-import sys
-import numpy as np
-from typing import Any
-
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(onnx_path_or_bytes):
-  if isinstance(onnx_path_or_bytes, bytes):
-    model = onnx.load_from_string(onnx_path_or_bytes)
-  elif isinstance(onnx_path_or_bytes, str):
-    model = onnx.load(onnx_path_or_bytes)
-
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-def create_ort_session(path, fp16_to_fp32):
-  os.environ["OMP_NUM_THREADS"] = "4"
-  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-  import onnxruntime as ort
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: str | tuple[str, dict[Any, Any]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
-  print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
-  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-  return ort_session
-
-
-class ONNXModel(RunModel):
-  def __init__(self, path, output, runtime, use_tf8, cl_context):
-    self.inputs = {}
-    self.output = output
-
-    self.session = create_ort_session(path, fp16_to_fp32=True)
-    self.input_names = [x.name for x in self.session.get_inputs()]
-    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
-    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
-
-    # run once to initialize CUDA provider
-    if "CUDAExecutionProvider" in self.session.get_providers():
-      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
-    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
-
-  def addInput(self, name, buffer):
-    assert name in self.input_names
-    self.inputs[name] = buffer
-
-  def setInputBuffer(self, name, buffer):
-    assert name in self.inputs
-    self.inputs[name] = buffer
-
-  def getCLBuffer(self, name):
-    return None
-
-  def execute(self):
-    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
-    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
-    outputs = self.session.run(None, inputs)
-    assert len(outputs) == 1, "Only single model outputs are supported"
-    self.output[:] = outputs[0]
-    return self.output
diff --git a/sunnypilot/modeld/runners/run.h b/sunnypilot/modeld/runners/run.h
deleted file mode 100644
index 55e703ef97..0000000000
--- a/sunnypilot/modeld/runners/run.h
+++ /dev/null
@@ -1,3 +0,0 @@
-#pragma once
-
-#include "sunnypilot/modeld/runners/runmodel.h"
diff --git a/sunnypilot/modeld/runners/runmodel.h b/sunnypilot/modeld/runners/runmodel.h
deleted file mode 100644
index 18cc180cb7..0000000000
--- a/sunnypilot/modeld/runners/runmodel.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-#include <memory>
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/swaglog.h"
-
-#define USE_CPU_RUNTIME 0
-#define USE_GPU_RUNTIME 1
-#define USE_DSP_RUNTIME 2
-
-struct ModelInput {
-  const std::string name;
-  float *buffer;
-  int size;
-
-  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
-  virtual void setBuffer(float *_buffer, int _size) {
-    assert(size == _size || size == 0);
-    buffer = _buffer;
-    size = _size;
-  }
-};
-
-class RunModel {
-public:
-  std::vector<std::unique_ptr<ModelInput>> inputs;
-
-  virtual ~RunModel() {}
-  virtual void execute() {}
-  virtual void* getCLBuffer(const std::string name) { return nullptr; }
-
-  virtual void addInput(const std::string name, float *buffer, int size) {
-    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
-  }
-  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
-    for (auto &input : inputs) {
-      if (name == input->name) {
-        input->setBuffer(buffer, size);
-        return;
-      }
-    }
-    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-};
diff --git a/sunnypilot/modeld/runners/runmodel.pxd b/sunnypilot/modeld/runners/runmodel.pxd
deleted file mode 100644
index b83434473d..0000000000
--- a/sunnypilot/modeld/runners/runmodel.pxd
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-cdef extern from "sunnypilot/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME
-
-  cdef cppclass RunModel:
-    void addInput(string, float*, int)
-    void setInputBuffer(string, float*, int)
-    void * getCLBuffer(string)
-    void execute()
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pxd b/sunnypilot/modeld/runners/runmodel_pyx.pxd
deleted file mode 100644
index b6ede7cf37..0000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pxd
+++ /dev/null
@@ -1,6 +0,0 @@
-# distutils: language = c++
-
-from .runmodel cimport RunModel as cppRunModel
-
-cdef class RunModel:
-  cdef cppRunModel * model
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pyx b/sunnypilot/modeld/runners/runmodel_pyx.pyx
deleted file mode 100644
index d2b4485944..0000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pyx
+++ /dev/null
@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp.string cimport string
-
-from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
-
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
-
-cdef class RunModel:
-  def __dealloc__(self):
-    del self.model
-
-  def addInput(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.addInput(name, &buffer[0], len(buffer))
-    else:
-      self.model.addInput(name, NULL, 0)
-
-  def setInputBuffer(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.setInputBuffer(name, &buffer[0], len(buffer))
-    else:
-      self.model.setInputBuffer(name, NULL, 0)
-
-  def getCLBuffer(self, string name):
-    cdef void * cl_buf = self.model.getCLBuffer(name)
-    if not cl_buf:
-      return None
-    return CLMem.create(cl_buf)
-
-  def execute(self):
-    self.model.execute()
diff --git a/sunnypilot/modeld/runners/thneedmodel.cc b/sunnypilot/modeld/runners/thneedmodel.cc
deleted file mode 100644
index d83fc0a5f9..0000000000
--- a/sunnypilot/modeld/runners/thneedmodel.cc
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "sunnypilot/modeld/runners/thneedmodel.h"
-
-#include <string>
-
-#include "common/swaglog.h"
-
-ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
-  thneed = new Thneed(true, context);
-  thneed->load(path.c_str());
-  thneed->clexec();
-
-  recorded = false;
-  output = _output;
-}
-
-void* ThneedModel::getCLBuffer(const std::string name) {
-  int index = -1;
-  for (int i = 0; i < inputs.size(); i++) {
-    if (name == inputs[i]->name) {
-      index = i;
-      break;
-    }
-  }
-
-  if (index == -1) {
-    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-
-  if (thneed->input_clmem.size() >= inputs.size()) {
-    return &thneed->input_clmem[inputs.size() - index - 1];
-  } else {
-    return nullptr;
-  }
-}
-
-void ThneedModel::execute() {
-  if (!recorded) {
-    thneed->record = true;
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-
-    thneed->copy_inputs(input_buffers);
-    thneed->clexec();
-    thneed->copy_output(output);
-    thneed->stop();
-
-    recorded = true;
-  } else {
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-    thneed->execute(input_buffers, output);
-  }
-}
diff --git a/sunnypilot/modeld/runners/thneedmodel.h b/sunnypilot/modeld/runners/thneedmodel.h
deleted file mode 100644
index ecc7207c1f..0000000000
--- a/sunnypilot/modeld/runners/thneedmodel.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-class ThneedModel : public RunModel {
-public:
-  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void *getCLBuffer(const std::string name);
-  void execute();
-private:
-  Thneed *thneed = NULL;
-  bool recorded;
-  float *output;
-};
diff --git a/sunnypilot/modeld/runners/thneedmodel.pxd b/sunnypilot/modeld/runners/thneedmodel.pxd
deleted file mode 100644
index ace7443b50..0000000000
--- a/sunnypilot/modeld/runners/thneedmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "sunnypilot/modeld/runners/thneedmodel.h":
-  cdef cppclass ThneedModel:
-    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
deleted file mode 100644
index eaabc4a776..0000000000
--- a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .thneedmodel cimport ThneedModel as cppThneedModel
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
-from openpilot.sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ThneedModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/thneed/README b/sunnypilot/modeld/thneed/README
deleted file mode 100644
index f3bc66d8fc..0000000000
--- a/sunnypilot/modeld/thneed/README
+++ /dev/null
@@ -1,8 +0,0 @@
-thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
-
-It runs on the local device, and caches a single model run. Then it replays it, but fast.
-
-thneed slices through abstraction layers like a fish.
-
-You need a thneed.
-
diff --git a/sunnypilot/modeld/thneed/clutil_legacy.cc b/sunnypilot/modeld/thneed/clutil_legacy.cc
deleted file mode 100644
index 3bf9316432..0000000000
--- a/sunnypilot/modeld/thneed/clutil_legacy.cc
+++ /dev/null
@@ -1,126 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-#include "sunnypilot/modeld/thneed/clutil_legacy.h"
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
-
-// Given a cl code and return a string representation
-#define CL_ERR_TO_STR(err) case err: return #err
-const char* cl_get_error_string(int err) {
-  switch (err) {
-    CL_ERR_TO_STR(CL_SUCCESS);
-    CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND);
-    CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE);
-    CL_ERR_TO_STR(CL_OUT_OF_RESOURCES);
-    CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY);
-    CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP);
-    CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH);
-    CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED);
-    CL_ERR_TO_STR(CL_MAP_FAILURE);
-    CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET);
-    CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST);
-    CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE);
-    CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE);
-    CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED);
-    CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_INVALID_VALUE);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE);
-    CL_ERR_TO_STR(CL_INVALID_PLATFORM);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE);
-    CL_ERR_TO_STR(CL_INVALID_CONTEXT);
-    CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES);
-    CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE);
-    CL_ERR_TO_STR(CL_INVALID_HOST_PTR);
-    CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_SAMPLER);
-    CL_ERR_TO_STR(CL_INVALID_BINARY);
-    CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_PROGRAM);
-    CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL);
-    CL_ERR_TO_STR(CL_INVALID_ARG_INDEX);
-    CL_ERR_TO_STR(CL_INVALID_ARG_VALUE);
-    CL_ERR_TO_STR(CL_INVALID_ARG_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS);
-    CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION);
-    CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET);
-    CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST);
-    CL_ERR_TO_STR(CL_INVALID_EVENT);
-    CL_ERR_TO_STR(CL_INVALID_OPERATION);
-    CL_ERR_TO_STR(CL_INVALID_GL_OBJECT);
-    CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL);
-    CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_PROPERTY);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR);
-    CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT);
-    case -69: return "CL_INVALID_PIPE_SIZE";
-    case -70: return "CL_INVALID_DEVICE_QUEUE";
-    case -71: return "CL_INVALID_SPEC_ID";
-    case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
-    case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
-    case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
-    case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
-    case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
-    case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
-    case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
-    case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
-    case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
-    case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
-    case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
-    case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
-    case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
-    case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
-    case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
-    case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
-    case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
-    case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
-    case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
-    case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
-    case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
-    case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
-    case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
-    case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
-    case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
-    default: return "CL_UNKNOWN_ERROR";
-  }
-}
\ No newline at end of file
diff --git a/sunnypilot/modeld/thneed/clutil_legacy.h b/sunnypilot/modeld/thneed/clutil_legacy.h
deleted file mode 100644
index 8aebdcf1a9..0000000000
--- a/sunnypilot/modeld/thneed/clutil_legacy.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
-const char* cl_get_error_string(int err);
\ No newline at end of file
diff --git a/sunnypilot/modeld/thneed/serialize.cc b/sunnypilot/modeld/thneed/serialize.cc
deleted file mode 100644
index 9279a90e0f..0000000000
--- a/sunnypilot/modeld/thneed/serialize.cc
+++ /dev/null
@@ -1,155 +0,0 @@
-#include <cassert>
-#include <set>
-
-#include "third_party/json11/json11.hpp"
-#include "common/util.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-#include "sunnypilot/modeld/thneed/clutil_legacy.h"
-using namespace json11;
-
-extern map<cl_program, string> g_program_source;
-
-void Thneed::load(const char *filename) {
-  LOGD("Thneed::load: loading from %s\n", filename);
-
-  string buf = util::read_file(filename);
-  int jsz = *(int *)buf.data();
-  string jsonerr;
-  string jj(buf.data() + sizeof(int), jsz);
-  Json jdat = Json::parse(jj, jsonerr);
-
-  map<cl_mem, cl_mem> real_mem;
-  real_mem[NULL] = NULL;
-
-  int ptr = sizeof(int)+jsz;
-  for (auto &obj : jdat["objects"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem clbuf = NULL;
-
-    if (mobj["buffer_id"].string_value().size() > 0) {
-      // image buffer must already be allocated
-      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-      assert(mobj["needs_load"].bool_value() == false);
-    } else {
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
-        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
-        ptr += sz;
-      } else {
-        // TODO: is there a faster way to init zeroed out buffers?
-        void *host_zeros = calloc(sz, 1);
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
-        free(host_zeros);
-      }
-    }
-    assert(clbuf != NULL);
-
-    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
-      cl_image_desc desc = {0};
-      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
-      desc.image_width = mobj["width"].int_value();
-      desc.image_height = mobj["height"].int_value();
-      desc.image_row_pitch = mobj["row_pitch"].int_value();
-      assert(sz == desc.image_height*desc.image_row_pitch);
-#ifdef QCOM2
-      desc.buffer = clbuf;
-#else
-      // TODO: we are creating unused buffers on PC
-      clReleaseMemObject(clbuf);
-#endif
-      cl_image_format format = {0};
-      format.image_channel_order = CL_RGBA;
-      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
-
-      cl_int errcode;
-
-#ifndef QCOM2
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
-      } else {
-        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-      }
-#else
-      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-#endif
-      if (clbuf == NULL) {
-        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
-      }
-      assert(clbuf != NULL);
-    }
-
-    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
-  }
-
-  map<string, cl_program> g_programs;
-  for (const auto &[name, source] : jdat["programs"].object_items()) {
-    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
-    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
-  }
-
-  for (auto &obj : jdat["inputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    input_clmem.push_back(aa);
-    input_sizes.push_back(sz);
-    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
-
-    cl_int cl_err;
-    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
-    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
-    assert(cl_err == CL_SUCCESS);
-    inputs.push_back(ret);
-  }
-
-  for (auto &obj : jdat["outputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    LOGD("Thneed::save: adding output with size %d\n", sz);
-    // TODO: support multiple outputs
-    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    assert(output != NULL);
-  }
-
-  for (auto &obj : jdat["binaries"].array_items()) {
-    string name = obj["name"].string_value();
-    size_t length = obj["length"].int_value();
-    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
-    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
-    ptr += length;
-  }
-
-  for (auto &obj : jdat["kernels"].array_items()) {
-    auto gws = obj["global_work_size"];
-    auto lws = obj["local_work_size"];
-    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
-
-    kk->name = obj["name"].string_value();
-    kk->program = g_programs[kk->name];
-    kk->work_dim = obj["work_dim"].int_value();
-    for (int i = 0; i < kk->work_dim; i++) {
-      kk->global_work_size[i] = gws[i].int_value();
-      kk->local_work_size[i] = lws[i].int_value();
-    }
-    kk->num_args = obj["num_args"].int_value();
-    for (int i = 0; i < kk->num_args; i++) {
-      string arg = obj["args"].array_items()[i].string_value();
-      int arg_size = obj["args_size"].array_items()[i].int_value();
-      kk->args_size.push_back(arg_size);
-      if (arg_size == 8) {
-        cl_mem val = *(cl_mem*)(arg.data());
-        val = real_mem[val];
-        kk->args.push_back(string((char*)&val, sizeof(val)));
-      } else {
-        kk->args.push_back(arg);
-      }
-    }
-    kq.push_back(kk);
-  }
-
-  clFinish(command_queue);
-}
diff --git a/sunnypilot/modeld/thneed/thneed.h b/sunnypilot/modeld/thneed/thneed.h
deleted file mode 100644
index 47e18e0be3..0000000000
--- a/sunnypilot/modeld/thneed/thneed.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#pragma once
-
-#ifndef __user
-#define __user __attribute__(())
-#endif
-
-#include <cstdint>
-#include <cstdlib>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <CL/cl.h>
-
-#include "third_party/linux/include/msm_kgsl.h"
-
-using namespace std;
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
-
-namespace json11 {
-  class Json;
-}
-class Thneed;
-
-class GPUMalloc {
-  public:
-    GPUMalloc(int size, int fd);
-    ~GPUMalloc();
-    void *alloc(int size);
-  private:
-    uint64_t base;
-    int remaining;
-};
-
-class CLQueuedKernel {
-  public:
-    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
-    CLQueuedKernel(Thneed *lthneed,
-                   cl_kernel _kernel,
-                   cl_uint _work_dim,
-                   const size_t *_global_work_size,
-                   const size_t *_local_work_size);
-    cl_int exec();
-    void debug_print(bool verbose);
-    int get_arg_num(const char *search_arg_name);
-    cl_program program;
-    string name;
-    cl_uint num_args;
-    vector<string> arg_names;
-    vector<string> arg_types;
-    vector<string> args;
-    vector<int> args_size;
-    cl_kernel kernel = NULL;
-    json11::Json to_json() const;
-
-    cl_uint work_dim;
-    size_t global_work_size[3] = {0};
-    size_t local_work_size[3] = {0};
-  private:
-    Thneed *thneed;
-};
-
-class CachedIoctl {
-  public:
-    virtual void exec() {}
-};
-
-class CachedSync: public CachedIoctl {
-  public:
-    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
-    void exec();
-  private:
-    Thneed *thneed;
-    string data;
-};
-
-class CachedCommand: public CachedIoctl {
-  public:
-    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
-    void exec();
-  private:
-    void disassemble(int cmd_index);
-    struct kgsl_gpu_command cache;
-    unique_ptr<kgsl_command_object[]> cmds;
-    unique_ptr<kgsl_command_object[]> objs;
-    Thneed *thneed;
-    vector<shared_ptr<CLQueuedKernel> > kq;
-};
-
-class Thneed {
-  public:
-    Thneed(bool do_clinit=false, cl_context _context = NULL);
-    void stop();
-    void execute(float **finputs, float *foutput, bool slow=false);
-    void wait();
-
-    vector<cl_mem> input_clmem;
-    vector<void *> inputs;
-    vector<size_t> input_sizes;
-    cl_mem output = NULL;
-
-    cl_context context = NULL;
-    cl_command_queue command_queue;
-    cl_device_id device_id;
-    int context_id;
-
-    // protected?
-    bool record = false;
-    int debug;
-    int timestamp;
-
-#ifdef QCOM2
-    unique_ptr<GPUMalloc> ram;
-    vector<unique_ptr<CachedIoctl> > cmds;
-    int fd;
-#endif
-
-    // all CL kernels
-    void copy_inputs(float **finputs, bool internal=false);
-    void copy_output(float *foutput);
-    cl_int clexec();
-    vector<shared_ptr<CLQueuedKernel> > kq;
-
-    // pending CL kernels
-    vector<shared_ptr<CLQueuedKernel> > ckq;
-
-    // loading
-    void load(const char *filename);
-  private:
-    void clinit();
-};
-
diff --git a/sunnypilot/modeld/thneed/thneed_common.cc b/sunnypilot/modeld/thneed/thneed_common.cc
deleted file mode 100644
index 56fbe70d8f..0000000000
--- a/sunnypilot/modeld/thneed/thneed_common.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-#include <cstring>
-#include <map>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-map<pair<cl_kernel, int>, string> g_args;
-map<pair<cl_kernel, int>, int> g_args_size;
-map<cl_program, string> g_program_source;
-
-void Thneed::stop() {
-  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
-  record = false;
-}
-
-void Thneed::clinit() {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
-  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
-  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-  printf("Thneed::clinit done\n");
-}
-
-cl_int Thneed::clexec() {
-  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
-  for (auto &k : kq) {
-    if (record) ckq.push_back(k);
-    cl_int ret = k->exec();
-    assert(ret == CL_SUCCESS);
-  }
-  return clFinish(command_queue);
-}
-
-void Thneed::copy_inputs(float **finputs, bool internal) {
-  for (int idx = 0; idx < inputs.size(); ++idx) {
-    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
-
-    if (internal) {
-      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
-      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
-    } else {
-      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
-    }
-  }
-}
-
-void Thneed::copy_output(float *foutput) {
-  if (output != NULL) {
-    size_t sz;
-    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
-    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
-  } else {
-    printf("CAUTION: model output is NULL, does it have no outputs?\n");
-  }
-}
-
-// *********** CLQueuedKernel ***********
-
-CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
-                               cl_kernel _kernel,
-                               cl_uint _work_dim,
-                               const size_t *_global_work_size,
-                               const size_t *_local_work_size) {
-  thneed = lthneed;
-  kernel = _kernel;
-  work_dim = _work_dim;
-  assert(work_dim <= 3);
-  for (int i = 0; i < work_dim; i++) {
-    global_work_size[i] = _global_work_size[i];
-    local_work_size[i] = _local_work_size[i];
-  }
-
-  char _name[0x100];
-  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
-  name = string(_name);
-  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
-
-  // get args
-  for (int i = 0; i < num_args; i++) {
-    char arg_name[0x100] = {0};
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_names.push_back(string(arg_name));
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_types.push_back(string(arg_name));
-
-    args.push_back(g_args[make_pair(kernel, i)]);
-    args_size.push_back(g_args_size[make_pair(kernel, i)]);
-  }
-
-  // get program
-  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
-}
-
-int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
-  for (int i = 0; i < num_args; i++) {
-    if (arg_names[i] == search_arg_name) return i;
-  }
-  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
-  assert(false);
-}
-
-cl_int CLQueuedKernel::exec() {
-  if (kernel == NULL) {
-    kernel = clCreateKernel(program, name.c_str(), NULL);
-    arg_names.clear();
-    arg_types.clear();
-
-    for (int j = 0; j < num_args; j++) {
-      char arg_name[0x100] = {0};
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_names.push_back(string(arg_name));
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_types.push_back(string(arg_name));
-
-      cl_int ret;
-      if (args[j].size() != 0) {
-        assert(args[j].size() == args_size[j]);
-        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
-      } else {
-        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
-      }
-      assert(ret == CL_SUCCESS);
-    }
-  }
-
-  if (thneed->debug >= 1) {
-    debug_print(thneed->debug >= 2);
-  }
-
-  return clEnqueueNDRangeKernel(thneed->command_queue,
-    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
-}
-
-void CLQueuedKernel::debug_print(bool verbose) {
-  printf("%p %56s -- ", kernel, name.c_str());
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", global_work_size[i]);
-  }
-  printf(" -- ");
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", local_work_size[i]);
-  }
-  printf("\n");
-
-  if (verbose) {
-    for (int i = 0; i < num_args; i++) {
-      string arg = args[i];
-      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
-      void *arg_value = (void*)arg.data();
-      int arg_size = arg.size();
-      if (arg_size == 0) {
-        printf(" (size) %d", args_size[i]);
-      } else if (arg_size == 1) {
-        printf(" = %d", *((char*)arg_value));
-      } else if (arg_size == 2) {
-        printf(" = %d", *((short*)arg_value));
-      } else if (arg_size == 4) {
-        if (arg_types[i] == "float") {
-          printf(" = %f", *((float*)arg_value));
-        } else {
-          printf(" = %d", *((int*)arg_value));
-        }
-      } else if (arg_size == 8) {
-        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
-        printf(" = %p", val);
-        if (val != NULL) {
-          cl_mem_object_type obj_type;
-          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
-          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
-            cl_image_format format;
-            size_t width, height, depth, array_size, row_pitch, slice_pitch;
-            cl_mem buf;
-            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
-            assert(format.image_channel_order == CL_RGBA);
-            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
-            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
-            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
-            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
-            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
-            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
-            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
-            assert(depth == 0);
-            assert(array_size == 0);
-            assert(slice_pitch == 0);
-
-            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
-            size_t sz = 0;
-            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
-          } else {
-            size_t sz;
-            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" buffer %zu", sz);
-          }
-        }
-      }
-      printf("\n");
-    }
-  }
-}
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
-  g_args_size[make_pair(kernel, arg_index)] = arg_size;
-  if (arg_value != NULL) {
-    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
-  } else {
-    g_args[make_pair(kernel, arg_index)] = string("");
-  }
-  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
-  return ret;
-}
diff --git a/sunnypilot/modeld/thneed/thneed_pc.cc b/sunnypilot/modeld/thneed/thneed_pc.cc
deleted file mode 100644
index 629d0ee359..0000000000
--- a/sunnypilot/modeld/thneed/thneed_pc.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  context = _context;
-  if (do_clinit) clinit();
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs);
-
-  // ****** run commands
-  clexec();
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/thneed/thneed_qcom2.cc b/sunnypilot/modeld/thneed/thneed_qcom2.cc
deleted file mode 100644
index b940da1ce1..0000000000
--- a/sunnypilot/modeld/thneed/thneed_qcom2.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <dlfcn.h>
-#include <sys/mman.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <map>
-#include <string>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed *g_thneed = NULL;
-int g_fd = -1;
-
-void hexdump(uint8_t *d, int len) {
-  assert((len%4) == 0);
-  printf("  dumping %p len 0x%x\n", d, len);
-  for (int i = 0; i < len/4; i++) {
-    if (i != 0 && (i%0x10) == 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-// *********** ioctl interceptor ***********
-
-extern "C" {
-
-int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
-#undef ioctl
-int ioctl(int filedes, unsigned long request, void *argp) {
-  request &= 0xFFFFFFFF;  // needed on QCOM2
-  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
-  Thneed *thneed = g_thneed;
-
-  // save the fd
-  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
-
-  // note that this runs always, even without a thneed object
-  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
-    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
-    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
-    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
-  }
-
-  if (thneed != NULL) {
-    if (request == IOCTL_KGSL_GPU_COMMAND) {
-      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
-      if (thneed->record) {
-        thneed->timestamp = cmd->timestamp;
-        thneed->context_id = cmd->context_id;
-        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
-      }
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
-            thneed->cmds.size(),
-            cmd->flags,
-            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
-      }
-    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
-      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
-      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
-
-      if (thneed->debug >= 2) {
-        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
-        for (int i = 0; i < cmd->count; i++) {
-          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
-        }
-        printf("\n");
-      }
-
-      if (thneed->record) {
-        thneed->cmds.push_back(unique_ptr<CachedSync>(new
-              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
-      }
-    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
-      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
-            cmd->context_id, cmd->timestamp, cmd->timeout);
-      }
-    } else if (request == IOCTL_KGSL_SETPROPERTY) {
-      if (thneed->debug >= 1) {
-        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
-        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
-        if (thneed->debug >= 2) {
-          hexdump((uint8_t *)prop->value, prop->sizebytes);
-          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
-            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
-            hexdump((uint8_t *)constraint->data, constraint->size);
-          }
-        }
-      }
-    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
-      // this happens
-    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
-      // this happens
-    } else {
-      if (thneed->debug >= 1) {
-        printf("other ioctl %lx\n", request);
-      }
-    }
-  }
-
-  int ret = my_ioctl(filedes, request, argp);
-  // NOTE: This error message goes into stdout and messes up pyenv
-  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
-  return ret;
-}
-
-}
-
-// *********** GPUMalloc ***********
-
-GPUMalloc::GPUMalloc(int size, int fd) {
-  struct kgsl_gpuobj_alloc alloc;
-  memset(&alloc, 0, sizeof(alloc));
-  alloc.size = size;
-  alloc.flags = 0x10000a00;
-  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
-  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
-  assert(addr != MAP_FAILED);
-
-  base = (uint64_t)addr;
-  remaining = size;
-}
-
-GPUMalloc::~GPUMalloc() {
-  // TODO: free the GPU malloced area
-}
-
-void *GPUMalloc::alloc(int size) {
-  void *ret = (void*)base;
-  size = (size+0xff) & (~0xFF);
-  assert(size <= remaining);
-  remaining -= size;
-  base += size;
-  return ret;
-}
-
-// *********** CachedSync, at the ioctl layer ***********
-
-void CachedSync::exec() {
-  struct kgsl_gpuobj_sync cmd;
-
-  cmd.objs = (uint64_t)data.data();
-  cmd.obj_len = data.length();
-  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
-
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
-  assert(ret == 0);
-}
-
-// *********** CachedCommand, at the ioctl layer ***********
-
-CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
-  thneed = lthneed;
-  assert(cmd->numsyncs == 0);
-
-  memcpy(&cache, cmd, sizeof(cache));
-
-  if (cmd->numcmds > 0) {
-    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
-    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
-    cache.cmdlist = (uint64_t)cmds.get();
-    for (int i = 0; i < cmd->numcmds; i++) {
-      void *nn = thneed->ram->alloc(cmds[i].size);
-      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
-      cmds[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  if (cmd->numobjs > 0) {
-    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
-    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
-    cache.objlist = (uint64_t)objs.get();
-    for (int i = 0; i < cmd->numobjs; i++) {
-      void *nn = thneed->ram->alloc(objs[i].size);
-      memset(nn, 0, objs[i].size);
-      objs[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  kq = thneed->ckq;
-  thneed->ckq.clear();
-}
-
-void CachedCommand::exec() {
-  cache.timestamp = ++thneed->timestamp;
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
-
-  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
-
-  if (thneed->debug >= 2) {
-    for (auto &it : kq) {
-      it->debug_print(false);
-    }
-  }
-
-  assert(ret == 0);
-}
-
-// *********** Thneed ***********
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  // TODO: QCOM2 actually requires a different context
-  //context = _context;
-  if (do_clinit) clinit();
-  assert(g_fd != -1);
-  fd = g_fd;
-  ram = make_unique<GPUMalloc>(0x80000, fd);
-  timestamp = -1;
-  g_thneed = this;
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::wait() {
-  struct kgsl_device_waittimestamp_ctxtid wait;
-  wait.context_id = context_id;
-  wait.timestamp = timestamp;
-  wait.timeout = -1;
-
-  uint64_t tb = nanos_since_boot();
-  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
-  uint64_t te = nanos_since_boot();
-
-  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs, true);
-
-  // ****** run commands
-  int i = 0;
-  for (auto &it : cmds) {
-    ++i;
-    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
-    it->exec();
-    if ((i == cmds.size()) || slow) wait();
-  }
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cc b/sunnypilot/modeld/transforms/loadyuv.cc
deleted file mode 100644
index f7d571416c..0000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cc
+++ /dev/null
@@ -1,74 +0,0 @@
-#include "sunnypilot/modeld/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift) {
-  cl_int global_out_off = 0;
-  if (do_shift) {
-    // shift the image in slot 1 to slot 0, then place the new image in slot 1
-    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
-    const size_t copy_work_size = global_out_off/8;
-    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                                &copy_work_size, NULL, 0, 0, NULL));
-  }
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cl b/sunnypilot/modeld/transforms/loadyuv.cl
deleted file mode 100644
index 7dd3d973a3..0000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-    const float8 ysf = convert_float8(ys);
-
-    // 02
-    // 13
-
-    __global float* outy0;
-    __global float* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global float8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  const float8 outv  = convert_float8(inv);
-  out[gid + out_offset / 8] = outv;
-}
-
-__kernel void copy(__global float8 * inout,
-                   int in_offset)
-{
-  const int gid = get_global_id(0);
-  inout[gid] = inout[gid + in_offset / 8];
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.h b/sunnypilot/modeld/transforms/loadyuv.h
deleted file mode 100644
index 7d27ef5d46..0000000000
--- a/sunnypilot/modeld/transforms/loadyuv.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift = false);
diff --git a/sunnypilot/modeld/transforms/transform.cc b/sunnypilot/modeld/transforms/transform.cc
deleted file mode 100644
index ebab670b53..0000000000
--- a/sunnypilot/modeld/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "sunnypilot/modeld/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld/transforms/transform.cl b/sunnypilot/modeld/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd..0000000000
--- a/sunnypilot/modeld/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/sunnypilot/modeld/transforms/transform.h b/sunnypilot/modeld/transforms/transform.h
deleted file mode 100644
index 771a7054b3..0000000000
--- a/sunnypilot/modeld/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/sunnypilot/modeld_v2/.gitignore b/sunnypilot/modeld_v2/.gitignore
deleted file mode 100644
index 742d3d1205..0000000000
--- a/sunnypilot/modeld_v2/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*_pyx.cpp
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
deleted file mode 100644
index 28d39a75f1..0000000000
--- a/sunnypilot/modeld_v2/SConscript
+++ /dev/null
@@ -1,66 +0,0 @@
-import os
-import glob
-
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
-lenv = env.Clone()
-lenvCython = envCython.Clone()
-
-libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
-frameworks = []
-
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-# Compile cython
-cython_libs = envCython["LIBS"] + libs
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
-
-# Get model metadata
-PC = not os.path.isfile('/TICI')
-if PC:
-  inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
-  outputs = []
-  model_dir = Dir("models").abspath
-  cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
-
-  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
-    if File(f"models/{model_name}.onnx").exists():
-        inputs.append(File(f"models/{model_name}.onnx"))
-        inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
-        outputs.append(File(f"models/{model_name}_metadata.pkl"))
-  if outputs:
-    lenv.Command(outputs, inputs, cmd)
-
-def tg_compile(flags, model_name):
-  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-  fn = File(f"models/{model_name}").abspath
-  return lenv.Command(
-    fn + "_tinygrad.pkl",
-    [fn + ".onnx"] + tinygrad_files,
-    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  )
-
-# Compile small models
-for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
-  if File(f"models/{model_name}.onnx").exists():
-    flags = {
-      'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
-      'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
-    }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
-    tg_compile(flags, model_name)
diff --git a/sunnypilot/modeld_v2/get_model_metadata.py b/sunnypilot/modeld_v2/get_model_metadata.py
deleted file mode 100755
index e0b5adc51b..0000000000
--- a/sunnypilot/modeld_v2/get_model_metadata.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import pathlib
-import onnx
-import codecs
-import pickle
-from typing import Any
-
-
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
-  return name, shape
-
-
-def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
-  for prop in model.metadata_props:
-    if prop.key == name:
-      return prop.value
-  return None
-
-
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
-  output_slices = get_metadata_value_by_name(model, 'output_slices')
-  assert output_slices is not None, 'output_slices not found in metadata'
-
-  metadata = {
-    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
-    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
-  }
-
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
-
-  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld_v2/install_models_pc.py b/sunnypilot/modeld_v2/install_models_pc.py
deleted file mode 100755
index a378d90b11..0000000000
--- a/sunnypilot/modeld_v2/install_models_pc.py
+++ /dev/null
@@ -1,89 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import shutil
-import pickle
-import codecs
-import onnx
-from pathlib import Path
-
-from openpilot.system.hardware.hw import Paths
-
-
-def get_name_and_shape(value_info):
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  return value_info.name, shape
-
-
-def get_metadata_value_by_name(model, name):
-  for prop in model.metadata_props:
-    if prop.key == name:
-      return prop.value
-  return None
-
-
-def generate_metadata_pkl(model_path, output_path):
-  try:
-    model = onnx.load(str(model_path))
-    output_slices = get_metadata_value_by_name(model, 'output_slices')
-
-    if output_slices:
-      metadata = {
-        'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
-        'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-        'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-        'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
-      }
-      with open(output_path, 'wb') as f:
-        pickle.dump(metadata, f)
-      return True
-    else:
-      return False
-  except Exception:
-    return False
-
-
-def install_models(model_dir):
-  model_dir = Path(model_dir)
-  models = ["driving_off_policy", "driving_policy", "driving_vision"]
-  found_models = []
-
-  for model in models:
-    if (model_dir / f"{model}.onnx").exists():
-      found_models.append(model)
-
-  if not found_models:
-    return
-
-  try:
-    custom_name = input(f"Found models ({', '.join(found_models)}). Enter model short name (e.g. wmiv4): ").strip()
-  except EOFError:
-    return
-
-  if not custom_name:
-    print("No name provided, skipping installation.")
-    return
-
-  dest_dir = Path(Paths.model_root())
-  dest_dir.mkdir(parents=True, exist_ok=True)
-
-  for model in found_models:
-    onnx_path = model_dir / f"{model}.onnx"
-    tinygrad_pkl = model_dir / f"{model}_tinygrad.pkl"
-    metadata_pkl = model_dir / f"{model}_metadata.pkl"
-
-    if not metadata_pkl.exists():
-      generate_metadata_pkl(onnx_path, metadata_pkl)
-
-    dest_tinygrad = dest_dir / f"{model}_{custom_name}_tinygrad.pkl"
-    dest_metadata = dest_dir / f"{model}_{custom_name}_metadata.pkl"
-
-    if tinygrad_pkl.exists():
-      shutil.move(str(tinygrad_pkl), str(dest_tinygrad))
-    if metadata_pkl.exists():
-      shutil.move(str(metadata_pkl), str(dest_metadata))
-
-if __name__ == "__main__":
-  if len(sys.argv) < 2:
-    print("Usage: install_models_pc.py <model_dir>")
-    sys.exit(1)
-  install_models(sys.argv[1])
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
deleted file mode 100755
index e25078f52f..0000000000
--- a/sunnypilot/modeld_v2/modeld.py
+++ /dev/null
@@ -1,384 +0,0 @@
-#!/usr/bin/env python3
-import os
-from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
-USBGPU = "USBGPU" in os.environ
-if USBGPU:
-  os.environ['DEV'] = 'AMD'
-  os.environ['AMD_IFACE'] = 'USB'
-import time
-import numpy as np
-import cereal.messaging as messaging
-from cereal import car, log
-from setproctitle import setproctitle
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process, DT_MDL
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.system import sentry
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
-
-from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
-from openpilot.sunnypilot.modeld_v2.constants import Plan
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
-from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
-from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-
-from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
-from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.runners.helpers import get_model_runner
-
-PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
-
-
-class FrameMeta:
-  frame_id: int = 0
-  timestamp_sof: int = 0
-  timestamp_eof: int = 0
-
-  def __init__(self, vipc=None):
-    if vipc is not None:
-      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
-
-
-class ModelState(ModelStateBase):
-  frames: dict[str, DrivingModelFrame]
-  inputs: dict[str, np.ndarray]
-  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  temporal_idxs: slice | np.ndarray
-
-  def __init__(self, context: CLContext):
-    ModelStateBase.__init__(self)
-    try:
-      self.model_runner = get_model_runner()
-      self.constants = self.model_runner.constants
-    except Exception as e:
-      cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
-      raise
-
-    model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation if model_bundle is not None else None
-    overrides = {override.key: override.value for override in model_bundle.overrides}
-
-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
-    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
-    self.MIN_LAT_CONTROL_SPEED = 0.3
-    self.PLANPLUS_CONTROL: float = 1.0
-
-    buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.frames = {name: DrivingModelFrame(context, buffer_length) for name in self.model_runner.vision_input_names}
-    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
-
-    # img buffers are managed in openCL transform code
-    self.numpy_inputs = {}
-    self.temporal_buffers = {}
-    self.temporal_idxs_map = {}
-
-    for key, shape in self.model_runner.input_shapes.items():
-      if key not in self.frames: # Managed by opencl
-        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
-        # Temporal input: shape is [batch, history, features]
-        if len(shape) == 3 and shape[1] > 1:
-          buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
-          feature_len = shape[2]
-          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
-          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
-            buffer_history_len = (features_buffer_shape[1] + 1) * 4
-            step = int(-buffer_history_len / shape[1])
-            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
-          elif shape[1] == 25:  # Split
-            skip = buffer_history_len // shape[1]
-            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
-          elif shape[1] >= 99:  # non20hz
-            self.temporal_idxs_map[key] = np.arange(shape[1])
-          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
-
-  @property
-  def mlsim(self) -> bool:
-    return bool(self.generation is not None and self.generation >= 11)
-
-  @property
-  def desire_key(self) -> str:
-    return next(key for key in self.numpy_inputs if key.startswith('desire'))
-
-  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs[self.desire_key][0] = 0
-    new_desire = np.where(inputs[self.desire_key] - self.prev_desire > .99, inputs[self.desire_key], 0)
-    self.prev_desire[:] = inputs[self.desire_key]
-    self.temporal_buffers[self.desire_key][0,:-1] = self.temporal_buffers[self.desire_key][0,1:]
-    self.temporal_buffers[self.desire_key][0,-1] = new_desire
-
-    # Roll buffer and assign based on desire.shape[1] value
-    if self.temporal_buffers[self.desire_key].shape[1] > self.numpy_inputs[self.desire_key].shape[1]:
-      skip = self.temporal_buffers[self.desire_key].shape[1] // self.numpy_inputs[self.desire_key].shape[1]
-      self.numpy_inputs[self.desire_key][:] = (self.temporal_buffers[self.desire_key][0].reshape(
-                                               self.numpy_inputs[self.desire_key].shape[0], self.numpy_inputs[self.desire_key].shape[1], skip, -1).max(axis=2))
-    else:
-      self.numpy_inputs[self.desire_key][:] = self.temporal_buffers[self.desire_key][0, self.temporal_idxs_map[self.desire_key]]
-
-    for key in self.numpy_inputs:
-      if key in inputs and key not in [self.desire_key]:
-        self.numpy_inputs[key][:] = inputs[key]
-
-    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
-
-    # Prepare inputs using the model runner
-    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
-
-    if prepare_only:
-      return None
-
-    # Run model inference
-    outputs = self.model_runner.run_model()
-
-    # Update features_buffer
-    self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
-    self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]
-
-    if "desired_curvature" in outputs:
-      input_name_prev = None
-      if "prev_desired_curvs" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curvs'
-      elif "prev_desired_curv" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curv'
-      if input_name_prev and input_name_prev in self.temporal_buffers:
-        self.process_desired_curvature(outputs, input_name_prev)
-    return outputs
-
-  def process_desired_curvature(self, outputs, input_name_prev):
-    self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
-    self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
-    self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
-    if self.mlsim:
-      self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
-
-  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
-    plan = model_output['plan'][0]
-    if 'planplus' in model_output:
-      recovery_power = self.PLANPLUS_CONTROL * (0.75 if v_ego > 20.0 else 1.0)
-      plan = plan + recovery_power * model_output['planplus'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
-                                                     action_t=long_action_t)
-    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
-
-    desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, self.mlsim)
-    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
-      if v_ego > self.MIN_LAT_CONTROL_SPEED:
-        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
-      else:
-        desired_curvature = prev_action.desiredCurvature
-
-    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
-
-
-def main(demo=False):
-  cloudlog.warning("modeld init")
-
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
-  config_realtime_process(7, 54)
-
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
-
-  # visionipc clients
-  while True:
-    available_streams = VisionIpcClient.available_streams("camerad", block=False)
-    if available_streams:
-      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
-      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
-      break
-    time.sleep(.1)
-
-  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
-  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
-
-  while not vipc_client_main.connect(False):
-    time.sleep(0.1)
-  while use_extra_client and not vipc_client_extra.connect(False):
-    time.sleep(0.1)
-
-  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
-  if use_extra_client:
-    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
-
-  # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
-
-  publish_state = PublishState()
-  params = Params()
-
-  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
-  frame_id = 0
-  last_vipc_frame_id = 0
-  run_count = 0
-
-  model_transform_main = np.zeros((3, 3), dtype=np.float32)
-  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
-  live_calib_seen = False
-  buf_main, buf_extra = None, None
-  meta_main = FrameMeta()
-  meta_extra = FrameMeta()
-  camera_offset_helper = CameraOffsetHelper()
-
-
-  if demo:
-    CP = get_demo_car_params()
-  else:
-    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.brand)
-
-  # TODO Move smooth seconds to action function
-  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
-  prev_action = log.ModelDataV2.Action()
-
-  DH = DesireHelper()
-
-  while True:
-    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
-    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-      buf_main = vipc_client_main.recv()
-      meta_main = FrameMeta(vipc_client_main)
-      if buf_main is None:
-        break
-
-    if buf_main is None:
-      cloudlog.debug("vipc_client_main no frame")
-      continue
-
-    if use_extra_client:
-      # Keep receiving extra frames until frame id matches main camera
-      while True:
-        buf_extra = vipc_client_extra.recv()
-        meta_extra = FrameMeta(vipc_client_extra)
-        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-          break
-
-      if buf_extra is None:
-        cloudlog.debug("vipc_client_extra no frame")
-        continue
-
-      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                       extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
-
-    else:
-      # Use single camera
-      buf_extra = buf_main
-      meta_extra = meta_main
-
-    sm.update(0)
-    desire = DH.desire
-    is_rhd = sm["driverMonitoringState"].isRHD
-    frame_id = sm["roadCameraState"].frameId
-    v_ego = max(sm["carState"].vEgo, 0.)
-    if sm.frame % 60 == 0:
-      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
-      model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
-      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
-    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
-    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
-      model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
-      live_calib_seen = True
-
-    traffic_convention = np.zeros(2)
-    traffic_convention[int(is_rhd)] = 1
-
-    vec_desire = np.zeros(model.constants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < model.constants.DESIRE_LEN:
-      vec_desire[desire] = 1
-
-    # tracked dropped frames
-    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
-    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
-    if run_count < 10: # let frame drops warm up
-      frame_dropped_filter.x = 0.
-      frames_dropped = 0.
-    run_count = run_count + 1
-
-    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
-    prepare_only = vipc_dropped_frames > 0
-    if prepare_only:
-      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
-
-    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
-    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
-    inputs:dict[str, np.ndarray] = {
-      model.desire_key: vec_desire,
-      'traffic_convention': traffic_convention,
-    }
-
-    if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
-
-    mt1 = time.perf_counter()
-    model_output = model.run(bufs, transforms, inputs, prepare_only)
-    mt2 = time.perf_counter()
-    model_execution_time = mt2 - mt1
-
-    if model_output is not None:
-      modelv2_send = messaging.new_message('modelV2')
-      drivingdata_send = messaging.new_message('drivingModelData')
-      posenet_send = messaging.new_message('cameraOdometry')
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
-
-      action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
-      prev_action = action
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
-                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
-
-      desire_state = modelv2_send.modelV2.meta.desireState
-      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
-      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
-      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
-      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
-      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
-      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
-
-      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
-      pm.send('modelV2', modelv2_send)
-      pm.send('drivingModelData', drivingdata_send)
-      pm.send('cameraOdometry', posenet_send)
-      pm.send('modelDataV2SP', mdv2sp_send)
-    last_vipc_frame_id = meta_main.frame_id
-
-
-if __name__ == "__main__":
-  try:
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
-    args = parser.parse_args()
-    main(demo=args.demo)
-  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
diff --git a/sunnypilot/modeld_v2/models/README.md b/sunnypilot/modeld_v2/models/README.md
deleted file mode 100644
index 9e11ca8255..0000000000
--- a/sunnypilot/modeld_v2/models/README.md
+++ /dev/null
@@ -1,62 +0,0 @@
-## Neural networks in openpilot
-To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
-
-## Supercombo
-### Supercombo input format (Full size: 799906 x float32)
-* **image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **wide image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **desire**
-  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
-* **traffic convention**
-  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **feature buffer**
-  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
-
-
-### Supercombo output format (Full size: XXX x float32)
-Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
-
-
-## Driver Monitoring Model
-* .onnx model can be run with onnx runtimes
-* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
-
-### input format
-* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
-  * full input size is 1440 * 960 = 1382400
-  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
-* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
-
-### output format
-* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
-  * for each person in the front seats (2 * 41)
-    * face pose: 12 = 6 + 6
-      * face orientation [pitch, yaw, roll] in camera frame: 3
-      * face position [dx, dy] relative to image center: 2
-      * normalized face size: 1
-      * standard deviations for above outputs: 6
-    * face visible probability: 1
-    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-      * eye position and size, and their standard deviations: 8
-      * eye visible probability: 1
-      * eye closed probability: 1
-    * wearing sunglasses probability: 1
-    * face occluded probability: 1
-    * touching wheel probability: 1
-    * paying attention probability: 1
-    * (deprecated) distracted probabilities: 2
-    * using phone probability: 1
-    * distracted probability: 1
-  * common outputs 2
-    * poor camera vision probability: 1
-    * left hand drive probability: 1
diff --git a/sunnypilot/modeld_v2/models/commonmodel.cc b/sunnypilot/modeld_v2/models/commonmodel.cc
deleted file mode 100644
index 5cd3a84fcc..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel.cc
+++ /dev/null
@@ -1,62 +0,0 @@
-#include "sunnypilot/modeld_v2/models/commonmodel.h"
-
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length) : ModelFrame(device_id, context), buffer_length(buffer_length) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buffer_length*frame_size_bytes, NULL, &err));
-  region.origin = (buffer_length - 1)  * frame_size_bytes;
-  region.size = frame_size_bytes;
-  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
-  // printf("Buffer length: %d, region origin: %lu, region size: %lu\n", buffer_length, region.origin, region.size);
-
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-
-  for (int i = 0; i < (buffer_length - 1); i++) {
-    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
-  }
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
-  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
-  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
-
-  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-  clFinish(q);
-  return &input_frames_cl;
-}
-
-DrivingModelFrame::~DrivingModelFrame() {
-  deinit_transform();
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
-  CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  clFinish(q);
-  return &y_cl;
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
-  deinit_transform();
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/sunnypilot/modeld_v2/models/commonmodel.h b/sunnypilot/modeld_v2/models/commonmodel.h
deleted file mode 100644
index 8203e064e0..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel.h
+++ /dev/null
@@ -1,97 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-#include <cassert>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "sunnypilot/modeld_v2/transforms/loadyuv.h"
-#include "sunnypilot/modeld_v2/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context) {
-    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  }
-  virtual ~ModelFrame() {}
-  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
-  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
-    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  }
-
-  int MODEL_WIDTH;
-  int MODEL_HEIGHT;
-  int MODEL_FRAME_SIZE;
-  int buf_size;
-
-protected:
-  cl_mem y_cl, u_cl, v_cl;
-  Transform transform;
-  cl_command_queue q;
-  std::unique_ptr<uint8_t[]> input_frames;
-
-  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
-    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
-    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    transform_init(&transform, context, device_id);
-  }
-
-  void deinit_transform() {
-    transform_destroy(&transform);
-    CL_CHECK(clReleaseMemObject(v_cl));
-    CL_CHECK(clReleaseMemObject(u_cl));
-    CL_CHECK(clReleaseMemObject(y_cl));
-  }
-
-  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-    transform_queue(&transform, q,
-        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-        y_cl, u_cl, v_cl, model_width, model_height, projection);
-  }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length);
-  ~DrivingModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2;
-  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-  const uint8_t buffer_length;
-
-private:
-  LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
-  cl_buffer_region region;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
-  MonitoringModelFrame(cl_device_id device_id, cl_context context);
-  ~MonitoringModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 1440;
-  const int MODEL_HEIGHT = 960;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
-  const int buf_size = MODEL_FRAME_SIZE;
-
-private:
-  cl_mem input_frame_cl;
-};
diff --git a/sunnypilot/modeld_v2/models/commonmodel.pxd b/sunnypilot/modeld_v2/models/commonmodel.pxd
deleted file mode 100644
index 55023ac4b9..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel.pxd
+++ /dev/null
@@ -1,27 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-  void cl_release_context(cl_context)
-
-cdef extern from "sunnypilot/modeld_v2/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    unsigned char * buffer_from_cl(cl_mem*, int);
-    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-
-  cppclass DrivingModelFrame:
-    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context, unsigned char)
-
-  cppclass MonitoringModelFrame:
-    int buf_size
-    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd b/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625b..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx b/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
deleted file mode 100644
index 78a891f031..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,74 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t, uint8_t
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-  def __dealloc__(self):
-    if self.context:
-      cl_release_context(self.context)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-  cdef int buf_size
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef cl_mem * data
-    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
-    return CLMem.create(data)
-
-  def buffer_from_cl(self, CLMem in_frames):
-    cdef unsigned char * data2
-    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
-  cdef cppDrivingModelFrame * _frame
-
-  def __cinit__(self, CLContext context, int buffer_length=2):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context, buffer_length)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
-  cdef cppMonitoringModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
diff --git a/sunnypilot/modeld_v2/runners/ort_helpers.py b/sunnypilot/modeld_v2/runners/ort_helpers.py
deleted file mode 100644
index 26afb03562..0000000000
--- a/sunnypilot/modeld_v2/runners/ort_helpers.py
+++ /dev/null
@@ -1,36 +0,0 @@
-import onnx
-import onnxruntime as ort
-import numpy as np
-import itertools
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(model):
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-
-def make_onnx_cpu_runner(model_path):
-  options = ort.SessionOptions()
-  options.intra_op_num_threads = 4
-  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-  model_data = convert_fp16_to_fp32(onnx.load(model_path))
-  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
diff --git a/sunnypilot/modeld_v2/runners/tinygrad_helpers.py b/sunnypilot/modeld_v2/runners/tinygrad_helpers.py
deleted file mode 100644
index 776381341c..0000000000
--- a/sunnypilot/modeld_v2/runners/tinygrad_helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import to_mv
-
-def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
-  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
-  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
-  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/sunnypilot/modeld_v2/tests/dmon_lag/repro.cc b/sunnypilot/modeld_v2/tests/dmon_lag/repro.cc
deleted file mode 100644
index c4c1c65cbe..0000000000
--- a/sunnypilot/modeld_v2/tests/dmon_lag/repro.cc
+++ /dev/null
@@ -1,101 +0,0 @@
-// clang++ -O2 repro.cc && ./a.out
-
-#include <sched.h>
-#include <sys/types.h>
-#include <unistd.h>
-
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <ctime>
-
-static inline double millis_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
-}
-
-#define MODEL_WIDTH 320
-#define MODEL_HEIGHT 640
-
-// null function still breaks it
-#define input_lambda(x) x
-
-// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
-void inner(uint8_t *resized_buf, float *net_input_buf) {
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  // one shot conversion, O(n) anyway
-  // yuvframe2tensor, normalize
-  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
-    for (int c = 0; c < MODEL_WIDTH/2; c++) {
-      // Y_ul
-      net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
-      // Y_ur
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
-      // Y_dl
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
-      // Y_dr
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
-      // U
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
-      // V
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
-    }
-  }
-}
-
-float trial() {
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
-
-  // allocate the buffers
-  uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
-  float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
-  printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
-
-  // test for bad buffers
-  static int CNT = 20;
-  float avg = 0.0;
-  for (int i = 0; i < CNT; i++) {
-    double s4 = millis_since_boot();
-    inner(resized_buf, net_input_buf);
-    double s5 = millis_since_boot();
-    avg += s5-s4;
-  }
-  avg /= CNT;
-
-  // once it's bad, it's reliably bad
-  if (avg > 10) {
-    printf("HIT %f\n", avg);
-    printf("BAD\n");
-
-    for (int i = 0; i < 200; i++) {
-      double s4 = millis_since_boot();
-      inner(resized_buf, net_input_buf);
-      double s5 = millis_since_boot();
-      printf("%.2f   ", s5-s4);
-    }
-    printf("\n");
-
-    exit(0);
-  }
-
-  // don't free so we get a different buffer each time
-  //free(resized_buf);
-  //free(net_input_buf);
-
-  return avg;
-}
-
-int main() {
-  while (true) {
-    float ret = trial();
-    printf("got %f\n", ret);
-  }
-}
-
diff --git a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
deleted file mode 100644
index f664db31b3..0000000000
--- a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
+++ /dev/null
@@ -1,263 +0,0 @@
-import numpy as np
-import pytest
-from typing import Any
-
-import openpilot.sunnypilot.models.helpers as helpers
-import openpilot.sunnypilot.models.runners.helpers as runner_helpers
-import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
-
-ModelState = modeld_module.ModelState
-
-# These are the shapes extracted/loaded from the model onnx
-SHAPE_MODE_PARAMS = [
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "nav_features": (1, 256), "nav_instructions": (1, 150)}, 'non20hz'), # Optimus Prime
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lat_planner_state": (1, 4),}, 'non20hz'), # farmville
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lateral_control_params": (1, 2), "prev_desired_curv": (1, 100, 1)}, 'non20hz'), # wd40
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512)}, '20hz'), # NPR
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # Steam Powered v2
-  ({'desire_pulse': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # desire rename
-]
-
-
-# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
-class DummyOverride:
-  def __init__(self, key: str, value: str) -> None:
-    self.key = key
-    self.value = value
-
-
-class DummyBundle:
-  def __init__(self) -> None:
-    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
-    self.generation = 10  # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
-
-
-class DummyModelRunner:
-  def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
-    self.input_shapes = input_shapes
-    self.constants = constants or type('C', (), {
-      'FULL_HISTORY_BUFFER_LEN': 100,
-      'FEATURE_LEN': 512,
-      'DESIRE_LEN': 8,
-      'PREV_DESIRED_CURV_LEN': 1,
-      'INPUT_HISTORY_BUFFER_LEN': 25,
-      'TEMPORAL_SKIP': 4,
-    })()
-    self.vision_input_names: list[str] = []
-    shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
-    if shape[1] == 25:
-      self.is_20hz = True
-    else:
-      self.is_20hz = False
-
-  # Minimal prepare/run methods so ModelState can be run without actually running the model
-  def prepare_inputs(self, imgs_cl, numpy_inputs, frames):
-    return None
-
-  def run_model(self):
-    return {
-      'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
-      'desired_curvature': np.zeros((1, 1), dtype=np.float32),
-    }
-
-
-@pytest.fixture
-def shapes(request):
-  return request.param
-
-
-@pytest.fixture
-def bundle() -> DummyBundle:
-  return DummyBundle()
-
-
-@pytest.fixture
-def runner(shapes) -> DummyModelRunner:
-  return DummyModelRunner(shapes)
-
-
-@pytest.fixture
-def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
-  monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
-  monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
-  monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
-  monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
-
-
-# These are expected shapes and indices based on the time the model was presented
-def get_expected_indices(shape, constants, mode, key=None):
-  if mode == 'split':
-    start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
-    arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
-    idxs = arr[start::constants.TEMPORAL_SKIP]
-    return idxs
-  elif mode == '20hz':
-    num_elements = shape[1]
-    step_size = int(-100 / num_elements)
-    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-    return idxs
-  elif mode == 'non20hz':
-    return np.arange(shape[1])
-  return None
-
-
-@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
-def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
-  state = ModelState(None)
-  constants = DummyModelRunner(shapes).constants
-  for key in shapes:
-    buf = state.temporal_buffers.get(key, None)
-    idxs = state.temporal_idxs_map.get(key, None)
-    if buf is None:
-      continue    # not all shapes are 3D, and the non-3D ones are not buffered
-    # Buffer shape logic
-    if mode == 'split':
-      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
-    elif mode == '20hz':
-      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
-    elif mode == 'non20hz':
-      expected_shape = (1, shapes[key][1], shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
-
-    assert buf is not None, f"{key}: buffer not found"
-    assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
-    if expected_idxs is not None:
-      assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
-    else:
-      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
-
-
-def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape, prev_desire=None):
-  # This is what we compare the new dynamic logic to, to ensure it does the same thing
-  if mode == 'split':
-    if key == 'desire' or key.startswith('desire'):
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1] = new_val
-      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
-    elif key == 'features_buffer':
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1] = new_val
-      return buf[0, idxs]
-    elif key == 'prev_desired_curv':
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1,:] = new_val
-      return buf[0, idxs]
-  elif mode == '20hz':
-    if key == 'desire':
-      buf[:-1] = buf[1:]
-      buf[-1] = new_val
-      reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
-      reshaped = buf.reshape(reshape_dims).max(axis=2)
-      # Slice to last shape[1] elements to match model input shape
-      input_len = reshaped.shape[1]
-      model_input_len = 25  # For 20hz mode, desire shape[1] is 25
-      if input_len > model_input_len:
-        reshaped = reshaped[:, -model_input_len:, :]
-      return reshaped
-    elif key == 'features_buffer':
-      buffer_history_len = buf.shape[1]
-      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
-      legacy_buf[:] = buf[0]
-      legacy_buf[:-1] = legacy_buf[1:]
-      legacy_buf[-1] = new_val
-      return legacy_buf[idxs]
-    elif key == 'prev_desired_curv':
-      buffer_history_len = buf.shape[1]
-      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
-      legacy_buf[:] = buf[0]
-      legacy_buf[:-1] = legacy_buf[1:]
-      legacy_buf[-1,:] = new_val
-      return legacy_buf[idxs]
-  elif mode == 'non20hz':
-    if key == 'desire':
-      desire_len = constants.DESIRE_LEN
-      if prev_desire is None:
-        prev_desire = np.zeros(desire_len, dtype=np.float32)
-      # Set first element to zero
-      new_val = new_val.copy()
-      new_val[0] = 0
-      # Shift buffer by desire len
-      buf[0][:-desire_len] = buf[0][desire_len:]
-      # Only insert new desire if rising edge
-      buf[0][-desire_len:] = np.where(new_val - prev_desire > 0.99, new_val, 0)
-      prev_desire[:] = new_val
-      return buf[0]
-    elif key == 'features_buffer':
-      buf[0, :-1] = buf[0, 1:]
-      buf[0, -1] = new_val
-      return buf[0, -input_shape[1]:]  # (99, 512)
-    elif key == 'prev_desired_curv':
-      length = new_val.shape[0]
-      buf[0,:-length,0] = buf[0,length:,0]
-      buf[0,-length:,0] = new_val[:length]
-      return buf[0]
-  return None
-
-
-def dynamic_buffer_update(state, key, new_val, mode):
-  if key == 'desire' or key.startswith('desire'):
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != key}
-    inputs[key] = new_val.copy()
-    # ModelState.run expects desire as a pulse, so we zero the first element.
-    inputs[key][0] = 0
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs[key]
-
-  if key == 'features_buffer':
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != 'features_buffer'}
-    def run_model_stub():
-      return {
-        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
-      }
-    state.model_runner.run_model = run_model_stub
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs['features_buffer'][0]
-
-  if key == 'prev_desired_curv':
-    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
-              for k, v in state.model_runner.input_shapes.items() if k != 'prev_desired_curv'}
-    def run_model_stub():
-      return {
-        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
-        'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
-      }
-    state.model_runner.run_model = run_model_stub
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs['prev_desired_curv'][0]
-  return None
-
-
-@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
-@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
-def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
-  state = ModelState(None)
-  if key == "desire":
-    desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
-    if desire_keys:
-      actual_key = desire_keys[0]  # Use the first (and likely only) desire key
-  else:
-    actual_key = key
-
-  if actual_key not in state.numpy_inputs:
-    pytest.skip()
-
-  constants = DummyModelRunner(shapes).constants
-  buf = state.temporal_buffers.get(actual_key, None)
-  idxs = state.temporal_idxs_map.get(actual_key, None)
-  input_shape = shapes[actual_key]
-  prev_desire = np.zeros(constants.DESIRE_LEN, dtype=np.float32) if key == 'desire' else None
-
-  for step in range(20):    # multiple steps to ensure history is built up
-    new_val = np.full((input_shape[2],), step, dtype=np.float32)
-    expected = legacy_buffer_update(buf, new_val, mode, actual_key, constants, idxs, input_shape, prev_desire)
-    actual = dynamic_buffer_update(state, actual_key, new_val, mode)
-    if expected is not None and actual is not None and expected.shape != actual.shape:
-      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
-        expected = expected[-actual.shape[0]:]
-    assert np.allclose(actual, expected), f"{mode} {actual_key}: dynamic buffer update does not match legacy logic"
diff --git a/sunnypilot/modeld_v2/tests/test_recovery_power.py b/sunnypilot/modeld_v2/tests/test_recovery_power.py
deleted file mode 100644
index e38b2c86dc..0000000000
--- a/sunnypilot/modeld_v2/tests/test_recovery_power.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import numpy as np
-
-from cereal import log
-
-from openpilot.sunnypilot.modeld_v2.constants import Plan
-from openpilot.sunnypilot.modeld_v2.modeld import ModelState
-import openpilot.sunnypilot.modeld_v2.modeld as modeld
-
-
-class MockStruct:
-  def __init__(self, **kwargs):
-    for k, v in kwargs.items():
-      setattr(self, k, v)
-
-
-def test_recovery_power_scaling():
-  state = MockStruct(
-    PLANPLUS_CONTROL=1.0,
-    LONG_SMOOTH_SECONDS=0.3,
-    LAT_SMOOTH_SECONDS=0.1,
-    MIN_LAT_CONTROL_SPEED=0.3,
-    mlsim=True,
-    generation=12,
-    constants=MockStruct(T_IDXS=np.arange(100), DESIRE_LEN=8)
-  )
-  prev_action = log.ModelDataV2.Action()
-  recorded_vel: list = []
-
-  def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
-    recorded_vel.append(plan_vel.copy())
-    return 0.0, False
-
-  modeld.get_accel_from_plan = mock_accel
-  modeld.get_curvature_from_output = lambda *args: 0.0
-  plan = np.random.rand(1, 100, 15).astype(np.float32)
-  planplus = np.random.rand(1, 100, 15).astype(np.float32)
-
-  model_output: dict = {
-    'plan': plan.copy(),
-    'planplus': planplus.copy()
-  }
-
-  test_cases: list = [
-    # (control, v_ego, expected_factor)
-    (0.55, 20.0, 1.0),
-    (1.0, 25.0, .75),
-    (1.5, 25.1, 0.75),
-    (2.0, 20.0, 1.0),
-    (0.75, 19.0, 1.0),
-    (0.8, 25.1, 0.75),
-  ]
-
-  for control, v_ego, factor in test_cases:
-    state.PLANPLUS_CONTROL = control
-    recorded_vel.clear()
-    ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)
-
-    expected_recovery_power = control * factor
-    expected_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + expected_recovery_power * planplus[0, :, Plan.VELOCITY][:, 0]
-
-    np.testing.assert_allclose(recorded_vel[0], expected_plan_vel, rtol=1e-5, atol=1e-6)
diff --git a/sunnypilot/modeld_v2/tests/tf_test/build.sh b/sunnypilot/modeld_v2/tests/tf_test/build.sh
deleted file mode 100755
index df1d24761e..0000000000
--- a/sunnypilot/modeld_v2/tests/tf_test/build.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/usr/bin/env bash
-clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
diff --git a/sunnypilot/modeld_v2/tests/tf_test/main.cc b/sunnypilot/modeld_v2/tests/tf_test/main.cc
deleted file mode 100644
index b00f7f95e8..0000000000
--- a/sunnypilot/modeld_v2/tests/tf_test/main.cc
+++ /dev/null
@@ -1,69 +0,0 @@
-#include <cassert>
-#include <cstdio>
-#include <cstdlib>
-#include "tensorflow/c/c_api.h"
-
-void* read_file(const char* path, size_t* out_len) {
-  FILE* f = fopen(path, "r");
-  if (!f) {
-    return NULL;
-  }
-  fseek(f, 0, SEEK_END);
-  long f_len = ftell(f);
-  rewind(f);
-
-  char* buf = (char*)calloc(f_len, 1);
-  assert(buf);
-
-  size_t num_read = fread(buf, f_len, 1, f);
-  fclose(f);
-
-  if (num_read != 1) {
-    free(buf);
-    return NULL;
-  }
-
-  if (out_len) {
-    *out_len = f_len;
-  }
-
-  return buf;
-}
-
-static void DeallocateBuffer(void* data, size_t) {
-  free(data);
-}
-
-int main(int argc, char* argv[]) {
-  TF_Buffer* buf;
-  TF_Graph* graph;
-  TF_Status* status;
-  char *path = argv[1];
-
-  // load model
-  {
-    size_t model_size;
-    char tmp[1024];
-    snprintf(tmp, sizeof(tmp), "%s.pb", path);
-    printf("loading model %s\n", tmp);
-    uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
-    buf = TF_NewBuffer();
-    buf->data = model_data;
-    buf->length = model_size;
-    buf->data_deallocator = DeallocateBuffer;
-    printf("loaded model of size %d\n", model_size);
-  }
-
-  // import graph
-  status = TF_NewStatus();
-  graph = TF_NewGraph();
-  TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
-  TF_GraphImportGraphDef(graph, buf, opts, status);
-  TF_DeleteImportGraphDefOptions(opts);
-  TF_DeleteBuffer(buf);
-  if (TF_GetCode(status) != TF_OK) {
-    printf("FAIL: %s\n", TF_Message(status));
-  } else {
-    printf("SUCCESS\n");
-  }
-}
diff --git a/sunnypilot/modeld_v2/tests/tf_test/pb_loader.py b/sunnypilot/modeld_v2/tests/tf_test/pb_loader.py
deleted file mode 100755
index 3e476628eb..0000000000
--- a/sunnypilot/modeld_v2/tests/tf_test/pb_loader.py
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import tensorflow as tf
-
-with open(sys.argv[1], "rb") as f:
-  graph_def = tf.compat.v1.GraphDef()
-  graph_def.ParseFromString(f.read())
-  #tf.io.write_graph(graph_def, '', sys.argv[1]+".try")
diff --git a/sunnypilot/modeld_v2/tests/timing/benchmark.py b/sunnypilot/modeld_v2/tests/timing/benchmark.py
deleted file mode 100755
index 3e81f73fa3..0000000000
--- a/sunnypilot/modeld_v2/tests/timing/benchmark.py
+++ /dev/null
@@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import time
-import numpy as np
-
-import cereal.messaging as messaging
-from openpilot.system.manager.process_config import managed_processes
-
-
-N = int(os.getenv("N", "5"))
-TIME = int(os.getenv("TIME", "30"))
-
-if __name__ == "__main__":
-  sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
-
-  execution_times = []
-
-  for _ in range(N):
-    os.environ['LOGPRINT'] = 'debug'
-    managed_processes['modeld'].start()
-    time.sleep(5)
-
-    t = []
-    start = time.monotonic()
-    while time.monotonic() - start < TIME:
-      msgs = messaging.drain_sock(sock, wait_for_one=True)
-      for m in msgs:
-        t.append(m.modelV2.modelExecutionTime)
-
-    execution_times.append(np.array(t[10:]) * 1000)
-    managed_processes['modeld'].stop()
-
-  print("\n\n")
-  print(f"ran modeld {N} times for {TIME}s each")
-  for _, t in enumerate(execution_times):
-    print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
-  print("\n\n")
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.cc b/sunnypilot/modeld_v2/transforms/loadyuv.cc
deleted file mode 100644
index eb669a5929..0000000000
--- a/sunnypilot/modeld_v2/transforms/loadyuv.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "sunnypilot/modeld_v2/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl) {
-  cl_int global_out_off = 0;
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size) {
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
-  const size_t copy_work_size = size/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                              &copy_work_size, NULL, 0, 0, NULL));
-}
\ No newline at end of file
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.cl b/sunnypilot/modeld_v2/transforms/loadyuv.cl
deleted file mode 100644
index 970187a6d7..0000000000
--- a/sunnypilot/modeld_v2/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global uchar * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-
-    // 02
-    // 13
-
-    __global uchar* outy0;
-    __global uchar* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global uchar8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  out[gid + out_offset / 8] = inv;
-}
-
-__kernel void copy(__global uchar8 * in,
-                   __global uchar8 * out,
-                   int in_offset,
-                   int out_offset)
-{
-  const int gid = get_global_id(0);
-  out[gid + out_offset / 8] = in[gid + in_offset / 8];
-}
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.h b/sunnypilot/modeld_v2/transforms/loadyuv.h
deleted file mode 100644
index 659059cd25..0000000000
--- a/sunnypilot/modeld_v2/transforms/loadyuv.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl);
-
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/sunnypilot/modeld_v2/transforms/transform.cc b/sunnypilot/modeld_v2/transforms/transform.cc
deleted file mode 100644
index adc9bcebf4..0000000000
--- a/sunnypilot/modeld_v2/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "sunnypilot/modeld_v2/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld_v2/transforms/transform.cl b/sunnypilot/modeld_v2/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd..0000000000
--- a/sunnypilot/modeld_v2/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/sunnypilot/modeld_v2/transforms/transform.h b/sunnypilot/modeld_v2/transforms/transform.h
deleted file mode 100644
index 771a7054b3..0000000000
--- a/sunnypilot/modeld_v2/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
deleted file mode 100644
index 7fcf7f85ef..0000000000
--- a/sunnypilot/models/helpers.py
+++ /dev/null
@@ -1,211 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import hashlib
-import os
-import pickle
-import numpy as np
-
-from openpilot.common.params import Params
-from cereal import custom
-from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
-from openpilot.sunnypilot.modeld.runners import ModelRunner
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
-from pathlib import Path
-
-# see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 14
-REQUIRED_MIN_SELECTOR_VERSION = 14
-
-USE_ONNX = os.getenv('USE_ONNX', PC)
-
-CUSTOM_MODEL_PATH = Paths.model_root()
-METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
-
-ModelManager = custom.ModelManagerSP
-
-
-async def verify_file(file_path: str, expected_hash: str) -> bool:
-  """Verifies file hash against expected hash"""
-  if not os.path.exists(file_path):
-    return False
-
-  sha256_hash = hashlib.sha256()
-  with open(file_path, "rb") as file:
-    for chunk in iter(lambda: file.read(4096), b""):
-      sha256_hash.update(chunk)
-
-  return sha256_hash.hexdigest().lower() == expected_hash.lower()
-
-
-def is_bundle_version_compatible(bundle: dict) -> bool:
-  """
-  Checks whether the model bundle is compatible with the current selector version constraints.
-
-  The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
-  required to load the model. This function ensures that:
-
-    1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
-    2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
-
-  This allows the selector to enforce both a minimum and maximum range of supported models,
-  even if a model would otherwise be compatible.
-
-  :param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
-  :type bundle: Dict
-  :return: True if the selector version is within the accepted range for the bundle; otherwise False.
-  :rtype: Bool
-  """
-  return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
-
-
-def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
-  """Gets the active model bundle from cache"""
-  if params is None:
-    params = Params()
-
-  try:
-    if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
-      return custom.ModelManagerSP.ModelBundle(**active_bundle)
-  except Exception:
-    pass
-
-  return None
-
-
-def get_active_model_runner(params: Params = None, force_check=False) -> custom.ModelManagerSP.Runner:
-  """
-  Determines and returns the active model runner type, based on provided parameters.
-  The function utilizes caching to prevent redundant calculations and checks.
-
-  If the cached "ModelRunnerTypeCache" exists in the provided parameters and `force_check`
-  is set to False, the cached value is directly returned. Otherwise, the function determines
-  the runner type based on the active model bundle. If a model bundle containing a drive
-  model exists, the runner type is derived based on the filename of the drive model.
-  Finally, it updates the cache with the determined runner type, if needed.
-
-  :param params: The parameter set used to retrieve caching and runner details. If `None`,
-      a default `Params` instance is created internally.
-  :type params: Params
-  :param force_check: A flag indicating whether to bypass cached results and always
-      re-determine the runner type. Defaults to `False`.
-  :type force_check: bool
-  :return: The determined or cached model runner type.
-  :rtype: custom.ModelManagerSP.Runner
-  """
-  if params is None:
-    params = Params()
-
-  if (cached_runner_type := params.get("ModelRunnerTypeCache")) and not force_check:
-    if isinstance(cached_runner_type, str) and cached_runner_type.isdigit():
-      return int(cached_runner_type)
-
-  runner_type = custom.ModelManagerSP.Runner.stock
-
-  if active_bundle := get_active_bundle(params):
-    runner_type = active_bundle.runner.raw
-
-  if cached_runner_type != runner_type:
-    params.put("ModelRunnerTypeCache", int(runner_type))
-
-  return runner_type
-
-def _get_model():
-  if bundle := get_active_bundle():
-    drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
-    return drive_model
-
-  return None
-
-def get_model_path():
-  if USE_ONNX:
-    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
-
-  if model := _get_model():
-    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.artifact.fileName}"}
-
-  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
-
-
-def load_metadata():
-  metadata_path = METADATA_PATH
-
-  if model := _get_model():
-    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
-
-  with open(metadata_path, 'rb') as f:
-    return pickle.load(f)
-
-
-def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
-  # img buffers are managed in openCL transform code so we don't pass them as inputs
-  inputs = {
-    k: np.zeros(v, dtype=np.float32).flatten()
-    for k, v in model_metadata['input_shapes'].items()
-    if 'img' not in k
-  }
-
-  return inputs
-
-
-def load_meta_constants(model_metadata):
-  """
-  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
-  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
-  model class to return.
-
-  :param model_metadata: Dictionary containing metadata about the model. It includes
-      details such as input shapes, output slices, and other configurations for identifying
-      metadata-dependent meta model classes.
-  :type model_metadata: dict
-  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
-      based on the conditions and metadata provided.
-  :rtype: type
-  """
-  meta = Meta  # Default Meta
-
-  if 'sim_pose' in model_metadata['input_shapes'].keys():
-    # Meta for models with sim_pose input
-    meta = MetaSimPose
-  else:
-    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
-    meta_slice = model_metadata['output_slices']['meta']
-    meta_tf_slice = slice(5868, 5921, None)
-
-    if (
-            meta_slice.start == meta_tf_slice.start and
-            meta_slice.stop == meta_tf_slice.stop and
-            meta_slice.step == meta_tf_slice.step
-    ):
-      meta = MetaTombRaider
-
-  return meta
-
-
-# The following method(s) are modeld helper methods
-def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
-  # times at X_IDXS according to plan.
-  LINE_T_IDXS = [np.nan] * constants.IDX_N
-  LINE_T_IDXS[0] = 0.0
-  plan_x = model_output['plan'][0, :, plan.POSITION][:, 0].tolist()
-  for xidx in range(1, constants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < constants.IDX_N - 1 and plan_x[tidx + 1] < constants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == constants.IDX_N - 1:
-      # if the plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      LINE_T_IDXS[xidx] = constants.T_IDXS[constants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx + 1]
-    p = (constants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(
-      next_x_val - current_x_val) > 1e-9 else float('nan')
-    LINE_T_IDXS[xidx] = p * constants.T_IDXS[tidx + 1] + (1 - p) * constants.T_IDXS[tidx]
-  return LINE_T_IDXS
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
deleted file mode 100644
index 2d3d670bfd..0000000000
--- a/sunnypilot/models/manager.py
+++ /dev/null
@@ -1,226 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import asyncio
-import os
-import time
-
-import aiohttp
-from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper
-from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware.hw import Paths
-
-from cereal import messaging, custom
-from openpilot.sunnypilot.models.fetcher import ModelFetcher
-from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle
-
-
-class ModelManagerSP:
-  """Manages model downloads and status reporting"""
-
-  def __init__(self):
-    self.params = Params()
-    self.model_fetcher = ModelFetcher(self.params)
-    self.pm = messaging.PubMaster(["modelManagerSP"])
-    self.available_models: list[custom.ModelManagerSP.ModelBundle] = []
-    self.selected_bundle: custom.ModelManagerSP.ModelBundle = None
-    self.active_bundle: custom.ModelManagerSP.ModelBundle = get_active_bundle(self.params)
-    self._chunk_size = 128 * 1000  # 128 KB chunks
-    self._download_start_times: dict[str, float] = {}  # Track start time per model
-
-  def _calculate_eta(self, filename: str, progress: float) -> int:
-    """Calculate ETA based on elapsed time and current progress"""
-    if filename not in self._download_start_times or progress <= 0:
-      return 60  # Default ETA for new downloads
-
-    elapsed_time = time.monotonic() - self._download_start_times[filename]
-    if elapsed_time <= 0:
-      return 60
-
-    # If we're at X% after Y seconds, we can estimate total time as (Y / X) * 100
-    total_estimated_time = (elapsed_time / progress) * 100
-    eta = total_estimated_time - elapsed_time
-
-    return max(1, int(eta))  # Return at least 1 second if download is ongoing
-
-  async def _download_file(self, url: str, path: str, model) -> None:
-    """Downloads a file with progress tracking"""
-    self._download_start_times[model.fileName] = time.monotonic()
-
-    async with aiohttp.ClientSession() as session:
-      async with session.get(url) as response:
-        response.raise_for_status()
-        total_size = int(response.headers.get("content-length", 0))
-        bytes_downloaded = 0
-
-        with open(path, 'wb') as f:
-          async for chunk in response.content.iter_chunked(self._chunk_size):  # type: bytes
-            f.write(chunk)
-            bytes_downloaded += len(chunk)
-
-            if not self.params.get("ModelManager_DownloadIndex"):
-              raise Exception("Download cancelled")
-
-            if total_size > 0:
-              progress = (bytes_downloaded / total_size) * 100
-              model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
-              model.downloadProgress.progress = progress
-              model.downloadProgress.eta = self._calculate_eta(model.fileName, progress)
-              self._report_status()
-
-        # Clean up start time after download completes
-        del self._download_start_times[model.fileName]
-
-  async def _process_artifact(self, artifact, destination_path: str) -> None:
-    """Processes a single model download including verification"""
-    if not artifact.downloadUri.uri:
-      return None
-
-    url = artifact.downloadUri.uri
-    expected_hash = artifact.downloadUri.sha256
-    filename = artifact.fileName
-    full_path = os.path.join(destination_path, filename)
-
-    try:
-      # Check existing file
-      if os.path.exists(full_path) and await verify_file(full_path, expected_hash):
-        artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
-        artifact.downloadProgress.progress = 100
-        artifact.downloadProgress.eta = 0
-        self._report_status()
-        return
-
-      # Download and verify
-      await self._download_file(url, full_path, artifact)
-      if not await verify_file(full_path, expected_hash):
-        raise ValueError(f"Hash validation failed for {filename}")
-
-      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      artifact.downloadProgress.eta = 0
-      self._report_status()
-
-    except Exception as e:
-      cloudlog.error(f"Error downloading {filename}: {str(e)}")
-      if os.path.exists(full_path):
-        os.remove(full_path)
-      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
-      artifact.downloadProgress.eta = 0
-      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
-      self._report_status()
-      # Clean up start time if it exists
-      self._download_start_times.pop(artifact.fileName, None)
-      raise
-
-  async def _process_model(self, model, destination_path: str) -> None:
-    """Processes a single model download including verification"""
-    model_artifact = model.artifact
-    metadata_artifact = model.metadata
-
-    await self._process_artifact(metadata_artifact, destination_path)
-    await self._process_artifact(model_artifact, destination_path)
-
-  def _report_status(self) -> None:
-    """Reports current status through messaging system"""
-    msg = messaging.new_message('modelManagerSP', valid=True)
-    model_manager_state = msg.modelManagerSP
-    if self.selected_bundle:
-      model_manager_state.selectedBundle = self.selected_bundle
-
-    if self.active_bundle:
-      model_manager_state.activeBundle = self.active_bundle
-
-    model_manager_state.availableBundles = self.available_models
-    self.pm.send('modelManagerSP', msg)
-
-  async def _download_bundle(self, model_bundle: custom.ModelManagerSP.ModelBundle, destination_path: str) -> None:
-    """Downloads all models in a bundle"""
-    self.selected_bundle = model_bundle
-    self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.downloading
-    os.makedirs(destination_path, exist_ok=True)
-
-    try:
-      tasks = [self._process_model(model, destination_path) for model in self.selected_bundle.models]
-      await asyncio.gather(*tasks)
-      self.active_bundle = self.selected_bundle
-      self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_dict())
-      self.selected_bundle = None
-
-    except Exception:
-      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
-      raise
-
-    finally:
-      self._report_status()
-
-  def download(self, model_bundle: custom.ModelManagerSP.ModelBundle, destination_path: str) -> None:
-    """Main entry point for downloading a model bundle"""
-    asyncio.run(self._download_bundle(model_bundle, destination_path))
-
-  def main_thread(self) -> None:
-    """Main thread for model management"""
-    rk = Ratekeeper(1, print_delay_threshold=None)
-
-    while True:
-      try:
-        self.available_models = self.model_fetcher.get_available_bundles()
-        self.active_bundle = get_active_bundle(self.params)
-
-        if index_to_download := self.params.get("ModelManager_DownloadIndex"):
-          if model_to_download := next((model for model in self.available_models if model.index == index_to_download), None):
-            try:
-              self.download(model_to_download, Paths.model_root())
-            except Exception as e:
-              cloudlog.exception(e)
-            finally:
-              self.params.remove("ModelManager_DownloadIndex")
-              self.selected_bundle = None
-
-        if self.params.get("ModelManager_ClearCache"):
-            self.clear_model_cache()
-            self.params.remove("ModelManager_ClearCache")
-
-        self._report_status()
-        rk.keep_time()
-
-      except Exception as e:
-        cloudlog.exception(f"Error in main thread: {str(e)}")
-        rk.keep_time()
-
-  def clear_model_cache(self) -> None:
-    """
-    Clears the model cache directory of all files except those in the active model bundle.
-    """
-
-    # Get list of files used by active model bundle
-    active_files = []
-    if self.active_bundle is not None: # When the default model is active
-      for model in self.active_bundle.models:
-        if hasattr(model, 'artifact') and model.artifact.fileName:
-          active_files.append(model.artifact.fileName)
-        if hasattr(model, 'metadata') and model.metadata.fileName:
-          active_files.append(model.metadata.fileName)
-
-    # Remove all files except active ones
-    model_dir = Paths.model_root()
-    try:
-      for filename in os.listdir(model_dir):
-        if filename not in active_files:
-          file_path = os.path.join(model_dir, filename)
-          if os.path.isfile(file_path):
-            os.remove(file_path)
-      cloudlog.info("Model cache cleared, keeping active model files")
-    except Exception as e:
-      cloudlog.exception(f"Error clearing model cache: {str(e)}")
-
-def main():
-  ModelManagerSP().main_thread()
-
-
-if __name__ == "__main__":
-  main()
diff --git a/sunnypilot/models/runners/helpers.py b/sunnypilot/models/runners/helpers.py
deleted file mode 100644
index 8f9d8fc2f5..0000000000
--- a/sunnypilot/models/runners/helpers.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
-from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
-from openpilot.sunnypilot.models.runners.constants import ModelType
-
-
-def get_model_runner() -> ModelRunner:
-  """
-  Factory function to create and return the appropriate ModelRunner instance.
-
-  Selects TinygradRunner, choosing TinygradSplitRunner if separate vision/policy
-  models are detected in the active bundle.
-
-  :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
-  """
-  bundle = get_active_bundle()
-  if bundle and bundle.models:
-    model_types = {m.type.raw for m in bundle.models}
-    # Check if the bundle uses separate vision and policy models
-    if ModelType.vision in model_types or ModelType.policy in model_types:
-      return TinygradSplitRunner()
-    # Otherwise, assume a single model (likely supercombo)
-    if bundle.models:
-      return TinygradRunner(bundle.models[0].type.raw)
-
-  # Default fallback to TinygradRunner with the supercombo type if bundle info is missing/incomplete
-  return TinygradRunner(ModelType.supercombo)
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
deleted file mode 100644
index a49ff4d206..0000000000
--- a/sunnypilot/models/runners/model_runner.py
+++ /dev/null
@@ -1,176 +0,0 @@
-from abc import abstractmethod, ABC
-
-import numpy as np
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, CLMemDict, FrameDict, Model, SliceDict, SEND_RAW_PRED
-from openpilot.system.hardware.hw import Paths
-import pickle
-
-CUSTOM_MODEL_PATH = Paths.model_root()
-
-
-class ModelData:
-  """
-  Stores metadata and configuration for a specific machine learning model.
-
-  This class loads model metadata (like input shapes and output slices)
-  from a pickle file associated with a model instance.
-
-  :param model: The machine learning model object containing metadata.
-  """
-  def __init__(self, model: Model):
-    self.model = model
-    self.metadata = model.metadata
-    self.input_shapes: ShapeDict = {}
-    self.output_slices: SliceDict = {}
-    if self.metadata:
-      self._load_metadata()
-
-  def _load_metadata(self) -> None:
-    """Loads input shapes and output slices from the model's metadata pickle file."""
-    metadata_path = f"{CUSTOM_MODEL_PATH}/{self.metadata.fileName}"
-    with open(metadata_path, 'rb') as f:
-      model_metadata = pickle.load(f)
-    self.input_shapes = model_metadata.get('input_shapes', {})
-    self.output_slices = model_metadata.get('output_slices', {})
-
-
-class ModularRunner(ABC):
-  """
-  Represents a modular runner for handling and slicing model outputs.
-
-  This abstract base class is designed to provide an interface for modular
-  parsing and processing of model outputs. Classes inheriting from it must
-  implement the specified abstract methods, defining how model outputs
-  should be handled and stored. The primary goal is to enable structured
-  parsing of outputs through a dictionary-based method mapping.
-
-  :ivar parser_method_dict: Mapping dictionary containing parser methods
-      for handling specific types of outputs.
-  :type parser_method_dict: dict
-  """
-
-  @property
-  @abstractmethod
-  def parser_method_dict(self) -> dict:
-    pass
-
-  @parser_method_dict.setter
-  @abstractmethod
-  def parser_method_dict(self, value: dict) -> None:
-    pass
-
-  @abstractmethod
-  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    pass
-
-
-class ModelRunner(ModularRunner):
-  """
-  Abstract base class for managing and executing machine learning models.
-
-  Provides a common interface for loading models, preparing inputs, running
-  inference, and slicing/parsing outputs based on model metadata. Derived
-  classes implement the specifics of input preparation and model execution
-  for different frameworks (e.g., Tinygrad, ONNX).
-  """
-
-  def __init__(self):
-    """Initializes the model runner, loading the active model bundle."""
-    self.is_20hz: bool | None = None
-    self.is_20hz_3d: bool | None = None
-    self.models: dict[int, ModelData] = {}
-    self._model_data: ModelData | None = None  # Active model data for current operation
-    self._parser_method_dict: dict = {}
-    self.inputs: dict = {}
-    self._parser = None
-    self._load_models()
-    self._constants = None
-
-  @property
-  def constants(self):
-    return self._constants
-
-  @property
-  def parser_method_dict(self) -> dict:
-    """Returns the dictionary mapping model types to their respective parsing methods."""
-    return self._parser_method_dict
-
-  @parser_method_dict.setter
-  def parser_method_dict(self, value: dict) -> None:
-    """Sets the dictionary mapping model types to their respective parsing methods."""
-    self._parser_method_dict = value
-
-  def _load_models(self) -> None:
-    """Loads the active model bundle configuration and sets up ModelData."""
-    bundle = get_active_bundle()
-    if not bundle:
-      raise ValueError("No active model bundle found, why are we being executed?")
-
-    self.models = {model.type.raw: ModelData(model) for model in bundle.models}
-    self.is_20hz = bundle.is20hz
-    self.is_20hz_3d = False
-
-  @property
-  def input_shapes(self) -> ShapeDict:
-    """Returns the input shapes for the currently active model."""
-    if self._model_data:
-      return self._model_data.input_shapes
-    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-  @property
-  def output_slices(self) -> SliceDict:
-    """Returns the output slices for the currently active model."""
-    if self._model_data:
-      return self._model_data.output_slices
-    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-  @property
-  def vision_input_names(self) -> list[str]:
-    """Returns the list of vision input names from the input shapes."""
-    if self._model_data:
-      return list(self._model_data.input_shapes.keys())
-    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-  @abstractmethod
-  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
-    """
-    Abstract method to prepare inputs for model inference.
-
-    :param imgs_cl: Dictionary of OpenCL memory objects for image inputs.
-    :param numpy_inputs: Dictionary of numpy arrays for non-image inputs.
-    :param frames: Dictionary of DrivingModelFrame objects for context.
-    :return: Dictionary of prepared inputs ready for the model.
-    """
-    raise NotImplementedError
-
-  @abstractmethod
-  def _run_model(self) -> NumpyDict:
-    """
-    Abstract method to execute model inference with prepared inputs.
-
-    :return: Dictionary containing the model's raw output arrays.
-    """
-    raise NotImplementedError
-
-  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """
-    Slices the raw model output array based on the output_slices metadata.
-
-    :param model_outputs: The raw numpy array output from the model.
-    :return: A dictionary where keys are output names and values are sliced numpy arrays.
-    """
-    if not self._model_data:
-      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-    sliced_outputs = {k: model_outputs[np.newaxis, v] for k, v in self._model_data.output_slices.items()}
-    if SEND_RAW_PRED:
-      sliced_outputs['raw_pred'] = model_outputs.copy()  # Optionally include the full raw output
-    return sliced_outputs
-
-  def run_model(self) -> NumpyDict:
-    """
-    Executes the model inference pipeline: runs the model and parses outputs.
-
-    :return: Dictionary containing the final parsed model outputs.
-    """
-    return self._run_model()  # Parsing is handled within specific runner implementations
diff --git a/sunnypilot/models/runners/onnx/onnx_runner.py b/sunnypilot/models/runners/onnx/onnx_runner.py
deleted file mode 100644
index 1ffead4560..0000000000
--- a/sunnypilot/models/runners/onnx/onnx_runner.py
+++ /dev/null
@@ -1,62 +0,0 @@
-import numpy as np
-
-from openpilot.sunnypilot.modeld_v2 import MODEL_PATH
-from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
-from openpilot.sunnypilot.models.runners.constants import ModelType, ShapeDict, CLMemDict, NumpyDict, FrameDict
-from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-
-
-class ONNXRunner(ModelRunner):
-  """
-  A ModelRunner implementation for executing ONNX models using ONNX Runtime CPU.
-
-  Handles loading the ONNX model, preparing inputs as numpy arrays, running
-  inference, and parsing outputs. This runner is typically used on non-TICI platforms.
-  """
-  def __init__(self):
-    super().__init__()
-    # Initialize ONNX Runtime session for the model at MODEL_PATH
-    self.runner = make_onnx_cpu_runner(MODEL_PATH)
-    # Map expected input names to numpy dtypes
-    self.input_to_nptype = {
-      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
-      for model_input in self.runner.get_inputs()
-    }
-    # For ONNX, _model_data isn't strictly necessary as shapes/types come from the runner
-    # However, we might still need output_slices if custom models define them.
-    # We assume supercombo type for potentially loading output_slices metadata if available.
-    self._model_data = self.models.get(ModelType.supercombo)
-    self._constants = ModelConstants  # Constants for ONNX models, if needed
-
-  @property
-  def input_shapes(self) -> ShapeDict:
-    """Returns the input shapes defined in the ONNX model."""
-    # ONNX shapes are derived directly from the model definition via the runner
-    return {runner_input.name: runner_input.shape for runner_input in self.runner.get_inputs()}
-
-  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
-    """Prepares inputs for the ONNX model as numpy arrays."""
-    self.inputs = numpy_inputs # Start with non-image numpy inputs
-    # Convert image inputs from OpenCL buffers to numpy arrays
-    for key in imgs_cl:
-      buffer = frames[key].buffer_from_cl(imgs_cl[key])
-      reshaped_buffer = buffer.reshape(self.input_shapes[key])
-      self.inputs[key] = reshaped_buffer.astype(dtype=self.input_to_nptype[key])
-    return self.inputs
-
-  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses the raw ONNX model outputs using the standard Parser."""
-    # Use slicing if metadata is available, otherwise pass raw outputs
-    if self._model_data is None:
-      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-    outputs_to_parse = self._slice_outputs(model_outputs) if self._model_data else {'raw_pred': model_outputs}
-    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](outputs_to_parse)
-    return result
-
-  def _run_model(self) -> NumpyDict:
-    """Runs the ONNX model inference and parses the outputs."""
-    # Execute the ONNX Runtime session
-    outputs = self.runner.run(None, self.inputs)[0].flatten()
-    return self._parse_outputs(outputs)
diff --git a/sunnypilot/models/runners/tinygrad/model_types.py b/sunnypilot/models/runners/tinygrad/model_types.py
deleted file mode 100644
index 11f0965828..0000000000
--- a/sunnypilot/models/runners/tinygrad/model_types.py
+++ /dev/null
@@ -1,75 +0,0 @@
-import os
-from abc import ABC
-
-import numpy as np
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
-from openpilot.sunnypilot.models.runners.constants import ModelType, NumpyDict
-from openpilot.sunnypilot.models.runners.model_runner import ModularRunner
-from openpilot.system.hardware.hw import Paths
-
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-CUSTOM_MODEL_PATH = Paths.model_root()
-
-
-class OffPolicyTinygrad(ModularRunner, ABC):
-  """
-  A TinygradRunner specialized for off-policy models.
-
-  Uses a SplitParser to handle outputs specific to the off-policy part of a split model setup.
-  """
-  def __init__(self):
-    self._off_policy_parser = SplitParser()
-    self.parser_method_dict[ModelType.offPolicy] = self._parse_off_policy_outputs
-
-  def _parse_off_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses off-policy model outputs using SplitParser."""
-    result: NumpyDict = self._off_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
-    return result
-
-
-class PolicyTinygrad(ModularRunner, ABC):
-  """
-  A TinygradRunner specialized for policy-only models.
-
-  Uses a SplitParser to handle outputs specific to the policy part of a split model setup.
-  """
-  def __init__(self):
-    self._policy_parser = SplitParser()
-    self.parser_method_dict[ModelType.policy] = self._parse_policy_outputs
-
-  def _parse_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses policy model outputs using SplitParser."""
-    result: NumpyDict = self._policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
-    return result
-
-class VisionTinygrad(ModularRunner, ABC):
-  """
-  A TinygradRunner specialized for vision-only models.
-
-  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
-  """
-  def __init__(self):
-    self._vision_parser = SplitParser()
-    self.parser_method_dict[ModelType.vision] = self._parse_vision_outputs
-
-  def _parse_vision_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses vision model outputs using SplitParser."""
-    result: NumpyDict = self._vision_parser.parse_vision_outputs(self._slice_outputs(model_outputs))
-    return result
-
-class SupercomboTinygrad(ModularRunner, ABC):
-  """
-  A TinygradRunner specialized for vision-only models.
-
-  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
-  """
-  def __init__(self):
-    self._supercombo_parser = CombinedParser()
-    self.parser_method_dict[ModelType.supercombo] = self._parse_supercombo_outputs
-
-  def _parse_supercombo_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses vision model outputs using SplitParser."""
-    result: NumpyDict = self._supercombo_parser.parse_outputs(self._slice_outputs(model_outputs))
-    return result
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
deleted file mode 100644
index 2df1c65e08..0000000000
--- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ /dev/null
@@ -1,159 +0,0 @@
-import pickle
-
-import numpy as np
-from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-from openpilot.sunnypilot.models.runners.constants import CLMemDict, FrameDict, NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
-from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
-from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad
-from openpilot.system.hardware import TICI
-from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-
-from tinygrad.tensor import Tensor
-
-
-class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad):
-  """
-  A ModelRunner implementation for executing Tinygrad models.
-
-  Handles loading Tinygrad model artifacts (.pkl), preparing inputs as Tinygrad
-  Tensors (potentially using QCOM extensions on TICI), running inference,
-  and parsing the outputs.
-
-  :param model_type: The type of model (e.g., supercombo) to load and run.
-  """
-  def __init__(self, model_type: int = ModelType.supercombo):
-    ModelRunner.__init__(self)
-    SupercomboTinygrad.__init__(self)
-    PolicyTinygrad.__init__(self)
-    VisionTinygrad.__init__(self)
-    OffPolicyTinygrad.__init__(self)
-    self._constants = ModelConstants
-    self._model_data = self.models.get(model_type)
-    if not self._model_data or not self._model_data.model:
-      raise ValueError(f"Model data for type {model_type} not available.")
-
-    artifact_filename = self._model_data.model.artifact.fileName
-    assert artifact_filename.endswith('_tinygrad.pkl'), \
-      f"Invalid model file {artifact_filename} for TinygradRunner"
-
-    model_pkl_path = f"{CUSTOM_MODEL_PATH}/{artifact_filename}"
-    with open(model_pkl_path, "rb") as f:
-      try:
-        # Load the compiled Tinygrad model runner function
-        self.model_run = pickle.load(f)
-      except FileNotFoundError as e:
-        # Provide a helpful error message if the model was built for a different platform
-        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
-        raise
-
-    # Map input names to their required dtype and device from the loaded model
-    self.input_to_dtype = {}
-    self.input_to_device = {}
-    for idx, name in enumerate(self.model_run.captured.expected_names):
-      info = self.model_run.captured.expected_input_info[idx]
-      self.input_to_dtype[name] = info[2]  # dtype
-      self.input_to_device[name] = info[3]  # device
-
-  @property
-  def vision_input_names(self) -> list[str]:
-    """Returns the list of vision input names from the input shapes."""
-    return [name for name in self.input_shapes.keys() if 'img' in name]
-
-  def prepare_vision_inputs(self, imgs_cl: CLMemDict, frames: FrameDict):
-    """Prepares vision (image) inputs as Tinygrad Tensors."""
-    for key in imgs_cl:
-      if TICI and key not in self.inputs:
-        # On TICI, directly use OpenCL memory address for efficiency via QCOM extensions
-        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key])
-      elif not TICI:
-        # On other platforms, copy data from CL buffer to a numpy array first
-        shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
-        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
-
-  def prepare_policy_inputs(self, numpy_inputs: NumpyDict):
-    """Prepares non-image (policy) inputs as Tinygrad Tensors."""
-    for key, value in numpy_inputs.items():
-      self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
-
-  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
-    """Prepares all vision and policy inputs for the model."""
-    self.prepare_vision_inputs(imgs_cl, frames)
-    self.prepare_policy_inputs(numpy_inputs)
-    return self.inputs
-
-  def _run_model(self) -> NumpyDict:
-    """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).numpy().flatten()
-    return self._parse_outputs(outputs)
-
-  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
-    """Parses the raw model outputs using the standard Parser."""
-    if self._model_data is None:
-      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
-
-    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](model_outputs)
-    return result
-
-
-class TinygradSplitRunner(ModelRunner):
-  """
-  A ModelRunner that coordinates separate TinygradVisionRunner and TinygradPolicyRunner instances.
-
-  Manages the execution of split vision and policy models, combining their inputs and outputs.
-  """
-  def __init__(self):
-    super().__init__()
-    self.is_20hz_3d = True
-    self.vision_runner = TinygradRunner(ModelType.vision)
-    self.policy_runner = TinygradRunner(ModelType.policy)
-    self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None
-    self._constants = SplitModelConstants
-
-  def _run_model(self) -> NumpyDict:
-    """Runs both vision and policy models and merges their parsed outputs."""
-    policy_output = self.policy_runner.run_model()
-    vision_output = self.vision_runner.run_model()
-    outputs = {**policy_output, **vision_output}
-
-    if self.off_policy_runner:
-      off_policy_output = self.off_policy_runner.run_model()
-      outputs.update(off_policy_output)
-
-    return outputs
-
-  @property
-  def vision_input_names(self) -> list[str]:
-    """Returns the list of vision input names from the vision runner."""
-    return list(self.vision_runner.vision_input_names)
-
-  @property
-  def input_shapes(self) -> ShapeDict:
-    """Returns the combined input shapes from both vision and policy models."""
-    shapes = {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
-    if self.off_policy_runner:
-      shapes.update(self.off_policy_runner.input_shapes)
-    return shapes
-
-  @property
-  def output_slices(self) -> SliceDict:
-    """Returns the combined output slices from both vision and policy models."""
-    slices = {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
-    if self.off_policy_runner:
-      slices.update(self.off_policy_runner.output_slices)
-    return slices
-
-  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
-    """Prepares inputs for both vision and policy models."""
-    # Policy inputs only depend on numpy_inputs
-    self.policy_runner.prepare_policy_inputs(numpy_inputs)
-    # Vision inputs depend on imgs_cl and frames
-    self.vision_runner.prepare_vision_inputs(imgs_cl, frames)
-    inputs = {**self.policy_runner.inputs, **self.vision_runner.inputs}
-
-    if self.off_policy_runner:
-      self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
-      inputs.update(self.off_policy_runner.inputs)
-
-    # Return combined inputs (though they are stored within respective runners)
-    return inputs
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
deleted file mode 100644
index f363f8309a..0000000000
--- a/sunnypilot/models/tests/model_hash
+++ /dev/null
@@ -1 +0,0 @@
-32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf
\ No newline at end of file
diff --git a/sunnypilot/models/tests/test_tinygrad_ref.py b/sunnypilot/models/tests/test_tinygrad_ref.py
deleted file mode 100644
index 3e60ab5308..0000000000
--- a/sunnypilot/models/tests/test_tinygrad_ref.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import requests
-
-from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
-from openpilot.sunnypilot.models.fetcher import ModelFetcher
-
-
-def fetch_tinygrad_ref():
-  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
-  response.raise_for_status()
-  json_data = response.json()
-  return json_data.get("tinygrad_ref")
-
-
-def test_tinygrad_ref():
-  current_ref = get_tinygrad_ref()
-  remote_ref = fetch_tinygrad_ref()
-  assert remote_ref == current_ref, (
-    f"""tinygrad_repo ref does not match remote tinygrad_ref of current compiled driving models json.
-  Current: {current_ref}
-  Remote: {remote_ref}
-  Please run build-all workflow to update models."""
-  )
-  print("tinygrad_repo ref matches current compiled driving models json ref.")
diff --git a/sunnypilot/selfdrive/assets/img_minus_arrow_down.png b/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
deleted file mode 100644
index 250f640585..0000000000
--- a/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0f4a0bf26cfd2c64939759d43bee839aadfd017a6f74065095a27b03615e55a4
-size 26627
diff --git a/sunnypilot/selfdrive/assets/img_plus_arrow_up.png b/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
deleted file mode 100644
index 14c1529da3..0000000000
--- a/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3e451ff31e9b3f144822ab282b8e47cd5a603ca59ff94bd1849271181b86c6b1
-size 29220
diff --git a/sunnypilot/selfdrive/car/car_list.json b/sunnypilot/selfdrive/car/car_list.json
deleted file mode 120000
index a4ae7b75f9..0000000000
--- a/sunnypilot/selfdrive/car/car_list.json
+++ /dev/null
@@ -1 +0,0 @@
-../../../opendbc_repo/opendbc/sunnypilot/car/car_list.json
\ No newline at end of file
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
deleted file mode 100644
index f9da39c03b..0000000000
--- a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
+++ /dev/null
@@ -1,94 +0,0 @@
-import pytest
-
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-
-class MockLeadOne:
-  def __init__(self, status=0.0):
-    self.status = status
-
-class MockRadarState:
-  def __init__(self, status=0.0):
-    self.leadOne = MockLeadOne(status=status)
-
-class MockCarState:
-  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
-    self.vEgo = vEgo
-    self.vCruise = vCruise
-    self.standstill = standstill
-
-class MockModelData:
-  def __init__(self, valid=True):
-    size = 33 if valid else 10  # incomplete if invalid
-    self.position = type("Pos", (), {"x": [0.0] * size})()
-    self.orientation = type("Ori", (), {"x": [0.0] * size})()
-
-class MockSelfDriveState:
-  def __init__(self, experimentalMode=False):
-    self.experimentalMode = experimentalMode
-
-class MockParams:
-  def get_bool(self, name):
-    return True
-
-@pytest.fixture
-def default_sm():
-  sm = {
-    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
-    'radarState': MockRadarState(status=1.0),
-    'modelV2': MockModelData(valid=True),
-    'selfdriveState': MockSelfDriveState(experimentalMode=True),
-  }
-  return sm
-
-@pytest.fixture
-def mock_cp():
-  class CP:
-    radarUnavailable = False
-  return CP()
-
-@pytest.fixture
-def mock_mpc():
-  class MPC:
-    crash_cnt = 0
-  return MPC()
-
-# Fake Kalman Filter that always returns a given value
-class FakeKalman:
-  def __init__(self, value=1.0):
-    self.value = value
-  def add_data(self, v): pass
-  def get_value(self): return self.value
-  def get_confidence(self): return 1.0
-  def reset_data(self): pass
-
-def test_initial_mode_is_acc(mock_cp, mock_mpc):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  assert controller.mode() == "acc"
-
-def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  default_sm['carState'].standstill = True
-  for _ in range(10):
-    controller.update(default_sm)
-  assert controller.mode() == "blended"
-
-def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  mock_mpc.crash_cnt = 1  # simulate FCW
-  for _ in range(2):
-    controller.update(default_sm)
-  assert controller.mode() == "blended"
-
-def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
-  mock_cp.radarUnavailable = True
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-
-  # Force conditions to simulate slowdown
-  controller._slow_down_filter = FakeKalman(value=1.0)  # Ensure urgency triggers slowdown
-  controller._v_ego_kph = 35.0
-  default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
-
-  for _ in range(3):
-    controller.update(default_sm)
-
-  assert controller.mode() == "blended"
diff --git a/sunnypilot/selfdrive/controls/lib/drive_helpers.py b/sunnypilot/selfdrive/controls/lib/drive_helpers.py
deleted file mode 100644
index b0fda7bd8c..0000000000
--- a/sunnypilot/selfdrive/controls/lib/drive_helpers.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from numpy import clip, interp
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, MAX_LATERAL_JERK
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-
-
-def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures):
-  if len(psis) != CONTROL_N:
-    psis = [0.0]*CONTROL_N
-    curvatures = [0.0]*CONTROL_N
-  v_ego = max(MIN_SPEED, v_ego)
-
-  # MPC can plan to turn the wheel and turn back before t_delay. This means
-  # in high delay cases some corrections never even get commanded. So just use
-  # psi to calculate a simple linearization of desired curvature
-  current_curvature_desired = curvatures[0]
-  psi = interp(steer_delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
-  average_curvature_desired = psi / (v_ego * steer_delay)
-  desired_curvature = 2 * average_curvature_desired - current_curvature_desired
-
-  # This is the "desired rate of the setpoint" not an actual desired rate
-  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = clip(desired_curvature,
-                                current_curvature_desired - max_curvature_rate * DT_MDL,
-                                current_curvature_desired + max_curvature_rate * DT_MDL)
-
-  return float(safe_desired_curvature)
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
deleted file mode 100644
index 57fe7b684f..0000000000
--- a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
+++ /dev/null
@@ -1,113 +0,0 @@
-import pytest
-from cereal import log, custom
-from openpilot.common.params import Params
-
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
-from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
-
-TurnDirection = custom.ModelDataV2SP.TurnDirection
-
-
-@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
-  (True, False, 5, False, False, TurnDirection.turnLeft),
-  (False, True, 6, False, False, TurnDirection.turnRight),
-  (True, False, 9, False, False, TurnDirection.none),
-  (True, False, 7, True, False, TurnDirection.none),
-  (False, True, 6, False, True, TurnDirection.none),
-  (False, False, 5, False, False, TurnDirection.none),
-  (True, True, 5, False, False, TurnDirection.none),
-])
-def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
-  assert controller.get_turn_direction() == expected
-
-
-def test_lane_turn_desire_disabled():
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = False
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(False, False, True, False, 7)
-  assert controller.get_turn_direction() == TurnDirection.none
-
-
-def test_lane_turn_overrides_lane_change():
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  # left turn desire
-  controller.update_lane_turn(False, False, True, False, 5)
-  assert controller.get_turn_direction() == TurnDirection.turnLeft
-  # right turn desire
-  controller.update_lane_turn(False, False, False, True, 6)
-  assert controller.get_turn_direction() == TurnDirection.turnRight
-  # no turn
-  controller.update_lane_turn(False, False, False, False, 7)
-  assert controller.get_turn_direction() == TurnDirection.none
-
-
-@pytest.mark.parametrize("v_ego,expected", [
-  (8.93, TurnDirection.turnLeft),  # just below threshold
-  (8.96, TurnDirection.none),  # above threshold
-  (8.95, TurnDirection.none),  # just above threshold
-])
-def test_lane_turn_desire_speed_boundary(v_ego, expected):
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(False, True, True, False, v_ego)
-  assert controller.get_turn_direction() == expected
-
-
-class DummyCarState:
-  def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-               steeringPressed=False, steeringTorque=0, brakePressed=False):
-    self.vEgo = vEgo
-    self.leftBlinker = leftBlinker
-    self.rightBlinker = rightBlinker
-    self.leftBlindspot = leftBlindspot
-    self.rightBlindspot = rightBlindspot
-    self.steeringPressed = steeringPressed
-    self.steeringTorque = steeringTorque
-    self.brakePressed = brakePressed
-
-
-@pytest.fixture
-def set_lane_turn_params():
-  params = Params()
-  params.put("LaneTurnDesire", True)
-  params.put("LaneTurnValue", 20.0)
-
-
-@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
-  # Lane turn desire overrides lane change desire
-  (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
-   log.Desire.turnLeft),
-  (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
-   log.Desire.turnRight),
-  # Lane change desire only (no turn desires)
-  (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
-  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
-  # No desire (inactive)
-  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
-  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
-])
-def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
-  dh = DesireHelper()
-  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-  for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob)
-  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
diff --git a/sunnypilot/selfdrive/locationd/tests/.gitignore b/sunnypilot/selfdrive/locationd/tests/.gitignore
deleted file mode 100644
index 89f9ac04aa..0000000000
--- a/sunnypilot/selfdrive/locationd/tests/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-out/
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
deleted file mode 100644
index a9e607aa6f..0000000000
--- a/sunnypilot/sunnylink/params_metadata.json
+++ /dev/null
@@ -1,1355 +0,0 @@
-{
-  "AccessToken": {
-    "title": "AccessTokenIsNice",
-    "description": ""
-  },
-  "AdbEnabled": {
-    "title": "Enable ADB",
-    "description": ""
-  },
-  "AlphaLongitudinalEnabled": {
-    "title": "Alpha Longitudinal",
-    "description": ""
-  },
-  "AlwaysOnDM": {
-    "title": "Always-on Driver Monitor",
-    "description": ""
-  },
-  "ApiCache_Device": {
-    "title": "Api Cache  Device",
-    "description": ""
-  },
-  "ApiCache_DriveStats": {
-    "title": "Api Cache  Drive Stats",
-    "description": ""
-  },
-  "ApiCache_FirehoseStats": {
-    "title": "Firehose Mode Stats",
-    "description": ""
-  },
-  "AssistNowToken": {
-    "title": "Assist Now Token",
-    "description": ""
-  },
-  "AthenadPid": {
-    "title": "Athenad Pid",
-    "description": ""
-  },
-  "AthenadRecentlyViewedRoutes": {
-    "title": "Athenad Recently Viewed Routes",
-    "description": ""
-  },
-  "AthenadUploadQueue": {
-    "title": "Athenad Upload Queue",
-    "description": ""
-  },
-  "AutoLaneChangeBsmDelay": {
-    "title": "Auto Lane Change BSM Delay",
-    "description": ""
-  },
-  "AutoLaneChangeTimer": {
-    "title": "Auto Lane Change Timer",
-    "description": "",
-    "options": [
-      {
-        "value": -1,
-        "label": "Off"
-      },
-      {
-        "value": 0,
-        "label": "Nudge"
-      },
-      {
-        "value": 1,
-        "label": "Nudgeless"
-      },
-      {
-        "value": 2,
-        "label": "0.5s"
-      },
-      {
-        "value": 3,
-        "label": "1s"
-      },
-      {
-        "value": 4,
-        "label": "2s"
-      },
-      {
-        "value": 5,
-        "label": "3s"
-      }
-    ]
-  },
-  "BackupManager_CreateBackup": {
-    "title": "Create Backup",
-    "description": ""
-  },
-  "BackupManager_RestoreVersion": {
-    "title": "Restore Version",
-    "description": ""
-  },
-  "BlindSpot": {
-    "title": "[TIZI/TICI only] Blind Spot Detection",
-    "description": "Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."
-  },
-  "BlinkerLateralReengageDelay": {
-    "title": "Post-Blinker Delay",
-    "description": "Delay before lateral control resumes after the turn signal ends."
-  },
-  "BlinkerMinLateralControlSpeed": {
-    "title": "Blinker Min Lateral Control Speed",
-    "description": ""
-  },
-  "BlinkerPauseLateralControl": {
-    "title": "Blinker Pause Lateral Control",
-    "description": ""
-  },
-  "BootCount": {
-    "title": "Boot Count",
-    "description": ""
-  },
-  "Brightness": {
-    "title": "Screen Brightness",
-    "description": ""
-  },
-  "CalibrationParams": {
-    "title": "Calibration Params",
-    "description": ""
-  },
-  "CameraDebugExpGain": {
-    "title": "Camera Debug Exp Gain",
-    "description": ""
-  },
-  "CameraDebugExpTime": {
-    "title": "Camera Debug Exp Time",
-    "description": ""
-  },
-  "CameraOffset": {
-    "title": "Adjust Camera Offset",
-    "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)",
-    "min": -0.35,
-    "max": 0.35,
-    "step": 0.01,
-    "unit": "meters"
-  },
-  "CarBatteryCapacity": {
-    "title": "Car Battery Capacity",
-    "description": "Battery Size",
-    "unit": "kWh"
-  },
-  "CarList": {
-    "title": "Supported Car List",
-    "description": "All supported platform in sunnypilot"
-  },
-  "CarParams": {
-    "title": "Car Params",
-    "description": ""
-  },
-  "CarParamsCache": {
-    "title": "Car Params Cache",
-    "description": ""
-  },
-  "CarParamsPersistent": {
-    "title": "Car Params Persistent",
-    "description": ""
-  },
-  "CarParamsPrevRoute": {
-    "title": "Car Params Prev Route",
-    "description": ""
-  },
-  "CarParamsSP": {
-    "title": "Car Params Sp",
-    "description": ""
-  },
-  "CarParamsSPCache": {
-    "title": "Car Params Sp Cache",
-    "description": ""
-  },
-  "CarParamsSPPersistent": {
-    "title": "Car Params Sp Persistent",
-    "description": ""
-  },
-  "CarPlatformBundle": {
-    "title": "Car Platform Bundle",
-    "description": ""
-  },
-  "ChevronInfo": {
-    "title": "Chevron Info",
-    "description": ""
-  },
-  "CompletedSunnylinkConsentVersion": {
-    "title": "Completed sunnylink Consent Version",
-    "description": ""
-  },
-  "CompletedTrainingVersion": {
-    "title": "Completed Training Version",
-    "description": ""
-  },
-  "ControlsReady": {
-    "title": "Controls Ready",
-    "description": ""
-  },
-  "CurrentBootlog": {
-    "title": "Current Bootlog",
-    "description": ""
-  },
-  "CurrentRoute": {
-    "title": "Current Route",
-    "description": ""
-  },
-  "CustomAccIncrementsEnabled": {
-    "title": "Custom ACC Increments",
-    "description": ""
-  },
-  "CustomAccLongPressIncrement": {
-    "title": "Custom ACC Long Press Increment",
-    "description": "",
-    "min": 1,
-    "max": 10,
-    "step": 1
-  },
-  "CustomAccShortPressIncrement": {
-    "title": "Custom ACC Short Press Increment",
-    "description": "",
-    "min": 1,
-    "max": 10,
-    "step": 1
-  },
-  "CustomTorqueParams": {
-    "title": "Enable Custom Torque Tuning",
-    "description": "Enables custom tuning for Torque lateral control"
-  },
-  "DevUIInfo": {
-    "title": "Developer UI Info",
-    "description": ""
-  },
-  "DeviceBootMode": {
-    "title": "Device Boot Mode",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Standard"
-      },
-      {
-        "value": 1,
-        "label": "Always Offroad"
-      }
-    ]
-  },
-  "DisableLogging": {
-    "title": "Disable Logging",
-    "description": ""
-  },
-  "DisablePowerDown": {
-    "title": "Disable Power Down",
-    "description": ""
-  },
-  "DisableUpdates": {
-    "title": "Disable Updates",
-    "description": ""
-  },
-  "DisengageOnAccelerator": {
-    "title": "Disengage On Accelerator",
-    "description": ""
-  },
-  "DoReboot": {
-    "title": "Reboot",
-    "description": ""
-  },
-  "DoShutdown": {
-    "title": "Power Off",
-    "description": ""
-  },
-  "DoUninstall": {
-    "title": "Uninstall sunnypilot",
-    "description": ""
-  },
-  "DongleId": {
-    "title": "Device ID",
-    "description": ""
-  },
-  "DriverTooDistracted": {
-    "title": "Driver Too Distracted",
-    "description": ""
-  },
-  "DynamicExperimentalControl": {
-    "title": "Dynamic Experimental Control",
-    "description": ""
-  },
-  "EnableCopyparty": {
-    "title": "copyparty Service",
-    "description": ""
-  },
-  "EnableGithubRunner": {
-    "title": "GitHub Runner Service",
-    "description": ""
-  },
-  "EnableSunnylinkUploader": {
-    "title": "Enable sunnylink Uploader",
-    "description": ""
-  },
-  "EnforceTorqueControl": {
-    "title": "Enforce Torque Control",
-    "description": "Enable this to enforce sunnypilot to steer with Torque lateral control."
-  },
-  "ExperimentalMode": {
-    "title": "Experimental Mode",
-    "description": ""
-  },
-  "ExperimentalModeConfirmed": {
-    "title": "Experimental Mode Confirmed",
-    "description": ""
-  },
-  "FirmwareQueryDone": {
-    "title": "Firmware Query Done",
-    "description": ""
-  },
-  "ForcePowerDown": {
-    "title": "Force Power Down",
-    "description": ""
-  },
-  "GitBranch": {
-    "title": "Git Branch",
-    "description": ""
-  },
-  "GitCommit": {
-    "title": "Git Commit",
-    "description": ""
-  },
-  "GitCommitDate": {
-    "title": "Git Commit Date",
-    "description": ""
-  },
-  "GitDiff": {
-    "title": "Git Diff",
-    "description": ""
-  },
-  "GitRemote": {
-    "title": "Git Remote",
-    "description": ""
-  },
-  "GithubRunnerSufficientVoltage": {
-    "title": "Github Runner Sufficient Voltage",
-    "description": ""
-  },
-  "GithubSshKeys": {
-    "title": "Github Ssh Keys",
-    "description": ""
-  },
-  "GithubUsername": {
-    "title": "GitHub Username",
-    "description": ""
-  },
-  "GreenLightAlert": {
-    "title": "Green Traffic Light Alert (Beta)",
-    "description": "A chime and on-screen alert (TIZI/TICI only) will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
-  },
-  "GsmApn": {
-    "title": "GSM APN",
-    "description": ""
-  },
-  "GsmMetered": {
-    "title": "Gsm Metered",
-    "description": ""
-  },
-  "GsmRoaming": {
-    "title": "GSM Roaming",
-    "description": ""
-  },
-  "HardwareSerial": {
-    "title": "Serial Number",
-    "description": ""
-  },
-  "HasAcceptedTerms": {
-    "title": "Has Accepted Terms",
-    "description": ""
-  },
-  "HasAcceptedTermsSP": {
-    "title": "Has Accepted sunnypilot Terms",
-    "description": ""
-  },
-  "HideVEgoUI": {
-    "title": "[TIZI/TICI only] Speedometer: Hide from Onroad Screen",
-    "description": "When enabled, the speedometer on the onroad screen is not displayed."
-  },
-  "HyundaiLongitudinalTuning": {
-    "title": "Hyundai Longitudinal Tuning",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Off"
-      },
-      {
-        "value": 1,
-        "label": "Dynamic"
-      },
-      {
-        "value": 2,
-        "label": "Predictive"
-      }
-    ]
-  },
-  "InstallDate": {
-    "title": "Install Date",
-    "description": ""
-  },
-  "IntelligentCruiseButtonManagement": {
-    "title": "Intelligent Cruise Button Management",
-    "description": ""
-  },
-  "InteractivityTimeout": {
-    "title": "Interactivity Timeout",
-    "description": "Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if user is not interacting with the screen.",
-    "options": [
-      {
-        "value": 0,
-        "label": "Default"
-      },
-      {
-        "value": 10,
-        "label": "10 s"
-      },
-      {
-        "value": 20,
-        "label": "20 s"
-      },
-      {
-        "value": 30,
-        "label": "30 s"
-      },
-      {
-        "value": 40,
-        "label": "40 s"
-      },
-      {
-        "value": 50,
-        "label": "50 s"
-      },
-      {
-        "value": 60,
-        "label": "1 m"
-      },
-      {
-        "value": 70,
-        "label": "1 m"
-      },
-      {
-        "value": 80,
-        "label": "1 m"
-      },
-      {
-        "value": 90,
-        "label": "1 m"
-      },
-      {
-        "value": 100,
-        "label": "1 m"
-      },
-      {
-        "value": 110,
-        "label": "1 m"
-      },
-      {
-        "value": 120,
-        "label": "2 m"
-      }
-    ]
-  },
-  "IsDevelopmentBranch": {
-    "title": "Is Development Branch",
-    "description": ""
-  },
-  "IsDriverViewEnabled": {
-    "title": "Is Driver View Enabled",
-    "description": ""
-  },
-  "IsEngaged": {
-    "title": "Is Engaged",
-    "description": ""
-  },
-  "IsLdwEnabled": {
-    "title": "Lane Departure Warnings",
-    "description": ""
-  },
-  "IsMetric": {
-    "title": "Use Metric Units",
-    "description": ""
-  },
-  "IsOffroad": {
-    "title": "Is Offroad",
-    "description": ""
-  },
-  "IsOnroad": {
-    "title": "Is Onroad",
-    "description": ""
-  },
-  "IsReleaseBranch": {
-    "title": "Is Release Branch",
-    "description": ""
-  },
-  "IsReleaseSpBranch": {
-    "title": "Is Release Sp Branch",
-    "description": ""
-  },
-  "IsRhdDetected": {
-    "title": "Is Rhd Detected",
-    "description": ""
-  },
-  "IsTakingSnapshot": {
-    "title": "Is Taking Snapshot",
-    "description": ""
-  },
-  "IsTestedBranch": {
-    "title": "Is Tested Branch",
-    "description": ""
-  },
-  "JoystickDebugMode": {
-    "title": "Joystick Debug Mode",
-    "description": ""
-  },
-  "LagdToggle": {
-    "title": "Live Learning Steer Delay",
-    "description": "Allow device to learn and adapt car's steering response time"
-  },
-  "LagdToggleDelay": {
-    "title": "Manual Software Delay",
-    "description": "Software delay to use when Live Learning Steer Delay is toggled off",
-    "min": 0.05,
-    "max": 0.5,
-    "step": 0.01
-  },
-  "LagdValueCache": {
-    "title": "LaGD Value Cache",
-    "description": ""
-  },
-  "LaneTurnDesire": {
-    "title": "Lane Turn Desire",
-    "description": "Force model to plan an intent to turn based on blinker"
-  },
-  "LaneTurnValue": {
-    "title": "Lane Turn Speed",
-    "description": "Maximum speed for lane turn desire",
-    "min": 0,
-    "max": 20,
-    "step": 1
-  },
-  "LanguageSetting": {
-    "title": "Language",
-    "description": ""
-  },
-  "LastAgnosPowerMonitorShutdown": {
-    "title": "Last AGNOS Power Monitor Shutdown",
-    "description": ""
-  },
-  "LastAthenaPingTime": {
-    "title": "Last Athena Ping Time",
-    "description": ""
-  },
-  "LastGPSPosition": {
-    "title": "Last Gps Position",
-    "description": ""
-  },
-  "LastGPSPositionLLK": {
-    "title": "Last GPS Position LLK",
-    "description": ""
-  },
-  "LastManagerExitReason": {
-    "title": "Last Manager Exit Reason",
-    "description": ""
-  },
-  "LastOffroadStatusPacket": {
-    "title": "Last Offroad Status Packet",
-    "description": ""
-  },
-  "LastPowerDropDetected": {
-    "title": "Last Power Drop Detected",
-    "description": ""
-  },
-  "LastSunnylinkPingTime": {
-    "title": "Last sunnylink Ping Time",
-    "description": ""
-  },
-  "LastUpdateException": {
-    "title": "Last Update Exception",
-    "description": ""
-  },
-  "LastUpdateRouteCount": {
-    "title": "Last Update Route Count",
-    "description": ""
-  },
-  "LastUpdateTime": {
-    "title": "Last Update Time",
-    "description": ""
-  },
-  "LastUpdateUptimeOnroad": {
-    "title": "Last Update Uptime Onroad",
-    "description": ""
-  },
-  "LeadDepartAlert": {
-    "title": "Lead Departure Alert (Beta)",
-    "description": "A chime and on-screen alert (TIZI/TICI only) will play when you are stopped, and the vehicle in front of you start moving. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
-  },
-  "LiveDelay": {
-    "title": "Live Delay",
-    "description": ""
-  },
-  "LiveParameters": {
-    "title": "Live Parameters",
-    "description": ""
-  },
-  "LiveParametersV2": {
-    "title": "Live Parameters V2",
-    "description": ""
-  },
-  "LiveTorqueParameters": {
-    "title": "Live Torque Parameters",
-    "description": ""
-  },
-  "LiveTorqueParamsRelaxedToggle": {
-    "title": "Less Restrict Settings for Self-Tune (Beta)",
-    "description": "Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."
-  },
-  "LiveTorqueParamsToggle": {
-    "title": "Self-Tune",
-    "description": "Enables self-tune for Torque lateral control"
-  },
-  "LocationFilterInitialState": {
-    "title": "Location Filter Initial State",
-    "description": ""
-  },
-  "LongitudinalManeuverMode": {
-    "title": "Longitudinal Maneuver Mode",
-    "description": ""
-  },
-  "LongitudinalPersonality": {
-    "title": "Driving Personality",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Aggressive"
-      },
-      {
-        "value": 1,
-        "label": "Standard"
-      },
-      {
-        "value": 2,
-        "label": "Relaxed"
-      }
-    ]
-  },
-  "Mads": {
-    "title": "MADS Enabled",
-    "description": ""
-  },
-  "MadsMainCruiseAllowed": {
-    "title": "MADS Main Cruise Allowed",
-    "description": ""
-  },
-  "MadsSteeringMode": {
-    "title": "MADS Steering Mode",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Remain Active"
-      },
-      {
-        "value": 1,
-        "label": "Pause"
-      },
-      {
-        "value": 2,
-        "label": "Disengage"
-      }
-    ]
-  },
-  "MadsUnifiedEngagementMode": {
-    "title": "MADS Unified Engagement Mode",
-    "description": ""
-  },
-  "MapAdvisorySpeedLimit": {
-    "title": "Map Advisory Speed Limit",
-    "description": ""
-  },
-  "MapSpeedLimit": {
-    "title": "Map Speed Limit",
-    "description": ""
-  },
-  "MapTargetVelocities": {
-    "title": "Map Target Velocities",
-    "description": ""
-  },
-  "MapdVersion": {
-    "title": "Mapd Version",
-    "description": ""
-  },
-  "MaxTimeOffroad": {
-    "title": "Max Time Offroad",
-    "description": "",
-    "unit": "minutes"
-  },
-  "ModelManager_ActiveBundle": {
-    "title": "Model Manager Active Bundle",
-    "description": ""
-  },
-  "ModelManager_ClearCache": {
-    "title": "Model Manager Clear Cache",
-    "description": ""
-  },
-  "ModelManager_DownloadIndex": {
-    "title": "Model Manager Download Index",
-    "description": ""
-  },
-  "ModelManager_Favs": {
-    "title": "Model Manager Favorites",
-    "description": ""
-  },
-  "ModelManager_LastSyncTime": {
-    "title": "Model Manager Last Sync Time",
-    "description": ""
-  },
-  "ModelManager_ModelsCache": {
-    "title": "Model Manager Models Cache",
-    "description": ""
-  },
-  "ModelRunnerTypeCache": {
-    "title": "Model Runner Type Cache",
-    "description": ""
-  },
-  "NetworkMetered": {
-    "title": "Network Usage",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Default"
-      },
-      {
-        "value": 1,
-        "label": "Metered"
-      },
-      {
-        "value": 2,
-        "label": "Unmetered"
-      }
-    ]
-  },
-  "NeuralNetworkLateralControl": {
-    "title": "Neural Network Lateral Control",
-    "description": ""
-  },
-  "NextMapSpeedLimit": {
-    "title": "Next Map Speed Limit",
-    "description": ""
-  },
-  "OSMDownloadBounds": {
-    "title": "OSM Download Bounds",
-    "description": ""
-  },
-  "OSMDownloadLocations": {
-    "title": "OSM Download Locations",
-    "description": ""
-  },
-  "OSMDownloadProgress": {
-    "title": "OSM Download Progress",
-    "description": ""
-  },
-  "ObdMultiplexingChanged": {
-    "title": "Obd Multiplexing Changed",
-    "description": ""
-  },
-  "ObdMultiplexingEnabled": {
-    "title": "Obd Multiplexing Enabled",
-    "description": ""
-  },
-  "OffroadMode": {
-    "title": "Force Offroad Mode",
-    "description": ""
-  },
-  "Offroad_CarUnrecognized": {
-    "title": "Offroad Car Unrecognized",
-    "description": ""
-  },
-  "Offroad_ConnectivityNeeded": {
-    "title": "Offroad Connectivity Needed",
-    "description": ""
-  },
-  "Offroad_ConnectivityNeededPrompt": {
-    "title": "Offroad Connectivity Needed Prompt",
-    "description": ""
-  },
-  "Offroad_DriverMonitoringUncertain": {
-    "title": "Offroad Driver Monitoring Uncertain",
-    "description": ""
-  },
-  "Offroad_ExcessiveActuation": {
-    "title": "Offroad Excessive Actuation",
-    "description": ""
-  },
-  "Offroad_IsTakingSnapshot": {
-    "title": "Offroad Is Taking Snapshot",
-    "description": ""
-  },
-  "Offroad_NeosUpdate": {
-    "title": "Offroad Neos Update",
-    "description": ""
-  },
-  "Offroad_NoFirmware": {
-    "title": "Offroad No Firmware",
-    "description": ""
-  },
-  "Offroad_OSMUpdateRequired": {
-    "title": "Offroad OSM Update Required",
-    "description": ""
-  },
-  "Offroad_Recalibration": {
-    "title": "Offroad Recalibration",
-    "description": ""
-  },
-  "Offroad_TemperatureTooHigh": {
-    "title": "Offroad Temperature Too High",
-    "description": ""
-  },
-  "Offroad_TiciSupport": {
-    "title": "Offroad Tici Support",
-    "description": ""
-  },
-  "Offroad_UnregisteredHardware": {
-    "title": "Offroad Unregistered Hardware",
-    "description": ""
-  },
-  "Offroad_UpdateFailed": {
-    "title": "Offroad Update Failed",
-    "description": ""
-  },
-  "OnroadCycleRequested": {
-    "title": "Onroad Cycle Requested",
-    "description": ""
-  },
-  "OnroadScreenOffBrightness": {
-    "title": "Onroad Brightness",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Auto (Default)"
-      },
-      {
-        "value": 1,
-        "label": "Auto (Dark)"
-      },
-      {
-        "value": 2,
-        "label": "5 %"
-      },
-      {
-        "value": 3,
-        "label": "10 %"
-      },
-      {
-        "value": 4,
-        "label": "15 %"
-      },
-      {
-        "value": 5,
-        "label": "20 %"
-      },
-      {
-        "value": 6,
-        "label": "25 %"
-      },
-      {
-        "value": 7,
-        "label": "30 %"
-      },
-      {
-        "value": 8,
-        "label": "35 %"
-      },
-      {
-        "value": 9,
-        "label": "40 %"
-      },
-      {
-        "value": 10,
-        "label": "45 %"
-      },
-      {
-        "value": 11,
-        "label": "50 %"
-      },
-      {
-        "value": 12,
-        "label": "55 %"
-      },
-      {
-        "value": 13,
-        "label": "60 %"
-      },
-      {
-        "value": 14,
-        "label": "65 %"
-      },
-      {
-        "value": 15,
-        "label": "70 %"
-      },
-      {
-        "value": 16,
-        "label": "75 %"
-      },
-      {
-        "value": 17,
-        "label": "80 %"
-      },
-      {
-        "value": 18,
-        "label": "85 %"
-      },
-      {
-        "value": 19,
-        "label": "90 %"
-      },
-      {
-        "value": 20,
-        "label": "95 %"
-      },
-      {
-        "value": 21,
-        "label": "100 %"
-      }
-    ]
-  },
-  "OnroadScreenOffControl": {
-    "title": "Onroad Brightness",
-    "description": "Adjusts the screen brightness while it's in onroad state."
-  },
-  "OnroadScreenOffTimer": {
-    "title": "Onroad Brightness Delay",
-    "description": "",
-    "options": [
-      {
-        "value": 15,
-        "label": "15s"
-      },
-      {
-        "value": 30,
-        "label": "30s"
-      },
-      {
-        "value": 60,
-        "label": "1m"
-      },
-      {
-        "value": 120,
-        "label": "2m"
-      },
-      {
-        "value": 180,
-        "label": "3m"
-      },
-      {
-        "value": 240,
-        "label": "4m"
-      },
-      {
-        "value": 300,
-        "label": "5m"
-      },
-      {
-        "value": 360,
-        "label": "6m"
-      },
-      {
-        "value": 420,
-        "label": "7m"
-      },
-      {
-        "value": 480,
-        "label": "8m"
-      },
-      {
-        "value": 540,
-        "label": "9m"
-      },
-      {
-        "value": 600,
-        "label": "10m"
-      }
-    ]
-  },
-  "OnroadUploads": {
-    "title": "Onroad Uploads",
-    "description": ""
-  },
-  "OpenpilotEnabledToggle": {
-    "title": "Enable sunnypilot",
-    "description": ""
-  },
-  "OsmDbUpdatesCheck": {
-    "title": "OSM DB Updates Check",
-    "description": ""
-  },
-  "OsmDownloadedDate": {
-    "title": "OSM Downloaded Date",
-    "description": ""
-  },
-  "OsmLocal": {
-    "title": "OSM Local",
-    "description": ""
-  },
-  "OsmLocationName": {
-    "title": "OSM Location Name",
-    "description": ""
-  },
-  "OsmLocationTitle": {
-    "title": "OSM Location Title",
-    "description": ""
-  },
-  "OsmLocationUrl": {
-    "title": "OSM Location URL",
-    "description": ""
-  },
-  "OsmStateName": {
-    "title": "OSM State Name",
-    "description": ""
-  },
-  "OsmStateTitle": {
-    "title": "OSM State Title",
-    "description": ""
-  },
-  "OsmWayTest": {
-    "title": "OSM Way Test",
-    "description": ""
-  },
-  "PandaHeartbeatLost": {
-    "title": "Panda Heartbeat Lost",
-    "description": ""
-  },
-  "PandaSignatures": {
-    "title": "Panda Signatures",
-    "description": ""
-  },
-  "PandaSomResetTriggered": {
-    "title": "Panda Som Reset Triggered",
-    "description": ""
-  },
-  "PlanplusControl": {
-    "title": "Plan Plus Controls",
-    "description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong",
-    "min": 0.0,
-    "max": 2.0,
-    "step": 0.1
-  },
-  "PrimeType": {
-    "title": "Prime Type",
-    "description": ""
-  },
-  "QuickBootToggle": {
-    "title": "Quick Boot",
-    "description": ""
-  },
-  "QuietMode": {
-    "title": "Quiet Mode",
-    "description": ""
-  },
-  "RainbowMode": {
-    "title": "Rainbow Mode",
-    "description": ""
-  },
-  "RecordAudio": {
-    "title": "Record & Upload Mic Audio",
-    "description": ""
-  },
-  "RecordAudioFeedback": {
-    "title": "Record Audio Feedback",
-    "description": ""
-  },
-  "RecordFront": {
-    "title": "Record & Upload Driver Camera",
-    "description": ""
-  },
-  "RecordFrontLock": {
-    "title": "Record Front Lock",
-    "description": ""
-  },
-  "RoadName": {
-    "title": "Road Name",
-    "description": ""
-  },
-  "RoadNameToggle": {
-    "title": "[TIZI/TICI only] Display Road Name",
-    "description": "Displays the name of the road the car is traveling on. <br>The OpenStreetMap database of the location must be downloaded to fetch the road name."
-  },
-  "RocketFuel": {
-    "title": "[TIZI/TICI only] Real-time Acceleration Bar",
-    "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. This displays what the car is currently doing, not what the planner is requesting."
-  },
-  "RouteCount": {
-    "title": "Route Count",
-    "description": ""
-  },
-  "SecOCKey": {
-    "title": "Sec Oc Key",
-    "description": ""
-  },
-  "ShowAdvancedControls": {
-    "title": "Show Advanced Controls",
-    "description": "Enable to show advanced controls on device"
-  },
-  "ShowDebugInfo": {
-    "title": "UI Debug Mode",
-    "description": ""
-  },
-  "ShowTurnSignals": {
-    "title": "[TIZI/TICI only] Display Turn Signals",
-    "description": "When enabled, visual turn indicators are drawn on the HUD."
-  },
-  "SmartCruiseControlMap": {
-    "title": "Smart Cruise Control - Map",
-    "description": ""
-  },
-  "SmartCruiseControlVision": {
-    "title": "Smart Cruise Control - Vision",
-    "description": ""
-  },
-  "SnoozeUpdate": {
-    "title": "Snooze Update",
-    "description": ""
-  },
-  "SpeedLimitMode": {
-    "title": "Speed Limit Assist Mode",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Off"
-      },
-      {
-        "value": 1,
-        "label": "Information"
-      },
-      {
-        "value": 2,
-        "label": "Warning"
-      },
-      {
-        "value": 3,
-        "label": "Assist"
-      }
-    ]
-  },
-  "SpeedLimitOffsetType": {
-    "title": "Speed Limit Offset Type",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Off"
-      },
-      {
-        "value": 1,
-        "label": "Fixed"
-      },
-      {
-        "value": 2,
-        "label": "Percentage"
-      }
-    ]
-  },
-  "SpeedLimitPolicy": {
-    "title": "Speed Limit Source",
-    "description": "",
-    "options": [
-      {
-        "value": 0,
-        "label": "Car State Only"
-      },
-      {
-        "value": 1,
-        "label": "Map Data Only"
-      },
-      {
-        "value": 2,
-        "label": "Car State Priority"
-      },
-      {
-        "value": 3,
-        "label": "Map Data Priority"
-      },
-      {
-        "value": 4,
-        "label": "Combined"
-      }
-    ]
-  },
-  "SpeedLimitValueOffset": {
-    "title": "Speed Limit Offset Value",
-    "description": "",
-    "min": -30,
-    "max": 30,
-    "step": 1
-  },
-  "SshEnabled": {
-    "title": "Enable SSH",
-    "description": ""
-  },
-  "StandstillTimer": {
-    "title": "[TIZI/TICI only] Standstill Timer",
-    "description": "Show a timer on the HUD when the car is at a standstill."
-  },
-  "SteeringCustomButtonMapping": {
-    "title": "Steering Custom Button Mapping",
-    "description": "Customize the steering wheel custom/star button for openpilot control.",
-    "options": [
-      {
-        "value": 0,
-        "label": "Off"
-      },
-      {
-        "value": 1,
-        "label": "Bookmark"
-      }
-    ]
-  },
-  "SubaruStopAndGo": {
-    "title": "Subaru Stop and Go",
-    "description": ""
-  },
-  "SubaruStopAndGoManualParkingBrake": {
-    "title": "Subaru Stop and Go Manual Parking Brake",
-    "description": ""
-  },
-  "SunnylinkCache_Roles": {
-    "title": "sunnylink Cache  Roles",
-    "description": ""
-  },
-  "SunnylinkCache_Users": {
-    "title": "sunnylink Cache  Users",
-    "description": ""
-  },
-  "SunnylinkDongleId": {
-    "title": "sunnylink Dongle ID",
-    "description": ""
-  },
-  "SunnylinkEnabled": {
-    "title": "sunnylink Enabled",
-    "description": ""
-  },
-  "SunnylinkTempFault": {
-    "title": "sunnylink Temp Fault",
-    "description": ""
-  },
-  "SunnylinkdPid": {
-    "title": "Sunnylinkd Pid",
-    "description": ""
-  },
-  "TermsVersion": {
-    "title": "Terms Version",
-    "description": ""
-  },
-  "TeslaCoopSteering": {
-    "title": "Tesla Coop Steering",
-    "description": ""
-  },
-  "TorqueBar": {
-    "title": "[TIZI/TICI only] Steering Arc",
-    "description": "Display steering arc on the driving screen when lateral control is enabled."
-  },
-  "TorqueParamsOverrideEnabled": {
-    "title": "Manual Real-Time Tuning",
-    "description": ""
-  },
-  "TorqueParamsOverrideFriction": {
-    "title": "Manual Tune - Friction",
-    "description": "",
-    "min": 0.0,
-    "max": 1.0,
-    "step": 0.01
-  },
-  "TorqueParamsOverrideLatAccelFactor": {
-    "title": "Manual Tune - Lateral Acceleration Factor",
-    "description": "",
-    "min": 0.1,
-    "max": 5.0,
-    "step": 0.1,
-    "unit": "m/s²"
-  },
-  "ToyotaEnforceStockLongitudinal": {
-    "title": "Toyota: Enforce Factory Longitudinal Control",
-    "description": "When enabled, sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used."
-  },
-  "TrainingVersion": {
-    "title": "Training Version",
-    "description": ""
-  },
-  "TrueVEgoUI": {
-    "title": "[TIZI/TICI only] Speedometer: Always Display True Speed",
-    "description": "For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."
-  },
-  "UbloxAvailable": {
-    "title": "Ublox Available",
-    "description": ""
-  },
-  "UpdateAvailable": {
-    "title": "Update Available",
-    "description": ""
-  },
-  "UpdateFailedCount": {
-    "title": "Update Failed Count",
-    "description": ""
-  },
-  "UpdaterAvailableBranches": {
-    "title": "Updater Available Branches",
-    "description": ""
-  },
-  "UpdaterCurrentDescription": {
-    "title": "Updater Current Description",
-    "description": ""
-  },
-  "UpdaterCurrentReleaseNotes": {
-    "title": "Updater Current Release Notes",
-    "description": ""
-  },
-  "UpdaterFetchAvailable": {
-    "title": "Updater Fetch Available",
-    "description": ""
-  },
-  "UpdaterLastFetchTime": {
-    "title": "Updater Last Fetch Time",
-    "description": ""
-  },
-  "UpdaterNewDescription": {
-    "title": "Updater New Description",
-    "description": ""
-  },
-  "UpdaterNewReleaseNotes": {
-    "title": "Updater New Release Notes",
-    "description": ""
-  },
-  "UpdaterState": {
-    "title": "Updater State",
-    "description": ""
-  },
-  "UpdaterTargetBranch": {
-    "title": "Updater Target Branch",
-    "description": ""
-  },
-  "UptimeOffroad": {
-    "title": "Uptime Offroad",
-    "description": ""
-  },
-  "UptimeOnroad": {
-    "title": "Uptime Onroad",
-    "description": ""
-  },
-  "Version": {
-    "title": "openpilot Version",
-    "description": ""
-  }
-}
diff --git a/sunnypilot/sunnylink/tests/test_params_metadata.py b/sunnypilot/sunnylink/tests/test_params_metadata.py
deleted file mode 100644
index f4f1fbc4b1..0000000000
--- a/sunnypilot/sunnylink/tests/test_params_metadata.py
+++ /dev/null
@@ -1,86 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-
-from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
-
-
-def test_get_params_all_keys_v1():
-  """
-  Test the getParamsAllKeysV1 API endpoint.
-
-  Why:
-  This endpoint is used by the UI (and potentially external tools) to fetch the list of
-  available parameters along with their metadata (titles, descriptions, options, constraints).
-  We need to ensure it returns the correct structure and that the metadata from
-  params_metadata.json is correctly merged into the response.
-
-  Expected:
-  - The response should contain a "keys" field which is a JSON string of a list of parameters.
-  - Each parameter object should have "key", "type", "default_value", and optionally "_extra".
-  - The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
-    the source of truth (params_metadata.json).
-  """
-  response = getParamsAllKeysV1()
-  assert "keys" in response
-
-  keys_json = response["keys"]
-  params_list = json.loads(keys_json)
-
-  assert isinstance(params_list, list)
-  assert len(params_list) > 0
-
-  # Check structure of first item
-  first_param = params_list[0]
-  assert "key" in first_param
-  assert "type" in first_param
-  assert "default_value" in first_param
-
-  if "_extra" in first_param:
-    assert isinstance(first_param["_extra"], dict)
-    assert "default" not in first_param["_extra"]
-    assert "type" not in first_param["_extra"]
-
-  # Load the source of truth
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  # Verify that the API response matches the metadata file for a few sample keys
-  # This ensures the plumbing is working without being brittle to content changes
-
-  # 1. Check a key that should have metadata
-  keys_with_metadata = [k for k in params_list if k["key"] in metadata]
-  assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
-
-  for param in keys_with_metadata[:5]:  # Check first 5 matches
-    key = param["key"]
-    expected_meta = metadata[key]
-
-    assert "_extra" in param, f"Parameter {key} should have _extra field"
-    actual_meta = param["_extra"]
-
-    # Verify all fields in JSON are present in the API response
-    for meta_key, meta_val in expected_meta.items():
-      assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
-      assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
-
-  # 2. Check that we are correctly serving options if they exist
-  params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
-  if params_with_options:
-    param = params_with_options[0]
-    key = param["key"]
-    assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
-    assert param["_extra"]["options"] == metadata[key]["options"]
-
-  # 3. Check that we are correctly serving numeric constraints if they exist
-  params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
-  if params_with_constraints:
-    param = params_with_constraints[0]
-    key = param["key"]
-    assert param["_extra"]["min"] == metadata[key]["min"]
-    assert param["_extra"]["max"] == metadata[key]["max"]
-    assert param["_extra"]["step"] == metadata[key]["step"]
diff --git a/sunnypilot/sunnylink/tests/test_params_sync.py b/sunnypilot/sunnylink/tests/test_params_sync.py
deleted file mode 100644
index 26bdca42d6..0000000000
--- a/sunnypilot/sunnylink/tests/test_params_sync.py
+++ /dev/null
@@ -1,202 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-import os
-import pytest
-
-from openpilot.common.params import Params
-from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
-
-
-def test_metadata_json_exists():
-  """
-  Test that the params_metadata.json file exists at the expected path.
-
-  Why:
-  The metadata file is the source of truth for parameter descriptions, options, and constraints.
-  If it's missing, the UI will not be able to display rich information for parameters.
-
-  Expected:
-  The file should exist at sunnypilot/sunnylink/params_metadata.json.
-  """
-  assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
-
-
-def test_metadata_json_valid():
-  """
-  Test that the params_metadata.json file contains valid JSON.
-
-  Why:
-  Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
-  resulting in missing metadata.
-
-  Expected:
-  The file content should be parseable as a JSON object (dictionary).
-  """
-  with open(METADATA_PATH) as f:
-    try:
-      data = json.load(f)
-    except json.JSONDecodeError:
-      pytest.fail("Metadata file is not valid JSON")
-
-    assert isinstance(data, dict), "Metadata root must be a dictionary"
-
-
-def test_all_params_have_metadata():
-  """
-  Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
-
-  Why:
-  We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
-  should also be documented in the metadata file.
-
-  Expected:
-  There should be no parameters in Params() that are missing from the metadata file.
-  If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
-  """
-  params = Params()
-  all_keys = [k.decode('utf-8') for k in params.all_keys()]
-
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  missing_keys = [key for key in all_keys if key not in metadata]
-
-  if missing_keys:
-    pytest.fail(
-      f"The following parameters are missing from metadata: {missing_keys}. "
-      + "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
-    )
-
-
-def test_metadata_keys_exist_in_params():
-  """
-  Test that all keys in params_metadata.json actually exist in the codebase.
-
-  Why:
-  We want to avoid stale metadata for parameters that have been removed or renamed.
-  This keeps the metadata file clean and relevant.
-
-  Expected:
-  There should be no keys in the metadata file that are not present in Params().
-  This prints a warning rather than failing, as it's less critical than missing metadata.
-  """
-  params = Params()
-  all_keys = {k.decode('utf-8') for k in params.all_keys()}
-
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  extra_keys = [key for key in metadata.keys() if key not in all_keys]
-
-  if extra_keys:
-    print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
-
-
-def test_no_default_titles():
-  """
-  Test that no parameter has a title that is identical to its key.
-
-  Why:
-  The default behavior of the update script is to set the title equal to the key.
-  We want to force developers to provide human-readable, descriptive titles for all parameters.
-
-  Expected:
-  No parameter metadata should have 'title' == 'key'.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
-
-  if default_title_keys:
-    pytest.fail(
-      f"The following parameters have default titles (title == key): {default_title_keys}. "
-      + "Please update 'params_metadata.json' with descriptive titles."
-    )
-
-
-def test_options_structure():
-  """
-  Test that the 'options' field in metadata follows the correct structure.
-
-  Why:
-  The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
-  Incorrect structure will break the UI rendering for dropdowns/toggles.
-
-  Expected:
-  If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  for key, meta in metadata.items():
-    if "options" in meta:
-      options = meta["options"]
-      assert isinstance(options, list), f"Options for {key} must be a list"
-      for option in options:
-        assert isinstance(option, dict), f"Option in {key} must be a dictionary"
-        assert "value" in option, f"Option in {key} must have a 'value' key"
-        assert "label" in option, f"Option in {key} must have a 'label' key"
-
-
-def test_numeric_constraints():
-  """
-  Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
-
-  Why:
-  The UI uses these constraints to validate user input and render sliders/steppers.
-  Missing or invalid constraints can lead to UI bugs or invalid parameter values.
-
-  Expected:
-  If any of min/max/step is present, ALL of them must be present.
-  They must be numbers (int/float), and min must be less than max.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  for key, meta in metadata.items():
-    if "min" in meta or "max" in meta or "step" in meta:
-      assert "min" in meta, f"Numeric param {key} must have 'min'"
-      assert "max" in meta, f"Numeric param {key} must have 'max'"
-      assert "step" in meta, f"Numeric param {key} must have 'step'"
-
-      assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
-      assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
-      assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
-      assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
-
-
-def test_known_params_metadata():
-  """
-  Test specific known parameters to ensure they have the expected rich metadata.
-
-  Why:
-  This acts as a spot check to ensure that our rich metadata population logic is working correctly
-  and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
-
-  Expected:
-  'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
-  'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  # Check an enum-like param
-  lp = metadata.get("LongitudinalPersonality")
-  assert lp is not None
-  assert "options" in lp
-  assert len(lp["options"]) == 3
-  assert lp["options"][0]["label"] == "Aggressive"
-  assert lp["options"][0]["value"] == 0
-
-  # Check a numeric param
-  acc_long = metadata.get("CustomAccLongPressIncrement")
-  assert acc_long is not None
-  assert acc_long["min"] == 1
-  assert acc_long["max"] == 10
-  assert acc_long["step"] == 1
diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py
deleted file mode 100755
index ac2ef556e6..0000000000
--- a/sunnypilot/sunnylink/tools/update_params_metadata.py
+++ /dev/null
@@ -1,56 +0,0 @@
-#!/usr/bin/env python3
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-import os
-
-from openpilot.common.params import Params
-
-METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
-
-
-def main():
-  params = Params()
-  all_keys = params.all_keys()
-
-  if os.path.exists(METADATA_PATH):
-    with open(METADATA_PATH) as f:
-      try:
-        data = json.load(f)
-      except json.JSONDecodeError:
-        data = {}
-  else:
-    data = {}
-
-  # Add new keys
-  for key in all_keys:
-    key_str = key.decode("utf-8")
-    if key_str not in data:
-      print(f"Adding new key: {key_str}")
-      data[key_str] = {
-        "title": key_str,
-        "description": "",
-      }
-
-  # Remove deleted keys
-  # keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
-  # for k in keys_to_remove:
-  #   print(f"Removing deleted key: {k}")
-  #   del data[k]
-
-  # Sort keys
-  sorted_data = dict(sorted(data.items()))
-
-  with open(METADATA_PATH, "w") as f:
-    json.dump(sorted_data, f, indent=2)
-    f.write("\n")
-
-  print(f"Updated {METADATA_PATH}")
-
-
-if __name__ == "__main__":
-  main()
diff --git a/sunnypilot/system/hardware/c3/README.md b/sunnypilot/system/hardware/c3/README.md
deleted file mode 100644
index f74a210191..0000000000
--- a/sunnypilot/system/hardware/c3/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# C3 specific hardware code
-
-`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.
\ No newline at end of file
diff --git a/sunnypilot/system/hardware/c3/agnos.json b/sunnypilot/system/hardware/c3/agnos.json
deleted file mode 100644
index 941a4956bf..0000000000
--- a/sunnypilot/system/hardware/c3/agnos.json
+++ /dev/null
@@ -1,84 +0,0 @@
-[
-  {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
-    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "size": 3282256,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
-  },
-  {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
-    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "size": 98124,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
-  },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
-  },
-  {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
-    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
-    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
-    "size": 184364,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
-  },
-  {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
-    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
-    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
-    "size": 40336,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
-  },
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
-    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
-    "size": 18515968,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
-    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
-    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-    "size": 5368709120,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
-    "alt": {
-      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
-      "size": 5368709120
-    }
-  }
-]
\ No newline at end of file
diff --git a/sunnypilot/system/hardware/c3/launch_chffrplus.sh b/sunnypilot/system/hardware/c3/launch_chffrplus.sh
deleted file mode 100755
index 45cc950537..0000000000
--- a/sunnypilot/system/hardware/c3/launch_chffrplus.sh
+++ /dev/null
@@ -1,92 +0,0 @@
-#!/usr/bin/env bash
-
-SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-DIR="$( cd "$SP_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
-
-source "$SP_C3_DIR/launch_env.sh"
-
-function agnos_init {
-  # TODO: move this to agnos
-  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
-
-  # set success flag for current boot slot
-  sudo abctl --set_success
-
-  # TODO: do this without udev in AGNOS
-  # udev does this, but sometimes we startup faster
-  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-
-
-  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
-    MANIFEST="$SP_C3_DIR/agnos.json"
-    if $AGNOS_PY --verify $MANIFEST; then
-      sudo reboot
-    fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
-  fi
-}
-
-function launch {
-  # Remove orphaned git lock if it exists on boot
-  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
-
-  # Check to see if there's a valid overlay-based update available. Conditions
-  # are as follows:
-  #
-  # 1. The DIR init file has to exist, with a newer modtime than anything in
-  #    the DIR Git repo. This checks for local development work or the user
-  #    switching branches/forks, which should not be overwritten.
-  # 2. The FINALIZED consistent file has to exist, indicating there's an update
-  #    that completed successfully and synced to disk.
-
-  if [ -f "${DIR}/.overlay_init" ]; then
-    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${DIR} has been modified, skipping overlay update installation"
-    else
-      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
-        if [ ! -d /data/safe_staging/old_openpilot ]; then
-          echo "Valid overlay update found, installing"
-          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
-
-          mv $DIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $DIR
-          cd $DIR
-
-          echo "Restarting launch script ${LAUNCHER_LOCATION}"
-          unset AGNOS_VERSION
-          exec "${LAUNCHER_LOCATION}"
-        else
-          echo "openpilot backup found, not updating"
-          # TODO: restore backup? This means the updater didn't start after swapping
-        fi
-      fi
-    fi
-  fi
-
-  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
-
-  # hardware specific init
-  if [ -f /AGNOS ]; then
-    agnos_init
-  fi
-
-  # write tmux scrollback to a file
-  tmux capture-pane -pq -S-1000 > /tmp/launch_log
-
-  # start manager
-  cd $DIR/system/manager
-  if [ ! -f $DIR/prebuilt ]; then
-    ./build.py
-  fi
-  ./manager.py
-
-  # if broken, keep on screen error
-  while true; do sleep 1; done
-}
-
-launch
diff --git a/sunnypilot/system/hardware/c3/launch_env.sh b/sunnypilot/system/hardware/c3/launch_env.sh
deleted file mode 100755
index 4c011c6ac0..0000000000
--- a/sunnypilot/system/hardware/c3/launch_env.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env bash
-
-export OMP_NUM_THREADS=1
-export MKL_NUM_THREADS=1
-export NUMEXPR_NUM_THREADS=1
-export OPENBLAS_NUM_THREADS=1
-export VECLIB_MAXIMUM_THREADS=1
-
-if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8"
-fi
-
-export STAGING_ROOT="/data/safe_staging"
diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h
deleted file mode 100644
index e8eb117406..0000000000
--- a/system/camerad/cameras/nv12_info.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#pragma once
-
-#include <cassert>
-#include <cstdint>
-#include <tuple>
-
-#include "third_party/linux/include/msm_media_info.h"
-
-// Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions.
-inline std::tuple<uint32_t, uint32_t, uint32_t, uint32_t> get_nv12_info(int width, int height) {
-  const uint32_t stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
-  const uint32_t y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
-  const uint32_t uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, height);
-  const uint32_t size = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
-
-  // Sanity checks for NV12 format assumptions
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, width));
-  assert(y_height / 2 == uv_height);
-  assert((stride * y_height) % 0x1000 == 0);  // uv_offset must be page-aligned
-
-  return {stride, y_height, uv_height, size};
-}
diff --git a/system/camerad/snapshot.py b/system/camerad/snapshot.py
deleted file mode 100755
index 035a4acdcf..0000000000
--- a/system/camerad/snapshot.py
+++ /dev/null
@@ -1,131 +0,0 @@
-#!/usr/bin/env python3
-import subprocess
-import time
-
-import numpy as np
-from PIL import Image
-
-import cereal.messaging as messaging
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.system.hardware import PC
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.manager.process_config import managed_processes
-
-
-VISION_STREAMS = {
-  "roadCameraState": VisionStreamType.VISION_STREAM_ROAD,
-  "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
-  "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD,
-}
-
-
-def jpeg_write(fn, dat):
-  img = Image.fromarray(dat)
-  img.save(fn, "JPEG")
-
-
-def yuv_to_rgb(y, u, v):
-  ul = np.repeat(np.repeat(u, 2).reshape(u.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
-  vl = np.repeat(np.repeat(v, 2).reshape(v.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
-
-  yuv = np.dstack((y, ul, vl)).astype(np.int16)
-  yuv[:, :, 1:] -= 128
-
-  m = np.array([
-    [1.00000,  1.00000, 1.00000],
-    [0.00000, -0.39465, 2.03211],
-    [1.13983, -0.58060, 0.00000],
-  ])
-  rgb = np.dot(yuv, m).clip(0, 255)
-  return rgb.astype(np.uint8)
-
-
-def extract_image(buf):
-  # NV12 format: Y plane followed by interleaved UV plane
-  # UV plane size is stride * uv_height, where uv_height = align(height/2, 16)
-  uv_height = ((buf.height // 2) + 15) // 16 * 16
-  uv_plane_size = buf.stride * uv_height
-
-  y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
-  uv_data = buf.data[buf.uv_offset:buf.uv_offset + uv_plane_size]
-  u = np.array(uv_data[::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
-  v = np.array(uv_data[1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
-
-  return yuv_to_rgb(y, u, v)
-
-
-def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
-  sockets = [s for s in (frame, front_frame) if s is not None]
-  sm = messaging.SubMaster(sockets)
-  vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets}
-
-  # wait 4 sec from camerad startup for focus and exposure
-  while sm[sockets[0]].frameId < int(4. / DT_MDL):
-    sm.update()
-
-  for client in vipc_clients.values():
-    client.connect(True)
-
-  # grab images
-  rear, front = None, None
-  if frame is not None:
-    c = vipc_clients[frame]
-    rear = extract_image(c.recv())
-  if front_frame is not None:
-    c = vipc_clients[front_frame]
-    front = extract_image(c.recv())
-  return rear, front
-
-
-def snapshot():
-  params = Params()
-
-  if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"):
-    print("Already taking snapshot")
-    return None, None
-
-  front_camera_allowed = params.get_bool("RecordFront")
-  params.put_bool("IsTakingSnapshot", True)
-  set_offroad_alert("Offroad_IsTakingSnapshot", True)
-  time.sleep(2.0)  # Give hardwared time to read the param, or if just started give camerad time to start
-
-  # Check if camerad is already started
-  try:
-    subprocess.check_call(["pgrep", "camerad"])
-    print("Camerad already running")
-    params.put_bool("IsTakingSnapshot", False)
-    params.remove("Offroad_IsTakingSnapshot")
-    return None, None
-  except subprocess.CalledProcessError:
-    pass
-
-  try:
-    # Allow testing on replay on PC
-    if not PC:
-      managed_processes['camerad'].start()
-
-    frame = "wideRoadCameraState"
-    front_frame = "driverCameraState" if front_camera_allowed else None
-    rear, front = get_snapshots(frame, front_frame)
-  finally:
-    managed_processes['camerad'].stop()
-    params.put_bool("IsTakingSnapshot", False)
-    set_offroad_alert("Offroad_IsTakingSnapshot", False)
-
-  if not front_camera_allowed:
-    front = None
-
-  return rear, front
-
-
-if __name__ == "__main__":
-  pic, fpic = snapshot()
-  if pic is not None:
-    print(pic.shape)
-    jpeg_write("/tmp/back.jpg", pic)
-    if fpic is not None:
-      jpeg_write("/tmp/front.jpg", fpic)
-  else:
-    print("Error taking snapshot")
diff --git a/system/camerad/test/test_ae_gray.cc b/system/camerad/test/test_ae_gray.cc
deleted file mode 100644
index 39c3d9c4e5..0000000000
--- a/system/camerad/test/test_ae_gray.cc
+++ /dev/null
@@ -1,84 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
-
-#include <cassert>
-
-#include <cmath>
-#include <cstring>
-
-#include "common/util.h"
-#include "system/camerad/cameras/camera_common.h"
-
-#define W 240
-#define H 160
-
-
-#define TONE_SPLITS 3
-
-float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = {
-  0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969,
-  0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750,
-  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000,
-  0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750,
-  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750,
-  0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
-  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
-  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
-  0.000000};
-
-
-TEST_CASE("camera.test_calculate_exposure_value") {
-  // set up fake camerabuf
-  CameraBuf cb = {};
-  VisionBuf vb = {};
-  uint8_t * fb_y = new uint8_t[W*H];
-  vb.y = fb_y;
-  cb.cur_yuv_buf = &vb;
-  cb.out_img_width = W;
-  cb.out_img_height = H;
-  Rect rect = {0, 0, W-1, H-1};
-
-  printf("AE test patterns %dx%d\n", cb.out_img_width, cb.out_img_height);
-
-  // mix of 5 tones
-  uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max
-
-  bool passed = true;
-  float rtol = 0.05;
-  // generate pattern and calculate EV
-  int cnt = 0;
-  for (int i_0=0; i_0<TONE_SPLITS; i_0++) {
-    for (int i_1=0; i_1<TONE_SPLITS; i_1++) {
-      for (int i_2=0; i_2<TONE_SPLITS; i_2++) {
-        for (int i_3=0; i_3<TONE_SPLITS; i_3++) {
-          int h_0 = i_0 * H / TONE_SPLITS;
-          int h_1 = i_1 * (H - h_0) / TONE_SPLITS;
-          int h_2 = i_2 * (H - h_0 - h_1) / TONE_SPLITS;
-          int h_3 = i_3 * (H - h_0 - h_1 - h_2) / TONE_SPLITS;
-          int h_4 = H - h_0 - h_1 - h_2 - h_3;
-          memset(&fb_y[0], l[0], h_0*W);
-          memset(&fb_y[h_0*W], l[1], h_1*W);
-          memset(&fb_y[h_0*W+h_1*W], l[2], h_2*W);
-          memset(&fb_y[h_0*W+h_1*W+h_2*W], l[3], h_3*W);
-          memset(&fb_y[h_0*W+h_1*W+h_2*W+h_3*W], l[4], h_4*W);
-          float ev = calculate_exposure_value((const CameraBuf*) &cb, rect, 1, 1);
-          // printf("%d/%d/%d/%d/%d ev is %f\n", h_0, h_1, h_2, h_3, h_4, ev);
-          // printf("%f\n", ev);
-
-          // compare to gt
-          float evgt = gts[cnt];
-          if (fabs(ev - evgt) > rtol*evgt) {
-            passed = false;
-          }
-
-          // report
-          printf("%d/%d/%d/%d/%d: ev %f, gt %f, err %f\n", h_0, h_1, h_2, h_3, h_4, ev, evgt, fabs(ev - evgt) / (evgt != 0 ? evgt : 0.00001f));
-          cnt++;
-        }
-      }
-    }
-  }
-  assert(passed);
-
-  delete[] fb_y;
-}
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
deleted file mode 100644
index 1f3f97b082..0000000000
--- a/system/camerad/test/test_camerad.py
+++ /dev/null
@@ -1,101 +0,0 @@
-import os
-import time
-import pytest
-import numpy as np
-
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
-from openpilot.system.manager.process_config import managed_processes
-from openpilot.tools.lib.log_time_series import msgs_to_time_series
-
-TEST_TIMESPAN = 10
-CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
-
-
-def run_and_log(procs, services, duration):
-  logs = []
-
-  try:
-    for p in procs:
-      managed_processes[p].start()
-    socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
-
-    start_time = time.monotonic()
-    while time.monotonic() - start_time < duration:
-      for s in socks:
-        logs.extend(messaging.drain_sock(s))
-    for p in procs:
-      assert managed_processes[p].proc.is_alive()
-  finally:
-    for p in procs:
-      managed_processes[p].stop()
-
-  return logs
-
-@pytest.fixture(scope="module")
-def logs():
-  logs = run_and_log(["camerad", ], CAMERAS, TEST_TIMESPAN)
-  ts = msgs_to_time_series(logs)
-
-  for cam in CAMERAS:
-    expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
-    cnt = len(ts[cam]['t'])
-    assert expected_frames*0.8 < cnt < expected_frames*1.2, f"unexpected frame count {cam}: {expected_frames=}, got {cnt}"
-
-    dts = np.abs(np.diff([ts[cam]['timestampSof']/1e6]) - 1000/SERVICE_LIST[cam].frequency)
-    assert (dts < 1.0).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
-  return ts
-
-@pytest.mark.tici
-class TestCamerad:
-  def test_frame_skips(self, logs):
-    for c in CAMERAS:
-      assert set(np.diff(logs[c]['frameId'])) == {1, }, f"{c} has frame skips"
-
-  def test_frame_sync(self, logs):
-    n = range(len(logs['roadCameraState']['t'][:-10]))
-
-    frame_ids = {i: [logs[cam]['frameId'][i] for cam in CAMERAS] for i in n}
-    assert all(len(set(v)) == 1 for v in frame_ids.values()), "frame IDs not aligned"
-
-    frame_times = {i: [logs[cam]['timestampSof'][i] for cam in CAMERAS] for i in n}
-    diffs = {i: (max(ts) - min(ts))/1e6 for i, ts in frame_times.items()}
-
-    laggy_frames = {k: v for k, v in diffs.items() if v > 1.1}
-    assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
-
-  def test_sanity_checks(self, logs):
-    self._sanity_checks(logs)
-
-  def _sanity_checks(self, ts):
-    for c in CAMERAS:
-      assert c in ts
-      assert len(ts[c]['t']) > 20
-
-      # not a valid request id
-      assert 0 not in ts[c]['requestId']
-
-      # should monotonically increase
-      assert np.all(np.diff(ts[c]['frameId']) >= 1)
-      assert np.all(np.diff(ts[c]['requestId']) >= 1)
-
-      # EOF > SOF
-      assert np.all((ts[c]['timestampEof'] - ts[c]['timestampSof']) > 0)
-
-      # logMonoTime > SOF
-      assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 1e-7)
-
-      # logMonoTime > EOF, needs some tolerance since EOF is (SOF + readout time) but there is noise in the SOF timestamping (done via IRQ)
-      assert np.mean((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7) > 0.7  # should be mostly logMonoTime > EOF
-      assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > -0.10)        # when EOF > logMonoTime, it should never be more than two frames
-
-  def test_stress_test(self):
-    os.environ['SPECTRA_ERROR_PROB'] = '0.008'
-    logs = run_and_log(["camerad", ], CAMERAS, 10)
-    ts = msgs_to_time_series(logs)
-
-    # we should see some jumps from introduced errors
-    assert np.max([ np.max(np.diff(ts[c]['frameId'])) for c in CAMERAS ]) > 1
-    assert np.max([ np.max(np.diff(ts[c]['requestId'])) for c in CAMERAS ]) > 1
-
-    self._sanity_checks(ts)
diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
deleted file mode 100644
index 6f89e04800..0000000000
--- a/system/camerad/test/test_exposure.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import time
-import numpy as np
-import pytest
-
-from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.system.camerad.snapshot import get_snapshots
-
-TEST_TIME = 45
-REPEAT = 5
-
-@pytest.mark.tici
-class TestCamerad:
-  @classmethod
-  def setup_class(cls):
-    pass
-
-  def _numpy_rgb2gray(self, im):
-    ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
-    return ret
-
-  def _is_exposure_okay(self, i, med_mean=None):
-    if med_mean is None:
-      med_mean = np.array([[0.18,0.3],[0.18,0.3]])
-    h, w = i.shape[:2]
-    i = i[h//10:9*h//10,w//10:9*w//10]
-    med_ex, mean_ex = med_mean
-    i = self._numpy_rgb2gray(i)
-    i_median = np.median(i) / 255.
-    i_mean = np.mean(i) / 255.
-    print([i_median, i_mean])
-    return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
-
-  @with_processes(['camerad'])
-  def test_camera_operation(self):
-    passed = 0
-    start = time.monotonic()
-    while time.monotonic() - start < TEST_TIME and passed < REPEAT:
-      rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
-      wpic, _ = get_snapshots(frame="wideRoadCameraState")
-
-      res = self._is_exposure_okay(rpic)
-      res = res and self._is_exposure_okay(dpic)
-      res = res and self._is_exposure_okay(wpic)
-
-      if passed > 0 and not res:
-        passed = -passed # fails test if any failure after first sus
-        break
-
-      passed += int(res)
-      time.sleep(2)
-    assert passed >= REPEAT
diff --git a/system/hardware/__init__.py b/system/hardware/__init__.py
deleted file mode 100644
index 99079b5ef3..0000000000
--- a/system/hardware/__init__.py
+++ /dev/null
@@ -1,16 +0,0 @@
-import os
-from typing import cast
-
-from openpilot.system.hardware.base import HardwareBase
-from openpilot.system.hardware.tici.hardware import Tici
-from openpilot.system.hardware.pc.hardware import Pc
-
-TICI = os.path.isfile('/TICI')
-AGNOS = os.path.isfile('/AGNOS')
-PC = not TICI
-
-
-if TICI:
-  HARDWARE = cast(HardwareBase, Tici())
-else:
-  HARDWARE = cast(HardwareBase, Pc())
diff --git a/system/hardware/esim.py b/system/hardware/esim.py
deleted file mode 100755
index 58ead6593f..0000000000
--- a/system/hardware/esim.py
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import time
-from openpilot.system.hardware import HARDWARE
-
-
-if __name__ == '__main__':
-  parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
-  parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi')
-  parser.add_argument('--switch', metavar='iccid', help='switch to profile')
-  parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
-  parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
-  parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
-  args = parser.parse_args()
-
-  mutated = False
-  lpa = HARDWARE.get_sim_lpa()
-  if args.switch:
-    lpa.switch_profile(args.switch)
-    mutated = True
-  elif args.delete:
-    confirm = input('are you sure you want to delete this profile? (y/N) ')
-    if confirm == 'y':
-      lpa.delete_profile(args.delete)
-      mutated = True
-    else:
-      print('cancelled')
-      exit(0)
-  elif args.download:
-    lpa.download_profile(args.download[0], args.download[1])
-  elif args.nickname:
-    lpa.nickname_profile(args.nickname[0], args.nickname[1])
-  else:
-    parser.print_help()
-
-  if mutated:
-    HARDWARE.reboot_modem()
-    # eUICC needs a small delay post-reboot before querying profiles
-    time.sleep(.5)
-
-  profiles = lpa.list_profiles()
-  print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
-  for p in profiles:
-    print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
deleted file mode 100644
index f3d527429c..0000000000
--- a/system/hardware/pc/hardware.py
+++ /dev/null
@@ -1,12 +0,0 @@
-from cereal import log
-from openpilot.system.hardware.base import HardwareBase
-
-NetworkType = log.DeviceState.NetworkType
-
-
-class Pc(HardwareBase):
-  def get_device_type(self):
-    return "pc"
-
-  def get_network_type(self):
-    return NetworkType.wifi
diff --git a/system/hardware/tests/test_fan_controller.py b/system/hardware/tests/test_fan_controller.py
deleted file mode 100644
index ee39a24f87..0000000000
--- a/system/hardware/tests/test_fan_controller.py
+++ /dev/null
@@ -1,50 +0,0 @@
-import pytest
-
-from openpilot.system.hardware.fan_controller import FanController
-
-ALL_CONTROLLERS = [FanController]
-
-def patched_controller(mocker, controller_class):
-  mocker.patch("os.system", new=mocker.Mock())
-  return controller_class(2)
-
-class TestFanController:
-  def wind_up(self, controller, ignition=True):
-    for _ in range(1000):
-      controller.update(100, ignition)
-
-  def wind_down(self, controller, ignition=False):
-    for _ in range(1000):
-      controller.update(10, ignition)
-
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_hot_onroad(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
-    self.wind_up(controller)
-    assert controller.update(100, True) >= 70
-
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_offroad_limits(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
-    self.wind_up(controller)
-    assert controller.update(100, False) <= 30
-
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_no_fan_wear(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
-    self.wind_down(controller)
-    assert controller.update(10, False) == 0
-
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_limited(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
-    self.wind_up(controller, True)
-    assert controller.update(100, True) == 100
-
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
-  def test_windup_speed(self, mocker, controller_class):
-    controller = patched_controller(mocker, controller_class)
-    self.wind_down(controller, True)
-    for _ in range(10):
-      controller.update(90, True)
-    assert controller.update(90, True) >= 60
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
deleted file mode 100644
index e33a26bb2e..0000000000
--- a/system/hardware/tici/agnos.json
+++ /dev/null
@@ -1,84 +0,0 @@
-[
-  {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
-    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
-    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
-    "size": 3282256,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
-  },
-  {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
-    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
-    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
-    "size": 98124,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
-  },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
-  },
-  {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
-    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
-    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
-    "size": 184364,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
-  },
-  {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
-    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
-    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
-    "size": 40336,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
-  },
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756.img.xz",
-    "hash": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
-    "hash_raw": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
-    "size": 17496064,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "0ee1ab104bb46d0f72e7d0b7d3e94629a7644a368896c6d4c558554fb955a08a"
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz",
-    "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9",
-    "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
-    "size": 4718592000,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da",
-    "alt": {
-      "hash": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img",
-      "size": 4718592000
-    }
-  }
-]
\ No newline at end of file
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
new file mode 120000
index 0000000000..7bc8df1b8c
--- /dev/null
+++ b/system/hardware/tici/agnos.json
@@ -0,0 +1 @@
+../../../openpilot/system/hardware/comma/agnos.json
\ No newline at end of file
diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection
deleted file mode 100644
index 74f6f8e82c..0000000000
--- a/system/hardware/tici/esim.nmconnection
+++ /dev/null
@@ -1,30 +0,0 @@
-[connection]
-id=esim
-uuid=fff6553c-3284-4707-a6b1-acc021caaafb
-type=gsm
-permissions=
-autoconnect=true
-autoconnect-retries=100
-autoconnect-priority=2
-metered=1
-
-[gsm]
-apn=
-home-only=false
-auto-config=true
-sim-id=
-
-[ipv4]
-route-metric=1000
-dns-priority=1000
-dns-search=
-method=auto
-
-[ipv6]
-ddr-gen-mode=stable-privacy
-dns-search=
-route-metric=1000
-dns-priority=1000
-method=auto
-
-[proxy]
diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py
deleted file mode 100644
index b489286f50..0000000000
--- a/system/hardware/tici/esim.py
+++ /dev/null
@@ -1,106 +0,0 @@
-import json
-import os
-import shutil
-import subprocess
-from typing import Literal
-
-from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
-
-class TiciLPA(LPABase):
-  def __init__(self, interface: Literal['qmi', 'at'] = 'qmi'):
-    self.env = os.environ.copy()
-    self.env['LPAC_APDU'] = interface
-    self.env['QMI_DEVICE'] = '/dev/cdc-wdm0'
-    self.env['AT_DEVICE'] = '/dev/ttyUSB2'
-
-    self.timeout_sec = 45
-
-    if shutil.which('lpac') is None:
-      raise LPAError('lpac not found, must be installed!')
-
-  def list_profiles(self) -> list[Profile]:
-    msgs = self._invoke('profile', 'list')
-    self._validate_successful(msgs)
-    return [Profile(
-      iccid=p['iccid'],
-      nickname=p['profileNickname'],
-      enabled=p['profileState'] == 'enabled',
-      provider=p['serviceProviderName']
-    ) for p in msgs[-1]['payload']['data']]
-
-  def get_active_profile(self) -> Profile | None:
-    return next((p for p in self.list_profiles() if p.enabled), None)
-
-  def delete_profile(self, iccid: str) -> None:
-    self._validate_profile_exists(iccid)
-    latest = self.get_active_profile()
-    if latest is not None and latest.iccid == iccid:
-      raise LPAError('cannot delete active profile, switch to another profile first')
-    self._validate_successful(self._invoke('profile', 'delete', iccid))
-    self._process_notifications()
-
-  def download_profile(self, qr: str, nickname: str | None = None) -> None:
-    msgs = self._invoke('profile', 'download', '-a', qr)
-    self._validate_successful(msgs)
-    new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None)
-    if new_profile is None:
-      raise LPAError('no new profile found')
-    if nickname:
-      self.nickname_profile(new_profile['payload']['data']['iccid'], nickname)
-    self._process_notifications()
-
-  def nickname_profile(self, iccid: str, nickname: str) -> None:
-    self._validate_profile_exists(iccid)
-    self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname))
-
-  def switch_profile(self, iccid: str) -> None:
-    self._validate_profile_exists(iccid)
-    latest = self.get_active_profile()
-    if latest and latest.iccid == iccid:
-      return
-    self._validate_successful(self._invoke('profile', 'enable', iccid))
-    self._process_notifications()
-
-  def _invoke(self, *cmd: str):
-    proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env)
-    try:
-      out, err = proc.communicate(timeout=self.timeout_sec)
-    except subprocess.TimeoutExpired as e:
-      proc.kill()
-      raise LPAError(f"lpac {cmd} timed out after {self.timeout_sec} seconds") from e
-
-    messages = []
-    for line in out.decode().strip().splitlines():
-      if line.startswith('{'):
-        message = json.loads(line)
-
-        # lpac response format validations
-        assert 'type' in message, 'expected type in message'
-        assert message['type'] == 'lpa' or message['type'] == 'progress', 'expected lpa or progress message type'
-        assert 'payload' in message, 'expected payload in message'
-        assert 'code' in message['payload'], 'expected code in message payload'
-        assert 'data' in message['payload'], 'expected data in message payload'
-
-        msg_ret_code = message['payload']['code']
-        if msg_ret_code != 0:
-          raise LPAError(f"lpac {' '.join(cmd)} failed with code {msg_ret_code}: <{message['payload']['message']}> {message['payload']['data']}")
-
-        messages.append(message)
-
-    if len(messages) == 0:
-      raise LPAError(f"lpac {cmd} returned no messages")
-
-    return messages
-
-  def _process_notifications(self) -> None:
-    """
-    Process notifications stored on the eUICC, typically to activate/deactivate the profile with the carrier.
-    """
-    self._validate_successful(self._invoke('notification', 'process', '-a', '-r'))
-
-  def _validate_profile_exists(self, iccid: str) -> None:
-    if not any(p.iccid == iccid for p in self.list_profiles()):
-      raise LPAProfileNotFoundError(f'profile {iccid} does not exist')
-
-  def _validate_successful(self, msgs: list[dict]) -> None:
-    assert msgs[-1]['payload']['message'] == 'success', 'expected success notification'
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
deleted file mode 100644
index 5a84afce03..0000000000
--- a/system/hardware/tici/hardware.py
+++ /dev/null
@@ -1,608 +0,0 @@
-import math
-import os
-import subprocess
-import time
-import tempfile
-from enum import IntEnum
-from functools import cached_property, lru_cache
-from pathlib import Path
-
-from cereal import log
-from openpilot.common.utils import sudo_read, sudo_write
-from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
-from openpilot.system.hardware.tici import iwlist
-from openpilot.system.hardware.tici.esim import TiciLPA
-from openpilot.system.hardware.tici.pins import GPIO
-from openpilot.system.hardware.tici.amplifier import Amplifier
-
-NM = 'org.freedesktop.NetworkManager'
-NM_CON_ACT = NM + '.Connection.Active'
-NM_DEV = NM + '.Device'
-NM_DEV_WL = NM + '.Device.Wireless'
-NM_DEV_STATS = NM + '.Device.Statistics'
-NM_AP = NM + '.AccessPoint'
-DBUS_PROPS = 'org.freedesktop.DBus.Properties'
-
-MM = 'org.freedesktop.ModemManager1'
-MM_MODEM = MM + ".Modem"
-MM_MODEM_SIMPLE = MM + ".Modem.Simple"
-MM_SIM = MM + ".Sim"
-
-class MM_MODEM_STATE(IntEnum):
-  FAILED        = -1
-  UNKNOWN       = 0
-  INITIALIZING  = 1
-  LOCKED        = 2
-  DISABLED      = 3
-  DISABLING     = 4
-  ENABLING      = 5
-  ENABLED       = 6
-  SEARCHING     = 7
-  REGISTERED    = 8
-  DISCONNECTING = 9
-  CONNECTING    = 10
-  CONNECTED     = 11
-
-class NMMetered(IntEnum):
-  NM_METERED_UNKNOWN = 0
-  NM_METERED_YES = 1
-  NM_METERED_NO = 2
-  NM_METERED_GUESS_YES = 3
-  NM_METERED_GUESS_NO = 4
-
-TIMEOUT = 0.1
-REFRESH_RATE_MS = 1000
-
-NetworkType = log.DeviceState.NetworkType
-NetworkStrength = log.DeviceState.NetworkStrength
-
-# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology
-MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
-MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
-
-
-def affine_irq(val, action):
-  irqs = get_irqs_for_action(action)
-  if len(irqs) == 0:
-    print(f"No IRQs found for '{action}'")
-    return
-
-  for i in irqs:
-    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
-
-@lru_cache
-def get_device_type():
-  # lru_cache and cache can cause memory leaks when used in classes
-  with open("/sys/firmware/devicetree/base/model") as f:
-    model = f.read().strip('\x00')
-  return model.split('comma ')[-1]
-
-class Tici(HardwareBase):
-  @cached_property
-  def bus(self):
-    import dbus
-    return dbus.SystemBus()
-
-  @cached_property
-  def nm(self):
-    return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
-
-  @property # this should not be cached, in case the modemmanager restarts
-  def mm(self):
-    return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
-
-  @cached_property
-  def amplifier(self):
-    if self.get_device_type() == "mici":
-      return None
-    return Amplifier()
-
-  def get_os_version(self):
-    with open("/VERSION") as f:
-      return f.read().strip()
-
-  def get_device_type(self):
-    return get_device_type()
-
-  def reboot(self, reason=None):
-    subprocess.check_output(["sudo", "reboot"])
-
-  def uninstall(self):
-    Path("/data/__system_reset__").touch()
-    os.sync()
-    self.reboot()
-
-  def get_serial(self):
-    return self.get_cmdline()['androidboot.serialno']
-
-  def get_voltage(self):
-    with open("/sys/class/hwmon/hwmon1/in1_input") as f:
-      return int(f.read())
-
-  def get_current(self):
-    with open("/sys/class/hwmon/hwmon1/curr1_input") as f:
-      return int(f.read())
-
-  def set_ir_power(self, percent: int):
-    if self.get_device_type() == "tizi":
-      return
-
-    value = int((percent / 100) * 300)
-    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
-      f.write("0\n")
-    with open("/sys/class/leds/led:torch_2/brightness", "w") as f:
-      f.write(f"{value}\n")
-    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
-      f.write(f"{value}\n")
-
-  def get_network_type(self):
-    try:
-      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      primary_connection = self.bus.get_object(NM, primary_connection)
-      primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-      if primary_type == '802-3-ethernet':
-        return NetworkType.ethernet
-      elif primary_type == '802-11-wireless':
-        return NetworkType.wifi
-      else:
-        active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-        for conn in active_connections:
-          c = self.bus.get_object(NM, conn)
-          tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-          if tp == 'gsm':
-            modem = self.get_modem()
-            access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-            if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE:
-              return NetworkType.cell4G
-            elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS:
-              return NetworkType.cell3G
-            else:
-              return NetworkType.cell2G
-    except Exception:
-      pass
-
-    return NetworkType.none
-
-  def get_modem(self):
-    objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT)
-    modem_path = list(objects.keys())[0]
-    return self.bus.get_object(MM, modem_path)
-
-  def get_wlan(self):
-    wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
-    return self.bus.get_object(NM, wlan_path)
-
-  def get_wwan(self):
-    wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT)
-    return self.bus.get_object(NM, wwan_path)
-
-  def get_sim_info(self):
-    modem = self.get_modem()
-    sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-    if sim_path == "/":
-      return {
-        'sim_id': '',
-        'mcc_mnc': None,
-        'network_type': ["Unknown"],
-        'sim_state': ["ABSENT"],
-        'data_connected': False
-      }
-    else:
-      sim = self.bus.get_object(MM, sim_path)
-      return {
-        'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
-        'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
-        'network_type': ["Unknown"],
-        'sim_state': ["READY"],
-        'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
-      }
-
-  def get_sim_lpa(self) -> LPABase:
-    return TiciLPA()
-
-  def get_imei(self, slot):
-    if slot != 0:
-      return ""
-
-    return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
-
-  def get_network_info(self):
-    if self.get_device_type() == "mici":
-      return None
-    try:
-      modem = self.get_modem()
-      info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-    except Exception:
-      return None
-
-    if info and info.startswith('+QNWINFO: '):
-      info = info.replace('+QNWINFO: ', '').replace('"', '').split(',')
-      extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '')
-      state = "" if state is None else MM_MODEM_STATE(state).name
-
-      if len(info) != 4:
-        return None
-
-      technology, operator, band, channel = info
-
-      return({
-        'technology': technology,
-        'operator': operator,
-        'band': band,
-        'channel': int(channel),
-        'extra': extra,
-        'state': state,
-      })
-    else:
-      return None
-
-  def parse_strength(self, percentage):
-    if percentage < 25:
-      return NetworkStrength.poor
-    elif percentage < 50:
-      return NetworkStrength.moderate
-    elif percentage < 75:
-      return NetworkStrength.good
-    else:
-      return NetworkStrength.great
-
-  def get_network_strength(self, network_type):
-    network_strength = NetworkStrength.unknown
-
-    try:
-      if network_type == NetworkType.none:
-        pass
-      elif network_type == NetworkType.wifi:
-        wlan = self.get_wlan()
-        active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-        if active_ap_path != "/":
-          active_ap = self.bus.get_object(NM, active_ap_path)
-          strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
-          network_strength = self.parse_strength(strength)
-      else:  # Cellular
-        modem = self.get_modem()
-        strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0])
-        network_strength = self.parse_strength(strength)
-    except Exception:
-      pass
-
-    return network_strength
-
-  def get_network_metered(self, network_type) -> bool:
-    try:
-      primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      primary_connection = self.bus.get_object(NM, primary_connection)
-      primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-      for dev in primary_devices:
-        dev_obj = self.bus.get_object(NM, str(dev))
-        metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-        if network_type == NetworkType.wifi:
-          if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
-            return True
-        elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]:
-          if metered_prop == NMMetered.NM_METERED_NO:
-            return False
-    except Exception:
-      pass
-
-    return super().get_network_metered(network_type)
-
-  def get_modem_version(self):
-    try:
-      modem = self.get_modem()
-      return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-    except Exception:
-      return None
-
-  def get_modem_temperatures(self):
-    timeout = 0.2  # Default timeout is too short
-    try:
-      modem = self.get_modem()
-      temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
-      return list(filter(lambda t: t != 255, map(int, temps.split(' ')[1].split(','))))
-    except Exception:
-      return []
-
-
-  def get_current_power_draw(self):
-    return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
-
-  def get_som_power_draw(self):
-    return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
-
-  def shutdown(self):
-    os.system("sudo poweroff")
-
-  def get_thermal_config(self):
-    intake, exhaust, case = None, None, None
-    if self.get_device_type() == "mici":
-      case = ThermalZone("case")
-      intake = ThermalZone("intake")
-      exhaust = ThermalZone("exhaust")
-    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
-                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
-                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
-                         dsp=ThermalZone("compute-hvx-usr"),
-                         memory=ThermalZone("ddr-usr"),
-                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
-                         intake=intake,
-                         exhaust=exhaust,
-                         case=case)
-
-  def set_display_power(self, on):
-    try:
-      with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f:
-        f.write("0" if on else "4")
-    except Exception:
-      pass
-
-  def set_screen_brightness(self, percentage):
-    try:
-      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
-        max_brightness = float(f.read().strip())
-
-      val = int(percentage * (max_brightness / 100.))
-      with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
-        f.write(str(val))
-    except Exception:
-      pass
-
-  def get_screen_brightness(self):
-    try:
-      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
-        max_brightness = float(f.read().strip())
-
-      with open("/sys/class/backlight/panel0-backlight/brightness") as f:
-        return int(float(f.read()) / (max_brightness / 100.))
-    except Exception:
-      return 0
-
-  def set_power_save(self, powersave_enabled):
-    # amplifier, 100mW at idle
-    if self.amplifier is not None:
-      self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
-      if not powersave_enabled:
-        self.amplifier.initialize_configuration()
-
-    # *** CPU config ***
-
-    # offline big cluster
-    for i in range(4, 8):
-      val = '0' if powersave_enabled else '1'
-      sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
-
-    for n in ('0', '4'):
-      if powersave_enabled and n == '4':
-        continue
-      gov = 'ondemand' if powersave_enabled else 'performance'
-      sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
-
-    # *** IRQ config ***
-
-    # GPU, modeld core
-    affine_irq(7, "kgsl-3d0")
-
-    # camerad core
-    camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
-    for n in camera_irqs:
-      affine_irq(6, n)
-
-  def get_gpu_usage_percent(self):
-    try:
-      with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f:
-        used, total = f.read().strip().split()
-      return 100.0 * int(used) / int(total)
-    except Exception:
-      return 0
-
-  def initialize_hardware(self):
-    if self.amplifier is not None:
-      self.amplifier.initialize_configuration()
-
-    # Allow hardwared to write engagement status to kmsg
-    os.system("sudo chmod a+w /dev/kmsg")
-
-    # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
-    gpio_init(GPIO.SOM_ST_IO, True)
-    gpio_set(GPIO.SOM_ST_IO, 1)
-
-    # *** IRQ config ***
-
-    # mask off big cluster from default affinity
-    sudo_write("f", "/proc/irq/default_smp_affinity")
-
-    # move these off the default core
-    affine_irq(1, "msm_vidc")  # encoders
-    affine_irq(1, "i2c_geni")  # sensors
-
-    # *** GPU config ***
-    # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
-    affine_irq(5, "fts_ts")    # touch
-    affine_irq(5, "msm_drm")   # display
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
-    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
-    sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
-    sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
-    sudo_write("710", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
-
-    # setup governors
-    sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
-    sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor")
-    sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor")
-
-    # *** VIDC (encoder) config ***
-    sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
-    sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
-
-    # pandad core
-    affine_irq(3, "spi_geni")         # SPI
-    try:
-      pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
-      subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
-      subprocess.call(["sudo", "taskset", "-pc", "3", pid])
-    except subprocess.CalledProcessException as e:
-      print(str(e))
-
-  def configure_modem(self):
-    sim_id = self.get_sim_info().get('sim_id', '')
-
-    modem = self.get_modem()
-    try:
-      manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
-    except Exception:
-      manufacturer = None
-
-    cmds = []
-
-    if self.get_device_type() in ("tizi", ):
-      # clear out old blue prime initial APN
-      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
-
-      cmds += [
-        # SIM hot swap
-        'AT+QSIMDET=1,0',
-        'AT+QSIMSTAT=1',
-
-        # configure modem as data-centric
-        'AT+QNVW=5280,0,"0102000000000000"',
-        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
-        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
-      ]
-    elif manufacturer == 'Cavli Inc.':
-      cmds += [
-        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
-        'AT$QCSIMSLEEP=0',  # disable SIM sleep
-        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable
-
-        # ethernet config
-        'AT$QCPCFG=usbNet,0',
-        'AT$QCNETDEVCTL=3,1',
-      ]
-    else:
-      # this modem gets upset with too many AT commands
-      if sim_id is None or len(sim_id) == 0:
-        cmds += [
-          # SIM sleep disable
-          'AT$QCSIMSLEEP=0',
-          'AT$QCSIMCFG=SimPowerSave,0',
-
-          # ethernet config
-          'AT$QCPCFG=usbNet,1',
-        ]
-
-    for cmd in cmds:
-      try:
-        modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      except Exception:
-        pass
-
-    # eSIM prime
-    dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest):
-      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
-        dat = f.read()
-        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
-        tf.write(dat)
-        tf.flush()
-
-        # needs to be root
-        os.system(f"sudo cp {tf.name} {dest}")
-      os.system(f"sudo nmcli con load {dest}")
-
-  def reboot_modem(self):
-    modem = self.get_modem()
-    for state in (0, 1):
-      try:
-        modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
-      except Exception:
-        pass
-
-  def get_networks(self):
-    r = {}
-
-    wlan = iwlist.scan()
-    if wlan is not None:
-      r['wlan'] = wlan
-
-    lte_info = self.get_network_info()
-    if lte_info is not None:
-      extra = lte_info['extra']
-
-      # <state>,"LTE",<is_tdd>,<mcc>,<mnc>,<cellid>,<pcid>,<earfcn>,<freq_band_ind>,
-      # <ul_bandwidth>,<dl_bandwidth>,<tac>,<rsrp>,<rsrq>,<rssi>,<sinr>,<srxlev>
-      if 'LTE' in extra:
-        extra = extra.split(',')
-        try:
-          r['lte'] = [{
-            "mcc": int(extra[3]),
-            "mnc": int(extra[4]),
-            "cid": int(extra[5], 16),
-            "nmr": [{"pci": int(extra[6]), "earfcn": int(extra[7])}],
-          }]
-        except (ValueError, IndexError):
-          pass
-
-    return r
-
-  def get_modem_data_usage(self):
-    try:
-      wwan = self.get_wwan()
-
-      # Ensure refresh rate is set so values don't go stale
-      refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      if refresh_rate != REFRESH_RATE_MS:
-        u = type(refresh_rate)
-        wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-
-      tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
-      return int(tx), int(rx)
-    except Exception:
-      return -1, -1
-
-  def has_internal_panda(self):
-    return True
-
-  def reset_internal_panda(self):
-    gpio_init(GPIO.STM_RST_N, True)
-    gpio_init(GPIO.STM_BOOT0, True)
-
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 0)
-    time.sleep(1)
-    gpio_set(GPIO.STM_RST_N, 0)
-
-  def recover_internal_panda(self):
-    gpio_init(GPIO.STM_RST_N, True)
-    gpio_init(GPIO.STM_BOOT0, True)
-
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 1)
-    time.sleep(0.5)
-    gpio_set(GPIO.STM_RST_N, 0)
-    time.sleep(0.5)
-    gpio_set(GPIO.STM_BOOT0, 0)
-
-  def booted(self):
-    # this normally boots within 8s, but on rare occasions takes 30+s
-    encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info")
-    if "Core state: 0" in encoder_state and (time.monotonic() < 60*2):
-      return False
-    return True
-
-if __name__ == "__main__":
-  t = Tici()
-  t.configure_modem()
-  t.initialize_hardware()
-  t.set_power_save(False)
-  print(t.get_sim_info())
diff --git a/system/hardware/tici/iwlist.py b/system/hardware/tici/iwlist.py
deleted file mode 100644
index 1e7c428b40..0000000000
--- a/system/hardware/tici/iwlist.py
+++ /dev/null
@@ -1,35 +0,0 @@
-import subprocess
-
-
-def scan(interface="wlan0"):
-  result = []
-  try:
-    r = subprocess.check_output(["iwlist", interface, "scan"], encoding='utf8')
-
-    mac = None
-    for line in r.split('\n'):
-      if "Address" in line:
-        # Based on the adapter eithere a percentage or dBm is returned
-        # Add previous network in case no dBm signal level was seen
-        if mac is not None:
-          result.append({"mac": mac})
-          mac = None
-
-        mac = line.split(' ')[-1]
-      elif "dBm" in line:
-        try:
-          level = line.split('Signal level=')[1]
-          rss = int(level.split(' ')[0])
-          result.append({"mac": mac, "rss": rss})
-          mac = None
-        except ValueError:
-          continue
-
-    # Add last network if no dBm was found
-    if mac is not None:
-      result.append({"mac": mac})
-
-    return result
-
-  except Exception:
-    return None
diff --git a/system/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py
deleted file mode 100755
index 52fe0850ab..0000000000
--- a/system/hardware/tici/precise_power_measure.py
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-from openpilot.system.hardware.tici.power_monitor import sample_power
-
-if __name__ == '__main__':
-  print("measuring for 5 seconds")
-  for _ in range(3):
-    pwrs = sample_power()
-    print(f"mean {np.mean(pwrs):.2f} std {np.std(pwrs):.2f}")
diff --git a/system/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh
deleted file mode 100755
index 741dc72050..0000000000
--- a/system/hardware/tici/restart_modem.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env bash
-
-#nmcli connection modify --temporary lte gsm.home-only yes
-#nmcli connection modify --temporary lte gsm.auto-config yes
-#nmcli connection modify --temporary lte connection.autoconnect-retries 20
-sudo nmcli connection reload
-
-sudo systemctl stop ModemManager
-nmcli con down lte
-nmcli con down blue-prime
-
-# power cycle modem
-/usr/comma/lte/lte.sh stop_blocking
-/usr/comma/lte/lte.sh start
-
-sudo systemctl restart NetworkManager
-#sudo systemctl restart ModemManager
-sudo ModemManager --debug
diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py
deleted file mode 100755
index 7de66d91d0..0000000000
--- a/system/hardware/tici/tests/compare_casync_manifest.py
+++ /dev/null
@@ -1,73 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import collections
-import multiprocessing
-import os
-
-import requests
-from tqdm import tqdm
-
-import openpilot.system.hardware.tici.casync as casync
-
-
-def get_chunk_download_size(chunk):
-  sha = chunk.sha.hex()
-  path = os.path.join(remote_url, sha[:4], sha + ".cacnk")
-  if os.path.isfile(path):
-    return os.path.getsize(path)
-  else:
-    r = requests.head(path, timeout=10)
-    r.raise_for_status()
-    return int(r.headers['content-length'])
-
-
-if __name__ == "__main__":
-
-  parser = argparse.ArgumentParser(description='Compute overlap between two casync manifests')
-  parser.add_argument('frm')
-  parser.add_argument('to')
-  args = parser.parse_args()
-
-  frm = casync.parse_caibx(args.frm)
-  to = casync.parse_caibx(args.to)
-  remote_url = args.to.replace('.caibx', '')
-
-  most_common = collections.Counter(t.sha for t in to).most_common(1)[0][0]
-
-  frm_dict = casync.build_chunk_dict(frm)
-
-  # Get content-length for each chunk
-  with multiprocessing.Pool() as pool:
-    szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to)))
-  chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs, strict=True)}
-
-  sources: dict[str, list[int]] = {
-    'seed': [],
-    'remote_uncompressed': [],
-    'remote_compressed': [],
-  }
-
-  for chunk in to:
-    # Assume most common chunk is the zero chunk
-    if chunk.sha == most_common:
-      continue
-
-    if chunk.sha in frm_dict:
-      sources['seed'].append(chunk.length)
-    else:
-      sources['remote_uncompressed'].append(chunk.length)
-      sources['remote_compressed'].append(chunk_sizes[chunk.sha])
-
-  print()
-  print("Update statistics (excluding zeros)")
-  print()
-  print("Download only with no seed:")
-  print(f"  Remote (uncompressed)\t\t{sum(sources['seed'] + sources['remote_uncompressed']) / 1000 / 1000:.2f} MB\tn = {len(to)}")
-  print(f"  Remote (compressed download)\t{sum(chunk_sizes.values()) / 1000 / 1000:.2f} MB\tn = {len(to)}")
-  print()
-  print("Upgrade with seed partition:")
-  print(f"  Seed   (uncompressed)\t\t{sum(sources['seed']) / 1000 / 1000:.2f} MB\t\t\t\tn = {len(sources['seed'])}")
-  sz, n = sum(sources['remote_uncompressed']), len(sources['remote_uncompressed'])
-  print(f"  Remote (uncompressed)\t\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
-  sz, n = sum(sources['remote_compressed']), len(sources['remote_compressed'])
-  print(f"  Remote (compressed download)\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
diff --git a/system/hardware/tici/tests/test_esim.py b/system/hardware/tici/tests/test_esim.py
deleted file mode 100644
index 6fab931cce..0000000000
--- a/system/hardware/tici/tests/test_esim.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import pytest
-
-from openpilot.system.hardware import HARDWARE, TICI
-from openpilot.system.hardware.base import LPAProfileNotFoundError
-
-# https://euicc-manual.osmocom.org/docs/rsp/known-test-profile
-# iccid is always the same for the given activation code
-TEST_ACTIVATION_CODE = 'LPA:1$rsp.truphone.com$QRF-BETTERROAMING-PMRDGIR2EARDEIT5'
-TEST_ICCID = '8944476500001944011'
-
-TEST_NICKNAME = 'test_profile'
-
-def cleanup():
-  lpa = HARDWARE.get_sim_lpa()
-  try:
-    lpa.delete_profile(TEST_ICCID)
-  except LPAProfileNotFoundError:
-    pass
-  lpa.process_notifications()
-
-class TestEsim:
-
-  @classmethod
-  def setup_class(cls):
-    if not TICI:
-      pytest.skip()
-    cleanup()
-
-  @classmethod
-  def teardown_class(cls):
-    cleanup()
-
-  def test_provision_enable_disable(self):
-    lpa = HARDWARE.get_sim_lpa()
-    current_active = lpa.get_active_profile()
-
-    lpa.download_profile(TEST_ACTIVATION_CODE, TEST_NICKNAME)
-    assert any(p.iccid == TEST_ICCID and p.nickname == TEST_NICKNAME for p in lpa.list_profiles())
-
-    lpa.enable_profile(TEST_ICCID)
-    new_active = lpa.get_active_profile()
-    assert new_active is not None
-    assert new_active.iccid == TEST_ICCID
-    assert new_active.nickname == TEST_NICKNAME
-
-    lpa.disable_profile(TEST_ICCID)
-    new_active = lpa.get_active_profile()
-    assert new_active is None
-
-    if current_active:
-      lpa.enable_profile(current_active.iccid)
diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater
deleted file mode 100755
index 69ce323a10..0000000000
--- a/system/hardware/tici/updater
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-AGNOS_PY=$1
-MANIFEST=$2
-
-if [[ ! -f "$AGNOS_PY" || ! -f "$MANIFEST" ]]; then
-  echo "invalid args"
-  exit 1
-fi
-
-if systemctl is-active --quiet weston-ready; then
-  $DIR/updater_weston $AGNOS_PY $MANIFEST
-else
-  $DIR/updater_magic $AGNOS_PY $MANIFEST
-fi
diff --git a/system/hardware/tici/updater_magic b/system/hardware/tici/updater_magic
deleted file mode 100755
index ec586dbcb3..0000000000
--- a/system/hardware/tici/updater_magic
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c44fb88b3b1643b6b44ae8ac9880348bd0257ff90f4084cbe889de91d71653fe
-size 25111329
diff --git a/system/hardware/tici/updater_weston b/system/hardware/tici/updater_weston
deleted file mode 100755
index 23cdc140f4..0000000000
--- a/system/hardware/tici/updater_weston
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eba5f44e6a763e1f74d1c718993218adcc72cba4caafe99b595fa701151a4c54
-size 10448792
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
deleted file mode 100644
index cf169f4dc6..0000000000
--- a/system/loggerd/SConscript
+++ /dev/null
@@ -1,26 +0,0 @@
-Import('env', 'arch', 'messaging', 'common', 'visionipc')
-
-libs = [common, messaging, visionipc,
-        'avformat', 'avcodec', 'avutil',
-        'yuv', 'OpenCL', 'pthread', 'zstd']
-
-src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
-if arch != "larch64":
-  src += ['encoder/ffmpeg_encoder.cc']
-
-if arch == "Darwin":
-  # fix OpenCL
-  del libs[libs.index('OpenCL')]
-  env['FRAMEWORKS'] = ['OpenCL']
-  # exclude v4l
-  del src[src.index('encoder/v4l_encoder.cc')]
-
-logger_lib = env.Library('logger', src)
-libs.insert(0, logger_lib)
-
-env.Program('loggerd', ['loggerd.cc'], LIBS=libs)
-env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"])
-env.Program('bootlog.cc', LIBS=libs)
-
-if GetOption('extras'):
-  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs + ['curl', 'crypto'])
diff --git a/system/loggerd/encoder/jpeg_encoder.cc b/system/loggerd/encoder/jpeg_encoder.cc
deleted file mode 100644
index 6bb946157c..0000000000
--- a/system/loggerd/encoder/jpeg_encoder.cc
+++ /dev/null
@@ -1,105 +0,0 @@
-#include "system/loggerd/encoder/jpeg_encoder.h"
-
-#include <cassert>
-#include <cstring>
-
-JpegEncoder::JpegEncoder(const std::string &pusblish_name, int width, int height)
-    : publish_name(pusblish_name), thumbnail_width(width), thumbnail_height(height) {
-  yuv_buffer.resize((thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2);
-  pm = std::make_unique<PubMaster>(std::vector{pusblish_name.c_str()});
-}
-
-JpegEncoder::~JpegEncoder() {
-  if (out_buffer) {
-    free(out_buffer);
-  }
-}
-
-void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra) {
-  generateThumbnail(buf->y, buf->uv, buf->width, buf->height, buf->stride);
-
-  MessageBuilder msg;
-  auto thumbnaild = msg.initEvent().initThumbnail();
-  thumbnaild.setFrameId(extra.frame_id);
-  thumbnaild.setTimestampEof(extra.timestamp_eof);
-  thumbnaild.setThumbnail({out_buffer, out_size});
-
-  pm->send(publish_name.c_str(), msg);
-}
-
-void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_addr, int width, int height, int stride) {
-  int downscale = width / thumbnail_width;
-  assert(downscale * thumbnail_height == height);
-
-  // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
-  uint8_t *y_plane = yuv_buffer.data();
-  uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
-  uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;
-  {
-    // subsampled conversion from nv12 to yuv
-    for (int hy = 0; hy < thumbnail_height / 2; hy++) {
-      for (int hx = 0; hx < thumbnail_width / 2; hx++) {
-        int ix = hx * downscale + (downscale - 1) / 2;
-        int iy = hy * downscale + (downscale - 1) / 2;
-        y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 0];
-        y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 1];
-        y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 0];
-        y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 1];
-        u_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 0];
-        v_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 1];
-      }
-    }
-  }
-
-  compressToJpeg(y_plane, u_plane, v_plane);
-}
-
-void JpegEncoder::compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane) {
-  struct jpeg_compress_struct cinfo;
-  struct jpeg_error_mgr jerr;
-  cinfo.err = jpeg_std_error(&jerr);
-  jpeg_create_compress(&cinfo);
-
-  if (out_buffer) {
-    free(out_buffer);
-    out_buffer = nullptr;
-    out_size = 0;
-  }
-  jpeg_mem_dest(&cinfo, &out_buffer, &out_size);
-
-  cinfo.image_width = thumbnail_width;
-  cinfo.image_height = thumbnail_height;
-  cinfo.input_components = 3;
-
-  jpeg_set_defaults(&cinfo);
-  jpeg_set_colorspace(&cinfo, JCS_YCbCr);
-  // configure sampling factors for yuv420.
-  cinfo.comp_info[0].h_samp_factor = 2;  // Y
-  cinfo.comp_info[0].v_samp_factor = 2;
-  cinfo.comp_info[1].h_samp_factor = 1;  // U
-  cinfo.comp_info[1].v_samp_factor = 1;
-  cinfo.comp_info[2].h_samp_factor = 1;  // V
-  cinfo.comp_info[2].v_samp_factor = 1;
-  cinfo.raw_data_in = TRUE;
-
-  jpeg_set_quality(&cinfo, 50, TRUE);
-  jpeg_start_compress(&cinfo, TRUE);
-
-  JSAMPROW y[16], u[8], v[8];
-  JSAMPARRAY planes[3]{y, u, v};
-
-  for (int line = 0; line < cinfo.image_height; line += 16) {
-    for (int i = 0; i < 16; ++i) {
-      y[i] = y_plane + (line + i) * cinfo.image_width;
-      if (i % 2 == 0) {
-        int offset = (cinfo.image_width / 2) * ((i + line) / 2);
-        u[i / 2] = u_plane + offset;
-        v[i / 2] = v_plane + offset;
-      }
-    }
-    jpeg_write_raw_data(&cinfo, planes, 16);
-  }
-
-  jpeg_finish_compress(&cinfo);
-  jpeg_destroy_compress(&cinfo);
-}
diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h
deleted file mode 100644
index 58011d60e1..0000000000
--- a/system/loggerd/encoder/v4l_encoder.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#pragma once
-
-#include "common/queue.h"
-#include "system/loggerd/encoder/encoder.h"
-
-#define BUF_IN_COUNT 7
-#define BUF_OUT_COUNT 6
-
-class V4LEncoder : public VideoEncoder {
-public:
-  V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
-  ~V4LEncoder();
-  int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
-  void encoder_open();
-  void encoder_close();
-
-private:
-  int fd;
-
-  bool is_open = false;
-  int segment_num = -1;
-  int counter = 0;
-
-  SafeQueue<VisionIpcBufExtra> extras;
-
-  static void dequeue_handler(V4LEncoder *e);
-  std::thread dequeue_handler_thread;
-
-  VisionBuf buf_out[BUF_OUT_COUNT];
-  SafeQueue<unsigned int> free_buf_in;
-};
diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc
deleted file mode 100644
index 40a45a68d5..0000000000
--- a/system/loggerd/tests/test_logger.cc
+++ /dev/null
@@ -1,75 +0,0 @@
-#include "catch2/catch.hpp"
-#include "system/loggerd/logger.h"
-
-typedef cereal::Sentinel::SentinelType SentinelType;
-
-void verify_segment(const std::string &route_path, int segment, int max_segment, int required_event_cnt) {
-  const std::string segment_path = route_path + "--" + std::to_string(segment);
-  SentinelType begin_sentinel = segment == 0 ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT;
-  SentinelType end_sentinel = segment == max_segment - 1 ? SentinelType::END_OF_ROUTE : SentinelType::END_OF_SEGMENT;
-
-  REQUIRE(!util::file_exists(segment_path + "/rlog.lock"));
-  for (const char *fn : {"/rlog.zst", "/qlog.zst"}) {
-    const std::string log_file = segment_path + fn;
-    std::string log = util::read_file(log_file);
-    REQUIRE(!log.empty());
-    std::string decompressed_log = zstd_decompress(log);
-    int event_cnt = 0, i = 0;
-    kj::ArrayPtr<const capnp::word> words((capnp::word *)decompressed_log.data(), decompressed_log.size() / sizeof(capnp::word));
-    while (words.size() > 0) {
-      try {
-        capnp::FlatArrayMessageReader reader(words);
-        auto event = reader.getRoot<cereal::Event>();
-        words = kj::arrayPtr(reader.getEnd(), words.end());
-        if (i == 0) {
-          REQUIRE(event.which() == cereal::Event::INIT_DATA);
-        } else if (i == 1) {
-          REQUIRE(event.which() == cereal::Event::SENTINEL);
-          REQUIRE(event.getSentinel().getType() == begin_sentinel);
-          REQUIRE(event.getSentinel().getSignal() == 0);
-        } else if (words.size() > 0) {
-          REQUIRE(event.which() == cereal::Event::CLOCKS);
-          ++event_cnt;
-        } else {
-          // the last event must be SENTINEL
-          REQUIRE(event.which() == cereal::Event::SENTINEL);
-          REQUIRE(event.getSentinel().getType() == end_sentinel);
-          REQUIRE(event.getSentinel().getSignal() == (end_sentinel == SentinelType::END_OF_ROUTE ? 1 : 0));
-        }
-        ++i;
-      } catch (const kj::Exception &ex) {
-        INFO("failed parse " << i << " exception :" << ex.getDescription());
-        REQUIRE(0);
-        break;
-      }
-    }
-    REQUIRE(event_cnt == required_event_cnt);
-  }
-}
-
-void write_msg(LoggerState *logger) {
-  MessageBuilder msg;
-  msg.initEvent().initClocks();
-  logger->write(msg.toBytes(), true);
-}
-
-TEST_CASE("logger") {
-  const int segment_cnt = 100;
-  const std::string log_root = "/tmp/test_logger";
-  system(("rm " + log_root + " -rf").c_str());
-  std::string route_name;
-  {
-    LoggerState logger(log_root);
-    route_name = logger.routeName();
-    for (int i = 0; i < segment_cnt; ++i) {
-      REQUIRE(logger.next());
-      REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock"));
-      REQUIRE(logger.segment() == i);
-      write_msg(&logger);
-    }
-    logger.setExitSignal(1);
-  }
-  for (int i = 0; i < segment_cnt; ++i) {
-    verify_segment(log_root + "/" + route_name, i, segment_cnt, 1);
-  }
-}
diff --git a/system/loggerd/tests/test_runner.cc b/system/loggerd/tests/test_runner.cc
deleted file mode 100644
index 62bf7476a1..0000000000
--- a/system/loggerd/tests/test_runner.cc
+++ /dev/null
@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
diff --git a/system/loggerd/tests/test_zstd_writer.cc b/system/loggerd/tests/test_zstd_writer.cc
deleted file mode 100644
index 479e866a14..0000000000
--- a/system/loggerd/tests/test_zstd_writer.cc
+++ /dev/null
@@ -1,44 +0,0 @@
-#include <zstd.h>
-
-#include <catch2/catch.hpp>
-#include <cstring>
-#include <vector>
-
-#include "common/util.h"
-#include "system/loggerd/logger.h"
-#include "system/loggerd/zstd_writer.h"
-
-TEST_CASE("ZstdFileWriter writes and compresses data correctly in loops", "[ZstdFileWriter]") {
-  const std::string filename = "test_zstd_file.zst";
-  const int iterations = 100;
-  const size_t dataSize = 1024;
-
-  std::string totalTestData;
-
-  // Step 1: Write compressed data to file in a loop
-  {
-    ZstdFileWriter writer(filename, LOG_COMPRESSION_LEVEL);
-    // Write various data sizes including edge cases
-    std::vector<size_t> testSizes = {dataSize, 1, 0, dataSize * 2};  // Normal, minimal, empty, large
-    for (int i = 0; i < iterations; ++i) {
-      size_t currentSize = testSizes[i % testSizes.size()];
-      std::string testData = util::random_string(currentSize);
-      totalTestData.append(testData);
-
-      writer.write((void *)testData.c_str(), testData.size());
-    }
-  }
-
-  // Step 2: Decompress the file and verify the data
-  auto compressedContent = util::read_file(filename);
-  REQUIRE(compressedContent.size() > 0);
-  REQUIRE(compressedContent.size() < totalTestData.size());
-  std::string decompressedData = zstd_decompress(compressedContent);
-
-  // Step 3: Verify that the decompressed data matches the original accumulated data
-  REQUIRE(decompressedData.size() == totalTestData.size());
-  REQUIRE(std::memcmp(decompressedData.data(), totalTestData.c_str(), totalTestData.size()) == 0);
-
-  // Clean up the test file
-  std::remove(filename.c_str());
-}
diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py
deleted file mode 100644
index 39bb172059..0000000000
--- a/system/loggerd/xattr_cache.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import errno
-
-import xattr
-
-_cached_attributes: dict[tuple, bytes | None] = {}
-
-def getxattr(path: str, attr_name: str) -> bytes | None:
-  key = (path, attr_name)
-  if key not in _cached_attributes:
-    try:
-      response = xattr.getxattr(path, attr_name)
-    except OSError as e:
-      # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set
-      if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR):
-        response = None
-      else:
-        raise
-    _cached_attributes[key] = response
-  return _cached_attributes[key]
-
-def setxattr(path: str, attr_name: str, attr_value: bytes) -> None:
-  _cached_attributes.pop((path, attr_name), None)
-  xattr.setxattr(path, attr_name, attr_value)
diff --git a/system/manager/build.py b/system/manager/build.py
deleted file mode 100755
index d79e7fd2ad..0000000000
--- a/system/manager/build.py
+++ /dev/null
@@ -1,94 +0,0 @@
-#!/usr/bin/env python3
-import os
-import subprocess
-from pathlib import Path
-
-# NOTE: Do NOT import anything here that needs be built (e.g. params)
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.spinner import Spinner
-from openpilot.common.text_window import TextWindow
-from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.system.hardware import HARDWARE, AGNOS
-from openpilot.system.version import get_build_metadata
-
-MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
-CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
-
-TOTAL_SCONS_NODES = 2705
-MAX_BUILD_PROGRESS = 100
-
-def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
-  env = os.environ.copy()
-  env['SCONS_PROGRESS'] = "1"
-  nproc = os.cpu_count()
-  if nproc is None:
-    nproc = 2
-
-  extra_args = ["--minimal"] if minimal else []
-
-  if AGNOS:
-    HARDWARE.set_power_save(False)
-    os.sched_setaffinity(0, range(8))  # ensure we can use the isolcpus cores
-
-  # building with all cores can result in using too
-  # much memory, so retry with less parallelism
-  compile_output: list[bytes] = []
-  for n in (nproc, nproc/2, 1):
-    compile_output.clear()
-    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
-    assert scons.stderr is not None
-
-    # Read progress from stderr and update spinner
-    while scons.poll() is None:
-      try:
-        line = scons.stderr.readline()
-        if line is None:
-          continue
-        line = line.rstrip()
-
-        prefix = b'progress: '
-        if line.startswith(prefix):
-          i = int(line[len(prefix):])
-          spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
-        elif len(line):
-          compile_output.append(line)
-          print(line.decode('utf8', 'replace'))
-      except Exception:
-        pass
-
-    if scons.returncode == 0:
-      break
-
-  if scons.returncode != 0:
-    # Read remaining output
-    if scons.stderr is not None:
-      compile_output += scons.stderr.read().split(b'\n')
-
-    # Build failed log errors
-    error_s = b"\n".join(compile_output).decode('utf8', 'replace')
-    add_file_handler(cloudlog)
-    cloudlog.error("scons build failed\n" + error_s)
-
-    # Show TextWindow
-    spinner.close()
-    if not os.getenv("CI"):
-      with TextWindow("openpilot failed to build\n \n" + error_s) as t:
-        t.wait_for_exit()
-    exit(1)
-
-  # enforce max cache size
-  cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]
-  cache_files.sort(key=lambda f: f.stat().st_mtime)
-  cache_size = sum(f.stat().st_size for f in cache_files)
-  for f in cache_files:
-    if cache_size < MAX_CACHE_SIZE:
-      break
-    cache_size -= f.stat().st_size
-    f.unlink()
-
-
-if __name__ == "__main__":
-  spinner = Spinner()
-  spinner.update_progress(0, 100)
-  build_metadata = get_build_metadata()
-  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
deleted file mode 100644
index 793fbc07fa..0000000000
--- a/system/manager/process_config.py
+++ /dev/null
@@ -1,204 +0,0 @@
-import os
-import operator
-import platform
-
-from cereal import car, custom
-from openpilot.common.params import Params
-from openpilot.system.hardware import PC, TICI
-from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
-from openpilot.system.hardware.hw import Paths
-
-from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH
-
-from openpilot.sunnypilot.models.helpers import get_active_model_runner
-from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
-
-WEBCAM = os.getenv("USE_WEBCAM") is not None
-
-def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started or params.get_bool("IsDriverViewEnabled")
-
-def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and CP.notCar
-
-def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and not CP.notCar
-
-def logging(started: bool, params: Params, CP: car.CarParams) -> bool:
-  run = (not CP.notCar) or not params.get_bool("DisableLogging")
-  return started and run
-
-def ublox_available() -> bool:
-  return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
-
-def ublox(started: bool, params: Params, CP: car.CarParams) -> bool:
-  use_ublox = ublox_available()
-  if use_ublox != params.get_bool("UbloxAvailable"):
-    params.put_bool("UbloxAvailable", use_ublox)
-  return started and use_ublox
-
-def joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and params.get_bool("JoystickDebugMode")
-
-def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and not params.get_bool("JoystickDebugMode")
-
-def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and params.get_bool("LongitudinalManeuverMode")
-
-def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and not params.get_bool("LongitudinalManeuverMode")
-
-def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started and not ublox_available()
-
-def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return True
-
-def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return started
-
-def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return not started
-
-def use_github_runner(started, params, CP: car.CarParams) -> bool:
-  return not PC and params.get_bool("EnableGithubRunner") and (
-    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
-
-def use_copyparty(started, params, CP: car.CarParams) -> bool:
-  return bool(params.get_bool("EnableCopyparty"))
-
-def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
-  """Shim for sunnylink_ready to match the process manager signature."""
-  return sunnylink_ready(params)
-
-def sunnylink_need_register_shim(started, params, CP: car.CarParams) -> bool:
-  """Shim for sunnylink_need_register to match the process manager signature."""
-  return sunnylink_need_register(params)
-
-def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
-  """Shim for use_sunnylink_uploader to match the process manager signature."""
-  return use_sunnylink_uploader(params)
-
-def is_snpe_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is SNPE."""
-  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.snpe)
-
-def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is SNPE."""
-  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
-
-def is_stock_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is stock."""
-  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)
-
-def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return bool(os.path.exists(Paths.mapd_root()))
-
-def uploader_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
-  if not params.get_bool("OnroadUploads"):
-    return only_offroad(started, params, CP)
-
-  return always_run(started, params, CP)
-
-def or_(*fns):
-  return lambda *args: operator.or_(*(fn(*args) for fn in fns))
-
-def and_(*fns):
-  return lambda *args: operator.and_(*(fn(*args) for fn in fns))
-
-procs = [
-  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
-
-  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
-  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
-  PythonProcess("logmessaged", "system.logmessaged", always_run),
-
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
-  PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
-  PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
-  PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
-  PythonProcess("micd", "system.micd", iscar),
-  PythonProcess("timed", "system.timed", always_run, enabled=not PC),
-
-  PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
-  PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
-
-  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
-  PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
-  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
-  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
-  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
-  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
-  PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)),
-  PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
-  PythonProcess("card", "selfdrive.car.card", only_onroad),
-  PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
-  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
-  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
-  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
-  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
-  PythonProcess("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
-  PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
-  PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
-  PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
-  PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
-  PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
-  PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
-  PythonProcess("uploader", "system.loggerd.uploader", uploader_ready),
-  PythonProcess("statsd", "system.statsd", always_run),
-  PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
-
-  # debug procs
-  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
-  PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
-  PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
-  PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
-
-  # sunnylink <3
-  DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
-  PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
-  PythonProcess("statsd_sp", "sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
-]
-
-# sunnypilot
-procs += [
-  # Models
-  PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
-  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
-  NativeProcess("modeld_tinygrad", "sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
-
-  # Backup
-  PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
-
-  # mapd
-  NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
-  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
-
-  # locationd
-  NativeProcess("locationd_llk", "sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
-]
-
-if os.path.exists("./github_runner.sh"):
-  procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
-
-if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
-  procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
-
-if os.path.exists("../../third_party/copyparty/copyparty-sfx.py"):
-  sunnypilot_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))
-  copyparty_args = [f"-v{Paths.crash_log_root()}:/swaglogs:r"]
-  copyparty_args += [f"-v{Paths.log_root()}:/routes:r"]
-  copyparty_args += [f"-v{Paths.model_root()}:/models:rw"]
-  copyparty_args += [f"-v{sunnypilot_root}:/sunnypilot:rw"]
-  copyparty_args += ["-p8080"]
-  copyparty_args += ["-z"]
-  copyparty_args += ["-q"]
-  procs += [NativeProcess("copyparty-sfx", "third_party/copyparty", ["./copyparty-sfx.py", *copyparty_args], and_(only_offroad, use_copyparty))]
-
-managed_processes = {p.name: p for p in procs}
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
deleted file mode 100644
index 2fc6205ea4..0000000000
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ /dev/null
@@ -1,119 +0,0 @@
-import os
-import pytest
-import json
-import time
-import datetime
-import subprocess
-
-import cereal.messaging as messaging
-from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
-from openpilot.system.manager.process_config import managed_processes
-
-GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
-
-
-@pytest.mark.tici
-class TestRawgpsd:
-  @classmethod
-  def setup_class(cls):
-    os.environ['GPS_COLD_START'] = '1'
-    os.system("sudo systemctl start systemd-resolved")
-    os.system("sudo systemctl restart ModemManager lte")
-    wait_for_modem()
-
-  @classmethod
-  def teardown_class(cls):
-    managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
-    os.system("sudo systemctl restart ModemManager lte")
-
-  def setup_method(self):
-    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
-
-  def teardown_method(self):
-    managed_processes['qcomgpsd'].stop()
-    os.system("sudo systemctl restart systemd-resolved")
-
-  def _wait_for_output(self, t):
-    dt = 0.1
-    for _ in range(t*int(1/dt)):
-      self.sm.update(0)
-      if self.sm.updated['qcomGnss']:
-        break
-      time.sleep(dt)
-    return self.sm.updated['qcomGnss']
-
-  def test_no_crash_double_command(self):
-    at_cmd("AT+QGPSDEL=0")
-    at_cmd("AT+QGPSDEL=0")
-
-  def test_wait_for_modem(self):
-    os.system("sudo systemctl stop ModemManager")
-    managed_processes['qcomgpsd'].start()
-    assert not self._wait_for_output(5)
-
-    os.system("sudo systemctl restart ModemManager")
-    assert self._wait_for_output(30)
-
-  def test_startup_time(self, subtests):
-    for internet in (True, False):
-      if not internet:
-        os.system("sudo systemctl stop systemd-resolved")
-      with subtests.test(internet=internet):
-        managed_processes['qcomgpsd'].start()
-        assert self._wait_for_output(7)
-        managed_processes['qcomgpsd'].stop()
-
-  def test_turns_off_gnss(self, subtests):
-    for s in (0.1, 1, 5):
-      with subtests.test(runtime=s):
-        managed_processes['qcomgpsd'].start()
-        time.sleep(s)
-        managed_processes['qcomgpsd'].stop()
-
-        ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
-        loc_status = json.loads(ls)
-        assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
-
-
-  def check_assistance(self, should_be_loaded):
-    # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
-    # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
-    out = at_cmd("AT+QGPSXTRADATA?")
-    out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
-    valid_duration, injected_time_str = out.split(",", 1)
-    if should_be_loaded:
-      assert valid_duration == "10080"  # should be max time
-      injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
-      assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12
-    else:
-      valid_duration, injected_time_str = out.split(",", 1)
-      injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
-      assert injected_time_str[:] == '1980/01/05,19:00:00'[:]
-      assert valid_duration == '0'
-
-  def test_assistance_loading(self):
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(10)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)
-
-  def test_no_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    assert self._wait_for_output(10)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(False)
-
-  def test_late_assistance_loading(self):
-    os.system("sudo systemctl stop systemd-resolved")
-
-    managed_processes['qcomgpsd'].start()
-    self._wait_for_output(17)
-    assert self.sm.updated['qcomGnss']
-
-    os.system("sudo systemctl restart systemd-resolved")
-    time.sleep(15)
-    managed_processes['qcomgpsd'].stop()
-    self.check_assistance(True)
diff --git a/system/sensord/sensors/mmc5603nj_magn.py b/system/sensord/sensors/mmc5603nj_magn.py
deleted file mode 100644
index 255e99eb3e..0000000000
--- a/system/sensord/sensors/mmc5603nj_magn.py
+++ /dev/null
@@ -1,76 +0,0 @@
-import time
-
-from cereal import log
-from openpilot.system.sensord.sensors.i2c_sensor import Sensor
-
-# https://www.mouser.com/datasheet/2/821/Memsic_09102019_Datasheet_Rev.B-1635324.pdf
-
-# Register addresses
-REG_ODR = 0x1A
-REG_INTERNAL_0 = 0x1B
-REG_INTERNAL_1 = 0x1C
-
-# Control register settings
-CMM_FREQ_EN = (1 << 7)
-AUTO_SR_EN  = (1 << 5)
-SET         = (1 << 3)
-RESET       = (1 << 4)
-
-class MMC5603NJ_Magn(Sensor):
-  @property
-  def device_address(self) -> int:
-    return 0x30
-
-  def init(self):
-    self.verify_chip_id(0x39, [0x10, ])
-    self.writes((
-      (REG_ODR, 0),
-
-      # Set BW to 0b01 for 1-150 Hz operation
-      (REG_INTERNAL_1, 0b01),
-    ))
-
-  def _read_data(self, cycle) -> list[float]:
-    # start measurement
-    self.write(REG_INTERNAL_0, cycle)
-    self.wait()
-
-    # read out XYZ
-    scale = 1.0 / 16384.0
-    b = self.read(0x00, 9)
-    return [
-      (self.parse_20bit(b[6], b[1], b[0]) * scale) - 32.0,
-      (self.parse_20bit(b[7], b[3], b[2]) * scale) - 32.0,
-      (self.parse_20bit(b[8], b[5], b[4]) * scale) - 32.0,
-    ]
-
-  def get_event(self, ts: int | None = None) -> log.SensorEventData:
-    ts = time.monotonic_ns()
-
-    # SET - RESET cycle
-    xyz = self._read_data(SET)
-    reset_xyz = self._read_data(RESET)
-    vals = [*xyz, *reset_xyz]
-
-    event = log.SensorEventData.new_message()
-    event.timestamp = ts
-    event.version = 1
-    event.sensor = 3 # SENSOR_MAGNETOMETER_UNCALIBRATED
-    event.type = 14  # SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
-    event.source = log.SensorEventData.SensorSource.mmc5603nj
-
-    m = event.init('magneticUncalibrated')
-    m.v = vals
-    m.status = int(all(int(v) != -32 for v in vals))
-
-    return event
-
-  def shutdown(self) -> None:
-    v = self.read(REG_INTERNAL_0, 1)[0]
-    self.writes((
-      # disable auto-reset of measurements
-      (REG_INTERNAL_0, (v & (~(CMM_FREQ_EN | AUTO_SR_EN)))),
-
-      # disable continuous mode
-      (REG_ODR, 0),
-    ))
diff --git a/system/ui/lib/emoji.py b/system/ui/lib/emoji.py
deleted file mode 100644
index 37228e2d45..0000000000
--- a/system/ui/lib/emoji.py
+++ /dev/null
@@ -1,55 +0,0 @@
-import io
-import re
-
-from PIL import Image, ImageDraw, ImageFont
-import pyray as rl
-
-from openpilot.system.ui.lib.application import FONT_DIR
-
-_emoji_font: ImageFont.FreeTypeFont | None = None
-_cache: dict[str, rl.Texture] = {}
-
-EMOJI_REGEX = re.compile(
-"""[\U0001F600-\U0001F64F
-\U0001F300-\U0001F5FF
-\U0001F680-\U0001F6FF
-\U0001F1E0-\U0001F1FF
-\U00002700-\U000027BF
-\U0001F900-\U0001F9FF
-\U00002600-\U000026FF
-\U00002300-\U000023FF
-\U00002B00-\U00002BFF
-\U0001FA70-\U0001FAFF
-\U0001F700-\U0001F77F
-\u2640-\u2642
-\u2600-\u2B55
-\u200d
-\u23cf
-\u23e9
-\u231a
-\ufe0f
-\u3030
-]+""".replace("\n", ""),
-  flags=re.UNICODE
-)
-
-def _load_emoji_font() -> ImageFont.FreeTypeFont | None:
-  global _emoji_font
-  if _emoji_font is None:
-    _emoji_font = ImageFont.truetype(str(FONT_DIR.joinpath("NotoColorEmoji.ttf")), 109)
-  return _emoji_font
-
-def find_emoji(text):
-  return [(m.start(), m.end(), m.group()) for m in EMOJI_REGEX.finditer(text)]
-
-def emoji_tex(emoji):
-  if emoji not in _cache:
-    img = Image.new("RGBA", (128, 128), (0, 0, 0, 0))
-    draw = ImageDraw.Draw(img)
-    draw.text((0, 0), emoji, font=_load_emoji_font(), embedded_color=True)
-    with io.BytesIO() as buffer:
-      img.save(buffer, format="PNG")
-      l = buffer.tell()
-      buffer.seek(0)
-      _cache[emoji] = rl.load_texture_from_image(rl.load_image_from_memory(".png", buffer.getvalue(), l))
-  return _cache[emoji]
diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py
deleted file mode 100644
index ad2a5f9399..0000000000
--- a/system/ui/lib/multilang.py
+++ /dev/null
@@ -1,87 +0,0 @@
-from importlib.resources import files
-import os
-import json
-import gettext
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.swaglog import cloudlog
-
-try:
-  from openpilot.common.params import Params
-except ImportError:
-  Params = None
-
-SYSTEM_UI_DIR = os.path.join(BASEDIR, "system", "ui")
-UI_DIR = files("openpilot.selfdrive.ui")
-TRANSLATIONS_DIR = UI_DIR.joinpath("translations")
-LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json")
-
-UNIFONT_LANGUAGES = [
-  "th",
-  "zh-CHT",
-  "zh-CHS",
-  "ko",
-  "ja",
-]
-
-
-class Multilang:
-  def __init__(self):
-    self._params = Params() if Params is not None else None
-    self._language: str = "en"
-    self.languages = {}
-    self.codes = {}
-    self._translation: gettext.NullTranslations | gettext.GNUTranslations = gettext.NullTranslations()
-    self._load_languages()
-
-  @property
-  def language(self) -> str:
-    return self._language
-
-  def requires_unifont(self) -> bool:
-    """Certain languages require unifont to render their glyphs."""
-    return self._language in UNIFONT_LANGUAGES
-
-  def setup(self):
-    try:
-      with TRANSLATIONS_DIR.joinpath(f'app_{self._language}.mo').open('rb') as fh:
-        translation = gettext.GNUTranslations(fh)
-      translation.install()
-      self._translation = translation
-      cloudlog.debug(f"Loaded translations for language: {self._language}")
-    except FileNotFoundError:
-      cloudlog.error(f"No translation file found for language: {self._language}, using default.")
-      gettext.install('app')
-      self._translation = gettext.NullTranslations()
-
-  def change_language(self, language_code: str) -> None:
-    # Reinstall gettext with the selected language
-    self._params.put("LanguageSetting", language_code)
-    self._language = language_code
-    self.setup()
-
-  def tr(self, text: str) -> str:
-    return self._translation.gettext(text)
-
-  def trn(self, singular: str, plural: str, n: int) -> str:
-    return self._translation.ngettext(singular, plural, n)
-
-  def _load_languages(self):
-    with LANGUAGES_FILE.open(encoding='utf-8') as f:
-      self.languages = json.load(f)
-    self.codes = {v: k for k, v in self.languages.items()}
-
-    if self._params is not None:
-      lang = str(self._params.get("LanguageSetting")).removeprefix("main_")
-      if lang in self.codes:
-        self._language = lang
-
-
-multilang = Multilang()
-multilang.setup()
-
-tr, trn = multilang.tr, multilang.trn
-
-
-# no-op marker for static strings translated later
-def tr_noop(s: str) -> str:
-  return s
diff --git a/system/ui/lib/text_measure.py b/system/ui/lib/text_measure.py
deleted file mode 100644
index dee4b419ff..0000000000
--- a/system/ui/lib/text_measure.py
+++ /dev/null
@@ -1,36 +0,0 @@
-import pyray as rl
-from openpilot.system.ui.lib.application import FONT_SCALE, font_fallback
-from openpilot.system.ui.lib.emoji import find_emoji
-
-_cache: dict[int, rl.Vector2] = {}
-
-
-def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: float = 0) -> rl.Vector2:
-  """Caches text measurements to avoid redundant calculations."""
-  font = font_fallback(font)
-  spacing = round(spacing, 4)
-  key = hash((font.texture.id, text, font_size, spacing))
-  if key in _cache:
-    return _cache[key]
-
-  # Measure normal characters without emojis, then add standard width for each found emoji
-  emoji = find_emoji(text)
-  if emoji:
-    non_emoji_text = ""
-    last_index = 0
-    for start, end, _ in emoji:
-      non_emoji_text += text[last_index:start]
-      last_index = end
-    non_emoji_text += text[last_index:]
-  else:
-    non_emoji_text = text
-
-  result = rl.measure_text_ex(font, non_emoji_text, font_size * FONT_SCALE, spacing)  # noqa: TID251
-  if emoji:
-    result.x += len(emoji) * font_size * FONT_SCALE
-    # If just emoji assume a single line height
-    if result.y == 0:
-      result.y = font_size * FONT_SCALE
-
-  _cache[key] = result
-  return result
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
deleted file mode 100644
index 2c76862ce5..0000000000
--- a/system/ui/lib/wifi_manager.py
+++ /dev/null
@@ -1,762 +0,0 @@
-import atexit
-import threading
-import time
-import uuid
-import subprocess
-from collections.abc import Callable
-from dataclasses import dataclass
-from enum import IntEnum
-from typing import Any
-
-from jeepney import DBusAddress, new_method_call
-from jeepney.bus_messages import MatchRule, message_bus
-from jeepney.io.blocking import open_dbus_connection as open_dbus_connection_blocking
-from jeepney.io.threading import DBusRouter, open_dbus_connection as open_dbus_connection_threading
-from jeepney.low_level import MessageType
-from jeepney.wrappers import Properties
-
-from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_802_11_AP_SEC_PAIR_WEP40,
-                                                    NM_802_11_AP_SEC_PAIR_WEP104, NM_802_11_AP_SEC_GROUP_WEP40,
-                                                    NM_802_11_AP_SEC_GROUP_WEP104, NM_802_11_AP_SEC_KEY_MGMT_PSK,
-                                                    NM_802_11_AP_SEC_KEY_MGMT_802_1X, NM_802_11_AP_FLAGS_NONE,
-                                                    NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS,
-                                                    NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH,
-                                                    NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE,
-                                                    NM_DEVICE_TYPE_WIFI, NM_DEVICE_TYPE_MODEM, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT,
-                                                    NM_DEVICE_STATE_REASON_NEW_ACTIVATION, NM_ACTIVE_CONNECTION_IFACE,
-                                                    NM_IP4_CONFIG_IFACE, NMDeviceState)
-
-try:
-  from openpilot.common.params import Params
-except Exception:
-  Params = None
-
-TETHERING_IP_ADDRESS = "192.168.43.1"
-DEFAULT_TETHERING_PASSWORD = "swagswagcomma"
-SIGNAL_QUEUE_SIZE = 10
-SCAN_PERIOD_SECONDS = 5
-
-
-class SecurityType(IntEnum):
-  OPEN = 0
-  WPA = 1
-  WPA2 = 2
-  WPA3 = 3
-  UNSUPPORTED = 4
-
-
-class MeteredType(IntEnum):
-  UNKNOWN = 0
-  YES = 1
-  NO = 2
-
-
-def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType:
-  wpa_props = wpa_flags | rsn_flags
-
-  # obtained by looking at flags of networks in the office as reported by an Android phone
-  supports_wpa = (NM_802_11_AP_SEC_PAIR_WEP40 | NM_802_11_AP_SEC_PAIR_WEP104 | NM_802_11_AP_SEC_GROUP_WEP40 |
-                  NM_802_11_AP_SEC_GROUP_WEP104 | NM_802_11_AP_SEC_KEY_MGMT_PSK)
-
-  if (flags == NM_802_11_AP_FLAGS_NONE) or ((flags & NM_802_11_AP_FLAGS_WPS) and not (wpa_props & supports_wpa)):
-    return SecurityType.OPEN
-  elif (flags & NM_802_11_AP_FLAGS_PRIVACY) and (wpa_props & supports_wpa) and not (wpa_props & NM_802_11_AP_SEC_KEY_MGMT_802_1X):
-    return SecurityType.WPA
-  else:
-    cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}")
-    return SecurityType.UNSUPPORTED
-
-
-@dataclass(frozen=True)
-class Network:
-  ssid: str
-  strength: int
-  is_connected: bool
-  security_type: SecurityType
-  is_saved: bool
-  ip_address: str = ""  # TODO: implement
-
-  @classmethod
-  def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_saved: bool) -> "Network":
-    # we only want to show the strongest AP for each Network/SSID
-    strongest_ap = max(aps, key=lambda ap: ap.strength)
-    is_connected = any(ap.is_connected for ap in aps)
-    security_type = get_security_type(strongest_ap.flags, strongest_ap.wpa_flags, strongest_ap.rsn_flags)
-
-    return cls(
-      ssid=ssid,
-      strength=strongest_ap.strength,
-      is_connected=is_connected and is_saved,
-      security_type=security_type,
-      is_saved=is_saved,
-    )
-
-
-@dataclass(frozen=True)
-class AccessPoint:
-  ssid: str
-  bssid: str
-  strength: int
-  is_connected: bool
-  flags: int
-  wpa_flags: int
-  rsn_flags: int
-  ap_path: str
-
-  @classmethod
-  def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str, active_ap_path: str) -> "AccessPoint":
-    ssid = bytes(ap_props['Ssid'][1]).decode("utf-8", "replace")
-    bssid = str(ap_props['HwAddress'][1])
-    strength = int(ap_props['Strength'][1])
-    flags = int(ap_props['Flags'][1])
-    wpa_flags = int(ap_props['WpaFlags'][1])
-    rsn_flags = int(ap_props['RsnFlags'][1])
-
-    return cls(
-      ssid=ssid,
-      bssid=bssid,
-      strength=strength,
-      is_connected=ap_path == active_ap_path,
-      flags=flags,
-      wpa_flags=wpa_flags,
-      rsn_flags=rsn_flags,
-      ap_path=ap_path,
-    )
-
-
-class WifiManager:
-  def __init__(self):
-    self._networks: list[Network] = []  # a network can be comprised of multiple APs
-    self._active = True  # used to not run when not in settings
-    self._exit = False
-
-    # DBus connections
-    try:
-      self._router_main = DBusRouter(open_dbus_connection_threading(bus="SYSTEM"))  # used by scanner / general method calls
-      self._conn_monitor = open_dbus_connection_blocking(bus="SYSTEM")  # used by state monitor thread
-      self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM_IFACE)
-    except FileNotFoundError:
-      cloudlog.exception("Failed to connect to system D-Bus")
-      self._router_main = None
-      self._conn_monitor = None
-      self._exit = True
-
-    # Store wifi device path
-    self._wifi_device: str | None = None
-
-    # State
-    self._connecting_to_ssid: str = ""
-    self._ipv4_address: str = ""
-    self._current_network_metered: MeteredType = MeteredType.UNKNOWN
-    self._tethering_password: str = ""
-    self._ipv4_forward = False
-
-    self._last_network_update: float = 0.0
-    self._callback_queue: list[Callable] = []
-
-    self._tethering_ssid = "weedle"
-    if Params is not None:
-      dongle_id = Params().get("DongleId")
-      if dongle_id:
-        self._tethering_ssid += "-" + dongle_id[:4]
-
-    # Callbacks
-    self._need_auth: list[Callable[[str], None]] = []
-    self._activated: list[Callable[[], None]] = []
-    self._forgotten: list[Callable[[], None]] = []
-    self._networks_updated: list[Callable[[list[Network]], None]] = []
-    self._disconnected: list[Callable[[], None]] = []
-
-    self._lock = threading.Lock()
-    self._scan_thread = threading.Thread(target=self._network_scanner, daemon=True)
-    self._state_thread = threading.Thread(target=self._monitor_state, daemon=True)
-    self._initialize()
-    atexit.register(self.stop)
-
-  def _initialize(self):
-    def worker():
-      self._wait_for_wifi_device()
-
-      self._scan_thread.start()
-      self._state_thread.start()
-
-      if Params is not None and self._tethering_ssid not in self._get_connections():
-        self._add_tethering_connection()
-
-      self._tethering_password = self._get_tethering_password()
-      cloudlog.debug("WifiManager initialized")
-
-    threading.Thread(target=worker, daemon=True).start()
-
-  def add_callbacks(self, need_auth: Callable[[str], None] | None = None,
-                    activated: Callable[[], None] | None = None,
-                    forgotten: Callable[[], None] | None = None,
-                    networks_updated: Callable[[list[Network]], None] | None = None,
-                    disconnected: Callable[[], None] | None = None):
-    if need_auth is not None:
-      self._need_auth.append(need_auth)
-    if activated is not None:
-      self._activated.append(activated)
-    if forgotten is not None:
-      self._forgotten.append(forgotten)
-    if networks_updated is not None:
-      self._networks_updated.append(networks_updated)
-    if disconnected is not None:
-      self._disconnected.append(disconnected)
-
-  @property
-  def ipv4_address(self) -> str:
-    return self._ipv4_address
-
-  @property
-  def current_network_metered(self) -> MeteredType:
-    return self._current_network_metered
-
-  @property
-  def tethering_password(self) -> str:
-    return self._tethering_password
-
-  def _enqueue_callbacks(self, cbs: list[Callable], *args):
-    for cb in cbs:
-      self._callback_queue.append(lambda _cb=cb: _cb(*args))
-
-  def process_callbacks(self):
-    # Call from UI thread to run any pending callbacks
-    to_run, self._callback_queue = self._callback_queue, []
-    for cb in to_run:
-      cb()
-
-  def set_active(self, active: bool):
-    self._active = active
-
-    # Scan immediately if we haven't scanned in a while
-    if active and time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS / 2:
-      self._last_network_update = 0.0
-
-  def _monitor_state(self):
-    rule = MatchRule(
-      type="signal",
-      interface=NM_DEVICE_IFACE,
-      member="StateChanged",
-      path=self._wifi_device,
-    )
-
-    # Filter for StateChanged signal
-    self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule))
-
-    with self._conn_monitor.filter(rule, bufsize=SIGNAL_QUEUE_SIZE) as q:
-      while not self._exit:
-        if not self._active:
-          time.sleep(1)
-          continue
-
-        # Block until a matching signal arrives
-        try:
-          msg = self._conn_monitor.recv_until_filtered(q, timeout=1)
-        except TimeoutError:
-          continue
-
-        new_state, previous_state, change_reason = msg.body
-
-        # BAD PASSWORD
-        if new_state == NMDeviceState.NEED_AUTH and change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and len(self._connecting_to_ssid):
-          self.forget_connection(self._connecting_to_ssid, block=True)
-          self._enqueue_callbacks(self._need_auth, self._connecting_to_ssid)
-          self._connecting_to_ssid = ""
-
-        elif new_state == NMDeviceState.ACTIVATED:
-          if len(self._activated):
-            self._update_networks()
-          self._enqueue_callbacks(self._activated)
-          self._connecting_to_ssid = ""
-
-        elif new_state == NMDeviceState.DISCONNECTED and change_reason != NM_DEVICE_STATE_REASON_NEW_ACTIVATION:
-          self._connecting_to_ssid = ""
-          self._enqueue_callbacks(self._forgotten)
-
-  def _network_scanner(self):
-    while not self._exit:
-      if self._active:
-        if time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS:
-          # Scan for networks every 10 seconds
-          # TODO: should update when scan is complete (PropertiesChanged), but this is more than good enough for now
-          self._update_networks()
-          self._request_scan()
-          self._last_network_update = time.monotonic()
-      time.sleep(1 / 2.)
-
-  def _wait_for_wifi_device(self):
-    while not self._exit:
-      device_path = self._get_adapter(NM_DEVICE_TYPE_WIFI)
-      if device_path is not None:
-        self._wifi_device = device_path
-        break
-      time.sleep(1)
-
-  def _get_adapter(self, adapter_type: int) -> str | None:
-    # Return the first NetworkManager device path matching adapter_type
-    try:
-      device_paths = self._router_main.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0]
-      for device_path in device_paths:
-        dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE)
-        dev_type = self._router_main.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1]
-        if dev_type == adapter_type:
-          return str(device_path)
-    except Exception as e:
-      cloudlog.exception(f"Error getting adapter type {adapter_type}: {e}")
-    return None
-
-  def _get_connections(self) -> dict[str, str]:
-    settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-    known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
-
-    conns: dict[str, str] = {}
-    for conn_path in known_connections:
-      settings = self._get_connection_settings(conn_path)
-
-      if len(settings) == 0:
-        cloudlog.warning(f'Failed to get connection settings for {conn_path}')
-        continue
-
-      if "802-11-wireless" in settings:
-        ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace")
-        if ssid != "":
-          conns[ssid] = conn_path
-    return conns
-
-  def _get_active_connections(self):
-    return self._router_main.send_and_get_reply(Properties(self._nm).get('ActiveConnections')).body[0][1]
-
-  def _get_connection_settings(self, conn_path: str) -> dict:
-    conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-    reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'GetSettings'))
-    if reply.header.message_type == MessageType.error:
-      cloudlog.warning(f'Failed to get connection settings: {reply}')
-      return {}
-    return dict(reply.body[0])
-
-  def _add_tethering_connection(self):
-    connection = {
-      'connection': {
-        'type': ('s', '802-11-wireless'),
-        'uuid': ('s', str(uuid.uuid4())),
-        'id': ('s', 'Hotspot'),
-        'autoconnect-retries': ('i', 0),
-        'interface-name': ('s', 'wlan0'),
-        'autoconnect': ('b', False),
-      },
-      '802-11-wireless': {
-        'band': ('s', 'bg'),
-        'mode': ('s', 'ap'),
-        'ssid': ('ay', self._tethering_ssid.encode("utf-8")),
-      },
-      '802-11-wireless-security': {
-        'group': ('as', ['ccmp']),
-        'key-mgmt': ('s', 'wpa-psk'),
-        'pairwise': ('as', ['ccmp']),
-        'proto': ('as', ['rsn']),
-        'psk': ('s', DEFAULT_TETHERING_PASSWORD),
-      },
-      'ipv4': {
-        'method': ('s', 'shared'),
-        'address-data': ('aa{sv}', [[
-          ('address', ('s', TETHERING_IP_ADDRESS)),
-          ('prefix', ('u', 24)),
-        ]]),
-        'gateway': ('s', TETHERING_IP_ADDRESS),
-        'never-default': ('b', True),
-      },
-      'ipv6': {'method': ('s', 'ignore')},
-    }
-
-    settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-    self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,)))
-
-  def connect_to_network(self, ssid: str, password: str, hidden: bool = False):
-    def worker():
-      # Clear all connections that may already exist to the network we are connecting to
-      self._connecting_to_ssid = ssid
-      self.forget_connection(ssid, block=True)
-
-      connection = {
-        'connection': {
-          'type': ('s', '802-11-wireless'),
-          'uuid': ('s', str(uuid.uuid4())),
-          'id': ('s', f'sunnypilot connection {ssid}'),
-          'autoconnect-retries': ('i', 0),
-        },
-        '802-11-wireless': {
-          'ssid': ('ay', ssid.encode("utf-8")),
-          'hidden': ('b', hidden),
-          'mode': ('s', 'infrastructure'),
-        },
-        'ipv4': {
-          'method': ('s', 'auto'),
-          'dns-priority': ('i', 600),
-        },
-        'ipv6': {'method': ('s', 'ignore')},
-      }
-
-      if password:
-        connection['802-11-wireless-security'] = {
-          'key-mgmt': ('s', 'wpa-psk'),
-          'auth-alg': ('s', 'open'),
-          'psk': ('s', password),
-        }
-
-      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-      self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,)))
-      self.activate_connection(ssid, block=True)
-
-    threading.Thread(target=worker, daemon=True).start()
-
-  def forget_connection(self, ssid: str, block: bool = False):
-    def worker():
-      conn_path = self._get_connections().get(ssid, None)
-      if conn_path is not None:
-        conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-        self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete'))
-
-        if len(self._forgotten):
-          self._update_networks()
-        self._enqueue_callbacks(self._forgotten)
-
-    if block:
-      worker()
-    else:
-      threading.Thread(target=worker, daemon=True).start()
-
-  def activate_connection(self, ssid: str, block: bool = False):
-    def worker():
-      conn_path = self._get_connections().get(ssid, None)
-      if conn_path is not None:
-        if self._wifi_device is None:
-          cloudlog.warning("No WiFi device found")
-          return
-
-        self._connecting_to_ssid = ssid
-        self._router_main.send(new_method_call(self._nm, 'ActivateConnection', 'ooo',
-                                               (conn_path, self._wifi_device, "/")))
-
-    if block:
-      worker()
-    else:
-      threading.Thread(target=worker, daemon=True).start()
-
-  def _deactivate_connection(self, ssid: str):
-    for conn_path in self._get_active_connections():
-      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
-      specific_obj_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('SpecificObject')).body[0][1]
-
-      if specific_obj_path != "/":
-        ap_addr = DBusAddress(specific_obj_path, bus_name=NM, interface=NM_ACCESS_POINT_IFACE)
-        ap_ssid = bytes(self._router_main.send_and_get_reply(Properties(ap_addr).get('Ssid')).body[0][1]).decode("utf-8", "replace")
-
-        if ap_ssid == ssid:
-          self._router_main.send_and_get_reply(new_method_call(self._nm, 'DeactivateConnection', 'o', (conn_path,)))
-          return
-
-  def is_tethering_active(self) -> bool:
-    for network in self._networks:
-      if network.is_connected:
-        return bool(network.ssid == self._tethering_ssid)
-    return False
-
-  def set_tethering_password(self, password: str):
-    def worker():
-      conn_path = self._get_connections().get(self._tethering_ssid, None)
-      if conn_path is None:
-        cloudlog.warning('No tethering connection found')
-        return
-
-      settings = self._get_connection_settings(conn_path)
-      if len(settings) == 0:
-        cloudlog.warning(f'Failed to get tethering settings for {conn_path}')
-        return
-
-      settings['802-11-wireless-security']['psk'] = ('s', password)
-
-      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-      reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,)))
-      if reply.header.message_type == MessageType.error:
-        cloudlog.warning(f'Failed to update tethering settings: {reply}')
-        return
-
-      self._tethering_password = password
-      if self.is_tethering_active():
-        self.activate_connection(self._tethering_ssid, block=True)
-
-    threading.Thread(target=worker, daemon=True).start()
-
-  def _get_tethering_password(self) -> str:
-    conn_path = self._get_connections().get(self._tethering_ssid, None)
-    if conn_path is None:
-      cloudlog.warning('No tethering connection found')
-      return ''
-
-    reply = self._router_main.send_and_get_reply(new_method_call(
-      DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE),
-      'GetSecrets', 's', ('802-11-wireless-security',)
-    ))
-
-    if reply.header.message_type == MessageType.error:
-      cloudlog.warning(f'Failed to get tethering password: {reply}')
-      return ''
-
-    secrets = reply.body[0]
-    if '802-11-wireless-security' not in secrets:
-      return ''
-
-    return str(secrets['802-11-wireless-security'].get('psk', ('s', ''))[1])
-
-  def set_ipv4_forward(self, enabled: bool):
-    self._ipv4_forward = enabled
-
-  def set_tethering_active(self, active: bool):
-    def worker():
-      if active:
-        self.activate_connection(self._tethering_ssid, block=True)
-
-        if not self._ipv4_forward:
-          time.sleep(5)
-          cloudlog.warning("net.ipv4.ip_forward = 0")
-          subprocess.run(["sudo", "sysctl", "net.ipv4.ip_forward=0"], check=False)
-      else:
-        self._deactivate_connection(self._tethering_ssid)
-
-    threading.Thread(target=worker, daemon=True).start()
-
-  def _update_current_network_metered(self) -> None:
-    if self._wifi_device is None:
-      cloudlog.warning("No WiFi device found")
-      return
-
-    self._current_network_metered = MeteredType.UNKNOWN
-    for active_conn in self._get_active_connections():
-      conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
-      conn_type = self._router_main.send_and_get_reply(Properties(conn_addr).get('Type')).body[0][1]
-
-      if conn_type == '802-11-wireless':
-        conn_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('Connection')).body[0][1]
-        if conn_path == "/":
-          continue
-
-        settings = self._get_connection_settings(conn_path)
-
-        if len(settings) == 0:
-          cloudlog.warning(f'Failed to get connection settings for {conn_path}')
-          continue
-
-        metered_prop = settings['connection'].get('metered', ('i', 0))[1]
-        if metered_prop == MeteredType.YES:
-          self._current_network_metered = MeteredType.YES
-        elif metered_prop == MeteredType.NO:
-          self._current_network_metered = MeteredType.NO
-        return
-
-  def set_current_network_metered(self, metered: MeteredType):
-    def worker():
-      for active_conn in self._get_active_connections():
-        conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
-        conn_type = self._router_main.send_and_get_reply(Properties(conn_addr).get('Type')).body[0][1]
-
-        if conn_type == '802-11-wireless' and not self.is_tethering_active():
-          conn_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('Connection')).body[0][1]
-          if conn_path == "/":
-            continue
-
-          settings = self._get_connection_settings(conn_path)
-
-          if len(settings) == 0:
-            cloudlog.warning(f'Failed to get connection settings for {conn_path}')
-            return
-
-          settings['connection']['metered'] = ('i', int(metered))
-
-          conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-          reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,)))
-          if reply.header.message_type == MessageType.error:
-            cloudlog.warning(f'Failed to update tethering settings: {reply}')
-            return
-
-    threading.Thread(target=worker, daemon=True).start()
-
-  def _request_scan(self):
-    if self._wifi_device is None:
-      cloudlog.warning("No WiFi device found")
-      return
-
-    wifi_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_WIRELESS_IFACE)
-    reply = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'RequestScan', 'a{sv}', ({},)))
-
-    if reply.header.message_type == MessageType.error:
-      cloudlog.warning(f"Failed to request scan: {reply}")
-
-  def _update_networks(self):
-    with self._lock:
-      if self._wifi_device is None:
-        cloudlog.warning("No WiFi device found")
-        return
-
-      # returns '/' if no active AP
-      wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE)
-      active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1]
-      ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0]
-
-      aps: dict[str, list[AccessPoint]] = {}
-
-      for ap_path in ap_paths:
-        ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE)
-        ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all())
-
-        # some APs have been seen dropping off during iteration
-        if ap_props.header.message_type == MessageType.error:
-          cloudlog.warning(f"Failed to get AP properties for {ap_path}")
-          continue
-
-        try:
-          ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path)
-          if ap.ssid == "":
-            continue
-
-          if ap.ssid not in aps:
-            aps[ap.ssid] = []
-
-          aps[ap.ssid].append(ap)
-        except Exception:
-          # catch all for parsing errors
-          cloudlog.exception(f"Failed to parse AP properties for {ap_path}")
-
-      known_connections = self._get_connections()
-      networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()]
-      # sort with quantized strength to reduce jumping
-      networks.sort(key=lambda n: (-n.is_connected, -n.is_saved, -round(n.strength / 100 * 2), n.ssid.lower()))
-      self._networks = networks
-
-      self._update_ipv4_address()
-      self._update_current_network_metered()
-
-      self._enqueue_callbacks(self._networks_updated, self._networks)
-
-  def _update_ipv4_address(self):
-    if self._wifi_device is None:
-      cloudlog.warning("No WiFi device found")
-      return
-
-    self._ipv4_address = ""
-
-    for conn_path in self._get_active_connections():
-      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
-      conn_type = self._router_main.send_and_get_reply(Properties(conn_addr).get('Type')).body[0][1]
-      if conn_type == '802-11-wireless':
-        ip4config_path = self._router_main.send_and_get_reply(Properties(conn_addr).get('Ip4Config')).body[0][1]
-
-        if ip4config_path != "/":
-          ip4config_addr = DBusAddress(ip4config_path, bus_name=NM, interface=NM_IP4_CONFIG_IFACE)
-          address_data = self._router_main.send_and_get_reply(Properties(ip4config_addr).get('AddressData')).body[0][1]
-
-          for entry in address_data:
-            if 'address' in entry:
-              self._ipv4_address = entry['address'][1]
-              return
-
-  def __del__(self):
-    self.stop()
-
-  def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
-    """Update GSM settings for cellular connection"""
-
-    def worker():
-      try:
-        lte_connection_path = self._get_lte_connection_path()
-        if not lte_connection_path:
-          cloudlog.warning("No LTE connection found")
-          return
-
-        settings = self._get_connection_settings(lte_connection_path)
-
-        if len(settings) == 0:
-          cloudlog.warning(f"Failed to get connection settings for {lte_connection_path}")
-          return
-
-        # Ensure dicts exist
-        if 'gsm' not in settings:
-          settings['gsm'] = {}
-        if 'connection' not in settings:
-          settings['connection'] = {}
-
-        changes = False
-        auto_config = apn == ""
-
-        if settings['gsm'].get('auto-config', ('b', False))[1] != auto_config:
-          cloudlog.warning(f'Changing gsm.auto-config to {auto_config}')
-          settings['gsm']['auto-config'] = ('b', auto_config)
-          changes = True
-
-        if settings['gsm'].get('apn', ('s', ''))[1] != apn:
-          cloudlog.warning(f'Changing gsm.apn to {apn}')
-          settings['gsm']['apn'] = ('s', apn)
-          changes = True
-
-        if settings['gsm'].get('home-only', ('b', False))[1] == roaming:
-          cloudlog.warning(f'Changing gsm.home-only to {not roaming}')
-          settings['gsm']['home-only'] = ('b', not roaming)
-          changes = True
-
-        # Unknown means NetworkManager decides
-        metered_int = int(MeteredType.UNKNOWN if metered else MeteredType.NO)
-        if settings['connection'].get('metered', ('i', 0))[1] != metered_int:
-          cloudlog.warning(f'Changing connection.metered to {metered_int}')
-          settings['connection']['metered'] = ('i', metered_int)
-          changes = True
-
-        if changes:
-          # Update the connection settings (temporary update)
-          conn_addr = DBusAddress(lte_connection_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
-          reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'UpdateUnsaved', 'a{sa{sv}}', (settings,)))
-
-          if reply.header.message_type == MessageType.error:
-            cloudlog.warning(f"Failed to update GSM settings: {reply}")
-            return
-
-          self._activate_modem_connection(lte_connection_path)
-      except Exception as e:
-        cloudlog.exception(f"Error updating GSM settings: {e}")
-
-    threading.Thread(target=worker, daemon=True).start()
-
-  def _get_lte_connection_path(self) -> str | None:
-    try:
-      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
-      known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
-
-      for conn_path in known_connections:
-        settings = self._get_connection_settings(conn_path)
-        if settings and settings.get('connection', {}).get('id', ('s', ''))[1] == 'lte':
-          return str(conn_path)
-    except Exception as e:
-      cloudlog.exception(f"Error finding LTE connection: {e}")
-    return None
-
-  def _activate_modem_connection(self, connection_path: str):
-    try:
-      modem_device = self._get_adapter(NM_DEVICE_TYPE_MODEM)
-      if modem_device and connection_path:
-        self._router_main.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo', (connection_path, modem_device, "/")))
-    except Exception as e:
-      cloudlog.exception(f"Error activating modem connection: {e}")
-
-  def stop(self):
-    if not self._exit:
-      self._exit = True
-      if self._scan_thread.is_alive():
-        self._scan_thread.join()
-      if self._state_thread.is_alive():
-        self._state_thread.join()
-
-      if self._router_main is not None:
-        self._router_main.close()
-        self._router_main.conn.close()
-      if self._conn_monitor is not None:
-        self._conn_monitor.close()
diff --git a/system/ui/mici_reset.py b/system/ui/mici_reset.py
deleted file mode 100755
index 925afd7d10..0000000000
--- a/system/ui/mici_reset.py
+++ /dev/null
@@ -1,160 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import threading
-import time
-from enum import IntEnum
-
-import pyray as rl
-
-from openpilot.system.hardware import PC
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.slider import SmallSlider
-from openpilot.system.ui.widgets.button import SmallButton, FullRoundedButton
-from openpilot.system.ui.widgets.label import gui_label, gui_text_box
-
-USERDATA = "/dev/disk/by-partlabel/userdata"
-TIMEOUT = 3*60
-
-
-class ResetMode(IntEnum):
-  USER_RESET = 0  # user initiated a factory reset from openpilot
-  RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
-  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
-
-
-class ResetState(IntEnum):
-  NONE = 0
-  RESETTING = 1
-  FAILED = 2
-
-
-class Reset(Widget):
-  def __init__(self, mode):
-    super().__init__()
-    self._mode = mode
-    self._previous_reset_state = None
-    self._reset_state = ResetState.NONE
-
-    self._cancel_button = SmallButton("cancel")
-    self._cancel_button.set_click_callback(self._cancel_callback)
-
-    self._reboot_button = FullRoundedButton("reboot")
-    self._reboot_button.set_click_callback(self._do_reboot)
-
-    self._confirm_slider = SmallSlider("reset", self._confirm)
-
-    self._render_status = True
-
-  def _cancel_callback(self):
-    self._render_status = False
-
-  def _do_reboot(self):
-    if PC:
-      return
-
-    os.system("sudo reboot")
-
-  def _do_erase(self):
-    if PC:
-      return
-
-    # Removing data and formatting
-    rm = os.system("sudo rm -rf /data/*")
-    os.system(f"sudo umount {USERDATA}")
-    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
-
-    if rm == 0 or fmt == 0:
-      os.system("sudo reboot")
-    else:
-      self._reset_state = ResetState.FAILED
-
-  def start_reset(self):
-    self._reset_state = ResetState.RESETTING
-    threading.Timer(0.1, self._do_erase).start()
-
-  def _update_state(self):
-    if self._reset_state != self._previous_reset_state:
-      self._previous_reset_state = self._reset_state
-      self._timeout_st = time.monotonic()
-    elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
-      exit(0)
-
-  def _render(self, rect: rl.Rectangle):
-    label_rect = rl.Rectangle(rect.x + 8, rect.y + 8, rect.width, 50)
-    gui_label(label_rect, "factory reset", 48, font_weight=FontWeight.BOLD,
-              color=rl.Color(255, 255, 255, int(255 * 0.9)))
-
-    text_rect = rl.Rectangle(rect.x + 8, rect.y + 56, rect.width - 8 * 2, rect.height - 80)
-    gui_text_box(text_rect, self._get_body_text(), 36, font_weight=FontWeight.ROMAN, line_scale=0.9)
-
-    if self._reset_state != ResetState.RESETTING:
-      # fade out cancel button as slider is moved, set visible to prevent pressing invisible cancel
-      self._cancel_button.set_opacity(1.0 - self._confirm_slider.slider_percentage)
-      self._cancel_button.set_visible(self._confirm_slider.slider_percentage < 0.8)
-
-      if self._mode == ResetMode.RECOVER:
-        self._cancel_button.set_text("reboot")
-        self._cancel_button.render(rl.Rectangle(
-          rect.x + 8,
-          rect.y + rect.height - self._cancel_button.rect.height,
-          self._cancel_button.rect.width,
-          self._cancel_button.rect.height))
-      elif self._mode == ResetMode.USER_RESET and self._reset_state != ResetState.FAILED:
-        self._cancel_button.render(rl.Rectangle(
-          rect.x + 8,
-          rect.y + rect.height - self._cancel_button.rect.height,
-          self._cancel_button.rect.width,
-          self._cancel_button.rect.height))
-
-      if self._reset_state != ResetState.FAILED:
-        self._confirm_slider.render(rl.Rectangle(
-          rect.x + rect.width - self._confirm_slider.rect.width,
-          rect.y + rect.height - self._confirm_slider.rect.height,
-          self._confirm_slider.rect.width,
-          self._confirm_slider.rect.height))
-      else:
-        self._reboot_button.render(rl.Rectangle(
-          rect.x + 8,
-          rect.y + rect.height - self._reboot_button.rect.height,
-          self._reboot_button.rect.width,
-          self._reboot_button.rect.height))
-
-    return self._render_status
-
-  def _confirm(self):
-    self.start_reset()
-
-  def _get_body_text(self):
-    if self._reset_state == ResetState.RESETTING:
-      return "Resetting device... This may take up to a minute."
-    if self._reset_state == ResetState.FAILED:
-      return "Reset failed. Reboot to try again."
-    if self._mode == ResetMode.RECOVER:
-      return "Unable to mount data partition. It may be corrupted."
-    return "All content and settings will be erased."
-
-
-def main():
-  mode = ResetMode.USER_RESET
-  if len(sys.argv) > 1:
-    if sys.argv[1] == '--recover':
-      mode = ResetMode.RECOVER
-    elif sys.argv[1] == "--format":
-      mode = ResetMode.FORMAT
-
-  gui_app.init_window("System Reset")
-  reset = Reset(mode)
-
-  if mode == ResetMode.FORMAT:
-    reset.start_reset()
-
-  for should_render in gui_app.render():
-    if should_render:
-      if not reset.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height)):
-        break
-
-
-if __name__ == "__main__":
-  main()
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
deleted file mode 100755
index 3242cc0dbe..0000000000
--- a/system/ui/mici_setup.py
+++ /dev/null
@@ -1,750 +0,0 @@
-#!/usr/bin/env python3
-from abc import abstractmethod
-import os
-import re
-import threading
-import time
-import urllib.request
-import urllib.error
-from urllib.parse import urlparse
-from enum import IntEnum
-import shutil
-from collections.abc import Callable
-
-import pyray as rl
-
-from cereal import log
-from openpilot.common.utils import run_cmd
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
-from openpilot.system.ui.widgets import Widget, DialogResult
-from openpilot.system.ui.widgets.button import (IconButton, SmallButton, WideRoundedButton, SmallerRoundedButton,
-                                                SmallCircleIconButton, WidishRoundedButton, SmallRedPillButton,
-                                                FullRoundedButton)
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import LargerSlider, SmallSlider
-from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiUIMici
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
-
-NetworkType = log.DeviceState.NetworkType
-
-OPENPILOT_URL = "https://openpilot.comma.ai"
-USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
-
-CONTINUE_PATH = "/data/continue.sh"
-TMP_CONTINUE_PATH = "/data/continue.sh.new"
-INSTALL_PATH = "/data/openpilot"
-VALID_CACHE_PATH = "/data/.openpilot_cache"
-INSTALLER_SOURCE_PATH = "/usr/comma/installer"
-INSTALLER_DESTINATION_PATH = "/tmp/installer"
-INSTALLER_URL_PATH = "/tmp/installer_url"
-
-CONTINUE = """#!/usr/bin/env bash
-
-cd /data/openpilot
-exec ./launch_openpilot.sh
-"""
-
-
-class NetworkConnectivityMonitor:
-  def __init__(self, should_check: Callable[[], bool] | None = None, check_interval: float = 1.0):
-    self.network_connected = threading.Event()
-    self.wifi_connected = threading.Event()
-    self._should_check = should_check or (lambda: True)
-    self._check_interval = check_interval
-    self._stop_event = threading.Event()
-    self._thread: threading.Thread | None = None
-
-  def start(self):
-    self._stop_event.clear()
-    if self._thread is None or not self._thread.is_alive():
-      self._thread = threading.Thread(target=self._run, daemon=True)
-      self._thread.start()
-
-  def stop(self):
-    if self._thread is not None:
-      self._stop_event.set()
-      self._thread.join()
-      self._thread = None
-
-  def reset(self):
-    self.network_connected.clear()
-    self.wifi_connected.clear()
-
-  def _run(self):
-    while not self._stop_event.is_set():
-      if self._should_check():
-        try:
-          request = urllib.request.Request(OPENPILOT_URL, method="HEAD")
-          urllib.request.urlopen(request, timeout=1.0)
-          self.network_connected.set()
-          if HARDWARE.get_network_type() == NetworkType.wifi:
-            self.wifi_connected.set()
-        except Exception:
-          self.reset()
-      else:
-        self.reset()
-
-      if self._stop_event.wait(timeout=self._check_interval):
-        break
-
-
-class SetupState(IntEnum):
-  GETTING_STARTED = 0
-  NETWORK_SETUP = 1
-  NETWORK_SETUP_CUSTOM_SOFTWARE = 2
-  SOFTWARE_SELECTION = 3
-  CUSTOM_SOFTWARE = 4
-  DOWNLOADING = 5
-  DOWNLOAD_FAILED = 6
-  CUSTOM_SOFTWARE_WARNING = 7
-
-
-class StartPage(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._title = UnifiedLabel("start", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                               font_weight=FontWeight.DISPLAY, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-
-    self._start_bg_txt = gui_app.texture("icons_mici/setup/green_button.png", 520, 224)
-    self._start_bg_pressed_txt = gui_app.texture("icons_mici/setup/green_button_pressed.png", 520, 224)
-
-  def _render(self, rect: rl.Rectangle):
-    draw_x = rect.x + (rect.width - self._start_bg_txt.width) / 2
-    draw_y = rect.y + (rect.height - self._start_bg_txt.height) / 2
-    texture = self._start_bg_pressed_txt if self.is_pressed else self._start_bg_txt
-    rl.draw_texture(texture, int(draw_x), int(draw_y), rl.WHITE)
-
-    self._title.render(rect)
-
-
-class SoftwareSelectionPage(Widget):
-  def __init__(self, use_openpilot_callback: Callable,
-               use_custom_software_callback: Callable):
-    super().__init__()
-
-    self._openpilot_slider = LargerSlider("slide to use\nopenpilot", use_openpilot_callback)
-    self._custom_software_slider = LargerSlider("slide to use\ncustom software", use_custom_software_callback, green=False)
-
-  def reset(self):
-    self._openpilot_slider.reset()
-    self._custom_software_slider.reset()
-
-  def _render(self, rect: rl.Rectangle):
-    self._openpilot_slider.set_opacity(1.0 - self._custom_software_slider.slider_percentage)
-    self._custom_software_slider.set_opacity(1.0 - self._openpilot_slider.slider_percentage)
-
-    openpilot_rect = rl.Rectangle(
-      rect.x + (rect.width - self._openpilot_slider.rect.width) / 2,
-      rect.y,
-      self._openpilot_slider.rect.width,
-      rect.height / 2,
-    )
-    self._openpilot_slider.render(openpilot_rect)
-
-    custom_software_rect = rl.Rectangle(
-      rect.x + (rect.width - self._custom_software_slider.rect.width) / 2,
-      rect.y + rect.height / 2,
-      self._custom_software_slider.rect.width,
-      rect.height / 2,
-    )
-    self._custom_software_slider.render(custom_software_rect)
-
-
-class TermsHeader(Widget):
-  def __init__(self, text: str, icon_texture: rl.Texture):
-    super().__init__()
-
-    self._title = UnifiedLabel(text, 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                               font_weight=FontWeight.BOLD, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               line_height=0.8)
-    self._icon_texture = icon_texture
-
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width - 16 * 2, self._icon_texture.height))
-
-  def set_title(self, text: str):
-    self._title.set_text(text)
-
-  def set_icon(self, icon_texture: rl.Texture):
-    self._icon_texture = icon_texture
-
-  def _render(self, _):
-    rl.draw_texture_ex(self._icon_texture, rl.Vector2(self._rect.x, self._rect.y),
-                       0.0, 1.0, rl.WHITE)
-
-    # May expand outside parent rect
-    title_content_height = self._title.get_content_height(int(self._rect.width - self._icon_texture.width - 16))
-    title_rect = rl.Rectangle(
-      self._rect.x + self._icon_texture.width + 16,
-      self._rect.y + (self._rect.height - title_content_height) / 2,
-      self._rect.width - self._icon_texture.width - 16,
-      title_content_height,
-    )
-    self._title.render(title_rect)
-
-
-class TermsPage(Widget):
-  ITEM_SPACING = 20
-
-  def __init__(self, continue_callback: Callable, back_callback: Callable | None = None,
-               back_text: str = "back", continue_text: str = "accept"):
-    super().__init__()
-
-    # TODO: use Scroller
-    self._scroll_panel = GuiScrollPanel2(horizontal=False)
-
-    self._continue_text = continue_text
-    self._continue_slider: bool = continue_text in ("reboot", "power off")
-    self._continue_button: WideRoundedButton | FullRoundedButton | SmallSlider
-    if self._continue_slider:
-      self._continue_button = SmallSlider(continue_text, confirm_callback=continue_callback)
-      self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed)
-    elif back_callback is not None:
-      self._continue_button = WideRoundedButton(continue_text)
-    else:
-      self._continue_button = FullRoundedButton(continue_text)
-    self._continue_button.set_enabled(False)
-    self._continue_button.set_opacity(0.0)
-    self._continue_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid)
-    if not self._continue_slider:
-      self._continue_button.set_click_callback(continue_callback)
-
-    self._enable_back = back_callback is not None
-    self._back_button = SmallButton(back_text)
-    self._back_button.set_opacity(0.0)
-    self._back_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid)
-    self._back_button.set_click_callback(back_callback)
-
-    self._scroll_down_indicator = IconButton(gui_app.texture("icons_mici/setup/scroll_down_indicator.png", 64, 78))
-    self._scroll_down_indicator.set_enabled(False)
-
-  def reset(self):
-    self._scroll_panel.set_offset(0)
-    self._continue_button.set_enabled(False)
-    self._continue_button.set_opacity(0.0)
-    self._back_button.set_enabled(False)
-    self._back_button.set_opacity(0.0)
-    self._scroll_down_indicator.set_opacity(1.0)
-
-  def show_event(self):
-    super().show_event()
-    self.reset()
-
-  @property
-  @abstractmethod
-  def _content_height(self):
-    pass
-
-  @property
-  def _scrolled_down_offset(self):
-    return -self._content_height + (self._continue_button.rect.height + 16 + 30)
-
-  @abstractmethod
-  def _render_content(self, scroll_offset):
-    pass
-
-  def _render(self, _):
-    scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16))
-
-    if scroll_offset <= self._scrolled_down_offset:
-      # don't show back if not enabled
-      if self._enable_back:
-        self._back_button.set_enabled(True)
-        self._back_button.set_opacity(1.0, smooth=True)
-      self._continue_button.set_enabled(True)
-      self._continue_button.set_opacity(1.0, smooth=True)
-      self._scroll_down_indicator.set_opacity(0.0, smooth=True)
-    else:
-      self._back_button.set_enabled(False)
-      self._back_button.set_opacity(0.0, smooth=True)
-      self._continue_button.set_enabled(False)
-      self._continue_button.set_opacity(0.0, smooth=True)
-      self._scroll_down_indicator.set_opacity(1.0, smooth=True)
-
-    # Render content
-    self._render_content(scroll_offset)
-
-    # black gradient at top and bottom for scrolling content
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y),
-                                 int(self._rect.width), 20, rl.BLACK, rl.BLANK)
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 20),
-                                 int(self._rect.width), 20, rl.BLANK, rl.BLACK)
-
-    # fade out back button as slider is moved
-    if self._continue_slider and scroll_offset <= self._scrolled_down_offset:
-      self._back_button.set_opacity(1.0 - self._continue_button.slider_percentage)
-      self._back_button.set_visible(self._continue_button.slider_percentage < 0.99)
-
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
-
-    continue_x = self._rect.x + 8
-    if self._enable_back:
-      continue_x = self._rect.x + self._rect.width - self._continue_button.rect.width - 8
-    if self._continue_slider:
-      continue_x += 8
-    self._continue_button.render(rl.Rectangle(
-      continue_x,
-      self._rect.y + self._rect.height - self._continue_button.rect.height,
-      self._continue_button.rect.width,
-      self._continue_button.rect.height,
-    ))
-
-    self._scroll_down_indicator.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._scroll_down_indicator.rect.width - 8,
-      self._rect.y + self._rect.height - self._scroll_down_indicator.rect.height - 8,
-      self._scroll_down_indicator.rect.width,
-      self._scroll_down_indicator.rect.height,
-    ))
-
-
-class CustomSoftwareWarningPage(TermsPage):
-  def __init__(self, continue_callback: Callable, back_callback: Callable):
-    super().__init__(continue_callback, back_callback)
-
-    self._title_header = TermsHeader("use caution installing\n3rd party software",
-                                     gui_app.texture("icons_mici/setup/warning.png", 66, 60))
-    self._body = UnifiedLabel("• It has not been tested by comma.\n" +
-                              "• It may not comply with relevant safety standards.\n" +
-                              "• It may cause damage to your device and/or vehicle.\n", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                              font_weight=FontWeight.ROMAN)
-
-    self._restore_header = TermsHeader("how to backup &\nrestore", gui_app.texture("icons_mici/setup/restore.png", 60, 60))
-    self._restore_body = UnifiedLabel("To restore your device to a factory state later, use https://flash.comma.ai",
-                                      36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                      font_weight=FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._restore_body.rect.y + self._restore_body.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 8 + scroll_offset)
-    self._title_header.render()
-
-    body_rect = rl.Rectangle(
-      self._rect.x + 8,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 50,
-      self._body.get_content_height(int(self._rect.width - 50)),
-    )
-    self._body.render(body_rect)
-
-    self._restore_header.set_position(self._rect.x + 16, self._body.rect.y + self._body.rect.height + self.ITEM_SPACING)
-    self._restore_header.render()
-
-    self._restore_body.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._restore_header.rect.y + self._restore_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 50,
-      self._restore_body.get_content_height(int(self._rect.width - 50)),
-    ))
-
-
-class DownloadingPage(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._title_label = UnifiedLabel("downloading", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                     font_weight=FontWeight.DISPLAY)
-    self._progress_label = UnifiedLabel("", 128, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.35)),
-                                        font_weight=FontWeight.ROMAN, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
-    self._progress = 0
-
-  def set_progress(self, progress: int):
-    self._progress = progress
-    self._progress_label.set_text(f"{progress}%")
-
-  def _render(self, rect: rl.Rectangle):
-    self._title_label.render(rl.Rectangle(
-      rect.x + 20,
-      rect.y + 10,
-      rect.width,
-      64,
-    ))
-
-    self._progress_label.render(rl.Rectangle(
-      rect.x + 20,
-      rect.y + 20,
-      rect.width,
-      rect.height,
-    ))
-
-
-class FailedPage(Widget):
-  def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
-    super().__init__()
-
-    self._title_label = UnifiedLabel(title, 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                     font_weight=FontWeight.DISPLAY)
-    self._reason_label = UnifiedLabel("", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
-                                      font_weight=FontWeight.ROMAN)
-
-    self._reboot_button = SmallRedPillButton("reboot")
-    self._reboot_button.set_click_callback(reboot_callback)
-
-    self._retry_button = WideRoundedButton("retry")
-    self._retry_button.set_click_callback(retry_callback)
-
-  def set_reason(self, reason: str):
-    self._reason_label.set_text(reason)
-
-  def _render(self, rect: rl.Rectangle):
-    self._title_label.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + 10,
-      rect.width,
-      64,
-    ))
-
-    self._reason_label.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + 10 + 64,
-      rect.width,
-      36,
-    ))
-
-    self._reboot_button.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + rect.height - self._reboot_button.rect.height,
-      self._reboot_button.rect.width,
-      self._reboot_button.rect.height,
-    ))
-
-    self._retry_button.render(rl.Rectangle(
-      rect.x + 8 + self._reboot_button.rect.width + 8,
-      rect.y + rect.height - self._retry_button.rect.height,
-      self._retry_button.rect.width,
-      self._retry_button.rect.height,
-    ))
-
-
-class NetworkSetupState(IntEnum):
-  MAIN = 0
-  WIFI_PANEL = 1
-
-
-class NetworkSetupPage(Widget):
-  def __init__(self, wifi_manager, continue_callback: Callable, back_callback: Callable):
-    super().__init__()
-    self._wifi_ui = WifiUIMici(wifi_manager, back_callback=lambda: self.set_state(NetworkSetupState.MAIN))
-
-    self._no_wifi_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 58, 50)
-    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 58, 50)
-    self._waiting_text = "waiting for internet..."
-    self._network_header = TermsHeader(self._waiting_text, self._no_wifi_txt)
-
-    back_txt = gui_app.texture("icons_mici/setup/back_new.png", 37, 32)
-    self._back_button = SmallCircleIconButton(back_txt)
-    self._back_button.set_click_callback(back_callback)
-
-    self._wifi_button = SmallerRoundedButton("wifi")
-    self._wifi_button.set_click_callback(lambda: self.set_state(NetworkSetupState.WIFI_PANEL))
-
-    self._continue_button = WidishRoundedButton("continue")
-    self._continue_button.set_enabled(False)
-    self._continue_button.set_click_callback(continue_callback)
-
-    self._state = NetworkSetupState.MAIN
-    self._prev_has_internet = False
-
-  def set_state(self, state: NetworkSetupState):
-    self._state = state
-    if state == NetworkSetupState.WIFI_PANEL:
-      self._wifi_ui.show_event()
-
-  def set_has_internet(self, has_internet: bool):
-    if has_internet:
-      self._network_header.set_title("connected to internet")
-      self._network_header.set_icon(self._wifi_full_txt)
-      self._continue_button.set_enabled(True)
-    else:
-      self._network_header.set_title(self._waiting_text)
-      self._network_header.set_icon(self._no_wifi_txt)
-      self._continue_button.set_enabled(False)
-
-    if has_internet and not self._prev_has_internet:
-      self.set_state(NetworkSetupState.MAIN)
-    self._prev_has_internet = has_internet
-
-  def show_event(self):
-    super().show_event()
-    self._state = NetworkSetupState.MAIN
-    self._wifi_ui.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_ui.hide_event()
-
-  def _render(self, _):
-    if self._state == NetworkSetupState.MAIN:
-      self._network_header.render(rl.Rectangle(
-        self._rect.x + 16,
-        self._rect.y + 16,
-        self._rect.width - 32,
-        self._network_header.rect.height,
-      ))
-
-      self._back_button.render(rl.Rectangle(
-        self._rect.x + 8,
-        self._rect.y + self._rect.height - self._back_button.rect.height,
-        self._back_button.rect.width,
-        self._back_button.rect.height,
-      ))
-
-      self._wifi_button.render(rl.Rectangle(
-        self._rect.x + 8 + self._back_button.rect.width + 10,
-        self._rect.y + self._rect.height - self._wifi_button.rect.height,
-        self._wifi_button.rect.width,
-        self._wifi_button.rect.height,
-      ))
-
-      self._continue_button.render(rl.Rectangle(
-        self._rect.x + self._rect.width - self._continue_button.rect.width - 8,
-        self._rect.y + self._rect.height - self._continue_button.rect.height,
-        self._continue_button.rect.width,
-        self._continue_button.rect.height,
-      ))
-    else:
-      self._wifi_ui.render(self._rect)
-
-
-class Setup(Widget):
-  def __init__(self):
-    super().__init__()
-    self.state = SetupState.GETTING_STARTED
-    self.failed_url = ""
-    self.failed_reason = ""
-    self.download_url = ""
-    self.download_progress = 0
-    self.download_thread = None
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(True)
-    self._network_monitor = NetworkConnectivityMonitor()
-    self._network_monitor.start()
-    self._prev_has_internet = False
-    gui_app.set_modal_overlay_tick(self._modal_overlay_tick)
-
-    self._start_page = StartPage()
-    self._start_page.set_click_callback(self._getting_started_button_callback)
-
-    self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_button_callback,
-                                                self._network_setup_back_button_callback)
-
-    self._software_selection_page = SoftwareSelectionPage(self._software_selection_continue_button_callback,
-                                                          self._software_selection_custom_software_button_callback)
-
-    self._download_failed_page = FailedPage(HARDWARE.reboot, self._download_failed_startover_button_callback)
-
-    self._custom_software_warning_page = CustomSoftwareWarningPage(self._software_selection_custom_software_continue,
-                                                                   self._custom_software_warning_back_button_callback)
-
-    self._downloading_page = DownloadingPage()
-
-  def _modal_overlay_tick(self):
-    has_internet = self._network_monitor.network_connected.is_set()
-    if has_internet and not self._prev_has_internet:
-      gui_app.set_modal_overlay(None)
-    self._prev_has_internet = has_internet
-
-  def _update_state(self):
-    self._wifi_manager.process_callbacks()
-
-  def _set_state(self, state: SetupState):
-    self.state = state
-    if self.state == SetupState.SOFTWARE_SELECTION:
-      self._software_selection_page.reset()
-    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
-      self._custom_software_warning_page.reset()
-
-    if self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE):
-      self._network_setup_page.show_event()
-      self._network_monitor.reset()
-    else:
-      self._network_setup_page.hide_event()
-
-  def _render(self, rect: rl.Rectangle):
-    if self.state == SetupState.GETTING_STARTED:
-      self._start_page.render(rect)
-    elif self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE):
-      self.render_network_setup(rect)
-    elif self.state == SetupState.SOFTWARE_SELECTION:
-      self._software_selection_page.render(rect)
-    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
-      self._custom_software_warning_page.render(rect)
-    elif self.state == SetupState.CUSTOM_SOFTWARE:
-      self.render_custom_software()
-    elif self.state == SetupState.DOWNLOADING:
-      self.render_downloading(rect)
-    elif self.state == SetupState.DOWNLOAD_FAILED:
-      self._download_failed_page.render(rect)
-
-  def _custom_software_warning_back_button_callback(self):
-    self._set_state(SetupState.SOFTWARE_SELECTION)
-
-  def _getting_started_button_callback(self):
-    self._set_state(SetupState.SOFTWARE_SELECTION)
-
-  def _software_selection_continue_button_callback(self):
-    self.use_openpilot()
-
-  def _software_selection_custom_software_button_callback(self):
-    self._set_state(SetupState.CUSTOM_SOFTWARE_WARNING)
-
-  def _software_selection_custom_software_continue(self):
-    self._set_state(SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE)
-
-  def _download_failed_startover_button_callback(self):
-    self._set_state(SetupState.GETTING_STARTED)
-
-  def _network_setup_back_button_callback(self):
-    self._set_state(SetupState.SOFTWARE_SELECTION)
-
-  def _network_setup_continue_button_callback(self):
-    if self.state == SetupState.NETWORK_SETUP:
-      self.download(OPENPILOT_URL)
-    elif self.state == SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE:
-      self._set_state(SetupState.CUSTOM_SOFTWARE)
-
-  def close(self):
-    self._network_monitor.stop()
-
-  def render_network_setup(self, rect: rl.Rectangle):
-    has_internet = self._network_monitor.network_connected.is_set()
-    self._prev_has_internet = has_internet
-    self._network_setup_page.set_has_internet(has_internet)
-    self._network_setup_page.render(rect)
-
-  def render_downloading(self, rect: rl.Rectangle):
-    self._downloading_page.set_progress(self.download_progress)
-    self._downloading_page.render(rect)
-
-  def render_custom_software(self):
-    def handle_keyboard_result(text):
-      url = text.strip()
-      if url:
-        self.download(url)
-
-    def handle_keyboard_exit(result):
-      if result == DialogResult.CANCEL:
-        self._set_state(SetupState.SOFTWARE_SELECTION)
-
-    keyboard = BigInputDialog("custom software URL", confirm_callback=handle_keyboard_result)
-    gui_app.set_modal_overlay(keyboard, callback=handle_keyboard_exit)
-
-  def use_openpilot(self):
-    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
-      os.remove(VALID_CACHE_PATH)
-      with open(TMP_CONTINUE_PATH, "w") as f:
-        f.write(CONTINUE)
-      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
-      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
-      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
-
-      # give time for installer UI to take over
-      time.sleep(0.1)
-      gui_app.request_close()
-    else:
-      self._set_state(SetupState.NETWORK_SETUP)
-
-  def download(self, url: str):
-    # autocomplete incomplete URLs
-    if re.match("^([^/.]+)/([^/]+)$", url):
-      url = f"https://installer.comma.ai/{url}"
-
-    parsed = urlparse(url, scheme='https')
-    self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
-
-    self._set_state(SetupState.DOWNLOADING)
-
-    self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
-    self.download_thread.start()
-
-  def _download_thread(self):
-    try:
-      import tempfile
-
-      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
-
-      headers = {"User-Agent": USER_AGENT,
-                 "X-openpilot-serial": HARDWARE.get_serial(),
-                 "X-openpilot-device-type": HARDWARE.get_device_type()}
-      req = urllib.request.Request(self.download_url, headers=headers)
-
-      with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
-        total_size = int(response.headers.get('content-length', 0))
-        downloaded = 0
-        block_size = 8192
-
-        while True:
-          buffer = response.read(block_size)
-          if not buffer:
-            break
-
-          downloaded += len(buffer)
-          f.write(buffer)
-
-          if total_size:
-            self.download_progress = int(downloaded * 100 / total_size)
-            self._downloading_page.set_progress(self.download_progress)
-
-      is_elf = False
-      with open(tmpfile, 'rb') as f:
-        header = f.read(4)
-        is_elf = header == b'\x7fELF'
-
-      if not is_elf:
-        self.download_failed(self.download_url, "No custom software found at this URL.")
-        return
-
-      # AGNOS might try to execute the installer before this process exits.
-      # Therefore, important to close the fd before renaming the installer.
-      os.close(fd)
-      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
-
-      with open(INSTALLER_URL_PATH, "w") as f:
-        f.write(self.download_url)
-
-      # give time for installer UI to take over
-      time.sleep(0.1)
-      gui_app.request_close()
-
-    except urllib.error.HTTPError as e:
-      if e.code == 409:
-        error_msg = "Incompatible sunnypilot version"
-        self.download_failed(self.download_url, error_msg)
-    except Exception:
-      error_msg = "Invalid URL"
-      self.download_failed(self.download_url, error_msg)
-
-  def download_failed(self, url: str, reason: str):
-    self.failed_url = url
-    self.failed_reason = reason
-    self._download_failed_page.set_reason(reason)
-    self._set_state(SetupState.DOWNLOAD_FAILED)
-
-
-def main():
-  try:
-    gui_app.init_window("Setup")
-    setup = Setup()
-    for should_render in gui_app.render():
-      if should_render:
-        setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-    setup.close()
-  except Exception as e:
-    print(f"Setup error: {e}")
-  finally:
-    gui_app.close()
-
-
-if __name__ == "__main__":
-  main()
diff --git a/system/ui/mici_updater.py b/system/ui/mici_updater.py
deleted file mode 100755
index 7ebb4262ff..0000000000
--- a/system/ui/mici_updater.py
+++ /dev/null
@@ -1,201 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import subprocess
-import threading
-import pyray as rl
-from enum import IntEnum
-
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import gui_text_box, gui_label, UnifiedLabel
-from openpilot.system.ui.widgets.button import FullRoundedButton
-from openpilot.system.ui.mici_setup import NetworkSetupPage, FailedPage, NetworkConnectivityMonitor
-
-
-class Screen(IntEnum):
-  PROMPT = 0
-  WIFI = 1
-  PROGRESS = 2
-  FAILED = 3
-
-
-class Updater(Widget):
-  def __init__(self, updater_path, manifest_path):
-    super().__init__()
-    self.updater = updater_path
-    self.manifest = manifest_path
-    self.current_screen = Screen.PROMPT
-    self._current_network_strength = -1
-
-    self.progress_value = 0
-    self.progress_text = "loading"
-    self.process = None
-    self.update_thread = None
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(True)
-
-    self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_callback,
-                                                self._network_setup_back_callback)
-
-    self._wifi_manager.add_callbacks(networks_updated=self._on_network_updated)
-    self._network_monitor = NetworkConnectivityMonitor()
-    self._network_monitor.start()
-
-    # Buttons
-    self._continue_button = FullRoundedButton("continue")
-    self._continue_button.set_click_callback(lambda: self.set_current_screen(Screen.WIFI))
-
-    self._title_label = UnifiedLabel("update required", 48, text_color=rl.Color(255, 115, 0, 255),
-                                     font_weight=FontWeight.DISPLAY)
-    self._subtitle_label = UnifiedLabel("The download size is approximately 1GB.", 36,
-                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                        font_weight=FontWeight.ROMAN)
-
-    self._update_failed_page = FailedPage(HARDWARE.reboot, self._update_failed_retry_callback,
-                                          title="update failed")
-
-  def _network_setup_back_callback(self):
-    self.set_current_screen(Screen.PROMPT)
-
-  def _network_setup_continue_callback(self):
-    self.install_update()
-
-  def _update_failed_retry_callback(self):
-    self.set_current_screen(Screen.PROMPT)
-
-  def _on_network_updated(self, networks: list[Network]):
-    self._current_network_strength = next((net.strength for net in networks if net.is_connected), -1)
-
-  def set_current_screen(self, screen: Screen):
-    if self.current_screen != screen:
-      if screen == Screen.PROGRESS:
-        if self._network_setup_page:
-          self._network_setup_page.hide_event()
-      elif screen == Screen.WIFI:
-        if self._network_setup_page:
-          self._network_setup_page.show_event()
-      elif screen == Screen.PROMPT:
-        if self._network_setup_page:
-          self._network_setup_page.hide_event()
-      elif screen == Screen.FAILED:
-        if self._network_setup_page:
-          self._network_setup_page.hide_event()
-
-    self.current_screen = screen
-
-  def install_update(self):
-    self.set_current_screen(Screen.PROGRESS)
-    self.progress_value = 0
-    self.progress_text = "downloading"
-
-    # Start the update process in a separate thread
-    self.update_thread = threading.Thread(target=self._run_update_process)
-    self.update_thread.daemon = True
-    self.update_thread.start()
-
-  def _run_update_process(self):
-    # TODO: just import it and run in a thread without a subprocess
-    cmd = [self.updater, "--swap", self.manifest]
-    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
-                                    text=True, bufsize=1, universal_newlines=True)
-
-    if self.process.stdout is not None:
-      for line in self.process.stdout:
-        parts = line.strip().split(":")
-        if len(parts) == 2:
-          self.progress_text = parts[0].lower()
-          try:
-            self.progress_value = int(float(parts[1]))
-          except ValueError:
-            pass
-
-    exit_code = self.process.wait()
-    if exit_code == 0:
-      HARDWARE.reboot()
-    else:
-      self.set_current_screen(Screen.FAILED)
-
-  def render_prompt_screen(self, rect: rl.Rectangle):
-    self._title_label.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y - 5,
-      rect.width,
-      48,
-    ))
-
-    subtitle_width = rect.width - 16
-    subtitle_height = self._subtitle_label.get_content_height(int(subtitle_width))
-    self._subtitle_label.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + 48,
-      subtitle_width,
-      subtitle_height,
-    ))
-
-    self._continue_button.render(rl.Rectangle(
-      rect.x + 8,
-      rect.y + rect.height - self._continue_button.rect.height,
-      self._continue_button.rect.width,
-      self._continue_button.rect.height,
-    ))
-
-  def render_progress_screen(self, rect: rl.Rectangle):
-    title_rect = rl.Rectangle(self._rect.x + 6, self._rect.y - 5, self._rect.width - 12, self._rect.height - 8)
-    if ' ' in self.progress_text:
-      font_size = 62
-    else:
-      font_size = 82
-    gui_text_box(title_rect, self.progress_text, font_size, font_weight=FontWeight.DISPLAY,
-                 color=rl.Color(255, 255, 255, int(255 * 0.9)))
-
-    progress_value = f"{self.progress_value}%"
-    text_height = measure_text_cached(gui_app.font(FontWeight.ROMAN), progress_value, 128).y
-    progress_rect = rl.Rectangle(self._rect.x + 6, self._rect.y + self._rect.height - text_height + 18,
-                                 self._rect.width - 12, text_height)
-    gui_label(progress_rect, progress_value, 128, font_weight=FontWeight.ROMAN,
-              color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.35)))
-
-  def _update_state(self):
-    self._wifi_manager.process_callbacks()
-
-  def _render(self, rect: rl.Rectangle):
-    if self.current_screen == Screen.PROMPT:
-      self.render_prompt_screen(rect)
-    elif self.current_screen == Screen.WIFI:
-      self._network_setup_page.set_has_internet(self._network_monitor.network_connected.is_set())
-      self._network_setup_page.render(rect)
-    elif self.current_screen == Screen.PROGRESS:
-      self.render_progress_screen(rect)
-    elif self.current_screen == Screen.FAILED:
-      self._update_failed_page.render(rect)
-
-  def close(self):
-    self._network_monitor.stop()
-
-
-def main():
-  if len(sys.argv) < 3:
-    print("Usage: updater.py <updater_path> <manifest_path>")
-    sys.exit(1)
-
-  updater_path = sys.argv[1]
-  manifest_path = sys.argv[2]
-
-  try:
-    gui_app.init_window("System Update")
-    updater = Updater(updater_path, manifest_path)
-    for should_render in gui_app.render():
-      if should_render:
-        updater.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-    updater.close()
-  except Exception as e:
-    print(f"Updater error: {e}")
-  finally:
-    gui_app.close()
-
-
-if __name__ == "__main__":
-  main()
diff --git a/system/ui/sunnypilot/lib/utils.py b/system/ui/sunnypilot/lib/utils.py
deleted file mode 100644
index 09230da14b..0000000000
--- a/system/ui/sunnypilot/lib/utils.py
+++ /dev/null
@@ -1,12 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
-
-
-class NoElideButtonAction(ButtonActionSP):
-  def get_width_hint(self):
-    return super().get_width_hint() + 1
diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py
deleted file mode 100644
index b3b1276a58..0000000000
--- a/system/ui/widgets/__init__.py
+++ /dev/null
@@ -1,396 +0,0 @@
-from __future__ import annotations
-
-import abc
-import pyray as rl
-from enum import IntEnum
-from collections.abc import Callable
-from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
-from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent
-
-try:
-  from openpilot.selfdrive.ui.ui_state import device
-except ImportError:
-  class Device:
-    awake = True
-  device = Device()
-
-
-class DialogResult(IntEnum):
-  CANCEL = 0
-  CONFIRM = 1
-  NO_ACTION = -1
-
-
-class Widget(abc.ABC):
-  def __init__(self):
-    self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
-    self._parent_rect: rl.Rectangle | None = None
-    self.__is_pressed = [False] * MAX_TOUCH_SLOTS
-    # if current mouse/touch down started within the widget's rectangle
-    self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
-    self._enabled: bool | Callable[[], bool] = True
-    self._is_visible: bool | Callable[[], bool] = True
-    self._touch_valid_callback: Callable[[], bool] | None = None
-    self._click_callback: Callable[[], None] | None = None
-    self._multi_touch = False
-    self.__was_awake = True
-
-  @property
-  def rect(self) -> rl.Rectangle:
-    return self._rect
-
-  def set_rect(self, rect: rl.Rectangle) -> None:
-    changed = (self._rect.x != rect.x or self._rect.y != rect.y or
-               self._rect.width != rect.width or self._rect.height != rect.height)
-    self._rect = rect
-    if changed:
-      self._update_layout_rects()
-
-  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
-    """Can be used like size hint in QT"""
-    self._parent_rect = parent_rect
-
-  @property
-  def is_pressed(self) -> bool:
-    return any(self.__is_pressed)
-
-  @property
-  def enabled(self) -> bool:
-    return self._enabled() if callable(self._enabled) else self._enabled
-
-  def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:
-    self._enabled = enabled
-
-  @property
-  def is_visible(self) -> bool:
-    return self._is_visible() if callable(self._is_visible) else self._is_visible
-
-  def set_visible(self, visible: bool | Callable[[], bool]) -> None:
-    self._is_visible = visible
-
-  def set_click_callback(self, click_callback: Callable[[], None] | None) -> None:
-    """Set a callback to be called when the widget is clicked."""
-    self._click_callback = click_callback
-
-  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
-    """Set a callback to determine if the widget can be clicked."""
-    self._touch_valid_callback = touch_callback
-
-  def _touch_valid(self) -> bool:
-    """Check if the widget can be touched."""
-    return self._touch_valid_callback() if self._touch_valid_callback else True
-
-  def set_position(self, x: float, y: float) -> None:
-    changed = (self._rect.x != x or self._rect.y != y)
-    self._rect = rl.Rectangle(x, y, self._rect.width, self._rect.height)
-    if changed:
-      self._update_layout_rects()
-
-  @property
-  def _hit_rect(self) -> rl.Rectangle:
-    # restrict touches to within parent rect if set, useful inside Scroller
-    if self._parent_rect is None:
-      return self._rect
-    return rl.get_collision_rec(self._rect, self._parent_rect)
-
-  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
-    if rect is not None:
-      self.set_rect(rect)
-
-    self._update_state()
-
-    if not self.is_visible:
-      return None
-
-    self._layout()
-    ret = self._render(self._rect)
-
-    # Keep track of whether mouse down started within the widget's rectangle
-    if self.enabled and self.__was_awake:
-      self._process_mouse_events()
-
-    self.__was_awake = device.awake
-
-    return ret
-
-  def _process_mouse_events(self) -> None:
-    hit_rect = self._hit_rect
-    touch_valid = self._touch_valid()
-
-    for mouse_event in gui_app.mouse_events:
-      if not self._multi_touch and mouse_event.slot != 0:
-        continue
-
-      mouse_in_rect = rl.check_collision_point_rec(mouse_event.pos, hit_rect)
-      # Ignores touches/presses that start outside our rect
-      # Allows touch to leave the rect and come back in focus if mouse did not release
-      if mouse_event.left_pressed and touch_valid:
-        if mouse_in_rect:
-          self._handle_mouse_press(mouse_event.pos)
-          self.__is_pressed[mouse_event.slot] = True
-          self.__tracking_is_pressed[mouse_event.slot] = True
-          self._handle_mouse_event(mouse_event)
-
-      # Callback such as scroll panel signifies user is scrolling
-      elif not touch_valid:
-        self.__is_pressed[mouse_event.slot] = False
-        self.__tracking_is_pressed[mouse_event.slot] = False
-
-      elif mouse_event.left_released:
-        self._handle_mouse_event(mouse_event)
-        if self.__is_pressed[mouse_event.slot] and mouse_in_rect:
-          self._handle_mouse_release(mouse_event.pos)
-        self.__is_pressed[mouse_event.slot] = False
-        self.__tracking_is_pressed[mouse_event.slot] = False
-
-      # Mouse/touch is still within our rect
-      elif mouse_in_rect:
-        if self.__tracking_is_pressed[mouse_event.slot]:
-          self.__is_pressed[mouse_event.slot] = True
-          self._handle_mouse_event(mouse_event)
-
-      # Mouse/touch left our rect but may come back into focus later
-      elif not mouse_in_rect:
-        self.__is_pressed[mouse_event.slot] = False
-        self._handle_mouse_event(mouse_event)
-
-  def _layout(self) -> None:
-    """Optionally lay out child widgets separately. This is called before rendering."""
-
-  def _update_state(self):
-    """Optionally update the widget's non-layout state. This is called before rendering."""
-
-  @abc.abstractmethod
-  def _render(self, rect: rl.Rectangle) -> bool | int | None:
-    """Render the widget within the given rectangle."""
-
-  def _update_layout_rects(self) -> None:
-    """Optionally update any layout rects on Widget rect change."""
-
-  def _handle_mouse_press(self, mouse_pos: MousePos) -> None:
-    """Optionally handle mouse press events."""
-
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
-    """Optionally handle mouse release events."""
-    if self._click_callback:
-      self._click_callback()
-
-  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
-    """Optionally handle mouse events. This is called before rendering."""
-    # Default implementation does nothing, can be overridden by subclasses
-
-  def show_event(self):
-    """Optionally handle show event. Parent must manually call this"""
-
-  def hide_event(self):
-    """Optionally handle hide event. Parent must manually call this"""
-
-
-SWIPE_AWAY_THRESHOLD = 80  # px to dismiss after releasing
-START_DISMISSING_THRESHOLD = 40  # px to start dismissing while dragging
-BLOCK_SWIPE_AWAY_THRESHOLD = 60  # px horizontal movement to block swipe away
-
-NAV_BAR_MARGIN = 6
-NAV_BAR_WIDTH = 205
-NAV_BAR_HEIGHT = 8
-
-DISMISS_PUSH_OFFSET = 50 + NAV_BAR_MARGIN + NAV_BAR_HEIGHT  # px extra to push down when dismissing
-DISMISS_TIME_SECONDS = 2.0
-
-
-class NavBar(Widget):
-  def __init__(self):
-    super().__init__()
-    self.set_rect(rl.Rectangle(0, 0, NAV_BAR_WIDTH, NAV_BAR_HEIGHT))
-    self._alpha = 1.0
-    self._alpha_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
-    self._fade_time = 0.0
-
-  def set_alpha(self, alpha: float) -> None:
-    self._alpha = alpha
-    self._fade_time = rl.get_time()
-
-  def show_event(self):
-    super().show_event()
-    self._alpha = 1.0
-    self._alpha_filter.x = 1.0
-    self._fade_time = rl.get_time()
-
-  def _render(self, _):
-    if rl.get_time() - self._fade_time > DISMISS_TIME_SECONDS:
-      self._alpha = 0.0
-    alpha = self._alpha_filter.update(self._alpha)
-
-    # white bar with black border
-    rl.draw_rectangle_rounded(self._rect, 1.0, 6, rl.Color(255, 255, 255, int(255 * 0.9 * alpha)))
-    rl.draw_rectangle_rounded_lines_ex(self._rect, 1.0, 6, 2, rl.Color(0, 0, 0, int(255 * 0.3 * alpha)))
-
-
-class NavWidget(Widget, abc.ABC):
-  """
-  A full screen widget that supports back navigation by swiping down from the top.
-  """
-  BACK_TOUCH_AREA_PERCENTAGE = 0.65
-
-  def __init__(self):
-    super().__init__()
-    self._back_callback: Callable[[], None] | None = None
-    self._back_button_start_pos: MousePos | None = None
-    self._swiping_away = False  # currently swiping away
-    self._can_swipe_away = True  # swipe away is blocked after certain horizontal movement
-
-    self._pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
-    self._playing_dismiss_animation = False
-    self._trigger_animate_in = False
-    self._nav_bar_show_time = 0.0
-    self._back_enabled: bool | Callable[[], bool] = True
-    self._nav_bar = NavBar()
-
-    self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
-
-    self._set_up = False
-
-  @property
-  def back_enabled(self) -> bool:
-    return self._back_enabled() if callable(self._back_enabled) else self._back_enabled
-
-  def set_back_enabled(self, enabled: bool | Callable[[], bool]) -> None:
-    self._back_enabled = enabled
-
-  def set_back_callback(self, callback: Callable[[], None]) -> None:
-    self._back_callback = callback
-
-  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
-    super()._handle_mouse_event(mouse_event)
-
-    if not self.back_enabled:
-      self._back_button_start_pos = None
-      self._swiping_away = False
-      self._can_swipe_away = True
-      return
-
-    if mouse_event.left_pressed:
-      # user is able to swipe away if starting near top of screen, or anywhere if scroller is at top
-      self._pos_filter.update_alpha(0.04)
-      in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE
-
-      scroller_at_top = False
-      vertical_scroller = False
-      # TODO: -20? snapping in WiFi dialog can make offset not be positive at the top
-      if hasattr(self, '_scroller'):
-        scroller_at_top = self._scroller.scroll_panel.get_offset() >= -20 and not self._scroller._horizontal
-        vertical_scroller = not self._scroller._horizontal
-      elif hasattr(self, '_scroll_panel'):
-        scroller_at_top = self._scroll_panel.get_offset() >= -20 and not self._scroll_panel._horizontal
-        vertical_scroller = not self._scroll_panel._horizontal
-
-      # Vertical scrollers need to be at the top to swipe away to prevent erroneous swipes
-      if (not vertical_scroller and in_dismiss_area) or scroller_at_top:
-        self._can_swipe_away = True
-        self._back_button_start_pos = mouse_event.pos
-
-    elif mouse_event.left_down:
-      if self._back_button_start_pos is not None:
-        # block swiping away if too much horizontal or upward movement
-        horizontal_movement = abs(mouse_event.pos.x - self._back_button_start_pos.x) > BLOCK_SWIPE_AWAY_THRESHOLD
-        upward_movement = mouse_event.pos.y - self._back_button_start_pos.y < -BLOCK_SWIPE_AWAY_THRESHOLD
-        if not self._swiping_away and (horizontal_movement or upward_movement):
-          self._can_swipe_away = False
-          self._back_button_start_pos = None
-
-        # block horizontal swiping if now swiping away
-        if self._can_swipe_away:
-          if mouse_event.pos.y - self._back_button_start_pos.y > START_DISMISSING_THRESHOLD:
-            self._swiping_away = True
-
-    elif mouse_event.left_released:
-      self._pos_filter.update_alpha(0.1)
-      # if far enough, trigger back navigation callback
-      if self._back_button_start_pos is not None:
-        if mouse_event.pos.y - self._back_button_start_pos.y > SWIPE_AWAY_THRESHOLD:
-          self._playing_dismiss_animation = True
-
-      self._back_button_start_pos = None
-      self._swiping_away = False
-
-  def _update_state(self):
-    super()._update_state()
-
-    # Disable self's scroller while swiping away
-    if not self._set_up:
-      self._set_up = True
-      if hasattr(self, '_scroller'):
-        original_enabled = self._scroller._enabled
-        self._scroller.set_enabled(lambda: not self._swiping_away and (original_enabled() if callable(original_enabled) else
-                                                                       original_enabled))
-      elif hasattr(self, '_scroll_panel'):
-        original_enabled = self._scroll_panel.enabled
-        self._scroll_panel.set_enabled(lambda: not self._swiping_away and (original_enabled() if callable(original_enabled) else
-                                                                          original_enabled))
-
-    if self._trigger_animate_in:
-      self._pos_filter.x = self._rect.height
-      self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
-      self._nav_bar_show_time = rl.get_time()
-      self._trigger_animate_in = False
-
-    new_y = 0.0
-
-    if self._back_button_start_pos is not None:
-      last_mouse_event = gui_app.last_mouse_event
-      # push entire widget as user drags it away
-      new_y = max(last_mouse_event.pos.y - self._back_button_start_pos.y, 0)
-      if new_y < SWIPE_AWAY_THRESHOLD:
-        new_y /= 2  # resistance until mouse release would dismiss widget
-
-    if self._swiping_away:
-      self._nav_bar.set_alpha(1.0)
-
-    if self._playing_dismiss_animation:
-      new_y = self._rect.height + DISMISS_PUSH_OFFSET
-
-    new_y = round(self._pos_filter.update(new_y))
-    if abs(new_y) < 1 and self._pos_filter.velocity.x == 0.0:
-      new_y = self._pos_filter.x = 0.0
-
-    if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10:
-      if self._back_callback is not None:
-        self._back_callback()
-
-      self._playing_dismiss_animation = False
-      self._back_button_start_pos = None
-      self._swiping_away = False
-
-    self.set_position(self._rect.x, new_y)
-
-  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
-    ret = super().render(rect)
-
-    if self.back_enabled:
-      bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2
-      nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4
-      # User dragging or dismissing, nav bar follows NavWidget
-      if self._back_button_start_pos is not None or self._playing_dismiss_animation:
-        self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._pos_filter.x
-      # Waiting to show
-      elif nav_bar_delayed:
-        self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
-      # Animate back to top
-      else:
-        self._nav_bar_y_filter.update(NAV_BAR_MARGIN)
-
-      # draw black above widget when dismissing
-      if self._rect.y > 0:
-        rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK)
-
-      self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
-      self._nav_bar.render()
-
-    return ret
-
-  def show_event(self):
-    super().show_event()
-    # FIXME: we don't know the height of the rect at first show_event since it's before the first render :(
-    #  so we need this hacky bool for now
-    self._trigger_animate_in = True
-    self._nav_bar.show_event()
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
deleted file mode 100644
index 03c49fca65..0000000000
--- a/system/ui/widgets/scroller.py
+++ /dev/null
@@ -1,305 +0,0 @@
-import pyray as rl
-import numpy as np
-from collections.abc import Callable
-
-from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
-from openpilot.system.ui.widgets import Widget
-
-ITEM_SPACING = 20
-LINE_COLOR = rl.GRAY
-LINE_PADDING = 40
-ANIMATION_SCALE = 0.6
-
-MIN_ZOOM_ANIMATION_TIME = 0.075  # seconds
-DO_ZOOM = False
-DO_JELLO = False
-
-
-class LineSeparator(Widget):
-  def __init__(self, height: int = 1):
-    super().__init__()
-    self._rect = rl.Rectangle(0, 0, 0, height)
-
-  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
-    super().set_parent_rect(parent_rect)
-    self._rect.width = parent_rect.width
-
-  def _render(self, _):
-    rl.draw_line(int(self._rect.x) + LINE_PADDING, int(self._rect.y),
-                 int(self._rect.x + self._rect.width) - LINE_PADDING, int(self._rect.y),
-                 LINE_COLOR)
-
-
-class ScrollIndicator(Widget):
-  HORIZONTAL_MARGIN = 4
-
-  def __init__(self):
-    super().__init__()
-    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/horizontal_scroll_indicator.png", 96, 48)
-    self._scroll_offset: float = 0.0
-    self._content_size: float = 0.0
-    self._viewport: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
-
-  def update(self, scroll_offset: float, content_size: float, viewport: rl.Rectangle) -> None:
-    self._scroll_offset = scroll_offset
-    self._content_size = content_size
-    self._viewport = viewport
-
-  def _render(self, _):
-    # scale indicator width based on content size
-    indicator_w = float(np.interp(self._content_size, [1000, 3000], [300, 100]))
-
-    # position based on scroll ratio
-    slide_range = self._viewport.width - indicator_w
-    max_scroll = self._content_size - self._viewport.width
-    scroll_ratio = -self._scroll_offset / max_scroll
-    x = self._viewport.x + scroll_ratio * slide_range
-    # don't bounce up when NavWidget shows
-    y = max(self._viewport.y, 0) + self._viewport.height - self._txt_scroll_indicator.height / 2
-
-    # squeeze when overscrolling past edges
-    dest_left = max(x, self._viewport.x)
-    dest_right = min(x + indicator_w, self._viewport.x + self._viewport.width)
-    dest_w = max(indicator_w / 2, dest_right - dest_left)
-
-    # keep within viewport after applying minimum width
-    dest_left = min(dest_left, self._viewport.x + self._viewport.width - dest_w)
-    dest_left = max(dest_left, self._viewport.x)
-
-    src_rec = rl.Rectangle(0, 0, self._txt_scroll_indicator.width, self._txt_scroll_indicator.height)
-    dest_rec = rl.Rectangle(dest_left, y, dest_w, self._txt_scroll_indicator.height)
-    rl.draw_texture_pro(self._txt_scroll_indicator, src_rec, dest_rec, rl.Vector2(0, 0), 0.0,
-                        rl.Color(255, 255, 255, int(255 * 0.45)))
-
-
-class Scroller(Widget):
-  def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = True, spacing: int = ITEM_SPACING,
-               line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING,
-               scroll_indicator: bool = True):
-    super().__init__()
-    self._items: list[Widget] = []
-    self._horizontal = horizontal
-    self._snap_items = snap_items
-    self._spacing = spacing
-    self._line_separator = LineSeparator() if line_separator else None
-    self._pad_start = pad_start
-    self._pad_end = pad_end
-
-    self._reset_scroll_at_show = True
-
-    self._scrolling_to: float | None = None
-    self._scroll_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
-    self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps)
-    self._zoom_out_t: float = 0.0
-
-    # layout state
-    self._visible_items: list[Widget] = []
-    self._content_size: float = 0.0
-    self._scroll_offset: float = 0.0
-
-    self._item_pos_filter = BounceFilter(0.0, 0.05, 1 / gui_app.target_fps)
-
-    # when not pressed, snap to closest item to be center
-    self._scroll_snap_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
-
-    self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items)
-    self._scroll_enabled: bool | Callable[[], bool] = True
-
-    self._show_scroll_indicator = scroll_indicator
-    self._scroll_indicator = ScrollIndicator()
-
-    for item in items:
-      self.add_widget(item)
-
-  def set_reset_scroll_at_show(self, scroll: bool):
-    self._reset_scroll_at_show = scroll
-
-  def scroll_to(self, pos: float, smooth: bool = False):
-    # already there
-    if abs(pos) < 1:
-      return
-
-    # FIXME: the padding correction doesn't seem correct
-    scroll_offset = self.scroll_panel.get_offset() - pos
-    if smooth:
-      self._scrolling_to = scroll_offset
-    else:
-      self.scroll_panel.set_offset(scroll_offset)
-
-  @property
-  def is_auto_scrolling(self) -> bool:
-    return self._scrolling_to is not None
-
-  def add_widget(self, item: Widget) -> None:
-    self._items.append(item)
-    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled)
-
-  def set_scrolling_enabled(self, enabled: bool | Callable[[], bool]) -> None:
-    """Set whether scrolling is enabled (does not affect widget enabled state)."""
-    self._scroll_enabled = enabled
-
-  def _update_state(self):
-    if DO_ZOOM:
-      if self._scrolling_to is not None or self.scroll_panel.state != ScrollState.STEADY:
-        self._zoom_out_t = rl.get_time() + MIN_ZOOM_ANIMATION_TIME
-        self._zoom_filter.update(0.85)
-      else:
-        if self._zoom_out_t is not None:
-          if rl.get_time() > self._zoom_out_t:
-            self._zoom_filter.update(1.0)
-          else:
-            self._zoom_filter.update(0.85)
-
-    # Cancel auto-scroll if user starts manually scrolling
-    if self._scrolling_to is not None and (self.scroll_panel.state == ScrollState.PRESSED or self.scroll_panel.state == ScrollState.MANUAL_SCROLL):
-      self._scrolling_to = None
-
-    if self._scrolling_to is not None:
-      self._scroll_filter.update(self._scrolling_to)
-      self.scroll_panel.set_offset(self._scroll_filter.x)
-
-      if abs(self._scroll_filter.x - self._scrolling_to) < 1:
-        self.scroll_panel.set_offset(self._scrolling_to)
-        self._scrolling_to = None
-    else:
-      # keep current scroll position up to date
-      self._scroll_filter.x = self.scroll_panel.get_offset()
-
-  def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
-    scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
-    self.scroll_panel.set_enabled(scroll_enabled and self.enabled)
-    self.scroll_panel.update(self._rect, content_size)
-    if not self._snap_items:
-      return round(self.scroll_panel.get_offset())
-
-    # Snap closest item to center
-    center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
-    closest_delta_pos = float('inf')
-    scroll_snap_idx: int | None = None
-    for idx, item in enumerate(visible_items):
-      if self._horizontal:
-        delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
-      else:
-        delta_pos = (item.rect.y + item.rect.height / 2) - center_pos
-      if abs(delta_pos) < abs(closest_delta_pos):
-        closest_delta_pos = delta_pos
-        scroll_snap_idx = idx
-
-    if scroll_snap_idx is not None:
-      snap_item = visible_items[scroll_snap_idx]
-      if self.is_pressed:
-        # no snapping until released
-        self._scroll_snap_filter.x = 0
-      else:
-        # TODO: this doesn't handle two small buttons at the edges well
-        if self._horizontal:
-          snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
-          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-          snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
-        else:
-          snap_delta_pos = (center_pos - (snap_item.rect.y + snap_item.rect.height / 2)) / 10
-          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
-          snap_delta_pos = max(snap_delta_pos, (self._rect.height - self.scroll_panel.get_offset() - content_size) / 10)
-        self._scroll_snap_filter.update(snap_delta_pos)
-
-      self.scroll_panel.set_offset(self.scroll_panel.get_offset() + self._scroll_snap_filter.x)
-
-    return self.scroll_panel.get_offset()
-
-  def _layout(self):
-    self._visible_items = [item for item in self._items if item.is_visible]
-
-    # Add line separator between items
-    if self._line_separator is not None:
-      l = len(self._visible_items)
-      for i in range(1, len(self._visible_items)):
-        self._visible_items.insert(l - i, self._line_separator)
-
-    self._content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in self._visible_items)
-    self._content_size += self._spacing * (len(self._visible_items) - 1)
-    self._content_size += self._pad_start + self._pad_end
-
-    self._scroll_offset = self._get_scroll(self._visible_items, self._content_size)
-
-    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
-                          int(self._rect.width), int(self._rect.height))
-
-    self._item_pos_filter.update(self._scroll_offset)
-
-    cur_pos = 0
-    for idx, item in enumerate(self._visible_items):
-      spacing = self._spacing if (idx > 0) else self._pad_start
-      # Nicely lay out items horizontally/vertically
-      if self._horizontal:
-        x = self._rect.x + cur_pos + spacing
-        y = self._rect.y + (self._rect.height - item.rect.height) / 2
-        cur_pos += item.rect.width + spacing
-      else:
-        x = self._rect.x + (self._rect.width - item.rect.width) / 2
-        y = self._rect.y + cur_pos + spacing
-        cur_pos += item.rect.height + spacing
-
-      # Consider scroll
-      if self._horizontal:
-        x += self._scroll_offset
-      else:
-        y += self._scroll_offset
-
-      # Add some jello effect when scrolling
-      if DO_JELLO:
-        if self._horizontal:
-          cx = self._rect.x + self._rect.width / 2
-          jello_offset = self._scroll_offset - np.interp(x + item.rect.width / 2,
-                                                         [self._rect.x, cx, self._rect.x + self._rect.width],
-                                                         [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x])
-          x -= np.clip(jello_offset, -20, 20)
-        else:
-          cy = self._rect.y + self._rect.height / 2
-          jello_offset = self._scroll_offset - np.interp(y + item.rect.height / 2,
-                                                         [self._rect.y, cy, self._rect.y + self._rect.height],
-                                                         [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x])
-          y -= np.clip(jello_offset, -20, 20)
-
-      # Update item state
-      item.set_position(round(x), round(y))  # round to prevent jumping when settling
-      item.set_parent_rect(self._rect)
-
-  def _render(self, _):
-    for item in self._visible_items:
-      # Skip rendering if not in viewport
-      if not rl.check_collision_recs(item.rect, self._rect):
-        continue
-
-      # Scale each element around its own origin when scrolling
-      scale = self._zoom_filter.x
-      if scale != 1.0:
-        rl.rl_push_matrix()
-        rl.rl_scalef(scale, scale, 1.0)
-        rl.rl_translatef((1 - scale) * (item.rect.x + item.rect.width / 2) / scale,
-                         (1 - scale) * (item.rect.y + item.rect.height / 2) / scale, 0)
-        item.render()
-        rl.rl_pop_matrix()
-      else:
-        item.render()
-
-    rl.end_scissor_mode()
-
-    # Draw scroll indicator
-    if self._show_scroll_indicator and self._horizontal and len(self._visible_items) > 0:
-      self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect)
-      self._scroll_indicator.render()
-
-  def show_event(self):
-    super().show_event()
-    if self._reset_scroll_at_show:
-      self.scroll_panel.set_offset(0.0)
-
-    for item in self._items:
-      item.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    for item in self._items:
-      item.hide_event()
diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py
deleted file mode 100755
index 2bd46a1ffb..0000000000
--- a/system/updated/casync/casync.py
+++ /dev/null
@@ -1,246 +0,0 @@
-#!/usr/bin/env python3
-import io
-import lzma
-import os
-import pathlib
-import struct
-import sys
-import time
-from abc import ABC, abstractmethod
-from collections import defaultdict, namedtuple
-from collections.abc import Callable
-from typing import IO
-
-import requests
-from Crypto.Hash import SHA512
-from openpilot.system.updated.casync import tar
-from openpilot.system.updated.casync.common import create_casync_tar_package
-
-CA_FORMAT_INDEX = 0x96824d9c7b129ff9
-CA_FORMAT_TABLE = 0xe75b9e112f17417d
-CA_FORMAT_TABLE_TAIL_MARKER = 0xe75b9e112f17417
-FLAGS = 0xb000000000000000
-
-CA_HEADER_LEN = 48
-CA_TABLE_HEADER_LEN = 16
-CA_TABLE_ENTRY_LEN = 40
-CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN
-
-CHUNK_DOWNLOAD_TIMEOUT = 60
-CHUNK_DOWNLOAD_RETRIES = 3
-
-CAIBX_DOWNLOAD_TIMEOUT = 120
-
-Chunk = namedtuple('Chunk', ['sha', 'offset', 'length'])
-ChunkDict = dict[bytes, Chunk]
-
-
-class ChunkReader(ABC):
-  @abstractmethod
-  def read(self, chunk: Chunk) -> bytes:
-    ...
-
-
-class BinaryChunkReader(ChunkReader):
-  """Reads chunks from a local file"""
-  def __init__(self, file_like: IO[bytes]) -> None:
-    super().__init__()
-    self.f = file_like
-
-  def read(self, chunk: Chunk) -> bytes:
-    self.f.seek(chunk.offset)
-    return self.f.read(chunk.length)
-
-
-class FileChunkReader(BinaryChunkReader):
-  def __init__(self, path: str) -> None:
-    super().__init__(open(path, 'rb'))
-
-  def __del__(self):
-    self.f.close()
-
-
-class RemoteChunkReader(ChunkReader):
-  """Reads lzma compressed chunks from a remote store"""
-
-  def __init__(self, url: str) -> None:
-    super().__init__()
-    self.url = url
-    self.session = requests.Session()
-
-  def read(self, chunk: Chunk) -> bytes:
-    sha_hex = chunk.sha.hex()
-    url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk")
-
-    if os.path.isfile(url):
-      with open(url, 'rb') as f:
-        contents = f.read()
-    else:
-      for i in range(CHUNK_DOWNLOAD_RETRIES):
-        try:
-          resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT)
-          break
-        except Exception:
-          if i == CHUNK_DOWNLOAD_RETRIES - 1:
-            raise
-          time.sleep(CHUNK_DOWNLOAD_TIMEOUT)
-
-      resp.raise_for_status()
-      contents = resp.content
-
-    decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
-    return decompressor.decompress(contents)
-
-
-class DirectoryTarChunkReader(BinaryChunkReader):
-  """creates a tar archive of a directory and reads chunks from it"""
-
-  def __init__(self, path: str, cache_file: str) -> None:
-    create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file))
-
-    self.f = open(cache_file, "rb")
-    super().__init__(self.f)
-
-  def __del__(self):
-    self.f.close()
-    os.unlink(self.f.name)
-
-
-def parse_caibx(caibx_path: str) -> list[Chunk]:
-  """Parses the chunks from a caibx file. Can handle both local and remote files.
-  Returns a list of chunks with hash, offset and length"""
-  caibx: io.BufferedIOBase
-  if os.path.isfile(caibx_path):
-    caibx = open(caibx_path, 'rb')
-  else:
-    resp = requests.get(caibx_path, timeout=CAIBX_DOWNLOAD_TIMEOUT)
-    resp.raise_for_status()
-    caibx = io.BytesIO(resp.content)
-
-  caibx.seek(0, os.SEEK_END)
-  caibx_len = caibx.tell()
-  caibx.seek(0, os.SEEK_SET)
-
-  # Parse header
-  length, magic, flags, min_size, _, max_size = struct.unpack("<QQQQQQ", caibx.read(CA_HEADER_LEN))
-  assert flags == flags
-  assert length == CA_HEADER_LEN
-  assert magic == CA_FORMAT_INDEX
-
-  # Parse table header
-  length, magic = struct.unpack("<QQ", caibx.read(CA_TABLE_HEADER_LEN))
-  assert magic == CA_FORMAT_TABLE
-
-  # Parse chunks
-  num_chunks = (caibx_len - CA_HEADER_LEN - CA_TABLE_MIN_LEN) // CA_TABLE_ENTRY_LEN
-  chunks = []
-
-  offset = 0
-  for i in range(num_chunks):
-    new_offset = struct.unpack("<Q", caibx.read(8))[0]
-
-    sha = caibx.read(32)
-    length = new_offset - offset
-
-    assert length <= max_size
-
-    # Last chunk can be smaller
-    if i < num_chunks - 1:
-      assert length >= min_size
-
-    chunks.append(Chunk(sha, offset, length))
-    offset = new_offset
-
-  caibx.close()
-  return chunks
-
-
-def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict:
-  """Turn a list of chunks into a dict for faster lookups based on hash.
-  Keep first chunk since it's more likely to be already downloaded."""
-  r = {}
-  for c in chunks:
-    if c.sha not in r:
-      r[c.sha] = c
-  return r
-
-
-def extract(target: list[Chunk],
-            sources: list[tuple[str, ChunkReader, ChunkDict]],
-            out_path: str,
-            progress: Callable[[int], None] | None = None):
-  stats: dict[str, int] = defaultdict(int)
-
-  mode = 'rb+' if os.path.exists(out_path) else 'wb'
-  with open(out_path, mode) as out:
-    for cur_chunk in target:
-
-      # Find source for desired chunk
-      for name, chunk_reader, store_chunks in sources:
-        if cur_chunk.sha in store_chunks:
-          bts = chunk_reader.read(store_chunks[cur_chunk.sha])
-
-          # Check length
-          if len(bts) != cur_chunk.length:
-            continue
-
-          # Check hash
-          if SHA512.new(bts, truncate="256").digest() != cur_chunk.sha:
-            continue
-
-          # Write to output
-          out.seek(cur_chunk.offset)
-          out.write(bts)
-
-          stats[name] += cur_chunk.length
-
-          if progress is not None:
-            progress(sum(stats.values()))
-
-          break
-      else:
-        raise RuntimeError("Desired chunk not found in provided stores")
-
-  return stats
-
-
-def extract_directory(target: list[Chunk],
-            sources: list[tuple[str, ChunkReader, ChunkDict]],
-            out_path: str,
-            tmp_file: str,
-            progress: Callable[[int], None] | None = None):
-  """extract a directory stored as a casync tar archive"""
-
-  stats = extract(target, sources, tmp_file, progress)
-
-  with open(tmp_file, "rb") as f:
-    tar.extract_tar_archive(f, pathlib.Path(out_path))
-
-  return stats
-
-
-def print_stats(stats: dict[str, int]):
-  total_bytes = sum(stats.values())
-  print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB")
-  for name, total in stats.items():
-    print(f"  {name}: {total / 1024 / 1024:.2f} MB ({total / total_bytes * 100:.1f}%)")
-
-
-def extract_simple(caibx_path, out_path, store_path):
-  # (name, callback, chunks)
-  target = parse_caibx(caibx_path)
-  sources = [
-    # (store_path, RemoteChunkReader(store_path), build_chunk_dict(target)),
-    (store_path, FileChunkReader(store_path), build_chunk_dict(target)),
-  ]
-
-  return extract(target, sources, out_path)
-
-
-if __name__ == "__main__":
-  caibx = sys.argv[1]
-  out = sys.argv[2]
-  store = sys.argv[3]
-
-  stats = extract_simple(caibx, out, store)
-  print_stats(stats)
diff --git a/system/updated/casync/common.py b/system/updated/casync/common.py
deleted file mode 100644
index 6979f5cb06..0000000000
--- a/system/updated/casync/common.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import dataclasses
-import json
-import pathlib
-import subprocess
-
-from openpilot.system.version import BUILD_METADATA_FILENAME, BuildMetadata
-from openpilot.system.updated.casync import tar
-
-
-CASYNC_ARGS = ["--with=symlinks", "--with=permissions", "--compression=xz", "--chunk-size=16M"]
-CASYNC_FILES = [BUILD_METADATA_FILENAME]
-
-
-def run(cmd):
-  return subprocess.check_output(cmd)
-
-
-def get_exclude_set(path) -> set[str]:
-  exclude_set = set(CASYNC_FILES)
-
-  for file in path.rglob("*"):
-    if file.is_file() or file.is_symlink():
-
-      while file.resolve() != path.resolve():
-        exclude_set.add(str(file.relative_to(path)))
-
-        file = file.parent
-
-  return exclude_set
-
-
-def create_build_metadata_file(path: pathlib.Path, build_metadata: BuildMetadata):
-  with open(path / BUILD_METADATA_FILENAME, "w") as f:
-    build_metadata_dict = dataclasses.asdict(build_metadata)
-    build_metadata_dict["openpilot"].pop("is_dirty")  # this is determined at runtime
-    build_metadata_dict.pop("channel")                # channel is unrelated to the build itself
-    f.write(json.dumps(build_metadata_dict))
-
-
-def is_not_git(path: pathlib.Path) -> bool:
-  return ".git" not in path.parts
-
-
-def create_casync_tar_package(target_dir: pathlib.Path, output_path: pathlib.Path):
-  tar.create_tar_archive(output_path, target_dir, is_not_git)
-
-
-def create_casync_from_file(file: pathlib.Path, output_dir: pathlib.Path, caibx_name: str):
-  caibx_file = output_dir / f"{caibx_name}.caibx"
-  run(["casync", "make", *CASYNC_ARGS, caibx_file, str(file)])
-
-  return caibx_file
-
-
-def create_casync_release(target_dir: pathlib.Path, output_dir: pathlib.Path, caibx_name: str):
-  tar_file = output_dir / f"{caibx_name}.tar"
-  create_casync_tar_package(target_dir, tar_file)
-  caibx_file = create_casync_from_file(tar_file, output_dir, caibx_name)
-  tar_file.unlink()
-  digest = run(["casync", "digest", *CASYNC_ARGS, target_dir]).decode("utf-8").strip()
-  return digest, caibx_file
diff --git a/system/updated/casync/tar.py b/system/updated/casync/tar.py
deleted file mode 100644
index a5a8238bba..0000000000
--- a/system/updated/casync/tar.py
+++ /dev/null
@@ -1,39 +0,0 @@
-import pathlib
-import tarfile
-from typing import IO
-from collections.abc import Callable
-
-
-def include_default(_) -> bool:
-  return True
-
-
-def create_tar_archive(filename: pathlib.Path, directory: pathlib.Path, include: Callable[[pathlib.Path], bool] = include_default):
-  """Creates a tar archive of a directory"""
-
-  with tarfile.open(filename, 'w') as tar:
-    for file in sorted(directory.rglob("*"), key=lambda f: f.stat().st_size if f.is_file() else 0, reverse=True):
-      if not include(file):
-        continue
-      relative_path = str(file.relative_to(directory))
-      if file.is_symlink():
-        info = tarfile.TarInfo(relative_path)
-        info.type = tarfile.SYMTYPE
-        info.linkpath = str(file.readlink())
-        tar.addfile(info)
-
-      elif file.is_file():
-        info = tarfile.TarInfo(relative_path)
-        info.size = file.stat().st_size
-        info.type = tarfile.REGTYPE
-        info.mode = file.stat().st_mode
-        with file.open('rb') as f:
-          tar.addfile(info, f)
-
-
-def extract_tar_archive(fh: IO[bytes], directory: pathlib.Path):
-  """Extracts a tar archive to a directory"""
-
-  tar = tarfile.open(fileobj=fh, mode='r')
-  tar.extractall(str(directory), filter=lambda info, path: info)
-  tar.close()
diff --git a/system/updated/casync/tests/test_casync.py b/system/updated/casync/tests/test_casync.py
deleted file mode 100644
index bc171e7432..0000000000
--- a/system/updated/casync/tests/test_casync.py
+++ /dev/null
@@ -1,264 +0,0 @@
-import pytest
-import os
-import pathlib
-import tempfile
-import subprocess
-
-from openpilot.system.updated.casync import casync
-from openpilot.system.updated.casync import tar
-
-# dd if=/dev/zero of=/tmp/img.raw bs=1M count=2
-# sudo losetup -f /tmp/img.raw
-# losetup -a | grep img.raw
-LOOPBACK = os.environ.get('LOOPBACK', None)
-
-
-@pytest.mark.skip("not used yet")
-class TestCasync:
-  @classmethod
-  def setup_class(cls):
-    cls.tmpdir = tempfile.TemporaryDirectory()
-
-    # Build example contents
-    chunk_a = [i % 256 for i in range(1024)] * 512
-    chunk_b = [(256 - i) % 256 for i in range(1024)] * 512
-    zeroes = [0] * (1024 * 128)
-    contents = chunk_a + chunk_b + zeroes + chunk_a
-
-    cls.contents = bytes(contents)
-
-    # Write to file
-    cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.bin')
-    with open(cls.orig_fn, 'wb') as f:
-      f.write(cls.contents)
-
-    # Create casync files
-    cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx')
-    cls.store_fn = os.path.join(cls.tmpdir.name, 'store')
-    subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn])
-
-    target = casync.parse_caibx(cls.manifest_fn)
-    hashes = [c.sha.hex() for c in target]
-
-    # Ensure we have chunk reuse
-    assert len(hashes) > len(set(hashes))
-
-  def setup_method(self):
-    # Clear target_lo
-    if LOOPBACK is not None:
-      self.target_lo = LOOPBACK
-      with open(self.target_lo, 'wb') as f:
-        f.write(b"0" * len(self.contents))
-
-    self.target_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names()))
-    self.seed_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names()))
-
-  def teardown_method(self):
-    for fn in [self.target_fn, self.seed_fn]:
-      try:
-        os.unlink(fn)
-      except FileNotFoundError:
-        pass
-
-  def test_simple_extract(self):
-    target = casync.parse_caibx(self.manifest_fn)
-
-    sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-    stats = casync.extract(target, sources, self.target_fn)
-
-    with open(self.target_fn, 'rb') as target_f:
-      assert target_f.read() == self.contents
-
-    assert stats['remote'] == len(self.contents)
-
-  def test_seed(self):
-    target = casync.parse_caibx(self.manifest_fn)
-
-    # Populate seed with half of the target contents
-    with open(self.seed_fn, 'wb') as seed_f:
-      seed_f.write(self.contents[:len(self.contents) // 2])
-
-    sources = [('seed', casync.FileChunkReader(self.seed_fn), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-    stats = casync.extract(target, sources, self.target_fn)
-
-    with open(self.target_fn, 'rb') as target_f:
-      assert target_f.read() == self.contents
-
-    assert stats['seed'] > 0
-    assert stats['remote'] < len(self.contents)
-
-  def test_already_done(self):
-    """Test that an already flashed target doesn't download any chunks"""
-    target = casync.parse_caibx(self.manifest_fn)
-
-    with open(self.target_fn, 'wb') as f:
-      f.write(self.contents)
-
-    sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract(target, sources, self.target_fn)
-
-    with open(self.target_fn, 'rb') as f:
-      assert f.read() == self.contents
-
-    assert stats['target'] == len(self.contents)
-
-  def test_chunk_reuse(self):
-    """Test that chunks that are reused are only downloaded once"""
-    target = casync.parse_caibx(self.manifest_fn)
-
-    # Ensure target exists
-    with open(self.target_fn, 'wb'):
-      pass
-
-    sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract(target, sources, self.target_fn)
-
-    with open(self.target_fn, 'rb') as f:
-      assert f.read() == self.contents
-
-    assert stats['remote'] < len(self.contents)
-
-  @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device")
-  def test_lo_simple_extract(self):
-    target = casync.parse_caibx(self.manifest_fn)
-    sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract(target, sources, self.target_lo)
-
-    with open(self.target_lo, 'rb') as target_f:
-      assert target_f.read(len(self.contents)) == self.contents
-
-    assert stats['remote'] == len(self.contents)
-
-  @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device")
-  def test_lo_chunk_reuse(self):
-    """Test that chunks that are reused are only downloaded once"""
-    target = casync.parse_caibx(self.manifest_fn)
-
-    sources = [('target', casync.FileChunkReader(self.target_lo), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract(target, sources, self.target_lo)
-
-    with open(self.target_lo, 'rb') as f:
-      assert f.read(len(self.contents)) == self.contents
-
-    assert stats['remote'] < len(self.contents)
-
-
-@pytest.mark.skip("not used yet")
-class TestCasyncDirectory:
-  """Tests extracting a directory stored as a casync tar archive"""
-
-  NUM_FILES = 16
-
-  @classmethod
-  def setup_cache(cls, directory, files=None):
-    if files is None:
-      files = range(cls.NUM_FILES)
-
-    chunk_a = [i % 256 for i in range(1024)] * 512
-    chunk_b = [(256 - i) % 256 for i in range(1024)] * 512
-    zeroes = [0] * (1024 * 128)
-    cls.contents = chunk_a + chunk_b + zeroes + chunk_a
-    cls.contents = bytes(cls.contents)
-
-    for i in files:
-      with open(os.path.join(directory, f"file_{i}.txt"), "wb") as f:
-        f.write(cls.contents)
-
-      os.symlink(f"file_{i}.txt", os.path.join(directory, f"link_{i}.txt"))
-
-  @classmethod
-  def setup_class(cls):
-    cls.tmpdir = tempfile.TemporaryDirectory()
-
-    # Create casync files
-    cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx')
-    cls.store_fn = os.path.join(cls.tmpdir.name, 'store')
-
-    cls.directory_to_extract = tempfile.TemporaryDirectory()
-    cls.setup_cache(cls.directory_to_extract.name)
-
-    cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.tar')
-    tar.create_tar_archive(cls.orig_fn, pathlib.Path(cls.directory_to_extract.name))
-
-    subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn])
-
-  @classmethod
-  def teardown_class(cls):
-    cls.tmpdir.cleanup()
-    cls.directory_to_extract.cleanup()
-
-  def setup_method(self):
-    self.cache_dir = tempfile.TemporaryDirectory()
-    self.working_dir = tempfile.TemporaryDirectory()
-    self.out_dir = tempfile.TemporaryDirectory()
-
-  def teardown_method(self):
-    self.cache_dir.cleanup()
-    self.working_dir.cleanup()
-    self.out_dir.cleanup()
-
-  def run_test(self):
-    target = casync.parse_caibx(self.manifest_fn)
-
-    cache_filename = os.path.join(self.working_dir.name, "cache.tar")
-    tmp_filename = os.path.join(self.working_dir.name, "tmp.tar")
-
-    sources = [('cache', casync.DirectoryTarChunkReader(self.cache_dir.name, cache_filename), casync.build_chunk_dict(target))]
-    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
-
-    stats = casync.extract_directory(target, sources, pathlib.Path(self.out_dir.name), tmp_filename)
-
-    with open(os.path.join(self.out_dir.name, "file_0.txt"), "rb") as f:
-      assert f.read() == self.contents
-
-    with open(os.path.join(self.out_dir.name, "link_0.txt"), "rb") as f:
-      assert f.read() == self.contents
-      assert os.readlink(os.path.join(self.out_dir.name, "link_0.txt")) == "file_0.txt"
-
-    return stats
-
-  def test_no_cache(self):
-    self.setup_cache(self.cache_dir.name, [])
-    stats = self.run_test()
-    assert stats['remote'] > 0
-    assert stats['cache'] == 0
-
-  def test_full_cache(self):
-    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
-    stats = self.run_test()
-    assert stats['remote'] == 0
-    assert stats['cache'] > 0
-
-  def test_one_file_cache(self):
-    self.setup_cache(self.cache_dir.name, range(1))
-    stats = self.run_test()
-    assert stats['remote'] > 0
-    assert stats['cache'] > 0
-    assert stats['cache'] < stats['remote']
-
-  def test_one_file_incorrect_cache(self):
-    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
-    with open(os.path.join(self.cache_dir.name, "file_0.txt"), "wb") as f:
-      f.write(b"1234")
-
-    stats = self.run_test()
-    assert stats['remote'] > 0
-    assert stats['cache'] > 0
-    assert stats['cache'] > stats['remote']
-
-  def test_one_file_missing_cache(self):
-    self.setup_cache(self.cache_dir.name, range(self.NUM_FILES))
-    os.unlink(os.path.join(self.cache_dir.name, "file_12.txt"))
-
-    stats = self.run_test()
-    assert stats['remote'] > 0
-    assert stats['cache'] > 0
-    assert stats['cache'] > stats['remote']
diff --git a/system/updated/common.py b/system/updated/common.py
deleted file mode 100644
index 6bb745f6b0..0000000000
--- a/system/updated/common.py
+++ /dev/null
@@ -1,16 +0,0 @@
-import os
-import pathlib
-
-
-def get_consistent_flag(path: str) -> bool:
-  consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent"))
-  return consistent_file.is_file()
-
-def set_consistent_flag(path: str, consistent: bool) -> None:
-  os.sync()
-  consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent"))
-  if consistent:
-    consistent_file.touch()
-  elif not consistent:
-    consistent_file.unlink(missing_ok=True)
-  os.sync()
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
deleted file mode 100644
index c4894f2711..0000000000
--- a/system/updated/tests/test_base.py
+++ /dev/null
@@ -1,259 +0,0 @@
-import os
-import pathlib
-import shutil
-import signal
-import stat
-import subprocess
-import tempfile
-import time
-import pytest
-
-from openpilot.common.params import Params
-from openpilot.system.manager.process import ManagerProcess
-from openpilot.selfdrive.test.helpers import processes_context
-
-
-def get_consistent_flag(path: str) -> bool:
-  consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent"))
-  return consistent_file.is_file()
-
-
-def run(args, **kwargs):
-  return subprocess.check_output(args, **kwargs)
-
-
-def update_release(directory, name, version, agnos_version, release_notes):
-  with open(directory / "RELEASES.md", "w") as f:
-    f.write(release_notes)
-
-  (directory / "common").mkdir(exist_ok=True)
-
-  with open(directory / "common" / "version.h", "w") as f:
-    f.write(f'#define COMMA_VERSION "{version}"')
-
-  launch_env = directory / "launch_env.sh"
-  with open(launch_env, "w") as f:
-    f.write(f'export AGNOS_VERSION="{agnos_version}"')
-
-  st = os.stat(launch_env)
-  os.chmod(launch_env, st.st_mode | stat.S_IEXEC)
-
-  test_symlink = directory / "test_symlink"
-  if not os.path.exists(str(test_symlink)):
-    os.symlink("common/version.h", test_symlink)
-
-
-def get_version(path: str) -> str:
-  with open(os.path.join(path, "common", "version.h")) as f:
-    return f.read().split('"')[1]
-
-
-@pytest.mark.slow # TODO: can we test overlayfs in GHA?
-class TestBaseUpdate:
-  @classmethod
-  def setup_class(cls):
-    if "Base" in cls.__name__:
-      pytest.skip()
-
-  def setup_method(self):
-    self.tmpdir = tempfile.mkdtemp()
-
-    run(["sudo", "mount", "-t", "tmpfs", "tmpfs", self.tmpdir]) # overlayfs doesn't work inside of docker unless this is a tmpfs
-
-    self.mock_update_path = pathlib.Path(self.tmpdir)
-
-    self.params = Params()
-
-    self.basedir = self.mock_update_path / "openpilot"
-    self.basedir.mkdir()
-
-    self.staging_root = self.mock_update_path / "safe_staging"
-    self.staging_root.mkdir()
-
-    self.remote_dir = self.mock_update_path / "remote"
-    self.remote_dir.mkdir()
-
-    os.environ["UPDATER_STAGING_ROOT"] = str(self.staging_root)
-    os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock")
-
-    self.MOCK_RELEASES = {
-      "release3": ("0.1.2", "1.2", "0.1.2 release notes"),
-      "master": ("0.1.3", "1.2", "0.1.3 release notes"),
-    }
-
-  @pytest.fixture(autouse=True)
-  def mock_basedir(self, mocker):
-    mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir)
-
-  def set_target_branch(self, branch):
-    self.params.put("UpdaterTargetBranch", branch)
-
-  def setup_basedir_release(self, release):
-    self.params = Params()
-    self.set_target_branch(release)
-
-  def update_remote_release(self, release):
-    raise NotImplementedError("")
-
-  def setup_remote_release(self, release):
-    raise NotImplementedError("")
-
-  def additional_context(self):
-    raise NotImplementedError("")
-
-  def teardown_method(self):
-    try:
-      run(["sudo", "umount", "-l", str(self.staging_root / "merged")])
-      run(["sudo", "umount", "-l", self.tmpdir])
-      shutil.rmtree(self.tmpdir)
-    except Exception:
-      print("cleanup failed...")
-
-  def wait_for_condition(self, condition, timeout=12):
-    start = time.monotonic()
-    while True:
-      waited = time.monotonic() - start
-      if condition():
-        print(f"waited {waited}s for condition ")
-        return waited
-
-      if waited > timeout:
-        raise TimeoutError("timed out waiting for condition")
-
-      time.sleep(1)
-
-  def _test_finalized_update(self, branch, version, agnos_version, release_notes):
-    assert get_version(str(self.staging_root / "finalized")) == version
-    assert get_consistent_flag(str(self.staging_root / "finalized"))
-    assert os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK)
-
-    with open(self.staging_root / "finalized" / "test_symlink") as f:
-      assert version in f.read()
-
-class ParamsBaseUpdateTest(TestBaseUpdate):
-  def _test_finalized_update(self, branch, version, agnos_version, release_notes):
-    assert self.params.get("UpdaterNewDescription").startswith(f"{version} / {branch}")
-    assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n".encode()
-    super()._test_finalized_update(branch, version, agnos_version, release_notes)
-
-  def send_check_for_updates_signal(self, updated: ManagerProcess):
-    updated.signal(signal.SIGUSR1.value)
-
-  def send_download_signal(self, updated: ManagerProcess):
-    updated.signal(signal.SIGHUP.value)
-
-  def _test_params(self, branch, fetch_available, update_available):
-    assert self.params.get("UpdaterTargetBranch") == branch
-    assert self.params.get_bool("UpdaterFetchAvailable") == fetch_available
-    assert self.params.get_bool("UpdateAvailable") == update_available
-
-  def wait_for_idle(self):
-    self.wait_for_condition(lambda: self.params.get("UpdaterState") == "idle")
-
-  def wait_for_failed(self):
-    self.wait_for_condition(lambda: self.params.get("UpdateFailedCount") is not None and \
-                                              self.params.get("UpdateFailedCount") > 0)
-
-  def wait_for_fetch_available(self):
-    self.wait_for_condition(lambda: self.params.get_bool("UpdaterFetchAvailable"))
-
-  def wait_for_update_available(self):
-    self.wait_for_condition(lambda: self.params.get_bool("UpdateAvailable"))
-
-  def test_no_update(self):
-    # Start on release3, ensure we don't fetch any updates
-    self.setup_remote_release("release3")
-    self.setup_basedir_release("release3")
-
-    with self.additional_context(), processes_context(["updated"]) as [updated]:
-      self._test_params("release3", False, False)
-      self.wait_for_idle()
-      self._test_params("release3", False, False)
-
-      self.send_check_for_updates_signal(updated)
-
-      self.wait_for_idle()
-
-      self._test_params("release3", False, False)
-
-  def test_new_release(self):
-    # Start on release3, simulate a release3 commit, ensure we fetch that update properly
-    self.setup_remote_release("release3")
-    self.setup_basedir_release("release3")
-
-    with self.additional_context(), processes_context(["updated"]) as [updated]:
-      self._test_params("release3", False, False)
-      self.wait_for_idle()
-      self._test_params("release3", False, False)
-
-      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.2", "0.1.3 release notes")
-      self.update_remote_release("release3")
-
-      self.send_check_for_updates_signal(updated)
-
-      self.wait_for_fetch_available()
-
-      self._test_params("release3", True, False)
-
-      self.send_download_signal(updated)
-
-      self.wait_for_update_available()
-
-      self._test_params("release3", False, True)
-      self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])
-
-  def test_switch_branches(self):
-    # Start on release3, request to switch to master manually, ensure we switched
-    self.setup_remote_release("release3")
-    self.setup_remote_release("master")
-    self.setup_basedir_release("release3")
-
-    with self.additional_context(), processes_context(["updated"]) as [updated]:
-      self._test_params("release3", False, False)
-      self.wait_for_idle()
-      self._test_params("release3", False, False)
-
-      self.set_target_branch("master")
-      self.send_check_for_updates_signal(updated)
-
-      self.wait_for_fetch_available()
-
-      self._test_params("master", True, False)
-
-      self.send_download_signal(updated)
-
-      self.wait_for_update_available()
-
-      self._test_params("master", False, True)
-      self._test_finalized_update("master", *self.MOCK_RELEASES["master"])
-
-  def test_agnos_update(self, mocker):
-    # Start on release3, push an update with an agnos change
-    self.setup_remote_release("release3")
-    self.setup_basedir_release("release3")
-
-    with self.additional_context(), processes_context(["updated"]) as [updated]:
-      mocker.patch("openpilot.system.hardware.AGNOS", "True")
-      mocker.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2")
-      mocker.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number")
-      mocker.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update")
-
-      self._test_params("release3", False, False)
-      self.wait_for_idle()
-      self._test_params("release3", False, False)
-
-      self.MOCK_RELEASES["release3"] = ("0.1.3", "1.3", "0.1.3 release notes")
-      self.update_remote_release("release3")
-
-      self.send_check_for_updates_signal(updated)
-
-      self.wait_for_fetch_available()
-
-      self._test_params("release3", True, False)
-
-      self.send_download_signal(updated)
-
-      self.wait_for_update_available()
-
-      self._test_params("release3", False, True)
-      self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"])
diff --git a/system/updated/tests/test_git.py b/system/updated/tests/test_git.py
deleted file mode 100644
index 5a5a27000b..0000000000
--- a/system/updated/tests/test_git.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import contextlib
-from openpilot.system.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release
-
-
-class TestUpdateDGitStrategy(ParamsBaseUpdateTest):
-  def update_remote_release(self, release):
-    update_release(self.remote_dir, release, *self.MOCK_RELEASES[release])
-    run(["git", "add", "."], cwd=self.remote_dir)
-    run(["git", "commit", "-m", f"openpilot release {release}"], cwd=self.remote_dir)
-
-  def setup_remote_release(self, release):
-    run(["git", "init"], cwd=self.remote_dir)
-    run(["git", "checkout", "-b", release], cwd=self.remote_dir)
-    self.update_remote_release(release)
-
-  def setup_basedir_release(self, release):
-    super().setup_basedir_release(release)
-    run(["git", "clone", "-b", release, self.remote_dir, self.basedir])
-
-  @contextlib.contextmanager
-  def additional_context(self):
-    yield
diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py
deleted file mode 100644
index b1859518a1..0000000000
--- a/system/webrtc/device/audio.py
+++ /dev/null
@@ -1,109 +0,0 @@
-import asyncio
-import io
-
-import aiortc
-import av
-import numpy as np
-import pyaudio
-
-
-class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack):
-  PYAUDIO_TO_AV_FORMAT_MAP = {
-      pyaudio.paUInt8: 'u8',
-      pyaudio.paInt16: 's16',
-      pyaudio.paInt24: 's24',
-      pyaudio.paInt32: 's32',
-      pyaudio.paFloat32: 'flt',
-  }
-
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int | None = None):
-    super().__init__()
-
-    self.p = pyaudio.PyAudio()
-    chunk_size = int(packet_time * rate)
-    self.stream = self.p.open(format=audio_format,
-                              channels=channels,
-                              rate=rate,
-                              frames_per_buffer=chunk_size,
-                              input=True,
-                              input_device_index=device_index)
-    self.format = audio_format
-    self.rate = rate
-    self.channels = channels
-    self.packet_time = packet_time
-    self.chunk_size = chunk_size
-    self.pts = 0
-
-  async def recv(self):
-    mic_data = self.stream.read(self.chunk_size)
-    mic_array = np.frombuffer(mic_data, dtype=np.int16)
-    mic_array = np.expand_dims(mic_array, axis=0)
-    layout = 'stereo' if self.channels > 1 else 'mono'
-    frame = av.AudioFrame.from_ndarray(mic_array, format=self.PYAUDIO_TO_AV_FORMAT_MAP[self.format], layout=layout)
-    frame.rate = self.rate
-    frame.pts = self.pts
-    self.pts += frame.samples
-
-    return frame
-
-
-class AudioOutputSpeaker:
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int | None = None):
-
-    chunk_size = int(packet_time * rate)
-    self.p = pyaudio.PyAudio()
-    self.buffer = io.BytesIO()
-    self.channels = channels
-    self.stream = self.p.open(format=audio_format,
-                              channels=channels,
-                              rate=rate,
-                              frames_per_buffer=chunk_size,
-                              output=True,
-                              output_device_index=device_index,
-                              stream_callback=self.__pyaudio_callback)
-    self.tracks_and_tasks: list[tuple[aiortc.MediaStreamTrack, asyncio.Task | None]] = []
-
-  def __pyaudio_callback(self, in_data, frame_count, time_info, status):
-    if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2:
-      buff = b'\x00\x00' * frame_count * self.channels
-    elif self.buffer.getbuffer().nbytes > 115200:  # 3x the usual read size
-      self.buffer.seek(0)
-      buff = self.buffer.read(frame_count * self.channels * 4)
-      buff = buff[:frame_count * self.channels * 2]
-      self.buffer.seek(2)
-    else:
-      self.buffer.seek(0)
-      buff = self.buffer.read(frame_count * self.channels * 2)
-      self.buffer.seek(2)
-    return (buff, pyaudio.paContinue)
-
-  async def __consume(self, track):
-    while True:
-      try:
-        frame = await track.recv()
-      except aiortc.MediaStreamError:
-        return
-
-      self.buffer.write(bytes(frame.planes[0]))
-
-  def hasTrack(self, track: aiortc.MediaStreamTrack) -> bool:
-    return any(t == track for t, _ in self.tracks_and_tasks)
-
-  def addTrack(self, track: aiortc.MediaStreamTrack):
-    if not self.hasTrack(track):
-      self.tracks_and_tasks.append((track, None))
-
-  def start(self):
-    for index, (track, task) in enumerate(self.tracks_and_tasks):
-      if task is None:
-        self.tracks_and_tasks[index] = (track, asyncio.create_task(self.__consume(track)))
-
-  def stop(self):
-    for _, task in self.tracks_and_tasks:
-      if task is not None:
-        task.cancel()
-
-    self.tracks_and_tasks = []
-    self.stream.stop_stream()
-    self.stream.close()
-    self.p.terminate()
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
deleted file mode 100644
index 50feab4f4a..0000000000
--- a/system/webrtc/device/video.py
+++ /dev/null
@@ -1,45 +0,0 @@
-import asyncio
-import time
-
-import av
-from teleoprtc.tracks import TiciVideoStreamTrack
-
-from cereal import messaging
-from openpilot.common.realtime import DT_MDL, DT_DMON
-
-
-class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
-  camera_to_sock_mapping = {
-    "driver": "livestreamDriverEncodeData",
-    "wideRoad": "livestreamWideRoadEncodeData",
-    "road": "livestreamRoadEncodeData",
-  }
-
-  def __init__(self, camera_type: str):
-    dt = DT_DMON if camera_type == "driver" else DT_MDL
-    super().__init__(camera_type, dt)
-
-    self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
-    self._pts = 0
-    self._t0_ns = time.monotonic_ns()
-
-  async def recv(self):
-    while True:
-      msg = messaging.recv_one_or_none(self._sock)
-      if msg is not None:
-        break
-      await asyncio.sleep(0.005)
-
-    evta = getattr(msg, msg.which())
-
-    packet = av.Packet(evta.header + evta.data)
-    packet.time_base = self._time_base
-
-    self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
-    packet.pts = self._pts
-    self.log_debug("track sending frame %d", self._pts)
-
-    return packet
-
-  def codec_preference(self) -> str | None:
-    return "H264"
diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py
deleted file mode 100644
index 4fa6d8953f..0000000000
--- a/system/webrtc/tests/test_webrtcd.py
+++ /dev/null
@@ -1,65 +0,0 @@
-import pytest
-import asyncio
-import json
-# for aiortc and its dependencies
-import warnings
-warnings.filterwarnings("ignore", category=DeprecationWarning)
-warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
-
-from openpilot.system.webrtc.webrtcd import get_stream
-
-import aiortc
-from teleoprtc import WebRTCOfferBuilder
-from parameterized import parameterized_class
-
-
-@parameterized_class(("in_services", "out_services"), [
-  (["testJoystick"], ["carState"]),
-  ([], ["carState"]),
-  (["testJoystick"], []),
-  ([], []),
-])
-@pytest.mark.asyncio
-class TestWebrtcdProc:
-  async def assertCompletesWithTimeout(self, awaitable, timeout=1):
-    try:
-      async with asyncio.timeout(timeout):
-        await awaitable
-    except TimeoutError:
-      pytest.fail("Timeout while waiting for awaitable to complete")
-
-  async def test_webrtcd(self, mocker):
-    mock_request = mocker.MagicMock()
-    async def connect(offer):
-      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services}
-      mock_request.json.side_effect = mocker.AsyncMock(return_value=body)
-      response = await get_stream(mock_request)
-      response_json = json.loads(response.text)
-      return aiortc.RTCSessionDescription(**response_json)
-
-    builder = WebRTCOfferBuilder(connect)
-    builder.offer_to_receive_video_stream("road")
-    builder.offer_to_receive_audio_stream()
-    if len(self.in_services) > 0 or len(self.out_services) > 0:
-      builder.add_messaging()
-
-    stream = builder.stream()
-
-    await self.assertCompletesWithTimeout(stream.start())
-    await self.assertCompletesWithTimeout(stream.wait_for_connection())
-
-    assert stream.has_incoming_video_track("road")
-    assert stream.has_incoming_audio_track()
-    assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0)
-
-    video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track()
-    await self.assertCompletesWithTimeout(video_track.recv())
-    await self.assertCompletesWithTimeout(audio_track.recv())
-
-    await self.assertCompletesWithTimeout(stream.stop())
-
-    # cleanup, very implementation specific, test may break if it changes
-    assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test"
-    _, session = mock_request.app["streams"].__setitem__.call_args.args
-    await self.assertCompletesWithTimeout(session.post_run_cleanup())
-
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
deleted file mode 100755
index c19f1bf9dd..0000000000
--- a/system/webrtc/webrtcd.py
+++ /dev/null
@@ -1,292 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import asyncio
-import json
-import uuid
-import logging
-from dataclasses import dataclass, field
-from typing import Any, TYPE_CHECKING
-
-# aiortc and its dependencies have lots of internal warnings :(
-import warnings
-warnings.filterwarnings("ignore", category=DeprecationWarning)
-warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
-
-import capnp
-from aiohttp import web
-if TYPE_CHECKING:
-  from aiortc.rtcdatachannel import RTCDataChannel
-
-from openpilot.system.webrtc.schema import generate_field
-from cereal import messaging, log
-
-
-class CerealOutgoingMessageProxy:
-  def __init__(self, sm: messaging.SubMaster):
-    self.sm = sm
-    self.channels: list[RTCDataChannel] = []
-
-  def add_channel(self, channel: 'RTCDataChannel'):
-    self.channels.append(channel)
-
-  def to_json(self, msg_content: Any):
-    if isinstance(msg_content, capnp._DynamicStructReader):
-      msg_dict = msg_content.to_dict()
-    elif isinstance(msg_content, capnp._DynamicListReader):
-      msg_dict = [self.to_json(msg) for msg in msg_content]
-    elif isinstance(msg_content, bytes):
-      msg_dict = msg_content.decode()
-    else:
-      msg_dict = msg_content
-
-    return msg_dict
-
-  def update(self):
-    # this is blocking in async context...
-    self.sm.update(0)
-    for service, updated in self.sm.updated.items():
-      if not updated:
-        continue
-      msg_dict = self.to_json(self.sm[service])
-      mono_time, valid = self.sm.logMonoTime[service], self.sm.valid[service]
-      outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict}
-      encoded_msg = json.dumps(outgoing_msg).encode()
-      for channel in self.channels:
-        channel.send(encoded_msg)
-
-
-class CerealIncomingMessageProxy:
-  def __init__(self, pm: messaging.PubMaster):
-    self.pm = pm
-
-  def send(self, message: bytes):
-    msg_json = json.loads(message)
-    msg_type, msg_data = msg_json["type"], msg_json["data"]
-    size = None
-    if not isinstance(msg_data, dict):
-      size = len(msg_data)
-
-    msg = messaging.new_message(msg_type, size=size)
-    setattr(msg, msg_type, msg_data)
-    self.pm.send(msg_type, msg)
-
-
-class CerealProxyRunner:
-  def __init__(self, proxy: CerealOutgoingMessageProxy):
-    self.proxy = proxy
-    self.is_running = False
-    self.task = None
-    self.logger = logging.getLogger("webrtcd")
-
-  def start(self):
-    assert self.task is None
-    self.task = asyncio.create_task(self.run())
-
-  def stop(self):
-    if self.task is None or self.task.done():
-      return
-    self.task.cancel()
-    self.task = None
-
-  async def run(self):
-    from aiortc.exceptions import InvalidStateError
-
-    while True:
-      try:
-        self.proxy.update()
-      except InvalidStateError:
-        self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
-        break
-      except Exception:
-        self.logger.exception("Cereal outgoing proxy failure")
-      await asyncio.sleep(0.01)
-
-
-class DynamicPubMaster(messaging.PubMaster):
-  def __init__(self, *args, **kwargs):
-    super().__init__(*args, **kwargs)
-    self.lock = asyncio.Lock()
-
-  async def add_services_if_needed(self, services):
-    async with self.lock:
-      for service in services:
-        if service not in self.sock:
-          self.sock[service] = messaging.pub_sock(service)
-
-
-class StreamSession:
-  shared_pub_master = DynamicPubMaster([])
-
-  def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
-    from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack
-    from aiortc.contrib.media import MediaBlackhole
-    from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-    from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker
-    from teleoprtc import WebRTCAnswerBuilder
-    from teleoprtc.info import parse_info_from_offer
-
-    config = parse_info_from_offer(sdp)
-    builder = WebRTCAnswerBuilder(sdp)
-
-    assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
-    for cam in cameras:
-      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
-    if config.expected_audio_track:
-      builder.add_audio_stream(AudioInputStreamTrack() if not debug_mode else AudioStreamTrack())
-    if config.incoming_audio_track:
-      self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole
-      builder.offer_to_receive_audio_stream()
-
-    self.stream = builder.stream()
-    self.identifier = str(uuid.uuid4())
-
-    self.incoming_bridge: CerealIncomingMessageProxy | None = None
-    self.incoming_bridge_services = incoming_services
-    self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
-    self.outgoing_bridge_runner: CerealProxyRunner | None = None
-    if len(incoming_services) > 0:
-      self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
-    if len(outgoing_services) > 0:
-      self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
-      self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
-
-    self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None
-    self.run_task: asyncio.Task | None = None
-    self.logger = logging.getLogger("webrtcd")
-    self.logger.info("New stream session (%s), cameras %s, audio in %s out %s, incoming services %s, outgoing services %s",
-                      self.identifier, cameras, config.incoming_audio_track, config.expected_audio_track, incoming_services, outgoing_services)
-
-  def start(self):
-    self.run_task = asyncio.create_task(self.run())
-
-  def stop(self):
-    if self.run_task.done():
-      return
-    self.run_task.cancel()
-    self.run_task = None
-    asyncio.run(self.post_run_cleanup())
-
-  async def get_answer(self):
-    return await self.stream.start()
-
-  async def message_handler(self, message: bytes):
-    assert self.incoming_bridge is not None
-    try:
-      self.incoming_bridge.send(message)
-    except Exception:
-      self.logger.exception("Cereal incoming proxy failure")
-
-  async def run(self):
-    try:
-      await self.stream.wait_for_connection()
-      if self.stream.has_messaging_channel():
-        if self.incoming_bridge is not None:
-          await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
-          self.stream.set_message_handler(self.message_handler)
-        if self.outgoing_bridge_runner is not None:
-          channel = self.stream.get_messaging_channel()
-          self.outgoing_bridge_runner.proxy.add_channel(channel)
-          self.outgoing_bridge_runner.start()
-      if self.stream.has_incoming_audio_track():
-        track = self.stream.get_incoming_audio_track(buffered=False)
-        self.audio_output = self.audio_output_cls()
-        self.audio_output.addTrack(track)
-        self.audio_output.start()
-      self.logger.info("Stream session (%s) connected", self.identifier)
-
-      await self.stream.wait_for_disconnection()
-      await self.post_run_cleanup()
-
-      self.logger.info("Stream session (%s) ended", self.identifier)
-    except Exception:
-      self.logger.exception("Stream session failure")
-
-  async def post_run_cleanup(self):
-    await self.stream.stop()
-    if self.outgoing_bridge is not None:
-      self.outgoing_bridge_runner.stop()
-    if self.audio_output:
-      self.audio_output.stop()
-
-
-@dataclass
-class StreamRequestBody:
-  sdp: str
-  cameras: list[str]
-  bridge_services_in: list[str] = field(default_factory=list)
-  bridge_services_out: list[str] = field(default_factory=list)
-
-
-async def get_stream(request: 'web.Request'):
-  stream_dict, debug_mode = request.app['streams'], request.app['debug']
-  raw_body = await request.json()
-  body = StreamRequestBody(**raw_body)
-
-  session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
-  answer = await session.get_answer()
-  session.start()
-
-  stream_dict[session.identifier] = session
-
-  return web.json_response({"sdp": answer.sdp, "type": answer.type})
-
-
-async def get_schema(request: 'web.Request'):
-  services = request.query["services"].split(",")
-  services = [s for s in services if s]
-  assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name"
-  schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
-  return web.json_response(schema_dict)
-
-async def post_notify(request: 'web.Request'):
-  try:
-    payload = await request.json()
-  except Exception as e:
-    raise web.HTTPBadRequest(text="Invalid JSON") from e
-
-  for session in list(request.app.get('streams', {}).values()):
-    try:
-      ch = session.stream.get_messaging_channel()
-      ch.send(json.dumps(payload))
-    except Exception:
-      continue
-
-  return web.Response(status=200, text="OK")
-
-async def on_shutdown(app: 'web.Application'):
-  for session in app['streams'].values():
-    session.stop()
-  del app['streams']
-
-
-def webrtcd_thread(host: str, port: int, debug: bool):
-  logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()])
-  logging_level = logging.DEBUG if debug else logging.INFO
-  logging.getLogger("WebRTCStream").setLevel(logging_level)
-  logging.getLogger("webrtcd").setLevel(logging_level)
-
-  app = web.Application()
-
-  app['streams'] = dict()
-  app['debug'] = debug
-  app.on_shutdown.append(on_shutdown)
-  app.router.add_post("/stream", get_stream)
-  app.router.add_post("/notify", post_notify)
-  app.router.add_get("/schema", get_schema)
-
-  web.run_app(app, host=host, port=port)
-
-
-def main():
-  parser = argparse.ArgumentParser(description="WebRTC daemon")
-  parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on")
-  parser.add_argument("--port", type=int, default=5001, help="Port to listen on")
-  parser.add_argument("--debug", action="store_true", help="Enable debug mode")
-  args = parser.parse_args()
-
-  webrtcd_thread(args.host, args.port, args.debug)
-
-
-if __name__=="__main__":
-  main()
diff --git a/teleoprtc b/teleoprtc
deleted file mode 120000
index 3d3dbc8dea..0000000000
--- a/teleoprtc
+++ /dev/null
@@ -1 +0,0 @@
-teleoprtc_repo/teleoprtc
\ No newline at end of file
diff --git a/teleoprtc_repo b/teleoprtc_repo
index 389815b8ca..31db236a9e 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b
+Subproject commit 31db236a9ef820d7051ccd53488153cfbc84d3b9
diff --git a/third_party/.gitignore b/third_party/.gitignore
deleted file mode 100644
index 0d20b6487c..0000000000
--- a/third_party/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.pyc
diff --git a/third_party/SConscript b/third_party/SConscript
deleted file mode 100644
index 3a7497d162..0000000000
--- a/third_party/SConscript
+++ /dev/null
@@ -1,3 +0,0 @@
-Import('env')
-
-env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore
deleted file mode 100644
index 0ae664dff6..0000000000
--- a/third_party/acados/.gitignore
+++ /dev/null
@@ -1,9 +0,0 @@
-acados_repo/
-/lib
-!x86_64/
-!larch64/
-!aarch64/
-!Darwin/
-!*.so
-!*.so.*
-!*.dylib
diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib
deleted file mode 100755
index 8cd5a41f14..0000000000
--- a/third_party/acados/Darwin/lib/libacados.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:620195ff61aaccf9adf00a66b8acf4e9915a0895d0a86f9f51ec952e44fad70a
-size 853776
diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib
deleted file mode 100755
index 442a6c736d..0000000000
--- a/third_party/acados/Darwin/lib/libblasfeo.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1d9dbeb68b2ac13c884f606a1f6032f399640e0928cecad4c22b700a8d8ae970
-size 2010877
diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib
deleted file mode 100755
index 019ec8019e..0000000000
--- a/third_party/acados/Darwin/lib/libhpipm.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:35783dba64c2d5bbe7e4c98ad01accac56b478b1bf874969ab5c31d7495499a2
-size 2290624
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
deleted file mode 100755
index caaa8ec775..0000000000
--- a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f57eea51f4b91deff47fbf599eedc3eafedd395f23465b5fb24b2148fdaa2859
-size 496707
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.dylib
deleted file mode 120000
index e3d94c4bc2..0000000000
--- a/third_party/acados/Darwin/lib/libqpOASES_e.dylib
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.3.1.dylib
\ No newline at end of file
diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer
deleted file mode 100755
index 83a74ea5a3..0000000000
--- a/third_party/acados/Darwin/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c6c78791cfdd841da14266c62a6099d0af53cec348051118f1a70518729aa5ba
-size 8483768
diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64
deleted file mode 120000
index 062c65e8d9..0000000000
--- a/third_party/acados/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/acados/acados_template/.gitignore b/third_party/acados/acados_template/.gitignore
deleted file mode 100644
index 63b741bb9d..0000000000
--- a/third_party/acados/acados_template/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-__pycache__/
-
-# Cython intermediates
-*_pyx.c
-*_pyx.o
-*_pyx.so
diff --git a/third_party/acados/acados_template/__init__.py b/third_party/acados/acados_template/__init__.py
deleted file mode 100644
index bfbe907990..0000000000
--- a/third_party/acados/acados_template/__init__.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from .acados_model import AcadosModel
-from .acados_ocp import AcadosOcp, AcadosOcpConstraints, AcadosOcpCost, AcadosOcpDims, AcadosOcpOptions
-from .acados_sim import AcadosSim, AcadosSimDims, AcadosSimOpts
-from .acados_ocp_solver import AcadosOcpSolver, get_simulink_default_opts, ocp_get_default_cmake_builder
-from .acados_sim_solver import AcadosSimSolver, sim_get_default_cmake_builder
-from .utils import print_casadi_expression, get_acados_path, get_python_interface_path, \
-    get_tera_exec_path, get_tera, check_casadi_version, acados_dae_model_json_dump, \
-    casadi_length, make_object_json_dumpable, J_to_idx, get_default_simulink_opts
-
-from .zoro_description import ZoroDescription, process_zoro_description
diff --git a/third_party/acados/acados_template/acados_layout.json b/third_party/acados/acados_template/acados_layout.json
deleted file mode 100644
index a1cc5bbdf3..0000000000
--- a/third_party/acados/acados_template/acados_layout.json
+++ /dev/null
@@ -1,834 +0,0 @@
-{
-    "code_export_directory": [
-        "str"
-    ],
-    "acados_include_path": [
-        "str"
-    ],
-    "cython_include_dirs": [
-        "list"
-    ],
-    "json_file": [
-        "str"
-    ],
-    "shared_lib_ext": [
-        "str"
-    ],
-    "model": {
-         "name" : [
-            "str"
-        ],
-        "dyn_ext_fun_type" : [
-            "str"
-        ],
-        "dyn_generic_source" : [
-            "str"
-        ],
-        "dyn_impl_dae_fun" : [
-            "str"
-        ],
-        "dyn_impl_dae_fun_jac" : [
-            "str"
-        ],
-        "dyn_impl_dae_jac" : [
-            "str"
-        ],
-        "dyn_disc_fun_jac_hess" : [
-            "str"
-        ],
-        "dyn_disc_fun_jac" : [
-            "str"
-        ],
-        "dyn_disc_fun" : [
-            "str"
-        ],
-        "gnsf" : {
-            "nontrivial_f_LO": [
-                "int"
-            ],
-            "purely_linear": [
-                "int"
-            ]
-        }
-    },
-    "parameter_values": [
-        "ndarray",
-        [
-            "np"
-        ]
-    ],
-    "acados_lib_path": [
-        "str"
-    ],
-    "problem_class": [
-        "str"
-    ],
-    "constraints": {
-        "constr_type": [
-            "str"
-        ],
-        "constr_type_e": [
-            "str"
-        ],
-        "lbx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "lbu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "ubx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "ubu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "idxbx": [
-            "ndarray",
-                [
-                    "nbx"
-                ]
-        ],
-        "idxbu": [
-            "ndarray",
-            [
-                "nbu"
-            ]
-        ],
-        "lbx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "ubx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "idxbx_e": [
-            "ndarray",
-            [
-                "nbx_e"
-            ]
-        ],
-        "lbx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "ubx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "idxbx_0": [
-            "ndarray",
-            [
-                "nbx_0"
-            ]
-        ],
-        "idxbxe_0": [
-            "ndarray",
-            [
-                "nbxe_0"
-            ]
-        ],
-        "lg": [
-            "ndarray",
-            [
-                "ng"
-            ]
-        ],
-        "ug": [
-            "ndarray",
-            [
-                "ng"
-            ]
-        ],
-        "D": [
-            "ndarray",
-                [
-                    "ng",
-                    "nu"
-                ]
-        ],
-        "C": [
-            "ndarray",
-            [
-                "ng",
-                "nx"
-            ]
-        ],
-        "C_e": [
-            "ndarray",
-            [
-                "ng_e",
-                "nx"
-            ]
-        ],
-        "lg_e": [
-            "ndarray",
-            [
-                "ng_e"
-            ]
-        ],
-        "ug_e": [
-            "ndarray",
-            [
-                "ng_e"
-            ]
-        ],
-        "lh": [
-            "ndarray",
-            [
-                "nh"
-            ]
-        ],
-        "uh": [
-            "ndarray",
-            [
-                "nh"
-            ]
-        ],
-        "lh_e": [
-            "ndarray",
-            [
-                "nh_e"
-            ]
-        ],
-        "uh_e": [
-            "ndarray",
-            [
-                "nh_e"
-            ]
-        ],
-        "lphi": [
-            "ndarray",
-            [
-                "nphi"
-            ]
-        ],
-        "uphi": [
-            "ndarray",
-            [
-                "nphi"
-            ]
-        ],
-        "lphi_e": [
-            "ndarray",
-            [
-                "nphi_e"
-            ]
-        ],
-        "uphi_e": [
-            "ndarray",
-            [
-                "nphi_e"
-            ]
-        ],
-        "lsbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "usbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "lsbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "usbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "idxsbx": [
-            "ndarray",
-                [
-                    "nsbx"
-                ]
-        ],
-        "idxsbu": [
-            "ndarray",
-            [
-                "nsbu"
-            ]
-        ],
-        "lsbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "usbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "idxsbx_e": [
-            "ndarray",
-                [
-                    "nsbx_e"
-                ]
-        ],
-        "lsg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "usg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "idxsg": [
-            "ndarray",
-            [
-                "nsg"
-            ]
-        ],
-        "lsg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "usg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "idxsg_e": [
-            "ndarray",
-            [
-                "nsg_e"
-            ]
-        ],
-        "lsh": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "ush": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "idxsh": [
-            "ndarray",
-            [
-                "nsh"
-            ]
-        ],
-        "lsh_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "ush_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "idxsh_e": [
-            "ndarray",
-            [
-                "nsh_e"
-            ]
-        ],
-        "lsphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "usphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "idxsphi": [
-            "ndarray",
-            [
-                "nsphi"
-            ]
-        ],
-        "lsphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ],
-        "usphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ],
-        "idxsphi_e": [
-            "ndarray",
-            [
-                "nsphi_e"
-            ]
-        ]
-    },
-    "cost": {
-        "cost_type_0": [
-            "str"
-        ],
-        "cost_type": [
-            "str"
-        ],
-        "cost_type_e": [
-            "str"
-        ],
-        "cost_ext_fun_type_0": [
-            "str"
-        ],
-        "cost_ext_fun_type": [
-            "str"
-        ],
-        "cost_ext_fun_type_e": [
-            "str"
-        ],
-        "Vu_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nu"
-            ]
-        ],
-        "Vu": [
-            "ndarray",
-            [
-                "ny",
-                "nu"
-            ]
-        ],
-        "Vx_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nx"
-            ]
-        ],
-        "Vx": [
-            "ndarray",
-            [
-                "ny",
-                "nx"
-            ]
-        ],
-        "Vx_e": [
-            "ndarray",
-            [
-                "ny_e",
-                "nx"
-            ]
-        ],
-        "Vz_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "nz"
-            ]
-        ],
-        "Vz": [
-            "ndarray",
-            [
-                "ny",
-                "nz"
-            ]
-        ],
-        "W_0": [
-            "ndarray",
-            [
-                "ny_0",
-                "ny_0"
-            ]
-        ],
-        "W": [
-            "ndarray",
-            [
-                "ny",
-                "ny"
-            ]
-        ],
-        "Zl": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "Zu": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "zl": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "zu": [
-            "ndarray",
-            [
-                "ns"
-            ]
-        ],
-        "W_e": [
-            "ndarray",
-            [
-                "ny_e",
-                "ny_e"
-            ]
-        ],
-        "yref_0": [
-            "ndarray",
-            [
-                "ny_0"
-            ]
-        ],
-        "yref": [
-            "ndarray",
-            [
-                "ny"
-            ]
-        ],
-        "yref_e": [
-            "ndarray",
-            [
-                "ny_e"
-            ]
-        ],
-        "Zl_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "Zu_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "zl_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ],
-        "zu_e": [
-            "ndarray",
-            [
-                "ns_e"
-            ]
-        ]
-    },
-    "dims": {
-        "N": [
-            "int"
-        ],
-        "nbu": [
-            "int"
-        ],
-        "nbx": [
-            "int"
-        ],
-        "nsbu": [
-            "int"
-        ],
-        "nsbx": [
-            "int"
-        ],
-        "nsbx_e": [
-            "int"
-        ],
-        "nbx_0": [
-            "int"
-        ],
-        "nbx_e": [
-            "int"
-        ],
-        "nbxe_0": [
-            "int"
-        ],
-        "nsg": [
-            "int"
-        ],
-        "nsg_e": [
-            "int"
-        ],
-        "nsh": [
-            "int"
-        ],
-        "nsh_e": [
-            "int"
-        ],
-        "nsphi": [
-            "int"
-        ],
-        "nsphi_e": [
-            "int"
-        ],
-        "ns": [
-            "int"
-        ],
-        "ns_e": [
-            "int"
-        ],
-        "ng": [
-            "int"
-        ],
-        "ng_e": [
-            "int"
-        ],
-        "np": [
-            "int"
-        ],
-        "nr": [
-            "int"
-        ],
-        "nr_e": [
-            "int"
-        ],
-        "nh": [
-            "int"
-        ],
-        "nh_e": [
-            "int"
-        ],
-        "nphi": [
-            "int"
-        ],
-        "nphi_e": [
-            "int"
-        ],
-        "nu": [
-            "int"
-        ],
-        "nx": [
-            "int"
-        ],
-        "ny": [
-            "int"
-        ],
-        "ny_0": [
-            "int"
-        ],
-        "ny_e": [
-            "int"
-        ],
-        "nz": [
-            "int"
-        ],
-        "gnsf_nx1": [
-            "int"
-        ],
-        "gnsf_nz1": [
-            "int"
-        ],
-        "gnsf_nuhat": [
-            "int"
-        ],
-        "gnsf_ny": [
-            "int"
-        ],
-        "gnsf_nout": [
-            "int"
-        ]
-    },
-    "solver_options": {
-        "time_steps": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "hessian_approx": [
-            "str"
-        ],
-        "hpipm_mode": [
-            "str"
-        ],
-        "regularize_method": [
-            "str"
-        ],
-        "integrator_type": [
-            "str"
-        ],
-        "nlp_solver_type": [
-            "str"
-        ],
-        "collocation_type": [
-            "str"
-        ],
-        "globalization": [
-            "str"
-        ],
-        "nlp_solver_step_length": [
-            "float"
-        ],
-        "levenberg_marquardt": [
-            "float"
-        ],
-        "qp_solver": [
-            "str"
-        ],
-        "tf": [
-            "float"
-        ],
-        "Tsim": [
-            "float"
-        ],
-        "alpha_min": [
-            "float"
-        ],
-        "alpha_reduction": [
-            "float"
-        ],
-        "line_search_use_sufficient_descent": [
-            "int"
-        ],
-        "globalization_use_SOC": [
-            "int"
-        ],
-        "full_step_dual": [
-            "int"
-        ],
-        "eps_sufficient_descent": [
-            "float"
-        ],
-        "sim_method_num_stages": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "sim_method_num_steps": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "sim_method_newton_iter": [
-            "int"
-        ],
-        "sim_method_newton_tol": [
-            "float"
-        ],
-        "sim_method_jac_reuse": [
-            "ndarray",
-            [
-                "N"
-            ]
-        ],
-        "qp_solver_cond_N": [
-            "int"
-        ],
-        "qp_solver_warm_start": [
-            "int"
-        ],
-        "qp_solver_tol_stat": [
-            "float"
-        ],
-        "qp_solver_tol_eq": [
-            "float"
-        ],
-        "qp_solver_tol_ineq": [
-            "float"
-        ],
-        "qp_solver_tol_comp": [
-            "float"
-        ],
-        "qp_solver_iter_max": [
-            "int"
-        ],
-        "qp_solver_cond_ric_alg": [
-            "int"
-        ],
-        "qp_solver_ric_alg": [
-            "int"
-        ],
-        "nlp_solver_tol_stat": [
-            "float"
-        ],
-        "nlp_solver_tol_eq": [
-            "float"
-        ],
-        "nlp_solver_tol_ineq": [
-            "float"
-        ],
-        "nlp_solver_tol_comp": [
-            "float"
-        ],
-        "nlp_solver_max_iter": [
-            "int"
-        ],
-        "nlp_solver_ext_qp_res": [
-            "int"
-        ],
-        "print_level": [
-            "int"
-        ],
-        "initialize_t_slacks": [
-            "int"
-        ],
-        "exact_hess_cost": [
-            "int"
-        ],
-        "exact_hess_constr": [
-            "int"
-        ],
-        "exact_hess_dyn": [
-            "int"
-        ],
-        "ext_cost_num_hess": [
-            "int"
-        ],
-        "ext_fun_compile_flags": [
-            "str"
-        ],
-        "model_external_shared_lib_dir": [
-            "str"
-        ],
-        "model_external_shared_lib_name": [
-            "str"
-        ]
-    }
-}
diff --git a/third_party/acados/acados_template/acados_model.py b/third_party/acados/acados_template/acados_model.py
deleted file mode 100644
index b7c6945442..0000000000
--- a/third_party/acados/acados_template/acados_model.py
+++ /dev/null
@@ -1,154 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-class AcadosModel():
-    """
-    Class containing all the information to code generate the external CasADi functions
-    that are needed when creating an acados ocp solver or acados integrator.
-    Thus, this class contains:
-
-    a) the :py:attr:`name` of the model,
-    b) all CasADi variables/expressions needed in the CasADi function generation process.
-    """
-    def __init__(self):
-        ## common for OCP and Integrator
-        self.name = None
-        """
-        The model name is used for code generation. Type: string. Default: :code:`None`
-        """
-        self.x = None           #: CasADi variable describing the state of the system; Default: :code:`None`
-        self.xdot = None        #: CasADi variable describing the derivative of the state wrt time; Default: :code:`None`
-        self.u = None           #: CasADi variable describing the input of the system; Default: :code:`None`
-        self.z = []             #: CasADi variable describing the algebraic variables of the DAE; Default: :code:`empty`
-        self.p = []             #: CasADi variable describing parameters of the DAE; Default: :code:`empty`
-        # dynamics
-        self.f_impl_expr = None
-        """
-        CasADi expression for the implicit dynamics :math:`f_\\text{impl}(\dot{x}, x, u, z, p) = 0`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'IRK'.
-        Default: :code:`None`
-        """
-        self.f_expl_expr = None
-        """
-        CasADi expression for the explicit dynamics :math:`\dot{x} = f_\\text{expl}(x, u, p)`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'ERK'.
-        Default: :code:`None`
-        """
-        self.disc_dyn_expr = None
-        """
-        CasADi expression for the discrete dynamics :math:`x_{+} = f_\\text{disc}(x, u, p)`.
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'DISCRETE'.
-        Default: :code:`None`
-        """
-
-        self.dyn_ext_fun_type = 'casadi'  #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi'
-        self.dyn_generic_source = None  #: name of source file for discrete dyanamics; Default: :code:`None`
-        self.dyn_disc_fun_jac_hess = None  #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None`
-        self.dyn_disc_fun_jac = None  #: name of function discrete dyanamics + jacobian; Default: :code:`None`
-        self.dyn_disc_fun = None  #: name of function discrete dyanamics; Default: :code:`None`
-
-        # for GNSF models
-        self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0}
-        """
-        dictionary containing information on GNSF structure needed when rendering templates.
-        Contains integers `nontrivial_f_LO`, `purely_linear`.
-        """
-
-        ## for OCP
-        # constraints
-        # BGH(default): lh <= h(x, u) <= uh
-        self.con_h_expr = None  #: CasADi expression for the constraint :math:`h`; Default: :code:`None`
-        # BGP(convex over nonlinear): lphi <= phi(r(x, u)) <= uphi
-        self.con_phi_expr = None  #: CasADi expression for the constraint phi; Default: :code:`None`
-        self.con_r_expr = None  #: CasADi expression for the constraint phi(r); Default: :code:`None`
-        self.con_r_in_phi = None
-        # terminal
-        self.con_h_expr_e = None  #: CasADi expression for the terminal constraint :math:`h^e`; Default: :code:`None`
-        self.con_r_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
-        self.con_phi_expr_e = None  #: CasADi expression for the terminal constraint; Default: :code:`None`
-        self.con_r_in_phi_e = None
-        # cost
-        self.cost_y_expr = None  #: CasADi expression for nonlinear least squares; Default: :code:`None`
-        self.cost_y_expr_e = None  #: CasADi expression for nonlinear least squares, terminal; Default: :code:`None`
-        self.cost_y_expr_0 = None  #: CasADi expression for nonlinear least squares, initial; Default: :code:`None`
-        self.cost_expr_ext_cost = None  #: CasADi expression for external cost; Default: :code:`None`
-        self.cost_expr_ext_cost_e = None  #: CasADi expression for external cost, terminal; Default: :code:`None`
-        self.cost_expr_ext_cost_0 = None  #: CasADi expression for external cost, initial; Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess = None  #: CasADi expression for custom hessian (only for external cost); Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess_e = None  #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None`
-        self.cost_expr_ext_cost_custom_hess_0 = None  #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None`
-
-        ## CONVEX_OVER_NONLINEAR convex-over-nonlinear cost: psi(y(x, u, p) - y_ref; p)
-        self.cost_psi_expr_0 = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_psi_expr = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_psi_expr_e = None
-        """
-        CasADi expression for the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr_0 = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_r_in_psi_expr_e = None
-        """
-        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess_0 = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), initial; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost); Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
-        """
-        self.cost_conl_custom_outer_hess_e = None
-        """
-        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), terminal; Default: :code:`None`
-        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
-        """
diff --git a/third_party/acados/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py
deleted file mode 100644
index d6236e1f6e..0000000000
--- a/third_party/acados/acados_template/acados_ocp.py
+++ /dev/null
@@ -1,3166 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import numpy as np
-import os
-from .acados_model import AcadosModel
-from .utils import get_acados_path, J_to_idx, J_to_idx_slack, get_lib_ext
-
-class AcadosOcpDims:
-    """
-    Class containing the dimensions of the optimal control problem.
-    """
-    def __init__(self):
-        self.__nx      = None
-        self.__nu      = None
-        self.__nz      = 0
-        self.__np      = 0
-        self.__ny      = 0
-        self.__ny_e    = 0
-        self.__ny_0    = 0
-        self.__nr      = 0
-        self.__nr_e    = 0
-        self.__nh      = 0
-        self.__nh_e    = 0
-        self.__nphi    = 0
-        self.__nphi_e  = 0
-        self.__nbx     = 0
-        self.__nbx_0   = 0
-        self.__nbx_e   = 0
-        self.__nbu     = 0
-        self.__nsbx    = 0
-        self.__nsbx_e  = 0
-        self.__nsbu    = 0
-        self.__nsh     = 0
-        self.__nsh_e   = 0
-        self.__nsphi   = 0
-        self.__nsphi_e = 0
-        self.__ns      = 0
-        self.__ns_e    = 0
-        self.__ng      = 0
-        self.__ng_e    = 0
-        self.__nsg     = 0
-        self.__nsg_e   = 0
-        self.__nbxe_0  = None
-        self.__N       = None
-
-
-    @property
-    def nx(self):
-        """:math:`n_x` - number of states.
-        Type: int; default: None"""
-        return self.__nx
-
-    @property
-    def nz(self):
-        """:math:`n_z` - number of algebraic variables.
-        Type: int; default: 0"""
-        return self.__nz
-
-    @property
-    def nu(self):
-        """:math:`n_u` - number of inputs.
-        Type: int; default: None"""
-        return self.__nu
-
-    @property
-    def np(self):
-        """:math:`n_p` - number of parameters.
-        Type: int; default: 0"""
-        return self.__np
-
-    @property
-    def ny(self):
-        """:math:`n_y` - number of residuals in Lagrange term.
-        Type: int; default: 0"""
-        return self.__ny
-
-    @property
-    def ny_0(self):
-        """:math:`n_{y}^0` - number of residuals in Mayer term.
-        Type: int; default: 0"""
-        return self.__ny_0
-
-    @property
-    def ny_e(self):
-        """:math:`n_{y}^e` - number of residuals in Mayer term.
-        Type: int; default: 0"""
-        return self.__ny_e
-
-    @property
-    def nr(self):
-        """:math:`n_{\pi}` - dimension of the image of the inner nonlinear function in positive definite constraints.
-        Type: int; default: 0"""
-        return self.__nr
-
-    @property
-    def nr_e(self):
-        """:math:`n_{\pi}^e` - dimension of the image of the inner nonlinear function in positive definite constraints.
-        Type: int; default: 0"""
-        return self.__nr_e
-
-    @property
-    def nh(self):
-        """:math:`n_h` - number of nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nh
-
-    @property
-    def nh_e(self):
-        """:math:`n_{h}^e` - number of nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nh_e
-
-    @property
-    def nphi(self):
-        """:math:`n_{\phi}` - number of convex-over-nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nphi
-
-    @property
-    def nphi_e(self):
-        """:math:`n_{\phi}^e` - number of convex-over-nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nphi_e
-
-    @property
-    def nbx(self):
-        """:math:`n_{b_x}` - number of state bounds.
-        Type: int; default: 0"""
-        return self.__nbx
-
-    @property
-    def nbxe_0(self):
-        """:math:`n_{be_{x0}}` - number of state bounds at initial shooting node that are equalities.
-        Type: int; default: None"""
-        return self.__nbxe_0
-
-    @property
-    def nbx_0(self):
-        """:math:`n_{b_{x0}}` - number of state bounds for initial state.
-        Type: int; default: 0"""
-        return self.__nbx_0
-
-    @property
-    def nbx_e(self):
-        """:math:`n_{b_x}` - number of state bounds at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nbx_e
-
-    @property
-    def nbu(self):
-        """:math:`n_{b_u}` - number of input bounds.
-        Type: int; default: 0"""
-        return self.__nbu
-
-    @property
-    def nsbx(self):
-        """:math:`n_{{sb}_x}` - number of soft state bounds.
-        Type: int; default: 0"""
-        return self.__nsbx
-
-    @property
-    def nsbx_e(self):
-        """:math:`n_{{sb}^e_{x}}` - number of soft state bounds at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsbx_e
-
-    @property
-    def nsbu(self):
-        """:math:`n_{{sb}_u}` - number of soft input bounds.
-        Type: int; default: 0"""
-        return self.__nsbu
-
-    @property
-    def nsg(self):
-        """:math:`n_{{sg}}` - number of soft general linear constraints.
-        Type: int; default: 0"""
-        return self.__nsg
-
-    @property
-    def nsg_e(self):
-        """:math:`n_{{sg}^e}` - number of soft general linear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsg_e
-
-    @property
-    def nsh(self):
-        """:math:`n_{{sh}}` - number of soft nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nsh
-
-    @property
-    def nsh_e(self):
-        """:math:`n_{{sh}}^e` - number of soft nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsh_e
-
-    @property
-    def nsphi(self):
-        """:math:`n_{{s\phi}}` - number of soft convex-over-nonlinear constraints.
-        Type: int; default: 0"""
-        return self.__nsphi
-
-    @property
-    def nsphi_e(self):
-        """:math:`n_{{s\phi}^e}` - number of soft convex-over-nonlinear constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__nsphi_e
-
-    @property
-    def ns(self):
-        """:math:`n_{s}` - total number of slacks.
-        Type: int; default: 0"""
-        return self.__ns
-
-    @property
-    def ns_e(self):
-        """:math:`n_{s}^e` - total number of slacks at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__ns_e
-
-    @property
-    def ng(self):
-        """:math:`n_{g}` - number of general polytopic constraints.
-        Type: int; default: 0"""
-        return self.__ng
-
-    @property
-    def ng_e(self):
-        """:math:`n_{g}^e` - number of general polytopic constraints at terminal shooting node N.
-        Type: int; default: 0"""
-        return self.__ng_e
-
-    @property
-    def N(self):
-        """:math:`N` - prediction horizon.
-        Type: int; default: None"""
-        return self.__N
-
-    @nx.setter
-    def nx(self, nx):
-        if isinstance(nx, int) and nx > 0:
-            self.__nx = nx
-        else:
-            raise Exception('Invalid nx value, expected positive integer.')
-
-    @nz.setter
-    def nz(self, nz):
-        if isinstance(nz, int) and nz > -1:
-            self.__nz = nz
-        else:
-            raise Exception('Invalid nz value, expected nonnegative integer.')
-
-    @nu.setter
-    def nu(self, nu):
-        if isinstance(nu, int) and nu > -1:
-            self.__nu = nu
-        else:
-            raise Exception('Invalid nu value, expected nonnegative integer.')
-
-    @np.setter
-    def np(self, np):
-        if isinstance(np, int) and np > -1:
-            self.__np = np
-        else:
-            raise Exception('Invalid np value, expected nonnegative integer.')
-
-    @ny_0.setter
-    def ny_0(self, ny_0):
-        if isinstance(ny_0, int) and ny_0 > -1:
-            self.__ny_0 = ny_0
-        else:
-            raise Exception('Invalid ny_0 value, expected nonnegative integer.')
-
-    @ny.setter
-    def ny(self, ny):
-        if isinstance(ny, int) and ny > -1:
-            self.__ny = ny
-        else:
-            raise Exception('Invalid ny value, expected nonnegative integer.')
-
-    @ny_e.setter
-    def ny_e(self, ny_e):
-        if isinstance(ny_e, int) and ny_e > -1:
-            self.__ny_e = ny_e
-        else:
-            raise Exception('Invalid ny_e value, expected nonnegative integer.')
-
-    @nr.setter
-    def nr(self, nr):
-        if isinstance(nr, int) and nr > -1:
-            self.__nr = nr
-        else:
-            raise Exception('Invalid nr value, expected nonnegative integer.')
-
-    @nr_e.setter
-    def nr_e(self, nr_e):
-        if isinstance(nr_e, int) and nr_e > -1:
-            self.__nr_e = nr_e
-        else:
-            raise Exception('Invalid nr_e value, expected nonnegative integer.')
-
-    @nh.setter
-    def nh(self, nh):
-        if isinstance(nh, int) and nh > -1:
-            self.__nh = nh
-        else:
-            raise Exception('Invalid nh value, expected nonnegative integer.')
-
-    @nh_e.setter
-    def nh_e(self, nh_e):
-        if isinstance(nh_e, int) and nh_e > -1:
-            self.__nh_e = nh_e
-        else:
-            raise Exception('Invalid nh_e value, expected nonnegative integer.')
-
-    @nphi.setter
-    def nphi(self, nphi):
-        if isinstance(nphi, int) and nphi > -1:
-            self.__nphi = nphi
-        else:
-            raise Exception('Invalid nphi value, expected nonnegative integer.')
-
-    @nphi_e.setter
-    def nphi_e(self, nphi_e):
-        if isinstance(nphi_e, int) and nphi_e > -1:
-            self.__nphi_e = nphi_e
-        else:
-            raise Exception('Invalid nphi_e value, expected nonnegative integer.')
-
-    @nbx.setter
-    def nbx(self, nbx):
-        if isinstance(nbx, int) and nbx > -1:
-            self.__nbx = nbx
-        else:
-            raise Exception('Invalid nbx value, expected nonnegative integer.')
-
-    @nbxe_0.setter
-    def nbxe_0(self, nbxe_0):
-        if isinstance(nbxe_0, int) and nbxe_0 > -1:
-            self.__nbxe_0 = nbxe_0
-        else:
-            raise Exception('Invalid nbxe_0 value, expected nonnegative integer.')
-
-    @nbx_0.setter
-    def nbx_0(self, nbx_0):
-        if isinstance(nbx_0, int) and nbx_0 > -1:
-            self.__nbx_0 = nbx_0
-        else:
-            raise Exception('Invalid nbx_0 value, expected nonnegative integer.')
-
-    @nbx_e.setter
-    def nbx_e(self, nbx_e):
-        if isinstance(nbx_e, int) and nbx_e > -1:
-            self.__nbx_e = nbx_e
-        else:
-            raise Exception('Invalid nbx_e value, expected nonnegative integer.')
-
-    @nbu.setter
-    def nbu(self, nbu):
-        if isinstance(nbu, int) and nbu > -1:
-            self.__nbu = nbu
-        else:
-            raise Exception('Invalid nbu value, expected nonnegative integer.')
-
-    @nsbx.setter
-    def nsbx(self, nsbx):
-        if isinstance(nsbx, int) and nsbx > -1:
-            self.__nsbx = nsbx
-        else:
-            raise Exception('Invalid nsbx value, expected nonnegative integer.')
-
-    @nsbx_e.setter
-    def nsbx_e(self, nsbx_e):
-        if isinstance(nsbx_e, int) and nsbx_e > -1:
-            self.__nsbx_e = nsbx_e
-        else:
-            raise Exception('Invalid nsbx_e value, expected nonnegative integer.')
-
-    @nsbu.setter
-    def nsbu(self, nsbu):
-        if isinstance(nsbu, int) and nsbu > -1:
-            self.__nsbu = nsbu
-        else:
-            raise Exception('Invalid nsbu value, expected nonnegative integer.')
-
-    @nsg.setter
-    def nsg(self, nsg):
-        if isinstance(nsg, int) and nsg > -1:
-            self.__nsg = nsg
-        else:
-            raise Exception('Invalid nsg value, expected nonnegative integer.')
-
-    @nsg_e.setter
-    def nsg_e(self, nsg_e):
-        if isinstance(nsg_e, int) and nsg_e > -1:
-            self.__nsg_e = nsg_e
-        else:
-            raise Exception('Invalid nsg_e value, expected nonnegative integer.')
-
-    @nsh.setter
-    def nsh(self, nsh):
-        if isinstance(nsh, int) and nsh > -1:
-            self.__nsh = nsh
-        else:
-            raise Exception('Invalid nsh value, expected nonnegative integer.')
-
-    @nsh_e.setter
-    def nsh_e(self, nsh_e):
-        if isinstance(nsh_e, int) and nsh_e > -1:
-            self.__nsh_e = nsh_e
-        else:
-            raise Exception('Invalid nsh_e value, expected nonnegative integer.')
-
-    @nsphi.setter
-    def nsphi(self, nsphi):
-        if isinstance(nsphi, int) and nsphi > -1:
-            self.__nsphi = nsphi
-        else:
-            raise Exception('Invalid nsphi value, expected nonnegative integer.')
-
-    @nsphi_e.setter
-    def nsphi_e(self, nsphi_e):
-        if isinstance(nsphi_e, int) and nsphi_e > -1:
-            self.__nsphi_e = nsphi_e
-        else:
-            raise Exception('Invalid nsphi_e value, expected nonnegative integer.')
-
-    @ns.setter
-    def ns(self, ns):
-        if isinstance(ns, int) and ns > -1:
-            self.__ns = ns
-        else:
-            raise Exception('Invalid ns value, expected nonnegative integer.')
-
-    @ns_e.setter
-    def ns_e(self, ns_e):
-        if isinstance(ns_e, int) and ns_e > -1:
-            self.__ns_e = ns_e
-        else:
-            raise Exception('Invalid ns_e value, expected nonnegative integer.')
-
-    @ng.setter
-    def ng(self, ng):
-        if isinstance(ng, int) and ng > -1:
-            self.__ng = ng
-        else:
-            raise Exception('Invalid ng value, expected nonnegative integer.')
-
-    @ng_e.setter
-    def ng_e(self, ng_e):
-        if isinstance(ng_e, int) and ng_e > -1:
-            self.__ng_e = ng_e
-        else:
-            raise Exception('Invalid ng_e value, expected nonnegative integer.')
-
-    @N.setter
-    def N(self, N):
-        if isinstance(N, int) and N > 0:
-            self.__N = N
-        else:
-            raise Exception('Invalid N value, expected positive integer.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcpCost:
-    """
-    Class containing the numerical data of the cost:
-
-    NOTE: all cost terms, except for the terminal one are weighted with the corresponding time step.
-    This means given the time steps are :math:`\Delta t_0,..., \Delta t_N`, the total cost is given by:
-    :math:`c_\\text{total} = \Delta t_0 \cdot c_0(x_0, u_0, p_0, z_0) + ... + \Delta t_{N-1} \cdot c_{N-1}(x_0, u_0, p_0, z_0) + c_N(x_N, p_N)`.
-
-    This means the Lagrange cost term is given in continuous time, this makes up for a seeminglessly OCP discretization with a nonuniform time grid.
-
-    In case of LINEAR_LS:
-    stage cost is
-    :math:`l(x,u,z) = || V_x \, x + V_u \, u + V_z \, z - y_\\text{ref}||^2_W`,
-    terminal cost is
-    :math:`m(x) = || V^e_x \, x - y_\\text{ref}^e||^2_{W^e}`
-
-    In case of NONLINEAR_LS:
-    stage cost is
-    :math:`l(x,u,z,p) = || y(x,u,z,p) - y_\\text{ref}||^2_W`,
-    terminal cost is
-    :math:`m(x,p) = || y^e(x,p) - y_\\text{ref}^e||^2_{W^e}`
-
-    In case of CONVEX_OVER_NONLINEAR:
-    stage cost is
-    :math:`l(x,u,p) = \psi(y(x,u,p) - y_\\text{ref}, p)`,
-    terminal cost is
-    :math:`m(x, p) = \psi^e (y^e(x,p) - y_\\text{ref}^e, p)`
-    """
-    def __init__(self):
-        # initial stage
-        self.__cost_type_0 = None
-        self.__W_0 = None
-        self.__Vx_0 = None
-        self.__Vu_0 = None
-        self.__Vz_0 = None
-        self.__yref_0 = None
-        self.__cost_ext_fun_type_0 = 'casadi'
-        # Lagrange term
-        self.__cost_type   = 'LINEAR_LS'  # cost type
-        self.__W           = np.zeros((0,0))
-        self.__Vx          = np.zeros((0,0))
-        self.__Vu          = np.zeros((0,0))
-        self.__Vz          = np.zeros((0,0))
-        self.__yref        = np.array([])
-        self.__Zl          = np.array([])
-        self.__Zu          = np.array([])
-        self.__zl          = np.array([])
-        self.__zu          = np.array([])
-        self.__cost_ext_fun_type = 'casadi'
-        # Mayer term
-        self.__cost_type_e = 'LINEAR_LS'
-        self.__W_e         = np.zeros((0,0))
-        self.__Vx_e        = np.zeros((0,0))
-        self.__yref_e      = np.array([])
-        self.__Zl_e        = np.array([])
-        self.__Zu_e        = np.array([])
-        self.__zl_e        = np.array([])
-        self.__zu_e        = np.array([])
-        self.__cost_ext_fun_type_e = 'casadi'
-
-    # initial stage
-    @property
-    def cost_type_0(self):
-        """Cost type at initial shooting node (0)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR} or :code:`None`.
-        Default: :code:`None`.
-
-            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
-
-            .. note:: If :py:attr:`cost_type_0` is set to :code:`None` values in :py:attr:`W_0`, :py:attr:`Vx_0`, :py:attr:`Vu_0`, :py:attr:`Vz_0` and :py:attr:`yref_0` are ignored (set to :code:`None`).
-        """
-        return self.__cost_type_0
-
-    @property
-    def W_0(self):
-        """:math:`W_0` - weight matrix at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__W_0
-
-    @property
-    def Vx_0(self):
-        """:math:`V_x^0` - x matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vx_0
-
-    @property
-    def Vu_0(self):
-        """:math:`V_u^0` - u matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vu_0
-
-    @property
-    def Vz_0(self):
-        """:math:`V_z^0` - z matrix coefficient at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__Vz_0
-
-    @property
-    def yref_0(self):
-        """:math:`y_\\text{ref}^0` - reference at initial shooting node (0).
-        Default: :code:`None`.
-        """
-        return self.__yref_0
-
-    @property
-    def cost_ext_fun_type_0(self):
-        """Type of external function for cost at initial shooting node (0)
-        -- string in {casadi, generic} or :code:`None`
-        Default: :code:'casadi'.
-
-            .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
-        """
-        return self.__cost_ext_fun_type_0
-
-    @yref_0.setter
-    def yref_0(self, yref_0):
-        if isinstance(yref_0, np.ndarray) and len(yref_0.shape) == 1:
-            self.__yref_0 = yref_0
-        else:
-            raise Exception('Invalid yref_0 value, expected 1-dimensional numpy array.')
-
-    @W_0.setter
-    def W_0(self, W_0):
-        if isinstance(W_0, np.ndarray) and len(W_0.shape) == 2:
-            self.__W_0 = W_0
-        else:
-            raise Exception('Invalid cost W_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vx_0.setter
-    def Vx_0(self, Vx_0):
-        if isinstance(Vx_0, np.ndarray) and len(Vx_0.shape) == 2:
-            self.__Vx_0 = Vx_0
-        else:
-            raise Exception('Invalid cost Vx_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vu_0.setter
-    def Vu_0(self, Vu_0):
-        if isinstance(Vu_0, np.ndarray) and len(Vu_0.shape) == 2:
-            self.__Vu_0 = Vu_0
-        else:
-            raise Exception('Invalid cost Vu_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vz_0.setter
-    def Vz_0(self, Vz_0):
-        if isinstance(Vz_0, np.ndarray) and len(Vz_0.shape) == 2:
-            self.__Vz_0 = Vz_0
-        else:
-            raise Exception('Invalid cost Vz_0 value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @cost_ext_fun_type_0.setter
-    def cost_ext_fun_type_0(self, cost_ext_fun_type_0):
-        if cost_ext_fun_type_0 in ['casadi', 'generic']:
-            self.__cost_ext_fun_type_0 = cost_ext_fun_type_0
-        else:
-            raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array.')
-
-    # Lagrange term
-    @property
-    def cost_type(self):
-        """
-        Cost type at intermediate shooting nodes (1 to N-1)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
-        Default: 'LINEAR_LS'.
-        """
-        return self.__cost_type
-
-    @property
-    def W(self):
-        """:math:`W` - weight matrix at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__W
-
-    @property
-    def Vx(self):
-        """:math:`V_x` - x matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vx
-
-    @property
-    def Vu(self):
-        """:math:`V_u` - u matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vu
-
-    @property
-    def Vz(self):
-        """:math:`V_z` - z matrix coefficient at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vz
-
-    @property
-    def yref(self):
-        """:math:`y_\\text{ref}` - reference at intermediate shooting nodes (1 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__yref
-
-    @property
-    def Zl(self):
-        """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zl
-
-    @property
-    def Zu(self):
-        """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zu
-
-    @property
-    def zl(self):
-        """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zl
-
-    @property
-    def zu(self):
-        """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (0 to N-1).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zu
-
-    @property
-    def cost_ext_fun_type(self):
-        """Type of external function for cost at intermediate shooting nodes (1 to N-1).
-        -- string in {casadi, generic}
-        Default: :code:'casadi'.
-        """
-        return self.__cost_ext_fun_type
-
-    @cost_type.setter
-    def cost_type(self, cost_type):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-        if cost_type in cost_types:
-            self.__cost_type = cost_type
-        else:
-            raise Exception('Invalid cost_type value.')
-
-    @cost_type_0.setter
-    def cost_type_0(self, cost_type_0):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-        if cost_type_0 in cost_types:
-            self.__cost_type_0 = cost_type_0
-        else:
-            raise Exception('Invalid cost_type_0 value.')
-
-    @W.setter
-    def W(self, W):
-        if isinstance(W, np.ndarray) and len(W.shape) == 2:
-            self.__W = W
-        else:
-            raise Exception('Invalid cost W value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-
-    @Vx.setter
-    def Vx(self, Vx):
-        if isinstance(Vx, np.ndarray) and len(Vx.shape) == 2:
-            self.__Vx = Vx
-        else:
-            raise Exception('Invalid cost Vx value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vu.setter
-    def Vu(self, Vu):
-        if isinstance(Vu, np.ndarray) and len(Vu.shape) == 2:
-            self.__Vu = Vu
-        else:
-            raise Exception('Invalid cost Vu value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vz.setter
-    def Vz(self, Vz):
-        if isinstance(Vz, np.ndarray) and len(Vz.shape) == 2:
-            self.__Vz = Vz
-        else:
-            raise Exception('Invalid cost Vz value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @yref.setter
-    def yref(self, yref):
-        if isinstance(yref, np.ndarray) and len(yref.shape) == 1:
-            self.__yref = yref
-        else:
-            raise Exception('Invalid yref value, expected 1-dimensional numpy array.')
-
-    @Zl.setter
-    def Zl(self, Zl):
-        if isinstance(Zl, np.ndarray):
-            self.__Zl = Zl
-        else:
-            raise Exception('Invalid Zl value, expected numpy array.')
-
-    @Zu.setter
-    def Zu(self, Zu):
-        if isinstance(Zu, np.ndarray):
-            self.__Zu = Zu
-        else:
-            raise Exception('Invalid Zu value, expected numpy array.')
-
-    @zl.setter
-    def zl(self, zl):
-        if isinstance(zl, np.ndarray):
-            self.__zl = zl
-        else:
-            raise Exception('Invalid zl value, expected numpy array.')
-
-    @zu.setter
-    def zu(self, zu):
-        if isinstance(zu, np.ndarray):
-            self.__zu = zu
-        else:
-            raise Exception('Invalid zu value, expected numpy array.')
-
-    @cost_ext_fun_type.setter
-    def cost_ext_fun_type(self, cost_ext_fun_type):
-        if cost_ext_fun_type in ['casadi', 'generic']:
-            self.__cost_ext_fun_type = cost_ext_fun_type
-        else:
-            raise Exception("Invalid cost_ext_fun_type value, expected one in ['casadi', 'generic'].")
-
-    # Mayer term
-    @property
-    def cost_type_e(self):
-        """
-        Cost type at terminal shooting node (N)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
-        Default: 'LINEAR_LS'.
-        """
-        return self.__cost_type_e
-
-    @property
-    def W_e(self):
-        """:math:`W_e` - weight matrix at terminal shooting node (N).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__W_e
-
-    @property
-    def Vx_e(self):
-        """:math:`V_x^e` - x matrix coefficient for cost at terminal shooting node (N).
-        Default: :code:`np.zeros((0,0))`.
-        """
-        return self.__Vx_e
-
-    @property
-    def yref_e(self):
-        """:math:`y_\\text{ref}^e` - cost reference at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__yref_e
-
-    @property
-    def Zl_e(self):
-        """:math:`Z_l^e` - diagonal of Hessian wrt lower slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zl_e
-
-    @property
-    def Zu_e(self):
-        """:math:`Z_u^e` - diagonal of Hessian wrt upper slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__Zu_e
-
-    @property
-    def zl_e(self):
-        """:math:`z_l^e` - gradient wrt lower slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zl_e
-
-    @property
-    def zu_e(self):
-        """:math:`z_u^e` - gradient wrt upper slack at terminal shooting node (N).
-        Default: :code:`np.array([])`.
-        """
-        return self.__zu_e
-
-    @property
-    def cost_ext_fun_type_e(self):
-        """Type of external function for cost at terminal shooting node (N).
-        -- string in {casadi, generic}
-        Default: :code:'casadi'.
-        """
-        return self.__cost_ext_fun_type_e
-
-    @cost_type_e.setter
-    def cost_type_e(self, cost_type_e):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
-
-        if cost_type_e in cost_types:
-            self.__cost_type_e = cost_type_e
-        else:
-            raise Exception('Invalid cost_type_e value.')
-
-    @W_e.setter
-    def W_e(self, W_e):
-        if isinstance(W_e, np.ndarray) and len(W_e.shape) == 2:
-            self.__W_e = W_e
-        else:
-            raise Exception('Invalid cost W_e value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @Vx_e.setter
-    def Vx_e(self, Vx_e):
-        if isinstance(Vx_e, np.ndarray) and len(Vx_e.shape) == 2:
-            self.__Vx_e = Vx_e
-        else:
-            raise Exception('Invalid cost Vx_e value. ' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @yref_e.setter
-    def yref_e(self, yref_e):
-        if isinstance(yref_e, np.ndarray) and len(yref_e.shape) == 1:
-            self.__yref_e = yref_e
-        else:
-            raise Exception('Invalid yref_e value, expected 1-dimensional numpy array.')
-
-    @Zl_e.setter
-    def Zl_e(self, Zl_e):
-        if isinstance(Zl_e, np.ndarray):
-            self.__Zl_e = Zl_e
-        else:
-            raise Exception('Invalid Zl_e value, expected numpy array.')
-
-    @Zu_e.setter
-    def Zu_e(self, Zu_e):
-        if isinstance(Zu_e, np.ndarray):
-            self.__Zu_e = Zu_e
-        else:
-            raise Exception('Invalid Zu_e value, expected numpy array.')
-
-    @zl_e.setter
-    def zl_e(self, zl_e):
-        if isinstance(zl_e, np.ndarray):
-            self.__zl_e = zl_e
-        else:
-            raise Exception('Invalid zl_e value, expected numpy array.')
-
-    @zu_e.setter
-    def zu_e(self, zu_e):
-        if isinstance(zu_e, np.ndarray):
-            self.__zu_e = zu_e
-        else:
-            raise Exception('Invalid zu_e value, expected numpy array.')
-
-    @cost_ext_fun_type_e.setter
-    def cost_ext_fun_type_e(self, cost_ext_fun_type_e):
-        if cost_ext_fun_type_e in ['casadi', 'generic']:
-            self.__cost_ext_fun_type_e = cost_ext_fun_type_e
-        else:
-            raise Exception("Invalid cost_ext_fun_type_e value, expected one in ['casadi', 'generic'].")
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-def print_J_to_idx_note():
-    print("NOTE: J* matrix is converted to zero based vector idx* vector, which is returned here.")
-
-
-class AcadosOcpConstraints:
-    """
-    class containing the description of the constraints
-    """
-    def __init__(self):
-        self.__constr_type   = 'BGH'
-        self.__constr_type_e = 'BGH'
-        # initial x
-        self.__lbx_0   = np.array([])
-        self.__ubx_0   = np.array([])
-        self.__idxbx_0 = np.array([])
-        self.__idxbxe_0 = np.array([])
-        # state bounds
-        self.__lbx     = np.array([])
-        self.__ubx     = np.array([])
-        self.__idxbx   = np.array([])
-        # bounds on x at shooting node N
-        self.__lbx_e   = np.array([])
-        self.__ubx_e   = np.array([])
-        self.__idxbx_e = np.array([])
-        # bounds on u
-        self.__lbu     = np.array([])
-        self.__ubu     = np.array([])
-        self.__idxbu   = np.array([])
-        # polytopic constraints
-        self.__lg      = np.array([])
-        self.__ug      = np.array([])
-        self.__D       = np.zeros((0,0))
-        self.__C       = np.zeros((0,0))
-        # polytopic constraints at shooting node N
-        self.__C_e     = np.zeros((0,0))
-        self.__lg_e    = np.array([])
-        self.__ug_e    = np.array([])
-        # nonlinear constraints
-        self.__lh      = np.array([])
-        self.__uh      = np.array([])
-        # nonlinear constraints at shooting node N
-        self.__uh_e    = np.array([])
-        self.__lh_e    = np.array([])
-        # convex-over-nonlinear constraints
-        self.__lphi    = np.array([])
-        self.__uphi    = np.array([])
-        # nonlinear constraints at shooting node N
-        self.__uphi_e = np.array([])
-        self.__lphi_e = np.array([])
-        # SLACK BOUNDS
-        # soft bounds on x
-        self.__lsbx   = np.array([])
-        self.__usbx   = np.array([])
-        self.__idxsbx = np.array([])
-        # soft bounds on u
-        self.__lsbu   = np.array([])
-        self.__usbu   = np.array([])
-        self.__idxsbu = np.array([])
-        # soft bounds on x at shooting node N
-        self.__lsbx_e  = np.array([])
-        self.__usbx_e  = np.array([])
-        self.__idxsbx_e= np.array([])
-        # soft bounds on general linear constraints
-        self.__lsg    = np.array([])
-        self.__usg    = np.array([])
-        self.__idxsg  = np.array([])
-        # soft bounds on nonlinear constraints
-        self.__lsh    = np.array([])
-        self.__ush    = np.array([])
-        self.__idxsh  = np.array([])
-        # soft bounds on nonlinear constraints
-        self.__lsphi  = np.array([])
-        self.__usphi  = np.array([])
-        self.__idxsphi  = np.array([])
-        # soft bounds on general linear constraints at shooting node N
-        self.__lsg_e    = np.array([])
-        self.__usg_e    = np.array([])
-        self.__idxsg_e  = np.array([])
-        # soft bounds on nonlinear constraints at shooting node N
-        self.__lsh_e    = np.array([])
-        self.__ush_e    = np.array([])
-        self.__idxsh_e  = np.array([])
-        # soft bounds on nonlinear constraints at shooting node N
-        self.__lsphi_e    = np.array([])
-        self.__usphi_e    = np.array([])
-        self.__idxsphi_e  = np.array([])
-
-
-    # types
-    @property
-    def constr_type(self):
-        """Constraints type for shooting nodes (0 to N-1). string in {BGH, BGP}.
-        Default: BGH; BGP is for convex over nonlinear."""
-        return self.__constr_type
-
-    @property
-    def constr_type_e(self):
-        """Constraints type for terminal shooting node N. string in {BGH, BGP}.
-        Default: BGH; BGP is for convex over nonlinear."""
-        return self.__constr_type_e
-
-    # initial bounds on x
-    @property
-    def lbx_0(self):
-        """:math:`\\underline{x_0}` - lower bounds on x at initial stage 0.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`."""
-        return self.__lbx_0
-
-    @property
-    def ubx_0(self):
-        """:math:`\\bar{x_0}` - upper bounds on x at initial stage 0.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx_0
-
-    @property
-    def Jbx_0(self):
-        """:math:`J_{bx,0}` - matrix coefficient for bounds on x at initial stage 0.
-        Translated internally to :py:attr:`idxbx_0`"""
-        print_J_to_idx_note()
-        return self.__idxbx_0
-
-    @property
-    def idxbx_0(self):
-        """Indices of bounds on x at initial stage 0
-        -- can be set automatically via x0.
-        Can be set by using :py:attr:`Jbx_0`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx_0
-
-    @property
-    def idxbxe_0(self):
-        """Indices of bounds on x0 that are equalities -- can be set automatically via :py:attr:`x0`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbxe_0
-
-    # bounds on x
-    @property
-    def lbx(self):
-        """:math:`\\underline{x}` - lower bounds on x at intermediate shooting nodes (1 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__lbx
-
-    @property
-    def ubx(self):
-        """:math:`\\bar{x}` - upper bounds on x at intermediate shooting nodes (1 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx
-
-    @property
-    def idxbx(self):
-        """indices of bounds on x (defines :math:`J_{bx}`) at intermediate shooting nodes (1 to N-1).
-        Can be set by using :py:attr:`Jbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx
-
-    @property
-    def Jbx(self):
-        """:math:`J_{bx}` - matrix coefficient for bounds on x
-        at intermediate shooting nodes (1 to N-1).
-        Translated internally into :py:attr:`idxbx`."""
-        print_J_to_idx_note()
-        return self.__idxbx
-
-    # bounds on x at shooting node N
-    @property
-    def lbx_e(self):
-        """:math:`\\underline{x}^e` - lower bounds on x at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__lbx_e
-
-    @property
-    def ubx_e(self):
-        """:math:`\\bar{x}^e` - upper bounds on x at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__ubx_e
-
-    @property
-    def idxbx_e(self):
-        """Indices for bounds on x at terminal shooting node N (defines :math:`J_{bx}^e`).
-        Can be set by using :py:attr:`Jbx_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxbx_e
-
-    @property
-    def Jbx_e(self):
-        """:math:`J_{bx}^e` matrix coefficient for bounds on x at terminal shooting node N.
-        Translated internally into :py:attr:`idxbx_e`."""
-        print_J_to_idx_note()
-        return self.__idxbx_e
-
-    # bounds on u
-    @property
-    def lbu(self):
-        """:math:`\\underline{u}` - lower bounds on u at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lbu
-
-    @property
-    def ubu(self):
-        """:math:`\\bar{u}` - upper bounds on u at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__ubu
-
-    @property
-    def idxbu(self):
-        """Indices of bounds on u (defines :math:`J_{bu}`) at shooting nodes (0 to N-1).
-        Can be set by using :py:attr:`Jbu`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__idxbu
-
-    @property
-    def Jbu(self):
-        """:math:`J_{bu}` - matrix coefficient for bounds on u at shooting nodes (0 to N-1).
-        Translated internally to :py:attr:`idxbu`.
-        """
-        print_J_to_idx_note()
-        return self.__idxbu
-
-    # polytopic constraints
-    @property
-    def C(self):
-        """:math:`C` - C matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
-        """
-        return self.__C
-
-    @property
-    def D(self):
-        """:math:`D` - D matrix in :math:`\\underline{g} \\leq D \, u + C \, x \\leq \\bar{g}`
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`
-        """
-        return self.__D
-
-    @property
-    def lg(self):
-        """:math:`\\underline{g}` - lower bound for general polytopic inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lg
-
-    @property
-    def ug(self):
-        """:math:`\\bar{g}` - upper bound for general polytopic inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__ug
-
-    # polytopic constraints at shooting node N
-    @property
-    def C_e(self):
-        """:math:`C^e` - C matrix at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array((0,0))`.
-        """
-        return self.__C_e
-
-    @property
-    def lg_e(self):
-        """:math:`\\underline{g}^e` - lower bound on general polytopic inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lg_e
-
-    @property
-    def ug_e(self):
-        """:math:`\\bar{g}^e` - upper bound on general polytopic inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__ug_e
-
-
-    # nonlinear constraints
-    @property
-    def lh(self):
-        """:math:`\\underline{h}` - lower bound for nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lh
-
-    @property
-    def uh(self):
-        """:math:`\\bar{h}` - upper bound for nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uh
-
-    # nonlinear constraints at shooting node N
-    @property
-    def lh_e(self):
-        """:math:`\\underline{h}^e` - lower bound on nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lh_e
-
-    @property
-    def uh_e(self):
-        """:math:`\\bar{h}^e` - upper bound on nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uh_e
-
-    # convex-over-nonlinear constraints
-    @property
-    def lphi(self):
-        """:math:`\\underline{\phi}` - lower bound for convex-over-nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lphi
-
-    @property
-    def uphi(self):
-        """:math:`\\bar{\phi}` - upper bound for convex-over-nonlinear inequalities
-        at shooting nodes (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uphi
-
-    # convex-over-nonlinear constraints at shooting node N
-    @property
-    def lphi_e(self):
-        """:math:`\\underline{\phi}^e` - lower bound on convex-over-nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__lphi_e
-
-    @property
-    def uphi_e(self):
-        """:math:`\\bar{\phi}^e` - upper bound on convex-over-nonlinear inequalities
-        at terminal shooting node N.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`.
-        """
-        return self.__uphi_e
-
-
-    # SLACK bounds
-    # soft bounds on x
-    @property
-    def lsbx(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on x
-        at stages (1 to N-1);
-        not required - zeros by default"""
-        return self.__lsbx
-
-    @property
-    def usbx(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on x
-        at stages (1 to N-1);
-        not required - zeros by default"""
-        return self.__usbx
-
-    @property
-    def idxsbx(self):
-        """Indices of soft bounds on x within the indices of bounds on x
-        at stages (1 to N-1).
-        Can be set by using :py:attr:`Jsbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbx
-
-    @property
-    def Jsbx(self):
-        """:math:`J_{sbx}` - matrix coefficient for soft bounds on x
-        at stages (1 to N-1);
-        Translated internally into :py:attr:`idxsbx`."""
-        print_J_to_idx_note()
-        return self.__idxsbx
-
-    # soft bounds on u
-    @property
-    def lsbu(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on u
-        at stages (0 to N-1).
-        Not required - zeros by default."""
-        return self.__lsbu
-
-    @property
-    def usbu(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on u
-        at stages (0 to N-1);
-        not required - zeros by default"""
-        return self.__usbu
-
-    @property
-    def idxsbu(self):
-        """Indices of soft bounds on u within the indices of bounds on u
-        at stages (0 to N-1).
-        Can be set by using :py:attr:`Jsbu`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbu
-
-    @property
-    def Jsbu(self):
-        """:math:`J_{sbu}` - matrix coefficient for soft bounds on u
-        at stages (0 to N-1);
-        internally translated into :py:attr:`idxsbu`"""
-        print_J_to_idx_note()
-        return self.__idxsbu
-
-    # soft bounds on x at shooting node N
-    @property
-    def lsbx_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds on x at shooting node N.
-        Not required - zeros by default"""
-        return self.__lsbx_e
-
-    @property
-    def usbx_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds on x at shooting node N.
-        Not required - zeros by default"""
-        return self.__usbx_e
-
-    @property
-    def idxsbx_e(self):
-        """Indices of soft bounds on x at shooting node N, within the indices of bounds on x at terminal shooting node N.
-        Can be set by using :py:attr:`Jsbx_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsbx_e
-
-    @property
-    def Jsbx_e(self):
-        """:math:`J_{sbx}^e` - matrix coefficient for soft bounds on x at terminal shooting node N.
-        Translated internally to :py:attr:`idxsbx_e`"""
-        print_J_to_idx_note()
-        return self.__idxsbx_e
-
-    # soft general linear constraints
-    @property
-    def lsg(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints
-        at stages (0 to N-1).
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`
-        """
-        return self.__lsg
-
-    @property
-    def usg(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints.
-        Not required - zeros by default"""
-        return self.__usg
-
-    @property
-    def idxsg(self):
-        """Indices of soft general linear constraints within the indices of general linear constraints.
-        Can be set by using :py:attr:`Jsg`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsg
-
-    @property
-    def Jsg(self):
-        """:math:`J_{sg}` - matrix coefficient for soft bounds on general linear constraints.
-        Translated internally to :py:attr:`idxsg`"""
-        print_J_to_idx_note()
-        return self.__idxsg
-
-    # soft nonlinear constraints
-    @property
-    def lsh(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__lsh
-
-    @property
-    def ush(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__ush
-
-    @property
-    def idxsh(self):
-        """Indices of soft nonlinear constraints within the indices of nonlinear constraints.
-        Can be set by using :py:attr:`Jbx`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsh
-
-    @property
-    def Jsh(self):
-        """:math:`J_{sh}` - matrix coefficient for soft bounds on nonlinear constraints.
-        Translated internally to :py:attr:`idxsh`"""
-        print_J_to_idx_note()
-        return self.__idxsh
-
-    # soft bounds on convex-over-nonlinear constraints
-    @property
-    def lsphi(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__lsphi
-
-    @property
-    def usphi(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints.
-        Not required - zeros by default"""
-        return self.__usphi
-
-    @property
-    def idxsphi(self):
-        """Indices of soft convex-over-nonlinear constraints within the indices of nonlinear constraints.
-        Can be set by using :py:attr:`Jsphi`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsphi
-
-    @property
-    def Jsphi(self):
-        """:math:`J_{s, \phi}` - matrix coefficient for soft bounds on convex-over-nonlinear constraints.
-        Translated internally into :py:attr:`idxsphi`."""
-        print_J_to_idx_note()
-        return self.__idxsphi
-
-
-    # soft bounds on general linear constraints at shooting node N
-    @property
-    def lsg_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for general linear constraints at shooting node N.
-        Not required - zeros by default"""
-        return self.__lsg_e
-
-    @property
-    def usg_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for general linear constraints at shooting node N.
-        Not required - zeros by default"""
-        return self.__usg_e
-
-    @property
-    def idxsg_e(self):
-        """Indices of soft general linear constraints at shooting node N within the indices of general linear constraints at shooting node N.
-        Can be set by using :py:attr:`Jsg_e`."""
-        return self.__idxsg_e
-
-    @property
-    def Jsg_e(self):
-        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on general linear constraints at terminal shooting node N.
-        Translated internally to :py:attr:`idxsg_e`"""
-        print_J_to_idx_note()
-        return self.__idxsg_e
-
-
-    # soft bounds on nonlinear constraints at shooting node N
-    @property
-    def lsh_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__lsh_e
-
-    @property
-    def ush_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__ush_e
-
-    @property
-    def idxsh_e(self):
-        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
-        Can be set by using :py:attr:`Jsh_e`."""
-        return self.__idxsh_e
-
-    @property
-    def Jsh_e(self):
-        """:math:`J_{s,h}^e` - matrix coefficient for soft bounds on nonlinear constraints at terminal shooting node N; fills :py:attr:`idxsh_e`"""
-        print_J_to_idx_note()
-        return self.__idxsh_e
-
-    # soft bounds on convex-over-nonlinear constraints at shooting node N
-    @property
-    def lsphi_e(self):
-        """Lower bounds on slacks corresponding to soft lower bounds for convex-over-nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__lsphi_e
-
-    @property
-    def usphi_e(self):
-        """Lower bounds on slacks corresponding to soft upper bounds for convex-over-nonlinear constraints at terminal shooting node N.
-        Not required - zeros by default"""
-        return self.__usphi_e
-
-    @property
-    def idxsphi_e(self):
-        """Indices of soft nonlinear constraints at shooting node N within the indices of nonlinear constraints at terminal shooting node N.
-        Can be set by using :py:attr:`Jsphi_e`.
-        Type: :code:`np.ndarray`; default: :code:`np.array([])`"""
-        return self.__idxsphi_e
-
-    @property
-    def Jsphi_e(self):
-        """:math:`J_{sh}^e` - matrix coefficient for soft bounds on convex-over-nonlinear constraints at shooting node N.
-        Translated internally to :py:attr:`idxsphi_e`"""
-        print_J_to_idx_note()
-        return self.__idxsphi_e
-
-    @property
-    def x0(self):
-        """:math:`x_0 \\in \mathbb{R}^{n_x}` - initial state --
-        Translated internally to :py:attr:`idxbx_0`, :py:attr:`lbx_0`, :py:attr:`ubx_0`, :py:attr:`idxbxe_0` """
-        print("x0 is converted to lbx_0, ubx_0, idxbx_0")
-        print("idxbx_0: ", self.__idxbx_0)
-        print("lbx_0: ", self.__lbx_0)
-        print("ubx_0: ", self.__ubx_0)
-        print("idxbxe_0: ", self.__idxbxe_0)
-        return None
-
-    # SETTERS
-    @constr_type.setter
-    def constr_type(self, constr_type):
-        constr_types = ('BGH', 'BGP')
-        if constr_type in constr_types:
-            self.__constr_type = constr_type
-        else:
-            raise Exception('Invalid constr_type value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\n')
-
-    @constr_type_e.setter
-    def constr_type_e(self, constr_type_e):
-        constr_types = ('BGH', 'BGP')
-        if constr_type_e in constr_types:
-            self.__constr_type_e = constr_type_e
-        else:
-            raise Exception('Invalid constr_type_e value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\n')
-
-    # initial x
-    @lbx_0.setter
-    def lbx_0(self, lbx_0):
-        if isinstance(lbx_0, np.ndarray):
-            self.__lbx_0 = lbx_0
-        else:
-            raise Exception('Invalid lbx_0 value.')
-
-    @ubx_0.setter
-    def ubx_0(self, ubx_0):
-        if isinstance(ubx_0, np.ndarray):
-            self.__ubx_0 = ubx_0
-        else:
-            raise Exception('Invalid ubx_0 value.')
-
-    @idxbx_0.setter
-    def idxbx_0(self, idxbx_0):
-        if isinstance(idxbx_0, np.ndarray):
-            self.__idxbx_0 = idxbx_0
-        else:
-            raise Exception('Invalid idxbx_0 value.')
-
-    @Jbx_0.setter
-    def Jbx_0(self, Jbx_0):
-        if isinstance(Jbx_0, np.ndarray):
-            self.__idxbx_0 = J_to_idx(Jbx_0)
-        else:
-            raise Exception('Invalid Jbx_0 value.')
-
-    @idxbxe_0.setter
-    def idxbxe_0(self, idxbxe_0):
-        if isinstance(idxbxe_0, np.ndarray):
-            self.__idxbxe_0 = idxbxe_0
-        else:
-            raise Exception('Invalid idxbxe_0 value.')
-
-
-    @x0.setter
-    def x0(self, x0):
-        if isinstance(x0, np.ndarray):
-            self.__lbx_0 = x0
-            self.__ubx_0 = x0
-            self.__idxbx_0 = np.arange(x0.size)
-            self.__idxbxe_0 = np.arange(x0.size)
-        else:
-            raise Exception('Invalid x0 value.')
-
-    # bounds on x
-    @lbx.setter
-    def lbx(self, lbx):
-        if isinstance(lbx, np.ndarray):
-            self.__lbx = lbx
-        else:
-            raise Exception('Invalid lbx value.')
-
-    @ubx.setter
-    def ubx(self, ubx):
-        if isinstance(ubx, np.ndarray):
-            self.__ubx = ubx
-        else:
-            raise Exception('Invalid ubx value.')
-
-    @idxbx.setter
-    def idxbx(self, idxbx):
-        if isinstance(idxbx, np.ndarray):
-            self.__idxbx = idxbx
-        else:
-            raise Exception('Invalid idxbx value.')
-
-    @Jbx.setter
-    def Jbx(self, Jbx):
-        if isinstance(Jbx, np.ndarray):
-            self.__idxbx = J_to_idx(Jbx)
-        else:
-            raise Exception('Invalid Jbx value.')
-
-    # bounds on u
-    @lbu.setter
-    def lbu(self, lbu):
-        if isinstance(lbu, np.ndarray):
-            self.__lbu = lbu
-        else:
-            raise Exception('Invalid lbu value.')
-
-    @ubu.setter
-    def ubu(self, ubu):
-        if isinstance(ubu, np.ndarray):
-            self.__ubu = ubu
-        else:
-            raise Exception('Invalid ubu value.')
-
-    @idxbu.setter
-    def idxbu(self, idxbu):
-        if isinstance(idxbu, np.ndarray):
-            self.__idxbu = idxbu
-        else:
-            raise Exception('Invalid idxbu value.')
-
-    @Jbu.setter
-    def Jbu(self, Jbu):
-        if isinstance(Jbu, np.ndarray):
-            self.__idxbu = J_to_idx(Jbu)
-        else:
-            raise Exception('Invalid Jbu value.')
-
-    # bounds on x at shooting node N
-    @lbx_e.setter
-    def lbx_e(self, lbx_e):
-        if isinstance(lbx_e, np.ndarray):
-            self.__lbx_e = lbx_e
-        else:
-            raise Exception('Invalid lbx_e value.')
-
-    @ubx_e.setter
-    def ubx_e(self, ubx_e):
-        if isinstance(ubx_e, np.ndarray):
-            self.__ubx_e = ubx_e
-        else:
-            raise Exception('Invalid ubx_e value.')
-
-    @idxbx_e.setter
-    def idxbx_e(self, idxbx_e):
-        if isinstance(idxbx_e, np.ndarray):
-            self.__idxbx_e = idxbx_e
-        else:
-            raise Exception('Invalid idxbx_e value.')
-
-    @Jbx_e.setter
-    def Jbx_e(self, Jbx_e):
-        if isinstance(Jbx_e, np.ndarray):
-            self.__idxbx_e = J_to_idx(Jbx_e)
-        else:
-            raise Exception('Invalid Jbx_e value.')
-
-    # polytopic constraints
-    @D.setter
-    def D(self, D):
-        if isinstance(D, np.ndarray) and len(D.shape) == 2:
-            self.__D = D
-        else:
-            raise Exception('Invalid constraint D value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @C.setter
-    def C(self, C):
-        if isinstance(C, np.ndarray) and len(C.shape) == 2:
-            self.__C = C
-        else:
-            raise Exception('Invalid constraint C value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @lg.setter
-    def lg(self, lg):
-        if isinstance(lg, np.ndarray):
-            self.__lg = lg
-        else:
-            raise Exception('Invalid lg value.')
-
-    @ug.setter
-    def ug(self, ug):
-        if isinstance(ug, np.ndarray):
-            self.__ug = ug
-        else:
-            raise Exception('Invalid ug value.')
-
-    # polytopic constraints at shooting node N
-    @C_e.setter
-    def C_e(self, C_e):
-        if isinstance(C_e, np.ndarray) and len(C_e.shape) == 2:
-            self.__C_e = C_e
-        else:
-            raise Exception('Invalid constraint C_e value.' \
-                + 'Should be 2 dimensional numpy array.')
-
-    @lg_e.setter
-    def lg_e(self, lg_e):
-        if isinstance(lg_e, np.ndarray):
-            self.__lg_e = lg_e
-        else:
-            raise Exception('Invalid lg_e value.')
-
-    @ug_e.setter
-    def ug_e(self, ug_e):
-        if isinstance(ug_e, np.ndarray):
-            self.__ug_e = ug_e
-        else:
-            raise Exception('Invalid ug_e value.')
-
-    # nonlinear constraints
-    @lh.setter
-    def lh(self, lh):
-        if isinstance(lh, np.ndarray):
-            self.__lh = lh
-        else:
-            raise Exception('Invalid lh value.')
-
-    @uh.setter
-    def uh(self, uh):
-        if isinstance(uh, np.ndarray):
-            self.__uh = uh
-        else:
-            raise Exception('Invalid uh value.')
-
-    # convex-over-nonlinear constraints
-    @lphi.setter
-    def lphi(self, lphi):
-        if isinstance(lphi, np.ndarray):
-            self.__lphi = lphi
-        else:
-            raise Exception('Invalid lphi value.')
-
-    @uphi.setter
-    def uphi(self, uphi):
-        if isinstance(uphi, np.ndarray):
-            self.__uphi = uphi
-        else:
-            raise Exception('Invalid uphi value.')
-
-    # nonlinear constraints at shooting node N
-    @lh_e.setter
-    def lh_e(self, lh_e):
-        if isinstance(lh_e, np.ndarray):
-            self.__lh_e = lh_e
-        else:
-            raise Exception('Invalid lh_e value.')
-
-    @uh_e.setter
-    def uh_e(self, uh_e):
-        if isinstance(uh_e, np.ndarray):
-            self.__uh_e = uh_e
-        else:
-            raise Exception('Invalid uh_e value.')
-
-    # convex-over-nonlinear constraints at shooting node N
-    @lphi_e.setter
-    def lphi_e(self, lphi_e):
-        if isinstance(lphi_e, np.ndarray):
-            self.__lphi_e = lphi_e
-        else:
-            raise Exception('Invalid lphi_e value.')
-
-    @uphi_e.setter
-    def uphi_e(self, uphi_e):
-        if isinstance(uphi_e, np.ndarray):
-            self.__uphi_e = uphi_e
-        else:
-            raise Exception('Invalid uphi_e value.')
-
-    # SLACK bounds
-    # soft bounds on x
-    @lsbx.setter
-    def lsbx(self, lsbx):
-        if isinstance(lsbx, np.ndarray):
-            self.__lsbx = lsbx
-        else:
-            raise Exception('Invalid lsbx value.')
-
-    @usbx.setter
-    def usbx(self, usbx):
-        if isinstance(usbx, np.ndarray):
-            self.__usbx = usbx
-        else:
-            raise Exception('Invalid usbx value.')
-
-    @idxsbx.setter
-    def idxsbx(self, idxsbx):
-        if isinstance(idxsbx, np.ndarray):
-            self.__idxsbx = idxsbx
-        else:
-            raise Exception('Invalid idxsbx value.')
-
-    @Jsbx.setter
-    def Jsbx(self, Jsbx):
-        if isinstance(Jsbx, np.ndarray):
-            self.__idxsbx = J_to_idx_slack(Jsbx)
-        else:
-            raise Exception('Invalid Jsbx value, expected numpy array.')
-
-    # soft bounds on u
-    @lsbu.setter
-    def lsbu(self, lsbu):
-        if isinstance(lsbu, np.ndarray):
-            self.__lsbu = lsbu
-        else:
-            raise Exception('Invalid lsbu value.')
-
-    @usbu.setter
-    def usbu(self, usbu):
-        if isinstance(usbu, np.ndarray):
-            self.__usbu = usbu
-        else:
-            raise Exception('Invalid usbu value.')
-
-    @idxsbu.setter
-    def idxsbu(self, idxsbu):
-        if isinstance(idxsbu, np.ndarray):
-            self.__idxsbu = idxsbu
-        else:
-            raise Exception('Invalid idxsbu value.')
-
-    @Jsbu.setter
-    def Jsbu(self, Jsbu):
-        if isinstance(Jsbu, np.ndarray):
-            self.__idxsbu = J_to_idx_slack(Jsbu)
-        else:
-            raise Exception('Invalid Jsbu value.')
-
-    # soft bounds on x at shooting node N
-    @lsbx_e.setter
-    def lsbx_e(self, lsbx_e):
-        if isinstance(lsbx_e, np.ndarray):
-            self.__lsbx_e = lsbx_e
-        else:
-            raise Exception('Invalid lsbx_e value.')
-
-    @usbx_e.setter
-    def usbx_e(self, usbx_e):
-        if isinstance(usbx_e, np.ndarray):
-            self.__usbx_e = usbx_e
-        else:
-            raise Exception('Invalid usbx_e value.')
-
-    @idxsbx_e.setter
-    def idxsbx_e(self, idxsbx_e):
-        if isinstance(idxsbx_e, np.ndarray):
-            self.__idxsbx_e = idxsbx_e
-        else:
-            raise Exception('Invalid idxsbx_e value.')
-
-    @Jsbx_e.setter
-    def Jsbx_e(self, Jsbx_e):
-        if isinstance(Jsbx_e, np.ndarray):
-            self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
-        else:
-            raise Exception('Invalid Jsbx_e value.')
-
-
-    # soft bounds on general linear constraints
-    @lsg.setter
-    def lsg(self, lsg):
-        if isinstance(lsg, np.ndarray):
-            self.__lsg = lsg
-        else:
-            raise Exception('Invalid lsg value.')
-
-    @usg.setter
-    def usg(self, usg):
-        if isinstance(usg, np.ndarray):
-            self.__usg = usg
-        else:
-            raise Exception('Invalid usg value.')
-
-    @idxsg.setter
-    def idxsg(self, idxsg):
-        if isinstance(idxsg, np.ndarray):
-            self.__idxsg = idxsg
-        else:
-            raise Exception('Invalid idxsg value.')
-
-    @Jsg.setter
-    def Jsg(self, Jsg):
-        if isinstance(Jsg, np.ndarray):
-            self.__idxsg = J_to_idx_slack(Jsg)
-        else:
-            raise Exception('Invalid Jsg value, expected numpy array.')
-
-
-    # soft bounds on nonlinear constraints
-    @lsh.setter
-    def lsh(self, lsh):
-        if isinstance(lsh, np.ndarray):
-            self.__lsh = lsh
-        else:
-            raise Exception('Invalid lsh value.')
-
-    @ush.setter
-    def ush(self, ush):
-        if isinstance(ush, np.ndarray):
-            self.__ush = ush
-        else:
-            raise Exception('Invalid ush value.')
-
-    @idxsh.setter
-    def idxsh(self, idxsh):
-        if isinstance(idxsh, np.ndarray):
-            self.__idxsh = idxsh
-        else:
-            raise Exception('Invalid idxsh value.')
-
-
-    @Jsh.setter
-    def Jsh(self, Jsh):
-        if isinstance(Jsh, np.ndarray):
-            self.__idxsh = J_to_idx_slack(Jsh)
-        else:
-            raise Exception('Invalid Jsh value, expected numpy array.')
-
-    # soft bounds on convex-over-nonlinear constraints
-    @lsphi.setter
-    def lsphi(self, lsphi):
-        if isinstance(lsphi, np.ndarray):
-            self.__lsphi = lsphi
-        else:
-            raise Exception('Invalid lsphi value.')
-
-    @usphi.setter
-    def usphi(self, usphi):
-        if isinstance(usphi, np.ndarray):
-            self.__usphi = usphi
-        else:
-            raise Exception('Invalid usphi value.')
-
-    @idxsphi.setter
-    def idxsphi(self, idxsphi):
-        if isinstance(idxsphi, np.ndarray):
-            self.__idxsphi = idxsphi
-        else:
-            raise Exception('Invalid idxsphi value.')
-
-    @Jsphi.setter
-    def Jsphi(self, Jsphi):
-        if isinstance(Jsphi, np.ndarray):
-            self.__idxsphi = J_to_idx_slack(Jsphi)
-        else:
-            raise Exception('Invalid Jsphi value, expected numpy array.')
-
-    # soft bounds on general linear constraints at shooting node N
-    @lsg_e.setter
-    def lsg_e(self, lsg_e):
-        if isinstance(lsg_e, np.ndarray):
-            self.__lsg_e = lsg_e
-        else:
-            raise Exception('Invalid lsg_e value.')
-
-    @usg_e.setter
-    def usg_e(self, usg_e):
-        if isinstance(usg_e, np.ndarray):
-            self.__usg_e = usg_e
-        else:
-            raise Exception('Invalid usg_e value.')
-
-    @idxsg_e.setter
-    def idxsg_e(self, idxsg_e):
-        if isinstance(idxsg_e, np.ndarray):
-            self.__idxsg_e = idxsg_e
-        else:
-            raise Exception('Invalid idxsg_e value.')
-
-    @Jsg_e.setter
-    def Jsg_e(self, Jsg_e):
-        if isinstance(Jsg_e, np.ndarray):
-            self.__idxsg_e = J_to_idx_slack(Jsg_e)
-        else:
-            raise Exception('Invalid Jsg_e value, expected numpy array.')
-
-    # soft bounds on nonlinear constraints at shooting node N
-    @lsh_e.setter
-    def lsh_e(self, lsh_e):
-        if isinstance(lsh_e, np.ndarray):
-            self.__lsh_e = lsh_e
-        else:
-            raise Exception('Invalid lsh_e value.')
-
-    @ush_e.setter
-    def ush_e(self, ush_e):
-        if isinstance(ush_e, np.ndarray):
-            self.__ush_e = ush_e
-        else:
-            raise Exception('Invalid ush_e value.')
-
-    @idxsh_e.setter
-    def idxsh_e(self, idxsh_e):
-        if isinstance(idxsh_e, np.ndarray):
-            self.__idxsh_e = idxsh_e
-        else:
-            raise Exception('Invalid idxsh_e value.')
-
-    @Jsh_e.setter
-    def Jsh_e(self, Jsh_e):
-        if isinstance(Jsh_e, np.ndarray):
-            self.__idxsh_e = J_to_idx_slack(Jsh_e)
-        else:
-            raise Exception('Invalid Jsh_e value, expected numpy array.')
-
-
-    # soft bounds on convex-over-nonlinear constraints at shooting node N
-    @lsphi_e.setter
-    def lsphi_e(self, lsphi_e):
-        if isinstance(lsphi_e, np.ndarray):
-            self.__lsphi_e = lsphi_e
-        else:
-            raise Exception('Invalid lsphi_e value.')
-
-    @usphi_e.setter
-    def usphi_e(self, usphi_e):
-        if isinstance(usphi_e, np.ndarray):
-            self.__usphi_e = usphi_e
-        else:
-            raise Exception('Invalid usphi_e value.')
-
-    @idxsphi_e.setter
-    def idxsphi_e(self, idxsphi_e):
-        if isinstance(idxsphi_e, np.ndarray):
-            self.__idxsphi_e = idxsphi_e
-        else:
-            raise Exception('Invalid idxsphi_e value.')
-
-    @Jsphi_e.setter
-    def Jsphi_e(self, Jsphi_e):
-        if isinstance(Jsphi_e, np.ndarray):
-            self.__idxsphi_e = J_to_idx_slack(Jsphi_e)
-        else:
-            raise Exception('Invalid Jsphi_e value.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcpOptions:
-    """
-    class containing the description of the solver options
-    """
-    def __init__(self):
-        self.__qp_solver        = 'PARTIAL_CONDENSING_HPIPM'  # qp solver to be used in the NLP solver
-        self.__hessian_approx   = 'GAUSS_NEWTON'              # hessian approximation
-        self.__integrator_type  = 'ERK'                       # integrator type
-        self.__tf               = None                        # prediction horizon
-        self.__nlp_solver_type  = 'SQP_RTI'                   # NLP solver
-        self.__globalization = 'FIXED_STEP'
-        self.__nlp_solver_step_length = 1.0                   # fixed Newton step length
-        self.__levenberg_marquardt = 0.0
-        self.__collocation_type = 'GAUSS_LEGENDRE'
-        self.__sim_method_num_stages  = 4                     # number of stages in the integrator
-        self.__sim_method_num_steps   = 1                     # number of steps in the integrator
-        self.__sim_method_newton_iter = 3                     # number of Newton iterations in simulation method
-        self.__sim_method_newton_tol = 0.0
-        self.__sim_method_jac_reuse = 0
-        self.__qp_solver_tol_stat = None                      # QP solver stationarity tolerance
-        self.__qp_solver_tol_eq   = None                      # QP solver equality tolerance
-        self.__qp_solver_tol_ineq = None                      # QP solver inequality
-        self.__qp_solver_tol_comp = None                      # QP solver complementarity
-        self.__qp_solver_iter_max = 50                        # QP solver max iter
-        self.__qp_solver_cond_N = None                        # QP solver: new horizon after partial condensing
-        self.__qp_solver_warm_start = 0
-        self.__qp_solver_cond_ric_alg = 1
-        self.__qp_solver_ric_alg = 1
-        self.__nlp_solver_tol_stat = 1e-6                     # NLP solver stationarity tolerance
-        self.__nlp_solver_tol_eq   = 1e-6                     # NLP solver equality tolerance
-        self.__nlp_solver_tol_ineq = 1e-6                     # NLP solver inequality
-        self.__nlp_solver_tol_comp = 1e-6                     # NLP solver complementarity
-        self.__nlp_solver_max_iter = 100                      # NLP solver maximum number of iterations
-        self.__nlp_solver_ext_qp_res = 0
-        self.__Tsim = None                                    # automatically calculated as tf/N
-        self.__print_level = 0                                # print level
-        self.__initialize_t_slacks = 0                        # possible values: 0, 1
-        self.__regularize_method = None
-        self.__time_steps = None
-        self.__shooting_nodes = None
-        self.__exact_hess_cost = 1
-        self.__exact_hess_dyn = 1
-        self.__exact_hess_constr = 1
-        self.__ext_cost_num_hess = 0
-        self.__alpha_min = 0.05
-        self.__alpha_reduction = 0.7
-        self.__line_search_use_sufficient_descent = 0
-        self.__globalization_use_SOC = 0
-        self.__full_step_dual = 0
-        self.__eps_sufficient_descent = 1e-4
-        self.__hpipm_mode = 'BALANCE'
-        # TODO: move those out? they are more about generation than about the acados OCP solver.
-        self.__ext_fun_compile_flags = '-O2'
-        self.__model_external_shared_lib_dir   = None         # path to the the .so lib
-        self.__model_external_shared_lib_name  = None         # name of the the .so lib
-        self.__custom_update_filename = ''
-        self.__custom_update_header_filename = ''
-        self.__custom_templates = []
-        self.__custom_update_copy = True
-
-    @property
-    def qp_solver(self):
-        """QP solver to be used in the NLP solver.
-        String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', 'FULL_CONDENSING_DAQP').
-        Default: 'PARTIAL_CONDENSING_HPIPM'.
-        """
-        return self.__qp_solver
-
-    @property
-    def ext_fun_compile_flags(self):
-        """
-        String with compiler flags for external function compilation.
-        Default: '-O2'.
-        """
-        return self.__ext_fun_compile_flags
-
-
-    @property
-    def custom_update_filename(self):
-        """
-        Filename of the custom C function to update solver data and parameters in between solver calls
-
-        This file has to implement the functions
-        int custom_update_init_function([model.name]_solver_capsule* capsule);
-        int custom_update_function([model.name]_solver_capsule* capsule);
-        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
-
-
-        Default: ''.
-        """
-        return self.__custom_update_filename
-
-
-    @property
-    def custom_templates(self):
-        """
-        List of tuples of the form:
-        (input_filename, output_filename)
-
-        Custom templates are render in OCP solver generation.
-
-        Default: [].
-        """
-        return self.__custom_templates
-
-
-    @property
-    def custom_update_header_filename(self):
-        """
-        Header filename of the custom C function to update solver data and parameters in between solver calls
-
-        This file has to declare the custom_update functions and look as follows:
-
-        ```
-        // Called at the end of solver creation.
-        // This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
-        int custom_update_init_function([model.name]_solver_capsule* capsule);
-
-        // Custom update function that can be called between solver calls
-        int custom_update_function([model.name]_solver_capsule* capsule, double* data, int data_len);
-
-        // Called just before destroying the solver.
-        // Responsible to free allocated memory, stored at capsule->custom_update_memory.
-        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
-
-        Default: ''.
-        """
-        return self.__custom_update_header_filename
-
-    @property
-    def custom_update_copy(self):
-        """
-        Boolean;
-        If True, the custom update function files are copied into the `code_export_directory`.
-        """
-        return self.__custom_update_copy
-
-
-    @property
-    def hpipm_mode(self):
-        """
-        Mode of HPIPM to be used,
-
-        String in ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST').
-
-        Default: 'BALANCE'.
-
-        see https://cdn.syscop.de/publications/Frison2020a.pdf
-        and the HPIPM code:
-        https://github.com/giaf/hpipm/blob/master/ocp_qp/x_ocp_qp_ipm.c#L69
-        """
-        return self.__hpipm_mode
-
-    @property
-    def hessian_approx(self):
-        """Hessian approximation.
-        String in ('GAUSS_NEWTON', 'EXACT').
-        Default: 'GAUSS_NEWTON'.
-        """
-        return self.__hessian_approx
-
-    @property
-    def integrator_type(self):
-        """
-        Integrator type.
-        String in ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK').
-        Default: 'ERK'.
-        """
-        return self.__integrator_type
-
-    @property
-    def nlp_solver_type(self):
-        """NLP solver.
-        String in ('SQP', 'SQP_RTI').
-        Default: 'SQP_RTI'.
-        """
-        return self.__nlp_solver_type
-
-    @property
-    def globalization(self):
-        """Globalization type.
-        String in ('FIXED_STEP', 'MERIT_BACKTRACKING').
-        Default: 'FIXED_STEP'.
-
-        .. note:: preliminary implementation.
-        """
-        return self.__globalization
-
-    @property
-    def collocation_type(self):
-        """Collocation type: relevant for implicit integrators
-        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}.
-
-        Default: GAUSS_LEGENDRE
-        """
-        return self.__collocation_type
-
-    @property
-    def regularize_method(self):
-        """Regularization method for the Hessian.
-        String in ('NO_REGULARIZE', 'MIRROR', 'PROJECT', 'PROJECT_REDUC_HESS', 'CONVEXIFY') or :code:`None`.
-
-        - MIRROR: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, abs(D_ii))
-        - PROJECT: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, D_ii)
-        - CONVEXIFY: Algorithm 6 from Verschueren2017, https://cdn.syscop.de/publications/Verschueren2017.pdf
-        - PROJECT_REDUC_HESS: experimental
-
-        Note: default eps = 1e-4
-
-        Default: :code:`None`.
-        """
-        return self.__regularize_method
-
-    @property
-    def nlp_solver_step_length(self):
-        """
-        Fixed Newton step length.
-        Type: float > 0.
-        Default: 1.0.
-        """
-        return self.__nlp_solver_step_length
-
-    @property
-    def levenberg_marquardt(self):
-        """
-        Factor for LM regularization.
-        Type: float >= 0
-        Default: 0.0.
-        """
-        return self.__levenberg_marquardt
-
-    @property
-    def sim_method_num_stages(self):
-        """
-        Number of stages in the integrator.
-        Type: int > 0 or ndarray of ints > 0 of shape (N,).
-        Default: 4
-        """
-        return self.__sim_method_num_stages
-
-    @property
-    def sim_method_num_steps(self):
-        """
-        Number of steps in the integrator.
-        Type: int > 0 or ndarray of ints > 0 of shape (N,).
-        Default: 1
-        """
-        return self.__sim_method_num_steps
-
-    @property
-    def sim_method_newton_iter(self):
-        """
-        Number of Newton iterations in simulation method.
-        Type: int > 0
-        Default: 3
-        """
-        return self.__sim_method_newton_iter
-
-    @property
-    def sim_method_newton_tol(self):
-        """
-        Tolerance of Newton system in simulation method.
-        Type: float: 0.0 means not used
-        Default: 0.0
-        """
-        return self.__sim_method_newton_tol
-
-    @property
-    def sim_method_jac_reuse(self):
-        """
-        Integer determining if jacobians are reused within integrator or ndarray of ints > 0 of shape (N,).
-        0: False (no reuse); 1: True (reuse)
-        Default: 0
-        """
-        return self.__sim_method_jac_reuse
-
-    @property
-    def qp_solver_tol_stat(self):
-        """
-        QP solver stationarity tolerance.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_stat
-
-    @property
-    def qp_solver_tol_eq(self):
-        """
-        QP solver equality tolerance.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_eq
-
-    @property
-    def qp_solver_tol_ineq(self):
-        """
-        QP solver inequality.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_ineq
-
-    @property
-    def qp_solver_tol_comp(self):
-        """
-        QP solver complementarity.
-        Default: :code:`None`
-        """
-        return self.__qp_solver_tol_comp
-
-    @property
-    def qp_solver_cond_N(self):
-        """QP solver: New horizon after partial condensing.
-        Set to N by default -> no condensing."""
-        return self.__qp_solver_cond_N
-
-    @property
-    def qp_solver_warm_start(self):
-        """
-        QP solver: Warm starting.
-        0: no warm start; 1: warm start; 2: hot start.
-        Default: 0
-        """
-        return self.__qp_solver_warm_start
-
-    @property
-    def qp_solver_cond_ric_alg(self):
-        """
-        QP solver: Determines which algorithm is used in HPIPM condensing.
-        0: dont factorize hessian in the condensing; 1: factorize.
-        Default: 1
-        """
-        return self.__qp_solver_cond_ric_alg
-
-    @property
-    def qp_solver_ric_alg(self):
-        """
-        QP solver: Determines which algorithm is used in HPIPM OCP QP solver.
-        0 classical Riccati, 1 square-root Riccati.
-
-        Note: taken from [HPIPM paper]:
-
-        (a) the classical implementation requires the reduced Hessian with respect to the dynamics
-            equality constraints to be positive definite, but allows the full-space Hessian to be indefinite)
-        (b) the square-root implementation, which in order to reduce the flop count employs the Cholesky
-            factorization of the Riccati recursion matrix, and therefore requires the full-space Hessian to be positive definite
-
-        [HPIPM paper]: HPIPM: a high-performance quadratic programming framework for model predictive control, Frison and Diehl, 2020
-        https://cdn.syscop.de/publications/Frison2020a.pdf
-
-        Default: 1
-        """
-        return self.__qp_solver_ric_alg
-
-    @property
-    def qp_solver_iter_max(self):
-        """
-        QP solver: maximum number of iterations.
-        Type: int > 0
-        Default: 50
-        """
-        return self.__qp_solver_iter_max
-
-    @property
-    def tol(self):
-        """
-        NLP solver tolerance. Sets or gets the max of :py:attr:`nlp_solver_tol_eq`,
-        :py:attr:`nlp_solver_tol_ineq`, :py:attr:`nlp_solver_tol_comp`
-        and :py:attr:`nlp_solver_tol_stat`.
-        """
-        return max([self.__nlp_solver_tol_eq, self.__nlp_solver_tol_ineq,\
-                    self.__nlp_solver_tol_comp, self.__nlp_solver_tol_stat])
-
-    @property
-    def qp_tol(self):
-        """
-        QP solver tolerance.
-        Sets all of the following at once or gets the max of
-        :py:attr:`qp_solver_tol_eq`, :py:attr:`qp_solver_tol_ineq`,
-        :py:attr:`qp_solver_tol_comp` and
-        :py:attr:`qp_solver_tol_stat`.
-        """
-        return max([self.__qp_solver_tol_eq, self.__qp_solver_tol_ineq,\
-                    self.__qp_solver_tol_comp, self.__qp_solver_tol_stat])
-
-    @property
-    def nlp_solver_tol_stat(self):
-        """
-        NLP solver stationarity tolerance.
-        Type: float > 0
-        Default: 1e-6
-        """
-        return self.__nlp_solver_tol_stat
-
-    @property
-    def nlp_solver_tol_eq(self):
-        """NLP solver equality tolerance"""
-        return self.__nlp_solver_tol_eq
-
-    @property
-    def alpha_min(self):
-        """Minimal step size for globalization MERIT_BACKTRACKING, default: 0.05."""
-        return self.__alpha_min
-
-    @property
-    def alpha_reduction(self):
-        """Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7."""
-        return self.__alpha_reduction
-
-    @property
-    def line_search_use_sufficient_descent(self):
-        """
-        Determines if sufficient descent (Armijo) condition is used in line search.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__line_search_use_sufficient_descent
-
-    @property
-    def eps_sufficient_descent(self):
-        """
-        Factor for sufficient descent (Armijo) conditon, see line_search_use_sufficient_descent.
-        Type: float,
-        default: 1e-4.
-        """
-        return self.__eps_sufficient_descent
-
-    @property
-    def globalization_use_SOC(self):
-        """
-        Determines if second order correction (SOC) is done when using MERIT_BACKTRACKING.
-        SOC is done if preliminary line search does not return full step.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__globalization_use_SOC
-
-    @property
-    def full_step_dual(self):
-        """
-        Determines if dual variables are updated with full steps (alpha=1.0) when primal variables are updated with smaller step.
-        Type: int; 0 or 1;
-        default: 0.
-        """
-        return self.__full_step_dual
-
-    @property
-    def nlp_solver_tol_ineq(self):
-        """NLP solver inequality tolerance"""
-        return self.__nlp_solver_tol_ineq
-
-    @property
-    def nlp_solver_ext_qp_res(self):
-        """Determines if residuals of QP are computed externally within NLP solver (for debugging)
-
-        Type: int; 0 or 1;
-        Default: 0.
-        """
-        return self.__nlp_solver_ext_qp_res
-
-    @property
-    def nlp_solver_tol_comp(self):
-        """NLP solver complementarity tolerance"""
-        return self.__nlp_solver_tol_comp
-
-    @property
-    def nlp_solver_max_iter(self):
-        """
-        NLP solver maximum number of iterations.
-        Type: int > 0
-        Default: 100
-        """
-        return self.__nlp_solver_max_iter
-
-    @property
-    def time_steps(self):
-        """
-        Vector with time steps between the shooting nodes. Set automatically to uniform discretization if :py:attr:`N` and :py:attr:`tf` are provided.
-        Default: :code:`None`
-        """
-        return self.__time_steps
-
-    @property
-    def shooting_nodes(self):
-        """
-        Vector with the shooting nodes, time_steps will be computed from it automatically.
-        Default: :code:`None`
-        """
-        return self.__shooting_nodes
-
-    @property
-    def tf(self):
-        """
-        Prediction horizon
-        Type: float > 0
-        Default: :code:`None`
-        """
-        return self.__tf
-
-    @property
-    def Tsim(self):
-        """
-        Time horizon for one integrator step. Automatically calculated as :py:attr:`tf`/:py:attr:`N`.
-        Default: :code:`None`
-        """
-        return self.__Tsim
-
-    @property
-    def print_level(self):
-        """
-        Verbosity of printing.
-        Type: int >= 0
-        Default: 0
-        """
-        return self.__print_level
-
-    @property
-    def model_external_shared_lib_dir(self):
-        """Path to the .so lib"""
-        return self.__model_external_shared_lib_dir
-
-    @property
-    def model_external_shared_lib_name(self):
-        """Name of the .so lib"""
-        return self.__model_external_shared_lib_name
-
-    @property
-    def exact_hess_constr(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the constraints module.
-        """
-        return self.__exact_hess_constr
-
-    @property
-    def exact_hess_cost(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the cost module.
-        """
-        return self.__exact_hess_cost
-
-    @property
-    def exact_hess_dyn(self):
-        """
-        Used in case of hessian_approx == 'EXACT'.\n
-        Can be used to turn off exact hessian contributions from the dynamics module.
-        """
-        return self.__exact_hess_dyn
-
-    @property
-    def ext_cost_num_hess(self):
-        """
-        Determines if custom hessian approximation for cost contribution is used (> 0).\n
-        Or if hessian contribution is evaluated exactly using CasADi external function (=0 - default).
-        """
-        return self.__ext_cost_num_hess
-
-    @qp_solver.setter
-    def qp_solver(self, qp_solver):
-        qp_solvers = ('PARTIAL_CONDENSING_HPIPM', \
-                'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', \
-                'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', \
-                'FULL_CONDENSING_DAQP')
-        if qp_solver in qp_solvers:
-            self.__qp_solver = qp_solver
-        else:
-            raise Exception('Invalid qp_solver value. Possible values are:\n\n' \
-                    + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\n')
-
-    @regularize_method.setter
-    def regularize_method(self, regularize_method):
-        regularize_methods = ('NO_REGULARIZE', 'MIRROR', 'PROJECT', \
-                                'PROJECT_REDUC_HESS', 'CONVEXIFY')
-        if regularize_method in regularize_methods:
-            self.__regularize_method = regularize_method
-        else:
-            raise Exception('Invalid regularize_method value. Possible values are:\n\n' \
-                    + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\n')
-
-    @collocation_type.setter
-    def collocation_type(self, collocation_type):
-        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
-        if collocation_type in collocation_types:
-            self.__collocation_type = collocation_type
-        else:
-            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
-
-    @hpipm_mode.setter
-    def hpipm_mode(self, hpipm_mode):
-        hpipm_modes = ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST')
-        if hpipm_mode in hpipm_modes:
-            self.__hpipm_mode = hpipm_mode
-        else:
-            raise Exception('Invalid hpipm_mode value. Possible values are:\n\n' \
-                    + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\n')
-
-    @ext_fun_compile_flags.setter
-    def ext_fun_compile_flags(self, ext_fun_compile_flags):
-        if isinstance(ext_fun_compile_flags, str):
-            self.__ext_fun_compile_flags = ext_fun_compile_flags
-        else:
-            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
-
-
-    @custom_update_filename.setter
-    def custom_update_filename(self, custom_update_filename):
-        if isinstance(custom_update_filename, str):
-            self.__custom_update_filename = custom_update_filename
-        else:
-            raise Exception('Invalid custom_update_filename, expected a string.\n')
-
-    @custom_templates.setter
-    def custom_templates(self, custom_templates):
-        if not isinstance(custom_templates, list):
-            raise Exception('Invalid custom_templates, expected a list.\n')
-        for tup in custom_templates:
-            if not isinstance(tup, tuple):
-                raise Exception('Invalid custom_templates, shoubld be list of tuples.\n')
-            for s in tup:
-                if not isinstance(s, str):
-                    raise Exception('Invalid custom_templates, shoubld be list of tuples of strings.\n')
-        self.__custom_templates = custom_templates
-
-    @custom_update_header_filename.setter
-    def custom_update_header_filename(self, custom_update_header_filename):
-        if isinstance(custom_update_header_filename, str):
-            self.__custom_update_header_filename = custom_update_header_filename
-        else:
-            raise Exception('Invalid custom_update_header_filename, expected a string.\n')
-
-    @custom_update_copy.setter
-    def custom_update_copy(self, custom_update_copy):
-        if isinstance(custom_update_copy, bool):
-            self.__custom_update_copy = custom_update_copy
-        else:
-            raise Exception('Invalid custom_update_copy, expected a bool.\n')
-
-    @hessian_approx.setter
-    def hessian_approx(self, hessian_approx):
-        hessian_approxs = ('GAUSS_NEWTON', 'EXACT')
-        if hessian_approx in hessian_approxs:
-            self.__hessian_approx = hessian_approx
-        else:
-            raise Exception('Invalid hessian_approx value. Possible values are:\n\n' \
-                    + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\n')
-
-    @integrator_type.setter
-    def integrator_type(self, integrator_type):
-        integrator_types = ('ERK', 'IRK', 'GNSF', 'DISCRETE', 'LIFTED_IRK')
-        if integrator_type in integrator_types:
-            self.__integrator_type = integrator_type
-        else:
-            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
-
-    @tf.setter
-    def tf(self, tf):
-        self.__tf = tf
-
-    @time_steps.setter
-    def time_steps(self, time_steps):
-        if isinstance(time_steps, np.ndarray):
-            if len(time_steps.shape) == 1:
-                    self.__time_steps = time_steps
-            else:
-                raise Exception('Invalid time_steps, expected np.ndarray of shape (N,).')
-        else:
-            raise Exception('Invalid time_steps, expected np.ndarray.')
-
-    @shooting_nodes.setter
-    def shooting_nodes(self, shooting_nodes):
-        if isinstance(shooting_nodes, np.ndarray):
-            if len(shooting_nodes.shape) == 1:
-                self.__shooting_nodes = shooting_nodes
-            else:
-                raise Exception('Invalid shooting_nodes, expected np.ndarray of shape (N+1,).')
-        else:
-            raise Exception('Invalid shooting_nodes, expected np.ndarray.')
-
-    @Tsim.setter
-    def Tsim(self, Tsim):
-        self.__Tsim = Tsim
-
-    @globalization.setter
-    def globalization(self, globalization):
-        globalization_types = ('MERIT_BACKTRACKING', 'FIXED_STEP')
-        if globalization in globalization_types:
-            self.__globalization = globalization
-        else:
-            raise Exception('Invalid globalization value. Possible values are:\n\n' \
-                    + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\n')
-
-    @alpha_min.setter
-    def alpha_min(self, alpha_min):
-        self.__alpha_min = alpha_min
-
-    @alpha_reduction.setter
-    def alpha_reduction(self, alpha_reduction):
-        self.__alpha_reduction = alpha_reduction
-
-    @line_search_use_sufficient_descent.setter
-    def line_search_use_sufficient_descent(self, line_search_use_sufficient_descent):
-        if line_search_use_sufficient_descent in [0, 1]:
-            self.__line_search_use_sufficient_descent = line_search_use_sufficient_descent
-        else:
-            raise Exception(f'Invalid value for line_search_use_sufficient_descent. Possible values are 0, 1, got {line_search_use_sufficient_descent}')
-
-    @globalization_use_SOC.setter
-    def globalization_use_SOC(self, globalization_use_SOC):
-        if globalization_use_SOC in [0, 1]:
-            self.__globalization_use_SOC = globalization_use_SOC
-        else:
-            raise Exception(f'Invalid value for globalization_use_SOC. Possible values are 0, 1, got {globalization_use_SOC}')
-
-    @full_step_dual.setter
-    def full_step_dual(self, full_step_dual):
-        if full_step_dual in [0, 1]:
-            self.__full_step_dual = full_step_dual
-        else:
-            raise Exception(f'Invalid value for full_step_dual. Possible values are 0, 1, got {full_step_dual}')
-
-    @eps_sufficient_descent.setter
-    def eps_sufficient_descent(self, eps_sufficient_descent):
-        if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0:
-            self.__eps_sufficient_descent = eps_sufficient_descent
-        else:
-            raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float.')
-
-    @sim_method_num_stages.setter
-    def sim_method_num_stages(self, sim_method_num_stages):
-
-        # if isinstance(sim_method_num_stages, int):
-        #     self.__sim_method_num_stages = sim_method_num_stages
-        # else:
-        #     raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer.')
-
-        self.__sim_method_num_stages = sim_method_num_stages
-
-    @sim_method_num_steps.setter
-    def sim_method_num_steps(self, sim_method_num_steps):
-
-        # if isinstance(sim_method_num_steps, int):
-        #     self.__sim_method_num_steps = sim_method_num_steps
-        # else:
-        #     raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer.')
-        self.__sim_method_num_steps = sim_method_num_steps
-
-
-    @sim_method_newton_iter.setter
-    def sim_method_newton_iter(self, sim_method_newton_iter):
-
-        if isinstance(sim_method_newton_iter, int):
-            self.__sim_method_newton_iter = sim_method_newton_iter
-        else:
-            raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer.')
-
-    @sim_method_jac_reuse.setter
-    def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        # if sim_method_jac_reuse in (True, False):
-        self.__sim_method_jac_reuse = sim_method_jac_reuse
-        # else:
-            # raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be a Boolean.')
-
-    @nlp_solver_type.setter
-    def nlp_solver_type(self, nlp_solver_type):
-        nlp_solver_types = ('SQP', 'SQP_RTI')
-        if nlp_solver_type in nlp_solver_types:
-            self.__nlp_solver_type = nlp_solver_type
-        else:
-            raise Exception('Invalid nlp_solver_type value. Possible values are:\n\n' \
-                    + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\n')
-
-    @nlp_solver_step_length.setter
-    def nlp_solver_step_length(self, nlp_solver_step_length):
-        if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0:
-            self.__nlp_solver_step_length = nlp_solver_step_length
-        else:
-            raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float.')
-
-    @levenberg_marquardt.setter
-    def levenberg_marquardt(self, levenberg_marquardt):
-        if isinstance(levenberg_marquardt, float) and levenberg_marquardt >= 0:
-            self.__levenberg_marquardt = levenberg_marquardt
-        else:
-            raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float.')
-
-    @qp_solver_iter_max.setter
-    def qp_solver_iter_max(self, qp_solver_iter_max):
-        if isinstance(qp_solver_iter_max, int) and qp_solver_iter_max > 0:
-            self.__qp_solver_iter_max = qp_solver_iter_max
-        else:
-            raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int.')
-
-    @qp_solver_ric_alg.setter
-    def qp_solver_ric_alg(self, qp_solver_ric_alg):
-        if qp_solver_ric_alg in [0, 1]:
-            self.__qp_solver_ric_alg = qp_solver_ric_alg
-        else:
-            raise Exception(f'Invalid qp_solver_ric_alg value. qp_solver_ric_alg must be in [0, 1], got {qp_solver_ric_alg}.')
-
-    @qp_solver_cond_ric_alg.setter
-    def qp_solver_cond_ric_alg(self, qp_solver_cond_ric_alg):
-        if qp_solver_cond_ric_alg in [0, 1]:
-            self.__qp_solver_cond_ric_alg = qp_solver_cond_ric_alg
-        else:
-            raise Exception(f'Invalid qp_solver_cond_ric_alg value. qp_solver_cond_ric_alg must be in [0, 1], got {qp_solver_cond_ric_alg}.')
-
-
-    @qp_solver_cond_N.setter
-    def qp_solver_cond_N(self, qp_solver_cond_N):
-        if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0:
-            self.__qp_solver_cond_N = qp_solver_cond_N
-        else:
-            raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int.')
-
-    @qp_solver_warm_start.setter
-    def qp_solver_warm_start(self, qp_solver_warm_start):
-        if qp_solver_warm_start in [0, 1, 2]:
-            self.__qp_solver_warm_start = qp_solver_warm_start
-        else:
-            raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2.')
-
-    @qp_tol.setter
-    def qp_tol(self, qp_tol):
-        if isinstance(qp_tol, float) and qp_tol > 0:
-            self.__qp_solver_tol_eq = qp_tol
-            self.__qp_solver_tol_ineq = qp_tol
-            self.__qp_solver_tol_stat = qp_tol
-            self.__qp_solver_tol_comp = qp_tol
-        else:
-            raise Exception('Invalid qp_tol value. qp_tol must be a positive float.')
-
-    @qp_solver_tol_stat.setter
-    def qp_solver_tol_stat(self, qp_solver_tol_stat):
-        if isinstance(qp_solver_tol_stat, float) and qp_solver_tol_stat > 0:
-            self.__qp_solver_tol_stat = qp_solver_tol_stat
-        else:
-            raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float.')
-
-    @qp_solver_tol_eq.setter
-    def qp_solver_tol_eq(self, qp_solver_tol_eq):
-        if isinstance(qp_solver_tol_eq, float) and qp_solver_tol_eq > 0:
-            self.__qp_solver_tol_eq = qp_solver_tol_eq
-        else:
-            raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float.')
-
-    @qp_solver_tol_ineq.setter
-    def qp_solver_tol_ineq(self, qp_solver_tol_ineq):
-        if isinstance(qp_solver_tol_ineq, float) and qp_solver_tol_ineq > 0:
-            self.__qp_solver_tol_ineq = qp_solver_tol_ineq
-        else:
-            raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float.')
-
-    @qp_solver_tol_comp.setter
-    def qp_solver_tol_comp(self, qp_solver_tol_comp):
-        if isinstance(qp_solver_tol_comp, float) and qp_solver_tol_comp > 0:
-            self.__qp_solver_tol_comp = qp_solver_tol_comp
-        else:
-            raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float.')
-
-    @tol.setter
-    def tol(self, tol):
-        if isinstance(tol, float) and tol > 0:
-            self.__nlp_solver_tol_eq = tol
-            self.__nlp_solver_tol_ineq = tol
-            self.__nlp_solver_tol_stat = tol
-            self.__nlp_solver_tol_comp = tol
-        else:
-            raise Exception('Invalid tol value. tol must be a positive float.')
-
-    @nlp_solver_tol_stat.setter
-    def nlp_solver_tol_stat(self, nlp_solver_tol_stat):
-        if isinstance(nlp_solver_tol_stat, float) and nlp_solver_tol_stat > 0:
-            self.__nlp_solver_tol_stat = nlp_solver_tol_stat
-        else:
-            raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float.')
-
-    @nlp_solver_tol_eq.setter
-    def nlp_solver_tol_eq(self, nlp_solver_tol_eq):
-        if isinstance(nlp_solver_tol_eq, float) and nlp_solver_tol_eq > 0:
-            self.__nlp_solver_tol_eq = nlp_solver_tol_eq
-        else:
-            raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float.')
-
-    @nlp_solver_tol_ineq.setter
-    def nlp_solver_tol_ineq(self, nlp_solver_tol_ineq):
-        if isinstance(nlp_solver_tol_ineq, float) and nlp_solver_tol_ineq > 0:
-            self.__nlp_solver_tol_ineq = nlp_solver_tol_ineq
-        else:
-            raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float.')
-
-    @nlp_solver_ext_qp_res.setter
-    def nlp_solver_ext_qp_res(self, nlp_solver_ext_qp_res):
-        if nlp_solver_ext_qp_res in [0, 1]:
-            self.__nlp_solver_ext_qp_res = nlp_solver_ext_qp_res
-        else:
-            raise Exception('Invalid nlp_solver_ext_qp_res value. nlp_solver_ext_qp_res must be in [0, 1].')
-
-    @nlp_solver_tol_comp.setter
-    def nlp_solver_tol_comp(self, nlp_solver_tol_comp):
-        if isinstance(nlp_solver_tol_comp, float) and nlp_solver_tol_comp > 0:
-            self.__nlp_solver_tol_comp = nlp_solver_tol_comp
-        else:
-            raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float.')
-
-    @nlp_solver_max_iter.setter
-    def nlp_solver_max_iter(self, nlp_solver_max_iter):
-
-        if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0:
-            self.__nlp_solver_max_iter = nlp_solver_max_iter
-        else:
-            raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int.')
-
-    @print_level.setter
-    def print_level(self, print_level):
-        if isinstance(print_level, int) and print_level >= 0:
-            self.__print_level = print_level
-        else:
-            raise Exception('Invalid print_level value. print_level takes one of the values >=0.')
-
-    @model_external_shared_lib_dir.setter
-    def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
-        if isinstance(model_external_shared_lib_dir, str) :
-            self.__model_external_shared_lib_dir = model_external_shared_lib_dir
-        else:
-            raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\n')
-
-    @model_external_shared_lib_name.setter
-    def model_external_shared_lib_name(self, model_external_shared_lib_name):
-        if isinstance(model_external_shared_lib_name, str) :
-            if model_external_shared_lib_name[-3:] == '.so' : 
-                raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
-            else :
-                self.__model_external_shared_lib_name = model_external_shared_lib_name
-        else:
-            raise Exception('Invalid model_external_shared_lib_name value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
-
-    @exact_hess_constr.setter
-    def exact_hess_constr(self, exact_hess_constr):
-        if exact_hess_constr in [0, 1]:
-            self.__exact_hess_constr = exact_hess_constr
-        else:
-            raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1.')
-
-    @exact_hess_cost.setter
-    def exact_hess_cost(self, exact_hess_cost):
-        if exact_hess_cost in [0, 1]:
-            self.__exact_hess_cost = exact_hess_cost
-        else:
-            raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1.')
-
-    @exact_hess_dyn.setter
-    def exact_hess_dyn(self, exact_hess_dyn):
-        if exact_hess_dyn in [0, 1]:
-            self.__exact_hess_dyn = exact_hess_dyn
-        else:
-            raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1.')
-
-    @ext_cost_num_hess.setter
-    def ext_cost_num_hess(self, ext_cost_num_hess):
-        if ext_cost_num_hess in [0, 1]:
-            self.__ext_cost_num_hess = ext_cost_num_hess
-        else:
-            raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosOcp:
-    """
-    Class containing the full description of the optimal control problem.
-    This object can be used to create an :py:class:`acados_template.acados_ocp_solver.AcadosOcpSolver`.
-
-    The class has the following properties that can be modified to formulate a specific OCP, see below:
-
-        - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosOcpDims`
-        - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
-        - :py:attr:`cost` of type :py:class:`acados_template.acados_ocp.AcadosOcpCost`
-        - :py:attr:`constraints` of type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`
-        - :py:attr:`solver_options` of type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`
-
-        - :py:attr:`acados_include_path` (set automatically)
-        - :py:attr:`shared_lib_ext` (set automatically)
-        - :py:attr:`acados_lib_path` (set automatically)
-        - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
-    """
-    def __init__(self, acados_path=''):
-        """
-        Keyword arguments:
-        acados_path -- path of your acados installation
-        """
-        if acados_path == '':
-            acados_path = get_acados_path()
-
-        self.dims = AcadosOcpDims()
-        """Dimension definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpDims`"""
-        self.model = AcadosModel()
-        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
-        self.cost = AcadosOcpCost()
-        """Cost definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpCost`"""
-        self.constraints = AcadosOcpConstraints()
-        """Constraints definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`"""
-        self.solver_options = AcadosOcpOptions()
-        """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`"""
-
-        self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to acados include directory (set automatically), type: `string`"""
-        self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to where acados library is located, type: `string`"""
-        self.shared_lib_ext = get_lib_ext()
-
-        # get cython paths
-        from sysconfig import get_paths
-        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
-
-        self.__parameter_values = np.array([])
-        self.__problem_class = 'OCP'
-
-        self.code_export_directory = 'c_generated_code'
-        """Path to where code will be exported. Default: `c_generated_code`."""
-
-    @property
-    def parameter_values(self):
-        """:math:`p` - initial values for parameter - can be updated stagewise"""
-        return self.__parameter_values
-
-    @parameter_values.setter
-    def parameter_values(self, parameter_values):
-        if isinstance(parameter_values, np.ndarray):
-            self.__parameter_values = parameter_values
-        else:
-            raise Exception('Invalid parameter_values value. ' +
-                            f'Expected numpy array, got {type(parameter_values)}.')
-
-    def set(self, attr, value):
-        # tokenize string
-        tokens = attr.split('_', 1)
-        if len(tokens) > 1:
-            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
-        else:
-            setter_to_call = getattr(self, 'set')
-
-        setter_to_call(tokens[1], value)
-
-        return
diff --git a/third_party/acados/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py
deleted file mode 100644
index 229bdf6039..0000000000
--- a/third_party/acados/acados_template/acados_ocp_solver.py
+++ /dev/null
@@ -1,1990 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import sys
-import os
-import json
-import numpy as np
-from datetime import datetime
-import importlib
-import shutil
-
-from subprocess import DEVNULL, call, STDOUT
-
-from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
-
-from copy import deepcopy
-from pathlib import Path
-
-from .casadi_function_generation import generate_c_code_explicit_ode, \
-    generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_discrete_dynamics, \
-    generate_c_code_constraint, generate_c_code_nls_cost, generate_c_code_conl_cost, \
-    generate_c_code_external_cost
-from .gnsf.detect_gnsf_structure import detect_gnsf_structure
-from .acados_ocp import AcadosOcp
-from .acados_model import AcadosModel
-from .utils import is_column, is_empty, casadi_length, render_template,\
-     format_class_dict, make_object_json_dumpable, make_model_consistent,\
-     set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path, get_lib_ext, check_casadi_version
-from .builders import CMakeBuilder
-
-
-def make_ocp_dims_consistent(acados_ocp: AcadosOcp):
-    dims = acados_ocp.dims
-    cost = acados_ocp.cost
-    constraints = acados_ocp.constraints
-    model = acados_ocp.model
-    opts = acados_ocp.solver_options
-
-    # nx
-    if is_column(model.x):
-        dims.nx = casadi_length(model.x)
-    else:
-        raise Exception('model.x should be column vector!')
-
-    # nu
-    if is_empty(model.u):
-        dims.nu = 0
-    else:
-        dims.nu = casadi_length(model.u)
-
-    # nz
-    if is_empty(model.z):
-        dims.nz = 0
-    else:
-        dims.nz = casadi_length(model.z)
-
-    # np
-    if is_empty(model.p):
-        dims.np = 0
-    else:
-        dims.np = casadi_length(model.p)
-    if acados_ocp.parameter_values.shape[0] != dims.np:
-        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
-            f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n')
-
-    ## cost
-    # initial stage - if not set, copy fields from path constraints
-    if cost.cost_type_0 is None:
-        cost.cost_type_0 = cost.cost_type
-        cost.W_0 = cost.W
-        cost.Vx_0 = cost.Vx
-        cost.Vu_0 = cost.Vu
-        cost.Vz_0 = cost.Vz
-        cost.yref_0 = cost.yref
-        cost.cost_ext_fun_type_0 = cost.cost_ext_fun_type
-        model.cost_y_expr_0 = model.cost_y_expr
-        model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost
-        model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess
-
-        model.cost_psi_expr_0 = model.cost_psi_expr
-        model.cost_r_in_psi_expr_0 = model.cost_r_in_psi_expr
-
-    if cost.cost_type_0 == 'LINEAR_LS':
-        ny_0 = cost.W_0.shape[0]
-        if cost.Vx_0.shape[0] != ny_0 or cost.Vu_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}]\n')
-        if dims.nz != 0 and cost.Vz_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0, Vz_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], Vx_0[{cost.Vx_0.shape}], Vu_0[{cost.Vu_0.shape}], Vz_0[{cost.Vz_0.shape}]\n')
-        if cost.Vx_0.shape[1] != dims.nx and ny_0 != 0:
-            raise Exception('inconsistent dimension: Vx_0 should have nx columns.')
-        if cost.Vu_0.shape[1] != dims.nu and ny_0 != 0:
-            raise Exception('inconsistent dimension: Vu_0 should have nu columns.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
-                            f'\nGot W_0[{cost.W_0.shape}], yref_0[{cost.yref_0.shape}]\n')
-        dims.ny_0 = ny_0
-
-    elif cost.cost_type_0 == 'NONLINEAR_LS':
-        ny_0 = cost.W_0.shape[0]
-        if is_empty(model.cost_y_expr_0) and ny_0 != 0:
-            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
-        elif casadi_length(model.cost_y_expr_0) != ny_0:
-            raise Exception('inconsistent dimension ny_0: regarding W_0, cost_y_expr.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding W_0, yref_0.' + \
-                            f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n')
-        dims.ny_0 = ny_0
-
-    elif cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr_0):
-            raise Exception('cost_y_expr_0 and/or cost_y_expr not provided.')
-        ny_0 = casadi_length(model.cost_y_expr_0)
-        if is_empty(model.cost_r_in_psi_expr_0) or casadi_length(model.cost_r_in_psi_expr_0) != ny_0:
-            raise Exception('inconsistent dimension ny_0: regarding cost_y_expr_0 and cost_r_in_psi_0.')
-        if is_empty(model.cost_psi_expr_0) or casadi_length(model.cost_psi_expr_0) != 1:
-            raise Exception('cost_psi_expr_0 not provided or not scalar-valued.')
-        if cost.yref_0.shape[0] != ny_0:
-            raise Exception('inconsistent dimension: regarding yref_0 and cost_y_expr_0, cost_r_in_psi_0.')
-        dims.ny_0 = ny_0
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-    elif cost.cost_type_0 == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_0 is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type_0: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    # path
-    if cost.cost_type == 'LINEAR_LS':
-        ny = cost.W.shape[0]
-        if cost.Vx.shape[0] != ny or cost.Vu.shape[0] != ny:
-            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu.' + \
-                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}]\n')
-        if dims.nz != 0 and cost.Vz.shape[0] != ny:
-            raise Exception('inconsistent dimension ny, regarding W, Vx, Vu, Vz.' + \
-                            f'\nGot W[{cost.W.shape}], Vx[{cost.Vx.shape}], Vu[{cost.Vu.shape}], Vz[{cost.Vz.shape}]\n')
-        if cost.Vx.shape[1] != dims.nx and ny != 0:
-            raise Exception('inconsistent dimension: Vx should have nx columns.')
-        if cost.Vu.shape[1] != dims.nu and ny != 0:
-            raise Exception('inconsistent dimension: Vu should have nu columns.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding W, yref.' + \
-                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
-        dims.ny = ny
-
-    elif cost.cost_type == 'NONLINEAR_LS':
-        ny = cost.W.shape[0]
-        if is_empty(model.cost_y_expr) and ny != 0:
-            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
-        elif casadi_length(model.cost_y_expr) != ny:
-            raise Exception('inconsistent dimension ny: regarding W, cost_y_expr.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding W, yref.' + \
-                            f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
-        dims.ny = ny
-
-    elif cost.cost_type == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr):
-            raise Exception('cost_y_expr and/or cost_y_expr not provided.')
-        ny = casadi_length(model.cost_y_expr)
-        if is_empty(model.cost_r_in_psi_expr) or casadi_length(model.cost_r_in_psi_expr) != ny:
-            raise Exception('inconsistent dimension ny: regarding cost_y_expr and cost_r_in_psi.')
-        if is_empty(model.cost_psi_expr) or casadi_length(model.cost_psi_expr) != 1:
-            raise Exception('cost_psi_expr not provided or not scalar-valued.')
-        if cost.yref.shape[0] != ny:
-            raise Exception('inconsistent dimension: regarding yref and cost_y_expr, cost_r_in_psi.')
-        dims.ny = ny
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-
-    elif cost.cost_type == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    # terminal
-    if cost.cost_type_e == 'LINEAR_LS':
-        ny_e = cost.W_e.shape[0]
-        if cost.Vx_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.' + \
-                f'\nGot W_e[{cost.W_e.shape}], Vx_e[{cost.Vx_e.shape}]')
-        if cost.Vx_e.shape[1] != dims.nx and ny_e != 0:
-            raise Exception('inconsistent dimension: Vx_e should have nx columns.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
-        dims.ny_e = ny_e
-
-    elif cost.cost_type_e == 'NONLINEAR_LS':
-        ny_e = cost.W_e.shape[0]
-        if is_empty(model.cost_y_expr_e) and ny_e != 0:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
-        elif casadi_length(model.cost_y_expr_e) != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding W_e, cost_y_expr_e.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding W_e, yref_e.')
-        dims.ny_e = ny_e
-
-    elif cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
-        if is_empty(model.cost_y_expr_e):
-            raise Exception('cost_y_expr_e not provided.')
-        ny_e = casadi_length(model.cost_y_expr_e)
-        if is_empty(model.cost_r_in_psi_expr_e) or casadi_length(model.cost_r_in_psi_expr_e) != ny_e:
-            raise Exception('inconsistent dimension ny_e: regarding cost_y_expr_e and cost_r_in_psi_e.')
-        if is_empty(model.cost_psi_expr_e) or casadi_length(model.cost_psi_expr_e) != 1:
-            raise Exception('cost_psi_expr_e not provided or not scalar-valued.')
-        if cost.yref_e.shape[0] != ny_e:
-            raise Exception('inconsistent dimension: regarding yref_e and cost_y_expr_e, cost_r_in_psi_e.')
-        dims.ny_e = ny_e
-
-        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
-            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
-            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
-
-
-
-    elif cost.cost_type_e == 'EXTERNAL':
-        if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_e is None:
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
-            "got cost_type_e: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
-            "GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
-            "If you continue, acados will proceed computing the exact hessian for the cost term.\n"
-            "Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
-
-    ## constraints
-    # initial
-    this_shape = constraints.lbx_0.shape
-    other_shape = constraints.ubx_0.shape
-    if not this_shape == other_shape:
-        raise Exception('lbx_0, ubx_0 have different shapes!')
-    if not is_column(constraints.lbx_0):
-        raise Exception('lbx_0, ubx_0 must be column vectors!')
-    dims.nbx_0 = constraints.lbx_0.size
-
-    if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \
-        and dims.nbxe_0 is None \
-        and (constraints.idxbxe_0.shape == constraints.idxbx_0.shape)\
-            and all(constraints.idxbxe_0 == constraints.idxbx_0):
-        # case: x0 was set: nbx0 are all equlities.
-        dims.nbxe_0 = dims.nbx_0
-    elif constraints.idxbxe_0 is not None:
-        dims.nbxe_0 = constraints.idxbxe_0.shape[0]
-    elif dims.nbxe_0 is None:
-        # case: x0 and idxbxe_0 were not set -> dont assume nbx0 to be equality constraints.
-        dims.nbxe_0 = 0
-
-    # path
-    nbx = constraints.idxbx.shape[0]
-    if constraints.ubx.shape[0] != nbx or constraints.lbx.shape[0] != nbx:
-        raise Exception('inconsistent dimension nbx, regarding idxbx, ubx, lbx.')
-    else:
-        dims.nbx = nbx
-
-    nbu = constraints.idxbu.shape[0]
-    if constraints.ubu.shape[0] != nbu or constraints.lbu.shape[0] != nbu:
-        raise Exception('inconsistent dimension nbu, regarding idxbu, ubu, lbu.')
-    else:
-        dims.nbu = nbu
-
-    ng = constraints.lg.shape[0]
-    if constraints.ug.shape[0] != ng or constraints.C.shape[0] != ng \
-       or constraints.D.shape[0] != ng:
-        raise Exception('inconsistent dimension ng, regarding lg, ug, C, D.')
-    else:
-        dims.ng = ng
-
-    if not is_empty(model.con_h_expr):
-        nh = casadi_length(model.con_h_expr)
-    else:
-        nh = 0
-
-    if constraints.uh.shape[0] != nh or constraints.lh.shape[0] != nh:
-        raise Exception('inconsistent dimension nh, regarding lh, uh, con_h_expr.')
-    else:
-        dims.nh = nh
-
-    if is_empty(model.con_phi_expr):
-        dims.nphi = 0
-        dims.nr = 0
-    else:
-        dims.nphi = casadi_length(model.con_phi_expr)
-        if is_empty(model.con_r_expr):
-            raise Exception('convex over nonlinear constraints: con_r_expr but con_phi_expr is nonempty')
-        else:
-            dims.nr = casadi_length(model.con_r_expr)
-
-    # terminal
-    nbx_e = constraints.idxbx_e.shape[0]
-    if constraints.ubx_e.shape[0] != nbx_e or constraints.lbx_e.shape[0] != nbx_e:
-        raise Exception('inconsistent dimension nbx_e, regarding idxbx_e, ubx_e, lbx_e.')
-    else:
-        dims.nbx_e = nbx_e
-
-    ng_e = constraints.lg_e.shape[0]
-    if constraints.ug_e.shape[0] != ng_e or constraints.C_e.shape[0] != ng_e:
-        raise Exception('inconsistent dimension ng_e, regarding_e lg_e, ug_e, C_e.')
-    else:
-        dims.ng_e = ng_e
-
-    if not is_empty(model.con_h_expr_e):
-        nh_e = casadi_length(model.con_h_expr_e)
-    else:
-        nh_e = 0
-
-    if constraints.uh_e.shape[0] != nh_e or constraints.lh_e.shape[0] != nh_e:
-        raise Exception('inconsistent dimension nh_e, regarding lh_e, uh_e, con_h_expr_e.')
-    else:
-        dims.nh_e = nh_e
-
-    if is_empty(model.con_phi_expr_e):
-        dims.nphi_e = 0
-        dims.nr_e = 0
-    else:
-        dims.nphi_e = casadi_length(model.con_phi_expr_e)
-        if is_empty(model.con_r_expr_e):
-            raise Exception('convex over nonlinear constraints: con_r_expr_e but con_phi_expr_e is nonempty')
-        else:
-            dims.nr_e = casadi_length(model.con_r_expr_e)
-
-    # Slack dimensions
-    nsbx = constraints.idxsbx.shape[0]
-    if nsbx > nbx:
-        raise Exception(f'inconsistent dimension nsbx = {nsbx}. Is greater than nbx = {nbx}.')
-    if is_empty(constraints.lsbx):
-        constraints.lsbx = np.zeros((nsbx,))
-    elif constraints.lsbx.shape[0] != nsbx:
-        raise Exception('inconsistent dimension nsbx, regarding idxsbx, lsbx.')
-    if is_empty(constraints.usbx):
-        constraints.usbx = np.zeros((nsbx,))
-    elif constraints.usbx.shape[0] != nsbx:
-        raise Exception('inconsistent dimension nsbx, regarding idxsbx, usbx.')
-    dims.nsbx = nsbx
-
-    nsbu = constraints.idxsbu.shape[0]
-    if nsbu > nbu:
-        raise Exception(f'inconsistent dimension nsbu = {nsbu}. Is greater than nbu = {nbu}.')
-    if is_empty(constraints.lsbu):
-        constraints.lsbu = np.zeros((nsbu,))
-    elif constraints.lsbu.shape[0] != nsbu:
-        raise Exception('inconsistent dimension nsbu, regarding idxsbu, lsbu.')
-    if is_empty(constraints.usbu):
-        constraints.usbu = np.zeros((nsbu,))
-    elif constraints.usbu.shape[0] != nsbu:
-        raise Exception('inconsistent dimension nsbu, regarding idxsbu, usbu.')
-    dims.nsbu = nsbu
-
-    nsh = constraints.idxsh.shape[0]
-    if nsh > nh:
-        raise Exception(f'inconsistent dimension nsh = {nsh}. Is greater than nh = {nh}.')
-    if is_empty(constraints.lsh):
-        constraints.lsh = np.zeros((nsh,))
-    elif constraints.lsh.shape[0] != nsh:
-        raise Exception('inconsistent dimension nsh, regarding idxsh, lsh.')
-    if is_empty(constraints.ush):
-        constraints.ush = np.zeros((nsh,))
-    elif constraints.ush.shape[0] != nsh:
-        raise Exception('inconsistent dimension nsh, regarding idxsh, ush.')
-    dims.nsh = nsh
-
-    nsphi = constraints.idxsphi.shape[0]
-    if nsphi > dims.nphi:
-        raise Exception(f'inconsistent dimension nsphi = {nsphi}. Is greater than nphi = {dims.nphi}.')
-    if is_empty(constraints.lsphi):
-        constraints.lsphi = np.zeros((nsphi,))
-    elif constraints.lsphi.shape[0] != nsphi:
-        raise Exception('inconsistent dimension nsphi, regarding idxsphi, lsphi.')
-    if is_empty(constraints.usphi):
-        constraints.usphi = np.zeros((nsphi,))
-    elif constraints.usphi.shape[0] != nsphi:
-        raise Exception('inconsistent dimension nsphi, regarding idxsphi, usphi.')
-    dims.nsphi = nsphi
-
-    nsg = constraints.idxsg.shape[0]
-    if nsg > ng:
-        raise Exception(f'inconsistent dimension nsg = {nsg}. Is greater than ng = {ng}.')
-    if is_empty(constraints.lsg):
-        constraints.lsg = np.zeros((nsg,))
-    elif constraints.lsg.shape[0] != nsg:
-        raise Exception('inconsistent dimension nsg, regarding idxsg, lsg.')
-    if is_empty(constraints.usg):
-        constraints.usg = np.zeros((nsg,))
-    elif constraints.usg.shape[0] != nsg:
-        raise Exception('inconsistent dimension nsg, regarding idxsg, usg.')
-    dims.nsg = nsg
-
-    ns = nsbx + nsbu + nsh + nsg + nsphi
-    wrong_field = ""
-    if cost.Zl.shape[0] != ns:
-        wrong_field = "Zl"
-        dim = cost.Zl.shape[0]
-    elif cost.Zu.shape[0] != ns:
-        wrong_field = "Zu"
-        dim = cost.Zu.shape[0]
-    elif cost.zl.shape[0] != ns:
-        wrong_field = "zl"
-        dim = cost.zl.shape[0]
-    elif cost.zu.shape[0] != ns:
-        wrong_field = "zu"
-        dim = cost.zu.shape[0]
-
-    if wrong_field != "":
-        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
-            + f'Detected ns = {ns} = nsbx + nsbu + nsg + nsh + nsphi.\n\t'\
-            + f'With nsbx = {nsbx}, nsbu = {nsbu}, nsg = {nsg}, nsh = {nsh}, nsphi = {nsphi}')
-
-    dims.ns = ns
-
-    nsbx_e = constraints.idxsbx_e.shape[0]
-    if nsbx_e > nbx_e:
-        raise Exception(f'inconsistent dimension nsbx_e = {nsbx_e}. Is greater than nbx_e = {nbx_e}.')
-    if is_empty(constraints.lsbx_e):
-        constraints.lsbx_e = np.zeros((nsbx_e,))
-    elif constraints.lsbx_e.shape[0] != nsbx_e:
-        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, lsbx_e.')
-    if is_empty(constraints.usbx_e):
-        constraints.usbx_e = np.zeros((nsbx_e,))
-    elif constraints.usbx_e.shape[0] != nsbx_e:
-        raise Exception('inconsistent dimension nsbx_e, regarding idxsbx_e, usbx_e.')
-    dims.nsbx_e = nsbx_e
-
-    nsh_e = constraints.idxsh_e.shape[0]
-    if nsh_e > nh_e:
-        raise Exception(f'inconsistent dimension nsh_e = {nsh_e}. Is greater than nh_e = {nh_e}.')
-    if is_empty(constraints.lsh_e):
-        constraints.lsh_e = np.zeros((nsh_e,))
-    elif constraints.lsh_e.shape[0] != nsh_e:
-        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, lsh_e.')
-    if is_empty(constraints.ush_e):
-        constraints.ush_e = np.zeros((nsh_e,))
-    elif constraints.ush_e.shape[0] != nsh_e:
-        raise Exception('inconsistent dimension nsh_e, regarding idxsh_e, ush_e.')
-    dims.nsh_e = nsh_e
-
-    nsg_e = constraints.idxsg_e.shape[0]
-    if nsg_e > ng_e:
-        raise Exception(f'inconsistent dimension nsg_e = {nsg_e}. Is greater than ng_e = {ng_e}.')
-    if is_empty(constraints.lsg_e):
-        constraints.lsg_e = np.zeros((nsg_e,))
-    elif constraints.lsg_e.shape[0] != nsg_e:
-        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, lsg_e.')
-    if is_empty(constraints.usg_e):
-        constraints.usg_e = np.zeros((nsg_e,))
-    elif constraints.usg_e.shape[0] != nsg_e:
-        raise Exception('inconsistent dimension nsg_e, regarding idxsg_e, usg_e.')
-    dims.nsg_e = nsg_e
-
-    nsphi_e = constraints.idxsphi_e.shape[0]
-    if nsphi_e > dims.nphi_e:
-        raise Exception(f'inconsistent dimension nsphi_e = {nsphi_e}. Is greater than nphi_e = {dims.nphi_e}.')
-    if is_empty(constraints.lsphi_e):
-        constraints.lsphi_e = np.zeros((nsphi_e,))
-    elif constraints.lsphi_e.shape[0] != nsphi_e:
-        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, lsphi_e.')
-    if is_empty(constraints.usphi_e):
-        constraints.usphi_e = np.zeros((nsphi_e,))
-    elif constraints.usphi_e.shape[0] != nsphi_e:
-        raise Exception('inconsistent dimension nsphi_e, regarding idxsphi_e, usphi_e.')
-    dims.nsphi_e = nsphi_e
-
-    # terminal
-    ns_e = nsbx_e + nsh_e + nsg_e + nsphi_e
-    wrong_field = ""
-    if cost.Zl_e.shape[0] != ns_e:
-        wrong_field = "Zl_e"
-        dim = cost.Zl_e.shape[0]
-    elif cost.Zu_e.shape[0] != ns_e:
-        wrong_field = "Zu_e"
-        dim = cost.Zu_e.shape[0]
-    elif cost.zl_e.shape[0] != ns_e:
-        wrong_field = "zl_e"
-        dim = cost.zl_e.shape[0]
-    elif cost.zu_e.shape[0] != ns_e:
-        wrong_field = "zu_e"
-        dim = cost.zu_e.shape[0]
-
-    if wrong_field != "":
-        raise Exception(f'Inconsistent size for field {wrong_field}, with dimension {dim}, \n\t'\
-            + f'Detected ns_e = {ns_e} = nsbx_e + nsg_e + nsh_e + nsphi_e.\n\t'\
-            + f'With nsbx_e = {nsbx_e}, nsg_e = {nsg_e}, nsh_e = {nsh_e}, nsphi_e = {nsphi_e}')
-
-    dims.ns_e = ns_e
-
-    # discretization
-    if is_empty(opts.time_steps) and is_empty(opts.shooting_nodes):
-        # uniform discretization
-        opts.time_steps = opts.tf / dims.N * np.ones((dims.N,))
-
-    elif not is_empty(opts.shooting_nodes):
-        if np.shape(opts.shooting_nodes)[0] != dims.N+1:
-            raise Exception('inconsistent dimension N, regarding shooting_nodes.')
-
-        time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
-        # identify constant time_steps: due to numerical reasons the content of time_steps might vary a bit
-        avg_time_steps = np.average(time_steps)
-        # criterion for constant time step detection: the min/max difference in values normalized by the average
-        check_const_time_step = (np.max(time_steps)-np.min(time_steps)) / avg_time_steps
-        # if the criterion is small, we have a constant time_step
-        if check_const_time_step < 1e-9:
-            time_steps[:] = avg_time_steps  # if we have a constant time_step: apply the average time_step
-
-        opts.time_steps = time_steps
-
-    elif (not is_empty(opts.time_steps)) and (not is_empty(opts.shooting_nodes)):
-        Exception('Please provide either time_steps or shooting_nodes for nonuniform discretization')
-
-    tf = np.sum(opts.time_steps)
-    if (tf - opts.tf) / tf > 1e-15:
-        raise Exception(f'Inconsistent discretization: {opts.tf}'\
-            f' = tf != sum(opts.time_steps) = {tf}.')
-
-    # num_steps
-    if isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == 1:
-        opts.sim_method_num_steps = opts.sim_method_num_steps.item()
-
-    if isinstance(opts.sim_method_num_steps, (int, float)) and opts.sim_method_num_steps % 1 == 0:
-        opts.sim_method_num_steps = opts.sim_method_num_steps * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_num_steps, np.ndarray) and opts.sim_method_num_steps.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_num_steps, 1), 0)):
-        opts.sim_method_num_steps = np.reshape(opts.sim_method_num_steps, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_num_steps. Should be either int or array of ints of shape (N,).")
-
-    # num_stages
-    if isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == 1:
-        opts.sim_method_num_stages = opts.sim_method_num_stages.item()
-
-    if isinstance(opts.sim_method_num_stages, (int, float)) and opts.sim_method_num_stages % 1 == 0:
-        opts.sim_method_num_stages = opts.sim_method_num_stages * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_num_stages, np.ndarray) and opts.sim_method_num_stages.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_num_stages, 1), 0)):
-        opts.sim_method_num_stages = np.reshape(opts.sim_method_num_stages, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_num_stages. Should be either int or array of ints of shape (N,).")
-
-    # jac_reuse
-    if isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == 1:
-        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse.item()
-
-    if isinstance(opts.sim_method_jac_reuse, (int, float)) and opts.sim_method_jac_reuse % 1 == 0:
-        opts.sim_method_jac_reuse = opts.sim_method_jac_reuse * np.ones((dims.N,), dtype=np.int64)
-    elif isinstance(opts.sim_method_jac_reuse, np.ndarray) and opts.sim_method_jac_reuse.size == dims.N \
-           and np.all(np.equal(np.mod(opts.sim_method_jac_reuse, 1), 0)):
-        opts.sim_method_jac_reuse = np.reshape(opts.sim_method_jac_reuse, (dims.N,)).astype(np.int64)
-    else:
-        raise Exception("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).")
-
-
-def get_simulink_default_opts():
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
-    with open(abs_path , 'r') as f:
-        simulink_default_opts = json.load(f)
-    return simulink_default_opts
-
-
-def ocp_formulation_json_dump(acados_ocp, simulink_opts=None, json_file='acados_ocp_nlp.json'):
-    # Load acados_ocp_nlp structure description
-    ocp_layout = get_ocp_nlp_layout()
-
-    # Copy input ocp object dictionary
-    ocp_nlp_dict = dict(deepcopy(acados_ocp).__dict__)
-    # TODO: maybe make one function with formatting
-
-    for acados_struct, v in ocp_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict):
-            continue
-        #  setattr(ocp_nlp, acados_struct, dict(getattr(acados_ocp, acados_struct).__dict__))
-        # Copy ocp object attributes dictionaries
-        ocp_nlp_dict[acados_struct]=dict(getattr(acados_ocp, acados_struct).__dict__)
-
-    ocp_nlp_dict = format_class_dict(ocp_nlp_dict)
-
-    if simulink_opts is not None:
-        ocp_nlp_dict['simulink_opts'] = simulink_opts
-
-    with open(json_file, 'w') as f:
-        json.dump(ocp_nlp_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-
-
-
-def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'):
-    # Load acados_ocp_nlp structure description
-    ocp_layout = get_ocp_nlp_layout()
-
-    with open(json_file, 'r') as f:
-        ocp_nlp_json = json.load(f)
-
-    ocp_nlp_dict = json2dict(ocp_nlp_json, ocp_nlp_json['dims'])
-
-    # Instantiate AcadosOcp object
-    acados_ocp = AcadosOcp()
-
-    # load class dict
-    acados_ocp.__dict__ = ocp_nlp_dict
-
-    # load class attributes dict, dims, constraints, etc
-    for acados_struct, v in ocp_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict):
-            continue
-        acados_attribute = getattr(acados_ocp, acados_struct)
-        acados_attribute.__dict__ = ocp_nlp_dict[acados_struct]
-        setattr(acados_ocp, acados_struct, acados_attribute)
-
-    return acados_ocp
-
-
-def ocp_generate_external_functions(acados_ocp: AcadosOcp, model: AcadosModel):
-
-    model = make_model_consistent(model)
-
-    if acados_ocp.solver_options.hessian_approx == 'EXACT':
-        opts = dict(generate_hess=1)
-    else:
-        opts = dict(generate_hess=0)
-
-    # create code_export_dir, model_dir
-    code_export_dir = acados_ocp.code_export_directory
-    opts['code_export_directory'] = code_export_dir
-    model_dir = os.path.join(code_export_dir, model.name + '_model')
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-
-    check_casadi_version()
-    # TODO: remove dir gen from all the generate_c_* functions
-    if acados_ocp.model.dyn_ext_fun_type == 'casadi':
-        if acados_ocp.solver_options.integrator_type == 'ERK':
-            generate_c_code_explicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'IRK':
-            generate_c_code_implicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK':
-            generate_c_code_implicit_ode(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'GNSF':
-            generate_c_code_gnsf(model, opts)
-        elif acados_ocp.solver_options.integrator_type == 'DISCRETE':
-            generate_c_code_discrete_dynamics(model, opts)
-        else:
-            raise Exception("ocp_generate_external_functions: unknown integrator type.")
-    else:
-        target_location = os.path.join(code_export_dir, model_dir, model.dyn_generic_source)
-        shutil.copyfile(model.dyn_generic_source, target_location)
-
-    if acados_ocp.dims.nphi > 0 or acados_ocp.dims.nh > 0:
-        generate_c_code_constraint(model, model.name, False, opts)
-
-    if acados_ocp.dims.nphi_e > 0 or acados_ocp.dims.nh_e > 0:
-        generate_c_code_constraint(model, model.name, True, opts)
-
-    if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'initial', opts)
-    elif acados_ocp.cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'initial', opts)
-    elif acados_ocp.cost.cost_type_0 == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'initial', opts)
-
-    if acados_ocp.cost.cost_type == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'path', opts)
-    elif acados_ocp.cost.cost_type == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'path', opts)
-    elif acados_ocp.cost.cost_type == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'path', opts)
-
-    if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS':
-        generate_c_code_nls_cost(model, model.name, 'terminal', opts)
-    elif acados_ocp.cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
-        generate_c_code_conl_cost(model, model.name, 'terminal', opts)
-    elif acados_ocp.cost.cost_type_e == 'EXTERNAL':
-        generate_c_code_external_cost(model, 'terminal', opts)
-
-
-def ocp_get_default_cmake_builder() -> CMakeBuilder:
-    """
-    If :py:class:`~acados_template.acados_ocp_solver.AcadosOcpSolver` is used with `CMake` this function returns a good first setting.
-    :return: default :py:class:`~acados_template.builders.CMakeBuilder`
-    """
-    cmake_builder = CMakeBuilder()
-    cmake_builder.options_on = ['BUILD_ACADOS_OCP_SOLVER_LIB']
-    return cmake_builder
-
-
-
-def ocp_render_templates(acados_ocp: AcadosOcp, json_file, cmake_builder=None, simulink_opts=None):
-
-    # setting up loader and environment
-    json_path = os.path.abspath(json_file)
-
-    if not os.path.exists(json_path):
-        raise Exception(f'Path "{json_path}" not found!')
-
-    # Render templates
-    template_list = __ocp_get_template_list(acados_ocp, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
-    for tup in template_list:
-        if len(tup) > 2:
-            output_dir = tup[2]
-        else:
-            output_dir = acados_ocp.code_export_directory
-        render_template(tup[0], tup[1], output_dir, json_path)
-
-    # Custom templates
-    acados_template_path = os.path.dirname(os.path.abspath(__file__))
-    custom_template_glob = os.path.join(acados_template_path, 'custom_update_templates', '*')
-    for tup in acados_ocp.solver_options.custom_templates:
-        render_template(tup[0], tup[1], acados_ocp.code_export_directory, json_path, template_glob=custom_template_glob)
-
-    return
-
-
-
-def __ocp_get_template_list(acados_ocp: AcadosOcp, cmake_builder=None, simulink_opts=None) -> list:
-    """
-    returns a list of tuples in the form:
-    (input_filename, output_filname)
-    or
-    (input_filename, output_filname, output_directory)
-    """
-    name = acados_ocp.model.name
-    code_export_directory = acados_ocp.code_export_directory
-    template_list = []
-
-    template_list.append(('main.in.c', f'main_{name}.c'))
-    template_list.append(('acados_solver.in.c', f'acados_solver_{name}.c'))
-    template_list.append(('acados_solver.in.h', f'acados_solver_{name}.h'))
-    template_list.append(('acados_solver.in.pxd', f'acados_solver.pxd'))
-    if cmake_builder is not None:
-        template_list.append(('CMakeLists.in.txt', 'CMakeLists.txt'))
-    else:
-        template_list.append(('Makefile.in', 'Makefile'))
-
-
-    # sim
-    template_list.append(('acados_sim_solver.in.c', f'acados_sim_solver_{name}.c'))
-    template_list.append(('acados_sim_solver.in.h', f'acados_sim_solver_{name}.h'))
-    template_list.append(('main_sim.in.c', f'main_sim_{name}.c'))
-
-    # model
-    model_dir = os.path.join(code_export_directory, f'{name}_model')
-    template_list.append(('model.in.h', f'{name}_model.h', model_dir))
-    # constraints
-    constraints_dir = os.path.join(code_export_directory, f'{name}_constraints')
-    template_list.append(('constraints.in.h', f'{name}_constraints.h', constraints_dir))
-    # cost
-    cost_dir = os.path.join(code_export_directory, f'{name}_cost')
-    template_list.append(('cost.in.h', f'{name}_cost.h', cost_dir))
-
-    # Simulink
-    if simulink_opts is not None:
-        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
-        template_list.append((template_file, f'acados_solver_sfunction_{name}.c'))
-        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
-        template_list.append((template_file, f'make_sfun_{name}.m'))
-
-    return template_list
-
-
-def remove_x0_elimination(acados_ocp):
-    acados_ocp.constraints.idxbxe_0 = np.zeros((0,))
-    acados_ocp.dims.nbxe_0 = 0
-
-
-class AcadosOcpSolver:
-    """
-    Class to interact with the acados ocp solver C object.
-
-        :param acados_ocp: type :py:class:`~acados_template.acados_ocp.AcadosOcp` - description of the OCP for acados
-        :param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
-        :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
-    """
-    if sys.platform=="win32":
-        from ctypes import wintypes
-        from ctypes import WinDLL
-        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
-        dlclose.argtypes = [wintypes.HMODULE]
-    else:
-        dlclose = CDLL(None).dlclose
-        dlclose.argtypes = [c_void_p]
-
-    @classmethod
-    def generate(cls, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None):
-        """
-        Generates the code for an acados OCP solver, given the description in acados_ocp.
-            :param acados_ocp: type AcadosOcp - description of the OCP for acados
-            :param json_file: name for the json file used to render the templated code - default: `acados_ocp_nlp.json`
-            :param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible inputs and
-                   outputs; default: `None`
-            :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
-                   the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-                   `MS Visual Studio`); default: `None`
-        """
-        model = acados_ocp.model
-        acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
-
-        # make dims consistent
-        make_ocp_dims_consistent(acados_ocp)
-
-        # module dependent post processing
-        if acados_ocp.solver_options.integrator_type == 'GNSF':
-            if 'gnsf_model' in acados_ocp.__dict__:
-                set_up_imported_gnsf_model(acados_ocp)
-            else:
-                detect_gnsf_structure(acados_ocp)
-
-        if acados_ocp.solver_options.qp_solver == 'PARTIAL_CONDENSING_QPDUNES':
-            remove_x0_elimination(acados_ocp)
-
-        # set integrator time automatically
-        acados_ocp.solver_options.Tsim = acados_ocp.solver_options.time_steps[0]
-
-        # generate external functions
-        ocp_generate_external_functions(acados_ocp, model)
-
-        # dump to json
-        acados_ocp.json_file = json_file
-        ocp_formulation_json_dump(acados_ocp, simulink_opts=simulink_opts, json_file=json_file)
-
-        # render templates
-        ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
-
-        # copy custom update function
-        if acados_ocp.solver_options.custom_update_filename != "" and acados_ocp.solver_options.custom_update_copy:
-            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_filename)
-            shutil.copyfile(acados_ocp.solver_options.custom_update_filename, target_location)
-        if acados_ocp.solver_options.custom_update_header_filename != "" and acados_ocp.solver_options.custom_update_copy:
-            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_header_filename)
-            shutil.copyfile(acados_ocp.solver_options.custom_update_header_filename, target_location)
-
-
-    @classmethod
-    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-        """
-        Builds the code for an acados OCP solver, that has been generated in code_export_dir
-            :param code_export_dir: directory in which acados OCP solver has been generated, see generate()
-            :param with_cython: option indicating if the cython interface is build, default: False.
-            :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
-                   the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-                   `MS Visual Studio`); default: `None`
-            :param verbose: indicating if build command is printed
-        """
-        code_export_dir = os.path.abspath(code_export_dir)
-        cwd = os.getcwd()
-        os.chdir(code_export_dir)
-        if with_cython:
-            call(
-                ['make', 'clean_all'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            call(
-                ['make', 'ocp_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-        else:
-            if cmake_builder is not None:
-                cmake_builder.exec(code_export_dir)
-            else:
-                call(
-                    ['make', 'clean_ocp_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-                call(
-                    ['make', 'ocp_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-        os.chdir(cwd)
-
-
-    @classmethod
-    def create_cython_solver(cls, json_file):
-        """
-        Returns an `AcadosOcpSolverCython` object.
-
-        This is an alternative Cython based Python wrapper to the acados OCP solver in C.
-        This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code.
-
-        The default wrapper `AcadosOcpSolver` is based on ctypes.
-        """
-        with open(json_file, 'r') as f:
-            acados_ocp_json = json.load(f)
-        code_export_directory = acados_ocp_json['code_export_directory']
-
-        importlib.invalidate_caches()
-        rel_code_export_directory = os.path.relpath(code_export_directory)
-        acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx')
-
-        AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython')
-        return AcadosOcpSolverCython(acados_ocp_json['model']['name'],
-                    acados_ocp_json['solver_options']['nlp_solver_type'],
-                    acados_ocp_json['dims']['N'])
-
-
-    def __init__(self, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None, verbose=True):
-
-        self.solver_created = False
-        if generate:
-            self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder)
-
-        # load json, store options in object
-        with open(json_file, 'r') as f:
-            acados_ocp_json = json.load(f)
-        self.N = acados_ocp_json['dims']['N']
-        self.model_name = acados_ocp_json['model']['name']
-        self.solver_options = acados_ocp_json['solver_options']
-
-        acados_lib_path = acados_ocp_json['acados_lib_path']
-        code_export_directory = acados_ocp_json['code_export_directory']
-
-        if build:
-            self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder, verbose=verbose)
-
-        # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
-
-        # Load acados library to avoid unloading the library.
-        # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
-        # Unloading a library which uses OpenMP results in a segfault (on any platform?).
-        # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
-        # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
-        libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_lib_path, libacados_name)
-        self.__acados_lib = CDLL(libacados_filepath)
-        # find out if acados was compiled with OpenMP
-        try:
-            self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
-        except AttributeError as e:
-            self.__acados_lib_uses_omp = False
-        if self.__acados_lib_uses_omp:
-            print('acados was compiled with OpenMP.')
-        else:
-            print('acados was compiled without OpenMP.')
-        libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}'
-        self.shared_lib_name = os.path.join(code_export_directory, libacados_ocp_solver_name)
-
-        # get shared_lib
-        self.shared_lib = CDLL(self.shared_lib_name)
-
-        # create capsule
-        getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{self.model_name}_acados_create_capsule")()
-
-        # create solver
-        getattr(self.shared_lib, f"{self.model_name}_acados_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_create").restype = c_int
-        assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0
-        self.solver_created = True
-
-        self.acados_ocp = acados_ocp
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-        self.status = 0
-
-        # gettable fields
-        self.__qp_dynamics_fields = ['A', 'B', 'b']
-        self.__qp_cost_fields = ['Q', 'R', 'S', 'q', 'r']
-        self.__qp_constraint_fields = ['C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
-
-
-    def __get_pointers_solver(self):
-        # """
-        # Private function to get the pointers for solver
-        # """
-        # get pointers solver
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p
-        self.nlp_opts = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims").restype = c_void_p
-        self.nlp_dims = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_dims")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config").restype = c_void_p
-        self.nlp_config = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_config")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p
-        self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").restype = c_void_p
-        self.sens_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p
-        self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p
-        self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
-
-
-
-    def solve_for_x0(self, x0_bar):
-        """
-        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
-        """
-        self.set(0, "lbx", x0_bar)
-        self.set(0, "ubx", x0_bar)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_ocp_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados acados_ocp_solver returned status {status}')
-
-        u0 = self.get(0, "u")
-        return u0
-
-
-    def solve(self):
-        """
-        Solve the ocp with current input.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int
-        self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
-
-        return self.status
-
-
-    def custom_update(self, data_: np.ndarray):
-        """
-        A custom function that can be implemented by a user to be called between solver calls.
-        By default this does nothing.
-        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
-        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
-        """
-        data = np.ascontiguousarray(data_, dtype=np.float64)
-        c_data = cast(data.ctypes.data, POINTER(c_double))
-        data_len = len(data)
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").argtypes = [c_void_p, POINTER(c_double), c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").restype = c_int
-        status = getattr(self.shared_lib, f"{self.model_name}_acados_custom_update")(self.capsule, c_data, data_len)
-
-        return status
-
-
-    def reset(self, reset_qp_solver_mem=1):
-        """
-        Sets current iterate to all zeros.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p, c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset").restype = c_int
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule, reset_qp_solver_mem)
-
-        return
-
-
-    def set_new_time_steps(self, new_time_steps):
-        """
-        Set new time steps.
-        Recreates the solver if N changes.
-
-            :param new_time_steps: 1 dimensional np array of new time steps for the solver
-
-            .. note:: This allows for different use-cases: either set a new size of time_steps or a new distribution of
-                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
-                      do not require a new code export and compilation.
-        """
-
-        # unlikely but still possible
-        if not self.solver_created:
-            raise Exception('Solver was not yet created!')
-
-        # check if time steps really changed in value
-        if np.array_equal(self.solver_options['time_steps'], new_time_steps):
-            return
-
-        N = new_time_steps.size
-        new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double))
-
-        # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
-        if len(self.solver_options['time_steps']) == N:
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0
-        else:  # recreate the solver with the new time steps
-            self.solver_created = False
-
-            # delete old memory (analog to __del__)
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
-
-            # create solver with new time steps
-            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization")(self.capsule, N, new_time_steps_data) == 0
-
-            self.solver_created = True
-
-            # get pointers solver
-            self.__get_pointers_solver()
-
-        # store time_steps, N
-        self.solver_options['time_steps'] = new_time_steps
-        self.N = N
-        self.solver_options['Tsim'] = self.solver_options['time_steps'][0]
-
-
-    def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
-        """
-        Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
-        This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
-        the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
-            :param qp_solver_cond_N: new number of condensing stages for the solver
-
-            .. note:: This function can only be used in combination with a partial condensing QP solver.
-
-            .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
-                      necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
-                      `qp_solver_cond_N < N`.
-        """
-        # unlikely but still possible
-        if not self.solver_created:
-            raise Exception('Solver was not yet created!')
-        if self.N < qp_solver_cond_N:
-            raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
-        if self.solver_options['qp_solver_cond_N'] != qp_solver_cond_N:
-            self.solver_created = False
-
-            # recreate the solver
-            fun_name = f'{self.model_name}_acados_update_qp_solver_cond_N'
-            getattr(self.shared_lib, fun_name).argtypes = [c_void_p, c_int]
-            getattr(self.shared_lib, fun_name).restype = c_int
-            assert getattr(self.shared_lib, fun_name)(self.capsule, qp_solver_cond_N) == 0
-
-            # store the new value
-            self.solver_options['qp_solver_cond_N'] = qp_solver_cond_N
-            self.solver_created = True
-
-            # get pointers solver
-            self.__get_pointers_solver()
-
-
-    def eval_param_sens(self, index, stage=0, field="ex"):
-        """
-        Calculate the sensitivity of the curent solution with respect to the initial state component of index
-
-            :param index: integer corresponding to initial state index in range(nx)
-        """
-
-        field_ = field
-        field = field_.encode('utf-8')
-
-        # checks
-        if not isinstance(index, int):
-            raise Exception('AcadosOcpSolver.eval_param_sens(): index must be Integer.')
-
-        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-        nx = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
-
-        if index < 0 or index > nx:
-            raise Exception(f'AcadosOcpSolver.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
-
-        # actual eval_param
-        self.shared_lib.ocp_nlp_eval_param_sens.argtypes = [c_void_p, c_char_p, c_int, c_int, c_void_p]
-        self.shared_lib.ocp_nlp_eval_param_sens.restype = None
-        self.shared_lib.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
-
-        return
-
-
-    def get(self, stage_, field_):
-        """
-        Get the last solution of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-
-        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
-        # mem_fields = ['sl', 'su']
-        sens_fields = ['sens_u', "sens_x"]
-        all_fields = out_fields + sens_fields
-
-        field = field_
-
-        if (field_ not in all_fields):
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): \'{field_}\' is an invalid argument.\
-                    \n Possible values are {all_fields}.')
-
-        if not isinstance(stage_, int):
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be an integer, got type {type(stage_)}.')
-
-        if stage_ < 0 or stage_ > self.N:
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be in [0, {self.N}], got: {stage_}.')
-
-        if stage_ == self.N and field_ == 'pi':
-            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): field \'{field_}\' does not exist at final stage {stage_}.')
-
-        if field_ in sens_fields:
-            field = field_.replace('sens_', '')
-
-        field = field.encode('utf-8')
-
-        self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-        self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-
-        dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field)
-
-        out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        if (field_ in out_fields):
-            self.shared_lib.ocp_nlp_out_get.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, stage_, field, out_data)
-        # elif field_ in mem_fields:
-        #     self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
-        #         [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        #     self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
-        #         self.nlp_dims, self.nlp_solver, stage_, field, out_data)
-        elif field_ in sens_fields:
-            self.shared_lib.ocp_nlp_out_get.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
-                self.nlp_dims, self.sens_out, stage_, field, out_data)
-
-        return out
-
-
-    def print_statistics(self):
-        """
-        prints statistics of previous solver run as a table:
-            - iter: iteration number
-            - res_stat: stationarity residual
-            - res_eq: residual wrt equality constraints (dynamics)
-            - res_ineq: residual wrt inequality constraints (constraints)
-            - res_comp: residual wrt complementarity conditions
-            - qp_stat: status of QP solver
-            - qp_iter: number of QP iterations
-            - alpha: SQP step size
-            - qp_res_stat: stationarity residual of the last QP solution
-            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
-            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
-            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
-        """
-        stat = self.get_stats("statistics")
-
-        if self.solver_options['nlp_solver_type'] == 'SQP':
-            print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha')
-            if stat.shape[0]>8:
-                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
-            for jj in range(stat.shape[1]):
-                print(f'{int(stat[0][jj]):d}\t{stat[1][jj]:e}\t{stat[2][jj]:e}\t{stat[3][jj]:e}\t' +
-                      f'{stat[4][jj]:e}\t{int(stat[5][jj]):d}\t{int(stat[6][jj]):d}\t{stat[7][jj]:e}\t')
-                if stat.shape[0]>8:
-                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
-                        stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj]))
-            print('\n')
-        elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-            print('\niter\tqp_stat\tqp_iter')
-            if stat.shape[0]>3:
-                print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
-            for jj in range(stat.shape[1]):
-                print('{:d}\t{:d}\t{:d}'.format( int(stat[0][jj]), int(stat[1][jj]), int(stat[2][jj])))
-                if stat.shape[0]>3:
-                    print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
-                         stat[3][jj], stat[4][jj], stat[5][jj], stat[6][jj]))
-            print('\n')
-
-        return
-
-
-    def store_iterate(self, filename: str = '', overwrite=False):
-        """
-        Stores the current iterate of the ocp solver in a json file.
-
-            :param filename: if not set, use f'{self.model_name}_iterate.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        if filename == '':
-            filename = f'{self.model_name}_iterate.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get iterate:
-        solution = dict()
-
-        lN = len(str(self.N+1))
-        for i in range(self.N+1):
-            i_string = f'{i:0{lN}d}'
-            solution['x_'+i_string] = self.get(i,'x')
-            solution['u_'+i_string] = self.get(i,'u')
-            solution['z_'+i_string] = self.get(i,'z')
-            solution['lam_'+i_string] = self.get(i,'lam')
-            solution['t_'+i_string] = self.get(i, 't')
-            solution['sl_'+i_string] = self.get(i, 'sl')
-            solution['su_'+i_string] = self.get(i, 'su')
-            if i < self.N:
-                solution['pi_'+i_string] = self.get(i,'pi')
-
-        for k in list(solution.keys()):
-            if len(solution[k]) == 0:
-                del solution[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(solution, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-        print("stored current iterate in ", os.path.join(os.getcwd(), filename))
-
-
-
-    def dump_last_qp_to_json(self, filename: str = '', overwrite=False):
-        """
-        Dumps the latest QP data into a json file
-
-            :param filename: if not set, use model_name + timestamp + '.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        if filename == '':
-            filename = f'{self.model_name}_QP.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get QP data:
-        qp_data = dict()
-
-        lN = len(str(self.N+1))
-        for field in self.__qp_dynamics_fields:
-            for i in range(self.N):
-                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
-
-        for field in self.__qp_constraint_fields + self.__qp_cost_fields:
-            for i in range(self.N+1):
-                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
-
-        # remove empty fields
-        for k in list(qp_data.keys()):
-            if len(qp_data[k]) == 0:
-                del qp_data[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(qp_data, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-        print("stored qp from solver memory in ", os.path.join(os.getcwd(), filename))
-
-
-
-    def load_iterate(self, filename):
-        """
-        Loads the iterate stored in json file with filename into the ocp solver.
-        """
-        if not os.path.isfile(filename):
-            raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
-
-        with open(filename, 'r') as f:
-            solution = json.load(f)
-
-        print(f"loading iterate {filename}")
-        for key in solution.keys():
-            (field, stage) = key.split('_')
-            self.set(int(stage), field, np.array(solution[key]))
-
-
-    def get_stats(self, field_):
-        """
-        Get the information of the last solver call.
-
-            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter', 'residuals', 'qp_iter', 'alpha']
-
-        Available fileds:
-            - time_tot: total CPU time previous call
-            - time_lin: CPU time for linearization
-            - time_sim: CPU time for integrator
-            - time_sim_ad: CPU time for integrator contribution of external function calls
-            - time_sim_la: CPU time for integrator contribution of linear algebra
-            - time_qp: CPU time qp solution
-            - time_qp_solver_call: CPU time inside qp solver (without converting the QP)
-            - time_qp_xcond: time_glob: CPU time globalization
-            - time_solution_sensitivities: CPU time for previous call to eval_param_sens
-            - time_reg: CPU time regularization
-            - sqp_iter: number of SQP iterations
-            - qp_iter: vector of QP iterations for last SQP call
-            - statistics: table with info about last iteration
-            - stat_m: number of rows in statistics matrix
-            - stat_n: number of columns in statistics matrix
-            - residuals: residuals of last iterate
-            - alpha: step sizes of SQP iterations
-        """
-
-        double_fields = ['time_tot',
-                  'time_lin',
-                  'time_sim',
-                  'time_sim_ad',
-                  'time_sim_la',
-                  'time_qp',
-                  'time_qp_solver_call',
-                  'time_qp_xcond',
-                  'time_glob',
-                  'time_solution_sensitivities',
-                  'time_reg'
-        ]
-        fields = double_fields + [
-                  'sqp_iter',
-                  'qp_iter',
-                  'statistics',
-                  'stat_m',
-                  'stat_n',
-                  'residuals',
-                  'alpha',
-                ]
-        field = field_.encode('utf-8')
-
-
-        if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
-            out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64)
-            out_data = cast(out.ctypes.data, POINTER(c_int64))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        # TODO: just return double instead of np.
-        elif field_ in double_fields:
-            out = np.zeros((1,))
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        elif field_ == 'statistics':
-            sqp_iter = self.get_stats("sqp_iter")
-            stat_m = self.get_stats("stat_m")
-            stat_n = self.get_stats("stat_n")
-            min_size = min([stat_m, sqp_iter+1])
-            out = np.ascontiguousarray(
-                        np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-            self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-            return out
-
-        elif field_ == 'qp_iter':
-            full_stats = self.get_stats('statistics')
-            if self.solver_options['nlp_solver_type'] == 'SQP':
-                return full_stats[6, :]
-            elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-                return full_stats[2, :]
-
-        elif field_ == 'alpha':
-            full_stats = self.get_stats('statistics')
-            if self.solver_options['nlp_solver_type'] == 'SQP':
-                return full_stats[7, :]
-            else: # self.solver_options['nlp_solver_type'] == 'SQP_RTI':
-                raise Exception("alpha values are not available for SQP_RTI")
-
-        elif field_ == 'residuals':
-            return self.get_residuals()
-
-        else:
-            raise Exception(f'AcadosOcpSolver.get_stats(): \'{field}\' is not a valid argument.'
-                    + f'\n Possible values are {fields}.')
-
-
-    def get_cost(self):
-        """
-        Returns the cost value of the current solution.
-        """
-        # compute cost internally
-        self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
-        self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        # call getter
-        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-
-        field = "cost_value".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        return out[0]
-
-
-    def get_residuals(self, recompute=False):
-        """
-        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
-        This residual has to be computed for SQP_RTI solver, since it is not available by default.
-
-        - res_stat: stationarity residual
-        - res_eq: residual wrt equality constraints (dynamics)
-        - res_ineq: residual wrt inequality constraints (constraints)
-        - res_comp: residual wrt complementarity conditions
-        """
-        # compute residuals if RTI
-        if self.solver_options['nlp_solver_type'] == 'SQP_RTI' or recompute:
-            self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p]
-            self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        out = np.ascontiguousarray(np.zeros((4, 1)), dtype=np.float64)
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-
-        # call getters
-        self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
-
-        field = "res_stat".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[1].ctypes.data, POINTER(c_double))
-        field = "res_eq".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[2].ctypes.data, POINTER(c_double))
-        field = "res_ineq".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-
-        out_data = cast(out[3].ctypes.data, POINTER(c_double))
-        field = "res_comp".encode('utf-8')
-        self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
-        return out.flatten()
-
-
-    # Note: this function should not be used anymore, better use cost_set, constraints_set
-    def set(self, stage_, field_, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p', 'xdot_guess', 'z_guess']
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-        cost_fields = ['y_ref', 'yref']
-        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
-        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
-        mem_fields = ['xdot_guess', 'z_guess']
-
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_.encode('utf-8')
-
-        stage = c_int(stage_)
-
-        # treat parameters separately
-        if field_ == 'p':
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double), c_int]
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
-
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-
-            assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
-        else:
-            if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
-                raise Exception(f"AcadosOcpSolver.set(): '{field}' is not a valid argument.\n"
-                    f" Possible values are {constraints_fields + cost_fields + out_fields + mem_fields + ['p']}.")
-
-            self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
-                [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
-            self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
-
-            dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
-                self.nlp_dims, self.nlp_out, stage_, field)
-
-            if value_.shape[0] != dims:
-                msg = f'AcadosOcpSolver.set(): mismatching dimension for field "{field_}" '
-                msg += f'with dimension {dims} (you have {value_.shape[0]})'
-                raise Exception(msg)
-
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-            value_data_p = cast((value_data), c_void_p)
-
-            if field_ in constraints_fields:
-                self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-            elif field_ in cost_fields:
-                self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-            elif field_ in out_fields:
-                self.shared_lib.ocp_nlp_out_set.argtypes = \
-                    [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
-                    self.nlp_dims, self.nlp_out, stage, field, value_data_p)
-            elif field_ in mem_fields:
-                self.shared_lib.ocp_nlp_set.argtypes = \
-                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, value_data_p)
-            # also set z_guess, when setting z.
-            if field_ == 'z':
-                field = 'z_guess'.encode('utf-8')
-                self.shared_lib.ocp_nlp_set.argtypes = \
-                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-                self.shared_lib.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, value_data_p)
-        return
-
-
-    def cost_set(self, stage_, field_, value_, api='warn'):
-        """
-        Set numerical data in the cost module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu'
-            :param value: of appropriate size
-        """
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_
-        field = field.encode('utf-8')
-
-        stage = c_int(stage_)
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-
-        elif len(value_shape) == 2:
-            if api=='old':
-                pass
-            elif api=='warn':
-                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
-                    raise Exception("Ambiguity in API detected.\n"
-                                    "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
-                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    f"  You are relying on a now-fixed bug in cost_set for field '{field_}'.\n" +
-                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
-                                    "  Two options to fix this error: \n" +
-                                    "   * Add api='old' to cost_set to restore old incorrect behaviour\n" +
-                                    "   * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
-                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
-                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            elif api=='new':
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            else:
-                raise Exception("Unknown api: '{}'".format(api))
-
-        if value_shape != tuple(dims):
-            raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-
-        return
-
-
-    def constraints_set(self, stage_, field_, value_, api='warn'):
-        """
-        Set numerical data in the constraint module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
-            :param value: of appropriate size
-        """
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        value_ = value_.astype(float)
-
-        field = field_
-        field = field.encode('utf-8')
-
-        stage = c_int(stage_)
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-        elif len(value_shape) == 2:
-            if api=='old':
-                pass
-            elif api=='warn':
-                if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
-                    raise Exception("Ambiguity in API detected.\n"
-                                    "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
-                                    "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    f"  You are relying on a now-fixed bug in constraints_set for field '{field}'.\n" +
-                                    "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
-                                    "  Two options to fix this error: \n" +
-                                    "   * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
-                                    "   * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
-                                    "such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
-                                    "If there is no such manipulation, then you have probably been getting an incorrect solution before.")
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            elif api=='new':
-                # Get elements in column major order
-                value_ = np.ravel(value_, order='F')
-            else:
-                raise Exception(f"Unknown api: '{api}'")
-
-        if value_shape != tuple(dims):
-            raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, value_data_p)
-
-        return
-
-
-    def get_from_qp_in(self, stage_: int, field_: str):
-        """
-        Get numerical data from the current QP.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['A', 'B', 'b', 'Q', 'R', 'S', 'q', 'r', 'C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
-        """
-        # idx* should be added too..
-        if not isinstance(stage_, int):
-            raise TypeError("stage should be int")
-        if stage_ > self.N:
-            raise Exception("stage should be <= self.N")
-        if field_ in self.__qp_dynamics_fields and stage_ >= self.N:
-            raise ValueError(f"dynamics field {field_} not available at terminal stage")
-        if field_ not in self.__qp_dynamics_fields + self.__qp_cost_fields + self.__qp_constraint_fields:
-            raise Exception(f"field {field_} not supported.")
-
-        field = field_.encode('utf-8')
-        stage = c_int(stage_)
-
-        # get dims
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.restype = c_int
-
-        dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-        dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-        self.shared_lib.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage_, field, dims_data)
-
-        # create output data
-        out = np.ascontiguousarray(np.zeros((np.prod(dims),)), dtype=np.float64)
-        out = out.reshape(dims[0], dims[1], order='F')
-
-        out_data = cast(out.ctypes.data, POINTER(c_double))
-        out_data_p = cast((out_data), c_void_p)
-
-        # call getter
-        self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
-            [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
-        self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
-            self.nlp_dims, self.nlp_solver, stage, field, out_data_p)
-
-        return out
-
-
-    def options_set(self, field_, value_):
-        """
-        Set options of the solver.
-
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
-
-            :param value: of type int, float, string
-
-            - qp_tol_stat: QP solver tolerance stationarity
-            - qp_tol_eq: QP solver tolerance equalities
-            - qp_tol_ineq: QP solver tolerance inequalities
-            - qp_tol_comp: QP solver tolerance complementarity
-            - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
-            - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
-            - warm_start_first_qp: indicates if first QP in SQP is warm_started
-        """
-        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start',
-                      'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction',
-                         'eps_sufficient_descent', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
-        string_fields = ['globalization']
-
-        # check field availability and type
-        if field_ in int_fields:
-            if not isinstance(value_, int):
-                raise Exception(f'solver option \'{field_}\' must be of type int. You have {type(value_)}.')
-            else:
-                value_ctypes = c_int(value_)
-
-        elif field_ in double_fields:
-            if not isinstance(value_, float):
-                raise Exception(f'solver option \'{field_}\' must be of type float. You have {type(value_)}.')
-            else:
-                value_ctypes = c_double(value_)
-
-        elif field_ in string_fields:
-            if not isinstance(value_, str):
-                raise Exception(f'solver option \'{field_}\' must be of type str. You have {type(value_)}.')
-            else:
-                value_ctypes = value_.encode('utf-8')
-        else:
-            fields = ', '.join(int_fields + double_fields + string_fields)
-            raise Exception(f'AcadosOcpSolver.options_set() does not support field \'{field_}\'.\n'\
-                f' Possible values are {fields}.')
-
-
-        if field_ == 'rti_phase':
-            if value_ < 0 or value_ > 2:
-                raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
-                    'take only values 0, 1, 2 for SQP-RTI-type solvers')
-            if self.solver_options['nlp_solver_type'] != 'SQP_RTI' and value_ > 0:
-                raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
-                    'take only value 0 for SQP-type solvers')
-
-        # encode
-        field = field_
-        field = field.encode('utf-8')
-
-        # call C interface
-        if field_ in string_fields:
-            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
-                [c_void_p, c_void_p, c_char_p, c_char_p]
-            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
-                self.nlp_opts, field, value_ctypes)
-        else:
-            self.shared_lib.ocp_nlp_solver_opts_set.argtypes = \
-                [c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.ocp_nlp_solver_opts_set(self.nlp_config, \
-                self.nlp_opts, field, byref(value_ctypes))
-        return
-
-
-    def set_params_sparse(self, stage_, idx_values_, param_values_):
-        """
-        set parameters of the solvers external function partially:
-        Pseudo: solver.param[idx_values_] = param_values_;
-        Parameters:
-            :param stage_: integer corresponding to shooting node
-            :param idx_values_: 0 based np array (or iterable) of integers: indices of parameter to be set
-            :param param_values_: new parameter values as numpy array
-        """
-
-        # if not isinstance(idx_values_, np.ndarray) or not issubclass(type(idx_values_[0]), np.integer):
-        #     raise Exception('idx_values_ must be np.array of integers.')
-
-        if not isinstance(param_values_, np.ndarray):
-            raise Exception('param_values_ must be np.array.')
-        elif np.float64 != param_values_.dtype:
-            raise TypeError('param_values_ must be np.array of float64.')
-
-        if param_values_.shape[0] != len(idx_values_):
-            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
-                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
-
-        if any(idx_values_ >= self.acados_ocp.dims.np):
-            raise Exception(f'idx_values_ contains value >= np = {self.acados_ocp.dims.np}')
-
-        stage = c_int(stage_)
-        n_update = c_int(len(param_values_))
-
-        param_data = cast(param_values_.ctypes.data, POINTER(c_double))
-        c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
-        idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
-
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
-                        [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
-        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
-                                    (self.capsule, stage, idx_data, param_data, n_update)
-
-    def __del__(self):
-        if self.solver_created:
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
-
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_free_capsule")(self.capsule)
-
-            try:
-                self.dlclose(self.shared_lib._handle)
-            except:
-                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosOcpSolver {self.model_name}.\n",
-                     "Attempting to create a new one with the same name will likely result in the old one being used!")
-                pass
diff --git a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
deleted file mode 100644
index bc03ba086f..0000000000
--- a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
+++ /dev/null
@@ -1,794 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-# cython: language_level=3
-# cython: profile=False
-# distutils: language=c
-
-cimport cython
-from libc cimport string
-
-cimport acados_solver_common
-# TODO: make this import more clear? it is not a general solver, but problem specific.
-cimport acados_solver
-
-cimport numpy as cnp
-
-import os
-from datetime import datetime
-import numpy as np
-
-
-cdef class AcadosOcpSolverCython:
-    """
-    Class to interact with the acados ocp solver C object.
-    """
-
-    cdef acados_solver.nlp_solver_capsule *capsule
-    cdef void *nlp_opts
-    cdef acados_solver_common.ocp_nlp_dims *nlp_dims
-    cdef acados_solver_common.ocp_nlp_config *nlp_config
-    cdef acados_solver_common.ocp_nlp_out *nlp_out
-    cdef acados_solver_common.ocp_nlp_out *sens_out
-    cdef acados_solver_common.ocp_nlp_in *nlp_in
-    cdef acados_solver_common.ocp_nlp_solver *nlp_solver
-
-    cdef bint solver_created
-
-    cdef str model_name
-    cdef int N
-
-    cdef str nlp_solver_type
-
-    def __cinit__(self, model_name, nlp_solver_type, N):
-
-        self.solver_created = False
-
-        self.N = N
-        self.model_name = model_name
-        self.nlp_solver_type = nlp_solver_type
-
-        # create capsule
-        self.capsule = acados_solver.acados_create_capsule()
-
-        # create solver
-        assert acados_solver.acados_create(self.capsule) == 0
-        self.solver_created = True
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-
-    def __get_pointers_solver(self):
-        """
-        Private function to get the pointers for solver
-        """
-        # get pointers solver
-        self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
-        self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
-        self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
-        self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
-        self.sens_out = acados_solver.acados_get_sens_out(self.capsule)
-        self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
-        self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
-
-
-    def solve_for_x0(self, x0_bar):
-        """
-        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
-        """
-        self.set(0, "lbx", x0_bar)
-        self.set(0, "ubx", x0_bar)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_ocp_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados acados_ocp_solver returned status {status}')
-
-        u0 = self.get(0, "u")
-        return u0
-
-
-    def solve(self):
-        """
-        Solve the ocp with current input.
-        """
-        return acados_solver.acados_solve(self.capsule)
-
-
-    def reset(self, reset_qp_solver_mem=1):
-        """
-        Sets current iterate to all zeros.
-        """
-        return acados_solver.acados_reset(self.capsule, reset_qp_solver_mem)
-
-
-    def custom_update(self, data_):
-        """
-        A custom function that can be implemented by a user to be called between solver calls.
-        By default this does nothing.
-        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
-        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
-        """
-        data_len = len(data_)
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] data = np.ascontiguousarray(data_, dtype=np.float64)
-
-        return acados_solver.acados_custom_update(self.capsule, <double *> data.data, data_len)
-
-
-    def set_new_time_steps(self, new_time_steps):
-        """
-        Set new time steps.
-        Recreates the solver if N changes.
-
-            :param new_time_steps: 1 dimensional np array of new time steps for the solver
-
-            .. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
-                      the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
-                      do not require a new code export and compilation.
-        """
-
-        raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature")
-        # # unlikely but still possible
-        # if not self.solver_created:
-        #     raise Exception('Solver was not yet created!')
-
-        # ## check if time steps really changed in value
-        # # get time steps
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64)
-        # assert acados_solver.acados_get_time_steps(self.capsule, self.N, <double *> old_time_steps.data)
-
-        # if np.array_equal(old_time_steps, new_time_steps):
-        #     return
-
-        # N = new_time_steps.size
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64)
-
-        # # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
-        # if len(old_time_steps) == N:
-        #     assert acados_solver.acados_update_time_steps(self.capsule, N, <double *> value.data) == 0
-
-        # else:  # recreate the solver with the new time steps
-        #     self.solver_created = False
-
-        #     # delete old memory (analog to __del__)
-        #     acados_solver.acados_free(self.capsule)
-
-        #     # create solver with new time steps
-        #     assert acados_solver.acados_create_with_discretization(self.capsule, N, <double *> value.data) == 0
-
-        #     self.solver_created = True
-
-        #     # get pointers solver
-        #     self.__get_pointers_solver()
-
-        # # store time_steps, N
-        # self.time_steps = new_time_steps
-        # self.N = N
-
-
-    def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
-        """
-        Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
-        This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
-        the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
-            :param qp_solver_cond_N: new number of condensing stages for the solver
-
-            .. note:: This function can only be used in combination with a partial condensing QP solver.
-
-            .. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
-                      necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
-                      `qp_solver_cond_N < N`.
-        """
-        raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature")
-
-        # # unlikely but still possible
-        # if not self.solver_created:
-        #     raise Exception('Solver was not yet created!')
-        # if self.N < qp_solver_cond_N:
-        #     raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
-        # if self.qp_solver_cond_N != qp_solver_cond_N:
-        #     self.solver_created = False
-
-        #     # recreate the solver
-        #     acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N)
-
-        #     # store the new value
-        #     self.qp_solver_cond_N = qp_solver_cond_N
-        #     self.solver_created = True
-
-        #     # get pointers solver
-        #     self.__get_pointers_solver()
-
-
-    def eval_param_sens(self, index, stage=0, field="ex"):
-        """
-        Calculate the sensitivity of the curent solution with respect to the initial state component of index
-
-            :param index: integer corresponding to initial state index in range(nx)
-        """
-
-        field_ = field
-        field = field_.encode('utf-8')
-
-        # checks
-        if not isinstance(index, int):
-            raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.')
-
-        cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
-
-        if index < 0 or index > nx:
-            raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
-
-        # actual eval_param
-        acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
-
-        return
-
-
-    def get(self, int stage, str field_):
-        """
-        Get the last solution of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-
-        out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
-        field = field_.encode('utf-8')
-
-        if field_ not in out_fields:
-            raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
-                    \n Possible values are {}.'.format(field_, out_fields))
-
-        if stage < 0 or stage > self.N:
-            raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N))
-
-        if stage == self.N and field_ == 'pi':
-            raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\
-                .format(field_, stage))
-
-        cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
-            self.nlp_dims, self.nlp_out, stage, field)
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims,))
-        acados_solver_common.ocp_nlp_out_get(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, <void *> out.data)
-
-        return out
-
-
-    def print_statistics(self):
-        """
-        prints statistics of previous solver run as a table:
-            - iter: iteration number
-            - res_stat: stationarity residual
-            - res_eq: residual wrt equality constraints (dynamics)
-            - res_ineq: residual wrt inequality constraints (constraints)
-            - res_comp: residual wrt complementarity conditions
-            - qp_stat: status of QP solver
-            - qp_iter: number of QP iterations
-            - qp_res_stat: stationarity residual of the last QP solution
-            - qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
-            - qp_res_ineq: residual wrt inequality constraints (constraints)  of the last QP solution
-            - qp_res_comp: residual wrt complementarity conditions of the last QP solution
-        """
-        acados_solver.acados_print_stats(self.capsule)
-
-
-    def store_iterate(self, filename='', overwrite=False):
-        """
-        Stores the current iterate of the ocp solver in a json file.
-
-            :param filename: if not set, use model_name + timestamp + '.json'
-            :param overwrite: if false and filename exists add timestamp to filename
-        """
-        import json
-        if filename == '':
-            filename += self.model_name + '_' + 'iterate' + '.json'
-
-        if not overwrite:
-            # append timestamp
-            if os.path.isfile(filename):
-                filename = filename[:-5]
-                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
-
-        # get iterate:
-        solution = dict()
-
-        lN = len(str(self.N+1))
-        for i in range(self.N+1):
-            i_string = f'{i:0{lN}d}'
-            solution['x_'+i_string] = self.get(i,'x')
-            solution['u_'+i_string] = self.get(i,'u')
-            solution['z_'+i_string] = self.get(i,'z')
-            solution['lam_'+i_string] = self.get(i,'lam')
-            solution['t_'+i_string] = self.get(i, 't')
-            solution['sl_'+i_string] = self.get(i, 'sl')
-            solution['su_'+i_string] = self.get(i, 'su')
-            if i < self.N:
-                solution['pi_'+i_string] = self.get(i,'pi')
-
-        for k in list(solution.keys()):
-            if len(solution[k]) == 0:
-                del solution[k]
-
-        # save
-        with open(filename, 'w') as f:
-            json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True)
-        print("stored current iterate in ", os.path.join(os.getcwd(), filename))
-
-
-    def load_iterate(self, filename):
-        """
-        Loads the iterate stored in json file with filename into the ocp solver.
-        """
-        import json
-        if not os.path.isfile(filename):
-            raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
-
-        with open(filename, 'r') as f:
-            solution = json.load(f)
-
-        for key in solution.keys():
-            (field, stage) = key.split('_')
-            self.set(int(stage), field, np.array(solution[key]))
-
-
-    def get_stats(self, field_):
-        """
-        Get the information of the last solver call.
-
-            :param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
-        Available fileds:
-            - time_tot: total CPU time previous call
-            - time_lin: CPU time for linearization
-            - time_sim: CPU time for integrator
-            - time_sim_ad: CPU time for integrator contribution of external function calls
-            - time_sim_la: CPU time for integrator contribution of linear algebra
-            - time_qp: CPU time qp solution
-            - time_qp_solver_call: CPU time inside qp solver (without converting the QP)
-            - time_qp_xcond: time_glob: CPU time globalization
-            - time_solution_sensitivities: CPU time for previous call to eval_param_sens
-            - time_reg: CPU time regularization
-            - sqp_iter: number of SQP iterations
-            - qp_iter: vector of QP iterations for last SQP call
-            - statistics: table with info about last iteration
-            - stat_m: number of rows in statistics matrix
-            - stat_n: number of columns in statistics matrix
-            - residuals: residuals of last iterate
-            - alpha: step sizes of SQP iterations
-        """
-
-        double_fields = ['time_tot',
-                  'time_lin',
-                  'time_sim',
-                  'time_sim_ad',
-                  'time_sim_la',
-                  'time_qp',
-                  'time_qp_solver_call',
-                  'time_qp_xcond',
-                  'time_glob',
-                  'time_solution_sensitivities',
-                  'time_reg'
-        ]
-        fields = double_fields + [
-                  'sqp_iter',
-                  'qp_iter',
-                  'statistics',
-                  'stat_m',
-                  'stat_n',
-                  'residuals',
-                  'alpha',
-                ]
-        field = field_.encode('utf-8')
-
-        if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
-            return self.__get_stat_int(field)
-
-        elif field_ in double_fields:
-            return self.__get_stat_double(field)
-
-        elif field_ == 'statistics':
-            sqp_iter = self.get_stats("sqp_iter")
-            stat_m = self.get_stats("stat_m")
-            stat_n = self.get_stats("stat_n")
-            min_size = min([stat_m, sqp_iter+1])
-            return self.__get_stat_matrix(field, stat_n+1, min_size)
-
-        elif field_ == 'qp_iter':
-            full_stats = self.get_stats('statistics')
-            if self.nlp_solver_type == 'SQP':
-                return full_stats[6, :]
-            elif self.nlp_solver_type == 'SQP_RTI':
-                return full_stats[2, :]
-
-        elif field_ == 'alpha':
-            full_stats = self.get_stats('statistics')
-            if self.nlp_solver_type == 'SQP':
-                return full_stats[7, :]
-            else: # self.nlp_solver_type == 'SQP_RTI':
-                raise Exception("alpha values are not available for SQP_RTI")
-
-        elif field_ == 'residuals':
-            return self.get_residuals()
-
-        else:
-            raise NotImplementedError("TODO!")
-
-
-    def __get_stat_int(self, field):
-        cdef int out
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
-        return out
-
-    def __get_stat_double(self, field):
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,))
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
-        return out
-
-    def __get_stat_matrix(self, field, n, m):
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64)
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out_mat.data)
-        return out_mat
-
-
-    def get_cost(self):
-        """
-        Returns the cost value of the current solution.
-        """
-        # compute cost internally
-        acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output
-        cdef double out
-
-        # call getter
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, "cost_value", <void *> &out)
-
-        return out
-
-
-    def get_residuals(self, recompute=False):
-        """
-        Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
-        """
-        # compute residuals if RTI
-        if self.nlp_solver_type == 'SQP_RTI' or recompute:
-            acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
-
-        # create output array
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64))
-        cdef double double_value
-
-        field = "res_stat".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[0] = double_value
-
-        field = "res_eq".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[1] = double_value
-
-        field = "res_ineq".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[2] = double_value
-
-        field = "res_comp".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
-        out[3] = double_value
-
-        return out
-
-
-    # Note: this function should not be used anymore, better use cost_set, constraints_set
-    def set(self, int stage, str field_, value_):
-
-        """
-        Set numerical data inside the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
-
-            .. note:: regarding lam, t: \n
-                    the inequalities are internally organized in the following order: \n
-                    [ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
-                      lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-
-            .. note:: pi: multipliers for dynamics equality constraints \n
-                      lam: multipliers for inequalities \n
-                      t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
-                      sl: slack variables of soft lower inequality constraints \n
-                      su: slack variables of soft upper inequality constraints \n
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"set: value must be numpy array, got {type(value_)}.")
-        cost_fields = ['y_ref', 'yref']
-        constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
-        out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
-        mem_fields = ['xdot_guess', 'z_guess']
-
-        field = field_.encode('utf-8')
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64)
-
-        # treat parameters separately
-        if field_ == 'p':
-            assert acados_solver.acados_update_params(self.capsule, stage, <double *> value.data, value.shape[0]) == 0
-        else:
-            if field_ not in constraints_fields + cost_fields + out_fields:
-                raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
-                    \nPossible values are {}.".format(field, \
-                    constraints_fields + cost_fields + out_fields + ['p']))
-
-            dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
-                self.nlp_dims, self.nlp_out, stage, field)
-
-            if value_.shape[0] != dims:
-                msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_)
-                msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
-                raise Exception(msg)
-
-            if field_ in constraints_fields:
-                acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
-            elif field_ in cost_fields:
-                acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
-            elif field_ in out_fields:
-                acados_solver_common.ocp_nlp_out_set(self.nlp_config,
-                    self.nlp_dims, self.nlp_out, stage, field, <void *> value.data)
-            elif field_ in mem_fields:
-                acados_solver_common.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, <void *> value.data)
-
-            if field_ == 'z':
-                field = 'z_guess'.encode('utf-8')
-                acados_solver_common.ocp_nlp_set(self.nlp_config, \
-                    self.nlp_solver, stage, field, <void *> value.data)
-        return
-
-    def cost_set(self, int stage, str field_, value_):
-        """
-        Set numerical data in the cost module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
-            :param value: of appropriate size
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"cost_set: value must be numpy array, got {type(value_)}.")
-        field = field_.encode('utf-8')
-
-        cdef int dims[2]
-        acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        cdef double[::1,:] value
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-            value = np.asfortranarray(value_[None,:])
-
-        elif len(value_shape) == 2:
-            # Get elements in column major order
-            value = np.asfortranarray(value_)
-
-        if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
-            raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
-
-
-    def constraints_set(self, int stage, str field_, value_):
-        """
-        Set numerical data in the constraint module of the solver.
-
-            :param stage: integer corresponding to shooting node
-            :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
-            :param value: of appropriate size
-        """
-        if not isinstance(value_, np.ndarray):
-            raise Exception(f"constraints_set: value must be numpy array, got {type(value_)}.")
-
-        field = field_.encode('utf-8')
-
-        cdef int dims[2]
-        acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
-            self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        cdef double[::1,:] value
-
-        value_shape = value_.shape
-        if len(value_shape) == 1:
-            value_shape = (value_shape[0], 0)
-            value = np.asfortranarray(value_[None,:])
-
-        elif len(value_shape) == 2:
-            # Get elements in column major order
-            value = np.asfortranarray(value_)
-
-        if value_shape != tuple(dims):
-            raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' +
-                f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
-
-        acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
-            self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
-
-        return
-
-
-    def get_from_qp_in(self, int stage, str field_):
-        """
-        Get numerical data from the dynamics module of the solver:
-
-            :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'A'
-        """
-        field = field_.encode('utf-8')
-
-        # get dims
-        cdef int[2] dims
-        acados_solver_common.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
-
-        # create output data
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F')
-
-        # call getter
-        acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)
-
-        return out
-
-
-    def options_set(self, str field_, value_):
-        """
-        Set options of the solver.
-
-            :param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
-
-            :param value: of type int, float, string
-
-            - qp_tol_stat: QP solver tolerance stationarity
-            - qp_tol_eq: QP solver tolerance equalities
-            - qp_tol_ineq: QP solver tolerance inequalities
-            - qp_tol_comp: QP solver tolerance complementarity
-            - qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
-            - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
-            - warm_start_first_qp: indicates if first QP in SQP is warm_started
-        """
-        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent',
-        'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
-        string_fields = ['globalization']
-
-        # encode
-        field = field_.encode('utf-8')
-
-        cdef int int_value
-        cdef double double_value
-        cdef unsigned char[::1] string_value
-
-        # check field availability and type
-        if field_ in int_fields:
-            if not isinstance(value_, int):
-                raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_)))
-
-            if field_ == 'rti_phase':
-                if value_ < 0 or value_ > 2:
-                    raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
-                        'take only values 0, 1, 2 for SQP-RTI-type solvers')
-                if self.nlp_solver_type != 'SQP_RTI' and value_ > 0:
-                    raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
-                        'take only value 0 for SQP-type solvers')
-
-            int_value = value_
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &int_value)
-
-        elif field_ in double_fields:
-            if not isinstance(value_, float):
-                raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_)))
-
-            double_value = value_
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &double_value)
-
-        elif field_ in string_fields:
-            if not isinstance(value_, bytes):
-                raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_)))
-
-            string_value = value_.encode('utf-8')
-            acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
-
-        else:
-            raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\
-                '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
-
-
-    def set_params_sparse(self, int stage, idx_values_, param_values_):
-        """
-        set parameters of the solvers external function partially:
-        Pseudo: solver.param[idx_values_] = param_values_;
-        Parameters:
-            :param stage_: integer corresponding to shooting node
-            :param idx_values_: 0 based integer array corresponding to parameter indices to be set
-            :param param_values_: new parameter values as numpy array
-        """
-
-        if not isinstance(param_values_, np.ndarray):
-            raise Exception('param_values_ must be np.array.')
-
-        if param_values_.shape[0] != len(idx_values_):
-            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
-                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
-
-        # n_update = c_int(len(param_values_))
-
-        # param_data = cast(param_values_.ctypes.data, POINTER(c_double))
-        # c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
-        # idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
-
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
-        #                 [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
-        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
-        #                             (self.capsule, stage, idx_data, param_data, n_update)
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(param_values_, dtype=np.float64)
-        # cdef cnp.ndarray[cnp.intc, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
-
-        # NOTE: this does throw an error somehow:
-        # ValueError: Buffer dtype mismatch, expected 'int object' but got 'int'
-        # cdef cnp.ndarray[cnp.int, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
-
-        cdef cnp.ndarray[cnp.int32_t, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.int32)
-        cdef int n_update = value.shape[0]
-        # print(f"in set_params_sparse Cython n_update {n_update}")
-
-        assert acados_solver.acados_update_params_sparse(self.capsule, stage, <int *> idx.data, <double *> value.data, n_update) == 0
-        return
-
-
-    def __del__(self):
-        if self.solver_created:
-            acados_solver.acados_free(self.capsule)
-            acados_solver.acados_free_capsule(self.capsule)
diff --git a/third_party/acados/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py
deleted file mode 100644
index 7faa49fb12..0000000000
--- a/third_party/acados/acados_template/acados_sim.py
+++ /dev/null
@@ -1,366 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import numpy as np
-import os
-from .acados_model import AcadosModel
-from .utils import get_acados_path, get_lib_ext
-
-class AcadosSimDims:
-    """
-    Class containing the dimensions of the model to be simulated.
-    """
-    def __init__(self):
-        self.__nx = None
-        self.__nu = None
-        self.__nz = 0
-        self.__np = 0
-
-    @property
-    def nx(self):
-        """:math:`n_x` - number of states. Type: int > 0"""
-        return self.__nx
-
-    @property
-    def nz(self):
-        """:math:`n_z` - number of algebraic variables. Type: int >= 0"""
-        return self.__nz
-
-    @property
-    def nu(self):
-        """:math:`n_u` - number of inputs. Type: int >= 0"""
-        return self.__nu
-
-    @property
-    def np(self):
-        """:math:`n_p` - number of parameters. Type: int >= 0"""
-        return self.__np
-
-    @nx.setter
-    def nx(self, nx):
-        if isinstance(nx, int) and nx > 0:
-            self.__nx = nx
-        else:
-            raise Exception('Invalid nx value, expected positive integer.')
-
-    @nz.setter
-    def nz(self, nz):
-        if isinstance(nz, int) and nz > -1:
-            self.__nz = nz
-        else:
-            raise Exception('Invalid nz value, expected nonnegative integer.')
-
-    @nu.setter
-    def nu(self, nu):
-        if isinstance(nu, int) and nu > -1:
-            self.__nu = nu
-        else:
-            raise Exception('Invalid nu value, expected nonnegative integer.')
-
-    @np.setter
-    def np(self, np):
-        if isinstance(np, int) and np > -1:
-            self.__np = np
-        else:
-            raise Exception('Invalid np value, expected nonnegative integer.')
-
-    def set(self, attr, value):
-        setattr(self, attr, value)
-
-
-class AcadosSimOpts:
-    """
-    class containing the solver options
-    """
-    def __init__(self):
-        self.__integrator_type = 'ERK'
-        self.__collocation_type = 'GAUSS_LEGENDRE'
-        self.__Tsim = None
-        # ints
-        self.__sim_method_num_stages = 1
-        self.__sim_method_num_steps = 1
-        self.__sim_method_newton_iter = 3
-        # doubles
-        self.__sim_method_newton_tol = 0.0
-        # bools
-        self.__sens_forw = True
-        self.__sens_adj = False
-        self.__sens_algebraic = False
-        self.__sens_hess = False
-        self.__output_z = True
-        self.__sim_method_jac_reuse = 0
-        self.__ext_fun_compile_flags = '-O2'
-
-    @property
-    def integrator_type(self):
-        """Integrator type. Default: 'ERK'."""
-        return self.__integrator_type
-
-    @property
-    def num_stages(self):
-        """Number of stages in the integrator. Default: 1"""
-        return self.__sim_method_num_stages
-
-    @property
-    def num_steps(self):
-        """Number of steps in the integrator. Default: 1"""
-        return self.__sim_method_num_steps
-
-    @property
-    def newton_iter(self):
-        """Number of Newton iterations in simulation method. Default: 3"""
-        return self.__sim_method_newton_iter
-
-    @property
-    def newton_tol(self):
-        """
-        Tolerance for Newton system solved in implicit integrator (IRK, GNSF).
-        0.0 means this is not used and exactly newton_iter iterations are carried out.
-        Default: 0.0
-        """
-        return self.__sim_method_newton_tol
-
-    @property
-    def sens_forw(self):
-        """Boolean determining if forward sensitivities are computed. Default: True"""
-        return self.__sens_forw
-
-    @property
-    def sens_adj(self):
-        """Boolean determining if adjoint sensitivities are computed. Default: False"""
-        return self.__sens_adj
-
-    @property
-    def sens_algebraic(self):
-        """Boolean determining if sensitivities wrt algebraic variables are computed. Default: False"""
-        return self.__sens_algebraic
-
-    @property
-    def sens_hess(self):
-        """Boolean determining if hessians are computed. Default: False"""
-        return self.__sens_hess
-
-    @property
-    def output_z(self):
-        """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: True"""
-        return self.__output_z
-
-    @property
-    def sim_method_jac_reuse(self):
-        """Integer determining if jacobians are reused (0 or 1). Default: 0"""
-        return self.__sim_method_jac_reuse
-
-    @property
-    def T(self):
-        """Time horizon"""
-        return self.__Tsim
-
-    @property
-    def collocation_type(self):
-        """Collocation type: relevant for implicit integrators
-        -- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}
-
-        Default: GAUSS_LEGENDRE
-        """
-        return self.__collocation_type
-
-    @property
-    def ext_fun_compile_flags(self):
-        """
-        String with compiler flags for external function compilation.
-        Default: '-O2'.
-        """
-        return self.__ext_fun_compile_flags
-
-    @ext_fun_compile_flags.setter
-    def ext_fun_compile_flags(self, ext_fun_compile_flags):
-        if isinstance(ext_fun_compile_flags, str):
-            self.__ext_fun_compile_flags = ext_fun_compile_flags
-        else:
-            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
-
-    @integrator_type.setter
-    def integrator_type(self, integrator_type):
-        integrator_types = ('ERK', 'IRK', 'GNSF')
-        if integrator_type in integrator_types:
-            self.__integrator_type = integrator_type
-        else:
-            raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
-
-    @collocation_type.setter
-    def collocation_type(self, collocation_type):
-        collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
-        if collocation_type in collocation_types:
-            self.__collocation_type = collocation_type
-        else:
-            raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
-
-    @T.setter
-    def T(self, T):
-        self.__Tsim = T
-
-    @num_stages.setter
-    def num_stages(self, num_stages):
-        if isinstance(num_stages, int):
-            self.__sim_method_num_stages = num_stages
-        else:
-            raise Exception('Invalid num_stages value. num_stages must be an integer.')
-
-    @num_steps.setter
-    def num_steps(self, num_steps):
-        if isinstance(num_steps, int):
-            self.__sim_method_num_steps = num_steps
-        else:
-            raise Exception('Invalid num_steps value. num_steps must be an integer.')
-
-    @newton_iter.setter
-    def newton_iter(self, newton_iter):
-        if isinstance(newton_iter, int):
-            self.__sim_method_newton_iter = newton_iter
-        else:
-            raise Exception('Invalid newton_iter value. newton_iter must be an integer.')
-
-    @newton_tol.setter
-    def newton_tol(self, newton_tol):
-        if isinstance(newton_tol, float):
-            self.__sim_method_newton_tol = newton_tol
-        else:
-            raise Exception('Invalid newton_tol value. newton_tol must be an float.')
-
-    @sens_forw.setter
-    def sens_forw(self, sens_forw):
-        if sens_forw in (True, False):
-            self.__sens_forw = sens_forw
-        else:
-            raise Exception('Invalid sens_forw value. sens_forw must be a Boolean.')
-
-    @sens_adj.setter
-    def sens_adj(self, sens_adj):
-        if sens_adj in (True, False):
-            self.__sens_adj = sens_adj
-        else:
-            raise Exception('Invalid sens_adj value. sens_adj must be a Boolean.')
-
-    @sens_hess.setter
-    def sens_hess(self, sens_hess):
-        if sens_hess in (True, False):
-            self.__sens_hess = sens_hess
-        else:
-            raise Exception('Invalid sens_hess value. sens_hess must be a Boolean.')
-
-    @sens_algebraic.setter
-    def sens_algebraic(self, sens_algebraic):
-        if sens_algebraic in (True, False):
-            self.__sens_algebraic = sens_algebraic
-        else:
-            raise Exception('Invalid sens_algebraic value. sens_algebraic must be a Boolean.')
-
-    @output_z.setter
-    def output_z(self, output_z):
-        if output_z in (True, False):
-            self.__output_z = output_z
-        else:
-            raise Exception('Invalid output_z value. output_z must be a Boolean.')
-
-    @sim_method_jac_reuse.setter
-    def sim_method_jac_reuse(self, sim_method_jac_reuse):
-        if sim_method_jac_reuse in (0, 1):
-            self.__sim_method_jac_reuse = sim_method_jac_reuse
-        else:
-            raise Exception('Invalid sim_method_jac_reuse value. sim_method_jac_reuse must be 0 or 1.')
-
-class AcadosSim:
-    """
-    The class has the following properties that can be modified to formulate a specific simulation problem, see below:
-
-    :param acados_path: string with the path to acados. It is used to generate the include and lib paths.
-
-    - :py:attr:`dims` of type :py:class:`acados_template.acados_ocp.AcadosSimDims` - are automatically detected from model
-    - :py:attr:`model` of type :py:class:`acados_template.acados_model.AcadosModel`
-    - :py:attr:`solver_options` of type :py:class:`acados_template.acados_sim.AcadosSimOpts`
-
-    - :py:attr:`acados_include_path` (set automatically)
-    - :py:attr:`shared_lib_ext` (set automatically)
-    - :py:attr:`acados_lib_path` (set automatically)
-    - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
-
-    """
-    def __init__(self, acados_path=''):
-        if acados_path == '':
-            acados_path = get_acados_path()
-        self.dims = AcadosSimDims()
-        """Dimension definitions, automatically detected from :py:attr:`model`. Type :py:class:`acados_template.acados_sim.AcadosSimDims`"""
-        self.model = AcadosModel()
-        """Model definitions, type :py:class:`acados_template.acados_model.AcadosModel`"""
-        self.solver_options = AcadosSimOpts()
-        """Solver Options, type :py:class:`acados_template.acados_sim.AcadosSimOpts`"""
-
-        self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to acados include directory (set automatically), type: `string`"""
-        self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
-        """Path to where acados library is located (set automatically), type: `string`"""
-
-        self.code_export_directory = 'c_generated_code'
-        """Path to where code will be exported. Default: `c_generated_code`."""
-        self.shared_lib_ext = get_lib_ext()
-
-        # get cython paths
-        from sysconfig import get_paths
-        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
-
-        self.__parameter_values = np.array([])
-        self.__problem_class = 'SIM'
-
-    @property
-    def parameter_values(self):
-        """:math:`p` - initial values for parameter - can be updated"""
-        return self.__parameter_values
-
-    @parameter_values.setter
-    def parameter_values(self, parameter_values):
-        if isinstance(parameter_values, np.ndarray):
-            self.__parameter_values = parameter_values
-        else:
-            raise Exception('Invalid parameter_values value. ' +
-                            f'Expected numpy array, got {type(parameter_values)}.')
-
-    def set(self, attr, value):
-        # tokenize string
-        tokens = attr.split('_', 1)
-        if len(tokens) > 1:
-            setter_to_call = getattr(getattr(self, tokens[0]), 'set')
-        else:
-            setter_to_call = getattr(self, 'set')
-
-        setter_to_call(tokens[1], value)
-
-        return
diff --git a/third_party/acados/acados_template/acados_sim_layout.json b/third_party/acados/acados_template/acados_sim_layout.json
deleted file mode 100644
index e3ca4b575b..0000000000
--- a/third_party/acados/acados_template/acados_sim_layout.json
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-    "acados_include_path": [
-        "str"
-    ],
-     "model": {
-         "name" : [
-            "str"
-        ]
-    },
-    "acados_lib_path": [
-        "str"
-    ],
-    "dims": {
-        "np": [
-            "int"
-        ],
-        "nu": [
-            "int"
-        ],
-        "nx": [
-            "int" 
-        ],
-        "nz": [
-            "int"
-        ]
-    },
-    "solver_options": {
-        "integrator_type": [
-            "str"
-        ],
-        "collocation_type": [
-            "str"
-        ],
-        "Tsim": [
-            "float"
-        ],
-        "sim_method_num_stages": [
-            "int"
-        ],
-        "sim_method_num_steps": [
-            "int"
-        ],
-        "sim_method_newton_iter": [
-            "int"
-        ],
-        "sim_method_newton_tol": [
-            "float"
-        ],
-        "ext_fun_compile_flags": [
-            "str"
-        ]
-    }
-}
diff --git a/third_party/acados/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py
deleted file mode 100644
index de5ee10709..0000000000
--- a/third_party/acados/acados_template/acados_sim_solver.py
+++ /dev/null
@@ -1,558 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import sys
-import os
-import json
-import importlib
-
-import numpy as np
-
-from subprocess import DEVNULL, call, STDOUT
-
-from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_bool, byref
-from copy import deepcopy
-
-from .casadi_function_generation import generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_explicit_ode
-from .acados_sim import AcadosSim
-from .acados_ocp import AcadosOcp
-from .utils import is_column, render_template, format_class_dict, make_object_json_dumpable,\
-     make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path, get_lib_ext,\
-     casadi_length, is_empty, check_casadi_version
-from .builders import CMakeBuilder
-from .gnsf.detect_gnsf_structure import detect_gnsf_structure
-
-
-
-def make_sim_dims_consistent(acados_sim: AcadosSim):
-    dims = acados_sim.dims
-    model = acados_sim.model
-    # nx
-    if is_column(model.x):
-        dims.nx = casadi_length(model.x)
-    else:
-        raise Exception('model.x should be column vector!')
-
-    # nu
-    if is_empty(model.u):
-        dims.nu = 0
-    else:
-        dims.nu = casadi_length(model.u)
-
-    # nz
-    if is_empty(model.z):
-        dims.nz = 0
-    else:
-        dims.nz = casadi_length(model.z)
-
-    # np
-    if is_empty(model.p):
-        dims.np = 0
-    else:
-        dims.np = casadi_length(model.p)
-    if acados_sim.parameter_values.shape[0] != dims.np:
-        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
-            f'\nGot np = {dims.np}, acados_sim.parameter_values.shape = {acados_sim.parameter_values.shape[0]}\n')
-
-
-def get_sim_layout():
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'acados_sim_layout.json')
-    with open(abs_path, 'r') as f:
-        sim_layout = json.load(f)
-    return sim_layout
-
-
-def sim_formulation_json_dump(acados_sim: AcadosSim, json_file='acados_sim.json'):
-    # Load acados_sim structure description
-    sim_layout = get_sim_layout()
-
-    # Copy input sim object dictionary
-    sim_dict = dict(deepcopy(acados_sim).__dict__)
-
-    for key, v in sim_layout.items():
-        # skip non dict attributes
-        if not isinstance(v, dict): continue
-        # Copy sim object attributes dictionaries
-        sim_dict[key]=dict(getattr(acados_sim, key).__dict__)
-
-    sim_json = format_class_dict(sim_dict)
-
-    with open(json_file, 'w') as f:
-        json.dump(sim_json, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-
-
-def sim_get_default_cmake_builder() -> CMakeBuilder:
-    """
-    If :py:class:`~acados_template.acados_sim_solver.AcadosSimSolver` is used with `CMake` this function returns a good first setting.
-    :return: default :py:class:`~acados_template.builders.CMakeBuilder`
-    """
-    cmake_builder = CMakeBuilder()
-    cmake_builder.options_on = ['BUILD_ACADOS_SIM_SOLVER_LIB']
-    return cmake_builder
-
-
-def sim_render_templates(json_file, model_name: str, code_export_dir, cmake_options: CMakeBuilder = None):
-    # setting up loader and environment
-    json_path = os.path.join(os.getcwd(), json_file)
-
-    if not os.path.exists(json_path):
-        raise Exception(f"{json_path} not found!")
-
-    # Render templates
-    in_file = 'acados_sim_solver.in.c'
-    out_file = f'acados_sim_solver_{model_name}.c'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'acados_sim_solver.in.h'
-    out_file = f'acados_sim_solver_{model_name}.h'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'acados_sim_solver.in.pxd'
-    out_file = f'acados_sim_solver.pxd'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    # Builder
-    if cmake_options is not None:
-        in_file = 'CMakeLists.in.txt'
-        out_file = 'CMakeLists.txt'
-        render_template(in_file, out_file, code_export_dir, json_path)
-    else:
-        in_file = 'Makefile.in'
-        out_file = 'Makefile'
-        render_template(in_file, out_file, code_export_dir, json_path)
-
-    in_file = 'main_sim.in.c'
-    out_file = f'main_sim_{model_name}.c'
-    render_template(in_file, out_file, code_export_dir, json_path)
-
-    # folder model
-    model_dir = os.path.join(code_export_dir, model_name + '_model')
-
-    in_file = 'model.in.h'
-    out_file = f'{model_name}_model.h'
-    render_template(in_file, out_file, model_dir, json_path)
-
-
-def sim_generate_external_functions(acados_sim: AcadosSim):
-    model = acados_sim.model
-    model = make_model_consistent(model)
-
-    integrator_type = acados_sim.solver_options.integrator_type
-
-    opts = dict(generate_hess = acados_sim.solver_options.sens_hess,
-                code_export_directory = acados_sim.code_export_directory)
-
-    # create code_export_dir, model_dir
-    code_export_dir = acados_sim.code_export_directory
-    opts['code_export_directory'] = code_export_dir
-    model_dir = os.path.join(code_export_dir, model.name + '_model')
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-
-    # generate external functions
-    check_casadi_version()
-    if integrator_type == 'ERK':
-        generate_c_code_explicit_ode(model, opts)
-    elif integrator_type == 'IRK':
-        generate_c_code_implicit_ode(model, opts)
-    elif integrator_type == 'GNSF':
-        generate_c_code_gnsf(model, opts)
-
-
-class AcadosSimSolver:
-    """
-    Class to interact with the acados integrator C object.
-
-        :param acados_sim: type :py:class:`~acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`~acados_template.acados_sim.AcadosSim`) or :py:class:`~acados_template.acados_sim.AcadosSim`
-        :param json_file: Default: 'acados_sim.json'
-        :param build: Default: True
-        :param cmake_builder: type :py:class:`~acados_template.utils.CMakeBuilder` generate a `CMakeLists.txt` and use
-            the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
-            `MS Visual Studio`); default: `None`
-    """
-    if sys.platform=="win32":
-        from ctypes import wintypes
-        from ctypes import WinDLL
-        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
-        dlclose.argtypes = [wintypes.HMODULE]
-    else:
-        dlclose = CDLL(None).dlclose
-        dlclose.argtypes = [c_void_p]
-
-
-    @classmethod
-    def generate(cls, acados_sim: AcadosSim, json_file='acados_sim.json', cmake_builder: CMakeBuilder = None):
-        """
-        Generates the code for an acados sim solver, given the description in acados_sim
-        """
-
-        acados_sim.code_export_directory = os.path.abspath(acados_sim.code_export_directory)
-
-        # make dims consistent
-        make_sim_dims_consistent(acados_sim)
-
-        # module dependent post processing
-        if acados_sim.solver_options.integrator_type == 'GNSF':
-            if acados_sim.solver_options.sens_hess == True:
-                raise Exception("AcadosSimSolver: GNSF does not support sens_hess = True.")
-            if 'gnsf_model' in acados_sim.__dict__:
-                set_up_imported_gnsf_model(acados_sim)
-            else:
-                detect_gnsf_structure(acados_sim)
-
-        # generate external functions
-        sim_generate_external_functions(acados_sim)
-
-        # dump to json
-        sim_formulation_json_dump(acados_sim, json_file)
-
-        # render templates
-        sim_render_templates(json_file, acados_sim.model.name, acados_sim.code_export_directory, cmake_builder)
-
-
-    @classmethod
-    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-        # Compile solver
-        cwd = os.getcwd()
-        os.chdir(code_export_dir)
-        if with_cython:
-            call(
-                ['make', 'clean_sim_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            call(
-                ['make', 'sim_cython'],
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-        else:
-            if cmake_builder is not None:
-                cmake_builder.exec(code_export_dir, verbose=verbose)
-            else:
-                call(
-                    ['make', 'sim_shared_lib'],
-                    stdout=None if verbose else DEVNULL,
-                    stderr=None if verbose else STDOUT
-                )
-        os.chdir(cwd)
-
-
-    @classmethod
-    def create_cython_solver(cls, json_file):
-        """
-        """
-        with open(json_file, 'r') as f:
-            acados_sim_json = json.load(f)
-        code_export_directory = acados_sim_json['code_export_directory']
-
-        importlib.invalidate_caches()
-        rel_code_export_directory = os.path.relpath(code_export_directory)
-        acados_sim_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_sim_solver_pyx')
-
-        AcadosSimSolverCython = getattr(acados_sim_solver_pyx, 'AcadosSimSolverCython')
-        return AcadosSimSolverCython(acados_sim_json['model']['name'])
-
-    def __init__(self, acados_sim, json_file='acados_sim.json', generate=True, build=True, cmake_builder: CMakeBuilder = None, verbose: bool = True):
-
-        self.solver_created = False
-        self.acados_sim = acados_sim
-        model_name = acados_sim.model.name
-        self.model_name = model_name
-
-        code_export_dir = os.path.abspath(acados_sim.code_export_directory)
-
-        # reuse existing json and casadi functions, when creating integrator from ocp
-        if generate and not isinstance(acados_sim, AcadosOcp):
-            self.generate(acados_sim, json_file=json_file, cmake_builder=cmake_builder)
-
-        if build:
-            self.build(code_export_dir, cmake_builder=cmake_builder, verbose=True)
-
-        # prepare library loading
-        lib_prefix = 'lib'
-        lib_ext = get_lib_ext()
-        if os.name == 'nt':
-            lib_prefix = ''
-
-        # Load acados library to avoid unloading the library.
-        # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
-        # Unloading a library which uses OpenMP results in a segfault (on any platform?).
-        # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
-        # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
-        libacados_name = f'{lib_prefix}acados{lib_ext}'
-        libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
-        self.__acados_lib = CDLL(libacados_filepath)
-        # find out if acados was compiled with OpenMP
-        try:
-            self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
-        except AttributeError as e:
-            self.__acados_lib_uses_omp = False
-        if self.__acados_lib_uses_omp:
-            print('acados was compiled with OpenMP.')
-        else:
-            print('acados was compiled without OpenMP.')
-        libacados_sim_solver_name = f'{lib_prefix}acados_sim_solver_{self.model_name}{lib_ext}'
-        self.shared_lib_name = os.path.join(code_export_dir, libacados_sim_solver_name)
-
-        # get shared_lib
-        self.shared_lib = CDLL(self.shared_lib_name)
-
-        # create capsule
-        getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p
-        self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")()
-
-        # create solver
-        getattr(self.shared_lib, f"{model_name}_acados_sim_create").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_sim_create").restype = c_int
-        assert getattr(self.shared_lib, f"{model_name}_acados_sim_create")(self.capsule)==0
-        self.solver_created = True
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts").restype = c_void_p
-        self.sim_opts = getattr(self.shared_lib, f"{model_name}_acados_get_sim_opts")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims").restype = c_void_p
-        self.sim_dims = getattr(self.shared_lib, f"{model_name}_acados_get_sim_dims")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_config").restype = c_void_p
-        self.sim_config = getattr(self.shared_lib, f"{model_name}_acados_get_sim_config")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_out").restype = c_void_p
-        self.sim_out = getattr(self.shared_lib, f"{model_name}_acados_get_sim_out")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_in").restype = c_void_p
-        self.sim_in = getattr(self.shared_lib, f"{model_name}_acados_get_sim_in")(self.capsule)
-
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p
-        self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule)
-
-        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
-        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
-        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-
-
-    def simulate(self, x=None, u=None, z=None, p=None):
-        """
-        Simulate the system forward for the given x, u, z, p and return x_next.
-        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
-        """
-        if x is not None:
-            self.set('x', x)
-        if u is not None:
-            self.set('u', u)
-        if z is not None:
-            self.set('z', z)
-        if p is not None:
-            self.set('p', p)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_sim_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
-
-        x_next = self.get('x')
-        return x_next
-
-
-    def solve(self):
-        """
-        Solve the simulation problem with current input.
-        """
-        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").argtypes = [c_void_p]
-        getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve").restype = c_int
-
-        status = getattr(self.shared_lib, f"{self.model_name}_acados_sim_solve")(self.capsule)
-        return status
-
-
-    def get(self, field_):
-        """
-        Get the last solution of the solver.
-
-            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-        """
-        field = field_.encode('utf-8')
-
-        if field_ in self.gettable_vectors:
-            # get dims
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            # allocate array
-            out = np.ascontiguousarray(np.zeros((dims[0],)), dtype=np.float64)
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
-
-        elif field_ in self.gettable_matrices:
-            # get dims
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            out = np.zeros((dims[0], dims[1]), order='F')
-            out_data = cast(out.ctypes.data, POINTER(c_double))
-
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
-
-        elif field_ in self.gettable_scalars:
-            scalar = c_double()
-            scalar_data = byref(scalar)
-            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, scalar_data)
-
-            out = scalar.value
-        else:
-            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.gettable_vectors+self.gettable_matrices)}, {", ".join(self.gettable_scalars)}')
-
-        return out
-
-
-
-    def set(self, field_: str, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param field: string in ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T']
-            :param value: the value with appropriate size.
-        """
-        settable = ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T'] # S_forw
-
-        # TODO: check and throw error here. then remove checks in Cython for speed
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-
-        value_ = value_.astype(float)
-        value_data = cast(value_.ctypes.data, POINTER(c_double))
-        value_data_p = cast((value_data), c_void_p)
-
-        field = field_.encode('utf-8')
-
-        # treat parameters separately
-        if field_ == 'p':
-            model_name = self.acados_sim.model.name
-            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int]
-            value_data = cast(value_.ctypes.data, POINTER(c_double))
-            getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0])
-            return
-        else:
-            # dimension check
-            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
-            dims_data = cast(dims.ctypes.data, POINTER(c_int))
-
-            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
-            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
-
-            value_ = np.ravel(value_, order='F')
-
-            value_shape = value_.shape
-            if len(value_shape) == 1:
-                value_shape = (value_shape[0], 0)
-
-            if value_shape != tuple(dims):
-                raise Exception(f'AcadosSimSolver.set(): mismatching dimension' \
-                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
-
-        # set
-        if field_ in ['xdot', 'z']:
-            self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p)
-        elif field_ in settable:
-            self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
-            self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p)
-        else:
-            raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \
-                f' available fields are {", ".join(settable)}')
-
-        return
-
-
-    def options_set(self, field_: str, value_: bool):
-        """
-        Set solver options
-
-            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
-            :param value: Boolean
-        """
-        fields = ['sens_forw', 'sens_adj', 'sens_hess']
-        if field_ not in fields:
-            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
-
-        field = field_.encode('utf-8')
-        value_ctypes = c_bool(value_)
-
-        if not isinstance(value_, bool):
-            raise TypeError("options_set: expected boolean for value")
-
-        # only allow setting
-        if getattr(self.acados_sim.solver_options, field_) or value_ == False:
-            self.shared_lib.sim_opts_set.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_bool)]
-            self.shared_lib.sim_opts_set(self.sim_config, self.sim_opts, field, value_ctypes)
-        else:
-            raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
-
-        return
-
-
-    def __del__(self):
-
-        if self.solver_created:
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_free")(self.capsule)
-
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").argtypes = [c_void_p]
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule").restype = c_int
-            getattr(self.shared_lib, f"{self.model_name}_acados_sim_solver_free_capsule")(self.capsule)
-
-            try:
-                self.dlclose(self.shared_lib._handle)
-            except:
-                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosSimSolver {self.model_name}.\n",
-                     "Attempting to create a new one with the same name will likely result in the old one being used!")
-                pass
diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd
deleted file mode 100644
index 7c20a6d24d..0000000000
--- a/third_party/acados/acados_template/acados_sim_solver_common.pxd
+++ /dev/null
@@ -1,63 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-cdef extern from "acados/sim/sim_common.h":
-    ctypedef struct sim_config:
-        pass
-
-    ctypedef struct sim_opts:
-        pass
-
-    ctypedef struct sim_in:
-        pass
-
-    ctypedef struct sim_out:
-        pass
-
-
-cdef extern from "acados_c/sim_interface.h":
-
-    ctypedef struct sim_plan:
-        pass
-
-    ctypedef struct sim_solver:
-        pass
-
-    # out
-    void sim_out_get(sim_config *config, void *dims, sim_out *out, const char *field, void *value)
-    int sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, void *dims_data)
-
-    # opts
-    void sim_opts_set(sim_config *config, void *opts_, const char *field, void *value)
-
-    # get/set
-    void sim_in_set(sim_config *config, void *dims, sim_in *sim_in, const char *field, void *value)
-    void sim_solver_set(sim_solver *solver, const char *field, void *value)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
deleted file mode 100644
index 01964fd7a0..0000000000
--- a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
+++ /dev/null
@@ -1,255 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-# cython: language_level=3
-# cython: profile=False
-# distutils: language=c
-
-cimport cython
-from libc cimport string
-# from libc cimport bool as bool_t
-
-cimport acados_sim_solver_common
-cimport acados_sim_solver
-
-cimport numpy as cnp
-
-import os
-from datetime import datetime
-import numpy as np
-
-
-cdef class AcadosSimSolverCython:
-    """
-    Class to interact with the acados sim solver C object.
-    """
-
-    cdef acados_sim_solver.sim_solver_capsule *capsule
-    cdef void *sim_dims
-    cdef acados_sim_solver_common.sim_opts *sim_opts
-    cdef acados_sim_solver_common.sim_config *sim_config
-    cdef acados_sim_solver_common.sim_out *sim_out
-    cdef acados_sim_solver_common.sim_in *sim_in
-    cdef acados_sim_solver_common.sim_solver *sim_solver
-
-    cdef bint solver_created
-
-    cdef str model_name
-
-    cdef str sim_solver_type
-
-    cdef list gettable_vectors
-    cdef list gettable_matrices
-    cdef list gettable_scalars
-
-    def __cinit__(self, model_name):
-
-        self.solver_created = False
-
-        self.model_name = model_name
-
-        # create capsule
-        self.capsule = acados_sim_solver.acados_sim_solver_create_capsule()
-
-        # create solver
-        assert acados_sim_solver.acados_sim_create(self.capsule) == 0
-        self.solver_created = True
-
-        # get pointers solver
-        self.__get_pointers_solver()
-
-        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
-        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
-        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-
-    def __get_pointers_solver(self):
-        """
-        Private function to get the pointers for solver
-        """
-        # get pointers solver
-        self.sim_opts = acados_sim_solver.acados_get_sim_opts(self.capsule)
-        self.sim_dims = acados_sim_solver.acados_get_sim_dims(self.capsule)
-        self.sim_config = acados_sim_solver.acados_get_sim_config(self.capsule)
-        self.sim_out = acados_sim_solver.acados_get_sim_out(self.capsule)
-        self.sim_in = acados_sim_solver.acados_get_sim_in(self.capsule)
-        self.sim_solver = acados_sim_solver.acados_get_sim_solver(self.capsule)
-
-
-    def simulate(self, x=None, u=None, z=None, p=None):
-        """
-        Simulate the system forward for the given x, u, z, p and return x_next.
-        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
-        """
-        if x is not None:
-            self.set('x', x)
-        if u is not None:
-            self.set('u', u)
-        if z is not None:
-            self.set('z', z)
-        if p is not None:
-            self.set('p', p)
-
-        status = self.solve()
-
-        if status == 2:
-            print("Warning: acados_sim_solver reached maximum iterations.")
-        elif status != 0:
-            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
-
-        x_next = self.get('x')
-        return x_next
-
-
-    def solve(self):
-        """
-        Solve the sim with current input.
-        """
-        return acados_sim_solver.acados_sim_solve(self.capsule)
-
-
-    def get(self, field_):
-        """
-        Get the last solution of the solver.
-
-            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
-        """
-        field = field_.encode('utf-8')
-
-        if field_ in self.gettable_vectors:
-            return self.__get_vector(field)
-        elif field_ in self.gettable_matrices:
-            return self.__get_matrix(field)
-        elif field_ in self.gettable_scalars:
-            return self.__get_scalar(field)
-        else:
-            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.gettable.keys())}')
-
-
-    def __get_scalar(self, field):
-        cdef double scalar
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> &scalar)
-        return scalar
-
-
-    def __get_vector(self, field):
-        cdef int[2] dims
-        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-        # cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((dims[0],), dtype=np.float64))
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims[0]),)
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
-        return out
-
-
-    def __get_matrix(self, field):
-        cdef int[2] dims
-        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-        cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
-        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
-        return out
-
-
-    def set(self, field_: str, value_):
-        """
-        Set numerical data inside the solver.
-
-            :param field: string in ['p', 'seed_adj', 'T', 'x', 'u', 'xdot', 'z']
-            :param value: the value with appropriate size.
-        """
-        settable = ['seed_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw
-
-        # cast value_ to avoid conversion issues
-        if isinstance(value_, (float, int)):
-            value_ = np.array([value_])
-        # if len(value_.shape) > 1:
-            # raise RuntimeError('AcadosSimSolverCython.set(): value_ should be 1 dimensional')
-
-        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64).flatten()
-
-        field = field_.encode('utf-8')
-        cdef int[2] dims
-
-        # treat parameters separately
-        if field_ == 'p':
-            assert acados_sim_solver.acados_sim_update_params(self.capsule, <double *> value.data, value.shape[0]) == 0
-            return
-        else:
-            acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
-
-            value_ = np.ravel(value_, order='F')
-
-            value_shape = value_.shape
-            if len(value_shape) == 1:
-                value_shape = (value_shape[0], 0)
-
-            if value_shape != tuple(dims):
-                raise Exception(f'AcadosSimSolverCython.set(): mismatching dimension' \
-                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
-
-        # set
-        if field_ in ['xdot', 'z']:
-            acados_sim_solver_common.sim_solver_set(self.sim_solver, field, <void *> value.data)
-        elif field_ in settable:
-            acados_sim_solver_common.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, <void *> value.data)
-        else:
-            raise Exception(f'AcadosSimSolverCython.set(): Unknown field {field_},' \
-                f' available fields are {", ".join(settable)}')
-
-
-    def options_set(self, field_: str, value_: bool):
-        """
-        Set solver options
-
-            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
-            :param value: Boolean
-        """
-        fields = ['sens_forw', 'sens_adj', 'sens_hess']
-        if field_ not in fields:
-            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
-
-        field = field_.encode('utf-8')
-
-        if not isinstance(value_, bool):
-            raise TypeError("options_set: expected boolean for value")
-
-        cdef bint bool_value = value_
-        acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
-        # TODO: only allow setting
-        # if getattr(self.acados_sim.solver_options, field_) or value_ == False:
-        #     acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
-        # else:
-        #     raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
-
-        return
-
-
-    def __del__(self):
-        if self.solver_created:
-            acados_sim_solver.acados_sim_free(self.capsule)
-            acados_sim_solver.acados_sim_solver_free_capsule(self.capsule)
diff --git a/third_party/acados/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd
deleted file mode 100644
index 75d021626f..0000000000
--- a/third_party/acados/acados_template/acados_solver_common.pxd
+++ /dev/null
@@ -1,99 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-
-cdef extern from "acados/ocp_nlp/ocp_nlp_common.h":
-    ctypedef struct ocp_nlp_config:
-        pass
-
-    ctypedef struct ocp_nlp_dims:
-        pass
-
-    ctypedef struct ocp_nlp_in:
-        pass
-
-    ctypedef struct ocp_nlp_out:
-        pass
-
-
-cdef extern from "acados_c/ocp_nlp_interface.h":
-    ctypedef enum ocp_nlp_solver_t:
-        pass
-
-    ctypedef enum ocp_nlp_cost_t:
-        pass
-
-    ctypedef enum ocp_nlp_dynamics_t:
-        pass
-
-    ctypedef enum ocp_nlp_constraints_t:
-        pass
-
-    ctypedef enum ocp_nlp_reg_t:
-        pass
-
-    ctypedef struct ocp_nlp_plan:
-        pass
-
-    ctypedef struct ocp_nlp_solver:
-        pass
-
-    int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in_,
-        int start_stage, const char *field, void *value)
-    int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in_, int stage, const char *field, void *value)
-
-    # out
-    void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value)
-    void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value)
-    void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value)
-    int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field)
-    void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-    void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-    void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out)
-
-    # opts
-    void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value)
-
-    # solver
-    void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
-    void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out)
-    void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
-
-    # get/set
-    void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, const char *field, void *return_value_)
-    void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, int stage, const char *field, void *value)
diff --git a/third_party/acados/acados_template/builders.py b/third_party/acados/acados_template/builders.py
deleted file mode 100644
index 8acc05b528..0000000000
--- a/third_party/acados/acados_template/builders.py
+++ /dev/null
@@ -1,130 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-import sys
-from subprocess import DEVNULL, call, STDOUT
-
-
-class CMakeBuilder:
-    """
-    Class to work with the `CMake` build system.
-    """
-    def __init__(self):
-        self._source_dir = None  # private source directory, this is set to code_export_dir
-        self.build_dir = 'build'
-        self._build_dir = None  # private build directory, usually rendered to abspath(build_dir)
-        self.generator = None
-        """Defines the generator, options can be found via `cmake --help` under 'Generator'. Type: string. Linux default 'Unix Makefiles', Windows 'Visual Studio 15 2017 Win64'; default value: `None`."""
-        # set something for Windows
-        if os.name == 'nt':
-            self.generator = 'Visual Studio 15 2017 Win64'
-        self.build_targets = None
-        """A comma-separated list of the build targets, if `None` then all targets will be build; type: List of strings; default: `None`."""
-        self.options_on = None
-        """List of strings as CMake options which are translated to '-D Opt[0]=ON -D Opt[1]=ON ...'; default: `None`."""
-
-    # Generate the command string for handling the cmake command.
-    def get_cmd1_cmake(self):
-        defines_str = ''
-        if self.options_on is not None:
-            defines_arr = [f' -D{opt}=ON' for opt in self.options_on]
-            defines_str = ' '.join(defines_arr)
-        generator_str = ''
-        if self.generator is not None:
-            generator_str = f' -G"{self.generator}"'
-        return f'cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="{self._source_dir}"{defines_str}{generator_str} -Wdev -S"{self._source_dir}" -B"{self._build_dir}"'
-
-    # Generate the command string for handling the build.
-    def get_cmd2_build(self):
-        import multiprocessing
-        cmd = f'cmake --build "{self._build_dir}" --config Release -j{multiprocessing.cpu_count()}'
-        if self.build_targets is not None:
-            cmd += f' -t {self.build_targets}'
-        return cmd
-
-    # Generate the command string for handling the install command.
-    def get_cmd3_install(self):
-        return f'cmake --install "{self._build_dir}"'
-
-    def exec(self, code_export_directory, verbose=True):
-        """
-        Execute the compilation using `CMake` with the given settings.
-        :param code_export_directory: must be the absolute path to the directory where the code was exported to
-        """
-        if(os.path.isabs(code_export_directory) is False):
-            print(f'(W) the code export directory "{code_export_directory}" is not an absolute path!')
-        self._source_dir = code_export_directory
-        self._build_dir = os.path.abspath(self.build_dir)
-        try:
-            os.mkdir(self._build_dir)
-        except FileExistsError as e:
-            pass
-
-        try:
-            os.chdir(self._build_dir)
-            cmd_str = self.get_cmd1_cmake()
-            print(f'call("{cmd_str})"')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}')
-            cmd_str = self.get_cmd2_build()
-            print(f'call("{cmd_str}")')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}')
-            cmd_str = self.get_cmd3_install()
-            print(f'call("{cmd_str}")')
-            retcode = call(
-                cmd_str,
-                shell=True,
-                stdout=None if verbose else DEVNULL,
-                stderr=None if verbose else STDOUT
-            )
-            if retcode != 0:
-                raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}')
-        except OSError as e:
-            print("Execution failed:", e, file=sys.stderr)
-        except Exception as e:
-            print("Execution failed:", e, file=sys.stderr)
-            exit(1)
diff --git a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
deleted file mode 100644
index 99bc26f750..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
+++ /dev/null
@@ -1,397 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-{%- if solver_options.qp_solver %}
-	{%- set qp_solver = solver_options.qp_solver %}
-{%- else %}
-	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
-{%- endif %}
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{%- if constraints.constr_type %}
-	{%- set constr_type = constraints.constr_type %}
-{%- else %}
-	{%- set constr_type = "NONE" %}
-{%- endif %}
-
-{%- if constraints.constr_type_e %}
-	{%- set constr_type_e = constraints.constr_type_e %}
-{%- else %}
-	{%- set constr_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type %}
-	{%- set cost_type = cost.cost_type %}
-{%- else %}
-	{%- set cost_type = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_e %}
-	{%- set cost_type_e = cost.cost_type_e %}
-{%- else %}
-	{%- set cost_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_0 %}
-	{%- set cost_type_0 = cost.cost_type_0 %}
-{%- else %}
-	{%- set cost_type_0 = "NONE" %}
-{%- endif %}
-
-{%- if dims.nh %}
-	{%- set dims_nh = dims.nh %}
-{%- else %}
-	{%- set dims_nh = 0 %}
-{%- endif %}
-
-{%- if dims.nphi %}
-	{%- set dims_nphi = dims.nphi %}
-{%- else %}
-	{%- set dims_nphi = 0 %}
-{%- endif %}
-
-{%- if dims.nh_e %}
-	{%- set dims_nh_e = dims.nh_e %}
-{%- else %}
-	{%- set dims_nh_e = 0 %}
-{%- endif %}
-
-{%- if dims.nphi_e %}
-	{%- set dims_nphi_e = dims.nphi_e %}
-{%- else %}
-	{%- set dims_nphi_e = 0 %}
-{%- endif %}
-
-{%- if solver_options.model_external_shared_lib_dir %}
-	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
-{%- endif %}
-
-{%- if solver_options.model_external_shared_lib_name %}
-	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
-{%- endif %}
-
-{#- control operator #}
-{%- if os and os == "pc" %}
-	{%- set control = "&" %}
-{%- else %}
-	{%- set control = ";" %}
-{%- endif %}
-
-{%- if acados_link_libs and os and os == "pc" %}{# acados linking libraries and flags #}
-	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
-	{%- set openmp_flag = acados_link_libs.openmp %}
-{%- else %}
-	{%- set openmp_flag = " " %}
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-		{%- set link_libs = "-lqpOASES_e" %}
-	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
-		{%- set link_libs = "-ldaqp" %}
-	{%- else %}
-		{%- set link_libs = "" %}
-	{%- endif %}
-{%- endif %}
-
-cmake_minimum_required(VERSION 3.13)
-
-project({{ model.name }})
-
-# build options.
-option(BUILD_ACADOS_SOLVER_LIB "Should the solver library acados_solver_{{ model.name }} be build?" OFF)
-option(BUILD_ACADOS_OCP_SOLVER_LIB "Should the OCP solver library acados_ocp_solver_{{ model.name }} be build?" OFF)
-option(BUILD_EXAMPLE "Should the example main_{{ model.name }} be build?" OFF)
-{%- if solver_options.integrator_type != "DISCRETE" %}
-option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name }} be build?" OFF)
-option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF)
-{%- endif %}
-
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows")
-    # MinGW, change to .lib such that mex recognizes it
-    set(CMAKE_SHARED_LIBRARY_SUFFIX ".lib")
-    set(CMAKE_SHARED_LIBRARY_PREFIX "")
-endif()
-
-
-# object target names
-set(MODEL_OBJ model_{{ model.name }})
-set(OCP_OBJ ocp_{{ model.name }})
-set(SIM_OBJ sim_{{ model.name }})
-
-# model
-set(MODEL_SRC
-	{%- if model.dyn_ext_fun_type == "casadi" %}
-{%- if  solver_options.integrator_type == "ERK" %}
-    {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
-    {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
-    {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-    {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
-	{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-	{% if model.gnsf.purely_linear != 1 %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
-    {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
-		{% if model.gnsf.nontrivial_f_LO == 1 %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
-		{%- endif %}
-	{%- endif %}
-    {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
-		{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
-		{%- endif %}
-{%- endif -%}
-	{%- else %}
-    {{ model.name }}_model/{{ model.dyn_generic_source }}
-	{%- endif %}
-)
-add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} )
-
-# optimal control problem - mostly CasADi exports
-if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMPLE})
-    set(OCP_SRC
-{%- if constr_type == "BGP" and dims_nphi > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
-{%- endif %}
-{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
-{%- endif %}
-
-{%- if constr_type == "BGH" and dims_nh > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
-    {%- if hessian_approx == "EXACT" %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
-    {%- endif %}
-{%- endif %}
-
-{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
-    {%- if hessian_approx == "EXACT" %}
-        {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
-    {%- endif %}
-{%- endif %}
-
-{%- if cost_type_0 == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
-{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
-{%- elif cost_type_0 == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
-    {%- else %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
-    {%- endif %}
-{%- endif %}
-{%- if cost_type == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
-{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
-{%- elif cost_type == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
-    {%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
-    {%- endif %}
-{%- endif %}
-{%- if cost_type_e == "NONLINEAR_LS" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-        {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
-{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
-{%- elif cost_type_e == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
-        {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
-    {%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
-        {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
-    {%- endif %}
-{%- endif %}
-        acados_solver_{{ model.name }}.c)
-    add_library(${OCP_OBJ} OBJECT ${OCP_SRC})
-endif()
-
-{%- if solver_options.integrator_type != "DISCRETE" %}
-# for sim solver
-if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_EXAMPLE}
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-    OR ${BUILD_SIM_EXAMPLE} OR ${BUILD_ACADOS_SIM_SOLVER_LIB}
-    {%- endif -%}
-    )
-    set(SIM_SRC acados_sim_solver_{{ model.name }}.c)
-    add_library(${SIM_OBJ} OBJECT ${SIM_SRC})
-endif()
-{%- endif %}
-
-# for target example
-set(EX_SRC main_{{ model.name }}.c)
-set(EX_EXE main_{{ model.name }})
-
-{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
-set(EXTERNAL_DIR {{ model_external_shared_lib_dir | replace(from="\", to="/")  }})
-set(EXTERNAL_LIB {{ model_external_shared_lib_name }})
-{%- else %}
-set(EXTERNAL_DIR)
-set(EXTERNAL_LIB)
-{%- endif %}
-
-# set some search paths for preprocessor and linker
-set(ACADOS_INCLUDE_PATH {{ acados_include_path | replace(from="\", to="/")  }} CACHE PATH "Define the path which contains the include directory for acados.")
-set(ACADOS_LIB_PATH {{ acados_lib_path | replace(from="\", to="/") }} CACHE PATH "Define the path which contains the lib directory for acados.")
-
-# c-compiler flags for debugging
-set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb")
-
-set(CMAKE_C_FLAGS "-fPIC -std=c99 {{ openmp_flag }}
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" -%}
-    -DACADOS_WITH_QPOASES
-{%- endif -%}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" -%}
-    -DACADOS_WITH_DAQP
-{%- endif -%}
-{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%}
-    -DACADOS_WITH_OSQP
-{%- endif -%}
-{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%}
-    -DACADOS_WITH_QPDUNES
-{%- endif -%}
-")
-#-fno-diagnostics-show-line-numbers -g
-
-include_directories(
-   ${ACADOS_INCLUDE_PATH}
-   ${ACADOS_INCLUDE_PATH}/acados
-   ${ACADOS_INCLUDE_PATH}/blasfeo/include
-   ${ACADOS_INCLUDE_PATH}/hpipm/include
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-   ${ACADOS_INCLUDE_PATH}/qpOASES_e/
-{%- endif %}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-   ${ACADOS_INCLUDE_PATH}/daqp/include
-{%- endif %}
-)
-
-# linker flags
-link_directories(${ACADOS_LIB_PATH})
-
-# link to libraries
-if(UNIX)
-    link_libraries(acados hpipm blasfeo m {{ link_libs }})
-else()
-    link_libraries(acados hpipm blasfeo {{ link_libs }})
-endif()
-
-# the targets
-
-# bundled_shared_lib
-if(${BUILD_ACADOS_SOLVER_LIB})
-    set(LIB_ACADOS_SOLVER acados_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-        $<TARGET_OBJECTS:${SIM_OBJ}>
-    {%- endif -%}
-    )
-    install(TARGETS ${LIB_ACADOS_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_SOLVER_LIB})
-
-# ocp_shared_lib
-if(${BUILD_ACADOS_OCP_SOLVER_LIB})
-    set(LIB_ACADOS_OCP_SOLVER acados_ocp_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_OCP_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>)
-    # Specify libraries or flags to use when linking a given target and/or its dependents.
-    target_link_libraries(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_LIB})
-    target_link_directories(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_DIR})
-    install(TARGETS ${LIB_ACADOS_OCP_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_OCP_SOLVER_LIB})
-
-# example
-if(${BUILD_EXAMPLE})
-    add_executable(${EX_EXE} ${EX_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
-    {%- if solver_options.integrator_type != "DISCRETE" %}
-        $<TARGET_OBJECTS:${SIM_OBJ}>
-    {%- endif -%}
-    )
-    install(TARGETS ${EX_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_EXAMPLE})
-
-{% if solver_options.integrator_type != "DISCRETE" -%}
-# example_sim
-if(${BUILD_SIM_EXAMPLE})
-    set(EX_SIM_SRC main_sim_{{ model.name }}.c)
-    set(EX_SIM_EXE main_sim_{{ model.name }})
-    add_executable(${EX_SIM_EXE} ${EX_SIM_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
-    install(TARGETS ${EX_SIM_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_SIM_EXAMPLE})
-
-# sim_shared_lib
-if(${BUILD_ACADOS_SIM_SOLVER_LIB})
-    set(LIB_ACADOS_SIM_SOLVER acados_sim_solver_{{ model.name }})
-    add_library(${LIB_ACADOS_SIM_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
-    install(TARGETS ${LIB_ACADOS_SIM_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
-endif(${BUILD_ACADOS_SIM_SOLVER_LIB})
-{%- endif %}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/Makefile.in b/third_party/acados/acados_template/c_templates_tera/Makefile.in
deleted file mode 100644
index fbefc08e38..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/Makefile.in
+++ /dev/null
@@ -1,468 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-{%- if solver_options.qp_solver %}
-	{%- set qp_solver = solver_options.qp_solver %}
-{%- else %}
-	{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
-{%- endif %}
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{%- if constraints.constr_type %}
-	{%- set constr_type = constraints.constr_type %}
-{%- else %}
-	{%- set constr_type = "NONE" %}
-{%- endif %}
-
-{%- if constraints.constr_type_e %}
-	{%- set constr_type_e = constraints.constr_type_e %}
-{%- else %}
-	{%- set constr_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type %}
-	{%- set cost_type = cost.cost_type %}
-{%- else %}
-	{%- set cost_type = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_e %}
-	{%- set cost_type_e = cost.cost_type_e %}
-{%- else %}
-	{%- set cost_type_e = "NONE" %}
-{%- endif %}
-
-{%- if cost.cost_type_0 %}
-	{%- set cost_type_0 = cost.cost_type_0 %}
-{%- else %}
-	{%- set cost_type_0 = "NONE" %}
-{%- endif %}
-
-{%- if dims.nh %}
-	{%- set dims_nh = dims.nh %}
-{%- else %}
-	{%- set dims_nh = 0 %}
-{%- endif %}
-
-{%- if dims.nphi %}
-	{%- set dims_nphi = dims.nphi %}
-{%- else %}
-	{%- set dims_nphi = 0 %}
-{%- endif %}
-
-{%- if dims.nh_e %}
-	{%- set dims_nh_e = dims.nh_e %}
-{%- else %}
-	{%- set dims_nh_e = 0 %}
-{%- endif %}
-
-{%- if dims.nphi_e %}
-	{%- set dims_nphi_e = dims.nphi_e %}
-{%- else %}
-	{%- set dims_nphi_e = 0 %}
-{%- endif %}
-{%- if solver_options.model_external_shared_lib_dir %}
-	{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
-{%- endif %}
-{%- if solver_options.model_external_shared_lib_name %}
-	{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
-{%- endif %}
-
-{# control operator #}
-{%- if os and os == "pc" %}
-	{%- set control = "&" %}
-{%- else %}
-	{%- set control = ";" %}
-{%- endif %}
-
-{# acados linking libraries and flags #}
-{%- if acados_link_libs and os and os == "pc" %}
-	{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
-	{%- set openmp_flag = acados_link_libs.openmp %}
-{%- else %}
-	{%- set openmp_flag = " " %}
-	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-		{%- set link_libs = "-lqpOASES_e" %}
-	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
-		{%- set link_libs = "-ldaqp" %}
-	{%- else %}
-		{%- set link_libs = "" %}
-	{%- endif %}
-{%- endif %}
-
-# define sources and use make's implicit rules to generate object files (*.o)
-
-# model
-MODEL_SRC=
-	{%- if model.dyn_ext_fun_type == "casadi" %}
-{%- if solver_options.integrator_type == "ERK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
-	{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-		{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-		{%- endif %}
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
-	{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-	{% if model.gnsf.purely_linear != 1 %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
-		{% if model.gnsf.nontrivial_f_LO == 1 %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
-		{%- endif %}
-	{%- endif %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
-		{%- if hessian_approx == "EXACT" %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
-		{%- endif %}
-{%- endif %}
-	{%- else %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_generic_source }}
-	{%- endif %}
-MODEL_OBJ := $(MODEL_SRC:.c=.o)
-
-# optimal control problem - mostly CasADi exports
-OCP_SRC=
-{%- if constr_type == "BGP" and dims_nphi > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
-{%- endif %}
-{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
-{%- endif %}
-
-{%- if constr_type == "BGH" and dims_nh > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
-	{%- if hessian_approx == "EXACT" %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
-	{%- endif %}
-{%- endif %}
-
-{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
-	{%- if hessian_approx == "EXACT" %}
-OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
-	{%- endif %}
-{%- endif %}
-
-{%- if cost_type_0 == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
-{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
-{%- elif cost_type_0 == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type_0 == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
-	{%- else %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
-	{%- endif %}
-{%- endif %}
-{%- if cost_type == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
-{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
-{%- elif cost_type == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
-	{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
-	{%- endif %}
-{%- endif %}
-{%- if cost_type_e == "NONLINEAR_LS" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
-{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
-{%- elif cost_type_e == "EXTERNAL" %}
-	{%- if cost.cost_ext_fun_type_e == "casadi" %}
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
-OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
-	{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
-OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
-	{%- endif %}
-{%- endif %}
-{%- if solver_options.custom_update_filename %}
-	{%- if solver_options.custom_update_filename != "" %}
-OCP_SRC+= {{ solver_options.custom_update_filename }}
-	{%- endif %}
-{%- endif %}
-
-OCP_SRC+= acados_solver_{{ model.name }}.c
-OCP_OBJ := $(OCP_SRC:.c=.o)
-
-# for sim solver
-SIM_SRC= acados_sim_solver_{{ model.name }}.c
-SIM_OBJ := $(SIM_SRC:.c=.o)
-
-# for target example
-EX_SRC= main_{{ model.name }}.c
-EX_OBJ := $(EX_SRC:.c=.o)
-EX_EXE := $(EX_SRC:.c=)
-
-# for target example_sim
-EX_SIM_SRC= main_sim_{{ model.name }}.c
-EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
-EX_SIM_EXE := $(EX_SIM_SRC:.c=)
-
-# combine model, sim and ocp object files
-OBJ=
-OBJ+= $(MODEL_OBJ)
-{%- if solver_options.integrator_type != "DISCRETE" %}
-OBJ+= $(SIM_OBJ)
-{%- endif %}
-OBJ+= $(OCP_OBJ)
-
-EXTERNAL_DIR=
-EXTERNAL_LIB=
-
-{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
-EXTERNAL_DIR+= {{ model_external_shared_lib_dir  }}
-EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
-{%- endif %}
-
-INCLUDE_PATH = {{ acados_include_path }}
-LIB_PATH = {{ acados_lib_path }}
-
-# preprocessor flags for make's implicit rules
-{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-CPPFLAGS += -DACADOS_WITH_QPOASES
-{%- endif %}
-{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-CPPFLAGS += -DACADOS_WITH_DAQP
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
-CPPFLAGS += -DACADOS_WITH_OSQP
-{%- endif %}
-{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
-CPPFLAGS += -DACADOS_WITH_QPDUNES
-{%- endif %}
-CPPFLAGS+= -I$(INCLUDE_PATH)
-CPPFLAGS+= -I$(INCLUDE_PATH)/acados
-CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
-CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
- {%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
- {%- endif %}
- {%- if qp_solver == "FULL_CONDENSING_DAQP" %}
-CPPFLAGS+= -I $(INCLUDE_PATH)/daqp/include
- {%- endif %}
-
-{# c-compiler flags #}
-# define the c-compiler flags for make's implicit rules
-CFLAGS = -fPIC -std=c99 {{ openmp_flag }} {{ solver_options.ext_fun_compile_flags }}#-fno-diagnostics-show-line-numbers -g
-# # Debugging
-# CFLAGS += -g3
-
-# linker flags
-LDFLAGS+= -L$(LIB_PATH)
-
-# link to libraries
-LDLIBS+= -lacados
-LDLIBS+= -lhpipm
-LDLIBS+= -lblasfeo
-LDLIBS+= -lm
-LDLIBS+= {{ link_libs }}
-
-# libraries
-LIBACADOS_SOLVER=libacados_solver_{{ model.name }}{{ shared_lib_ext }}
-LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
-LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c={{ shared_lib_ext }})
-
-# virtual targets
-.PHONY : all clean
-
-#all: clean example_sim example shared_lib
-{% if solver_options.integrator_type == "DISCRETE" -%}
-all: clean example
-shared_lib: ocp_shared_lib
-{%- else %}
-all: clean example_sim example
-shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
-{%- endif %}
-
-# some linker targets
-example: $(EX_OBJ) $(OBJ)
-	$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
-
-example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
-	$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
-
-{% if solver_options.integrator_type != "DISCRETE" -%}
-bundled_shared_lib: $(OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
-{%- endif %}
-
-ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
-	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
-
-sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
-	$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
-
-
-# Cython targets
-ocp_cython_c: ocp_shared_lib
-	cython \
-	-o acados_ocp_solver_pyx.c \
-	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
-	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
-	-I {{ code_export_directory }} \
-
-ocp_cython_o: ocp_cython_c
-	$(CC) $(ACADOS_FLAGS) -c -O2 \
-	-fPIC \
-	-o acados_ocp_solver_pyx.o \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	{%- for path in cython_include_dirs %}
-	-I {{ path }} \
-	{%- endfor %}
-	acados_ocp_solver_pyx.c \
-
-ocp_cython: ocp_cython_o
-	$(CC) $(ACADOS_FLAGS) -shared \
-	-o acados_ocp_solver_pyx{{ shared_lib_ext }} \
-	-Wl,-rpath=$(LIB_PATH) \
-	acados_ocp_solver_pyx.o \
-	$(abspath .)/libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} \
-	$(LDFLAGS) $(LDLIBS)
-
-# Sim Cython targets
-sim_cython_c: sim_shared_lib
-	cython \
-	-o acados_sim_solver_pyx.c \
-	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
-	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
-	-I {{ code_export_directory }} \
-
-sim_cython_o: sim_cython_c
-	$(CC) $(ACADOS_FLAGS) -c -O2 \
-	-fPIC \
-	-o acados_sim_solver_pyx.o \
-	-I $(INCLUDE_PATH)/blasfeo/include/ \
-	-I $(INCLUDE_PATH)/hpipm/include/ \
-	-I $(INCLUDE_PATH) \
-	{%- for path in cython_include_dirs %}
-	-I {{ path }} \
-	{%- endfor %}
-	acados_sim_solver_pyx.c \
-
-sim_cython: sim_cython_o
-	$(CC) $(ACADOS_FLAGS) -shared \
-	-o acados_sim_solver_pyx{{ shared_lib_ext }} \
-	-Wl,-rpath=$(LIB_PATH) \
-	acados_sim_solver_pyx.o \
-	$(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \
-	$(LDFLAGS) $(LDLIBS)
-
-{%- if os and os == "pc" %}
-
-clean:
-	del \Q *.o 2>nul
-	del \Q *{{ shared_lib_ext }} 2>nul
-	del \Q main_{{ model.name }} 2>nul
-
-clean_ocp_shared_lib:
-	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_solver_{{ model.name }}.o 2>nul
-
-clean_ocp_cython:
-	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_solver_{{ model.name }}.o 2>nul
-	del \Q acados_ocp_solver_pyx{{ shared_lib_ext }} 2>nul
-	del \Q acados_ocp_solver_pyx.o 2>nul
-
-clean_sim_cython:
-	del \Q libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
-	del \Q acados_sim_solver_{{ model.name }}.o 2>nul
-	del \Q acados_sim_solver_pyx{{ shared_lib_ext }} 2>nul
-	del \Q acados_sim_solver_pyx.o 2>nul
-
-{%- else %}
-
-clean:
-	$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
-	$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
-	$(RM) $(EX_EXE) $(EX_SIM_EXE)
-
-clean_ocp_shared_lib:
-	$(RM) $(LIBACADOS_OCP_SOLVER)
-	$(RM) $(OCP_OBJ)
-
-clean_ocp_cython:
-	$(RM) libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
-	$(RM) acados_solver_{{ model.name }}.o
-	$(RM) acados_ocp_solver_pyx{{ shared_lib_ext }}
-	$(RM) acados_ocp_solver_pyx.o
-
-clean_sim_cython:
-	$(RM) libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }}
-	$(RM) acados_sim_solver_{{ model.name }}.o
-	$(RM) acados_sim_solver_pyx{{ shared_lib_ext }}
-	$(RM) acados_sim_solver_pyx.o
-
-{%- endif %}
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
deleted file mode 100644
index 0cd098273c..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
+++ /dev/null
@@ -1,526 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-
-// acados
-#include "acados_c/external_function_interface.h"
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/print.h"
-
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-
-// ** solver data **
-
-sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule()
-{
-    void* capsule_mem = malloc(sizeof(sim_solver_capsule));
-    sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem;
-
-    return capsule;
-}
-
-
-int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule * capsule)
-{
-    free(capsule);
-    return 0;
-}
-
-
-int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
-{
-    // initialize
-    const int nx = {{ model.name | upper }}_NX;
-    const int nu = {{ model.name | upper }}_NU;
-    const int nz = {{ model.name | upper }}_NZ;
-    const int np = {{ model.name | upper }}_NP;
-    bool tmp_bool;
-
-    {#// double Tsim = {{ solver_options.tf / dims.N }};#}
-    double Tsim = {{ solver_options.Tsim }};
-
-    {% if solver_options.integrator_type == "IRK" %}
-    capsule->sim_impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-  {%- if model.dyn_ext_fun_type == "casadi" %}
-    // external functions (implicit model)
-    capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun;
-    capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work;
-    capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in;
-    capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out;
-    capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in;
-    capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun, np);
-
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in;
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np);
-
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in;
-    capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np);
-  {%- else %}
-    capsule->sim_impl_dae_fun->fun = &{{ model.dyn_impl_dae_fun }};
-    capsule->sim_impl_dae_fun_jac_x_xdot_z->fun = &{{ model.dyn_impl_dae_fun_jac }};
-    capsule->sim_impl_dae_jac_x_xdot_u_z->fun = &{{ model.dyn_impl_dae_jac }};
-  {%- endif %}
-
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess;
-    capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work;
-    capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in;
-    capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out;
-    capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in;
-    capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_hess, np);
-{%- endif %}
-
-    {% elif solver_options.integrator_type == "ERK" %}
-    // explicit ode
-    capsule->sim_forw_vde_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_vde_adj_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_expl_ode_fun_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-    capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw;
-    capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in;
-    capsule->sim_forw_vde_casadi->casadi_n_out = &{{ model.name }}_expl_vde_forw_n_out;
-    capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in;
-    capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out;
-    capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_forw_vde_casadi, np);
-
-    capsule->sim_vde_adj_casadi->casadi_fun = &{{ model.name }}_expl_vde_adj;
-    capsule->sim_vde_adj_casadi->casadi_n_in = &{{ model.name }}_expl_vde_adj_n_in;
-    capsule->sim_vde_adj_casadi->casadi_n_out = &{{ model.name }}_expl_vde_adj_n_out;
-    capsule->sim_vde_adj_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_adj_sparsity_in;
-    capsule->sim_vde_adj_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_adj_sparsity_out;
-    capsule->sim_vde_adj_casadi->casadi_work = &{{ model.name }}_expl_vde_adj_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_vde_adj_casadi, np);
-
-    capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun;
-    capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in;
-    capsule->sim_expl_ode_fun_casadi->casadi_n_out = &{{ model.name }}_expl_ode_fun_n_out;
-    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in;
-    capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out;
-    capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_fun_casadi, np);
-
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_expl_ode_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
-    capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess;
-    capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work;
-    capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in;
-    capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out;
-    capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in;
-    capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_hess, np);
-{%- endif %}
-
-    {% elif solver_options.integrator_type == "GNSF" -%}
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-    capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-  {%- endif %}
-  {%- endif %}
-    capsule->sim_gnsf_get_matrices_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
-
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun;
-    capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in;
-    capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out;
-    capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in;
-    capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out;
-    capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun, np);
-
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_jac_y_n_out;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out;
-    capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun_jac_y, np);
-
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_out;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out;
-    capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
-
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
-  {%- endif %}
-  {%- endif %}
-
-    capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
-    capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
-    capsule->sim_gnsf_get_matrices_fun->casadi_n_out = &{{ model.name }}_gnsf_get_matrices_fun_n_out;
-    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in;
-    capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out;
-    capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work;
-    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_get_matrices_fun, np);
-    {% endif %}
-
-    // sim plan & config
-    sim_solver_plan_t plan;
-    plan.sim_solver = {{ solver_options.integrator_type }};
-
-    // create correct config based on plan
-    sim_config * {{ model.name }}_sim_config = sim_config_create(plan);
-    capsule->acados_sim_config = {{ model.name }}_sim_config;
-
-    // sim dims
-    void *{{ model.name }}_sim_dims = sim_dims_create({{ model.name }}_sim_config);
-    capsule->acados_sim_dims = {{ model.name }}_sim_dims;
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx", &nx);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nu", &nu);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz", &nz);
-{% if solver_options.integrator_type == "GNSF" %}
-    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
-    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
-    int gnsf_nout = {{ dims.gnsf_nout }};
-    int gnsf_ny = {{ dims.gnsf_ny }};
-    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
-
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx1", &gnsf_nx1);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz1", &gnsf_nz1);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nout", &gnsf_nout);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "ny", &gnsf_ny);
-    sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nuhat", &gnsf_nuhat);
-{% endif %}
-
-    // sim opts
-    sim_opts *{{ model.name }}_sim_opts = sim_opts_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_opts = {{ model.name }}_sim_opts;
-    int tmp_int = {{ solver_options.sim_method_newton_iter }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int);
-    double tmp_double = {{ solver_options.sim_method_newton_tol }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_tol", &tmp_double);
-    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type);
-
-{% if problem_class == "SIM" %}
-    tmp_int = {{ solver_options.sim_method_num_stages }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
-    tmp_int = {{ solver_options.sim_method_num_steps }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
-
-    // options that are not available to AcadosOcpSolver
-    //  (in OCP they will be determined by other options, like exact_hessian)
-    tmp_bool = {{ solver_options.sens_forw }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_forw", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_adj }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_adj", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_algebraic }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_algebraic", &tmp_bool);
-    tmp_bool = {{ solver_options.sens_hess }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_hess", &tmp_bool);
-    tmp_bool = {{ solver_options.output_z }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "output_z", &tmp_bool);
-
-{% else %} {# num_stages and num_steps of first shooting interval are used #}
-    tmp_int = {{ solver_options.sim_method_num_stages[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int);
-    tmp_int = {{ solver_options.sim_method_num_steps[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int);
-    tmp_bool = {{ solver_options.sim_method_jac_reuse[0] }};
-    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool);
-{% endif %}
-
-    // sim in / out
-    sim_in *{{ model.name }}_sim_in = sim_in_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_in = {{ model.name }}_sim_in;
-    sim_out *{{ model.name }}_sim_out = sim_out_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims);
-    capsule->acados_sim_out = {{ model.name }}_sim_out;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "T", &Tsim);
-
-    // model functions
-{%- if solver_options.integrator_type == "IRK" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_fun", capsule->sim_impl_dae_fun);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_fun_jac_x_xdot", capsule->sim_impl_dae_fun_jac_x_xdot_z);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "impl_ode_jac_x_xdot_u", capsule->sim_impl_dae_jac_x_xdot_u_z);
-{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                "impl_dae_hess", capsule->sim_impl_dae_hess);
-{%- endif %}
-
-{%- elif solver_options.integrator_type == "ERK" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_vde_forw", capsule->sim_forw_vde_casadi);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_vde_adj", capsule->sim_vde_adj_casadi);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_ode_fun", capsule->sim_expl_ode_fun_casadi);
-{%- if hessian_approx == "EXACT" %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                "expl_ode_hess", capsule->sim_expl_ode_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_fun", capsule->sim_gnsf_phi_fun);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y);
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun);
-{%- endif %}
-
-    // sim solver
-    sim_solver *{{ model.name }}_sim_solver = sim_solver_create({{ model.name }}_sim_config,
-                                               {{ model.name }}_sim_dims, {{ model.name }}_sim_opts);
-    capsule->acados_sim_solver = {{ model.name }}_sim_solver;
-
-{% if dims.np > 0 %}
-    /* initialize parameter values */
-    double* p = calloc(np, sizeof(double));
-    {% for item in parameter_values %}
-        {%- if item != 0 %}
-    p[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-
-    {{ model.name }}_acados_sim_update_params(capsule, p, np);
-    free(p);
-{% endif %}{# if dims.np #}
-
-    /* initialize input */
-    // x
-    double x0[{{ dims.nx }}];
-    for (int ii = 0; ii < {{ dims.nx }}; ii++)
-        x0[ii] = 0.0;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "x", x0);
-
-
-    // u
-    double u0[{{ dims.nu }}];
-    for (int ii = 0; ii < {{ dims.nu }}; ii++)
-        u0[ii] = 0.0;
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "u", u0);
-
-    // S_forw
-    double S_forw[{{ dims.nx * (dims.nx + dims.nu) }}];
-    for (int ii = 0; ii < {{ dims.nx * (dims.nx + dims.nu) }}; ii++)
-        S_forw[ii] = 0.0;
-    for (int ii = 0; ii < {{ dims.nx }}; ii++)
-        S_forw[ii + ii * {{ dims.nx }} ] = 1.0;
-
-
-    sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims,
-               {{ model.name }}_sim_in, "S_forw", S_forw);
-
-    int status = sim_precompute({{ model.name }}_sim_solver, {{ model.name }}_sim_in, {{ model.name }}_sim_out);
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule)
-{
-    // integrate dynamics using acados sim_solver
-    int status = sim_solve(capsule->acados_sim_solver,
-                           capsule->acados_sim_in, capsule->acados_sim_out);
-    if (status != 0)
-        printf("error in {{ model.name }}_acados_sim_solve()! Exiting.\n");
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
-{
-    // free memory
-    sim_solver_destroy(capsule->acados_sim_solver);
-    sim_in_destroy(capsule->acados_sim_in);
-    sim_out_destroy(capsule->acados_sim_out);
-    sim_opts_destroy(capsule->acados_sim_opts);
-    sim_dims_destroy(capsule->acados_sim_dims);
-    sim_config_destroy(capsule->acados_sim_config);
-
-    // free external function
-{%- if solver_options.integrator_type == "IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun_jac_x_xdot_z);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_jac_x_xdot_u_z);
-{%- if hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "ERK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_forw_vde_casadi);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_vde_adj_casadi);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_fun_casadi);
-{%- if hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_hess);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun_jac_y);
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_get_matrices_fun);
-{% endif %}
-
-    return 0;
-}
-
-
-int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np)
-{
-    int status = 0;
-    int casadi_np = {{ model.name | upper }}_NP;
-
-    if (casadi_np != np) {
-        printf("{{ model.name }}_acados_sim_update_params: trying to set %i parameters for external functions."
-            " External function has %i parameters. Exiting.\n", np, casadi_np);
-        exit(1);
-    }
-
-{%- if solver_options.integrator_type == "ERK" %}
-    capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
-    capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p);
-    capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p);
-{%- endif %}
-{%- elif solver_options.integrator_type == "IRK" %}
-    capsule->sim_impl_dae_fun[0].set_param(capsule->sim_impl_dae_fun, p);
-    capsule->sim_impl_dae_fun_jac_x_xdot_z[0].set_param(capsule->sim_impl_dae_fun_jac_x_xdot_z, p);
-    capsule->sim_impl_dae_jac_x_xdot_u_z[0].set_param(capsule->sim_impl_dae_jac_x_xdot_u_z, p);
-{%- if hessian_approx == "EXACT" %}
-    capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p);
-{%- endif %}
-{%- elif solver_options.integrator_type == "GNSF" %}
-  {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p);
-    capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p);
-    capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p);
-  {%- endif %}
-  {%- endif %}
-    capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p);
-{% endif %}
-
-    return status;
-}
-
-/* getters pointers to C objects*/
-sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_config;
-};
-
-sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_in;
-};
-
-sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_out;
-};
-
-void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_dims;
-};
-
-sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_opts;
-};
-
-sim_solver  * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule)
-{
-    return capsule->acados_sim_solver;
-};
-
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
deleted file mode 100644
index 59aee62f49..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_SIM_{{ model.name }}_H_
-#define ACADOS_SIM_{{ model.name }}_H_
-
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#define {{ model.name | upper }}_NX     {{ dims.nx }}
-#define {{ model.name | upper }}_NZ     {{ dims.nz }}
-#define {{ model.name | upper }}_NU     {{ dims.nu }}
-#define {{ model.name | upper }}_NP     {{ dims.np }}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// ** capsule for solver data **
-typedef struct sim_solver_capsule
-{
-    // acados objects
-    sim_in *acados_sim_in;
-    sim_out *acados_sim_out;
-    sim_solver *acados_sim_solver;
-    sim_opts *acados_sim_opts;
-    sim_config *acados_sim_config;
-    void *acados_sim_dims;
-
-    /* external functions */
-    // ERK
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_forw_vde_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_vde_adj_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_fun_casadi;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_hess;
-
-    // IRK
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun_jac_x_xdot_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_jac_x_xdot_u_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_hess;
-
-    // GNSF
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun_jac_y;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_jac_y_uhat;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_get_matrices_fun;
-
-} sim_solver_capsule;
-
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
-
-ACADOS_SYMBOL_EXPORT sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
-ACADOS_SYMBOL_EXPORT sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
-
-
-ACADOS_SYMBOL_EXPORT sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_SIM_{{ model.name }}_H_
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
deleted file mode 100644
index 153f98d13a..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
+++ /dev/null
@@ -1,51 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-cimport acados_sim_solver_common
-
-cdef extern from "acados_sim_solver_{{ model.name }}.h":
-    ctypedef struct sim_solver_capsule "sim_solver_capsule":
-        pass
-
-    sim_solver_capsule * acados_sim_solver_create_capsule "{{ model.name }}_acados_sim_solver_create_capsule"()
-    int acados_sim_solver_free_capsule "{{ model.name }}_acados_sim_solver_free_capsule"(sim_solver_capsule *capsule)
-
-    int acados_sim_create "{{ model.name }}_acados_sim_create"(sim_solver_capsule * capsule)
-    int acados_sim_solve "{{ model.name }}_acados_sim_solve"(sim_solver_capsule * capsule)
-    int acados_sim_free "{{ model.name }}_acados_sim_free"(sim_solver_capsule * capsule)
-    int acados_sim_update_params "{{ model.name }}_acados_sim_update_params"(sim_solver_capsule * capsule, double *value, int np_)
-    # int acados_sim_update_params_sparse "{{ model.name }}_acados_sim_update_params_sparse"(sim_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-
-    acados_sim_solver_common.sim_in *acados_get_sim_in "{{ model.name }}_acados_get_sim_in"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_out *acados_get_sim_out "{{ model.name }}_acados_get_sim_out"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_solver *acados_get_sim_solver "{{ model.name }}_acados_get_sim_solver"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_config *acados_get_sim_config "{{ model.name }}_acados_get_sim_config"(sim_solver_capsule * capsule)
-    acados_sim_solver_common.sim_opts *acados_get_sim_opts "{{ model.name }}_acados_get_sim_opts"(sim_solver_capsule * capsule)
-    void *acados_get_sim_dims "{{ model.name }}_acados_get_sim_dims"(sim_solver_capsule * capsule)
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
deleted file mode 100644
index 5e36a53d10..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
+++ /dev/null
@@ -1,2741 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <assert.h>
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "{{ model.name }}_constraints/{{ model.name }}_constraints.h"
-
-{%- if cost.cost_type != "LINEAR_LS" or cost.cost_type_e != "LINEAR_LS" or cost.cost_type_0 != "LINEAR_LS" %}
-#include "{{ model.name }}_cost/{{ model.name }}_cost.h"
-{%- endif %}
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-{%- if not solver_options.custom_update_header_filename %}
-    {%- set custom_update_header_filename = "" %}
-{% else %}
-    {%- set custom_update_header_filename = solver_options.custom_update_header_filename %}
-{%- endif %}
-{%- if custom_update_header_filename != "" %}
-#include "{{ custom_update_header_filename }}"
-{%- endif %}
-
-
-#include "acados_solver_{{ model.name }}.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-#define NBX    {{ model.name | upper }}_NBX
-#define NBX0   {{ model.name | upper }}_NBX0
-#define NBU    {{ model.name | upper }}_NBU
-#define NSBX   {{ model.name | upper }}_NSBX
-#define NSBU   {{ model.name | upper }}_NSBU
-#define NSH    {{ model.name | upper }}_NSH
-#define NSG    {{ model.name | upper }}_NSG
-#define NSPHI  {{ model.name | upper }}_NSPHI
-#define NSHN   {{ model.name | upper }}_NSHN
-#define NSGN   {{ model.name | upper }}_NSGN
-#define NSPHIN {{ model.name | upper }}_NSPHIN
-#define NSBXN  {{ model.name | upper }}_NSBXN
-#define NS     {{ model.name | upper }}_NS
-#define NSN    {{ model.name | upper }}_NSN
-#define NG     {{ model.name | upper }}_NG
-#define NBXN   {{ model.name | upper }}_NBXN
-#define NGN    {{ model.name | upper }}_NGN
-#define NY0    {{ model.name | upper }}_NY0
-#define NY     {{ model.name | upper }}_NY
-#define NYN    {{ model.name | upper }}_NYN
-// #define N      {{ model.name | upper }}_N
-#define NH     {{ model.name | upper }}_NH
-#define NPHI   {{ model.name | upper }}_NPHI
-#define NHN    {{ model.name | upper }}_NHN
-#define NPHIN  {{ model.name | upper }}_NPHIN
-#define NR     {{ model.name | upper }}_NR
-
-
-// ** solver data **
-
-{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void)
-{
-    void* capsule_mem = malloc(sizeof({{ model.name }}_solver_capsule));
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) capsule_mem;
-
-    return capsule;
-}
-
-
-int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule)
-{
-    free(capsule);
-    return 0;
-}
-
-
-int {{ model.name }}_acados_create({{ model.name }}_solver_capsule* capsule)
-{
-    int N_shooting_intervals = {{ model.name | upper }}_N;
-    double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps
-    return {{ model.name }}_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps);
-}
-
-
-int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps)
-{
-    if (N != capsule->nlp_solver_plan->N) {
-        fprintf(stderr, "{{ model.name }}_acados_update_time_steps: given number of time steps (= %d) " \
-            "differs from the currently allocated number of " \
-            "time steps (= %d)!\n" \
-            "Please recreate with new discretization and provide a new vector of time_stamps!\n",
-            N, capsule->nlp_solver_plan->N);
-        return 1;
-    }
-
-    ocp_nlp_config * nlp_config = capsule->nlp_config;
-    ocp_nlp_dims * nlp_dims = capsule->nlp_dims;
-    ocp_nlp_in * nlp_in = capsule->nlp_in;
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]);
-    }
-    return 0;
-}
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 1
- */
-void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N)
-{
-    assert(N == nlp_solver_plan->N);
-
-    /************************************************
-    *  plan
-    ************************************************/
-
-    {%- if solver_options.nlp_solver_type == "SQP" %}
-    nlp_solver_plan->nlp_solver = SQP;
-    {%- else %}
-    nlp_solver_plan->nlp_solver = SQP_RTI;
-    {%- endif %}
-
-    nlp_solver_plan->ocp_qp_solver_plan.qp_solver = {{ solver_options.qp_solver }};
-
-    nlp_solver_plan->nlp_cost[0] = {{ cost.cost_type_0 }};
-    for (int i = 1; i < N; i++)
-        nlp_solver_plan->nlp_cost[i] = {{ cost.cost_type }};
-
-    nlp_solver_plan->nlp_cost[N] = {{ cost.cost_type_e }};
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if solver_options.integrator_type == "DISCRETE" %}
-        nlp_solver_plan->nlp_dynamics[i] = DISCRETE_MODEL;
-        // discrete dynamics does not need sim solver option, this field is ignored
-        nlp_solver_plan->sim_solver_plan[i].sim_solver = INVALID_SIM_SOLVER;
-        {%- else %}
-        nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL;
-        nlp_solver_plan->sim_solver_plan[i].sim_solver = {{ solver_options.integrator_type }};
-        {%- endif %}
-    }
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if constraints.constr_type == "BGP" %}
-        nlp_solver_plan->nlp_constraints[i] = BGP;
-        {%- else -%}
-        nlp_solver_plan->nlp_constraints[i] = BGH;
-        {%- endif %}
-    }
-
-    {%- if constraints.constr_type_e == "BGP" %}
-    nlp_solver_plan->nlp_constraints[N] = BGP;
-    {%- else %}
-    nlp_solver_plan->nlp_constraints[N] = BGH;
-    {%- endif %}
-
-    {%- if solver_options.regularize_method == "NO_REGULARIZE" %}
-    nlp_solver_plan->regularization = NO_REGULARIZE;
-    {%- elif solver_options.regularize_method == "MIRROR" %}
-    nlp_solver_plan->regularization = MIRROR;
-    {%- elif solver_options.regularize_method == "PROJECT" %}
-    nlp_solver_plan->regularization = PROJECT;
-    {%- elif solver_options.regularize_method == "PROJECT_REDUC_HESS" %}
-    nlp_solver_plan->regularization = PROJECT_REDUC_HESS;
-    {%- elif solver_options.regularize_method == "CONVEXIFY" %}
-    nlp_solver_plan->regularization = CONVEXIFY;
-    {%- endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 2
- */
-ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ model.name }}_solver_capsule* capsule)
-{
-    ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan;
-    const int N = nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-
-    /************************************************
-    *  dimensions
-    ************************************************/
-    #define NINTNP1MEMS 17
-    int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS );
-
-    int* nx    = intNp1mem + (N+1)*0;
-    int* nu    = intNp1mem + (N+1)*1;
-    int* nbx   = intNp1mem + (N+1)*2;
-    int* nbu   = intNp1mem + (N+1)*3;
-    int* nsbx  = intNp1mem + (N+1)*4;
-    int* nsbu  = intNp1mem + (N+1)*5;
-    int* nsg   = intNp1mem + (N+1)*6;
-    int* nsh   = intNp1mem + (N+1)*7;
-    int* nsphi = intNp1mem + (N+1)*8;
-    int* ns    = intNp1mem + (N+1)*9;
-    int* ng    = intNp1mem + (N+1)*10;
-    int* nh    = intNp1mem + (N+1)*11;
-    int* nphi  = intNp1mem + (N+1)*12;
-    int* nz    = intNp1mem + (N+1)*13;
-    int* ny    = intNp1mem + (N+1)*14;
-    int* nr    = intNp1mem + (N+1)*15;
-    int* nbxe  = intNp1mem + (N+1)*16;
-
-    for (int i = 0; i < N+1; i++)
-    {
-        // common
-        nx[i]     = NX;
-        nu[i]     = NU;
-        nz[i]     = NZ;
-        ns[i]     = NS;
-        // cost
-        ny[i]     = NY;
-        // constraints
-        nbx[i]    = NBX;
-        nbu[i]    = NBU;
-        nsbx[i]   = NSBX;
-        nsbu[i]   = NSBU;
-        nsg[i]    = NSG;
-        nsh[i]    = NSH;
-        nsphi[i]  = NSPHI;
-        ng[i]     = NG;
-        nh[i]     = NH;
-        nphi[i]   = NPHI;
-        nr[i]     = NR;
-        nbxe[i]   = 0;
-    }
-
-    // for initial state
-    nbx[0]  = NBX0;
-    nsbx[0] = 0;
-    ns[0] = NS - NSBX;
-    nbxe[0] = {{ dims.nbxe_0 }};
-    ny[0] = NY0;
-
-    // terminal - common
-    nu[N]   = 0;
-    nz[N]   = 0;
-    ns[N]   = NSN;
-    // cost
-    ny[N]   = NYN;
-    // constraint
-    nbx[N]   = NBXN;
-    nbu[N]   = 0;
-    ng[N]    = NGN;
-    nh[N]    = NHN;
-    nphi[N]  = NPHIN;
-    nr[N]    = {{ dims.nr_e }};
-
-    nsbx[N]  = NSBXN;
-    nsbu[N]  = 0;
-    nsg[N]   = NSGN;
-    nsh[N]   = NSHN;
-    nsphi[N] = NSPHIN;
-
-    /* create and set ocp_nlp_dims */
-    ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config);
-
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz);
-    ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns);
-
-    for (int i = 0; i <= N; i++)
-    {
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]);
-    }
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR"%}
-    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]);
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR"%}
-    for (int i = 1; i < N; i++)
-        ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]);
-{%- endif %}
-
-    for (int i = 0; i < N; i++)
-    {
-        {%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]);
-        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nr", &nr[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nphi", &nphi[i]);
-        ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsphi", &nsphi[i]);
-        {%- endif %}
-    }
-
-{%- if constraints.constr_type_e == "BGH" %}
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]);
-{%- elif constraints.constr_type_e == "BGP" %}
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nr", &nr[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]);
-    ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]);
-{%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR"%}
-    ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]);
-{%- endif %}
-    free(intNp1mem);
-
-{%- if solver_options.integrator_type == "GNSF" -%}
-    // GNSF specific dimensions
-    int gnsf_nx1 = {{ dims.gnsf_nx1 }};
-    int gnsf_nz1 = {{ dims.gnsf_nz1 }};
-    int gnsf_nout = {{ dims.gnsf_nout }};
-    int gnsf_ny = {{ dims.gnsf_ny }};
-    int gnsf_nuhat = {{ dims.gnsf_nuhat }};
-
-    for (int i = 0; i < N; i++)
-    {
-        if (nlp_solver_plan->sim_solver_plan[i].sim_solver == GNSF)
-        {
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nx1", &gnsf_nx1);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nz1", &gnsf_nz1);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nout", &gnsf_nout);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_ny", &gnsf_ny);
-            ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nuhat", &gnsf_nuhat);
-        }
-    }
-{%- endif %}
-return nlp_dims;
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 3
- */
-void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-
-    /************************************************
-    *  external functions
-    ************************************************/
-
-#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \
-        capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\
-        capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \
-        capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \
-        capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \
-        capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \
-        capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \
-        external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , {{ dims.np }}); \
-    }while(false)
-
-{% if constraints.constr_type == "BGP" %}
-    // constraints.constr_type == "BGP"
-    capsule->phi_constraint = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++)
-    {
-        // nonlinear part of convex-composite constraint
-        MAP_CASADI_FNC(phi_constraint[i], {{ model.name }}_phi_constraint);
-    }
-{%- endif %}
-
-{%- if constraints.constr_type_e == "BGP" %}
-    // constraints.constr_type_e == "BGP"
-    // nonlinear part of convex-composite constraint
-    MAP_CASADI_FNC(phi_e_constraint, {{ model.name }}_phi_e_constraint);
-{%- endif %}
-
-{%- if constraints.constr_type == "BGH" and dims.nh > 0  %}
-    // constraints.constr_type == "BGH" and dims.nh > 0
-    capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun_jac[i], {{ model.name }}_constr_h_fun_jac_uxt_zt);
-    }
-    capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun[i], {{ model.name }}_constr_h_fun);
-    }
-    {% if solver_options.hessian_approx == "EXACT" %}
-    capsule->nl_constr_h_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(nl_constr_h_fun_jac_hess[i], {{ model.name }}_constr_h_fun_jac_uxt_zt_hess);
-    }
-    {% endif %}
-{% endif %}
-
-{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    MAP_CASADI_FNC(nl_constr_h_e_fun_jac, {{ model.name }}_constr_h_e_fun_jac_uxt_zt);
-    MAP_CASADI_FNC(nl_constr_h_e_fun, {{ model.name }}_constr_h_e_fun);
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    MAP_CASADI_FNC(nl_constr_h_e_fun_jac_hess, {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess);
-    {% endif %}
-{%- endif %}
-
-{% if solver_options.integrator_type == "ERK" %}
-    // explicit ode
-    capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(forw_vde_casadi[i], {{ model.name }}_expl_vde_forw);
-    }
-
-    capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(expl_ode_fun[i], {{ model.name }}_expl_ode_fun);
-    }
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->hess_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(hess_vde_casadi[i], {{ model.name }}_expl_ode_hess);
-    }
-    {%- endif %}
-
-{% elif solver_options.integrator_type == "IRK" %}
-    // implicit dae
-    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
-    {%- else %}
-        capsule->impl_dae_fun[i].fun = &{{ model.dyn_impl_dae_fun }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_z[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_z);
-    {%- else %}
-        capsule->impl_dae_fun_jac_x_xdot_z[i].fun = &{{ model.dyn_impl_dae_fun_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun_jac_x_xdot_z[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-    {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(impl_dae_jac_x_xdot_u_z[i], {{ model.name }}_impl_dae_jac_x_xdot_u_z);
-    {%- else %}
-        capsule->impl_dae_jac_x_xdot_u_z[i].fun = &{{ model.dyn_impl_dae_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_jac_x_xdot_u_z[i], {{ dims.np }});
-    {%- endif %}
-    }
-
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_hess[i], {{ model.name }}_impl_dae_hess);
-    }
-    {%- endif %}
-{% elif solver_options.integrator_type == "LIFTED_IRK" %}
-    // external functions (implicit model)
-    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
-    }
-
-    capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_u[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_u);
-    }
-
-{% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-    capsule->gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_fun[i], {{ model.name }}_gnsf_phi_fun);
-    }
-
-    capsule->gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_fun_jac_y[i], {{ model.name }}_gnsf_phi_fun_jac_y);
-    }
-
-    capsule->gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_phi_jac_y_uhat[i], {{ model.name }}_gnsf_phi_jac_y_uhat);
-    }
-
-    {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_f_lo_jac_x1_x1dot_u_z[i], {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz);
-    }
-    {%- endif %}
-    {%- endif %}
-    capsule->gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N; i++) {
-        MAP_CASADI_FNC(gnsf_get_matrices_fun[i], {{ model.name }}_gnsf_get_matrices_fun);
-    }
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    // discrete dynamics
-    capsule->discr_dyn_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun[i], {{ model.name }}_dyn_disc_phi_fun);
-        {%- else %}
-        capsule->discr_dyn_phi_fun[i].fun = &{{ model.dyn_disc_fun }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->discr_dyn_phi_fun_jac_ut_xt = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt[i], {{ model.name }}_dyn_disc_phi_fun_jac);
-        {%- else %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt[i].fun = &{{ model.dyn_disc_fun_jac }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->discr_dyn_phi_fun_jac_ut_xt_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
-    for (int i = 0; i < N; i++)
-    {
-        {%- if model.dyn_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ model.name }}_dyn_disc_phi_fun_jac_hess);
-        {%- else %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].fun = &{{ model.dyn_disc_fun_jac_hess }};
-        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ dims.np }});
-        {%- endif %}
-    }
-  {%- endif %}
-{%- endif %}
-
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    // nonlinear least squares function
-    MAP_CASADI_FNC(cost_y_0_fun, {{ model.name }}_cost_y_0_fun);
-    MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, {{ model.name }}_cost_y_0_fun_jac_ut_xt);
-    MAP_CASADI_FNC(cost_y_0_hess, {{ model.name }}_cost_y_0_hess);
-
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    MAP_CASADI_FNC(conl_cost_0_fun, {{ model.name }}_conl_cost_0_fun);
-    MAP_CASADI_FNC(conl_cost_0_fun_jac_hess, {{ model.name }}_conl_cost_0_fun_jac_hess);
-
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun, {{ model.name }}_cost_ext_cost_0_fun);
-    {%- else %}
-    capsule->ext_cost_0_fun.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun, {{ dims.np }});
-    {%- endif %}
-
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun_jac, {{ model.name }}_cost_ext_cost_0_fun_jac);
-    {%- else %}
-    capsule->ext_cost_0_fun_jac.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac, {{ dims.np }});
-    {%- endif %}
-
-    // external cost
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_0_fun_jac_hess, {{ model.name }}_cost_ext_cost_0_fun_jac_hess);
-    {%- else %}
-    capsule->ext_cost_0_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_0 }};
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac_hess, {{ dims.np }});
-    {%- endif %}
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    // nonlinear least squares cost
-    capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_fun[i], {{ model.name }}_cost_y_fun);
-    }
-
-    capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], {{ model.name }}_cost_y_fun_jac_ut_xt);
-    }
-
-    capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(cost_y_hess[i], {{ model.name }}_cost_y_hess);
-    }
-
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    capsule->conl_cost_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(conl_cost_fun[i], {{ model.name }}_conl_cost_fun);
-    }
-    capsule->conl_cost_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        MAP_CASADI_FNC(conl_cost_fun_jac_hess[i], {{ model.name }}_conl_cost_fun_jac_hess);
-    }
-
-{%- elif cost.cost_type == "EXTERNAL" %}
-    // external cost
-    capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun[i], {{ model.name }}_cost_ext_cost_fun);
-        {%- else %}
-        capsule->ext_cost_fun[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->ext_cost_fun_jac = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun_jac[i], {{ model.name }}_cost_ext_cost_fun_jac);
-        {%- else %}
-        capsule->ext_cost_fun_jac[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac[i], {{ dims.np }});
-        {%- endif %}
-    }
-
-    capsule->ext_cost_fun_jac_hess = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
-    for (int i = 0; i < N-1; i++)
-    {
-        {%- if cost.cost_ext_fun_type == "casadi" %}
-        MAP_CASADI_FNC(ext_cost_fun_jac_hess[i], {{ model.name }}_cost_ext_cost_fun_jac_hess);
-        {%- else %}
-        capsule->ext_cost_fun_jac_hess[i].fun = &{{ cost.cost_function_ext_cost }};
-        external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac_hess[i], {{ dims.np }});
-        {%- endif %}
-    }
-{%- endif %}
-
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    // nonlinear least square function
-    MAP_CASADI_FNC(cost_y_e_fun, {{ model.name }}_cost_y_e_fun);
-    MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, {{ model.name }}_cost_y_e_fun_jac_ut_xt);
-    MAP_CASADI_FNC(cost_y_e_hess, {{ model.name }}_cost_y_e_hess);
-
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    // convex-over-nonlinear cost
-    MAP_CASADI_FNC(conl_cost_e_fun, {{ model.name }}_conl_cost_e_fun);
-    MAP_CASADI_FNC(conl_cost_e_fun_jac_hess, {{ model.name }}_conl_cost_e_fun_jac_hess);
-
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    // external cost - function
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun, {{ model.name }}_cost_ext_cost_e_fun);
-    {% else %}
-    capsule->ext_cost_e_fun.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun, {{ dims.np }});
-    {%- endif %}
-
-    // external cost - jacobian
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun_jac, {{ model.name }}_cost_ext_cost_e_fun_jac);
-    {%- else %}
-    capsule->ext_cost_e_fun_jac.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac, {{ dims.np }});
-    {%- endif %}
-
-    // external cost - hessian
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-    MAP_CASADI_FNC(ext_cost_e_fun_jac_hess, {{ model.name }}_cost_ext_cost_e_fun_jac_hess);
-    {%- else %}
-    capsule->ext_cost_e_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_e }};
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac_hess, {{ dims.np }});
-    {%- endif %}
-{%- endif %}
-
-#undef MAP_CASADI_FNC
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 4
- */
-void {{ model.name }}_acados_create_4_set_default_parameters({{ model.name }}_solver_capsule* capsule) {
-{%- if dims.np > 0 %}
-    const int N = capsule->nlp_solver_plan->N;
-    // initialize parameters to nominal value
-    double* p = calloc(NP, sizeof(double));
-    {%- for item in parameter_values %}
-        {%- if item != 0 %}
-    p[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i <= N; i++) {
-        {{ model.name }}_acados_update_params(capsule, i, p, NP);
-    }
-    free(p);
-{%- else %}
-    // no parameters defined
-{%- endif %}{# if dims.np #}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 5
- */
-void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule* capsule, const int N, double* new_time_steps)
-{
-    assert(N == capsule->nlp_solver_plan->N);
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-
-    /************************************************
-    *  nlp_in
-    ************************************************/
-//    ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims);
-//    capsule->nlp_in = nlp_in;
-    ocp_nlp_in * nlp_in = capsule->nlp_in;
-
-    // set up time_steps
-    {% set all_equal = true -%}
-    {%- set val = solver_options.time_steps[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.time_steps[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-    if (new_time_steps) {
-        {{ model.name }}_acados_update_time_steps(capsule, N, new_time_steps);
-    } else {
-    {%- if all_equal == true -%}
-        // all time_steps are identical
-        double time_step = {{ solver_options.time_steps[0] }};
-        for (int i = 0; i < N; i++)
-        {
-            ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step);
-            ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step);
-        }
-    {%- else -%}
-        // time_steps are different
-        double* time_steps = malloc(N*sizeof(double));
-        {%- for j in range(end=dims.N) %}
-        time_steps[{{ j }}] = {{ solver_options.time_steps[j] }};
-        {%- endfor %}
-        {{ model.name }}_acados_update_time_steps(capsule, N, time_steps);
-        free(time_steps);
-    {%- endif %}
-    }
-
-    /**** Dynamics ****/
-    for (int i = 0; i < N; i++)
-    {
-    {%- if solver_options.integrator_type == "ERK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_hess", &capsule->hess_vde_casadi[i]);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "IRK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_fun_jac_x_xdot_z", &capsule->impl_dae_fun_jac_x_xdot_z[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_jac_x_xdot_u", &capsule->impl_dae_jac_x_xdot_u_z[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_hess", &capsule->impl_dae_hess[i]);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                   "impl_dae_fun_jac_x_xdot_u", &capsule->impl_dae_fun_jac_x_xdot_u[i]);
-    {% elif solver_options.integrator_type == "GNSF" %}
-        {% if model.gnsf.purely_linear != 1 %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun", &capsule->gnsf_phi_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun_jac_y", &capsule->gnsf_phi_fun_jac_y[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_jac_y_uhat", &capsule->gnsf_phi_jac_y_uhat[i]);
-            {% if model.gnsf.nontrivial_f_LO == 1 %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "f_lo_jac_x1_x1dot_u_z",
-                                   &capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
-            {%- endif %}
-        {%- endif %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "gnsf_get_matrices_fun",
-                                   &capsule->gnsf_get_matrices_fun[i]);
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun", &capsule->discr_dyn_phi_fun[i]);
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac",
-                                   &capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac_hess",
-                                   &capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
-        {%- endif %}
-    {%- endif %}
-    }
-
-    /**** Cost ****/
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    double* yref_0 = calloc(NY0, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- if cost.yref_0[j] != 0 %}
-    yref_0[{{ j }}] = {{ cost.yref_0[j] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0);
-    free(yref_0);
-{%- endif %}
-
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    double* yref = calloc(NY, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- if cost.yref[j] != 0 %}
-    yref[{{ j }}] = {{ cost.yref[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref);
-    }
-    free(yref);
-{%- endif %}
-
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    double* yref_e = calloc(NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- if cost.yref_e[j] != 0 %}
-    yref_e[{{ j }}] = {{ cost.yref_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e);
-    free(yref_e);
-{%- endif %}
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %}
-   double* W_0 = calloc(NY0*NY0, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.ny_0) %}
-            {%- if cost.W_0[j][k] != 0 %}
-    W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0);
-    free(W_0);
-{%- endif %}
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %}
-    double* W = calloc(NY*NY, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.ny) %}
-            {%- if cost.W[j][k] != 0 %}
-    W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W);
-    }
-    free(W);
-{%- endif %}
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %}
-    double* W_e = calloc(NYN*NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.ny_e) %}
-            {%- if cost.W_e[j][k] != 0 %}
-    W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e);
-    free(W_e);
-{%- endif %}
-
-{%- if dims.ny_0 == 0 %}
-{%- elif cost.cost_type_0 == "LINEAR_LS" %}
-    double* Vx_0 = calloc(NY0*NX, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx_0[j][k] != 0 %}
-    Vx_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vx_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0);
-    free(Vx_0);
-
-    {%- if dims.nu > 0 %}
-    double* Vu_0 = calloc(NY0*NU, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nu) %}
-            {%- if cost.Vu_0[j][k] != 0 %}
-    Vu_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vu_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vu", Vu_0);
-    free(Vu_0);
-    {%- endif %}
-
-    {%- if dims.nz > 0 %}
-    double* Vz_0 = calloc(NY0*NZ, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.nz) %}
-            {%- if cost.Vz_0[j][k] != 0 %}
-    Vz_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vz_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0);
-    free(Vz_0);
-    {%- endif %}
-{%- endif %}
-
-{%- if dims.ny == 0 %}
-{%- elif cost.cost_type == "LINEAR_LS" %}
-    double* Vx = calloc(NY*NX, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx[j][k] != 0 %}
-    Vx[{{ j }}+(NY) * {{ k }}] = {{ cost.Vx[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vx", Vx);
-    }
-    free(Vx);
-
-    {% if dims.nu > 0 %}
-    double* Vu = calloc(NY*NU, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nu) %}
-            {%- if cost.Vu[j][k] != 0 %}
-    Vu[{{ j }}+(NY) * {{ k }}] = {{ cost.Vu[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vu", Vu);
-    }
-    free(Vu);
-    {%- endif %}
-
-    {%- if dims.nz > 0 %}
-    double* Vz = calloc(NY*NZ, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.nz) %}
-            {%- if cost.Vz[j][k] != 0 %}
-    Vz[{{ j }}+(NY) * {{ k }}] = {{ cost.Vz[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vz", Vz);
-    }
-    free(Vz);
-    {%- endif %}
-{%- endif %}{# LINEAR LS #}
-
-{%- if dims.ny_e == 0 %}
-{%- elif cost.cost_type_e == "LINEAR_LS" %}
-    double* Vx_e = calloc(NYN*NX, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx_e[j][k] != 0 %}
-    Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e);
-    free(Vx_e);
-{%- endif %}
-
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess);
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun", &capsule->conl_cost_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun_jac_hess", &capsule->conl_cost_0_fun_jac_hess);
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac_hess", &capsule->ext_cost_0_fun_jac_hess);
-{%- endif %}
-
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]);
-    }
-{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun", &capsule->conl_cost_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun_jac_hess", &capsule->conl_cost_fun_jac_hess[i-1]);
-    }
-{%- elif cost.cost_type == "EXTERNAL" %}
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun", &capsule->ext_cost_fun[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac", &capsule->ext_cost_fun_jac[i-1]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac_hess", &capsule->ext_cost_fun_jac_hess[i-1]);
-    }
-{%- endif %}
-
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess);
-
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun", &capsule->conl_cost_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun_jac_hess", &capsule->conl_cost_e_fun_jac_hess);
-
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess);
-{%- endif %}
-
-
-{%- if dims.ns > 0 %}
-    // slacks
-    double* zlumem = calloc(4*NS, sizeof(double));
-    double* Zl = zlumem+NS*0;
-    double* Zu = zlumem+NS*1;
-    double* zl = zlumem+NS*2;
-    double* zu = zlumem+NS*3;
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.Zl[j] != 0 %}
-    Zl[{{ j }}] = {{ cost.Zl[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.Zu[j] != 0 %}
-    Zu[{{ j }}] = {{ cost.Zu[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.zl[j] != 0 %}
-    zl[{{ j }}] = {{ cost.zl[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {%- for j in range(end=dims.ns) %}
-        {%- if cost.zu[j] != 0 %}
-    zu[{{ j }}] = {{ cost.zu[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu);
-    }
-    free(zlumem);
-{%- endif %}
-
-{% if dims.ns_e > 0 %}
-    // slacks terminal
-    double* zluemem = calloc(4*NSN, sizeof(double));
-    double* Zl_e = zluemem+NSN*0;
-    double* Zu_e = zluemem+NSN*1;
-    double* zl_e = zluemem+NSN*2;
-    double* zu_e = zluemem+NSN*3;
-
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.Zl_e[j] != 0 %}
-    Zl_e[{{ j }}] = {{ cost.Zl_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.Zu_e[j] != 0 %}
-    Zu_e[{{ j }}] = {{ cost.Zu_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.zl_e[j] != 0 %}
-    zl_e[{{ j }}] = {{ cost.zl_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ns_e) %}
-        {%- if cost.zu_e[j] != 0 %}
-    zu_e[{{ j }}] = {{ cost.zu_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zl", Zl_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zu", Zu_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zl", zl_e);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zu", zu_e);
-    free(zluemem);
-{%- endif %}
-
-    /**** Constraints ****/
-
-    // bounds for initial stage
-{%- if dims.nbx_0 > 0 %}
-    // x0
-    int* idxbx0 = malloc(NBX0 * sizeof(int));
-    {%- for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double* lubx0 = calloc(2*NBX0, sizeof(double));
-    double* lbx0 = lubx0;
-    double* ubx0 = lubx0 + NBX0;
-    // change only the non-zero elements:
-    {%- for i in range(end=dims.nbx_0) %}
-        {%- if constraints.lbx_0[i] != 0 %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-        {%- endif %}
-        {%- if constraints.ubx_0[i] != 0 %}
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-    free(idxbx0);
-    free(lubx0);
-{%- endif %}
-
-{%- if dims.nbxe_0 > 0 %}
-    // idxbxe_0
-    int* idxbxe_0 = malloc({{ dims.nbxe_0 }} * sizeof(int));
-    {% for i in range(end=dims.nbxe_0) %}
-    idxbxe_0[{{ i }}] = {{ constraints.idxbxe_0[i] }};
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0);
-    free(idxbxe_0);
-{%- endif %}
-
-    /* constraints that are the same for initial and intermediate */
-{%- if dims.nsbx > 0 %}
-{# TODO: introduce nsbx0 & move this block down!! #}
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxsbx", idxsbx);
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lsbx", lsbx);
-    // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "usbx", usbx);
-
-    // soft bounds on x
-    int* idxsbx = malloc(NSBX * sizeof(int));
-    {%- for i in range(end=dims.nsbx) %}
-    idxsbx[{{ i }}] = {{ constraints.idxsbx[i] }};
-    {%- endfor %}
-
-    double* lusbx = calloc(2*NSBX, sizeof(double));
-    double* lsbx = lusbx;
-    double* usbx = lusbx + NSBX;
-    {%- for i in range(end=dims.nsbx) %}
-        {%- if constraints.lsbx[i] != 0 %}
-    lsbx[{{ i }}] = {{ constraints.lsbx[i] }};
-        {%- endif %}
-        {%- if constraints.usbx[i] != 0 %}
-    usbx[{{ i }}] = {{ constraints.usbx[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx);
-    }
-    free(idxsbx);
-    free(lusbx);
-{%- endif %}
-
-
-{%- if dims.nbu > 0 %}
-    // u
-    int* idxbu = malloc(NBU * sizeof(int));
-    {% for i in range(end=dims.nbu) %}
-    idxbu[{{ i }}] = {{ constraints.idxbu[i] }};
-    {%- endfor %}
-    double* lubu = calloc(2*NBU, sizeof(double));
-    double* lbu = lubu;
-    double* ubu = lubu + NBU;
-    {% for i in range(end=dims.nbu) %}
-        {%- if constraints.lbu[i] != 0 %}
-    lbu[{{ i }}] = {{ constraints.lbu[i] }};
-        {%- endif %}
-        {%- if constraints.ubu[i] != 0 %}
-    ubu[{{ i }}] = {{ constraints.ubu[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbu", idxbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbu", lbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubu", ubu);
-    }
-    free(idxbu);
-    free(lubu);
-{%- endif %}
-
-{%- if dims.nsbu > 0 %}
-    // set up soft bounds for u
-    int* idxsbu = malloc(NSBU * sizeof(int));
-    {% for i in range(end=dims.nsbu) %}
-    idxsbu[{{ i }}] = {{ constraints.idxsbu[i] }};
-    {%- endfor %}
-    double* lusbu = calloc(2*NSBU, sizeof(double));
-    double* lsbu = lusbu;
-    double* usbu = lusbu + NSBU;
-    {% for i in range(end=dims.nsbu) %}
-        {%- if constraints.lsbu[i] != 0 %}
-    lsbu[{{ i }}] = {{ constraints.lsbu[i] }};
-        {%- endif %}
-        {%- if constraints.usbu[i] != 0 %}
-    usbu[{{ i }}] = {{ constraints.usbu[i] }};
-        {%- endif %}
-    {%- endfor %}
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbu", idxsbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbu", lsbu);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbu", usbu);
-    }
-    free(idxsbu);
-    free(lusbu);
-{%- endif %}
-
-{% if dims.nsg > 0 %}
-    // set up soft bounds for general linear constraints
-    int* idxsg = malloc(NSG * sizeof(int));
-    {% for i in range(end=dims.nsg) %}
-    idxsg[{{ i }}] = {{ constraints.idxsg[i] }};
-    {%- endfor %}
-    double* lusg = calloc(2*NSG, sizeof(double));
-    double* lsg = lusg;
-    double* usg = lusg + NSG;
-    {% for i in range(end=dims.nsg) %}
-        {%- if constraints.lsg[i] != 0 %}
-    lsg[{{ i }}] = {{ constraints.lsg[i] }};
-        {%- endif %}
-        {%- if constraints.usg[i] != 0 %}
-    usg[{{ i }}] = {{ constraints.usg[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsg", idxsg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsg", lsg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usg", usg);
-    }
-    free(idxsg);
-    free(lusg);
-{%- endif %}
-
-{% if dims.nsh > 0 %}
-    // set up soft bounds for nonlinear constraints
-    int* idxsh = malloc(NSH * sizeof(int));
-    {% for i in range(end=dims.nsh) %}
-    idxsh[{{ i }}] = {{ constraints.idxsh[i] }};
-    {%- endfor %}
-    double* lush = calloc(2*NSH, sizeof(double));
-    double* lsh = lush;
-    double* ush = lush + NSH;
-    {% for i in range(end=dims.nsh) %}
-        {%- if constraints.lsh[i] != 0 %}
-    lsh[{{ i }}] = {{ constraints.lsh[i] }};
-        {%- endif %}
-        {%- if constraints.ush[i] != 0 %}
-    ush[{{ i }}] = {{ constraints.ush[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush);
-    }
-    free(idxsh);
-    free(lush);
-{%- endif %}
-
-{% if dims.nsphi > 0 %}
-    // set up soft bounds for convex-over-nonlinear constraints
-    int* idxsphi = malloc(NSPHI * sizeof(int));
-    {% for i in range(end=dims.nsphi) %}
-    idxsphi[{{ i }}] = {{ constraints.idxsphi[i] }};
-    {%- endfor %}
-    double* lusphi = calloc(2*NSPHI, sizeof(double));
-    double* lsphi = lusphi;
-    double* usphi = lusphi + NSPHI;
-    {% for i in range(end=dims.nsphi) %}
-        {%- if constraints.lsphi[i] != 0 %}
-    lsphi[{{ i }}] = {{ constraints.lsphi[i] }};
-        {%- endif %}
-        {%- if constraints.usphi[i] != 0 %}
-    usphi[{{ i }}] = {{ constraints.usphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsphi", idxsphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsphi", lsphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usphi", usphi);
-    }
-    free(idxsphi);
-    free(lusphi);
-{%- endif %}
-
-{% if dims.nbx > 0 %}
-    // x
-    int* idxbx = malloc(NBX * sizeof(int));
-    {% for i in range(end=dims.nbx) %}
-    idxbx[{{ i }}] = {{ constraints.idxbx[i] }};
-    {%- endfor %}
-    double* lubx = calloc(2*NBX, sizeof(double));
-    double* lbx = lubx;
-    double* ubx = lubx + NBX;
-    {% for i in range(end=dims.nbx) %}
-        {%- if constraints.lbx[i] != 0 %}
-    lbx[{{ i }}] = {{ constraints.lbx[i] }};
-        {%- endif %}
-        {%- if constraints.ubx[i] != 0 %}
-    ubx[{{ i }}] = {{ constraints.ubx[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 1; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx);
-    }
-    free(idxbx);
-    free(lubx);
-{%- endif %}
-
-{% if dims.ng > 0 %}
-    // set up general constraints for stage 0 to N-1
-    double* D = calloc(NG*NU, sizeof(double));
-    double* C = calloc(NG*NX, sizeof(double));
-    double* lug = calloc(2*NG, sizeof(double));
-    double* lg = lug;
-    double* ug = lug + NG;
-
-    {% for j in range(end=dims.ng) -%}
-        {% for k in range(end=dims.nu) %}
-            {%- if constraints.D[j][k] != 0 %}
-    D[{{ j }}+NG * {{ k }}] = {{ constraints.D[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for j in range(end=dims.ng) -%}
-        {% for k in range(end=dims.nx) %}
-            {%- if constraints.C[j][k] != 0 %}
-    C[{{ j }}+NG * {{ k }}] = {{ constraints.C[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng) %}
-        {%- if constraints.lg[i] != 0 %}
-    lg[{{ i }}] = {{ constraints.lg[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng) %}
-        {%- if constraints.ug[i] != 0 %}
-    ug[{{ i }}] = {{ constraints.ug[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "D", D);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "C", C);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lg", lg);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ug", ug);
-    }
-    free(D);
-    free(C);
-    free(lug);
-{%- endif %}
-
-{% if dims.nh > 0 %}
-    // set up nonlinear constraints for stage 0 to N-1
-    double* luh = calloc(2*NH, sizeof(double));
-    double* lh = luh;
-    double* uh = luh + NH;
-
-    {% for i in range(end=dims.nh) %}
-        {%- if constraints.lh[i] != 0 %}
-    lh[{{ i }}] = {{ constraints.lh[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nh) %}
-        {%- if constraints.uh[i] != 0 %}
-    uh[{{ i }}] = {{ constraints.uh[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        // nonlinear constraints for stages 0 to N-1
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac",
-                                      &capsule->nl_constr_h_fun_jac[i]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun",
-                                      &capsule->nl_constr_h_fun[i]);
-        {% if solver_options.hessian_approx == "EXACT" %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                      "nl_constr_h_fun_jac_hess", &capsule->nl_constr_h_fun_jac_hess[i]);
-        {% endif %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh);
-    }
-    free(luh);
-{%- endif %}
-
-{% if dims.nphi > 0 and constraints.constr_type == "BGP" %}
-    // set up convex-over-nonlinear constraints for stage 0 to N-1
-    double* luphi = calloc(2*NPHI, sizeof(double));
-    double* lphi = luphi;
-    double* uphi = luphi + NPHI;
-    {% for i in range(end=dims.nphi) %}
-        {%- if constraints.lphi[i] != 0 %}
-    lphi[{{ i }}] = {{ constraints.lphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nphi) %}
-        {%- if constraints.uphi[i] != 0 %}
-    uphi[{{ i }}] = {{ constraints.uphi[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i,
-                                      "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_constraint[i]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lphi", lphi);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uphi", uphi);
-    }
-    free(luphi);
-{%- endif %}
-
-    /* terminal constraints */
-{% if dims.nbx_e > 0 %}
-    // set up bounds for last stage
-    // x
-    int* idxbx_e = malloc(NBXN * sizeof(int));
-    {% for i in range(end=dims.nbx_e) %}
-    idxbx_e[{{ i }}] = {{ constraints.idxbx_e[i] }};
-    {%- endfor %}
-    double* lubx_e = calloc(2*NBXN, sizeof(double));
-    double* lbx_e = lubx_e;
-    double* ubx_e = lubx_e + NBXN;
-    {% for i in range(end=dims.nbx_e) %}
-        {%- if constraints.lbx_e[i] != 0 %}
-    lbx_e[{{ i }}] = {{ constraints.lbx_e[i] }};
-        {%- endif %}
-        {%- if constraints.ubx_e[i] != 0 %}
-    ubx_e[{{ i }}] = {{ constraints.ubx_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxbx", idxbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", lbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", ubx_e);
-    free(idxbx_e);
-    free(lubx_e);
-{%- endif %}
-
-{% if dims.nsg_e > 0 %}
-    // set up soft bounds for general linear constraints
-    int* idxsg_e = calloc(NSGN, sizeof(int));
-    {% for i in range(end=dims.nsg_e) %}
-    idxsg_e[{{ i }}] = {{ constraints.idxsg_e[i] }};
-    {%- endfor %}
-    double* lusg_e = calloc(2*NSGN, sizeof(double));
-    double* lsg_e = lusg_e;
-    double* usg_e = lusg_e + NSGN;
-    {% for i in range(end=dims.nsg_e) %}
-        {%- if constraints.lsg_e[i] != 0 %}
-    lsg_e[{{ i }}] = {{ constraints.lsg_e[i] }};
-        {%- endif %}
-        {%- if constraints.usg_e[i] != 0 %}
-    usg_e[{{ i }}] = {{ constraints.usg_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsg", idxsg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsg", lsg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usg", usg_e);
-    free(idxsg_e);
-    free(lusg_e);
-{%- endif %}
-
-{% if dims.nsh_e > 0 %}
-    // set up soft bounds for nonlinear constraints
-    int* idxsh_e = malloc(NSHN * sizeof(int));
-    {% for i in range(end=dims.nsh_e) %}
-    idxsh_e[{{ i }}] = {{ constraints.idxsh_e[i] }};
-    {%- endfor %}
-    double* lush_e = calloc(2*NSHN, sizeof(double));
-    double* lsh_e = lush_e;
-    double* ush_e = lush_e + NSHN;
-    {% for i in range(end=dims.nsh_e) %}
-        {%- if constraints.lsh_e[i] != 0 %}
-    lsh_e[{{ i }}] = {{ constraints.lsh_e[i] }};
-        {%- endif %}
-        {%- if constraints.ush_e[i] != 0 %}
-    ush_e[{{ i }}] = {{ constraints.ush_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsh", idxsh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsh", lsh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ush", ush_e);
-    free(idxsh_e);
-    free(lush_e);
-{%- endif %}
-
-{% if dims.nsphi_e > 0 %}
-    // set up soft bounds for convex-over-nonlinear constraints
-    int* idxsphi_e = malloc(NSPHIN * sizeof(int));
-    {% for i in range(end=dims.nsphi_e) %}
-    idxsphi_e[{{ i }}] = {{ constraints.idxsphi_e[i] }};
-    {%- endfor %}
-    double* lusphi_e = calloc(2*NSPHIN, sizeof(double));
-    double* lsphi_e = lusphi_e;
-    double* usphi_e = lusphi_e + NSPHIN;
-    {% for i in range(end=dims.nsphi_e) %}
-        {%- if constraints.lsphi_e[i] != 0 %}
-    lsphi_e[{{ i }}] = {{ constraints.lsphi_e[i] }};
-        {%- endif %}
-        {%- if constraints.usphi_e[i] != 0 %}
-    usphi_e[{{ i }}] = {{ constraints.usphi_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsphi", idxsphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsphi", lsphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usphi", usphi_e);
-    free(idxsphi_e);
-    free(lusphi_e);
-{%- endif %}
-
-{% if dims.nsbx_e > 0 %}
-    // soft bounds on x
-    int* idxsbx_e = malloc(NSBXN * sizeof(int));
-    {% for i in range(end=dims.nsbx_e) %}
-    idxsbx_e[{{ i }}] = {{ constraints.idxsbx_e[i] }};
-    {%- endfor %}
-    double* lusbx_e = calloc(2*NSBXN, sizeof(double));
-    double* lsbx_e = lusbx_e;
-    double* usbx_e = lusbx_e + NSBXN;
-    {% for i in range(end=dims.nsbx_e) %}
-        {%- if constraints.lsbx_e[i] != 0 %}
-    lsbx_e[{{ i }}] = {{ constraints.lsbx_e[i] }};
-        {%- endif %}
-        {%- if constraints.usbx_e[i] != 0 %}
-    usbx_e[{{ i }}] = {{ constraints.usbx_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsbx", idxsbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsbx", lsbx_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usbx", usbx_e);
-    free(idxsbx_e);
-    free(lusbx_e);
-{% endif %}
-
-{% if dims.ng_e > 0 %}
-    // set up general constraints for last stage
-    double* C_e = calloc(NGN*NX, sizeof(double));
-    double* lug_e = calloc(2*NGN, sizeof(double));
-    double* lg_e = lug_e;
-    double* ug_e = lug_e + NGN;
-
-    {% for j in range(end=dims.ng_e) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if constraints.C_e[j][k] != 0 %}
-    C_e[{{ j }}+NGN * {{ k }}] = {{ constraints.C_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.ng_e) %}
-        {%- if constraints.lg_e[i] != 0 %}
-    lg_e[{{ i }}] = {{ constraints.lg_e[i] }};
-        {%- endif %}
-        {%- if constraints.ug_e[i] != 0 %}
-    ug_e[{{ i }}] = {{ constraints.ug_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "C", C_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", lg_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", ug_e);
-    free(C_e);
-    free(lug_e);
-{%- endif %}
-
-{% if dims.nh_e > 0 %}
-    // set up nonlinear constraints for last stage
-    double* luh_e = calloc(2*NHN, sizeof(double));
-    double* lh_e = luh_e;
-    double* uh_e = luh_e + NHN;
-    {% for i in range(end=dims.nh_e) %}
-        {%- if constraints.lh_e[i] != 0 %}
-    lh_e[{{ i }}] = {{ constraints.lh_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    {% for i in range(end=dims.nh_e) %}
-        {%- if constraints.uh_e[i] != 0 %}
-    uh_e[{{ i }}] = {{ constraints.uh_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac", &capsule->nl_constr_h_e_fun_jac);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun", &capsule->nl_constr_h_e_fun);
-    {% if solver_options.hessian_approx == "EXACT" %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac_hess",
-                                  &capsule->nl_constr_h_e_fun_jac_hess);
-    {% endif %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", lh_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", uh_e);
-    free(luh_e);
-{%- endif %}
-
-{% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %}
-    // set up convex-over-nonlinear constraints for last stage
-    double* luphi_e = calloc(2*NPHIN, sizeof(double));
-    double* lphi_e = luphi_e;
-    double* uphi_e = luphi_e + NPHIN;
-    {% for i in range(end=dims.nphi_e) %}
-        {%- if constraints.lphi_e[i] != 0 %}
-    lphi_e[{{ i }}] = {{ constraints.lphi_e[i] }};
-        {%- endif %}
-        {%- if constraints.uphi_e[i] != 0 %}
-    uphi_e[{{ i }}] = {{ constraints.uphi_e[i] }};
-        {%- endif %}
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lphi", lphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uphi", uphi_e);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N,
-                                  "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_e_constraint);
-    free(luphi_e);
-{% endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 6
- */
-void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    void *nlp_opts = capsule->nlp_opts;
-
-    /************************************************
-    *  opts
-    ************************************************/
-
-{% if solver_options.hessian_approx == "EXACT" %}
-    int nlp_solver_exact_hessian = 1;
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian);
-
-    int exact_hess_dyn = {{ solver_options.exact_hess_dyn }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_dyn", &exact_hess_dyn);
-
-    int exact_hess_cost = {{ solver_options.exact_hess_cost }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_cost", &exact_hess_cost);
-
-    int exact_hess_constr = {{ solver_options.exact_hess_constr }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_constr", &exact_hess_constr);
-{%- endif -%}
-
-{%- if solver_options.globalization == "FIXED_STEP" %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");
-{%- elif solver_options.globalization == "MERIT_BACKTRACKING" %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "merit_backtracking");
-
-    double alpha_min = {{ solver_options.alpha_min }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_min", &alpha_min);
-
-    double alpha_reduction = {{ solver_options.alpha_reduction }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_reduction", &alpha_reduction);
-
-    int line_search_use_sufficient_descent = {{ solver_options.line_search_use_sufficient_descent }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "line_search_use_sufficient_descent", &line_search_use_sufficient_descent);
-
-    int globalization_use_SOC = {{ solver_options.globalization_use_SOC }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "globalization_use_SOC", &globalization_use_SOC);
-
-    double eps_sufficient_descent = {{ solver_options.eps_sufficient_descent }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "eps_sufficient_descent", &eps_sufficient_descent);
-{%- endif -%}
-    int full_step_dual = {{ solver_options.full_step_dual }};
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual);
-
-{%- if dims.nz > 0 %}
-    // TODO: these options are lower level -> should be encapsulated! maybe through hessian approx option.
-    bool output_z_val = true;
-    bool sens_algebraic_val = true;
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_output_z", &output_z_val);
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_sens_algebraic", &sens_algebraic_val);
-{%- endif %}
-
-{%- if solver_options.integrator_type != "DISCRETE" %}
-
-    // set collocation type (relevant for implicit integrators)
-    sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type);
-
-    // set up sim_method_num_steps
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_num_steps[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_num_steps[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-    {%- if all_equal == true %}
-    // all sim_method_num_steps are identical
-    int sim_method_num_steps = {{ solver_options.sim_method_num_steps[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps);
-    {%- else %}
-    // sim_method_num_steps are different
-    int* sim_method_num_steps = malloc(N*sizeof(int));
-    {%- for j in range(end=dims.N) %}
-    sim_method_num_steps[{{ j }}] = {{ solver_options.sim_method_num_steps[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps[i]);
-    free(sim_method_num_steps);
-    {%- endif %}
-
-    // set up sim_method_num_stages
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_num_stages[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_num_stages[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-
-  {%- if all_equal == true %}
-    // all sim_method_num_stages are identical
-    int sim_method_num_stages = {{ solver_options.sim_method_num_stages[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages);
-  {%- else %}
-    int* sim_method_num_stages = malloc(N*sizeof(int));
-    {%- for j in range(end=dims.N) %}
-    sim_method_num_stages[{{ j }}] = {{ solver_options.sim_method_num_stages[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages[i]);
-    free(sim_method_num_stages);
-  {%- endif %}
-
-    int newton_iter_val = {{ solver_options.sim_method_newton_iter }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val);
-
-
-    // set up sim_method_jac_reuse
-    {%- set all_equal = true %}
-    {%- set val = solver_options.sim_method_jac_reuse[0] %}
-    {%- for j in range(start=1, end=dims.N) %}
-        {%- if val != solver_options.sim_method_jac_reuse[j] %}
-            {%- set_global all_equal = false %}
-            {%- break %}
-        {%- endif %}
-    {%- endfor %}
-  {%- if all_equal == true %}
-    bool tmp_bool = (bool) {{ solver_options.sim_method_jac_reuse[0] }};
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool);
-  {%- else %}
-    bool* sim_method_jac_reuse = malloc(N*sizeof(bool));
-    {%- for j in range(end=dims.N) %}
-    sim_method_jac_reuse[{{ j }}] = (bool){{ solver_options.sim_method_jac_reuse[j] }};
-    {%- endfor %}
-
-    for (int i = 0; i < N; i++)
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &sim_method_jac_reuse[i]);
-    free(sim_method_jac_reuse);
-  {%- endif %}
-
-{%- endif %}
-
-    double nlp_solver_step_length = {{ solver_options.nlp_solver_step_length }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length);
-
-    {%- if solver_options.nlp_solver_warm_start_first_qp %}
-    int nlp_solver_warm_start_first_qp = {{ solver_options.nlp_solver_warm_start_first_qp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "warm_start_first_qp", &nlp_solver_warm_start_first_qp);
-    {%- endif %}
-
-    double levenberg_marquardt = {{ solver_options.levenberg_marquardt }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt);
-
-    /* options QP solver */
-{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %}
-    int qp_solver_cond_N;
-
-    {% if solver_options.qp_solver_cond_N -%}
-    const int qp_solver_cond_N_ori = {{ solver_options.qp_solver_cond_N }};
-    qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here
-    {%- else %}
-    // NOTE: there is no condensing happening here!
-    qp_solver_cond_N = N;
-    {%- endif %}
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N);
-{%- endif %}
-
-    int nlp_solver_ext_qp_res = {{ solver_options.nlp_solver_ext_qp_res }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res);
-
-{%- if solver_options.qp_solver is containing("HPIPM") %}
-    // set HPIPM mode: should be done before setting other QP solver options
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "{{ solver_options.hpipm_mode }}");
-{%- endif %}
-
-{% if solver_options.nlp_solver_type == "SQP" %}
-    // set SQP specific options
-    double nlp_solver_tol_stat = {{ solver_options.nlp_solver_tol_stat }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_stat", &nlp_solver_tol_stat);
-
-    double nlp_solver_tol_eq = {{ solver_options.nlp_solver_tol_eq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_eq", &nlp_solver_tol_eq);
-
-    double nlp_solver_tol_ineq = {{ solver_options.nlp_solver_tol_ineq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_ineq", &nlp_solver_tol_ineq);
-
-    double nlp_solver_tol_comp = {{ solver_options.nlp_solver_tol_comp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_comp", &nlp_solver_tol_comp);
-
-    int nlp_solver_max_iter = {{ solver_options.nlp_solver_max_iter }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "max_iter", &nlp_solver_max_iter);
-
-    int initialize_t_slacks = {{ solver_options.initialize_t_slacks }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "initialize_t_slacks", &initialize_t_slacks);
-{%- endif %}
-
-    int qp_solver_iter_max = {{ solver_options.qp_solver_iter_max }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max);
-
-{# NOTE: qp_solver tolerances must be set after NLP ones, since the setter for NLP tolerances sets the QP tolerances to the sam values. #}
-    {%- if solver_options.qp_solver_tol_stat %}
-    double qp_solver_tol_stat = {{ solver_options.qp_solver_tol_stat }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_eq %}
-    double qp_solver_tol_eq = {{ solver_options.qp_solver_tol_eq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_ineq %}
-    double qp_solver_tol_ineq = {{ solver_options.qp_solver_tol_ineq }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_tol_comp %}
-    double qp_solver_tol_comp = {{ solver_options.qp_solver_tol_comp }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp);
-    {%- endif -%}
-
-    {%- if solver_options.qp_solver_warm_start %}
-    int qp_solver_warm_start = {{ solver_options.qp_solver_warm_start }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_warm_start", &qp_solver_warm_start);
-    {%- endif -%}
-
-    int print_level = {{ solver_options.print_level }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level);
-
-{%- if solver_options.qp_solver is containing('PARTIAL_CONDENSING') %}
-    int qp_solver_cond_ric_alg = {{ solver_options.qp_solver_cond_ric_alg }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg);
-{% endif %}
-
-{%- if solver_options.qp_solver  == 'PARTIAL_CONDENSING_HPIPM' %}
-    int qp_solver_ric_alg = {{ solver_options.qp_solver_ric_alg }};
-    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg);
-{% endif %}
-
-    int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }};
-{%- if cost.cost_type == "EXTERNAL" %}
-    for (int i = 0; i < N; i++)
-    {
-        ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "cost_numerical_hessian", &ext_cost_num_hess);
-    }
-{%- endif %}
-{%- if cost.cost_type_e == "EXTERNAL" %}
-    ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, N, "cost_numerical_hessian", &ext_cost_num_hess);
-{%- endif %}
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 7
- */
-void {{ model.name }}_acados_create_7_set_nlp_out({{ model.name }}_solver_capsule* capsule)
-{
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-    ocp_nlp_out* nlp_out = capsule->nlp_out;
-
-    // initialize primal solution
-    double* xu0 = calloc(NX+NU, sizeof(double));
-    double* x0 = xu0;
-{% if dims.nbx_0 == dims.nx %}
-    // initialize with x0
-    {% for item in constraints.lbx_0 %}
-        {%- if item != 0 %}
-    x0[{{ loop.index0 }}] = {{ item }};
-        {%- endif %}
-    {%- endfor %}
-{% else %}
-    // initialize with zeros
-{%- endif %}
-
-    double* u0 = xu0 + NX;
-
-    for (int i = 0; i < N; i++)
-    {
-        // x0
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0);
-        // u0
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-    }
-    ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0);
-    free(xu0);
-}
-
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 8
- */
-//void {{ model.name }}_acados_create_8_create_solver({{ model.name }}_solver_capsule* capsule)
-//{
-//    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-//}
-
-/**
- * Internal function for {{ model.name }}_acados_create: step 9
- */
-int {{ model.name }}_acados_create_9_precompute({{ model.name }}_solver_capsule* capsule) {
-    int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
-
-    if (status != ACADOS_SUCCESS) {
-        printf("\nocp_nlp_precompute failed!\n\n");
-        exit(1);
-    }
-
-    return status;
-}
-
-
-int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps)
-{
-    // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given.
-    if (N != {{ model.name | upper }}_N && !new_time_steps) {
-        fprintf(stderr, "{{ model.name }}_acados_create_with_discretization: new_time_steps is NULL " \
-            "but the number of shooting intervals (= %d) differs from the number of " \
-            "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \
-             N, {{ model.name | upper }}_N);
-        return 1;
-    }
-
-    // number of expected runtime parameters
-    capsule->nlp_np = NP;
-
-    // 1) create and set nlp_solver_plan; create nlp_config
-    capsule->nlp_solver_plan = ocp_nlp_plan_create(N);
-    {{ model.name }}_acados_create_1_set_plan(capsule->nlp_solver_plan, N);
-    capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan);
-
-    // 3) create and set dimensions
-    capsule->nlp_dims = {{ model.name }}_acados_create_2_create_and_set_dimensions(capsule);
-    {{ model.name }}_acados_create_3_create_and_set_functions(capsule);
-
-    // 4) set default parameters in functions
-    {{ model.name }}_acados_create_4_set_default_parameters(capsule);
-
-    // 5) create and set nlp_in
-    capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_5_set_nlp_in(capsule, N, new_time_steps);
-
-    // 6) create and set nlp_opts
-    capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_6_set_opts(capsule);
-
-    // 7) create and set nlp_out
-    // 7.1) nlp_out
-    capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims);
-    // 7.2) sens_out
-    capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims);
-    {{ model.name }}_acados_create_7_set_nlp_out(capsule);
-
-    // 8) create solver
-    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-    //{{ model.name }}_acados_create_8_create_solver(capsule);
-
-    // 9) do precomputations
-    int status = {{ model.name }}_acados_create_9_precompute(capsule);
-
-    {%- if custom_update_filename != "" %}
-    // Initialize custom update function
-    custom_update_init_function(capsule);
-    {%- endif %}
-
-    return status;
-}
-
-/**
- * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export.
- */
-int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule* capsule, int qp_solver_cond_N)
-{
-{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %}
-    // 1) destroy solver
-    ocp_nlp_solver_destroy(capsule->nlp_solver);
-
-    // 2) set new value for "qp_cond_N"
-    const int N = capsule->nlp_solver_plan->N;
-    if(qp_solver_cond_N > N)
-        printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N);
-    ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N);
-
-    // 3) continue with the remaining steps from {{ model.name }}_acados_create_with_discretization(...):
-    // -> 8) create solver
-    capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts);
-
-    // -> 9) do precomputations
-    int status = {{ model.name }}_acados_create_9_precompute(capsule);
-    return status;
-{%- else %}
-    printf("\nacados_update_qp_solver_cond_N() failed, since no partial condensing solver is used!\n\n");
-    // Todo: what is an adequate behavior here?
-    exit(1);
-    return -1;
-{%- endif %}
-}
-
-
-int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem)
-{
-
-    // set initialization to all zeros
-{# TODO: use guess values / initial state value from json instead?! #}
-    const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
-    ocp_nlp_out* nlp_out = capsule->nlp_out;
-    ocp_nlp_in* nlp_in = capsule->nlp_in;
-    ocp_nlp_solver* nlp_solver = capsule->nlp_solver;
-
-    double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double));
-
-    for(int i=0; i<N+1; i++)
-    {
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "sl", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "su", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "lam", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "t", buffer);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "z", buffer);
-        if (i<N)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "pi", buffer);
-        {%- if solver_options.integrator_type == "IRK" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
-            ocp_nlp_set(nlp_config, nlp_solver, i, "z_guess", buffer);
-        {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
-        {% elif solver_options.integrator_type == "GNSF" %}
-            ocp_nlp_set(nlp_config, nlp_solver, i, "gnsf_phi_guess", buffer);
-        {%- endif %}
-        }
-    }
-
-{%- if solver_options.qp_solver == 'PARTIAL_CONDENSING_HPIPM' %}
-    // get qp_status: if NaN -> reset memory
-    int qp_status;
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status);
-    if (reset_qp_solver_mem || (qp_status == 3))
-    {
-        // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status);
-        ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out);
-    }
-{%- endif %}
-
-    free(buffer);
-    return 0;
-}
-
-
-
-
-int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsule, int stage, double *p, int np)
-{
-    int solver_status = 0;
-
-    int casadi_np = {{ dims.np }};
-    if (casadi_np != np) {
-        printf("acados_update_params: trying to set %i parameters for external functions."
-            " External function has %i parameters. Exiting.\n", np, casadi_np);
-        exit(1);
-    }
-
-    const int N = capsule->nlp_solver_plan->N;
-    if (stage < N && stage >= 0)
-    {
-    {%- if solver_options.integrator_type == "IRK" %}
-        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
-        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p);
-        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param(capsule->impl_dae_jac_x_xdot_u_z+stage, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->impl_dae_hess[stage].set_param(capsule->impl_dae_hess+stage, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
-        capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_u+stage, p);
-    {% elif solver_options.integrator_type == "ERK" %}
-        capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p);
-        capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->hess_vde_casadi[stage].set_param(capsule->hess_vde_casadi+stage, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-        capsule->gnsf_phi_fun[stage].set_param(capsule->gnsf_phi_fun+stage, p);
-        capsule->gnsf_phi_fun_jac_y[stage].set_param(capsule->gnsf_phi_fun_jac_y+stage, p);
-        capsule->gnsf_phi_jac_y_uhat[stage].set_param(capsule->gnsf_phi_jac_y_uhat+stage, p);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-            capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, p);
-        {%- endif %}
-    {%- endif %}
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        capsule->discr_dyn_phi_fun[stage].set_param(capsule->discr_dyn_phi_fun+stage, p);
-        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, p);
-    {% endif %}
-    {%- endif %}{# integrator_type #}
-
-        // constraints
-    {% if constraints.constr_type == "BGP" %}
-        capsule->phi_constraint[stage].set_param(capsule->phi_constraint+stage, p);
-    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-        capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p);
-        capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_fun_jac_hess[stage].set_param(capsule->nl_constr_h_fun_jac_hess+stage, p);
-    {%- endif %}
-    {%- endif %}
-
-        // cost
-        if (stage == 0)
-        {
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p);
-            capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p);
-            capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p);
-        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_0_fun.set_param(&capsule->conl_cost_0_fun, p);
-            capsule->conl_cost_0_fun_jac_hess.set_param(&capsule->conl_cost_0_fun_jac_hess, p);
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p);
-            capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p);
-            capsule->ext_cost_0_fun_jac_hess.set_param(&capsule->ext_cost_0_fun_jac_hess, p);
-        {% endif %}
-        }
-        else // 0 < stage < N
-        {
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p);
-            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p);
-            capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p);
-        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_fun[stage-1].set_param(capsule->conl_cost_fun+stage-1, p);
-            capsule->conl_cost_fun_jac_hess[stage-1].set_param(capsule->conl_cost_fun_jac_hess+stage-1, p);
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p);
-            capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p);
-            capsule->ext_cost_fun_jac_hess[stage-1].set_param(capsule->ext_cost_fun_jac_hess+stage-1, p);
-        {%- endif %}
-        }
-    }
-
-    else // stage == N
-    {
-        // terminal shooting node has no dynamics
-        // cost
-    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-        capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p);
-        capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p);
-        capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p);
-    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        capsule->conl_cost_e_fun.set_param(&capsule->conl_cost_e_fun, p);
-        capsule->conl_cost_e_fun_jac_hess.set_param(&capsule->conl_cost_e_fun_jac_hess, p);
-    {%- elif cost.cost_type_e == "EXTERNAL" %}
-        capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p);
-        capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p);
-        capsule->ext_cost_e_fun_jac_hess.set_param(&capsule->ext_cost_e_fun_jac_hess, p);
-    {% endif %}
-        // constraints
-    {% if constraints.constr_type_e == "BGP" %}
-        capsule->phi_e_constraint.set_param(&capsule->phi_e_constraint, p);
-    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-        capsule->nl_constr_h_e_fun_jac.set_param(&capsule->nl_constr_h_e_fun_jac, p);
-        capsule->nl_constr_h_e_fun.set_param(&capsule->nl_constr_h_e_fun, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_e_fun_jac_hess.set_param(&capsule->nl_constr_h_e_fun_jac_hess, p);
-    {%- endif %}
-    {% endif %}
-    }
-
-    return solver_status;
-}
-
-
-int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-{
-    int solver_status = 0;
-
-    int casadi_np = {{ dims.np }};
-    if (casadi_np < n_update) {
-        printf("{{ model.name }}_acados_update_params_sparse: trying to set %d parameters for external functions."
-            " External function has %d parameters. Exiting.\n", n_update, casadi_np);
-        exit(1);
-    }
-    // for (int i = 0; i < n_update; i++)
-    // {
-    //     if (idx[i] > casadi_np) {
-    //         printf("{{ model.name }}_acados_update_params_sparse: attempt to set parameters with index %d, while"
-    //             " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np);
-    //         exit(1);
-    //     }
-    //     printf("param %d value %e\n", idx[i], p[i]);
-    // }
-
-{%- if dims.np > 0 %}
-    const int N = capsule->nlp_solver_plan->N;
-    if (stage < N && stage >= 0)
-    {
-    {%- if solver_options.integrator_type == "IRK" %}
-        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
-        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_z+stage, n_update, idx, p);
-        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param_sparse(capsule->impl_dae_jac_x_xdot_u_z+stage, n_update, idx, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->impl_dae_hess[stage].set_param_sparse(capsule->impl_dae_hess+stage, n_update, idx, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
-        capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_u+stage, n_update, idx, p);
-    {% elif solver_options.integrator_type == "ERK" %}
-        capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p);
-        capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p);
-
-        {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->hess_vde_casadi[stage].set_param_sparse(capsule->hess_vde_casadi+stage, n_update, idx, p);
-        {%- endif %}
-    {% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-        capsule->gnsf_phi_fun[stage].set_param_sparse(capsule->gnsf_phi_fun+stage, n_update, idx, p);
-        capsule->gnsf_phi_fun_jac_y[stage].set_param_sparse(capsule->gnsf_phi_fun_jac_y+stage, n_update, idx, p);
-        capsule->gnsf_phi_jac_y_uhat[stage].set_param_sparse(capsule->gnsf_phi_jac_y_uhat+stage, n_update, idx, p);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-            capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param_sparse(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, n_update, idx, p);
-        {%- endif %}
-    {%- endif %}
-    {% elif solver_options.integrator_type == "DISCRETE" %}
-        capsule->discr_dyn_phi_fun[stage].set_param_sparse(capsule->discr_dyn_phi_fun+stage, n_update, idx, p);
-        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, n_update, idx, p);
-    {% endif %}
-    {%- endif %}{# integrator_type #}
-
-        // constraints
-    {% if constraints.constr_type == "BGP" %}
-        capsule->phi_constraint[stage].set_param_sparse(capsule->phi_constraint+stage, n_update, idx, p);
-    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-        capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p);
-        capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_fun_jac_hess[stage].set_param_sparse(capsule->nl_constr_h_fun_jac_hess+stage, n_update, idx, p);
-    {%- endif %}
-    {%- endif %}
-
-        // cost
-        if (stage == 0)
-        {
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p);
-            capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p);
-            capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p);
-        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_0_fun.set_param_sparse(&capsule->conl_cost_0_fun, n_update, idx, p);
-            capsule->conl_cost_0_fun_jac_hess.set_param_sparse(&capsule->conl_cost_0_fun_jac_hess, n_update, idx, p);
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            capsule->ext_cost_0_fun.set_param_sparse(&capsule->ext_cost_0_fun, n_update, idx, p);
-            capsule->ext_cost_0_fun_jac.set_param_sparse(&capsule->ext_cost_0_fun_jac, n_update, idx, p);
-            capsule->ext_cost_0_fun_jac_hess.set_param_sparse(&capsule->ext_cost_0_fun_jac_hess, n_update, idx, p);
-        {% endif %}
-        }
-        else // 0 < stage < N
-        {
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p);
-            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p);
-            capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p);
-        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-            capsule->conl_cost_fun[stage-1].set_param_sparse(capsule->conl_cost_fun+stage-1, n_update, idx, p);
-            capsule->conl_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->conl_cost_fun_jac_hess+stage-1, n_update, idx, p);
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            capsule->ext_cost_fun[stage-1].set_param_sparse(capsule->ext_cost_fun+stage-1, n_update, idx, p);
-            capsule->ext_cost_fun_jac[stage-1].set_param_sparse(capsule->ext_cost_fun_jac+stage-1, n_update, idx, p);
-            capsule->ext_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->ext_cost_fun_jac_hess+stage-1, n_update, idx, p);
-        {%- endif %}
-        }
-    }
-
-    else // stage == N
-    {
-        // terminal shooting node has no dynamics
-        // cost
-    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-        capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p);
-        capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p);
-        capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p);
-    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-        capsule->conl_cost_e_fun.set_param_sparse(&capsule->conl_cost_e_fun, n_update, idx, p);
-        capsule->conl_cost_e_fun_jac_hess.set_param_sparse(&capsule->conl_cost_e_fun_jac_hess, n_update, idx, p);
-    {%- elif cost.cost_type_e == "EXTERNAL" %}
-        capsule->ext_cost_e_fun.set_param_sparse(&capsule->ext_cost_e_fun, n_update, idx, p);
-        capsule->ext_cost_e_fun_jac.set_param_sparse(&capsule->ext_cost_e_fun_jac, n_update, idx, p);
-        capsule->ext_cost_e_fun_jac_hess.set_param_sparse(&capsule->ext_cost_e_fun_jac_hess, n_update, idx, p);
-    {% endif %}
-        // constraints
-    {% if constraints.constr_type_e == "BGP" %}
-        capsule->phi_e_constraint.set_param_sparse(&capsule->phi_e_constraint, n_update, idx, p);
-    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-        capsule->nl_constr_h_e_fun_jac.set_param_sparse(&capsule->nl_constr_h_e_fun_jac, n_update, idx, p);
-        capsule->nl_constr_h_e_fun.set_param_sparse(&capsule->nl_constr_h_e_fun, n_update, idx, p);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        capsule->nl_constr_h_e_fun_jac_hess.set_param_sparse(&capsule->nl_constr_h_e_fun_jac_hess, n_update, idx, p);
-    {%- endif %}
-    {% endif %}
-    }
-{% endif %}{# if dims.np #}
-
-    return solver_status;
-}
-
-int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule* capsule)
-{
-    // solve NLP
-    int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
-
-    return solver_status;
-}
-
-
-int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
-{
-    // before destroying, keep some info
-    const int N = capsule->nlp_solver_plan->N;
-    {%- if custom_update_filename != "" %}
-    custom_update_terminate_function(capsule);
-    {%- endif %}
-    // free memory
-    ocp_nlp_solver_opts_destroy(capsule->nlp_opts);
-    ocp_nlp_in_destroy(capsule->nlp_in);
-    ocp_nlp_out_destroy(capsule->nlp_out);
-    ocp_nlp_out_destroy(capsule->sens_out);
-    ocp_nlp_solver_destroy(capsule->nlp_solver);
-    ocp_nlp_dims_destroy(capsule->nlp_dims);
-    ocp_nlp_config_destroy(capsule->nlp_config);
-    ocp_nlp_plan_destroy(capsule->nlp_solver_plan);
-
-    /* free external function */
-    // dynamics
-{%- if solver_options.integrator_type == "IRK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_jac_x_xdot_u_z[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_hess[i]);
-    {%- endif %}
-    }
-    free(capsule->impl_dae_fun);
-    free(capsule->impl_dae_fun_jac_x_xdot_z);
-    free(capsule->impl_dae_jac_x_xdot_u_z);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->impl_dae_hess);
-    {%- endif %}
-
-{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]);
-    }
-    free(capsule->impl_dae_fun);
-    free(capsule->impl_dae_fun_jac_x_xdot_u);
-
-{%- elif solver_options.integrator_type == "ERK" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->forw_vde_casadi[i]);
-        external_function_param_casadi_free(&capsule->expl_ode_fun[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_casadi_free(&capsule->hess_vde_casadi[i]);
-    {%- endif %}
-    }
-    free(capsule->forw_vde_casadi);
-    free(capsule->expl_ode_fun);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->hess_vde_casadi);
-    {%- endif %}
-
-{%- elif solver_options.integrator_type == "GNSF" %}
-    for (int i = 0; i < N; i++)
-    {
-        {% if model.gnsf.purely_linear != 1 %}
-        external_function_param_casadi_free(&capsule->gnsf_phi_fun[i]);
-        external_function_param_casadi_free(&capsule->gnsf_phi_fun_jac_y[i]);
-        external_function_param_casadi_free(&capsule->gnsf_phi_jac_y_uhat[i]);
-        {% if model.gnsf.nontrivial_f_LO == 1 %}
-        external_function_param_casadi_free(&capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]);
-        {%- endif %}
-        {%- endif %}
-        external_function_param_casadi_free(&capsule->gnsf_get_matrices_fun[i]);
-    }
-  {% if model.gnsf.purely_linear != 1 %}
-    free(capsule->gnsf_phi_fun);
-    free(capsule->gnsf_phi_fun_jac_y);
-    free(capsule->gnsf_phi_jac_y_uhat);
-  {% if model.gnsf.nontrivial_f_LO == 1 %}
-    free(capsule->gnsf_f_lo_jac_x1_x1dot_u_z);
-  {%- endif %}
-  {%- endif %}
-    free(capsule->gnsf_get_matrices_fun);
-{%- elif solver_options.integrator_type == "DISCRETE" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun[i]);
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]);
-    {%- endif %}
-    }
-    free(capsule->discr_dyn_phi_fun);
-    free(capsule->discr_dyn_phi_fun_jac_ut_xt);
-    {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess);
-    {%- endif %}
-
-{%- endif %}
-
-    // cost
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-    external_function_param_casadi_free(&capsule->cost_y_0_fun);
-    external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt);
-    external_function_param_casadi_free(&capsule->cost_y_0_hess);
-{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi_free(&capsule->conl_cost_0_fun);
-    external_function_param_casadi_free(&capsule->conl_cost_0_fun_jac_hess);
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun);
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac);
-    external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac_hess);
-{%- endif %}
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_casadi_free(&capsule->cost_y_fun[i]);
-        external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]);
-        external_function_param_casadi_free(&capsule->cost_y_hess[i]);
-    }
-    free(capsule->cost_y_fun);
-    free(capsule->cost_y_fun_jac_ut_xt);
-    free(capsule->cost_y_hess);
-{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_casadi_free(&capsule->conl_cost_fun[i]);
-        external_function_param_casadi_free(&capsule->conl_cost_fun_jac_hess[i]);
-    }
-    free(capsule->conl_cost_fun);
-    free(capsule->conl_cost_fun_jac_hess);
-{%- elif cost.cost_type == "EXTERNAL" %}
-    for (int i = 0; i < N - 1; i++)
-    {
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun[i]);
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac[i]);
-        external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac_hess[i]);
-    }
-    free(capsule->ext_cost_fun);
-    free(capsule->ext_cost_fun_jac);
-    free(capsule->ext_cost_fun_jac_hess);
-{%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    external_function_param_casadi_free(&capsule->cost_y_e_fun);
-    external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt);
-    external_function_param_casadi_free(&capsule->cost_y_e_hess);
-{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi_free(&capsule->conl_cost_e_fun);
-    external_function_param_casadi_free(&capsule->conl_cost_e_fun_jac_hess);
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun);
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac);
-    external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac_hess);
-{%- endif %}
-
-    // constraints
-{%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]);
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]);
-    }
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac_hess[i]);
-    }
-  {%- endif %}
-    free(capsule->nl_constr_h_fun_jac);
-    free(capsule->nl_constr_h_fun);
-  {%- if solver_options.hessian_approx == "EXACT" %}
-    free(capsule->nl_constr_h_fun_jac_hess);
-  {%- endif %}
-
-{%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-    for (int i = 0; i < N; i++)
-    {
-        external_function_param_casadi_free(&capsule->phi_constraint[i]);
-    }
-    free(capsule->phi_constraint);
-{%- endif %}
-
-{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac);
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun);
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac_hess);
-{%- endif %}
-{%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
-    external_function_param_casadi_free(&capsule->phi_e_constraint);
-{%- endif %}
-
-    return 0;
-}
-
-
-void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsule)
-{
-    int sqp_iter, stat_m, stat_n, tmp_int;
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter);
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n);
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m);
-
-    {% set stat_n_max = 12 %}
-    double stat[{{ solver_options.nlp_solver_max_iter * stat_n_max }}];
-    ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat);
-
-    int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m;
-
-    printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha");
-    if (stat_n > 8)
-        printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp");
-    printf("\n");
-
-{%- if solver_options.nlp_solver_type == "SQP" %}
-
-    for (int i = 0; i < nrow; i++)
-    {
-        for (int j = 0; j < stat_n + 1; j++)
-        {
-            if (j == 0 || j == 5 || j == 6)
-            {
-                tmp_int = (int) stat[i + j * nrow];
-                printf("%d\t", tmp_int);
-            }
-            else
-            {
-                printf("%e\t", stat[i + j * nrow]);
-            }
-        }
-        printf("\n");
-    }
-{% else %}
-    printf("iter\tqp_stat\tqp_iter\n");
-    for (int i = 0; i < nrow; i++)
-    {
-        for (int j = 0; j < stat_n + 1; j++)
-        {
-            tmp_int = (int) stat[i + j * nrow];
-            printf("%d\t", tmp_int);
-        }
-        printf("\n");
-    }
-{%- endif %}
-}
-
-int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
-{
-{%- if custom_update_filename == "" %}
-    (void)capsule;
-    (void)data;
-    (void)data_len;
-    printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n");
-    printf("nothing set yet..\n");
-    return 1;
-{% else %}
-    custom_update_function(capsule, data, data_len);
-{%- endif %}
-}
-
-
-
-ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; }
-ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; }
-ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; }
-ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; }
-ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; }
-void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; }
-ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; }
-ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; }
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
deleted file mode 100644
index 5cf38aa8c8..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
+++ /dev/null
@@ -1,241 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_SOLVER_{{ model.name }}_H_
-#define ACADOS_SOLVER_{{ model.name }}_H_
-
-#include "acados/utils/types.h"
-
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-#define {{ model.name | upper }}_NX     {{ dims.nx }}
-#define {{ model.name | upper }}_NZ     {{ dims.nz }}
-#define {{ model.name | upper }}_NU     {{ dims.nu }}
-#define {{ model.name | upper }}_NP     {{ dims.np }}
-#define {{ model.name | upper }}_NBX    {{ dims.nbx }}
-#define {{ model.name | upper }}_NBX0   {{ dims.nbx_0 }}
-#define {{ model.name | upper }}_NBU    {{ dims.nbu }}
-#define {{ model.name | upper }}_NSBX   {{ dims.nsbx }}
-#define {{ model.name | upper }}_NSBU   {{ dims.nsbu }}
-#define {{ model.name | upper }}_NSH    {{ dims.nsh }}
-#define {{ model.name | upper }}_NSG    {{ dims.nsg }}
-#define {{ model.name | upper }}_NSPHI  {{ dims.nsphi }}
-#define {{ model.name | upper }}_NSHN   {{ dims.nsh_e }}
-#define {{ model.name | upper }}_NSGN   {{ dims.nsg_e }}
-#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }}
-#define {{ model.name | upper }}_NSBXN  {{ dims.nsbx_e }}
-#define {{ model.name | upper }}_NS     {{ dims.ns }}
-#define {{ model.name | upper }}_NSN    {{ dims.ns_e }}
-#define {{ model.name | upper }}_NG     {{ dims.ng }}
-#define {{ model.name | upper }}_NBXN   {{ dims.nbx_e }}
-#define {{ model.name | upper }}_NGN    {{ dims.ng_e }}
-#define {{ model.name | upper }}_NY0    {{ dims.ny_0 }}
-#define {{ model.name | upper }}_NY     {{ dims.ny }}
-#define {{ model.name | upper }}_NYN    {{ dims.ny_e }}
-#define {{ model.name | upper }}_N      {{ dims.N }}
-#define {{ model.name | upper }}_NH     {{ dims.nh }}
-#define {{ model.name | upper }}_NPHI   {{ dims.nphi }}
-#define {{ model.name | upper }}_NHN    {{ dims.nh_e }}
-#define {{ model.name | upper }}_NPHIN  {{ dims.nphi_e }}
-#define {{ model.name | upper }}_NR     {{ dims.nr }}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-
-// ** capsule for solver data **
-typedef struct {{ model.name }}_solver_capsule
-{
-    // acados objects
-    ocp_nlp_in *nlp_in;
-    ocp_nlp_out *nlp_out;
-    ocp_nlp_out *sens_out;
-    ocp_nlp_solver *nlp_solver;
-    void *nlp_opts;
-    ocp_nlp_plan_t *nlp_solver_plan;
-    ocp_nlp_config *nlp_config;
-    ocp_nlp_dims *nlp_dims;
-
-    // number of expected runtime parameters
-    unsigned int nlp_np;
-
-    /* external functions */
-    // dynamics
-{% if solver_options.integrator_type == "ERK" %}
-    external_function_param_casadi *forw_vde_casadi;
-    external_function_param_casadi *expl_ode_fun;
-{% if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi *hess_vde_casadi;
-{%- endif %}
-{% elif solver_options.integrator_type == "IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_z;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_jac_x_xdot_u_z;
-{% if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_hess;
-{%- endif %}
-{% elif solver_options.integrator_type == "LIFTED_IRK" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_u;
-{% elif solver_options.integrator_type == "GNSF" %}
-    external_function_param_casadi *gnsf_phi_fun;
-    external_function_param_casadi *gnsf_phi_fun_jac_y;
-    external_function_param_casadi *gnsf_phi_jac_y_uhat;
-    external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z;
-    external_function_param_casadi *gnsf_get_matrices_fun;
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun;
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess;
-{%- endif %}
-{%- endif %}
-
-
-    // cost
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    external_function_param_casadi *cost_y_fun;
-    external_function_param_casadi *cost_y_fun_jac_ut_xt;
-    external_function_param_casadi *cost_y_hess;
-{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi *conl_cost_fun;
-    external_function_param_casadi *conl_cost_fun_jac_hess;
-{%- elif cost.cost_type == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun;
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess;
-{% endif %}
-
-{% if cost.cost_type_0 == "NONLINEAR_LS" %}
-    external_function_param_casadi cost_y_0_fun;
-    external_function_param_casadi cost_y_0_fun_jac_ut_xt;
-    external_function_param_casadi cost_y_0_hess;
-{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi conl_cost_0_fun;
-    external_function_param_casadi conl_cost_0_fun_jac_hess;
-{% elif cost.cost_type_0 == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun;
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess;
-{%- endif %}
-
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    external_function_param_casadi cost_y_e_fun;
-    external_function_param_casadi cost_y_e_fun_jac_ut_xt;
-    external_function_param_casadi cost_y_e_hess;
-{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-    external_function_param_casadi conl_cost_e_fun;
-    external_function_param_casadi conl_cost_e_fun_jac_hess;
-{% elif cost.cost_type_e == "EXTERNAL" %}
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun;
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac;
-    external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess;
-{%- endif %}
-
-    // constraints
-{%- if constraints.constr_type == "BGP" %}
-    external_function_param_casadi *phi_constraint;
-{% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
-    external_function_param_casadi *nl_constr_h_fun_jac;
-    external_function_param_casadi *nl_constr_h_fun;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi *nl_constr_h_fun_jac_hess;
-{%- endif %}
-{%- endif %}
-
-
-{% if constraints.constr_type_e == "BGP" %}
-    external_function_param_casadi phi_e_constraint;
-{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    external_function_param_casadi nl_constr_h_e_fun_jac;
-    external_function_param_casadi nl_constr_h_e_fun;
-{%- if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi nl_constr_h_e_fun_jac_hess;
-{%- endif %}
-{%- endif %}
-
-{%- if custom_update_filename != "" %}
-    void * custom_update_memory;
-{%- endif %}
-
-} {{ model.name }}_solver_capsule;
-
-ACADOS_SYMBOL_EXPORT {{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem);
-
-/**
- * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than
- * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
- * generation, the time-steps from code generation is used.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
-/**
- * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
- * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
-/**
- * This function is used for updating an already initialized solver with a different number of qp_cond_N.
- */
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update);
-
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
-
-
-ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
-ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SOLVER_{{ model.name }}_H_
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
deleted file mode 100644
index 233e3f79da..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
+++ /dev/null
@@ -1,62 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-cimport acados_solver_common
-
-cdef extern from "acados_solver_{{ model.name }}.h":
-    ctypedef struct nlp_solver_capsule "{{ model.name }}_solver_capsule":
-        pass
-
-    nlp_solver_capsule * acados_create_capsule "{{ model.name }}_acados_create_capsule"()
-    int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule)
-
-    int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule)
-
-    int acados_create_with_discretization "{{ model.name }}_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps)
-    int acados_update_time_steps "{{ model.name }}_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps)
-    int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
-
-    int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
-    int acados_update_params_sparse "{{ model.name }}_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
-    int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
-    int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem)
-    int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
-    void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule)
-
-    int acados_custom_update "{{ model.name }}_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len)
-
-    acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule)
-    void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "{{ model.name }}_acados_get_nlp_dims"(nlp_solver_capsule * capsule)
-    acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "{{ model.name }}_acados_get_nlp_plan"(nlp_solver_capsule * capsule)
diff --git a/third_party/acados/acados_template/c_templates_tera/constraints.in.h b/third_party/acados/acados_template/c_templates_tera/constraints.in.h
deleted file mode 100644
index d71ce5cc22..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/constraints.in.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef {{ model.name }}_CONSTRAINTS
-#define {{ model.name }}_CONSTRAINTS
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if dims.nphi > 0 %}
-int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_constraint_sparsity_out(int);
-int {{ model.name }}_phi_constraint_n_in(void);
-int {{ model.name }}_phi_constraint_n_out(void);
-{% endif %}
-
-{% if dims.nphi_e > 0 %}
-int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
-int {{ model.name }}_phi_e_constraint_n_in(void);
-int {{ model.name }}_phi_e_constraint_n_out(void);
-{% endif %}
-
-{% if dims.nh > 0 %}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
-
-int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_n_in(void);
-int {{ model.name }}_constr_h_fun_n_out(void);
-
-{% if solver_options.hessian_approx == "EXACT" -%}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
-{% endif %}
-{% endif %}
-
-{% if dims.nh_e > 0 %}
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void);
-
-int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_n_in(void);
-int {{ model.name }}_constr_h_e_fun_n_out(void);
-
-{% if solver_options.hessian_approx == "EXACT" -%}
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int);
-const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void);
-int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void);
-{% endif %}
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_CONSTRAINTS
diff --git a/third_party/acados/acados_template/c_templates_tera/cost.in.h b/third_party/acados/acados_template/c_templates_tera/cost.in.h
deleted file mode 100644
index 45eb09c12e..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/cost.in.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_COST
-#define {{ model.name }}_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// Cost at initial shooting node
-{% if cost.cost_type_0 == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_n_in(void);
-int {{ model.name }}_cost_y_0_fun_n_out(void);
-
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_0_hess_n_in(void);
-int {{ model.name }}_cost_y_0_hess_n_out(void);
-{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
-
-int {{ model.name }}_conl_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_0_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_0_fun_n_in(void);
-int {{ model.name }}_conl_cost_0_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_0_fun_jac_hess_n_out(void);
-
-{% elif cost.cost_type_0 == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
-int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-
-// Cost at path shooting node
-{% if cost.cost_type == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_n_in(void);
-int {{ model.name }}_cost_y_fun_n_out(void);
-
-int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_hess_n_in(void);
-int {{ model.name }}_cost_y_hess_n_out(void);
-
-{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
-int {{ model.name }}_conl_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_fun_n_in(void);
-int {{ model.name }}_conl_cost_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_fun_jac_hess_n_out(void);
-{% elif cost.cost_type == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type == "casadi" %}
-int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-// Cost at terminal shooting node
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_n_in(void);
-int {{ model.name }}_cost_y_e_fun_n_out(void);
-
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_e_hess_n_in(void);
-int {{ model.name }}_cost_y_e_hess_n_out(void);
-{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
-int {{ model.name }}_conl_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_e_fun_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_conl_cost_e_fun_n_in(void);
-int {{ model.name }}_conl_cost_e_fun_n_out(void);
-
-int {{ model.name }}_conl_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_n_in(void);
-int {{ model.name }}_conl_cost_e_fun_jac_hess_n_out(void);
-{% elif cost.cost_type_e == "EXTERNAL" %}
-    {%- if cost.cost_ext_fun_type_e == "casadi" %}
-int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void);
-    {%- else %}
-int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *);
-    {%- endif %}
-{% endif %}
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_COST
diff --git a/third_party/acados/acados_template/c_templates_tera/main.in.c b/third_party/acados/acados_template/c_templates_tera/main.in.c
deleted file mode 100644
index 92a8b33eac..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/main.in.c
+++ /dev/null
@@ -1,226 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-{%- if not solver_options.custom_update_filename %}
-    {%- set custom_update_filename = "" %}
-{% else %}
-    {%- set custom_update_filename = solver_options.custom_update_filename %}
-{%- endif %}
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// blasfeo
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-#define NBX    {{ model.name | upper }}_NBX
-#define NBX0   {{ model.name | upper }}_NBX0
-#define NBU    {{ model.name | upper }}_NBU
-#define NSBX   {{ model.name | upper }}_NSBX
-#define NSBU   {{ model.name | upper }}_NSBU
-#define NSH    {{ model.name | upper }}_NSH
-#define NSG    {{ model.name | upper }}_NSG
-#define NSPHI  {{ model.name | upper }}_NSPHI
-#define NSHN   {{ model.name | upper }}_NSHN
-#define NSGN   {{ model.name | upper }}_NSGN
-#define NSPHIN {{ model.name | upper }}_NSPHIN
-#define NSBXN  {{ model.name | upper }}_NSBXN
-#define NS     {{ model.name | upper }}_NS
-#define NSN    {{ model.name | upper }}_NSN
-#define NG     {{ model.name | upper }}_NG
-#define NBXN   {{ model.name | upper }}_NBXN
-#define NGN    {{ model.name | upper }}_NGN
-#define NY0    {{ model.name | upper }}_NY0
-#define NY     {{ model.name | upper }}_NY
-#define NYN    {{ model.name | upper }}_NYN
-#define NH     {{ model.name | upper }}_NH
-#define NPHI   {{ model.name | upper }}_NPHI
-#define NHN    {{ model.name | upper }}_NHN
-#define NPHIN  {{ model.name | upper }}_NPHIN
-#define NR     {{ model.name | upper }}_NR
-
-
-int main()
-{
-
-    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
-    // there is an opportunity to change the number of shooting intervals in C without new code generation
-    int N = {{ model.name | upper }}_N;
-    // allocate the array and fill it accordingly
-    double* new_time_steps = NULL;
-    int status = {{ model.name }}_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps);
-
-    if (status)
-    {
-        printf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
-
-    // initial condition
-    int idxbx0[NBX0];
-    {%- for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double lbx0[NBX0];
-    double ubx0[NBX0];
-    {%- for i in range(end=dims.nbx_0) %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-
-    // initialization for state values
-    double x_init[NX];
-    {%- for i in range(end=dims.nx) %}
-    x_init[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // initial value for control input
-    double u0[NU];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-
-  {%- if dims.np > 0 %}
-    // set parameters
-    double p[NP];
-    {%- for item in parameter_values %}
-    p[{{ loop.index0 }}] = {{ item }};
-    {%- endfor %}
-
-    for (int ii = 0; ii <= N; ii++)
-    {
-        {{ model.name }}_acados_update_params(acados_ocp_capsule, ii, p, NP);
-    }
-  {% endif %}{# if np > 0 #}
-
-    // prepare evaluation
-    int NTIMINGS = 1;
-    double min_time = 1e12;
-    double kkt_norm_inf;
-    double elapsed_time;
-    int sqp_iter;
-
-    double xtraj[NX * (N+1)];
-    double utraj[NU * N];
-
-
-    // solve ocp in loop
-    int rti_phase = 0;
-
-    for (int ii = 0; ii < NTIMINGS; ii++)
-    {
-        // initialize solution
-        for (int i = 0; i < N; i++)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-        }
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init);
-        ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
-        status = {{ model.name }}_acados_solve(acados_ocp_capsule);
-        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
-        min_time = MIN(elapsed_time, min_time);
-    }
-
-    /* print solution and statistics */
-    for (int ii = 0; ii <= nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]);
-    for (int ii = 0; ii < nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]);
-
-    printf("\n--- xtraj ---\n");
-    d_print_exp_tran_mat( NX, N+1, xtraj, NX);
-    printf("\n--- utraj ---\n");
-    d_print_exp_tran_mat( NU, N, utraj, NU );
-    // ocp_nlp_out_print(nlp_solver->dims, nlp_out);
-
-    printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
-
-    if (status == ACADOS_SUCCESS)
-    {
-        printf("{{ model.name }}_acados_solve(): SUCCESS!\n");
-    }
-    else
-    {
-        printf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
-    }
-
-
-{%- if custom_update_filename != "" %}
-    {{ model.name }}_acados_custom_update(acados_ocp_capsule, xtraj, NX*(N+1));
-{%- endif %}
-
-    // get solution
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
-    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
-
-    {{ model.name }}_acados_print_stats(acados_ocp_capsule);
-
-    printf("\nSolver info:\n");
-    printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n",
-           sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf);
-
-    // free solver
-    status = {{ model.name }}_acados_free(acados_ocp_capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_free() returned status %d. \n", status);
-    }
-    // free solver capsule
-    status = {{ model.name }}_acados_free_capsule(acados_ocp_capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_free_capsule() returned status %d. \n", status);
-    }
-
-    return status;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
deleted file mode 100644
index 8960aa0035..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/sim_interface.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-#define NX     {{ model.name | upper }}_NX
-#define NZ     {{ model.name | upper }}_NZ
-#define NU     {{ model.name | upper }}_NU
-#define NP     {{ model.name | upper }}_NP
-
-
-int main()
-{
-    int status = 0;
-    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
-    status = {{ model.name }}_acados_sim_create(capsule);
-
-    if (status)
-    {
-        printf("acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
-    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
-    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
-    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
-
-    // initial condition
-    double x_current[NX];
-    {%- for i in range(end=dims.nx) %}
-    x_current[{{ i }}] = 0.0;
-    {%- endfor %}
-
-  {% if constraints.lbx_0 %}
-    {%- for i in range(end=dims.nbx_0) %}
-    x_current[{{ constraints.idxbx_0[i] }}] = {{ constraints.lbx_0[i] }};
-    {%- endfor %}
-    {% if dims.nbx_0 != dims.nx %}
-    printf("main_sim: NOTE: initial state not fully defined via lbx_0, using 0.0 for indices that are not in idxbx_0.");
-    {%- endif %}
-  {% else %}
-    printf("main_sim: initial state not defined, should be in lbx_0, using zero vector.");
-  {%- endif %}
-
-
-    // initial value for control input
-    double u0[NU];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-  {%- if dims.np > 0 %}
-    // set parameters
-    double p[NP];
-    {%- for item in parameter_values %}
-    p[{{ loop.index0 }}] = {{ item }};
-    {%- endfor %}
-
-    {{ model.name }}_acados_sim_update_params(capsule, p, NP);
-  {% endif %}{# if np > 0 #}
-
-    int n_sim_steps = 3;
-    // solve ocp in loop
-    for (int ii = 0; ii < n_sim_steps; ii++)
-    {
-        sim_in_set(acados_sim_config, acados_sim_dims,
-            acados_sim_in, "x", x_current);
-        status = {{ model.name }}_acados_sim_solve(capsule);
-
-        if (status != ACADOS_SUCCESS)
-        {
-            printf("acados_solve() failed with status %d.\n", status);
-        }
-
-        sim_out_get(acados_sim_config, acados_sim_dims,
-               acados_sim_out, "x", x_current);
-        
-        printf("\nx_current, %d\n", ii);
-        for (int jj = 0; jj < NX; jj++)
-        {
-            printf("%e\n", x_current[jj]);
-        }
-    }
-
-    printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps);
-
-    // free solver
-    status = {{ model.name }}_acados_sim_free(capsule);
-    if (status) {
-        printf("{{ model.name }}_acados_sim_free() returned status %d. \n", status);
-    }
-
-    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
-
-    return status;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
deleted file mode 100644
index 24ae94ac2c..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
+++ /dev/null
@@ -1,384 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-// acados
-#include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    long long *l_ptr;
-    int status = 0;
-
-    // create solver
-    {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
-
-    status = {{ model.name }}_acados_create(acados_ocp_capsule);
-
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_create() returned status %d.\n", status);
-    }
-    mexPrintf("{{ model.name }}_acados_create() -> success!\n");
-
-    // get pointers to nlp solver related objects
-    ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
-
-    // mexPrintf("acados: got pointer to objectes!\n");
-
-    // field names of output struct
-    #define FIELDS_OCP 9
-    #define FIELDS_EXT_FUN 25
-    #define MAX_FIELDS 25
-    char *fieldnames[MAX_FIELDS];
-
-    for (int i = 0; i < MAX_FIELDS; i++)
-    {
-        fieldnames[i] = (char*) mxMalloc(50);
-    }
-
-    memcpy(fieldnames[0],"config",sizeof("config"));
-    memcpy(fieldnames[1],"dims",sizeof("dims"));
-    memcpy(fieldnames[2],"opts",sizeof("opts"));
-    memcpy(fieldnames[3],"in",sizeof("in"));
-    memcpy(fieldnames[4],"out",sizeof("out"));
-    memcpy(fieldnames[5],"solver",sizeof("solver"));
-    memcpy(fieldnames[6],"sens_out",sizeof("sens_out"));
-    memcpy(fieldnames[7],"plan",sizeof("plan"));
-    memcpy(fieldnames[8],"capsule",sizeof("capsule"));
-
-    // create output struct - C_ocp
-    plhs[0] = mxCreateStructMatrix(1, 1, 9, (const char **) fieldnames);
-
-    // MEX: config, dims, opts, in, out, solver, sens_out, plan
-    // plan
-    mxArray *plan_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(plan_mat);
-    l_ptr[0] = (long long) nlp_plan;
-    mxSetField(plhs[0], 0, "plan", plan_mat);
-
-    // config
-    mxArray *config_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(config_mat);
-    l_ptr[0] = (long long) nlp_config;
-    mxSetField(plhs[0], 0, "config", config_mat);
-
-    // dims
-    mxArray *dims_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(dims_mat);
-    l_ptr[0] = (long long) nlp_dims;
-    mxSetField(plhs[0], 0, "dims", dims_mat);
-
-    // opts
-    mxArray *opts_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(opts_mat);
-    l_ptr[0] = (long long) nlp_opts;
-    mxSetField(plhs[0], 0, "opts", opts_mat);
-
-    // in
-    mxArray *in_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(in_mat);
-    l_ptr[0] = (long long) nlp_in;
-    mxSetField(plhs[0], 0, "in", in_mat);
-
-    // out
-    mxArray *out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(out_mat);
-    l_ptr[0] = (long long) nlp_out;
-    mxSetField(plhs[0], 0, "out", out_mat);
-
-    // solver
-    mxArray *solver_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(solver_mat);
-    l_ptr[0] = (long long) nlp_solver;
-    mxSetField(plhs[0], 0, "solver", solver_mat);
-
-    // TODO: sens_out not actually implemented in templates..
-    // sens_out
-    mxArray *sens_out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(sens_out_mat);
-    l_ptr[0] = (long long) 1;
-    mxSetField(plhs[0], 0, "sens_out", sens_out_mat);
-
-    // capsule
-    mxArray *capsule_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(capsule_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule;
-    mxSetField(plhs[0], 0, "capsule", capsule_mat);
-
-    /* store external function pointers */
-    // dyn
-    memcpy(fieldnames[0],"expl_ode_fun",sizeof("expl_ode_fun"));
-    memcpy(fieldnames[1],"forw_vde",sizeof("forw_vde"));
-    memcpy(fieldnames[2],"hess_vde",sizeof("hess_vde"));
-    memcpy(fieldnames[3],"impl_dae_fun",sizeof("impl_dae_fun"));
-    memcpy(fieldnames[4],"impl_dae_fun_jac_x_xdot_z",sizeof("impl_dae_fun_jac_x_xdot_z"));
-    memcpy(fieldnames[5],"impl_dae_jac_x_xdot_u_z",sizeof("impl_dae_jac_x_xdot_u_z"));
-    memcpy(fieldnames[6],"impl_dae_hess",sizeof("impl_dae_hess"));
-
-    memcpy(fieldnames[7],"gnsf_phi_fun",sizeof("gnsf_phi_fun"));
-    memcpy(fieldnames[8],"gnsf_phi_fun_jac_y",sizeof("gnsf_phi_fun_jac_y"));
-    memcpy(fieldnames[9],"gnsf_phi_jac_y_uhat",sizeof("gnsf_phi_jac_y_uhat"));
-    memcpy(fieldnames[10],"gnsf_f_lo_jac_x1_x1dot_u_z",sizeof("gnsf_f_lo_jac_x1_x1dot_u_z"));
-    memcpy(fieldnames[11],"gnsf_get_matrices_fun",sizeof("gnsf_get_matrices_fun"));
-
-    memcpy(fieldnames[12],"disc_phi_fun",sizeof("disc_phi_fun"));
-    memcpy(fieldnames[13],"disc_phi_fun_jac",sizeof("disc_phi_fun_jac"));
-    memcpy(fieldnames[14],"disc_phi_fun_jac_hess",sizeof("disc_phi_fun_jac_hess"));
-    
-    // cost
-    memcpy(fieldnames[15],"cost_y_fun",sizeof("cost_y_fun"));
-    memcpy(fieldnames[16],"cost_y_fun_jac_ut_xt",sizeof("cost_y_fun_jac_ut_xt"));
-    memcpy(fieldnames[17],"cost_y_hess",sizeof("cost_y_hess"));
-    memcpy(fieldnames[18],"ext_cost_fun",sizeof("ext_cost_fun"));
-    memcpy(fieldnames[19],"ext_cost_fun_jac",sizeof("ext_cost_fun_jac"));
-    memcpy(fieldnames[20],"ext_cost_fun_jac_hess",sizeof("ext_cost_fun_jac_hess"));
-
-    // constraints
-    memcpy(fieldnames[21],"phi_constraint",sizeof("phi_constraint"));
-    memcpy(fieldnames[22],"nl_constr_h_fun_jac",sizeof("nl_constr_h_fun_jac"));
-    memcpy(fieldnames[23],"nl_constr_h_fun",sizeof("nl_constr_h_fun"));
-    memcpy(fieldnames[24],"nl_constr_h_fun_jac_hess",sizeof("nl_constr_h_fun_jac_hess"));
-
-
-    // create output struct - C_ocp_ext_fun
-    plhs[1] = mxCreateStructMatrix(1, 1, FIELDS_EXT_FUN, (const char **) fieldnames);
-
-
-    for (int i = 0; i < FIELDS_EXT_FUN; i++)
-    {
-        mxFree( fieldnames[i] );
-    }
-
-/* dynamics */
-    mxArray *expl_ode_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *forw_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *hess_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_fun_jac_x_xdot_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_jac_x_xdot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *impl_dae_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-    mxArray *gnsf_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_phi_fun_jac_y_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_phi_jac_y_uhat_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_f_lo_jac_x1_x1dot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *gnsf_get_matrices_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-    mxArray *disc_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *disc_phi_fun_jac_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-    mxArray *disc_phi_fun_jac_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
-
-{% if solver_options.integrator_type == "ERK" %}
-    {# TODO: remove _casadi from these names.. #}
-    l_ptr = mxGetData(forw_vde_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->forw_vde_casadi;
-    l_ptr = mxGetData(expl_ode_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->expl_ode_fun;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(hess_vde_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->hess_vde_casadi;
-{%- endif %}
-{% elif solver_options.integrator_type == "IRK" %}
-    l_ptr = mxGetData(impl_dae_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun;
-    l_ptr = mxGetData(impl_dae_fun_jac_x_xdot_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun_jac_x_xdot_z;
-    l_ptr = mxGetData(impl_dae_jac_x_xdot_u_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_jac_x_xdot_u_z;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(impl_dae_hess_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess;
-{%- endif %}
-{% elif solver_options.integrator_type == "GNSF" %}
-    {% if model.gnsf.purely_linear != 1 %}
-    l_ptr = mxGetData(gnsf_phi_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun;
-    l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y;
-    l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat;
-    {% if model.gnsf.nontrivial_f_LO == 1 %}
-    l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z;
-    {%- endif %}
-    {%- endif %}
-    l_ptr = mxGetData(gnsf_get_matrices_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun;
-{% elif solver_options.integrator_type == "DISCRETE" %}
-    l_ptr = mxGetData(disc_phi_fun_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun;
-    l_ptr = mxGetData(disc_phi_fun_jac_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt;
-{% if solver_options.hessian_approx == "EXACT" %}
-    l_ptr = mxGetData(disc_phi_fun_jac_hess_mat);
-    l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt_hess;
-{%- endif %}
-{%- endif %}
-    mxSetField(plhs[1], 0, "expl_ode_fun", expl_ode_fun_mat);
-    mxSetField(plhs[1], 0, "forw_vde", forw_vde_mat);
-    mxSetField(plhs[1], 0, "hess_vde", hess_vde_mat);
-
-    mxSetField(plhs[1], 0, "gnsf_phi_fun", gnsf_phi_fun_mat);
-    mxSetField(plhs[1], 0, "gnsf_phi_fun_jac_y", gnsf_phi_fun_jac_y_mat);
-    mxSetField(plhs[1], 0, "gnsf_phi_jac_y_uhat", gnsf_phi_jac_y_uhat_mat);
-    mxSetField(plhs[1], 0, "gnsf_f_lo_jac_x1_x1dot_u_z", gnsf_f_lo_jac_x1_x1dot_u_z_mat);
-    mxSetField(plhs[1], 0, "gnsf_get_matrices_fun", gnsf_get_matrices_fun_mat);
-
-    mxSetField(plhs[1], 0, "impl_dae_fun", impl_dae_fun_mat);
-    mxSetField(plhs[1], 0, "impl_dae_fun_jac_x_xdot_z", impl_dae_fun_jac_x_xdot_z_mat);
-    mxSetField(plhs[1], 0, "impl_dae_jac_x_xdot_u_z", impl_dae_jac_x_xdot_u_z_mat);
-    mxSetField(plhs[1], 0, "impl_dae_hess", impl_dae_hess_mat);
-
-    mxSetField(plhs[1], 0, "disc_phi_fun", disc_phi_fun_mat);
-    mxSetField(plhs[1], 0, "disc_phi_fun_jac", disc_phi_fun_jac_mat);
-    mxSetField(plhs[1], 0, "disc_phi_fun_jac_hess", disc_phi_fun_jac_hess_mat);
-/* constaints */
-    mxArray *phi_constraint_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(phi_constraint_mat);
-{%- if constraints.constr_type == "BGP" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->phi_constraint;
-{% endif %}
-{% if constraints.constr_type_e == "BGP" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->phi_e_constraint;
-{% endif %}
-    mxSetField(plhs[1], 0, "phi_constraint", phi_constraint_mat);
-
-    mxArray *nl_constr_h_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_jac_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac", nl_constr_h_fun_jac_mat);
-
-    mxArray *nl_constr_h_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun", nl_constr_h_fun_mat);
-
-    mxArray *nl_constr_h_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(nl_constr_h_fun_jac_hess_mat);
-{% if constraints.constr_type == "BGH" and dims.nh > 0 and solver_options.hessian_approx == "EXACT" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac_hess;
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 and solver_options.hessian_approx == "EXACT" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "nl_constr_h_fun_jac_hess", nl_constr_h_fun_jac_hess_mat);
-
-/* cost */
-    mxArray *cost_y_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_fun_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_fun", cost_y_fun_mat);
-
-    mxArray *cost_y_fun_jac_ut_xt_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_fun_jac_ut_xt_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun_jac_ut_xt;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun_jac_ut_xt;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_fun_jac_ut_xt", cost_y_fun_jac_ut_xt_mat);
-
-    mxArray *cost_y_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(cost_y_hess_mat);
-{% if cost.cost_type == "NONLINEAR_LS" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->cost_y_hess;
-{% endif %}
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "cost_y_hess", cost_y_hess_mat);
-
-    mxArray *ext_cost_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun", ext_cost_fun_mat);
-
-    mxArray *ext_cost_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_jac_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun_jac", ext_cost_fun_jac_mat);
-
-    mxArray *ext_cost_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL);
-    l_ptr = mxGetData(ext_cost_fun_jac_hess_mat);
-{% if cost.cost_type == "EXTERNAL" %}
-    l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac_hess;
-{% endif -%}
-{% if cost.cost_type_e == "EXTERNAL" %}
-    l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac_hess;
-{%- endif %}
-    mxSetField(plhs[1], 0, "ext_cost_fun_jac_hess", ext_cost_fun_jac_hess_mat);
-
-
-    return;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
deleted file mode 100644
index bd457969b2..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// system
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-// acados
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    int status = 0;
-    long long *ptr;
-
-    // mexPrintf("\nin mex_acados_free\n");
-    const mxArray *C_ocp = prhs[0];
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-
-    status = {{ model.name }}_acados_free(capsule);
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
-    }
-
-    status = {{ model.name }}_acados_free_capsule(capsule);
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free_capsule() returned status %d.\n", status);
-    }
-
-    return;
-}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
deleted file mode 100644
index 78a308df49..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
+++ /dev/null
@@ -1,632 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-// acados
-#include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-#include "mex_macros.h"
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-
-    long long *ptr;
-    int acados_size;
-    mxArray *mex_field;
-    char fun_name[20] = "ocp_set";
-    char buffer [500]; // for error messages
-
-    /* RHS */
-    int min_nrhs = 6;
-
-    // C ocp
-    const mxArray *C_ocp = prhs[2];
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-    // plan
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
-    ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0];
-    // config
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) );
-    ocp_nlp_config *config = (ocp_nlp_config *) ptr[0];
-    // dims
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "dims" ) );
-    ocp_nlp_dims *dims = (ocp_nlp_dims *) ptr[0];
-    // opts
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "opts" ) );
-    void *opts = (void *) ptr[0];
-    // in
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "in" ) );
-    ocp_nlp_in *in = (ocp_nlp_in *) ptr[0];
-    // out
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "out" ) );
-    ocp_nlp_out *out = (ocp_nlp_out *) ptr[0];
-    // solver
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "solver" ) );
-    ocp_nlp_solver *solver = (ocp_nlp_solver *) ptr[0];
-
-    const mxArray *C_ext_fun_pointers = prhs[3];
-    // field
-    char *field = mxArrayToString( prhs[4] );
-    // value
-    double *value = mxGetPr( prhs[5] );
-
-    // for checks
-    int matlab_size = (int) mxGetNumberOfElements( prhs[5] );
-    int nrow = (int) mxGetM( prhs[5] );
-    int ncol = (int) mxGetN( prhs[5] );
-
-    int N = dims->N;
-    int nu = dims->nu[0];
-    int nx = dims->nx[0];
-
-    // stage
-    int s0, se;
-    if (nrhs==min_nrhs)
-    {
-        s0 = 0;
-        se = N;
-    }
-    else if (nrhs==min_nrhs+1)
-    {
-        s0 = mxGetScalar( prhs[6] );
-        if (s0 > N)
-        {
-            sprintf(buffer, "ocp_set: N < specified stage = %d\n", s0);
-            mexErrMsgTxt(buffer);            
-        }
-        se = s0 + 1;
-    }
-    else
-    {
-        sprintf(buffer, "ocp_set: wrong nrhs: %d\n", nrhs);
-        mexErrMsgTxt(buffer);
-    }
-
-    /* Set value */
-    // constraints
-    if (!strcmp(field, "constr_x0"))
-    {
-        acados_size = nx;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        ocp_nlp_constraints_model_set(config, dims, in, 0, "lbx", value);
-        ocp_nlp_constraints_model_set(config, dims, in, 0, "ubx", value);
-    }
-    else if (!strcmp(field, "constr_C"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_MAT(fun_name, "constr_C", nrow, ncol, ng, nx);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "C", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lbx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbx");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbx", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ubx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubx");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubx", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lbu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lbu");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lbu", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ubu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ubu");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ubu", value);
-        }
-    }
-    else if (!strcmp(field, "constr_D"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            int ng = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_MAT(fun_name, "constr_D", nrow, ncol, ng, nu);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "D", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lg"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lg");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lg", value);
-        }
-    }
-    else if (!strcmp(field, "constr_ug"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "ug");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "ug", value);
-        }
-    }
-    else if (!strcmp(field, "constr_lh"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lh");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "lh", value);
-        }
-    }
-    else if (!strcmp(field, "constr_uh"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "uh");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-
-            ocp_nlp_constraints_model_set(config, dims, in, ii, "uh", value);
-        }
-    }
-    // cost:
-    else if (!strcmp(field, "cost_y_ref"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "y_ref", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_y_ref_e"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, N, "y_ref");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        ocp_nlp_cost_model_set(config, dims, in, N, "y_ref", value);
-    }
-    else if (!strcmp(field, "cost_Vu"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                int nu = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "u");
-                acados_size = ny * nu;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "Vu", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_Vx"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref");
-                int nx = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "x");
-                acados_size = ny * nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "Vx", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_W"))
-    {
-        for (int ii=s0; ii<se; ii++)
-        {
-            if ((plan->nlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS))
-            {
-                int ny = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "y_ref");
-                acados_size = ny * ny;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_cost_model_set(config, dims, in, ii, "W", value);
-            }
-            else
-            {
-                MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii);
-            }
-        }
-    }
-    else if (!strcmp(field, "cost_Z"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_Z");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Z", value);
-        }
-    }
-    else if (!strcmp(field, "cost_Zl"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zl");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Zl", value);
-        }
-    }
-    else if (!strcmp(field, "cost_Zu"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "Zu");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "Zu", value);
-        }
-    }
-    else if (!strcmp(field, "cost_z"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_z");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "z", value);
-        }
-    }
-    else if (!strcmp(field, "cost_zl"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zl");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "zl", value);
-        }
-    }
-    else if (!strcmp(field, "cost_zu"))
-    {
-        acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "zu");
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=s0; ii<se; ii++)
-        {
-            ocp_nlp_cost_model_set(config, dims, in, ii, "zu", value);
-        }
-    }
-    // constraints TODO
-    // // NOTE(oj): how is it with Jbx, Jbu, idxb can they be changed?!
-    // else if (!strcmp(field, "constr_lbx"))
-    // {
-    //     // bounds at 0 are a special case.
-    //     if (s0==0)
-    //     {
-    //         sprintf(buffer, "%s cannot set %s for stage 0", fun_name, field);
-    //         mexErrMsgTxt(buffer);
-    //     }
-    // }
-    // initializations
-    else if (!strcmp(field, "init_x") || !strcmp(field, "x"))
-    {
-        if (nrhs == min_nrhs)
-        {
-            acados_size = (N+1) * nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<=N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "x", value+ii*nx);
-            }
-        }
-        else // (nrhs == min_nrhs + 1)
-        {
-            acados_size = nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "x", value);
-        }
-    }
-    else if (!strcmp(field, "init_u") || !strcmp(field, "u"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            acados_size = N*nu;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "u", value+ii*nu);
-            }
-        }
-        else // (nrhs == min_nrhs + 1)
-        {
-            acados_size = nu;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "u", value);
-        }
-    }
-    else if (!strcmp(field, "init_z")||!strcmp(field, "z"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == IRK)
-        {
-            int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z");
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nz;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "z_guess", value+ii*nz);
-                }
-            }
-            else // (nrhs==min_nrhs+1)
-            {
-                acados_size = nz;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "z_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
-        }
-    }
-    else if (!strcmp(field, "init_xdot")||!strcmp(field, "xdot"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == IRK)
-        {
-            int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x");
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "xdot_guess", value+ii*nx);
-                }
-            }
-            else // nrhs==min_nrhs+1)
-            {
-                acados_size = nx;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "xdot_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
-        }
-    }
-    else if (!strcmp(field, "init_gnsf_phi")||!strcmp(field, "gnsf_phi"))
-    {
-        sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
-        sim_solver_t type = sim_plan.sim_solver;
-        if (type == GNSF)
-        {
-            int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi");
-
-            if (nrhs==min_nrhs)
-            {
-                acados_size = N*nout;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                for (int ii=0; ii<N; ii++)
-                {
-                    ocp_nlp_set(config, solver, ii, "gnsf_phi_guess", value+ii*nx);
-                }
-            }
-            else // (nrhs==min_nrhs+1)
-            {
-                acados_size = nout;
-                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-                ocp_nlp_set(config, solver, s0, "gnsf_phi_guess", value);
-            }
-        }
-        else
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_gnsf_phi", "irk_gnsf")
-        }
-    }
-    else if (!strcmp(field, "init_pi")||!strcmp(field, "pi"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            acados_size = N*nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
-            {
-                ocp_nlp_out_set(config, dims, out, ii, "pi", value+ii*nx);
-            }
-        }
-        else // (nrhs==min_nrhs+1)
-        {
-            acados_size = nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "pi", value);
-        }
-    }
-    else if (!strcmp(field, "init_lam")||!strcmp(field, "lam"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "lam");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "lam", value);
-        }
-    }
-    else if (!strcmp(field, "init_t")||!strcmp(field, "t"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "t");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, "t", value);
-        }
-    }
-    else if (!strcmp(field, "init_sl")||!strcmp(field, "sl"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "sl");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, field, value);
-        }
-    }
-    else if (!strcmp(field, "init_su")||!strcmp(field, "su"))
-    {
-        if (nrhs==min_nrhs)
-        {
-            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
-        }
-        else //(nrhs==min_nrhs+1)
-        {
-            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "su");
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            ocp_nlp_out_set(config, dims, out, s0, field, value);
-        }
-    }
-    else if (!strcmp(field, "p"))
-    {
-        if (nrhs==min_nrhs) // all stages
-        {
-            for (int ii=0; ii<=N; ii++)
-            {
-                {{ model.name }}_acados_update_params(capsule, ii, value, matlab_size);
-            }
-        }
-        else if (nrhs==min_nrhs+1) // one stage
-        {
-            int stage = mxGetScalar( prhs[6] );
-            {{ model.name }}_acados_update_params(capsule, stage, value, matlab_size);
-        }
-    }
-    else if (!strcmp(field, "nlp_solver_max_iter"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int nlp_solver_max_iter = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "max_iter", &nlp_solver_max_iter);
-    }
-    else if (!strcmp(field, "rti_phase"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int rti_phase = (int) value[0];
-        if (plan->nlp_solver == SQP && rti_phase != 0)
-        {
-            MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, field, "sqp_rti")
-        }
-        ocp_nlp_solver_opts_set(config, opts, "rti_phase", &rti_phase);
-    }
-    else if (!strcmp(field, "qp_warm_start"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int qp_warm_start = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "qp_warm_start", &qp_warm_start);
-    }
-    else if (!strcmp(field, "warm_start_first_qp"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int warm_start_first_qp = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "warm_start_first_qp", &warm_start_first_qp);
-    }
-    else if (!strcmp(field, "print_level"))
-    {
-        acados_size = 1;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        int print_level = (int) value[0];
-        ocp_nlp_solver_opts_set(config, opts, "print_level", &print_level);
-    }
-    else
-    {
-        MEX_FIELD_NOT_SUPPORTED_SUGGEST(fun_name, field, "p, constr_x0,\
- constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh,\
- constr_lbu, constr_ubu, cost_y_ref[_e], sl, su, x, xdot, u, pi, lam, z, \
- cost_Vu, cost_Vx, cost_Vz, cost_W, cost_Z, cost_Zl, cost_Zu, cost_z,\
- cost_zl, cost_zu, init_x, init_u, init_z, init_xdot, init_gnsf_phi,\
- init_pi, nlp_solver_max_iter, qp_warm_start, warm_start_first_qp, print_level");
-    }
-
-    return;
-}
-
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
deleted file mode 100644
index 300a440cc9..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// system
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-// acados
-#include "acados_solver_{{ model.name }}.h"
-
-// mex
-#include "mex.h"
-
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-    // C_ocp
-    long long *ptr;
-    const mxArray *C_ocp = prhs[0];
-
-    // capsule
-    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
-    {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
-
-    // solve
-    {{ model.name }}_acados_solve(capsule);
-
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
deleted file mode 100644
index bd73ff69a4..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
+++ /dev/null
@@ -1,230 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#define S_FUNCTION_NAME   acados_sim_solver_sfunction_{{ model.name }}
-#define S_FUNCTION_LEVEL  2
-
-#define MDL_START
-
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_sim_solver_{{ model.name }}.h"
-
-#include "simstruc.h"
-
-#define SAMPLINGTIME {{ solver_options.Tsim }}
-
-
-static void mdlInitializeSizes (SimStruct *S)
-{
-    // specify the number of continuous and discrete states
-    ssSetNumContStates(S, 0);
-    ssSetNumDiscStates(S, 0);
-
-    {# compute number of input ports #}
-    {%- set n_inputs = 1 %}  {# x0 #}
-    {%- if dims.nu > 0 %}  {# u0 -#}
-        {%- set n_inputs = n_inputs + 1 -%}
-    {%- endif %}
-    {%- if dims.np > 0 %}  {# parameters #}
-        {%- set n_inputs = n_inputs + 1 -%}
-    {%- endif %}
-
-    // specify the number of input ports
-    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
-        return;
-
-    // specify the number of output ports
-    if ( !ssSetNumOutputPorts(S, 1) )
-        return;
-
-    // specify dimension information for the input ports
-    {%- set i_input = 0 %}
-    // x0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx }});
-
-    {%- if dims.nu > 0 %}
-    {%- set i_input = i_input + 1 %}
-    // u0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu }});
-    {%- endif %}
-
-    {%- if dims.np > 0 %}
-    {%- set i_input = i_input + 1 %}
-    // parameters
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.np }});
-    {%- endif %}
-
-    // specify dimension information for the output ports
-    ssSetOutputPortVectorDimension(S, 0, {{ dims.nx }} ); // xnext
-
-    // specify the direct feedthrough status
-    // should be set to 1 for all inputs used in mdlOutputs
-    {%- for i in range(end=n_inputs) %}
-    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
-    {%- endfor %}
-
-    // one sample time
-    ssSetNumSampleTimes(S, 1);
-}
-
-
-#if defined(MATLAB_MEX_FILE)
-
-#define MDL_SET_INPUT_PORT_DIMENSION_INFO
-#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-#endif /* MATLAB_MEX_FILE */
-
-
-static void mdlInitializeSampleTimes(SimStruct *S)
-{
-    ssSetSampleTime(S, 0, SAMPLINGTIME);
-    ssSetOffsetTime(S, 0, 0.0);
-}
-
-
-static void mdlStart(SimStruct *S)
-{
-    sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule();
-    {{ model.name }}_acados_sim_create(capsule);
-
-    ssSetUserData(S, (void*)capsule);
-}
-
-static void mdlOutputs(SimStruct *S, int_T tid)
-{
-    sim_solver_capsule *capsule = ssGetUserData(S);
-
-    sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule);
-    sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule);
-    sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule);
-    void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule);
-    // sim_opts * {{ model.name }}_acados_get_sim_opts(capsule);
-    // sim_solver * {{ model.name }}_acados_get_sim_solver(capsule);
-
-    InputRealPtrsType in_sign;
-    {% set input_sizes = [dims.nx, dims.nu, dims.np] %}
-
-    // local buffer
-    {%- set buffer_size =  input_sizes | sort | last %}
-    real_t buffer[{{ buffer_size }}];
-
-
-    /* go through inputs */
-    {%- set i_input = 0 %}
-    // initial condition
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nx }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    sim_in_set(acados_sim_config, acados_sim_dims,
-               acados_sim_in, "x", buffer);
-
-
-    // ssPrintf("\nin acados sim:\n");
-    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x0[%d] = %f\n", i, buffer[i]);
-    //     ssPrintf("\n");
-
-{% if dims.nu > 0 %}
-    // control input - u
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nu }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    sim_in_set(acados_sim_config, acados_sim_dims,
-               acados_sim_in, "u", buffer);
-{%- endif %}
-
-
-{% if dims.np > 0 %}
-    // parameters
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.np }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    // update value of parameters
-    {{ model.name }}_acados_sim_update_params(capsule, buffer, {{ dims.np }});
-{%- endif %}
-
-
-    /* call solver */
-    int acados_status = {{ model.name }}_acados_sim_solve(capsule);
-
-
-    /* set outputs */
-    real_t *out_x = ssGetOutputPortRealSignal(S, 0);
-
-    // get simulated state
-    sim_out_get(acados_sim_config, acados_sim_dims, acados_sim_out,
-                "xn", (void *) out_x);
-
-    // ssPrintf("\nacados sim solve: returned %d\n", acados_status);
-    // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x_sim[%d] = %f\n", i, out_x[i]);
-    //     ssPrintf("\n");
-
-}
-
-
-static void mdlTerminate(SimStruct *S)
-{
-    sim_solver_capsule *capsule = ssGetUserData(S);
-
-    {{ model.name }}_acados_sim_free(capsule);
-    {{ model.name }}_acados_sim_solver_free_capsule(capsule);
-}
-
-
-#ifdef  MATLAB_MEX_FILE
-#include "simulink.c"
-#else
-#include "cg_sfun.h"
-#endif
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
deleted file mode 100644
index 3dd248037a..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
+++ /dev/null
@@ -1,853 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#define S_FUNCTION_NAME acados_solver_sfunction_{{ model.name }}
-#define S_FUNCTION_LEVEL 2
-
-#define MDL_START
-
-// acados
-// #include "acados/utils/print.h"
-#include "acados_c/sim_interface.h"
-#include "acados_c/external_function_interface.h"
-
-// example specific
-#include "{{ model.name }}_model/{{ model.name }}_model.h"
-#include "acados_solver_{{ model.name }}.h"
-
-#include "simstruc.h"
-
-{% if simulink_opts.samplingtime == "t0" -%}
-#define SAMPLINGTIME {{ solver_options.time_steps[0] }}
-{%- elif simulink_opts.samplingtime == "-1" -%}
-#define SAMPLINGTIME -1
-{%- else -%}
-  {{ throw(message = "simulink_opts.samplingtime must be '-1' or 't0', got val") }}
-{%- endif %}
-
-static void mdlInitializeSizes (SimStruct *S)
-{
-    // specify the number of continuous and discrete states
-    ssSetNumContStates(S, 0);
-    ssSetNumDiscStates(S, 0);
-
-    int N = {{ model.name | upper }}_N;
-
-  {%- for key, val in simulink_opts.inputs -%}
-    {%- if val != 0 and val != 1 -%}
-      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
-    {%- endif -%}
-  {%- endfor -%}
-
-  {#- compute number of input ports #}
-  {%- set n_inputs = 0 -%}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 -%}  {#- y_ref_0 -#}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref -%}  {#- y_ref -#}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e -%}  {#- y_ref_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- for key, val in simulink_opts.inputs -%}
-    {%- if val != 0 and val != 1 -%}
-      {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
-    {%- endif -%}
-  {%- endfor -%}
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set n_inputs = n_inputs + 1 %}
-  {%- endif -%}
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set n_inputs = n_inputs + 1 %}
-  {%- endif -%}
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.reset_solver -%}  {#- reset_solver #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
-    {%- set n_inputs = n_inputs + 1 -%}
-  {%- endif -%}
-
-    // specify the number of input ports
-    if ( !ssSetNumInputPorts(S, {{ n_inputs }}) )
-        return;
-
-    // specify the number of output ports
-    {%- set_global n_outputs = 0 %}
-    {%- for key, val in simulink_opts.outputs %}
-      {%- if val == 1 %}
-        {%- set_global n_outputs = n_outputs + val %}
-      {%- elif val != 0 %}
-        {{ throw(message = "simulink_opts.outputs must be 0 or 1, got val") }}
-      {%- endif %}
-    {%- endfor %}
-    if ( !ssSetNumOutputPorts(S, {{ n_outputs }}) )
-        return;
-
-    // specify dimension information for the input ports
-    {%- set i_input = -1 %}{# note here i_input is 0-based #}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    {%- set i_input = i_input + 1 %}
-    // lbx_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
-  {%- endif %}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    {%- set i_input = i_input + 1 %}
-    // ubx_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }});
-  {%- endif %}
-
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    {%- set i_input = i_input + 1 %}
-    // parameters
-    ssSetInputPortVectorDimension(S, {{ i_input }}, (N+1) * {{ dims.np }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.ny }});
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-    {%- set i_input = i_input + 1 %}
-    // y_ref_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e }});
-  {%- endif %}
-
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    {%- set i_input = i_input + 1 %}
-    // lbx
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
-  {%- endif %}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    {%- set i_input = i_input + 1 %}
-    // ubx
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }});
-  {%- endif %}
-
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    {%- set i_input = i_input + 1 %}
-    // lbx_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
-  {%- endif %}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    {%- set i_input = i_input + 1 %}
-    // ubx_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }});
-  {%- endif %}
-
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    {%- set i_input = i_input + 1 %}
-    // lbu
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    {%- set i_input = i_input + 1 %}
-    // ubu
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }});
-  {%- endif -%}
-
-
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    {%- set i_input = i_input + 1 %}
-    // lg
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    {%- set i_input = i_input + 1 %}
-    // ug
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
-  {%- endif -%}
-
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    {%- set i_input = i_input + 1 %}
-    // lh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    {%- set i_input = i_input + 1 %}
-    // uh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
-  {%- endif -%}
-
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    {%- set i_input = i_input + 1 %}
-    // lh_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    {%- set i_input = i_input + 1 %}
-    // uh_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
-  {%- endif -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W_0
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }});
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny * dims.ny }});
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set i_input = i_input + 1 %}
-    // cost_W_e
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e * dims.ny_e }});
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.reset_solver -%}  {#- reset_solver #}
-    {%- set i_input = i_input + 1 %}
-    // reset_solver
-    ssSetInputPortVectorDimension(S, {{ i_input }}, 1);
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.x_init -%}  {#- x_init #}
-    {%- set i_input = i_input + 1 %}
-    // x_init
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx * (dims.N+1) }});
-  {%- endif -%}
-
-  {%- if simulink_opts.inputs.u_init -%}  {#- u_init #}
-    {%- set i_input = i_input + 1 %}
-    // u_init
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu * (dims.N) }});
-  {%- endif -%}
-
-    /* specify dimension information for the OUTPUT ports */
-    {%- set i_output = -1 %}{# note here i_output is 0-based #}
-  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.utraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu * dims.N }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.xtraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx * (dims.N+1) }} );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.solver_status == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.cost_value == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residual == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 4 );
-  {%- endif %}
-
-  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.sqp_iter == 1 %}
-    {%- set i_output = i_output + 1 %}
-    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
-  {%- endif %}
-
-    // specify the direct feedthrough status
-    // should be set to 1 for all inputs used in mdlOutputs
-    {%- for i in range(end=n_inputs) %}
-    ssSetInputPortDirectFeedThrough(S, {{ i }}, 1);
-    {%- endfor %}
-
-    // one sample time
-    ssSetNumSampleTimes(S, 1);
-}
-
-
-#if defined(MATLAB_MEX_FILE)
-
-#define MDL_SET_INPUT_PORT_DIMENSION_INFO
-#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
-{
-    if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
-         return;
-}
-
-#endif /* MATLAB_MEX_FILE */
-
-
-static void mdlInitializeSampleTimes(SimStruct *S)
-{
-    ssSetSampleTime(S, 0, SAMPLINGTIME);
-    ssSetOffsetTime(S, 0, 0.0);
-}
-
-
-static void mdlStart(SimStruct *S)
-{
-    {{ model.name }}_solver_capsule *capsule = {{ model.name }}_acados_create_capsule();
-    {{ model.name }}_acados_create(capsule);
-
-    ssSetUserData(S, (void*)capsule);
-}
-
-
-static void mdlOutputs(SimStruct *S, int_T tid)
-{
-    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
-
-    InputRealPtrsType in_sign;
-
-    int N = {{ model.name | upper }}_N;
-
-    {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbx_e, dims.nbu, dims.ng, dims.nh, dims.ng_e, dims.nh_e] -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}  {# y_ref_0 #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %}
-  {%- endif %}
-  {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}  {# y_ref #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny)) %}
-  {%- endif %}
-  {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}  {# y_ref_e #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e)) %}
-  {%- endif %}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0 * dims.ny_0)) %}
-  {%- endif %}
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny * dims.ny)) %}
-  {%- endif %}
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %}
-  {%- endif %}
-
-    // local buffer
-    {%- set buffer_size = buffer_sizes | sort | last %}
-    real_t buffer[{{ buffer_size }}];
-
-    /* go through inputs */
-    {%- set i_input = -1 %}
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-    // lbx_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer);
-  {%- endif %}
-
-  {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-    // ubx_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nbx_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer);
-  {%- endif %}
-
-  {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-    // parameters - stage-variant !!!
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    // update value of parameters
-    for (int ii = 0; ii <= N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.np }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]);
-        {{ model.name }}_acados_update_params(capsule, ii, buffer, {{ dims.np }});
-    }
-  {%- endif %}
-
-  {% if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
-    // y_ref_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.ny_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer);
-  {%- endif %}
-
-  {% if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-    // y_ref - for stages 1 to N-1
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ny }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer);
-    }
-  {%- endif %}
-
-  {% if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-    // y_ref_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.ny_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", (void *) buffer);
-  {%- endif %}
-
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-    // lbx
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer);
-    }
-  {%- endif %}
-  {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-    // ubx
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer);
-    }
-  {%- endif %}
-
-
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-    // lbx_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nbx_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", buffer);
-  {%- endif %}
-  {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-    // ubx_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int i = 0; i < {{ dims.nbx_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", buffer);
-  {%- endif %}
-
-
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-    // lbu
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbu", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-    // ubu
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nbu }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubu", (void *) buffer);
-    }
-  {%- endif -%}
-
-  {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-    // lg
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ng }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-    // ug
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.ng }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", (void *) buffer);
-    }
-  {%- endif -%}
-
-  {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-    // lh
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nh }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", (void *) buffer);
-    }
-  {%- endif -%}
-  {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-    // uh
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nh }}; jj++)
-            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", (void *) buffer);
-    }
-  {%- endif -%}
-
-
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-    // lh_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nh_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", buffer);
-  {%- endif -%}
-  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-    // uh_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.nh_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", buffer);
-  {%- endif -%}
-
-  {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-    // cost_W_0
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny_0 * dims.ny_0 }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", buffer);
-  {%- endif %}
-
-  {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-    // cost_W
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny * dims.ny }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    for (int ii = 1; ii < N; ii++)
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer);
-  {%- endif %}
-
-  {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-    // cost_W_e
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", buffer);
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
-    // reset_solver
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    double reset = (double)(*in_sign[0]);
-    if (reset)
-    {
-        {{ model.name }}_acados_reset(capsule, 1);
-    }
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.x_init %}  {#- x_init #}
-    // x_init
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nx }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nx }}+jj]);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "x", (void *) buffer);
-    }
-  {%- endif %}
-
-  {%- if simulink_opts.inputs.u_init %}  {#- u_init #}
-    // u_init
-    {%- set i_input = i_input + 1 %}
-    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < N; ii++)
-    {
-        for (int jj = 0; jj < {{ dims.nu }}; jj++)
-            buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]);
-        ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "u", (void *) buffer);
-    }
-  {%- endif %}
-
-    /* call solver */
-    int rti_phase = 0;
-    ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase);
-    int acados_status = {{ model.name }}_acados_solve(capsule);
-
-
-    /* set outputs */
-    // assign pointers to output signals
-    real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_KKT_residuals, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin, *out_cost_value;
-    int tmp_int;
-
-    {%- set i_output = -1 -%}{# note here i_output is 0-based #}
-  {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_u0 = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.utraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }});
-    for (int ii = 0; ii < N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
-                        "u", (void *) (out_utraj + ii * {{ dims.nu }}));
-  {%- endif %}
-
-  {% if simulink_opts.outputs.xtraj == 1 %}
-    {%- set i_output = i_output + 1 %}
-
-    out_xtraj = ssGetOutputPortRealSignal(S, {{ i_output }});
-    for (int ii = 0; ii < {{ dims.N + 1 }}; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
-                        "x", (void *) (out_xtraj + ii * {{ dims.nx }}));
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.solver_status == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_status = ssGetOutputPortRealSignal(S, {{ i_output }});
-    *out_status = (real_t) acados_status;
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.cost_value == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cost_value = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_eval_cost(capsule->nlp_solver, nlp_in, nlp_out);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "cost_value", (void *) out_cost_value);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residual == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }});
-    *out_KKT_res = (real_t) nlp_out->inf_norm_res;
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_KKT_residuals = ssGetOutputPortRealSignal(S, {{ i_output }});
-
-    {%- if solver_options.nlp_solver_type == "SQP_RTI" %}
-    ocp_nlp_eval_residuals(capsule->nlp_solver, nlp_in, nlp_out);
-    {%- endif %}
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_stat", (void *) &out_KKT_residuals[0]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_eq", (void *) &out_KKT_residuals[1]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_ineq", (void *) &out_KKT_residuals[2]);
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_comp", (void *) &out_KKT_residuals[3]);
-  {%- endif %}
-
-  {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1);
-  {%- endif %}
-
-  {%- if simulink_opts.outputs.CPU_time == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time = ssGetOutputPortRealSignal(S, {{ i_output }});
-    // get solution time
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_sim = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_sim", (void *) out_cpu_time_sim);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_qp = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_qp", (void *) out_cpu_time_qp);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_cpu_time_lin = ssGetOutputPortRealSignal(S, {{ i_output }});
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_lin", (void *) out_cpu_time_lin);
-  {%- endif -%}
-
-  {%- if simulink_opts.outputs.sqp_iter == 1 %}
-    {%- set i_output = i_output + 1 %}
-    out_sqp_iter = ssGetOutputPortRealSignal(S, {{ i_output }});
-    // get sqp iter
-    ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int);
-    *out_sqp_iter = (real_t) tmp_int;
-  {%- endif %}
-
-}
-
-static void mdlTerminate(SimStruct *S)
-{
-    {{ model.name }}_solver_capsule *capsule = ssGetUserData(S);
-
-    {{ model.name }}_acados_free(capsule);
-    {{ model.name }}_acados_free_capsule(capsule);
-}
-
-
-#ifdef  MATLAB_MEX_FILE
-#include "simulink.c"
-#else
-#include "cg_sfun.h"
-#endif
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
deleted file mode 100644
index 851a3cc04f..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-// standard
-#include <stdio.h>
-#include <stdlib.h>
-// acados
-#include "acados/utils/print.h"
-#include "acados/utils/math.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados_solver_{{ model.name }}.h"
-// mex
-#include "mex.h"
-
-/* auxilary mex */
-// prints a matrix in column-major format (exponential notation)
-void MEX_print_exp_mat(int m, int n, double *A, int lda)
-{
-	for (int i=0; i<m; i++)
-    {
-		for (int j=0; j<n; j++)
-        {
-			mexPrintf("%e\t", A[i+lda*j]);
-        }
-		mexPrintf("\n");
-    }
-	mexPrintf("\n");
-}
-
-// prints the transposed of a matrix in column-major format (exponential notation)
-void MEX_print_exp_tran_mat(int row, int col, double *A, int lda)
-{
-	for (int j=0; j<col; j++)
-    {
-		for (int i=0; i<row; i++)
-        {
-			mexPrintf("%e\t", A[i+lda*j]);
-        }
-		mexPrintf("\n");
-    }
-	mexPrintf("\n");
-}
-
-
-void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
-{
-
-    int status = 0;
-    status = {{ model.name }}_acados_create();
-
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
-        exit(1);
-    }
-
-
-    // get pointers to nlp solver related objects
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config();
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims();
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in();
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out();
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver();
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts();
-
-    // initial condition
-    int idxbx0[{{ dims.nbx_0 }}];
-    {% for i in range(end=dims.nbx_0) %}
-    idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
-    {%- endfor %}
-
-    double lbx0[{{ dims.nbx_0 }}];
-    double ubx0[{{ dims.nbx_0 }}];
-    {% for i in range(end=dims.nbx_0) %}
-    lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
-    ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
-    {%- endfor %}
-
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
-
-    // initialization for state values
-    double x_init[{{ dims.nx }}];
-    {%- for i in range(end=dims.nx) %}
-    x_init[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // initial value for control input
-    double u0[{{ dims.nu }}];
-    {%- for i in range(end=dims.nu) %}
-    u0[{{ i }}] = 0.0;
-    {%- endfor %}
-
-    // prepare evaluation
-    int NTIMINGS = 10;
-    double min_time = 1e12;
-    double kkt_norm_inf;
-    double elapsed_time;
-    int sqp_iter;
-
-    double xtraj[{{ dims.nx }} * ({{ dims.N }}+1)];
-    double utraj[{{ dims.nu }} * ({{ dims.N }})];
-
-    // solve ocp in loop
-    for (int ii = 0; ii < NTIMINGS; ii++)
-    {
-        // initialize primal solution
-        for (int i = 0; i <= nlp_dims->N; i++)
-        {
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
-            ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
-        }
-        status = {{ model.name }}_acados_solve();
-        ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
-        min_time = MIN(elapsed_time, min_time);
-    }
-
-    /* print solution and statistics */
-    for (int ii = 0; ii <= nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*{{ dims.nx }}]);
-    for (int ii = 0; ii < nlp_dims->N; ii++)
-        ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*{{ dims.nu }}]);
-
-    mexPrintf("\n--- xtraj ---\n");
-    MEX_print_exp_tran_mat( {{ dims.nx }}, {{ dims.N }}+1, xtraj, {{ dims.nx }} );
-    mexPrintf("\n--- utraj ---\n");
-    MEX_print_exp_tran_mat( {{ dims.nu }}, {{ dims.N }}, utraj, {{ dims.nu }} );
-
-    mexPrintf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
-
-    if (status == ACADOS_SUCCESS)
-        mexPrintf("{{ model.name }}_acados_solve(): SUCCESS!\n");
-    else
-        mexPrintf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
-
-    // get solution
-    ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
-    ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
-
-    mexPrintf("\nSolver info:\n");
-    mexPrintf(" SQP iterations %2d\n minimum time for 1 solve %f [ms]\n KKT %e\n",
-           sqp_iter, min_time*1000, kkt_norm_inf);
-
-    // free solver
-    status = {{ model.name }}_acados_free();
-    if (status)
-    {
-        mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status);
-    }
-
-    return;
-}
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
deleted file mode 100644
index d217948456..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
+++ /dev/null
@@ -1,103 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-function make_main_mex_{{ model.name }}()
-
-    opts.output_dir = pwd;
-
-    % get acados folder
-    acados_folder = getenv('ACADOS_INSTALL_DIR');
-
-    % set paths
-    acados_include = ['-I' fullfile(acados_folder, 'include')];
-    template_lib_include = ['-l' 'acados_solver_{{ model.name }}'];
-    template_lib_path = ['-L' fullfile(pwd)];
-
-    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
-    external_include = ['-I', fullfile(acados_folder, 'external')];
-    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
-    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
-
-    mex_names = { ...
-        'main_mex_{{ model.name }}' ...
-    };
-
-    mex_files = cell(length(mex_names), 1);
-    for k=1:length(mex_names)
-        mex_files{k} = fullfile([mex_names{k}, '.c']);
-    end
-
-    %% octave C flags
-    if is_octave()
-        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
-            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
-            diary on
-            mkoctfile -p CFLAGS
-            diary off
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-            cflags_tmp = fscanf(input_file, '%[^\n]s');
-            fclose(input_file);
-            if ~ismac()
-                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
-            else
-                cflags_tmp = [cflags_tmp, ' -std=c99'];
-            end
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
-            fprintf(input_file, '%s', cflags_tmp);
-            fclose(input_file);
-        end
-        % read cflags from file
-        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-        cflags_tmp = fscanf(input_file, '%[^\n]s');
-        fclose(input_file);
-        setenv('CFLAGS', cflags_tmp);
-    end
-
-    %% compile mex
-    for ii=1:length(mex_files)
-        disp(['compiling ', mex_files{ii}])
-        if is_octave()
-    %        mkoctfile -p CFLAGS
-            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-            acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
-        else
-            if ismac()
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
-            else
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
-            end
-            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
-        end
-    end
-
-
-end
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
deleted file mode 100644
index 5e35827137..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
+++ /dev/null
@@ -1,127 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-function make_mex_{{ model.name }}()
-
-    opts.output_dir = pwd;
-
-    % get acados folder
-    acados_folder = getenv('ACADOS_INSTALL_DIR');
-
-    % set paths
-    acados_include = ['-I' fullfile(acados_folder, 'include')];
-    template_lib_include = ['-l' 'acados_ocp_solver_{{ model.name }}'];
-    template_lib_path = ['-L' fullfile(pwd)];
-
-    acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
-    external_include = ['-I', fullfile(acados_folder, 'external')];
-    blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
-    hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
-
-    % load linking information of compiled acados
-    link_libs_core_filename = fullfile(acados_folder, 'lib', 'link_libs.json');
-    addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-    link_libs = loadjson(link_libs_core_filename);
-
-    % add necessary link instructs
-    acados_lib_extra = {};
-    lib_names = fieldnames(link_libs);
-    for idx = 1 : numel(lib_names)
-        lib_name = lib_names{idx};
-        link_arg = link_libs.(lib_name);
-        if ~isempty(link_arg)
-            acados_lib_extra = [acados_lib_extra, link_arg];
-        end
-    end
-
-
-    mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')];
-
-    mex_names = { ...
-        'acados_mex_create_{{ model.name }}' ...
-        'acados_mex_free_{{ model.name }}' ...
-        'acados_mex_solve_{{ model.name }}' ...
-        'acados_mex_set_{{ model.name }}' ...
-    };
-
-    mex_files = cell(length(mex_names), 1);
-    for k=1:length(mex_names)
-        mex_files{k} = fullfile([mex_names{k}, '.c']);
-    end
-
-    %% octave C flags
-    if is_octave()
-        if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file')
-            diary(fullfile(opts.output_dir, 'cflags_octave.txt'));
-            diary on
-            mkoctfile -p CFLAGS
-            diary off
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-            cflags_tmp = fscanf(input_file, '%[^\n]s');
-            fclose(input_file);
-            if ~ismac()
-                cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp'];
-            else
-                cflags_tmp = [cflags_tmp, ' -std=c99'];
-            end
-            input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w');
-            fprintf(input_file, '%s', cflags_tmp);
-            fclose(input_file);
-        end
-        % read cflags from file
-        input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r');
-        cflags_tmp = fscanf(input_file, '%[^\n]s');
-        fclose(input_file);
-        setenv('CFLAGS', cflags_tmp);
-    end
-
-    %% compile mex
-    for ii=1:length(mex_files)
-        disp(['compiling ', mex_files{ii}])
-        if is_octave()
-    %        mkoctfile -p CFLAGS
-            mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
-                acados_lib_extra{:}, mex_files{ii})
-        else
-            if ismac()
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99';
-            else
-                FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
-            end
-            mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
-                acados_lib_extra{:}, mex_files{ii})
-        end
-    end
-
-
-end
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
deleted file mode 100644
index 5d74c523f8..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
+++ /dev/null
@@ -1,432 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-SOURCES = { ...
-        {%- if solver_options.integrator_type == 'ERK' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c', ...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c',...
-            {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c',...
-            {%- endif %}
-        {%- elif solver_options.integrator_type == "IRK" %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c', ...
-            {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',...
-            {%- endif %}
-        {%- elif solver_options.integrator_type == "GNSF" %}
-            {% if model.gnsf.purely_linear != 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',...
-            {% if model.gnsf.nontrivial_f_LO == 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',...
-            {%- endif %}
-            {%- endif %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',...
-        {%- elif solver_options.integrator_type == "DISCRETE" %}
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',...
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c',...
-        {%- if solver_options.hessian_approx == "EXACT" %}
-            '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c',...
-        {%- endif %}
-        {%- endif %}
-        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c',...
-        {%- elif cost.cost_type_0 == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c',...
-        {%- endif %}
-
-        {%- if cost.cost_type == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c',...
-        {%- elif cost.cost_type == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c',...
-        {%- endif %}
-        {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c',...
-        {%- elif cost.cost_type_e == "EXTERNAL" %}
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c',...
-            '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c',...
-        {%- endif %}
-        {%- if constraints.constr_type == "BGH"  and dims.nh > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c', ...
-        {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c', ...
-        {%- endif %}
-        {%- if constraints.constr_type_e == "BGH"  and dims.nh_e > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c', ...
-            '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c', ...
-        {%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
-            '{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c', ...
-        {%- endif %}
-            'acados_solver_sfunction_{{ model.name }}.c', ...
-            'acados_solver_{{ model.name }}.c'
-          };
-
-INC_PATH = '{{ acados_include_path }}';
-
-INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
-        ['-I', fullfile(INC_PATH, 'acados')], ...
-        ['-I', fullfile(INC_PATH)]};
-
-{% if solver_options.qp_solver is containing("QPOASES") %}
-INCS{end+1} = ['-I', fullfile(INC_PATH, 'qpOASES_e')];
-{% endif %}
-
-CFLAGS = 'CFLAGS=$CFLAGS';
-LDFLAGS = 'LDFLAGS=$LDFLAGS';
-COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
-COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
-
-{% if solver_options.qp_solver is containing("QPOASES") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPOASES ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPOASES ' ];
-{%- elif solver_options.qp_solver is containing("OSQP") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_OSQP ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ];
-{%- elif solver_options.qp_solver is containing("QPDUNES") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ];
-{%- elif solver_options.qp_solver is containing("DAQP") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_DAQP' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_DAQP' ];
-{%- elif solver_options.qp_solver is containing("HPMPC") %}
-CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ];
-COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ];
-{% endif %}
-
-LIB_PATH = ['-L', fullfile('{{ acados_lib_path }}')];
-
-LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
-
-% acados linking libraries and flags
-{%- if acados_link_libs and os and os == "pc" %}
-LDFLAGS = [LDFLAGS ' {{ acados_link_libs.openmp }}'];
-COMPFLAGS = [COMPFLAGS ' {{ acados_link_libs.openmp }}'];
-LIBS{end+1} = '{{ acados_link_libs.qpoases }}';
-LIBS{end+1} = '{{ acados_link_libs.hpmpc }}';
-LIBS{end+1} = '{{ acados_link_libs.osqp }}';
-{%- else %}
-    {% if solver_options.qp_solver is containing("QPOASES") %}
-LIBS{end+1} = '-lqpOASES_e';
-    {% endif %}
-    {% if solver_options.qp_solver is containing("DAQP") %}
-LIBS{end+1} = '-ldaqp';
-    {% endif %}
-{%- endif %}
-
-
-try
-    %     mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-    mex('-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-            LIB_PATH, LIBS{:}, SOURCES{:}, ...
-            '-output', 'acados_solver_sfunction_{{ model.name }}' );
-catch exception
-    disp('make_sfun failed with the following exception:')
-    disp(exception);
-    disp('Try adding -v to the mex command above to get more information.')
-    keyboard
-end
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ...
-    eval('mexext')] );
-
-
-%% print note on usage of s-function, and create I/O port names vectors
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n';
-i_in = 1;
-
-global sfun_input_names
-sfun_input_names = {};
-
-{%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
-input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
-                    ' size [{{ dims.nbx_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx_0 [{{ dims.nbx_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
-input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
-                    ' size [{{ dims.nbx_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx_0 [{{ dims.nbx_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N,',...
-                    ' size [{{ (dims.N+1)*dims.np }}]\n ');
-sfun_input_names = [sfun_input_names; 'parameter_traj [{{ (dims.N+1)*dims.np }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref_0 [{{ dims.ny_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
-                    ' size [{{ (dims.N-1) * dims.ny }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref [{{ (dims.N-1) * dims.ny }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
-input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'y_ref_e [{{ dims.ny_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
-input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx [{{ (dims.N-1) * dims.nbx }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
-input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx [{{ (dims.N-1) * dims.nbx }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-
-{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
-input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbx_e [{{ dims.nbx_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
-input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubx_e [{{ dims.nbx_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
-input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
-sfun_input_names = [sfun_input_names; 'lbu [{{ dims.N*dims.nbu }}]'];
-i_in = i_in + 1;
-{%- endif -%}
-{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
-input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
-sfun_input_names = [sfun_input_names; 'ubu [{{ dims.N*dims.nbu }}]'];
-i_in = i_in + 1;
-{%- endif -%}
-
-{%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-input_note = strcat(input_note, num2str(i_in), ') lg for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
-sfun_input_names = [sfun_input_names; 'lg [{{ dims.N*dims.ng }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-input_note = strcat(input_note, num2str(i_in), ') ug for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
-sfun_input_names = [sfun_input_names; 'ug [{{ dims.N*dims.ng }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-input_note = strcat(input_note, num2str(i_in), ') lh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
-sfun_input_names = [sfun_input_names; 'lh [{{ dims.N*dims.nh }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-input_note = strcat(input_note, num2str(i_in), ') uh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
-sfun_input_names = [sfun_input_names; 'uh [{{ dims.N*dims.nh }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
-input_note = strcat(input_note, num2str(i_in), ') lh_e, size [{{ dims.nh_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'lh_e [{{ dims.nh_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-{%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
-input_note = strcat(input_note, num2str(i_in), ') uh_e, size [{{ dims.nh_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'uh_e [{{ dims.nh_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W_0 [{{ dims.ny_0 * dims.ny_0 }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W [{{ dims.ny * dims.ny }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
-input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n ');
-sfun_input_names = [sfun_input_names; 'cost_W_e [{{ dims.ny_e * dims.ny_e }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
-input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n ');
-sfun_input_names = [sfun_input_names; 'reset_solver [1]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.x_init %}  {#- x_init #}
-input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n ');
-sfun_input_names = [sfun_input_names; 'x_init [{{ dims.nx * (dims.N+1) }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-{%- if simulink_opts.inputs.u_init %}  {#- u_init #}
-input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n ');
-sfun_input_names = [sfun_input_names; 'u_init [{{ dims.nu * (dims.N) }}]'];
-i_in = i_in + 1;
-{%- endif %}
-
-fprintf(input_note)
-
-disp(' ')
-
-output_note = 'Outputs are:\n';
-i_out = 0;
-
-global sfun_output_names
-sfun_output_names = {};
-
-{%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n ');
-sfun_output_names = [sfun_output_names; 'u0 [{{ dims.nu }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.utraj == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n ');
-sfun_output_names = [sfun_output_names; 'utraj [{{ dims.nu * dims.N }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.xtraj == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n ');
-sfun_output_names = [sfun_output_names; 'xtraj [{{ dims.nx * (dims.N + 1) }}]'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.solver_status == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
-sfun_output_names = [sfun_output_names; 'solver_status'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.cost_value == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') cost function value\n ');
-sfun_output_names = [sfun_output_names; 'cost_value'];
-{%- endif %}
-
-
-{%- if simulink_opts.outputs.KKT_residual == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
-sfun_output_names = [sfun_output_names; 'KKT_residual'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.KKT_residuals == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') KKT residuals, size [4] (stat, eq, ineq, comp)\n ');
-sfun_output_names = [sfun_output_names; 'KKT_residuals [4]'];
-{%- endif %}
-
-{%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
-sfun_output_names = [sfun_output_names; 'x1'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_sim == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_sim'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_qp == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_qp'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.CPU_time_lin == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n ');
-sfun_output_names = [sfun_output_names; 'CPU_time_lin'];
-{%- endif %}
-
-{%- if simulink_opts.outputs.sqp_iter == 1 %}
-i_out = i_out + 1;
-output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
-sfun_output_names = [sfun_output_names; 'sqp_iter'];
-{%- endif %}
-
-fprintf(output_note)
-
-% The mask drawing command is:
-% ---
-% global sfun_input_names sfun_output_names
-% for i = 1:length(sfun_input_names)
-% 	port_label('input', i, sfun_input_names{i})
-% end
-% for i = 1:length(sfun_output_names)
-% 	port_label('output', i, sfun_output_names{i})
-% end
-% ---
-% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
-%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
deleted file mode 100644
index e4c32a8c19..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
+++ /dev/null
@@ -1,137 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
-            'acados_sim_solver_{{ model.name }}.c ', ...
-            {%- if  solver_options.integrator_type == 'ERK' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ',...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',...
-            '{{ model.name }}_model/{{ model.name }}_expl_vde_adj.c ',...
-                {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',...
-                {%- endif %}
-            {%- elif solver_options.integrator_type == "IRK" %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ...
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ...
-                {%- if solver_options.hessian_approx == 'EXACT' %}
-            '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
-                {%- endif %}
-            {%- elif solver_options.integrator_type == "GNSF" %}
-                {%- if model.gnsf.purely_linear != 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ',...
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ',...
-                {%- if model.gnsf.nontrivial_f_LO == 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ',...
-                {%- endif %}
-                {%- endif %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ',...
-            {%- endif %}
-          ];
-
-INC_PATH = '{{ acados_include_path }}';
-
-INCS = [ ' -I', fullfile(INC_PATH, 'blasfeo', 'include'), ...
-         ' -I', fullfile(INC_PATH, 'hpipm', 'include'), ...
-        ' -I', INC_PATH, ' -I', fullfile(INC_PATH, 'acados'), ' '];
-
-CFLAGS  = ' -O';
-
-LIB_PATH = '{{ acados_lib_path }}';
-
-LIBS = '-lacados -lblasfeo -lhpipm';
-
-try
-    % eval( [ 'mex -v -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
-    eval( [ 'mex -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
-        CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]);
-
-catch exception
-    disp('make_sfun failed with the following exception:')
-    disp(exception);
-    disp('Try adding -v to the mex command above to get more information.')
-    keyboard
-end
-
-
-fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ...
-    eval('mexext')] );
-
-
-global sfun_sim_input_names
-sfun_sim_input_names = {};
-
-%% print note on usage of s-function
-fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
-input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n ';
-i_in = 2;
-sfun_sim_input_names = [sfun_sim_input_names; 'x0 [{{ dims.nx }}]'];
-
-{%- if dims.nu > 0 %}
-input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n ');
-i_in = i_in + 1;
-sfun_sim_input_names = [sfun_sim_input_names; 'u [{{ dims.nu }}]'];
-{%- endif %}
-
-{%- if dims.np > 0 %}
-input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n ');
-i_in = i_in + 1;
-sfun_sim_input_names = [sfun_sim_input_names; 'p [{{ dims.np }}]'];
-{%- endif %}
-
-
-fprintf(input_note)
-
-disp(' ')
-
-global sfun_sim_output_names
-sfun_sim_output_names = {};
-
-output_note = strcat('Outputs are:\n', ...
-                '1) x1 - simulated state, size [{{ dims.nx }}]\n');
-sfun_sim_output_names = [sfun_sim_output_names; 'x1 [{{ dims.nx }}]'];
-
-fprintf(output_note)
-
-
-% The mask drawing command is:
-% ---
-% global sfun_sim_input_names sfun_sim_output_names
-% for i = 1:length(sfun_sim_input_names)
-% 	port_label('input', i, sfun_sim_input_names{i})
-% end
-% for i = 1:length(sfun_sim_output_names)
-% 	port_label('output', i, sfun_sim_output_names{i})
-% end
-% ---
-% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
-%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
deleted file mode 100644
index 3743212830..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
+++ /dev/null
@@ -1,270 +0,0 @@
-%
-% Copyright (c) The acados authors.
-%
-% This file is part of acados.
-%
-% The 2-Clause BSD License
-%
-% Redistribution and use in source and binary forms, with or without
-% modification, are permitted provided that the following conditions are met:
-%
-% 1. Redistributions of source code must retain the above copyright notice,
-% this list of conditions and the following disclaimer.
-%
-% 2. Redistributions in binary form must reproduce the above copyright notice,
-% this list of conditions and the following disclaimer in the documentation
-% and/or other materials provided with the distribution.
-%
-% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-% POSSIBILITY OF SUCH DAMAGE.;
-
-%
-
-classdef {{ model.name }}_mex_solver < handle
-
-    properties
-        C_ocp
-        C_ocp_ext_fun
-        cost_ext_fun_type
-        cost_ext_fun_type_e
-        N
-        name
-        code_gen_dir
-    end % properties
-
-
-
-    methods
-
-        % constructor
-        function obj = {{ model.name }}_mex_solver()
-            make_mex_{{ model.name }}();
-            [obj.C_ocp, obj.C_ocp_ext_fun] = acados_mex_create_{{ model.name }}();
-            % to have path to destructor when changing directory
-            addpath('.')
-            obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}';
-            obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}';
-            obj.N = {{ dims.N }};
-            obj.name = '{{ model.name }}';
-            obj.code_gen_dir = pwd();
-        end
-
-        % destructor
-        function delete(obj)
-            disp("delete template...");
-            return_dir = pwd();
-            cd(obj.code_gen_dir);
-            if ~isempty(obj.C_ocp)
-                acados_mex_free_{{ model.name }}(obj.C_ocp);
-            end
-            cd(return_dir);
-            disp("done.");
-        end
-
-        % solve
-        function solve(obj)
-            acados_mex_solve_{{ model.name }}(obj.C_ocp);
-        end
-
-        % set -- borrowed from MEX interface
-        function set(varargin)
-            obj = varargin{1};
-            field = varargin{2};
-            value = varargin{3};
-            if ~isa(field, 'char')
-                error('field must be a char vector, use '' ''');
-            end
-            if nargin==3
-                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value);
-            elseif nargin==4
-                stage = varargin{4};
-                acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value, stage);
-            else
-                disp('acados_ocp.set: wrong number of input arguments (2 or 3 allowed)');
-            end
-        end
-
-        function value = get_cost(obj)
-            value = ocp_get_cost(obj.C_ocp);
-        end
-
-        % get -- borrowed from MEX interface
-        function value = get(varargin)
-            % usage:
-            % obj.get(field, value, [stage])
-            obj = varargin{1};
-            field = varargin{2};
-            if any(strfind('sens', field))
-                error('field sens* (sensitivities of optimal solution) not yet supported for templated MEX.')
-            end
-            if ~isa(field, 'char')
-                error('field must be a char vector, use '' ''');
-            end
-
-            if nargin==2
-                value = ocp_get(obj.C_ocp, field);
-            elseif nargin==3
-                stage = varargin{3};
-                value = ocp_get(obj.C_ocp, field, stage);
-            else
-                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
-            end
-        end
-
-
-        function [] = store_iterate(varargin)
-            %%%  Stores the current iterate of the ocp solver in a json file.
-            %%% param1: filename: if not set, use model_name + timestamp + '.json'
-            %%% param2: overwrite: if false and filename exists add timestamp to filename
-
-            obj = varargin{1};
-            filename = '';
-            overwrite = false;
-
-            if nargin>=2
-                filename = varargin{2};
-                if ~isa(filename, 'char')
-                    error('filename must be a char vector, use '' ''');
-                end
-            end
-
-            if nargin==3
-                overwrite = varargin{3};
-            end
-
-            if nargin > 3
-                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
-            end
-
-            if strcmp(filename,'')
-                filename = [obj.name '_iterate.json'];
-            end
-            if ~overwrite
-                % append timestamp
-                if exist(filename, 'file')
-                    filename = filename(1:end-5);
-                    filename = [filename '_' datestr(now,'yyyy-mm-dd-HH:MM:SS') '.json'];
-                end
-            end
-            filename = fullfile(pwd, filename);
-
-            % get iterate:
-            solution = struct();
-            for i=0:obj.N
-                solution.(['x_' num2str(i)]) = obj.get('x', i);
-                solution.(['lam_' num2str(i)]) = obj.get('lam', i);
-                solution.(['t_' num2str(i)]) = obj.get('t', i);
-                solution.(['sl_' num2str(i)]) = obj.get('sl', i);
-                solution.(['su_' num2str(i)]) = obj.get('su', i);
-            end
-            for i=0:obj.N-1
-                solution.(['z_' num2str(i)]) = obj.get('z', i);
-                solution.(['u_' num2str(i)]) = obj.get('u', i);
-                solution.(['pi_' num2str(i)]) = obj.get('pi', i);
-            end
-
-            acados_folder = getenv('ACADOS_INSTALL_DIR');
-            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-            savejson('', solution, filename);
-
-            json_string = savejson('', solution, 'ForceRootName', 0);
-
-            fid = fopen(filename, 'w');
-            if fid == -1, error('store_iterate: Cannot create JSON file'); end
-            fwrite(fid, json_string, 'char');
-            fclose(fid);
-
-            disp(['stored current iterate in ' filename]);
-        end
-
-
-        function [] = load_iterate(obj, filename)
-            %%%  Loads the iterate stored in json file with filename into the ocp solver.
-            acados_folder = getenv('ACADOS_INSTALL_DIR');
-            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
-            filename = fullfile(pwd, filename);
-
-            if ~exist(filename, 'file')
-                error(['load_iterate: failed, file does not exist: ' filename])
-            end
-
-            solution = loadjson(filename);
-            keys = fieldnames(solution);
-
-            for k = 1:numel(keys)
-                key = keys{k};
-                key_parts = strsplit(key, '_');
-                field = key_parts{1};
-                stage = key_parts{2};
-
-                val = solution.(key);
-
-                % check if array is empty (can happen for z)
-                if numel(val) > 0
-                    obj.set(field, val, str2num(stage))
-                end
-            end
-        end
-
-
-        % print
-        function print(varargin)
-            if nargin < 2
-                field = 'stat';
-            else
-                field = varargin{2};
-            end
-
-            obj = varargin{1};
-
-            if strcmp(field, 'stat')
-                stat = obj.get('stat');
-                {%- if solver_options.nlp_solver_type == "SQP" %}
-                fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha');
-                if size(stat,2)>8
-                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
-                end
-                fprintf('\n');
-                for jj=1:size(stat,1)
-                    fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8));
-                    if size(stat,2)>8
-                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12));
-                    end
-                    fprintf('\n');
-                end
-                fprintf('\n');
-                {%- else %}
-                fprintf('\niter\tqp_status\tqp_iter');
-                if size(stat,2)>3
-                    fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
-                end
-                fprintf('\n');
-                for jj=1:size(stat,1)
-                    fprintf('%d\t%d\t\t%d', stat(jj,1), stat(jj,2), stat(jj,3));
-                    if size(stat,2)>3
-                        fprintf('\t%e\t%e\t%e\t%e', stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
-                    end
-                    fprintf('\n');
-                end
-                {% endif %}
-
-            else
-                fprintf('unsupported field in function print of acados_ocp.print, got %s', field);
-                keyboard
-            end
-
-        end
-
-    end % methods
-
-end % class
-
diff --git a/third_party/acados/acados_template/c_templates_tera/model.in.h b/third_party/acados/acados_template/c_templates_tera/model.in.h
deleted file mode 100644
index e5059df9ff..0000000000
--- a/third_party/acados/acados_template/c_templates_tera/model.in.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef {{ model.name }}_MODEL
-#define {{ model.name }}_MODEL
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{%- if solver_options.hessian_approx %}
-	{%- set hessian_approx = solver_options.hessian_approx %}
-{%- elif solver_options.sens_hess %}
-	{%- set hessian_approx = "EXACT" %}
-{%- else %}
-	{%- set hessian_approx = "GAUSS_NEWTON" %}
-{%- endif %}
-
-{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
-  {% if model.dyn_ext_fun_type == "casadi" %}
-// implicit ODE: function
-int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_n_in(void);
-int {{ model.name }}_impl_dae_fun_n_out(void);
-
-// implicit ODE: function + jacobians
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);
-
-// implicit ODE: jacobians only
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void);
-int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void);
-
-// implicit ODE - for lifted_irk
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
-int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);
-
-	{%- if hessian_approx == "EXACT" %}
-// implicit ODE - hessian
-int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
-const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
-int {{ model.name }}_impl_dae_hess_n_in(void);
-int {{ model.name }}_impl_dae_hess_n_out(void);
-	{% endif %}
-  {% else %}{# ext_fun_type #}
-    {%- if hessian_approx == "EXACT" %}
-int {{ model.dyn_impl_dae_hess }}(void **, void **, void *);
-    {% endif %}
-int {{ model.dyn_impl_dae_fun_jac }}(void **, void **, void *);
-int {{ model.dyn_impl_dae_jac }}(void **, void **, void *);
-int {{ model.dyn_impl_dae_fun }}(void **, void **, void *);
-  {% endif %}{# ext_fun_type #}
-
-{% elif solver_options.integrator_type == "GNSF" %}
-/* GNSF Functions */
-	{% if model.gnsf.purely_linear != 1 %}
-// phi_fun
-int        {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_n_in(void);
-int        {{ model.name }}_gnsf_phi_fun_n_out(void);
-
-// phi_fun_jac_y
-int        {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void);
-int        {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void);
-
-// phi_jac_y_uhat
-int        {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
-const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
-int        {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
-	{% if model.gnsf.nontrivial_f_LO == 1 %}
-// f_lo_fun_jac_x1k1uz
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
-const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
-int        {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
-	{%- endif %}
-	{%- endif %}
-// used to import model matrices
-int        {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
-int        {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
-const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
-int        {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
-int        {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
-
-{% elif solver_options.integrator_type == "ERK" %}
-/* explicit ODE */
-
-// explicit ODE
-int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_ode_fun_sparsity_in(int);
-const int *{{ model.name }}_expl_ode_fun_sparsity_out(int);
-int {{ model.name }}_expl_ode_fun_n_in(void);
-int {{ model.name }}_expl_ode_fun_n_out(void);
-
-// explicit forward VDE
-int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_vde_forw_sparsity_in(int);
-const int *{{ model.name }}_expl_vde_forw_sparsity_out(int);
-int {{ model.name }}_expl_vde_forw_n_in(void);
-int {{ model.name }}_expl_vde_forw_n_out(void);
-
-// explicit adjoint VDE
-int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_vde_adj_sparsity_in(int);
-const int *{{ model.name }}_expl_vde_adj_sparsity_out(int);
-int {{ model.name }}_expl_vde_adj_n_in(void);
-int {{ model.name }}_expl_vde_adj_n_out(void);
-
-{%- if hessian_approx == "EXACT" %}
-int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_expl_ode_hess_sparsity_in(int);
-const int *{{ model.name }}_expl_ode_hess_sparsity_out(int);
-int {{ model.name }}_expl_ode_hess_n_in(void);
-int {{ model.name }}_expl_ode_hess_n_out(void);
-{%- endif %}
-
-{% elif solver_options.integrator_type == "DISCRETE" %}
-
-{% if model.dyn_ext_fun_type == "casadi" %}
-int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_n_out(void);
-
-int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void);
-
-{%- if hessian_approx == "EXACT" %}
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void);
-int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void);
-{%- endif %}
-{% else %}
-  {%- if hessian_approx == "EXACT" %}
-int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *);
-  {% endif %}
-int {{ model.dyn_disc_fun_jac }}(void **, void **, void *);
-int {{ model.dyn_disc_fun }}(void **, void **, void *);
-{% endif %}
-
-
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_MODEL
diff --git a/third_party/acados/acados_template/casadi_function_generation.py b/third_party/acados/acados_template/casadi_function_generation.py
deleted file mode 100644
index 6373a2809d..0000000000
--- a/third_party/acados/acados_template/casadi_function_generation.py
+++ /dev/null
@@ -1,708 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-import casadi as ca
-from .utils import is_empty, casadi_length
-
-
-def get_casadi_symbol(x):
-    if isinstance(x, ca.MX):
-        return ca.MX.sym
-    elif isinstance(x, ca.SX):
-        return ca.SX.sym
-    else:
-        raise TypeError("Expected casadi SX or MX.")
-
-################
-# Dynamics
-################
-
-
-def generate_c_code_discrete_dynamics( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    phi = model.disc_dyn_expr
-    model_name = model.name
-    nx = casadi_length(x)
-
-    symbol = get_casadi_symbol(x)
-    # assume nx1 = nx !!!
-    lam = symbol('lam', nx, 1)
-
-    # generate jacobians
-    ux = ca.vertcat(u,x)
-    jac_ux = ca.jacobian(phi, ux)
-    # generate adjoint
-    adj_ux = ca.jtimes(phi, ux, lam, True)
-    # generate hessian
-    hess_ux = ca.jacobian(adj_ux, ux)
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # set up & generate ca.Functions
-    fun_name = model_name + '_dyn_disc_phi_fun'
-    phi_fun = ca.Function(fun_name, [x, u, p], [phi])
-    phi_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac'
-    phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T])
-    phi_fun_jac_ut_xt.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
-    phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
-    phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-
-def generate_c_code_explicit_ode( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    generate_hess = opts["generate_hess"]
-
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    f_expl = model.f_expl_expr
-    model_name = model.name
-
-    ## get model dimensions
-    nx = x.size()[0]
-    nu = u.size()[0]
-
-    symbol = get_casadi_symbol(x)
-
-    ## set up functions to be exported
-    Sx = symbol('Sx', nx, nx)
-    Sp = symbol('Sp', nx, nu)
-    lambdaX = symbol('lambdaX', nx, 1)
-
-    fun_name = model_name + '_expl_ode_fun'
-
-    ## Set up functions
-    expl_ode_fun = ca.Function(fun_name, [x, u, p], [f_expl])
-
-    vdeX = ca.jtimes(f_expl,x,Sx)
-    vdeP = ca.jacobian(f_expl,u) + ca.jtimes(f_expl,x,Sp)
-
-    fun_name = model_name + '_expl_vde_forw'
-
-    expl_vde_forw = ca.Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP])
-
-    adj = ca.jtimes(f_expl, ca.vertcat(x, u), lambdaX, True)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj = ca.Function(fun_name, [x, lambdaX, u, p], [adj])
-
-    if generate_hess:
-        S_forw = ca.vertcat(ca.horzcat(Sx, Sp), ca.horzcat(ca.DM.zeros(nu,nx), ca.DM.eye(nu)))
-        hess = ca.mtimes(ca.transpose(S_forw),ca.jtimes(adj, ca.vertcat(x,u), S_forw))
-        hess2 = []
-        for j in range(nx+nu):
-            for i in range(j,nx+nu):
-                hess2 = ca.vertcat(hess2, hess[i,j])
-
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess = ca.Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2])
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # generate C code
-    fun_name = model_name + '_expl_ode_fun'
-    expl_ode_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_expl_vde_forw'
-    expl_vde_forw.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj.generate(fun_name, casadi_codegen_opts)
-
-    if generate_hess:
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess.generate(fun_name, casadi_codegen_opts)
-    os.chdir(cwd)
-
-    return
-
-
-def generate_c_code_implicit_ode( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load model
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-    f_impl = model.f_impl_expr
-    model_name = model.name
-
-    # get model dimensions
-    nx = casadi_length(x)
-    nz = casadi_length(z)
-
-    # generate jacobians
-    jac_x       = ca.jacobian(f_impl, x)
-    jac_xdot    = ca.jacobian(f_impl, xdot)
-    jac_u       = ca.jacobian(f_impl, u)
-    jac_z       = ca.jacobian(f_impl, z)
-
-    # Set up functions
-    p = model.p
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u])
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
-
-    if opts["generate_hess"]:
-        x_xdot_z_u = ca.vertcat(x, xdot, z, u)
-        symbol = get_casadi_symbol(x)
-        multiplier = symbol('multiplier', nx + nz)
-        ADJ = ca.jtimes(f_impl, x_xdot_z_u, multiplier, True)
-        HESS = ca.jacobian(ADJ, x_xdot_z_u)
-        fun_name = model_name + '_impl_dae_hess'
-        impl_dae_hess = ca.Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS])
-
-    # change directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # generate C code
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_codegen_opts)
-
-    if opts["generate_hess"]:
-        fun_name = model_name + '_impl_dae_hess'
-        impl_dae_hess.generate(fun_name, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-def generate_c_code_gnsf( model, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    model_name = model.name
-
-    # set up directory
-    cwd = os.getcwd()
-    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
-    if not os.path.exists(model_dir):
-        os.makedirs(model_dir)
-    os.chdir(model_dir)
-
-    # obtain gnsf dimensions
-    get_matrices_fun = model.get_matrices_fun
-    phi_fun = model.phi_fun
-
-    size_gnsf_A = get_matrices_fun.size_out(0)
-    gnsf_nx1 = size_gnsf_A[1]
-    gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    gnsf_nuhat = max(phi_fun.size_in(1))
-    gnsf_ny = max(phi_fun.size_in(0))
-    gnsf_nout = max(phi_fun.size_out(0))
-
-    # set up expressions
-    # if the model uses ca.MX because of cost/constraints
-    # the DAE can be exported as ca.SX -> detect GNSF in Matlab
-    # -> evaluated ca.SX GNSF functions with ca.MX.
-    u = model.u
-    symbol = get_casadi_symbol(u)
-
-    y = symbol("y", gnsf_ny, 1)
-    uhat = symbol("uhat", gnsf_nuhat, 1)
-    p = model.p
-    x1 = symbol("gnsf_x1", gnsf_nx1, 1)
-    x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1)
-    z1 = symbol("gnsf_z1", gnsf_nz1, 1)
-    dummy = symbol("gnsf_dummy", 1, 1)
-    empty_var = symbol("gnsf_empty_var", 0, 0)
-
-    ## generate C code
-    fun_name = model_name + '_gnsf_phi_fun'
-    phi_fun_ = ca.Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)])
-    phi_fun_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_phi_fun_jac_y'
-    phi_fun_jac_y = model.phi_fun_jac_y
-    phi_fun_jac_y_ = ca.Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p))
-    phi_fun_jac_y_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_phi_jac_y_uhat'
-    phi_jac_y_uhat = model.phi_jac_y_uhat
-    phi_jac_y_uhat_ = ca.Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p))
-    phi_jac_y_uhat_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz'
-    f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz
-    f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p)
-
-    # avoid codegeneration issue
-    if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval):
-        f_lo_fun_jac_x1k1uz_eval = [empty_var]
-
-    f_lo_fun_jac_x1k1uz_ = ca.Function(fun_name, [x1, x1dot, z1, u, p],
-                 f_lo_fun_jac_x1k1uz_eval)
-    f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_codegen_opts)
-
-    fun_name = model_name + '_gnsf_get_matrices_fun'
-    get_matrices_fun_ = ca.Function(fun_name, [dummy], get_matrices_fun(1))
-    get_matrices_fun_.generate(fun_name, casadi_codegen_opts)
-
-    # remove fields for json dump
-    del model.phi_fun
-    del model.phi_fun_jac_y
-    del model.phi_jac_y_uhat
-    del model.f_lo_fun_jac_x1k1uz
-    del model.get_matrices_fun
-
-    os.chdir(cwd)
-
-    return
-
-
-################
-# Cost
-################
-
-def generate_c_code_external_cost(model, stage_type, opts):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    p = model.p
-    u = model.u
-    z = model.z
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        suffix_name = "_cost_ext_cost_e_fun"
-        suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_e_fun_jac"
-        ext_cost = model.cost_expr_ext_cost_e
-        custom_hess = model.cost_expr_ext_cost_custom_hess_e
-        # Last stage cannot depend on u and z
-        u = symbol("u", 0, 0)
-        z = symbol("z", 0, 0)
-
-    elif stage_type == 'path':
-        suffix_name = "_cost_ext_cost_fun"
-        suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_fun_jac"
-        ext_cost = model.cost_expr_ext_cost
-        custom_hess = model.cost_expr_ext_cost_custom_hess
-
-    elif stage_type == 'initial':
-        suffix_name = "_cost_ext_cost_0_fun"
-        suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_0_fun_jac"
-        ext_cost = model.cost_expr_ext_cost_0
-        custom_hess = model.cost_expr_ext_cost_custom_hess_0
-
-    nunx = x.shape[0] + u.shape[0]
-
-    # set up functions to be exported
-    fun_name = model.name + suffix_name
-    fun_name_hess = model.name + suffix_name_hess
-    fun_name_jac = model.name + suffix_name_jac
-
-    # generate expression for full gradient and Hessian
-    hess_uxz, grad_uxz = ca.hessian(ext_cost, ca.vertcat(u, x, z))
-
-    hess_ux = hess_uxz[:nunx, :nunx]
-    hess_z = hess_uxz[nunx:, nunx:]
-    hess_z_ux = hess_uxz[nunx:, :nunx]
-
-    if custom_hess is not None:
-        hess_ux = custom_hess
-
-    ext_cost_fun = ca.Function(fun_name, [x, u, z, p], [ext_cost])
-
-    ext_cost_fun_jac_hess = ca.Function(
-        fun_name_hess, [x, u, z, p], [ext_cost, grad_uxz, hess_ux, hess_z, hess_z_ux]
-    )
-    ext_cost_fun_jac = ca.Function(
-        fun_name_jac, [x, u, z, p], [ext_cost, grad_uxz]
-    )
-
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    ext_cost_fun.generate(fun_name, casadi_codegen_opts)
-    ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_codegen_opts)
-    ext_cost_fun_jac.generate(fun_name_jac, casadi_codegen_opts)
-
-    os.chdir(cwd)
-    return
-
-
-def generate_c_code_nls_cost( model, cost_name, stage_type, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    z = model.z
-    p = model.p
-    u = model.u
-
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        middle_name = '_cost_y_e'
-        u = symbol('u', 0, 0)
-        y_expr = model.cost_y_expr_e
-
-    elif stage_type == 'initial':
-        middle_name = '_cost_y_0'
-        y_expr = model.cost_y_expr_0
-
-    elif stage_type == 'path':
-        middle_name = '_cost_y'
-        y_expr = model.cost_y_expr
-
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    # set up expressions
-    cost_jac_expr = ca.transpose(ca.jacobian(y_expr, ca.vertcat(u, x)))
-    dy_dz = ca.jacobian(y_expr, z)
-    ny = casadi_length(y_expr)
-
-    y = symbol('y', ny, 1)
-
-    y_adj = ca.jtimes(y_expr, ca.vertcat(u, x), y, True)
-    y_hess = ca.jacobian(y_adj, ca.vertcat(u, x))
-
-    ## generate C code
-    suffix_name = '_fun'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun = ca.Function( fun_name, [x, u, z, p], [ y_expr ])
-    y_fun.generate( fun_name, casadi_codegen_opts )
-
-    suffix_name = '_fun_jac_ut_xt'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun_jac_ut_xt = ca.Function(fun_name, [x, u, z, p], [ y_expr, cost_jac_expr, dy_dz ])
-    y_fun_jac_ut_xt.generate( fun_name, casadi_codegen_opts )
-
-    suffix_name = '_hess'
-    fun_name = cost_name + middle_name + suffix_name
-    y_hess = ca.Function(fun_name, [x, u, z, y, p], [ y_hess ])
-    y_hess.generate( fun_name, casadi_codegen_opts )
-
-    os.chdir(cwd)
-
-    return
-
-
-
-def generate_c_code_conl_cost(model, cost_name, stage_type, opts):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    x = model.x
-    z = model.z
-    p = model.p
-
-    symbol = get_casadi_symbol(x)
-
-    if stage_type == 'terminal':
-        u = symbol('u', 0, 0)
-
-        yref = model.cost_r_in_psi_expr_e
-        inner_expr = model.cost_y_expr_e - yref
-        outer_expr = model.cost_psi_expr_e
-        res_expr = model.cost_r_in_psi_expr_e
-
-        suffix_name_fun = '_conl_cost_e_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_e_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess_e
-
-    elif stage_type == 'initial':
-        u = model.u
-
-        yref = model.cost_r_in_psi_expr_0
-        inner_expr = model.cost_y_expr_0 - yref
-        outer_expr = model.cost_psi_expr_0
-        res_expr = model.cost_r_in_psi_expr_0
-
-        suffix_name_fun = '_conl_cost_0_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_0_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess_0
-
-    elif stage_type == 'path':
-        u = model.u
-
-        yref = model.cost_r_in_psi_expr
-        inner_expr = model.cost_y_expr - yref
-        outer_expr = model.cost_psi_expr
-        res_expr = model.cost_r_in_psi_expr
-
-        suffix_name_fun = '_conl_cost_fun'
-        suffix_name_fun_jac_hess = '_conl_cost_fun_jac_hess'
-
-        custom_hess = model.cost_conl_custom_outer_hess
-
-    # set up function names
-    fun_name_cost_fun = model.name + suffix_name_fun
-    fun_name_cost_fun_jac_hess = model.name + suffix_name_fun_jac_hess
-
-    # set up functions to be exported
-    outer_loss_fun = ca.Function('psi', [res_expr, p], [outer_expr])
-    cost_expr = outer_loss_fun(inner_expr, p)
-
-    outer_loss_grad_fun = ca.Function('outer_loss_grad', [res_expr, p], [ca.jacobian(outer_expr, res_expr).T])
-
-    if custom_hess is None:
-        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [ca.hessian(outer_loss_fun(res_expr, p), res_expr)[0]])
-    else:
-        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [custom_hess])
-
-    Jt_ux_expr = ca.jacobian(inner_expr, ca.vertcat(u, x)).T
-    Jt_z_expr = ca.jacobian(inner_expr, z).T
-
-    cost_fun = ca.Function(
-        fun_name_cost_fun,
-        [x, u, z, yref, p],
-        [cost_expr])
-
-    cost_fun_jac_hess = ca.Function(
-        fun_name_cost_fun_jac_hess,
-        [x, u, z, yref, p],
-        [cost_expr, outer_loss_grad_fun(inner_expr, p), Jt_ux_expr, Jt_z_expr, outer_hess_fun(inner_expr, p)]
-    )
-    # change directory
-    cwd = os.getcwd()
-    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
-    if not os.path.exists(cost_dir):
-        os.makedirs(cost_dir)
-    os.chdir(cost_dir)
-
-    # generate C code
-    cost_fun.generate(fun_name_cost_fun, casadi_codegen_opts)
-    cost_fun_jac_hess.generate(fun_name_cost_fun_jac_hess, casadi_codegen_opts)
-
-    os.chdir(cwd)
-
-    return
-
-
-################
-# Constraints
-################
-def generate_c_code_constraint( model, con_name, is_terminal, opts ):
-
-    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    # load constraint variables and expression
-    x = model.x
-    p = model.p
-
-    symbol = get_casadi_symbol(x)
-
-    if is_terminal:
-        con_h_expr = model.con_h_expr_e
-        con_phi_expr = model.con_phi_expr_e
-        # create dummy u, z
-        u = symbol('u', 0, 0)
-        z = symbol('z', 0, 0)
-    else:
-        con_h_expr = model.con_h_expr
-        con_phi_expr = model.con_phi_expr
-        u = model.u
-        z = model.z
-
-    if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)):
-        raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.")
-
-    if (is_empty(con_h_expr) and is_empty(con_phi_expr)):
-        # both empty -> nothing to generate
-        return
-
-    if is_empty(con_h_expr):
-        constr_type = 'BGP'
-    else:
-        constr_type = 'BGH'
-
-    if is_empty(p):
-        p = symbol('p', 0, 0)
-
-    if is_empty(z):
-        z = symbol('z', 0, 0)
-
-    if not (is_empty(con_h_expr)) and opts['generate_hess']:
-        # multipliers for hessian
-        nh = casadi_length(con_h_expr)
-        lam_h = symbol('lam_h', nh, 1)
-
-    # set up & change directory
-    cwd = os.getcwd()
-    constraints_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_constraints'))
-    if not os.path.exists(constraints_dir):
-        os.makedirs(constraints_dir)
-    os.chdir(constraints_dir)
-
-    # export casadi functions
-    if constr_type == 'BGH':
-        if is_terminal:
-            fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt'
-        else:
-            fun_name = con_name + '_constr_h_fun_jac_uxt_zt'
-
-        jac_ux_t = ca.transpose(ca.jacobian(con_h_expr, ca.vertcat(u,x)))
-        jac_z_t = ca.jacobian(con_h_expr, z)
-        constraint_fun_jac_tran = ca.Function(fun_name, [x, u, z, p], \
-                [con_h_expr, jac_ux_t, jac_z_t])
-
-        constraint_fun_jac_tran.generate(fun_name, casadi_codegen_opts)
-        if opts['generate_hess']:
-
-            if is_terminal:
-                fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess'
-            else:
-                fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess'
-
-            # adjoint
-            adj_ux = ca.jtimes(con_h_expr, ca.vertcat(u, x), lam_h, True)
-            # hessian
-            hess_ux = ca.jacobian(adj_ux, ca.vertcat(u, x))
-
-            adj_z = ca.jtimes(con_h_expr, z, lam_h, True)
-            hess_z = ca.jacobian(adj_z, z)
-
-            # set up functions
-            constraint_fun_jac_tran_hess = \
-                ca.Function(fun_name, [x, u, lam_h, z, p], \
-                    [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z])
-
-            # generate C code
-            constraint_fun_jac_tran_hess.generate(fun_name, casadi_codegen_opts)
-
-        if is_terminal:
-            fun_name = con_name + '_constr_h_e_fun'
-        else:
-            fun_name = con_name + '_constr_h_fun'
-        h_fun = ca.Function(fun_name, [x, u, z, p], [con_h_expr])
-        h_fun.generate(fun_name, casadi_codegen_opts)
-
-    else: # BGP constraint
-        if is_terminal:
-            fun_name = con_name + '_phi_e_constraint'
-            r = model.con_r_in_phi_e
-            con_r_expr = model.con_r_expr_e
-        else:
-            fun_name = con_name + '_phi_constraint'
-            r = model.con_r_in_phi
-            con_r_expr = model.con_r_expr
-
-        nphi = casadi_length(con_phi_expr)
-        con_phi_expr_x_u_z = ca.substitute(con_phi_expr, r, con_r_expr)
-        phi_jac_u = ca.jacobian(con_phi_expr_x_u_z, u)
-        phi_jac_x = ca.jacobian(con_phi_expr_x_u_z, x)
-        phi_jac_z = ca.jacobian(con_phi_expr_x_u_z, z)
-
-        hess = ca.hessian(con_phi_expr[0], r)[0]
-        for i in range(1, nphi):
-            hess = ca.vertcat(hess, ca.hessian(con_phi_expr[i], r)[0])
-
-        r_jac_u = ca.jacobian(con_r_expr, u)
-        r_jac_x = ca.jacobian(con_r_expr, x)
-
-        constraint_phi = \
-            ca.Function(fun_name, [x, u, z, p], \
-                [con_phi_expr_x_u_z, \
-                ca.vertcat(ca.transpose(phi_jac_u), ca.transpose(phi_jac_x)), \
-                ca.transpose(phi_jac_z), \
-                hess,
-                ca.vertcat(ca.transpose(r_jac_u), ca.transpose(r_jac_x))])
-
-        constraint_phi.generate(fun_name, casadi_codegen_opts)
-
-    # change directory back
-    os.chdir(cwd)
-
-    return
-
diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
deleted file mode 100644
index b39ff2e23b..0000000000
--- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
+++ /dev/null
@@ -1,819 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-// This is a template based custom_update function
-#include <stdlib.h>
-#include <stdio.h>
-#include <assert.h>
-#include <math.h>
-
-#include "custom_update_function.h"
-#include "acados_solver_{{ model.name }}.h"
-#include "acados_c/ocp_nlp_interface.h"
-#include "acados/utils/mem.h"
-
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-#include "blasfeo/include/blasfeo_d_blasfeo_api.h"
-
-
-typedef struct custom_memory
-{
-    // covariance matrics
-    struct blasfeo_dmat *uncertainty_matrix_buffer;      // shape = (N+1, nx, nx)
-    // covariance matrix of the additive disturbance
-    struct blasfeo_dmat W_mat;                           // shape = (nw, nw)
-    struct blasfeo_dmat unc_jac_G_mat;                   // shape = (nx, nw)
-    struct blasfeo_dmat temp_GW_mat;                     // shape = (nx, nw)
-    struct blasfeo_dmat GWG_mat;                         // shape = (nx, nx)
-    // sensitivity matrices
-    struct blasfeo_dmat A_mat;                           // shape = (nx, nx)
-    struct blasfeo_dmat B_mat;                           // shape = (nx, nu)
-    // matrix in linear constraints
-    struct blasfeo_dmat Cg_mat;                          // shape = (ng, nx)
-    struct blasfeo_dmat Dg_mat;                          // shape = (ng, nu)
-    struct blasfeo_dmat Cg_e_mat;                        // shape = (ng_e, nx)
-    struct blasfeo_dmat dummy_Dgh_e_mat;                 // shape = (ngh_e_max, nu)
-    // matrix in nonlinear constraints
-    struct blasfeo_dmat Ch_mat;                          // shape = (nh, nx)
-    struct blasfeo_dmat Dh_mat;                          // shape = (nh, nu)
-    struct blasfeo_dmat Ch_e_mat;                        // shape = (nh_e, nx)
-    // feedback gain matrix
-    struct blasfeo_dmat K_mat;                           // shape = (nu, nx)
-    // AK = A - B@K
-    struct blasfeo_dmat AK_mat;                          // shape = (nx, nx)
-    // A@P_k
-    struct blasfeo_dmat temp_AP_mat;                     // shape = (nx, nx)
-    // K@P_k, K@P_k@K^T
-    struct blasfeo_dmat temp_KP_mat;                     // shape = (nu, nx)
-    struct blasfeo_dmat temp_KPK_mat;                    // shape = (nu, nu)
-    // C + D @ K, (C + D @ K) @ P_k
-    struct blasfeo_dmat temp_CaDK_mat;                   // shape = (ngh_me_max, nx)
-    struct blasfeo_dmat temp_CaDKmP_mat;                 // shape = (ngh_me_max, nx)
-    struct blasfeo_dmat temp_beta_mat;                   // shape = (ngh_me_max, ngh_me_max)
-
-    double *d_A_mat;                                     // shape = (nx, nx)
-    double *d_B_mat;                                     // shape = (nx, nu)
-    double *d_Cg_mat;                                    // shape = (ng, nx)
-    double *d_Dg_mat;                                    // shape = (ng, nu)
-    double *d_Cg_e_mat;                                  // shape = (ng_e, nx)
-    double *d_Cgh_mat;                                   // shape = (ng+nh, nx)
-    double *d_Dgh_mat;                                   // shape = (ng+nh, nu)
-    double *d_Cgh_e_mat;                                 // shape = (ng_e+nh_e, nx)
-    double *d_state_vec;
-    // upper and lower bounds on state variables
-    double *d_lbx;                                       // shape = (nbx,)
-    double *d_ubx;                                       // shape = (nbx,)
-    double *d_lbx_e;                                     // shape = (nbx_e,)
-    double *d_ubx_e;                                     // shape = (nbx_e,)
-    // tightened upper and lower bounds on state variables
-    double *d_lbx_tightened;                             // shape = (nbx,)
-    double *d_ubx_tightened;                             // shape = (nbx,)
-    double *d_lbx_e_tightened;                           // shape = (nbx_e,)
-    double *d_ubx_e_tightened;                           // shape = (nbx_e,)
-    // upper and lower bounds on control inputs
-    double *d_lbu;                                       // shape = (nbu,)
-    double *d_ubu;                                       // shape = (nbu,)
-    // tightened upper and lower bounds on control inputs
-    double *d_lbu_tightened;                             // shape = (nbu,)
-    double *d_ubu_tightened;                             // shape = (nbu,)
-    // upper and lower bounds on polytopic constraints
-    double *d_lg;                                        // shape = (ng,)
-    double *d_ug;                                        // shape = (ng,)
-    double *d_lg_e;                                      // shape = (ng_e,)
-    double *d_ug_e;                                      // shape = (ng_e,)
-    // tightened lower bounds on polytopic constraints
-    double *d_lg_tightened;                              // shape = (ng,)
-    double *d_ug_tightened;                              // shape = (ng,)
-    double *d_lg_e_tightened;                            // shape = (ng_e,)
-    double *d_ug_e_tightened;                            // shape = (ng_e,)
-    // upper and lower bounds on nonlinear constraints
-    double *d_lh;                                        // shape = (nh,)
-    double *d_uh;                                        // shape = (nh,)
-    double *d_lh_e;                                      // shape = (nh_e,)
-    double *d_uh_e;                                      // shape = (nh_e,)
-    // tightened upper and lower bounds on nonlinear constraints
-    double *d_lh_tightened;                              // shape = (nh,)
-    double *d_uh_tightened;                              // shape = (nh,)
-    double *d_lh_e_tightened;                            // shape = (nh_e,)
-    double *d_uh_e_tightened;                            // shape = (nh_e,)
-
-    int *idxbx;                                          // shape = (nbx,)
-    int *idxbu;                                          // shape = (nbu,)
-    int *idxbx_e;                                        // shape = (nbx_e,)
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-} custom_memory;
-
-static int int_max(int num1, int num2)
-{
-    return (num1 > num2 ) ? num1 : num2;
-}
-
-
-static int custom_memory_calculate_size(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
-    int nbx_e = {{ dims.nbx_e }};
-
-    assert({{zoro_description.nlbx_t}} <= nbx);
-    assert({{zoro_description.nubx_t}} <= nbx);
-    assert({{zoro_description.nlbu_t}} <= nbu);
-    assert({{zoro_description.nubu_t}} <= nbu);
-    assert({{zoro_description.nlg_t}} <= ng);
-    assert({{zoro_description.nug_t}} <= ng);
-    assert({{zoro_description.nlh_t}} <= nh);
-    assert({{zoro_description.nuh_t}} <= nh);
-    assert({{zoro_description.nlbx_e_t}} <= nbx_e);
-    assert({{zoro_description.nubx_e_t}} <= nbx_e);
-    assert({{zoro_description.nlg_e_t}} <= ng_e);
-    assert({{zoro_description.nug_e_t}} <= ng_e);
-    assert({{zoro_description.nlh_e_t}} <= nh_e);
-    assert({{zoro_description.nuh_e_t}} <= nh_e);
-
-    acados_size_t size = sizeof(custom_memory);
-    size += nbx * sizeof(int);
-    /* blasfeo structs */
-    size += (N + 1) * sizeof(struct blasfeo_dmat);
-    /* blasfeo mem: mat */
-    size += (N + 1) * blasfeo_memsize_dmat(nx, nx); // uncertainty_matrix_buffer
-    size += blasfeo_memsize_dmat(nw, nw);           // W_mat
-    size += 2 * blasfeo_memsize_dmat(nx, nw);       // unc_jac_G_mat, temp_GW_mat
-    size += 4 * blasfeo_memsize_dmat(nx, nx);       // GWG_mat, A_mat, AK_mat, temp_AP_mat
-    size += blasfeo_memsize_dmat(nx, nu);           // B_mat
-    size += 2 * blasfeo_memsize_dmat(nu, nx);       // K_mat, temp_KP_mat
-    size += blasfeo_memsize_dmat(nu, nu);           // temp_KPK_mat
-    size += blasfeo_memsize_dmat(ng, nx);           // Cg_mat
-    size += blasfeo_memsize_dmat(ng, nu);           // Dg_mat
-    size += blasfeo_memsize_dmat(ng_e, nx);         // Cg_e_mat
-    size += blasfeo_memsize_dmat(ngh_e_max, nu);    // dummy_Dgh_e_mat
-    size += blasfeo_memsize_dmat(nh, nx);           // Ch_mat
-    size += blasfeo_memsize_dmat(nh, nu);           // Dh_mat
-    size += blasfeo_memsize_dmat(nh_e, nx);         // Ch_e_mat
-    size += 2 * blasfeo_memsize_dmat(ngh_me_max, nx);           // temp_CaDK_mat, temp_CaDKmP_mat
-    size += blasfeo_memsize_dmat(ngh_me_max, ngh_me_max);       // temp_beta_mat
-    /* blasfeo mem: vec */
-    /* Arrays */
-    size += nx*nx *sizeof(double);                  // d_A_mat
-    size += nx*nu *sizeof(double);                  // d_B_mat
-    size += (ng + ng_e) * nx * sizeof(double);      // d_Cg_mat, d_Cg_e_mat
-    size += (ng) * nu * sizeof(double);             // d_Dg_mat
-    size += (nh + nh_e + ng + ng_e) * nx * sizeof(double);      // d_Cgh_mat, d_Cgh_e_mat
-    size += (nh + ng) * nu * sizeof(double);        // d_Dgh_mat
-    // d_state_vec
-    size += nx *sizeof(double);
-    // constraints and tightened constraints
-    size += 4 * (nbx + nbu + ng + nh)*sizeof(double);
-    size += 4 * (nbx_e + ng_e + nh_e)*sizeof(double);
-    size += (nbx + nbu + nbx_e)*sizeof(int);        // idxbx, idxbu, idxbx_e
-
-    size += 1 * 8; // initial alignment
-    make_int_multiple_of(64, &size);
-    size += 1 * 64;
-
-    return size;
-}
-
-
-static custom_memory *custom_memory_assign(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims, void *raw_memory)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
-    int nbx_e = {{ dims.nbx_e }};
-
-    char *c_ptr = (char *) raw_memory;
-    custom_memory *mem = (custom_memory *) c_ptr;
-    c_ptr += sizeof(custom_memory);
-
-    align_char_to(8, &c_ptr);
-    assign_and_advance_blasfeo_dmat_structs(N+1, &mem->uncertainty_matrix_buffer, &c_ptr);
-
-    align_char_to(64, &c_ptr);
-
-    for (int ii = 0; ii <= N; ii++)
-    {
-        assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->uncertainty_matrix_buffer[ii], &c_ptr);
-    }
-    // Disturbance Dynamics
-    assign_and_advance_blasfeo_dmat_mem(nw, nw, &mem->W_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->unc_jac_G_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->temp_GW_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->GWG_mat, &c_ptr);
-    // System Dynamics
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->A_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nu, &mem->B_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng, nx, &mem->Cg_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng, nu, &mem->Dg_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ng_e, nx, &mem->Cg_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_e_max, nu, &mem->dummy_Dgh_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh, nx, &mem->Ch_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh, nu, &mem->Dh_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nh_e, nx, &mem->Ch_e_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->K_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->AK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->temp_AP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->temp_KP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(nu, nu, &mem->temp_KPK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDK_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDKmP_mat, &c_ptr);
-    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, ngh_me_max, &mem->temp_beta_mat, &c_ptr);
-
-    assign_and_advance_double(nx*nx, &mem->d_A_mat, &c_ptr);
-    assign_and_advance_double(nx*nu, &mem->d_B_mat, &c_ptr);
-    assign_and_advance_double(ng*nx, &mem->d_Cg_mat, &c_ptr);
-    assign_and_advance_double(ng*nu, &mem->d_Dg_mat, &c_ptr);
-    assign_and_advance_double(ng_e*nx, &mem->d_Cg_e_mat, &c_ptr);
-    assign_and_advance_double((ng + nh)*nx, &mem->d_Cgh_mat, &c_ptr);
-    assign_and_advance_double((ng + nh)*nu, &mem->d_Dgh_mat, &c_ptr);
-    assign_and_advance_double((ng_e + nh_e)*nx, &mem->d_Cgh_e_mat, &c_ptr);
-    assign_and_advance_double(nx, &mem->d_state_vec, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_lbx, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_ubx, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_lbx_e, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_ubx_e, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_lbx_tightened, &c_ptr);
-    assign_and_advance_double(nbx, &mem->d_ubx_tightened, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_lbx_e_tightened, &c_ptr);
-    assign_and_advance_double(nbx_e, &mem->d_ubx_e_tightened, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_lbu, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_ubu, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_lbu_tightened, &c_ptr);
-    assign_and_advance_double(nbu, &mem->d_ubu_tightened, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_lg, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_ug, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_lg_e, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_ug_e, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_lg_tightened, &c_ptr);
-    assign_and_advance_double(ng, &mem->d_ug_tightened, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_lg_e_tightened, &c_ptr);
-    assign_and_advance_double(ng_e, &mem->d_ug_e_tightened, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_lh, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_uh, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_lh_e, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_uh_e, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_lh_tightened, &c_ptr);
-    assign_and_advance_double(nh, &mem->d_uh_tightened, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_lh_e_tightened, &c_ptr);
-    assign_and_advance_double(nh_e, &mem->d_uh_e_tightened, &c_ptr);
-
-    assign_and_advance_int(nbx, &mem->idxbx, &c_ptr);
-    assign_and_advance_int(nbu, &mem->idxbu, &c_ptr);
-    assign_and_advance_int(nbx_e, &mem->idxbx_e, &c_ptr);
-
-    assert((char *) raw_memory + custom_memory_calculate_size(nlp_config, nlp_dims) >= c_ptr);
-    mem->raw_memory = raw_memory;
-
-    return mem;
-}
-
-
-
-static void *custom_memory_create({{ model.name }}_solver_capsule* capsule)
-{
-    printf("\nin custom_memory_create_function\n");
-
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    acados_size_t bytes = custom_memory_calculate_size(nlp_config, nlp_dims);
-
-    void *ptr = acados_calloc(1, bytes);
-
-    custom_memory *custom_mem = custom_memory_assign(nlp_config, nlp_dims, ptr);
-    custom_mem->raw_memory = ptr;
-
-    return custom_mem;
-}
-
-
-static void custom_val_init_function(ocp_nlp_dims *nlp_dims, ocp_nlp_in *nlp_in, ocp_nlp_solver *nlp_solver, custom_memory *custom_mem)
-{
-    int N = nlp_dims->N;
-    int nx = {{ dims.nx }};
-    int nu = {{ dims.nu }};
-    int nw = {{ zoro_description.nw }};
-
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int ngh_e_max = int_max(ng_e, nh_e);
-    int nbx_e = {{ dims.nbx_e }};
-
-    /* Get the state constraint bounds */
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbx", custom_mem->idxbx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "idxbx", custom_mem->idxbx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbu", custom_mem->idxbu);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu);
-    // Get the Jacobians and the bounds of the linear constraints
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "C", custom_mem->d_Cg_mat);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "D", custom_mem->d_Dg_mat);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "C", custom_mem->d_Cg_e_mat);
-    blasfeo_pack_dmat(ng, nx, custom_mem->d_Cg_mat, ng, &custom_mem->Cg_mat, 0, 0);
-    blasfeo_pack_dmat(ng, nu, custom_mem->d_Dg_mat, ng, &custom_mem->Dg_mat, 0, 0);
-    blasfeo_pack_dmat(ng_e, nx, custom_mem->d_Cg_e_mat, ng_e, &custom_mem->Cg_e_mat, 0, 0);
-    blasfeo_dgese(ngh_e_max, nu, 0., &custom_mem->dummy_Dgh_e_mat, 0, 0); //fill with zeros
-    // NOTE: fixed lower and upper bounds of nonlinear constraints
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e);
-
-    /* Initilize tightened constraints*/
-    // NOTE: tightened constraints are only initialized once
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
-    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
-
-    /* Initialize the W matrix */
-    // blasfeo_dgese(nw, nw, 0., &custom_mem->W_mat, 0, 0);
-{%- for ir in range(end=zoro_description.nw) %}
-    {%- for ic in range(end=zoro_description.nw) %}
-    blasfeo_dgein1({{zoro_description.W_mat[ir][ic]}}, &custom_mem->W_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-{%- for ir in range(end=dims.nx) %}
-    {%- for ic in range(end=zoro_description.nw) %}
-    blasfeo_dgein1({{zoro_description.unc_jac_G_mat[ir][ic]}}, &custom_mem->unc_jac_G_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-    // NOTE: if G is changing this is not in init!
-    // temp_GW_mat = unc_jac_G_mat * W_mat
-    blasfeo_dgemm_nn(nx, nw, nw, 1.0, &custom_mem->unc_jac_G_mat, 0, 0,
-                        &custom_mem->W_mat, 0, 0, 0.0,
-                        &custom_mem->temp_GW_mat, 0, 0, &custom_mem->temp_GW_mat, 0, 0);
-    // GWG_mat = temp_GW_mat * unc_jac_G_mat^T
-    blasfeo_dgemm_nt(nx, nx, nw, 1.0, &custom_mem->temp_GW_mat, 0, 0,
-                        &custom_mem->unc_jac_G_mat, 0, 0, 0.0,
-                        &custom_mem->GWG_mat, 0, 0, &custom_mem->GWG_mat, 0, 0);
-
-    /* Initialize the uncertainty_matrix_buffer[0] */
-{%- for ir in range(end=dims.nx) %}
-    {%- for ic in range(end=dims.nx) %}
-    blasfeo_dgein1({{zoro_description.P0_mat[ir][ic]}}, &custom_mem->uncertainty_matrix_buffer[0], {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-
-    /* Initialize the feedback gain matrix */
-{%- for ir in range(end=dims.nu) %}
-    {%- for ic in range(end=dims.nx) %}
-    blasfeo_dgein1({{zoro_description.fdbk_K_mat[ir][ic]}}, &custom_mem->K_mat, {{ir}}, {{ic}});
-    {%- endfor %}
-{%- endfor %}
-}
-
-
-int custom_update_init_function({{ model.name }}_solver_capsule* capsule)
-{
-    capsule->custom_update_memory = custom_memory_create(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
-    custom_val_init_function(nlp_dims, nlp_in, nlp_solver, capsule->custom_update_memory);
-    return 1;
-}
-
-static void compute_gh_beta(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* C_mat,
-                         struct blasfeo_dmat* D_mat, struct blasfeo_dmat* CaDK_mat,
-                         struct blasfeo_dmat* CaDKmP_mat, struct blasfeo_dmat* beta_mat,
-                         struct blasfeo_dmat* P_mat,
-                         int n_cstr, int nx, int nu)
-{
-    // (C+DK)@P@(C^T+K^TD^T)
-    // CaDK_mat = C_mat + D_mat @ K_mat
-    blasfeo_dgemm_nn(n_cstr, nx, nu, 1.0, D_mat, 0, 0,
-                        K_mat, 0, 0, 1.0,
-                        C_mat, 0, 0, CaDK_mat, 0, 0);
-    // CaDKmP_mat = CaDK_mat @ P_mat
-    blasfeo_dgemm_nn(n_cstr, nx, nx, 1.0, CaDK_mat, 0, 0,
-                        P_mat, 0, 0, 0.0,
-                        CaDKmP_mat, 0, 0, CaDKmP_mat, 0, 0);
-    // beta_mat = CaDKmP_mat @ CaDK_mat^T
-    blasfeo_dgemm_nt(n_cstr, n_cstr, nx, 1.0, CaDKmP_mat, 0, 0,
-                        CaDK_mat, 0, 0, 0.0,
-                        beta_mat, 0, 0, beta_mat, 0, 0);
-}
-
-static void compute_KPK(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* temp_KP_mat,
-                        struct blasfeo_dmat* temp_KPK_mat, struct blasfeo_dmat* P_mat,
-                        int nx, int nu)
-{
-    // K @ P_k @ K^T
-    // temp_KP_mat = K_mat @ P_mat
-    blasfeo_dgemm_nn(nu, nx, nx, 1.0, K_mat, 0, 0,
-                     P_mat, 0, 0, 0.0,
-                     temp_KP_mat, 0, 0, temp_KP_mat, 0, 0);
-    // temp_KPK_mat = temp_KP_mat @ K_mat^T
-    blasfeo_dgemm_nt(nu, nu, nx, 1.0, temp_KP_mat, 0, 0,
-                     K_mat, 0, 0, 0.0,
-                     temp_KPK_mat, 0, 0, temp_KPK_mat, 0, 0);
-}
-
-static void compute_next_P_matrix(struct blasfeo_dmat* P_mat, struct blasfeo_dmat* P_next_mat,
-                                  struct blasfeo_dmat* A_mat, struct blasfeo_dmat* B_mat,
-                                  struct blasfeo_dmat* K_mat, struct blasfeo_dmat* W_mat,
-                                  struct blasfeo_dmat* AK_mat, struct blasfeo_dmat* temp_AP_mat, int nx, int nu)
-{
-    // AK_mat = -B@K + A
-    blasfeo_dgemm_nn(nx, nx, nu, -1.0, B_mat, 0, 0, K_mat, 0, 0,
-                        1.0, A_mat, 0, 0, AK_mat, 0, 0);
-    // temp_AP_mat = AK_mat @ P_k
-    blasfeo_dgemm_nn(nx, nx, nx, 1.0, AK_mat, 0, 0,
-                        P_mat, 0, 0, 0.0,
-                        temp_AP_mat, 0, 0, temp_AP_mat, 0, 0);
-    // P_{k+1} = temp_AP_mat @ AK_mat^T + GWG_mat
-    blasfeo_dgemm_nt(nx, nx, nx, 1.0, temp_AP_mat, 0, 0,
-                        AK_mat, 0, 0, 1.0,
-                        W_mat, 0, 0, P_next_mat, 0, 0);
-}
-
-static void reset_P0_matrix(ocp_nlp_dims *nlp_dims, struct blasfeo_dmat* P_mat, double* data)
-{
-    int nx = nlp_dims->nx[0];
-    blasfeo_pack_dmat(nx, nx, data, nx, P_mat, 0, 0);
-}
-
-static void uncertainty_propagate_and_update(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, custom_memory *custom_mem)
-{
-    ocp_nlp_config *nlp_config = solver->config;
-    ocp_nlp_dims *nlp_dims = solver->dims;
-
-    int N = nlp_dims->N;
-    int nx = nlp_dims->nx[0];
-    int nu = nlp_dims->nu[0];
-    int nx_sqr = nx*nx;
-    int nbx = {{ dims.nbx }};
-    int nbu = {{ dims.nbu }};
-    int ng = {{ dims.ng }};
-    int nh = {{ dims.nh }};
-    int ng_e = {{ dims.ng_e }};
-    int nh_e = {{ dims.nh_e }};
-    int nbx_e = {{ dims.nbx_e }};
-    double backoff_scaling_gamma = {{ zoro_description.backoff_scaling_gamma }};
-
-    // First Stage
-    // NOTE: lbx_0 and ubx_0 should not be tightened.
-    // NOTE: lg_0 and ug_0 are not tightened.
-    // NOTE: lh_0 and uh_0 are not tightened.
-{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
-    compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
-                &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[0]), nx, nu);
-
-{%- if zoro_description.nlbu_t > 0 %}
-    // backoff lbu
-    {%- for it in zoro_description.idx_lbu_t %}
-    custom_mem->d_lbu_tightened[{{it}}]
-        = custom_mem->d_lbu[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbu", custom_mem->d_lbu_tightened);
-{%- endif %}
-{%- if zoro_description.nubu_t > 0 %}
-    // backoff ubu
-    {%- for it in zoro_description.idx_ubu_t %}
-    custom_mem->d_ubu_tightened[{{it}}]
-        = custom_mem->d_ubu[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubu", custom_mem->d_ubu_tightened);
-{%- endif %}
-{%- endif %}
-    // Middle Stages
-    // constraint tightening: for next stage based on dynamics of ii stage
-    // P[ii+1] = (A-B@K) @ P[ii] @ (A-B@K).T + G@W@G.T
-    for (int ii = 0; ii < N-1; ii++)
-    {
-        // get and pack: A, B
-        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "A", custom_mem->d_A_mat);
-        blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
-        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "B", custom_mem->d_B_mat);
-        blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
-
-        compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[ii]),
-                              &(custom_mem->uncertainty_matrix_buffer[ii+1]),
-                              &custom_mem->A_mat, &custom_mem->B_mat,
-                              &custom_mem->K_mat, &custom_mem->GWG_mat,
-                              &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
-
-        // state constraints
-{%- if zoro_description.nlbx_t + zoro_description.nubx_t> 0 %}
-    {%- if zoro_description.nlbx_t > 0 %}
-        // lbx
-        {%- for it in zoro_description.idx_lbx_t %}
-        custom_mem->d_lbx_tightened[{{it}}]
-            = custom_mem->d_lbx[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
-                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbx", custom_mem->d_lbx_tightened);
-    {%- endif %}
-    {% if zoro_description.nubx_t > 0 %}
-        // ubx
-        {%- for it in zoro_description.idx_ubx_t %}
-        custom_mem->d_ubx_tightened[{{it}}] = custom_mem->d_ubx[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
-                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubx", custom_mem->d_ubx_tightened);
-    {%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
-        // input constraints
-        compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
-            &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[ii+1]), nx, nu);
-
-    {%- if zoro_description.nlbu_t > 0 %}
-        {%- for it in zoro_description.idx_lbu_t %}
-        custom_mem->d_lbu_tightened[{{it}}] = custom_mem->d_lbu[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
-        {%- endfor %}
-
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbu", custom_mem->d_lbu_tightened);
-    {%- endif %}
-    {%- if zoro_description.nubu_t > 0 %}
-        {%- for it in zoro_description.idx_ubu_t %}
-        custom_mem->d_ubu_tightened[{{it}}] = custom_mem->d_ubu[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
-                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubu", custom_mem->d_ubu_tightened);
-    {%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlg_t + zoro_description.nug_t > 0 %}
-        // Linear constraints: g
-        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
-                     &custom_mem->Dg_mat, &custom_mem->temp_CaDK_mat,
-                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                     &custom_mem->uncertainty_matrix_buffer[ii+1], ng, nx, nu);
-
-    {%- if zoro_description.nlg_t > 0 %}
-        {%- for it in zoro_description.idx_lg_t %}
-        custom_mem->d_lg_tightened[{{it}}]
-            = custom_mem->d_lg[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lg", custom_mem->d_lg_tightened);
-    {%- endif %}
-    {%- if zoro_description.nug_t > 0 %}
-        {%- for it in zoro_description.idx_ug_t %}
-        custom_mem->d_ug_tightened[{{it}}]
-            = custom_mem->d_ug[{{it}}]
-                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ug", custom_mem->d_ug_tightened);
-    {%- endif %}
-{%- endif %}
-
-
-{%- if zoro_description.nlh_t + zoro_description.nuh_t > 0 %}
-        // nonlinear constraints: h
-        // Get C_{k+1} and D_{k+1}
-        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "C", custom_mem->d_Cgh_mat);
-        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "D", custom_mem->d_Dgh_mat);
-        // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
-        blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
-        blasfeo_pack_dmat(nh, nu, custom_mem->d_Dgh_mat+ng, ng+nh, &custom_mem->Dh_mat, 0, 0);
-
-        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
-                     &custom_mem->Dh_mat, &custom_mem->temp_CaDK_mat,
-                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                     &custom_mem->uncertainty_matrix_buffer[ii+1], nh, nx, nu);
-
-    {%- if zoro_description.nlh_t > 0 %}
-        {%- for it in zoro_description.idx_lh_t %}
-        custom_mem->d_lh_tightened[{{it}}]
-            = custom_mem->d_lh[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lh", custom_mem->d_lh_tightened);
-    {%- endif %}
-    {%- if zoro_description.nuh_t > 0 %}
-        {%- for it in zoro_description.idx_uh_t %}
-        custom_mem->d_uh_tightened[{{it}}] = custom_mem->d_uh[{{it}}]
-                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "uh", custom_mem->d_uh_tightened);
-    {%- endif %}
-{%- endif %}
-    }
-
-    // Last stage
-    // get and pack: A, B
-    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "A", custom_mem->d_A_mat);
-    blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
-    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "B", custom_mem->d_B_mat);
-    blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
-    // AK_mat = -B*K + A
-    compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[N-1]),
-                        &(custom_mem->uncertainty_matrix_buffer[N]),
-                        &custom_mem->A_mat, &custom_mem->B_mat,
-                        &custom_mem->K_mat, &custom_mem->GWG_mat,
-                        &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
-
-    // state constraints nlbx_e_t
-{%- if zoro_description.nlbx_e_t + zoro_description.nubx_e_t> 0 %}
-{%- if zoro_description.nlbx_e_t > 0 %}
-    // lbx_e
-    {%- for it in zoro_description.idx_lbx_e_t %}
-    custom_mem->d_lbx_e_tightened[{{it}}]
-        = custom_mem->d_lbx_e[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
-                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
-{%- endif %}
-{% if zoro_description.nubx_e_t > 0 %}
-    // ubx_e
-    {%- for it in zoro_description.idx_ubx_e_t %}
-    custom_mem->d_ubx_e_tightened[{{it}}] = custom_mem->d_ubx_e[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
-                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
-{%- endif %}
-{%- endif %}
-
-{%- if zoro_description.nlg_e_t + zoro_description.nug_e_t > 0 %}
-    // Linear constraints: g
-    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
-                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
-                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                    &custom_mem->uncertainty_matrix_buffer[N], ng, nx, nu);
-
-{%- if zoro_description.nlg_e_t > 0 %}
-    {%- for it in zoro_description.idx_lg_e_t %}
-    custom_mem->d_lg_e_tightened[{{it}}]
-        = custom_mem->d_lg_e[{{it}}]
-            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
-{%- endif %}
-{%- if zoro_description.nug_e_t > 0 %}
-    {%- for it in zoro_description.idx_ug_e_t %}
-    custom_mem->d_ug_e_tightened[{{it}}]
-        = custom_mem->d_ug_e[{{it}}]
-            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-    {%- endfor %}
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
-{%- endif %}
-{%- endif %}
-
-
-{%- if zoro_description.nlh_e_t + zoro_description.nuh_e_t > 0 %}
-    // nonlinear constraints: h
-    // Get C_{k+1} and D_{k+1}
-    ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, N, "C", custom_mem->d_Cgh_mat);
-    // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
-    blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
-
-    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
-                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
-                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
-                    &custom_mem->uncertainty_matrix_buffer[N], nh, nx, nu);
-
-    {%- if zoro_description.nlh_e_t > 0 %}
-        {%- for it in zoro_description.idx_lh_e_t %}
-        custom_mem->d_lh_e_tightened[{{it}}]
-            = custom_mem->d_lh_e[{{it}}]
-                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
-    {%- endif %}
-    {%- if zoro_description.nuh_e_t > 0 %}
-        {%- for it in zoro_description.idx_uh_e_t %}
-        custom_mem->d_uh_e_tightened[{{it}}] = custom_mem->d_uh_e[{{it}}]
-                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
-        {%- endfor %}
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
-    {%- endif %}
-{%- endif %}
-
-}
-
-
-int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
-{
-    custom_memory *custom_mem = (custom_memory *) capsule->custom_update_memory;
-    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
-    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
-    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
-    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
-    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
-    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(capsule);
-
-    if (data_len > 0)
-    {
-        reset_P0_matrix(nlp_dims, &custom_mem->uncertainty_matrix_buffer[0], data);
-    }
-    uncertainty_propagate_and_update(nlp_solver, nlp_in, nlp_out, custom_mem);
-
-    return 1;
-}
-
-
-int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule)
-{
-    custom_memory *mem = capsule->custom_update_memory;
-
-    free(mem->raw_memory);
-    return 1;
-}
-
-// useful prints for debugging
-
-/*
-printf("A_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->A_mat, 0, 0);
-printf("B_mat:\n");
-blasfeo_print_exp_dmat(nx, nu, &custom_mem->B_mat, 0, 0);
-printf("K_mat:\n");
-blasfeo_print_exp_dmat(nu, nx, &custom_mem->K_mat, 0, 0);
-printf("AK_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->AK_mat, 0, 0);
-printf("temp_AP_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->temp_AP_mat, 0, 0);
-printf("W_mat:\n");
-blasfeo_print_exp_dmat(nx, nx, &custom_mem->W_mat, 0, 0);
-printf("P_k+1:\n");
-blasfeo_print_exp_dmat(nx, nx, &(custom_mem->uncertainty_matrix_buffer[ii+1]), 0, 0);*/
\ No newline at end of file
diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
deleted file mode 100644
index 9611ea210c..0000000000
--- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#include "acados_solver_{{ model.name }}.h"
-
-// Called at the end of solver creation.
-// This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
-int custom_update_init_function({{ model.name }}_solver_capsule* capsule);
-
-
-// Custom update function that can be called between solver calls
-int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
-
-
-// Called just before destroying the solver.
-// Responsible to free allocated memory, stored at capsule->custom_update_memory.
-int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule);
diff --git a/third_party/acados/acados_template/gnsf/check_reformulation.py b/third_party/acados/acados_template/gnsf/check_reformulation.py
deleted file mode 100644
index 2bdfbbc336..0000000000
--- a/third_party/acados/acados_template/gnsf/check_reformulation.py
+++ /dev/null
@@ -1,216 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from acados_template.utils import casadi_length
-from casadi import *
-import numpy as np
-
-
-def check_reformulation(model, gnsf, print_info):
-
-    ## Description:
-    # this function takes the implicit ODE/ index-1 DAE and a gnsf structure
-    # to evaluate both models at num_eval random points x0, x0dot, z0, u0
-    # if for all points the relative error is <= TOL, the function will return::
-    # 1, otherwise it will give an error.
-
-    TOL = 1e-14
-    num_eval = 10
-
-    # get dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-    nx1 = gnsf["nx1"]
-    nx2 = gnsf["nx2"]
-    nz1 = gnsf["nz1"]
-    nz2 = gnsf["nz2"]
-    n_out = gnsf["n_out"]
-
-    # get model matrices
-    A = gnsf["A"]
-    B = gnsf["B"]
-    C = gnsf["C"]
-    E = gnsf["E"]
-    c = gnsf["c"]
-
-    L_x = gnsf["L_x"]
-    L_xdot = gnsf["L_xdot"]
-    L_z = gnsf["L_z"]
-    L_u = gnsf["L_u"]
-
-    A_LO = gnsf["A_LO"]
-    E_LO = gnsf["E_LO"]
-    B_LO = gnsf["B_LO"]
-    c_LO = gnsf["c_LO"]
-
-    I_x1 = range(nx1)
-    I_x2 = range(nx1, nx)
-
-    I_z1 = range(nz1)
-    I_z2 = range(nz1, nz)
-
-    idx_perm_f = gnsf["idx_perm_f"]
-
-    # get casadi variables
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    z = gnsf["z"]
-    u = gnsf["u"]
-    y = gnsf["y"]
-    uhat = gnsf["uhat"]
-    p = gnsf["p"]
-
-    # create functions
-    impl_dae_fun = Function("impl_dae_fun", [x, xdot, u, z, p], [model.f_impl_expr])
-    phi_fun = Function("phi_fun", [y, uhat, p], [gnsf["phi_expr"]])
-    f_lo_fun = Function(
-        "f_lo_fun", [x[range(nx1)], xdot[range(nx1)], z, u, p], [gnsf["f_lo_expr"]]
-    )
-
-    # print(gnsf)
-    # print(gnsf["n_out"])
-
-    for i_check in range(num_eval):
-        # generate random values
-        x0 = np.random.rand(nx, 1)
-        x0dot = np.random.rand(nx, 1)
-        z0 = np.random.rand(nz, 1)
-        u0 = np.random.rand(nu, 1)
-
-        if gnsf["ny"] > 0:
-            y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0[I_z1]
-        else:
-            y0 = []
-        if gnsf["nuhat"] > 0:
-            uhat0 = L_u @ u0
-        else:
-            uhat0 = []
-
-        # eval functions
-        p0 = np.random.rand(gnsf["np"], 1)
-        f_impl_val = impl_dae_fun(x0, x0dot, u0, z0, p0).full()
-        phi_val = phi_fun(y0, uhat0, p0)
-        f_lo_val = f_lo_fun(x0[I_x1], x0dot[I_x1], z0[I_z1], u0, p0)
-
-        f_impl_val = f_impl_val[idx_perm_f]
-        # eval gnsf
-        if n_out > 0:
-            C_phi = C @ phi_val
-        else:
-            C_phi = np.zeros((nx1 + nz1, 1))
-        try:
-            gnsf_val1 = (
-                A @ x0[I_x1] + B @ u0 + C_phi + c - E @ vertcat(x0dot[I_x1], z0[I_z1])
-            )
-            # gnsf_1 = (A @ x[I_x1] + B @ u + C_phi + c - E @ vertcat(xdot[I_x1], z[I_z1]))
-        except:
-            import pdb
-
-            pdb.set_trace()
-
-        if nx2 > 0:  # eval LOS:
-            gnsf_val2 = (
-                A_LO @ x0[I_x2]
-                + B_LO @ u0
-                + c_LO
-                + f_lo_val
-                - E_LO @ vertcat(x0dot[I_x2], z0[I_z2])
-            )
-            gnsf_val = vertcat(gnsf_val1, gnsf_val2).full()
-        else:
-            gnsf_val = gnsf_val1.full()
-        # compute error and check
-        rel_error = np.linalg.norm(f_impl_val - gnsf_val) / np.linalg.norm(f_impl_val)
-
-        if rel_error > TOL:
-            print("transcription failed rel_error > TOL")
-            print("you are in debug mode now: import pdb; pdb.set_trace()")
-            abs_error = gnsf_val - f_impl_val
-            # T = table(f_impl_val, gnsf_val, abs_error)
-            # print(T)
-            print("abs_error:", abs_error)
-            #         error('transcription failed rel_error > TOL')
-            #         check = 0
-            import pdb
-
-            pdb.set_trace()
-    if print_info:
-        print(" ")
-        print("model reformulation checked: relative error <= TOL = ", str(TOL))
-        print(" ")
-        check = 1
-    ## helpful for debugging:
-    # # use in calling function and compare
-    # # compare f_impl(i) with gnsf_val1(i)
-    #
-
-    #     nx  = gnsf['nx']
-    #     nu  = gnsf['nu']
-    #     nz  = gnsf['nz']
-    #     nx1 = gnsf['nx1']
-    #     nx2 = gnsf['nx2']
-    #
-    #         A  = gnsf['A']
-    #     B  = gnsf['B']
-    #     C  = gnsf['C']
-    #     E  = gnsf['E']
-    #     c  = gnsf['c']
-    #
-    #     L_x    = gnsf['L_x']
-    #     L_z    = gnsf['L_z']
-    #     L_xdot = gnsf['L_xdot']
-    #     L_u    = gnsf['L_u']
-    #
-    #     A_LO = gnsf['A_LO']
-    #
-    #     x0 = rand(nx, 1)
-    #     x0dot = rand(nx, 1)
-    #     z0 = rand(nz, 1)
-    #     u0 = rand(nu, 1)
-    #     I_x1 = range(nx1)
-    #     I_x2 = nx1+range(nx)
-    #
-    #     y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0
-    #     uhat0 = L_u @ u0
-    #
-    #     gnsf_val1 = (A @ x[I_x1] + B @ u + #         C @ phi_current + c) - E @ [xdot[I_x1] z]
-    #     gnsf_val1 = gnsf_val1.simplify()
-    #
-    # #     gnsf_val2 = A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
-    #     gnsf_val2 =  A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
-    #
-    #
-    #     gnsf_val = [gnsf_val1 gnsf_val2]
-    #     gnsf_val = gnsf_val.simplify()
-    #     dyn_expr_f = dyn_expr_f.simplify()
-    # import pdb; pdb.set_trace()
-
-    return check
diff --git a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
deleted file mode 100644
index ebf1f373a4..0000000000
--- a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
+++ /dev/null
@@ -1,278 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from casadi import *
-from .check_reformulation import check_reformulation
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from ..utils import casadi_length, print_casadi_expression
-
-
-def detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info):
-
-    ## Description
-    # this function takes a gnsf structure with trivial model matrices (A, B,
-    # E, c are zeros, and C is eye).
-    # It detects all affine linear terms and sets up an equivalent model in the
-    # GNSF structure, where all affine linear terms are modeled through the
-    # matrices A, B, E, c and the linear output system (LOS) is empty.
-    # NOTE: model is just taken as an argument to check equivalence of the
-    # models within the function.
-
-    model = acados_ocp.model
-    if print_info:
-        print(" ")
-        print("====================================================================")
-        print(" ")
-        print("============  Detect affine-linear dependencies   ==================")
-        print(" ")
-        print("====================================================================")
-        print(" ")
-    # symbolics
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    u = gnsf["u"]
-    z = gnsf["z"]
-
-    # dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-
-    ny_old = gnsf["ny"]
-    nuhat_old = gnsf["nuhat"]
-
-    ## Represent all affine dependencies through the model matrices A, B, E, c
-    ## determine A
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for ix in range(nx):
-            var = x[ix]
-            varname = var.name
-            # symbolic jacobian of fii w.r.t. xi
-            jac_fii_xi = jacobian(fii, var)
-            if jac_fii_xi.is_constant():
-                # jacobian value
-                jac_fii_xi_fun = Function("jac_fii_xi_fun", [x[1]], [jac_fii_xi])
-                # x[1] as input just to have a scalar input and call the function as follows:
-                gnsf["A"][ii, ix] = jac_fii_xi_fun(0).full()
-            else:
-                gnsf["A"][ii, ix] = 0
-                if print_info:
-                    print(
-                        "phi(",
-                        str(ii),
-                        ") is nonlinear in x(",
-                        str(ix),
-                        ") = ",
-                        varname,
-                    )
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] - gnsf["A"] @ x
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix A:")
-        print(gnsf["A"])
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-    # assert(n_nodes_current >= n_nodes_next,'n_nodes_current >= n_nodes_next FAILED')
-    gnsf["phi_expr"] = f_next
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine B
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for iu in range(nu):
-            var = u[iu]
-            varname = var.name
-            # symbolic jacobian of fii w.r.t. ui
-            jac_fii_ui = jacobian(fii, var)
-            if jac_fii_ui.is_constant():  # i.e. hessian is structural zero:
-                # jacobian value
-                jac_fii_ui_fun = Function("jac_fii_ui_fun", [x[1]], [jac_fii_ui])
-                gnsf["B"][ii, iu] = jac_fii_ui_fun(0).full()
-            else:
-                gnsf["B"][ii, iu] = 0
-                if print_info:
-                    print(f"phi({ii}) is nonlinear in u(", str(iu), ") = ", varname)
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] - gnsf["B"] @ u
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix B:")
-        print(gnsf["B"])
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-
-    gnsf["phi_expr"] = f_next
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine E
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    k = vertcat(xdot, z)
-
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        for ik in range(casadi_length(k)):
-            # symbolic jacobian of fii w.r.t. ui
-            var = k[ik]
-            varname = var.name
-            jac_fii_ki = jacobian(fii, var)
-            if jac_fii_ki.is_constant():
-                # jacobian value
-                jac_fii_ki_fun = Function("jac_fii_ki_fun", [x[1]], [jac_fii_ki])
-                gnsf["E"][ii, ik] = -jac_fii_ki_fun(0).full()
-            else:
-                gnsf["E"][ii, ik] = 0
-                if print_info:
-                    print(f"phi( {ii}) is nonlinear in xdot_z({ik}) = ", varname)
-                    print(fii)
-                    print("-----------------------------------------------------")
-    f_next = gnsf["phi_expr"] + gnsf["E"] @ k
-    f_next = simplify(f_next)
-    n_nodes_next = n_nodes(f_next)
-
-    if print_info:
-        print("\n")
-        print(f"determined matrix E:")
-        print(gnsf["E"])
-        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
-
-    gnsf["phi_expr"] = f_next
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine constant term c
-
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        if fii.is_constant():
-            # function value goes into c
-            fii_fun = Function("fii_fun", [x[1]], [fii])
-            gnsf["c"][ii] = fii_fun(0).full()
-        else:
-            gnsf["c"][ii] = 0
-            if print_info:
-                print(f"phi(", str(ii), ") is NOT constant")
-                print(fii)
-                print("-----------------------------------------------------")
-    gnsf["phi_expr"] = gnsf["phi_expr"] - gnsf["c"]
-    gnsf["phi_expr"] = simplify(gnsf["phi_expr"])
-    n_nodes_next = n_nodes(gnsf["phi_expr"])
-
-    if print_info:
-        print("\n")
-        print(f"determined vector c:")
-        print(gnsf["c"])
-        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
-
-    check_reformulation(model, gnsf, print_info)
-
-    ## determine nonlinearity & corresponding matrix C
-    ## Reduce dimension of phi
-    n_nodes_current = n_nodes(gnsf["phi_expr"])
-    ind_non_zero = []
-    for ii in range(casadi_length(gnsf["phi_expr"])):
-        fii = gnsf["phi_expr"][ii]
-        fii = simplify(fii)
-        if not fii.is_zero():
-            ind_non_zero = list(set.union(set(ind_non_zero), set([ii])))
-    gnsf["phi_expr"] = gnsf["phi_expr"][ind_non_zero]
-
-    # C
-    gnsf["C"] = np.zeros((nx + nz, len(ind_non_zero)))
-    for ii in range(len(ind_non_zero)):
-        gnsf["C"][ind_non_zero[ii], ii] = 1
-    gnsf = determine_input_nonlinearity_function(gnsf)
-    n_nodes_next = n_nodes(gnsf["phi_expr"])
-
-    if print_info:
-        print(" ")
-        print("determined matrix C:")
-        print(gnsf["C"])
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            "------------- Success: Affine linear terms detected -----------------------------"
-        )
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            f'reduced nonlinearity dimension n_out from  {nx+nz}  to  {gnsf["n_out"]}'
-        )
-        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
-        print(" ")
-        print("phi now reads as:")
-        print_casadi_expression(gnsf["phi_expr"])
-
-    ## determine input of nonlinearity function
-    check_reformulation(model, gnsf, print_info)
-
-    gnsf["ny"] = casadi_length(gnsf["y"])
-    gnsf["nuhat"] = casadi_length(gnsf["uhat"])
-
-    if print_info:
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-        print(" ")
-        print(
-            f"reduced input ny    of phi from  ",
-            str(ny_old),
-            "   to  ",
-            str(gnsf["ny"]),
-        )
-        print(
-            f"reduced input nuhat of phi from  ",
-            str(nuhat_old),
-            "   to  ",
-            str(gnsf["nuhat"]),
-        )
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-
-    # if print_info:
-    #     print(f"gnsf: {gnsf}")
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
deleted file mode 100644
index 24ffe643b8..0000000000
--- a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
+++ /dev/null
@@ -1,240 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import Function, jacobian, SX, vertcat, horzcat
-
-from .determine_trivial_gnsf_transcription import determine_trivial_gnsf_transcription
-from .detect_affine_terms_reduce_nonlinearity import (
-    detect_affine_terms_reduce_nonlinearity,
-)
-from .reformulate_with_LOS import reformulate_with_LOS
-from .reformulate_with_invertible_E_mat import reformulate_with_invertible_E_mat
-from .structure_detection_print_summary import structure_detection_print_summary
-from .check_reformulation import check_reformulation
-
-
-def detect_gnsf_structure(acados_ocp, transcribe_opts=None):
-
-    ## Description
-    # This function takes a CasADi implicit ODE or index-1 DAE model "model"
-    # consisting of a CasADi expression f_impl in the symbolic CasADi
-    # variables x, xdot, u, z, (and possibly parameters p), which are also part
-    # of the model, as well as a model name.
-    # It will create a struct "gnsf" containing all information needed to use
-    # it with the gnsf integrator in acados.
-    # Additionally it will create the struct "reordered_model" which contains
-    # the permuted state vector and permuted f_impl, in which additionally some
-    # functions, which were made part of the linear output system of the gnsf,
-    # have changed signs.
-
-    # Options: transcribe_opts is a Matlab struct consisting of booleans:
-    #   print_info: if extensive information on how the model is processed
-    #       is printed to the console.
-    #   generate_gnsf_model: if the neccessary C functions to simulate the gnsf
-    #       model with the acados implementation of the GNSF exploiting
-    #       integrator should be generated.
-    #   generate_gnsf_model: if the neccessary C functions to simulate the
-    #       reordered model with the acados implementation of the IRK
-    #       integrator should be generated.
-    #   check_E_invertibility: if the transcription method should check if the
-    #       assumption that the main blocks of the matrix gnsf.E are invertible
-    #       holds. If not, the method will try to reformulate the gnsf model
-    #       with a different model, such that the assumption holds.
-
-    # acados_root_dir = getenv('ACADOS_INSTALL_DIR')
-
-    ## load transcribe_opts
-    if transcribe_opts is None:
-        print("WARNING: GNSF structure detection called without transcribe_opts")
-        print(" using default settings")
-        print("")
-        transcribe_opts = dict()
-
-    if "print_info" in transcribe_opts:
-        print_info = transcribe_opts["print_info"]
-    else:
-        print_info = 1
-        print("print_info option was not set - default is true")
-
-    if "detect_LOS" in transcribe_opts:
-        detect_LOS = transcribe_opts["detect_LOS"]
-    else:
-        detect_LOS = 1
-        if print_info:
-            print("detect_LOS option was not set - default is true")
-
-    if "check_E_invertibility" in transcribe_opts:
-        check_E_invertibility = transcribe_opts["check_E_invertibility"]
-    else:
-        check_E_invertibility = 1
-        if print_info:
-            print("check_E_invertibility option was not set - default is true")
-
-    ## Reformulate implicit index-1 DAE into GNSF form
-    # (Generalized nonlinear static feedback)
-    gnsf = determine_trivial_gnsf_transcription(acados_ocp, print_info)
-    gnsf = detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info)
-
-    if detect_LOS:
-        gnsf = reformulate_with_LOS(acados_ocp, gnsf, print_info)
-
-    if check_E_invertibility:
-        gnsf = reformulate_with_invertible_E_mat(gnsf, acados_ocp, print_info)
-
-    # detect purely linear model
-    if gnsf["nx1"] == 0 and gnsf["nz1"] == 0 and gnsf["nontrivial_f_LO"] == 0:
-        gnsf["purely_linear"] = 1
-    else:
-        gnsf["purely_linear"] = 0
-
-    structure_detection_print_summary(gnsf, acados_ocp)
-    check_reformulation(acados_ocp.model, gnsf, print_info)
-
-    ## copy relevant fields from gnsf to model
-    acados_ocp.model.get_matrices_fun = Function()
-    dummy = acados_ocp.model.x[0]
-    model_name = acados_ocp.model.name
-
-    get_matrices_fun = Function(
-        f"{model_name}_gnsf_get_matrices_fun",
-        [dummy],
-        [
-            gnsf["A"],
-            gnsf["B"],
-            gnsf["C"],
-            gnsf["E"],
-            gnsf["L_x"],
-            gnsf["L_xdot"],
-            gnsf["L_z"],
-            gnsf["L_u"],
-            gnsf["A_LO"],
-            gnsf["c"],
-            gnsf["E_LO"],
-            gnsf["B_LO"],
-            gnsf["nontrivial_f_LO"],
-            gnsf["purely_linear"],
-            gnsf["ipiv_x"] + 1,
-            gnsf["ipiv_z"] + 1,
-            gnsf["c_LO"],
-        ],
-    )
-
-    phi = gnsf["phi_expr"]
-    y = gnsf["y"]
-    uhat = gnsf["uhat"]
-    p = gnsf["p"]
-
-    jac_phi_y = jacobian(phi, y)
-    jac_phi_uhat = jacobian(phi, uhat)
-
-    phi_fun = Function(f"{model_name}_gnsf_phi_fun", [y, uhat, p], [phi])
-    acados_ocp.model.phi_fun = phi_fun
-    acados_ocp.model.phi_fun_jac_y = Function(
-        f"{model_name}_gnsf_phi_fun_jac_y", [y, uhat, p], [phi, jac_phi_y]
-    )
-    acados_ocp.model.phi_jac_y_uhat = Function(
-        f"{model_name}_gnsf_phi_jac_y_uhat", [y, uhat, p], [jac_phi_y, jac_phi_uhat]
-    )
-
-    x1 = acados_ocp.model.x[gnsf["idx_perm_x"][: gnsf["nx1"]]]
-    x1dot = acados_ocp.model.xdot[gnsf["idx_perm_x"][: gnsf["nx1"]]]
-    if gnsf["nz1"] > 0:
-        z1 = acados_ocp.model.z[gnsf["idx_perm_z"][: gnsf["nz1"]]]
-    else:
-        z1 = SX.sym("z1", 0, 0)
-    f_lo = gnsf["f_lo_expr"]
-    u = acados_ocp.model.u
-    acados_ocp.model.f_lo_fun_jac_x1k1uz = Function(
-        f"{model_name}_gnsf_f_lo_fun_jac_x1k1uz",
-        [x1, x1dot, z1, u, p],
-        [
-            f_lo,
-            horzcat(
-                jacobian(f_lo, x1),
-                jacobian(f_lo, x1dot),
-                jacobian(f_lo, u),
-                jacobian(f_lo, z1),
-            ),
-        ],
-    )
-
-    acados_ocp.model.get_matrices_fun = get_matrices_fun
-
-    size_gnsf_A = gnsf["A"].shape
-    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
-    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
-    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
-
-    # # dim
-    # model['dim_gnsf_nx1'] = gnsf['nx1']
-    # model['dim_gnsf_nx2'] = gnsf['nx2']
-    # model['dim_gnsf_nz1'] = gnsf['nz1']
-    # model['dim_gnsf_nz2'] = gnsf['nz2']
-    # model['dim_gnsf_nuhat'] = gnsf['nuhat']
-    # model['dim_gnsf_ny'] = gnsf['ny']
-    # model['dim_gnsf_nout'] = gnsf['n_out']
-
-    # # sym
-    # model['sym_gnsf_y'] = gnsf['y']
-    # model['sym_gnsf_uhat'] = gnsf['uhat']
-
-    # # data
-    # model['dyn_gnsf_A'] = gnsf['A']
-    # model['dyn_gnsf_A_LO'] = gnsf['A_LO']
-    # model['dyn_gnsf_B'] = gnsf['B']
-    # model['dyn_gnsf_B_LO'] = gnsf['B_LO']
-    # model['dyn_gnsf_E'] = gnsf['E']
-    # model['dyn_gnsf_E_LO'] = gnsf['E_LO']
-    # model['dyn_gnsf_C'] = gnsf['C']
-    # model['dyn_gnsf_c'] = gnsf['c']
-    # model['dyn_gnsf_c_LO'] = gnsf['c_LO']
-    # model['dyn_gnsf_L_x'] = gnsf['L_x']
-    # model['dyn_gnsf_L_xdot'] = gnsf['L_xdot']
-    # model['dyn_gnsf_L_z'] = gnsf['L_z']
-    # model['dyn_gnsf_L_u'] = gnsf['L_u']
-    # model['dyn_gnsf_idx_perm_x'] = gnsf['idx_perm_x']
-    # model['dyn_gnsf_ipiv_x'] = gnsf['ipiv_x']
-    # model['dyn_gnsf_idx_perm_z'] = gnsf['idx_perm_z']
-    # model['dyn_gnsf_ipiv_z'] = gnsf['ipiv_z']
-    # model['dyn_gnsf_idx_perm_f'] = gnsf['idx_perm_f']
-    # model['dyn_gnsf_ipiv_f'] = gnsf['ipiv_f']
-
-    # # flags
-    # model['dyn_gnsf_nontrivial_f_LO'] = gnsf['nontrivial_f_LO']
-    # model['dyn_gnsf_purely_linear'] = gnsf['purely_linear']
-
-    # # casadi expr
-    # model['dyn_gnsf_expr_phi'] = gnsf['phi_expr']
-    # model['dyn_gnsf_expr_f_lo'] = gnsf['f_lo_expr']
-
-    return acados_ocp
diff --git a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
deleted file mode 100644
index 94aa001c79..0000000000
--- a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
+++ /dev/null
@@ -1,110 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import *
-from ..utils import casadi_length, is_empty
-
-
-def determine_input_nonlinearity_function(gnsf):
-
-    ## Description
-    # this function takes a structure gnsf and updates the matrices L_x,
-    # L_xdot, L_z, L_u and CasADi vectors y, uhat of this structure as follows:
-
-    # given a CasADi expression phi_expr, which may depend on the variables
-    # (x1, x1dot, z, u), this function determines a vector y (uhat) consisting
-    # of all components of (x1, x1dot, z) (respectively u) that enter phi_expr.
-    # Additionally matrices L_x, L_xdot, L_z, L_u are determined such that
-    #           y    = L_x * x + L_xdot * xdot + L_z * z
-    #           uhat = L_u * u
-    # Furthermore the dimensions ny, nuhat, n_out are updated
-
-    ## y
-    y = SX.sym('y', 0, 0)
-    # components of x1
-    for ii in range(gnsf["nx1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["x"][ii])[0]:
-            y = vertcat(y, gnsf["x"][ii])
-        # else:
-        # x[ii] is not part of y
-    # components of x1dot
-    for ii in range(gnsf["nx1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["xdot"][ii])[0]:
-            print(gnsf["phi_expr"], "depends on", gnsf["xdot"][ii])
-            y = vertcat(y, gnsf["xdot"][ii])
-        # else:
-        # xdot[ii] is not part of y
-    # components of z
-    for ii in range(gnsf["nz1"]):
-        if which_depends(gnsf["phi_expr"], gnsf["z"][ii])[0]:
-            y = vertcat(y, gnsf["z"][ii])
-        # else:
-        # z[ii] is not part of y
-    ## uhat
-    uhat = SX.sym('uhat', 0, 0)
-    # components of u
-    for ii in range(gnsf["nu"]):
-        if which_depends(gnsf["phi_expr"], gnsf["u"][ii])[0]:
-            uhat = vertcat(uhat, gnsf["u"][ii])
-        # else:
-        # u[ii] is not part of uhat
-    ## generate gnsf['phi_expr_fun']
-    # linear input matrices
-    if is_empty(y):
-        gnsf["L_x"] = []
-        gnsf["L_xdot"] = []
-        gnsf["L_u"] = []
-        gnsf["L_z"] = []
-    else:
-        dummy = SX.sym("dummy_input", 0)
-        L_x_fun = Function(
-            "L_x_fun", [dummy], [jacobian(y, gnsf["x"][range(gnsf["nx1"])])]
-        )
-        L_xdot_fun = Function(
-            "L_xdot_fun", [dummy], [jacobian(y, gnsf["xdot"][range(gnsf["nx1"])])]
-        )
-        L_z_fun = Function(
-            "L_z_fun", [dummy], [jacobian(y, gnsf["z"][range(gnsf["nz1"])])]
-        )
-        L_u_fun = Function("L_u_fun", [dummy], [jacobian(uhat, gnsf["u"])])
-
-        gnsf["L_x"] = L_x_fun(0).full()
-        gnsf["L_xdot"] = L_xdot_fun(0).full()
-        gnsf["L_u"] = L_u_fun(0).full()
-        gnsf["L_z"] = L_z_fun(0).full()
-    gnsf["y"] = y
-    gnsf["uhat"] = uhat
-
-    gnsf["ny"] = casadi_length(y)
-    gnsf["nuhat"] = casadi_length(uhat)
-    gnsf["n_out"] = casadi_length(gnsf["phi_expr"])
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
deleted file mode 100644
index 23c2440537..0000000000
--- a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
+++ /dev/null
@@ -1,155 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-from casadi import *
-import numpy as np
-from ..utils import casadi_length, idx_perm_to_ipiv
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-
-
-def determine_trivial_gnsf_transcription(acados_ocp, print_info):
-    ## Description
-    # this function takes a model of an implicit ODE/ index-1 DAE and sets up
-    # an equivalent model in the GNSF structure, with empty linear output
-    # system and trivial model matrices, i.e. A, B, E, c are zeros, and C is
-    # eye. - no structure is exploited
-
-    model = acados_ocp.model
-    # initial print
-    print("*****************************************************************")
-    print(" ")
-    print(f"******      Restructuring {model.name} model    ***********")
-    print(" ")
-    print("*****************************************************************")
-
-    # load model
-    f_impl_expr = model.f_impl_expr
-
-    model_name_prefix = model.name
-
-    # x
-    x = model.x
-    nx = acados_ocp.dims.nx
-    # check type
-    if isinstance(x[0], SX):
-        isSX = True
-    else:
-        print("GNSF detection only works for SX CasADi type!!!")
-        import pdb
-
-        pdb.set_trace()
-    # xdot
-    xdot = model.xdot
-    # u
-    nu = acados_ocp.dims.nu
-    if nu == 0:
-        u = SX.sym("u", 0, 0)
-    else:
-        u = model.u
-
-    nz = acados_ocp.dims.nz
-    if nz == 0:
-        z = SX.sym("z", 0, 0)
-    else:
-        z = model.z
-
-    p = model.p
-    nparam = acados_ocp.dims.np
-
-    # avoid SX of size 0x1
-    if casadi_length(u) == 0:
-        u = SX.sym("u", 0, 0)
-        nu = 0
-    ## initialize gnsf struct
-    # dimensions
-    gnsf = {"nx": nx, "nu": nu, "nz": nz, "np": nparam}
-    gnsf["nx1"] = nx
-    gnsf["nx2"] = 0
-    gnsf["nz1"] = nz
-    gnsf["nz2"] = 0
-    gnsf["nuhat"] = nu
-    gnsf["ny"] = 2 * nx + nz
-
-    gnsf["phi_expr"] = f_impl_expr
-    gnsf["A"] = np.zeros((nx + nz, nx))
-    gnsf["B"] = np.zeros((nx + nz, nu))
-    gnsf["E"] = np.zeros((nx + nz, nx + nz))
-    gnsf["c"] = np.zeros((nx + nz, 1))
-    gnsf["C"] = np.eye(nx + nz)
-    gnsf["name"] = model_name_prefix
-
-    gnsf["x"] = x
-    gnsf["xdot"] = xdot
-    gnsf["z"] = z
-    gnsf["u"] = u
-    gnsf["p"] = p
-
-    gnsf = determine_input_nonlinearity_function(gnsf)
-
-    gnsf["A_LO"] = []
-    gnsf["E_LO"] = []
-    gnsf["B_LO"] = []
-    gnsf["c_LO"] = []
-    gnsf["f_lo_expr"] = []
-
-    # permutation
-    gnsf["idx_perm_x"] = range(nx)  # matlab-style)
-    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])  # blasfeo-style
-    gnsf["idx_perm_z"] = range(nz)
-    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
-    gnsf["idx_perm_f"] = range((nx + nz))
-    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
-
-    gnsf["nontrivial_f_LO"] = 0
-
-    check_reformulation(model, gnsf, print_info)
-    if print_info:
-        print(f"Success: Set up equivalent GNSF model with trivial matrices")
-        print(" ")
-    if print_info:
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-        print(" ")
-        print(
-            "reduced input ny    of phi from  ",
-            str(2 * nx + nz),
-            "   to  ",
-            str(gnsf["ny"]),
-        )
-        print(
-            "reduced input nuhat of phi from  ", str(nu), "   to  ", str(gnsf["nuhat"])
-        )
-        print(" ")
-        print(
-            "-----------------------------------------------------------------------------------"
-        )
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/matlab to python.md b/third_party/acados/acados_template/gnsf/matlab to python.md
deleted file mode 100644
index 53a0ed971e..0000000000
--- a/third_party/acados/acados_template/gnsf/matlab to python.md	
+++ /dev/null
@@ -1,43 +0,0 @@
-# matlab to python
-
-% -> #
-
-; -> 
-
-from casadi import *
-->
-from casadi import *
-
-
-print\('(.*)'\)
-print('$1')
-
-print\(\['(.*)'\]\)
-print(f'$1')
-
-keyboard
-import pdb; pdb.set_trace()
-
-
-range((([^))]*))
-range($1)
-
-\s*end
-->
-nothing
-
-
-if (.*)
-if $1:
-
-else
-else:
-
-num2str
-str
-
-for ([a-z_]*) =
-for $1 in
-
-length\(
-len(
\ No newline at end of file
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
deleted file mode 100644
index 297a56556c..0000000000
--- a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
+++ /dev/null
@@ -1,394 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-from casadi import *
-from ..utils import casadi_length, idx_perm_to_ipiv, is_empty
-
-
-def reformulate_with_LOS(acados_ocp, gnsf, print_info):
-
-    ## Description:
-    # This function takes an intitial transcription of the implicit ODE model
-    # "model" into "gnsf" and reformulates "gnsf" with a linear output system
-    # (LOS), containing as many states of the model as possible.
-    # Therefore it might be that the state vector and the implicit function
-    # vector have to be reordered. This reordered model is part of the output,
-    # namely reordered_model.
-
-    ## import CasADi and load models
-    model = acados_ocp.model
-
-    # symbolics
-    x = gnsf["x"]
-    xdot = gnsf["xdot"]
-    u = gnsf["u"]
-    z = gnsf["z"]
-
-    # dimensions
-    nx = gnsf["nx"]
-    nz = gnsf["nz"]
-
-    # get model matrices
-    A = gnsf["A"]
-    B = gnsf["B"]
-    C = gnsf["C"]
-    E = gnsf["E"]
-    c = gnsf["c"]
-
-    A_LO = gnsf["A_LO"]
-
-    y = gnsf["y"]
-
-    phi_old = gnsf["phi_expr"]
-
-    if print_info:
-        print(" ")
-        print("=================================================================")
-        print(" ")
-        print("================    Detect Linear Output System   ===============")
-        print(" ")
-        print("=================================================================")
-        print(" ")
-    ## build initial I_x1 and I_x2_candidates
-    # I_xrange( all components of x for which either xii or xdot_ii enters y):
-    # I_LOS_candidates: the remaining components
-
-    I_nsf_components = set()
-    I_LOS_candidates = set()
-
-    if gnsf["ny"] > 0:
-        for ii in range(nx):
-            if which_depends(y, x[ii])[0] or which_depends(y, xdot[ii])[0]:
-                # i.e. xii or xiidot are part of y, and enter phi_expr
-                if print_info:
-                    print(f"x_{ii} is part of x1")
-                I_nsf_components = set.union(I_nsf_components, set([ii]))
-            else:
-                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
-                I_LOS_candidates = set.union(I_LOS_candidates, set([ii]))
-                if print_info:
-                    print(" ")
-        for ii in range(nz):
-            if which_depends(y, z[ii])[0]:
-                # i.e. xii or xiidot are part of y, and enter phi_expr
-                if print_info:
-                    print(f"z_{ii} is part of x1")
-                I_nsf_components = set.union(I_nsf_components, set([ii + nx]))
-            else:
-                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
-                I_LOS_candidates = set.union(I_LOS_candidates, set([ii + nx]))
-    else:
-        I_LOS_candidates = set(range((nx + nz)))
-    if print_info:
-        print(" ")
-        print(f"I_LOS_candidates {I_LOS_candidates}")
-    new_nsf_components = I_nsf_components
-    I_nsf_eq = set([])
-    unsorted_dyn = set(range(nx + nz))
-    xdot_z = vertcat(xdot, z)
-
-    ## determine components of Linear Output System
-    # determine maximal index set I_x2
-    # such that the components x(I_x2) can be written as a LOS
-    Eq_map = []
-    while True:
-        ## find equations corresponding to new_nsf_components
-        for ii in new_nsf_components:
-            current_var = xdot_z[ii]
-            var_name = current_var.name
-
-            # print( unsorted_dyn)
-            # print("np.nonzero(E[:,ii])[0]",np.nonzero(E[:,ii])[0])
-            I_eq = set.intersection(set(np.nonzero(E[:, ii])[0]), unsorted_dyn)
-            if len(I_eq) == 1:
-                i_eq = I_eq.pop()
-                if print_info:
-                    print(f"component {i_eq} is associated with state {ii}")
-            elif len(I_eq) > 1:  # x_ii_dot occurs in more than 1 eq linearly
-                # find the equation with least linear dependencies on
-                # I_LOS_cancidates
-                number_of_eq = 0
-                candidate_dependencies = np.zeros(len(I_eq), 1)
-                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
-                for eq in I_eq:
-                    depending_candidates = set.union(
-                        np.nonzero(E[eq, I_LOS_candidates])[0],
-                        np.nonzero(A[eq, I_x2_candidates])[0],
-                    )
-                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
-                    number_of_eq += 1
-                    number_of_eq = np.argmin(candidate_dependencies)
-                i_eq = I_eq[number_of_eq]
-            else:  ## x_ii_dot does not occur linearly in any of the unsorted dynamics
-                for j in unsorted_dyn:
-                    phi_eq_j = gnsf["phi_expr"][np.nonzero(C[j, :])[0]]
-                    if which_depends(phi_eq_j, xdot_z(ii))[0]:
-                        I_eq = set.union(I_eq, j)
-                if is_empty(I_eq):
-                    I_eq = unsorted_dyn
-                # find the equation with least linear dependencies on I_LOS_cancidates
-                number_of_eq = 0
-                candidate_dependencies = np.zeros(len(I_eq), 1)
-                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
-                for eq in I_eq:
-                    depending_candidates = set.union(
-                        np.nonzero(E[eq, I_LOS_candidates])[0],
-                        np.nonzero(A[eq, I_x2_candidates])[0],
-                    )
-                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
-                    number_of_eq += 1
-                    number_of_eq = np.argmin(candidate_dependencies)
-                i_eq = I_eq[number_of_eq]
-                ## add 1 * [xdot,z](ii) to both sides of i_eq
-                if print_info:
-                    print(
-                        "adding 1 * ",
-                        var_name,
-                        " to both sides of equation ",
-                        i_eq,
-                        ".",
-                    )
-                gnsf["E"][i_eq, ii] = 1
-                i_phi = np.nonzero(gnsf["C"][i_eq, :])
-                if is_empty(i_phi):
-                    i_phi = len(gnsf["phi_expr"]) + 1
-                    gnsf["C"][i_eq, i_phi] = 1  # add column to C with 1 entry
-                    gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], 0)
-                    gnsf["phi_expr"][i_phi] = (
-                        gnsf["phi_expr"](i_phi)
-                        + gnsf["E"][i_eq, ii] / gnsf["C"][i_eq, i_phi] * xdot_z[ii]
-                    )
-                if print_info:
-                    print(
-                        "detected equation ",
-                        i_eq,
-                        " to correspond to variable ",
-                        var_name,
-                    )
-            I_nsf_eq = set.union(I_nsf_eq, {i_eq})
-            # remove i_eq from unsorted_dyn
-            unsorted_dyn.remove(i_eq)
-            Eq_map.append([ii, i_eq])
-
-        ## add components to I_x1
-        for eq in I_nsf_eq:
-            I_linear_dependence = set.union(
-                set(np.nonzero(A[eq, :])[0]), set(np.nonzero(E[eq, :])[0])
-            )
-            I_nsf_components = set.union(I_linear_dependence, I_nsf_components)
-            # I_nsf_components = I_nsf_components[:]
-
-        new_nsf_components = set.intersection(I_LOS_candidates, I_nsf_components)
-        if is_empty(new_nsf_components):
-            if print_info:
-                print("new_nsf_components is empty")
-            break
-        # remove new_nsf_components from candidates
-        I_LOS_candidates = set.difference(I_LOS_candidates, new_nsf_components)
-    if not is_empty(Eq_map):
-        # [~, new_eq_order] = sort(Eq_map(1,:))
-        # I_nsf_eq = Eq_map(2, new_eq_order )
-        for count, m in enumerate(Eq_map):
-            m.append(count)
-        sorted(Eq_map, key=lambda x: x[1])
-        new_eq_order = [m[2] for m in Eq_map]
-        Eq_map = [Eq_map[i] for i in new_eq_order]
-        I_nsf_eq = [m[1] for m in Eq_map]
-
-    else:
-        I_nsf_eq = []
-
-    I_LOS_components = I_LOS_candidates
-    I_LOS_eq = sorted(set.difference(set(range(nx + nz)), I_nsf_eq))
-    I_nsf_eq = sorted(I_nsf_eq)
-
-    I_x1 = set.intersection(I_nsf_components, set(range(nx)))
-    I_z1 = set.intersection(I_nsf_components, set(range(nx, nx + nz)))
-    I_z1 = set([i - nx for i in I_z1])
-
-    I_x2 = set.intersection(I_LOS_components, set(range(nx)))
-    I_z2 = set.intersection(I_LOS_components, set(range(nx, nx + nz)))
-    I_z2 = set([i - nx for i in I_z2])
-
-    if print_info:
-        print(f"I_x1 {I_x1}, I_x2 {I_x2}")
-
-    ## permute x, xdot
-    if is_empty(I_x1):
-        x1 = []
-        x1dot = []
-    else:
-        x1 = x[list(I_x1)]
-        x1dot = xdot[list(I_x1)]
-    if is_empty(I_x2):
-        x2 = []
-        x2dot = []
-    else:
-        x2 = x[list(I_x2)]
-        x2dot = xdot[list(I_x2)]
-    if is_empty(I_z1):
-        z1 = []
-    else:
-        z1 = z(I_z1)
-    if is_empty(I_z2):
-        z2 = []
-    else:
-        z2 = z[list(I_z2)]
-
-    I_x1 = sorted(I_x1)
-    I_x2 = sorted(I_x2)
-    I_z1 = sorted(I_z1)
-    I_z2 = sorted(I_z2)
-    gnsf["xdot"] = vertcat(x1dot, x2dot)
-    gnsf["x"] = vertcat(x1, x2)
-    gnsf["z"] = vertcat(z1, z2)
-    gnsf["nx1"] = len(I_x1)
-    gnsf["nx2"] = len(I_x2)
-    gnsf["nz1"] = len(I_z1)
-    gnsf["nz2"] = len(I_z2)
-
-    # store permutations
-    gnsf["idx_perm_x"] = I_x1 + I_x2
-    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])
-    gnsf["idx_perm_z"] = I_z1 + I_z2
-    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
-    gnsf["idx_perm_f"] = I_nsf_eq + I_LOS_eq
-    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
-
-    f_LO = SX.sym("f_LO", 0, 0)
-
-    ## rewrite I_LOS_eq as LOS
-    if gnsf["n_out"] == 0:
-        C_phi = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        C_phi = C @ phi_old
-    if gnsf["nx1"] == 0:
-        Ax1 = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        Ax1 = A[:, sorted(I_x1)] @ x1
-    if gnsf["nx1"] + gnsf["nz1"] == 0:
-        lhs_nsf = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
-    else:
-        lhs_nsf = E[:, sorted(I_nsf_components)] @ vertcat(x1, z1)
-    n_LO = len(I_LOS_eq)
-    B_LO = np.zeros((n_LO, gnsf["nu"]))
-    A_LO = np.zeros((gnsf["nx2"] + gnsf["nz2"], gnsf["nx2"]))
-    E_LO = np.zeros((n_LO, n_LO))
-    c_LO = np.zeros((n_LO, 1))
-
-    I_LOS_eq = list(I_LOS_eq)
-    for eq in I_LOS_eq:
-        i_LO = I_LOS_eq.index(eq)
-        f_LO = vertcat(f_LO, Ax1[eq] + C_phi[eq] - lhs_nsf[eq])
-        print(f"eq {eq} I_LOS_components {I_LOS_components}, i_LO {i_LO}, f_LO {f_LO}")
-        E_LO[i_LO, :] = E[eq, sorted(I_LOS_components)]
-        A_LO[i_LO, :] = A[eq, I_x2]
-        c_LO[i_LO, :] = c[eq]
-        B_LO[i_LO, :] = B[eq, :]
-    if casadi_length(f_LO) == 0:
-        f_LO = SX.zeros((gnsf["nx2"] + gnsf["nz2"], 1))
-    f_LO = simplify(f_LO)
-    gnsf["A_LO"] = A_LO
-    gnsf["E_LO"] = E_LO
-    gnsf["B_LO"] = B_LO
-    gnsf["c_LO"] = c_LO
-    gnsf["f_lo_expr"] = f_LO
-
-    ## remove I_LOS_eq from NSF type system
-    gnsf["A"] = gnsf["A"][np.ix_(sorted(I_nsf_eq), sorted(I_x1))]
-    gnsf["B"] = gnsf["B"][sorted(I_nsf_eq), :]
-    gnsf["C"] = gnsf["C"][sorted(I_nsf_eq), :]
-    gnsf["E"] = gnsf["E"][np.ix_(sorted(I_nsf_eq), sorted(I_nsf_components))]
-    gnsf["c"] = gnsf["c"][sorted(I_nsf_eq), :]
-
-    ## reduce phi, C
-    I_nonzero = []
-    for ii in range(gnsf["C"].shape[1]):  # n_colums of C:
-        print(f"ii {ii}")
-        if not all(gnsf["C"][:, ii] == 0):  # if column ~= 0
-            I_nonzero.append(ii)
-    gnsf["C"] = gnsf["C"][:, I_nonzero]
-    gnsf["phi_expr"] = gnsf["phi_expr"][I_nonzero]
-
-    gnsf = determine_input_nonlinearity_function(gnsf)
-
-    check_reformulation(model, gnsf, print_info)
-
-    gnsf["nontrivial_f_LO"] = 0
-    if not is_empty(gnsf["f_lo_expr"]):
-        for ii in range(casadi_length(gnsf["f_lo_expr"])):
-            fii = gnsf["f_lo_expr"][ii]
-            if not fii.is_zero():
-                gnsf["nontrivial_f_LO"] = 1
-            if not gnsf["nontrivial_f_LO"] and print_info:
-                print("f_LO is fully trivial (== 0)")
-    check_reformulation(model, gnsf, print_info)
-
-    if print_info:
-        print("")
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print(
-            "------------- Success: Linear Output System (LOS) detected ----------------------"
-        )
-        print(
-            "---------------------------------------------------------------------------------"
-        )
-        print("")
-        print(
-            "==>>  moved  ",
-            gnsf["nx2"],
-            "differential states and ",
-            gnsf["nz2"],
-            " algebraic variables to the Linear Output System",
-        )
-        print(
-            "==>>  recuced output dimension of phi from  ",
-            casadi_length(phi_old),
-            " to ",
-            casadi_length(gnsf["phi_expr"]),
-        )
-        print(" ")
-        print("Matrices defining the LOS read as")
-        print(" ")
-        print("E_LO =")
-        print(gnsf["E_LO"])
-        print("A_LO =")
-        print(gnsf["A_LO"])
-        print("B_LO =")
-        print(gnsf["B_LO"])
-        print("c_LO =")
-        print(gnsf["c_LO"])
-
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
deleted file mode 100644
index 21ab8ebfd5..0000000000
--- a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
+++ /dev/null
@@ -1,167 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import *
-from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
-from .check_reformulation import check_reformulation
-
-
-def reformulate_with_invertible_E_mat(gnsf, model, print_info):
-    ## Description
-    # this function checks that the necessary condition to apply the gnsf
-    # structure exploiting integrator to a model, namely that the matrices E11,
-    # E22 are invertible holds.
-    # if this is not the case, it will make these matrices invertible and add:
-    # corresponding terms, to the term C * phi, such that the obtained model is
-    # still equivalent
-
-    # check invertibility of E11, E22 and reformulate if needed:
-    ind_11 = range(gnsf["nx1"])
-    ind_22 = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
-
-    if print_info:
-        print(" ")
-        print("----------------------------------------------------")
-        print("checking rank of E11 and E22")
-        print("----------------------------------------------------")
-    ## check if E11, E22 are invertible:
-    z_check = False
-    if gnsf["nz1"] > 0:
-        z_check = (
-            np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_22, ind_22)]) != gnsf["nz1"]
-        )
-
-    if (
-        np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_11, ind_11)]) != gnsf["nx1"]
-        or z_check
-    ):
-        # print warning (always)
-        print(f"the rank of E11 or E22 is not full after the reformulation")
-        print("")
-        print(
-            f"the script will try to reformulate the model with an invertible matrix instead"
-        )
-        print(
-            f"NOTE: this feature is based on a heuristic, it should be used with care!!!"
-        )
-
-        ## load models
-        xdot = gnsf["xdot"]
-        z = gnsf["z"]
-
-        # # GNSF
-        # get dimensions
-        nx1 = gnsf["nx1"]
-        x1dot = xdot[range(nx1)]
-
-        k = vertcat(x1dot, z)
-        for i in [1, 2]:
-            if i == 1:
-                ind = range(gnsf["nx1"])
-            else:
-                ind = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
-            mat = gnsf["E"][np.ix_(ind, ind)]
-            import pdb
-
-            pdb.set_trace()
-            while np.linalg.matrix_rank(mat) < len(ind):
-                # import pdb; pdb.set_trace()
-                if print_info:
-                    print(" ")
-                    print(f"the rank of E", str(i), str(i), " is not full")
-                    print(
-                        f"the algorithm will try to reformulate the model with an invertible matrix instead"
-                    )
-                    print(
-                        f"NOTE: this feature is not super stable and might need more testing!!!!!!"
-                    )
-                for sub_max in ind:
-                    sub_ind = range(min(ind), sub_max)
-                    # regard the submatrix mat(sub_ind, sub_ind)
-                    sub_mat = gnsf["E"][sub_ind, sub_ind]
-                    if np.linalg.matrix_rank(sub_mat) < len(sub_ind):
-                        # reformulate the model by adding a 1 to last diagonal
-                        # element and changing rhs respectively.
-                        gnsf["E"][sub_max, sub_max] = gnsf["E"][sub_max, sub_max] + 1
-                        # this means adding the term 1 * k(sub_max) to the sub_max
-                        # row of the l.h.s
-                        if len(np.nonzero(gnsf["C"][sub_max, :])[0]) == 0:
-                            # if isempty(find(gnsf['C'](sub_max,:), 1)):
-                            # add new nonlinearity entry
-                            gnsf["C"][sub_max, gnsf["n_out"] + 1] = 1
-                            gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], k[sub_max])
-                        else:
-                            ind_f = np.nonzero(gnsf["C"][sub_max, :])[0]
-                            if len(ind_f) != 1:
-                                raise Exception("C is assumed to be a selection matrix")
-                            else:
-                                ind_f = ind_f[0]
-                            # add term to corresponding nonlinearity entry
-                            # note: herbey we assume that C is a selection matrix,
-                            # i.e. gnsf['phi_expr'](ind_f) is only entering one equation
-
-                            gnsf["phi_expr"][ind_f] = (
-                                gnsf["phi_expr"][ind_f]
-                                + k[sub_max] / gnsf["C"][sub_max, ind_f]
-                            )
-                            gnsf = determine_input_nonlinearity_function(gnsf)
-                            check_reformulation(model, gnsf, print_info)
-        print("successfully reformulated the model with invertible matrices E11, E22")
-    else:
-        if print_info:
-            print(" ")
-            print(
-                "the rank of both E11 and E22 is naturally full after the reformulation "
-            )
-            print("==>  model reformulation finished")
-            print(" ")
-    if (gnsf['nx2'] > 0 or gnsf['nz2'] > 0) and det(gnsf["E_LO"]) == 0:
-        print(
-            "_______________________________________________________________________________________________________"
-        )
-        print(" ")
-        print("TAKE CARE ")
-        print("E_LO matrix is NOT regular after automatic transcription!")
-        print("->> this means the model CANNOT be used with the gnsf integrator")
-        print(
-            "->> it probably means that one entry (of xdot or z) that was moved to the linear output type system"
-        )
-        print("    does not appear in the model at all (zero column in E_LO)")
-        print(" OR: the columns of E_LO are linearly dependent ")
-        print(" ")
-        print(
-            " SOLUTIONs: a) go through your model & check equations the method wanted to move to LOS"
-        )
-        print("            b) deactivate the detect_LOS option")
-        print(
-            "_______________________________________________________________________________________________________"
-        )
-    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
deleted file mode 100644
index db2d18758e..0000000000
--- a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
+++ /dev/null
@@ -1,174 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
-
-from casadi import n_nodes
-import numpy as np
-
-
-def structure_detection_print_summary(gnsf, acados_ocp):
-
-    ## Description
-    # this function prints the most important info after determining a GNSF
-    # reformulation of the implicit model "initial_model" into "gnsf", which is
-    # equivalent to the "reordered_model".
-    model = acados_ocp.model
-    # # GNSF
-    # get dimensions
-    nx = gnsf["nx"]
-    nu = gnsf["nu"]
-    nz = gnsf["nz"]
-
-    nx1 = gnsf["nx1"]
-    nx2 = gnsf["nx2"]
-
-    nz1 = gnsf["nz1"]
-    nz2 = gnsf["nz2"]
-
-    # np = gnsf['np']
-    n_out = gnsf["n_out"]
-    ny = gnsf["ny"]
-    nuhat = gnsf["nuhat"]
-
-    #
-    f_impl_expr = model.f_impl_expr
-    n_nodes_initial = n_nodes(model.f_impl_expr)
-    # x_old = model.x
-    # f_impl_old = model.f_impl_expr
-
-    x = gnsf["x"]
-    z = gnsf["z"]
-
-    phi_current = gnsf["phi_expr"]
-
-    ## PRINT SUMMARY -- STRUCHTRE DETECTION
-    print(" ")
-    print(
-        "*********************************************************************************************"
-    )
-    print(" ")
-    print(
-        "******************        SUCCESS: GNSF STRUCTURE DETECTION COMPLETE !!!      ***************"
-    )
-    print(" ")
-    print(
-        "*********************************************************************************************"
-    )
-    print(" ")
-    print(
-        f"========================= STRUCTURE DETECTION SUMMARY ===================================="
-    )
-    print(" ")
-    print("-------- Nonlinear Static Feedback type system --------")
-    print(" ")
-    print(" successfully transcribed dynamic system model into GNSF structure ")
-    print(" ")
-    print(
-        "reduced dimension of nonlinearity phi from        ",
-        str(nx + nz),
-        " to ",
-        str(gnsf["n_out"]),
-    )
-    print(" ")
-    print(
-        "reduced input dimension of nonlinearity phi from  ",
-        2 * nx + nz + nu,
-        " to ",
-        gnsf["ny"] + gnsf["nuhat"],
-    )
-    print(" ")
-    print(f"reduced number of nodes in CasADi expression of nonlinearity phi from  {n_nodes_initial}  to  {n_nodes(phi_current)}\n")
-    print("----------- Linear Output System (LOS) ---------------")
-    if nx2 + nz2 > 0:
-        print(" ")
-        print(f"introduced Linear Output System of size           ", str(nx2 + nz2))
-        print(" ")
-        if nx2 > 0:
-            print("consisting of the states:")
-            print(" ")
-            print(x[range(nx1, nx)])
-            print(" ")
-        if nz2 > 0:
-            print("and algebraic variables:")
-            print(" ")
-            print(z[range(nz1, nz)])
-            print(" ")
-        if gnsf["purely_linear"] == 1:
-            print(" ")
-            print("Model is fully linear!")
-            print(" ")
-    if not all(gnsf["idx_perm_x"] == np.array(range(nx))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted differential state vector x, such that x_gnsf = x(idx_perm_x) with idx_perm_x ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_x"])
-    if nz != 0 and not all(gnsf["idx_perm_z"] == np.array(range(nz))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted algebraic state vector z, such that z_gnsf = z(idx_perm_z) with idx_perm_z ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_z"])
-    if not all(gnsf["idx_perm_f"] == np.array(range(nx + nz))):
-        print(" ")
-        print(
-            "--------------------------------------------------------------------------------------------------"
-        )
-        print(
-            "NOTE: permuted rhs expression vector f, such that f_gnsf = f(idx_perm_f) with idx_perm_f ="
-        )
-        print(" ")
-        print(gnsf["idx_perm_f"])
-    ## print GNSF dimensions
-    print(
-        "--------------------------------------------------------------------------------------------------------"
-    )
-    print(" ")
-    print("The dimensions of the GNSF reformulated model read as:")
-    print(" ")
-    # T_dim = table(nx, nu, nz, np, nx1, nz1, n_out, ny, nuhat)
-    # print( T_dim )
-    print(f"nx    ", {nx})
-    print(f"nu    ", {nu})
-    print(f"nz    ", {nz})
-    # print(f"np    ", {np})
-    print(f"nx1   ", {nx1})
-    print(f"nz1   ", {nz1})
-    print(f"n_out ", {n_out})
-    print(f"ny    ", {ny})
-    print(f"nuhat ", {nuhat})
diff --git a/third_party/acados/acados_template/simulink_default_opts.json b/third_party/acados/acados_template/simulink_default_opts.json
deleted file mode 100644
index 5d178fef85..0000000000
--- a/third_party/acados/acados_template/simulink_default_opts.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-    "outputs": {
-        "u0": 1,
-        "utraj": 0,
-        "xtraj": 0,
-        "solver_status": 1,
-        "cost_value": 0,
-        "KKT_residual": 1,
-        "KKT_residuals": 0,
-        "x1": 1,
-        "CPU_time": 1,
-        "CPU_time_sim": 0,
-        "CPU_time_qp": 0,
-        "CPU_time_lin": 0,
-        "sqp_iter": 1
-    },
-    "inputs": {
-        "lbx_0": 1,
-        "ubx_0": 1,
-        "parameter_traj": 1,
-        "y_ref_0": 1,
-        "y_ref": 1,
-        "y_ref_e": 1,
-        "lbx": 1,
-        "ubx": 1,
-        "lbx_e": 1,
-        "ubx_e": 1,
-        "lbu": 1,
-        "ubu": 1,
-        "lg": 1,
-        "ug": 1,
-        "lh": 1,
-        "uh": 1,
-        "lh_e": 1,
-        "uh_e": 1,
-        "cost_W_0": 0,
-        "cost_W": 0,
-        "cost_W_e": 0,
-        "reset_solver": 0,
-        "x_init": 0,
-        "u_init": 0
-    },
-    "samplingtime": "t0"
-}
diff --git a/third_party/acados/acados_template/utils.py b/third_party/acados/acados_template/utils.py
deleted file mode 100644
index f27617fa30..0000000000
--- a/third_party/acados/acados_template/utils.py
+++ /dev/null
@@ -1,434 +0,0 @@
-#
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os, sys, json
-import urllib.request
-import shutil
-import numpy as np
-from casadi import SX, MX, DM, Function, CasadiMeta
-
-ALLOWED_CASADI_VERSIONS = ('3.5.6', '3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0')
-
-TERA_VERSION = "0.0.34"
-
-PLATFORM2TERA = {
-    "linux": "linux",
-    "darwin": "osx",
-    "win32": "windows"
-}
-
-
-def get_acados_path():
-    ACADOS_PATH = os.environ.get('ACADOS_SOURCE_DIR')
-    if not ACADOS_PATH:
-        acados_template_path = os.path.dirname(os.path.abspath(__file__))
-        acados_path = os.path.join(acados_template_path, '..','..','..')
-        ACADOS_PATH = os.path.realpath(acados_path)
-        msg = 'Warning: Did not find environment variable ACADOS_SOURCE_DIR, '
-        msg += 'guessed ACADOS_PATH to be {}.\n'.format(ACADOS_PATH)
-        msg += 'Please export ACADOS_SOURCE_DIR to avoid this warning.'
-        print(msg)
-    return ACADOS_PATH
-
-
-def get_python_interface_path():
-    ACADOS_PYTHON_INTERFACE_PATH = os.environ.get('ACADOS_PYTHON_INTERFACE_PATH')
-    if not ACADOS_PYTHON_INTERFACE_PATH:
-        acados_path = get_acados_path()
-        ACADOS_PYTHON_INTERFACE_PATH = os.path.join(acados_path, 'interfaces', 'acados_template', 'acados_template')
-    return ACADOS_PYTHON_INTERFACE_PATH
-
-
-def get_tera_exec_path():
-    TERA_PATH = os.environ.get('TERA_PATH')
-    if not TERA_PATH:
-        TERA_PATH = os.path.join(get_acados_path(), 'bin', 't_renderer')
-        if os.name == 'nt':
-            TERA_PATH += '.exe'
-    return TERA_PATH
-
-
-def check_casadi_version():
-    casadi_version = CasadiMeta.version()
-    if casadi_version in ALLOWED_CASADI_VERSIONS:
-        return
-    else:
-        msg =  'Warning: Please note that the following versions of CasADi  are '
-        msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS))
-        msg += 'If there is an incompatibility with the CasADi generated code, '
-        msg += 'please consider changing your CasADi version.\n'
-        msg += 'Version {} currently in use.'.format(casadi_version)
-        print(msg)
-
-
-def is_column(x):
-    if isinstance(x, np.ndarray):
-        if x.ndim == 1:
-            return True
-        elif x.ndim == 2 and x.shape[1] == 1:
-            return True
-        else:
-            return False
-    elif isinstance(x, (MX, SX, DM)):
-        if x.shape[1] == 1:
-            return True
-        elif x.shape[0] == 0 and x.shape[1] == 0:
-            return True
-        else:
-            return False
-    elif x == None or x == []:
-        return False
-    else:
-        raise Exception("is_column expects one of the following types: np.ndarray, casadi.MX, casadi.SX."
-                        + " Got: " + str(type(x)))
-
-
-def is_empty(x):
-    if isinstance(x, (MX, SX, DM)):
-        return x.is_empty()
-    elif isinstance(x, np.ndarray):
-        if np.prod(x.shape) == 0:
-            return True
-        else:
-            return False
-    elif x == None:
-        return True
-    elif isinstance(x, (set, list)):
-        if len(x)==0:
-            return True
-        else:
-            return False
-    else:
-        raise Exception("is_empty expects one of the following types: casadi.MX, casadi.SX, "
-                        + "None, numpy array empty list, set. Got: " + str(type(x)))
-
-
-def casadi_length(x):
-    if isinstance(x, (MX, SX, DM)):
-        return int(np.prod(x.shape))
-    else:
-        raise Exception("casadi_length expects one of the following types: casadi.MX, casadi.SX."
-                        + " Got: " + str(type(x)))
-
-
-def make_model_consistent(model):
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-
-    if isinstance(x, MX):
-        symbol = MX.sym
-    elif isinstance(x, SX):
-        symbol = SX.sym
-    else:
-        raise Exception("model.x must be casadi.SX or casadi.MX, got {}".format(type(x)))
-
-    if is_empty(p):
-        model.p = symbol('p', 0, 0)
-
-    if is_empty(z):
-        model.z = symbol('z', 0, 0)
-
-    return model
-
-def get_lib_ext():
-    lib_ext = '.so'
-    if sys.platform == 'darwin':
-        lib_ext = '.dylib'
-    elif os.name == 'nt':
-        lib_ext = ''
-
-    return lib_ext
-
-def get_tera():
-    tera_path = get_tera_exec_path()
-    acados_path = get_acados_path()
-
-    if os.path.exists(tera_path) and os.access(tera_path, os.X_OK):
-        return tera_path
-
-    repo_url = "https://github.com/acados/tera_renderer/releases"
-    url = "{}/download/v{}/t_renderer-v{}-{}".format(
-        repo_url, TERA_VERSION, TERA_VERSION, PLATFORM2TERA[sys.platform])
-
-    manual_install = 'For manual installation follow these instructions:\n'
-    manual_install += '1 Download binaries from {}\n'.format(url)
-    manual_install += '2 Copy them in {}/bin\n'.format(acados_path)
-    manual_install += '3 Strip the version and platform from the binaries: '
-    manual_install += 'as t_renderer-v0.0.34-X -> t_renderer)\n'
-    manual_install += '4 Enable execution privilege on the file "t_renderer" with:\n'
-    manual_install += '"chmod +x {}"\n\n'.format(tera_path)
-
-    msg = "\n"
-    msg += 'Tera template render executable not found, '
-    msg += 'while looking in path:\n{}\n'.format(tera_path)
-    msg += 'In order to be able to render the templates, '
-    msg += 'you need to download the tera renderer binaries from:\n'
-    msg += '{}\n\n'.format(repo_url)
-    msg += 'Do you wish to set up Tera renderer automatically?\n'
-    msg += 'y/N? (press y to download tera or any key for manual installation)\n'
-
-    if input(msg) == 'y':
-        print("Dowloading {}".format(url))
-        with urllib.request.urlopen(url) as response, open(tera_path, 'wb') as out_file:
-            shutil.copyfileobj(response, out_file)
-        print("Successfully downloaded t_renderer.")
-        os.chmod(tera_path, 0o755)
-        return tera_path
-
-    msg_cancel = "\nYou cancelled automatic download.\n\n"
-    msg_cancel += manual_install
-    msg_cancel += "Once installed re-run your script.\n\n"
-    print(msg_cancel)
-
-    sys.exit(1)
-
-
-def render_template(in_file, out_file, output_dir, json_path, template_glob=None):
-
-    acados_path = os.path.dirname(os.path.abspath(__file__))
-    if template_glob is None:
-        template_glob = os.path.join(acados_path, 'c_templates_tera', '**', '*')
-    cwd = os.getcwd()
-
-    if not os.path.exists(output_dir):
-        os.makedirs(output_dir)
-    os.chdir(output_dir)
-
-    tera_path = get_tera()
-
-    # call tera as system cmd
-    os_cmd = f"{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'"
-    # Windows cmd.exe can not cope with '...', so use "..." instead:
-    if os.name == 'nt':
-        os_cmd = os_cmd.replace('\'', '\"')
-
-    status = os.system(os_cmd)
-    if (status != 0):
-        raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\n')
-
-    os.chdir(cwd)
-
-
-## Conversion functions
-def make_object_json_dumpable(input):
-    if isinstance(input, (np.ndarray)):
-        return input.tolist()
-    elif isinstance(input, (SX)):
-        return input.serialize()
-    elif isinstance(input, (MX)):
-        # NOTE: MX expressions can not be serialized, only Functions.
-        return input.__str__()
-    elif isinstance(input, (DM)):
-        return input.full()
-    else:
-        raise TypeError(f"Cannot make input of type {type(input)} dumpable.")
-
-
-def format_class_dict(d):
-    """
-    removes the __ artifact from class to dict conversion
-    """
-    out = {}
-    for k, v in d.items():
-        if isinstance(v, dict):
-            v = format_class_dict(v)
-
-        out_key = k.split('__', 1)[-1]
-        out[k.replace(k, out_key)] = v
-    return out
-
-
-def get_ocp_nlp_layout() -> dict:
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'acados_layout.json')
-    with open(abs_path, 'r') as f:
-        ocp_nlp_layout = json.load(f)
-    return ocp_nlp_layout
-
-
-def get_default_simulink_opts() -> dict:
-    python_interface_path = get_python_interface_path()
-    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
-    with open(abs_path, 'r') as f:
-        simulink_opts = json.load(f)
-    return simulink_opts
-
-
-def J_to_idx(J):
-    nrows = J.shape[0]
-    idx = np.zeros((nrows, ))
-    for i in range(nrows):
-        this_idx = np.nonzero(J[i,:])[0]
-        if len(this_idx) != 1:
-            raise Exception('Invalid J matrix structure detected, ' \
-                'must contain one nonzero element per row.')
-        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
-            raise Exception('J matrices can only contain 1s.')
-        idx[i] = this_idx[0]
-    return idx
-
-
-def J_to_idx_slack(J):
-    nrows = J.shape[0]
-    ncol = J.shape[1]
-    idx = np.zeros((ncol, ))
-    i_idx = 0
-    for i in range(nrows):
-        this_idx = np.nonzero(J[i,:])[0]
-        if len(this_idx) == 1:
-            idx[i_idx] = i
-            i_idx = i_idx + 1
-        elif len(this_idx) > 1:
-            raise Exception('J_to_idx_slack: Invalid J matrix. ' \
-                'Found more than one nonzero in row ' + str(i))
-        if this_idx.size > 0 and J[i,this_idx[0]] != 1:
-            raise Exception('J_to_idx_slack: J matrices can only contain 1s, ' \
-                 'got J(' + str(i) + ', ' + str(this_idx[0]) + ') = ' + str(J[i,this_idx[0]]) )
-    if not i_idx == ncol:
-            raise Exception('J_to_idx_slack: J must contain a 1 in every column!')
-    return idx
-
-
-def acados_dae_model_json_dump(model):
-
-    # load model
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-
-    f_impl = model.f_impl_expr
-    model_name = model.name
-
-    # create struct with impl_dae_fun, casadi_version
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl])
-
-    casadi_version = CasadiMeta.version()
-    str_impl_dae_fun = impl_dae_fun.serialize()
-
-    dae_dict = {"str_impl_dae_fun": str_impl_dae_fun, "casadi_version": casadi_version}
-
-    # dump
-    json_file = model_name + '_acados_dae.json'
-    with open(json_file, 'w') as f:
-        json.dump(dae_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
-    print("dumped ", model_name, " dae to file:", json_file, "\n")
-
-
-def set_up_imported_gnsf_model(acados_ocp):
-
-    gnsf = acados_ocp.gnsf_model
-
-    # check CasADi version
-    # dump_casadi_version = gnsf['casadi_version']
-    # casadi_version = CasadiMeta.version()
-
-    # if not casadi_version == dump_casadi_version:
-    #     print("WARNING: GNSF model was dumped with another CasADi version.\n"
-    #             + "This might yield errors. Please use the same version for compatibility, serialize version: "
-    #             + dump_casadi_version + " current Python CasADi verison: " + casadi_version)
-    #     input("Press any key to attempt to continue...")
-
-    # load model
-    phi_fun = Function.deserialize(gnsf['phi_fun'])
-    phi_fun_jac_y = Function.deserialize(gnsf['phi_fun_jac_y'])
-    phi_jac_y_uhat = Function.deserialize(gnsf['phi_jac_y_uhat'])
-    get_matrices_fun = Function.deserialize(gnsf['get_matrices_fun'])
-
-    # obtain gnsf dimensions
-    size_gnsf_A = get_matrices_fun.size_out(0)
-    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
-    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
-    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
-
-    # save gnsf functions in model
-    acados_ocp.model.phi_fun = phi_fun
-    acados_ocp.model.phi_fun_jac_y = phi_fun_jac_y
-    acados_ocp.model.phi_jac_y_uhat = phi_jac_y_uhat
-    acados_ocp.model.get_matrices_fun = get_matrices_fun
-
-    # get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},...
-    #  {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,...
-    #   nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO});
-    get_matrices_out = get_matrices_fun(0)
-    acados_ocp.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
-    acados_ocp.model.gnsf['purely_linear'] = int(get_matrices_out[13])
-
-    if "f_lo_fun_jac_x1k1uz" in gnsf:
-        f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz'])
-        acados_ocp.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz
-    else:
-        dummy_var_x1 = SX.sym('dummy_var_x1', acados_ocp.dims.gnsf_nx1)
-        dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_ocp.dims.gnsf_nx1)
-        dummy_var_z1 = SX.sym('dummy_var_z1', acados_ocp.dims.gnsf_nz1)
-        dummy_var_u = SX.sym('dummy_var_z1', acados_ocp.dims.nu)
-        dummy_var_p = SX.sym('dummy_var_z1', acados_ocp.dims.np)
-        empty_var = SX.sym('empty_var', 0, 0)
-
-        empty_fun = Function('empty_fun', \
-            [dummy_var_x1, dummy_var_x1dot, dummy_var_z1, dummy_var_u, dummy_var_p],
-                [empty_var])
-        acados_ocp.model.f_lo_fun_jac_x1k1uz = empty_fun
-
-    del acados_ocp.gnsf_model
-
-
-def idx_perm_to_ipiv(idx_perm):
-    n = len(idx_perm)
-    vec = list(range(n))
-    ipiv = np.zeros(n)
-
-    print(n, idx_perm)
-    # import pdb; pdb.set_trace()
-    for ii in range(n):
-        idx0 = idx_perm[ii]
-        for jj in range(ii,n):
-            if vec[jj]==idx0:
-                idx1 = jj
-                break
-        tmp = vec[ii]
-        vec[ii] = vec[idx1]
-        vec[idx1] = tmp
-        ipiv[ii] = idx1
-
-    ipiv = ipiv-1 # C 0-based indexing
-    return ipiv
-
-
-def print_casadi_expression(f):
-    for ii in range(casadi_length(f)):
-        print(f[ii,:])
diff --git a/third_party/acados/acados_template/zoro_description.py b/third_party/acados/acados_template/zoro_description.py
deleted file mode 100644
index 4d795c1502..0000000000
--- a/third_party/acados/acados_template/zoro_description.py
+++ /dev/null
@@ -1,78 +0,0 @@
-# Copyright (c) The acados authors.
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-
-from dataclasses import dataclass, field
-import numpy as np
-
-
-@dataclass
-class ZoroDescription:
-    """
-    Zero-Order Robust Optimization scheme.
-
-    For advanced users.
-    """
-    backoff_scaling_gamma: float = 1.0
-    fdbk_K_mat: np.ndarray = None
-    unc_jac_G_mat: np.ndarray = None    # default: an identity matrix
-    P0_mat: np.ndarray = None
-    W_mat: np.ndarray = None
-    idx_lbx_t: list = field(default_factory=list)
-    idx_ubx_t: list = field(default_factory=list)
-    idx_lbx_e_t: list = field(default_factory=list)
-    idx_ubx_e_t: list = field(default_factory=list)
-    idx_lbu_t: list = field(default_factory=list)
-    idx_ubu_t: list = field(default_factory=list)
-    idx_lg_t: list = field(default_factory=list)
-    idx_ug_t: list = field(default_factory=list)
-    idx_lg_e_t: list = field(default_factory=list)
-    idx_ug_e_t: list = field(default_factory=list)
-    idx_lh_t: list = field(default_factory=list)
-    idx_uh_t: list = field(default_factory=list)
-    idx_lh_e_t: list = field(default_factory=list)
-    idx_uh_e_t: list = field(default_factory=list)
-
-def process_zoro_description(zoro_description: ZoroDescription):
-    zoro_description.nw, _ = zoro_description.W_mat.shape
-    if zoro_description.unc_jac_G_mat is None:
-        zoro_description.unc_jac_G_mat = np.eye(zoro_description.nw)
-    zoro_description.nlbx_t = len(zoro_description.idx_lbx_t)
-    zoro_description.nubx_t = len(zoro_description.idx_ubx_t)
-    zoro_description.nlbx_e_t = len(zoro_description.idx_lbx_e_t)
-    zoro_description.nubx_e_t = len(zoro_description.idx_ubx_e_t)
-    zoro_description.nlbu_t = len(zoro_description.idx_lbu_t)
-    zoro_description.nubu_t = len(zoro_description.idx_ubu_t)
-    zoro_description.nlg_t = len(zoro_description.idx_lg_t)
-    zoro_description.nug_t = len(zoro_description.idx_ug_t)
-    zoro_description.nlg_e_t = len(zoro_description.idx_lg_e_t)
-    zoro_description.nug_e_t = len(zoro_description.idx_ug_e_t)
-    zoro_description.nlh_t = len(zoro_description.idx_lh_t)
-    zoro_description.nuh_t = len(zoro_description.idx_uh_t)
-    zoro_description.nlh_e_t = len(zoro_description.idx_lh_e_t)
-    zoro_description.nuh_e_t = len(zoro_description.idx_uh_e_t)
-    return zoro_description.__dict__
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
deleted file mode 100755
index 2c4d839ae7..0000000000
--- a/third_party/acados/build.sh
+++ /dev/null
@@ -1,65 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME="x86_64"
-BLAS_TARGET="X64_AUTOMATIC"
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
-fi
-
-ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1"
-  ARCHNAME="Darwin"
-fi
-
-if [ ! -d acados_repo/ ]; then
-  git clone https://github.com/acados/acados.git $DIR/acados_repo
-  # git clone https://github.com/commaai/acados.git $DIR/acados_repo
-fi
-cd acados_repo
-git fetch --all
-git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2
-git submodule update --depth=1 --recursive --init
-
-# build
-mkdir -p build
-cd build
-cmake $ACADOS_FLAGS ..
-make -j20 install
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm $DIR/acados_repo/lib/*.json
-
-rm -rf $DIR/include $DIR/acados_template
-cp -r $DIR/acados_repo/include $DIR
-cp -r $DIR/acados_repo/lib $INSTALL_DIR
-cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
-#pip3 install -e $DIR/acados/interfaces/acados_template
-
-# skip macOS - sed is different :/
-if [[ "$OSTYPE" != "darwin"* ]]; then
-  # strip future_fstrings to avoid having to install the compatibility package
-  find $DIR/acados_template/ -type f -exec sed -i '/future.fstrings/d' {} +
-fi
-
-# build tera
-cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  cargo build --verbose --release --target aarch64-apple-darwin
-  cargo build --verbose --release --target x86_64-apple-darwin
-  lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer
-else
-  cargo build --verbose --release
-fi
-cp target/release/t_renderer $INSTALL_DIR/
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
deleted file mode 100644
index 2a9a974f99..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_common.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
-#define ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_dense_qp.h"
-#include "hpipm/include/hpipm_d_dense_qp_res.h"
-#include "hpipm/include/hpipm_d_dense_qp_sol.h"
-// acados
-#include "acados/utils/types.h"
-
-typedef struct d_dense_qp_dim dense_qp_dims;
-typedef struct d_dense_qp dense_qp_in;
-typedef struct d_dense_qp_sol dense_qp_out;
-typedef struct d_dense_qp_res dense_qp_res;
-typedef struct d_dense_qp_res_ws dense_qp_res_ws;
-
-
-
-#ifndef QP_SOLVER_CONFIG_
-#define QP_SOLVER_CONFIG_
-typedef struct
-{
-    void (*dims_set)(void *config_, void *dims_, const char *field, const int* value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *args);
-    void (*opts_update)(void *config, void *dims, void *args);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *args);
-    void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args);
-    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work);
-    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} qp_solver_config;
-#endif
-
-
-
-#ifndef QP_INFO_
-#define QP_INFO_
-typedef struct
-{
-    double solve_QP_time;
-    double condensing_time;
-    double interface_time;
-    double total_time;
-    int num_iter;
-    int t_computed;
-} qp_info;
-#endif
-
-
-
-/* config */
-//
-acados_size_t dense_qp_solver_config_calculate_size();
-//
-qp_solver_config *dense_qp_solver_config_assign(void *raw_memory);
-
-/* dims */
-//
-acados_size_t dense_qp_dims_calculate_size();
-//
-dense_qp_dims *dense_qp_dims_assign(void *raw_memory);
-//
-void dense_qp_dims_set(void *config_, void *dims_, const char *field, const int* value);
-//
-
-/* in */
-//
-acados_size_t dense_qp_in_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_in *dense_qp_in_assign(dense_qp_dims *dims, void *raw_memory);
-
-/* out */
-//
-acados_size_t dense_qp_out_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_out *dense_qp_out_assign(dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_out_get(dense_qp_out *out, const char *field, void *value);
-
-/* res */
-//
-acados_size_t dense_qp_res_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_res *dense_qp_res_assign(dense_qp_dims *dims, void *raw_memory);
-//
-acados_size_t dense_qp_res_workspace_calculate_size(dense_qp_dims *dims);
-//
-dense_qp_res_ws *dense_qp_res_workspace_assign(dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_compute_t(dense_qp_in *qp_in, dense_qp_out *qp_out);
-//
-void dense_qp_res_compute(dense_qp_in *qp_in, dense_qp_out *qp_out, dense_qp_res *qp_res, dense_qp_res_ws *res_ws);
-//
-void dense_qp_res_compute_nrm_inf(dense_qp_res *qp_res, double res[4]);
-
-/* misc */
-//
-void dense_qp_stack_slacks_dims(dense_qp_dims *in, dense_qp_dims *out);
-//
-void dense_qp_stack_slacks(dense_qp_in *in, dense_qp_in *out);
-//
-void dense_qp_unstack_slacks(dense_qp_out *in, dense_qp_in *qp_out, dense_qp_out *out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
deleted file mode 100644
index b262089b4f..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
-#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// daqp
-#include "daqp/include/types.h"
-
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-
-typedef struct dense_qp_daqp_opts_
-{
-    DAQPSettings* daqp_opts;
-    int warm_start;
-} dense_qp_daqp_opts;
-
-
-typedef struct dense_qp_daqp_memory_
-{
-    double* lb_tmp;
-    double* ub_tmp;
-    int* idxb;
-    int* idxv_to_idxb;
-    int* idxs;
-    int* idxdaqp_to_idxs;
-
-    double* Zl;
-    double* Zu;
-    double* zl;
-    double* zu;
-    double* d_ls;
-    double* d_us;
-
-    double time_qp_solver_call;
-    int iter;
-    DAQPWorkspace * daqp_work;
-
-} dense_qp_daqp_memory;
-
-// opts
-acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-// memory 
-acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-// functions
-int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_daqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
deleted file mode 100644
index 136279d666..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
-#define ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_dense_qp.h"
-#include "hpipm/include/hpipm_d_dense_qp_ipm.h"
-#include "hpipm/include/hpipm_d_dense_qp_sol.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct dense_qp_hpipm_opts_
-{
-    struct d_dense_qp_ipm_arg *hpipm_opts;
-} dense_qp_hpipm_opts;
-
-
-
-typedef struct dense_qp_hpipm_memory_
-{
-    struct d_dense_qp_ipm_ws *hpipm_workspace;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_hpipm_memory;
-
-
-
-//
-acados_size_t dense_qp_hpipm_opts_calculate_size(void *config, void *dims);
-//
-void *dense_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void dense_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void dense_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
-//
-acados_size_t dense_qp_hpipm_calculate_memory_size(void *dims, void *opts_);
-//
-void *dense_qp_hpipm_assign_memory(void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_hpipm_calculate_workspace_size(void *dims, void *opts_);
-//
-int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_hpipm_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
deleted file mode 100644
index d051cb15f7..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
-#define ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-enum dense_qp_ooqp_termination_code
-{
-  DENSE_SUCCESSFUL_TERMINATION = 0,
-  DENSE_NOT_FINISHED,
-  DENSE_MAX_ITS_EXCEEDED,
-  DENSE_INFEASIBLE,
-  DENSE_UNKNOWN
-};
-
-typedef struct dense_qp_ooqp_opts_
-{
-    int printLevel;
-    int useDiagonalWeights;  // TODO(dimitris): implement option
-    int fixHessian;
-    int fixDynamics;
-    int fixInequalities;
-} dense_qp_ooqp_opts;
-
-typedef struct dense_qp_ooqp_workspace_
-{
-    double *x;
-    double *gamma;
-    double *phi;
-    double *y;
-    double *z;
-    double *lambda;
-    double *pi;
-    double objectiveValue;
-} dense_qp_ooqp_workspace;
-
-typedef struct dense_qp_ooqp_memory_
-{
-    int firstRun;
-    int nx;
-    int my;
-    int mz;
-    double *c;
-    double *dQ;
-    double *xlow;
-    char *ixlow;
-    double *xupp;
-    char *ixupp;
-    double *dA;
-    double *bA;
-    double *dC;
-    double *clow;
-    char *iclow;
-    double *cupp;
-    char *icupp;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_ooqp_memory;
-
-//
-acados_size_t dense_qp_ooqp_opts_calculate_size(void *config_, dense_qp_dims *dims);
-//
-void *dense_qp_ooqp_opts_assign(void *config_, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_ooqp_opts_initialize_default(void *config_, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_ooqp_opts_update(void *config_, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_ooqp_memory_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_ooqp_memory_assign(void *config_, dense_qp_dims *dims, void *opts_,
-                                  void *raw_memory);
-//
-acados_size_t dense_qp_ooqp_workspace_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_ooqp(void *config_, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_,
-                  void *memory_, void *work_);
-//
-void dense_qp_ooqp_destroy(void *mem_, void *work);
-//
-void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_ooqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
deleted file mode 100644
index 392e472918..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
+++ /dev/null
@@ -1,124 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_QORE_H_
-#define ACADOS_DENSE_QP_DENSE_QP_QORE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// qore
-#include "qore/QPSOLVER_DENSE/include/qpsolver_dense.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct dense_qp_qore_opts_
-{
-    int nsmax;       // maximum size of Schur complement
-    int print_freq;  // print frequency,
-                     // prtfreq  < 0: disable printing;
-                     // prtfreq == 0: print on each call and include working set changes;
-                     // prtfreq  > 0: print on every prtfreq seconds, but do not include working set
-                     // changes;
-    int warm_start;  // warm start with updated matrices H and C
-    int warm_strategy;  // 0: ramp-up from zero homotopy; 1: setup homotopy from the previous
-                        // solution
-    int hot_start;      // hot start with unchanged matrices H and C
-    int max_iter;       // maximum number of iterations
-    int compute_t;      // compute t in qp_out (to have correct residuals in NLP)
-} dense_qp_qore_opts;
-
-typedef struct dense_qp_qore_memory_
-{
-    double *H;
-    double *HH;
-    double *g;
-    double *gg;
-    double *Zl;
-    double *Zu;
-    double *zl;
-    double *zu;
-    double *A;
-    double *b;
-    double *C;
-    double *CC;
-    double *Ct;
-    double *CCt;
-    double *d_lb0;
-    double *d_ub0;
-    double *d_lb;
-    double *d_ub;
-    double *d_lg;
-    double *d_ug;
-    double *d_ls;
-    double *d_us;
-    double *lb;
-    double *ub;
-    int *idxb;
-    int *idxb_stacked;
-    int *idxs;
-    double *prim_sol;
-    double *dual_sol;
-    QoreProblemDense *QP;
-    int num_iter;
-    dense_qp_in *qp_stacked;
-    double time_qp_solver_call;
-    int iter;
-
-} dense_qp_qore_memory;
-
-acados_size_t dense_qp_qore_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_qore_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_qore_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_qore_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_qore_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_qore_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_qore_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qore_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_QORE_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
deleted file mode 100644
index 0e13d3ef64..0000000000
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
+++ /dev/null
@@ -1,126 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
-#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct dense_qp_qpoases_opts_
-{
-    double max_cputime;  // maximum cpu time in seconds
-    int max_nwsr;        // maximum number of working set recalculations
-    int warm_start;      // warm start with dual_sol in memory
-    int use_precomputed_cholesky;
-    int hotstart;  // this option requires constant data matrices! (eg linear MPC, inexact schemes
-                   // with frozen sensitivities)
-    int set_acado_opts;  // use same options as in acado code generation
-    int compute_t;       // compute t in qp_out (to have correct residuals in NLP)
-    double tolerance;  // terminationTolerance
-} dense_qp_qpoases_opts;
-
-typedef struct dense_qp_qpoases_memory_
-{
-    double *H;
-    double *HH;
-    double *R;
-    double *g;
-    double *gg;
-    double *Zl;
-    double *Zu;
-    double *zl;
-    double *zu;
-    double *A;
-    double *b;
-    double *d_lb0;
-    double *d_ub0;
-    double *d_lb;
-    double *d_ub;
-    double *C;
-    double *CC;
-    double *d_lg0;
-    double *d_ug0;
-    double *d_lg;
-    double *d_ug;
-    double *d_ls;
-    double *d_us;
-    int *idxb;
-    int *idxb_stacked;
-    int *idxs;
-    double *prim_sol;
-    double *dual_sol;
-    void *QPB;       // NOTE(giaf): cast to QProblemB to use
-    void *QP;        // NOTE(giaf): cast to QProblem to use
-    double cputime;  // cputime of qpoases
-    int nwsr;        // performed number of working set recalculations
-    int first_it;    // to be used with hotstart
-    dense_qp_in *qp_stacked;
-    double time_qp_solver_call; // equal to cputime
-    int iter;
-
-} dense_qp_qpoases_memory;
-
-acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims);
-//
-void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
-//
-void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
-//
-void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_);
-//
-acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
-//
-void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qpoases_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void dense_qp_qpoases_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
deleted file mode 100644
index ba97db9768..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
+++ /dev/null
@@ -1,446 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-
-/// \defgroup ocp_nlp ocp_nlp
-/// @{
-/// @}
-
-/// \defgroup ocp_nlp_solver ocp_nlp_solver
-/// @{
-/// @}
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \ingroup ocp_nlp_solver
-/// @{
-
-/// \defgroup ocp_nlp_common ocp_nlp_common
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct ocp_nlp_config
-{
-    int N;  // number of stages
-
-    // solver-specific implementations of memory management functions
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts_);
-    void (*opts_update)(void *config, void *dims, void *opts_);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts_);
-    void *(*memory_assign)(void *config, void *dims, void *opts_, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts_);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    void (*opts_set_at_stage)(void *config_, void *opts_, size_t stage, const char *field, void* value);
-    // evaluate solver // TODO rename into solve
-    int (*evaluate)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    void (*eval_param_sens)(void *config, void *dims, void *opts_, void *mem, void *work,
-                            char *field, int stage, int index, void *sens_nlp_out);
-    // prepare memory
-    int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    void (*memory_reset_qp_solver)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
-    // initalize this struct with default values
-    void (*config_initialize_default)(void *config);
-    // general getter
-    void (*get)(void *config_, void *dims, void *mem_, const char *field, void *return_value_);
-    void (*opts_get)(void *config_, void *dims, void *opts_, const char *field, void *return_value_);
-    void (*work_get)(void *config_, void *dims, void *work_, const char *field, void *return_value_);
-    // config structs of submodules
-    ocp_qp_xcond_solver_config *qp_solver; // TODO rename xcond_solver
-    ocp_nlp_dynamics_config **dynamics;
-    ocp_nlp_cost_config **cost;
-    ocp_nlp_constraints_config **constraints;
-    ocp_nlp_reg_config *regularize;
-
-} ocp_nlp_config;
-
-//
-acados_size_t ocp_nlp_config_calculate_size(int N);
-//
-ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory);
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-/// Structure to store dimensions/number of variables.
-typedef struct ocp_nlp_dims
-{
-    void **cost;
-    void **dynamics;
-    void **constraints;
-    ocp_qp_xcond_solver_dims *qp_solver;  // xcond solver instead ??
-    ocp_nlp_reg_dims *regularize;
-
-    int *nv;  // number of primal variables (states+controls+slacks)
-    int *nx;  // number of differential states
-    int *nu;  // number of inputs
-    int *ni;  // number of two-sided inequality constraints: nb+ng+nh+ns
-    int *nz;  // number of algebraic variables
-    int *ns;  // number of slack variables
-    int N;    // number of shooting nodes
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-} ocp_nlp_dims;
-
-//
-acados_size_t ocp_nlp_dims_calculate_size(void *config);
-//
-ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory);
-
-/// Sets the dimension of optimization variables
-/// (states, constrols, algebraic variables, slack variables).
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param field The type of optimization variables, either nx, nu, nz, or ns.
-/// \param value_array Number of variables for each stage.
-void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_,
-                               const char *field, const void* value_array);
-
-/// Sets the dimensions of constraints functions for a stage
-/// (bounds on states, bounds on controls, equality constraints,
-/// inequality constraints).
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh.
-/// \param value_field Number of constraints/bounds for the given stage.
-void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage,
-                                  const char *field, const void* value_field);
-
-/// Sets the dimensions of the cost terms for a stage.
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field Type of cost term, can be eiter ny.
-/// \param value_field Number of cost terms/residuals for the given stage.
-void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field,
-                           const void* value_field);
-
-/// Sets the dimensions of the dynamics for a stage.
-///
-/// \param config_ The configuration struct.
-/// \param dims_ The dimension struct.
-/// \param stage Stage number.
-/// \param field TBD
-/// \param value TBD
-void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field,
-                               const void* value);
-
-/************************************************
- * Inputs
- ************************************************/
-
-/// Struct for storing the inputs of an OCP NLP solver
-typedef struct ocp_nlp_in
-{
-    /// Length of sampling intervals/timesteps.
-    double *Ts;
-
-    /// Pointers to cost functions (TBC).
-    void **cost;
-
-    /// Pointers to dynamics functions (TBC).
-    void **dynamics;
-
-    /// Pointers to constraints functions (TBC).
-    void **constraints;
-
-    /// Pointer to allocated memory, to be used for freeing.
-    void *raw_memory;
-
-} ocp_nlp_in;
-
-//
-acados_size_t ocp_nlp_in_calculate_size_self(int N);
-//
-acados_size_t ocp_nlp_in_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
-//
-ocp_nlp_in *ocp_nlp_in_assign_self(int N, void *raw_memory);
-//
-ocp_nlp_in *ocp_nlp_in_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, void *raw_memory);
-
-
-/************************************************
- * out
- ************************************************/
-
-typedef struct ocp_nlp_out
-{
-    struct blasfeo_dvec *ux;  // NOTE: this contains [u; x; s_l; s_u]! - rename to uxs?
-    struct blasfeo_dvec *z;  // algebraic vairables
-    struct blasfeo_dvec *pi;  // multipliers for dynamics
-    struct blasfeo_dvec *lam;  // inequality mulitpliers
-    struct blasfeo_dvec *t;  // slack variables corresponding to evaluation of all inequalities (at the solution)
-
-    // NOTE: the inequalities are internally organized in the following order:
-    // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
-    double inf_norm_res;
-
-    void *raw_memory; // Pointer to allocated memory, to be used for freeing
-
-} ocp_nlp_out;
-
-//
-acados_size_t ocp_nlp_out_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
-//
-ocp_nlp_out *ocp_nlp_out_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                void *raw_memory);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-/// Globalization types
-typedef enum
-{
-    FIXED_STEP,
-    MERIT_BACKTRACKING,
-} ocp_nlp_globalization_t;
-
-typedef struct ocp_nlp_opts
-{
-    ocp_qp_xcond_solver_opts *qp_solver_opts; // xcond solver opts instead ???
-    void *regularize;
-    void **dynamics;     // dynamics_opts
-    void **cost;         // cost_opts
-    void **constraints;  // constraints_opts
-    double step_length;  // step length in case of FIXED_STEP
-    double levenberg_marquardt;  // LM factor to be added to the hessian before regularization
-    int reuse_workspace;
-    int num_threads;
-    int print_level;
-
-    // TODO: move to separate struct?
-    ocp_nlp_globalization_t globalization;
-    int full_step_dual;
-    int line_search_use_sufficient_descent;
-    int globalization_use_SOC;
-    double alpha_min;
-    double alpha_reduction;
-    double eps_sufficient_descent;
-} ocp_nlp_opts;
-
-//
-acados_size_t ocp_nlp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_opts_set_at_stage(void *config, void *opts, int stage, const char *field, void *value);
-
-
-/************************************************
- * residuals
- ************************************************/
-
-typedef struct ocp_nlp_res
-{
-    struct blasfeo_dvec *res_stat;  // stationarity
-    struct blasfeo_dvec *res_eq;  // dynamics
-    struct blasfeo_dvec *res_ineq;  // inequality constraints
-    struct blasfeo_dvec *res_comp;  // complementarity
-    struct blasfeo_dvec tmp;  // tmp
-    double inf_norm_res_stat;
-    double inf_norm_res_eq;
-    double inf_norm_res_ineq;
-    double inf_norm_res_comp;
-    acados_size_t memsize;
-} ocp_nlp_res;
-
-//
-acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
-//
-ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
-//
-void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out);
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct ocp_nlp_memory
-{
-//    void *qp_solver_mem; // xcond solver mem instead ???
-    ocp_qp_xcond_solver_memory *qp_solver_mem; // xcond solver mem instead ???
-    void *regularize_mem;
-    void **dynamics;     // dynamics memory
-    void **cost;         // cost memory
-    void **constraints;  // constraints memory
-
-    // residuals
-    ocp_nlp_res *nlp_res;
-
-    // qp in & out
-    ocp_qp_in *qp_in;
-    ocp_qp_out *qp_out;
-    // QP stuff not entering the qp_in struct
-    struct blasfeo_dmat *dzduxt; // dzdux transposed
-    struct blasfeo_dvec *z_alg; // z_alg, output algebraic variables
-
-    struct blasfeo_dvec *cost_grad;
-    struct blasfeo_dvec *ineq_fun;
-    struct blasfeo_dvec *ineq_adj;
-    struct blasfeo_dvec *dyn_fun;
-    struct blasfeo_dvec *dyn_adj;
-
-    double cost_value;
-
-    bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
-    struct blasfeo_dvec *sim_guess;
-
-    int *sqp_iter; // pointer to iteration number
-
-} ocp_nlp_memory;
-
-//
-acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
-//
-ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                      ocp_nlp_opts *opts, void *raw_memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct ocp_nlp_workspace
-{
-
-    void *qp_work;
-    void **dynamics;     // dynamics_workspace
-    void **cost;         // cost_workspace
-    void **constraints;  // constraints_workspace
-
-    // for globalization: -> move to module?!
-    ocp_nlp_out *tmp_nlp_out;
-    ocp_nlp_out *weight_merit_fun;
-    struct blasfeo_dvec tmp_nxu;
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dvec dxnext_dy;
-
-} ocp_nlp_workspace;
-
-//
-acados_size_t ocp_nlp_workspace_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
-//
-ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
-                                ocp_nlp_opts *opts, ocp_nlp_memory *mem, void *raw_memory);
-
-
-
-/************************************************
- * function
- ************************************************/
-
-void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_initialize_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_approximate_qp_vectors_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
-//
-int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
-            int check_early_termination);
-//
-double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-          ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_initialize_t_slacks(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-//
-void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out,
-                         ocp_nlp_res *res, ocp_nlp_memory *mem);
-//
-void ocp_nlp_cost_compute(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
deleted file mode 100644
index 9dbf16f6dc..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
+++ /dev/null
@@ -1,238 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-    int nb;  // nbx + nbu
-    int nbu; // number of input box constraints
-    int nbx; // number of state box constraints
-    int ng;  // number of general linear constraints
-    int nh;  // number of nonlinear path constraints
-    int ns;  // nsbu + nsbx + nsg + nsh
-    int nsbu;  // number of softened input bounds
-    int nsbx;  // number of softened state bounds
-    int nsg;  // number of softened general linear constraints
-    int nsh;  // number of softened nonlinear constraints
-    int nbue; // number of input box constraints which are equality
-    int nbxe; // number of state box constraints which are equality
-    int nge;  // number of general linear constraints which are equality
-    int nhe;  // number of nonlinear path constraints which are equality
-} ocp_nlp_constraints_bgh_dims;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
-//
-void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
-                                      const char *field, const int* value);
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    int *idxb;
-    int *idxs;
-    int *idxe;
-    struct blasfeo_dvec d;  // gathers bounds
-    struct blasfeo_dmat DCt;  // general linear constraint matrix
-            // lg <= [D, C] * [u; x] <= ug
-    external_function_generic *nl_constr_h_fun;  // nonlinear: lh <= h(x,u) <= uh
-    external_function_generic *nl_constr_h_fun_jac;  // nonlinear: lh <= h(x,u) <= uh
-    external_function_generic *nl_constr_h_fun_jac_hess;  // nonlinear: lh <= h(x,u) <= uh
-} ocp_nlp_constraints_bgh_model;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-//
-void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_constraints_bgh_opts;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
-    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
-    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
-    int *idxb;                   // pointer to idxb[ii] in qp_in
-    int *idxs_rev;               // pointer to idxs_rev[ii] in qp_in
-    int *idxe;                   // pointer to idxe[ii] in qp_in
-} ocp_nlp_constraints_bgh_memory;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
-//
-void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_nv;
-    struct blasfeo_dmat tmp_nz_nh;
-    struct blasfeo_dmat tmp_nv_nh;
-    struct blasfeo_dmat tmp_nz_nv;
-    struct blasfeo_dmat hess_z;
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dvec tmp_nh;
-} ocp_nlp_constraints_bgh_workspace;
-
-//
-acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/* functions */
-
-//
-void ocp_nlp_constraints_bgh_config_initialize_default(void *config);
-//
-void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts,
-                                    void *mem, void *work);
-//
-void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-
-//
-void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_,
-                                            void *opts_, void *memory_, void *work_);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
deleted file mode 100644
index eb05edf7a6..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/* dims */
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-    int nb;   // nbx + nbu
-    int nbu;
-    int nbx;
-    int ng;   // number of general linear constraints
-    int nphi; // dimension of convex outer part
-    int ns;   // nsbu + nsbx + nsg + nsphi
-    int nsbu; // number of softened input bounds
-    int nsbx; // number of softened state bounds
-    int nsg;  // number of softened general linear constraints
-    int nsphi;  // number of softened nonlinear constraints
-    int nr;   // dimension of nonlinear function in convex_over_nonlinear constraint
-    int nbue; // number of input box constraints which are equality
-    int nbxe; // number of state box constraints which are equality
-    int nge;  // number of general linear constraints which are equality
-    int nphie;  // number of nonlinear path constraints which are equality
-} ocp_nlp_constraints_bgp_dims;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config);
-//
-void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-/* model */
-
-typedef struct
-{
-    //  ocp_nlp_constraints_bgp_dims *dims;
-    int *idxb;
-    int *idxs;
-    int *idxe;
-    struct blasfeo_dvec d;
-    struct blasfeo_dmat DCt;
-    external_function_generic *nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux;
-    external_function_generic *nl_constr_phi_o_r_fun;
-    external_function_generic *nl_constr_r_fun_jac;
-} ocp_nlp_constraints_bgp_model;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-//
-void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_,
-                         void *model_, const char *field, void *value);
-
-/* options */
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_constraints_bgp_opts;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_constraints_bgp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_constraints_bgp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_constraints_bgp_opts_set(void *config, void *opts, char *field, void *value);
-
-/* memory */
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
-    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
-    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
-    int *idxb;                   // pointer to idxb[ii] in qp_in
-    int *idxs_rev;                   // pointer to idxs_rev[ii] in qp_in
-    int *idxe;                   // pointer to idxe[ii] in qp_in
-} ocp_nlp_constraints_bgp_memory;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_constraints_bgp_memory_assign(void *config, void *dims, void *opts,
-    void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_adj_ptr(void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
-//
-void ocp_nlp_constraints_bgp_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_idxb_ptr(int *idxb, void *memory_);
-//
-void ocp_nlp_constraints_bgp_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
-//
-void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
-
-/* workspace */
-
-typedef struct
-{
-    struct blasfeo_dvec tmp_ni;
-    struct blasfeo_dmat jac_r_ux_tran;
-    struct blasfeo_dmat tmp_nr_nphi_nr;
-    struct blasfeo_dmat tmp_nv_nr;
-    struct blasfeo_dmat tmp_nv_nphi;
-    struct blasfeo_dmat tmp_nz_nphi;
-} ocp_nlp_constraints_bgp_workspace;
-
-//
-acados_size_t ocp_nlp_constraints_bgp_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/* functions */
-
-//
-void ocp_nlp_constraints_bgp_config_initialize_default(void *config);
-//
-void ocp_nlp_constraints_bgp_initialize(void *config, void *dims, void *model,
-        void *opts, void *mem, void *work);
-//
-void ocp_nlp_constraints_bgp_update_qp_matrices(void *config_, void *dims,
-        void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims,
-        void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_constraints_bgp_bounds_update(void *config_, void *dims, void *model_,
-        void *opts_, void *memory_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
deleted file mode 100644
index bb73c468de..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_constraints ocp_nlp_constraints
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value);
-    void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config, void *opts, char *field, void *value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory);
-    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
-    void (*memory_set_lam_ptr)(struct blasfeo_dvec *lam, void *memory);
-    void (*memory_set_tmp_lam_ptr)(struct blasfeo_dvec *tmp_lam, void *memory);
-    void (*memory_set_DCt_ptr)(struct blasfeo_dmat *DCt, void *memory);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
-    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzduxt, void *memory);
-    void (*memory_set_idxb_ptr)(int *idxb, void *memory);
-    void (*memory_set_idxs_rev_ptr)(int *idxs_rev, void *memory);
-    void (*memory_set_idxe_ptr)(int *idxe, void *memory);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*update_qp_matrices)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*compute_fun)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*bounds_update)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
-    void (*config_initialize_default)(void *config);
-    // dimension setters
-    void (*dims_set)(void *config_, void *dims_, const char *field, const int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
-} ocp_nlp_constraints_config;
-
-//
-acados_size_t ocp_nlp_constraints_config_calculate_size();
-//
-ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
deleted file mode 100644
index eb40564036..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-///
-/// \defgroup ocp_nlp_cost ocp_nlp_cost
-///
-
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int *value);
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config, void *opts, const char *field, void *value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-	double *(*memory_get_fun_ptr)(void *memory);
-    struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
-    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzdux, void *memory);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
-    void (*memory_set_Z_ptr)(struct blasfeo_dvec *Z, void *memory);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-
-    // computes the function value, gradient and hessian (approximation) of the cost function
-    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    // computes the cost function value (intended for globalization)
-    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*config_initialize_default)(void *config);
-    void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-
-} ocp_nlp_cost_config;
-
-//
-acados_size_t ocp_nlp_cost_config_calculate_size();
-//
-ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
deleted file mode 100644
index 2eb3f5d127..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl
-/// \brief This module implements convex-over-nonlinear costs of the form
-/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$,
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_conl_dims;
-
-//
-acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
-//
-void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    external_function_generic *conl_cost_fun;
-    external_function_generic *conl_cost_fun_jac_hess;
-    struct blasfeo_dvec y_ref;
-    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
-    struct blasfeo_dvec z;              // gradient of slacks as vector
-    double scaling;
-} ocp_nlp_cost_conl_model;
-
-//
-acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    bool gauss_newton_hess;  // dummy options, we always use a gauss-newton hessian
-} ocp_nlp_cost_conl_opts;
-
-//
-acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-typedef struct
-{
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    double fun;                         ///< value of the cost function
-} ocp_nlp_cost_conl_memory;
-
-//
-acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat W;             // hessian of outer loss function
-    struct blasfeo_dmat W_chol;        // cholesky factor of hessian of outer loss function
-    struct blasfeo_dmat Jt_ux;         // jacobian of inner residual function
-    struct blasfeo_dmat Jt_ux_tilde;   // jacobian of inner residual function plus gradient contribution of algebraic variables
-    struct blasfeo_dmat Jt_z;          // jacobian of inner residual function wrt algebraic variables
-    struct blasfeo_dmat tmp_nv_ny;
-    struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;
-} ocp_nlp_cost_conl_workspace;
-
-//
-acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_conl_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
deleted file mode 100644
index 78958270de..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
+++ /dev/null
@@ -1,187 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_external_dims;
-
-//
-acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    external_function_generic *ext_cost_fun;  // function
-    external_function_generic *ext_cost_fun_jac_hess;  // function, gradient and hessian
-    external_function_generic *ext_cost_fun_jac;  // function, gradient
-    struct blasfeo_dvec Z;
-    struct blasfeo_dvec z;
-    struct blasfeo_dmat numerical_hessian;  // custom hessian approximation
-    double scaling;
-} ocp_nlp_cost_external_model;
-
-//
-acados_size_t ocp_nlp_cost_external_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_external_model_assign(void *config, void *dims, void *raw_memory);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int use_numerical_hessian;  // > 0 indicating custom hessian is used instead of CasADi evaluation
-} ocp_nlp_cost_external_opts;
-
-//
-acados_size_t ocp_nlp_cost_external_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_external_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_external_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_external_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_external_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-	double fun;                         ///< value of the cost function
-} ocp_nlp_cost_external_memory;
-
-//
-acados_size_t ocp_nlp_cost_external_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_external_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_external_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_external_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_external_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nunx_nunx;
-    struct blasfeo_dmat tmp_nz_nz;
-    struct blasfeo_dmat tmp_nz_nunx;
-    struct blasfeo_dvec tmp_nunxnz;
-    struct blasfeo_dvec tmp_2ns;  // temporary vector of dimension 2*ns
-} ocp_nlp_cost_external_workspace;
-
-//
-acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_external_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_external_initialize(void *config_, void *dims, void *model_,
-                                      void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_external_update_qp_matrices(void *config_, void *dims, void *model_,
-                                               void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_external_compute_fun(void *config_, void *dims, void *model_,
-                                       void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
deleted file mode 100644
index 801e9a5b87..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
+++ /dev/null
@@ -1,243 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_ls ocp_nlp_cost_ls
-/// \brief This module implements linear-least squares costs of the form
-/// \f$\min_{x,u,z} \| V_x x + V_u u + V_z z - y_{\text{ref}}\|_W^2\f$.
-/// @{
-
-
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     dims                                   //
-////////////////////////////////////////////////////////////////////////////////
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_ls_dims;
-
-
-///  Calculate the size of the ocp_nlp_cost_ls_dims struct
-///
-///  \param[in] config_ structure containing configuration of ocp_nlp_cost
-///  module
-///  \param[out] []
-///  \return \c size of ocp_nlp_dims struct
-acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config);
-
-
-///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct
-///
-///  \param[in] config structure containing configuration of ocp_nlp_cost
-///  module
-///  \param[in] raw_memory pointer to memory location
-///  \param[out] []
-///  \return dims
-void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     model                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-/// structure containing the data describing the linear least-square cost
-typedef struct
-{
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    struct blasfeo_dmat Cyt;            ///< output matrix: Cy * [u,x] = y; in transposed form
-    struct blasfeo_dmat Vz;             ///< Vz in ls cost Vx*x + Vu*u + Vz*z
-    struct blasfeo_dmat W;              ///< ls norm corresponding to this matrix
-    struct blasfeo_dvec y_ref;          ///< yref
-    struct blasfeo_dvec Z;              ///< diagonal Hessian of slacks as vector (lower and upper)
-    struct blasfeo_dvec z;              ///< gradient of slacks as vector (lower and upper)
-    double scaling;
-    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
-    int Cyt_or_scaling_changed;         ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed
-} ocp_nlp_cost_ls_model;
-
-//
-acados_size_t ocp_nlp_cost_ls_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_ls_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_ls_model_set(void *config_, void *dims_, void *model_,
-                              const char *field, void *value_);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                   options                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-typedef struct
-{
-    int dummy; // struct can't be void
-} ocp_nlp_cost_ls_opts;
-
-//
-acados_size_t ocp_nlp_cost_ls_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_ls_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_ls_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_ls_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                     memory                                 //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-/// structure containing the memory associated with cost_ls component
-/// of the ocp_nlp module
-typedef struct
-{
-    struct blasfeo_dmat hess;           ///< hessian of cost function
-    struct blasfeo_dmat W_chol;         ///< cholesky factor of weight matrix
-    struct blasfeo_dvec res;            ///< ls residual r(x)
-    struct blasfeo_dvec grad;           ///< gradient of cost function
-    struct blasfeo_dvec *ux;            ///< pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;        ///< pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    struct blasfeo_dmat *RSQrq;         ///< pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;             ///< pointer to Z in qp_in
-	double fun;                         ///< value of the cost function
-} ocp_nlp_cost_ls_memory;
-
-//
-acados_size_t ocp_nlp_cost_ls_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_ls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_ls_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_ls_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_ls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_ls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                 workspace                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_ny;   // temporary matrix of dimensions nv, ny
-    struct blasfeo_dmat Cyt_tilde;   // updated Cyt (after z elimination)
-    struct blasfeo_dmat dzdux_tran;  // derivatives of z wrt u and x (tran)
-    struct blasfeo_dvec tmp_ny;      // temporary vector of dimension ny
-    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
-    struct blasfeo_dvec tmp_nz;      // temporary vector of dimension nz
-    struct blasfeo_dvec y_ref_tilde; // updated y_ref (after z elimination)
-} ocp_nlp_cost_ls_workspace;
-
-//
-acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-////////////////////////////////////////////////////////////////////////////////
-//                                 functions                                  //
-////////////////////////////////////////////////////////////////////////////////
-
-
-// computations that are done once when solver is created
-void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_ls_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_ls_initialize(void *config_, void *dims, void *model_, void *opts_,
-                                void *mem_, void *work_);
-//
-void ocp_nlp_cost_ls_update_qp_matrices(void *config_, void *dims, void *model_,
-                                        void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_ls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
deleted file mode 100644
index 5ec68cf580..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
+++ /dev/null
@@ -1,211 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_cost ocp_nlp_cost
-/// @{
-/// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls
-/// \brief This module implements nonlinear-least squares costs of the form
-/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$,
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;  // number of states
-    int nz;  // number of algebraic variables
-    int nu;  // number of inputs
-    int ny;  // number of outputs
-    int ns;  // number of slacks
-} ocp_nlp_cost_nls_dims;
-
-//
-acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config);
-//
-void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value);
-//
-void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost
-    // slack penalty has the form z^T * s + .5 * s^T * Z * s
-    external_function_generic *nls_y_fun;  // evaluation of nls function
-    external_function_generic *nls_y_fun_jac;  // evaluation nls function and jacobian
-    external_function_generic *nls_y_hess;  // hessian*seeds of nls residuals
-    struct blasfeo_dmat W;                //
-    struct blasfeo_dvec y_ref;
-    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
-    struct blasfeo_dvec z;              // gradient of slacks as vector
-    double scaling;
-    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
-} ocp_nlp_cost_nls_model;
-
-//
-acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory);
-//
-int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    bool gauss_newton_hess;  // gauss-newton hessian approximation
-} ocp_nlp_cost_nls_opts;
-
-//
-acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat W_chol;  // cholesky factor of weight matrix
-    struct blasfeo_dmat Jt;      // jacobian of nls fun
-    struct blasfeo_dvec res;     // nls residual r(x)
-    struct blasfeo_dvec grad;    // gradient of cost function
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;     // pointer to ux in tmp_nlp_out
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
-    double fun;                         ///< value of the cost function
-} ocp_nlp_cost_nls_memory;
-
-//
-acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_);
-//
-struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
-//
-void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
-//
-void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
-//
-void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_ny;
-    struct blasfeo_dmat tmp_nv_nv;
-    struct blasfeo_dmat Vz;
-    struct blasfeo_dmat Cyt_tilde;
-    struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;
-    struct blasfeo_dvec tmp_nz;
-} ocp_nlp_cost_nls_workspace;
-
-//
-acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts);
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_nls_config_initialize_default(void *config);
-//
-void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-//
-void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
deleted file mode 100644
index 43fe71b12f..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_dynamics ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/sim/sim_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * config
- ************************************************/
-
-typedef struct
-{
-    void (*config_initialize_default)(void *config);
-    sim_config *sim_solver;
-    /* dims */
-    acados_size_t (*dims_calculate_size)(void *config);
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
-    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
-    /* model */
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    void (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
-    /* opts */
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    /* memory */
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    // get shooting node gap x_next(x_n, u_n) - x_{n+1}
-    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
-    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
-    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);
-    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory_);
-    void (*memory_set_ux1_ptr)(struct blasfeo_dvec *ux1, void *memory_);
-    void (*memory_set_tmp_ux1_ptr)(struct blasfeo_dvec *tmp_ux1, void *memory_);
-    void (*memory_set_pi_ptr)(struct blasfeo_dvec *pi, void *memory_);
-    void (*memory_set_tmp_pi_ptr)(struct blasfeo_dvec *tmp_pi, void *memory_);
-    void (*memory_set_BAbt_ptr)(struct blasfeo_dmat *BAbt, void *memory_);
-    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory_);
-    void (*memory_set_dzduxt_ptr)(struct blasfeo_dmat *mat, void *memory_);
-    void (*memory_set_sim_guess_ptr)(struct blasfeo_dvec *vec, bool *bool_ptr, void *memory_);
-    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *vec, void *memory_);
-    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void* value);
-    /* workspace */
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-    int (*precompute)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-} ocp_nlp_dynamics_config;
-
-//
-acados_size_t ocp_nlp_dynamics_config_calculate_size();
-//
-ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
deleted file mode 100644
index 3afdc9f4ed..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-#include "acados_c/sim_interface.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    void *sim;
-    int nx;   // number of states at the current stage
-    int nz;   // number of algebraic states at the current stage
-    int nu;   // number of inputs at the current stage
-    int nx1;  // number of states at the next stage
-    int nu1;  // number of inputes at the next stage
-} ocp_nlp_dynamics_cont_dims;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
-//
-void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value);
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    void *sim_solver;
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_dynamics_cont_opts;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;            // pointer to ux in nlp_out at current stage
-    struct blasfeo_dvec *tmp_ux;        // pointer to ux in tmp_nlp_out at current stage
-    struct blasfeo_dvec *ux1;           // pointer to ux in nlp_out at next stage
-    struct blasfeo_dvec *tmp_ux1;       // pointer to ux in tmp_nlp_out at next stage
-    struct blasfeo_dvec *pi;            // pointer to pi in nlp_out at current stage
-    struct blasfeo_dvec *tmp_pi;        // pointer to pi in tmp_nlp_out at current stage
-    struct blasfeo_dmat *BAbt;          // pointer to BAbt in qp_in
-    struct blasfeo_dmat *RSQrq;         // pointer to RSQrq in qp_in
-    struct blasfeo_dvec *z_alg;         // pointer to output z at t = 0
-    bool *set_sim_guess;                 // indicate if initialization for integrator is set from outside
-    struct blasfeo_dvec *sim_guess;     // initializations for integrator
-    // struct blasfeo_dvec *z;             // pointer to (input) z in nlp_out at current stage
-    struct blasfeo_dmat *dzduxt;        // pointer to dzdux transposed
-    void *sim_solver;                   // sim solver memory
-} ocp_nlp_dynamics_cont_memory;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
-//
-void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat hess;
-    sim_in *sim_in;
-    sim_out *sim_out;
-    void *sim_solver;  // sim solver workspace
-} ocp_nlp_dynamics_cont_workspace;
-
-acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    void *sim_model;
-    // double *state_transition; // TODO
-    double T;  // simulation time
-} ocp_nlp_dynamics_cont_model;
-
-//
-acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_dynamics_cont_config_initialize_default(void *config);
-//
-void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
deleted file mode 100644
index 6ea26a7010..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_dynamics
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
-#include "acados/utils/external_function_generic.h"
-#include "acados/utils/types.h"
-
-/************************************************
- * dims
- ************************************************/
-
-typedef struct
-{
-    int nx;   // number of states at the current stage
-    int nu;   // number of inputs at the current stage
-    int nx1;  // number of states at the next stage
-    int nu1;  // number of inputes at the next stage
-} ocp_nlp_dynamics_disc_dims;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config);
-//
-void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value);
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    int compute_adj;
-    int compute_hess;
-} ocp_nlp_dynamics_disc_opts;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_disc_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_dynamics_disc_opts_update(void *config, void *dims, void *opts);
-//
-int ocp_nlp_dynamics_disc_precompute(void *config_, void *dims, void *model_, void *opts_,
-                                        void *mem_, void *work_);
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dvec fun;
-    struct blasfeo_dvec adj;
-    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out at current stage
-    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage
-    struct blasfeo_dvec *ux1;    // pointer to ux in nlp_out at next stage
-    struct blasfeo_dvec *tmp_ux1;// pointer to ux in tmp_nlp_out at next stage
-    struct blasfeo_dvec *pi;     // pointer to pi in nlp_out at current stage
-    struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage
-    struct blasfeo_dmat *BAbt;   // pointer to BAbt in qp_in
-    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_dynamics_disc_memory;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_memory_calculate_size(void *config, void *dims, void *opts);
-//
-void *ocp_nlp_dynamics_disc_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_fun_ptr(void *memory);
-//
-struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_adj_ptr(void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
-//
-void ocp_nlp_dynamics_disc_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    struct blasfeo_dmat tmp_nv_nv;
-} ocp_nlp_dynamics_disc_workspace;
-
-acados_size_t ocp_nlp_dynamics_disc_workspace_calculate_size(void *config, void *dims, void *opts);
-
-
-
-/************************************************
- * model
- ************************************************/
-
-typedef struct
-{
-    external_function_generic *disc_dyn_fun;
-    external_function_generic *disc_dyn_fun_jac;
-    external_function_generic *disc_dyn_fun_jac_hess;
-} ocp_nlp_dynamics_disc_model;
-
-//
-acados_size_t ocp_nlp_dynamics_disc_model_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_dynamics_disc_model_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_dynamics_disc_config_initialize_default(void *config);
-//
-void ocp_nlp_dynamics_disc_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_disc_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-//
-void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
deleted file mode 100644
index 9388f3fd24..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \ingroup ocp_nlp
-/// @{
-
-/// \defgroup ocp_nlp_reg ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-
-
-/* dims */
-
-//typedef ocp_qp_dims ocp_nlp_reg_dims;
-typedef struct
-{
-    int *nx;
-    int *nu;
-    int *nbu;
-    int *nbx;
-    int *ng;
-    int N;
-} ocp_nlp_reg_dims;
-
-//
-acados_size_t ocp_nlp_reg_dims_calculate_size(int N);
-//
-ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory);
-//
-void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value);
-
-
-
-/* config */
-
-typedef struct
-{
-    /* dims */
-    acados_size_t (*dims_calculate_size)(int N);
-    ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory);
-    void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value);
-    /* opts */
-    acados_size_t (*opts_calculate_size)(void);
-    void *(*opts_assign)(void *raw_memory);
-    void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts);
-    void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value);
-    /* memory */
-    acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts);
-    void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-    void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value);
-    void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory);
-    void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
-    void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
-    /* functions */
-    void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
-    void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
-} ocp_nlp_reg_config;
-
-//
-acados_size_t ocp_nlp_reg_config_calculate_size(void);
-//
-void *ocp_nlp_reg_config_assign(void *raw_memory);
-
-
-
-/* regularization help functions */
-void acados_reconstruct_A(int dim, double *A, double *V, double *d);
-void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon);
-void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
deleted file mode 100644
index cb523525e1..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double delta;
-    double epsilon;
-//    double gamma; // 0.0
-} ocp_nlp_reg_convexify_opts;
-
-//
-acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct {
-    double *R;
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-    double *reg_hess; // TODO move to workspace
-
-    struct blasfeo_dmat Q_tilde;
-    struct blasfeo_dmat Q_bar;
-    struct blasfeo_dmat BAQ;
-    struct blasfeo_dmat L;
-    struct blasfeo_dmat delta_eye;
-    struct blasfeo_dmat St_copy;
-
-    struct blasfeo_dmat *original_RSQrq;
-    struct blasfeo_dmat tmp_RSQ;
-
-	struct blasfeo_dvec tmp_nuxM;
-	struct blasfeo_dvec tmp_nbgM;
-
-//    struct blasfeo_dvec grad;
-//    struct blasfeo_dvec b2;
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dvec **rq;  // pointer to rq in qp_in
-    struct blasfeo_dmat **BAbt;  // pointer to BAbt in qp_in
-    struct blasfeo_dvec **b;  // pointer to b in qp_in
-    struct blasfeo_dmat **DCt;  // pointer to DCt in qp_in
-    struct blasfeo_dvec **ux;  // pointer to ux in qp_out
-    struct blasfeo_dvec **pi;  // pointer to pi in qp_out
-    struct blasfeo_dvec **lam;  // pointer to lam in qp_out
-	int **idxb; // pointer to idxb in qp_in
-
-} ocp_nlp_reg_convexify_memory;
-
-//
-acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
deleted file mode 100644
index 84a023cb69..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double epsilon;
-} ocp_nlp_reg_mirror_opts;
-
-//
-acados_size_t ocp_nlp_reg_mirror_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_mirror_memory;
-
-//
-acados_size_t ocp_nlp_reg_mirror_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_mirror_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_mirror_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
deleted file mode 100644
index b571f3bac1..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-
-/************************************************
- * options
- ************************************************/
-
-//
-acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-//
-acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_noreg_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
-// not needed
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_noreg_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
-
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
deleted file mode 100644
index 682ea206dc..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double epsilon;
-} ocp_nlp_reg_project_opts;
-
-//
-acados_size_t ocp_nlp_reg_project_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_project_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_project_memory;
-
-//
-acados_size_t ocp_nlp_reg_project_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_project_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_project_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
deleted file mode 100644
index 7e12952c15..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_reg
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// blasfeo
-#include "blasfeo/include/blasfeo_common.h"
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
-
-
-
-/************************************************
- * dims
- ************************************************/
-
-// use the functions in ocp_nlp_reg_common
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    double thr_eig;
-    double min_eig;
-    double min_pivot;
-	int pivoting;
-} ocp_nlp_reg_project_reduc_hess_opts;
-
-//
-acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void);
-//
-void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory);
-//
-void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
-//
-void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    double *reg_hess; // TODO move to workspace
-    double *V; // TODO move to workspace
-    double *d; // TODO move to workspace
-    double *e; // TODO move to workspace
-
-    // giaf's
-    struct blasfeo_dmat L; // TODO move to workspace
-    struct blasfeo_dmat L2; // TODO move to workspace
-    struct blasfeo_dmat L3; // TODO move to workspace
-    struct blasfeo_dmat Ls; // TODO move to workspace
-    struct blasfeo_dmat P; // TODO move to workspace
-    struct blasfeo_dmat AL; // TODO move to workspace
-
-    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
-    struct blasfeo_dmat **BAbt;  // pointer to RSQrq in qp_in
-} ocp_nlp_reg_project_reduc_hess_memory;
-
-//
-acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
-//
-void *ocp_nlp_reg_project_reduc_hess_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
-
-/************************************************
- * workspace
- ************************************************/
-
- // TODO
-
-/************************************************
- * functions
- ************************************************/
-
-//
-void ocp_nlp_reg_project_reduc_hess_config_initialize_default(ocp_nlp_reg_config *config);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
deleted file mode 100644
index fdb96417f9..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
+++ /dev/null
@@ -1,170 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_solver
-/// @{
-/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_opts *nlp_opts;
-    double tol_stat;     // exit tolerance on stationarity condition
-    double tol_eq;       // exit tolerance on equality constraints
-    double tol_ineq;     // exit tolerance on inequality constraints
-    double tol_comp;     // exit tolerance on complementarity condition
-    int max_iter;
-    int ext_qp_res;      // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
-    int qp_warm_start;   // qp_warm_start in all but the first sqp iterations
-    bool warm_start_first_qp; // to set qp_warm_start in first iteration
-    int rti_phase;       // only phase 0 at the moment 
-    int initialize_t_slacks;  // 0-false or 1-true
-
-} ocp_nlp_sqp_opts;
-
-//
-acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts);
-//
-void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts);
-//
-void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    // nlp memory
-    ocp_nlp_memory *nlp_mem;
-
-    double time_qp_sol;
-    double time_qp_solver_call;
-    double time_qp_xcond;
-    double time_lin;
-    double time_reg;
-    double time_tot;
-    double time_glob;
-    double time_sim;
-    double time_sim_la;
-    double time_sim_ad;
-    double time_solution_sensitivities;
-
-    // statistics
-    double *stat;
-    int stat_m;
-    int stat_n;
-
-    int status;
-    int sqp_iter;
-
-} ocp_nlp_sqp_memory;
-
-//
-acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-void ocp_nlp_sqp_memory_reset_qp_solver(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-    void *opts_, void *mem_, void *work_);
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_workspace *nlp_work;
-
-    // temp QP in & out (to be used as workspace in param sens)
-    ocp_qp_in *tmp_qp_in;
-    ocp_qp_out *tmp_qp_out;
-
-    // qp residuals
-    ocp_qp_res *qp_res;
-    ocp_qp_res_ws *qp_res_ws;
-
-} ocp_nlp_sqp_workspace;
-
-//
-acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_);
-
-
-
-/************************************************
- * functions
- ************************************************/
-
-//
-int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out,
-                void *args, void *mem, void *work_);
-//
-void ocp_nlp_sqp_config_initialize_default(void *config_);
-//
-int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-                void *opts_, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
deleted file mode 100644
index 364d0f4717..0000000000
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
+++ /dev/null
@@ -1,163 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-/// \addtogroup ocp_nlp
-/// @{
-/// \addtogroup ocp_nlp_solver
-/// @{
-/// \addtogroup ocp_nlp_sqp_rti ocp_nlp_sqp_rti
-/// @{
-
-#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/utils/types.h"
-
-
-
-/************************************************
- * options
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_opts *nlp_opts;
-    int compute_dual_sol;
-    int ext_qp_res;           // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
-    int qp_warm_start;        // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
-    bool warm_start_first_qp; // to set qp_warm_start in first iteration
-    int rti_phase;            // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
-
-} ocp_nlp_sqp_rti_opts;
-
-//
-acados_size_t ocp_nlp_sqp_rti_opts_calculate_size(void *config_, void *dims_);
-//
-void *ocp_nlp_sqp_rti_opts_assign(void *config_, void *dims_, void *raw_memory);
-//
-void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *opts_);
-//
-void ocp_nlp_sqp_rti_opts_update(void *config_, void *dims_, void *opts_);
-//
-void ocp_nlp_sqp_rti_opts_set(void *config_, void *opts_, const char *field, void* value);
-//
-void ocp_nlp_sqp_rti_opts_set_at_stage(void *config_, void *opts_, size_t stage,
-    const char *field, void* value);
-
-
-
-/************************************************
- * memory
- ************************************************/
-
-typedef struct
-{
-    // nlp memory
-    ocp_nlp_memory *nlp_mem;
-
-    double time_qp_sol;
-    double time_qp_solver_call;
-    double time_qp_xcond;
-    double time_lin;
-    double time_reg;
-    double time_tot;
-    double time_glob;
-    double time_solution_sensitivities;
-
-    // statistics
-    double *stat;
-    int stat_m;
-    int stat_n;
-
-    int status;
-
-} ocp_nlp_sqp_rti_memory;
-
-//
-acados_size_t ocp_nlp_sqp_rti_memory_calculate_size(void *config_, void *dims_, void *opts_);
-//
-void *ocp_nlp_sqp_rti_memory_assign(void *config_, void *dims_, void *opts_,
-    void *raw_memory);
-
-
-
-/************************************************
- * workspace
- ************************************************/
-
-typedef struct
-{
-    ocp_nlp_workspace *nlp_work;
-
-    // temp QP in & out (to be used as workspace in param sens)
-    ocp_qp_in *tmp_qp_in;
-    ocp_qp_out *tmp_qp_out;
-
-    // qp residuals
-    ocp_qp_res *qp_res;
-    ocp_qp_res_ws *qp_res_ws;
-
-
-} ocp_nlp_sqp_rti_workspace;
-
-//
-acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims_, void *opts_);
-
-
-
-/************************************************
- * functions
- ************************************************/
-//
-int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
-    void *opts_, void *mem_, void *work_);
-//
-void ocp_nlp_sqp_rti_config_initialize_default(void *config_);
-//
-int ocp_nlp_sqp_rti_precompute(void *config_, void *dims_,
-    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
-/// @}
-/// @}
-/// @}
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
deleted file mode 100644
index d1a45635e4..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_H_
-#define ACADOS_OCP_QP_OCP_QP_COMMON_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp.h"
-#include "hpipm/include/hpipm_d_ocp_qp_dim.h"
-#include "hpipm/include/hpipm_d_ocp_qp_res.h"
-#include "hpipm/include/hpipm_d_ocp_qp_sol.h"
-// acados
-#include "acados/utils/types.h"
-
-
-
-typedef struct d_ocp_qp_dim ocp_qp_dims;
-typedef struct d_ocp_qp ocp_qp_in;
-typedef struct d_ocp_qp_sol ocp_qp_out;
-typedef struct d_ocp_qp_res ocp_qp_res;
-typedef struct d_ocp_qp_res_ws ocp_qp_res_ws;
-
-
-
-#ifndef QP_SOLVER_CONFIG_
-#define QP_SOLVER_CONFIG_
-typedef struct
-{
-    void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value);
-    acados_size_t (*opts_calculate_size)(void *config, void *dims);
-    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, void *dims, void *opts);
-    void (*opts_update)(void *config, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} qp_solver_config;
-#endif
-
-
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config, int N);
-    void *(*dims_assign)(void *config, int N, void *raw_memory);
-    void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value);
-    void (*dims_get)(void *config, void *dims, const char *field, void* value);
-    // TODO add config everywhere !!!!!
-    acados_size_t (*opts_calculate_size)(void *dims);
-    void *(*opts_assign)(void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *dims, void *opts);
-    void (*opts_update)(void *dims, void *opts);
-    void (*opts_set)(void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *dims, void *opts);
-    void *(*memory_assign)(void *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config, void *mem, const char *field, void* value);
-    acados_size_t (*workspace_calculate_size)(void *dims, void *opts);
-    int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-    int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
-} ocp_qp_xcond_config;
-
-
-
-/// Struct containing metrics of the qp solver.
-#ifndef QP_INFO_
-#define QP_INFO_
-typedef struct
-{
-    double solve_QP_time;
-    double condensing_time;
-    double interface_time;
-    double total_time;
-    int num_iter;
-    int t_computed;
-} qp_info;
-#endif
-
-
-
-/* config */
-//
-acados_size_t ocp_qp_solver_config_calculate_size();
-//
-qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory);
-//
-acados_size_t ocp_qp_condensing_config_calculate_size();
-//
-ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory);
-
-
-/* dims */
-//
-acados_size_t ocp_qp_dims_calculate_size(int N);
-//
-ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory);
-//
-void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value);
-//
-void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value);
-
-
-/* in */
-//
-acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory);
-
-
-/* out */
-//
-acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory);
-
-/* res */
-//
-acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory);
-//
-acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims);
-//
-ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws);
-//
-void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]);
-
-
-/* misc */
-//
-void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out);
-//
-void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out);
-//
-void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
deleted file mode 100644
index f65f602c15..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
-#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-typedef struct
-{
-    int N;
-    int *nx;
-    int *nu;
-    int *nb;
-    int *nc;
-    double **A;
-    double **B;
-    double **b;
-    double **Q;
-    double **S;
-    double **R;
-    double **q;
-    double **r;
-    int **idxb;
-    double **lb;
-    double **ub;
-    double **Cx;
-    double **Cu;
-    double **lc;
-    double **uc;
-} colmaj_ocp_qp_in;
-
-typedef struct
-{
-    double **x;
-    double **u;
-    double **pi;
-    double **lam;
-} colmaj_ocp_qp_out;
-
-typedef struct
-{
-    double **res_r;
-    double **res_q;
-    double **res_ls;
-    double **res_us;
-    double **res_b;
-    double **res_d_lb;
-    double **res_d_ub;
-    double **res_d_lg;
-    double **res_d_ug;
-    double **res_d_ls;
-    double **res_d_us;
-    double **res_m_lb;
-    double **res_m_ub;
-    double **res_m_lg;
-    double **res_m_ug;
-    double **res_m_ls;
-    double **res_m_us;
-    double res_nrm_inf[4];
-} colmaj_ocp_qp_res;
-
-//
-acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr);
-//
-acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr);
-//
-acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims);
-//
-char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr);
-//
-void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in);
-//
-void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out);
-//
-void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
deleted file mode 100644
index d23e658b48..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
-#define ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_red.h"
-// acados
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    ocp_qp_dims *red_dims; // dims of reduced qp
-    dense_qp_dims *fcond_dims;
-} ocp_qp_full_condensing_dims;
-
-
-
-typedef struct ocp_qp_full_condensing_opts_
-{
-    struct d_cond_qp_arg *hpipm_cond_opts;
-    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
-//    dense_qp_dims *fcond_dims;  // TODO(all): move to dims
-    int cond_hess; // 0 cond only rhs, 1 cond hess + rhs
-    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
-    int ric_alg;
-    int mem_qp_in; // allocate qp_in in memory
-} ocp_qp_full_condensing_opts;
-
-
-
-typedef struct ocp_qp_full_condensing_memory_
-{
-    struct d_cond_qp_ws *hpipm_cond_work;
-    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
-    // in memory
-    dense_qp_in *fcond_qp_in;
-    dense_qp_out *fcond_qp_out;
-    ocp_qp_in *red_qp; // reduced qp
-    ocp_qp_out *red_sol; // reduced qp sol
-    // only pointer
-    ocp_qp_in *ptr_qp_in;
-    qp_info *qp_out_info; // info in fcond_qp_in
-    double time_qp_xcond;
-} ocp_qp_full_condensing_memory;
-
-
-
-//
-acados_size_t ocp_qp_full_condensing_opts_calculate_size(void *dims);
-//
-void *ocp_qp_full_condensing_opts_assign(void *dims, void *raw_memory);
-//
-void ocp_qp_full_condensing_opts_initialize_default(void *dims, void *opts_);
-//
-void ocp_qp_full_condensing_opts_update(void *dims, void *opts_);
-//
-void ocp_qp_full_condensing_opts_set(void *opts_, const char *field, void* value);
-//
-acados_size_t ocp_qp_full_condensing_memory_calculate_size(void *dims, void *opts_);
-//
-void *ocp_qp_full_condensing_memory_assign(void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_full_condensing_workspace_calculate_size(void *dims, void *opts_);
-//
-int ocp_qp_full_condensing(void *in, void *out, void *opts, void *mem, void *work);
-//
-int ocp_qp_full_expansion(void *in, void *out, void *opts, void *mem, void *work);
-//
-void ocp_qp_full_condensing_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
deleted file mode 100644
index 261606b842..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_HPIPM_H_
-#define ACADOS_OCP_QP_OCP_QP_HPIPM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_ipm.h"
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-// struct of arguments to the solver
-// TODO(roversch): why not make this a typedef of the underlying struct?
-typedef struct ocp_qp_hpipm_opts_
-{
-    struct d_ocp_qp_ipm_arg *hpipm_opts;
-} ocp_qp_hpipm_opts;
-
-
-
-// TODO(roversch): why not make this a typedef of the underlying struct?
-// struct of the solver memory
-typedef struct ocp_qp_hpipm_memory_
-{
-    struct d_ocp_qp_ipm_ws *hpipm_workspace;
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_hpipm_memory;
-
-
-
-//
-acados_size_t ocp_qp_hpipm_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void ocp_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
-//
-void ocp_qp_hpipm_opts_set(void *config_, void *opts_, const char *field, void *value);
-//
-acados_size_t ocp_qp_hpipm_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_qp_hpipm_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_memory_reset(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpipm_config_initialize_default(void *config);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
deleted file mode 100644
index 8db53a279d..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
+++ /dev/null
@@ -1,127 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_HPMPC_H_
-#define ACADOS_OCP_QP_OCP_QP_HPMPC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t;
-
-typedef struct ocp_qp_hpmpc_opts_
-{
-    double tol;
-    int max_iter;
-    double mu0;
-    double alpha_min;
-    int warm_start;
-    int N2;  // horizion length of the partially condensed problem
-
-    // partial tightening
-    double sigma_mu;
-    int N;
-    int M;
-} ocp_qp_hpmpc_opts;
-
-// struct of the solver memory
-typedef struct ocp_qp_hpmpc_memory_
-{
-    struct blasfeo_dvec *hpi;
-    double *stats;
-
-    // workspace
-    void *hpmpc_work;  // raw workspace
-
-    // partial tightening-specific (init of extra variables)
-    struct blasfeo_dvec *lam0;
-    struct blasfeo_dvec *ux0;
-    struct blasfeo_dvec *pi0;
-    struct blasfeo_dvec *t0;
-
-    // 2. workspace
-    struct blasfeo_dmat *hsL;
-    struct blasfeo_dmat *hsric_work_mat;
-    struct blasfeo_dmat sLxM;
-    struct blasfeo_dmat sPpM;
-
-    struct blasfeo_dvec *hsQx;
-    struct blasfeo_dvec *hsqx;
-    struct blasfeo_dvec *hstinv;
-    struct blasfeo_dvec *hsrq;
-    struct blasfeo_dvec *hsdux;
-
-    struct blasfeo_dvec *hsdlam;
-    struct blasfeo_dvec *hsdt;
-    struct blasfeo_dvec *hsdpi;
-    struct blasfeo_dvec *hslamt;
-
-    struct blasfeo_dvec *hsPb;
-
-    void *work_ric;
-
-    int out_iter;
-
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_hpmpc_memory;
-
-acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_hpmpc_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_HPMPC_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
deleted file mode 100644
index a535503f21..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
+++ /dev/null
@@ -1,144 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_OOQP_H_
-#define ACADOS_OCP_QP_OCP_QP_OOQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-enum ocp_qp_ooqp_termination_code
-{
-  SPARSE_SUCCESSFUL_TERMINATION = 0,
-  SPARSE_NOT_FINISHED,
-  SPARSE_MAX_ITS_EXCEEDED,
-  SPARSE_INFEASIBLE,
-  SPARSE_UNKNOWN
-};
-
-typedef struct ocp_qp_ooqp_opts_
-{
-    int printLevel;
-    int useDiagonalWeights;  // TODO(dimitris): implement option
-    int fixHessian;
-    int fixHessianSparsity;
-    int fixDynamics;
-    int fixDynamicsSparsity;
-    int fixInequalities;
-    int fixInequalitiesSparsity;
-} ocp_qp_ooqp_opts;
-
-typedef struct ocp_qp_ooqp_workspace_
-{
-    double *x;
-    double *gamma;
-    double *phi;
-    double *y;
-    double *z;
-    double *lambda;
-    double *pi;
-    double objectiveValue;
-    int *tmpInt;    // temporary vector to sort indicies sparse matrices
-    double *tmpReal;  // temporary vector to sort data of sparse matrices
-    // int ierr;
-} ocp_qp_ooqp_workspace;
-
-typedef struct ocp_qp_ooqp_memory_
-{
-    int firstRun;
-    double *c;
-    int nx;
-    int *irowQ;
-    int nnzQ;
-    int *jcolQ;
-    int *orderQ;
-    double *dQ;
-    double *xlow;
-    char *ixlow;
-    double *xupp;
-    char *ixupp;
-    int *irowA;
-    int nnzA;
-    int *jcolA;
-    int *orderA;
-    double *dA;
-    double *bA;
-    int my;
-    int *irowC;
-    int nnzC;
-    int *jcolC;
-    int *orderC;
-    double *dC;
-    double *clow;
-    int mz;
-    char *iclow;
-    double *cupp;
-    char *icupp;
-    int nnz;  // max(nnzQ, nnzA, nnzC)
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_ooqp_memory;
-
-//
-acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
-                void *work_);
-//
-void ocp_qp_ooqp_destroy(void *mem_, void *work);
-//
-void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_ooqp_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
deleted file mode 100644
index 51df1b1cd6..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_OSQP_H_
-#define ACADOS_OCP_QP_OCP_QP_OSQP_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// osqp
-#include "osqp/include/types.h"
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef struct ocp_qp_osqp_opts_
-{
-    OSQPSettings *osqp_opts;
-} ocp_qp_osqp_opts;
-
-
-typedef struct ocp_qp_osqp_memory_
-{
-    c_int first_run;
-
-    c_float *q;
-    c_float *l;
-    c_float *u;
-
-    c_int P_nnzmax;
-    c_int *P_i;
-    c_int *P_p;
-    c_float *P_x;
-
-    c_int A_nnzmax;
-    c_int *A_i;
-    c_int *A_p;
-    c_float *A_x;
-
-    OSQPData *osqp_data;
-    OSQPWorkspace *osqp_work;
-
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_osqp_memory;
-
-acados_size_t ocp_qp_osqp_opts_calculate_size(void *config, void *dims);
-//
-void *ocp_qp_osqp_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void ocp_qp_osqp_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void ocp_qp_osqp_opts_update(void *config, void *dims, void *opts_);
-//
-acados_size_t ocp_qp_osqp_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *ocp_qp_osqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_osqp_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-int ocp_qp_osqp(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_osqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_osqp_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_OSQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
deleted file mode 100644
index 844f6048fe..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
-#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// hpipm
-#include "hpipm/include/hpipm_d_ocp_qp_red.h"
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    ocp_qp_dims *red_dims; // dims of reduced qp
-    ocp_qp_dims *pcond_dims;
-    int *block_size;
-    int N2;
-    int N2_bkp;
-} ocp_qp_partial_condensing_dims;
-
-
-
-typedef struct ocp_qp_partial_condensing_opts_
-{
-    struct d_part_cond_qp_arg *hpipm_pcond_opts;
-    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
-//    ocp_qp_dims *pcond_dims;  // TODO(all): move to dims
-//    int *block_size;
-    int N2;
-    int N2_bkp;
-//    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
-    int ric_alg;
-    int mem_qp_in; // allocate qp_in in memory
-} ocp_qp_partial_condensing_opts;
-
-
-
-typedef struct ocp_qp_partial_condensing_memory_
-{
-    struct d_part_cond_qp_ws *hpipm_pcond_work;
-    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
-    // in memory
-    ocp_qp_in *pcond_qp_in;
-    ocp_qp_out *pcond_qp_out;
-    ocp_qp_in *red_qp; // reduced qp
-    ocp_qp_out *red_sol; // reduced qp sol
-    // only pointer
-    ocp_qp_in *ptr_qp_in;
-    ocp_qp_in *ptr_pcond_qp_in;
-    qp_info *qp_out_info; // info in pcond_qp_in
-    double time_qp_xcond;
-} ocp_qp_partial_condensing_memory;
-
-
-
-//
-acados_size_t ocp_qp_partial_condensing_opts_calculate_size(void *dims);
-//
-void *ocp_qp_partial_condensing_opts_assign(void *dims, void *raw_memory);
-//
-void ocp_qp_partial_condensing_opts_initialize_default(void *dims, void *opts_);
-//
-void ocp_qp_partial_condensing_opts_update(void *dims, void *opts_);
-//
-void ocp_qp_partial_condensing_opts_set(void *opts_, const char *field, void* value);
-//
-acados_size_t ocp_qp_partial_condensing_memory_calculate_size(void *dims, void *opts_);
-//
-void *ocp_qp_partial_condensing_memory_assign(void *dims, void *opts, void *raw_memory);
-//
-acados_size_t ocp_qp_partial_condensing_workspace_calculate_size(void *dims, void *opts_);
-//
-int ocp_qp_partial_condensing(void *in, void *out, void *opts, void *mem, void *work);
-//
-int ocp_qp_partial_expansion(void *in, void *out, void *opts, void *mem, void *work);
-//
-void ocp_qp_partial_condensing_config_initialize_default(void *config_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
deleted file mode 100644
index 3b875caeb5..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
-#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "qpDUNES.h"
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-typedef enum qpdunes_options_t_ {
-    QPDUNES_DEFAULT_ARGUMENTS,
-    QPDUNES_LINEAR_MPC,     // TODO(dimitris): partly implemented
-    QPDUNES_NONLINEAR_MPC,  // TODO(dimitris): not implemented yet
-    QPDUNES_ACADO_SETTINGS
-} qpdunes_options_t;
-
-typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t;
-
-typedef struct ocp_qp_qpdunes_opts_
-{
-    qpOptions_t options;
-    qpdunes_stage_qp_solver_t stageQpSolver;
-    int warmstart;  // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult.
-    bool isLinearMPC;
-} ocp_qp_qpdunes_opts;
-
-typedef struct ocp_qp_qpdunes_memory_
-{
-    int firstRun;
-    int nx;
-    int nu;
-    int nz;
-    int nDmax;  // max(dims->ng)
-    qpData_t qpData;
-    double time_qp_solver_call;
-    int iter;
-    int status;
-
-} ocp_qp_qpdunes_memory;
-
-typedef struct ocp_qp_qpdunes_workspace_
-{
-    double *H;
-    double *Q;
-    double *R;
-    double *S;
-    double *g;
-    double *ABt;
-    double *b;
-    double *Ct;
-    double *lc;
-    double *uc;
-    double *zLow;
-    double *zUpp;
-} ocp_qp_qpdunes_workspace;
-
-//
-acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims);
-//
-void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
-//
-void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-void *ocp_qp_qpdunes_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
-//
-acados_size_t ocp_qp_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
-//
-int ocp_qp_qpdunes(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
-                   void *work_);
-//
-void ocp_qp_qpdunes_free_memory(void *mem_);
-//
-void ocp_qp_qpdunes_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
-//
-void ocp_qp_qpdunes_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
deleted file mode 100644
index a78bc65bb9..0000000000
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
+++ /dev/null
@@ -1,150 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
-#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    ocp_qp_dims *orig_dims;
-    void *xcond_dims;
-} ocp_qp_xcond_solver_dims;
-
-
-
-typedef struct ocp_qp_xcond_solver_opts_
-{
-    void *xcond_opts;
-    void *qp_solver_opts;
-} ocp_qp_xcond_solver_opts;
-
-
-
-typedef struct ocp_qp_xcond_solver_memory_
-{
-    void *xcond_memory;
-    void *solver_memory;
-    void *xcond_qp_in;
-    void *xcond_qp_out;
-} ocp_qp_xcond_solver_memory;
-
-
-
-typedef struct ocp_qp_xcond_solver_workspace_
-{
-    void *xcond_work;
-    void *qp_solver_work;
-} ocp_qp_xcond_solver_workspace;
-
-
-
-typedef struct
-{
-    acados_size_t (*dims_calculate_size)(void *config, int N);
-    ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
-    void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-    void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-    acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
-    void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
-    acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory);
-    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
-    void (*memory_reset)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
-    acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
-    int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
-    void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work);
-    qp_solver_config *qp_solver;  // either ocp_qp_solver or dense_solver
-    ocp_qp_xcond_config *xcond;
-} ocp_qp_xcond_solver_config;  // pcond - partial condensing or fcond - full condensing
-
-
-
-/* config */
-//
-acados_size_t ocp_qp_xcond_solver_config_calculate_size();
-//
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory);
-
-/* dims */
-//
-acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N);
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory);
-//
-void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
-
-/* opts */
-//
-acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims);
-//
-void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
-//
-void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value);
-
-/* memory */
-//
-acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-//
-void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory);
-
-/* workspace */
-//
-acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-/* config */
-//
-int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_);
-
-//
-void ocp_qp_xcond_solver_config_initialize_default(void *config_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h
deleted file mode 100644
index 045d165cbc..0000000000
--- a/third_party/acados/include/acados/sim/sim_collocation_utils.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
-#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-
-
-// enum Newton_type_collocation
-// {
-//     exact = 0,
-//     simplified_in,
-//     simplified_inis
-// };
-
-
-
-// typedef struct
-// {
-//     enum Newton_type_collocation type;
-//     double *eig;
-//     double *low_tria;
-//     bool single;
-//     bool freeze;
-
-//     double *transf1;
-//     double *transf2;
-
-//     double *transf1_T;
-//     double *transf2_T;
-// } Newton_scheme;
-
-
-typedef enum
-{
-    GAUSS_LEGENDRE,
-    GAUSS_RADAU_IIA,
-} sim_collocation_type;
-
-
-//
-// acados_size_t gauss_legendre_nodes_work_calculate_size(int ns);
-//
-// void gauss_legendre_nodes(int ns, double *nodes, void *raw_memory);
-//
-// acados_size_t gauss_simplified_work_calculate_size(int ns);
-// //
-// void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
-//
-acados_size_t butcher_tableau_work_calculate_size(int ns);
-//
-// void calculate_butcher_tableau_from_nodes(int ns, double *nodes, double *b, double *A, void *work);
-//
-void calculate_butcher_tableau(int ns, sim_collocation_type collocation_type, double *c_vec,
-                               double *b_vec, double *A_mat, void *work);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h
deleted file mode 100644
index c4bbd6ed2b..0000000000
--- a/third_party/acados/include/acados/sim/sim_common.h
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_COMMON_H_
-#define ACADOS_SIM_SIM_COMMON_H_
-
-#include <stdbool.h>
-
-#include "acados/sim/sim_collocation_utils.h"
-#include "acados/utils/timing.h"
-#include "acados/utils/types.h"
-
-#include "acados/utils/external_function_generic.h"
-
-// maximum number of integration stages
-#define NS_MAX 15
-
-
-
-typedef enum
-{
-    // ERK and LIFTED_ERK
-    EXPL_ODE_FUN,
-    EXPL_ODE_HES,  // wrt x and u ???
-    EXPL_VDE_FOR,
-    EXPL_VDE_ADJ,
-    // IRK
-    IMPL_ODE_FUN,
-    IMPL_ODE_FUN_JAC_X_XDOT,
-    IMPL_ODE_JAC_X_XDOT_U,
-    IMPL_ODE_FUN_JAC_X_XDOT_U,
-    IMPL_ODE_HESS,
-    // gnsf
-    PHI_FUN,
-    PHI_FUN_JAC_Y,
-    PHI_JAC_Y_UHAT,
-    LO_FUN,
-    GET_GNSF_MATRICES
-} sim_function_t;
-
-
-
-typedef struct
-{
-    void *dims;
-
-    double *x;  // x[NX] - initial state value for simulation
-    double *u;  // u[NU] - control - constant over simulation time
-
-    double *S_forw;  // forward seed [Sx, Su]
-    double *S_adj;   // backward seed
-
-    bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)]
-
-    void *model;
-
-    double T;  // simulation time
-
-} sim_in;
-
-
-
-typedef struct
-{
-    double CPUtime;  // in seconds
-    double LAtime;   // in seconds
-    double ADtime;   // in seconds
-
-} sim_info;
-
-
-
-typedef struct
-{
-    double *xn;      // xn[NX]
-    double *S_forw;  // S_forw[NX*(NX+NU)]
-    double *S_adj;   //
-    double *S_hess;  //
-
-    double *zn;           // z - algebraic variables - reported at start of simulation interval
-    double *S_algebraic;  // sensitivities of reported value of algebraic variables w.r.t.
-                          // initial stat & control (x_n,u)
-
-    double *grad;  // gradient correction
-
-    sim_info *info;
-
-} sim_out;
-
-
-
-typedef struct
-{
-    int ns;  // number of integration stages
-
-    int num_steps;
-    int num_forw_sens;
-
-    int tableau_size;  // check that is consistent with ns
-            // only update when butcher tableau is changed
-            // kind of private -> no setter!
-    double *A_mat;
-    double *c_vec;
-    double *b_vec;
-
-    bool sens_forw;
-    bool sens_adj;
-    bool sens_hess;
-
-    bool output_z;        // 1 -- if zn should be computed
-    bool sens_algebraic;  // 1 -- if S_algebraic should be computed
-    bool exact_z_output;  // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
-    sim_collocation_type collocation_type;
-
-    // for explicit integrators: newton_iter == 0 && scheme == NULL
-    // && jac_reuse=false
-    int newton_iter;
-    bool jac_reuse;
-    // Newton_scheme *scheme;
-
-    double newton_tol; // optinally used in implicit integrators
-
-    // workspace
-    void *work;
-
-} sim_opts;
-
-
-
-typedef struct
-{
-    int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
-    int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
-    // opts
-    acados_size_t (*opts_calculate_size)(void *config_, void *dims);
-    void *(*opts_assign)(void *config_, void *dims, void *raw_memory);
-    void (*opts_initialize_default)(void *config_, void *dims, void *opts);
-    void (*opts_update)(void *config_, void *dims, void *opts);
-    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
-    void (*opts_get)(void *config_, void *opts_, const char *field, void *value);
-    // mem
-    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
-    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
-    int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value);
-    int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field);
-    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value);
-    // work
-    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
-    // model
-    acados_size_t (*model_calculate_size)(void *config, void *dims);
-    void *(*model_assign)(void *config, void *dims, void *raw_memory);
-    int (*model_set)(void *model, const char *field, void *value);
-    // config
-    void (*config_initialize_default)(void *config);
-    // dims
-    acados_size_t (*dims_calculate_size)();
-    void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_set)(void *config, void *dims, const char *field, const int *value);
-    void (*dims_get)(void *config, void *dims, const char *field, int *value);
-
-} sim_config;
-
-
-
-/* config */
-//
-acados_size_t sim_config_calculate_size();
-//
-sim_config *sim_config_assign(void *raw_memory);
-
-/* in */
-//
-acados_size_t sim_in_calculate_size(void *config, void *dims);
-//
-sim_in *sim_in_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value);
-
-/* out */
-//
-acados_size_t sim_out_calculate_size(void *config, void *dims);
-//
-sim_out *sim_out_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value);
-
-/* opts */
-//
-void sim_opts_set_(sim_opts *opts, const char *field, void *value);
-//
-void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value);
-
-#endif  // ACADOS_SIM_SIM_COMMON_H_
diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h
deleted file mode 100644
index fd46cb4d99..0000000000
--- a/third_party/acados/include/acados/sim/sim_erk_integrator.h
+++ /dev/null
@@ -1,140 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-} sim_erk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // explicit ode
-    external_function_generic *expl_ode_fun;
-    // hessian explicit ode
-    external_function_generic *expl_ode_hes;
-    // forward explicit vde
-    external_function_generic *expl_vde_for;
-    // adjoint explicit vde
-    external_function_generic *expl_vde_adj;
-
-} erk_model;
-
-
-
-typedef struct
-{
-	// memory
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-	// workspace structs
-} sim_erk_memory;
-
-
-
-typedef struct
-{
-	// workspace mem
-    double *rhs_forw_in;  // x + S + p
-
-    double *K_traj;         // (stages*nX) or (steps*stages*nX) for adj
-    double *out_forw_traj;  // S or (steps+1)*nX for adj
-
-    double *rhs_adj_in;
-    double *out_adj_tmp;
-    double *adj_traj;
-
-} sim_erk_workspace;
-
-
-
-// dims
-acados_size_t sim_erk_dims_calculate_size();
-void *sim_erk_dims_assign(void *config_, void *raw_memory);
-void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value);
-void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// model
-acados_size_t sim_erk_model_calculate_size(void *config, void *dims);
-void *sim_erk_model_assign(void *config, void *dims, void *raw_memory);
-int sim_erk_model_set(void *model, const char *field, void *value);
-
-// opts
-acados_size_t sim_erk_opts_calculate_size(void *config, void *dims);
-//
-void sim_erk_opts_update(void *config_, void *dims, void *opts_);
-//
-void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-
-// memory
-acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-//
-int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
-
-
-// workspace
-acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_);
-
-//
-int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
-//
-void sim_erk_config_initialize_default(void *config);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h
deleted file mode 100644
index 404532a732..0000000000
--- a/third_party/acados/include/acados/sim/sim_gnsf.h
+++ /dev/null
@@ -1,364 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_GNSF_H_
-#define ACADOS_SIM_SIM_GNSF_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-
-#include "acados/utils/timing.h"
-#include "acados/utils/types.h"
-#include "acados/sim/sim_common.h"
-
-#include "blasfeo/include/blasfeo_common.h"
-// #include "blasfeo/include/blasfeo_d_aux.h"
-// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-// #include "blasfeo/include/blasfeo_d_blas.h"
-// #include "blasfeo/include/blasfeo_d_kernel.h"
-// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
-// #include "blasfeo/include/blasfeo_target.h"
-
-/* 
-GNSF - Generalized Nonlinear Static Feedback Model
-has the following form
-https://github.com/acados/acados/files/3359595/gnsf_structure_blo.pdf
-
-Details on the algorithm can be found in master thesis of Jonathan Frey,
-which presents a slightly different format without the terms B_LO, c_LO.
-https://github.com/acados/acados/files/2318322/gnsf_structure.pdf
-https://cdn.syscop.de/publications/Frey2018.pdf
-https://cdn.syscop.de/publications/Frey2019.pdf
-*/
-
-typedef struct
-{
-    int nx; // total number of differential states
-    int nu; // total number of inputs
-    int nz; // total number of algebraic states
-    int nx1; // number of differential states in NSF part
-    int nz1; // number of algebraic states in NSF part
-    int n_out; // output dimension of phi
-    int ny; // dimension of first input of phi
-    int nuhat; // dimension of second input of phi
-
-} sim_gnsf_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // phi: nonlinearity function
-    external_function_generic *phi_fun;
-    external_function_generic *phi_fun_jac_y;
-    external_function_generic *phi_jac_y_uhat;
-
-    // f_lo: linear output function
-    external_function_generic *f_lo_fun_jac_x1_x1dot_u_z;
-
-    // to import model matrices
-    external_function_generic *get_gnsf_matrices;
-
-    // flag indicating, if model defining matrices are imported via external (casadi) function,
-    //    [default]: true -> auto;
-    bool auto_import_gnsf;
-
-    // booleans from structure detection
-    bool nontrivial_f_LO; // indicates if f_LO is constant zero function
-    bool fully_linear; // indicates if model is fully linear LOS
-
-    /* model defining matrices */
-    // TODO: add setters to set manually
-    double *A;
-    double *B;
-    double *C;
-    double *E;
-
-    double *L_x;
-    double *L_xdot;
-    double *L_z;
-    double *L_u;
-
-    double *A_LO;
-    double *B_LO;
-    double *E_LO;
-
-    /* constant vector */
-    double *c;
-    double *c_LO;
-
-    // permutation vector - to have GNSF order of x, z within sim_gnsf only
-    int *ipiv_x;
-    int *ipiv_z;
-
-    double *ipiv_x_double;
-    double *ipiv_z_double;
-
-} gnsf_model;
-
-
-
-// pre_workspace - workspace used in the precomputation phase
-typedef struct
-{
-    struct blasfeo_dmat E11;
-    struct blasfeo_dmat E12;
-    struct blasfeo_dmat E21;
-    struct blasfeo_dmat E22;
-
-    struct blasfeo_dmat A1;
-    struct blasfeo_dmat A2;
-    struct blasfeo_dmat B1;
-    struct blasfeo_dmat B2;
-    struct blasfeo_dmat C1;
-    struct blasfeo_dmat C2;
-
-    struct blasfeo_dmat AA1;
-    struct blasfeo_dmat AA2;
-    struct blasfeo_dmat BB1;
-    struct blasfeo_dmat BB2;
-    struct blasfeo_dmat CC1;
-    struct blasfeo_dmat CC2;
-    struct blasfeo_dmat DD1;
-    struct blasfeo_dmat DD2;
-    struct blasfeo_dmat EE1;
-    struct blasfeo_dmat EE2;
-
-    struct blasfeo_dmat QQ1;
-
-    struct blasfeo_dmat LLZ;
-    struct blasfeo_dmat LLx;
-    struct blasfeo_dmat LLK;
-
-    int *ipivEE1;  // index of pivot vector
-    int *ipivEE2;
-    int *ipivQQ1;
-
-    // for algebraic sensitivity propagation
-    struct blasfeo_dmat Q1;
-
-    // for constant term in NSF
-    struct blasfeo_dvec cc1;
-    struct blasfeo_dvec cc2;
-
-} gnsf_pre_workspace;
-
-
-
-// workspace
-typedef struct
-{
-    double *Z_work;  // used to perform computations to get out->zn
-
-    int *ipiv;  // index of pivot vector
-
-    struct blasfeo_dvec *vv_traj;
-    struct blasfeo_dvec *yy_traj;
-    struct blasfeo_dmat *f_LO_jac_traj;
-
-    struct blasfeo_dvec K2_val;
-    struct blasfeo_dvec x0_traj;
-    struct blasfeo_dvec res_val;
-    struct blasfeo_dvec u0;
-    struct blasfeo_dvec lambda;
-    struct blasfeo_dvec lambda_old;
-
-    struct blasfeo_dvec yyu;
-    struct blasfeo_dvec yyss;
-
-    struct blasfeo_dvec K1_val;
-    struct blasfeo_dvec f_LO_val;
-    struct blasfeo_dvec x1_stage_val;
-    struct blasfeo_dvec Z1_val;
-
-    struct blasfeo_dvec K1u;
-    struct blasfeo_dvec Zu;
-    struct blasfeo_dvec ALOtimesx02;
-    struct blasfeo_dvec BLOtimesu0;
-
-    struct blasfeo_dvec uhat;
-
-    struct blasfeo_dmat J_r_vv;
-    struct blasfeo_dmat J_r_x1u;
-
-    struct blasfeo_dmat dK1_dx1;
-    struct blasfeo_dmat dK1_du;
-    struct blasfeo_dmat dZ_dx1;
-    struct blasfeo_dmat dZ_du;
-    struct blasfeo_dmat J_G2_K1;
-
-    struct blasfeo_dmat dK2_dx1;
-    struct blasfeo_dmat dK2_dvv;
-    struct blasfeo_dmat dxf_dwn;
-    struct blasfeo_dmat S_forw_new;
-    struct blasfeo_dmat S_algebraic_aux;
-
-    struct blasfeo_dmat dPsi_dvv;
-    struct blasfeo_dmat dPsi_dx;
-    struct blasfeo_dmat dPsi_du;
-
-    struct blasfeo_dmat dPHI_dyuhat;
-    struct blasfeo_dvec z0;
-
-    // memory only available if (opts->sens_algebraic)
-    // struct blasfeo_dvec y_one_stage;
-    // struct blasfeo_dvec x0dot_1;
-    // struct blasfeo_dmat dz10_dx1u;  // (nz1) * (nx1+nu);
-    // struct blasfeo_dmat dr0_dvv0;  // (n_out * n_out)
-    // struct blasfeo_dmat f_LO_jac0; // (nx2+nz2) * (2*nx1 + nz1 + nu)
-    // struct blasfeo_dmat sens_z2_rhs; // (nx2 + nz2) * (nx1 + nu)
-    // int *ipiv_vv0;
-
-} gnsf_workspace;
-
-
-
-// memory
-typedef struct
-{
-    bool first_call;
-
-    // simulation time for one step
-    double dt;
-
-    // (scaled) butcher table
-    double *A_dt;
-    double *b_dt;
-    double *c_butcher;
-
-    // value used to initialize integration variables - corresponding to value of phi
-    double *phi_guess;  //  n_out
-
-    struct blasfeo_dmat S_forw;
-    struct blasfeo_dmat S_algebraic;
-
-    // precomputed matrices
-    struct blasfeo_dmat KKv;
-    struct blasfeo_dmat KKx;
-    struct blasfeo_dmat KKu;
-
-    struct blasfeo_dmat YYv;
-    struct blasfeo_dmat YYx;
-    struct blasfeo_dmat YYu;
-
-    struct blasfeo_dmat ZZv;
-    struct blasfeo_dmat ZZx;
-    struct blasfeo_dmat ZZu;
-
-    struct blasfeo_dmat ALO;
-    struct blasfeo_dmat BLO;
-    struct blasfeo_dmat M2_LU;
-    int *ipivM2;
-
-    struct blasfeo_dmat dK2_dx2;
-    struct blasfeo_dmat dK2_du;
-    struct blasfeo_dmat dx2f_dx2u;
-
-    struct blasfeo_dmat Lu;
-
-    // precomputed vectors for constant term in NSF
-    struct blasfeo_dvec KK0;
-    struct blasfeo_dvec YY0;
-    struct blasfeo_dvec ZZ0;
-
-    // for algebraic sensitivities only;
-    // struct blasfeo_dmat *Z0x;
-    // struct blasfeo_dmat *Z0u;
-    // struct blasfeo_dmat *Z0v;
-
-    // struct blasfeo_dmat *Y0x;
-    // struct blasfeo_dmat *Y0u;
-    // struct blasfeo_dmat *Y0v;
-
-    // struct blasfeo_dmat *K0x;
-    // struct blasfeo_dmat *K0u;
-    // struct blasfeo_dmat *K0v;
-
-    // struct blasfeo_dmat *ELO_LU;
-    // int *ipiv_ELO;
-    // struct blasfeo_dmat *ELO_inv_ALO;
-
-    // struct blasfeo_dmat *Lx;
-    // struct blasfeo_dmat *Lxdot;
-    // struct blasfeo_dmat *Lz;
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-} sim_gnsf_memory;
-
-
-
-// gnsf dims
-acados_size_t sim_gnsf_dims_calculate_size();
-void *sim_gnsf_dims_assign(void *config_, void *raw_memory);
-
-// get & set functions
-void sim_gnsf_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_gnsf_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// opts
-acados_size_t sim_gnsf_opts_calculate_size(void *config, void *dims);
-void *sim_gnsf_opts_assign(void *config, void *dims, void *raw_memory);
-void sim_gnsf_opts_initialize_default(void *config, void *dims, void *opts_);
-void sim_gnsf_opts_update(void *config_, void *dims, void *opts_);
-void sim_gnsf_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-// model
-acados_size_t sim_gnsf_model_calculate_size(void *config, void *dims_);
-void *sim_gnsf_model_assign(void *config, void *dims_, void *raw_memory);
-int sim_gnsf_model_set(void *model_, const char *field, void *value);
-
-// precomputation
-int sim_gnsf_precompute(void *config_, sim_in *in, sim_out *out, void *opts_, void *mem_,
-                       void *work_);
-
-// workspace & memory
-acados_size_t sim_gnsf_workspace_calculate_size(void *config, void *dims_, void *args);
-acados_size_t sim_gnsf_memory_calculate_size(void *config, void *dims_, void *opts_);
-void *sim_gnsf_memory_assign(void *config, void *dims_, void *opts_, void *raw_memory);
-
-// interface
-void sim_gnsf_config_initialize_default(void *config_);
-
-// integrator
-int sim_gnsf(void *config, sim_in *in, sim_out *out, void *opts, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_GNSF_H_
diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h
deleted file mode 100644
index 5090aa0bb5..0000000000
--- a/third_party/acados/include/acados/sim/sim_irk_integrator.h
+++ /dev/null
@@ -1,183 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-#include "blasfeo/include/blasfeo_common.h"
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-
-} sim_irk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // implicit fun - can either be fully implicit ode or dae
-    //          - i.e. dae has z as additional last argument & nz > 0
-    external_function_generic *impl_ode_fun;
-    // implicit ode & jac_x & jax_xdot & jac_z
-    external_function_generic *impl_ode_fun_jac_x_xdot_z;
-    // jax_x & jac_xdot & jac_u & jac_z of implicit ode
-    external_function_generic *impl_ode_jac_x_xdot_u_z;
-    // hessian of implicit ode:
-    external_function_generic *impl_ode_hess;
-} irk_model;
-
-
-
-typedef struct
-{
-    struct blasfeo_dvec *rG;        // residuals of G (nx*ns)
-    struct blasfeo_dvec *K;         // internal K variables ((nx+nz)*ns)
-    struct blasfeo_dvec *xt;        // temporary x
-    struct blasfeo_dvec *xn;        // x at each integration step
-    struct blasfeo_dvec xtdot;      // temporary xdot
-
-    struct blasfeo_dvec *lambda;    // adjoint sensitivities (nx + nu)
-    struct blasfeo_dvec *lambdaK;   // auxiliary variable ((nx+nz)*ns) for adjoint propagation
-
-    struct blasfeo_dmat df_dx;     // temporary Jacobian of ode w.r.t x (nx+nz, nx)
-    struct blasfeo_dmat df_dxdot;  // temporary Jacobian of ode w.r.t xdot (nx+nz, nx)
-    struct blasfeo_dmat df_du;     // temporary Jacobian of ode w.r.t u (nx+nz, nu)
-    struct blasfeo_dmat df_dz;     // temporary Jacobian of ode w.r.t z (nx+nz, nu)
-
-    /* NOTE: the memory allocation corresponding to the following fields is CONDITIONAL */
-
-    // only allocated if (opts->sens_algebraic || opts->output_z)
-    int *ipiv_one_stage;  // index of pivot vector (nx + nz)
-    double *Z_work;  // used to perform computations to get out->zn (ns)
-
-    // df_dxdotz, dk0_dxu, only allocated if (opts->sens_algebraic && opts->exact_z_output)
-    //      used for algebraic sensitivity generation
-    struct blasfeo_dmat df_dxdotz;  // temporary Jacobian of ode w.r.t. xdot,z (nx+nz, nx+nz);
-    struct blasfeo_dmat dk0_dxu;    // intermediate result, (nx+nz, nx+nu)
-
-    // dK_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of (num_steps) blasfeo_dmat
-    //                                  to store intermediate results
-    struct blasfeo_dmat *dK_dxu;  // jacobian of (K,Z) over x and u ((nx+nz)*ns, nx+nu);
-
-    // S_forw: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of (num_steps + 1) blasfeo_dmat
-    //                                  to store intermediate results
-    struct blasfeo_dmat *S_forw;  // forward sensitivities (nx, nx+nu)
-
-    // dG_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
-    struct blasfeo_dmat *dG_dxu;  // jacobian of G over x and u ((nx+nz)*ns, nx+nu)
-
-    // dG_dK:  if (!opts->sens_hess) - single blasfeo_dmat that is reused
-    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
-    struct blasfeo_dmat *dG_dK;   // jacobian of G over K ((nx+nz)*ns, (nx+nz)*ns)
-
-    // ipiv: index of pivot vector
-    //         if (!opts->sens_hess) - array (ns * (nx + nz)) that is reused
-    //         if ( opts->sens_hess) - array (ns * (nx + nz)) * num_steps, to store all
-    //              pivot vectors for dG_dxu
-    int *ipiv;  // index of pivot vector
-
-    // xn_traj, K_traj only available if( opts->sens_adj || opts->sens_hess )
-    struct blasfeo_dvec *xn_traj;  // xn trajectory
-    struct blasfeo_dvec *K_traj;   // K trajectory
-
-    /* the following variables are only available if (opts->sens_hess) */
-    // For Hessian propagation
-    struct blasfeo_dmat Hess;   // temporary Hessian (nx + nu, nx + nu)
-    // output of impl_ode_hess
-    struct blasfeo_dmat f_hess;  // size: (nx + nu, nx + nu)
-    struct blasfeo_dmat dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
-    struct blasfeo_dmat tmp_dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
-
-} sim_irk_workspace;
-
-
-typedef struct
-{
-    double *xdot;  // xdot[NX] - initialization for state derivatives k within the integrator
-    double *z;     // z[NZ] - initialization for algebraic variables z
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-} sim_irk_memory;
-
-
-// get & set functions
-void sim_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-// dims
-acados_size_t sim_irk_dims_calculate_size();
-void *sim_irk_dims_assign(void *config_, void *raw_memory);
-
-// model
-acados_size_t sim_irk_model_calculate_size(void *config, void *dims);
-void *sim_irk_model_assign(void *config, void *dims, void *raw_memory);
-int sim_irk_model_set(void *model, const char *field, void *value);
-
-// opts
-acados_size_t sim_irk_opts_calculate_size(void *config, void *dims);
-void *sim_irk_opts_assign(void *config, void *dims, void *raw_memory);
-void sim_irk_opts_initialize_default(void *config, void *dims, void *opts_);
-void sim_irk_opts_update(void *config_, void *dims, void *opts_);
-void sim_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-// memory
-acados_size_t sim_irk_memory_calculate_size(void *config, void *dims, void *opts_);
-void *sim_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-int sim_irk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
-
-// workspace
-acados_size_t sim_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
-void sim_irk_config_initialize_default(void *config);
-
-// main
-int sim_irk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
deleted file mode 100644
index e60bb80ebf..0000000000
--- a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
+++ /dev/null
@@ -1,157 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
-#define ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-#include "acados/utils/types.h"
-
-typedef struct
-{
-    int nx;
-    int nu;
-    int nz;
-} sim_lifted_irk_dims;
-
-
-
-typedef struct
-{
-    /* external functions */
-    // implicit ode
-    external_function_generic *impl_ode_fun;
-    // implicit ode & jax_x & jac_xdot & jac_u implicit ode
-    external_function_generic *impl_ode_fun_jac_x_xdot_u;
-
-} lifted_irk_model;
-
-
-
-typedef struct
-{
-
-    struct blasfeo_dmat *J_temp_x;     // temporary Jacobian of ode w.r.t x (nx, nx)
-    struct blasfeo_dmat *J_temp_xdot;  // temporary Jacobian of ode w.r.t xdot (nx, nx)
-    struct blasfeo_dmat *J_temp_u;     // temporary Jacobian of ode w.r.t u (nx, nu)
-
-    struct blasfeo_dvec *rG;      // residuals of G (nx*ns)
-    struct blasfeo_dvec *xt;      // temporary x
-    struct blasfeo_dvec *xn;      // x at each integration step (for evaluations)
-    struct blasfeo_dvec *xn_out;  // x at each integration step (output)
-    struct blasfeo_dvec *dxn;     // dx at each integration step
-    struct blasfeo_dvec *w;       // stacked x and u
-
-    int *ipiv;  // index of pivot vector
-
-} sim_lifted_irk_workspace;
-
-
-
-typedef struct
-{
-    // memory for lifted integrators
-    struct blasfeo_dmat *S_forw;    // forward sensitivities
-    struct blasfeo_dmat *JGK;       // jacobian of G over K (nx*ns, nx*ns)
-    struct blasfeo_dmat *JGf;       // jacobian of G over x and u (nx*ns, nx+nu);
-    struct blasfeo_dmat *JKf;       // jacobian of K over x and u (nx*ns, nx+nu);
-
-    struct blasfeo_dvec *K;         // internal variables (nx*ns)
-    struct blasfeo_dvec *x;         // states (nx) -- for expansion step
-    struct blasfeo_dvec *u;         // controls (nu) -- for expansion step
-
-    int update_sens;
-    // int init_K;
-
-	double time_sim;
-	double time_ad;
-	double time_la;
-
-} sim_lifted_irk_memory;
-
-
-
-/* dims */
-void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
-void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
-
-acados_size_t sim_lifted_irk_dims_calculate_size();
-//
-void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory);
-
-/* model */
-//
-acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims);
-//
-void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory);
-//
-int sim_lifted_irk_model_set(void *model_, const char *field, void *value);
-
-/* opts */
-//
-acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims);
-//
-void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory);
-//
-void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_);
-//
-void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_);
-//
-void sim_lifted_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
-
-/* memory */
-//
-acados_size_t sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_);
-//
-void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
-
-/* workspace */
-//
-acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
-//
-void sim_lifted_irk_config_initialize_default(void *config);
-
-/* solver */
-//
-int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_,
-        void *mem_, void *work_);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h
deleted file mode 100644
index 1e68dc155d..0000000000
--- a/third_party/acados/include/acados/utils/external_function_generic.h
+++ /dev/null
@@ -1,242 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
-#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-/************************************************
- * generic external function
- ************************************************/
-
-// type of arguments
-typedef enum {
-    COLMAJ,
-    BLASFEO_DMAT,
-    BLASFEO_DVEC,
-    COLMAJ_ARGS,
-    BLASFEO_DMAT_ARGS,
-    BLASFEO_DVEC_ARGS,
-    IGNORE_ARGUMENT
-} ext_fun_arg_t;
-
-struct colmaj_args
-{
-    double *A;
-    int lda;
-};
-
-struct blasfeo_dmat_args
-{
-    struct blasfeo_dmat *A;
-    int ai;
-    int aj;
-};
-
-struct blasfeo_dvec_args
-{
-    struct blasfeo_dvec *x;
-    int xi;
-};
-
-// prototype of an external function
-typedef struct
-{
-    // public members (have to be before private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-    // private members
-    // .....
-} external_function_generic;
-
-
-
-/************************************************
- * generic external parametric function
- ************************************************/
-
-// prototype of a parametric external function
-typedef struct
-{
-    // public members for core (have to be before private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-	// public members for interfaces
-    void (*get_nparam)(void *, int *);
-    void (*set_param)(void *, double *);
-    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*fun)(void **, void **, void *);
-    double *p;  // parameters
-    int np;     // number of parameters
-    // .....
-} external_function_param_generic;
-
-//
-acados_size_t external_function_param_generic_struct_size();
-//
-void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value);
-//
-acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np);
-//
-void external_function_param_generic_assign(external_function_param_generic *fun, void *mem);
-//
-void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out);
-//
-void external_function_param_generic_get_nparam(void *self, int *np);
-//
-void external_function_param_generic_set_param(void *self, double *p);
-
-
-/************************************************
- * casadi external function
- ************************************************/
-
-typedef struct
-{
-    // public members (have to be the same as in the prototype, and before the private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*casadi_fun)(const double **, double **, int *, double *, void *);
-    int (*casadi_work)(int *, int *, int *, int *);
-    const int *(*casadi_sparsity_in)(int);
-    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)(void);
-    int (*casadi_n_out)(void);
-    double **args;
-    double **res;
-    double *w;
-    int *iw;
-    int *args_size;     // size of args[i]
-    int *res_size;      // size of res[i]
-    int args_num;       // number of args arrays
-    int args_size_tot;  // total size of args arrays
-    int res_num;        // number of res arrays
-    int res_size_tot;   // total size of res arrays
-    int in_num;         // number of input arrays
-    int out_num;        // number of output arrays
-    int iw_size;        // number of ints for worksapce
-    int w_size;         // number of doubles for workspace
-} external_function_casadi;
-
-//
-acados_size_t external_function_casadi_struct_size();
-//
-void external_function_casadi_set_fun(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_work(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_n_in(external_function_casadi *fun, void *value);
-//
-void external_function_casadi_set_n_out(external_function_casadi *fun, void *value);
-//
-acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun);
-//
-void external_function_casadi_assign(external_function_casadi *fun, void *mem);
-//
-void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
-                                      ext_fun_arg_t *type_out, void **out);
-
-/************************************************
- * casadi external parametric function
- ************************************************/
-
-typedef struct
-{
-    // public members for core (have to be the same as in the prototype, and before the private ones)
-    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
-	// public members for interfaces
-    void (*get_nparam)(void *, int *);
-    void (*set_param)(void *, double *);
-    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
-    // private members
-    void *ptr_ext_mem;  // pointer to external memory
-    int (*casadi_fun)(const double **, double **, int *, double *, void *);
-    int (*casadi_work)(int *, int *, int *, int *);
-    const int *(*casadi_sparsity_in)(int);
-    const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)(void);
-    int (*casadi_n_out)(void);
-    double **args;
-    double **res;
-    double *w;
-    int *iw;
-    int *args_size;     // size of args[i]
-    int *res_size;      // size of res[i]
-    int args_num;       // number of args arrays
-    int args_size_tot;  // total size of args arrays
-    int res_num;        // number of res arrays
-    int res_size_tot;   // total size of res arrays
-    int in_num;         // number of input arrays
-    int out_num;        // number of output arrays
-    int iw_size;        // number of ints for worksapce
-    int w_size;         // number of doubles for workspace
-    int np;             // number of parameters
-} external_function_param_casadi;
-
-//
-acados_size_t external_function_param_casadi_struct_size();
-//
-void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value);
-//
-void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value);
-//
-acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np);
-//
-void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem);
-//
-void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
-                                            ext_fun_arg_t *type_out, void **out);
-//
-void external_function_param_casadi_get_nparam(void *self, int *np);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h
deleted file mode 100644
index 7156a82084..0000000000
--- a/third_party/acados/include/acados/utils/math.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef ACADOS_UTILS_MATH_H_
-#define ACADOS_UTILS_MATH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/types.h"
-
-#if defined(__MABX2__)
-double fmax(double a, double b);
-int isnan(double x);
-#endif
-
-#define MIN(a,b) (((a)<(b))?(a):(b))
-#define MAX(a,b) (((a)>(b))?(a):(b))
-
-void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc);
-// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y);
-// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y);
-// void dcopy_3l(int n, double *x, int incx, double *y, int incy);
-void daxpy_3l(int n, double da, double *dx, double *dy);
-void dscal_3l(int n, double da, double *dx);
-double twonormv(int n, double *ptrv);
-
-/* copies a matrix into another matrix */
-void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb);
-
-/* solution of a system of linear equations */
-void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
-
-/* matrix exponential */
-void expm(int row, double *A);
-
-int idamax_3l(int n, double *x);
-
-void dswap_3l(int n, double *x, int incx, double *y, int incy);
-
-void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A,
-             int lda);
-
-void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info);
-
-void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv);
-
-void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb);
-
-void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb);
-
-void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
-
-double onenorm(int row, int col, double *ptrA);
-
-// double twonormv(int n, double *ptrv);
-
-void padeapprox(int m, int row, double *A);
-
-void expm(int row, double *A);
-
-// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng,
-//                                      int *nvd, int *ned, int *nbd, int *ngd);
-
-void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e);
-
-double minimum_of_doubles(double *x, int n);
-
-void neville_algorithm(double xx, int n, double *x, double *Q, double *out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_MATH_H_
diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h
deleted file mode 100644
index 681a371e36..0000000000
--- a/third_party/acados/include/acados/utils/mem.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_MEM_H_
-#define ACADOS_UTILS_MEM_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdio.h>
-#include <stdbool.h>
-
-#include "types.h"
-
-// blasfeo
-#include "blasfeo/include/blasfeo_d_aux.h"
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-
-// TODO(dimitris): probably does not belong here
-typedef struct
-{
-    int (*fun)(void *);
-    acados_size_t (*calculate_args_size)(void *);
-    void *(*assign_args)(void *);
-    void (*initialize_default_args)(void *);
-    acados_size_t (*calculate_memory_size)(void *);
-    void *(*assign_memory)(void *);
-    acados_size_t (*calculate_workspace_size)(void *);
-} module_solver;
-
-// make int counter of memory multiple of a number (typically 8 or 64)
-void make_int_multiple_of(acados_size_t num, acados_size_t *size);
-
-// align char pointer to number (typically 8 for pointers and doubles,
-// 64 for blasfeo structs) and return offset
-int align_char_to(int num, char **c_ptr);
-
-// switch between malloc and calloc (for valgrinding)
-void *acados_malloc(size_t nitems, acados_size_t size);
-
-// uses always calloc
-void *acados_calloc(size_t nitems, acados_size_t size);
-
-// allocate vector of pointers to vectors of doubles and advance pointer
-void assign_and_advance_double_ptrs(int n, double ***v, char **ptr);
-
-// allocate vector of pointers to vectors of ints and advance pointer
-void assign_and_advance_int_ptrs(int n, int ***v, char **ptr);
-
-// allocate vector of pointers to strvecs and advance pointer
-void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr);
-
-// allocate vector of pointers to strmats and advance pointer
-void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr);
-
-// allocate vector of pointers to vector of pointers to strmats and advance pointer
-void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr);
-
-// allocate vector of chars and advance pointer
-void assign_and_advance_char(int n, char **v, char **ptr);
-
-// allocate vector of ints and advance pointer
-void assign_and_advance_int(int n, int **v, char **ptr);
-
-// allocate vector of bools and advance pointer
-void assign_and_advance_bool(int n, bool **v, char **ptr);
-
-// allocate vector of doubles and advance pointer
-void assign_and_advance_double(int n, double **v, char **ptr);
-
-// allocate strvec and advance pointer
-void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr);
-
-// allocate strmat and advance pointer
-void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_MEM_H_
diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h
deleted file mode 100644
index 824d3cee22..0000000000
--- a/third_party/acados/include/acados/utils/print.h
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_PRINT_H_
-#define ACADOS_UTILS_PRINT_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_common_frontend.h"
-#include "acados/utils/types.h"
-
-// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols);
-
-// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows,
-//                        const int_t ncols);
-
-// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols);
-
-// void print_array(char *file_name, real_t *array, int_t size);
-
-// void print_int_array(char *file_name, const int_t *array, int_t size);
-
-void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols);
-
-void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname);
-
-// ocp nlp
-// TODO(andrea): inconsistent naming
-void ocp_nlp_dims_print(ocp_nlp_dims *dims);
-// TODO(andrea): inconsistent naming
-void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
-// TODO(andrea): inconsistent naming
-void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
-
-// ocp qp
-// TODO: move printing routines below that print qp structures to HPIPM!
-void print_ocp_qp_dims(ocp_qp_dims *dims);
-
-// void print_dense_qp_dims(dense_qp_dims *dims);
-
-void print_ocp_qp_in(ocp_qp_in *qp_in);
-
-void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in);
-
-void print_ocp_qp_out(ocp_qp_out *qp_out);
-
-void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out);
-
-void print_ocp_qp_res(ocp_qp_res *qp_res);
-
-void print_dense_qp_in(dense_qp_in *qp_in);
-// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
-
-// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
-
-// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
-
-// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
-
-// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
-
-void print_qp_info(qp_info *info);
-
-// void acados_warning(char warning_string[]);
-
-// void acados_error(char error_string[]);
-
-// void acados_not_implemented(char feature_string[]);
-
-// blasfeo
-// void print_blasfeo_target();
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_PRINT_H_
diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h
deleted file mode 100644
index 62bdfb4891..0000000000
--- a/third_party/acados/include/acados/utils/strsep.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_STRSEP_H_
-#define ACADOS_UTILS_STRSEP_H_
-
-#ifdef __cplusplus
-#include <string>
-#define STD(x) std::x
-namespace std
-{
-#else
-#include <string.h>
-#define STD(x) x
-#endif
-
-char* strsep_acados(char** stringp, const char* delim)
-{
-    char* result;
-
-    if ((stringp == NULL) || (*stringp == NULL)) return NULL;
-
-    result = *stringp;
-
-    while (**stringp && !STD(strchr)(delim, **stringp)) ++*stringp;
-
-    if (**stringp)
-        *(*stringp)++ = '\0';
-    else
-        *stringp = NULL;
-
-    return result;
-}
-
-#ifdef __cplusplus
-}  // namespace std
-#endif
-
-#undef STD
-
-#endif  // ACADOS_UTILS_STRSEP_H_
diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h
deleted file mode 100644
index b0955932da..0000000000
--- a/third_party/acados/include/acados/utils/timing.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_TIMING_H_
-#define ACADOS_UTILS_TIMING_H_
-
-#include "acados/utils/types.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef MEASURE_TIMINGS
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-/* Use Windows QueryPerformanceCounter for timing. */
-#include <Windows.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    LARGE_INTEGER tic;
-    LARGE_INTEGER toc;
-    LARGE_INTEGER freq;
-} acados_timer;
-
-#elif defined(__APPLE__)
-
-#include <mach/mach_time.h>
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    uint64_t tic;
-    uint64_t toc;
-    mach_timebase_info_data_t tinfo;
-} acados_timer;
-
-#elif defined(__MABX2__)
-
-#include <brtenv.h>
-
-typedef struct acados_timer_
-{
-    double time;
-} acados_timer;
-
-#else
-
-/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-#include <time.h>
-
-#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__)  // C99 Mode
-
-#include <sys/stat.h>
-#include <sys/time.h>
-
-typedef struct acados_timer_
-{
-    struct timeval tic;
-    struct timeval toc;
-} acados_timer;
-
-#else  // ANSI C Mode
-
-/** A structure for keeping internal timer data. */
-typedef struct acados_timer_
-{
-    struct timespec tic;
-    struct timespec toc;
-} acados_timer;
-
-#endif  // __STDC_VERSION__ >= 199901L
-
-#endif  // (defined _WIN32 || defined _WIN64)
-
-#else
-
-// Dummy type when timings are off
-typedef real_t acados_timer;
-
-#endif  // MEASURE_TIMINGS
-
-/** A function for measurement of the current time. */
-void acados_tic(acados_timer* t);
-
-/** A function which returns the elapsed time. */
-real_t acados_toc(acados_timer* t);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_TIMING_H_
diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h
deleted file mode 100644
index a27ef9e552..0000000000
--- a/third_party/acados/include/acados/utils/types.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef ACADOS_UTILS_TYPES_H_
-#define ACADOS_UTILS_TYPES_H_
-
-/* Symbol visibility in DLLs */
-#ifndef ACADOS_SYMBOL_EXPORT
-  #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__)
-    #if defined(STATIC_LINKED)
-      #define ACADOS_SYMBOL_EXPORT
-    #else
-      #define ACADOS_SYMBOL_EXPORT __declspec(dllexport)
-    #endif
-  #elif defined(__GNUC__) && ((__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
-    #define ACADOS_SYMBOL_EXPORT __attribute__ ((visibility ("default")))
-  #else
-    #define ACADOS_SYMBOL_EXPORT
-  #endif
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-#include <stddef.h>
-
-#define MAX_STR_LEN 256
-#define ACADOS_EPS 1e-12
-#define ACADOS_NEG_INFTY -1.0e9
-#define ACADOS_POS_INFTY +1.0e9
-#define UNUSED(x) ((void)(x))
-
-
-
-typedef double real_t;
-typedef int int_t;
-typedef size_t acados_size_t;
-
-
-typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem);
-
-
-
-// enum of return values
-enum return_values
-{
-    ACADOS_SUCCESS,
-    ACADOS_NAN_DETECTED,
-    ACADOS_MAXITER,
-    ACADOS_MINSTEP,
-    ACADOS_QP_FAILURE,
-    ACADOS_READY,
-};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // ACADOS_UTILS_TYPES_H_
diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h
deleted file mode 100644
index b4302078d6..0000000000
--- a/third_party/acados/include/acados_c/condensing_interface.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
-#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_full_condensing.h"
-#include "acados/ocp_qp/ocp_qp_partial_condensing.h"
-
-typedef enum {
-    PARTIAL_CONDENSING,
-    FULL_CONDENSING,
-} condensing_t;
-
-typedef struct
-{
-    condensing_t condensing_type;
-} condensing_plan;
-
-typedef struct
-{
-    ocp_qp_xcond_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} condensing_module;
-
-ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan);
-//
-void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_);
-//
-acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_);
-//
-condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_,
-                                            void *opts_, void *raw_memory);
-//
-condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_,
-                                            void *opts_);
-//
-int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out);
-//
-int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h
deleted file mode 100644
index b3af4bf682..0000000000
--- a/third_party/acados/include/acados_c/dense_qp_interface.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/dense_qp/dense_qp_common.h"
-
-typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t;
-
-typedef struct
-{
-    dense_qp_solver_t qp_solver;
-} dense_qp_solver_plan;
-
-typedef struct
-{
-    qp_solver_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} dense_qp_solver;
-
-qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan);
-//
-dense_qp_dims *dense_qp_dims_create();
-//
-dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims);
-//
-acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
-//
-dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_,
-                                 void *raw_memory);
-//
-dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
-//
-int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out);
-//
-void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out,
-                                 double *res);
-//
-bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in);
-//
-bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in);
-//
-bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr);
-//
-bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h
deleted file mode 100644
index d4f52db850..0000000000
--- a/third_party/acados/include/acados_c/external_function_interface.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
-#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/utils/external_function_generic.h"
-
-
-
-/************************************************
- * generic external parametric function
- ************************************************/
-
-//
-void external_function_param_generic_create(external_function_param_generic *fun, int np);
-//
-void external_function_param_generic_free(external_function_param_generic *fun);
-
-
-
-/************************************************
- * casadi external function
- ************************************************/
-
-//
-void external_function_casadi_create(external_function_casadi *fun);
-//
-void external_function_casadi_free(external_function_casadi *fun);
-//
-void external_function_casadi_create_array(int size, external_function_casadi *funs);
-//
-void external_function_casadi_free_array(int size, external_function_casadi *funs);
-
-
-
-/************************************************
- * casadi external parametric function
- ************************************************/
-
-//
-void external_function_param_casadi_create(external_function_param_casadi *fun, int np);
-//
-void external_function_param_casadi_free(external_function_param_casadi *fun);
-//
-void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs,
-                                                 int np);
-//
-void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h
deleted file mode 100644
index dd3e596f8b..0000000000
--- a/third_party/acados/include/acados_c/ocp_nlp_interface.h
+++ /dev/null
@@ -1,428 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// acados
-#include "acados/ocp_nlp/ocp_nlp_common.h"
-#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h"
-#include "acados/sim/sim_erk_integrator.h"
-#include "acados/sim/sim_irk_integrator.h"
-#include "acados/sim/sim_lifted_irk_integrator.h"
-#include "acados/sim/sim_gnsf.h"
-#include "acados/utils/types.h"
-// acados_c
-#include "acados_c/ocp_qp_interface.h"
-#include "acados_c/sim_interface.h"
-
-
-/// Solution methods for optimal control problems.
-typedef enum
-{
-    SQP,
-    SQP_RTI,
-    INVALID_NLP_SOLVER,
-} ocp_nlp_solver_t;
-
-
-/// Types of the cost function.
-typedef enum
-{
-    LINEAR_LS,
-    NONLINEAR_LS,
-    CONVEX_OVER_NONLINEAR,
-    EXTERNAL,
-    INVALID_COST,
-} ocp_nlp_cost_t;
-
-
-/// Types of the system dynamics, discrete or continuous time.
-typedef enum
-{
-    CONTINUOUS_MODEL,
-    DISCRETE_MODEL,
-    INVALID_DYNAMICS,
-} ocp_nlp_dynamics_t;
-
-
-/// Constraint types
-typedef enum
-{
-    /// Comprises simple bounds, polytopic constraints,
-    /// general non-linear constraints.
-    BGH,
-
-    /// Comprises simple bounds, polytopic constraints,
-    /// general non-linear constraints, and positive definite constraints.
-    BGP,
-
-    INVALID_CONSTRAINT,
-} ocp_nlp_constraints_t;
-
-
-/// Regularization types
-typedef enum
-{
-    NO_REGULARIZE,
-    MIRROR,
-    PROJECT,
-    PROJECT_REDUC_HESS,
-    CONVEXIFY,
-    INVALID_REGULARIZE,
-} ocp_nlp_reg_t;
-
-
-/// Structure to store the configuration of a non-linear program
-typedef struct ocp_nlp_plan_t
-{
-    /// QP solver configuration.
-    ocp_qp_solver_plan_t ocp_qp_solver_plan;
-
-    /// Simulation solver configuration for each stage.
-    sim_solver_plan_t *sim_solver_plan;
-
-    /// Nlp solver type.
-    ocp_nlp_solver_t nlp_solver;
-
-    /// Regularization type, defaults to no regularization.
-    ocp_nlp_reg_t regularization;
-
-    /// Cost type for each stage.
-    ocp_nlp_cost_t *nlp_cost;
-
-    /// Dynamics type for each stage.
-    ocp_nlp_dynamics_t *nlp_dynamics;
-
-    /// Constraints type for each stage.
-    ocp_nlp_constraints_t *nlp_constraints;
-
-    /// Horizon length.
-    int N;
-
-} ocp_nlp_plan_t;
-
-
-/// Structure to store the state/configuration for the non-linear programming solver
-typedef struct ocp_nlp_solver
-{
-    ocp_nlp_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} ocp_nlp_solver;
-
-
-/// Constructs an empty plan struct (user nlp configuration), all fields are set to a
-/// default/invalid state.
-///
-/// \param N Horizon length
-ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *ocp_nlp_plan_create(int N);
-
-/// Destructor for plan struct, frees memory.
-///
-/// \param plan_ The plan struct to destroy.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_plan_destroy(void* plan_);
-
-
-/// Constructs an nlp configuration struct from a plan.
-///
-/// \param plan The plan (user nlp configuration).
-ACADOS_SYMBOL_EXPORT ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);
-
-/// Desctructor of the nlp configuration.
-///
-/// \param config_ The configuration struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_config_destroy(void *config_);
-
-
-/// Constructs an struct that contains the dimensions of the variables.
-///
-/// \param config_ The configuration struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_dims *ocp_nlp_dims_create(void *config_);
-
-/// Destructor of The dimension struct.
-///
-/// \param dims_ The dimension struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_dims_destroy(void *dims_);
-
-
-/// Constructs an input struct for a non-linear programs.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the inputs struct.
-///
-/// \param in The inputs struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_in_destroy(void *in);
-
-
-/// Sets the sampling times for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field Has to be "Ts" (TBC other options).
-/// \param value The sampling times (floating point).
-ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
-        const char *field, void *value);
-
-///
-// void ocp_nlp_in_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
-//         const char *field, void *value);
-
-/// Sets the function pointers to the dynamics functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param fun_type The name of the function type, either impl_ode_fun,
-///     impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)
-/// \param fun_ptr Function pointer to the dynamics function.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-        int stage, const char *fun_type, void *fun_ptr);
-
-
-/// Sets the function pointers to the cost functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either nls_res_jac,
-///     y_ref, W (others TBC)
-/// \param value Cost values.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
-        int stage, const char *field, void *value);
-
-
-/// Sets the function pointers to the constraints functions for the given stage.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param in The inputs struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either lb, ub (others TBC)
-/// \param value Constraints function or values.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in, int stage, const char *field, void *value);
-
-///
-ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims,
-        ocp_nlp_in *in, int stage, const char *field, void *value);
-
-/* out */
-
-/// Constructs an output struct for the non-linear program.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the output struct.
-///
-/// \param out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_destroy(void *out);
-
-
-/// Sets fields in the output struct of an nlp solver, used to initialize the solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param out The output struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either x, u, pi.
-/// \param value Initialization values.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value);
-
-
-/// Gets values of fields in the output struct of an nlp solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param out The output struct.
-/// \param stage Stage number.
-/// \param field The name of the field, either x, u, z, pi.
-/// \param value Pointer to the output memory.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, void *value);
-
-//
-ACADOS_SYMBOL_EXPORT void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value);
-
-// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below?
-ACADOS_SYMBOL_EXPORT int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
-        int stage, const char *field, int *dims_out);
-
-/* opts */
-
-/// Creates an options struct for the non-linear program.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-ACADOS_SYMBOL_EXPORT void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
-
-/// Destructor of the options.
-///
-/// \param opts The options struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_destroy(void *opts);
-
-/// Sets an option.
-///
-/// \param config The configuration struct.
-/// \param opts_ The options struct.
-/// \param field Name of the option.
-/// \param value Value of the option.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
-
-
-// ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_get(ocp_nlp_config *config, void *opts_, const char *field, void* value);
-
-
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
-
-
-/// TBC
-/// Updates the options.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
-
-
-/* solver */
-
-/// Creates an ocp solver.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-/// \return The solver.
-ACADOS_SYMBOL_EXPORT ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
-
-/// Destructor of the solver.
-///
-/// \param solver The solver struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_destroy(void *solver);
-
-/// Solves the optimal control problem. Call ocp_nlp_precompute before
-/// calling this functions (TBC).
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-
-/// Resets the memory of the QP solver
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_reset_qp_memory(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Performs precomputations for the solver. Needs to be called before
-/// ocl_nlp_solve (TBC).
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Computes cost function value.
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-/// Computes the residuals.
-///
-/// \param solver The solver struct.
-/// \param nlp_in The inputs struct.
-/// \param nlp_out The output struct.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
-
-
-//
-ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
-
-/* get */
-/// \param config The configuration struct.
-/// \param solver The solver struct.
-/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ...
-/// \param return_value_ Pointer to the output memory.
-ACADOS_SYMBOL_EXPORT void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
-        const char *field, void *return_value_);
-
-/* set */
-/// Sets the initial guesses for the integrator for the given stage.
-///
-/// \param config The configuration struct.
-/// \param solver The ocp_nlp_solver struct.
-/// \param stage Stage number.
-/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK)
-/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used).
-ACADOS_SYMBOL_EXPORT void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
-        int stage, const char *field, void *value);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h
deleted file mode 100644
index 3dc3f1a532..0000000000
--- a/third_party/acados/include/acados_c/ocp_qp_interface.h
+++ /dev/null
@@ -1,263 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
-#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/ocp_qp/ocp_qp_common.h"
-#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
-
-
-/// QP solver types (Enumeration).
-///
-/// Full list of fields:
-///   PARTIAL_CONDENSING_HPIPM
-///   PARTIAL_CONDENSING_HPMPC
-///   PARTIAL_CONDENSING_OOQP
-///   PARTIAL_CONDENSING_OSQP
-///   PARTIAL_CONDENSING_QPDUNES
-///   FULL_CONDENSING_HPIPM
-///   FULL_CONDENSING_QPOASES
-///   FULL_CONDENSING_QORE
-///   FULL_CONDENSING_OOQP
-///   INVALID_QP_SOLVER
-///
-/// Note: In this enumeration the partial condensing solvers have to be
-///       specified before the full condensing solvers.
-typedef enum {
-    PARTIAL_CONDENSING_HPIPM,
-#ifdef ACADOS_WITH_HPMPC
-    PARTIAL_CONDENSING_HPMPC,
-#else
-    PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OOQP
-    PARTIAL_CONDENSING_OOQP,
-#else
-    PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OSQP
-    PARTIAL_CONDENSING_OSQP,
-#else
-    PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_QPDUNES
-    PARTIAL_CONDENSING_QPDUNES,
-#else
-    PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE,
-#endif
-    FULL_CONDENSING_HPIPM,
-#ifdef ACADOS_WITH_QPOASES
-    FULL_CONDENSING_QPOASES,
-#else
-    FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_DAQP
-    FULL_CONDENSING_DAQP,
-#else
-    FULL_CONDENSING_DAQP_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_QORE
-    FULL_CONDENSING_QORE,
-#else
-    FULL_CONDENSING_QORE_NOT_AVAILABLE,
-#endif
-#ifdef ACADOS_WITH_OOQP
-    FULL_CONDENSING_OOQP,
-#else
-    FULL_CONDENSING_OOQP_NOT_AVAILABLE,
-#endif
-    INVALID_QP_SOLVER,
-} ocp_qp_solver_t;
-
-
-/// Struct containing qp solver
-typedef struct
-{
-    ocp_qp_solver_t qp_solver;
-} ocp_qp_solver_plan_t;
-
-
-/// Linear ocp configuration.
-typedef struct
-{
-    ocp_qp_xcond_solver_config *config;
-    ocp_qp_xcond_solver_dims *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} ocp_qp_solver;
-
-
-/// Initializes the qp solver configuration.
-/// TBC should this be private/static - no, used in ocp_nlp
-void ocp_qp_xcond_solver_config_initialize_from_plan(
-    ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config);
-
-/// Constructs a qp solver config and Initializes with default values.
-///
-/// \param plan The qp solver plan struct.
-ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan);
-
-/// Destructor for config struct, frees memory.
-///
-/// \param config The config object to destroy.
-void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config);
-
-
-/// Constructs a struct that contains the dimensions for the variables of the qp.
-///
-/// \param N The number of variables.
-ocp_qp_dims *ocp_qp_dims_create(int N);
-
-/// Destructor of The dimension struct.
-///
-/// \param dims The dimension struct.
-void ocp_qp_dims_free(void *dims);
-
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N);
-//
-ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims(
-    ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims);
-//
-void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_);
-
-void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims,
-                                  int stage, const char *field, int* value);
-
-
-/// Constructs an input object for the qp.
-///
-/// \param dims The dimension struct.
-ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims);
-
-
-void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in,
-                   int stage, char *field, void *value);
-
-/// Destructor of the inputs struct.
-///
-/// \param in_ The inputs struct.
-void ocp_qp_in_free(void *in_);
-
-
-/// Constructs an outputs object for the qp.
-///
-/// \param dims The dimension struct.
-ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims);
-
-/// Destructor of the output struct.
-///
-/// \param out_ The output struct.
-void ocp_qp_out_free(void *out_);
-
-
-/// Getter of output struct
-void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value);
-
-
-/// Constructs an options object for the qp.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config,
-                                      ocp_qp_xcond_solver_dims *dims);
-
-/// Destructor of the options struct.
-///
-/// \param opts The options struct to destroy.
-void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts);
-
-
-/// Setter of the options struct.
-///
-/// \param opts The options struct.
-void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config,
-           ocp_qp_xcond_solver_opts *opts, const char *field, void* value);
-
-/// TBC Should be private/static?
-acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// TBC Reserves memory? TBC Should this be private?
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-/// \param raw_memory Pointer to raw memory to assign to qp solver.
-ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims,
-                             void *opts_, void *raw_memory);
-
-/// Creates a qp solver. Reserves memory.
-///
-/// \param config The configuration struct.
-/// \param dims The dimension struct.
-/// \param opts_ The options struct.
-ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config,
-                             ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// Destroys a qp solver. Frees memory.
-///
-/// \param solver The qp solver
-void ocp_qp_solver_destroy(ocp_qp_solver *solver);
-
-void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config,
-                             ocp_qp_xcond_solver_dims *dims, void *opts_);
-
-
-/// Solves the qp.
-///
-/// \param solver The solver.
-/// \param qp_in The inputs struct.
-/// \param qp_out The output struct.
-int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out);
-
-
-/// Calculates the infinity norm of the residuals.
-///
-/// \param dims The dimension struct.
-/// \param qp_in The inputs struct.
-/// \param qp_out The output struct.
-/// \param res Output array for the residuals.
-void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out,
-                               double *res);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h
deleted file mode 100644
index 09a05d6995..0000000000
--- a/third_party/acados/include/acados_c/sim_interface.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/*
- * Copyright (c) The acados authors.
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_
-#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "acados/sim/sim_common.h"
-
-
-
-typedef enum
-{
-    ERK,
-    IRK,
-    GNSF,
-    LIFTED_IRK,
-    INVALID_SIM_SOLVER,
-} sim_solver_t;
-
-
-
-typedef struct
-{
-    sim_solver_t sim_solver;
-} sim_solver_plan_t;
-
-
-
-typedef struct
-{
-    sim_config *config;
-    void *dims;
-    void *opts;
-    void *mem;
-    void *work;
-} sim_solver;
-
-
-
-/* config */
-//
-ACADOS_SYMBOL_EXPORT sim_config *sim_config_create(sim_solver_plan_t plan);
-//
-ACADOS_SYMBOL_EXPORT void sim_config_destroy(void *config);
-
-/* dims */
-//
-ACADOS_SYMBOL_EXPORT void *sim_dims_create(void *config_);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_destroy(void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_get(sim_config *config, void *dims, const char *field, int* value);
-//
-ACADOS_SYMBOL_EXPORT void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out);
-
-/* in */
-//
-ACADOS_SYMBOL_EXPORT sim_in *sim_in_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_in_destroy(void *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
-
-
-/* out */
-//
-ACADOS_SYMBOL_EXPORT sim_out *sim_out_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_out_destroy(void *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
-
-/* opts */
-//
-ACADOS_SYMBOL_EXPORT void *sim_opts_create(sim_config *config, void *dims);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_destroy(void *opts);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
-//
-ACADOS_SYMBOL_EXPORT void sim_opts_get(sim_config *config, void *opts, const char *field, void *value);
-
-/* solver */
-//
-ACADOS_SYMBOL_EXPORT acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_);
-//
-ACADOS_SYMBOL_EXPORT sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory);
-//
-ACADOS_SYMBOL_EXPORT sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
-//
-ACADOS_SYMBOL_EXPORT void sim_solver_destroy(void *solver);
-//
-ACADOS_SYMBOL_EXPORT int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
-//
-ACADOS_SYMBOL_EXPORT int sim_solver_set(sim_solver *solver, const char *field, void *value);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // INTERFACES_ACADOS_C_SIM_INTERFACE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo.h b/third_party/acados/include/blasfeo/include/blasfeo.h
deleted file mode 100644
index c854918193..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#include "blasfeo_processor_features.h"
-#include "blasfeo_target.h"
-#include "blasfeo_block_size.h"
-#include "blasfeo_stdlib.h"
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux.h"
-#include "blasfeo_d_aux_ext_dep.h"
-#include "blasfeo_d_kernel.h"
-#include "blasfeo_d_blas.h"
-#include "blasfeo_s_aux.h"
-#include "blasfeo_s_aux_ext_dep.h"
-#include "blasfeo_s_kernel.h"
-#include "blasfeo_s_blas.h"
-#include "blasfeo_i_aux_ext_dep.h"
-#include "blasfeo_v_aux_ext_dep.h"
-#include "blasfeo_timing.h"
-#include "blasfeo_memory.h"
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
deleted file mode 100644
index 5d0907a61c..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
+++ /dev/null
@@ -1,447 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_BLOCK_SIZE_H_
-#define BLASFEO_BLOCK_SIZE_H_
-
-
-
-#define D_EL_SIZE 8 // double precision
-#define S_EL_SIZE 4 // single precision
-
-
-
-#if defined( TARGET_X64_INTEL_SKYLAKE_X )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) //(1024*1024) // L2 data cache size: 1 MB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (6*1024*1024) //(8*1024*1024) // LLC cache size: 8 MB ; TLB 1536*4 kB = 6 MB
-// double
-#define D_PS 8 // panel size
-#define D_PLD 8 // 4 // GCD of panel length
-#define D_M_KERNEL 24 // max kernel size
-#define D_N_KERNEL 8 // max kernel size
-#define D_KC 128 //256 // 192
-#define D_NC 144 //72 //96 //72 // 120 // 512
-#define D_MC 2400 // 6000
-// single
-#define S_PS 16 // panel size
-#define S_PLD 4 // GCD of panel length TODO probably 16 when writing assebly
-#define S_M_KERNEL 32 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 128 //256
-#define S_NC 128 //144
-#define S_MC 3000
-
-#elif defined( TARGET_X64_INTEL_HASWELL )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 8 // max kernel size
-#define D_KC 256 // 192
-#define D_NC 64 //96 //72 // 120 // 512
-#define D_MC 1500
-// single
-#define S_PS 8 // panel size
-#define S_PLD 4 // 2 // GCD of panel length
-#define S_M_KERNEL 24 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 144
-#define S_MC 3000
-
-#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE )
-// common
-#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
-#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
-#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256 //320 //256 //320
-#define D_NC 72 //64 //72 //60 // 120
-#define D_MC 1000 // 800
-// single
-#define S_PS 8 // panel size
-#define S_PLD 4 // 2 // GCD of panel length
-#define S_M_KERNEL 16 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 144
-#define S_MC 2000
-
-#elif defined( TARGET_X64_INTEL_CORE )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-#elif defined( TARGET_X64_AMD_BULLDOZER )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_X86_AMD_JAGUAR )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_X86_AMD_BARCELONA )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_APPLE_M1)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (128*1024) // L1 data cache size (big cores): 64 kB, ?-way ; DTLB1 ?
-#define LLC_CACHE_SIZE (12*1024*1024) // LLC (L2) cache size (big cores): 12 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 512 //256
-#define D_NC 128 //256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 512
-#define S_NC 256
-#define S_MC 6000
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 512 //256
-#define D_NC 128 //256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 512
-#define S_NC 256
-#define S_MC 6000
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 320
-#define D_NC 256
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB
-#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ???
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 8 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 128 //224 //256 //192
-#define D_NC 72 //40 //36 //48
-#define D_MC (4*192) //512 //488 //600
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB
-#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 224
-#define D_NC 160
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53)
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB
-#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 12 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 160
-#define D_NC 128
-#define D_MC 6000
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 8 // max kernel size
-#define S_N_KERNEL 8 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 )
-// common
-#define CACHE_LINE_SIZE 32
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#elif defined( TARGET_GENERIC )
-// common
-#define CACHE_LINE_SIZE 64
-#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
-// double
-#define D_PS 4 // panel size
-#define D_PLD 4 // 2 // GCD of panel length
-#define D_M_KERNEL 4 // max kernel size
-#define D_N_KERNEL 4 // max kernel size
-#define D_KC 256
-#define D_NC 128 // TODO these are just dummy
-#define D_MC 3000 // TODO these are just dummy
-
-// single
-#define S_PS 4
-#define S_PLD 4 //2
-#define S_M_KERNEL 4 // max kernel size
-#define S_N_KERNEL 4 // max kernel size
-#define S_KC 256
-#define S_NC 128 // TODO these are just dummy
-#define S_MC 3000 // TODO these are just dummy
-
-
-#else
-#error "Unknown architecture"
-#endif
-
-
-
-#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE)
-#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE)
-#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE)
-#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE)
-
-#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE)
-#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE)
-#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE)
-#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE)
-
-
-
-#endif  // BLASFEO_BLOCK_SIZE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_common.h b/third_party/acados/include/blasfeo/include/blasfeo_common.h
deleted file mode 100644
index 03b6c36d84..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_common.h
+++ /dev/null
@@ -1,274 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_COMMON_H_
-#define BLASFEO_COMMON_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER)
-#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES )))
-#elif defined (_MSC_VER)
-#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC
-#else
-#define ALIGNED(VEC, BYTES) VEC
-#endif
-
-
-
-
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) )
-
-#include "blasfeo_block_size.h"
-
-// matrix structure
-struct blasfeo_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-// vector structure
-struct blasfeo_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
-#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
-#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
-
-#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER)
-
-// matrix structure
-struct blasfeo_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a m*n array of doubles
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a m*n array of floats
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-// vector structure
-struct blasfeo_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
-
-#else
-
-#error : wrong LA or MF choice
-
-#endif
-
-
-
-// Explicitly panel-major matrix structure
-struct blasfeo_pm_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int ps; // panel size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int pm; // packed number or rows
-	int cn; // packed number or cols
-	int use_dA; // flag to tell if dA can be used
-	int ps; // panel size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_pm_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
-	int m; // size
-	int pm; // packed size
-	int memsize; // size of needed memory
-	};
-
-// Explicitly column-major matrix structure
-struct blasfeo_cm_dmat
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pA; // pointer to a m*n array of doubles
-	double *dA; // pointer to a min(m,n) (or max???) array of doubles
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_smat
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pA; // pointer to a m*n array of floats
-	float *dA; // pointer to a min(m,n) (or max???) array of floats
-	int m; // rows
-	int n; // cols
-	int use_dA; // flag to tell if dA can be used
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_dvec
-	{
-	double *mem; // pointer to passed chunk of memory
-	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-struct blasfeo_cm_svec
-	{
-	float *mem; // pointer to passed chunk of memory
-	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
-	int m; // size
-	int memsize; // size of needed memory
-	};
-
-
-#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
-#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
-#define BLASFEO_PM_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_PM_SVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
-#define BLASFEO_CM_DVECEL(sa,ai) ((sa)->pa[ai])
-#define BLASFEO_CM_SVECEL(sa,ai) ((sa)->pa[ai])
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_COMMON_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
deleted file mode 100644
index a6d6119c6c..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operations header
- *
- * include/blasfeo_aux_lib*.h
- *
- */
-
-#ifndef BLASFEO_D_AUX_H_
-#define BLASFEO_D_AUX_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux_old.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// --- memory size calculations
-//
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_memsize_dmat(int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a dmat
-size_t blasfeo_memsize_diag_dmat(int m, int n);
-// returns the memory size (in bytes) needed for a dvec
-size_t blasfeo_memsize_dvec(int m);
-
-// --- creation
-//
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- packing
-// pack the column-major matrix A into the matrix struct B
-void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the lower-triangular column-major matrix A into the matrix struct B
-void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the upper-triangular column-major matrix A into the matrix struct B
-void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// transpose and pack the column-major matrix A into the matrix struct B
-void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the vector x into the vector structure y
-void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
-// unpack the matrix structure A into the column-major matrix B
-void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// transpose and unpack the matrix structure A into the column-major matrix B
-void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// pack the vector structure x into the vector y
-void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
-
-// --- cast
-//
-//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
-//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
-//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
-
-
-// ge
-// --- insert/extract
-//
-// sA[ai, aj] <= a
-void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// <= sA[ai, aj]
-double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- set
-// A <= alpha
-void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- copy / scale
-// B <= A
-void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// A <= alpha*A
-void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// B <= alpha*A
-void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A, A lower triangular
-void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- sum
-// B <= B + alpha*A
-void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// y <= y + alpha*x
-void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-
-// --- traspositions
-// B <= A'
-void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A lower triangular
-void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A upper triangular
-void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-
-// dia
-// diag(A) += alpha
-void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A) <= alpha*x
-void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] <= alpha*x
-void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// x <= diag(A)
-void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// x <= diag(A)[idx]
-void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// diag(A) += alpha*x
-void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] += alpha*x
-void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// diag(A)[idx] = y + alpha*x
-void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-
-// row
-void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// col
-void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// vec
-// a <= alpha
-void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// sx[xi] <= a
-void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// <= sx[xi]
-double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
-// y <= x
-void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// x <= alpha*x
-void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// y <= alpha*x
-void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// z[idx] += alpha * x
-void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// z[idx] <= alpha * x
-void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// z <= alpha * x[idx]
-void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_dveccl(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_dveccl_mask(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
-	struct blasfeo_dvec *sm, int mi);
-
-void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_pm_memsize_dmat(int ps, int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
-// print
-void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj);
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_cm_memsize_dmat(int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// aux
-void blasfeo_cm_dgetr(int m, int n, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
deleted file mode 100644
index bee9e986f1..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
+++ /dev/null
@@ -1,145 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operation external dependancies header
- *
- * include/blasfeo_d_aux_ext_dep.h
- *
- * - dynamic memory allocation
- * - print
- *
- */
-
-#ifndef BLASFEO_D_AUX_EXT_DEP_H_
-#define BLASFEO_D_AUX_EXT_DEP_H_
-
-
-
-#include <stdio.h>
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-/* column-major matrices */
-
-// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros(double **pA, int row, int col);
-// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros_align(double **pA, int row, int col);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
-void d_zeros_align_bytes(double **pA, int size);
-// free the memory allocated by d_zeros
-void d_free(double *pA);
-// free the memory allocated by d_zeros_align or d_zeros_align_bytes
-void d_free_align(double *pA);
-// print a column-major matrix
-void d_print_mat(int m, int n, double *A, int lda);
-// print the transposed of a column-major matrix
-void d_print_tran_mat(int row, int col, double *A, int lda);
-// print to file a column-major matrix
-void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda);
-// print to file a column-major matrix in exponential format
-void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
-// print to string a column-major matrix
-void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda);
-// print to file the transposed of a column-major matrix
-void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda);
-// print to file the transposed of a column-major matrix in exponential format
-void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
-// print in exponential notation a column-major matrix
-void d_print_exp_mat(int m, int n, double *A, int lda);
-// print in exponential notation the transposed of a column-major matrix
-void d_print_exp_tran_mat(int row, int col, double *A, int lda);
-
-/* strmat and strvec */
-
-// create a strmat for a matrix of size m*n by dynamically allocating memory
-void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
-// create a strvec for a vector of size m by dynamically allocating memory
-void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
-// free the memory allocated by blasfeo_allocate_dmat
-void blasfeo_free_dmat(struct blasfeo_dmat *sA);
-// free the memory allocated by blasfeo_allocate_dvec
-void blasfeo_free_dvec(struct blasfeo_dvec *sa);
-// print a strmat
-void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print in exponential notation a strmat
-void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to file a strmat
-void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to file a strmat in exponential format
-void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print to string a strmat
-void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print the transposed of a strmat
-void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-// print a strvec
-void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print in exponential notation a strvec
-void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print to file a strvec
-void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-// print to string a strvec
-void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-// print the transposed of a strvec
-void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print in exponential notation the transposed of a strvec
-void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-// print to file the transposed of a strvec
-void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-// print to string the transposed of a strvec
-void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
deleted file mode 100644
index 81b811f032..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operation external dependancies header
- *
- * include/blasfeo_d_aux_ext_dep.h
- *
- * - dynamic memory allocation
- * - print
- *
- */
-
-#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_
-#define BLASFEO_D_AUX_EXT_DEP_REF_H_
-
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// expose reference BLASFEO for testing
-// see blasfeo_d_aux_exp_dep.h for help
-
-void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA);
-void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa);
-void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA);
-void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa);
-void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
-void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
deleted file mode 100644
index 3a1847a6a0..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * ----------- TOMOVE
- *
- * expecting column major matrices
- *
- */
-
-#include "blasfeo_common.h"
-
-
-void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
-void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
-// TODO remove ???
-void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd);
-// TODO ddiaad1
-void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd);
-
-
-void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
-void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
-void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
-void drowin_lib(int kmax, double alpha, double *x, double *pD);
-void drowex_lib(int kmax, double alpha, double *pD, double *x);
-void drowad_lib(int kmax, double alpha, double *x, double *pD);
-void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
-void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
-void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
-void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
-void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
-void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
-void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-void dvecin_libsp(int kmax, int *idx, double *x, double *y);
-void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
deleted file mode 100644
index 1e007fa89e..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
+++ /dev/null
@@ -1,208 +0,0 @@
-
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_AUX_REF_H_
-#define BLASFEO_D_AUX_REF_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_common.h"
-#include "blasfeo_d_aux_old.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// --- memory calculations
-//
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_ref_memsize_dmat(int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a dmat
-size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
-// returns the memory size (in bytes) needed for a dvec
-size_t blasfeo_ref_memsize_dvec(int m);
-
-// --- creation
-//
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- packing
-// pack the column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the lower-triangular column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the upper-triangular column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// transpose and pack the column-major matrix A into the matrix struct B
-void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
-// pack the vector x into the vector structure y
-void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
-// unpack the matrix structure A into the column-major matrix B
-void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// transpose and unpack the matrix structure A into the column-major matrix B
-void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
-// pack the vector structure x into the vector y
-void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
-
-// --- cast
-//
-void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
-void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
-void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
-
-
-// ge
-// --- insert/extract
-//
-// sA[ai, aj] <= a
-void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// <= sA[ai, aj]
-double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- set
-// A <= alpha
-void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- copy / scale
-// B <= A
-void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// A <= alpha*A
-void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// B <= alpha*A
-void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A, A lower triangular
-void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-
-// --- sum
-// B <= B + alpha*A
-void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
-// y <= y + alpha*x
-void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-
-// --- traspositions
-// B <= A'
-void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A lower triangular
-void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-// B <= A', A upper triangular
-void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
-
-// dia
-// diag(A) += alpha
-void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A) <= alpha*x
-void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] <= alpha*x
-void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// x <= diag(A)
-void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// x <= diag(A)[idx]
-void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// diag(A) += alpha*x
-void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// diag(A)[idx] += alpha*x
-void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// diag(A)[idx] = y + alpha*x
-void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-
-// row
-void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// col
-void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-
-// vec
-// a <= alpha
-void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// sx[xi] <= a
-void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// <= sx[xi]
-double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
-// y <= x
-void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// x <= alpha*x
-void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// y <= alpha*x
-void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_ref_dveccl(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-
-void blasfeo_ref_dveccl_mask(int m,
-	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
-	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
-	struct blasfeo_dvec *sm, int mi);
-
-void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
deleted file mode 100644
index 1c61635f3f..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
+++ /dev/null
@@ -1,226 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-/*
- * auxiliary algebra operations header
- *
- * include/blasfeo_aux_lib*.h
- *
- */
-
-#ifndef BLASFEO_D_AUX_TEST_H_
-#define BLASFEO_D_AUX_TEST_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// --- memory calculations
-int test_blasfeo_memsize_dmat(int m, int n);
-int test_blasfeo_memsize_diag_dmat(int m, int n);
-int test_blasfeo_memsize_dvec(int m);
-
-// --- creation
-void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
-void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
-
-// --- conversion
-void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
-void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi);
-void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
-
-// --- cast
-void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA);
-void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA);
-void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa);
-
-// ------ copy / scale
-
-// B <= A
-void test_blasfeo_dgecp(int m, int n,
-					struct blasfeo_dmat *sA, int ai, int aj,
-					struct blasfeo_dmat *sB, int bi, int bj);
-
-// A <= alpha*A
-void test_blasfeo_dgesc(int m, int n,
-					double alpha,
-					struct blasfeo_dmat *sA, int ai, int aj);
-
-// B <= alpha*A
-void test_blasfeo_dgecpsc(int m, int n,
-					double alpha,
-					struct blasfeo_dmat *sA, int ai, int aj,
-					struct blasfeo_dmat *sB, int bi, int bj);
-
-// // --- insert/extract
-// //
-// // <= sA[ai, aj]
-// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
-// // <= sA[ai, aj]
-// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
-// // sx[xi] <= a
-// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
-// // <= sx[xi]
-// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
-// // A <= alpha
-
-// // --- set
-// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// // a <= alpha
-// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
-// // B <= A
-
-
-// // --- vector
-// // y <= x
-// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
-// // x <= alpha*x
-// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai);
-// // TODO
-// // x <= alpha*x
-// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
-
-
-// // B <= A, A lower triangular
-// void test_blasfeo_dtrcp_l(int m,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sB, int bi, int bj);
-
-// void test_blasfeo_dtrcpsc_l(int m, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sB, int bi, int bj);
-
-// void test_blasfeo_dtrsc_l(int m, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj);
-
-
-// // B <= B + alpha*A
-// void test_blasfeo_dgead(int m, int n, double alpha,
-//                     struct blasfeo_dmat *sA, int ai, int aj,
-//                     struct blasfeo_dmat *sC, int ci, int cj);
-
-// // y <= y + alpha*x
-// void test_blasfeo_dvecad(int m, double alpha,
-//                     struct blasfeo_dvec *sa, int ai,
-//                     struct blasfeo_dvec *sc, int ci);
-
-// // --- traspositions
-// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
-// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
-// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
-// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
-// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_drowin_lib(int kmax, double alpha, double *x, double *pD);
-// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_drowex_lib(int kmax, double alpha, double *pD, double *x);
-// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_drowad_lib(int kmax, double alpha, double *x, double *pD);
-// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
-// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
-// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
-// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
-// void test_drowsw_lib(int kmax, double *pA, double *pC);
-// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
-// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
-// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
-// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
-// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
-// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
-// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
-// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
-// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
-// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y);
-// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
-// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
-// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi);
-// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
-// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
-// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
-
-// ext_dep
-
-void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
-void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
-
-void test_blasfeo_free_dmat(struct blasfeo_dmat *sA);
-void test_blasfeo_free_dvec(struct blasfeo_dvec *sa);
-
-void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-
-void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
-
-void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
-void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
-void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
deleted file mode 100644
index ea8d006731..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLAS_H_
-#define BLASFEO_D_BLAS_H_
-
-
-
-#include "blasfeo_d_blasfeo_api.h"
-#include "blasfeo_d_blas_api.h"
-
-
-
-#endif  // BLASFEO_D_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
deleted file mode 100644
index 2eab1e4094..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
+++ /dev/null
@@ -1,281 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef BLASFEO_D_BLAS_API_H_
-#define BLASFEO_D_BLAS_API_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef BLAS_API
-#ifdef CBLAS_API
-#ifndef BLASFEO_CBLAS_ENUM
-#define BLASFEO_CBLAS_ENUM
-#ifdef FORTRAN_BLAS_API
-#ifndef CBLAS_H
-enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102};
-enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */
-#endif // CBLAS_H
-#else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
-enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113};
-enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122};
-enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132};
-enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142};
-#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */
-#endif // FORTRAN_BLAS_API
-#endif // BLASFEO_CBLAS_ENUM
-#endif // CBLAS_API
-#endif // BLAS_API
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef BLAS_API
-
-
-
-#ifdef FORTRAN_BLAS_API
-
-
-
-// BLAS 1
-//
-void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
-//
-void dcopy_(int *n, double *x, int *incx, double *y, int *incy);
-//
-double ddot_(int *n, double *x, int *incx, double *y, int *incy);
-
-// BLAS 2
-//
-void dgemv_(char *tran, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void dsymv_(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// BLAS 3
-//
-void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-//
-void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-//
-void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void dsyr2k_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-
-
-// LAPACK
-//
-void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-//
-void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info);
-//
-void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
-//
-void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-//
-void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-
-
-
-// aux
-void dgetr_(int *m, int *n, double *A, int *lda, double *B, int *ldb);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
-//
-void cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
-//
-void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
-
-// CBLAS 2
-//
-void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
-
-// CBLAS 3
-//
-void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
-//
-void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
-//
-void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-//
-void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#else // BLASFEO_API
-
-
-
-// BLAS 1
-//
-void blasfeo_blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
-//
-double blasfeo_blas_ddot(int *n, double *x, int *incx, double *y, int *incy);
-//
-void blasfeo_blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
-
-// BLAS 2
-//
-void blasfeo_blas_dgemv(char *trans, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void blasfeo_blas_dsymv(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-//
-void blasfeo_blas_dger(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// BLAS 3
-//
-void blasfeo_blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-//
-void blasfeo_blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-//
-void blasfeo_blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void blasfeo_blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-//
-void blasfeo_blas_dsyr2k(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-
-
-// LAPACK
-//
-void blasfeo_lapack_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-//
-void blasfeo_lapack_dgetrf_np(int *m, int *n, double *A, int *lda, int *info);
-//
-void blasfeo_lapack_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
-//
-void blasfeo_lapack_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dpotrf(char *uplo, int *m, double *A, int *lda, int *info);
-//
-void blasfeo_lapack_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-//
-void blasfeo_lapack_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
-
-
-
-// aux
-void blasfeo_blas_dgetr(int *m, int *n, double *A, int *lda, double *B, int *ldb);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void blasfeo_cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY);
-//
-void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY);
-//
-void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
-
-// CBLAS 2
-//
-void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
-
-// CBLAS 3
-//
-void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
-//
-void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
-//
-void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-//
-void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#endif // BLASFEO_API
-
-
-
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
deleted file mode 100644
index 88bb3fce22..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
+++ /dev/null
@@ -1,364 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_API_H_
-#define BLASFEO_D_BLASFEO_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
-// NB: Different arguments semantic compare to equivalent standard BLAS routine
-void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y
-void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z += x .* y
-void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// return x^T * y
-double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_drotg(double a, double b, double *c, double *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A^T * x
-void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(n)
-void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A lower triangular
-void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A lower triangular, unit diagonal
-void blasfeo_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A^T * x ; A upper triangular
-void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A^T * x_t
-void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B^T
-void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
-void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-#endif
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
-void blasfeo_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
-void blasfeo_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
-void blasfeo_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
-void blasfeo_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-// D <= chol( C + A * B^T ) ; C, D lower triangular
-void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-int blasfeo_dgeqrf_worksize(int m, int n); // in bytes
-void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-int blasfeo_dgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// BLAS 3
-void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-// BLAS 2
-void blasfeo_cm_dgemv_n(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dgemv_t(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dsymv_l(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dsymv_u(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi);
-void blasfeo_cm_dger(int m, int n, double alpha, struct blasfeo_cm_dvec *sx, int xi, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-// LAPACK
-void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
-void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
deleted file mode 100644
index 141a1f0f06..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_API_REF_H_
-#define BLASFEO_D_BLASFEO_API_REF_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// expose reference BLASFEO for testing
-
-// --- level 1
-
-void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi);
-void blasfeo_drotg_ref(double a, double b, double *c, double *s);
-void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s);
-void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-// --- level 2
-
-// dense
-void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
-void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t);
-void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-
-// diagonal
-void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
-
-
-// --- level 3
-
-// dense
-void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-// diagonal
-void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-
-// --- lapack
-
-void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
-void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
-void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
-void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h
deleted file mode 100644
index 405733f13e..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_HP_API_H_
-#define BLASFEO_D_BLASFEO_HP_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-
-// D <= beta * C + alpha * A^T * B
-void blasfeo_hp_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T; C, D lower triangular
-void blasfeo_hp_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * A^T ; C, D lower triangular
-void blasfeo_hp_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular
-void blasfeo_hp_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_hp_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_HP_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
deleted file mode 100644
index 1a8b22c67e..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
+++ /dev/null
@@ -1,283 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_BLASFEO_REF_API_H_
-#define BLASFEO_D_BLASFEO_REF_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
-// NB: Different arguments semantic compare to equivalent standard BLAS routine
-void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y
-void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z += x .* y
-void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// return x^T * y
-double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_ref_drotg(double a, double b, double *c, double *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_ref_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_ref_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_ref_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_ref_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ref_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-void blasfeo_ref_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ref_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_ref_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B^T
-void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A lower triangular
-void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A lower triangular
-void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B ; A upper triangular
-void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^T * B ; A upper triangular
-void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A lower triangular
-void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A ; A upper triangular
-void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^T ; A upper triangular
-void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
-void blasfeo_ref_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
-void blasfeo_ref_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
-void blasfeo_ref_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
-void blasfeo_ref_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
-void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes
-void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_BLASFEO_REF_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
deleted file mode 100644
index d20ac38bbd..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
+++ /dev/null
@@ -1,1321 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_D_KERNEL_H_
-#define BLASFEO_D_KERNEL_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// utils
-void blasfeo_align_2MB(void *ptr, void **ptr_align);
-void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
-void blasfeo_align_64_byte(void *ptr, void **ptr_align);
-
-
-//
-// lib8
-//
-
-// 24x8
-void kernel_dgemm_nt_24x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_24x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dtrsm_nt_rl_inv_24x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
-void kernel_dpotrf_nt_l_24x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_24x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_24x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
-void kernel_dgemm_dtrsm_nt_rl_inv_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dlarfb8_rn_24_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
-// 16x8
-void kernel_dgemm_nt_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nt_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nn_16x8_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nt_l_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrmm_nn_rl_16x8_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int m1, int n1);
-void kernel_dtrmm_nn_rl_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_16x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); //
-void kernel_dtrsm_nt_rl_inv_16x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); //
-void kernel_dpotrf_nt_l_16x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_16x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dgemm_dtrsm_nt_rl_inv_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1);
-void kernel_dlarfb8_rn_16_lib8(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb8_rn_la_16_lib8(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb8_rn_lla_16_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-// 8x16
-void kernel_dgemm_tt_8x16_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_8x16_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_8x16_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nt_8x16_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_8x16_vs_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 8x8
-void kernel_dgemm_nt_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nt_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_nn_8x8_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_8x8_vs_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nn_8x8_gen_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_8x8_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_8x8_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_8x8_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, int offc, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nt_l_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrmm_nn_rl_8x8_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_8x8_vs_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrmm_nn_rl_8x8_gen_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_8x8_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8_vs_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dpotrf_nt_l_8x8_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x8_vs_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int m1, int n1);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1);
-void kernel_dsyrk_dpotrf_nt_l_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int m1, int n1);
-void kernel_dgelqf_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_pd_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_8_lib8(int kmax, double *pD, double *dD);
-void kernel_dgelqf_pd_8_lib8(int kmax, double *pD, double *dD);
-void kernel_dlarft_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarfb8_rn_8_lib8(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb8_rn_8_vs_lib8(int kmax, double *pV, double *pT, double *pD, int m1);
-void kernel_dlarfb8_rn_1_lib8(int kmax, double *pV, double *pT, double *pD);
-void kernel_dgelqf_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_la_vs_lib8(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
-void kernel_dgelqf_pd_la_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pA, double *pT);
-void kernel_dlarft_la_8_lib8(int n1, double *dD, double *pA, double *pT);
-void kernel_dlarfb8_rn_la_8_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dlarfb8_rn_la_8_vs_lib8(int n1, double *pVA, double *pT, double *pD, double *pA, int m1);
-void kernel_dlarfb8_rn_la_1_lib8(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dgelqf_pd_lla_vs_lib8(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
-void kernel_dgelqf_pd_lla_dlarft8_8_lib8(int n0, int n1, double *pD, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarft_lla_8_lib8(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarfb8_rn_lla_8_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-void kernel_dlarfb8_rn_lla_8_vs_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA, int m1);
-void kernel_dlarfb8_rn_lla_1_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-
-// panel copy / pack
-// 24
-void kernel_dpack_nn_24_lib8(int kmax, double *A, int lda, double *C, int sdc);
-void kernel_dpack_nn_24_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
-// 16
-void kernel_dpacp_nn_16_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_16_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-void kernel_dpack_nn_16_lib8(int kmax, double *A, int lda, double *C, int sdc);
-void kernel_dpack_nn_16_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1);
-// 8
-void kernel_dpacp_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_l_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_l_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpacp_l_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_l_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpaad_nn_8_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B);
-void kernel_dpaad_nn_8_vs_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B, int m1);
-void kernel_dpack_nn_8_lib8(int kmax, double *A, int lda, double *C);
-void kernel_dpack_nn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
-void kernel_dpack_tn_8_lib8(int kmax, double *A, int lda, double *C);
-void kernel_dpack_tn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1);
-// 4
-void kernel_dpack_tt_4_lib8(int kmax, double *A, int lda, double *C, int sdc); // TODO offsetC 
-void kernel_dpack_tt_4_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); // TODO offsetC 
-
-// level 2 BLAS
-// 16
-void kernel_dgemv_n_16_lib8(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-// 8
-void kernel_dgemv_n_8_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_n_8_vs_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m1);
-//void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m0, int m1);
-void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, int offsetA, double *A, double *x, double *beta, double *y, double *z, int m1);
-void kernel_dgemv_t_8_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_8_vs_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int n1);
-void kernel_dgemv_nt_8_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_8_vs_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int n1);
-void kernel_dsymv_l_8_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z);
-void kernel_dsymv_l_8_vs_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z, int n1);
-void kernel_dsymv_l_8_gen_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrmv_n_ln_8_lib8(int k, double *A, double *x, double *z);
-void kernel_dtrmv_n_ln_8_vs_lib8(int k, double *A, double *x, double *z, int m1);
-void kernel_dtrmv_n_ln_8_gen_lib8(int k, int offsetA, double *A, double *x, double *z, int m1);
-void kernel_dtrmv_t_ln_8_lib8(int k, double *A, int sda, double *x, double *z);
-void kernel_dtrmv_t_ln_8_vs_lib8(int k, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrmv_t_ln_8_gen_lib8(int k, int offsetA, double *A, int sda, double *x, double *z, int n1);
-void kernel_dtrsv_n_l_inv_8_lib8(int k, double *A, double *inv_diag_A, double *x, double *z);
-void kernel_dtrsv_n_l_inv_8_vs_lib8(int k, double *A, double *inv_diag_A, double *x, double *z, int m1, int n1);
-void kernel_dtrsv_t_l_inv_8_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z);
-void kernel_dtrsv_t_l_inv_8_vs_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z, int m1, int n1);
-
-
-
-//
-// lib4
-//
-
-// level 2 BLAS
-// 12
-void kernel_dgemv_n_12_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-// 8
-void kernel_dgemv_n_8_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dtrmv_un_8_lib4(int k, double *A, int sda, double *x, double *z);
-// 4
-void kernel_dgemv_n_4_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_n_4_vs_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k1);
-void kernel_dgemv_n_4_gen_lib4(int kmax, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k0, int k1);
-void kernel_dgemv_t_4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int k1);
-void kernel_dtrsv_ln_inv_4_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ln_inv_4_vs_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z, int km, int kn);
-void kernel_dtrsv_lt_inv_4_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_3_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_2_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_inv_1_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_4_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_3_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_2_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_lt_one_1_lib4(int k, double *A, int sda, double *x, double *y, double *z);
-void kernel_dtrsv_ln_one_4_vs_lib4(int kmax, double *A, double *x, double *y, double *z, int km, int kn);
-void kernel_dtrsv_ln_one_4_lib4(int kmax, double *A, double *x, double *y, double *z);
-void kernel_dtrsv_un_inv_4_lib4(int kmax, double *A, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ut_inv_4_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
-void kernel_dtrsv_ut_inv_4_vs_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z, int m1, int n1);
-void kernel_dtrmv_un_4_lib4(int k, double *A, double *x, double *z);
-void kernel_dtrmv_ut_4_lib4(int k, double *A, int sda, double *x, double *z);
-void kernel_dtrmv_ut_4_vs_lib4(int k, double *A, int sda, double *x, double *z, int km);
-void kernel_dgemv_nt_6_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_4_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
-void kernel_dgemv_nt_4_vs_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int km);
-void kernel_dsymv_l_4_lib4(int kmax, double *alpha, double *A, int sda, double *x, double *z);
-void kernel_dsymv_l_4_gen_lib4(int kmax, double *alpha, int offA, double *A, int sda, double *x, double *z, int km);
-
-
-
-// level 3 BLAS
-// 12x4
-void kernel_dgemm_nt_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nt_12x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dgemm_nn_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nn_12x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_12x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_tt_12x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nn_u_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nt_ru_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
-void kernel_dtrmm_nt_ru_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nn_rl_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
-void kernel_dtrsm_nn_ll_one_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_12x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_12x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x12
-void kernel_dgemm_nt_4x12_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x12_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nn_4x12_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x12_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x12_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x12_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrsm_nt_rl_inv_4x12_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x12_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x8
-void kernel_dgemm_nt_8x8l_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8u_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8l_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
-void kernel_dgemm_nt_8x8u_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
-void kernel_dsyrk_nn_u_8x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_8x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x8_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [L00 *; A10 L11]
-void kernel_dsyrk_nt_l_8x8_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [L00 *; A10 L11]
-void kernel_dtrsm_nt_rl_inv_8x8l_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8l_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x8u_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_8x8u_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x4
-void kernel_dgemm_nt_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nt_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dgemm_nt_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dgemm_nn_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_8x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_tt_8x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nn_u_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nn_u_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dsyrk_nt_l_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dsyrk_nt_l_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
-void kernel_dsyrk_nt_l_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_dtrmm_nt_ru_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
-void kernel_dtrmm_nt_ru_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
-void kernel_dtrmm_nn_rl_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
-void kernel_dtrmm_nn_rl_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
-void kernel_dtrmm_nn_rl_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
-void kernel_dtrsm_nn_ll_one_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_8x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_8x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x8
-void kernel_dgemm_nt_4x8_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x8_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nn_4x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x8_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x8_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dtrsm_nt_rl_inv_4x8_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x8_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
-// 8x2
-void kernel_dgemm_nn_8x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 2x8
-void kernel_dgemm_nn_2x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_2x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 10xX
-void kernel_dgemm_nn_10x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_10x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_10x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_10x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 6xX
-void kernel_dgemm_nn_8x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_8x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-void kernel_dgemm_nn_6x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
-void kernel_dgemm_nn_6x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
-// 4x4
-void kernel_dgemm_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dgemm_nt_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dgemm_nn_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nn_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dgemm_tt_4x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D); //
-void kernel_dgemm_tt_4x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_tt_4x4_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_dsyrk_nn_u_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dsyrk_nn_u_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dsyrk_nt_l_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dsyrk_nt_l_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dsyrk_nt_u_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_u_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dsyrk_nt_u_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib4(int k, double *alpha, double *A, double *B, double *D); //
-void kernel_dtrmm_nt_ru_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *D, int km, int kn); //
-void kernel_dtrmm_nn_rl_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_ru_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E);
-void kernel_dtrsm_nn_ll_one_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, int km, int kn);
-void kernel_dtrsm_nn_lu_inv_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_lu_inv_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_lu_one_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E);
-void kernel_dtrsm_nn_lu_one_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, int km, int kn);
-// 4x2
-void kernel_dgemm_nn_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-void kernel_dgemm_nt_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_nt_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1);
-void kernel_dsyrk_nt_l_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-void kernel_dtrmm_nn_rl_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
-void kernel_dtrmm_nn_rl_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x2_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_rl_inv_4x2_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-// 2x4
-void kernel_dgemm_nn_2x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dgemm_nn_2x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
-// 2x2
-void kernel_dgemm_nn_2x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_2x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dsyrk_nt_l_2x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-// diag
-void kernel_dgemm_diag_right_4_a0_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *D, int sdd);
-void kernel_dgemm_diag_right_4_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_3_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_2_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_right_1_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
-void kernel_dgemm_diag_left_4_a0_lib4(int kmax, double *alpha, double *A, double *B, double *D);
-void kernel_dgemm_diag_left_4_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_3_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_2_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-void kernel_dgemm_diag_left_1_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
-// low rank update
-void kernel_dger4_sub_12r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
-void kernel_dger4_sub_12r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
-void kernel_dger4_sub_8r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
-void kernel_dger4_sub_8r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
-void kernel_dger4_sub_4r_lib4(int n, double *A, double *B, double *C);
-void kernel_dger4_sub_4r_vs_lib4(int n, double *A, double *B, double *C, int km);
-
-
-
-// LAPACK
-// 12x4
-void kernel_dpotrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_l_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_l_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_m_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_m_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_r_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_r_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_m_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_m_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_r_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_r_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 8x8
-void kernel_dpotrf_nt_l_8x8_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x8_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 8x4
-void kernel_dpotrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dpotrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_l_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_l_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nn_r_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nn_r_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_r_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dgetrf_nt_r_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x4
-void kernel_dpotrf_nt_l_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-#if defined(TARGET_X64_INTEL_SANDY_BRIDGE)
-void kernel_dlauum_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
-void kernel_dlauum_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
-#endif
-void kernel_dgetrf_nn_4x4_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D);
-void kernel_dgetrf_nn_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D, int km, int kn);
-void kernel_dgetrf_nt_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dgetrf_nt_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-void kernel_dgeqrf_4_lib4(int m, double *pD, int sdd, double *dD);
-void kernel_dgeqrf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dlarf_4_lib4(int m, int n, double *pV, int sdv, double *tau, double *pC, int sdc); // rank-4 reflector
-void kernel_dlarf_t_4_lib4(int m, int n, double *pD, int sdd, double *pVt, double *dD, double *pC0, int sdc, double *pW);
-void kernel_dgelqf_4_lib4(int n, double *pD, double *dD);
-void kernel_dgelqf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dlarft_4_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_3_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_2_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dlarft_1_lib4(int kmax, double *pD, double *dD, double *pT);
-void kernel_dgelqf_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
-void kernel_dlarfb12_rn_12_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK);
-void kernel_dlarfb12_rn_4_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK, int km);
-void kernel_dlarfb4_rn_12_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb4_rn_8_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
-void kernel_dlarfb4_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb4_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb3_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb2_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dlarfb1_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
-void kernel_dgelqf_pd_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
-void kernel_dgelqf_pd_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
-void kernel_dgelqf_pd_4_lib4(int n, double *pD, double *dD);
-void kernel_dgelqf_pd_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
-void kernel_dgelqf_pd_la_vs_lib4(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
-void kernel_dlarft_4_la_lib4(int n1, double *dD, double *pA, double *pT);
-void kernel_dlarfb4_rn_12_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb4_rn_8_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
-void kernel_dlarfb4_rn_4_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dlarfb4_rn_1_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
-void kernel_dgelqf_pd_lla_vs_lib4(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
-void kernel_dlarft_4_lla_lib4(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
-void kernel_dlarfb4_rn_12_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-void kernel_dlarfb4_rn_8_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
-void kernel_dlarfb4_rn_4_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-void kernel_dlarfb4_rn_1_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
-// 4x2
-void kernel_dpotrf_nt_l_4x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_4x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 2x2
-void kernel_dpotrf_nt_l_2x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
-void kernel_dpotrf_nt_l_2x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 12
-void kernel_dgetrf_pivot_12_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_12_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
-// 8
-void kernel_dgetrf_pivot_8_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_8_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
-// 4
-void kernel_dgetrf_pivot_4_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_4_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n1);
-// vector
-void kernel_drowsw_lib4(int kmax, double *pA, double *pC);
-
-
-
-// merged routines
-// 12x4
-void kernel_dgemm_dtrsm_nt_rl_inv_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x12
-void kernel_dgemm_dtrsm_nt_rl_inv_4x12_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 8x8
-void kernel_dsyrk_dpotrf_nt_l_8x8_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8l_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x8u_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 8x4
-void kernel_dgemm_dtrsm_nt_rl_inv_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
-// 4x8
-void kernel_dgemm_dtrsm_nt_rl_inv_4x8_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
-// 4x4
-void kernel_dgemm_dtrsm_nt_rl_inv_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 4x2
-void kernel_dgemm_dtrsm_nt_rl_inv_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
-void kernel_dgemm_dtrsm_nt_rl_inv_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dsyrk_dpotrf_nt_l_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-// 2x2
-void kernel_dsyrk_dpotrf_nt_l_2x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
-void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
-
-/*
- *
- * Auxiliary routines
- *
- * cpsc copy and scale, scale
- * cp copy
- * add
- * set and scale
- * transpose and scale
- * set and scale
- *
- */
-
-// copy and scale
-void kernel_dgecpsc_8_0_lib4(int tri, int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
-void kernel_dgecpsc_8_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgecpsc_8_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgecpsc_8_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-
-void kernel_dgecpsc_4_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_4_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_4_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_4_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_3_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_3_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgecpsc_3_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_2_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-void kernel_dgecpsc_2_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
-
-void kernel_dgecpsc_1_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
-
-// copy only
-void kernel_dgecp_8_0_lib4(int tri, int kmax, double *A, int sda, double *B, int sdb);
-
-void kernel_dgecp_4_0_lib4(int tri, int kmax, double *A, double *B);
-
-// add
-void kernel_dgead_8_0_lib4(int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
-void kernel_dgead_8_1_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_8_2_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_8_3_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
-void kernel_dgead_4_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_4_1_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_4_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_4_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_3_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_3_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_3_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_2_0_lib4(int kmax, double alpha, double *A, double *B);
-void kernel_dgead_2_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
-void kernel_dgead_1_0_lib4(int kmax, double alpha, double *A, double *B);
-
-// set
-void kernel_dgeset_4_lib4(int kmax, double alpha, double *A);
-void kernel_dtrset_4_lib4(int kmax, double alpha, double *A);
-
-// traspose
-void kernel_dgetr_8_lib4(int tri, int kmax, int kna, double alpha, double *A, int sda, double *C, int sdc);
-void kernel_dgetr_4_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_3_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_2_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_1_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
-void kernel_dgetr_4_0_lib4(int m, double *A, int sda, double *B);
-
-
-
-// pack
-// 12
-void kernel_dpack_nn_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_nn_12_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-void kernel_dpack_tt_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
-// 8
-void kernel_dpack_nn_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_nn_8_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-void kernel_dpack_tt_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
-// 4
-void kernel_dpack_nn_4_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_nn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
-void kernel_dpack_tn_4_p0_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_tn_4_lib4(int kmax, double *A, int lda, double *B);
-void kernel_dpack_tn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
-void kernel_dpack_tt_4_lib4(int kmax, double *A, int lda, double *B, int sdb);
-void kernel_dpack_tt_4_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
-// unpack
-// 12
-void kernel_dunpack_nn_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
-void kernel_dunpack_nn_12_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
-void kernel_dunpack_tt_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
-// 8
-void kernel_dunpack_nn_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
-void kernel_dunpack_nn_8_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
-void kernel_dunpack_tt_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
-// 4
-void kernel_dunpack_nn_4_lib4(int kmax, double *A, double *B, int ldb);
-void kernel_dunpack_nn_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
-void kernel_dunpack_nt_4_lib4(int kmax, double *A, double *B, int ldb);
-void kernel_dunpack_nt_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
-void kernel_dunpack_tt_4_lib4(int kmax, double *A, int sda, double *B, int ldb);
-
-// panel copy
-// 12
-void kernel_dpacp_nn_12_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_12_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-// 8
-void kernel_dpacp_nn_8_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
-void kernel_dpacp_nn_8_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
-// 4
-void kernel_dpacp_nt_4_lib4(int kmax, double *A, int offsetB, double *B, int sdb);
-void kernel_dpacp_tn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
-void kernel_dpacp_nn_4_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int m1);
-
-
-
-/************************************************
-* BLAS API kernels
-************************************************/
-
-//#if defined(BLAS_API)
-
-// A, B panel-major bs=4; C, D column-major
-// 12x4
-void kernel_dgemm_nt_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dsyrk_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_12x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_12x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x12
-void kernel_dgemm_nt_4x12_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_p0_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1, double *A_p, double *B_p);
-void kernel_dtrmm_nt_rl_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dsyrk_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dpotrf_nt_l_8x8_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_8x8_vs_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 8x4
-void kernel_dgemm_nt_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_8x4_p_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p);
-void kernel_dsyrk_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_8x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_8x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x8
-void kernel_dgemm_nt_4x8_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nt_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_u_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_u_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyr2k_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyr2k_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nt_ll_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nt_ll_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nt_rl_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
-void kernel_dpotrf_nt_l_4x4_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD);
-void kernel_dpotrf_nt_l_4x4_vs_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
-// 4x2
-void kernel_dgemm_nt_4x2_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-
-// A panel-major bs=4; B, C, D column-major
-// 12x4
-void kernel_dgemm_nn_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_12x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_12x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_l_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_l_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_m_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_m_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_r_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_r_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-// 4x12
-void kernel_dgemm_nn_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nn_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_8x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_8x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_l_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_l_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-void kernel_dgetrf_nn_r_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_r_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-// 4x8
-void kernel_dgemm_nn_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nn_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dsyrk_nt_l_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dsyrk_nt_l_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dger2k_nt_4x4_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dger2k_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nn_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nn_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dtrmm_nt_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
-void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
-void kernel_dtrsm_nn_ll_inv_4x4_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E);
-void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn);
-void kernel_dtrsm_nn_ll_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ll_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
-void kernel_dgetrf_nn_4x4_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
-void kernel_dgetrf_nn_4x4_vs_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
-
-// B panel-major bs=4; A, C, D column-major
-// 12x4
-void kernel_dgemm_nt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x12
-void kernel_dgemm_nt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_dgemm_nt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A, C, D panel-major; B, E column-major
-// TODO merge with above
-// 12x4
-void kernel_dtrsm_nn_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-// 8x4
-void kernel_dtrsm_nn_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
-// 4x4
-void kernel_dtrsm_nn_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nn_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nn_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-void kernel_dtrsm_nt_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
-void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
-void kernel_dtrsm_nt_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
-void kernel_dtrsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
-
-// A, B, C, D column-major
-// 12x4
-void kernel_dgemm_nn_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x12
-void kernel_dgemm_nn_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_dgemm_nn_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_dgemm_nn_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_dgemm_nn_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A column-major
-// 12
-void kernel_dgetrf_pivot_12_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_12_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-// 8
-void kernel_dgetrf_pivot_8_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_8_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-// 4
-void kernel_dgetrf_pivot_4_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
-void kernel_dgetrf_pivot_4_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
-
-// vector
-void kernel_ddot_11_lib(int n, double *x, double *y, double *res);
-void kernel_daxpy_11_lib(int n, double *alpha, double *x, double *y);
-void kernel_drowsw_lib(int kmax, double *pA, int lda, double *pC, int ldc);
-
-//#endif // BLAS_API
-
-
-
-// larger kernels
-// 12
-void kernel_dgemm_nt_12xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_12xn_pl_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-void kernel_dgemm_nt_mx12_p0_lib44cc(int m, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-// 8
-void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
-
-
-
-// A, B panel-major bs=8; C, D column-major
-// 24x8
-void kernel_dgemm_nt_24x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_24x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 16x8
-void kernel_dgemm_nt_16x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_16x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// A, panel-major bs=8; B, C, D column-major
-// 24x8
-void kernel_dgemm_nt_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 16x8
-void kernel_dgemm_nt_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_nn_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nn_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-// B, panel-major bs=8; A, C, D column-major
-// 8x24
-void kernel_dgemm_nt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x16
-void kernel_dgemm_nt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_dgemm_nt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_nt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-void kernel_dgemm_tt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
-void kernel_dgemm_tt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
-
-
-// level 2 BLAS
-void kernel_dgemv_n_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dgemv_n_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dgemv_t_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z);
-void kernel_dgemv_t_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z, int km);
-void kernel_dsymv_l_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dsymv_l_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dsymv_u_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z);
-void kernel_dsymv_u_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km);
-void kernel_dger_4_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd);
-void kernel_dger_4_vs_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd, int km);
-
-
-
-// aux
-void kernel_dvecld_inc1(int kmax, double *x);
-void kernel_dveccp_inc1(int kmax, double *x, double *y);
-
-//void kernel_dgetr_nt_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
-//void kernel_dgetr_nt_8_lib(int kmax, double *A, int lda, double *C, int ldc);
-//void kernel_dgetr_nt_4_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp);
-void kernel_dgetr_tn_8_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_4_lib(int kmax, double *A, int lda, double *C, int ldc);
-void kernel_dgetr_tn_4_vs_lib(int kmax, double *A, int lda, double *C, int ldc, int m1);
-
-
-// building blocks for blocked algorithms
-//
-void blasfeo_hp_dgemm_nt_m2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
-void blasfeo_hp_dgemm_nt_n2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd);
-//
-void kernel_dpack_buffer_fn(int m, int n, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ft(int m, int n, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ln(int m, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_lt(int m, double *A, int lda, double *pA, int sda);
-void kernel_dpack_buffer_ut(int m, double *A, int lda, double *pA, int sda);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_D_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
deleted file mode 100644
index 74c3fb5c0a..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_I_AUX_EXT_DEP_H_
-#define BLASFEO_I_AUX_EXT_DEP_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-// i_aux_extern_depend_lib
-void int_zeros(int **pA, int row, int col);
-void int_zeros_align(int **pA, int row, int col);
-void int_free(int *pA);
-void int_free_align(int *pA);
-void int_print_mat(int row, int col, int *A, int lda);
-int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_I_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
deleted file mode 100644
index 6248853e29..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_M_AUX_H_
-#define BLASFEO_M_AUX_H_
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi);
-void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi);
-void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis);
-void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_M_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_memory.h b/third_party/acados/include/blasfeo/include/blasfeo_memory.h
deleted file mode 100644
index da4e7fa090..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_memory.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2020 by Gianluca Frison.                                                          *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef BLASFEO_MEMORY_H_
-#define BLASFEO_MEMORY_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-int blasfeo_is_init();
-//
-void blasfeo_init();
-//
-void blasfeo_quit();
-//
-void *blasfeo_get_buffer();
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // BLASFEO_MEMORY_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_naming.h b/third_party/acados/include/blasfeo/include/blasfeo_naming.h
deleted file mode 100644
index c289443b17..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_naming.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-/*
- * ----------- Naming conventions
- *
- *  (precision)(data)
- *
- * 1) d(double)
- *    s(single)
- *
- * 2) ge(general)
- *    tr(triangular)
- *    vec(vector)
- *    row(row)
- *    col(column)
- *    dia(diagonal)
- *
- * 3) se(set)
- *    cp(copy)
- *    sc(scale)
- *    ad(add)
- *    tr(transpose)
- *    in(insert)
- *    ex(extract)
- *    pe(premute)
- *    sw(swap)
- *
- *    f(factorization)
- *
- *    lqf(LQ factorization)
- *    qrf (factorization)
- *    trf (LU factorization using partial pivoting with row interchanges.)
- *
- * 4) _l(lower) / _u(upper)
- *    _lib8 (hp implementation, 8 rows kernel)
- *    _lib4 (hp implementation, 4 rows kernel)
- *    _lib0 (hp interface with reference implentation)
- *    _lib (reference implementation)
- *    _libref (reference implementation with dedicated namespace)
- *
- * 5) _sp(sparse)
- *    _exp(exponential format)
- */
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
deleted file mode 100644
index 67a0a4da04..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Ian McInerney                                                                           *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_PROCESSOR_FEATURES_H_
-#define BLASFEO_PROCESSOR_FEATURES_H_
-
-/**
- * Flags to indicate the different processor features
- */
-//enum
-//{
-//    // x86-64 CPU features
-//    BLASFEO_PROCESSOR_FEATURE_AVX  = 0x0001,    /// AVX instruction set
-//    BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002,    /// AVX2 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_FMA  = 0x0004,    /// FMA instruction set
-//    BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008,    /// SSE3 instruction set
-//
-//    // ARM CPU features
-//    BLASFEO_PROCESSOR_FEATURE_VFPv3  = 0x0100,  /// VFPv3 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_NEON   = 0x0100,  /// NEON instruction set
-//    BLASFEO_PROCESSOR_FEATURE_VFPv4  = 0x0100,  /// VFPv4 instruction set
-//    BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100,  /// NEONv2 instruction set
-//} BLASFEO_PROCESSOR_FEATURES;
-
-/**
- * Test the features that this processor provides against what the library was compiled with.
- *
- * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
- * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
- */
-int blasfeo_processor_cpu_features( int* features );
-
-/**
- * Test the features that this processor provides against what the library was compiled with.
- *
- * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
- * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
- */
-void blasfeo_processor_library_features( int* features );
-
-/**
- * Create a string listing the features the current processor supports.
- *
- * @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported
- * @param featureString - Character array to store the feature string in
- */
-void blasfeo_processor_feature_string( int features, char* featureString );
-
-/**
- * Get a string listing the processor features that this library version needs to run.
- *
- * @param featureString - Character array to store the feature string in
- */
-void blasfeo_processor_library_string( char* featureString );
-
-#endif  // BLASFEO_PROCESSOR_FEATURES_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
deleted file mode 100644
index f43f5e83ce..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
+++ /dev/null
@@ -1,168 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_H_
-#define BLASFEO_S_AUX_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_s_aux_old.h"
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-// returns the memory size (in bytes) needed for a smat
-size_t blasfeo_memsize_smat(int m, int n);
-size_t blasfeo_memsize_smat_ps(int ps, int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a smat
-size_t blasfeo_memsize_diag_smat(int m, int n);
-// returns the memory size (in bytes) needed for a svec
-size_t blasfeo_memsize_svec(int m);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-
-// ge
-void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// tr
-void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// dia
-void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// row
-void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// col
-void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// vec
-void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
-float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
-void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-
-/*
-* Explicitly panel-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_pm_memsize_smat(int ps, int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory);
-
-
-
-/*
-* Explicitly column-major matrix format
-*/
-
-// returns the memory size (in bytes) needed for a dmat
-size_t blasfeo_cm_memsize_smat(int m, int n);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
deleted file mode 100644
index 5209d20d37..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_EXT_DEP_H_
-#define BLASFEO_S_AUX_EXT_DEP_H_
-
-
-
-#include <stdio.h>
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef EXT_DEP
-
-/************************************************
-* s_aux_extern_depend_lib.c
-************************************************/
-
-/* column-major matrices */
-
-// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros(float **pA, int row, int col);
-// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros_align(float **pA, int row, int col);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
-void s_zeros_align_bytes(float **pA, int size);
-// free the memory allocated by d_zeros
-void s_free(float *pA);
-// free the memory allocated by d_zeros_align or d_zeros_align_bytes
-void s_free_align(float *pA);
-// print a column-major matrix
-void s_print_mat(int m, int n, float *A, int lda);
-// print the transposed of a column-major matrix
-void s_print_tran_mat(int row, int col, float *A, int lda);
-// print to file a column-major matrix
-void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda);
-// print to file a column-major matrix in exponential format
-void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
-// print to string a column-major matrix
-void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda);
-// print to file the transposed of a column-major matrix
-void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda);
-// print to file the transposed of a column-major matrix in exponential format
-void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
-// print in exponential notation a column-major matrix
-void s_print_exp_mat(int m, int n, float *A, int lda);
-// print in exponential notation the transposed of a column-major matrix
-void s_print_exp_tran_mat(int row, int col, float *A, int lda);
-
-/* strmat and strvec */
-
-// create a strmat for a matrix of size m*n by dynamically allocating memory
-void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
-// create a strvec for a vector of size m by dynamically allocating memory
-void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
-// free the memory allocated by blasfeo_allocate_dmat
-void blasfeo_free_smat(struct blasfeo_smat *sA);
-// free the memory allocated by blasfeo_allocate_dvec
-void blasfeo_free_svec(struct blasfeo_svec *sa);
-// print a strmat
-void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print in exponential notation a strmat
-void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to file a strmat
-void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to file a strmat in exponential format
-void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print to string a strmat
-void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print the transpose of a strmat
-void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-// print a strvec
-void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-// print in exponential notation a strvec
-void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-// print to file a strvec
-void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-// print to string a strvec
-void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-// print the transposed of a strvec
-void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-// print in exponential notation the transposed of a strvec
-void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-// print to file the transposed of a strvec
-void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-// print to string the transposed of a strvec
-void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // BLASFEO_S_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
deleted file mode 100644
index 6640e20a40..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_EXT_DEP_REF_H_
-#define BLASFEO_S_AUX_EXT_DEP_REF_H_
-
-#if defined(EXT_DEP)
-
-
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// expose reference BLASFEO for testing
-// see blasfeo_s_aux_exp_dep.h for help
-
-void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA);
-void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa);
-void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA);
-void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa);
-void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
-void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // EXT_DEP
-
-#endif  // BLASFEO_S_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
deleted file mode 100644
index 5c6db37bab..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-// TODO remove
-//
-void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
-void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
-void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
-void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
-void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
-void srowin_lib(int kmax, float alpha, float *x, float *pD);
-void srowex_lib(int kmax, float alpha, float *pD, float *x);
-void srowad_lib(int kmax, float alpha, float *x, float *pD);
-void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
-void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
-void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
-void srowsw_lib(int kmax, float *pA, float *pC);
-void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
-void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
-void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
-void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-void svecin_libsp(int kmax, int *idx, float *x, float *y);
-void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
deleted file mode 100644
index 998e1d8999..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
+++ /dev/null
@@ -1,147 +0,0 @@
-
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_REF_H_
-#define BLASFEO_S_AUX_REF_H_
-
-
-
-#include <stdlib.h>
-
-#include "blasfeo_s_aux_old.h"
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-// returns the memory size (in bytes) needed for a smat
-size_t blasfeo_ref_memsize_smat(int m, int n);
-size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n);
-// returns the memory size (in bytes) needed for the diagonal of a smat
-size_t blasfeo_ref_memsize_diag_smat(int m, int n);
-// returns the memory size (in bytes) needed for a svec
-size_t blasfeo_ref_memsize_svec(int m);
-// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
-// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
-void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
-void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
-void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-
-// ge
-void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// tr
-void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// dia
-void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// row
-void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// col
-void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// vec
-void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi);
-float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// z += alpha * x[idx]
-void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_REF_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
deleted file mode 100644
index 08d9a14a6a..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
+++ /dev/null
@@ -1,177 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_AUX_TEST_H_
-#define BLASFEO_S_AUX_TEST_H_
-
-#include <stdio.h>
-
-#include "blasfeo_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-/************************************************
-* d_aux_lib.c
-************************************************/
-
-int test_blasfeo_memsize_smat(int m, int n);
-int test_blasfeo_memsize_diag_smat(int m, int n);
-int test_blasfeo_memsize_svec(int m);
-
-void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
-void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
-
-void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
-void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
-
-void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
-void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
-void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
-// copy and scale
-void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-
-// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
-// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
-// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
-// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
-
-// // A <= alpha
-// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
-// // a <= alpha
-// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
-
-
-// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
-
-// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
-// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
-
-// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-
-// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
-// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
-// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
-// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
-// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
-// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
-// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
-// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_srowin_lib(int kmax, float alpha, float *x, float *pD);
-// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_srowex_lib(int kmax, float alpha, float *pD, float *x);
-// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
-// void test_srowad_lib(int kmax, float alpha, float *x, float *pD);
-// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
-// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
-// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
-// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
-// void test_srowsw_lib(int kmax, float *pA, float *pC);
-// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
-// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
-// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
-// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
-// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
-// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
-// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
-// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
-// void test_svecin_libsp(int kmax, int *idx, float *x, float *y);
-// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
-// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
-// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
-// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
-// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
-// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
-
-
-// ext_dep
-
-void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
-void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
-
-void test_blasfeo_free_smat(struct blasfeo_smat *sA);
-void test_blasfeo_free_svec(struct blasfeo_svec *sa);
-
-void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-
-void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
-
-void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
-void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
-void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
deleted file mode 100644
index 200f1f51b1..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
+++ /dev/null
@@ -1,46 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLAS_H_
-#define BLASFEO_S_BLAS_H_
-
-
-
-#include "blasfeo_s_blasfeo_api.h"
-#include "blasfeo_s_blas_api.h"
-
-
-
-#endif  // BLASFEO_S_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
deleted file mode 100644
index cf2b3e0a2d..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
+++ /dev/null
@@ -1,182 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef BLASFEO_S_BLAS_API_H_
-#define BLASFEO_S_BLAS_API_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef BLAS_API
-#ifdef CBLAS_API
-#ifndef BLASFEO_CBLAS_ENUM
-#define BLASFEO_CBLAS_ENUM
-#ifdef FORTRAN_BLAS_API
-#ifndef CBLAS_H
-enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
-enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#endif // CBLAS_H
-#else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
-enum BLASFEO_CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
-enum BLASFEO_CBLAS_UPLO {CblasUpper=121, CblasLower=122};
-enum BLASFEO_CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
-enum BLASFEO_CBLAS_SIDE {CblasLeft=141, CblasRight=142};
-#endif // FORTRAN_BLAS_API
-#endif // BLASFEO_CBLAS_ENUM
-#endif // CBLAS_API
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#ifdef BLAS_API
-
-
-
-#ifdef FORTRAN_BLAS_API
-
-
-
-// BLAS 1
-//
-void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
-//
-float sdot_(int *n, float *x, int *incx, float *y, int *incy);
-
-// BLAS 3
-//
-void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-//
-void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-
-
-
-// LAPACK
-//
-void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
-
-// CBLAS 3
-//
-void cblas_sgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
-//
-void cblas_strsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#else // BLASFEO_API
-
-
-
-// BLAS 1
-//
-void blasfeo_blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
-//
-float blasfeo_blas_sdot(int *n, float *x, int *incx, float *y, int *incy);
-
-// BLAS 3
-//
-void blasfeo_blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-//
-void blasfeo_blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-
-
-
-// LAPACK
-//
-void blasfeo_lapack_spotrf(char *uplo, int *m, float *A, int *lda, int *info);
-
-
-
-#ifdef CBLAS_API
-
-
-
-// CBLAS 1
-//
-void blasfeo_cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY);
-
-// CBLAS 3
-//
-void blasfeo_cblas_sgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc);
-//
-void blasfeo_cblas_strsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb);
-
-
-
-#endif // CBLAS_API
-
-
-
-#endif // BLASFEO_API
-
-
-
-#endif // BLAS_API
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
deleted file mode 100644
index 8b98104735..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
+++ /dev/null
@@ -1,284 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_API_H_
-#define BLASFEO_S_BLASFEO_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y
-void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z += x .* y
-void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// return x^T * y
-float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_srotg(float a, float b, float *c, float *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^T ; B upper triangular
-void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular
-void blasfeo_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular
-void blasfeo_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular
-void blasfeo_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular
-void blasfeo_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_sgeqrf_worksize(int m, int n); // in bytes
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_sgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
-
-
-
-
-//
-// BLAS API helper functions
-//
-
-#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
-// BLAS 3
-void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
-// LAPACK
-void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
-#endif
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
deleted file mode 100644
index f429a79dc3..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_API_REF_H_
-#define BLASFEO_S_BLASFEO_API_REF_H_
-
-#include "blasfeo_common.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-// expose reference BLASFEO for testing
-
-// --- level 1
-
-void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi);
-void blasfeo_srotg_ref(float a, float b, float *c, float *s);
-void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s);
-void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-// --- level 2
-
-// dense
-void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
-void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t);
-void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-
-// diagonal
-void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
-
-
-// --- level 3
-
-// dense
-void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-// diagonal
-void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-
-// --- lapack
-
-void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
-void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
-void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
-void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
-void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
deleted file mode 100644
index 17cb179695..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
+++ /dev/null
@@ -1,252 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_BLASFEO_REF_API_H_
-#define BLASFEO_S_BLASFEO_REF_API_H_
-
-
-
-#include "blasfeo_common.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-// level 1 BLAS
-//
-
-// z = y + alpha*x
-void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = beta*y + alpha*x
-void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y
-void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z += x .* y
-void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z = x .* y, return sum(z) = x^T * y
-float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// return x^T * y
-float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
-// construct givens plane rotation
-void blasfeo_ref_srotg(float a, float b, float *c, float *s);
-// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
-void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
-// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
-void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
-
-
-
-//
-// level 2 BLAS
-//
-
-// dense
-
-// z <= beta * y + alpha * A * x
-void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A' * x
-void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(n)
-void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(n)
-void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
-void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
-void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
-void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
-void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
-void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
-void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular
-void blasfeo_ref_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A * x ; A lower triangular, unit diagonal
-void blasfeo_ref_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular
-void blasfeo_ref_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A lower triangular, unit diagonal
-void blasfeo_ref_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x ; A upper triangular
-void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z <= A' * x ; A upper triangular
-void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
-// z_n <= beta_n * y_n + alpha_n * A  * x_n
-// z_t <= beta_t * y_t + alpha_t * A' * x_t
-void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
-void blasfeo_ref_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-void blasfeo_ref_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed
-void blasfeo_ref_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-// D = C + alpha * x * y^T
-void blasfeo_ref_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// z <= beta * y + alpha * A * x, A diagonal
-void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
-
-
-
-//
-// level 3 BLAS
-//
-
-// dense
-
-// D <= beta * C + alpha * A * B
-void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T
-void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B
-void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D lower triangular
-void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D lower triangular
-void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T ; C, D upper triangular
-void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B ; C, D upper triangular
-void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^T ; B upper triangular
-void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A ; A lower triangular
-void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
-void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
-void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
-void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
-void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
-void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
-void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular
-void blasfeo_ref_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular
-void blasfeo_ref_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular
-void blasfeo_ref_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular
-void blasfeo_ref_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-// diagonal
-
-// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
-void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
-void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
-void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-
-
-
-//
-// LAPACK
-//
-
-// D <= chol( C ) ; C, D lower triangular
-void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C ) ; C, D upper triangular
-void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= chol( C + A * B' ) ; C, D lower triangular
-void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; no pivoting
-void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
-// D <= lu( C ) ; row pivoting
-void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
-// D <= qr( C )
-void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes
-// D <= Q factor, where C is the output of the LQ factorization
-int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes
-void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// D <= lq( C )
-void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes
-// D <= lq( C ), positive diagonal elements
-void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
-// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
-// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
-// L lower triangular, of size (m)x(m)
-// A full, of size (m)x(n1)
-void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_BLASFEO_REF_API_H_
-
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
deleted file mode 100644
index 99d2b28c82..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
+++ /dev/null
@@ -1,692 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_S_KERNEL_H_
-#define BLASFEO_S_KERNEL_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// utils
-void blasfeo_align_2MB(void *ptr, void **ptr_align);
-void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
-void blasfeo_align_64_byte(void *ptr, void **ptr_align);
-
-
-
-//
-// lib8
-//
-
-// 24x4
-void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
-void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
-
-// 16x8
-void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil);
-
-// 16x4
-void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
-void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
-void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
-void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-
-// 8x8
-void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
-void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-
-// 8x4
-void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
-void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
-void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn);
-void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D);
-void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn);
-
-// 4x8
-void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
-void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-
-// 8
-void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
-void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
-void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
-void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
-void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
-void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
-
-// -------- aux
-
-// ---- copy
-
-// lib4
-//
-void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B);
-
-void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B);
-void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B);
-void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B);
-
-void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B);
-
-// lib8
-//
-void kernel_sgecp_8_0_lib8(int m, float *A, float *B);
-void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1);
-void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1);
-
-void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A);
-void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1);
-void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1);
-
-void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B);
-void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
-void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1);
-
-void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B);
-void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-// transpose
-//
-void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
-void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B);
-void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
-
-// add
-//
-void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B);
-void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
-void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
-void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
-
-
-//
-// lib4
-//
-
-
-
-// level 2 BLAS
-// 4
-void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
-void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
-void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
-void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
-void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
-void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
-void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z);
-void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z);
-void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km);
-void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
-void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
-void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n);
-void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km);
-
-
-
-// level 3 BLAS
-// 12x4
-void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 12x4
-void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-// 8x4
-void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
-void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
-void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); //
-void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
-void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
-void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1);
-void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); //
-void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); //
-void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); //
-void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
-void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
-void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); //
-void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); //
-void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
-void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E);
-void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn);
-void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-// diag
-void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd);
-void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
-void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D);
-void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
-
-
-
-// LAPACK
-// 16x4
-void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 12x4
-void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 8x4
-void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
-void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
-// 4x4
-void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
-void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D);
-void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv);
-void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv);
-
-
-
-// merged routines
-// 4x4
-void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
-void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
-void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
-
-
-
-// auxiliary routines
-void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B);
-void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B);
-void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B);
-void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B);
-void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
-void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B);
-// TODO
-void kernel_sgeset_4_lib4(int kmax, float alpha, float *A);
-void kernel_strset_4_lib4(int kmax, float alpha, float *A);
-void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
-
-
-
-// pack
-// 24 lib 8
-void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 16 lib 8
-void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 8 lib 8
-void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B);
-void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B);
-void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// 8 lib 4
-void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
-//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
-// 4
-void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B);
-void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B);
-void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
-void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb);
-void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
-// unpack
-// 8
-void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
-void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1);
-//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
-// 4
-void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb);
-void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
-void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb);
-void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
-void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb);
-
-// panel copy
-// 4
-void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb);
-void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
-void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
-void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1);
-
-
-
-/************************************************
-* BLAS API kernels
-************************************************/
-
-//#if defined(BLAS_API)
-
-// A, B panel-major bs=8; C, D column-major
-// 24x4
-void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 16x4
-void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
-void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-// 8x4
-void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A, B panel-major bs=4; C, D column-major
-// 8x8
-void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-// 8x4
-void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
-void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
-void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
-void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
-void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
-
-// B panel-major bs=8; A, C, D column-major
-// 4x24
-void kernel_sgemm_nt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x16
-void kernel_sgemm_nt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// B panel-major bs=4; A, C, D column-major
-// 8x8
-void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x8
-void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A panel-major bs=8; B, C, D column-major
-// 24x4
-void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 16x4
-void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x8
-void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 8x4
-void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// A panel-major bs=4; B, C, D column-major
-// 8x8
-void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-// 8x4
-void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-// 4x4
-void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
-
-// A, C, D panel-major; B, E column-major
-// TODO merge with above
-// 4x4
-void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
-void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
-void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
-void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
-
-// A, B, C, D column-major
-void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
-void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
-
-// vector
-void kernel_sdot_11_lib(int n, float *x, float *y, float *res);
-void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y);
-
-
-//#endif // BLAS_API
-
-
-
-// larger kernels
-// 24
-void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p);
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // BLASFEO_S_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
deleted file mode 100644
index 9bd248b1d4..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_STDLIB_H_
-#define BLASFEO_STDLIB_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-#include <stdlib.h>
-
-//
-void blasfeo_malloc(void **ptr, size_t size);
-//
-void blasfeo_malloc_align(void **ptr, size_t size);
-//
-void blasfeo_free(void *ptr);
-//
-void blasfeo_free_align(void *ptr);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // BLASFEO_STDLIB_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h
deleted file mode 100644
index 51f617a649..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_target.h
+++ /dev/null
@@ -1,73 +0,0 @@
-#ifndef TARGET_X64_INTEL_HASWELL
-#define TARGET_X64_INTEL_HASWELL
-#endif
-
-#ifndef TARGET_NEED_FEATURE_AVX2
-#define TARGET_NEED_FEATURE_AVX2 1
-#endif
-
-#ifndef TARGET_NEED_FEATURE_FMA
-#define TARGET_NEED_FEATURE_FMA 1
-#endif
-
-#ifndef TARGET_NEED_FEATURE_SSE3
-/* #undef TARGET_NEED_FEATURE_SSE3 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_AVX
-/* #undef TARGET_NEED_FEATURE_AVX */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_VFPv3
-/* #undef TARGET_NEED_FEATURE_VFPv3 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_NEON
-/* #undef TARGET_NEED_FEATURE_NEON */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_VFPv4
-/* #undef TARGET_NEED_FEATURE_VFPv4 */
-#endif
-
-#ifndef TARGET_NEED_FEATURE_NEONv2
-/* #undef TARGET_NEED_FEATURE_NEONv2 */
-#endif
-
-#ifndef LA_HIGH_PERFORMANCE
-#define LA_HIGH_PERFORMANCE
-#endif
-
-#ifndef MF_PANELMAJ
-#define MF_PANELMAJ
-#endif
-
-#ifndef EXT_DEP
-#define ON 1
-#define OFF 0
-#if ON==ON
-#define EXT_DEP
-#endif
-#undef ON
-#undef OFF
-#endif
-
-#ifndef BLAS_API
-#define ON 1
-#define OFF 0
-#if OFF==ON
-#define BLAS_API
-#endif
-#undef ON
-#undef OFF
-#endif
-
-#ifndef FORTRAN_BLAS_API
-#define ON 1
-#define OFF 0
-#if OFF==ON
-#define FORTRAN_BLAS_API
-#endif
-#undef ON
-#undef OFF
-#endif
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_timing.h b/third_party/acados/include/blasfeo/include/blasfeo_timing.h
deleted file mode 100644
index 5671b888fe..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_timing.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_TIMING_H_
-#define BLASFEO_TIMING_H_
-
-//#include <stdbool.h>
-
-#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
-
-	/* Use Windows QueryPerformanceCounter for timing. */
-	#include <Windows.h>
-
-	/** A structure for keeping internal timer data. */
-	typedef struct blasfeo_timer_ {
-		LARGE_INTEGER tic;
-		LARGE_INTEGER toc;
-		LARGE_INTEGER freq;
-	} blasfeo_timer;
-
-#elif(defined __APPLE__)
-
-	#include <mach/mach_time.h>
-
-	/** A structure for keeping internal timer data. */
-	typedef struct blasfeo_timer_ {
-		uint64_t tic;
-		uint64_t toc;
-		mach_timebase_info_data_t tinfo;
-	} blasfeo_timer;
-
-#elif(defined __DSPACE__)
-
-	#include <brtenv.h>
-
-	typedef struct blasfeo_timer_ {
-		double time;
-	} blasfeo_timer;
-
-#elif(defined __XILINX_NONE_ELF__ || defined __XILINX_ULTRASCALE_NONE_ELF_JAILHOUSE__)
-
-	#include "xtime_l.h"
-
-	typedef struct blasfeo_timer_ {
-		uint64_t tic;
-		uint64_t toc;
-	} blasfeo_timer;
-
-#else
-
-	/* Use POSIX clock_gettime() for timing on non-Windows machines. */
-	#include <time.h>
-
-	#if __STDC_VERSION__ >= 199901L  // C99 Mode
-
-		#include <sys/stat.h>
-		#include <sys/time.h>
-
-		typedef struct blasfeo_timer_ {
-			struct timeval tic;
-			struct timeval toc;
-		} blasfeo_timer;
-
-	#else  // ANSI C Mode
-
-		/** A structure for keeping internal timer data. */
-		typedef struct blasfeo_timer_ {
-			struct timespec tic;
-			struct timespec toc;
-		} blasfeo_timer;
-
-	#endif  // __STDC_VERSION__ >= 199901L
-
-#endif  // (defined _WIN32 || defined _WIN64)
-
-/** A function for measurement of the current time. */
-void blasfeo_tic(blasfeo_timer* t);
-
-/** A function which returns the elapsed time. */
-double blasfeo_toc(blasfeo_timer* t);
-
-#endif  // BLASFEO_TIMING_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
deleted file mode 100644
index 1598551185..0000000000
--- a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef BLASFEO_V_AUX_EXT_DEP_H_
-#define BLASFEO_V_AUX_EXT_DEP_H_
-
-
-
-#include "blasfeo_target.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-/************************************************
-* d_aux_extern_depend_lib.c
-************************************************/
-
-#ifdef EXT_DEP
-
-void v_zeros(void **ptrA, int size);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to void; set allocated memory to zero
-void v_zeros_align(void **ptrA, int size);
-// free the memory allocated by v_zeros
-void v_free(void *ptrA);
-// free the memory allocated by v_zeros_aligned
-void v_free_align(void *ptrA);
-// dynamically allocate size bytes of memory and set accordingly a pointer to char; set allocated memory to zero
-void c_zeros(char **ptrA, int size);
-// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to char; set allocated memory to zero
-void c_zeros_align(char **ptrA, int size);
-// free the memory allocated by c_zeros
-void c_free(char *ptrA);
-// free the memory allocated by c_zeros_aligned
-void c_free_align(char *ptrA);
-
-#endif // EXT_DEP
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-
-#endif  // BLASFEO_V_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/d_blas.h b/third_party/acados/include/blasfeo/include/d_blas.h
deleted file mode 100644
index ffd2578da3..0000000000
--- a/third_party/acados/include/blasfeo/include/d_blas.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-double ddot_(int *m, double *x, int *incx, double *y, int *incy);
-void dcopy_(int *m, double *x, int *incx, double *y, int *incy);
-void daxpy_(int *m, double *alpha, double *x, int *incx, double *y, int *incy);
-void dscal_(int *m, double *alpha, double *x, int *incx);
-void drot_(int *m, double *x, int *incx, double *y, int *incy, double *c, double *s);
-void drotg_(double *a, double *b, double *c, double *s);
-
-// level 2
-void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-void dsymv_(char *uplo, int *m, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-void dtrmv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
-void dtrsv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
-void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
-
-// level 3
-void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-void dsyrk_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
-void dtrmm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-void dtrsm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
-void dsyr2k_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
-
-// lapack
-void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
-void dgeqrf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-void dgeqr2_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *info);
-void dgelqf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-void dorglq_(int *m, int *n, int *k, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/d_blas_64.h b/third_party/acados/include/blasfeo/include/d_blas_64.h
deleted file mode 100644
index 4f40d00dfb..0000000000
--- a/third_party/acados/include/blasfeo/include/d_blas_64.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-double ddot_(long long *m, double *x, long long *incx, double *y, long long *incy);
-void dcopy_(long long *m, double *x, long long *incx, double *y, long long *incy);
-void daxpy_(long long *m, double *alpha, double *x, long long *incx, double *y, long long *incy);
-void dscal_(long long *m, double *alpha, double *x, long long *incx);
-
-// level 2
-void dgemv_(char *ta, long long *m, long long *n, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
-void dsymv_(char *uplo, long long *m, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
-void dtrmv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
-void dtrsv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
-void dger_(long long *m, long long *n, double *alpha, double *x, long long *incx, double *y, long long *incy, double *A, long long *lda);
-
-// level 3
-void dgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, double *alpha, double *A, long long *lda, double *B, long long *ldb, double *beta, double *C, long long *ldc);
-void dsyrk_(char *uplo, char *trans, long long *n, long long *k, double *alpha, double *A, long long *lda, double *beta, double *C, long long *ldc);
-void dtrmm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
-void dtrsm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
-
-// lapack
-void dpotrf_(char *uplo, long long *m, double *A, long long *lda, long long *info);
-void dgetrf_(long long *m, long long *n, double *A, long long *lda, long long *ipiv, long long *info);
-void dgeqrf_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *lwork, long long *info);
-void dgeqr2_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas.h b/third_party/acados/include/blasfeo/include/s_blas.h
deleted file mode 100644
index 3b299ce64c..0000000000
--- a/third_party/acados/include/blasfeo/include/s_blas.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-float sdot_(int *m, float *x, int *incx, float *y, int *incy);
-void scopy_(int *m, float *x, int *incx, float *y, int *incy);
-void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy);
-void sscal_(int *m, float *alpha, float *x, int *incx);
-void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s);
-void srotg_(float *a, float *b, float *c, float *s);
-
-// level 2
-void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
-void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
-void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda);
-
-// level 3
-void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc);
-void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
-void ssyr2k_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
-
-// lapack
-void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info);
-void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info);
-void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas_64.h b/third_party/acados/include/blasfeo/include/s_blas_64.h
deleted file mode 100644
index b9efab6c23..0000000000
--- a/third_party/acados/include/blasfeo/include/s_blas_64.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of BLASFEO.                                                                   *
-*                                                                                                 *
-* BLASFEO -- BLAS For Embedded Optimization.                                                      *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
-
-// level 1
-float sdot_(long long *m, float *x, long long *incx, float *y, long long *incy);
-void scopy_(long long *m, float *x, long long *incx, float *y, long long *incy);
-void saxpy_(long long *m, float *alpha, float *x, long long *incx, float *y, long long *incy);
-void sscal_(long long *m, float *alpha, float *x, long long *incx);
-
-// level 2
-void sgemv_(char *ta, long long *m, long long *n, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
-void ssymv_(char *uplo, long long *m, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
-void strmv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
-void strsv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
-void sger_(long long *m, long long *n, float *alpha, float *x, long long *incx, float *y, long long *incy, float *A, long long *lda);
-
-// level 3
-void sgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, float *alpha, float *A, long long *lda, float *B, long long *ldb, float *beta, float *C, long long *ldc);
-void ssyrk_(char *uplo, char *trans, long long *n, long long *k, float *alpha, float *A, long long *lda, float *beta, float *C, long long *ldc);
-void strmm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
-void strsm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
-
-// lapack
-void spotrf_(char *uplo, long long *m, float *A, long long *lda, long long *info);
-void sgetrf_(long long *m, long long *n, float *A, long long *lda, long long *ipiv, long long *info);
-void sgeqrf_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *lwork, long long *info);
-void sgeqr2_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *info);
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
deleted file mode 100644
index 7bd3d7e8bc..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_AUX_MEM_H_
-#define HPIPM_AUX_MEM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void hpipm_zero_memset(hpipm_size_t memsize, void *mem);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_AUX_MEM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_string.h b/third_party/acados/include/hpipm/include/hpipm_aux_string.h
deleted file mode 100644
index 804cba5dc1..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_aux_string.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_AUX_STRING_H_
-#define HPIPM_AUX_STRING_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define MAX_STR_LEN 5
-int hpipm_strcmp(char *str1, char *str2);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_AUX_STRING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_common.h b/third_party/acados/include/hpipm/include/hpipm_common.h
deleted file mode 100644
index 0cc96a7b50..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_common.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_COMMON_H_
-#define HPIPM_COMMON_H_
-
-#include <stddef.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef size_t hpipm_size_t;
-
-enum hpipm_mode
-	{
-	SPEED_ABS, // focus on speed, absolute IPM formulation
-	SPEED, // focus on speed, relative IPM formulation
-	BALANCE, // balanced mode, relative IPM formulation
-	ROBUST, // focus on robustness, relative IPM formulation
-	};
-
-enum hpipm_status
-	{
-	SUCCESS, // found solution satisfying accuracy tolerance
-	MAX_ITER, // maximum iteration number reached
-	MIN_STEP, // minimum step length reached
-	NAN_SOL, // NaN in solution detected
-	INCONS_EQ, // unconsistent equality constraints
-	};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_COMMON_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
deleted file mode 100644
index 0e4c41f221..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_CAST_QCQP_H_
-#define HPIPM_D_CAST_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp.h"
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_cast_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
-//
-void d_cast_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_CAST_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_cond.h
deleted file mode 100644
index 5900a2ab10..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_H_
-#define HPIPM_D_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_d_dense_qp_sol.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qp_dim.h"
-#include "hpipm_d_ocp_qp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_cond_qp_arg
-	{
-	int cond_last_stage; // condense last stage
-	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_cond_qp_ws
-	{
-	struct blasfeo_dmat *Gamma;
-	struct blasfeo_dmat *GammaQ;
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Lx;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dvec *Gammab;
-	struct blasfeo_dvec *l;
-	struct blasfeo_dvec *tmp_nbgM;
-	struct blasfeo_dvec *tmp_nuxM;
-	int bs; // block size
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_cond_qp_arg_memsize();
-//
-void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem);
-//
-void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg);
-// condensing algorithm: 0 N2-nx3, 1 N3-nx2
-void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg);
-
-//
-void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim);
-//
-hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg);
-//
-void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem);
-//
-void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-// TODO remove
-void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-//
-void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
deleted file mode 100644
index 73afba3c7e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_AUX_H_
-#define HPIPM_D_COND_AUX_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_cond_BAbt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_BAt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_b(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_RSQrq(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_RSQ(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_rq(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_DCtd(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_DCt(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_cond_d(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-//
-void d_update_cond_BAbt(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_update_cond_RSQrq_N2nx3(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-//
-void d_update_cond_DCtd(int *idxc, struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, int *idxs2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
deleted file mode 100644
index 266567bb8d..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_COND_QCQP_H_
-#define HPIPM_D_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp.h"
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_cond_qcqp_arg
-	{
-	struct d_cond_qp_arg *qp_arg;
-	int cond_last_stage; // condense last stage
-//	int cond_variant; // TODO
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_cond_qcqp_ws
-	{
-	struct d_cond_qp_ws *qp_ws;
-	struct blasfeo_dmat *hess_array; // TODO remove
-	struct blasfeo_dmat *zero_hess; // TODO remove
-	struct blasfeo_dvec *grad_array; // TODO remove
-	struct blasfeo_dvec *zero_grad; // TODO remove
-	struct blasfeo_dvec *tmp_nvc;
-	struct blasfeo_dvec *tmp_nuxM;
-	struct blasfeo_dmat *GammaQ;
-	struct blasfeo_dmat *tmp_DCt;
-	struct blasfeo_dmat *tmp_nuM_nxM;
-//	struct blasfeo_dvec *d_qp;
-//	struct blasfeo_dvec *d_mask_qp;
-	hpipm_size_t memsize;
-	};
-
-
-//
-hpipm_size_t d_cond_qcqp_arg_memsize();
-//
-void d_cond_qcqp_arg_create(struct d_cond_qcqp_arg *cond_arg, void *mem);
-//
-void d_cond_qcqp_arg_set_default(struct d_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void d_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_cond_qcqp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void d_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qcqp_arg *cond_arg);
-
-//
-void d_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
-//
-hpipm_size_t d_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg);
-//
-void d_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws, void *mem);
-//
-void d_cond_qcqp_qc(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_qc_lhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_qc_rhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-//
-void d_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp_sol *dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_COND_QCQP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
deleted file mode 100644
index f39d9a9b50..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_CORE_QP_IPM_
-#define HPIPM_D_CORE_QP_IPM_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_core_qp_ipm_workspace
-	{
-	double *v; // primal variables
-	double *pi; // equality constraints multipliers
-	double *lam; // inequality constraints multipliers
-	double *t; // inequality constraints slacks
-	double *t_inv; // inverse of t
-	double *v_bkp; // backup of primal variables
-	double *pi_bkp; // backup of equality constraints multipliers
-	double *lam_bkp; // backup of inequality constraints multipliers
-	double *t_bkp; // backup of inequality constraints slacks
-	double *dv; // step in v
-	double *dpi; // step in pi
-	double *dlam; // step in lam
-	double *dt; // step in t
-	double *res_g; // q-residuals
-	double *res_b; // b-residuals
-	double *res_d; // d-residuals
-	double *res_m; // m-residuals
-	double *res_m_bkp; // m-residuals
-	double *Gamma; // Hessian update
-	double *gamma; // gradient update
-	double alpha; // step length
-	double alpha_prim; // step length
-	double alpha_dual; // step length
-	double sigma; // centering XXX
-	double mu; // duality measuere
-	double mu_aff; // affine duality measuere
-	double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints
-	double nc_mask_inv; // 1.0/nc_mask
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double t_min_inv; // inverse of min value in t vector
-	double tau_min; // min value of barrier parameter
-	int nv; // number of primal variables
-	int ne; // number of equality constraints
-	int nc; // (twice the) number of (two-sided) inequality constraints
-	int nc_mask; // total number of ineq constr after masking
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc);
-//
-void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem);
-//
-void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
deleted file mode 100644
index 30cc824bad..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_AUX_
-#define HPIPM_S_CORE_QP_IPM_AUX_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_update_var_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_backup_res_m(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws);
-//
-void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
deleted file mode 100644
index 3da5716493..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
+++ /dev/null
@@ -1,199 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_H_
-#define HPIPM_D_DENSE_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
-	struct blasfeo_dmat *A; // equality constraint matrix
-	struct blasfeo_dmat *Ct; // inequality constraints matrix
-	struct blasfeo_dmat *Hq; // hessians of quadratic constraints
-	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *b; // equality constraint vector
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory);
-
-//
-void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp);
-
-// getters (COLMAJ)
-
-void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H);
-//
-void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g);
-//
-void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A);
-//
-void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b);
-//
-void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb);
-//
-void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb);
-//
-void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb);
-//
-void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub);
-//
-void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub);
-//
-void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C);
-//
-void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg);
-//
-void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg);
-//
-void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug);
-//
-void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug);
-//
-void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs);
-//
-void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev);
-//
-void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl);
-//
-void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu);
-//
-void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl);
-//
-void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu);
-//
-void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls);
-//
-void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls);
-//
-void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us);
-//
-void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
deleted file mode 100644
index fa8c574a1e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_DIM_H_
-#define HPIPM_D_DENSE_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_dim
-	{
-	struct d_dense_qp_dim *qp_dim; // dim of qp approximation
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nq;  // number of quadratic constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int nsq; // number of softened quadratic constraints
-	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_dim_memsize();
-//
-void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory);
-//
-void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
deleted file mode 100644
index fa3f98fa79..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
+++ /dev/null
@@ -1,193 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_IPM_H_
-#define HPIPM_D_DENSE_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_dense_qcqp_dim.h>
-#include <hpipm_d_dense_qcqp.h>
-#include <hpipm_d_dense_qcqp_res.h>
-#include <hpipm_d_dense_qcqp_sol.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_ipm_arg
-	{
-	struct d_dense_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double reg_dual; // reg of dual hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qcqp_ipm_ws
-	{
-	struct d_dense_qp_ipm_ws *qp_ws;
-	struct d_dense_qp *qp;
-	struct d_dense_qp_sol *qp_sol;
-	struct d_dense_qcqp_res_ws *qcqp_res_ws;
-	struct d_dense_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nv;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem);
-//
-void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem);
-//
-void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value);
-//
-void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status);
-//
-void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter);
-//
-void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat);
-//
-void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-//
-void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-#if 0
-//
-void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-//
-void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
-#endif
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_IPM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
deleted file mode 100644
index a76f16215e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_RES_H_
-#define HPIPM_D_DENSE_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_dense_qcqp_dim.h>
-#include <hpipm_d_dense_qcqp.h>
-#include <hpipm_d_dense_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_res
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // infinity norm of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nv; // work space of size nv
-	struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_ns; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem);
-//
-void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws);
-//
-void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QCQP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
deleted file mode 100644
index 6c697a8e69..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QCQP_SOL_H_
-#define HPIPM_D_DENSE_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qcqp_sol
-	{
-	struct d_dense_qcqp_dim *dim;
-	struct blasfeo_dvec *v;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim);
-//
-void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory);
-//
-void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
deleted file mode 100644
index a34218bae4..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QCQP_UTILS_H_
-#define HPIPM_D_DENSE_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qcqp_dim.h"
-#include "hpipm_d_dense_qcqp.h"
-#include "hpipm_d_dense_qcqp_sol.h"
-//#include "hpipm_d_dense_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim);
-//
-//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim);
-//
-void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
-//
-//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
-//
-void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol);
-//
-//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
-//
-void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QCQP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
deleted file mode 100644
index 02fba5a922..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_H_
-#define HPIPM_D_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
-	struct blasfeo_dmat *A; // equality constraint matrix
-	struct blasfeo_dmat *Ct; // inequality constraints matrix
-	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *b; // equality constraint vector
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory);
-
-// setters - colmaj
-//
-void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
-//
-void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
-//
-void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_H(double *H, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_g(double *g, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_A(double *A, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_b(double *b, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_C(double *C, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_us(double *us, struct d_dense_qp *qp);
-//
-void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp);
-
-// getters - colmaj
-//
-void d_dense_qp_get_H(struct d_dense_qp *qp, double *H);
-//
-void d_dense_qp_get_g(struct d_dense_qp *qp, double *g);
-//
-void d_dense_qp_get_A(struct d_dense_qp *qp, double *A);
-//
-void d_dense_qp_get_b(struct d_dense_qp *qp, double *b);
-//
-void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb);
-//
-void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb);
-//
-void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb);
-//
-void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub);
-//
-void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub);
-//
-void d_dense_qp_get_C(struct d_dense_qp *qp, double *C);
-//
-void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg);
-//
-void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg);
-//
-void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug);
-//
-void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug);
-//
-void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs);
-//
-void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev);
-//
-void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl);
-//
-void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu);
-//
-void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl);
-//
-void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu);
-//
-void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls);
-//
-void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls);
-//
-void d_dense_qp_get_us(struct d_dense_qp *qp, double *us);
-//
-void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us);
-
-// setters - rowmaj
-//
-void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
-
-// getters - rowmaj
-//
-void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
deleted file mode 100644
index 98a551f312..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_DIM_H_
-#define HPIPM_D_DENSE_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_dim
-	{
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int ns;  // number of softened constraints (nsb+nsg)
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_dim_memsize();
-//
-void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory);
-//
-void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
deleted file mode 100644
index e6e5d5d9b5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_IPM_H_
-#define HPIPM_D_DENSE_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_dense_qp_dim.h>
-#include <hpipm_d_dense_qp.h>
-#include <hpipm_d_dense_qp_res.h>
-#include <hpipm_d_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_ipm_arg
-	{
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double reg_dual; // reg of dual hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int kkt_fact_alg; // 0 null-space, 1 schur-complement
-	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
-	int compute_obj; // compute obj on exit
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qp_ipm_ws
-	{
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_dense_qp_res_ws *res_ws;
-	struct d_dense_qp_sol *sol_step;
-	struct d_dense_qp_sol *sol_itref;
-	struct d_dense_qp *qp_step;
-	struct d_dense_qp *qp_itref;
-	struct d_dense_qp_res *res;
-	struct d_dense_qp_res *res_itref;
-	struct d_dense_qp_res *res_step;
-	struct blasfeo_dvec *Gamma; //
-	struct blasfeo_dvec *gamma; //
-	struct blasfeo_dvec *Zs_inv; //
-	struct blasfeo_dmat *Lv; //
-	struct blasfeo_dmat *AL; //
-	struct blasfeo_dmat *Le; //
-	struct blasfeo_dmat *Ctx; //
-	struct blasfeo_dvec *lv; //
-	struct blasfeo_dvec *sv; // scale for Lv
-	struct blasfeo_dvec *se; // scale for Le
-	struct blasfeo_dvec *tmp_nbg; // work space of size nb+ng
-	struct blasfeo_dvec *tmp_ns; // work space of size ns
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dmat *lq1;
-	struct blasfeo_dvec *tmp_m;
-	struct blasfeo_dmat *A_LQ;
-	struct blasfeo_dmat *A_Q;
-	struct blasfeo_dmat *Zt;
-	struct blasfeo_dmat *ZtH;
-	struct blasfeo_dmat *ZtHZ;
-	struct blasfeo_dvec *xy;
-	struct blasfeo_dvec *Yxy;
-	struct blasfeo_dvec *xz;
-	struct blasfeo_dvec *tmp_nv;
-	struct blasfeo_dvec *tmp_2ns;
-	struct blasfeo_dvec *tmp_nv2ns;
-	struct blasfeo_dmat *A_li; // A of linearly independent equality constraints
-	struct blasfeo_dvec *b_li; // b of linearly independent equality constraints
-	struct blasfeo_dmat *A_bkp; // pointer to backup A
-	struct blasfeo_dvec *b_bkp; // pointer to backup b
-	struct blasfeo_dmat *Ab_LU;
-	double *stat; // convergence statistics
-	int *ipiv_v;
-	int *ipiv_e;
-	int *ipiv_e1;
-	void *lq_work0;
-	void *lq_work1;
-	void *lq_work_null;
-	void *orglq_work_null;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // numer of recorded stat per ipm iter
-	int scale;
-	int use_hess_fact;
-	int use_A_fact;
-	int status;
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int ne_li; // number of linearly independent equality constraints
-	int ne_bkp; // ne backup
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_ipm_arg_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_ipm_arg_create(struct d_dense_qp_dim *dim, struct d_dense_qp_ipm_arg *arg, void *mem);
-//
-void d_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set(char *field, void *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_mu0(double *mu0, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_lam_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_t_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_tau_min(double *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_compute_obj(int *value, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qp_ipm_arg *arg);
-
-//
-void d_dense_qp_ipm_arg_set_split_step(int *value, struct d_dense_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_dense_qp_ipm_ws_memsize(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_ipm_ws_create(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws, void *mem);
-//
-void d_dense_qp_ipm_get(char *field, struct d_dense_qp_ipm_ws *ws, void *value);
-//
-void d_dense_qp_ipm_get_status(struct d_dense_qp_ipm_ws *ws, int *status);
-//
-void d_dense_qp_ipm_get_iter(struct d_dense_qp_ipm_ws *ws, int *iter);
-//
-void d_dense_qp_ipm_get_max_res_stat(struct d_dense_qp_ipm_ws *ws, double *res_stat);
-//
-void d_dense_qp_ipm_get_max_res_eq(struct d_dense_qp_ipm_ws *ws, double *res_eq);
-//
-void d_dense_qp_ipm_get_max_res_ineq(struct d_dense_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_dense_qp_ipm_get_max_res_comp(struct d_dense_qp_ipm_ws *ws, double *res_comp);
-//
-void d_dense_qp_ipm_get_stat(struct d_dense_qp_ipm_ws *ws, double **stat);
-//
-void d_dense_qp_ipm_get_stat_m(struct d_dense_qp_ipm_ws *ws, int *stat_m);
-//
-void d_dense_qp_init_var(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_abs_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_delta_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_solve(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_predict(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_ipm_sens(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_compute_step_length(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
deleted file mode 100644
index 6d05779f4b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_KKT_H_
-#define HPIPM_D_DENSE_QP_KKT_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_remove_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_restore_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-//
-void d_dense_qp_compute_obj(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
deleted file mode 100644
index 7c2023257a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
+++ /dev/null
@@ -1,105 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_RES_H_
-#define HPIPM_D_DENSE_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_dense_qp_dim.h>
-#include <hpipm_d_dense_qp.h>
-#include <hpipm_d_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_res
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_dense_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbg; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_ns; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_res_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_res_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res *res, void *mem);
-//
-hpipm_size_t d_dense_qp_res_ws_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_res_ws_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res_ws *workspace, void *mem);
-//
-void d_dense_qp_res_compute(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
-//
-void d_dense_qp_res_compute_lin(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_sol *qp_step, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
-//
-void d_dense_qp_res_compute_inf_norm(struct d_dense_qp_res *res);
-//
-void d_dense_qp_res_get_all(struct d_dense_qp_res *res, double *res_g, double *res_ls, double *res_us, double *res_b, double *res_d_lb, double *res_d_ub, double *res_d_lg, double *res_d_ug, double *res_d_ls, double *res_d_us, double *res_m_lb, double *res_m_ub, double *res_m_lg, double *res_m_ug, double *res_m_ls, double *res_m_us);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
deleted file mode 100644
index aaa3fdb0e4..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_DENSE_QP_SOL_H_
-#define HPIPM_D_DENSE_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_dense_qp_sol
-	{
-	struct d_dense_qp_dim *dim;
-	struct blasfeo_dvec *v;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	double obj;
-	int valid_obj;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_dense_qp_sol_memsize(struct d_dense_qp_dim *dim);
-//
-void d_dense_qp_sol_create(struct d_dense_qp_dim *dim, struct d_dense_qp_sol *qp_sol, void *memory);
-//
-void d_dense_qp_sol_get_all(struct d_dense_qp_sol *qp_sol, double *v, double *ls, double *us, double *pi, double *lam_lb, double *lam_ub, double *lam_lg, double *lam_ug, double *lam_ls, double *lam_us);
-//
-void d_dense_qp_sol_get(char *field, struct d_dense_qp_sol *sol, void *value);
-//
-void d_dense_qp_sol_get_v(struct d_dense_qp_sol *sol, double *v);
-//
-void d_dense_qp_sol_get_valid_obj(struct d_dense_qp_sol *sol, int *valid_obj);
-//
-void d_dense_qp_sol_get_obj(struct d_dense_qp_sol *sol, double *obj);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
deleted file mode 100644
index ccb77aaca3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_DENSE_QP_UTILS_H_
-#define HPIPM_D_DENSE_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_d_dense_qp_sol.h"
-#include "hpipm_d_dense_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_dense_qp_dim_print(struct d_dense_qp_dim *qp_dim);
-//
-//void d_dense_qp_dim_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim);
-//
-void d_dense_qp_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
-//
-//void d_dense_qp_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
-//
-void d_dense_qp_sol_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_sol *dense_qp_sol);
-//
-//void d_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
-//
-void d_dense_qp_res_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_res *dense_qp_res);
-//
-void d_dense_qp_arg_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *qp_ipm_arg);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_DENSE_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
deleted file mode 100644
index 240c9b04be..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
+++ /dev/null
@@ -1,303 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_H_
-#define HPIPM_D_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_dmat *DCt; // inequality constraints matrix
-	struct blasfeo_dmat **Hq; // hessians of quadratic constraints
-	struct blasfeo_dvec *b; // dynamics vector
-	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_strsize();
-//
-hpipm_size_t d_ocp_qcqp_memsize(struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp *qp, void *memory);
-//
-void d_ocp_qcqp_copy_all(struct d_ocp_qcqp *qp_orig, struct d_ocp_qcqp *qp_dest);
-
-// setters
-//
-void d_ocp_qcqp_set_all_zero(struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_rhs_zero(struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set(char *field_name, int stage, void *value, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_A(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_B(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_b(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Q(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_S(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_R(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_q(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_r(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lb(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lb_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ub(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ub_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lbu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ubu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxb(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxbx(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxbu(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_C(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_D(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lg(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lg_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ug(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_ug_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Qq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Sq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Rq(int stage, double *mat, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_qq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_rq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_uq(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_uq_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Zl(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Zu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_zl(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_zu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lls(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lls_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lus(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_lus_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxs(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsbu(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsbx(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsg(int stage, double *vec, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_set_Jsq(int stage, double *vec, struct d_ocp_qcqp *qp);
-
-// getters
-//
-void d_ocp_qcqp_get(char *field, int stage, struct d_ocp_qcqp *qp, void *value);
-//
-void d_ocp_qcqp_get_A(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_B(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_b(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Q(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_S(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_R(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_q(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_r(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ub(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ub_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lb(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lb_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lbu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ubu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_idxb(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_idxbx(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jbx(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-//void d_ocp_qcqp_get_idxbu(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jbu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_C(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_D(int stage, struct d_ocp_qcqp *qp, double *mat);
-//
-void d_ocp_qcqp_get_lg(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lg_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ug(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_ug_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Zl(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_Zu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_zl(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_zu(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lls(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lls_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lus(int stage, struct d_ocp_qcqp *qp, double *vec);
-//
-void d_ocp_qcqp_get_lus_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void d_ocp_qcqp_get_idxs(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-void d_ocp_qcqp_get_idxs_rev(int stage, struct d_ocp_qcqp *qp, int *vec);
-//
-//void d_ocp_qcqp_get_Jsbu(int stage, struct d_ocp_qcqp *qp, float *vec);
-//
-//void d_ocp_qcqp_get_Jsbx(int stage, struct d_ocp_qcqp *qp, float *vec);
-//
-//void d_ocp_qcqp_get_Jsg(int stage, struct d_ocp_qcqp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
deleted file mode 100644
index 268628a2b2..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_DIM_H_
-#define HPIPM_D_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_dim
-	{
-	struct d_ocp_qp_dim *qp_dim; // dim of qp approximation
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of (two-sided) state box constraints
-	int *nbu; // number of (two-sided) input box constraints
-	int *ng; // number of (two-sided) general constraints
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of (two-sided) soft state box constraints
-	int *nsbu; // number of (two-sided) soft input box constraints
-	int *nsg; // number of (two-sided) soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t d_ocp_qcqp_dim_memsize(int N);
-//
-void d_ocp_qcqp_dim_create(int N, struct d_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void d_ocp_qcqp_dim_copy_all(struct d_ocp_qcqp_dim *dim_orig, struct d_ocp_qcqp_dim *dim_dest);
-//
-void d_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_ng(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nq(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_ns(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_dim_get(struct d_ocp_qcqp_dim *dim, char *field, int stage, int *value);
-//
-void d_ocp_qcqp_dim_get_N(struct d_ocp_qcqp_dim *dim, int *value);
-//
-void d_ocp_qcqp_dim_get_nx(struct d_ocp_qcqp_dim *dim, int stage, int *value);
-//
-void d_ocp_qcqp_dim_get_nu(struct d_ocp_qcqp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
deleted file mode 100644
index 99f2329dcc..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_IPM_H_
-#define HPIPM_D_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qcqp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qcqp_res.h>
-#include <hpipm_d_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_ipm_arg
-	{
-	struct d_ocp_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qcqp_ipm_ws
-	{
-	struct d_ocp_qp_ipm_ws *qp_ws;
-	struct d_ocp_qp *qp;
-	struct d_ocp_qp_sol *qp_sol;
-	struct d_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct d_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t d_ocp_qcqp_ipm_arg_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_ipm_arg_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void d_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void d_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void d_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void d_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void d_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void d_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-void d_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void d_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void d_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void d_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t d_ocp_qcqp_ipm_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_ipm_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void d_ocp_qcqp_ipm_get(char *field, struct d_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void d_ocp_qcqp_ipm_get_status(struct d_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void d_ocp_qcqp_ipm_get_iter(struct d_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void d_ocp_qcqp_ipm_get_max_res_stat(struct d_ocp_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_ocp_qcqp_ipm_get_max_res_eq(struct d_ocp_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_ocp_qcqp_ipm_get_max_res_ineq(struct d_ocp_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_ocp_qcqp_ipm_get_max_res_comp(struct d_ocp_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_ocp_qcqp_ipm_get_stat(struct d_ocp_qcqp_ipm_ws *ws, double **stat);
-//
-void d_ocp_qcqp_ipm_get_stat_m(struct d_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_ocp_qcqp_init_var(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
-//
-void d_ocp_qcqp_ipm_solve(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QCQP_IPM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
deleted file mode 100644
index 077f134677..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_RES_H_
-#define HPIPM_D_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qcqp_dim.h>
-#include <hpipm_d_ocp_qcqp.h>
-#include <hpipm_d_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_res
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim);
-//
-void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem);
-//
-void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws);
-//
-void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res);
-//
-void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value);
-//
-void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QCQP_RES_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
deleted file mode 100644
index 68adbfce2d..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_SOL_H_
-#define HPIPM_D_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qcqp_sol
-	{
-	struct d_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qcqp_sol_strsize();
-//
-hpipm_size_t d_ocp_qcqp_sol_memsize(struct d_ocp_qcqp_dim *dim);
-//
-void d_ocp_qcqp_sol_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void d_ocp_qcqp_sol_copy_all(struct d_ocp_qcqp_sol *qp_sol_orig, struct d_ocp_qcqp_sol *qp_sol_dest);
-//
-void d_ocp_qcqp_sol_get(char *field, int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_u(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_x(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_sl(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_su(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_pi(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_lb(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_ub(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_lg(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_get_lam_ug(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_ocp_qcqp_sol_set(char *field, int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_u(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_x(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_sl(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-//
-void d_ocp_qcqp_sol_set_su(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
deleted file mode 100644
index 00248f1dbe..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QCQP_UTILS_H_
-#define HPIPM_D_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qcqp_dim.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qcqp_sol.h"
-#include "hpipm_d_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_ocp_qcqp_dim_print(struct d_ocp_qcqp_dim *qcqp_dim);
-//
-void d_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim);
-//
-void d_ocp_qcqp_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
-//
-void d_ocp_qcqp_sol_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void d_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_ipm_arg *arg);
-//
-void d_ocp_qcqp_res_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QCQP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
deleted file mode 100644
index ca26cdba34..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
+++ /dev/null
@@ -1,306 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_H_
-#define HPIPM_D_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_dmat *DCt; // inequality constraints matrix
-	struct blasfeo_dvec *b; // dynamics vector
-	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_dvec *d; // inequality constraints vector
-	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
-	struct blasfeo_dvec *m; // rhs of complementarity condition
-	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
-	int *diag_H_flag; // flag the fact that Hessian is diagonal
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_strsize();
-//
-hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory);
-//
-void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest);
-
-// setters
-//
-void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp);
-
-// getters
-//
-void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value);
-//
-void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec);
-//
-//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat);
-//
-void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec);
-//
-void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec);
-//
-void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec);
-//
-//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec);
-//
-//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec);
-//
-//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
deleted file mode 100644
index dcfb801d31..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
+++ /dev/null
@@ -1,142 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_DIM_H_
-#define HPIPM_D_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_dim
-	{
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of state box constraints
-	int *nbu; // number of input box constraints
-	int *ng; // number of general constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nbxe; // number of state box constraints which are equality
-	int *nbue; // number of input box constraints which are equality
-	int *nge; // number of general constraints which are equality
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_dim_strsize();
-//
-hpipm_size_t d_ocp_qp_dim_memsize(int N);
-//
-void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory);
-//
-void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest);
-//
-void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbxe(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nbue(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_set_nge(int stage, int value, struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value);
-//
-void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value);
-//
-void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_ng(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_ns(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsbx(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsbu(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nsg(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbxe(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nbue(struct d_ocp_qp_dim *dim, int stage, int *value);
-//
-void d_ocp_qp_dim_get_nge(struct d_ocp_qp_dim *dim, int stage, int *value);
-
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
deleted file mode 100644
index d2a2833f22..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
+++ /dev/null
@@ -1,250 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_IPM_H_
-#define HPIPM_D_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_res.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_ipm_arg
-	{
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different steps for primal and dual variables
-	int var_init_scheme; // variables initialization scheme
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qp_ipm_ws
-	{
-	double qp_res[4]; // infinity norm of residuals
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_ocp_qp_dim *dim; // cache dim
-	struct d_ocp_qp_res_ws *res_workspace;
-	struct d_ocp_qp_sol *sol_step;
-	struct d_ocp_qp_sol *sol_itref;
-	struct d_ocp_qp *qp_step;
-	struct d_ocp_qp *qp_itref;
-	struct d_ocp_qp_res *res_itref;
-	struct d_ocp_qp_res *res;
-	struct blasfeo_dvec *Gamma; // hessian update
-	struct blasfeo_dvec *gamma; // hessian update
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nxM
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *Pb; // Pb
-	struct blasfeo_dvec *Zs_inv;
-	struct blasfeo_dvec *tmp_m;
-	struct blasfeo_dvec *l; // cache linear part for _get_ric_xxx
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Ls;
-	struct blasfeo_dmat *P;
-	struct blasfeo_dmat *Lh;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dmat *tmp_nxM_nxM;
-	double *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int square_root_alg; // cache from arg
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int valid_ric_vec; // meaningful riccati vectors
-	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_ipm_arg_strsize();
-//
-hpipm_size_t d_ocp_qp_ipm_arg_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_ipm_arg_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, void *mem);
-//
-void d_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_arg_set(char *field, void *value, struct d_ocp_qp_ipm_arg *arg);
-// set maximum number of iterations
-void d_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_ocp_qp_ipm_arg *arg);
-// set minimum step lenght
-void d_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_ocp_qp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_ocp_qp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
-// set regularization of primal variables
-void d_ocp_qp_ipm_arg_set_reg_prim(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_ocp_qp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_ocp_qp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void d_ocp_qp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qp_ipm_arg *arg);
-// dual solution of equality constraints (only for abs_form==1)
-void d_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_ocp_qp_ipm_arg *arg);
-// compute residuals after solution
-void d_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qp_ipm_arg *arg);
-// compute residuals of prediction
-void d_ocp_qp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of lam in the solution
-void d_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of t in the solution
-void d_ocp_qp_ipm_arg_set_t_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// min value of tau in the solution
-void d_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_ocp_qp_ipm_arg *arg);
-// set split step: 0 same step, 1 different step for primal and dual variables
-void d_ocp_qp_ipm_arg_set_split_step(int *value, struct d_ocp_qp_ipm_arg *arg);
-// variables initialization scheme
-void d_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct d_ocp_qp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_ocp_qp_ipm_ws_strsize();
-//
-hpipm_size_t d_ocp_qp_ipm_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, void *mem);
-//
-void d_ocp_qp_ipm_get(char *field, struct d_ocp_qp_ipm_ws *ws, void *value);
-//
-void d_ocp_qp_ipm_get_status(struct d_ocp_qp_ipm_ws *ws, int *status);
-//
-void d_ocp_qp_ipm_get_iter(struct d_ocp_qp_ipm_ws *ws, int *iter);
-//
-void d_ocp_qp_ipm_get_max_res_stat(struct d_ocp_qp_ipm_ws *ws, double *res_stat);
-//
-void d_ocp_qp_ipm_get_max_res_eq(struct d_ocp_qp_ipm_ws *ws, double *res_eq);
-//
-void d_ocp_qp_ipm_get_max_res_ineq(struct d_ocp_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_ocp_qp_ipm_get_max_res_comp(struct d_ocp_qp_ipm_ws *ws, double *res_comp);
-//
-void d_ocp_qp_ipm_get_stat(struct d_ocp_qp_ipm_ws *ws, double **stat);
-//
-void d_ocp_qp_ipm_get_stat_m(struct d_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void d_ocp_qp_ipm_get_ric_Lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Lr);
-//
-void d_ocp_qp_ipm_get_ric_Ls(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Ls);
-//
-void d_ocp_qp_ipm_get_ric_P(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *P);
-//
-void d_ocp_qp_ipm_get_ric_lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *lr);
-//
-void d_ocp_qp_ipm_get_ric_p(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *p);
-// feedback control gain in the form u = K x + k
-void d_ocp_qp_ipm_get_ric_K(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *K);
-// feedback control gain in the form u = K x + k
-void d_ocp_qp_ipm_get_ric_k(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *k);
-//
-void d_ocp_qp_init_var(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_abs_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_delta_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_solve(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_predict(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_ipm_sens(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
deleted file mode 100644
index 19dcec32ca..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_KKT_H_
-#define HPIPM_D_OCP_QP_KKT_H_
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//
-void d_ocp_qp_fact_solve_kkt_unconstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_fact_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_fact_lq_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-//
-void d_ocp_qp_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
deleted file mode 100644
index f0482b0444..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_RED_H_
-#define HPIPM_D_OCP_QP_RED_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_reduce_eq_dof_arg
-	{
-	double lam_min;
-	double t_min;
-	int alias_unchanged; // do not keep copy unchanged stage
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-struct d_ocp_qp_reduce_eq_dof_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM;
-	struct blasfeo_dvec *tmp_nbgM;
-	int *e_imask_ux;
-	int *e_imask_d;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-void d_ocp_qp_dim_reduce_eq_dof(struct d_ocp_qp_dim *dim, struct d_ocp_qp_dim *dim_red);
-//
-hpipm_size_t d_ocp_qp_reduce_eq_dof_arg_memsize();
-//
-void d_ocp_qp_reduce_eq_dof_arg_create(struct d_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_default(struct d_ocp_qp_reduce_eq_dof_arg *arg);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-hpipm_size_t d_ocp_qp_reduce_eq_dof_ws_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_reduce_eq_dof_ws_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_reduce_eq_dof_ws *work, void *mem);
-//
-void d_ocp_qp_reduce_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_reduce_eq_dof_lhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_reduce_eq_dof_rhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-//
-void d_ocp_qp_restore_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol_red, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_RED_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
deleted file mode 100644
index 061c5729cd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_RES_H_
-#define HPIPM_D_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_ocp_qp_dim.h>
-#include <hpipm_d_ocp_qp.h>
-#include <hpipm_d_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_res
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_ocp_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim);
-//
-void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem);
-//
-void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
-//
-void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
-//
-void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res);
-//
-void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
-//
-void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value);
-//
-void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_OCP_QP_RES_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
deleted file mode 100644
index eb91f3a7b1..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_SOL_H_
-#define HPIPM_D_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_ocp_qp_sol
-	{
-	struct d_ocp_qp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_ocp_qp_sol_strsize();
-//
-hpipm_size_t d_ocp_qp_sol_memsize(struct d_ocp_qp_dim *dim);
-//
-void d_ocp_qp_sol_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_sol *qp_sol, void *memory);
-//
-void d_ocp_qp_sol_copy_all(struct d_ocp_qp_sol *qp_sol_orig, struct d_ocp_qp_sol *qp_sol_dest);
-//
-void d_ocp_qp_sol_get_all(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_ocp_qp_sol_get_all_rowmaj(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_ocp_qp_sol_set_all(double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_get(char *field, int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lbu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lbx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ubu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ubx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_lg(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_get_lam_ug(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_ocp_qp_sol_set(char *field, int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-//
-void d_ocp_qp_sol_set_su(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
deleted file mode 100644
index 217e9d94ae..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_OCP_QP_UTILS_H_
-#define HPIPM_D_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_ocp_qp_dim.h"
-#include "hpipm_d_ocp_qp.h"
-#include "hpipm_d_ocp_qp_sol.h"
-#include "hpipm_d_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_ocp_qp_dim_print(struct d_ocp_qp_dim *qp_dim);
-//
-void d_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim);
-//
-void d_ocp_qp_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
-//
-void d_ocp_qp_sol_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_sol *ocp_qp_sol);
-//
-void d_ocp_qp_ipm_arg_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
-//
-void d_ocp_qp_res_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_UTILS_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
deleted file mode 100644
index 1c5f785035..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_PART_COND_H_
-#define HPIPM_D_PART_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_common.h"
-#include "hpipm_d_cond.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_part_cond_qp_arg
-	{
-	struct d_cond_qp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_part_cond_qp_ws
-	{
-	struct d_cond_qp_ws *cond_workspace;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_part_cond_qp_arg_memsize(int N2);
-//
-void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem);
-//
-void d_part_cond_qp_arg_set_default(struct d_part_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void d_part_cond_qp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_prim_sol(int value, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_part_cond_qp_arg *cond_arg);
-
-//
-void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
-//
-void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim);
-//
-hpipm_size_t d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg);
-//
-void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem);
-//
-void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-//
-void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-
-//
-void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
deleted file mode 100644
index 2d6624e5bb..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_PART_COND_QCQP_H_
-#define HPIPM_D_PART_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_cond_qcqp.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_part_cond_qcqp_arg
-	{
-	struct d_cond_qcqp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_part_cond_qcqp_ws
-	{
-	struct d_cond_qcqp_ws *cond_ws;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_part_cond_qcqp_arg_memsize(int N2);
-//
-void d_part_cond_qcqp_arg_create(int N2, struct d_part_cond_qcqp_arg *cond_arg, void *mem);
-//
-void d_part_cond_qcqp_arg_set_default(struct d_part_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void d_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qcqp_arg *cond_arg);
-
-//
-void d_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
-//
-void d_part_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim);
-//
-hpipm_size_t d_part_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg);
-//
-void d_part_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws, void *mem);
-//
-void d_part_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-//
-void d_part_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_ocp_qcqp_sol *part_dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
deleted file mode 100644
index 320b66bb28..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_SIM_ERK_H_
-#define HPIPM_D_SIM_ERK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_sim_erk_arg
-	{
-	struct d_sim_rk_data *rk_data; // integrator data
-	double h; // step size
-	int steps; // number of steps
-//	int for_sens; // compute adjoint sensitivities
-//	int adj_sens; // compute adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_sim_erk_ws
-	{
-	void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode
-	void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde
-	void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde
-	void *ode_args; // pointer to ode args
-	struct d_sim_erk_arg *erk_arg; // erk arg
-	double *K; // internal variables
-	double *x_for; // states and forward sensitivities
-	double *x_traj; // states at all steps
-	double *l; // adjoint sensitivities
-	double *p; // parameter
-	double *x_tmp; // temporary states and forward sensitivities
-	double *adj_in;
-	double *adj_tmp;
-	int nx; // number of states
-	int np; // number of parameters
-	int nf; // number of forward sensitivities
-	int na; // number of adjoint sensitivities
-	int nf_max; // max number of forward sensitivities
-	int na_max; // max number of adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_sim_erk_arg_memsize();
-//
-void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem);
-//
-void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg);
-
-//
-hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
-//
-void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory);
-//
-void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work);
-// number of directions for forward sensitivities
-void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work);
-// parameters (e.g. inputs)
-void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work);
-// state
-void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work);
-// forward sensitivities
-void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work);
-// ode funtion
-void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
-// forward vde function
-void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
-// ode_args, passed straight to the ode/vde_for/vde_adj functions
-void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work);
-// state
-void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x);
-// forward sensitivities
-void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs);
-//
-void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_ERK_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
deleted file mode 100644
index a50dcbb491..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_SIM_RK_H_
-#define HPIPM_D_SIM_RK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_sim_rk_data
-	{
-	double *A_rk; // A in butcher tableau
-	double *B_rk; // b in butcher tableau
-	double *C_rk; // c in butcher tableau
-	int expl; // erk vs irk
-	int ns; // number of stages
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_sim_rk_data_memsize(int ns);
-//
-void d_sim_rk_data_create(int ns, struct d_sim_rk_data *rk_data, void *memory);
-//
-void d_sim_rk_data_init_default(char *field, struct d_sim_rk_data *rk_data);
-//
-void d_sim_rk_data_set_all(int expl, double *A_rk, double *B_rk, double *C_rk, struct d_sim_rk_data *rk_data);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_RK_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
deleted file mode 100644
index f36b51a064..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
+++ /dev/null
@@ -1,213 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_H_
-#define HPIPM_D_TREE_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_common.h"
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dmat *BAbt; // Nn-1
-	struct blasfeo_dmat *RSQrq; // Nn
-	struct blasfeo_dmat *DCt; // Nn
-	struct blasfeo_dmat **Hq; // Nn
-	struct blasfeo_dvec *b; // Nn-1
-	struct blasfeo_dvec *rqz; // Nn
-	struct blasfeo_dvec *d; // Nn
-	struct blasfeo_dvec *d_mask; // Nn
-	struct blasfeo_dvec *m; // Nn
-	struct blasfeo_dvec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_memsize(struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp *qp, void *memory);
-//
-void d_tree_ocp_qcqp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_A(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_B(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_b(int edge, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Q(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_S(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_R(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_q(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_r(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lb(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ub(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxb(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_C(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_D(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ug(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Qq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Sq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Rq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_qq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_rq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_uq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_uq_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lls(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lus(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxs(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_set_Jsq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_idxge(int node, int *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jbue(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_Jge(int node, double *vec, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qcqp *qp);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
deleted file mode 100644
index 257b82b252..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_DIM_H_
-#define HPIPM_D_TREE_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_dim
-	{
-	struct d_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_dim_memsize(int Nn);
-//
-void d_tree_ocp_qcqp_dim_create(int Nn, struct d_tree_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void d_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-//
-//void d_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_DIM_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
deleted file mode 100644
index 4a0fed1067..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_IPM_H_
-#define HPIPM_D_TREE_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qcqp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qcqp_res.h>
-#include <hpipm_d_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_ipm_arg
-	{
-	struct d_tree_ocp_qp_ipm_arg *qp_arg;
-	double mu0; // initial value for complementarity slackness
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-//	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qcqp_ipm_ws
-	{
-	struct d_tree_ocp_qp_ipm_ws *qp_ws;
-	struct d_tree_ocp_qp *qp;
-	struct d_tree_ocp_qp_sol *qp_sol;
-	struct d_tree_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct d_tree_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_dvec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_arg_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_ipm_arg_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void d_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void d_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void d_tree_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void d_tree_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void d_tree_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void d_tree_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void d_tree_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void d_tree_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void d_tree_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void d_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void d_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void d_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-//void d_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void d_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-//void d_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void d_tree_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void d_tree_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void d_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void d_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t d_tree_ocp_qcqp_ipm_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_ipm_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void d_tree_ocp_qcqp_ipm_get(char *field, struct d_tree_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void d_tree_ocp_qcqp_ipm_get_status(struct d_tree_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void d_tree_ocp_qcqp_ipm_get_iter(struct d_tree_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_stat);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_eq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_eq);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_ineq);
-//
-void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp);
-//
-void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat);
-//
-void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void d_tree_ocp_qcqp_init_var(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
-//
-void d_tree_ocp_qcqp_ipm_solve(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
deleted file mode 100644
index 69eebb1ba4..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_RES_H_
-#define HPIPM_D_TREE_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qcqp_dim.h>
-#include <hpipm_d_tree_ocp_qcqp.h>
-#include <hpipm_d_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qcqp_res
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qcqp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_res_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_res_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t d_tree_ocp_qcqp_res_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
-//
-void d_tree_ocp_qcqp_res_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res_ws *ws, void *mem);
-//
-void d_tree_ocp_qcqp_res_compute(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_res *res, struct d_tree_ocp_qcqp_res_ws *ws);
-//
-void d_tree_ocp_qcqp_res_compute_inf_norm(struct d_tree_ocp_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
deleted file mode 100644
index cde8de5c51..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QCQP_SOL_H_
-#define HPIPM_D_TREE_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_tree_ocp_qcqp_sol
-	{
-	struct d_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim);
-//
-void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
deleted file mode 100644
index 5ef04fcf66..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
-#define HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qcqp_dim.h"
-#include "hpipm_d_tree_ocp_qcqp.h"
-#include "hpipm_d_tree_ocp_qcqp_sol.h"
-#include "hpipm_d_tree_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim);
-//
-//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim);
-//
-void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
-//
-//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
-//
-void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
-//
-void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
deleted file mode 100644
index 1666ad7c71..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_H_
-#define HPIPM_D_TREE_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dmat *BAbt; // Nn-1
-	struct blasfeo_dmat *RSQrq; // Nn
-	struct blasfeo_dmat *DCt; // Nn
-	struct blasfeo_dvec *b; // Nn-1
-	struct blasfeo_dvec *rqz; // Nn
-	struct blasfeo_dvec *d; // Nn
-	struct blasfeo_dvec *d_mask; // Nn
-	struct blasfeo_dvec *m; // Nn
-	struct blasfeo_dvec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-//	int **idxs; // index of soft constraints
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory);
-//
-void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
deleted file mode 100644
index 659b664594..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_DIM_H_
-#define HPIPM_D_TREE_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_dim
-	{
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_dim_strsize();
-//
-hpipm_size_t d_tree_ocp_qp_dim_memsize(int Nn);
-//
-void d_tree_ocp_qp_dim_create(int Nn, struct d_tree_ocp_qp_dim *qp_dim, void *memory);
-//
-void d_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_ng(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_ns(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_dim_set_nge(int stage, int value, struct d_tree_ocp_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
deleted file mode 100644
index fb634208ce..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
+++ /dev/null
@@ -1,209 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_D_TREE_OCP_QP_IPM_H_
-#define HPIPM_D_TREE_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qp_res.h>
-#include <hpipm_d_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_ipm_arg
-	{
-	double mu0; // initial value for duality measure
-	double alpha_min; // exit cond on step length
-	double res_g_max; // exit cond on inf norm of residuals
-	double res_b_max; // exit cond on inf norm of residuals
-	double res_d_max; // exit cond on inf norm of residuals
-	double res_m_max; // exit cond on inf norm of residuals
-	double reg_prim; // reg of primal hessian
-	double lam_min; // min value in lam vector
-	double t_min; // min value in t vector
-	double tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qp_ipm_ws
-	{
-	struct d_core_qp_ipm_workspace *core_workspace;
-	struct d_tree_ocp_qp_res_ws *res_workspace;
-	struct d_tree_ocp_qp_sol *sol_step;
-	struct d_tree_ocp_qp_sol *sol_itref;
-	struct d_tree_ocp_qp *qp_step;
-	struct d_tree_ocp_qp *qp_itref;
-	struct d_tree_ocp_qp_res *res_itref;
-	struct d_tree_ocp_qp_res *res;
-	struct blasfeo_dvec *Gamma; // hessian update
-	struct blasfeo_dvec *gamma; // hessian update
-	struct blasfeo_dvec *tmp_nxM; // work space of size nxM
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbgM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	struct blasfeo_dvec *Pb; // Pb
-	struct blasfeo_dvec *Zs_inv;
-	struct blasfeo_dmat *L;
-	struct blasfeo_dmat *Lh;
-	struct blasfeo_dmat *AL;
-	struct blasfeo_dmat *lq0;
-	struct blasfeo_dvec *tmp_m;
-	double *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	double qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_ipm_arg_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_ipm_arg_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, void *mem);
-//
-void d_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_reg_prim(double *reg, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t d_tree_ocp_qp_ipm_ws_memsize(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_ipm_ws_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws, void *mem);
-//
-void d_tree_ocp_qp_ipm_get_status(struct d_tree_ocp_qp_ipm_ws *ws, int *status);
-//
-void d_tree_ocp_qp_ipm_get_iter(struct d_tree_ocp_qp_ipm_ws *ws, int *iter);
-//
-void d_tree_ocp_qp_ipm_get_max_res_stat(struct d_tree_ocp_qp_ipm_ws *ws, double *res_stat);
-//
-void d_tree_ocp_qp_ipm_get_max_res_eq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_eq);
-//
-void d_tree_ocp_qp_ipm_get_max_res_ineq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_ineq);
-//
-void d_tree_ocp_qp_ipm_get_max_res_comp(struct d_tree_ocp_qp_ipm_ws *ws, double *res_comp);
-//
-void d_tree_ocp_qp_ipm_get_stat(struct d_tree_ocp_qp_ipm_ws *ws, double **stat);
-//
-void d_tree_ocp_qp_ipm_get_stat_m(struct d_tree_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void d_tree_ocp_qp_init_var(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_abs_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_delta_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_ipm_solve(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
deleted file mode 100644
index 4afd52fe4b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//
-void d_tree_ocp_qp_fact_solve_kkt_unconstr(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_fact_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_fact_lq_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-//
-void d_tree_ocp_qp_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
deleted file mode 100644
index fe499080ea..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_RES_H_
-#define HPIPM_D_TREE_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_d_tree_ocp_qp_dim.h>
-#include <hpipm_d_tree_ocp_qp.h>
-#include <hpipm_d_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct d_tree_ocp_qp_res
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	double res_max[4]; // max of residuals
-	double res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct d_tree_ocp_qp_res_ws
-	{
-	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_res_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
-//
-void d_tree_ocp_qp_res_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t d_tree_ocp_qp_res_ws_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
-//
-void d_tree_ocp_qp_res_ws_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res_ws *ws, void *mem);
-//
-void d_tree_ocp_qp_res_get_all(struct d_tree_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
-//
-void d_tree_ocp_qp_res_compute(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
-//
-void d_tree_ocp_qp_res_compute_lin(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_sol *qp_step, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
-//
-void d_tree_ocp_qp_res_compute_inf_norm(struct d_tree_ocp_qp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_TREE_OCP_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
deleted file mode 100644
index 343d5e8ca6..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_SOL_H_
-#define HPIPM_D_TREE_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct d_tree_ocp_qp_sol
-	{
-	struct d_tree_ocp_qp_dim *dim;
-	struct blasfeo_dvec *ux;
-	struct blasfeo_dvec *pi;
-	struct blasfeo_dvec *lam;
-	struct blasfeo_dvec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t d_tree_ocp_qp_sol_memsize(struct d_tree_ocp_qp_dim *dim);
-//
-void d_tree_ocp_qp_sol_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_sol *qp_sol, void *memory);
-//
-void d_tree_ocp_qp_sol_get_all(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
-//
-void d_tree_ocp_qp_sol_get(char *field, int node_edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_u(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_x(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_sl(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_su(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_pi(int edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_lb(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_ub(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_lg(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-//
-void d_tree_ocp_qp_sol_get_lam_ug(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
deleted file mode 100644
index b689fdc0fa..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
-#define HPIPM_D_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_tree_ocp_qp_dim.h"
-#include "hpipm_d_tree_ocp_qp.h"
-#include "hpipm_d_tree_ocp_qp_sol.h"
-#include "hpipm_d_tree_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void d_tree_ocp_qp_dim_print(struct d_tree_ocp_qp_dim *qp_dim);
-//
-//void d_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim);
-//
-void d_tree_ocp_qp_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
-//
-//void d_tree_ocp_qp_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
-//
-void d_tree_ocp_qp_sol_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_sol *ocp_qp_sol);
-//
-void d_tree_ocp_qp_ipm_arg_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-//void d_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
-//
-void d_tree_ocp_qp_res_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
deleted file mode 100644
index 8bc101003e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-
-#ifndef HPIPM_M_DENSE_QP_H_
-#define HPIPM_M_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp.h"
-#include "hpipm_s_dense_qp.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void cvt_d2s_dense_qp(struct d_dense_qp *qpd, struct s_dense_qp *qps);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_M_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
deleted file mode 100644
index 4610321b97..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-
-#ifndef HPIPM_M_DENSE_QP_DIM_H_
-#define HPIPM_M_DENSE_QP_DIM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_d_dense_qp_dim.h"
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-void cvt_d2s_dense_qp_dim(struct d_dense_qp_dim *qpd, struct s_dense_qp_dim *qps);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_M_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
deleted file mode 100644
index 95c3dad1aa..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void m_cvt_d_ocp_qp_to_s_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
deleted file mode 100644
index 1c44acee2e..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-struct m_ipm_hard_ocp_qp_workspace
-	{
-	struct d_ipm_hard_core_qp_workspace *core_workspace;
-	struct blasfeo_dvec *dux;
-	struct blasfeo_dvec *dpi;
-	struct blasfeo_dvec *dt_lb;
-	struct blasfeo_dvec *dt_lg;
-	struct blasfeo_svec *sdux; // XXX
-	struct blasfeo_svec *sdpi; // XXX
-	struct blasfeo_dvec *res_g; // q-residuals
-	struct blasfeo_dvec *res_b; // b-residuals
-	struct blasfeo_dvec *res_d; // d-residuals XXX remove ???
-	struct blasfeo_dvec *res_d_lb; // d-residuals
-	struct blasfeo_dvec *res_d_ub; // d-residuals
-	struct blasfeo_dvec *res_d_lg; // d-residuals
-	struct blasfeo_dvec *res_d_ug; // d-residuals
-	struct blasfeo_dvec *res_m; // m-residuals
-	struct blasfeo_dvec *res_m_lb; // m-residuals
-	struct blasfeo_dvec *res_m_ub; // m-residuals
-	struct blasfeo_dvec *res_m_lg; // m-residuals
-	struct blasfeo_dvec *res_m_ug; // m-residuals
-	struct blasfeo_svec *sres_g; // q-residuals // XXX
-	struct blasfeo_svec *sres_b; // b-residuals // XXX
-	struct blasfeo_dvec *Qx_lb; // hessian update
-	struct blasfeo_dvec *Qx_lg; // hessian update
-	struct blasfeo_dvec *qx_lb; // gradient update
-	struct blasfeo_dvec *qx_lg; // gradient update
-	struct blasfeo_svec *sQx_lb; // hessian update // XXX
-	struct blasfeo_svec *sQx_lg; // hessian update // XXX
-	struct blasfeo_svec *sqx_lb; // gradient update // XXX
-	struct blasfeo_svec *sqx_lg; // gradient update // XXX
-	struct blasfeo_dvec *tmp_nbM; // work space of size nbM
-	struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX
-	struct blasfeo_dvec *tmp_ngM; // work space of size ngM
-	struct blasfeo_svec *Pb; // Pb // XXX
-	struct blasfeo_smat *L; // XXX
-	struct blasfeo_smat *AL; // XXX
-	struct blasfeo_svec *sSx; // scaling
-	struct blasfeo_svec *sSi; // scaling inverted
-	double *stat; // convergence statistics
-	double res_mu; // mu-residual
-	int iter; // iteration number
-	int compute_Pb;
-	int scale;
-	};
-
-
-
-struct m_ipm_hard_ocp_qp_arg
-	{
-	double alpha_min; // exit cond on step length
-	double mu_max; // exit cond on duality measure
-	double mu0; // initial value for duality measure
-	int iter_max; // exit cond in iter number
-	};
-
-
-
-//
-hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg);
-//
-void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem);
-//
-void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
-//
-void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
deleted file mode 100644
index 032fe95b1f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void m_fact_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
-void m_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
deleted file mode 100644
index ba01ecb3bd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_CAST_QCQP_H_
-#define HPIPM_S_CAST_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp.h"
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_cast_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
-//
-void s_cast_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_CAST_QCQP_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_cond.h
deleted file mode 100644
index 30116798b7..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_H_
-#define HPIPM_S_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp.h"
-#include "hpipm_s_dense_qp_sol.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qp_dim.h"
-#include "hpipm_s_ocp_qp_sol.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_cond_qp_arg
-	{
-	int cond_last_stage; // condense last stage
-	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_cond_qp_ws
-	{
-	struct blasfeo_smat *Gamma;
-	struct blasfeo_smat *GammaQ;
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Lx;
-	struct blasfeo_smat *AL;
-	struct blasfeo_svec *Gammab;
-	struct blasfeo_svec *l;
-	struct blasfeo_svec *tmp_nbgM;
-	struct blasfeo_svec *tmp_nuxM;
-	int bs; // block size
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_cond_qp_arg_memsize();
-//
-void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem);
-//
-void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg);
-// condensing algorithm: 0 N2-nx3, 1 N3-nx2
-void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg);
-
-//
-void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim);
-//
-hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg);
-//
-void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem);
-//
-void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-// TODO remove
-void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-//
-void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
deleted file mode 100644
index 003472ab9f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
+++ /dev/null
@@ -1,92 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_AUX_H_
-#define HPIPM_S_COND_AUX_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_cond_BAbt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_BAt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_b(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_RSQrq(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_RSQ(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_rq(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_DCtd(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, int *idxs_rev2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_DCt(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, int *idxs_rev2, struct blasfeo_svec *Z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_cond_d(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-//
-void s_update_cond_BAbt(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_update_cond_RSQrq_N2nx3(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-//
-void s_update_cond_DCtd(int *idxc, struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, int *idxs2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
deleted file mode 100644
index c36678abd5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
+++ /dev/null
@@ -1,130 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_COND_QCQP_H_
-#define HPIPM_S_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp.h"
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_cond_qcqp_arg
-	{
-	struct s_cond_qp_arg *qp_arg;
-	int cond_last_stage; // condense last stage
-//	int cond_variant; // TODO
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
-	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_cond_qcqp_ws
-	{
-	struct s_cond_qp_ws *qp_ws;
-	struct blasfeo_smat *hess_array; // TODO remove
-	struct blasfeo_smat *zero_hess; // TODO remove
-	struct blasfeo_svec *zero_grad; // TODO remove
-	struct blasfeo_svec *grad_array; // TODO remove
-	struct blasfeo_svec *tmp_nvc;
-	struct blasfeo_svec *tmp_nuxM;
-	struct blasfeo_smat *GammaQ;
-	struct blasfeo_smat *tmp_DCt;
-	struct blasfeo_smat *tmp_nuM_nxM;
-//	struct blasfeo_svec *d_qp;
-//	struct blasfeo_svec *d_mask_qp;
-	hpipm_size_t memsize;
-	};
-
-
-//
-hpipm_size_t s_cond_qcqp_arg_memsize();
-//
-void s_cond_qcqp_arg_create(struct s_cond_qcqp_arg *cond_arg, void *mem);
-//
-void s_cond_qcqp_arg_set_default(struct s_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 square-root
-void s_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_cond_qcqp_arg *cond_arg);
-// condense last stage: 0 last stage disregarded, 1 last stage condensed too
-void s_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qcqp_arg *cond_arg);
-
-//
-void s_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
-//
-hpipm_size_t s_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg);
-//
-void s_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws, void *mem);
-//
-void s_cond_qcqp_qc(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_qc_lhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_qc_rhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-//
-void s_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp_sol *dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_COND_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
deleted file mode 100644
index 480392c7d9..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_
-#define HPIPM_S_CORE_QP_IPM_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_core_qp_ipm_workspace
-	{
-	float *v; // primal variables
-	float *pi; // equality constraints multipliers
-	float *lam; // inequality constraints multipliers
-	float *t; // inequality constraints slacks
-	float *t_inv; // inverse of t
-	float *v_bkp; // backup of primal variables
-	float *pi_bkp; // backup of equality constraints multipliers
-	float *lam_bkp; // backup of inequality constraints multipliers
-	float *t_bkp; // backup of inequality constraints slacks
-	float *dv; // step in v
-	float *dpi; // step in pi
-	float *dlam; // step in lam
-	float *dt; // step in t
-	float *res_g; // q-residuals
-	float *res_b; // b-residuals
-	float *res_d; // d-residuals
-	float *res_m; // m-residuals
-	float *res_m_bkp; // m-residuals
-	float *Gamma; // Hessian update
-	float *gamma; // gradient update
-	float alpha_prim; // step length
-	float alpha_dual; // step length
-	float alpha; // step length
-	float sigma; // centering XXX
-	float mu; // duality measuere
-	float mu_aff; // affine duality measuere
-	float nc_inv; // 1.0/nc, where nc is the total number of constraints
-	float nc_mask_inv; // 1.0/nc_mask
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float t_min_inv; // inverse of min value in t vector
-	float tau_min; // min value of barrier parameter
-	int nv; // number of primal variables
-	int ne; // number of equality constraints
-	int nc; // (twice the) number of (two-sided) inequality constraints
-	int nc_mask; // total number of ineq constr after masking
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_memsize_core_qp_ipm(int nv, int ne, int nc);
-//
-void s_create_core_qp_ipm(int nv, int ne, int nc, struct s_core_qp_ipm_workspace *workspace, void *mem);
-//
-void s_core_qp_ipm(struct s_core_qp_ipm_workspace *workspace);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
deleted file mode 100644
index 1ac3d7ede9..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_CORE_QP_IPM_AUX_
-#define HPIPM_S_CORE_QP_IPM_AUX_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_compute_Gamma_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_lam_t_qp(float *res_d, float *res_m, float *dlam, float *dt, struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_alpha_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_update_var_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_mu_aff_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_backup_res_m(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_centering_correction_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_centering_qp(struct s_core_qp_ipm_workspace *rws);
-//
-void s_compute_tau_min_qp(struct s_core_qp_ipm_workspace *rws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
deleted file mode 100644
index d03c065375..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
+++ /dev/null
@@ -1,200 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_H_
-#define HPIPM_S_DENSE_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_smat *Hv; // hessian of cost & vector work space
-	struct blasfeo_smat *A; // equality constraint matrix
-	struct blasfeo_smat *Ct; // inequality constraints matrix
-	struct blasfeo_smat *Hq; // hessians of quadratic constraints
-	struct blasfeo_svec *gz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *b; // equality constraint vector
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory);
-
-//
-void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp);
-
-// getters (COLMAJ)
-
-void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H);
-//
-void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g);
-//
-void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A);
-//
-void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b);
-//
-void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb);
-//
-void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb);
-//
-void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb);
-//
-void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub);
-//
-void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub);
-//
-void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C);
-//
-void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg);
-//
-void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg);
-//
-void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug);
-//
-void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug);
-//
-void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs);
-//
-void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev);
-//
-void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl);
-//
-void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu);
-//
-void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl);
-//
-void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu);
-//
-void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls);
-//
-void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls);
-//
-void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us);
-//
-void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
deleted file mode 100644
index 04908c2c3a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_DIM_H_
-#define HPIPM_S_DENSE_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_dim
-	{
-	struct s_dense_qp_dim *qp_dim; // dim of qp approximation
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nq;  // number of quadratic constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int nsq; // number of softened quadratic constraints
-	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_dim_memsize();
-//
-void s_dense_qcqp_dim_create(struct s_dense_qcqp_dim *dim, void *memory);
-//
-void s_dense_qcqp_dim_set(char *fiels_name, int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nv(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ne(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nb(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ng(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nq(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsb(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsg(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_nsq(int value, struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_dim_set_ns(int value, struct s_dense_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
deleted file mode 100644
index 8f85768ee3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
+++ /dev/null
@@ -1,204 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_IPM_H_
-#define HPIPM_S_DENSE_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_dense_qcqp_dim.h>
-#include <hpipm_s_dense_qcqp.h>
-#include <hpipm_s_dense_qcqp_res.h>
-#include <hpipm_s_dense_qcqp_sol.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_ipm_arg
-	{
-	struct s_dense_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float reg_dual; // reg of dual hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qcqp_ipm_ws
-	{
-//	float qp_res[4]; // infinity norm of residuals
-	struct s_dense_qp_ipm_ws *qp_ws;
-	struct s_dense_qp *qp;
-	struct s_dense_qp_sol *qp_sol;
-	struct s_dense_qcqp_res_ws *qcqp_res_ws;
-	struct s_dense_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nv;
-//	float *stat; // convergence statistics
-//	void *lq_work0;
-//	void *lq_work1;
-	int iter; // iteration number
-//	int stat_max; // iterations saved in stat
-//	int stat_m; // numer of recorded stat per ipm iter
-//	int scale;
-//	int use_hess_fact;
-	int status;
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_ipm_arg_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_ipm_arg_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_ipm_arg *arg, void *mem);
-//
-void s_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set(char *field, void *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_mu0(float *mu0, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_lam_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_t_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_split_step(int *value, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_dense_qcqp_ipm_ws_memsize(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_ipm_ws_create(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws, void *mem);
-//
-void s_dense_qcqp_ipm_get(char *field, struct s_dense_qcqp_ipm_ws *ws, void *value);
-//
-void s_dense_qcqp_ipm_get_status(struct s_dense_qcqp_ipm_ws *ws, int *status);
-//
-void s_dense_qcqp_ipm_get_iter(struct s_dense_qcqp_ipm_ws *ws, int *iter);
-//
-void s_dense_qcqp_ipm_get_max_res_stat(struct s_dense_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_dense_qcqp_ipm_get_max_res_eq(struct s_dense_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_dense_qcqp_ipm_get_max_res_ineq(struct s_dense_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_dense_qcqp_ipm_get_max_res_comp(struct s_dense_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_dense_qcqp_ipm_get_stat(struct s_dense_qcqp_ipm_ws *ws, float **stat);
-//
-void s_dense_qcqp_ipm_get_stat_m(struct s_dense_qcqp_ipm_ws *ws, int *stat_m);
-#if 0
-//
-void s_dense_qcqp_init_var(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#endif
-//
-void s_dense_qcqp_ipm_solve(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#if 0
-//
-void s_dense_qcqp_ipm_predict(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-//
-void s_dense_qcqp_ipm_sens(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
-#endif
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
deleted file mode 100644
index 779658cc8f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_RES_H_
-#define HPIPM_S_DENSE_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_dense_qcqp_dim.h>
-#include <hpipm_s_dense_qcqp.h>
-#include <hpipm_s_dense_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_res
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // infinity norm of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nv; // work space of size nv
-	struct blasfeo_svec *tmp_nbgq; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_ns; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_res_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_res_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_dense_qcqp_res_ws_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_res_ws_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res_ws *workspace, void *mem);
-//
-void s_dense_qcqp_res_compute(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_res *res, struct s_dense_qcqp_res_ws *ws);
-//
-void s_dense_qcqp_res_compute_inf_norm(struct s_dense_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_DENSE_QCQP_RES_H_
-
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
deleted file mode 100644
index 197a690e52..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QCQP_SOL_H_
-#define HPIPM_S_DENSE_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qcqp_sol
-	{
-	struct s_dense_qcqp_dim *dim;
-	struct blasfeo_svec *v;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qcqp_sol_memsize(struct s_dense_qcqp_dim *dim);
-//
-void s_dense_qcqp_sol_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_sol *qp_sol, void *memory);
-//
-void s_dense_qcqp_sol_get_v(struct s_dense_qcqp_sol *qp_sol, float *v);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_SOL_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
deleted file mode 100644
index 4f5aae26eb..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QCQP_UTILS_H_
-#define HPIPM_S_DENSE_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qcqp_dim.h"
-#include "hpipm_s_dense_qcqp.h"
-#include "hpipm_s_dense_qcqp_sol.h"
-//#include "hpipm_s_dense_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_dense_qcqp_dim_print(struct s_dense_qcqp_dim *qp_dim);
-//
-//void s_dense_qcqp_dim_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim);
-//
-void s_dense_qcqp_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
-//
-//void s_dense_qcqp_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
-//
-void s_dense_qcqp_sol_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_sol *dense_qcqp_sol);
-//
-//void s_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
-//
-void s_dense_qcqp_res_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_res *dense_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QCQP_UTILS_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
deleted file mode 100644
index 3c2517fe1b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_H_
-#define HPIPM_S_DENSE_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_smat *Hv; // hessian & gradient
-	struct blasfeo_smat *A; // dynamics matrix
-	struct blasfeo_smat *Ct; // constraints matrix
-	struct blasfeo_svec *gz; // gradient & gradient of slacks
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *d; // constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int *idxb; // indices of box constrained variables within [u; x]
-	int *idxs_rev; // index of soft constraints (reverse storage)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory);
-
-// setters - colmaj
-//
-void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
-//
-void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
-//
-void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_H(float *H, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_g(float *g, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_A(float *A, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_b(float *b, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_C(float *C, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_us(float *us, struct s_dense_qp *qp);
-//
-void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp);
-
-// getters - colmaj
-//
-void s_dense_qp_get_H(struct s_dense_qp *qp, float *H);
-//
-void s_dense_qp_get_g(struct s_dense_qp *qp, float *g);
-//
-void s_dense_qp_get_A(struct s_dense_qp *qp, float *A);
-//
-void s_dense_qp_get_b(struct s_dense_qp *qp, float *b);
-//
-void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb);
-//
-void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb);
-//
-void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb);
-//
-void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub);
-//
-void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub);
-//
-void s_dense_qp_get_C(struct s_dense_qp *qp, float *C);
-//
-void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg);
-//
-void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg);
-//
-void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug);
-//
-void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug);
-//
-void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs);
-//
-void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev);
-//
-void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl);
-//
-void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu);
-//
-void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl);
-//
-void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu);
-//
-void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls);
-//
-void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls);
-//
-void s_dense_qp_get_us(struct s_dense_qp *qp, float *us);
-//
-void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us);
-
-// setters - rowmaj
-//
-void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
-
-// getters - rowmaj
-//
-void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
deleted file mode 100644
index b979d24432..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_DIM_H_
-#define HPIPM_S_DENSE_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_dim
-	{
-	int nv;  // number of variables
-	int ne;  // number of equality constraints
-	int nb;  // number of box constraints
-	int ng;  // number of general constraints
-	int nsb; // number of softened box constraints
-	int nsg; // number of softened general constraints
-	int ns;  // number of softened constraints (nsb+nsg)
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_dim_memsize();
-//
-void s_dense_qp_dim_create(struct s_dense_qp_dim *qp_dim, void *memory);
-//
-void s_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set(char *fiels_name, int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nv(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ne(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nb(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ng(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nsb(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_nsg(int value, struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_dim_set_ns(int value, struct s_dense_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
deleted file mode 100644
index f2d56d4529..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_IPM_H_
-#define HPIPM_S_DENSE_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_dense_qp_dim.h>
-#include <hpipm_s_dense_qp.h>
-#include <hpipm_s_dense_qp_res.h>
-#include <hpipm_s_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_ipm_arg
-	{
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float reg_dual; // reg of dual hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int scale; // scale hessian
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
-	int comp_res_pred; // compute residuals of prediction
-	int kkt_fact_alg; // 0 null-space, 1 schur-complement
-	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
-	int compute_obj; // compute obj on exit
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_dense_qp_res_ws *res_ws;
-	struct s_dense_qp_sol *sol_step;
-	struct s_dense_qp_sol *sol_itref;
-	struct s_dense_qp *qp_step;
-	struct s_dense_qp *qp_itref;
-	struct s_dense_qp_res *res;
-	struct s_dense_qp_res *res_itref;
-	struct s_dense_qp_res *res_step;
-	struct blasfeo_svec *Gamma; //
-	struct blasfeo_svec *gamma; //
-	struct blasfeo_svec *Zs_inv; //
-	struct blasfeo_smat *Lv; //
-	struct blasfeo_smat *AL; //
-	struct blasfeo_smat *Le; //
-	struct blasfeo_smat *Ctx; //
-	struct blasfeo_svec *lv; //
-	struct blasfeo_svec *sv; // scale for Lv
-	struct blasfeo_svec *se; // scale for Le
-	struct blasfeo_svec *tmp_nbg; // work space of size nb+ng
-	struct blasfeo_svec *tmp_ns; // work space of size ns
-	struct blasfeo_smat *lq0;
-	struct blasfeo_smat *lq1;
-	struct blasfeo_svec *tmp_m;
-	struct blasfeo_smat *A_LQ;
-	struct blasfeo_smat *A_Q;
-	struct blasfeo_smat *Zt;
-	struct blasfeo_smat *ZtH;
-	struct blasfeo_smat *ZtHZ;
-	struct blasfeo_svec *xy;
-	struct blasfeo_svec *Yxy;
-	struct blasfeo_svec *xz;
-	struct blasfeo_svec *tmp_nv;
-	struct blasfeo_svec *tmp_2ns;
-	struct blasfeo_svec *tmp_nv2ns;
-	struct blasfeo_smat *A_li; // A of linearly independent equality constraints
-	struct blasfeo_svec *b_li; // b of linearly independent equality constraints
-	struct blasfeo_smat *A_bkp; // pointer to backup A
-	struct blasfeo_svec *b_bkp; // pointer to backup b
-	struct blasfeo_smat *Ab_LU;
-	float *stat; // convergence statistics
-	int *ipiv_v;
-	int *ipiv_e;
-	int *ipiv_e1;
-	void *lq_work0;
-	void *lq_work1;
-	void *lq_work_null;
-	void *orglq_work_null;
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // numer of recorded stat per ipm iter
-	int scale;
-	int use_hess_fact;
-	int use_A_fact;
-	int status;
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int ne_li; // number of linearly independent equality constraints
-	int ne_bkp; // ne backup
-	hpipm_size_t memsize; // memory size (in bytes) of workspace
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_ipm_arg_memsize(struct s_dense_qp_dim *qp_dim);
-//
-void s_dense_qp_ipm_arg_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, void *mem);
-//
-void s_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set(char *field, void *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_mu0(float *mu0, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_lam_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_t_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_tau_min(float *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_compute_obj(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_split_step(int *value, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_dense_qp_ipm_ws_memsize(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_ipm_ws_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws, void *mem);
-//
-void s_dense_qp_ipm_get(char *field, struct s_dense_qp_ipm_ws *ws, void *value);
-//
-void s_dense_qp_ipm_get_status(struct s_dense_qp_ipm_ws *ws, int *status);
-//
-void s_dense_qp_ipm_get_iter(struct s_dense_qp_ipm_ws *ws, int *iter);
-//
-void s_dense_qp_ipm_get_max_res_stat(struct s_dense_qp_ipm_ws *ws, float *res_stat);
-//
-void s_dense_qp_ipm_get_max_res_eq(struct s_dense_qp_ipm_ws *ws, float *res_eq);
-//
-void s_dense_qp_ipm_get_max_res_ineq(struct s_dense_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_dense_qp_ipm_get_max_res_comp(struct s_dense_qp_ipm_ws *ws, float *res_comp);
-//
-void s_dense_qp_ipm_get_stat(struct s_dense_qp_ipm_ws *ws, float **stat);
-//
-void s_dense_qp_ipm_get_stat_m(struct s_dense_qp_ipm_ws *ws, int *stat_m);
-//
-void s_dense_qp_init_var(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_abs_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_delta_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_solve(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_predict(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_ipm_sens(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_compute_step_length(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
deleted file mode 100644
index 260dc0ab21..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_KKT_H_
-#define HPIPM_S_DENSE_QP_KKT_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_remove_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_restore_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-//
-void s_dense_qp_compute_obj(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
deleted file mode 100644
index 06b609c537..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_RES_H_
-#define HPIPM_S_DENSE_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_dense_qp_dim.h>
-#include <hpipm_s_dense_qp.h>
-#include <hpipm_s_dense_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_res
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_dense_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_ns; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem);
-//
-hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem);
-//
-void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
-//
-void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
-//
-void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res);
-//
-void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_D_DENSE_QP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
deleted file mode 100644
index 1f40076378..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_DENSE_QP_SOL_H_
-#define HPIPM_S_DENSE_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_dense_qp_sol
-	{
-	struct s_dense_qp_dim *dim;
-	struct blasfeo_svec *v;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	float obj;
-	int valid_obj;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_dense_qp_sol_memsize(struct s_dense_qp_dim *dim);
-//
-void s_dense_qp_sol_create(struct s_dense_qp_dim *dim, struct s_dense_qp_sol *qp_sol, void *memory);
-//
-void s_dense_qp_sol_get_all(struct s_dense_qp_sol *qp_sol, float *v, float *ls, float *us, float *pi, float *lam_lb, float *lam_ub, float *lam_lg, float *lam_ug, float *lam_ls, float *lam_us);
-//
-void s_dense_qp_sol_get(char *field, struct s_dense_qp_sol *sol, void *value);
-//
-void s_dense_qp_sol_get_v(struct s_dense_qp_sol *sol, float *v);
-//
-void s_dense_qp_sol_get_valid_obj(struct s_dense_qp_sol *sol, int *valid_obj);
-//
-void s_dense_qp_sol_get_obj(struct s_dense_qp_sol *sol, float *obj);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
deleted file mode 100644
index 3dd93259a5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_DENSE_QP_UTILS_H_
-#define HPIPM_S_DENSE_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_dense_qp_dim.h"
-#include "hpipm_s_dense_qp.h"
-#include "hpipm_s_dense_qp_sol.h"
-#include "hpipm_s_dense_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_dense_qp_dim_print(struct s_dense_qp_dim *qp_dim);
-//
-//void s_dense_qp_dim_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim);
-//
-void s_dense_qp_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
-//
-//void s_dense_qp_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
-//
-void s_dense_qp_sol_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_sol *dense_qp_sol);
-//
-//void s_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
-//
-void s_dense_qp_res_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_res *dense_qp_res);
-//
-void s_dense_qp_arg_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *qp_ipm_arg);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_DENSE_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
deleted file mode 100644
index b90b2ac633..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
+++ /dev/null
@@ -1,303 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_H_
-#define HPIPM_S_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_smat *DCt; // inequality constraints matrix
-	struct blasfeo_smat **Hq; // hessians of quadratic constraints
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_strsize();
-//
-hpipm_size_t s_ocp_qcqp_memsize(struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp *qp, void *memory);
-//
-void s_ocp_qcqp_copy_all(struct s_ocp_qcqp *qp_orig, struct s_ocp_qcqp *qp_dest);
-
-// setters
-//
-void s_ocp_qcqp_set_all_zero(struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_rhs_zero(struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set(char *fiels_name, int stage, void *value, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_A(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_B(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_b(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Q(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_S(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_R(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_q(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_r(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lb(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lb_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ub(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ub_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lbu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ubu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxb(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxbx(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxbu(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_C(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_D(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lg(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lg_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ug(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_ug_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Qq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Sq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Rq(int stage, float *mat, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_qq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_rq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_uq(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_uq_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Zl(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Zu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_zl(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_zu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lls(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lls_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lus(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_lus_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxs(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsbu(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsbx(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsg(int stage, float *vec, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_set_Jsq(int stage, float *vec, struct s_ocp_qcqp *qp);
-
-// getters
-//
-void s_ocp_qcqp_get(char *field, int stage, struct s_ocp_qcqp *qp, void *value);
-//
-void s_ocp_qcqp_get_A(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_B(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_b(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Q(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_S(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_R(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_q(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_r(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ub(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ub_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lb(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lb_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lbu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ubu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_idxb(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_idxbx(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_idxbu(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_C(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_D(int stage, struct s_ocp_qcqp *qp, float *mat);
-//
-void s_ocp_qcqp_get_lg(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lg_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ug(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_ug_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Zl(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_Zu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_zl(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_zu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lls(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lls_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lus(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-void s_ocp_qcqp_get_lus_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void s_ocp_qcqp_get_idxs(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-void s_ocp_qcqp_get_idxs_rev(int stage, struct s_ocp_qcqp *qp, int *vec);
-//
-//void s_ocp_qcqp_get_Jsbu(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_Jsbx(int stage, struct s_ocp_qcqp *qp, float *vec);
-//
-//void s_ocp_qcqp_get_Jsg(int stage, struct s_ocp_qcqp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
deleted file mode 100644
index c09903f074..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,119 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_DIM_H_
-#define HPIPM_S_OCP_QCQP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_dim
-	{
-	struct s_ocp_qp_dim *qp_dim; // dim of qp approximation
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of (two-sided) state box constraints
-	int *nbu; // number of (two-sided) input box constraints
-	int *ng; // number of (two-sided) general constraints
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of (two-sided) soft state box constraints
-	int *nsbu; // number of (two-sided) soft input box constraints
-	int *nsg; // number of (two-sided) soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t s_ocp_qcqp_dim_memsize(int N);
-//
-void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest);
-//
-void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value);
-//
-void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value);
-//
-void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value);
-//
-void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
deleted file mode 100644
index c14fc1c9fd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,191 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_IPM_H_
-#define HPIPM_S_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qcqp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qcqp_res.h>
-#include <hpipm_s_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_ipm_arg
-	{
-	struct s_ocp_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qcqp_ipm_ws
-	{
-	struct s_ocp_qp_ipm_ws *qp_ws;
-	struct s_ocp_qp *qp;
-	struct s_ocp_qp_sol *qp_sol;
-	struct s_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct s_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t s_ocp_qcqp_ipm_arg_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_ipm_arg_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void s_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void s_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void s_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void s_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void s_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void s_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-void s_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void s_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void s_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void s_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t s_ocp_qcqp_ipm_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_ipm_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void s_ocp_qcqp_ipm_get(char *field, struct s_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void s_ocp_qcqp_ipm_get_status(struct s_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void s_ocp_qcqp_ipm_get_iter(struct s_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void s_ocp_qcqp_ipm_get_max_res_stat(struct s_ocp_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_ocp_qcqp_ipm_get_max_res_eq(struct s_ocp_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_ocp_qcqp_ipm_get_max_res_ineq(struct s_ocp_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_ocp_qcqp_ipm_get_max_res_comp(struct s_ocp_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_ocp_qcqp_ipm_get_stat(struct s_ocp_qcqp_ipm_ws *ws, float **stat);
-//
-void s_ocp_qcqp_ipm_get_stat_m(struct s_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void s_ocp_qcqp_init_var(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
-//
-void s_ocp_qcqp_ipm_solve(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QCQP_IPM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
deleted file mode 100644
index 1ceeec93b7..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_RES_H_
-#define HPIPM_S_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qcqp_dim.h>
-#include <hpipm_s_ocp_qcqp.h>
-#include <hpipm_s_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_res
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_res_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_res_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_ocp_qcqp_res_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim);
-//
-void s_ocp_qcqp_res_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res_ws *workspace, void *mem);
-//
-void s_ocp_qcqp_res_compute(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_res *res, struct s_ocp_qcqp_res_ws *ws);
-//
-void s_ocp_qcqp_res_compute_inf_norm(struct s_ocp_qcqp_res *res);
-//
-void s_ocp_qcqp_res_get_max_res_stat(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_eq(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_ineq(struct s_ocp_qcqp_res *res, float *value);
-//
-void s_ocp_qcqp_res_get_max_res_comp(struct s_ocp_qcqp_res *res, float *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QCQP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
deleted file mode 100644
index 3d58022cc9..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_SOL_H_
-#define HPIPM_S_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qcqp_sol
-	{
-	struct s_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qcqp_sol_strsize();
-//
-hpipm_size_t s_ocp_qcqp_sol_memsize(struct s_ocp_qcqp_dim *dim);
-//
-void s_ocp_qcqp_sol_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void s_ocp_qcqp_sol_copy_all(struct s_ocp_qcqp_sol *qp_sol_orig, struct s_ocp_qcqp_sol *qp_sol_dest);
-//
-void s_ocp_qcqp_sol_get(char *field, int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_u(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_x(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_sl(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_su(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_pi(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_lb(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_ub(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_lg(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_get_lam_ug(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_ocp_qcqp_sol_set(char *field, int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_u(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_x(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_sl(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-//
-void s_ocp_qcqp_sol_set_su(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_SOL_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
deleted file mode 100644
index d64e3aabe7..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QCQP_UTILS_H_
-#define HPIPM_S_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qcqp_dim.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qcqp_sol.h"
-#include "hpipm_s_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_ocp_qcqp_dim_print(struct s_ocp_qcqp_dim *qcqp_dim);
-//
-void s_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim);
-//
-void s_ocp_qcqp_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
-//
-void s_ocp_qcqp_sol_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void s_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_ipm_arg *arg);
-//
-void s_ocp_qcqp_res_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QCQP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
deleted file mode 100644
index b49191f192..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
+++ /dev/null
@@ -1,306 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_H_
-#define HPIPM_S_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
-	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
-	struct blasfeo_smat *DCt; // inequality constraints matrix
-	struct blasfeo_svec *b; // dynamics vector
-	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
-	struct blasfeo_svec *d; // inequality constraints vector
-	struct blasfeo_svec *d_mask; // inequality constraints mask vector
-	struct blasfeo_svec *m; // rhs of complementarity condition
-	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
-	int **idxb; // indices of box constrained variables within [u; x]
-	int **idxs_rev; // index of soft constraints (reverse storage)
-	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
-	int *diag_H_flag; // flag the fact that Hessian is diagonal
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_strsize();
-//
-hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory);
-//
-void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest);
-
-// setters
-//
-void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp);
-
-// getters
-//
-void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value);
-//
-void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat);
-//
-void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec);
-//
-void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec);
-// XXX only valid if there is one slack per softed constraint !!!
-void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec);
-//
-void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec);
-//
-//void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec);
-//
-//void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
deleted file mode 100644
index bce80243b3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_DIM_H_
-#define HPIPM_S_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_dim
-	{
-	int *nx; // number of states
-	int *nu; // number of inputs
-	int *nb; // number of box constraints
-	int *nbx; // number of state box constraints
-	int *nbu; // number of input box constraints
-	int *ng; // number of general constraints
-	int *ns; // number of soft constraints
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nbxe; // number of state box constraints which are equality
-	int *nbue; // number of input box constraints which are equality
-	int *nge; // number of general constraints which are equality
-	int N; // horizon length
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_dim_strsize();
-//
-hpipm_size_t s_ocp_qp_dim_memsize(int N);
-//
-void s_ocp_qp_dim_create(int N, struct s_ocp_qp_dim *qp_dim, void *memory);
-//
-void s_ocp_qp_dim_copy_all(struct s_ocp_qp_dim *dim_orig, struct s_ocp_qp_dim *dim_dest);
-//
-void s_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set(char *field, int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_ng(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_ns(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsbx(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsbu(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nsg(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbxe(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nbue(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_set_nge(int stage, int value, struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_dim_get(struct s_ocp_qp_dim *dim, char *field, int stage, int *value);
-//
-void s_ocp_qp_dim_get_N(struct s_ocp_qp_dim *dim, int *value);
-//
-void s_ocp_qp_dim_get_nx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_ng(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_ns(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsbx(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsbu(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nsg(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbxe(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nbue(struct s_ocp_qp_dim *dim, int stage, int *value);
-//
-void s_ocp_qp_dim_get_nge(struct s_ocp_qp_dim *dim, int stage, int *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
deleted file mode 100644
index 11f3c47be6..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
+++ /dev/null
@@ -1,250 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_IPM_H_
-#define HPIPM_S_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_res.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_ipm_arg
-	{
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different steps for primal and dual variables
-	int var_init_scheme; // variables initialization scheme
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_ocp_qp_res_ws *res_workspace;
-	struct s_ocp_qp_dim *dim; // cache dim
-	struct s_ocp_qp_sol *sol_step;
-	struct s_ocp_qp_sol *sol_itref;
-	struct s_ocp_qp *qp_step;
-	struct s_ocp_qp *qp_itref;
-	struct s_ocp_qp_res *res;
-	struct s_ocp_qp_res *res_itref;
-	struct blasfeo_svec *Gamma; // hessian update
-	struct blasfeo_svec *gamma; // hessian update
-	struct blasfeo_svec *tmp_nuxM; // work space of size nxM
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *Pb; // Pb
-	struct blasfeo_svec *Zs_inv;
-	struct blasfeo_svec *tmp_m;
-	struct blasfeo_svec *l; // cache linear part for _get_ric_xxx
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Ls;
-	struct blasfeo_smat *P;
-	struct blasfeo_smat *Lh;
-	struct blasfeo_smat *AL;
-	struct blasfeo_smat *lq0;
-	struct blasfeo_smat *tmp_nxM_nxM;
-	float *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	float qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int square_root_alg; // cache from arg
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	int valid_ric_vec; // meaningful riccati vectors
-	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_ipm_arg_strsize();
-//
-hpipm_size_t s_ocp_qp_ipm_arg_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_ipm_arg_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, void *mem);
-//
-void s_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_arg_set(char *field, void *value, struct s_ocp_qp_ipm_arg *arg);
-// set maximum number of iterations
-void s_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_ocp_qp_ipm_arg *arg);
-// set minimum step lenght
-void s_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_ocp_qp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_ocp_qp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
-// set regularization of primal variables
-void s_ocp_qp_ipm_arg_set_reg_prim(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_ocp_qp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_ocp_qp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-void s_ocp_qp_ipm_arg_set_ric_alg(int *alg, struct s_ocp_qp_ipm_arg *arg);
-// dual solution of equality constraints (only for abs_form==1)
-void s_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_ocp_qp_ipm_arg *arg);
-// compute residuals after solution
-void s_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qp_ipm_arg *arg);
-// compute residuals of prediction
-void s_ocp_qp_ipm_arg_set_comp_res_pred(int *alg, struct s_ocp_qp_ipm_arg *arg);
-// min value of lam in the solution
-void s_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// min value of t in the solution
-void s_ocp_qp_ipm_arg_set_t_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// min value of tau in the solution
-void s_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_ocp_qp_ipm_arg *arg);
-// set split step: 0 same step, 1 different step for primal and dual variables
-void s_ocp_qp_ipm_arg_set_split_step(int *value, struct s_ocp_qp_ipm_arg *arg);
-// variables initialization scheme
-void s_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct s_ocp_qp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_ocp_qp_ipm_ws_strsize();
-//
-hpipm_size_t s_ocp_qp_ipm_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, void *mem);
-//
-void s_ocp_qp_ipm_get(char *field, struct s_ocp_qp_ipm_ws *ws, void *value);
-//
-void s_ocp_qp_ipm_get_status(struct s_ocp_qp_ipm_ws *ws, int *status);
-//
-void s_ocp_qp_ipm_get_iter(struct s_ocp_qp_ipm_ws *ws, int *iter);
-//
-void s_ocp_qp_ipm_get_max_res_stat(struct s_ocp_qp_ipm_ws *ws, float *res_stat);
-//
-void s_ocp_qp_ipm_get_max_res_eq(struct s_ocp_qp_ipm_ws *ws, float *res_eq);
-//
-void s_ocp_qp_ipm_get_max_res_ineq(struct s_ocp_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_ocp_qp_ipm_get_max_res_comp(struct s_ocp_qp_ipm_ws *ws, float *res_comp);
-//
-void s_ocp_qp_ipm_get_stat(struct s_ocp_qp_ipm_ws *ws, float **stat);
-//
-void s_ocp_qp_ipm_get_stat_m(struct s_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void s_ocp_qp_ipm_get_ric_Lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Lr);
-//
-void s_ocp_qp_ipm_get_ric_Ls(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Ls);
-//
-void s_ocp_qp_ipm_get_ric_P(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *P);
-//
-void s_ocp_qp_ipm_get_ric_lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *lr);
-//
-void s_ocp_qp_ipm_get_ric_p(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *p);
-// feedback control gain in the form u = K x + k
-void s_ocp_qp_ipm_get_ric_K(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *K);
-// feedback control gain in the form u = K x + k
-void s_ocp_qp_ipm_get_ric_k(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *k);
-//
-void s_ocp_qp_init_var(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_abs_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_delta_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_solve(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_predict(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_ipm_sens(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
deleted file mode 100644
index 3eb1f4aae8..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef HPIPM_S_OCP_QP_KKT_H_
-#define HPIPM_S_OCP_QP_KKT_H_
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_ocp_qp_fact_solve_kkt_unconstr(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_fact_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_fact_lq_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-//
-void s_ocp_qp_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-#endif // HPIPM_S_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
deleted file mode 100644
index 5a7b3b0703..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_RED_H_
-#define HPIPM_S_OCP_QP_RED_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_reduce_eq_dof_arg
-	{
-	float lam_min;
-	float t_min;
-	int alias_unchanged; // do not keep copy unchanged stage
-	int comp_prim_sol; // primal solution (v)
-	int comp_dual_sol_eq; // dual solution equality constr (pi)
-	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-struct s_ocp_qp_reduce_eq_dof_ws
-	{
-	struct blasfeo_svec *tmp_nuxM;
-	struct blasfeo_svec *tmp_nbgM;
-	int *e_imask_ux;
-	int *e_imask_d;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-void s_ocp_qp_dim_reduce_eq_dof(struct s_ocp_qp_dim *dim, struct s_ocp_qp_dim *dim_red);
-//
-hpipm_size_t s_ocp_qp_reduce_eq_dof_arg_memsize();
-//
-void s_ocp_qp_reduce_eq_dof_arg_create(struct s_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_default(struct s_ocp_qp_reduce_eq_dof_arg *arg);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
-//
-hpipm_size_t s_ocp_qp_reduce_eq_dof_ws_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_reduce_eq_dof_ws_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_reduce_eq_dof_ws *work, void *mem);
-//
-void s_ocp_qp_reduce_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_reduce_eq_dof_lhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_reduce_eq_dof_rhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-//
-void s_ocp_qp_restore_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol_red, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_RED_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
deleted file mode 100644
index 821585da65..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
+++ /dev/null
@@ -1,114 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_RES_H_
-#define HPIPM_S_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_ocp_qp_dim.h>
-#include <hpipm_s_ocp_qp.h>
-#include <hpipm_s_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_res
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_ocp_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_res_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_res_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t s_ocp_qp_res_ws_memsize(struct s_ocp_qp_dim *ocp_dim);
-//
-void s_ocp_qp_res_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res_ws *workspace, void *mem);
-//
-void s_ocp_qp_res_compute(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
-//
-void s_ocp_qp_res_compute_lin(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_sol *qp_step, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
-//
-void s_ocp_qp_res_compute_inf_norm(struct s_ocp_qp_res *res);
-//
-void s_ocp_qp_res_get_all(struct s_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
-//
-void s_ocp_qp_res_get_max_res_stat(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_eq(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_ineq(struct s_ocp_qp_res *res, float *value);
-//
-void s_ocp_qp_res_get_max_res_comp(struct s_ocp_qp_res *res, float *value);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_OCP_QP_RES_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
deleted file mode 100644
index 94dfa0d003..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_SOL_H_
-#define HPIPM_S_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_ocp_qp_sol
-	{
-	struct s_ocp_qp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_ocp_qp_sol_strsize();
-//
-hpipm_size_t s_ocp_qp_sol_memsize(struct s_ocp_qp_dim *dim);
-//
-void s_ocp_qp_sol_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_sol *qp_sol, void *memory);
-//
-void s_ocp_qp_sol_copy_all(struct s_ocp_qp_sol *qp_sol_orig, struct s_ocp_qp_sol *qp_sol_dest);
-//
-void s_qp_sol_get_all(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_qp_sol_get_all_rowmaj(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_ocp_qp_sol_set_all(float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_get(char *field, int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_u(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_x(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_sl(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_su(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_pi(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lb(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lbu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lbx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ub(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ubu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ubx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_lg(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_get_lam_ug(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_ocp_qp_sol_set(char *field, int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_u(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_x(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_sl(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-//
-void s_ocp_qp_sol_set_su(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
deleted file mode 100644
index a4f832a5ea..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_OCP_QP_UTILS_H_
-#define HPIPM_S_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_ocp_qp_dim.h"
-#include "hpipm_s_ocp_qp.h"
-#include "hpipm_s_ocp_qp_sol.h"
-#include "hpipm_s_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_ocp_qp_dim_print(struct s_ocp_qp_dim *qp_dim);
-//
-void s_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim);
-//
-void s_ocp_qp_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
-//
-void s_ocp_qp_sol_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_sol *ocp_qp_sol);
-//
-void s_ocp_qp_ipm_arg_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
-//
-void s_ocp_qp_res_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_D_OCP_QP_UTILS_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
deleted file mode 100644
index e40511e69f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_PART_COND_H_
-#define HPIPM_S_PART_COND_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_cond.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_part_cond_qp_arg
-	{
-	struct s_cond_qp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_part_cond_qp_ws
-	{
-	struct s_cond_qp_ws *cond_workspace;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_part_cond_qp_arg_memsize(int N2);
-//
-void s_part_cond_qp_arg_create(int N2, struct s_part_cond_qp_arg *cond_arg, void *mem);
-//
-void s_part_cond_qp_arg_set_default(struct s_part_cond_qp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void s_part_cond_qp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_prim_sol(int value, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_part_cond_qp_arg *cond_arg);
-
-//
-void s_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
-//
-void s_part_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim);
-//
-hpipm_size_t s_part_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg);
-//
-void s_part_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws, void *mem);
-//
-void s_part_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-//
-void s_part_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_ocp_qp_sol *part_dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-
-//
-void s_part_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
deleted file mode 100644
index 311f7000bf..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_PART_COND_QCQP_H_
-#define HPIPM_S_PART_COND_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_cond_qcqp.h"
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_part_cond_qcqp_arg
-	{
-	struct s_cond_qcqp_arg *cond_arg;
-	int N2;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_part_cond_qcqp_ws
-	{
-	struct s_cond_qcqp_ws *cond_ws;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_part_cond_qcqp_arg_memsize(int N2);
-//
-void s_part_cond_qcqp_arg_create(int N2, struct s_part_cond_qcqp_arg *cond_arg, void *mem);
-//
-void s_part_cond_qcqp_arg_set_default(struct s_part_cond_qcqp_arg *cond_arg);
-// set riccati-like algorithm: 0 classical, 1 squre-root
-void s_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qcqp_arg *cond_arg);
-
-//
-void s_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
-//
-void s_part_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim);
-//
-hpipm_size_t s_part_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg);
-//
-void s_part_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws, void *mem);
-//
-void s_part_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-//
-void s_part_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_ocp_qcqp_sol *part_dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_D_PART_COND_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
deleted file mode 100644
index 1a05ad1a28..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_SIM_ERK_H_
-#define HPIPM_S_SIM_ERK_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_sim_erk_arg
-	{
-	struct s_sim_rk_data *rk_data; // integrator data
-	float h; // step size
-	int steps; // number of steps
-//	int for_sens; // compute adjoint sensitivities
-//	int adj_sens; // compute adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_sim_erk_ws
-	{
-	void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to ode
-	void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to forward vde
-	void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out); // function pointer to adjoint vde
-	void *ode_args; // pointer to ode args
-	struct s_sim_erk_arg *erk_arg; // erk arg
-	float *K; // internal variables
-	float *x_for; // states and forward sensitivities
-	float *x_traj; // states at all steps
-	float *l; // adjoint sensitivities
-	float *p; // parameter
-	float *x_tmp; // temporary states and forward sensitivities
-	float *adj_in;
-	float *adj_tmp;
-	int nx; // number of states
-	int np; // number of parameters
-	int nf; // number of forward sensitivities
-	int na; // number of adjoint sensitivities
-	int nf_max; // max number of forward sensitivities
-	int na_max; // max number of adjoint sensitivities
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_sim_erk_arg_memsize();
-//
-void s_sim_erk_arg_create(struct s_sim_erk_arg *erk_arg, void *mem);
-//
-void s_sim_erk_arg_set_all(struct s_sim_rk_data *rk_data, float h, int steps, struct s_sim_erk_arg *erk_arg);
-
-//
-hpipm_size_t s_sim_erk_ws_memsize(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
-//
-void s_sim_erk_ws_create(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct s_sim_erk_ws *work, void *memory);
-//
-void s_sim_erk_ws_set_all(int nf, int na, float *x, float *fs, float *bs, float *p, void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out), void *ode_args, struct s_sim_erk_ws *work);
-// number of directions for forward sensitivities
-void s_sim_erk_ws_set_nf(int *nf, struct s_sim_erk_ws *work);
-// parameters (e.g. inputs)
-void s_sim_erk_ws_set_p(float *p, struct s_sim_erk_ws *work);
-// state
-void s_sim_erk_ws_set_x(float *x, struct s_sim_erk_ws *work);
-// forward sensitivities
-void s_sim_erk_ws_set_fs(float *fs, struct s_sim_erk_ws *work);
-// ode funtion
-void s_sim_erk_ws_set_ode(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
-// forward vde function
-void s_sim_erk_ws_set_vde_for(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
-// ode_args, passed straight to the ode/vde_for/vde_adj functions
-void s_sim_erk_ws_set_ode_args(void *ode_args, struct s_sim_erk_ws *work);
-// state
-void s_sim_erk_ws_get_x(struct s_sim_erk_ws *work, float *x);
-// forward sensitivities
-void s_sim_erk_ws_get_fs(struct s_sim_erk_ws *work, float *fs);
-//
-void s_sim_erk_solve(struct s_sim_erk_arg *arg, struct s_sim_erk_ws *work);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_D_SIM_ERK_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
deleted file mode 100644
index 53acd71498..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_SIM_RK_H_
-#define HPIPM_S_SIM_RK_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_sim_rk_data
-	{
-	float *A_rk; // A in butcher tableau
-	float *B_rk; // b in butcher tableau
-	float *C_rk; // c in butcher tableau
-	int expl; // erk vs irk
-	int ns; // number of stages
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_sim_rk_data_memsize(int ns);
-//
-void s_sim_rk_data_create(int ns, struct s_sim_rk_data *rk_data, void *memory);
-//
-void s_sim_rk_data_init_default(char *field, struct s_sim_rk_data *rk_data);
-//
-void s_sim_rk_data_set_all(int expl, float *A_rk, float *B_rk, float *C_rk, struct s_sim_rk_data *rk_data);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_S_SIM_RK_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
deleted file mode 100644
index 450e992624..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
+++ /dev/null
@@ -1,213 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_H_
-#define HPIPM_S_TREE_OCP_QCQP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_smat *BAbt; // Nn-1
-	struct blasfeo_smat *RSQrq; // Nn
-	struct blasfeo_smat *DCt; // Nn
-	struct blasfeo_smat **Hq; // Nn
-	struct blasfeo_svec *b; // Nn-1
-	struct blasfeo_svec *rqz; // Nn
-	struct blasfeo_svec *d; // Nn
-	struct blasfeo_svec *d_mask; // Nn
-	struct blasfeo_svec *m; // Nn
-	struct blasfeo_svec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_memsize(struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp *qp, void *memory);
-//
-void s_tree_ocp_qcqp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_A(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_B(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_b(int edge, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Q(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_S(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_R(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_q(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_r(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lb(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ub(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxb(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_C(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_D(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ug(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Qq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Sq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Rq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_qq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_rq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_uq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_uq_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lls(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lus(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxs(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_set_Jsq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_idxge(int node, int *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jbue(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_Jge(int node, float *vec, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qcqp *qp);
-
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
deleted file mode 100644
index 7a49d51995..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_DIM_H_
-#define HPIPM_S_TREE_OCP_QCQP_DIM_H_
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_dim
-	{
-	struct s_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *nq; // number of (upper) quadratic constraints
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int *nsq; // number of (upper) soft quadratic constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_dim_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_dim_memsize(int Nn);
-//
-void s_tree_ocp_qcqp_dim_create(int Nn, struct s_tree_ocp_qcqp_dim *qp_dim, void *memory);
-//
-void s_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-//
-//void s_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_DIM_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
deleted file mode 100644
index 69d65914c5..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_IPM_H_
-#define HPIPM_S_TREE_OCP_QCQP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qcqp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qcqp_res.h>
-#include <hpipm_s_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_ipm_arg
-	{
-	struct s_tree_ocp_qp_ipm_arg *qp_arg;
-	float mu0; // initial value for complementarity slackness
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
-//	int comp_res_pred; // compute residuals of prediction
-	int split_step; // use different step for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qcqp_ipm_ws
-	{
-	struct s_tree_ocp_qp_ipm_ws *qp_ws;
-	struct s_tree_ocp_qp *qp;
-	struct s_tree_ocp_qp_sol *qp_sol;
-	struct s_tree_ocp_qcqp_res_ws *qcqp_res_ws;
-	struct s_tree_ocp_qcqp_res *qcqp_res;
-	struct blasfeo_svec *tmp_nuxM;
-	int iter; // iteration number
-	int status;
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_arg_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_arg_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_ipm_arg_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, void *mem);
-//
-void s_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set maximum number of iterations
-void s_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set minimum step lenght
-void s_tree_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set initial value of barrier parameter
-void s_tree_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on stationarity condition
-void s_tree_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on equality constr
-void s_tree_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on inequality constr
-void s_tree_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set exit tolerance on complementarity condition
-void s_tree_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set regularization of primal variables
-void s_tree_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set warm start: 0 no warm start, 1 primal var
-void s_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
-void s_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
-void s_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// set riccati algorithm: 0 classic, 1 square-root
-//void s_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals after solution
-void s_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// compute residuals of prediction
-//void s_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// min value of lam in the solution
-void s_tree_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// min value of t in the solution
-void s_tree_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// use different step for primal and dual variables
-void s_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-void s_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
-
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_ws_strsize();
-//
-hpipm_size_t s_tree_ocp_qcqp_ipm_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_ipm_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws, void *mem);
-//
-void s_tree_ocp_qcqp_ipm_get(char *field, struct s_tree_ocp_qcqp_ipm_ws *ws, void *value);
-//
-void s_tree_ocp_qcqp_ipm_get_status(struct s_tree_ocp_qcqp_ipm_ws *ws, int *status);
-//
-void s_tree_ocp_qcqp_ipm_get_iter(struct s_tree_ocp_qcqp_ipm_ws *ws, int *iter);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_stat);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_eq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_eq);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_ineq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_ineq);
-//
-void s_tree_ocp_qcqp_ipm_get_max_res_comp(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_comp);
-//
-void s_tree_ocp_qcqp_ipm_get_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float **stat);
-//
-void s_tree_ocp_qcqp_ipm_get_stat_m(struct s_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
-//
-void s_tree_ocp_qcqp_init_var(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
-//
-void s_tree_ocp_qcqp_ipm_solve(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_IPM_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
deleted file mode 100644
index d0d84a6f23..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_RES_H_
-#define HPIPM_S_TREE_OCP_QCQP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qcqp_dim.h>
-#include <hpipm_s_tree_ocp_qcqp.h>
-#include <hpipm_s_tree_ocp_qcqp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qcqp_res
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qcqp_res_ws
-	{
-	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
-	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
-	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
-	int use_q_fun; // reuse cached value for evaluation of quadr constr
-	int use_q_adj; // reuse cached value for adjoint of quadr constr
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_res_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_res_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res *res, void *mem);
-//
-hpipm_size_t s_tree_ocp_qcqp_res_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
-//
-void s_tree_ocp_qcqp_res_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res_ws *ws, void *mem);
-//
-void s_tree_ocp_qcqp_res_compute(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_res *res, struct s_tree_ocp_qcqp_res_ws *ws);
-//
-void s_tree_ocp_qcqp_res_compute_inf_norm(struct s_tree_ocp_qcqp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_RES_H_
-
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
deleted file mode 100644
index 47f038c6b3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_SOL_H_
-#define HPIPM_S_TREE_OCP_QCQP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_tree_ocp_qcqp_sol
-	{
-	struct s_tree_ocp_qcqp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qcqp_sol_memsize(struct s_tree_ocp_qcqp_dim *dim);
-//
-void s_tree_ocp_qcqp_sol_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp_sol *qp_sol, void *memory);
-//
-void s_tree_ocp_qcqp_sol_get_u(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_x(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_sl(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_su(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_pi(int edge, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_lb(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_ub(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_lg(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qcqp_sol_get_lam_ug(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_SOL_H_
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
deleted file mode 100644
index 79528de1ce..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-#define HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qcqp_dim.h"
-#include "hpipm_s_tree_ocp_qcqp.h"
-#include "hpipm_s_tree_ocp_qcqp_sol.h"
-#include "hpipm_s_tree_ocp_qcqp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_tree_ocp_qcqp_dim_print(struct s_tree_ocp_qcqp_dim *qp_dim);
-//
-//void s_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim);
-//
-void s_tree_ocp_qcqp_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
-//
-//void s_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
-//
-void s_tree_ocp_qcqp_sol_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_sol *ocp_qcqp_sol);
-//
-void s_tree_ocp_qcqp_ipm_arg_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-//void s_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
-//
-void s_tree_ocp_qcqp_res_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_res *ocp_qcqp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QCQP_UTILS_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
deleted file mode 100644
index 722b930b9a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
+++ /dev/null
@@ -1,196 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_H_
-#define HPIPM_S_TREE_OCP_QP_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_smat *BAbt; // Nn-1
-	struct blasfeo_smat *RSQrq; // Nn
-	struct blasfeo_smat *DCt; // Nn
-	struct blasfeo_svec *b; // Nn-1
-	struct blasfeo_svec *rqz; // Nn
-	struct blasfeo_svec *d; // Nn
-	struct blasfeo_svec *d_mask; // Nn
-	struct blasfeo_svec *m; // Nn
-	struct blasfeo_svec *Z; // Nn
-	int **idxb; // indices of box constrained variables within [u; x] // Nn
-//	int **idxs; // index of soft constraints
-	int **idxs_rev; // index of soft constraints
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp *qp, void *memory);
-//
-void s_tree_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_A(int edge, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_B(int edge, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_b(int edge, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Q(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_S(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_R(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_q(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_r(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lb(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ub(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxb(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxbx(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxbu(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_C(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_D(int node, float *mat, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lg(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ug(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Zl(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Zu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_zl(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_zu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lls(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lus(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxs(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_set_Jsg(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxe(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxbue(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_idxge(int node, int *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jbue(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_Jge(int node, float *vec, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qp *qp);
-
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
deleted file mode 100644
index 90df57182b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_DIM_H_
-#define HPIPM_S_TREE_OCP_QP_DIM_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_dim
-	{
-	struct tree *ttree; // tree describing node conndection
-	int *nx; // number of states // Nn
-	int *nu; // number of inputs // Nn
-	int *nb; // number of box constraints // Nn
-	int *nbx; // number of state box constraints // Nn
-	int *nbu; // number of input box constraints // Nn
-	int *ng; // number of general constraints // Nn
-	int *ns; // number of soft constraints // Nn
-	int *nsbx; // number of soft state box constraints
-	int *nsbu; // number of soft input box constraints
-	int *nsg; // number of soft general constraints
-	int Nn; // number of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_dim_strsize();
-//
-hpipm_size_t s_tree_ocp_qp_dim_memsize(int Nn);
-//
-void s_tree_ocp_qp_dim_create(int Nn, struct s_tree_ocp_qp_dim *qp_dim, void *memory);
-//
-void s_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_ng(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_ns(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_dim_set_nge(int stage, int value, struct s_tree_ocp_qp_dim *dim);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
deleted file mode 100644
index f8c26d3173..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
+++ /dev/null
@@ -1,208 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-
-#ifndef HPIPM_S_TREE_OCP_QP_IPM_H_
-#define HPIPM_S_TREE_OCP_QP_IPM_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qp_res.h>
-#include <hpipm_s_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_ipm_arg
-	{
-	float mu0; // initial value for duality measure
-	float alpha_min; // exit cond on step length
-	float res_g_max; // exit cond on inf norm of residuals
-	float res_b_max; // exit cond on inf norm of residuals
-	float res_d_max; // exit cond on inf norm of residuals
-	float res_m_max; // exit cond on inf norm of residuals
-	float reg_prim; // reg of primal hessian
-	float lam_min; // min value in lam vector
-	float t_min; // min value in t vector
-	float tau_min; // min value of barrier parameter
-	int iter_max; // exit cond in iter number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
-	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
-	int itref_pred_max; // max number of iterative refinement steps for predictor step
-	int itref_corr_max; // max number of iterative refinement steps for corrector step
-	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
-	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
-	int abs_form; // absolute IPM formulation
-	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
-	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
-	int split_step; // use different steps for primal and dual variables
-	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
-	int mode;
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qp_ipm_ws
-	{
-	struct s_core_qp_ipm_workspace *core_workspace;
-	struct s_tree_ocp_qp_res_ws *res_workspace;
-	struct s_tree_ocp_qp_sol *sol_step;
-	struct s_tree_ocp_qp_sol *sol_itref;
-	struct s_tree_ocp_qp *qp_step;
-	struct s_tree_ocp_qp *qp_itref;
-	struct s_tree_ocp_qp_res *res_itref;
-	struct s_tree_ocp_qp_res *res;
-	struct blasfeo_svec *Gamma; // hessian update
-	struct blasfeo_svec *gamma; // hessian update
-	struct blasfeo_svec *tmp_nxM; // work space of size nxM
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbgM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	struct blasfeo_svec *Pb; // Pb
-	struct blasfeo_svec *Zs_inv;
-	struct blasfeo_smat *L;
-	struct blasfeo_smat *Lh;
-	struct blasfeo_smat *AL;
-	struct blasfeo_smat *lq0;
-	struct blasfeo_svec *tmp_m;
-	float *stat; // convergence statistics
-	int *use_hess_fact;
-	void *lq_work0;
-	float qp_res[4]; // infinity norm of residuals
-	int iter; // iteration number
-	int stat_max; // iterations saved in stat
-	int stat_m; // number of recorded stat per IPM iter
-	int use_Pb;
-	int status; // solver status
-	int lq_fact; // cache from arg
-	int mask_constr; // use constr mask
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_ipm_arg_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_ipm_arg_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, void *mem);
-//
-void s_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_reg_prim(float *reg, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
-
-//
-hpipm_size_t s_tree_ocp_qp_ipm_ws_memsize(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_ipm_ws_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws, void *mem);
-//
-void s_tree_ocp_qp_ipm_get_status(struct s_tree_ocp_qp_ipm_ws *ws, int *status);
-//
-void s_tree_ocp_qp_ipm_get_iter(struct s_tree_ocp_qp_ipm_ws *ws, int *iter);
-//
-void s_tree_ocp_qp_ipm_get_max_res_stat(struct s_tree_ocp_qp_ipm_ws *ws, float *res_stat);
-//
-void s_tree_ocp_qp_ipm_get_max_res_eq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_eq);
-//
-void s_tree_ocp_qp_ipm_get_max_res_ineq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_ineq);
-//
-void s_tree_ocp_qp_ipm_get_max_res_comp(struct s_tree_ocp_qp_ipm_ws *ws, float *res_comp);
-//
-void s_tree_ocp_qp_ipm_get_stat(struct s_tree_ocp_qp_ipm_ws *ws, float **stat);
-//
-void s_tree_ocp_qp_ipm_get_stat_m(struct s_tree_ocp_qp_ipm_ws *ws, int *stat_m);
-//
-void s_tree_ocp_qp_init_var(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_abs_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_delta_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_ipm_solve(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
deleted file mode 100644
index bcf7354783..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//
-void s_tree_ocp_qp_fact_solve_kkt_unconstr(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_fact_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_fact_lq_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-//
-void s_tree_ocp_qp_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
deleted file mode 100644
index 5c6797204f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_RES_H_
-#define HPIPM_S_TREE_OCP_QP_RES_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include <hpipm_common.h>
-#include <hpipm_s_tree_ocp_qp_dim.h>
-#include <hpipm_s_tree_ocp_qp.h>
-#include <hpipm_s_tree_ocp_qp_sol.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct s_tree_ocp_qp_res
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_svec *res_g; // q-residuals
-	struct blasfeo_svec *res_b; // b-residuals
-	struct blasfeo_svec *res_d; // d-residuals
-	struct blasfeo_svec *res_m; // m-residuals
-	float res_max[4]; // max of residuals
-	float res_mu; // mu-residual
-	hpipm_size_t memsize;
-	};
-
-
-
-struct s_tree_ocp_qp_res_ws
-	{
-	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
-	struct blasfeo_svec *tmp_nsM; // work space of size nsM
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_res_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
-//
-void s_tree_ocp_qp_res_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res *res, void *mem);
-//
-hpipm_size_t s_tree_ocp_qp_res_ws_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
-//
-void s_tree_ocp_qp_res_ws_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res_ws *ws, void *mem);
-//
-void s_tree_ocp_qp_res_get_all(struct s_tree_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
-//
-void s_tree_ocp_qp_res_compute(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
-//
-void s_tree_ocp_qp_res_compute_lin(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_sol *qp_step, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
-//
-void s_tree_ocp_qp_res_compute_inf_norm(struct s_tree_ocp_qp_res *res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_S_TREE_OCP_QP_RES_H_
-
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
deleted file mode 100644
index 71e887675b..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
+++ /dev/null
@@ -1,98 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_SOL_H_
-#define HPIPM_S_TREE_OCP_QP_SOL_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct s_tree_ocp_qp_sol
-	{
-	struct s_tree_ocp_qp_dim *dim;
-	struct blasfeo_svec *ux;
-	struct blasfeo_svec *pi;
-	struct blasfeo_svec *lam;
-	struct blasfeo_svec *t;
-	void *misc;
-	hpipm_size_t memsize; // memory size in bytes
-	};
-
-
-
-//
-hpipm_size_t s_tree_ocp_qp_sol_memsize(struct s_tree_ocp_qp_dim *dim);
-//
-void s_tree_ocp_qp_sol_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_sol *qp_sol, void *memory);
-//
-void s_tree_ocp_qp_sol_get_all(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
-//
-void s_tree_ocp_qp_sol_get_u(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_x(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_sl(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_su(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_pi(int edge, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_lb(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_ub(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_lg(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-//
-void s_tree_ocp_qp_sol_get_lam_ug(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
deleted file mode 100644
index ec1747568f..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_S_TREE_OCP_QP_UTILS_H_
-#define HPIPM_S_TREE_OCP_QP_UTILS_H_
-
-
-
-#include <blasfeo_target.h>
-#include <blasfeo_common.h>
-
-#include "hpipm_s_tree_ocp_qp_dim.h"
-#include "hpipm_s_tree_ocp_qp.h"
-#include "hpipm_s_tree_ocp_qp_sol.h"
-#include "hpipm_s_tree_ocp_qp_ipm.h"
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-//
-void s_tree_ocp_qp_dim_print(struct s_tree_ocp_qp_dim *qp_dim);
-//
-//void s_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim);
-//
-void s_tree_ocp_qp_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
-//
-//void s_tree_ocp_qp_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
-//
-void s_tree_ocp_qp_sol_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_sol *ocp_qp_sol);
-//
-void s_tree_ocp_qp_ipm_arg_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-//void s_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
-//
-void s_tree_ocp_qp_res_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_res *ocp_qp_res);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-
-#endif // HPIPM_S_TREE_OCP_QP_UTILS_H_
-
-
diff --git a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
deleted file mode 100644
index a3c77a670a..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_SCENARIO_TREE_H_
-#define HPIPM_SCENARIO_TREE_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct sctree
-	{
-	struct node *root; // pointer to root
-	int *kids; // pointer to array of kids
-	int Nn; // numer of nodes
-	int md; // number of realizations
-	int Nr; // robust horizion
-	int Nh; // control horizion
-	hpipm_size_t memsize;
-	};
-
-
-
-//
-hpipm_size_t sctree_memsize(int md, int Nr, int Nh);
-//
-void sctree_create(int md, int Nr, int Nh, struct sctree *st, void *memory);
-//
-void sctree_cast_to_tree(struct sctree *st, struct tree *tt);
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_SCENARIO_TREE_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_timing.h b/third_party/acados/include/hpipm/include/hpipm_timing.h
deleted file mode 100644
index bd0f2dbcb3..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_timing.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-#ifndef HPIPM_TIMING_H_
-#define HPIPM_TIMING_H_
-
-
-
-#include <blasfeo_timing.h>
-
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-typedef blasfeo_timer hpipm_timer;
-
-
-
-//
-void hpipm_tic(hpipm_timer *t);
-//
-double hpipm_toc(hpipm_timer *t);
-
-
-
-#ifdef __cplusplus
-}	// #extern "C"
-#endif
-
-
-#endif // HPIPM_TIMING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_tree.h b/third_party/acados/include/hpipm/include/hpipm_tree.h
deleted file mode 100644
index f9d69ecddd..0000000000
--- a/third_party/acados/include/hpipm/include/hpipm_tree.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/**************************************************************************************************
-*                                                                                                 *
-* This file is part of HPIPM.                                                                     *
-*                                                                                                 *
-* HPIPM -- High-Performance Interior Point Method.                                                *
-* Copyright (C) 2019 by Gianluca Frison.                                                          *
-* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
-* All rights reserved.                                                                            *
-*                                                                                                 *
-* The 2-Clause BSD License                                                                        *
-*                                                                                                 *
-* Redistribution and use in source and binary forms, with or without                              *
-* modification, are permitted provided that the following conditions are met:                     *
-*                                                                                                 *
-* 1. Redistributions of source code must retain the above copyright notice, this                  *
-*    list of conditions and the following disclaimer.                                             *
-* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
-*    this list of conditions and the following disclaimer in the documentation                    *
-*    and/or other materials provided with the distribution.                                       *
-*                                                                                                 *
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
-* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
-* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
-* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
-*                                                                                                 *
-* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
-*                                                                                                 *
-**************************************************************************************************/
-
-
-#ifndef HPIPM_TREE_H_
-#define HPIPM_TREE_H_
-
-#include "hpipm_common.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-struct node
-	{
-	int *kids;  // 64 bits
-	int idx;    // 32 bits
-	int dad;    // 32 bits
-	int nkids;  // 32 bits
-	int stage;  // 32 bits
-	int real;   // 32 bits
-	int idxkid; // 32 bits // XXX needed ???
-	// total     256 bits
-	};
-
-
-
-struct tree
-	{
-	struct node *root; // pointer to root
-	int *kids; // pointer to array of kids
-	int Nn; // numer of nodes
-	hpipm_size_t memsize;
-	};
-
-
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif // HPIPM_TREE_H_
diff --git a/third_party/acados/include/qpOASES_e/Bounds.h b/third_party/acados/include/qpOASES_e/Bounds.h
deleted file mode 100644
index 4e41c1d163..0000000000
--- a/third_party/acados/include/qpOASES_e/Bounds.h
+++ /dev/null
@@ -1,543 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Bounds.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Bounds class designed to manage working sets of
- *	bounds within a QProblem.
- */
-
-
-#ifndef QPOASES_BOUNDS_H
-#define QPOASES_BOUNDS_H
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages working sets of bounds (= box constraints).
- *
- *	This class manages working sets of bounds (= box constraints)
- *	by storing index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Indexlist *freee;					/**< Index list of free variables. */
-	Indexlist *fixed;					/**< Index list of fixed variables. */
-
-	Indexlist *shiftedFreee;			/**< Memory for shifting free variables. */
-	Indexlist *shiftedFixed;			/**< Memory for shifting fixed variables. */
-
-	Indexlist *rotatedFreee;			/**< Memory for rotating free variables. */
-	Indexlist *rotatedFixed;			/**< Memory for rotating fixed variables. */
-
-	SubjectToType   *type; 				/**< Type of bounds. */
-	SubjectToStatus *status;			/**< Status of bounds. */
-
-	SubjectToType   *typeTmp;			/**< Temp memory for type of bounds. */
-	SubjectToStatus *statusTmp;			/**< Temp memory for status of bounds. */
-
-	BooleanType noLower;	 			/**< This flag indicates if there is no lower bound on any variable. */
-	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
-
-	int n;								/**< Total number of bounds. */
-} Bounds;
-
-int Bounds_calculateMemorySize( int n);
-
-char *Bounds_assignMemory(int n, Bounds **mem, void *raw_memory);
-
-Bounds *Bounds_createMemory( int n );
-
-/** Constructor which takes the number of bounds. */
-void BoundsCON(	Bounds* _THIS,
-				int _n									/**< Number of bounds. */
-				);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void BoundsCPY(	Bounds* FROM,
-				Bounds* TO
-				);
-
-
-/** Initialises object with given number of bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Bounds_init(	Bounds* _THIS,
-							int _n					/**< Number of bounds. */
-							);
-
-
-/** Initially adds number of a new (i.e. not yet in the list) bound to
- *  given index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_setupBound(	Bounds* _THIS,
-								int number,				/**< Number of new bound. */
-								SubjectToStatus _status	/**< Status of new bound. */
-								);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of free bounds; the order depends on the SujectToType
- *  of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllFree(	Bounds* _THIS
-									);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of fixed bounds (on their lower bounds);
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllLower(	Bounds* _THIS
-									);
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set of fixed bounds (on their upper bounds);
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAllUpper(	Bounds* _THIS
-									);
-
-
-/** Moves index of a bound from index list of fixed to that of free bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_moveFixedToFree(	Bounds* _THIS,
-									int number				/**< Number of bound to be freed. */
-									);
-
-/** Moves index of a bound from index list of free to that of fixed bounds.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_moveFreeToFixed(	Bounds* _THIS,
-									int number,				/**< Number of bound to be fixed. */
-									SubjectToStatus _status	/**< Status of bound to be fixed. */
-									);
-
-/** Flip fixed bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_BOUND_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Bounds_flipFixed(	Bounds* _THIS,
-								int number
-								);
-
-/** Swaps the indices of two free bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED */
-returnValue Bounds_swapFree(	Bounds* _THIS,
-								int number1,					/**< Number of first bound. */
-								int number2						/**< Number of second bound. */
-								);
-
-
-/** Returns number of variables.
- *	\return Number of variables. */
-static inline int Bounds_getNV(	Bounds* _THIS
-							);
-
-/** Returns number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int Bounds_getNFV(	Bounds* _THIS
-									);
-
-/** Returns number of bounded (but possibly free) variables.
- *	\return Number of bounded (but possibly free) variables. */
-static inline int Bounds_getNBV(	Bounds* _THIS
-									);
-
-/** Returns number of unbounded variables.
- *	\return Number of unbounded variables. */
-static inline int Bounds_getNUV(	Bounds* _THIS
-									);
-
-/** Returns number of free variables.
- *	\return Number of free variables. */
-static inline int Bounds_getNFR(	Bounds* _THIS
-									);
-
-/** Returns number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int Bounds_getNFX(	Bounds* _THIS
-									);
-
-
-/** Returns a pointer to free variables index list.
- *	\return Pointer to free variables index list. */
-static inline Indexlist* Bounds_getFree(	Bounds* _THIS
-											);
-
-/** Returns a pointer to fixed variables index list.
- *	\return Pointer to fixed variables index list. */
-static inline Indexlist* Bounds_getFixed(	Bounds* _THIS
-											);
-
-
-/** Returns number of bounds with given SubjectTo type.
- *	\return Number of bounds with given type. */
-static inline int Bounds_getNumberOfType(	Bounds* _THIS,
-											SubjectToType _type	/**< Type of bound. */
-											);
-
-
-/** Returns type of bound.
- *	\return Type of bound \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline SubjectToType Bounds_getType(	Bounds* _THIS,
-											int i			/**< Number of bound. */
-											);
-
-/** Returns status of bound.
- *	\return Status of bound \n
- 			ST_UNDEFINED */
-static inline SubjectToStatus Bounds_getStatus(	Bounds* _THIS,
-												int i		/**< Number of bound. */
-												);
-
-
-/** Sets type of bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Bounds_setType(	Bounds* _THIS,
-											int i,				/**< Number of bound. */
-											SubjectToType value	/**< Type of bound. */
-											);
-
-/** Sets status of bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Bounds_setStatus(	Bounds* _THIS,
-											int i,					/**< Number of bound. */
-											SubjectToStatus value	/**< Status of bound. */
-											);
-
-
-/** Sets status of lower bounds. */
-static inline void Bounds_setNoLower(	Bounds* _THIS,
-										BooleanType _status		/**< Status of lower bounds. */
-										);
-
-/** Sets status of upper bounds. */
-static inline void Bounds_setNoUpper(	Bounds* _THIS,
-										BooleanType _status		/**< Status of upper bounds. */
-										);
-
-
-/** Returns status of lower bounds.
- *	\return BT_TRUE if there is no lower bound on any variable. */
-static inline BooleanType Bounds_hasNoLower(	Bounds* _THIS
-												);
-
-/** Returns status of upper bounds.
- *	\return BT_TRUE if there is no upper bound on any variable. */
-static inline BooleanType Bounds_hasNoUpper(	Bounds* _THIS
-												);
-
-
-/** Shifts forward type and status of all bounds by a given
- *  offset. This offset has to lie within the range [0,n/2] and has to
- *  be an integer divisor of the total number of bounds n.
- *  Type and status of the first \<offset\> bounds is thrown away,
- *  type and status of the last \<offset\> bounds is doubled,
- *  e.g. for offset = 2: \n
- *  shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_INVALID_ARGUMENTS \n
- 			RET_SHIFTING_FAILED */
-returnValue Bounds_shift(	Bounds* _THIS,
-							int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
-							);
-
-/** Rotates forward type and status of all bounds by a given
- *  offset. This offset has to lie within the range [0,n].
- *  Example for offset = 2: \n
- *  rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_ROTATING_FAILED */
-returnValue Bounds_rotate(	Bounds* _THIS,
-							int offset		/**< Rotation offset within the range [0,n]. */
-							);
-
-
-/** Prints information on bounds object
- *  (in particular, lists of free and fixed bounds.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INDEXLIST_CORRUPTED */
-returnValue Bounds_print(	Bounds* _THIS
-							);
-
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set corresponding to the desired status;
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_BOUND_FAILED */
-returnValue Bounds_setupAll(	Bounds* _THIS,
-								SubjectToStatus _status	/**< Desired initial status for all bounds. */
-								);
-
-
-/** Adds the index of a new bound to index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_addIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-								int newnumber,				/**< Number of new bound. */
-								SubjectToStatus newstatus	/**< Status of new bound. */
-								);
-
-/** Removes the index of a bound from index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_REMOVEINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_removeIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-								int removenumber			/**< Number of bound to be removed. */
-								);
-
-/** Swaps the indices of two constraints or bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Bounds_swapIndex(	Bounds* _THIS,
-								Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-								int number1,				/**< Number of first bound. */
-								int number2					/**< Number of second bound. */
-								);
-
-
-
-/*
- *	g e t N u m b e r O f T y p e
- */
-static inline int Bounds_getNumberOfType( Bounds* _THIS, SubjectToType _type )
-{
-	int i;
-	int numberOfType = 0;
-
-	if ( _THIS->type != 0 )
-	{
-		for( i=0; i<_THIS->n; ++i )
-			if ( _THIS->type[i] == _type )
-				++numberOfType;
-	}
-
-	return numberOfType;
-}
-
-
-/*
- *	g e t T y p e
- */
-static inline SubjectToType Bounds_getType( Bounds* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->type[i];
-
-	return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->status[i];
-
-	return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-static inline returnValue Bounds_setType( Bounds* _THIS, int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-static inline returnValue Bounds_setStatus( Bounds* _THIS, int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-static inline void Bounds_setNoLower( Bounds* _THIS, BooleanType _status )
-{
-	_THIS->noLower = _status;
-}
-
-
-/*
- *	s e t N o U p p e r
- */
-static inline void Bounds_setNoUpper( Bounds* _THIS, BooleanType _status )
-{
-	_THIS->noUpper = _status;
-}
-
-
-/*
- *	h a s N o L o w e r
- */
-static inline BooleanType Bounds_hasNoLower( Bounds* _THIS )
-{
-	return _THIS->noLower;
-}
-
-
-/*
- *	h a s N o U p p p e r
- */
-static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS )
-{
-	return _THIS->noUpper;
-}
-
-
-
-/*
- *	g e t N V
- */
-static inline int Bounds_getNV( Bounds* _THIS )
-{
- 	return _THIS->n;
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int Bounds_getNFV( Bounds* _THIS )
-{
- 	return Bounds_getNumberOfType( _THIS,ST_EQUALITY );
-}
-
-
-/*
- *	g e t N B V
- */
-static inline int Bounds_getNBV( Bounds* _THIS )
-{
- 	return Bounds_getNumberOfType( _THIS,ST_BOUNDED );
-}
-
-
-/*
- *	g e t N U V
- */
-static inline int Bounds_getNUV( Bounds* _THIS )
-{
-	return Bounds_getNumberOfType( _THIS,ST_UNBOUNDED );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int Bounds_getNFR( Bounds* _THIS )
-{
- 	return Indexlist_getLength( _THIS->freee );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int Bounds_getNFX( Bounds* _THIS )
-{
-	return Indexlist_getLength( _THIS->fixed );
-}
-
-
-/*
- *	g e t F r e e
- */
-static inline Indexlist* Bounds_getFree( Bounds* _THIS )
-{
-	return _THIS->freee;
-}
-
-
-/*
- *	g e t F i x e d
- */
-static inline Indexlist* Bounds_getFixed( Bounds* _THIS )
-{
-	return _THIS->fixed;
-}
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_BOUNDS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Constants.h b/third_party/acados/include/qpOASES_e/Constants.h
deleted file mode 100644
index 13c777d75b..0000000000
--- a/third_party/acados/include/qpOASES_e/Constants.h
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constants.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Definition of all global constants.
- */
-
-
-#ifndef QPOASES_CONSTANTS_H
-#define QPOASES_CONSTANTS_H
-
-
-#include <qpOASES_e/Types.h>
-
-#ifdef __CODE_GENERATION__
-
-  #define CONVERTTOSTRINGAUX(x) #x
-  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
-
-  #ifndef QPOASES_CUSTOM_INTERFACE
-  #include "acado_qpoases3_interface.h"
-  #else
-  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
-  #endif
-
-#endif
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-#ifndef __EXTERNAL_DIMENSIONS__
-
-  /*#define QPOASES_NVMAX  50
-  #define QPOASES_NCMAX  100*/
-  #define QPOASES_NVMAX  287
-  #define QPOASES_NCMAX  709
-
-#endif /* __EXTERNAL_DIMENSIONS__ */
-
-
-/** Maximum number of variables within a QP formulation.
- *	Note: this value has to be positive! */
-#define NVMAX  QPOASES_NVMAX
-
-/** Maximum number of constraints within a QP formulation.
- *	Note: this value has to be positive! */
-#define NCMAX  QPOASES_NCMAX
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMAX QPOASES_NVMAX
-#else
-#define NVCMAX QPOASES_NCMAX
-#endif
-
-#if ( QPOASES_NVMAX > QPOASES_NCMAX )
-#define NVCMIN QPOASES_NCMAX
-#else
-#define NVCMIN QPOASES_NVMAX
-#endif
-
-
-/** Maximum number of QPs in a sequence solved by means of the OQP interface.
- *	Note: this value has to be positive! */
-#define NQPMAX 1000
-
-
-/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
- *	Note: this value has to be positive! */
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  static const real_t QPOASES_EPS = 1.193e-07;
-  #else
-  static const real_t QPOASES_EPS = 2.221e-16;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-
-
-/** Numerical value of zero (for situations in which it would be
- *	unreasonable to compare with 0.0).
- *  Note: this value has to be positive! */
-static const real_t QPOASES_ZERO = 1.0e-25;
-
-/** Numerical value of infinity (e.g. for non-existing bounds).
- *	Note: this value has to be positive! */
-static const real_t QPOASES_INFTY = 1.0e20;
-
-/** Tolerance to used for isEqual, isZero etc.
- *	Note: this value has to be positive! */
-static const real_t QPOASES_TOL = 1.0e-25;
-
-
-/** Maximum number of characters within a string.
- *	Note: this value should be at least 41! */
-#define QPOASES_MAX_STRING_LENGTH 160
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTANTS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/ConstraintProduct.h b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
deleted file mode 100644
index eb5400c6cb..0000000000
--- a/third_party/acados/include/qpOASES_e/ConstraintProduct.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/ConstraintProduct.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *	Declaration of the ConstraintProduct interface which allows to specify a
- *	user-defined function for evaluating the constraint product at the 
- *	current iterate to speed-up QP solution in case of a specially structured
- *	constraint matrix.
- */
-
-
-
-#ifndef QPOASES_CONSTRAINT_PRODUCT_H
-#define QPOASES_CONSTRAINT_PRODUCT_H
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** 
- *	\brief Interface for specifying user-defined evaluations of constraint products.
- *
- *	An interface which allows to specify a user-defined function for evaluating the 
- *	constraint product at the current iterate to speed-up QP solution in case 
- *	of a specially structured constraint matrix.
- *
- *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
- *	\version 3.1embedded
- *	\date 2009-2015
- */
-typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
-
-
-END_NAMESPACE_QPOASES
-
-#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */
diff --git a/third_party/acados/include/qpOASES_e/Constraints.h b/third_party/acados/include/qpOASES_e/Constraints.h
deleted file mode 100644
index 8aca10d5d9..0000000000
--- a/third_party/acados/include/qpOASES_e/Constraints.h
+++ /dev/null
@@ -1,535 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Constraints.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Constraints class designed to manage working sets of
- *	constraints within a QProblem.
- */
-
-
-#ifndef QPOASES_CONSTRAINTS_H
-#define QPOASES_CONSTRAINTS_H
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages working sets of constraints.
- *
- *	This class manages working sets of constraints by storing
- *	index sets and other status information.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Indexlist *active;					/**< Index list of active constraints. */
-	Indexlist *inactive;				/**< Index list of inactive constraints. */
-
-	Indexlist *shiftedActive;			/**< Memory for shifting active constraints. */
-	Indexlist *shiftedInactive;			/**< Memory for shifting inactive constraints. */
-
-	Indexlist *rotatedActive;			/**< Memory for rotating active constraints. */
-	Indexlist *rotatedInactive;			/**< Memory for rotating inactive constraints. */
-
-	SubjectToType   *type; 				/**< Type of constraints. */
-	SubjectToStatus *status;			/**< Status of constraints. */
-
-	SubjectToType   *typeTmp;			/**< Temp memory for type of constraints. */
-	SubjectToStatus *statusTmp;			/**< Temp memory for status of constraints. */
-
-	BooleanType noLower;			 	/**< This flag indicates if there is no lower bound on any variable. */
-	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
-
-	int n;								/**< Total number of constraints. */
-} Constraints;
-
-int Constraints_calculateMemorySize( int n);
-
-char *Constraints_assignMemory(int n, Constraints **mem, void *raw_memory);
-
-Constraints *Constraints_createMemory( int n );
-
-/** Constructor which takes the number of constraints. */
-void ConstraintsCON(	Constraints* _THIS,
-						int _n							/**< Number of constraints. */
-						);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void ConstraintsCPY(	Constraints* FROM,
-						Constraints* TO
-						);
-
-
-/** Initialises object with given number of constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Constraints_init(	Constraints* _THIS,
-								int _n					/**< Number of constraints. */
-								);
-
-
-/** Initially adds number of a new (i.e. not yet in the list) constraint to
- *  a given index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_setupConstraint(	Constraints* _THIS,
-											int number,				/**< Number of new constraint. */
-											SubjectToStatus _status	/**< Status of new constraint. */
-											);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of inactive constraints; the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllInactive(	Constraints* _THIS
-											);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of active constraints (on their lower bounds); the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllLower(	Constraints* _THIS
-										);
-
-/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
- *  to the index set of active constraints (on their upper bounds); the order depends on the SujectToType
- *  of each index. Only disabled constraints are added to index set of disabled constraints!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAllUpper(	Constraints* _THIS
-										);
-
-
-/** Moves index of a constraint from index list of active to that of inactive constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED */
-returnValue Constraints_moveActiveToInactive(	Constraints* _THIS,
-												int number				/**< Number of constraint to become inactive. */
-												);
-
-/** Moves index of a constraint from index list of inactive to that of active constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED */
-returnValue Constraints_moveInactiveToActive(	Constraints* _THIS,
-												int number,				/**< Number of constraint to become active. */
-												SubjectToStatus _status	/**< Status of constraint to become active. */
-												);
-
-/** Flip fixed constraint.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MOVING_CONSTRAINT_FAILED \n
-			RET_INDEX_OUT_OF_BOUNDS */
-returnValue Constraints_flipFixed(	Constraints* _THIS,
-									int number
-									);
-
-
-/** Returns the number of constraints.
- *	\return Number of constraints. */
-static inline int Constraints_getNC(	Constraints* _THIS
-										);
-
-/** Returns the number of implicit equality constraints.
- *	\return Number of implicit equality constraints. */
-static inline int Constraints_getNEC(	Constraints* _THIS
-										);
-
-/** Returns the number of "real" inequality constraints.
- *	\return Number of "real" inequality constraints. */
-static inline int Constraints_getNIC(	Constraints* _THIS
-										);
-
-/** Returns the number of unbounded constraints (i.e. without any bounds).
- *	\return Number of unbounded constraints (i.e. without any bounds). */
-static inline int Constraints_getNUC(	Constraints* _THIS
-										);
-
-/** Returns the number of active constraints.
- *	\return Number of active constraints. */
-static inline int Constraints_getNAC(	Constraints* _THIS
-										);
-
-/** Returns the number of inactive constraints.
- *	\return Number of inactive constraints. */
-static inline int Constraints_getNIAC(	Constraints* _THIS
-										);
-
-
-/** Returns a pointer to active constraints index list.
- *	\return Pointer to active constraints index list. */
-static inline Indexlist* Constraints_getActive(	Constraints* _THIS
-												);
-
-/** Returns a pointer to inactive constraints index list.
- *	\return Pointer to inactive constraints index list. */
-static inline Indexlist* Constraints_getInactive(	Constraints* _THIS
-													);
-
-
-/** Returns number of constraints with given SubjectTo type.
- *	\return Number of constraints with given type. */
-static inline int Constraints_getNumberOfType(	Constraints* _THIS,
-												SubjectToType _type	/**< Type of constraints' bound. */
-												);
-
-
-/** Returns type of constraints' bound.
- *	\return Type of constraints' bound \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline SubjectToType Constraints_getType(	Constraints* _THIS,
-													int i			/**< Number of constraints' bound. */
-													);
-
-/** Returns status of constraints' bound.
- *	\return Status of constraints' bound \n
- 			ST_UNDEFINED */
-static inline SubjectToStatus Constraints_getStatus(	Constraints* _THIS,
-														int i		/**< Number of constraints' bound. */
-														);
-
-
-/** Sets type of constraints' bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Constraints_setType(	Constraints* _THIS,
-												int i,				/**< Number of constraints' bound. */
-												SubjectToType value	/**< Type of constraints' bound. */
-												);
-
-/** Sets status of constraints' bound.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue Constraints_setStatus(	Constraints* _THIS,
-													int i,					/**< Number of constraints' bound. */
-													SubjectToStatus value	/**< Status of constraints' bound. */
-													);
-
-
-/** Sets status of lower constraints' bounds. */
-static inline void Constraints_setNoLower(	Constraints* _THIS,
-											BooleanType _status		/**< Status of lower constraints' bounds. */
-											);
-
-/** Sets status of upper constraints' bounds. */
-static inline void Constraints_setNoUpper(	Constraints* _THIS,
-											BooleanType _status		/**< Status of upper constraints' bounds. */
-											);
-
-
-/** Returns status of lower constraints' bounds.
- *	\return BT_TRUE if there is no lower constraints' bound on any variable. */
-static inline BooleanType Constraints_hasNoLower(	Constraints* _THIS
-													);
-
-/** Returns status of upper bounds.
- *	\return BT_TRUE if there is no upper constraints' bound on any variable. */
-static inline BooleanType Constraints_hasNoUpper(	Constraints* _THIS
-													);
-
-
-/** Shifts forward type and status of all constraints by a given
- *  offset. This offset has to lie within the range [0,n/2] and has to
- *  be an integer divisor of the total number of constraints n.
- *  Type and status of the first \<offset\> constraints  is thrown away,
- *  type and status of the last \<offset\> constraints is doubled,
- *  e.g. for offset = 2: \n
- *  shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_INVALID_ARGUMENTS \n
- 			RET_SHIFTING_FAILED */
-returnValue Constraints_shift(	Constraints* _THIS,
-								int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
-								);
-
-/** Rotates forward type and status of all constraints by a given
- *  offset. This offset has to lie within the range [0,n].
- *  Example for offset = 2: \n
- *  rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEX_OUT_OF_BOUNDS \n
- 			RET_ROTATING_FAILED */
-returnValue Constraints_rotate(	Constraints* _THIS,
-								int offset		/**< Rotation offset within the range [0,n]. */
-								);
-
-
-/** Prints information on constraints object
- *  (in particular, lists of inactive and active constraints.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INDEXLIST_CORRUPTED */
-returnValue Constraints_print(	Constraints* _THIS
-								);
-
-
-/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
- *  to the index set corresponding to the desired status;
- *  the order depends on the SujectToType of each index.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SETUP_CONSTRAINT_FAILED */
-returnValue Constraints_setupAll(	Constraints* _THIS,
-									SubjectToStatus _status	/**< Desired initial status for all bounds. */
-									);
-
-
-/** Adds the index of a new constraint to index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_addIndex(	Constraints* _THIS,
-									Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
-									int newnumber,				/**< Number of new constraint. */
-									SubjectToStatus newstatus	/**< Status of new constraint. */
-									);
-
-/** Removes the index of a constraint from index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_REMOVEINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_removeIndex(	Constraints* _THIS,
-										Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
-										int removenumber			/**< Number of constraint to be removed. */
-										);
-
-/** Swaps the indices of two constraints or bounds within the index set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_SWAPINDEX_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue Constraints_swapIndex(	Constraints* _THIS,
-									Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
-									int number1,				/**< Number of first constraint. */
-									int number2					/**< Number of second constraint. */
-									);
-
-
-
-/*
- *	g e t N u m b e r O f T y p e
- */
-static inline int Constraints_getNumberOfType( Constraints* _THIS, SubjectToType _type )
-{
-	int i;
-	int numberOfType = 0;
-
-	if ( _THIS->type != 0 )
-	{
-		for( i=0; i<_THIS->n; ++i )
-			if ( _THIS->type[i] == _type )
-				++numberOfType;
-	}
-
-	return numberOfType;
-}
-
-
-/*
- *	g e t T y p e
- */
-static inline SubjectToType Constraints_getType( Constraints* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->type[i];
-
-	return ST_UNKNOWN;
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, int i )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-		return _THIS->status[i];
-
-	return ST_UNDEFINED;
-}
-
-
-/*
- *	s e t T y p e
- */
-static inline returnValue Constraints_setType( Constraints* _THIS, int i, SubjectToType value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->type[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t S t a t u s
- */
-static inline returnValue Constraints_setStatus( Constraints* _THIS, int i, SubjectToStatus value )
-{
-	if ( ( i >= 0 ) && ( i < _THIS->n ) )
-	{
-		_THIS->status[i] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t N o L o w e r
- */
-static inline void Constraints_setNoLower( Constraints* _THIS, BooleanType _status )
-{
-	_THIS->noLower = _status;
-}
-
-
-/*
- *	s e t N o U p p e r
- */
-static inline void Constraints_setNoUpper( Constraints* _THIS, BooleanType _status )
-{
-	_THIS->noUpper = _status;
-}
-
-
-/*
- *	h a s N o L o w e r
- */
-static inline BooleanType Constraints_hasNoLower( Constraints* _THIS )
-{
-	return _THIS->noLower;
-}
-
-
-/*
- *	h a s N o U p p p e r
- */
-static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS )
-{
-	return _THIS->noUpper;
-}
-
-
-
-/*
- *	g e t N C
- */
-static inline int Constraints_getNC( Constraints* _THIS )
-{
- 	return _THIS->n;
-}
-
-
-/*
- *	g e t N E C
- */
-static inline int Constraints_getNEC( Constraints* _THIS )
-{
-	return Constraints_getNumberOfType( _THIS,ST_EQUALITY );
-}
-
-
-/*
- *	g e t N I C
- */
-static inline int Constraints_getNIC( Constraints* _THIS )
-{
- 	return Constraints_getNumberOfType( _THIS,ST_BOUNDED );
-}
-
-
-/*
- *	g e t N U C
- */
-static inline int Constraints_getNUC( Constraints* _THIS )
-{
- 	return Constraints_getNumberOfType( _THIS,ST_UNBOUNDED );
-}
-
-
-/*
- *	g e t N A C
- */
-static inline int Constraints_getNAC( Constraints* _THIS )
-{
- 	return Indexlist_getLength( _THIS->active );
-}
-
-
-/*
- *	g e t N I A C
- */
-static inline int Constraints_getNIAC( Constraints* _THIS )
-{
-	return Indexlist_getLength( _THIS->inactive );
-}
-
-
-
-/*
- *	g e t A c t i v e
- */
-static inline Indexlist* Constraints_getActive( Constraints* _THIS )
-{
-	return _THIS->active;
-}
-
-
-/*
- *	g e t I n a c t i v e
- */
-static inline Indexlist* Constraints_getInactive( Constraints* _THIS )
-{
-	return _THIS->inactive;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_CONSTRAINTS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Flipper.h b/third_party/acados/include/qpOASES_e/Flipper.h
deleted file mode 100644
index 63526a30f3..0000000000
--- a/third_party/acados/include/qpOASES_e/Flipper.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Flipper.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_FLIPPER_H
-#define QPOASES_FLIPPER_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Constraints.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Auxiliary class for storing a copy of the current matrix factorisations.
- *
- *	This auxiliary class stores a copy of the current matrix factorisations. It
- *	is used by the classe QProblemB and QProblem in case flipping bounds are enabled.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	Bounds      *bounds;			/**< Data structure for problem's bounds. */
-	Constraints *constraints;		/**< Data structure for problem's constraints. */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
-
-	unsigned int nV;				/**< Number of variables. */
-	unsigned int nC;				/**< Number of constraints. */
-} Flipper;
-
-int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory );
-
-Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC );
-
-/** Constructor which takes the number of bounds and constraints. */
-void FlipperCON(	Flipper* _THIS,
-					unsigned int _nV,		/**< Number of bounds. */
-					unsigned int _nC		/**< Number of constraints. */
-					);
-
-/** Copy constructor (deep copy). */
-void FlipperCPY(	Flipper* FROM,
-					Flipper* TO
-					);
-
-/** Initialises object with given number of bounds and constraints.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Flipper_init(	Flipper* _THIS,
-							unsigned int _nV,	/**< Number of bounds. */
-							unsigned int _nC	/**< Number of constraints. */
-							);
-
-
-/** Copies current values to non-null arguments (assumed to be allocated with consistent size).
- *	\return SUCCESSFUL_RETURN */
-returnValue Flipper_get(	Flipper* _THIS,
-							Bounds* const _bounds,				/**< Pointer to new bounds. */
-							real_t* const R,					/**< New matrix R. */
-							Constraints* const _constraints,	/**< Pointer to new constraints. */
-							real_t* const _Q,					/**< New matrix Q. */
-							real_t* const _T					/**< New matrix T. */
-							);
-
-/** Assigns new values to non-null arguments.
- *	\return SUCCESSFUL_RETURN */
-returnValue Flipper_set(	Flipper* _THIS,
-							const Bounds* const _bounds,			/**< Pointer to new bounds. */
-							const real_t* const _R,					/**< New matrix R. */
-							const Constraints* const _constraints,	/**< Pointer to new constraints. */
-							const real_t* const _Q,					/**< New matrix Q. */
-							const real_t* const _T					/**< New matrix T. */
-							);
-
-/** Returns dimension of matrix T.
- *  \return Dimension of matrix T. */
-unsigned int Flipper_getDimT( Flipper* _THIS );
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_FLIPPER_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Indexlist.h b/third_party/acados/include/qpOASES_e/Indexlist.h
deleted file mode 100644
index 02d259d63d..0000000000
--- a/third_party/acados/include/qpOASES_e/Indexlist.h
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Indexlist.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Indexlist class designed to manage index lists of
- *	constraints and bounds within a SubjectTo object.
- */
-
-
-#ifndef QPOASES_INDEXLIST_H
-#define QPOASES_INDEXLIST_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Stores and manages index lists.
- *
- *	This class manages index lists of active/inactive bounds/constraints.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	int *number;		/**< Array to store numbers of constraints or bounds. */
-	int *iSort;			/**< Index list to sort vector \a number */
-
-	int	length;			/**< Length of index list. */
-	int	first;			/**< Physical index of first element. */
-	int	last;			/**< Physical index of last element. */
-	int	lastusedindex;	/**< Physical index of last entry in index list. */
-	int	physicallength;	/**< Physical length of index list. */
-} Indexlist;
-
-int Indexlist_calculateMemorySize( int n);
-
-char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
-
-Indexlist *Indexlist_createMemory( int n );
-
-/** Constructor which takes the desired physical length of the index list. */
-void IndexlistCON(	Indexlist* _THIS,
-					int n	/**< Physical length of index list. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void IndexlistCPY(	Indexlist* FROM,
-					Indexlist* TO
-					);
-
-/** Initialises index list of desired physical length.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INVALID_ARGUMENTS */
-returnValue Indexlist_init(	Indexlist* _THIS,
-							int n		/**< Physical length of index list. */
-							);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
-										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
-										);
-
-/** Creates an array of all numbers within the index set in correct order.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INDEXLIST_CORRUPTED */
-returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
-										int** const iSortArray	/**< Output: iSort Array. */
-										);
-
-
-/** Determines the index within the index list at which a given number is stored.
- *	\return >= 0: Index of given number. \n
- 			-1: Number not found. */
-int Indexlist_getIndex(	Indexlist* _THIS,
-						int givennumber	/**< Number whose index shall be determined. */
-						);
-
-/** Returns the number stored at a given physical index.
- *	\return >= 0: Number stored at given physical index. \n
- 			-RET_INDEXLIST_OUTOFBOUNDS */
-static inline int Indexlist_getNumber(	Indexlist* _THIS,
-										int physicalindex	/**< Physical index of the number to be returned. */
-										);
-
-
-/** Returns the current length of the index list.
- *	\return Current length of the index list. */
-static inline int Indexlist_getLength(	Indexlist* _THIS
-										);
-
-/** Returns last number within the index list.
- *	\return Last number within the index list. */
-static inline int Indexlist_getLastNumber(	Indexlist* _THIS
-											);
-
-
-/** Adds number to index list.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_MUST_BE_REORDERD \n
- 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
-returnValue Indexlist_addNumber(	Indexlist* _THIS,
-									int addnumber			/**< Number to be added. */
-									);
-
-/** Removes number from index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_removeNumber(	Indexlist* _THIS,
-									int removenumber	/**< Number to be removed. */
-									);
-
-/** Swaps two numbers within index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
-									int number1,		/**< First number for swapping. */
-									int number2			/**< Second number for swapping. */
-									);
-
-/** Determines if a given number is contained in the index set.
- *	\return BT_TRUE iff number is contain in the index set */
-static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
-												int _number		/**< Number to be tested for membership. */
-												);
-
-
-/** Find first index j between -1 and length in sorted list of indices
- *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
- *  bisection.
- *  \return j. */
-int Indexlist_findInsert(	Indexlist* _THIS,
-							int i
-							);
-
-
-
-/*
- *	g e t N u m b e r
- */
-static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
-{
-	/* consistency check */
-	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
-		return -RET_INDEXLIST_OUTOFBOUNDS;
-
-	return _THIS->number[physicalindex];
-}
-
-
-/*
- *	g e t L e n g t h
- */
-static inline int Indexlist_getLength( Indexlist* _THIS )
-{
-	return _THIS->length;
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline int Indexlist_getLastNumber( Indexlist* _THIS )
-{
-	return _THIS->number[_THIS->length-1];
-}
-
-
-/*
- *	g e t L a s t N u m b e r
- */
-static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
-{
-	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_INDEXLIST_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Matrices.h b/third_party/acados/include/qpOASES_e/Matrices.h
deleted file mode 100644
index e2a46b3a9d..0000000000
--- a/third_party/acados/include/qpOASES_e/Matrices.h
+++ /dev/null
@@ -1,287 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Matrices.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2009-2015
- *
- *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
- *  including symmetry exploiting specializations.
- */
-
-
-
-#ifndef QPOASES_MATRICES_H
-#define QPOASES_MATRICES_H
-
-#ifdef __USE_SINGLE_PRECISION__
-
-	// single precision
-	#define GEMM sgemm_
-	#define GEMV sgemv_
-//	#define SYR ssyr_
-//	#define SYR2 ssyr2_
-	#define POTRF spotrf_
-
-#else
-
-	// double precision
-	#define GEMM dgemm_
-	#define GEMV dgemv_
-//	#define SYR  dsyr_
-//	#define SYR2 dsyr2_
-	#define POTRF dpotrf_
-
-#endif /* __USE_SINGLE_PRECISION__ */
-
-
-#ifdef EXTERNAL_BLAS
-	// double precision
-	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
-	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
-	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
-	// single precision
-	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
-	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
-	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
-#else
-	/** Performs one of the matrix-matrix operation in double precision. */
-	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
-			const double*, double*, const unsigned long* );
-	/** Performs one of the matrix-matrix operation in single precision. */
-	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
-			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
-			const float*, float*, const unsigned long* );
-
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
-	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
-	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
-	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
-
-#endif
-
-	/** Performs a symmetric rank 1 operation in double precision. */
-//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
-//				 const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 1 operation in single precision. */
-//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
-//				 const unsigned long *, float *, const unsigned long *);
-
-	/** Performs a symmetric rank 2 operation in double precision. */
-//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
-//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
-	/** Performs a symmetric rank 2 operation in single precision. */
-//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
-//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
-
-
-#include <qpOASES_e/Indexlist.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
- *
- *	Dense matrix class (row major format).
- *
- *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2011-2015
- */
-typedef struct
-{
-	real_t *val;				/**< Vector of entries. */
-	int nRows;					/**< Number of rows. */
-	int nCols;					/**< Number of columns. */
-	int leaDim;					/**< Leading dimension. */
-} DenseMatrix;
-
-int DenseMatrix_calculateMemorySize( int m, int n );
-
-char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
-
-DenseMatrix *DenseMatrix_createMemory( int m, int n );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-void DenseMatrixCON(	DenseMatrix* _THIS,
-						int m,			/**< Number of rows. */
-						int n,			/**< Number of columns. */
-						int lD,			/**< Leading dimension. */
-						real_t *v		/**< Values. */
-						);
-
-void DenseMatrixCPY(	DenseMatrix* FROM,
-						DenseMatrix* TO
-						);
-
-
-/** Frees all internal memory. */
-void DenseMatrix_free( DenseMatrix* _THIS );
-
-/** Constructor from vector of values.
- *  Caution: Data pointer must be valid throughout lifetime
- */
-returnValue DenseMatrix_init(	DenseMatrix* _THIS,
-								int m,			/**< Number of rows. */
-								int n,			/**< Number of columns. */
-								int lD,			/**< Leading dimension. */
-								real_t *v		/**< Values. */
-								);
-
-
-/** Returns i-th diagonal entry.
- *	\return i-th diagonal entry */
-real_t DenseMatrix_diag(	DenseMatrix* _THIS,
-							int i			/**< Index. */
-							);
-
-/** Checks whether matrix is square and diagonal.
- *	\return BT_TRUE  iff matrix is square and diagonal; \n
- *	        BT_FALSE otherwise. */
-BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
-
-/** Get the N-norm of the matrix
- *  \return N-norm of the matrix
- */
-real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
-							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-							);
-
-/** Get the N-norm of a row
- *  \return N-norm of row \a rNum
- */
-real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
-								int rNum,			/**< Row number. */
-								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-								);
-
-/** Retrieve indexed entries of matrix row multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
-								int rNum,						/**< Row number. */
-								const Indexlist* const icols,	/**< Index list specifying columns. */
-								real_t alpha,					/**< Scalar factor. */
-								real_t *row						/**< Output row vector. */
-								);
-
-/** Retrieve indexed entries of matrix column multiplied by alpha.
- *  \return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
-									int cNum,						/**< Column number. */
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									real_t alpha,					/**< Scalar factor. */
-									real_t *col						/**< Output column vector. */
-									);
-
-/** Evaluate Y=alpha*A*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_times(	DenseMatrix* _THIS,
-								int xN,					/**< Number of vectors to multiply. */
-								real_t alpha,			/**< Scalar factor for matrix vector product. */
-								const real_t *x,		/**< Input vector to be multiplied. */
-								int xLD,				/**< Leading dimension of input x. */
-								real_t beta,			/**< Scalar factor for y. */
-								real_t *y,				/**< Output vector of results. */
-								int yLD					/**< Leading dimension of output y. */
-								);
-
-/** Evaluate Y=alpha*A'*X + beta*Y.
- *  \return SUCCESSFUL_RETURN. */
-returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
-									int xN,				/**< Number of vectors to multiply. */
-									real_t alpha,		/**< Scalar factor for matrix vector product. */
-									const real_t *x,	/**< Input vector to be multiplied. */
-									int xLD,			/**< Leading dimension of input x. */
-									real_t beta,		/**< Scalar factor for y. */
-									real_t *y,			/**< Output vector of results. */
-									int yLD				/**< Leading dimension of output y. */
-									);
-
-/** Evaluate matrix vector product with submatrix given by Indexlist.
- *	\return SUCCESSFUL_RETURN */
- returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
-									const Indexlist* const irows,	/**< Index list specifying rows. */
-									const Indexlist* const icols,	/**< Index list specifying columns. */
-									int xN,							/**< Number of vectors to multiply. */
-									real_t alpha,					/**< Scalar factor for matrix vector product. */
-									const real_t *x,				/**< Input vector to be multiplied. */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t beta,					/**< Scalar factor for y. */
-									real_t *y,						/**< Output vector of results. */
-									int yLD,						/**< Leading dimension of output y. */
-									BooleanType yCompr 				/**< Compressed storage for y. */
-									);
-
-/** Evaluate matrix transpose vector product.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
-										const Indexlist* const irows,	/**< Index list specifying rows. */
-										const Indexlist* const icols,	/**< Index list specifying columns. */
-										int xN,							/**< Number of vectors to multiply. */
-										real_t alpha,					/**< Scalar factor for matrix vector product. */
-										const real_t *x,				/**< Input vector to be multiplied. */
-										int xLD,						/**< Leading dimension of input x. */
-										real_t beta,					/**< Scalar factor for y. */
-										real_t *y,						/**< Output vector of results. */
-										int yLD							/**< Leading dimension of output y. */
-										);
-
-/** Adds given offset to diagonal of matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_NO_DIAGONAL_AVAILABLE */
-returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
-									real_t alpha		/**< Diagonal offset. */
-									);
-
-/** Prints matrix to screen.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_print(	DenseMatrix* _THIS
-								);
-
-static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
-
-/** Compute bilinear form y = x'*H*x using submatrix given by index list.
- *	\return SUCCESSFUL_RETURN */
-returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
-									const Indexlist* const icols,	/**< Index list specifying columns of x. */
-									int xN,							/**< Number of vectors to multiply. */
-									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
-									int xLD,						/**< Leading dimension of input x. */
-									real_t *y,						/**< Output vector of results (compressed). */
-									int yLD							/**< Leading dimension of output y. */
-									);
-
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_MATRICES_H */
diff --git a/third_party/acados/include/qpOASES_e/MessageHandling.h b/third_party/acados/include/qpOASES_e/MessageHandling.h
deleted file mode 100644
index fe5524948a..0000000000
--- a/third_party/acados/include/qpOASES_e/MessageHandling.h
+++ /dev/null
@@ -1,544 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/MessageHandling.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching)
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the MessageHandling class including global return values.
- */
-
-
-#ifndef QPOASES_MESSAGEHANDLING_H
-#define QPOASES_MESSAGEHANDLING_H
-
-
-#include <stdio.h>
-#include <string.h>
-#include <math.h>
-#include <assert.h>
-
-#include <qpOASES_e/Constants.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Default file to display messages. */
-#define stdFile stderr
-
-
-/**
- *	\brief Defines all symbols for global return values.
- *	
- *  The enumeration returnValueType defines all symbols for global return values.
- *	Important: All return values are assumed to be nonnegative!
- *
- *	\author Hans Joachim Ferreau
- */
-typedef enum 
-{
-TERMINAL_LIST_ELEMENT = -1,						/**< Terminal list element, internal usage only! */
-/* miscellaneous */
-SUCCESSFUL_RETURN = 0,							/**< Successful return. */
-RET_DIV_BY_ZERO,		   						/**< Division by zero. */
-RET_INDEX_OUT_OF_BOUNDS,						/**< Index out of bounds. */
-RET_INVALID_ARGUMENTS,							/**< At least one of the arguments is invalid. */
-RET_ERROR_UNDEFINED,							/**< Error number undefined. */
-RET_WARNING_UNDEFINED,							/**< Warning number undefined. */
-RET_INFO_UNDEFINED,								/**< Info number undefined. */
-RET_EWI_UNDEFINED,								/**< Error/warning/info number undefined. */
-RET_AVAILABLE_WITH_LINUX_ONLY,					/**< This function is available under Linux only. */
-RET_UNKNOWN_BUG,								/**< The error occurred is not yet known. */
-RET_PRINTLEVEL_CHANGED,							/**< Print level changed. (10) */
-RET_NOT_YET_IMPLEMENTED,						/**< Requested function is not yet implemented in this version of qpOASES. */
-/* Indexlist */
-RET_INDEXLIST_MUST_BE_REORDERD,					/**< Index list has to be reordered. */
-RET_INDEXLIST_EXCEEDS_MAX_LENGTH,				/**< Index list exceeds its maximal physical length. */
-RET_INDEXLIST_CORRUPTED,						/**< Index list corrupted. */
-RET_INDEXLIST_OUTOFBOUNDS,						/**< Physical index is out of bounds. */
-RET_INDEXLIST_ADD_FAILED,						/**< Adding indices from another index set failed. */
-RET_INDEXLIST_INTERSECT_FAILED,					/**< Intersection with another index set failed. */
-/* SubjectTo / Bounds / Constraints */
-RET_INDEX_ALREADY_OF_DESIRED_STATUS,			/**< Index is already of desired status. (18) */
-RET_ADDINDEX_FAILED,							/**< Adding index to index set failed. */
-RET_REMOVEINDEX_FAILED,							/**< Removing index from index set failed. (20) */
-RET_SWAPINDEX_FAILED,							/**< Cannot swap between different indexsets. */
-RET_NOTHING_TO_DO,								/**< Nothing to do. */
-RET_SETUP_BOUND_FAILED,							/**< Setting up bound index failed. */
-RET_SETUP_CONSTRAINT_FAILED,					/**< Setting up constraint index failed. */
-RET_MOVING_BOUND_FAILED,						/**< Moving bound between index sets failed. */
-RET_MOVING_CONSTRAINT_FAILED,					/**< Moving constraint between index sets failed. */
-RET_SHIFTING_FAILED,							/**< Shifting of bounds/constraints failed. */
-RET_ROTATING_FAILED,							/**< Rotating of bounds/constraints failed. */
-/* QProblem */
-RET_QPOBJECT_NOT_SETUP,							/**< The QP object has not been setup correctly, use another constructor. */
-RET_QP_ALREADY_INITIALISED,						/**< QProblem has already been initialised. (30) */
-RET_NO_INIT_WITH_STANDARD_SOLVER,				/**< Initialisation via extern QP solver is not yet implemented. */
-RET_RESET_FAILED,								/**< Reset failed. */
-RET_INIT_FAILED,								/**< Initialisation failed. */
-RET_INIT_FAILED_TQ,								/**< Initialisation failed due to TQ factorisation. */
-RET_INIT_FAILED_CHOLESKY,						/**< Initialisation failed due to Cholesky decomposition. */
-RET_INIT_FAILED_HOTSTART,						/**< Initialisation failed! QP could not be solved! */
-RET_INIT_FAILED_INFEASIBILITY,					/**< Initial QP could not be solved due to infeasibility! */
-RET_INIT_FAILED_UNBOUNDEDNESS,					/**< Initial QP could not be solved due to unboundedness! */
-RET_INIT_FAILED_REGULARISATION,					/**< Initialisation failed as Hessian matrix could not be regularised. */
-RET_INIT_SUCCESSFUL,							/**< Initialisation done. (40) */
-RET_OBTAINING_WORKINGSET_FAILED,				/**< Failed to obtain working set for auxiliary QP. */
-RET_SETUP_WORKINGSET_FAILED,					/**< Failed to setup working set for auxiliary QP. */
-RET_SETUP_AUXILIARYQP_FAILED,					/**< Failed to setup auxiliary QP for initialised homotopy. */
-RET_NO_CHOLESKY_WITH_INITIAL_GUESS,				/**< Externally computed Cholesky factor cannot be combined with an initial guess. */
-RET_NO_EXTERN_SOLVER,							/**< No extern QP solver available. */
-RET_QP_UNBOUNDED,								/**< QP is unbounded. */
-RET_QP_INFEASIBLE,								/**< QP is infeasible. */
-RET_QP_NOT_SOLVED,								/**< Problems occurred while solving QP with standard solver. */
-RET_QP_SOLVED,									/**< QP successfully solved. */
-RET_UNABLE_TO_SOLVE_QP,							/**< Problems occurred while solving QP. (50) */
-RET_INITIALISATION_STARTED,						/**< Starting problem initialisation... */
-RET_HOTSTART_FAILED,							/**< Unable to perform homotopy due to internal error. */
-RET_HOTSTART_FAILED_TO_INIT,					/**< Unable to initialise problem. */
-RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,		/**< Unable to perform homotopy as previous QP is not solved. */
-RET_ITERATION_STARTED,							/**< Iteration... */
-RET_SHIFT_DETERMINATION_FAILED,					/**< Determination of shift of the QP data failed. */
-RET_STEPDIRECTION_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_STEPLENGTH_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
-RET_OPTIMAL_SOLUTION_FOUND,						/**< Optimal solution of neighbouring QP found. */
-RET_HOMOTOPY_STEP_FAILED,						/**< Unable to perform homotopy step. (60) */
-RET_HOTSTART_STOPPED_INFEASIBILITY,				/**< Premature homotopy termination because QP is infeasible. */
-RET_HOTSTART_STOPPED_UNBOUNDEDNESS,				/**< Premature homotopy termination because QP is unbounded. */
-RET_WORKINGSET_UPDATE_FAILED,					/**< Unable to update working sets according to initial guesses. */
-RET_MAX_NWSR_REACHED,							/**< Maximum number of working set recalculations performed. */
-RET_CONSTRAINTS_NOT_SPECIFIED,					/**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
-RET_INVALID_FACTORISATION_FLAG,					/**< Invalid factorisation flag. */
-RET_UNABLE_TO_SAVE_QPDATA,						/**< Unable to save QP data. */
-RET_STEPDIRECTION_FAILED_TQ,					/**< Abnormal termination due to TQ factorisation. */
-RET_STEPDIRECTION_FAILED_CHOLESKY,				/**< Abnormal termination due to Cholesky factorisation. */
-RET_CYCLING_DETECTED,							/**< Cycling detected. (70) */
-RET_CYCLING_NOT_RESOLVED,						/**< Cycling cannot be resolved, QP probably infeasible. */
-RET_CYCLING_RESOLVED,							/**< Cycling probably resolved. */
-RET_STEPSIZE,									/**< For displaying performed stepsize. */
-RET_STEPSIZE_NONPOSITIVE,						/**< For displaying non-positive stepsize. */
-RET_SETUPSUBJECTTOTYPE_FAILED,					/**< Setup of SubjectToTypes failed. */
-RET_ADDCONSTRAINT_FAILED,						/**< Addition of constraint to working set failed. */
-RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,			/**< Addition of constraint to working set failed (due to QP infeasibility). */
-RET_ADDBOUND_FAILED,							/**< Addition of bound to working set failed. */
-RET_ADDBOUND_FAILED_INFEASIBILITY,				/**< Addition of bound to working set failed (due to QP infeasibility). */
-RET_REMOVECONSTRAINT_FAILED,					/**< Removal of constraint from working set failed. (80) */
-RET_REMOVEBOUND_FAILED,							/**< Removal of bound from working set failed. */
-RET_REMOVE_FROM_ACTIVESET,						/**< Removing from active set... */
-RET_ADD_TO_ACTIVESET,							/**< Adding to active set... */
-RET_REMOVE_FROM_ACTIVESET_FAILED,				/**< Removing from active set failed. */
-RET_ADD_TO_ACTIVESET_FAILED,					/**< Adding to active set failed. */
-RET_CONSTRAINT_ALREADY_ACTIVE,					/**< Constraint is already active. */
-RET_ALL_CONSTRAINTS_ACTIVE,						/**< All constraints are active, no further constraint can be added. */
-RET_LINEARLY_DEPENDENT,							/**< New bound/constraint is linearly dependent. */
-RET_LINEARLY_INDEPENDENT,						/**< New bound/constraint is linearly independent. */
-RET_LI_RESOLVED,								/**< Linear independence of active constraint matrix successfully resolved. (90) */
-RET_ENSURELI_FAILED,							/**< Failed to ensure linear independence of active constraint matrix. */
-RET_ENSURELI_FAILED_TQ,							/**< Abnormal termination due to TQ factorisation. */
-RET_ENSURELI_FAILED_NOINDEX,					/**< QP is infeasible. */
-RET_ENSURELI_FAILED_CYCLING,					/**< QP is infeasible. */
-RET_BOUND_ALREADY_ACTIVE,						/**< Bound is already active. */
-RET_ALL_BOUNDS_ACTIVE,							/**< All bounds are active, no further bound can be added. */
-RET_CONSTRAINT_NOT_ACTIVE,						/**< Constraint is not active. */
-RET_BOUND_NOT_ACTIVE,							/**< Bound is not active. */
-RET_HESSIAN_NOT_SPD,							/**< Projected Hessian matrix not positive definite. */
-RET_HESSIAN_INDEFINITE,							/**< Hessian matrix is indefinite. (100) */
-RET_MATRIX_SHIFT_FAILED,						/**< Unable to update matrices or to transform vectors. */
-RET_MATRIX_FACTORISATION_FAILED,				/**< Unable to calculate new matrix factorisations. */
-RET_PRINT_ITERATION_FAILED,						/**< Unable to print information on current iteration. */
-RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,				/**< No global message output file initialised. */
-RET_DISABLECONSTRAINTS_FAILED,					/**< Unable to disbable constraints. */
-RET_ENABLECONSTRAINTS_FAILED,					/**< Unable to enbable constraints. */
-RET_ALREADY_ENABLED,							/**< Bound or constraint is already enabled. */
-RET_ALREADY_DISABLED,							/**< Bound or constraint is already disabled. */
-RET_NO_HESSIAN_SPECIFIED, 						/**< No Hessian matrix has been specified. */
-RET_USING_REGULARISATION,						/**< Using regularisation as Hessian matrix is not positive definite. (110) */
-RET_EPS_MUST_BE_POSITVE,						/**< Eps for regularisation must be sufficiently positive. */
-RET_REGSTEPS_MUST_BE_POSITVE, 					/**< Maximum number of regularisation steps must be non-negative. */
-RET_HESSIAN_ALREADY_REGULARISED,				/**< Hessian has been already regularised. */
-RET_CANNOT_REGULARISE_IDENTITY,					/**< Identity Hessian matrix cannot be regularised. */
-RET_CANNOT_REGULARISE_SPARSE,					/**< Sparse matrix cannot be regularised as diagonal entry is missing. */
-RET_NO_REGSTEP_NWSR,							/**< No additional regularisation step could be performed due to limits. */
-RET_FEWER_REGSTEPS_NWSR,						/**< Fewer additional regularisation steps have been performed due to limits. */
-RET_CHOLESKY_OF_ZERO_HESSIAN, 					/**< Cholesky decomposition of (unregularised) zero Hessian matrix. */
-RET_ZERO_HESSIAN_ASSUMED,						/**< Zero Hessian matrix assumed as null pointer passed without specifying hessianType. */
-RET_CONSTRAINTS_ARE_NOT_SCALED, 				/**< (no longer in use) (120) */
-RET_INITIAL_BOUNDS_STATUS_NYI, 					/**< (no longer in use) */
-RET_ERROR_IN_CONSTRAINTPRODUCT,					/**< Error in user-defined constraint product function. */
-RET_FIX_BOUNDS_FOR_LP,							/**< All initial bounds must be fixed when solving an (unregularised) LP. */
-RET_USE_REGULARISATION_FOR_LP,					/**< Set options.enableRegularisation=BT_TRUE for solving LPs. */
-/* SQProblem */
-RET_UPDATEMATRICES_FAILED,						/**< Unable to update QP matrices. */
-RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,		/**< Unable to update matrices as previous QP is not solved. */
-/* Utils */
-RET_UNABLE_TO_OPEN_FILE,						/**< Unable to open file. */
-RET_UNABLE_TO_WRITE_FILE,						/**< Unable to write into file. */
-RET_UNABLE_TO_READ_FILE,						/**< Unable to read from file. */
-RET_FILEDATA_INCONSISTENT,						/**< File contains inconsistent data. (130) */
-/* Options */
-RET_OPTIONS_ADJUSTED,							/**< Options needed to be adjusted for consistency reasons. */
-/* SolutionAnalysis */
-RET_UNABLE_TO_ANALYSE_QPROBLEM, 				/**< Unable to analyse (S)QProblem(B) object. */
-/* Benchmark */
-RET_NWSR_SET_TO_ONE,							/**< Maximum number of working set changes was set to 1. */
-RET_UNABLE_TO_READ_BENCHMARK,					/**< Unable to read benchmark data. */
-RET_BENCHMARK_ABORTED,							/**< Benchmark aborted. */
-RET_INITIAL_QP_SOLVED,							/**< Initial QP solved. */
-RET_QP_SOLUTION_STARTED,						/**< Solving QP... */
-RET_BENCHMARK_SUCCESSFUL,						/**< Benchmark terminated successfully. */
-/* Sparse matrices */
-RET_NO_DIAGONAL_AVAILABLE,						/**< Sparse matrix does not have entries on full diagonal. */
-RET_DIAGONAL_NOT_INITIALISED,					/**< Diagonal data of sparse matrix has not been initialised. (140) */
-/* Dropping of infeasible constraints */
-RET_ENSURELI_DROPPED,							/**< Linear independence resolved by dropping blocking constraint. */
-/* Simple exitflags */
-RET_SIMPLE_STATUS_P1,							/**< QP problem could not be solved within given number of iterations. */
-RET_SIMPLE_STATUS_P0,							/**< QP problem solved. */
-RET_SIMPLE_STATUS_M1,							/**< QP problem could not be solved due to an internal error. */
-RET_SIMPLE_STATUS_M2,							/**< QP problem is infeasible (and thus could not be solved). */
-RET_SIMPLE_STATUS_M3 							/**< QP problem is unbounded (and thus could not be solved). (146) */
-} returnValue;
-
-
-/**
- *	\brief Data structure for entries in global message list.
- *	
- *	Data structure for entries in global message list.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	returnValue key;							/**< Global return value. */
-	const char* data;							/**< Corresponding message. */
-	VisibilityStatus globalVisibilityStatus; 	/**< Determines if message can be printed.
-												* 	 If this value is set to VS_HIDDEN, no message is printed! */
-} ReturnValueList;
-
-
-
-/** 
- *	\brief Handles all kind of error messages, warnings and other information.
- *
- *	This class handles all kinds of messages (errors, warnings, infos) initiated
- *  by qpOASES modules and stores the corresponding global preferences.
- *
- *	\author Hans Joachim Ferreau (thanks to Leonard Wirsching)
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	VisibilityStatus errorVisibility;		/**< Error messages visible? */
-	VisibilityStatus warningVisibility;		/**< Warning messages visible? */
-	VisibilityStatus infoVisibility;		/**< Info messages visible? */
-
-	FILE* outputFile;						/**< Output file for messages. */
-
-	int errorCount; 						/**< Counts number of errors (for nicer output only). */
-} MessageHandling;
-
-
-
-/** Constructor which takes the desired output file and desired visibility states. */
-void MessageHandlingCON(	MessageHandling* _THIS,
-							FILE* _outputFile,					/**< Output file. */
-							VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
-							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
-							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
-							);
-
-void MessageHandlingCPY(	MessageHandling* FROM,
-							MessageHandling* TO
-							);
-
-
-/** Prints an error message(a simplified macro THROWERROR is also provided). \n
- *  Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
- *  Errors of a sub function should be commented by the calling function by means of a warning message
- *  (if this error does not cause an error of the calling function, either)!
- *  \return Error number returned by sub function call
- */
-returnValue MessageHandling_throwError(	MessageHandling* _THIS,
-										returnValue Enumber,					/**< Error number returned by sub function call. */
-										const char* additionaltext,				/**< Additional error text (0, if none). */
-										const char* functionname,				/**< Name of function which caused the error. */
-										const char* filename,					/**< Name of file which caused the error. */
-										const unsigned long linenumber,			/**< Number of line which caused the error.incompatible binary file */
-										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if error message can be printed to stderr.
-																			*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																			*   no message is printed, anyway! */
-										);
-
-/** Prints a warning message (a simplified macro THROWWARNING is also provided).
- *  Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
- *  \return Warning number returned by sub function call
- */
-returnValue MessageHandling_throwWarning(	MessageHandling* _THIS,
-											returnValue Wnumber,	 				/**< Warning number returned by sub function call. */
-											const char* additionaltext,				/**< Additional warning text (0, if none). */
-											const char* functionname,				/**< Name of function which caused the warning. */
-											const char* filename,   				/**< Name of file which caused the warning. */
-											const unsigned long linenumber,	 		/**< Number of line which caused the warning. */
-											VisibilityStatus localVisibilityStatus	/**< Determines (locally) if warning message can be printed to stderr.
-																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																					*   no message is printed, anyway! */
-											);
-
-/** Prints a info message (a simplified macro THROWINFO is also provided).
- *  \return Info number returned by sub function call
- */
-returnValue MessageHandling_throwInfo(	MessageHandling* _THIS,
-										returnValue Inumber,	 				/**< Info number returned by sub function call. */
-										const char* additionaltext,	 			/**< Additional warning text (0, if none). */
-										const char* functionname,				/**< Name of function which submitted the info. */
-										const char* filename,   				/**< Name of file which submitted the info. */
-										const unsigned long linenumber,			/**< Number of line which submitted the info. */
-										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if info message can be printed to stderr.
-																				*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																				*   no message is printed, anyway! */
-										);
-
-
-/** Resets all preferences to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue MessageHandling_reset( MessageHandling* _THIS );
-
-
-/** Prints a complete list of all messages to output file.
- *	\return SUCCESSFUL_RETURN */
-returnValue MessageHandling_listAllMessages( MessageHandling* _THIS );
-
-
-/** Returns visibility status for error messages.
- *	\return Visibility status for error messages. */
-static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns visibility status for warning messages.
- *	\return Visibility status for warning messages. */
-static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns visibility status for info messages.
- *	\return Visibility status for info messages. */
-static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS );
-
-/** Returns pointer to output file.
- *	\return Pointer to output file. */
-static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS );
-
-/** Returns error count value.
- *	\return Error count value. */
-static inline int MessageHandling_getErrorCount( MessageHandling* _THIS );
-
-
-/** Changes visibility status for error messages. */
-static inline void MessageHandling_setErrorVisibilityStatus(	MessageHandling* _THIS,
-														VisibilityStatus _errorVisibility	/**< New visibility status for error messages. */
-														);
-
-/** Changes visibility status for warning messages. */
-static inline void MessageHandling_setWarningVisibilityStatus(	MessageHandling* _THIS,
-																VisibilityStatus _warningVisibility	/**< New visibility status for warning messages. */
-																);
-
-/** Changes visibility status for info messages. */
-static inline void MessageHandling_setInfoVisibilityStatus(	MessageHandling* _THIS,
-															VisibilityStatus _infoVisibility	/**< New visibility status for info messages. */
-															);
-
-/** Changes output file for messages. */
-static inline void MessageHandling_setOutputFile(	MessageHandling* _THIS,
-													FILE* _outputFile	/**< New output file for messages. */
-													);
-
-/** Changes error count.
- * \return SUCCESSFUL_RETURN \n
- *		   RET_INVALID_ARGUMENT */
-static inline returnValue MessageHandling_setErrorCount(	MessageHandling* _THIS,
-															int _errorCount	/**< New error count value. */
-															);
-
-/** Provides message text corresponding to given \a returnValue.
- * \return String containing message text. */
-const char* MessageHandling_getErrorCodeMessage(	MessageHandling* _THIS,
-													const returnValue _returnValue
-													);
-
-
-returnValue MessageHandling_throwMessage(	MessageHandling* _THIS,
-											returnValue RETnumber,	 				/**< Error/warning/info number returned by sub function call. */
-											const char* additionaltext,				/**< Additional warning text (0, if none). */
-											const char* functionname,				/**< Name of function which caused the error/warning/info. */
-											const char* filename,   				/**< Name of file which caused the error/warning/info. */
-											const unsigned long linenumber,			/**< Number of line which caused the error/warning/info. */
-											VisibilityStatus localVisibilityStatus,	/**< Determines (locally) if info message can be printed to stderr.
-																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
-																					*   no message is printed, anyway! */
-											const char* RETstring					/**< Leading string of error/warning/info message. */
-											);
-
-
-#ifndef __FILE__
-  /** Ensures that __FILE__ macro is defined. */
-  #define __FILE__ 0
-#endif
-
-#ifndef __LINE__
-  /** Ensures that __LINE__ macro is defined. */
-  #define __LINE__ 0
-#endif
-
-/** Define __FUNC__ macro providing current function for debugging. */
-/*#define __FUNC__ 0*/
-#define __FUNC__ ("(no function name provided)")
-/*#define __FUNC__ __func__*/
-/*#define __FUNC__ __FUNCTION__*/
-
-
-/** Short version of throwError with default values, only returnValue is needed */
-#define THROWERROR(retval) ( MessageHandling_throwError( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwWarning with default values, only returnValue is needed */
-#define THROWWARNING(retval) ( MessageHandling_throwWarning( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-/** Short version of throwInfo with default values, only returnValue is needed */
-#define THROWINFO(retval) ( MessageHandling_throwInfo( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
-
-
-/** Returns a pointer to global message handler.
- *  \return Pointer to global message handler.
- */
-MessageHandling* qpOASES_getGlobalMessageHandler( );
-
-
-/*
- *	g e t E r r o r V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->errorVisibility;
-}
-
-
-/*
- *	g e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->warningVisibility;
-}
-
-
-/*
- *	g e t I n f o V i s i b i l i t y S t a t u s
- */
-static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS )
-{
- 	return _THIS->infoVisibility;
-}
-
-
-/*
- *	g e t O u t p u t F i l e
- */
-static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS )
-{
- 	return _THIS->outputFile;
-}
-
-
-/*
- *	g e t E r r o r C o u n t
- */
-static inline int MessageHandling_getErrorCount( MessageHandling* _THIS )
-{
- 	return _THIS->errorCount;
-}
-
-
-/*
- *	s e t E r r o r V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _errorVisibility )
-{
- 	_THIS->errorVisibility = _errorVisibility;
-}
-
-
-/*
- *	s e t W a r n i n g V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _warningVisibility )
-{
- 	_THIS->warningVisibility = _warningVisibility;
-}
-
-
-/*
- *	s e t I n f o V i s i b i l i t y S t a t u s
- */
-static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _infoVisibility )
-{
- 	_THIS->infoVisibility = _infoVisibility;
-}
-
-
-/*
- *	s e t O u t p u t F i l e
- */
-static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, FILE* _outputFile )
-{
- 	_THIS->outputFile = _outputFile;
-}
-
-
-/*
- *	s e t E r r o r C o u n t
- */
-static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, int _errorCount )
-{
-	if ( _errorCount >= 0 )
-	{
-		_THIS->errorCount = _errorCount;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return RET_INVALID_ARGUMENTS;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif /* QPOASES_MESSAGEHANDLING_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Options.h b/third_party/acados/include/qpOASES_e/Options.h
deleted file mode 100644
index ca8086d2cc..0000000000
--- a/third_party/acados/include/qpOASES_e/Options.h
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Options.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the Options class designed to manage user-specified
- *	options for solving a QProblem.
- */
-
-
-#ifndef QPOASES_OPTIONS_H
-#define QPOASES_OPTIONS_H
-
-
-#include <qpOASES_e/Utils.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/**
- *	\brief Manages all user-specified options for solving QPs.
- *
- *	This class manages all user-specified options used for solving
- *	quadratic programs.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	PrintLevel printLevel;					/**< Print level. */
-
-	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
-	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
-	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
-	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
-	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
-	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
-	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
-	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
-	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
-
-	real_t terminationTolerance;			/**< Termination tolerance. */
-	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
-	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
-	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
-	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
-	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
-	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
-
-	real_t initialRamping;					/**< Start value for Ramping Strategy. */
-	real_t finalRamping;					/**< Final value for Ramping Strategy. */
-	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
-	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
-	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
-	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
-	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
-	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
-	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
-	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
-	real_t epsLITests;						/**< Tolerance for linear independence tests. */
-	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
-
-	BooleanType enableDropInfeasibles;		/**< ... */
-	int    dropBoundPriority;				/**< ... */
-	int    dropEqConPriority;				/**< ... */
-	int    dropIneqConPriority;				/**< ... */
-} Options;
-
-
-void OptionsCON(	Options* _THIS
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void OptionsCPY(	Options* FROM,
-					Options* TO
-					);
-
-
-/** Sets all options to default values.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToDefault(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in maximum reliabilty.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToReliable(	Options* _THIS
-									);
-
-/** Sets all options to values resulting in minimum solution time.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToMPC(		Options* _THIS
-									);
-
-/** Same as setToMPC( ), for ensuring backwards compatibility.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_setToFast(		Options* _THIS
-									);
-
-
-/** Ensures that all options have consistent values by automatically
- *	adjusting inconsistent ones.
- *	Note: This routine cannot (and does not try to) ensure that values
- *	      are set to reasonable values that make the QP solution work!
- *	\return SUCCESSFUL_RETURN \n 
- *		    RET_OPTIONS_ADJUSTED */
-returnValue Options_ensureConsistency(	Options* _THIS
-										);
-
-
-/** Prints values of all options.
- *	\return SUCCESSFUL_RETURN */
-returnValue Options_print(	Options* _THIS
-							);
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OPTIONS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/QProblem.h b/third_party/acados/include/qpOASES_e/QProblem.h
deleted file mode 100644
index 91a4a6f396..0000000000
--- a/third_party/acados/include/qpOASES_e/QProblem.h
+++ /dev/null
@@ -1,2369 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/QProblem.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the QProblem class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming.
- */
-
-
-
-#ifndef QPOASES_QPROBLEM_H
-#define QPOASES_QPROBLEM_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Options.h>
-#include <qpOASES_e/Matrices.h>
-#include <qpOASES_e/Constraints.h>
-#include <qpOASES_e/Flipper.h>
-#include <qpOASES_e/ConstraintProduct.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	Bounds *auxiliaryBounds;
-	Constraints *auxiliaryConstraints;
-
-	real_t *ub_new_far;
-	real_t *lb_new_far;
-	real_t *ubA_new_far;
-	real_t *lbA_new_far;
-
-	real_t *g_new;
-	real_t *lb_new;
-	real_t *ub_new;
-	real_t *lbA_new;
-	real_t *ubA_new;
-
-	real_t *g_new2;
-	real_t *lb_new2;
-	real_t *ub_new2;
-	real_t *lbA_new2;
-	real_t *ubA_new2;
-
-	real_t *delta_xFX5;
-	real_t *delta_xFR5;
-	real_t *delta_yAC5;
-	real_t *delta_yFX5;
-
-	real_t *Hx;
-
-	real_t *_H;
-
-	real_t *g_original;
-	real_t *lb_original;
-	real_t *ub_original;
-	real_t *lbA_original;
-	real_t *ubA_original;
-
-	real_t *delta_xFR;
-	real_t *delta_xFX;
-	real_t *delta_yAC;
-	real_t *delta_yFX;
-	real_t *delta_g;
-	real_t *delta_lb;
-	real_t *delta_ub;
-	real_t *delta_lbA;
-	real_t *delta_ubA;
-
-	real_t *gMod;
-
-	real_t *aFR;
-	real_t *wZ;
-
-	real_t *delta_g2;
-	real_t *delta_xFX2;
-	real_t *delta_xFR2;
-	real_t *delta_yAC2;
-	real_t *delta_yFX2;
-	real_t *nul;
-	real_t *Arow;
-
-	real_t *xiC;
-	real_t *xiC_TMP;
-	real_t *xiB;
-	real_t *Arow2;
-	real_t *num;
-
-	real_t *w;
-	real_t *tmp;
-
-	real_t *delta_g3;
-	real_t *delta_xFX3;
-	real_t *delta_xFR3;
-	real_t *delta_yAC3;
-	real_t *delta_yFX3;
-	real_t *nul2;
-
-	real_t *xiC2;
-	real_t *xiC_TMP2;
-	real_t *xiB2;
-	real_t *num2;
-
-	real_t *Hz;
-	real_t *z;
-	real_t *ZHz;
-	real_t *r;
-
-	real_t *tmp2;
-	real_t *Hz2;
-	real_t *z2;
-	real_t *r2;
-	real_t *rhs;
-
-	real_t *delta_xFX4;
-	real_t *delta_xFR4;
-	real_t *delta_yAC4;
-	real_t *delta_yFX4;
-	real_t *nul3;
-	real_t *ek;
-	real_t *x_W;
-	real_t *As;
-	real_t *Ax_W;
-
-	real_t *num3;
-	real_t *den;
-	real_t *delta_Ax_l;
-	real_t *delta_Ax_u;
-	real_t *delta_Ax;
-	real_t *delta_x;
-
-	real_t *_A;
-
-	real_t *grad;
-	real_t *AX;
-} QProblem_ws;
-
-int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory );
-
-QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC );
-
-/**
- *	\brief Implements the online active set strategy for QPs with general constraints.
- *
- *	A class for setting up and solving quadratic programs. The main feature is
- *	the possibily to use the newly developed online active set strategy for
- * 	parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	QProblem_ws *ws;				/**< Workspace */
-	Bounds *bounds;					/**< Data structure for problem's bounds. */
-	Constraints *constraints;		/**< Data structure for problem's constraints. */
-	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
-
-	DenseMatrix* H;					/**< Hessian matrix pointer. */
-	DenseMatrix* A;					/**< Constraint matrix pointer. */
-
-	Options options;				/**< Struct containing all user-defined options for solving QPs. */
-	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
-
-	real_t *g;						/**< Gradient. */
-
-	real_t *lb;						/**< Lower bound vector (on variables). */
-	real_t *ub;						/**< Upper bound vector (on variables). */
-	real_t *lbA;					/**< Lower constraints' bound vector. */
-	real_t *ubA;					/**< Upper constraints' bound vector. */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-
-	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
-	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
-
-	real_t *Ax;						/**< Stores the current A*x \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_l;					/**< Stores the current distance to lower constraints' bounds A*x-lbA \n
-									 *	 (for increased efficiency only). */
-	real_t *Ax_u;					/**< Stores the current distance to lower constraints' bounds ubA-A*x \n
-									 *	 (for increased efficiency only). */
-
-	real_t *x;						/**< Primal solution vector. */
-	real_t *y;						/**< Dual solution vector. */
-
-	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
-	real_t *tempA;					/**< Temporary for determineStepDirection. */
-	real_t *tempB;					/**< Temporary for determineStepDirection. */
-	real_t *ZFR_delta_xFRz;			/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRy;				/**< Temporary for determineStepDirection. */
-	real_t *delta_xFRz;				/**< Temporary for determineStepDirection. */
-	real_t *delta_yAC_TMP;			/**< Temporary for determineStepDirection. */
-
-	ConstraintProduct constraintProduct;	/**< Pointer to user-defined constraint product function. */
-
-	real_t tau;						/**< Last homotopy step length. */
-	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
-
-	real_t ramp0;					/**< Start value for Ramping Strategy. */
-	real_t ramp1;					/**< Final value for Ramping Strategy. */
-
-	QProblemStatus status;			/**< Current status of the solution process. */
-	HessianType hessianType;		/**< Type of Hessian matrix. */
-
-	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
-	BooleanType infeasible;			/**< QP infeasible? */
-	BooleanType unbounded;			/**< QP unbounded? */
-
-	int rampOffset;					/**< Offset index for Ramping. */
-	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
-
-	int sizeT;						/**< Matrix T is stored in a (sizeT x sizeT) array. */
-} QProblem;
-
-int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory );
-
-QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC );
-
-
-/** Constructor which takes the QP dimension and Hessian type
- *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
- *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
- *  is allocated for it and a NULL pointer can be passed for it
- *  to the init() functions. */
-void QProblemCON(	QProblem* _THIS,
-					int _nV,	  					/**< Number of variables. */
-					int _nC,		  				/**< Number of constraints. */
-					HessianType _hessianType 		/**< Type of Hessian matrix. */
-					);
-
-/** Copies all members from given rhs object.
- *  \return SUCCESSFUL_RETURN */
-void QProblemCPY(	QProblem* FROM,
-					QProblem* TO
-					);
-
-
-/** Clears all data structures of QProblem except for QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_RESET_FAILED */
-returnValue QProblem_reset( QProblem* _THIS );
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initM(	QProblem* _THIS,
-							DenseMatrix *_H,			/**< Hessian matrix. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							DenseMatrix *_A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_init(	QProblem* _THIS,
-							real_t* const _H, 			/**< Hessian matrix. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 	/**< Gradient vector. */
-							real_t* const _A,  			/**< Constraint matrix. */
-							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
-															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data to be read from files and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initF(	QProblem* _THIS,
-							const char* const H_file,	/**< Name of file where Hessian matrix is stored. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const char* const g_file,	/**< Name of file where gradient vector is stored. */
-							const char* const A_file,	/**< Name of file where constraint matrix is stored. */
-							const char* const lb_file,	/**< Name of file where lower bound vector. \n
-															If no lower bounds exist, a NULL pointer can be passed. */
-							const char* const ub_file,	/**< Name of file where upper bound vector. \n
-															If no upper bounds exist, a NULL pointer can be passed. */
-							const char* const lbA_file,	/**< Name of file where lower constraints' bound vector. \n
-															If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const char* const ubA_file,	/**< Name of file where upper constraints' bound vector. \n
-															 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
-															 Output: Number of performed working set recalculations. */
-							real_t* const cputime	 	/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initMW(	QProblem* _THIS,
-								DenseMatrix *_H, 						/**< Hessian matrix. \n
-														    				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const real_t* const _g, 				/**< Gradient vector. */
-								DenseMatrix *_A, 			 			/**< Constraint matrix. */
-								const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations when using initial homotopy.
-																		 *	 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 		 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_initW(	QProblem* _THIS,
-							real_t* const _H, 						/**< Hessian matrix. \n
-														    			 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g, 				/**< Gradient vector. */
-							real_t* const _A,  						/**< Constraint matrix. */
-							const real_t* const _lb,				/**< Lower bound vector (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,				/**< Upper bound vector (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-							const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
-																		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-							int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																	 *	 Output: Number of performed working set recalculations. */
-							real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																		 Output: CPU time spent for QP initialisation. */
-							const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																		 (If a null pointer is passed, the old primal solution is kept!) */
-							const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																		 (If a null pointer is passed, the old dual solution is kept!) */
-							Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-							Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-							const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																	 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																		 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																		 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-							);
-
-/** Initialises a QP problem with given QP data to be ream from files and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
- *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
- *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
- *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
- *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
- *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblem_initFW(	QProblem* _THIS,
-								const char* const H_file,				/**< Name of file where Hessian matrix is stored. \n
-														     				 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,				/**< Name of file where gradient vector is stored. */
-								const char* const A_file,				/**< Name of file where constraint matrix is stored. */
-								const char* const lb_file,				/**< Name of file where lower bound vector. \n
-																			 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file,				/**< Name of file where upper bound vector. \n
-																			 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file,				/**< Name of file where lower constraints' bound vector. \n
-																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file,				/**< Name of file where upper constraints' bound vector. \n
-																			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
-																			 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
-																			 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
-																			 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-								const char* const R_file				/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																		 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_hotstart(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input:  Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime 			/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *	where QP data is read from files. QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartF(	QProblem* _THIS,
-								const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-								const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 					 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input:  Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime 		/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblem_hotstartW(	QProblem* _THIS,
-								const real_t* const g_new,				/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,				/**< Lower bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,				/**< Upper bounds of neighbouring QP to be solved. \n
-											 						 		 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,			/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 						 		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,			/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 								 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																			 Output: Number of performed working set recalculations. */
-								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of bounds is kept!) */
-								Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																			 (If a null pointer is passed, the previous working set of constraints is kept!) */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_hotstartFW(	QProblem* _THIS,
-									const char* const g_file, 				/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file, 				/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 				/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper bounds exist, a NULL pointer can be passed. */
-									const char* const lbA_file, 			/**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const char* const ubA_file, 			/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-											 									 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-									int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
-																 				 Output: Number of performed working set recalculations. */
-									real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of bounds is kept!) */
-									Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
-																				 (If a null pointer is passed, the previous working set of constraints is kept!) */
-									);
-
-
-/** Solves using the current working set
- *	\return SUCCESSFUL_RETURN \n
- *			RET_STEPDIRECTION_FAILED_TQ \n
- *			RET_STEPDIRECTION_FAILED_CHOLESKY \n
- *			RET_INVALID_ARGUMENTS */
-returnValue QProblem_solveCurrentEQP (	QProblem* _THIS,
-										const int n_rhs,		/**< Number of consecutive right hand sides */
-										const real_t* g_in,		/**< Gradient of neighbouring QP to be solved. */
-										const real_t* lb_in,	/**< Lower bounds of neighbouring QP to be solved. \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* ub_in,	/**< Upper bounds of neighbouring QP to be solved. \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-										const real_t* lbA_in,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-										const real_t* ubA_in,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n */
-										real_t* x_out,			/**< Output: Primal solution */
-										real_t* y_out			/**< Output: Dual solution */
-										);
-
-
-
-/** Returns current constraints object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getConstraints(	QProblem* _THIS,
-													Constraints* _constraints	/** Output: Constraints object. */
-													);
-
-
-/** Returns the number of constraints.
- *	\return Number of constraints. */
-static inline int QProblem_getNC( QProblem* _THIS );
-
-/** Returns the number of (implicitly defined) equality constraints.
- *	\return Number of (implicitly defined) equality constraints. */
-static inline int QProblem_getNEC( QProblem* _THIS );
-
-/** Returns the number of active constraints.
- *	\return Number of active constraints. */
-static inline int QProblem_getNAC( QProblem* _THIS );
-
-/** Returns the number of inactive constraints.
- *	\return Number of inactive constraints. */
-static inline int QProblem_getNIAC( QProblem* _THIS );
-
-/** Returns the dimension of null space.
- *	\return Dimension of null space. */
-int QProblem_getNZ( QProblem* _THIS );
-
-
-/** Returns the dual solution vector (deep copy).
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getDualSolution(	QProblem* _THIS,
-										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										);
-
-
-/** Defines user-defined routine for calculating the constraint product A*x
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_setConstraintProduct(	QProblem* _THIS,
-											ConstraintProduct _constraintProduct
-											);
-
-
-/** Prints concise list of properties of the current QP.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printProperties( QProblem* _THIS );
-
-
-
-/** Writes a vector with the state of the working set
-*	\return SUCCESSFUL_RETURN */
-returnValue QProblem_getWorkingSet(	QProblem* _THIS,
-									real_t* workingSet	/** Output: array containing state of the working set. */
-									);
-
-/** Writes a vector with the state of the working set of bounds
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetBounds(	QProblem* _THIS,
-											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
-											);
-
-/** Writes a vector with the state of the working set of constraints
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblem_getWorkingSetConstraints(	QProblem* _THIS,
-												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
-												);
-
-
-/** Returns current bounds object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_getBounds(	QProblem* _THIS,
-												Bounds* _bounds		/** Output: Bounds object. */
-												);
-
-
-/** Returns the number of variables.
- *	\return Number of variables. */
-static inline int QProblem_getNV( QProblem* _THIS );
-
-/** Returns the number of free variables.
- *	\return Number of free variables. */
-static inline int QProblem_getNFR( QProblem* _THIS );
-
-/** Returns the number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int QProblem_getNFX( QProblem* _THIS );
-
-/** Returns the number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int QProblem_getNFV( QProblem* _THIS );
-
-
-/** Returns the optimal objective function value.
- *	\return finite value: Optimal objective function value (QP was solved) \n
- 			+infinity:	  QP was not yet solved */
-real_t QProblem_getObjVal( QProblem* _THIS );
-
-/** Returns the objective function value at an arbitrary point x.
- *	\return Objective function value at point x */
-real_t QProblem_getObjValX(	QProblem* _THIS,
-							const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-							);
-
-/** Returns the primal solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblem_getPrimalSolution(	QProblem* _THIS,
-										real_t* const xOpt	/**< Output: Primal solution vector (if QP has been solved). */
-										);
-
-
-/** Returns status of the solution process.
- *	\return Status of solution process. */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS );
-
-
-/** Returns if the QProblem object is initialised.
- *	\return BT_TRUE:  QProblem initialised \n
- 			BT_FALSE: QProblem not initialised */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS );
-
-/** Returns if the QP has been solved.
- *	\return BT_TRUE:  QProblem solved \n
- 			BT_FALSE: QProblem not solved */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS );
-
-/** Returns if the QP is infeasible.
- *	\return BT_TRUE:  QP infeasible \n
- 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS );
-
-/** Returns if the QP is unbounded.
- *	\return BT_TRUE:  QP unbounded \n
- 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS );
-
-
-/** Returns Hessian type flag (type is not determined due to _THIS call!).
- *	\return Hessian type. */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHessianType(	QProblem* _THIS,
-													HessianType _hessianType /**< New Hessian type. */
-													);
-
-/** Returns if the QP has been internally regularised.
- *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
- 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS );
-
-/** Returns current options struct.
- *	\return Current options struct. */
-static inline Options QProblem_getOptions( QProblem* _THIS );
-
-/** Overrides current options with given ones.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options	/**< New options. */
-												);
-
-/** Returns the print level.
- *	\return Print level. */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setPrintLevel(	QProblem* _THIS,
-									PrintLevel _printlevel	/**< New print level. */
-									);
-
-
-/** Returns the current number of QP problems solved.
- *	\return Number of QP problems solved. */
-static inline unsigned int QProblem_getCount( QProblem* _THIS );
-
-/** Resets QP problem counter (to zero).
- *	\return SUCCESSFUL_RETURN. */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS );
-
-
-/** Prints a list of all options and their current values.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printOptions( QProblem* _THIS );
-
-
-/** Solves a QProblem whose QP data is assumed to be stored in the member variables.
- *  A guess for its primal/dual optimal solution vectors and the corresponding
- *  working sets of bounds and constraints can be provided.
- *  Note: This function is internally called by all init functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_TQ \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED */
-returnValue QProblem_solveInitialQP(	QProblem* _THIS,
-										const real_t* const xOpt,				/**< Optimal primal solution vector.*/
-										const real_t* const yOpt,				/**< Optimal dual solution vector. */
-										Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-										Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
-										const real_t* const _R,					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
-										int* nWSR, 								/**< Input:  Maximum number of working set recalculations; \n
-														 						 *	 Output: Number of performed working set recalculations. */
-										real_t* const cputime					/**< Input:  Maximum CPU time allowed for QP solution. \n
-																	 			 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-										);
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveQP(	QProblem* _THIS,
-								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
-								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-								int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-													 				 Output: Number of performed working set recalculations. */
-								real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																	 this QP within previous solveQP() calls. This number is
-																	 always zero, except for successive calls from solveRegularisedQP()
-																	 or when using the far bound strategy. */
-								BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-								);
-
-
-/** Solves QProblem using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_solveRegularisedQP(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
-											const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower bounds exist, a NULL pointer can be passed. */
-											const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper bounds exist, a NULL pointer can be passed. */
-											const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
-													 			 				 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
-															 					 Output: Number of performed working set recalculations. */
-											real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
-																 				 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-											int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
-																				 this QP within previous solveRegularisedQP() calls. This number is
-																				 always zero, except for successive calls when using the far bound strategy. */
-											BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
-											);
-
-
-/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToType( QProblem* _THIS );
-
-/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblem_setupSubjectToTypeNew(	QProblem* _THIS,
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new		/**< New upper constraints' bounds. */
-											);
-
-/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z).
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_computeProjectedCholesky( QProblem* _THIS );
-
-/** Computes initial Cholesky decomposition of the projected Hessian making
- *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupInitialCholesky( QProblem* _THIS );
-
-/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_setupTQfactorisation( QProblem* _THIS );
-
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *  (assumes that member AX has already been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-												const real_t* const xOpt,					/**< Optimal primal solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												const real_t* const yOpt,					/**< Optimal dual solution vector.
-																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-												Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt). */
-												Constraints* const guessedConstraints,		/**< Guessed working set for solution (xOpt,yOpt). */
-												Bounds* auxiliaryBounds,					/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set of constraints for auxiliary QP. */
-												Constraints* auxiliaryConstraints			/**< Input: Allocated bound object. \n
-																							 *	 Ouput: Working set for auxiliary QP. */
-												);
-
-/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints.
- *  (If the working set shall be setup afresh, make sure that
- *  bounds and constraints data structure have been resetted
- *  and the TQ factorisation has been initialised!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUP_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryWorkingSet(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType setupAfresh						/**< Flag indicating if given working set shall be
-																							 *    setup afresh or by updating the current one. */
-												);
-
-/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPsolution(	QProblem* _THIS,
-												const real_t* const xOpt,	/**< Optimal primal solution vector.
-																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt	/**< Optimal dual solution vector.
-																			 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-/** Sets up gradient of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS );
-
-/** Sets up (constraints') bounds of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNKNOWN_BUG */
-returnValue QProblem_setupAuxiliaryQPbounds(	QProblem* _THIS,
-												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
-												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
-												BooleanType useRelaxation					/**< Flag indicating if inactive (constraints') bounds shall be relaxed. */
-												);
-
-
-/** Adds a constraint to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDCONSTRAINT_FAILED \n
-			RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addConstraint(	QProblem* _THIS,
-									int number,					/**< Number of constraint to be added to active set. */
-									SubjectToStatus C_status,	/**< Status of new active constraint. */
-									BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType ensureLI		/**< Ensure linear independence by exchange rules by default. */
-									);
-
-/** Checks if new active constraint to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT \n
-			 RET_INDEXLIST_CORRUPTED */
-returnValue QProblem_addConstraint_checkLI(	QProblem* _THIS,
-											int number			/**< Number of constraint to be added to active set. */
-											);
-
-/** Ensures linear independence of constraint matrix when a new constraint is added.
- * 	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addConstraint_ensureLI(	QProblem* _THIS,
-												int number,					/**< Number of constraint to be added to active set. */
-												SubjectToStatus C_status	/**< Status of new active bound. */
-												);
-
-/** Adds a bound to active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDBOUND_FAILED \n
-			RET_ADDBOUND_FAILED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED */
-returnValue QProblem_addBound(	QProblem* _THIS,
-								int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								BooleanType ensureLI 		/**< Ensure linear independence by exchange rules by default. */
-								);
-
-/** Checks if new active bound to be added is linearly dependent from
- *	from row of the active constraints matrix.
- *	\return	 RET_LINEARLY_DEPENDENT \n
- 			 RET_LINEARLY_INDEPENDENT */
-returnValue QProblem_addBound_checkLI(	QProblem* _THIS,
-										int number			/**< Number of bound to be added to active set. */
-										);
-
-/** Ensures linear independence of constraint matrix when a new bound is added.
- *	To _THIS end a bound or constraint is removed simultaneously if necessary.
- *	\return	 SUCCESSFUL_RETURN \n
- 			 RET_LI_RESOLVED \n
-			 RET_ENSURELI_FAILED \n
-			 RET_ENSURELI_FAILED_TQ \n
-			 RET_ENSURELI_FAILED_NOINDEX \n
-			 RET_REMOVE_FROM_ACTIVESET */
-returnValue QProblem_addBound_ensureLI(	QProblem* _THIS,
-										int number,					/**< Number of bound to be added to active set. */
-										SubjectToStatus B_status	/**< Status of new active bound. */
-										);
-
-/** Removes a constraint from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_CONSTRAINT_NOT_ACTIVE \n
-			RET_REMOVECONSTRAINT_FAILED \n
-			RET_HESSIAN_NOT_SPD */
-returnValue QProblem_removeConstraint(	QProblem* _THIS,
-										int number,						/**< Number of constraint to be removed from active set. */
-										BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-										BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-										BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-										);
-
-/** Removes a bounds from active set.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_BOUND_NOT_ACTIVE \n
-			RET_HESSIAN_NOT_SPD \n
-			RET_REMOVEBOUND_FAILED */
-returnValue QProblem_removeBound(	QProblem* _THIS,
-									int number,						/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
-									BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
-									BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
-									);
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performPlainRatioTest(	QProblem* _THIS,
-											int nIdx, 					/**< Number of ratios to be checked. */
-											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-											real_t epsNum,				/**< Numerator tolerance. */
-											real_t epsDen,				/**< Denominator tolerance. */
-											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-											int* BC_idx 				/**< Output: Index of blocking constraint. */
-											);
-
-
-/** Ensure non-zero curvature by primal jump.
- *  \return SUCCESSFUL_RETURN \n
- *          RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblem_ensureNonzeroCurvature(	QProblem* _THIS,
-												BooleanType removeBoundNotConstraint,	/**< SubjectTo to be removed is a bound. */
-												int remIdx,								/**< Index of bound/constraint to be removed. */
-												BooleanType* exchangeHappened,			/**< Output: Exchange was necessary to ensure. */
-												BooleanType* addBoundNotConstraint,		/**< SubjectTo to be added is a bound. */
-												int* addIdx,							/**< Index of bound/constraint to be added. */
-												SubjectToStatus* addStatus				/**< Status of bound/constraint to be added. */
-												);
-
-
-/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveT(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblem_determineDataShift(	QProblem* _THIS,
-											const real_t* const g_new,		/**< New gradient vector. */
-											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
-											const real_t* const ubA_new,	/**< New upper constraints' bounds. */
-											const real_t* const lb_new,		/**< New lower bounds. */
-											const real_t* const ub_new,		/**< New upper bounds. */
-											real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-											real_t* const delta_lbA,		/**< Output: Step direction of lower constraints' bounds. */
-											real_t* const delta_ubA,		/**< Output: Step direction of upper constraints' bounds. */
-											real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-											real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-											BooleanType* Delta_bC_isZero,	/**< Output: Indicates if active constraints' bounds are to be shifted. */
-											BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-											);
-
-/** Determines step direction of the homotopy path.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_STEPDIRECTION_FAILED_TQ \n
-			RET_STEPDIRECTION_FAILED_CHOLESKY */
-returnValue QProblem_determineStepDirection(	QProblem* _THIS,
-												const real_t* const delta_g,	/**< Step direction of gradient vector. */
-												const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
-												const real_t* const delta_ubA,	/**< Step direction of upper constraints' bounds. */
-												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-												BooleanType Delta_bC_isZero, 	/**< Indicates if active constraints' bounds are to be shifted. */
-												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-												real_t* const delta_yAC, 		/**< Output: Dual homotopy step direction of active constraints' multiplier. */
-												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-												);
-
-/** Determines the maximum possible step length along the homotopy path
- *  and performs _THIS step (without changing working set).
- *	\return SUCCESSFUL_RETURN \n
- * 			RET_ERROR_IN_CONSTRAINTPRODUCT \n
- * 			RET_QP_INFEASIBLE */
-returnValue QProblem_performStep(	QProblem* _THIS,
-									const real_t* const delta_g,		/**< Step direction of gradient. */
-									const real_t* const delta_lbA,		/**< Step direction of lower constraints' bounds. */
-									const real_t* const delta_ubA,		/**< Step direction of upper constraints' bounds. */
-									const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
-									const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
-									const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
-									const real_t* const delta_xFR,		/**< Primal homotopy step direction of free variables. */
-									const real_t* const delta_yAC,		/**< Dual homotopy step direction of active constraints' multiplier. */
-									const real_t* const delta_yFX,		/**< Dual homotopy step direction of fixed variables' multiplier. */
-									int* BC_idx, 						/**< Output: Index of blocking constraint. */
-									SubjectToStatus* BC_status,			/**< Output: Status of blocking constraint. */
-									BooleanType* BC_isBound 			/**< Output: Indicates if blocking constraint is a bound. */
-									);
-
-/** Updates the active set.
- *	\return  SUCCESSFUL_RETURN \n
- 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-			 RET_ADD_TO_ACTIVESET_FAILED */
-returnValue QProblem_changeActiveSet(	QProblem* _THIS,
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound 		/**< Indicates if blocking constraint is a bound. */
-										);
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblem_getRelativeHomotopyLength(	QProblem* _THIS,
-											const real_t* const g_new,		/**< Final gradient. */
-											const real_t* const lb_new,		/**< Final lower variable bounds. */
-											const real_t* const ub_new,		/**< Final upper variable bounds. */
-											const real_t* const lbA_new,	/**< Final lower constraint bounds. */
-											const real_t* const ubA_new		/**< Final upper constraint bounds. */
-											);
-
-
-/** Ramping Strategy to avoid ties. Modifies homotopy start without
- *  changing current active set.
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performRamping( QProblem* _THIS );
-
-
-/** ... */
-returnValue QProblem_updateFarBounds(	QProblem* _THIS,
-										real_t curFarBound,				/**< ... */
-										int nRamp,						/**< ... */
-										const real_t* const lb_new,		/**< ... */
-										real_t* const lb_new_far,		/**< ... */
-										const real_t* const ub_new,		/**< ... */
-										real_t* const ub_new_far,		/**< ... */
-										const real_t* const lbA_new,	/**< ... */
-										real_t* const lbA_new_far,		/**< ... */
-										const real_t* const ubA_new,	/**< ... */
-										real_t* const ubA_new_far		/**< ... */
-										);
-
-/** ... */
-returnValue QProblemBCPY_updateFarBounds(	QProblem* _THIS,
-											real_t curFarBound,				/**< ... */
-											int nRamp,						/**< ... */
-											const real_t* const lb_new,		/**< ... */
-											real_t* const lb_new_far,		/**< ... */
-											const real_t* const ub_new,		/**< ... */
-											real_t* const ub_new_far		/**< ... */
-											);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestC(	QProblem* _THIS,
-										int nIdx, 						/**< Number of ratios to be checked. */
-										const int* const idxList, 		/**< Array containing the indices of all ratios to be checked. */
-										Constraints* const subjectTo,	/**< Constraint object corresponding to ratios to be checked. */
-										const real_t* const num,	 	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,		/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,					/**< Numerator tolerance. */
-										real_t epsDen,					/**< Denominator tolerance. */
-										real_t* t,						/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 					/**< Output: Index of blocking constraint. */
-										);
-
-
-/** Drift correction at end of each active set iteration
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblem_performDriftCorrection( QProblem* _THIS );
-
-
-/** Updates QP vectors, working sets and internal data structures in order to
-	start from an optimal solution corresponding to initial guesses of the working
-	set for bounds and constraints.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_SETUP_AUXILIARYQP_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_setupAuxiliaryQP(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Initial guess for working set of bounds. */
-										Constraints* const guessedConstraints	/**< Initial guess for working set of constraints. */
-										);
-
-/** Determines if it is more efficient to refactorise the matrices when
- *  hotstarting or not (i.e. better to update the existing factorisations).
- *	\return BT_TRUE iff matrices shall be refactorised afresh
- */
-BooleanType QProblem_shallRefactorise(	QProblem* _THIS,
-										Bounds* const guessedBounds,			/**< Guessed new working set of bounds. */
-										Constraints* const guessedConstraints	/**< Guessed new working set of constraints. */
-										);
-
-/** Setups internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataM(	QProblem* _THIS,
-									DenseMatrix *_H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									DenseMatrix *_A, 			 /**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-
-/** Sets up dense internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdata(	QProblem* _THIS,
-									real_t* const _H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g, 	/**< Gradient vector. */
-									real_t* const _A,  			/**< Constraint matrix. */
-									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
-																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNONW_BUG */
-returnValue QProblem_setupQPdataFromFile(	QProblem* _THIS,
-											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const A_file,	/**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file	/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblem_loadQPvectorsFromFile(	QProblem* _THIS,
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
-											const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
-											real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-											real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-											real_t* const ub_new,		/**< Output: Upper bounds of neighbouring QP to be solved */
-											real_t* const lbA_new,		/**< Output: Lower constraints' bounds of neighbouring QP to be solved */
-											real_t* const ubA_new		/**< Output: Upper constraints' bounds of neighbouring QP to be solved */
-											);
-
-
-/** Prints concise information on the current iteration.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblem_printIteration(	QProblem* _THIS,
-										int iter,					/**< Number of current iteration. */
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
-										BooleanType BC_isBound,		/**< Indicates if blocking constraint is a bound. */
-										real_t homotopyLength,		/**< Current homotopy distance. */
-										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
- 										);
-
-
-/** Sets constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setAM(	QProblem* _THIS,
-											DenseMatrix *A_new	/**< New constraint matrix. */
-											);
-
-/** Sets dense constraint matrix of the QP. \n
-	Note: Also internal vector Ax is recomputed!
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setA(	QProblem* _THIS,
-											real_t* const A_new	/**< New dense constraint matrix (with correct dimension!). */
-											);
-
-
-/** Sets constraints' lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setLBA(	QProblem* _THIS,
-											const real_t* const lbA_new	/**< New constraints' lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower constraints' bound vector (with correct dimension!). */
-											);
-
-/** Sets constraints' upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblem_setUBA(	QProblem* _THIS,
-											const real_t* const ubA_new	/**< New constraints' upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper constraints' bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBAn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper constraints' bound vector (with correct dimension!). */
-											);
-
-
-/** Decides if lower bounds are smaller than upper bounds
- *
- * \return SUCCESSFUL_RETURN \n
- * 		   RET_QP_INFEASIBLE */
-returnValue QProblem_areBoundsConsistent(	QProblem* _THIS,
-											const real_t* const lb,		/**< Vector of lower bounds*/
-											const real_t* const ub,		/**< Vector of upper bounds*/
-											const real_t* const lbA,	/**< Vector of lower constraints*/
-											const real_t* const ubA		/**< Vector of upper constraints*/
-											);
-
-
-/** Drops the blocking bound/constraint that led to infeasibility, or finds another
- *  bound/constraint to drop according to drop priorities.
- *  \return SUCCESSFUL_RETURN \n
- */
-returnValue QProblem_dropInfeasibles ( 	QProblem* _THIS,
-										int BC_number,				/**< Number of the bound or constraint to be added */
-										SubjectToStatus BC_status, 	/**< New status of the bound or constraint to be added */
-										BooleanType BC_isBound,		/**< Whether a bound or a constraint is to be added */
-										real_t *xiB,
-										real_t *xiC
-										);
-
-
-/** If Hessian type has been set by the user, nothing is done.
- *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
- *  HST_POSDEF (default), respectively.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_INDEFINITE */
-returnValue QProblem_determineHessianType( QProblem* _THIS );
-
-/** Computes the Cholesky decomposition of the (simply projected) Hessian
- *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
- *  projection matrix!
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemBCPY_computeCholesky( QProblem* _THIS );
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
-													const real_t* const xOpt,		/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													const real_t* const yOpt,		/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-													Bounds* auxiliaryBounds			/**< Input:  Allocated bound object. \n
-																					 *	 Output: Working set for auxiliary QP. */
-													);
-
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveR(	QProblem* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
- *  Special variant for the case that _THIS function is called from within "removeBound()".
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblem_backsolveRrem(	QProblem* _THIS,
-									const real_t* const b,		/**< Right hand side vector. */
-									BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-									BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-									real_t* const a 			/**< Output: Solution vector */
-									);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemBCPY_determineDataShift(	QProblem* _THIS,
-												const real_t* const g_new,		/**< New gradient vector. */
-												const real_t* const lb_new,		/**< New lower bounds. */
-												const real_t* const ub_new,		/**< New upper bounds. */
-												real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
-												real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
-												real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
-												BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
-												);
-
-
-/** Sets up internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_setupQPdataM(	QProblem* _THIS,
-										DenseMatrix *_H,	 		/**< Hessian matrix.*/
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdata(	QProblem* _THIS,
-										real_t* const _H, 			/**< Hessian matrix. \n
-																		 If Hessian matrix is trivial,a NULL pointer can be passed. */
-										const real_t* const _g,		/**< Gradient vector. */
-										const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																		 If no lower bounds exist, a NULL pointer can be passed. */
-										const real_t* const _ub		/**< Upper bounds (on variables). \n
-																		 If no upper bounds exist, a NULL pointer can be passed. */
-										);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemBCPY_setupQPdataFromFile(	QProblem* _THIS,
-												const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     					 If Hessian matrix is trivial,a NULL pointer can be passed. */
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemBCPY_loadQPvectorsFromFile(	QProblem* _THIS,
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
-												);
-
-
-/** Sets internal infeasibility flag and throws given error in case the far bound
- *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
- *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED_CYCLING \n
-			RET_ENSURELI_FAILED_NOINDEX */
-returnValue QProblem_setInfeasibilityFlag(	QProblem* _THIS,
-											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
-											BooleanType doThrowError	/**< Flag forcing to throw an error. */
-											);
-
-
-/** Determines if next QP iteration can be performed within given CPU time limit.
- *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
-			BT_FALSE: Sufficient CPU time for next QP iteration. */
-BooleanType QProblem_isCPUtimeLimitExceeded(	QProblem* _THIS,
-												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
-												real_t starttime,				/**< Start time of current QP solution. */
-												int nWSR						/**< Number of working set recalculations performed so far. */
-												);
-
-
-/** Regularise Hessian matrix by adding a scaled identity matrix to it.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_ALREADY_REGULARISED */
-returnValue QProblem_regulariseHessian( QProblem* _THIS );
-
-
-/** Sets Hessian matrix of the QP.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setHM(	QProblem* _THIS,
-											DenseMatrix* H_new	/**< New Hessian matrix. */
-											);
-
-/** Sets dense Hessian matrix of the QP.
- *  If a null pointer is passed and
- *  a) hessianType is HST_IDENTITY, nothing is done,
- *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblem_setH(	QProblem* _THIS,
-											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
-											);
-
-/** Changes gradient vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setG(	QProblem* _THIS,
-											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-											);
-
-/** Changes lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setLB(	QProblem* _THIS,
-											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setLBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower bound vector. */
-											);
-
-/** Changes upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblem_setUB(	QProblem* _THIS,
-											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
-			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblem_setUBn(	QProblem* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper bound vector. */
-											);
-
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblemBCPY_getRelativeHomotopyLength(	QProblem* _THIS,
-												const real_t* const g_new,	/**< Final gradient. */
-												const real_t* const lb_new,	/**< Final lower variable bounds. */
-												const real_t* const ub_new	/**< Final upper variable bounds. */
-												);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblem_performRatioTestB(	QProblem* _THIS,
-										int nIdx, 					/**< Number of ratios to be checked. */
-										const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-										Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
-										const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-										const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-										real_t epsNum,				/**< Numerator tolerance. */
-										real_t epsDen,				/**< Denominator tolerance. */
-										real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-										int* BC_idx 				/**< Output: Index of blocking constraint. */
-										);
-
-/** Checks whether given ratio is blocking, i.e. limits the maximum step length
- *  along the homotopy path to a value lower than given one.
- *	\return  SUCCESSFUL_RETURN */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,			/**< Numerator for performing the ratio test. */
-												real_t den,			/**< Denominator for performing the ratio test. */
-												real_t epsNum,		/**< Numerator tolerance. */
-												real_t epsDen,		/**< Denominator tolerance. */
-												real_t* t			/**< Input:  Current maximum step length along the homotopy path,
-																	 *   Output: Updated maximum possible step length along the homotopy path. */
-												);
-
-
-/** ...
- *	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpDataIntoMatFile(	QProblem* _THIS,
-												const char* const filename	/**< Mat file name. */
-												);
-
-/** ...
-*	\return SUCCESSFUL_RETURN  \n
-			RET_UNABLE_TO_OPEN_FILE */
-returnValue QProblem_writeQpWorkspaceIntoMatFile(	QProblem* _THIS,
-													const char* const filename	/**< Mat file name. */
-													);
-
-
-/*
- *	g e t B o u n d s
- */
-static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	_bounds = _THIS->bounds;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-static inline int QProblem_getNV( QProblem* _THIS )
-{
-	return Bounds_getNV( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int QProblem_getNFR( QProblem* _THIS )
-{
-	return Bounds_getNFR( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int QProblem_getNFX( QProblem* _THIS )
-{
-	return Bounds_getNFX( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int QProblem_getNFV( QProblem* _THIS )
-{
-	return Bounds_getNFV( _THIS->bounds );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline QProblemStatus QProblem_getStatus( QProblem* _THIS )
-{
-	return _THIS->status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-static inline BooleanType QProblem_isInitialised( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-static inline BooleanType QProblem_isSolved( QProblem* _THIS )
-{
-	if ( _THIS->status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-static inline BooleanType QProblem_isInfeasible( QProblem* _THIS )
-{
-	return _THIS->infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-static inline BooleanType QProblem_isUnbounded( QProblem* _THIS )
-{
-	return _THIS->unbounded;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-static inline HessianType QProblem_getHessianType( QProblem* _THIS )
-{
-	return _THIS->hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType )
-{
-	_THIS->hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	u s i n g R e g u l a r i s a t i o n
- */
-static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS )
-{
-	if ( _THIS->regVal > QPOASES_ZERO )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	g e t O p t i o n s
- */
-static inline Options QProblem_getOptions( QProblem* _THIS )
-{
-	return _THIS->options;
-}
-
-
-/*
- *	s e t O p t i o n s
- */
-static inline returnValue QProblem_setOptions(	QProblem* _THIS,
-												Options _options
-												)
-{
-	OptionsCPY( &_options,&(_THIS->options) );
-	Options_ensureConsistency( &(_THIS->options) );
-
-	QProblem_setPrintLevel( _THIS,_THIS->options.printLevel );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS )
-{
-	return _THIS->options.printLevel;
-}
-
-
-/*
- *	g e t C o u n t
- */
-static inline unsigned int QProblem_getCount( QProblem* _THIS )
-{
-	return _THIS->count;
-}
-
-
-/*
- *	r e s e t C o u n t e r
- */
-static inline returnValue QProblem_resetCounter( QProblem* _THIS )
-{
-	_THIS->count = 0;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new )
-{
-	if ( H_new == 0 )
-		return QProblem_setH( _THIS,(real_t*)0 );
-	else
-		return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) );
-}
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new )
-{
-	/* if null pointer is passed, Hessian is set to zero matrix
-	 *                            (or stays identity matrix) */
-	if ( H_new == 0 )
-	{
-		if ( _THIS->hessianType == HST_IDENTITY )
-			return SUCCESSFUL_RETURN;
-
-		_THIS->hessianType = HST_ZERO;
-
-		_THIS->H = 0;
-	}
-	else
-	{
-		DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new )
-{
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( g_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lb_new != 0 )
-	{
-		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->lb[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ub_new != 0 )
-	{
-		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->ub[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-
-/*
- * i s B l o c k i n g
- */
-static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
-												real_t num,
-												real_t den,
-												real_t epsNum,
-												real_t epsDen,
-												real_t* t
-												)
-{
-	if ( ( den >= epsDen ) && ( num >= epsNum ) )
-	{
-		if ( num < (*t)*den )
-			return BT_TRUE;
-	}
-
-	return BT_FALSE;
-}
-
-
-
-/*
- *	g e t C o n s t r a i n t s
- */
-static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints )
-{
-	int nV = QProblem_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	ConstraintsCPY( _THIS->constraints,_constraints );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*
- *	g e t N C
- */
-static inline int QProblem_getNC( QProblem* _THIS )
-{
-	return Constraints_getNC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N E C
- */
-static inline int QProblem_getNEC( QProblem* _THIS )
-{
-	return Constraints_getNEC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N A C
- */
-static inline int QProblem_getNAC( QProblem* _THIS )
-{
-	return Constraints_getNAC( _THIS->constraints );
-}
-
-
-/*
- *	g e t N I A C
- */
-static inline int QProblem_getNIAC( QProblem* _THIS )
-{
-	return Constraints_getNIAC( _THIS->constraints );
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new )
-{
-	if ( A_new == 0 )
-		return QProblem_setA( _THIS,(real_t*)0 );
-	else
-		return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) );
-}
-
-
-/*
- *	s e t A
- */
-static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new )
-{
-	int j;
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( A_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new );
-
-	DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC);
-
-	for( j=0; j<nC; ++j )
-	{
-		_THIS->Ax_u[j] = _THIS->ubA[j] - _THIS->Ax[j];
-		_THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j];
-
-		/* (ckirches) disable constraints with empty rows */
-		if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE )
-			Constraints_setType( _THIS->constraints,j,ST_DISABLED );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lbA_new != 0 )
-	{
-		memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower constraints' bounds are specified, set them to -infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->lbA[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B A
- */
-static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->lbA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
-	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ubA_new != 0 )
-	{
-		memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper constraints' bounds are specified, set them to infinity */
-		for( i=0; i<nC; ++i )
-			_THIS->ubA[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B A
- */
-static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value )
-{
-	int nV = QProblem_getNV( _THIS );
-	int nC = QProblem_getNC( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nC ) )
-	{
-		_THIS->ubA[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_QPROBLEM_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/QProblemB.h b/third_party/acados/include/qpOASES_e/QProblemB.h
deleted file mode 100644
index ee5157dda7..0000000000
--- a/third_party/acados/include/qpOASES_e/QProblemB.h
+++ /dev/null
@@ -1,1641 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/QProblemB.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of the QProblemB class which is able to use the newly
- *	developed online active set strategy for parametric quadratic programming
- *	for problems with (simple) bounds only.
- */
-
-
-
-#ifndef QPOASES_QPROBLEMB_H
-#define QPOASES_QPROBLEMB_H
-
-
-#include <qpOASES_e/Bounds.h>
-#include <qpOASES_e/Options.h>
-#include <qpOASES_e/Matrices.h>
-#include <qpOASES_e/Flipper.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	Bounds *emptyBounds;
-	Bounds *auxiliaryBounds;
-
-	real_t *ub_new_far;
-	real_t *lb_new_far;
-
-	real_t *g_new;
-	real_t *lb_new;
-	real_t *ub_new;
-
-	real_t *g_new2;
-	real_t *lb_new2;
-	real_t *ub_new2;
-
-	real_t *Hx;
-
-	real_t *_H;
-
-	real_t *g_original;
-	real_t *lb_original;
-	real_t *ub_original;
-
-	real_t *delta_xFR;
-	real_t *delta_xFX;
-	real_t *delta_yFX;
-	real_t *delta_g;
-	real_t *delta_lb;
-	real_t *delta_ub;
-
-	real_t *gMod;
-
-	real_t *num;
-	real_t *den;
-
-	real_t *rhs;
-	real_t *r;
-} QProblemB_ws;
-
-int QProblemB_ws_calculateMemorySize( unsigned int nV );
-
-char *QProblemB_ws_assignMemory( unsigned int nV, QProblemB_ws **mem, void *raw_memory );
-
-QProblemB_ws *QProblemB_ws_createMemory( unsigned int nV );
-
-
-/**
- *	\brief Implements the online active set strategy for box-constrained QPs.
- *
- *	Class for setting up and solving quadratic programs with bounds (= box constraints) only.
- *	The main feature is the possibility to use the newly developed online active set strategy
- *	for parametric quadratic programming.
- *
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- */
-typedef struct
-{
-	QProblemB_ws *ws;
-	Bounds *bounds;					/**< Data structure for problem's bounds. */
-	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
-
-	DenseMatrix* H;					/**< Hessian matrix pointer. */
-
-	Options options;				/**< Struct containing all user-defined options for solving QPs. */
-	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
-
-	real_t *g;						/**< Gradient. */
-	real_t *lb;						/**< Lower bound vector (on variables). */
-	real_t *ub;						/**< Upper bound vector (on variables). */
-
-	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
-
-	real_t *x;						/**< Primal solution vector. */
-	real_t *y;						/**< Dual solution vector. */
-
-	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
-
-	real_t tau;						/**< Last homotopy step length. */
-	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
-
-	real_t ramp0;					/**< Start value for Ramping Strategy. */
-	real_t ramp1;					/**< Final value for Ramping Strategy. */
-
-	QProblemStatus status;			/**< Current status of the solution process. */
-	HessianType hessianType;		/**< Type of Hessian matrix. */
-
-	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
-	BooleanType infeasible;			/**< QP infeasible? */
-	BooleanType unbounded;			/**< QP unbounded? */
-
-	int rampOffset;					/**< Offset index for Ramping. */
-	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
-} QProblemB;
-
-int QProblemB_calculateMemorySize( unsigned int nV );
-
-char *QProblemB_assignMemory( unsigned int nV, QProblemB **mem, void *raw_memory );
-
-QProblemB *QProblemB_createMemory( unsigned int nV );
-
-
-/** Constructor which takes the QP dimension and Hessian type
- *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
- *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
- *  is allocated for it and a NULL pointer can be passed for it
- *  to the init() functions. */
-void QProblemBCON(	QProblemB* _THIS,
-					int _nV,						/**< Number of variables. */
-					HessianType _hessianType		/**< Type of Hessian matrix. */
-					);
-
-void QProblemBCPY(	QProblemB* FROM,
-					QProblemB* TO
-					);
-
-
-/** Clears all data structures of QProblemB except for QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_RESET_FAILED */
-returnValue QProblemB_reset( QProblemB* _THIS );
-
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initM(	QProblemB* _THIS,
-								DenseMatrix *_H,	 		/**< Hessian matrix. */
-								const real_t* const _g,		/**< Gradient vector. */
-								const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,	/**< Upper bounds (on variables). \n
-																 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																 Output: CPU time spent for QP initialisation (if pointer passed). */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_init(	QProblemB* _THIS,
-							real_t* const _H, 			/**< Hessian matrix. \n
-															 If Hessian matrix is trivial, a NULL pointer can be passed. */
-							const real_t* const _g,		/**< Gradient vector. */
-							const real_t* const _lb,	/**< Lower bounds (on variables). \n
-															 If no lower bounds exist, a NULL pointer can be passed. */
-							const real_t* const _ub,	/**< Upper bounds (on variables). \n
-															 If no upper bounds exist, a NULL pointer can be passed. */
-							int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-															 Output: Number of performed working set recalculations. */
-		 					real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-															 Output: CPU time spent for QP initialisation (if pointer passed). */
-							);
-
-/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
- *	using at most nWSR iterations.
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblemB_initF(	QProblemB* _THIS,
-								const char* const H_file, 	/**< Name of file where Hessian matrix is stored. \n
-																 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,  	/**< Name of file where gradient vector is stored. */
-								const char* const lb_file, 	/**< Name of file where lower bound vector. \n
-																 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 	/**< Name of file where upper bound vector. \n
-																 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
-																 Output: CPU time spent for QP initialisation (if pointer passed). */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initMW(	QProblemB* _THIS,
-								DenseMatrix *_H,				/**< Hessian matrix. */
-								const real_t* const _g,			/**< Gradient vector. */
-								const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data and tries to solve it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_initW(	QProblemB* _THIS,
-								real_t* const _H, 				/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const real_t* const _g,			/**< Gradient vector. */
-								const real_t* const _lb,		/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const _ub,		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
-																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
-																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
- *	using at most nWSR iterations. Depending on the parameter constellation it: \n
- *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
- *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
- *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
- *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
- *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
- *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
- *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
- *
- *  Note: This function internally calls solveInitialQP for initialisation!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED \n
-			RET_UNABLE_TO_READ_FILE */
-returnValue QProblemB_initFW(	QProblemB* _THIS,
-								const char* const H_file, 		/**< Name of file where Hessian matrix is stored. \n
-																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
-								const char* const g_file,  		/**< Name of file where gradient vector is stored. */
-								const char* const lb_file, 		/**< Name of file where lower bound vector. \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-								const char* const ub_file, 		/**< Name of file where upper bound vector. \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
-																	 Output: Number of performed working set recalculations. */
-		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
-													 				 Output: CPU time spent for QP initialisation. */
-								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old primal solution is kept!) */
-								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
-																	 (If a null pointer is passed, the old dual solution is kept!) */
-								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, all bounds are assumed inactive!) */
-								const char* const R_file		/**< Name of the file where a pre-computed (upper triangular) Cholesky factor
-																	 of the Hessian matrix is stored. \n
-																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
-								);
-
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_hotstart(	QProblemB* _THIS,
-								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP solution. \n
-																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files. QP solution is started from previous solution.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_hotstartF(	QProblemB* _THIS,
-									const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR, 					/**< Input: Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime 	 	/**< Input: Maximum CPU time allowed for QP solution. \n
-																	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									);
-
-/** Solves an initialised QP sequence using the online active set strategy.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_hotstartW(	QProblemB* _THIS,
-									const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-									const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, the previous working set is kept!) */
-									);
-
-/** Solves an initialised QP sequence using the online active set strategy,
- *  where QP data is read from files.
- *	By default, QP solution is started from previous solution. If a guess
- *	for the working set is provided, an initialised homotopy is performed.
- *
- *  Note: This function internally calls solveQP/solveRegularisedQP
- *        for solving an initialised QP!
- *
- *	\return SUCCESSFUL_RETURN \n
- 			RET_MAX_NWSR_REACHED \n
- 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_hotstartFW(	QProblemB* _THIS,
-									const char* const g_file,	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-									const char* const lb_file,	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no lower bounds exist, a NULL pointer can be passed. */
-									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-											 						 If no upper bounds exist, a NULL pointer can be passed. */
-									int* nWSR,					/**< Input:  Maximum number of working set recalculations; \n
-																	 Output: Number of performed working set recalculations. */
-									real_t* const cputime,		/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
-																	 (If a null pointer is passed, the previous working set is kept!) */
-									);
-
-
-/** Writes a vector with the state of the working set
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSet(	QProblemB* _THIS,
-										real_t* workingSet		/** Output: array containing state of the working set. */
-										);
-
-/** Writes a vector with the state of the working set of bounds
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSetBounds(	QProblemB* _THIS,
-											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
-											);
-
-/** Writes a vector with the state of the working set of constraints
- *	\return SUCCESSFUL_RETURN \n
- *	        RET_INVALID_ARGUMENTS */
-returnValue QProblemB_getWorkingSetConstraints(	QProblemB* _THIS,
-												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
-												);
-
-
-/** Returns current bounds object of the QP (deep copy).
-  *	\return SUCCESSFUL_RETURN \n
-  			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_getBounds(	QProblemB* _THIS,
-												Bounds* _bounds	/** Output: Bounds object. */
-												);
-
-
-/** Returns the number of variables.
- *	\return Number of variables. */
-static inline int QProblemB_getNV( QProblemB* _THIS );
-
-/** Returns the number of free variables.
- *	\return Number of free variables. */
-static inline int QProblemB_getNFR( QProblemB* _THIS );
-
-/** Returns the number of fixed variables.
- *	\return Number of fixed variables. */
-static inline int QProblemB_getNFX( QProblemB* _THIS );
-
-/** Returns the number of implicitly fixed variables.
- *	\return Number of implicitly fixed variables. */
-static inline int QProblemB_getNFV( QProblemB* _THIS );
-
-/** Returns the dimension of null space.
- *	\return Dimension of null space. */
-int QProblemB_getNZ( QProblemB* _THIS );
-
-
-/** Returns the optimal objective function value.
- *	\return finite value: Optimal objective function value (QP was solved) \n
- 			+infinity:	  QP was not yet solved */
-real_t QProblemB_getObjVal( QProblemB* _THIS );
-
-/** Returns the objective function value at an arbitrary point x.
- *	\return Objective function value at point x */
-real_t QProblemB_getObjValX(	QProblemB* _THIS,
-								const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
-								);
-
-/** Returns the primal solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblemB_getPrimalSolution(	QProblemB* _THIS,
-											real_t* const xOpt			/**< Output: Primal solution vector (if QP has been solved). */
-											);
-
-/** Returns the dual solution vector.
- *	\return SUCCESSFUL_RETURN \n
-			RET_QP_NOT_SOLVED */
-returnValue QProblemB_getDualSolution(	QProblemB* _THIS,
-										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
-										);
-
-
-/** Returns status of the solution process.
- *	\return Status of solution process. */
-static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS );
-
-
-/** Returns if the QProblem object is initialised.
- *	\return BT_TRUE:  QProblemB initialised \n
- 			BT_FALSE: QProblemB not initialised */
-static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS );
-
-/** Returns if the QP has been solved.
- *	\return BT_TRUE:  QProblemB solved \n
- 			BT_FALSE: QProblemB not solved */
-static inline BooleanType QProblemB_isSolved( QProblemB* _THIS );
-
-/** Returns if the QP is infeasible.
- *	\return BT_TRUE:  QP infeasible \n
- 			BT_FALSE: QP feasible (or not known to be infeasible!) */
-static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS );
-
-/** Returns if the QP is unbounded.
- *	\return BT_TRUE:  QP unbounded \n
- 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
-static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS );
-
-
-/** Returns Hessian type flag (type is not determined due to _THIS call!).
- *	\return Hessian type. */
-static inline HessianType QProblemB_getHessianType( QProblemB* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setHessianType(	QProblemB* _THIS,
-													HessianType _hessianType /**< New Hessian type. */
-													);
-
-/** Returns if the QP has been internally regularised.
- *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
- 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
-static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS );
-
-/** Returns current options struct.
- *	\return Current options struct. */
-static inline Options QProblemB_getOptions( QProblemB* _THIS );
-
-/** Overrides current options with given ones.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
-												Options _options	/**< New options. */
-												);
-
-/** Returns the print level.
- *	\return Print level. */
-static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS );
-
-/** Changes the print level.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setPrintLevel(	QProblemB* _THIS,
-										PrintLevel _printlevel	/**< New print level. */
-										);
-
-/** Returns the current number of QP problems solved.
- *	\return Number of QP problems solved. */
-static inline unsigned int QProblemB_getCount( QProblemB* _THIS );
-
-/** Resets QP problem counter (to zero).
- *	\return SUCCESSFUL_RETURN. */
-static inline returnValue QProblemB_resetCounter( QProblemB* _THIS );
-
-
-/** Prints concise list of properties of the current QP.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printProperties( QProblemB* _THIS );
-
-/** Prints a list of all options and their current values.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printOptions( QProblemB* _THIS );
-
-
-/** If Hessian type has been set by the user, nothing is done.
- *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
- *  HST_POSDEF (default), respectively.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_INDEFINITE */
-returnValue QProblemB_determineHessianType( QProblemB* _THIS );
-
-/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblemB_setupSubjectToType( QProblemB* _THIS );
-
-/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUPSUBJECTTOTYPE_FAILED */
-returnValue QProblemB_setupSubjectToTypeNew(	QProblemB* _THIS,
-												const real_t* const lb_new,	/**< New lower bounds. */
-												const real_t* const ub_new	/**< New upper bounds. */
-												);
-
-/** Computes the Cholesky decomposition of the (simply projected) Hessian
- *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
- *  projection matrix!
- *  Note: If Hessian turns out not to be positive definite, the Hessian type
- *		  is set to HST_SEMIDEF accordingly.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemB_computeCholesky( QProblemB* _THIS );
-
-/** Computes initial Cholesky decomposition of the projected Hessian making
- *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
- *	\return SUCCESSFUL_RETURN \n
- *			RET_HESSIAN_NOT_SPD \n
- *			RET_INDEXLIST_CORRUPTED */
-returnValue QProblemB_setupInitialCholesky( QProblemB* _THIS );
-
-
-/** Obtains the desired working set for the auxiliary initial QP in
- *  accordance with the user specifications
- *	\return SUCCESSFUL_RETURN \n
-			RET_OBTAINING_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_obtainAuxiliaryWorkingSet(	QProblemB* _THIS,
-													const real_t* const xOpt,		/**< Optimal primal solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													const real_t* const yOpt,		/**< Optimal dual solution vector.
-																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
-													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
-													Bounds* auxiliaryBounds			/**< Input: Allocated bound object. \n
-																					 *	 Ouput: Working set for auxiliary QP. */
-													);
-
-/** Decides if lower bounds are smaller than upper bounds
- *
- * \return SUCCESSFUL_RETURN \n
- * 		   RET_QP_INFEASIBLE */
-returnValue QProblemB_areBoundsConsistent(	QProblemB* _THIS,
-											const real_t* const lb, /**< Vector of lower bounds*/
-											const real_t* const ub  /**< Vector of upper bounds*/
-											);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblemB_backsolveR(	QProblemB* _THIS,
-									const real_t* const b,	/**< Right hand side vector. */
-									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
-									real_t* const a 		/**< Output: Solution vector */
-									);
-
-/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
- *  Special variant for the case that _THIS function is called from within "removeBound()".
- *	\return SUCCESSFUL_RETURN \n
-			RET_DIV_BY_ZERO */
-returnValue QProblemB_backsolveRrem(	QProblemB* _THIS,
-										const real_t* const b,		/**< Right hand side vector. */
-										BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
-										BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
-										real_t* const a 			/**< Output: Solution vector */
-										);
-
-
-/** Determines step direction of the shift of the QP data.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_determineDataShift(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< New gradient vector. */
-											const real_t* const lb_new,	/**< New lower bounds. */
-											const real_t* const ub_new,	/**< New upper bounds. */
-											real_t* const delta_g,	 	/**< Output: Step direction of gradient vector. */
-											real_t* const delta_lb,	 	/**< Output: Step direction of lower bounds. */
-											real_t* const delta_ub,	 	/**< Output: Step direction of upper bounds. */
-											BooleanType* Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */
-											);
-
-
-/** Sets up internal QP data.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_setupQPdataM(	QProblemB* _THIS,
-									DenseMatrix *_H,	 		/**< Hessian matrix.*/
-									const real_t* const _g,		/**< Gradient vector. */
-									const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data. If the current Hessian is trivial
- *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemB_setupQPdata(	QProblemB* _THIS,
-									real_t* const _H, 			/**< Hessian matrix. \n
-																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
-									const real_t* const _g,		/**< Gradient vector. */
-									const real_t* const _lb,	/**< Lower bounds (on variables). \n
-																	 If no lower bounds exist, a NULL pointer can be passed. */
-									const real_t* const _ub		/**< Upper bounds (on variables). \n
-																	 If no upper bounds exist, a NULL pointer can be passed. */
-									);
-
-/** Sets up internal QP data by loading it from files. If the current Hessian
- *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
- *  memory for Hessian is allocated and it is set to the given one.
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS \n
-			RET_NO_HESSIAN_SPECIFIED */
-returnValue QProblemB_setupQPdataFromFile(	QProblemB* _THIS,
-											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
-														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
-											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
-											);
-
-/** Loads new QP vectors from files (internal members are not affected!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNABLE_TO_OPEN_FILE \n
-			RET_UNABLE_TO_READ_FILE \n
-			RET_INVALID_ARGUMENTS */
-returnValue QProblemB_loadQPvectorsFromFile(	QProblemB* _THIS,
-												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
-												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
-												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
-										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
-												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
-												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
-												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
-												);
-
-
-/** Sets internal infeasibility flag and throws given error in case the far bound
- *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
- *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_ENSURELI_FAILED_CYCLING \n
-			RET_ENSURELI_FAILED_NOINDEX */
-returnValue QProblemB_setInfeasibilityFlag(	QProblemB* _THIS,
-											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
-											BooleanType doThrowError	/**< Flag forcing to throw an error. */
-											);
-
-
-/** Determines if next QP iteration can be performed within given CPU time limit.
- *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
-			BT_FALSE: Sufficient CPU time for next QP iteration. */
-BooleanType QProblemB_isCPUtimeLimitExceeded(	QProblemB* _THIS,
-												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
-												real_t starttime,				/**< Start time of current QP solution. */
-												int nWSR						/**< Number of working set recalculations performed so far. */
-												);
-
-
-/** Regularise Hessian matrix by adding a scaled identity matrix to it.
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_ALREADY_REGULARISED */
-returnValue QProblemB_regulariseHessian( QProblemB* _THIS );
-
-
-/** Sets Hessian matrix of the QP.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setHM(	QProblemB* _THIS,
-											DenseMatrix* H_new	/**< New Hessian matrix. */
-											);
-
-/** Sets dense Hessian matrix of the QP.
- *  If a null pointer is passed and
- *  a) hessianType is HST_IDENTITY, nothing is done,
- *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
- *	\return SUCCESSFUL_RETURN */
-static inline returnValue QProblemB_setH(	QProblemB* _THIS,
-											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
-											);
-
-/** Changes gradient vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_INVALID_ARGUMENTS */
-static inline returnValue QProblemB_setG(	QProblemB* _THIS,
-											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
-											);
-
-/** Changes lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_setLB(	QProblemB* _THIS,
-											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of lower bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblemB_setLBn(	QProblemB* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of lower bound vector. */
-											);
-
-/** Changes upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QPOBJECT_NOT_SETUP */
-static inline returnValue QProblemB_setUB(	QProblemB* _THIS,
-											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
-											);
-
-/** Changes single entry of upper bound vector of the QP.
- *	\return SUCCESSFUL_RETURN  \n
- *			RET_QPOBJECT_NOT_SETUP \n
- *			RET_INDEX_OUT_OF_BOUNDS */
-static inline returnValue QProblemB_setUBn(	QProblemB* _THIS,
-											int number,		/**< Number of entry to be changed. */
-											real_t value	/**< New value for entry of upper bound vector. */
-											);
-
-
-/** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
- *	\return SUCCESSFUL_RETURN */
-static inline void QProblemB_computeGivens(	real_t xold,	/**< Matrix entry to be normalised. */
-											real_t yold,	/**< Matrix entry to be annihilated. */
-											real_t* xnew,	/**< Output: Normalised matrix entry. */
-											real_t* ynew,	/**< Output: Annihilated matrix entry. */
-											real_t* c,		/**< Output: Cosine entry of Givens matrix. */
-											real_t* s 		/**< Output: Sine entry of Givens matrix. */
-											);
-
-/** Applies Givens matrix determined by c and s (cf. computeGivens).
- *	\return SUCCESSFUL_RETURN */
-static inline void QProblemB_applyGivens(	real_t c,		/**< Cosine entry of Givens matrix. */
-											real_t s,		/**< Sine entry of Givens matrix. */
-											real_t nu, 		/**< Further factor: s/(1+c). */
-											real_t xold,	/**< Matrix entry to be transformed corresponding to
-															 *	 the normalised entry of the original matrix. */
-											real_t yold, 	/**< Matrix entry to be transformed corresponding to
-															 *	 the annihilated entry of the original matrix. */
-											real_t* xnew,	/**< Output: Transformed matrix entry corresponding to
-															 *	 the normalised entry of the original matrix. */
-											real_t* ynew	/**< Output: Transformed matrix entry corresponding to
-															 *	 the annihilated entry of the original matrix. */
-											);
-
-
-
-/** Compute relative length of homotopy in data space for termination
- *  criterion.
- *  \return Relative length in data space. */
-real_t QProblemB_getRelativeHomotopyLength(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< Final gradient. */
-											const real_t* const lb_new,	/**< Final lower variable bounds. */
-											const real_t* const ub_new	/**< Final upper variable bounds. */
-											);
-
-/** Ramping Strategy to avoid ties. Modifies homotopy start without
- *  changing current active set.
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblemB_performRamping( QProblemB* _THIS );
-
-
-/** ... */
-returnValue QProblemB_updateFarBounds(	QProblemB* _THIS,
-										real_t curFarBound,				/**< ... */
-										int nRamp,						/**< ... */
-										const real_t* const lb_new,		/**< ... */
-										real_t* const lb_new_far,		/**< ... */
-										const real_t* const ub_new,		/**< ... */
-										real_t* const ub_new_far		/**< ... */
-										);
-
-
-
-/** Performs robustified ratio test yield the maximum possible step length
- *  along the homotopy path.
- *	\return  SUCCESSFUL_RETURN */
-returnValue QProblemB_performRatioTestB(	QProblemB* _THIS,
-											int nIdx, 					/**< Number of ratios to be checked. */
-											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
-											Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
-											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
-											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
-											real_t epsNum,				/**< Numerator tolerance. */
-											real_t epsDen,				/**< Denominator tolerance. */
-											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
-											int* BC_idx 				/**< Output: Index of blocking constraint. */
-											);
-
-/** Checks whether given ratio is blocking, i.e. limits the maximum step length
- *  along the homotopy path to a value lower than given one.
- *	\return  SUCCESSFUL_RETURN */
-static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
-												real_t num,		/**< Numerator for performing the ratio test. */
-												real_t den,		/**< Denominator for performing the ratio test. */
-												real_t epsNum,	/**< Numerator tolerance. */
-												real_t epsDen,	/**< Denominator tolerance. */
-												real_t* t		/**< Input:  Current maximum step length along the homotopy path,
-																 *   Output: Updated maximum possible step length along the homotopy path. */
-												);
-
-
-/** Solves a QProblemB whose QP data is assumed to be stored in the member variables.
- *  A guess for its primal/dual optimal solution vectors and the corresponding
- *  optimal working set can be provided.
- *  Note: This function is internally called by all init functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_INIT_FAILED \n
-			RET_INIT_FAILED_CHOLESKY \n
-			RET_INIT_FAILED_HOTSTART \n
-			RET_INIT_FAILED_INFEASIBILITY \n
-			RET_INIT_FAILED_UNBOUNDEDNESS \n
-			RET_MAX_NWSR_REACHED */
-returnValue QProblemB_solveInitialQP(	QProblemB* _THIS,
-										const real_t* const xOpt,		/**< Optimal primal solution vector.*/
-										const real_t* const yOpt,		/**< Optimal dual solution vector. */
-										Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). */
-										const real_t* const _R,			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
-										int* nWSR, 						/**< Input:  Maximum number of working set recalculations; \n
-														 				 *	 Output: Number of performed working set recalculations. */
-										real_t* const cputime			/**< Input:  Maximum CPU time allowed for QP solution. \n
-														 				 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-										);
-
-/** Solves an initialised QProblemB using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_solveQP(	QProblemB* _THIS,
-								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-											 					 If no lower bounds exist, a NULL pointer can be passed. */
-								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-											 					 If no upper bounds exist, a NULL pointer can be passed. */
-								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																 Output: Number of performed working set recalculations. */
-								real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-								int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
-																 this QP within previous solveQP() calls. This number is
-																 always zero, except for successive calls from solveRegularisedQP()
-																 or when using the far bound strategy. */
-								BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-								);
-
-
-/** Solves an initialised QProblemB using online active set strategy.
- *  Note: This function is internally called by all hotstart functions!
- *	\return SUCCESSFUL_RETURN \n
-			RET_MAX_NWSR_REACHED \n
-			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
-			RET_HOTSTART_FAILED \n
-			RET_SHIFT_DETERMINATION_FAILED \n
-			RET_STEPDIRECTION_DETERMINATION_FAILED \n
-			RET_STEPLENGTH_DETERMINATION_FAILED \n
-			RET_HOMOTOPY_STEP_FAILED \n
-			RET_HOTSTART_STOPPED_INFEASIBILITY \n
-			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
-returnValue QProblemB_solveRegularisedQP(	QProblemB* _THIS,
-											const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
-											const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
-													 						 If no lower bounds exist, a NULL pointer can be passed. */
-											const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
-													 						 If no upper bounds exist, a NULL pointer can be passed. */
-											int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
-																			 Output: Number of performed working set recalculations. */
-											real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
-																			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
-											int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
-																			 this QP within previous solveRegularisedQP() calls. This number is
-																			 always zero, except for successive calls when using the far bound strategy. */
-											BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-											);
-
-
-/** Sets up bound data structure according to auxiliaryBounds.
- *  (If the working set shall be setup afresh, make sure that
- *  bounds data structure has been resetted!)
- *	\return SUCCESSFUL_RETURN \n
-			RET_SETUP_WORKINGSET_FAILED \n
-			RET_INVALID_ARGUMENTS \n
-			RET_UNKNOWN_BUG */
-returnValue QProblemB_setupAuxiliaryWorkingSet(	QProblemB* _THIS,
-												Bounds* const auxiliaryBounds,	/**< Working set for auxiliary QP. */
-												BooleanType setupAfresh			/**< Flag indicating if given working set shall be
-																				 *    setup afresh or by updating the current one. */
-												);
-
-/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setupAuxiliaryQPsolution(	QProblemB* _THIS,
-												const real_t* const xOpt,	/**< Optimal primal solution vector.
-																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
-												const real_t* const yOpt	/**< Optimal dual solution vector.
-																			 *	 If a NULL pointer is passed, all entries are set to zero. */
-												);
-
-/** Sets up gradient of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS have already been (ialised!).
- *	\return SUCCESSFUL_RETURN */
-returnValue QProblemB_setupAuxiliaryQPgradient( QProblemB* _THIS );
-
-/** Sets up bounds of the auxiliary initial QP for given
- *  optimal primal/dual solution and given initial working set
- *  (assumes that members X, Y and BOUNDS have already been initialised!).
- *	\return SUCCESSFUL_RETURN \n
-			RET_UNKNOWN_BUG */
-returnValue QProblemB_setupAuxiliaryQPbounds(	QProblemB* _THIS,
-												BooleanType useRelaxation	/**< Flag indicating if inactive bounds shall be relaxed. */
-												);
-
-
-/** Updates QP vectors, working sets and internal data structures in order to
-	start from an optimal solution corresponding to initial guesses of the working
-	set for bounds
- *	\return SUCCESSFUL_RETURN \n
- *			RET_SETUP_AUXILIARYQP_FAILED */
-returnValue QProblemB_setupAuxiliaryQP(	QProblemB* _THIS,
-										Bounds* const guessedBounds	/**< Initial guess for working set of bounds. */
-										);
-
-/** Determines step direction of the homotopy path.
- *	\return SUCCESSFUL_RETURN \n
- 			RET_STEPDIRECTION_FAILED_CHOLESKY */
-returnValue QProblemB_determineStepDirection(	QProblemB* _THIS,
-												const real_t* const delta_g,	/**< Step direction of gradient vector. */
-												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
-												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
-												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
-												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
-												);
-
-/** Determines the maximum possible step length along the homotopy path
- *  and performs _THIS step (without changing working set).
- *	\return SUCCESSFUL_RETURN \n
- *			RET_QP_INFEASIBLE \n
- */
-returnValue QProblemB_performStep(	QProblemB* _THIS,
-									const real_t* const delta_g,	/**< Step direction of gradient. */
-									const real_t* const delta_lb,	/**< Step direction of lower bounds. */
-									const real_t* const delta_ub,	/**< Step direction of upper bounds. */
-									const real_t* const delta_xFX, 	/**< Primal homotopy step direction of fixed variables. */
-									const real_t* const delta_xFR,	/**< Primal homotopy step direction of free variables. */
-									const real_t* const delta_yFX,	/**< Dual homotopy step direction of fixed variables' multiplier. */
-									int* BC_idx, 					/**< Output: Index of blocking constraint. */
-									SubjectToStatus* BC_status		/**< Output: Status of blocking constraint. */
-									);
-
-/** Updates active set.
- *	\return  SUCCESSFUL_RETURN \n
- 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
-			 RET_ADD_TO_ACTIVESET_FAILED */
-returnValue QProblemB_changeActiveSet(	QProblemB* _THIS,
-										int BC_idx, 				/**< Index of blocking constraint. */
-										SubjectToStatus BC_status 	/**< Status of blocking constraint. */
-										);
-
-/** Drift correction at end of each active set iteration
- *  \return SUCCESSFUL_RETURN */
-returnValue QProblemB_performDriftCorrection( QProblemB* _THIS );
-
-/** Determines if it is more efficient to refactorise the matrices when
- *  hotstarting or not (i.e. better to update the existing factorisations).
- *	\return BT_TRUE iff matrices shall be refactorised afresh
- */
-BooleanType QProblemB_shallRefactorise(	QProblemB* _THIS,
-										Bounds* const guessedBounds	/**< Guessed new working set. */
-										);
-
-
-/** Adds a bound to active set (specialised version for the case where no constraints exist).
- *	\return SUCCESSFUL_RETURN \n
- 			RET_ADDBOUND_FAILED */
-returnValue QProblemB_addBound(	QProblemB* _THIS,
-								int number,					/**< Number of bound to be added to active set. */
-								SubjectToStatus B_status,	/**< Status of new active bound. */
-								BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-								);
-
-/** Removes a bounds from active set (specialised version for the case where no constraints exist).
- *	\return SUCCESSFUL_RETURN \n
-			RET_HESSIAN_NOT_SPD \n
-			RET_REMOVEBOUND_FAILED */
-returnValue QProblemB_removeBound(	QProblemB* _THIS,
-									int number,					/**< Number of bound to be removed from active set. */
-									BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
-									);
-
-
-/** Prints concise information on the current iteration.
- *	\return  SUCCESSFUL_RETURN \n */
-returnValue QProblemB_printIteration(	QProblemB* _THIS,
-										int iter,					/**< Number of current iteration. */
-										int BC_idx, 				/**< Index of blocking bound. */
-										SubjectToStatus BC_status,	/**< Status of blocking bound. */
-										real_t homotopyLength,		/**< Current homotopy distance. */
-										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
-										);
-
-
-
-/*
- *	g e t B o u n d s
- */
-static inline returnValue QProblemB_getBounds( QProblemB* _THIS, Bounds* _bounds )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	_bounds = _THIS->bounds;
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t N V
- */
-static inline int QProblemB_getNV( QProblemB* _THIS )
-{
-	return Bounds_getNV( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F R
- */
-static inline int QProblemB_getNFR( QProblemB* _THIS )
-{
-	return Bounds_getNFR( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F X
- */
-static inline int QProblemB_getNFX( QProblemB* _THIS )
-{
-	return Bounds_getNFX( _THIS->bounds );
-}
-
-
-/*
- *	g e t N F V
- */
-static inline int QProblemB_getNFV( QProblemB* _THIS )
-{
-	return Bounds_getNFV( _THIS->bounds );
-}
-
-
-/*
- *	g e t S t a t u s
- */
-static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS )
-{
-	return _THIS->status;
-}
-
-
-/*
- *	i s I n i t i a l i s e d
- */
-static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS )
-{
-	if ( _THIS->status == QPS_NOTINITIALISED )
-		return BT_FALSE;
-	else
-		return BT_TRUE;
-}
-
-
-/*
- *	i s S o l v e d
- */
-static inline BooleanType QProblemB_isSolved( QProblemB* _THIS )
-{
-	if ( _THIS->status == QPS_SOLVED )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	i s I n f e a s i b l e
- */
-static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS )
-{
-	return _THIS->infeasible;
-}
-
-
-/*
- *	i s U n b o u n d e d
- */
-static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS )
-{
-	return _THIS->unbounded;
-}
-
-
-/*
- *	g e t H e s s i a n T y p e
- */
-static inline HessianType QProblemB_getHessianType( QProblemB* _THIS )
-{
-	return _THIS->hessianType;
-}
-
-
-/*
- *	s e t H e s s i a n T y p e
- */
-static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, HessianType _hessianType )
-{
-	_THIS->hessianType = _hessianType;
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	u s i n g R e g u l a r i s a t i o n
- */
-static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS )
-{
-	if ( _THIS->regVal > QPOASES_ZERO )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *	g e t O p t i o n s
- */
-static inline Options QProblemB_getOptions( QProblemB* _THIS )
-{
-	return _THIS->options;
-}
-
-
-/*
- *	s e t O p t i o n s
- */
-static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
-												Options _options
-												)
-{
-	OptionsCPY( &_options,&(_THIS->options) );
-	Options_ensureConsistency( &(_THIS->options) );
-
-	QProblemB_setPrintLevel( _THIS,_THIS->options.printLevel );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	g e t P r i n t L e v e l
- */
-static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS )
-{
-	return _THIS->options.printLevel;
-}
-
-
-
-/*
- *	g e t C o u n t
- */
-static inline unsigned int QProblemB_getCount( QProblemB* _THIS )
-{
-	return _THIS->count;
-}
-
-
-/*
- *	r e s e t C o u n t e r
- */
-static inline returnValue QProblemB_resetCounter( QProblemB* _THIS )
-{
-	_THIS->count = 0;
-	return SUCCESSFUL_RETURN;
-}
-
-
-
-/*****************************************************************************
- *  P R O T E C T E D                                                        *
- *****************************************************************************/
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblemB_setHM( QProblemB* _THIS, DenseMatrix* H_new )
-{
-	if ( H_new == 0 )
-		return QProblemB_setH( _THIS,(real_t*)0 );
-	else
-		return QProblemB_setH( _THIS,DenseMatrix_getVal(H_new) );
-}
-
-
-/*
- *	s e t H
- */
-static inline returnValue QProblemB_setH( QProblemB* _THIS, real_t* const H_new )
-{
-	/* if null pointer is passed, Hessian is set to zero matrix
-	 *                            (or stays identity matrix) */
-	if ( H_new == 0 )
-	{
-		if ( _THIS->hessianType == HST_IDENTITY )
-			return SUCCESSFUL_RETURN;
-
-		_THIS->hessianType = HST_ZERO;
-
-		_THIS->H = 0;
-	}
-	else
-	{
-		DenseMatrixCON( _THIS->H,QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),H_new );
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t G
- */
-static inline returnValue QProblemB_setG( QProblemB* _THIS, const real_t* const g_new )
-{
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( g_new == 0 )
-		return THROWERROR( RET_INVALID_ARGUMENTS );
-
-	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblemB_setLB( QProblemB* _THIS, const real_t* const lb_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( lb_new != 0 )
-	{
-		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no lower bounds are specified, set them to -infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->lb[i] = -QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t L B
- */
-static inline returnValue QProblemB_setLBn( QProblemB* _THIS, int number, real_t value )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->lb[number] = value;
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblemB_setUB( QProblemB* _THIS, const real_t* const ub_new )
-{
-	unsigned int i;
-	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ub_new != 0 )
-	{
-		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
-	}
-	else
-	{
-		/* if no upper bounds are specified, set them to infinity */
-		for( i=0; i<nV; ++i )
-			_THIS->ub[i] = QPOASES_INFTY;
-	}
-
-	return SUCCESSFUL_RETURN;
-}
-
-
-/*
- *	s e t U B
- */
-static inline returnValue QProblemB_setUBn( QProblemB* _THIS, int number, real_t value )
-{
-	int nV = QProblemB_getNV( _THIS );
-
-	if ( nV == 0 )
-		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
-
-	if ( ( number >= 0 ) && ( number < nV ) )
-	{
-		_THIS->ub[number] = value;
-
-		return SUCCESSFUL_RETURN;
-	}
-	else
-	{
-		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
-	}
-}
-
-
-/*
- *	c o m p u t e G i v e n s
- */
-static inline void QProblemB_computeGivens(	real_t xold, real_t yold,
-											real_t* xnew, real_t* ynew, real_t* c, real_t* s
-											)
-{
-	real_t t, mu;
-
-	if ( fabs( yold ) <= QPOASES_ZERO )
-	{
-		*c = 1.0;
-		*s = 0.0;
-
-		*xnew = xold;
-		*ynew = yold;
-	}
-	else
-	{
-		mu = fabs( xold );
-		if ( fabs( yold ) > mu )
-			mu = fabs( yold );
-
-		t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
-
-		if ( xold < 0.0 )
-		t = -t;
-
-		*c = xold/t;
-		*s = yold/t;
-		*xnew = t;
-		*ynew = 0.0;
-	}
-
-	return;
-}
-
-
-/*
- *	a p p l y G i v e n s
- */
-static inline void QProblemB_applyGivens(	real_t c, real_t s, real_t nu, real_t xold, real_t yold,
-											real_t* xnew, real_t* ynew
-											)
-{
-	#ifdef __USE_THREE_MULTS_GIVENS__
-
-	/* Givens plane rotation requiring only three multiplications,
-	 * cf. Hammarling, S.: A note on modifications to the givens plane rotation.
-	 * J. Inst. Maths Applics, 13:215-218, 1974. */
-	*xnew = xold*c + yold*s;
-	*ynew = (*xnew+xold)*nu - yold;
-
-	#else
-
-	/* Usual Givens plane rotation requiring four multiplications. */
-	*xnew =  c*xold + s*yold;
-	*ynew = -s*xold + c*yold;
-
-	#endif
-
-	return;
-}
-
-
-/*
- * i s B l o c k i n g
- */
-static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
-												real_t num,
-												real_t den,
-												real_t epsNum,
-												real_t epsDen,
-												real_t* t
-												)
-{
-	if ( ( den >= epsDen ) && ( num >= epsNum ) )
-	{
-		if ( num < (*t)*den )
-			return BT_TRUE;
-	}
-
-	return BT_FALSE;
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_QPROBLEMB_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Types.h b/third_party/acados/include/qpOASES_e/Types.h
deleted file mode 100644
index fc042aed82..0000000000
--- a/third_party/acados/include/qpOASES_e/Types.h
+++ /dev/null
@@ -1,310 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Types.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of all non-built-in types (except for classes).
- */
-
-
-#ifndef QPOASES_TYPES_H
-#define QPOASES_TYPES_H
-
-#ifdef USE_ACADOS_TYPES
-#include "acados/utils/types.h"
-#endif
-
-/* If your compiler does not support the snprintf() function,
- * uncomment the following line and try to compile again. */
-/* #define __NO_SNPRINTF__ */
-
-
-/* Uncomment the following line for setting the __DSPACE__ flag. */
-/* #define __DSPACE__ */
-
-/* Uncomment the following line for setting the __XPCTARGET__ flag. */
-/* #define __XPCTARGET__ */
-
-
-/* Uncomment the following line for setting the __NO_FMATH__ flag. */
-/* #define __NO_FMATH__ */
-
-/* Uncomment the following line to enable debug information. */
-/* #define __DEBUG__ */
-
-/* Uncomment the following line to enable suppress any kind of console output. */
-/* #define __SUPPRESSANYOUTPUT__ */
-
-
-/** Forces to always include all implicitly fixed bounds and all equality constraints
- *  into the initial working set when setting up an auxiliary QP. */
-#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
-
-/* Uncomment the following line to activate the use of an alternative Givens
- * plane rotation requiring only three multiplications. */
-/* #define __USE_THREE_MULTS_GIVENS__ */
-
-/* Uncomment the following line to activate the use of single precision arithmetic. */
-/* #define __USE_SINGLE_PRECISION__ */
-
-/* The inline keyword is skipped by default as it is not part of the C90 standard.
- * However, by uncommenting the following line, use of the inline keyword can be enforced. */
-/* #define __USE_INLINE__ */
-
-
-/* Work-around for Borland BCC 5.5 compiler. */
-#ifdef __BORLANDC__
-#if __BORLANDC__ < 0x0561
-  #define __STDC__ 1
-#endif
-#endif
-
-
-/* Work-around for Microsoft compilers. */
-#ifdef _MSC_VER
-  #define __NO_SNPRINTF__
-  #pragma warning( disable : 4061 4100 4250 4514 4996 )
-#endif
-
-
-/* Apply pre-processor settings when using qpOASES within auto-generated code. */
-#ifdef __CODE_GENERATION__
-  #define __NO_COPYRIGHT__
-  #define __EXTERNAL_DIMENSIONS__
-#endif /* __CODE_GENERATION__ */
-
-
-/* Avoid using static variables declaration within functions. */
-#ifdef __NO_STATIC__
-  #define myStatic
-#else
-  #define myStatic static
-#endif /* __NO_STATIC__ */
-
-
-/* Skip inline keyword if not specified otherwise. */
-#ifndef __USE_INLINE__
-  #define inline
-#endif
-
-
-/* Avoid any printing on embedded platforms. */
-#if defined(__DSPACE__) || defined(__XPCTARGET__)
-  #define __SUPPRESSANYOUTPUT__
-  #define __NO_SNPRINTF__
-#endif
-
-
-#ifdef __NO_SNPRINTF__
-  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
-    /* If snprintf is not available, provide an empty implementation... */
-    int snprintf( char* s, size_t n, const char* format, ... );
-  #else
-	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
-    #define snprintf _snprintf
-  #endif
-#endif /* __NO_SNPRINTF__ */
-
-
-/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
-#define BEGIN_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the end of the qpOASES namespace definition. */
-#define END_NAMESPACE_QPOASES
-
-/** Macro for switching on/off the use of the qpOASES namespace. */
-#define USING_NAMESPACE_QPOASES
-
-/** Macro for switching on/off references to the qpOASES namespace. */
-#define REFER_NAMESPACE_QPOASES /*::*/
-
-
-/** Macro for accessing the Cholesky factor R. */
-#define RR( I,J )  _THIS->R[(I)+nV*(J)]
-
-/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
-#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
-
-/** Macro for accessing the triangular matrix T of the QT factorisation. */
-#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Defines real_t for facilitating switching between double and float. */
-
-#ifndef USE_ACADOS_TYPES
-#ifndef __CODE_GENERATION__
-
-  #ifdef __USE_SINGLE_PRECISION__
-  typedef float real_t;
-  #else
-  typedef double real_t;
-  #endif /* __USE_SINGLE_PRECISION__ */
-
-#endif /* __CODE_GENERATION__ */
-#endif /* USE_ACADOS_TYPES */
-
-/** Summarises all possible logical values. */
-typedef enum
-{
-	BT_FALSE = 0,				/**< Logical value for "false". */
-	BT_TRUE						/**< Logical value for "true". */
-} BooleanType;
-
-
-/** Summarises all possible print levels. Print levels are used to describe
- *	the desired amount of output during runtime of qpOASES. */
-typedef enum
-{
-	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
-	PL_TABULAR,					/**< Tabular output. */
-	PL_NONE,					/**< No output. */
-	PL_LOW,						/**< Print error messages only. */
-	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
-	PL_HIGH						/**< Print all messages with full details. */
-} PrintLevel;
-
-
-/** Defines visibility status of a message. */
-typedef enum
-{
-	VS_HIDDEN,					/**< Message not visible. */
-	VS_VISIBLE					/**< Message visible. */
-} VisibilityStatus;
-
-
-/** Summarises all possible states of the (S)QProblem(B) object during the
-solution process of a QP sequence. */
-typedef enum
-{
-	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
-	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
-								 *   via an initial homotopy or after changing the QP matrices. */
-	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
-								 *   set strategy is performed. */
-	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
-	QPS_SOLVED					/**< The solution of the actual QP was found. */
-} QProblemStatus;
-
-
-/** Summarises all possible types of the QP's Hessian matrix. */
-typedef enum
-{
-	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
-	HST_IDENTITY,			/**< Hessian is identity matrix. */
-	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
-	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
-	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
-	HST_INDEF,				/**< Hessian is indefinite. */
-	HST_UNKNOWN				/**< Hessian type is unknown. */
-} HessianType;
-
-
-/** Summarises all possible types of bounds and constraints. */
-typedef enum
-{
-	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
-	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
-	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
-	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
-	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
-} SubjectToType;
-
-
-/** Summarises all possible states of bounds and constraints. */
-typedef enum
-{
-	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
-	ST_INACTIVE,			/**< Bound/constraint is inactive. */
-	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
-	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
-	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
-	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
-} SubjectToStatus;
-
-
-/**
- *	\brief Stores internal information for tabular (debugging) output.
- *
- *	Struct storing internal information for tabular (debugging) output
- *	when using the (S)QProblem(B) objects.
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	int idxAddB;		/**< Index of bound that has been added to working set. */
-	int idxRemB;		/**< Index of bound that has been removed from working set. */
-	int idxAddC;		/**< Index of constraint that has been added to working set. */
-	int idxRemC;		/**< Index of constraint that has been removed from working set. */
-	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
-	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
-	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
-	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
-} TabularOutput;
-
-/**
- *	\brief Struct containing the variable header for mat file.
- *
- *	Struct storing the header of a variable to be stored in
- *	Matlab's binary format (using the outdated Level 4 variant
- *  for simplictiy).
- *
- *  Note, this code snippet has been inspired from the document
- *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
- *
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2013-2015
- */
-typedef struct
-{
-	long numericFormat;		/**< Flag indicating numerical format. */
-	long nRows;				/**< Number of rows. */
-	long nCols;				/**< Number of rows. */
-	long imaginaryPart;		/**< (to be documented) */
-	long nCharName;			/**< Number of character in name. */
-} MatMatrixHeader;
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_TYPES_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/UnitTesting.h b/third_party/acados/include/qpOASES_e/UnitTesting.h
deleted file mode 100644
index dbff201039..0000000000
--- a/third_party/acados/include/qpOASES_e/UnitTesting.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/UnitTesting.h
- *	\author Hans Joachim Ferreau
- *	\version 3.1embedded
- *	\date 2014-2015
- *
- *	Definition of auxiliary functions/macros for unit testing.
- */
-
-
-#ifndef QPOASES_UNIT_TESTING_H
-#define QPOASES_UNIT_TESTING_H
-
-
-#ifndef TEST_TOL_FACTOR
-#define TEST_TOL_FACTOR 1
-#endif
-
-
-/** Return value for tests that passed. */
-#define TEST_PASSED 0
-
-/** Return value for tests that failed. */
-#define TEST_FAILED 1
-
-/** Return value for tests that could not run due to missing external data. */
-#define TEST_DATA_NOT_FOUND 99
-
-
-/** Macro verifying that two numerical values are equal in order to pass unit test. */
-#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
-
-/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
-#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
-
-/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
-#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
-
-/** Macro verifying that a logical expression holds in order to pass unit test. */
-#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
-
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UNIT_TESTING_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/Utils.h b/third_party/acados/include/qpOASES_e/Utils.h
deleted file mode 100644
index 75e45a56a0..0000000000
--- a/third_party/acados/include/qpOASES_e/Utils.h
+++ /dev/null
@@ -1,500 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/Utils.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of some utilities for working with the different QProblem classes.
- */
-
-
-#ifndef QPOASES_UTILS_H
-#define QPOASES_UTILS_H
-
-#include <qpOASES_e/MessageHandling.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-
-/** Prints a vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printV(	const real_t* const v,	/**< Vector to be printed. */
-							int n					/**< Length of vector. */
-							);
-
-/** Prints a permuted vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printPV(	const real_t* const v,		/**< Vector to be printed. */
-								int n,						/**< Length of vector. */
-								const int* const V_idx		/**< Pemutation vector. */
-								);
-
-/** Prints a named vector.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNV(	const real_t* const v,	/**< Vector to be printed. */
-								int n,					/**< Length of vector. */
-								const char* name		/** Name of vector. */
-								);
-
-/** Prints a matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printM(	const real_t* const M,	/**< Matrix to be printed. */
-							int nrow,				/**< Row number of matrix. */
-							int ncol				/**< Column number of matrix. */
-							);
-
-/** Prints a permuted matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printPM(	const real_t* const M,		/**< Matrix to be printed. */
-								int nrow,					/**< Row number of matrix. */
-								int ncol	,				/**< Column number of matrix. */
-								const int* const ROW_idx,	/**< Row pemutation vector. */
-								const int* const COL_idx	/**< Column pemutation vector. */
-								);
-
-/** Prints a named matrix.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNM(	const real_t* const M,	/**< Matrix to be printed. */
-								int nrow,				/**< Row number of matrix. */
-								int ncol,				/**< Column number of matrix. */
-								const char* name		/** Name of matrix. */
-								);
-
-/** Prints an index array.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printI(	const int* const _index,	/**< Index array to be printed. */
-							int n						/**< Length of index array. */
-							);
-
-/** Prints a named index array.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printNI(	const int* const _index,	/**< Index array to be printed. */
-								int n,						/**< Length of index array. */
-								const char* name			/**< Name of index array. */
-								);
-
-
-/** Prints a string to desired output target (useful also for MATLAB output!).
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_myPrintf(	const char* s	/**< String to be written. */
-								);
-
-
-/** Prints qpOASES copyright notice.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_printCopyrightNotice( );
-
-
-/** Reads a real_t matrix from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileM(	real_t* data,				/**< Matrix to be read from file. */
-									int nrow,					/**< Row number of matrix. */
-									int ncol,					/**< Column number of matrix. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-/** Reads a real_t vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileV(	real_t* data,				/**< Vector to be read from file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-/** Reads an integer (column) vector from file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE \n
-		   RET_UNABLE_TO_READ_FILE */
-returnValue qpOASES_readFromFileI(	int* data,					/**< Vector to be read from file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename	/**< Data file name. */
-									);
-
-
-/** Writes a real_t matrix into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue qpOASES_writeIntoFileM(	const real_t* const data,	/**< Matrix to be written into file. */
-									int nrow,					/**< Row number of matrix. */
-									int ncol,					/**< Column number of matrix. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes a real_t vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE  */
-returnValue qpOASES_writeIntoFileV(	const real_t* const data,	/**< Vector to be written into file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes an integer (column) vector into a file.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_UNABLE_TO_OPEN_FILE */
-returnValue qpOASES_writeIntoFileI(	const int* const integer,	/**< Integer vector to be written into file. */
-									int n,						/**< Length of vector. */
-									const char* datafilename,	/**< Data file name. */
-									BooleanType append			/**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
-									);
-
-/** Writes a real_t matrix/vector into a Matlab binary file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS
- 		   RET_UNABLE_TO_WRITE_FILE */
-returnValue qpOASES_writeIntoMatFile(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
-										const real_t* const data,	/**< Data to be written into file. */
-										int nRows,					/**< Row number of matrix. */
-										int nCols, 					/**< Column number of matrix. */
-										const char* name			/**< Matlab name of matrix/vector to be stored. */
- 										);
-
-/** Writes in integer matrix/vector into a Matlab binary file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS
- 		   RET_UNABLE_TO_WRITE_FILE */
-returnValue qpOASES_writeIntoMatFileI(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
-										const int* const data,		/**< Data to be written into file. */
-										int nRows,					/**< Row number of matrix. */
-										int nCols,					/**< Column number of matrix. */
-										const char* name			/**< Matlab name of matrix/vector to be stored. */
- 										);
-
-
-/** Returns the current system time.
- * \return current system time */
-real_t qpOASES_getCPUtime( );
-
-
-/** Returns the N-norm of a vector.
- * \return >= 0.0: successful */
-real_t qpOASES_getNorm(	const real_t* const v,	/**< Vector. */
-						int n,					/**< Vector's dimension. */
-						int type				/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-						);
-
-/** Tests whether two real-valued arguments are (numerically) equal.
- * \return	BT_TRUE:  arguments differ not more than TOL \n
-		 	BT_FALSE: arguments differ more than TOL */
-static inline BooleanType qpOASES_isEqual(	real_t x,	/**< First real number. */
-											real_t y,	/**< Second real number. */
-											real_t TOL	/**< Tolerance for comparison. */
-											);
-
-
-/** Tests whether a real-valued argument is (numerically) zero.
- * \return	BT_TRUE:  argument differs from 0.0 not more than TOL \n
-		 	BT_FALSE: argument differs from 0.0 more than TOL */
-static inline BooleanType qpOASES_isZero(	real_t x,			/**< Real number. */
-											real_t TOL			/**< Tolerance for comparison. */
-											);
-
-
-/** Returns sign of a real-valued argument.
- * \return	 1.0: argument is non-negative \n
-		 	-1.0: argument is negative */
-static inline real_t qpOASES_getSign(	real_t arg	/**< real-valued argument whose sign is to be determined. */
-										);
-
-
-/** Returns maximum of two integers.
- * \return	Maximum of two integers */
-static inline int qpOASES_getMaxI(	int x,	/**< First integer. */
-									int y	/**< Second integer. */
-									);
-
-
-/** Returns minimum of two integers.
- * \return	Minimum of two integers */
-static inline int qpOASES_getMinI(	int x,	/**< First integer. */
-									int y	/**< Second integer. */
-									);
-
-
-/** Returns maximum of two reals.
- * \return	Maximum of two reals */
-static inline real_t qpOASES_getMax(	real_t x,	/**< First real number. */
-										real_t y	/**< Second real number. */
-										);
-
-
-/** Returns minimum of two reals.
- * \return	Minimum of two reals */
-static inline real_t qpOASES_getMin(	real_t x,	/**< First real number. */
-										real_t y	/**< Second real number. */
-										);
-
-
-/** Returns the absolute value of a real_t-valued argument.
- * \return	Absolute value of a real_t-valued argument */
-static inline real_t qpOASES_getAbs(	real_t x	/**< real_t-valued argument. */
-										);
-
-/** Returns the square-root of a real number.
- * \return	Square-root of a real number */
-static inline real_t qpOASES_getSqrt(	real_t x	/**< Non-negative real number. */
-										);
-
-
-/** Computes the maximum violation of the KKT optimality conditions
- *	of given iterate for given QP data. */
-returnValue qpOASES_getKktViolation(	int nV,						/**< Number of variables. */
-										int nC,						/**< Number of constraints. */
-										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
-										const real_t* const g,		/**< Gradient vector. */
-										const real_t* const A,		/**< Constraint matrix. */
-										const real_t* const lb,		/**< Lower bound vector (on variables). */
-										const real_t* const ub,		/**< Upper bound vector (on variables). */
-										const real_t* const lbA,	/**< Lower constraints' bound vector. */
-										const real_t* const ubA,	/**< Upper constraints' bound vector. */
-										const real_t* const x,		/**< Primal trial vector. */
-										const real_t* const y,		/**< Dual trial vector. */
-										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
-										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
-										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
-										);
-
-/** Computes the maximum violation of the KKT optimality conditions
- *	of given iterate for given QP data. */
-returnValue qpOASES_getKktViolationSB(	int nV,						/**< Number of variables. */
-										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
-										const real_t* const g,		/**< Gradient vector. */
-										const real_t* const lb,		/**< Lower bound vector (on variables). */
-										const real_t* const ub,		/**< Upper bound vector (on variables). */
-										const real_t* const x,		/**< Primal trial vector. */
-										const real_t* const y,		/**< Dual trial vector. */
-										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
-										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
-										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
-										);
-
-
-/** Writes a value of BooleanType into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertBooleanTypeToString(	BooleanType value, 		/**< Value to be written. */
-												char* const string		/**< Input: String of sufficient size, \n
-																			Output: String containing value. */
-												);
-
-/** Writes a value of SubjectToStatus into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertSubjectToStatusToString(	SubjectToStatus value,	/**< Value to be written. */
-													char* const string		/**< Input: String of sufficient size, \n
-																				Output: String containing value. */
-													);
-
-/** Writes a value of PrintLevel into a string.
- * \return SUCCESSFUL_RETURN */
-returnValue qpOASES_convertPrintLevelToString(	PrintLevel value, 		/**< Value to be written. */
-												char* const string		/**< Input: String of sufficient size, \n
-																			Output: String containing value. */
-												);
-
-
-/** Converts a returnValue from an QProblem(B) object into a more 
- *	simple status flag.
- *
- * \return  0: QP problem solved
- *          1: QP could not be solved within given number of iterations
- *         -1: QP could not be solved due to an internal error
- *         -2: QP is infeasible (and thus could not be solved)
- *         -3: QP is unbounded (and thus could not be solved)
- */
-int qpOASES_getSimpleStatus(	returnValue returnvalue, 	/**< ReturnValue to be analysed. */
-								BooleanType doPrintStatus	/**< Flag indicating whether simple status shall be printed to screen. */
-								);
-
-/** Normalises QP constraints.
- * \return SUCCESSFUL_RETURN \n
- *		   RET_INVALID_ARGUMENTS */
-returnValue qpOASES_normaliseConstraints(	int nV,			/**< Number of variables. */
-											int nC, 		/**< Number of constraints. */
-											real_t* A,		/**< Input:  Constraint matrix, \n
-																 Output: Normalised constraint matrix. */
-											real_t* lbA,	/**< Input:  Constraints' lower bound vector, \n
-																 Output: Normalised constraints' lower bound vector. */
-											real_t* ubA,	/**< Input:  Constraints' upper bound vector, \n
-																 Output: Normalised constraints' upper bound vector. */
-											int type		/**< Norm type, 1: one-norm, 2: Euclidean norm. */
-											);
-
-
-#ifdef __DEBUG__
-/** Writes matrix with given dimension into specified file. */
-void gdb_printmat(	const char *fname,			/**< File name. */
-					real_t *M,					/**< Matrix to be written. */
-					int n,						/**< Number of rows. */
-					int m,						/**< Number of columns. */
-					int ldim					/**< Leading dimension. */
-					);
-#endif /* __DEBUG__ */
-
-
-#if defined(__DSPACE__) || defined(__XPCTARGET__) 
-void __cxa_pure_virtual( void );
-#endif /* __DSPACE__ || __XPCTARGET__*/ 
-
-
-
-/*
- *   i s E q u a l
- */
-static inline BooleanType qpOASES_isEqual(	real_t x,
-											real_t y,
-											real_t TOL
-											)
-{
-    if ( qpOASES_getAbs(x-y) <= TOL )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *   i s Z e r o
- */
-static inline BooleanType qpOASES_isZero(	real_t x,
-											real_t TOL
-											)
-{
-    if ( qpOASES_getAbs(x) <= TOL )
-		return BT_TRUE;
-	else
-		return BT_FALSE;
-}
-
-
-/*
- *   g e t S i g n
- */
-static inline real_t qpOASES_getSign(	real_t arg
-										)
-{
-	if ( arg >= 0.0 )
-		return 1.0;
-	else
-		return -1.0;
-}
-
-
-
-/*
- *   g e t M a x
- */
-static inline int qpOASES_getMaxI(	int x,
-									int y
-									)
-{
-    return (y<x) ? x : y;
-}
-
-
-/*
- *   g e t M i n
- */
-static inline int qpOASES_getMinI(	int x,
-									int y
-									)
-{
-    return (y>x) ? x : y;
-}
-
-
-/*
- *   g e t M a x
- */
-static inline real_t qpOASES_getMax(	real_t x,
-										real_t y
-										)
-{
-	#ifdef __NO_FMATH__
-    return (y<x) ? x : y;
-	#else
-	return (y<x) ? x : y;
-	/*return fmax(x,y); seems to be slower */
-	#endif
-}
-
-
-/*
- *   g e t M i n
- */
-static inline real_t qpOASES_getMin(	real_t x,
-										real_t y
-										)
-{
-	#ifdef __NO_FMATH__
-    return (y>x) ? x : y;
-	#else
-	return (y>x) ? x : y;
-	/*return fmin(x,y); seems to be slower */
-	#endif
-}
-
-
-/*
- *   g e t A b s
- */
-static inline real_t qpOASES_getAbs(	real_t x
-										)
-{
-	#ifdef __NO_FMATH__
-	return (x>=0.0) ? x : -x;
-	#else
-	return fabs(x);
-	#endif
-}
-
-/*
- *   g e t S q r t
- */
-static inline real_t qpOASES_getSqrt(	real_t x
-										)
-{
-    #ifdef __NO_FMATH__
-	return sqrt(x); /* put your custom sqrt-replacement here */
-	#else
-	return sqrt(x);
-	#endif
-}
-
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_UTILS_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
deleted file mode 100644
index da59ea9db6..0000000000
--- a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
+++ /dev/null
@@ -1,227 +0,0 @@
-/*
- *	This file is part of qpOASES.
- *
- *	qpOASES -- An Implementation of the Online Active Set Strategy.
- *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
- *	Christian Kirches et al. All rights reserved.
- *
- *	qpOASES is free software; you can redistribute it and/or
- *	modify it under the terms of the GNU Lesser General Public
- *	License as published by the Free Software Foundation; either
- *	version 2.1 of the License, or (at your option) any later version.
- *
- *	qpOASES is distributed in the hope that it will be useful,
- *	but WITHOUT ANY WARRANTY; without even the implied warranty of
- *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *	See the GNU Lesser General Public License for more details.
- *
- *	You should have received a copy of the GNU Lesser General Public
- *	License along with qpOASES; if not, write to the Free Software
- *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- *
- */
-
-
-/**
- *	\file include/qpOASES_e/extras/OQPinterface.h
- *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
- *	\version 3.1embedded
- *	\date 2007-2015
- *
- *	Declaration of an interface comprising several utility functions
- *	for solving test problems from the Online QP Benchmark Collection
- *	(This collection is no longer maintained, see
- *	http://www.qpOASES.org/onlineQP for a backup).
- */
-
-
-#ifndef QPOASES_OQPINTERFACE_H
-#define QPOASES_OQPINTERFACE_H
-
-
-#include <qpOASES_e/Utils.h>
-#include <qpOASES_e/Options.h>
-
-#include <qpOASES_e/QProblemB.h>
-#include <qpOASES_e/QProblem.h>
-
-
-BEGIN_NAMESPACE_QPOASES
-
-typedef struct {
-	QProblem *qp;
-
-	DenseMatrix *H;
-	DenseMatrix *A;
-
-	real_t *x;
-	real_t *y;
-} OQPbenchmark_ws;
-
-int OQPbenchmark_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
-
-char *OQPbenchmark_ws_assignMemory( unsigned int nV, unsigned int nC, OQPbenchmark_ws **mem, void *raw_memory );
-
-OQPbenchmark_ws *OQPbenchmark_ws_createMemory( unsigned int nV, unsigned int nC );
-
-typedef struct {
-	QProblemB *qp;
-
-	DenseMatrix *H;
-
-	real_t *x;
-	real_t *y;
-} OQPbenchmarkB_ws;
-
-int OQPbenchmarkB_ws_calculateMemorySize( unsigned int nV );
-
-char *OQPbenchmarkB_ws_assignMemory( unsigned int nV, OQPbenchmarkB_ws **mem, void *raw_memory );
-
-OQPbenchmarkB_ws *OQPbenchmarkB_ws_createMemory( unsigned int nV );
-
-typedef struct {
-	OQPbenchmark_ws *qp_ws;
-	OQPbenchmarkB_ws *qpB_ws;
-
-	real_t *H;
-	real_t *g;
-	real_t *A;
-	real_t *lb;
-	real_t *ub;
-	real_t *lbA;
-	real_t *ubA;
-} OQPinterface_ws;
-
-int OQPinterface_ws_calculateMemorySize( unsigned int nV, unsigned int nC, unsigned int nQP  );
-
-char *OQPinterface_ws_assignMemory( unsigned int nV, unsigned int nC, unsigned int nQP, OQPinterface_ws **mem, void *raw_memory );
-
-OQPinterface_ws *OQPinterface_ws_createMemory( unsigned int nV, unsigned int nC, unsigned int nQP );
-
-/** Reads dimensions of an Online QP Benchmark problem from file.
- * \return SUCCESSFUL_RETURN \n
-		   RET_UNABLE_TO_READ_FILE \n
-		   RET_FILEDATA_INCONSISTENT */
-returnValue readOQPdimensions(	const char* path,	/**< Full path of the data files (without trailing slash!). */
-								int* nQP,			/**< Output: Number of QPs. */
-								int* nV,			/**< Output: Number of variables. */
-								int* nC,			/**< Output: Number of constraints. */
-								int* nEC			/**< Output: Number of equality constraints. */
-								);
-
-/** Reads data of an Online QP Benchmark problem from file.
- *  This function allocates the required memory for all data; after successfully calling it,
- *  you have to free this memory yourself!
- * \return SUCCESSFUL_RETURN \n
-		   RET_INVALID_ARGUMENTS \n
-		   RET_UNABLE_TO_READ_FILE \n
-		   RET_FILEDATA_INCONSISTENT */
-returnValue readOQPdata(	const char* path,	/**< Full path of the data files (without trailing slash!). */
-							int* nQP,			/**< Output: Number of QPs. */
-							int* nV,			/**< Output: Number of variables. */
-							int* nC,			/**< Output: Number of constraints. */
-							int* nEC,			/**< Output: Number of equality constraints. */
-							real_t* H,		 	/**< Output: Hessian matrix. */
-							real_t* g,		 	/**< Output: Sequence of gradient vectors. */
-							real_t* A,		 	/**< Output: Constraint matrix. */
-							real_t* lb,			/**< Output: Sequence of lower bound vectors (on variables). */
-							real_t* ub,			/**< Output: Sequence of upper bound vectors (on variables). */
-							real_t* lbA,		/**< Output: Sequence of lower constraints' bound vectors. */
-							real_t* ubA,		/**< Output: Sequence of upper constraints' bound vectors. */
-							real_t* xOpt,		/**< Output: Sequence of primal solution vectors
-												 *           (not read if a null pointer is passed). */
-							real_t* yOpt,		/**< Output: Sequence of dual solution vectors
-												 *           (not read if a null pointer is passed). */
-							real_t* objOpt		/**< Output: Sequence of optimal objective function values
-												 *           (not read if a null pointer is passed). */
-							);
-
-
-/** Solves an Online QP Benchmark problem as specified by the arguments.
- *  The maximum deviations from the given optimal solution as well as the
- *  maximum CPU time to solve each QP are determined.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue solveOQPbenchmark(	int nQP,					/**< Number of QPs. */
-								int nV,						/**< Number of variables. */
-								int nC,						/**< Number of constraints. */
-								int nEC,					/**< Number of equality constraints. */
-								real_t* _H,					/**< Hessian matrix. */
-								const real_t* const g,		/**< Sequence of gradient vectors. */
-								real_t* _A,					/**< Constraint matrix. */
-								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
-								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
-								const real_t* const lbA,	/**< Sequence of lower constraints' bound vectors. */
-								const real_t* const ubA,	/**< Sequence of upper constraints' bound vectors. */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPbenchmark_ws *work	    /**< Workspace. */
-								);
-
-/** Solves an Online QP Benchmark problem (without constraints) as specified
- *  by the arguments. The maximum deviations from the given optimal solution
- *  as well as the maximum CPU time to solve each QP are determined.
- * \return SUCCESSFUL_RETURN \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue solveOQPbenchmarkB(	int nQP,					/**< Number of QPs. */
-								int nV,						/**< Number of variables. */
-								real_t* _H,					/**< Hessian matrix. */
-								const real_t* const g,		/**< Sequence of gradient vectors. */
-								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
-								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPbenchmarkB_ws *work	    /**< Workspace. */
-								);
-
-
-/** Runs an Online QP Benchmark problem and determines the maximum
- *  violation of the KKT optimality conditions as well as the
- *  maximum and average number of iterations and CPU time to solve
- *	each QP.
- *
- * \return SUCCESSFUL_RETURN \n
-		   RET_UNABLE_TO_READ_BENCHMARK \n
- 		   RET_BENCHMARK_ABORTED */
-returnValue runOQPbenchmark(	const char* path,			/**< Full path of the benchmark files (without trailing slash!). */
-								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
-								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
-								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
-								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
-								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
-								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
-								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
-								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
-								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
-								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
-								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
-								OQPinterface_ws* work       /**< Workspace. */
-								);
-
-END_NAMESPACE_QPOASES
-
-
-#endif	/* QPOASES_OQPINTERFACE_H */
-
-
-/*
- *	end of file
- */
diff --git a/third_party/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so
deleted file mode 100644
index a081e31ab1..0000000000
--- a/third_party/acados/larch64/lib/libacados.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:091ed10ea2b52866b826ef6867b3413d6fd61af66fcedf3d932c9adf3fb329de
-size 512912
diff --git a/third_party/acados/larch64/lib/libblasfeo.so b/third_party/acados/larch64/lib/libblasfeo.so
deleted file mode 100644
index e2191897a1..0000000000
--- a/third_party/acados/larch64/lib/libblasfeo.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d40b25de85318c8349c9894a3cbeaa713efae4158d8cc2c5c77af9f1bfbbb28e
-size 1150320
diff --git a/third_party/acados/larch64/lib/libhpipm.so b/third_party/acados/larch64/lib/libhpipm.so
deleted file mode 100644
index 002eda375a..0000000000
--- a/third_party/acados/larch64/lib/libhpipm.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:91b9276e74c7d7750288d76087d586ed27932939bc7bca2ad1494b6558fc43e3
-size 1367352
diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so b/third_party/acados/larch64/lib/libqpOASES_e.so
deleted file mode 120000
index 14048625a1..0000000000
--- a/third_party/acados/larch64/lib/libqpOASES_e.so
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
deleted file mode 100644
index d64e40ec60..0000000000
--- a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c0a84042e5315af18e6e33b9b9c5e96573248e41ff165657eb9d83da4da2889f
-size 223152
diff --git a/third_party/acados/larch64/t_renderer b/third_party/acados/larch64/t_renderer
deleted file mode 100755
index f9e7d16601..0000000000
--- a/third_party/acados/larch64/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4660fe00e03e29d90459ac2fd46a6e10982577d0ba558b9f05e5712df66814b4
-size 17915048
diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so
deleted file mode 100644
index 50d647a862..0000000000
--- a/third_party/acados/x86_64/lib/libacados.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:05a1ba3cf37fa929cdd56f892608b2f89c35a05ef1b07fedb86b2f0d76607263
-size 540488
diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so
deleted file mode 100644
index a98f45abd2..0000000000
--- a/third_party/acados/x86_64/lib/libblasfeo.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c0bf22898d9c59b672d3d0961f5f4c804b9957478125d99eb297de3091bedd15
-size 2416112
diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so
deleted file mode 100644
index f40cb487cd..0000000000
--- a/third_party/acados/x86_64/lib/libhpipm.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5b6875fb47940764d4ebb916c2373cb0e04929229feb654b290676c28d48fa9d
-size 1531024
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so b/third_party/acados/x86_64/lib/libqpOASES_e.so
deleted file mode 120000
index 14048625a1..0000000000
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so
+++ /dev/null
@@ -1 +0,0 @@
-libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
deleted file mode 100644
index 81afd059f7..0000000000
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:04be908c3f707e5c968022b9cdd79ab75ae7af46e7fa019ceee98f854ddd3f64
-size 262464
diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
deleted file mode 100755
index d41f6c3725..0000000000
--- a/third_party/acados/x86_64/t_renderer
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a53ae46650c4df5b0ddb87a658f59a0422e41743e8bc2d822da0aefd1d280791
-size 5088536
diff --git a/third_party/bootstrap/.gitignore b/third_party/bootstrap/.gitignore
deleted file mode 100644
index ac06c0cf85..0000000000
--- a/third_party/bootstrap/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/icons/
diff --git a/third_party/bootstrap/bootstrap-icons.svg b/third_party/bootstrap/bootstrap-icons.svg
deleted file mode 100644
index 692a27ea55..0000000000
--- a/third_party/bootstrap/bootstrap-icons.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d7ecfaac355e51c9b95319fdf4681cf4c423109fd477e961af588b92607a76da
-size 1087239
diff --git a/third_party/bootstrap/pull.sh b/third_party/bootstrap/pull.sh
deleted file mode 100755
index 0b03b4db9e..0000000000
--- a/third_party/bootstrap/pull.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/bin/bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-if [ ! -d icons/ ]; then
-  git clone https://github.com/twbs/icons/
-fi
-
-cd icons
-git fetch --all
-git checkout d5aa187483a1b0b186f87adcfa8576350d970d98
-cp bootstrap-icons.svg ../
diff --git a/third_party/build.sh b/third_party/build.sh
deleted file mode 100755
index d3a9c6579c..0000000000
--- a/third_party/build.sh
+++ /dev/null
@@ -1,53 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-# Reproducible builds: pin timestamps to epoch
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-pids=()
-names=()
-logs=()
-
-for script in "$DIR"/*/build.sh; do
-  [ -f "$script" ] || continue
-  name=$(basename "$(dirname "$script")")
-  log=$(mktemp)
-  names+=("$name")
-  logs+=("$log")
-  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
-  pids+=($!)
-done
-
-failed=0
-for i in "${!pids[@]}"; do
-  echo "--- ${names[$i]} ---"
-  if wait "${pids[$i]}"; then
-    echo "OK"
-  else
-    echo "FAILED (exit $?)"
-    failed=1
-  fi
-  cat "${logs[$i]}"
-  rm -f "${logs[$i]}"
-  echo
-done
-
-[ $failed -ne 0 ] && exit $failed
-
-# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
-# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
-while IFS= read -r -d '' lib; do
-  tmpdir=$(mktemp -d)
-  lib=$(realpath "$lib")
-  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
-    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
-  fi
-  rm -rf "$tmpdir"
-done < <(find "$DIR" -name '*.a' \
-  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
-  -print0)
-
-echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
deleted file mode 100644
index 6a31e5b0ca..0000000000
--- a/third_party/catch2/include/catch2/catch.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:27da57c7a06d09be8dd81fab7246b79e7892b6ae7e4e49ba8631f1d5a955e3fc
-size 657276
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
deleted file mode 100644
index dbebe97516..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_automake.hpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *  Created by Justin R. Wilson on 2/19/2017.
- *  Copyright 2017 Justin R. Wilson. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-namespace Catch {
-
-    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
-        AutomakeReporter( ReporterConfig const& _config )
-          :   StreamingReporterBase( _config )
-        {}
-
-        ~AutomakeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the format of Automake .trs files";
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
-
-        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
-            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
-            stream << ":test-result: ";
-            if (_testCaseStats.totals.assertions.allPassed()) {
-                stream << "PASS";
-            } else if (_testCaseStats.totals.assertions.allOk()) {
-                stream << "XFAIL";
-            } else {
-                stream << "FAIL";
-            }
-            stream << ' ' << _testCaseStats.testInfo.name << '\n';
-            StreamingReporterBase::testCaseEnded( _testCaseStats );
-        }
-
-        void skipTest( TestCaseInfo const& testInfo ) override {
-            stream << ":test-result: SKIP " << testInfo.name << '\n';
-        }
-
-    };
-
-#ifdef CATCH_IMPL
-    AutomakeReporter::~AutomakeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
deleted file mode 100644
index bf7d9299a5..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- *  Created by Daniel Garcia on 2018-12-04.
- *  Copyright Social Point SL. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <map>
-
-namespace Catch {
-
-    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
-
-        SonarQubeReporter(ReporterConfig const& config)
-        : CumulativeReporterBase(config)
-        , xml(config.stream()) {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~SonarQubeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the Generic Test Data SonarQube XML format";
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void noMatchingTestCases(std::string const& /*spec*/) override {}
-
-        void testRunStarting(TestRunInfo const& testRunInfo) override {
-            CumulativeReporterBase::testRunStarting(testRunInfo);
-            xml.startElement("testExecutions");
-            xml.writeAttribute("version", "1");
-        }
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            CumulativeReporterBase::testGroupEnded(testGroupStats);
-            writeGroup(*m_testGroups.back());
-        }
-
-        void testRunEndedCumulative() override {
-            xml.endElement();
-        }
-
-        void writeGroup(TestGroupNode const& groupNode) {
-            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
-            for(auto const& child : groupNode.children)
-                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
-
-            for(auto const& kv : testsPerFile)
-                writeTestFile(kv.first.c_str(), kv.second);
-        }
-
-        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
-            XmlWriter::ScopedElement e = xml.scopedElement("file");
-            xml.writeAttribute("path", filename);
-
-            for(auto const& child : testCaseNodes)
-                writeTestCase(*child);
-        }
-
-        void writeTestCase(TestCaseNode const& testCaseNode) {
-            // All test cases have exactly one section - which represents the
-            // test case itself. That section may have 0-n nested sections
-            assert(testCaseNode.children.size() == 1);
-            SectionNode const& rootSection = *testCaseNode.children.front();
-            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
-        }
-
-        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
-            std::string name = trim(sectionNode.stats.sectionInfo.name);
-            if(!rootName.empty())
-                name = rootName + '/' + name;
-
-            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
-                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
-                xml.writeAttribute("name", name);
-                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
-
-                writeAssertions(sectionNode, okToFail);
-            }
-
-            for(auto const& childNode : sectionNode.childSections)
-                writeSection(name, *childNode, okToFail);
-        }
-
-        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
-            for(auto const& assertion : sectionNode.assertions)
-                writeAssertion( assertion, okToFail);
-        }
-
-        void writeAssertion(AssertionStats const& stats, bool okToFail) {
-            AssertionResult const& result = stats.assertionResult;
-            if(!result.isOk()) {
-                std::string elementName;
-                if(okToFail) {
-                    elementName = "skipped";
-                }
-                else {
-                    switch(result.getResultType()) {
-                        case ResultWas::ThrewException:
-                        case ResultWas::FatalErrorCondition:
-                            elementName = "error";
-                            break;
-                        case ResultWas::ExplicitFailure:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::ExpressionFailed:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::DidntThrowException:
-                            elementName = "failure";
-                            break;
-
-                            // We should never see these here:
-                        case ResultWas::Info:
-                        case ResultWas::Warning:
-                        case ResultWas::Ok:
-                        case ResultWas::Unknown:
-                        case ResultWas::FailureBit:
-                        case ResultWas::Exception:
-                            elementName = "internalError";
-                            break;
-                    }
-                }
-
-                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
-
-                ReusableStringStream messageRss;
-                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
-                xml.writeAttribute("message", messageRss.str());
-
-                ReusableStringStream textRss;
-                if (stats.totals.assertions.total() > 0) {
-                    textRss << "FAILED:\n";
-                    if (result.hasExpression()) {
-                        textRss << "\t" << result.getExpressionInMacro() << "\n";
-                    }
-                    if (result.hasExpandedExpression()) {
-                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
-                    }
-                }
-
-                if(!result.getMessage().empty())
-                    textRss << result.getMessage() << "\n";
-
-                for(auto const& msg : stats.infoMessages)
-                    if(msg.type == ResultWas::Info)
-                        textRss << msg.message << "\n";
-
-                textRss << "at " << result.getSourceInfo();
-                xml.writeText(textRss.str(), XmlFormatting::Newline);
-            }
-        }
-
-    private:
-        XmlWriter xml;
-    };
-
-#ifdef CATCH_IMPL
-    SonarQubeReporter::~SonarQubeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
-
-} // end namespace Catch
-
-#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
deleted file mode 100644
index 5ac8524ce7..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_tap.hpp
+++ /dev/null
@@ -1,254 +0,0 @@
-/*
- *  Created by Colton Wolkins on 2015-08-15.
- *  Copyright 2015 Martin Moene. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <algorithm>
-
-namespace Catch {
-
-    struct TAPReporter : StreamingReporterBase<TAPReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        TAPReporter( ReporterConfig const& config ):
-            StreamingReporterBase( config ) {
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~TAPReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in TAP format, suitable for test harnesses";
-        }
-
-        void noMatchingTestCases( std::string const& spec ) override {
-            stream << "# No test cases matched '" << spec << "'" << std::endl;
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& _assertionStats ) override {
-            ++counter;
-
-            stream << "# " << currentTestCaseInfo->name << std::endl;
-            AssertionPrinter printer( stream, _assertionStats, counter );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void testRunEnded( TestRunStats const& _testRunStats ) override {
-            printTotals( _testRunStats.totals );
-            stream << "\n" << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-    private:
-        std::size_t counter = 0;
-        class AssertionPrinter {
-        public:
-            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
-            AssertionPrinter( AssertionPrinter const& ) = delete;
-            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
-            : stream( _stream )
-            , result( _stats.assertionResult )
-            , messages( _stats.infoMessages )
-            , itMessage( _stats.infoMessages.begin() )
-            , printInfoMessages( true )
-            , counter(_counter)
-            {}
-
-            void print() {
-                itMessage = messages.begin();
-
-                switch( result.getResultType() ) {
-                    case ResultWas::Ok:
-                        printResultType( passedString() );
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if ( ! result.hasExpression() )
-                            printRemainingMessages( Colour::None );
-                        else
-                            printRemainingMessages();
-                        break;
-                    case ResultWas::ExpressionFailed:
-                        if (result.isOk()) {
-                            printResultType(passedString());
-                        } else {
-                            printResultType(failedString());
-                        }
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if (result.isOk()) {
-                            printIssue(" # TODO");
-                        }
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ThrewException:
-                        printResultType( failedString() );
-                        printIssue( "unexpected exception with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        printResultType( failedString() );
-                        printIssue( "fatal error condition with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::DidntThrowException:
-                        printResultType( failedString() );
-                        printIssue( "expected exception, got none" );
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Info:
-                        printResultType( "info" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Warning:
-                        printResultType( "warning" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        printResultType( failedString() );
-                        printIssue( "explicitly" );
-                        printRemainingMessages( Colour::None );
-                        break;
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        printResultType( "** internal error **" );
-                        break;
-                }
-            }
-
-        private:
-            static Colour::Code dimColour() { return Colour::FileName; }
-
-            static const char* failedString() { return "not ok"; }
-            static const char* passedString() { return "ok"; }
-
-            void printSourceInfo() const {
-                Colour colourGuard( dimColour() );
-                stream << result.getSourceInfo() << ":";
-            }
-
-            void printResultType( std::string const& passOrFail ) const {
-                if( !passOrFail.empty() ) {
-                    stream << passOrFail << ' ' << counter << " -";
-                }
-            }
-
-            void printIssue( std::string const& issue ) const {
-                stream << " " << issue;
-            }
-
-            void printExpressionWas() {
-                if( result.hasExpression() ) {
-                    stream << ";";
-                    {
-                        Colour colour( dimColour() );
-                        stream << " expression was:";
-                    }
-                    printOriginalExpression();
-                }
-            }
-
-            void printOriginalExpression() const {
-                if( result.hasExpression() ) {
-                    stream << " " << result.getExpression();
-                }
-            }
-
-            void printReconstructedExpression() const {
-                if( result.hasExpandedExpression() ) {
-                    {
-                        Colour colour( dimColour() );
-                        stream << " for: ";
-                    }
-                    std::string expr = result.getExpandedExpression();
-                    std::replace( expr.begin(), expr.end(), '\n', ' ');
-                    stream << expr;
-                }
-            }
-
-            void printMessage() {
-                if ( itMessage != messages.end() ) {
-                    stream << " '" << itMessage->message << "'";
-                    ++itMessage;
-                }
-            }
-
-            void printRemainingMessages( Colour::Code colour = dimColour() ) {
-                if (itMessage == messages.end()) {
-                    return;
-                }
-
-                const auto itEnd = messages.cend();
-                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
-
-                {
-                    Colour colourGuard( colour );
-                    stream << " with " << pluralise( N, "message" ) << ":";
-                }
-
-                while( itMessage != itEnd ) {
-                    // If this assertion is a warning ignore any INFO messages
-                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
-                        stream << " '" << itMessage->message << "'";
-                        if ( ++itMessage != itEnd ) {
-                            Colour colourGuard( dimColour() );
-                            stream << " and";
-                        }
-                        continue;
-                    }
-                    ++itMessage;
-                }
-            }
-
-        private:
-            std::ostream& stream;
-            AssertionResult const& result;
-            std::vector<MessageInfo> messages;
-            std::vector<MessageInfo>::const_iterator itMessage;
-            bool printInfoMessages;
-            std::size_t counter;
-        };
-
-        void printTotals( const Totals& totals ) const {
-            stream << "1.." << totals.assertions.total();
-            if( totals.testCases.total() == 0 ) {
-                stream << " # Skipped: No tests ran.";
-            }
-        }
-    };
-
-#ifdef CATCH_IMPL
-    TAPReporter::~TAPReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
deleted file mode 100644
index 47b7e4aac3..0000000000
--- a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
+++ /dev/null
@@ -1,219 +0,0 @@
-/*
- *  Created by Phil Nash on 19th December 2014
- *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <cstring>
-
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
-        TeamCityReporter( ReporterConfig const& _config )
-        :   StreamingReporterBase( _config )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-        }
-
-        static std::string escape( std::string const& str ) {
-            std::string escaped = str;
-            replaceInPlace( escaped, "|", "||" );
-            replaceInPlace( escaped, "'", "|'" );
-            replaceInPlace( escaped, "\n", "|n" );
-            replaceInPlace( escaped, "\r", "|r" );
-            replaceInPlace( escaped, "[", "|[" );
-            replaceInPlace( escaped, "]", "|]" );
-            return escaped;
-        }
-        ~TeamCityReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results as TeamCity service messages";
-        }
-
-        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
-        }
-
-        void noMatchingTestCases( std::string const& /* spec */ ) override {}
-
-        void testGroupStarting( GroupInfo const& groupInfo ) override {
-            StreamingReporterBase::testGroupStarting( groupInfo );
-            stream << "##teamcity[testSuiteStarted name='"
-                << escape( groupInfo.name ) << "']\n";
-        }
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
-            StreamingReporterBase::testGroupEnded( testGroupStats );
-            stream << "##teamcity[testSuiteFinished name='"
-                << escape( testGroupStats.groupInfo.name ) << "']\n";
-        }
-
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& assertionStats ) override {
-            AssertionResult const& result = assertionStats.assertionResult;
-            if( !result.isOk() ) {
-
-                ReusableStringStream msg;
-                if( !m_headerPrintedForThisSection )
-                    printSectionHeader( msg.get() );
-                m_headerPrintedForThisSection = true;
-
-                msg << result.getSourceInfo() << "\n";
-
-                switch( result.getResultType() ) {
-                    case ResultWas::ExpressionFailed:
-                        msg << "expression failed";
-                        break;
-                    case ResultWas::ThrewException:
-                        msg << "unexpected exception";
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        msg << "fatal error condition";
-                        break;
-                    case ResultWas::DidntThrowException:
-                        msg << "no exception was thrown where one was expected";
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        msg << "explicit failure";
-                        break;
-
-                    // We shouldn't get here because of the isOk() test
-                    case ResultWas::Ok:
-                    case ResultWas::Info:
-                    case ResultWas::Warning:
-                        CATCH_ERROR( "Internal error in TeamCity reporter" );
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        CATCH_ERROR( "Not implemented" );
-                }
-                if( assertionStats.infoMessages.size() == 1 )
-                    msg << " with message:";
-                if( assertionStats.infoMessages.size() > 1 )
-                    msg << " with messages:";
-                for( auto const& messageInfo : assertionStats.infoMessages )
-                    msg << "\n  \"" << messageInfo.message << "\"";
-
-
-                if( result.hasExpression() ) {
-                    msg <<
-                        "\n  " << result.getExpressionInMacro() << "\n"
-                        "with expansion:\n" <<
-                        "  " << result.getExpandedExpression() << "\n";
-                }
-
-                if( currentTestCaseInfo->okToFail() ) {
-                    msg << "- failure ignore as test marked as 'ok to fail'\n";
-                    stream << "##teamcity[testIgnored"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-                else {
-                    stream << "##teamcity[testFailed"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-            }
-            stream.flush();
-            return true;
-        }
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            m_headerPrintedForThisSection = false;
-            StreamingReporterBase::sectionStarting( sectionInfo );
-        }
-
-        void testCaseStarting( TestCaseInfo const& testInfo ) override {
-            m_testTimer.start();
-            StreamingReporterBase::testCaseStarting( testInfo );
-            stream << "##teamcity[testStarted name='"
-                << escape( testInfo.name ) << "']\n";
-            stream.flush();
-        }
-
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
-            StreamingReporterBase::testCaseEnded( testCaseStats );
-            if( !testCaseStats.stdOut.empty() )
-                stream << "##teamcity[testStdOut name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
-            if( !testCaseStats.stdErr.empty() )
-                stream << "##teamcity[testStdErr name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
-            stream << "##teamcity[testFinished name='"
-                    << escape( testCaseStats.testInfo.name ) << "' duration='"
-                    << m_testTimer.getElapsedMilliseconds() << "']\n";
-            stream.flush();
-        }
-
-    private:
-        void printSectionHeader( std::ostream& os ) {
-            assert( !m_sectionStack.empty() );
-
-            if( m_sectionStack.size() > 1 ) {
-                os << getLineOfChars<'-'>() << "\n";
-
-                std::vector<SectionInfo>::const_iterator
-                it = m_sectionStack.begin()+1, // Skip first section (test case)
-                itEnd = m_sectionStack.end();
-                for( ; it != itEnd; ++it )
-                    printHeaderString( os, it->name );
-                os << getLineOfChars<'-'>() << "\n";
-            }
-
-            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
-
-            os << lineInfo << "\n";
-            os << getLineOfChars<'.'>() << "\n\n";
-        }
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
-            std::size_t i = _string.find( ": " );
-            if( i != std::string::npos )
-                i+=2;
-            else
-                i = 0;
-            os << Column( _string )
-                           .indent( indent+i)
-                           .initialIndent( indent ) << "\n";
-        }
-    private:
-        bool m_headerPrintedForThisSection = false;
-        Timer m_testTimer;
-    };
-
-#ifdef CATCH_IMPL
-    TeamCityReporter::~TeamCityReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
-
-} // end namespace Catch
-
-#ifdef __clang__
-#   pragma clang diagnostic pop
-#endif
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
deleted file mode 100644
index bc4045f07d..0000000000
--- a/third_party/json11/json11.cpp
+++ /dev/null
@@ -1,784 +0,0 @@
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "json11.hpp"
-#include <cassert>
-#include <cmath>
-#include <cstdlib>
-#include <cstdio>
-#include <limits>
-
-namespace json11 {
-
-static const int max_depth = 200;
-
-using std::string;
-using std::vector;
-using std::map;
-using std::make_shared;
-using std::initializer_list;
-using std::move;
-
-/* Helper for representing null - just a do-nothing struct, plus comparison
- * operators so the helpers in JsonValue work. We can't use nullptr_t because
- * it may not be orderable.
- */
-struct NullStruct {
-    bool operator==(NullStruct) const { return true; }
-    bool operator<(NullStruct) const { return false; }
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Serialization
- */
-
-static void dump(NullStruct, string &out) {
-    out += "null";
-}
-
-static void dump(double value, string &out) {
-    if (std::isfinite(value)) {
-        char buf[32];
-        snprintf(buf, sizeof buf, "%.17g", value);
-        out += buf;
-    } else {
-        out += "null";
-    }
-}
-
-static void dump(int value, string &out) {
-    char buf[32];
-    snprintf(buf, sizeof buf, "%d", value);
-    out += buf;
-}
-
-static void dump(bool value, string &out) {
-    out += value ? "true" : "false";
-}
-
-static void dump(const string &value, string &out) {
-    out += '"';
-    for (size_t i = 0; i < value.length(); i++) {
-        const char ch = value[i];
-        if (ch == '\\') {
-            out += "\\\\";
-        } else if (ch == '"') {
-            out += "\\\"";
-        } else if (ch == '\b') {
-            out += "\\b";
-        } else if (ch == '\f') {
-            out += "\\f";
-        } else if (ch == '\n') {
-            out += "\\n";
-        } else if (ch == '\r') {
-            out += "\\r";
-        } else if (ch == '\t') {
-            out += "\\t";
-        } else if (static_cast<uint8_t>(ch) <= 0x1f) {
-            char buf[8];
-            snprintf(buf, sizeof buf, "\\u%04x", ch);
-            out += buf;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa8) {
-            out += "\\u2028";
-            i += 2;
-        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
-                   && static_cast<uint8_t>(value[i+2]) == 0xa9) {
-            out += "\\u2029";
-            i += 2;
-        } else {
-            out += ch;
-        }
-    }
-    out += '"';
-}
-
-static void dump(const Json::array &values, string &out) {
-    bool first = true;
-    out += "[";
-    for (const auto &value : values) {
-        if (!first)
-            out += ", ";
-        value.dump(out);
-        first = false;
-    }
-    out += "]";
-}
-
-static void dump(const Json::object &values, string &out) {
-    bool first = true;
-    out += "{";
-    for (const auto &kv : values) {
-        if (!first)
-            out += ", ";
-        dump(kv.first, out);
-        out += ": ";
-        kv.second.dump(out);
-        first = false;
-    }
-    out += "}";
-}
-
-void Json::dump(string &out) const {
-    m_ptr->dump(out);
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Value wrappers
- */
-
-template <Json::Type tag, typename T>
-class Value : public JsonValue {
-protected:
-
-    // Constructors
-    explicit Value(const T &value) : m_value(value) {}
-    explicit Value(T &&value)      : m_value(move(value)) {}
-
-    // Get type tag
-    Json::Type type() const override {
-        return tag;
-    }
-
-    // Comparisons
-    bool equals(const JsonValue * other) const override {
-        return m_value == static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-    bool less(const JsonValue * other) const override {
-        return m_value < static_cast<const Value<tag, T> *>(other)->m_value;
-    }
-
-    const T m_value;
-    void dump(string &out) const override { json11::dump(m_value, out); }
-};
-
-class JsonDouble final : public Value<Json::NUMBER, double> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return static_cast<int>(m_value); }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonDouble(double value) : Value(value) {}
-};
-
-class JsonInt final : public Value<Json::NUMBER, int> {
-    double number_value() const override { return m_value; }
-    int int_value() const override { return m_value; }
-    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
-    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
-public:
-    explicit JsonInt(int value) : Value(value) {}
-};
-
-class JsonBoolean final : public Value<Json::BOOL, bool> {
-    bool bool_value() const override { return m_value; }
-public:
-    explicit JsonBoolean(bool value) : Value(value) {}
-};
-
-class JsonString final : public Value<Json::STRING, string> {
-    const string &string_value() const override { return m_value; }
-public:
-    explicit JsonString(const string &value) : Value(value) {}
-    explicit JsonString(string &&value)      : Value(move(value)) {}
-};
-
-class JsonArray final : public Value<Json::ARRAY, Json::array> {
-    const Json::array &array_items() const override { return m_value; }
-    const Json & operator[](size_t i) const override;
-public:
-    explicit JsonArray(const Json::array &value) : Value(value) {}
-    explicit JsonArray(Json::array &&value)      : Value(move(value)) {}
-};
-
-class JsonObject final : public Value<Json::OBJECT, Json::object> {
-    const Json::object &object_items() const override { return m_value; }
-    const Json & operator[](const string &key) const override;
-public:
-    explicit JsonObject(const Json::object &value) : Value(value) {}
-    explicit JsonObject(Json::object &&value)      : Value(move(value)) {}
-};
-
-class JsonNull final : public Value<Json::NUL, NullStruct> {
-public:
-    JsonNull() : Value({}) {}
-};
-
-/* * * * * * * * * * * * * * * * * * * *
- * Static globals - static-init-safe
- */
-struct Statics {
-    const std::shared_ptr<JsonValue> null = make_shared<JsonNull>();
-    const std::shared_ptr<JsonValue> t = make_shared<JsonBoolean>(true);
-    const std::shared_ptr<JsonValue> f = make_shared<JsonBoolean>(false);
-    const string empty_string;
-    const vector<Json> empty_vector;
-    const map<string, Json> empty_map;
-    Statics() {}
-};
-
-static const Statics & statics() {
-    static const Statics s {};
-    return s;
-}
-
-static const Json & static_null() {
-    // This has to be separate, not in Statics, because Json() accesses statics().null.
-    static const Json json_null;
-    return json_null;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Constructors
- */
-
-Json::Json() noexcept                  : m_ptr(statics().null) {}
-Json::Json(std::nullptr_t) noexcept    : m_ptr(statics().null) {}
-Json::Json(double value)               : m_ptr(make_shared<JsonDouble>(value)) {}
-Json::Json(int value)                  : m_ptr(make_shared<JsonInt>(value)) {}
-Json::Json(bool value)                 : m_ptr(value ? statics().t : statics().f) {}
-Json::Json(const string &value)        : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(string &&value)             : m_ptr(make_shared<JsonString>(move(value))) {}
-Json::Json(const char * value)         : m_ptr(make_shared<JsonString>(value)) {}
-Json::Json(const Json::array &values)  : m_ptr(make_shared<JsonArray>(values)) {}
-Json::Json(Json::array &&values)       : m_ptr(make_shared<JsonArray>(move(values))) {}
-Json::Json(const Json::object &values) : m_ptr(make_shared<JsonObject>(values)) {}
-Json::Json(Json::object &&values)      : m_ptr(make_shared<JsonObject>(move(values))) {}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Accessors
- */
-
-Json::Type Json::type()                           const { return m_ptr->type();         }
-double Json::number_value()                       const { return m_ptr->number_value(); }
-int Json::int_value()                             const { return m_ptr->int_value();    }
-bool Json::bool_value()                           const { return m_ptr->bool_value();   }
-const string & Json::string_value()               const { return m_ptr->string_value(); }
-const vector<Json> & Json::array_items()          const { return m_ptr->array_items();  }
-const map<string, Json> & Json::object_items()    const { return m_ptr->object_items(); }
-const Json & Json::operator[] (size_t i)          const { return (*m_ptr)[i];           }
-const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key];         }
-
-double                    JsonValue::number_value()              const { return 0; }
-int                       JsonValue::int_value()                 const { return 0; }
-bool                      JsonValue::bool_value()                const { return false; }
-const string &            JsonValue::string_value()              const { return statics().empty_string; }
-const vector<Json> &      JsonValue::array_items()               const { return statics().empty_vector; }
-const map<string, Json> & JsonValue::object_items()              const { return statics().empty_map; }
-const Json &              JsonValue::operator[] (size_t)         const { return static_null(); }
-const Json &              JsonValue::operator[] (const string &) const { return static_null(); }
-
-const Json & JsonObject::operator[] (const string &key) const {
-    auto iter = m_value.find(key);
-    return (iter == m_value.end()) ? static_null() : iter->second;
-}
-const Json & JsonArray::operator[] (size_t i) const {
-    if (i >= m_value.size()) return static_null();
-    else return m_value[i];
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Comparison
- */
-
-bool Json::operator== (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return false;
-
-    return m_ptr->equals(other.m_ptr.get());
-}
-
-bool Json::operator< (const Json &other) const {
-    if (m_ptr->type() != other.m_ptr->type())
-        return m_ptr->type() < other.m_ptr->type();
-
-    return m_ptr->less(other.m_ptr.get());
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Parsing
- */
-
-/* esc(c)
- *
- * Format char c suitable for printing in an error message.
- */
-static inline string esc(char c) {
-    char buf[12];
-    if (static_cast<uint8_t>(c) >= 0x20 && static_cast<uint8_t>(c) <= 0x7f) {
-        snprintf(buf, sizeof buf, "'%c' (%d)", c, c);
-    } else {
-        snprintf(buf, sizeof buf, "(%d)", c);
-    }
-    return string(buf);
-}
-
-static inline bool in_range(long x, long lower, long upper) {
-    return (x >= lower && x <= upper);
-}
-
-namespace {
-/* JsonParser
- *
- * Object that tracks all state of an in-progress parse.
- */
-struct JsonParser final {
-
-    /* State
-     */
-    const string &str;
-    size_t i;
-    string &err;
-    bool failed;
-    const JsonParse strategy;
-
-    /* fail(msg, err_ret = Json())
-     *
-     * Mark this parse as failed.
-     */
-    Json fail(string &&msg) {
-        return fail(move(msg), Json());
-    }
-
-    template <typename T>
-    T fail(string &&msg, const T err_ret) {
-        if (!failed)
-            err = std::move(msg);
-        failed = true;
-        return err_ret;
-    }
-
-    /* consume_whitespace()
-     *
-     * Advance until the current character is non-whitespace.
-     */
-    void consume_whitespace() {
-        while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t')
-            i++;
-    }
-
-    /* consume_comment()
-     *
-     * Advance comments (c-style inline and multiline).
-     */
-    bool consume_comment() {
-      bool comment_found = false;
-      if (str[i] == '/') {
-        i++;
-        if (i == str.size())
-          return fail("unexpected end of input after start of comment", false);
-        if (str[i] == '/') { // inline comment
-          i++;
-          // advance until next line, or end of input
-          while (i < str.size() && str[i] != '\n') {
-            i++;
-          }
-          comment_found = true;
-        }
-        else if (str[i] == '*') { // multiline comment
-          i++;
-          if (i > str.size()-2)
-            return fail("unexpected end of input inside multi-line comment", false);
-          // advance until closing tokens
-          while (!(str[i] == '*' && str[i+1] == '/')) {
-            i++;
-            if (i > str.size()-2)
-              return fail(
-                "unexpected end of input inside multi-line comment", false);
-          }
-          i += 2;
-          comment_found = true;
-        }
-        else
-          return fail("malformed comment", false);
-      }
-      return comment_found;
-    }
-
-    /* consume_garbage()
-     *
-     * Advance until the current character is non-whitespace and non-comment.
-     */
-    void consume_garbage() {
-      consume_whitespace();
-      if(strategy == JsonParse::COMMENTS) {
-        bool comment_found = false;
-        do {
-          comment_found = consume_comment();
-          if (failed) return;
-          consume_whitespace();
-        }
-        while(comment_found);
-      }
-    }
-
-    /* get_next_token()
-     *
-     * Return the next non-whitespace character. If the end of the input is reached,
-     * flag an error and return 0.
-     */
-    char get_next_token() {
-        consume_garbage();
-        if (failed) return (char)0;
-        if (i == str.size())
-            return fail("unexpected end of input", (char)0);
-
-        return str[i++];
-    }
-
-    /* encode_utf8(pt, out)
-     *
-     * Encode pt as UTF-8 and add it to out.
-     */
-    void encode_utf8(long pt, string & out) {
-        if (pt < 0)
-            return;
-
-        if (pt < 0x80) {
-            out += static_cast<char>(pt);
-        } else if (pt < 0x800) {
-            out += static_cast<char>((pt >> 6) | 0xC0);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else if (pt < 0x10000) {
-            out += static_cast<char>((pt >> 12) | 0xE0);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        } else {
-            out += static_cast<char>((pt >> 18) | 0xF0);
-            out += static_cast<char>(((pt >> 12) & 0x3F) | 0x80);
-            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
-            out += static_cast<char>((pt & 0x3F) | 0x80);
-        }
-    }
-
-    /* parse_string()
-     *
-     * Parse a string, starting at the current position.
-     */
-    string parse_string() {
-        string out;
-        long last_escaped_codepoint = -1;
-        while (true) {
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            char ch = str[i++];
-
-            if (ch == '"') {
-                encode_utf8(last_escaped_codepoint, out);
-                return out;
-            }
-
-            if (in_range(ch, 0, 0x1f))
-                return fail("unescaped " + esc(ch) + " in string", "");
-
-            // The usual case: non-escaped characters
-            if (ch != '\\') {
-                encode_utf8(last_escaped_codepoint, out);
-                last_escaped_codepoint = -1;
-                out += ch;
-                continue;
-            }
-
-            // Handle escapes
-            if (i == str.size())
-                return fail("unexpected end of input in string", "");
-
-            ch = str[i++];
-
-            if (ch == 'u') {
-                // Extract 4-byte escape sequence
-                string esc = str.substr(i, 4);
-                // Explicitly check length of the substring. The following loop
-                // relies on std::string returning the terminating NUL when
-                // accessing str[length]. Checking here reduces brittleness.
-                if (esc.length() < 4) {
-                    return fail("bad \\u escape: " + esc, "");
-                }
-                for (size_t j = 0; j < 4; j++) {
-                    if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F')
-                            && !in_range(esc[j], '0', '9'))
-                        return fail("bad \\u escape: " + esc, "");
-                }
-
-                long codepoint = strtol(esc.data(), nullptr, 16);
-
-                // JSON specifies that characters outside the BMP shall be encoded as a pair
-                // of 4-hex-digit \u escapes encoding their surrogate pair components. Check
-                // whether we're in the middle of such a beast: the previous codepoint was an
-                // escaped lead (high) surrogate, and this is a trail (low) surrogate.
-                if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF)
-                        && in_range(codepoint, 0xDC00, 0xDFFF)) {
-                    // Reassemble the two surrogate pairs into one astral-plane character, per
-                    // the UTF-16 algorithm.
-                    encode_utf8((((last_escaped_codepoint - 0xD800) << 10)
-                                 | (codepoint - 0xDC00)) + 0x10000, out);
-                    last_escaped_codepoint = -1;
-                } else {
-                    encode_utf8(last_escaped_codepoint, out);
-                    last_escaped_codepoint = codepoint;
-                }
-
-                i += 4;
-                continue;
-            }
-
-            encode_utf8(last_escaped_codepoint, out);
-            last_escaped_codepoint = -1;
-
-            if (ch == 'b') {
-                out += '\b';
-            } else if (ch == 'f') {
-                out += '\f';
-            } else if (ch == 'n') {
-                out += '\n';
-            } else if (ch == 'r') {
-                out += '\r';
-            } else if (ch == 't') {
-                out += '\t';
-            } else if (ch == '"' || ch == '\\' || ch == '/') {
-                out += ch;
-            } else {
-                return fail("invalid escape character " + esc(ch), "");
-            }
-        }
-    }
-
-    /* parse_number()
-     *
-     * Parse a double.
-     */
-    Json parse_number() {
-        size_t start_pos = i;
-
-        if (str[i] == '-')
-            i++;
-
-        // Integer part
-        if (str[i] == '0') {
-            i++;
-            if (in_range(str[i], '0', '9'))
-                return fail("leading 0s not permitted in numbers");
-        } else if (in_range(str[i], '1', '9')) {
-            i++;
-            while (in_range(str[i], '0', '9'))
-                i++;
-        } else {
-            return fail("invalid " + esc(str[i]) + " in number");
-        }
-
-        if (str[i] != '.' && str[i] != 'e' && str[i] != 'E'
-                && (i - start_pos) <= static_cast<size_t>(std::numeric_limits<int>::digits10)) {
-            return std::atoi(str.c_str() + start_pos);
-        }
-
-        // Decimal part
-        if (str[i] == '.') {
-            i++;
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in fractional part");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        // Exponent part
-        if (str[i] == 'e' || str[i] == 'E') {
-            i++;
-
-            if (str[i] == '+' || str[i] == '-')
-                i++;
-
-            if (!in_range(str[i], '0', '9'))
-                return fail("at least one digit required in exponent");
-
-            while (in_range(str[i], '0', '9'))
-                i++;
-        }
-
-        return std::strtod(str.c_str() + start_pos, nullptr);
-    }
-
-    /* expect(str, res)
-     *
-     * Expect that 'str' starts at the character that was just read. If it does, advance
-     * the input and return res. If not, flag an error.
-     */
-    Json expect(const string &expected, Json res) {
-        assert(i != 0);
-        i--;
-        if (str.compare(i, expected.length(), expected) == 0) {
-            i += expected.length();
-            return res;
-        } else {
-            return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length()));
-        }
-    }
-
-    /* parse_json()
-     *
-     * Parse a JSON object.
-     */
-    Json parse_json(int depth) {
-        if (depth > max_depth) {
-            return fail("exceeded maximum nesting depth");
-        }
-
-        char ch = get_next_token();
-        if (failed)
-            return Json();
-
-        if (ch == '-' || (ch >= '0' && ch <= '9')) {
-            i--;
-            return parse_number();
-        }
-
-        if (ch == 't')
-            return expect("true", true);
-
-        if (ch == 'f')
-            return expect("false", false);
-
-        if (ch == 'n')
-            return expect("null", Json());
-
-        if (ch == '"')
-            return parse_string();
-
-        if (ch == '{') {
-            map<string, Json> data;
-            ch = get_next_token();
-            if (ch == '}')
-                return data;
-
-            while (1) {
-                if (ch != '"')
-                    return fail("expected '\"' in object, got " + esc(ch));
-
-                string key = parse_string();
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch != ':')
-                    return fail("expected ':' in object, got " + esc(ch));
-
-                data[std::move(key)] = parse_json(depth + 1);
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == '}')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in object, got " + esc(ch));
-
-                ch = get_next_token();
-            }
-            return data;
-        }
-
-        if (ch == '[') {
-            vector<Json> data;
-            ch = get_next_token();
-            if (ch == ']')
-                return data;
-
-            while (1) {
-                i--;
-                data.push_back(parse_json(depth + 1));
-                if (failed)
-                    return Json();
-
-                ch = get_next_token();
-                if (ch == ']')
-                    break;
-                if (ch != ',')
-                    return fail("expected ',' in list, got " + esc(ch));
-
-                ch = get_next_token();
-                (void)ch;
-            }
-            return data;
-        }
-
-        return fail("expected value, got " + esc(ch));
-    }
-};
-}//namespace {
-
-Json Json::parse(const string &in, string &err, JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    Json result = parser.parse_json(0);
-
-    // Check for any trailing garbage
-    parser.consume_garbage();
-    if (parser.failed)
-        return Json();
-    if (parser.i != in.size())
-        return parser.fail("unexpected trailing " + esc(in[parser.i]));
-
-    return result;
-}
-
-// Documented in json11.hpp
-vector<Json> Json::parse_multi(const string &in,
-                               std::string::size_type &parser_stop_pos,
-                               string &err,
-                               JsonParse strategy) {
-    JsonParser parser { in, 0, err, false, strategy };
-    parser_stop_pos = 0;
-    vector<Json> json_vec;
-    while (parser.i != in.size() && !parser.failed) {
-        json_vec.push_back(parser.parse_json(0));
-        if (parser.failed)
-            break;
-
-        // Check for another object
-        parser.consume_garbage();
-        if (parser.failed)
-            break;
-        parser_stop_pos = parser.i;
-    }
-    return json_vec;
-}
-
-/* * * * * * * * * * * * * * * * * * * *
- * Shape-checking
- */
-
-bool Json::has_shape(const shape & types, string & err) const {
-    if (!is_object()) {
-        err = "expected JSON object, got " + dump();
-        return false;
-    }
-
-    for (auto & item : types) {
-        if ((*this)[item.first].type() != item.second) {
-            err = "bad type for " + item.first + " in " + dump();
-            return false;
-        }
-    }
-
-    return true;
-}
-
-} // namespace json11
diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp
deleted file mode 100644
index 5202ef9323..0000000000
--- a/third_party/json11/json11.hpp
+++ /dev/null
@@ -1,232 +0,0 @@
-/* json11
- *
- * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization.
- *
- * The core object provided by the library is json11::Json. A Json object represents any JSON
- * value: null, bool, number (int or double), string (std::string), array (std::vector), or
- * object (std::map).
- *
- * Json objects act like values: they can be assigned, copied, moved, compared for equality or
- * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and
- * Json::parse (static) to parse a std::string as a Json object.
- *
- * Internally, the various types of Json object are represented by the JsonValue class
- * hierarchy.
- *
- * A note on numbers - JSON specifies the syntax of number formatting but not its semantics,
- * so some JSON implementations distinguish between integers and floating-point numbers, while
- * some don't. In json11, we choose the latter. Because some JSON implementations (namely
- * Javascript itself) treat all numbers as the same type, distinguishing the two leads
- * to JSON that will be *silently* changed by a round-trip through those implementations.
- * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also
- * provides integer helpers.
- *
- * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the
- * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64
- * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch
- * will be exact for +/- 275 years.)
- */
-
-/* Copyright (c) 2013 Dropbox, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-#include <map>
-#include <memory>
-#include <initializer_list>
-
-#ifdef _MSC_VER
-    #if _MSC_VER <= 1800 // VS 2013
-        #ifndef noexcept
-            #define noexcept throw()
-        #endif
-
-        #ifndef snprintf
-            #define snprintf _snprintf_s
-        #endif
-    #endif
-#endif
-
-namespace json11 {
-
-enum JsonParse {
-    STANDARD, COMMENTS
-};
-
-class JsonValue;
-
-class Json final {
-public:
-    // Types
-    enum Type {
-        NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT
-    };
-
-    // Array and object typedefs
-    typedef std::vector<Json> array;
-    typedef std::map<std::string, Json> object;
-
-    // Constructors for the various types of JSON value.
-    Json() noexcept;                // NUL
-    Json(std::nullptr_t) noexcept;  // NUL
-    Json(double value);             // NUMBER
-    Json(int value);                // NUMBER
-    Json(bool value);               // BOOL
-    Json(const std::string &value); // STRING
-    Json(std::string &&value);      // STRING
-    Json(const char * value);       // STRING
-    Json(const array &values);      // ARRAY
-    Json(array &&values);           // ARRAY
-    Json(const object &values);     // OBJECT
-    Json(object &&values);          // OBJECT
-
-    // Implicit constructor: anything with a to_json() function.
-    template <class T, class = decltype(&T::to_json)>
-    Json(const T & t) : Json(t.to_json()) {}
-
-    // Implicit constructor: map-like objects (std::map, std::unordered_map, etc)
-    template <class M, typename std::enable_if<
-        std::is_constructible<std::string, typename M::key_type>::value
-        && std::is_constructible<Json, typename M::mapped_type>::value,
-            int>::type = 0>
-    Json(const M & m) : Json(object(m.begin(), m.end())) {}
-
-    // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc)
-    template <class V, typename std::enable_if<
-        std::is_constructible<Json, typename V::value_type>::value,
-            int>::type = 0>
-    Json(const V & v) : Json(array(v.begin(), v.end())) {}
-
-    // This prevents Json(some_pointer) from accidentally producing a bool. Use
-    // Json(bool(some_pointer)) if that behavior is desired.
-    Json(void *) = delete;
-
-    // Accessors
-    Type type() const;
-
-    bool is_null()   const { return type() == NUL; }
-    bool is_number() const { return type() == NUMBER; }
-    bool is_bool()   const { return type() == BOOL; }
-    bool is_string() const { return type() == STRING; }
-    bool is_array()  const { return type() == ARRAY; }
-    bool is_object() const { return type() == OBJECT; }
-
-    // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not
-    // distinguish between integer and non-integer numbers - number_value() and int_value()
-    // can both be applied to a NUMBER-typed object.
-    double number_value() const;
-    int int_value() const;
-
-    // Return the enclosed value if this is a boolean, false otherwise.
-    bool bool_value() const;
-    // Return the enclosed string if this is a string, "" otherwise.
-    const std::string &string_value() const;
-    // Return the enclosed std::vector if this is an array, or an empty vector otherwise.
-    const array &array_items() const;
-    // Return the enclosed std::map if this is an object, or an empty map otherwise.
-    const object &object_items() const;
-
-    // Return a reference to arr[i] if this is an array, Json() otherwise.
-    const Json & operator[](size_t i) const;
-    // Return a reference to obj[key] if this is an object, Json() otherwise.
-    const Json & operator[](const std::string &key) const;
-
-    // Serialize.
-    void dump(std::string &out) const;
-    std::string dump() const {
-        std::string out;
-        dump(out);
-        return out;
-    }
-
-    // Parse. If parse fails, return Json() and assign an error message to err.
-    static Json parse(const std::string & in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD);
-    static Json parse(const char * in,
-                      std::string & err,
-                      JsonParse strategy = JsonParse::STANDARD) {
-        if (in) {
-            return parse(std::string(in), err, strategy);
-        } else {
-            err = "null input";
-            return nullptr;
-        }
-    }
-    // Parse multiple objects, concatenated or separated by whitespace
-    static std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string::size_type & parser_stop_pos,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD);
-
-    static inline std::vector<Json> parse_multi(
-        const std::string & in,
-        std::string & err,
-        JsonParse strategy = JsonParse::STANDARD) {
-        std::string::size_type parser_stop_pos;
-        return parse_multi(in, parser_stop_pos, err, strategy);
-    }
-
-    bool operator== (const Json &rhs) const;
-    bool operator<  (const Json &rhs) const;
-    bool operator!= (const Json &rhs) const { return !(*this == rhs); }
-    bool operator<= (const Json &rhs) const { return !(rhs < *this); }
-    bool operator>  (const Json &rhs) const { return  (rhs < *this); }
-    bool operator>= (const Json &rhs) const { return !(*this < rhs); }
-
-    /* has_shape(types, err)
-     *
-     * Return true if this is a JSON object and, for each item in types, has a field of
-     * the given type. If not, return false and set err to a descriptive message.
-     */
-    typedef std::initializer_list<std::pair<std::string, Type>> shape;
-    bool has_shape(const shape & types, std::string & err) const;
-
-private:
-    std::shared_ptr<JsonValue> m_ptr;
-};
-
-// Internal class hierarchy - JsonValue objects are not exposed to users of this API.
-class JsonValue {
-protected:
-    friend class Json;
-    friend class JsonInt;
-    friend class JsonDouble;
-    virtual Json::Type type() const = 0;
-    virtual bool equals(const JsonValue * other) const = 0;
-    virtual bool less(const JsonValue * other) const = 0;
-    virtual void dump(std::string &out) const = 0;
-    virtual double number_value() const;
-    virtual int int_value() const;
-    virtual bool bool_value() const;
-    virtual const std::string &string_value() const;
-    virtual const Json::array &array_items() const;
-    virtual const Json &operator[](size_t i) const;
-    virtual const Json::object &object_items() const;
-    virtual const Json &operator[](const std::string &key) const;
-    virtual ~JsonValue() {}
-};
-
-} // namespace json11
diff --git a/third_party/libyuv/.gitignore b/third_party/libyuv/.gitignore
deleted file mode 100644
index 1e943ae6c6..0000000000
--- a/third_party/libyuv/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-/libyuv/
-!*.a
diff --git a/third_party/libyuv/Darwin/lib/libyuv.a b/third_party/libyuv/Darwin/lib/libyuv.a
deleted file mode 100644
index b72979ef19..0000000000
--- a/third_party/libyuv/Darwin/lib/libyuv.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:497e01c39e1629a89afa730341fe066c2e926966c5f050003e7fde2ce46d9da3
-size 863648
diff --git a/third_party/libyuv/LICENSE b/third_party/libyuv/LICENSE
deleted file mode 100644
index c911747a6b..0000000000
--- a/third_party/libyuv/LICENSE
+++ /dev/null
@@ -1,29 +0,0 @@
-Copyright 2011 The LibYuv Project Authors. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-  * Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
-
-  * Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in
-    the documentation and/or other materials provided with the
-    distribution.
-
-  * Neither the name of Google nor the names of its contributors may
-    be used to endorse or promote products derived from this software
-    without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/libyuv/aarch64 b/third_party/libyuv/aarch64
deleted file mode 120000
index 062c65e8d9..0000000000
--- a/third_party/libyuv/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh
deleted file mode 100755
index 35a7d947a2..0000000000
--- a/third_party/libyuv/build.sh
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME=$(uname -m)
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-fi
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ARCHNAME="Darwin"
-fi
-
-cd $DIR
-if [ ! -d libyuv ]; then
-  git clone --single-branch https://chromium.googlesource.com/libyuv/libyuv
-fi
-
-cd libyuv
-git checkout 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
-
-# build
-cmake .
-make -j$(nproc)
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm -rf $DIR/include
-mkdir -p $INSTALL_DIR/lib
-cp $DIR/libyuv/libyuv.a $INSTALL_DIR/lib
-cp -r $DIR/libyuv/include $DIR
-
-## To create universal binary on Darwin:
-## ```
-## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a
-## ```
diff --git a/third_party/libyuv/include/libyuv.h b/third_party/libyuv/include/libyuv.h
deleted file mode 100644
index aeffd5ef7a..0000000000
--- a/third_party/libyuv/include/libyuv.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_H_
-#define INCLUDE_LIBYUV_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/compare.h"
-#include "libyuv/convert.h"
-#include "libyuv/convert_argb.h"
-#include "libyuv/convert_from.h"
-#include "libyuv/convert_from_argb.h"
-#include "libyuv/cpu_id.h"
-#include "libyuv/mjpeg_decoder.h"
-#include "libyuv/planar_functions.h"
-#include "libyuv/rotate.h"
-#include "libyuv/rotate_argb.h"
-#include "libyuv/row.h"
-#include "libyuv/scale.h"
-#include "libyuv/scale_argb.h"
-#include "libyuv/scale_row.h"
-#include "libyuv/version.h"
-#include "libyuv/video_common.h"
-
-#endif  // INCLUDE_LIBYUV_H_
diff --git a/third_party/libyuv/include/libyuv/basic_types.h b/third_party/libyuv/include/libyuv/basic_types.h
deleted file mode 100644
index 5b760ee0d4..0000000000
--- a/third_party/libyuv/include/libyuv/basic_types.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_BASIC_TYPES_H_
-#define INCLUDE_LIBYUV_BASIC_TYPES_H_
-
-#include <stddef.h>  // for NULL, size_t
-
-#if defined(_MSC_VER) && (_MSC_VER < 1600)
-#include <sys/types.h>  // for uintptr_t on x86
-#else
-#include <stdint.h>  // for uintptr_t
-#endif
-
-#ifndef GG_LONGLONG
-#ifndef INT_TYPES_DEFINED
-#define INT_TYPES_DEFINED
-#ifdef COMPILER_MSVC
-typedef unsigned __int64 uint64;
-typedef __int64 int64;
-#ifndef INT64_C
-#define INT64_C(x) x ## I64
-#endif
-#ifndef UINT64_C
-#define UINT64_C(x) x ## UI64
-#endif
-#define INT64_F "I64"
-#else  // COMPILER_MSVC
-#if defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
-typedef unsigned long uint64;  // NOLINT
-typedef long int64;  // NOLINT
-#ifndef INT64_C
-#define INT64_C(x) x ## L
-#endif
-#ifndef UINT64_C
-#define UINT64_C(x) x ## UL
-#endif
-#define INT64_F "l"
-#else  // defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
-typedef unsigned long long uint64;  // NOLINT
-typedef long long int64;  // NOLINT
-#ifndef INT64_C
-#define INT64_C(x) x ## LL
-#endif
-#ifndef UINT64_C
-#define UINT64_C(x) x ## ULL
-#endif
-#define INT64_F "ll"
-#endif  // __LP64__
-#endif  // COMPILER_MSVC
-typedef unsigned int uint32;
-typedef int int32;
-typedef unsigned short uint16;  // NOLINT
-typedef short int16;  // NOLINT
-typedef unsigned char uint8;
-typedef signed char int8;
-#endif  // INT_TYPES_DEFINED
-#endif  // GG_LONGLONG
-
-// Detect compiler is for x86 or x64.
-#if defined(__x86_64__) || defined(_M_X64) || \
-    defined(__i386__) || defined(_M_IX86)
-#define CPU_X86 1
-#endif
-// Detect compiler is for ARM.
-#if defined(__arm__) || defined(_M_ARM)
-#define CPU_ARM 1
-#endif
-
-#ifndef ALIGNP
-#ifdef __cplusplus
-#define ALIGNP(p, t) \
-    (reinterpret_cast<uint8*>(((reinterpret_cast<uintptr_t>(p) + \
-    ((t) - 1)) & ~((t) - 1))))
-#else
-#define ALIGNP(p, t) \
-    ((uint8*)((((uintptr_t)(p) + ((t) - 1)) & ~((t) - 1))))  /* NOLINT */
-#endif
-#endif
-
-#if !defined(LIBYUV_API)
-#if defined(_WIN32) || defined(__CYGWIN__)
-#if defined(LIBYUV_BUILDING_SHARED_LIBRARY)
-#define LIBYUV_API __declspec(dllexport)
-#elif defined(LIBYUV_USING_SHARED_LIBRARY)
-#define LIBYUV_API __declspec(dllimport)
-#else
-#define LIBYUV_API
-#endif  // LIBYUV_BUILDING_SHARED_LIBRARY
-#elif defined(__GNUC__) && (__GNUC__ >= 4) && !defined(__APPLE__) && \
-    (defined(LIBYUV_BUILDING_SHARED_LIBRARY) || \
-    defined(LIBYUV_USING_SHARED_LIBRARY))
-#define LIBYUV_API __attribute__ ((visibility ("default")))
-#else
-#define LIBYUV_API
-#endif  // __GNUC__
-#endif  // LIBYUV_API
-
-#define LIBYUV_BOOL int
-#define LIBYUV_FALSE 0
-#define LIBYUV_TRUE 1
-
-// Visual C x86 or GCC little endian.
-#if defined(__x86_64__) || defined(_M_X64) || \
-  defined(__i386__) || defined(_M_IX86) || \
-  defined(__arm__) || defined(_M_ARM) || \
-  (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__)
-#define LIBYUV_LITTLE_ENDIAN
-#endif
-
-#endif  // INCLUDE_LIBYUV_BASIC_TYPES_H_
diff --git a/third_party/libyuv/include/libyuv/compare.h b/third_party/libyuv/include/libyuv/compare.h
deleted file mode 100644
index 550712de6e..0000000000
--- a/third_party/libyuv/include/libyuv/compare.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_COMPARE_H_
-#define INCLUDE_LIBYUV_COMPARE_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Compute a hash for specified memory. Seed of 5381 recommended.
-LIBYUV_API
-uint32 HashDjb2(const uint8* src, uint64 count, uint32 seed);
-
-// Scan an opaque argb image and return fourcc based on alpha offset.
-// Returns FOURCC_ARGB, FOURCC_BGRA, or 0 if unknown.
-LIBYUV_API
-uint32 ARGBDetect(const uint8* argb, int stride_argb, int width, int height);
-
-// Sum Square Error - used to compute Mean Square Error or PSNR.
-LIBYUV_API
-uint64 ComputeSumSquareError(const uint8* src_a,
-                             const uint8* src_b, int count);
-
-LIBYUV_API
-uint64 ComputeSumSquareErrorPlane(const uint8* src_a, int stride_a,
-                                  const uint8* src_b, int stride_b,
-                                  int width, int height);
-
-static const int kMaxPsnr = 128;
-
-LIBYUV_API
-double SumSquareErrorToPsnr(uint64 sse, uint64 count);
-
-LIBYUV_API
-double CalcFramePsnr(const uint8* src_a, int stride_a,
-                     const uint8* src_b, int stride_b,
-                     int width, int height);
-
-LIBYUV_API
-double I420Psnr(const uint8* src_y_a, int stride_y_a,
-                const uint8* src_u_a, int stride_u_a,
-                const uint8* src_v_a, int stride_v_a,
-                const uint8* src_y_b, int stride_y_b,
-                const uint8* src_u_b, int stride_u_b,
-                const uint8* src_v_b, int stride_v_b,
-                int width, int height);
-
-LIBYUV_API
-double CalcFrameSsim(const uint8* src_a, int stride_a,
-                     const uint8* src_b, int stride_b,
-                     int width, int height);
-
-LIBYUV_API
-double I420Ssim(const uint8* src_y_a, int stride_y_a,
-                const uint8* src_u_a, int stride_u_a,
-                const uint8* src_v_a, int stride_v_a,
-                const uint8* src_y_b, int stride_y_b,
-                const uint8* src_u_b, int stride_u_b,
-                const uint8* src_v_b, int stride_v_b,
-                int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_COMPARE_H_
diff --git a/third_party/libyuv/include/libyuv/compare_row.h b/third_party/libyuv/include/libyuv/compare_row.h
deleted file mode 100644
index 781cad3e65..0000000000
--- a/third_party/libyuv/include/libyuv/compare_row.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
- *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_COMPARE_ROW_H_
-#define INCLUDE_LIBYUV_COMPARE_ROW_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-
-// Visual C 2012 required for AVX2.
-#if defined(_M_IX86) && !defined(__clang__) && \
-    defined(_MSC_VER) && _MSC_VER >= 1700
-#define VISUALC_HAS_AVX2 1
-#endif  // VisualStudio >= 2012
-
-// clang >= 3.4.0 required for AVX2.
-#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
-#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
-#define CLANG_HAS_AVX2 1
-#endif  // clang >= 3.4
-#endif  // __clang__
-
-#if !defined(LIBYUV_DISABLE_X86) && \
-    defined(_M_IX86) && (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
-#define HAS_HASHDJB2_AVX2
-#endif
-
-// The following are available for Visual C and GCC:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(__x86_64__) || (defined(__i386__) || defined(_M_IX86)))
-#define HAS_HASHDJB2_SSE41
-#define HAS_SUMSQUAREERROR_SSE2
-#endif
-
-// The following are available for Visual C and clangcl 32 bit:
-#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \
-    (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
-#define HAS_HASHDJB2_AVX2
-#define HAS_SUMSQUAREERROR_AVX2
-#endif
-
-// The following are available for Neon:
-#if !defined(LIBYUV_DISABLE_NEON) && \
-    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
-#define HAS_SUMSQUAREERROR_NEON
-#endif
-
-uint32 SumSquareError_C(const uint8* src_a, const uint8* src_b, int count);
-uint32 SumSquareError_SSE2(const uint8* src_a, const uint8* src_b, int count);
-uint32 SumSquareError_AVX2(const uint8* src_a, const uint8* src_b, int count);
-uint32 SumSquareError_NEON(const uint8* src_a, const uint8* src_b, int count);
-
-uint32 HashDjb2_C(const uint8* src, int count, uint32 seed);
-uint32 HashDjb2_SSE41(const uint8* src, int count, uint32 seed);
-uint32 HashDjb2_AVX2(const uint8* src, int count, uint32 seed);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_COMPARE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/convert.h b/third_party/libyuv/include/libyuv/convert.h
deleted file mode 100644
index d44485847b..0000000000
--- a/third_party/libyuv/include/libyuv/convert.h
+++ /dev/null
@@ -1,259 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_H_
-#define INCLUDE_LIBYUV_CONVERT_H_
-
-#include "libyuv/basic_types.h"
-
-#include "libyuv/rotate.h"  // For enum RotationMode.
-
-// TODO(fbarchard): fix WebRTC source to include following libyuv headers:
-#include "libyuv/convert_argb.h"  // For WebRTC I420ToARGB. b/620
-#include "libyuv/convert_from.h"  // For WebRTC ConvertFromI420. b/620
-#include "libyuv/planar_functions.h"  // For WebRTC I420Rect, CopyPlane. b/618
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Convert I444 to I420.
-LIBYUV_API
-int I444ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert I422 to I420.
-LIBYUV_API
-int I422ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert I411 to I420.
-LIBYUV_API
-int I411ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Copy I420 to I420.
-#define I420ToI420 I420Copy
-LIBYUV_API
-int I420Copy(const uint8* src_y, int src_stride_y,
-             const uint8* src_u, int src_stride_u,
-             const uint8* src_v, int src_stride_v,
-             uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int width, int height);
-
-// Convert I400 (grey) to I420.
-LIBYUV_API
-int I400ToI420(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-#define J400ToJ420 I400ToI420
-
-// Convert NV12 to I420.
-LIBYUV_API
-int NV12ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_uv, int src_stride_uv,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert NV21 to I420.
-LIBYUV_API
-int NV21ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_vu, int src_stride_vu,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert YUY2 to I420.
-LIBYUV_API
-int YUY2ToI420(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert UYVY to I420.
-LIBYUV_API
-int UYVYToI420(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert M420 to I420.
-LIBYUV_API
-int M420ToI420(const uint8* src_m420, int src_stride_m420,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert Android420 to I420.
-LIBYUV_API
-int Android420ToI420(const uint8* src_y, int src_stride_y,
-                     const uint8* src_u, int src_stride_u,
-                     const uint8* src_v, int src_stride_v,
-                     int pixel_stride_uv,
-                     uint8* dst_y, int dst_stride_y,
-                     uint8* dst_u, int dst_stride_u,
-                     uint8* dst_v, int dst_stride_v,
-                     int width, int height);
-
-// ARGB little endian (bgra in memory) to I420.
-LIBYUV_API
-int ARGBToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// BGRA little endian (argb in memory) to I420.
-LIBYUV_API
-int BGRAToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// ABGR little endian (rgba in memory) to I420.
-LIBYUV_API
-int ABGRToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// RGBA little endian (abgr in memory) to I420.
-LIBYUV_API
-int RGBAToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// RGB little endian (bgr in memory) to I420.
-LIBYUV_API
-int RGB24ToI420(const uint8* src_frame, int src_stride_frame,
-                uint8* dst_y, int dst_stride_y,
-                uint8* dst_u, int dst_stride_u,
-                uint8* dst_v, int dst_stride_v,
-                int width, int height);
-
-// RGB big endian (rgb in memory) to I420.
-LIBYUV_API
-int RAWToI420(const uint8* src_frame, int src_stride_frame,
-              uint8* dst_y, int dst_stride_y,
-              uint8* dst_u, int dst_stride_u,
-              uint8* dst_v, int dst_stride_v,
-              int width, int height);
-
-// RGB16 (RGBP fourcc) little endian to I420.
-LIBYUV_API
-int RGB565ToI420(const uint8* src_frame, int src_stride_frame,
-                 uint8* dst_y, int dst_stride_y,
-                 uint8* dst_u, int dst_stride_u,
-                 uint8* dst_v, int dst_stride_v,
-                 int width, int height);
-
-// RGB15 (RGBO fourcc) little endian to I420.
-LIBYUV_API
-int ARGB1555ToI420(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_y, int dst_stride_y,
-                   uint8* dst_u, int dst_stride_u,
-                   uint8* dst_v, int dst_stride_v,
-                   int width, int height);
-
-// RGB12 (R444 fourcc) little endian to I420.
-LIBYUV_API
-int ARGB4444ToI420(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_y, int dst_stride_y,
-                   uint8* dst_u, int dst_stride_u,
-                   uint8* dst_v, int dst_stride_v,
-                   int width, int height);
-
-#ifdef HAVE_JPEG
-// src_width/height provided by capture.
-// dst_width/height for clipping determine final size.
-LIBYUV_API
-int MJPGToI420(const uint8* sample, size_t sample_size,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int src_width, int src_height,
-               int dst_width, int dst_height);
-
-// Query size of MJPG in pixels.
-LIBYUV_API
-int MJPGSize(const uint8* sample, size_t sample_size,
-             int* width, int* height);
-#endif
-
-// Convert camera sample to I420 with cropping, rotation and vertical flip.
-// "src_size" is needed to parse MJPG.
-// "dst_stride_y" number of bytes in a row of the dst_y plane.
-//   Normally this would be the same as dst_width, with recommended alignment
-//   to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected. The caller should
-//   allocate the I420 buffer according to rotation.
-// "dst_stride_u" number of bytes in a row of the dst_u plane.
-//   Normally this would be the same as (dst_width + 1) / 2, with
-//   recommended alignment to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected.
-// "crop_x" and "crop_y" are starting position for cropping.
-//   To center, crop_x = (src_width - dst_width) / 2
-//              crop_y = (src_height - dst_height) / 2
-// "src_width" / "src_height" is size of src_frame in pixels.
-//   "src_height" can be negative indicating a vertically flipped image source.
-// "crop_width" / "crop_height" is the size to crop the src to.
-//    Must be less than or equal to src_width/src_height
-//    Cropping parameters are pre-rotation.
-// "rotation" can be 0, 90, 180 or 270.
-// "format" is a fourcc. ie 'I420', 'YUY2'
-// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
-LIBYUV_API
-int ConvertToI420(const uint8* src_frame, size_t src_size,
-                  uint8* dst_y, int dst_stride_y,
-                  uint8* dst_u, int dst_stride_u,
-                  uint8* dst_v, int dst_stride_v,
-                  int crop_x, int crop_y,
-                  int src_width, int src_height,
-                  int crop_width, int crop_height,
-                  enum RotationMode rotation,
-                  uint32 format);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_H_
diff --git a/third_party/libyuv/include/libyuv/convert_argb.h b/third_party/libyuv/include/libyuv/convert_argb.h
deleted file mode 100644
index dc03ac8d5d..0000000000
--- a/third_party/libyuv/include/libyuv/convert_argb.h
+++ /dev/null
@@ -1,319 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_ARGB_H_
-#define INCLUDE_LIBYUV_CONVERT_ARGB_H_
-
-#include "libyuv/basic_types.h"
-
-#include "libyuv/rotate.h"  // For enum RotationMode.
-
-// TODO(fbarchard): This set of functions should exactly match convert.h
-// TODO(fbarchard): Add tests. Create random content of right size and convert
-// with C vs Opt and or to I420 and compare.
-// TODO(fbarchard): Some of these functions lack parameter setting.
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Alias.
-#define ARGBToARGB ARGBCopy
-
-// Copy ARGB to ARGB.
-LIBYUV_API
-int ARGBCopy(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int width, int height);
-
-// Convert I420 to ARGB.
-LIBYUV_API
-int I420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Duplicate prototype for function in convert_from.h for remoting.
-LIBYUV_API
-int I420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I422 to ARGB.
-LIBYUV_API
-int I422ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I444 to ARGB.
-LIBYUV_API
-int I444ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J444 to ARGB.
-LIBYUV_API
-int J444ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I444 to ABGR.
-LIBYUV_API
-int I444ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert I411 to ARGB.
-LIBYUV_API
-int I411ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I420 with Alpha to preattenuated ARGB.
-LIBYUV_API
-int I420AlphaToARGB(const uint8* src_y, int src_stride_y,
-                    const uint8* src_u, int src_stride_u,
-                    const uint8* src_v, int src_stride_v,
-                    const uint8* src_a, int src_stride_a,
-                    uint8* dst_argb, int dst_stride_argb,
-                    int width, int height, int attenuate);
-
-// Convert I420 with Alpha to preattenuated ABGR.
-LIBYUV_API
-int I420AlphaToABGR(const uint8* src_y, int src_stride_y,
-                    const uint8* src_u, int src_stride_u,
-                    const uint8* src_v, int src_stride_v,
-                    const uint8* src_a, int src_stride_a,
-                    uint8* dst_abgr, int dst_stride_abgr,
-                    int width, int height, int attenuate);
-
-// Convert I400 (grey) to ARGB.  Reverse of ARGBToI400.
-LIBYUV_API
-int I400ToARGB(const uint8* src_y, int src_stride_y,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J400 (jpeg grey) to ARGB.
-LIBYUV_API
-int J400ToARGB(const uint8* src_y, int src_stride_y,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Alias.
-#define YToARGB I400ToARGB
-
-// Convert NV12 to ARGB.
-LIBYUV_API
-int NV12ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_uv, int src_stride_uv,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert NV21 to ARGB.
-LIBYUV_API
-int NV21ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_vu, int src_stride_vu,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert M420 to ARGB.
-LIBYUV_API
-int M420ToARGB(const uint8* src_m420, int src_stride_m420,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert YUY2 to ARGB.
-LIBYUV_API
-int YUY2ToARGB(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert UYVY to ARGB.
-LIBYUV_API
-int UYVYToARGB(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J420 to ARGB.
-LIBYUV_API
-int J420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J422 to ARGB.
-LIBYUV_API
-int J422ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J420 to ABGR.
-LIBYUV_API
-int J420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert J422 to ABGR.
-LIBYUV_API
-int J422ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert H420 to ARGB.
-LIBYUV_API
-int H420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert H422 to ARGB.
-LIBYUV_API
-int H422ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert H420 to ABGR.
-LIBYUV_API
-int H420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert H422 to ABGR.
-LIBYUV_API
-int H422ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// BGRA little endian (argb in memory) to ARGB.
-LIBYUV_API
-int BGRAToARGB(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// ABGR little endian (rgba in memory) to ARGB.
-LIBYUV_API
-int ABGRToARGB(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// RGBA little endian (abgr in memory) to ARGB.
-LIBYUV_API
-int RGBAToARGB(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Deprecated function name.
-#define BG24ToARGB RGB24ToARGB
-
-// RGB little endian (bgr in memory) to ARGB.
-LIBYUV_API
-int RGB24ToARGB(const uint8* src_frame, int src_stride_frame,
-                uint8* dst_argb, int dst_stride_argb,
-                int width, int height);
-
-// RGB big endian (rgb in memory) to ARGB.
-LIBYUV_API
-int RAWToARGB(const uint8* src_frame, int src_stride_frame,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height);
-
-// RGB16 (RGBP fourcc) little endian to ARGB.
-LIBYUV_API
-int RGB565ToARGB(const uint8* src_frame, int src_stride_frame,
-                 uint8* dst_argb, int dst_stride_argb,
-                 int width, int height);
-
-// RGB15 (RGBO fourcc) little endian to ARGB.
-LIBYUV_API
-int ARGB1555ToARGB(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_argb, int dst_stride_argb,
-                   int width, int height);
-
-// RGB12 (R444 fourcc) little endian to ARGB.
-LIBYUV_API
-int ARGB4444ToARGB(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_argb, int dst_stride_argb,
-                   int width, int height);
-
-#ifdef HAVE_JPEG
-// src_width/height provided by capture
-// dst_width/height for clipping determine final size.
-LIBYUV_API
-int MJPGToARGB(const uint8* sample, size_t sample_size,
-               uint8* dst_argb, int dst_stride_argb,
-               int src_width, int src_height,
-               int dst_width, int dst_height);
-#endif
-
-// Convert camera sample to ARGB with cropping, rotation and vertical flip.
-// "src_size" is needed to parse MJPG.
-// "dst_stride_argb" number of bytes in a row of the dst_argb plane.
-//   Normally this would be the same as dst_width, with recommended alignment
-//   to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected. The caller should
-//   allocate the I420 buffer according to rotation.
-// "dst_stride_u" number of bytes in a row of the dst_u plane.
-//   Normally this would be the same as (dst_width + 1) / 2, with
-//   recommended alignment to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected.
-// "crop_x" and "crop_y" are starting position for cropping.
-//   To center, crop_x = (src_width - dst_width) / 2
-//              crop_y = (src_height - dst_height) / 2
-// "src_width" / "src_height" is size of src_frame in pixels.
-//   "src_height" can be negative indicating a vertically flipped image source.
-// "crop_width" / "crop_height" is the size to crop the src to.
-//    Must be less than or equal to src_width/src_height
-//    Cropping parameters are pre-rotation.
-// "rotation" can be 0, 90, 180 or 270.
-// "format" is a fourcc. ie 'I420', 'YUY2'
-// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
-LIBYUV_API
-int ConvertToARGB(const uint8* src_frame, size_t src_size,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int crop_x, int crop_y,
-                  int src_width, int src_height,
-                  int crop_width, int crop_height,
-                  enum RotationMode rotation,
-                  uint32 format);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/convert_from.h b/third_party/libyuv/include/libyuv/convert_from.h
deleted file mode 100644
index 59c40474f1..0000000000
--- a/third_party/libyuv/include/libyuv/convert_from.h
+++ /dev/null
@@ -1,179 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_FROM_H_
-#define INCLUDE_LIBYUV_CONVERT_FROM_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/rotate.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// See Also convert.h for conversions from formats to I420.
-
-// I420Copy in convert to I420ToI420.
-
-LIBYUV_API
-int I420ToI422(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-LIBYUV_API
-int I420ToI444(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-LIBYUV_API
-int I420ToI411(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Copy to I400. Source can be I420, I422, I444, I400, NV12 or NV21.
-LIBYUV_API
-int I400Copy(const uint8* src_y, int src_stride_y,
-             uint8* dst_y, int dst_stride_y,
-             int width, int height);
-
-LIBYUV_API
-int I420ToNV12(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-LIBYUV_API
-int I420ToNV21(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_vu, int dst_stride_vu,
-               int width, int height);
-
-LIBYUV_API
-int I420ToYUY2(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-LIBYUV_API
-int I420ToUYVY(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-LIBYUV_API
-int I420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-LIBYUV_API
-int I420ToBGRA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-LIBYUV_API
-int I420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-LIBYUV_API
-int I420ToRGBA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_rgba, int dst_stride_rgba,
-               int width, int height);
-
-LIBYUV_API
-int I420ToRGB24(const uint8* src_y, int src_stride_y,
-                const uint8* src_u, int src_stride_u,
-                const uint8* src_v, int src_stride_v,
-                uint8* dst_frame, int dst_stride_frame,
-                int width, int height);
-
-LIBYUV_API
-int I420ToRAW(const uint8* src_y, int src_stride_y,
-              const uint8* src_u, int src_stride_u,
-              const uint8* src_v, int src_stride_v,
-              uint8* dst_frame, int dst_stride_frame,
-              int width, int height);
-
-LIBYUV_API
-int I420ToRGB565(const uint8* src_y, int src_stride_y,
-                 const uint8* src_u, int src_stride_u,
-                 const uint8* src_v, int src_stride_v,
-                 uint8* dst_frame, int dst_stride_frame,
-                 int width, int height);
-
-// Convert I420 To RGB565 with 4x4 dither matrix (16 bytes).
-// Values in dither matrix from 0 to 7 recommended.
-// The order of the dither matrix is first byte is upper left.
-
-LIBYUV_API
-int I420ToRGB565Dither(const uint8* src_y, int src_stride_y,
-                       const uint8* src_u, int src_stride_u,
-                       const uint8* src_v, int src_stride_v,
-                       uint8* dst_frame, int dst_stride_frame,
-                       const uint8* dither4x4, int width, int height);
-
-LIBYUV_API
-int I420ToARGB1555(const uint8* src_y, int src_stride_y,
-                   const uint8* src_u, int src_stride_u,
-                   const uint8* src_v, int src_stride_v,
-                   uint8* dst_frame, int dst_stride_frame,
-                   int width, int height);
-
-LIBYUV_API
-int I420ToARGB4444(const uint8* src_y, int src_stride_y,
-                   const uint8* src_u, int src_stride_u,
-                   const uint8* src_v, int src_stride_v,
-                   uint8* dst_frame, int dst_stride_frame,
-                   int width, int height);
-
-// Convert I420 to specified format.
-// "dst_sample_stride" is bytes in a row for the destination. Pass 0 if the
-//    buffer has contiguous rows. Can be negative. A multiple of 16 is optimal.
-LIBYUV_API
-int ConvertFromI420(const uint8* y, int y_stride,
-                    const uint8* u, int u_stride,
-                    const uint8* v, int v_stride,
-                    uint8* dst_sample, int dst_sample_stride,
-                    int width, int height,
-                    uint32 format);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_FROM_H_
diff --git a/third_party/libyuv/include/libyuv/convert_from_argb.h b/third_party/libyuv/include/libyuv/convert_from_argb.h
deleted file mode 100644
index 8d7f02f8c4..0000000000
--- a/third_party/libyuv/include/libyuv/convert_from_argb.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
-#define INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Copy ARGB to ARGB.
-#define ARGBToARGB ARGBCopy
-LIBYUV_API
-int ARGBCopy(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int width, int height);
-
-// Convert ARGB To BGRA.
-LIBYUV_API
-int ARGBToBGRA(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_bgra, int dst_stride_bgra,
-               int width, int height);
-
-// Convert ARGB To ABGR.
-LIBYUV_API
-int ARGBToABGR(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert ARGB To RGBA.
-LIBYUV_API
-int ARGBToRGBA(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_rgba, int dst_stride_rgba,
-               int width, int height);
-
-// Convert ARGB To RGB24.
-LIBYUV_API
-int ARGBToRGB24(const uint8* src_argb, int src_stride_argb,
-                uint8* dst_rgb24, int dst_stride_rgb24,
-                int width, int height);
-
-// Convert ARGB To RAW.
-LIBYUV_API
-int ARGBToRAW(const uint8* src_argb, int src_stride_argb,
-              uint8* dst_rgb, int dst_stride_rgb,
-              int width, int height);
-
-// Convert ARGB To RGB565.
-LIBYUV_API
-int ARGBToRGB565(const uint8* src_argb, int src_stride_argb,
-                 uint8* dst_rgb565, int dst_stride_rgb565,
-                 int width, int height);
-
-// Convert ARGB To RGB565 with 4x4 dither matrix (16 bytes).
-// Values in dither matrix from 0 to 7 recommended.
-// The order of the dither matrix is first byte is upper left.
-// TODO(fbarchard): Consider pointer to 2d array for dither4x4.
-// const uint8(*dither)[4][4];
-LIBYUV_API
-int ARGBToRGB565Dither(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_rgb565, int dst_stride_rgb565,
-                       const uint8* dither4x4, int width, int height);
-
-// Convert ARGB To ARGB1555.
-LIBYUV_API
-int ARGBToARGB1555(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_argb1555, int dst_stride_argb1555,
-                   int width, int height);
-
-// Convert ARGB To ARGB4444.
-LIBYUV_API
-int ARGBToARGB4444(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_argb4444, int dst_stride_argb4444,
-                   int width, int height);
-
-// Convert ARGB To I444.
-LIBYUV_API
-int ARGBToI444(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB To I422.
-LIBYUV_API
-int ARGBToI422(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB To I420. (also in convert.h)
-LIBYUV_API
-int ARGBToI420(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB to J420. (JPeg full range I420).
-LIBYUV_API
-int ARGBToJ420(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yj, int dst_stride_yj,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB to J422.
-LIBYUV_API
-int ARGBToJ422(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yj, int dst_stride_yj,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB To I411.
-LIBYUV_API
-int ARGBToI411(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB to J400. (JPeg full range).
-LIBYUV_API
-int ARGBToJ400(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yj, int dst_stride_yj,
-               int width, int height);
-
-// Convert ARGB to I400.
-LIBYUV_API
-int ARGBToI400(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Convert ARGB to G. (Reverse of J400toARGB, which replicates G back to ARGB)
-LIBYUV_API
-int ARGBToG(const uint8* src_argb, int src_stride_argb,
-            uint8* dst_g, int dst_stride_g,
-            int width, int height);
-
-// Convert ARGB To NV12.
-LIBYUV_API
-int ARGBToNV12(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-// Convert ARGB To NV21.
-LIBYUV_API
-int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_vu, int dst_stride_vu,
-               int width, int height);
-
-// Convert ARGB To NV21.
-LIBYUV_API
-int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_vu, int dst_stride_vu,
-               int width, int height);
-
-// Convert ARGB To YUY2.
-LIBYUV_API
-int ARGBToYUY2(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yuy2, int dst_stride_yuy2,
-               int width, int height);
-
-// Convert ARGB To UYVY.
-LIBYUV_API
-int ARGBToUYVY(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_uyvy, int dst_stride_uyvy,
-               int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/cpu_id.h b/third_party/libyuv/include/libyuv/cpu_id.h
deleted file mode 100644
index 7c6c9aeb00..0000000000
--- a/third_party/libyuv/include/libyuv/cpu_id.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CPU_ID_H_
-#define INCLUDE_LIBYUV_CPU_ID_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Internal flag to indicate cpuid requires initialization.
-static const int kCpuInitialized = 0x1;
-
-// These flags are only valid on ARM processors.
-static const int kCpuHasARM = 0x2;
-static const int kCpuHasNEON = 0x4;
-// 0x8 reserved for future ARM flag.
-
-// These flags are only valid on x86 processors.
-static const int kCpuHasX86 = 0x10;
-static const int kCpuHasSSE2 = 0x20;
-static const int kCpuHasSSSE3 = 0x40;
-static const int kCpuHasSSE41 = 0x80;
-static const int kCpuHasSSE42 = 0x100;
-static const int kCpuHasAVX = 0x200;
-static const int kCpuHasAVX2 = 0x400;
-static const int kCpuHasERMS = 0x800;
-static const int kCpuHasFMA3 = 0x1000;
-static const int kCpuHasAVX3 = 0x2000;
-// 0x2000, 0x4000, 0x8000 reserved for future X86 flags.
-
-// These flags are only valid on MIPS processors.
-static const int kCpuHasMIPS = 0x10000;
-static const int kCpuHasDSPR2 = 0x20000;
-static const int kCpuHasMSA = 0x40000;
-
-// Internal function used to auto-init.
-LIBYUV_API
-int InitCpuFlags(void);
-
-// Internal function for parsing /proc/cpuinfo.
-LIBYUV_API
-int ArmCpuCaps(const char* cpuinfo_name);
-
-// Detect CPU has SSE2 etc.
-// Test_flag parameter should be one of kCpuHas constants above.
-// returns non-zero if instruction set is detected
-static __inline int TestCpuFlag(int test_flag) {
-  LIBYUV_API extern int cpu_info_;
-  return (!cpu_info_ ? InitCpuFlags() : cpu_info_) & test_flag;
-}
-
-// For testing, allow CPU flags to be disabled.
-// ie MaskCpuFlags(~kCpuHasSSSE3) to disable SSSE3.
-// MaskCpuFlags(-1) to enable all cpu specific optimizations.
-// MaskCpuFlags(1) to disable all cpu specific optimizations.
-LIBYUV_API
-void MaskCpuFlags(int enable_flags);
-
-// Low level cpuid for X86. Returns zeros on other CPUs.
-// eax is the info type that you want.
-// ecx is typically the cpu number, and should normally be zero.
-LIBYUV_API
-void CpuId(uint32 eax, uint32 ecx, uint32* cpu_info);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CPU_ID_H_
diff --git a/third_party/libyuv/include/libyuv/macros_msa.h b/third_party/libyuv/include/libyuv/macros_msa.h
deleted file mode 100644
index 92ed21c385..0000000000
--- a/third_party/libyuv/include/libyuv/macros_msa.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- *  Copyright 2016 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_MACROS_MSA_H_
-#define INCLUDE_LIBYUV_MACROS_MSA_H_
-
-#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa)
-#include <stdint.h>
-#include <msa.h>
-
-#define LD_B(RTYPE, psrc) *((RTYPE*)(psrc))   /* NOLINT */
-#define LD_UB(...) LD_B(v16u8, __VA_ARGS__)
-
-#define ST_B(RTYPE, in, pdst) *((RTYPE*)(pdst)) = (in)  /* NOLINT */
-#define ST_UB(...) ST_B(v16u8, __VA_ARGS__)
-
-/* Description : Load two vectors with 16 'byte' sized elements
-   Arguments   : Inputs  - psrc, stride
-                 Outputs - out0, out1
-                 Return Type - as per RTYPE
-   Details     : Load 16 byte elements in 'out0' from (psrc)
-                 Load 16 byte elements in 'out1' from (psrc + stride)
-*/
-#define LD_B2(RTYPE, psrc, stride, out0, out1) {  \
-  out0 = LD_B(RTYPE, (psrc));                     \
-  out1 = LD_B(RTYPE, (psrc) + stride);            \
-}
-#define LD_UB2(...) LD_B2(v16u8, __VA_ARGS__)
-
-#define LD_B4(RTYPE, psrc, stride, out0, out1, out2, out3) {  \
-  LD_B2(RTYPE, (psrc), stride, out0, out1);                   \
-  LD_B2(RTYPE, (psrc) + 2 * stride , stride, out2, out3);     \
-}
-#define LD_UB4(...) LD_B4(v16u8, __VA_ARGS__)
-
-/* Description : Store two vectors with stride each having 16 'byte' sized
-                 elements
-   Arguments   : Inputs - in0, in1, pdst, stride
-   Details     : Store 16 byte elements from 'in0' to (pdst)
-                 Store 16 byte elements from 'in1' to (pdst + stride)
-*/
-#define ST_B2(RTYPE, in0, in1, pdst, stride) {  \
-  ST_B(RTYPE, in0, (pdst));                     \
-  ST_B(RTYPE, in1, (pdst) + stride);            \
-}
-#define ST_UB2(...) ST_B2(v16u8, __VA_ARGS__)
-#
-#define ST_B4(RTYPE, in0, in1, in2, in3, pdst, stride) {  \
-  ST_B2(RTYPE, in0, in1, (pdst), stride);                 \
-  ST_B2(RTYPE, in2, in3, (pdst) + 2 * stride, stride);    \
-}
-#define ST_UB4(...) ST_B4(v16u8, __VA_ARGS__)
-#
-/* Description : Shuffle byte vector elements as per mask vector
-   Arguments   : Inputs  - in0, in1, in2, in3, mask0, mask1
-                 Outputs - out0, out1
-                 Return Type - as per RTYPE
-   Details     : Byte elements from 'in0' & 'in1' are copied selectively to
-                 'out0' as per control vector 'mask0'
-*/
-#define VSHF_B2(RTYPE, in0, in1, in2, in3, mask0, mask1, out0, out1) {   \
-  out0 = (RTYPE) __msa_vshf_b((v16i8) mask0, (v16i8) in1, (v16i8) in0);  \
-  out1 = (RTYPE) __msa_vshf_b((v16i8) mask1, (v16i8) in3, (v16i8) in2);  \
-}
-#define VSHF_B2_UB(...) VSHF_B2(v16u8, __VA_ARGS__)
-
-#endif  /* !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa) */
-
-#endif  // INCLUDE_LIBYUV_MACROS_MSA_H_
diff --git a/third_party/libyuv/include/libyuv/mjpeg_decoder.h b/third_party/libyuv/include/libyuv/mjpeg_decoder.h
deleted file mode 100644
index 4975bae5b7..0000000000
--- a/third_party/libyuv/include/libyuv/mjpeg_decoder.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_MJPEG_DECODER_H_
-#define INCLUDE_LIBYUV_MJPEG_DECODER_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-// NOTE: For a simplified public API use convert.h MJPGToI420().
-
-struct jpeg_common_struct;
-struct jpeg_decompress_struct;
-struct jpeg_source_mgr;
-
-namespace libyuv {
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-LIBYUV_BOOL ValidateJpeg(const uint8* sample, size_t sample_size);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-static const uint32 kUnknownDataSize = 0xFFFFFFFF;
-
-enum JpegSubsamplingType {
-  kJpegYuv420,
-  kJpegYuv422,
-  kJpegYuv411,
-  kJpegYuv444,
-  kJpegYuv400,
-  kJpegUnknown
-};
-
-struct Buffer {
-  const uint8* data;
-  int len;
-};
-
-struct BufferVector {
-  Buffer* buffers;
-  int len;
-  int pos;
-};
-
-struct SetJmpErrorMgr;
-
-// MJPEG ("Motion JPEG") is a pseudo-standard video codec where the frames are
-// simply independent JPEG images with a fixed huffman table (which is omitted).
-// It is rarely used in video transmission, but is common as a camera capture
-// format, especially in Logitech devices. This class implements a decoder for
-// MJPEG frames.
-//
-// See http://tools.ietf.org/html/rfc2435
-class LIBYUV_API MJpegDecoder {
- public:
-  typedef void (*CallbackFunction)(void* opaque,
-                                   const uint8* const* data,
-                                   const int* strides,
-                                   int rows);
-
-  static const int kColorSpaceUnknown;
-  static const int kColorSpaceGrayscale;
-  static const int kColorSpaceRgb;
-  static const int kColorSpaceYCbCr;
-  static const int kColorSpaceCMYK;
-  static const int kColorSpaceYCCK;
-
-  MJpegDecoder();
-  ~MJpegDecoder();
-
-  // Loads a new frame, reads its headers, and determines the uncompressed
-  // image format.
-  // Returns LIBYUV_TRUE if image looks valid and format is supported.
-  // If return value is LIBYUV_TRUE, then the values for all the following
-  // getters are populated.
-  // src_len is the size of the compressed mjpeg frame in bytes.
-  LIBYUV_BOOL LoadFrame(const uint8* src, size_t src_len);
-
-  // Returns width of the last loaded frame in pixels.
-  int GetWidth();
-
-  // Returns height of the last loaded frame in pixels.
-  int GetHeight();
-
-  // Returns format of the last loaded frame. The return value is one of the
-  // kColorSpace* constants.
-  int GetColorSpace();
-
-  // Number of color components in the color space.
-  int GetNumComponents();
-
-  // Sample factors of the n-th component.
-  int GetHorizSampFactor(int component);
-
-  int GetVertSampFactor(int component);
-
-  int GetHorizSubSampFactor(int component);
-
-  int GetVertSubSampFactor(int component);
-
-  // Public for testability.
-  int GetImageScanlinesPerImcuRow();
-
-  // Public for testability.
-  int GetComponentScanlinesPerImcuRow(int component);
-
-  // Width of a component in bytes.
-  int GetComponentWidth(int component);
-
-  // Height of a component.
-  int GetComponentHeight(int component);
-
-  // Width of a component in bytes with padding for DCTSIZE. Public for testing.
-  int GetComponentStride(int component);
-
-  // Size of a component in bytes.
-  int GetComponentSize(int component);
-
-  // Call this after LoadFrame() if you decide you don't want to decode it
-  // after all.
-  LIBYUV_BOOL UnloadFrame();
-
-  // Decodes the entire image into a one-buffer-per-color-component format.
-  // dst_width must match exactly. dst_height must be <= to image height; if
-  // less, the image is cropped. "planes" must have size equal to at least
-  // GetNumComponents() and they must point to non-overlapping buffers of size
-  // at least GetComponentSize(i). The pointers in planes are incremented
-  // to point to after the end of the written data.
-  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
-  LIBYUV_BOOL DecodeToBuffers(uint8** planes, int dst_width, int dst_height);
-
-  // Decodes the entire image and passes the data via repeated calls to a
-  // callback function. Each call will get the data for a whole number of
-  // image scanlines.
-  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
-  LIBYUV_BOOL DecodeToCallback(CallbackFunction fn, void* opaque,
-                        int dst_width, int dst_height);
-
-  // The helper function which recognizes the jpeg sub-sampling type.
-  static JpegSubsamplingType JpegSubsamplingTypeHelper(
-     int* subsample_x, int* subsample_y, int number_of_components);
-
- private:
-  void AllocOutputBuffers(int num_outbufs);
-  void DestroyOutputBuffers();
-
-  LIBYUV_BOOL StartDecode();
-  LIBYUV_BOOL FinishDecode();
-
-  void SetScanlinePointers(uint8** data);
-  LIBYUV_BOOL DecodeImcuRow();
-
-  int GetComponentScanlinePadding(int component);
-
-  // A buffer holding the input data for a frame.
-  Buffer buf_;
-  BufferVector buf_vec_;
-
-  jpeg_decompress_struct* decompress_struct_;
-  jpeg_source_mgr* source_mgr_;
-  SetJmpErrorMgr* error_mgr_;
-
-  // LIBYUV_TRUE iff at least one component has scanline padding. (i.e.,
-  // GetComponentScanlinePadding() != 0.)
-  LIBYUV_BOOL has_scanline_padding_;
-
-  // Temporaries used to point to scanline outputs.
-  int num_outbufs_;  // Outermost size of all arrays below.
-  uint8*** scanlines_;
-  int* scanlines_sizes_;
-  // Temporary buffer used for decoding when we can't decode directly to the
-  // output buffers. Large enough for just one iMCU row.
-  uint8** databuf_;
-  int* databuf_strides_;
-};
-
-}  // namespace libyuv
-
-#endif  //  __cplusplus
-#endif  // INCLUDE_LIBYUV_MJPEG_DECODER_H_
diff --git a/third_party/libyuv/include/libyuv/planar_functions.h b/third_party/libyuv/include/libyuv/planar_functions.h
deleted file mode 100644
index 1b57b29261..0000000000
--- a/third_party/libyuv/include/libyuv/planar_functions.h
+++ /dev/null
@@ -1,529 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
-#define INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
-
-#include "libyuv/basic_types.h"
-
-// TODO(fbarchard): Remove the following headers includes.
-#include "libyuv/convert.h"
-#include "libyuv/convert_argb.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Copy a plane of data.
-LIBYUV_API
-void CopyPlane(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-LIBYUV_API
-void CopyPlane_16(const uint16* src_y, int src_stride_y,
-                  uint16* dst_y, int dst_stride_y,
-                  int width, int height);
-
-// Set a plane of data to a 32 bit value.
-LIBYUV_API
-void SetPlane(uint8* dst_y, int dst_stride_y,
-              int width, int height,
-              uint32 value);
-
-// Split interleaved UV plane into separate U and V planes.
-LIBYUV_API
-void SplitUVPlane(const uint8* src_uv, int src_stride_uv,
-                  uint8* dst_u, int dst_stride_u,
-                  uint8* dst_v, int dst_stride_v,
-                  int width, int height);
-
-// Merge separate U and V planes into one interleaved UV plane.
-LIBYUV_API
-void MergeUVPlane(const uint8* src_u, int src_stride_u,
-                  const uint8* src_v, int src_stride_v,
-                  uint8* dst_uv, int dst_stride_uv,
-                  int width, int height);
-
-// Copy I400.  Supports inverting.
-LIBYUV_API
-int I400ToI400(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-#define J400ToJ400 I400ToI400
-
-// Copy I422 to I422.
-#define I422ToI422 I422Copy
-LIBYUV_API
-int I422Copy(const uint8* src_y, int src_stride_y,
-             const uint8* src_u, int src_stride_u,
-             const uint8* src_v, int src_stride_v,
-             uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int width, int height);
-
-// Copy I444 to I444.
-#define I444ToI444 I444Copy
-LIBYUV_API
-int I444Copy(const uint8* src_y, int src_stride_y,
-             const uint8* src_u, int src_stride_u,
-             const uint8* src_v, int src_stride_v,
-             uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int width, int height);
-
-// Convert YUY2 to I422.
-LIBYUV_API
-int YUY2ToI422(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert UYVY to I422.
-LIBYUV_API
-int UYVYToI422(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-LIBYUV_API
-int YUY2ToNV12(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-LIBYUV_API
-int UYVYToNV12(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-// Convert I420 to I400. (calls CopyPlane ignoring u/v).
-LIBYUV_API
-int I420ToI400(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Alias
-#define J420ToJ400 I420ToI400
-#define I420ToI420Mirror I420Mirror
-
-// I420 mirror.
-LIBYUV_API
-int I420Mirror(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Alias
-#define I400ToI400Mirror I400Mirror
-
-// I400 mirror.  A single plane is mirrored horizontally.
-// Pass negative height to achieve 180 degree rotation.
-LIBYUV_API
-int I400Mirror(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Alias
-#define ARGBToARGBMirror ARGBMirror
-
-// ARGB mirror.
-LIBYUV_API
-int ARGBMirror(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert NV12 to RGB565.
-LIBYUV_API
-int NV12ToRGB565(const uint8* src_y, int src_stride_y,
-                 const uint8* src_uv, int src_stride_uv,
-                 uint8* dst_rgb565, int dst_stride_rgb565,
-                 int width, int height);
-
-// I422ToARGB is in convert_argb.h
-// Convert I422 to BGRA.
-LIBYUV_API
-int I422ToBGRA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_bgra, int dst_stride_bgra,
-               int width, int height);
-
-// Convert I422 to ABGR.
-LIBYUV_API
-int I422ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert I422 to RGBA.
-LIBYUV_API
-int I422ToRGBA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_rgba, int dst_stride_rgba,
-               int width, int height);
-
-// Alias
-#define RGB24ToRAW RAWToRGB24
-
-LIBYUV_API
-int RAWToRGB24(const uint8* src_raw, int src_stride_raw,
-               uint8* dst_rgb24, int dst_stride_rgb24,
-               int width, int height);
-
-// Draw a rectangle into I420.
-LIBYUV_API
-int I420Rect(uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int x, int y, int width, int height,
-             int value_y, int value_u, int value_v);
-
-// Draw a rectangle into ARGB.
-LIBYUV_API
-int ARGBRect(uint8* dst_argb, int dst_stride_argb,
-             int x, int y, int width, int height, uint32 value);
-
-// Convert ARGB to gray scale ARGB.
-LIBYUV_API
-int ARGBGrayTo(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Make a rectangle of ARGB gray scale.
-LIBYUV_API
-int ARGBGray(uint8* dst_argb, int dst_stride_argb,
-             int x, int y, int width, int height);
-
-// Make a rectangle of ARGB Sepia tone.
-LIBYUV_API
-int ARGBSepia(uint8* dst_argb, int dst_stride_argb,
-              int x, int y, int width, int height);
-
-// Apply a matrix rotation to each ARGB pixel.
-// matrix_argb is 4 signed ARGB values. -128 to 127 representing -2 to 2.
-// The first 4 coefficients apply to B, G, R, A and produce B of the output.
-// The next 4 coefficients apply to B, G, R, A and produce G of the output.
-// The next 4 coefficients apply to B, G, R, A and produce R of the output.
-// The last 4 coefficients apply to B, G, R, A and produce A of the output.
-LIBYUV_API
-int ARGBColorMatrix(const uint8* src_argb, int src_stride_argb,
-                    uint8* dst_argb, int dst_stride_argb,
-                    const int8* matrix_argb,
-                    int width, int height);
-
-// Deprecated. Use ARGBColorMatrix instead.
-// Apply a matrix rotation to each ARGB pixel.
-// matrix_argb is 3 signed ARGB values. -128 to 127 representing -1 to 1.
-// The first 4 coefficients apply to B, G, R, A and produce B of the output.
-// The next 4 coefficients apply to B, G, R, A and produce G of the output.
-// The last 4 coefficients apply to B, G, R, A and produce R of the output.
-LIBYUV_API
-int RGBColorMatrix(uint8* dst_argb, int dst_stride_argb,
-                   const int8* matrix_rgb,
-                   int x, int y, int width, int height);
-
-// Apply a color table each ARGB pixel.
-// Table contains 256 ARGB values.
-LIBYUV_API
-int ARGBColorTable(uint8* dst_argb, int dst_stride_argb,
-                   const uint8* table_argb,
-                   int x, int y, int width, int height);
-
-// Apply a color table each ARGB pixel but preserve destination alpha.
-// Table contains 256 ARGB values.
-LIBYUV_API
-int RGBColorTable(uint8* dst_argb, int dst_stride_argb,
-                  const uint8* table_argb,
-                  int x, int y, int width, int height);
-
-// Apply a luma/color table each ARGB pixel but preserve destination alpha.
-// Table contains 32768 values indexed by [Y][C] where 7 it 7 bit luma from
-// RGB (YJ style) and C is an 8 bit color component (R, G or B).
-LIBYUV_API
-int ARGBLumaColorTable(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_argb, int dst_stride_argb,
-                       const uint8* luma_rgb_table,
-                       int width, int height);
-
-// Apply a 3 term polynomial to ARGB values.
-// poly points to a 4x4 matrix.  The first row is constants.  The 2nd row is
-// coefficients for b, g, r and a.  The 3rd row is coefficients for b squared,
-// g squared, r squared and a squared.  The 4rd row is coefficients for b to
-// the 3, g to the 3, r to the 3 and a to the 3.  The values are summed and
-// result clamped to 0 to 255.
-// A polynomial approximation can be dirived using software such as 'R'.
-
-LIBYUV_API
-int ARGBPolynomial(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_argb, int dst_stride_argb,
-                   const float* poly,
-                   int width, int height);
-
-// Convert plane of 16 bit shorts to half floats.
-// Source values are multiplied by scale before storing as half float.
-LIBYUV_API
-int HalfFloatPlane(const uint16* src_y, int src_stride_y,
-                   uint16* dst_y, int dst_stride_y,
-                   float scale,
-                   int width, int height);
-
-// Quantize a rectangle of ARGB. Alpha unaffected.
-// scale is a 16 bit fractional fixed point scaler between 0 and 65535.
-// interval_size should be a value between 1 and 255.
-// interval_offset should be a value between 0 and 255.
-LIBYUV_API
-int ARGBQuantize(uint8* dst_argb, int dst_stride_argb,
-                 int scale, int interval_size, int interval_offset,
-                 int x, int y, int width, int height);
-
-// Copy ARGB to ARGB.
-LIBYUV_API
-int ARGBCopy(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int width, int height);
-
-// Copy Alpha channel of ARGB to alpha of ARGB.
-LIBYUV_API
-int ARGBCopyAlpha(const uint8* src_argb, int src_stride_argb,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int width, int height);
-
-// Extract the alpha channel from ARGB.
-LIBYUV_API
-int ARGBExtractAlpha(const uint8* src_argb, int src_stride_argb,
-                     uint8* dst_a, int dst_stride_a,
-                     int width, int height);
-
-// Copy Y channel to Alpha of ARGB.
-LIBYUV_API
-int ARGBCopyYToAlpha(const uint8* src_y, int src_stride_y,
-                     uint8* dst_argb, int dst_stride_argb,
-                     int width, int height);
-
-typedef void (*ARGBBlendRow)(const uint8* src_argb0, const uint8* src_argb1,
-                             uint8* dst_argb, int width);
-
-// Get function to Alpha Blend ARGB pixels and store to destination.
-LIBYUV_API
-ARGBBlendRow GetARGBBlend();
-
-// Alpha Blend ARGB images and store to destination.
-// Source is pre-multiplied by alpha using ARGBAttenuate.
-// Alpha of destination is set to 255.
-LIBYUV_API
-int ARGBBlend(const uint8* src_argb0, int src_stride_argb0,
-              const uint8* src_argb1, int src_stride_argb1,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height);
-
-// Alpha Blend plane and store to destination.
-// Source is not pre-multiplied by alpha.
-LIBYUV_API
-int BlendPlane(const uint8* src_y0, int src_stride_y0,
-               const uint8* src_y1, int src_stride_y1,
-               const uint8* alpha, int alpha_stride,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Alpha Blend YUV images and store to destination.
-// Source is not pre-multiplied by alpha.
-// Alpha is full width x height and subsampled to half size to apply to UV.
-LIBYUV_API
-int I420Blend(const uint8* src_y0, int src_stride_y0,
-              const uint8* src_u0, int src_stride_u0,
-              const uint8* src_v0, int src_stride_v0,
-              const uint8* src_y1, int src_stride_y1,
-              const uint8* src_u1, int src_stride_u1,
-              const uint8* src_v1, int src_stride_v1,
-              const uint8* alpha, int alpha_stride,
-              uint8* dst_y, int dst_stride_y,
-              uint8* dst_u, int dst_stride_u,
-              uint8* dst_v, int dst_stride_v,
-              int width, int height);
-
-// Multiply ARGB image by ARGB image. Shifted down by 8. Saturates to 255.
-LIBYUV_API
-int ARGBMultiply(const uint8* src_argb0, int src_stride_argb0,
-                 const uint8* src_argb1, int src_stride_argb1,
-                 uint8* dst_argb, int dst_stride_argb,
-                 int width, int height);
-
-// Add ARGB image with ARGB image. Saturates to 255.
-LIBYUV_API
-int ARGBAdd(const uint8* src_argb0, int src_stride_argb0,
-            const uint8* src_argb1, int src_stride_argb1,
-            uint8* dst_argb, int dst_stride_argb,
-            int width, int height);
-
-// Subtract ARGB image (argb1) from ARGB image (argb0). Saturates to 0.
-LIBYUV_API
-int ARGBSubtract(const uint8* src_argb0, int src_stride_argb0,
-                 const uint8* src_argb1, int src_stride_argb1,
-                 uint8* dst_argb, int dst_stride_argb,
-                 int width, int height);
-
-// Convert I422 to YUY2.
-LIBYUV_API
-int I422ToYUY2(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-// Convert I422 to UYVY.
-LIBYUV_API
-int I422ToUYVY(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-// Convert unattentuated ARGB to preattenuated ARGB.
-LIBYUV_API
-int ARGBAttenuate(const uint8* src_argb, int src_stride_argb,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int width, int height);
-
-// Convert preattentuated ARGB to unattenuated ARGB.
-LIBYUV_API
-int ARGBUnattenuate(const uint8* src_argb, int src_stride_argb,
-                    uint8* dst_argb, int dst_stride_argb,
-                    int width, int height);
-
-// Internal function - do not call directly.
-// Computes table of cumulative sum for image where the value is the sum
-// of all values above and to the left of the entry. Used by ARGBBlur.
-LIBYUV_API
-int ARGBComputeCumulativeSum(const uint8* src_argb, int src_stride_argb,
-                             int32* dst_cumsum, int dst_stride32_cumsum,
-                             int width, int height);
-
-// Blur ARGB image.
-// dst_cumsum table of width * (height + 1) * 16 bytes aligned to
-//   16 byte boundary.
-// dst_stride32_cumsum is number of ints in a row (width * 4).
-// radius is number of pixels around the center.  e.g. 1 = 3x3. 2=5x5.
-// Blur is optimized for radius of 5 (11x11) or less.
-LIBYUV_API
-int ARGBBlur(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int32* dst_cumsum, int dst_stride32_cumsum,
-             int width, int height, int radius);
-
-// Multiply ARGB image by ARGB value.
-LIBYUV_API
-int ARGBShade(const uint8* src_argb, int src_stride_argb,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height, uint32 value);
-
-// Interpolate between two images using specified amount of interpolation
-// (0 to 255) and store to destination.
-// 'interpolation' is specified as 8 bit fraction where 0 means 100% src0
-// and 255 means 1% src0 and 99% src1.
-LIBYUV_API
-int InterpolatePlane(const uint8* src0, int src_stride0,
-                     const uint8* src1, int src_stride1,
-                     uint8* dst, int dst_stride,
-                     int width, int height, int interpolation);
-
-// Interpolate between two ARGB images using specified amount of interpolation
-// Internally calls InterpolatePlane with width * 4 (bpp).
-LIBYUV_API
-int ARGBInterpolate(const uint8* src_argb0, int src_stride_argb0,
-                    const uint8* src_argb1, int src_stride_argb1,
-                    uint8* dst_argb, int dst_stride_argb,
-                    int width, int height, int interpolation);
-
-// Interpolate between two YUV images using specified amount of interpolation
-// Internally calls InterpolatePlane on each plane where the U and V planes
-// are half width and half height.
-LIBYUV_API
-int I420Interpolate(const uint8* src0_y, int src0_stride_y,
-                    const uint8* src0_u, int src0_stride_u,
-                    const uint8* src0_v, int src0_stride_v,
-                    const uint8* src1_y, int src1_stride_y,
-                    const uint8* src1_u, int src1_stride_u,
-                    const uint8* src1_v, int src1_stride_v,
-                    uint8* dst_y, int dst_stride_y,
-                    uint8* dst_u, int dst_stride_u,
-                    uint8* dst_v, int dst_stride_v,
-                    int width, int height, int interpolation);
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-// The following are available on all x86 platforms:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
-#define HAS_ARGBAFFINEROW_SSE2
-#endif
-
-// Row function for copying pixels from a source with a slope to a row
-// of destination. Useful for scaling, rotation, mirror, texture mapping.
-LIBYUV_API
-void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride,
-                     uint8* dst_argb, const float* uv_dudv, int width);
-LIBYUV_API
-void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride,
-                        uint8* dst_argb, const float* uv_dudv, int width);
-
-// Shuffle ARGB channel order.  e.g. BGRA to ARGB.
-// shuffler is 16 bytes and must be aligned.
-LIBYUV_API
-int ARGBShuffle(const uint8* src_bgra, int src_stride_bgra,
-                uint8* dst_argb, int dst_stride_argb,
-                const uint8* shuffler, int width, int height);
-
-// Sobel ARGB effect with planar output.
-LIBYUV_API
-int ARGBSobelToPlane(const uint8* src_argb, int src_stride_argb,
-                     uint8* dst_y, int dst_stride_y,
-                     int width, int height);
-
-// Sobel ARGB effect.
-LIBYUV_API
-int ARGBSobel(const uint8* src_argb, int src_stride_argb,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height);
-
-// Sobel ARGB effect w/ Sobel X, Sobel, Sobel Y in ARGB.
-LIBYUV_API
-int ARGBSobelXY(const uint8* src_argb, int src_stride_argb,
-                uint8* dst_argb, int dst_stride_argb,
-                int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
diff --git a/third_party/libyuv/include/libyuv/rotate.h b/third_party/libyuv/include/libyuv/rotate.h
deleted file mode 100644
index 8a2da9a5aa..0000000000
--- a/third_party/libyuv/include/libyuv/rotate.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROTATE_H_
-#define INCLUDE_LIBYUV_ROTATE_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Supported rotation.
-typedef enum RotationMode {
-  kRotate0 = 0,  // No rotation.
-  kRotate90 = 90,  // Rotate 90 degrees clockwise.
-  kRotate180 = 180,  // Rotate 180 degrees.
-  kRotate270 = 270,  // Rotate 270 degrees clockwise.
-
-  // Deprecated.
-  kRotateNone = 0,
-  kRotateClockwise = 90,
-  kRotateCounterClockwise = 270,
-} RotationModeEnum;
-
-// Rotate I420 frame.
-LIBYUV_API
-int I420Rotate(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int src_width, int src_height, enum RotationMode mode);
-
-// Rotate NV12 input and store in I420.
-LIBYUV_API
-int NV12ToI420Rotate(const uint8* src_y, int src_stride_y,
-                     const uint8* src_uv, int src_stride_uv,
-                     uint8* dst_y, int dst_stride_y,
-                     uint8* dst_u, int dst_stride_u,
-                     uint8* dst_v, int dst_stride_v,
-                     int src_width, int src_height, enum RotationMode mode);
-
-// Rotate a plane by 0, 90, 180, or 270.
-LIBYUV_API
-int RotatePlane(const uint8* src, int src_stride,
-                uint8* dst, int dst_stride,
-                int src_width, int src_height, enum RotationMode mode);
-
-// Rotate planes by 90, 180, 270. Deprecated.
-LIBYUV_API
-void RotatePlane90(const uint8* src, int src_stride,
-                   uint8* dst, int dst_stride,
-                   int width, int height);
-
-LIBYUV_API
-void RotatePlane180(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride,
-                    int width, int height);
-
-LIBYUV_API
-void RotatePlane270(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride,
-                    int width, int height);
-
-LIBYUV_API
-void RotateUV90(const uint8* src, int src_stride,
-                uint8* dst_a, int dst_stride_a,
-                uint8* dst_b, int dst_stride_b,
-                int width, int height);
-
-// Rotations for when U and V are interleaved.
-// These functions take one input pointer and
-// split the data into two buffers while
-// rotating them. Deprecated.
-LIBYUV_API
-void RotateUV180(const uint8* src, int src_stride,
-                 uint8* dst_a, int dst_stride_a,
-                 uint8* dst_b, int dst_stride_b,
-                 int width, int height);
-
-LIBYUV_API
-void RotateUV270(const uint8* src, int src_stride,
-                 uint8* dst_a, int dst_stride_a,
-                 uint8* dst_b, int dst_stride_b,
-                 int width, int height);
-
-// The 90 and 270 functions are based on transposes.
-// Doing a transpose with reversing the read/write
-// order will result in a rotation by +- 90 degrees.
-// Deprecated.
-LIBYUV_API
-void TransposePlane(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride,
-                    int width, int height);
-
-LIBYUV_API
-void TransposeUV(const uint8* src, int src_stride,
-                 uint8* dst_a, int dst_stride_a,
-                 uint8* dst_b, int dst_stride_b,
-                 int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROTATE_H_
diff --git a/third_party/libyuv/include/libyuv/rotate_argb.h b/third_party/libyuv/include/libyuv/rotate_argb.h
deleted file mode 100644
index 21fe7e1807..0000000000
--- a/third_party/libyuv/include/libyuv/rotate_argb.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROTATE_ARGB_H_
-#define INCLUDE_LIBYUV_ROTATE_ARGB_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/rotate.h"  // For RotationMode.
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Rotate ARGB frame
-LIBYUV_API
-int ARGBRotate(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_argb, int dst_stride_argb,
-               int src_width, int src_height, enum RotationMode mode);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROTATE_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/rotate_row.h b/third_party/libyuv/include/libyuv/rotate_row.h
deleted file mode 100644
index 6abd201677..0000000000
--- a/third_party/libyuv/include/libyuv/rotate_row.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROTATE_ROW_H_
-#define INCLUDE_LIBYUV_ROTATE_ROW_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-// The following are available for Visual C and clangcl 32 bit:
-#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86)
-#define HAS_TRANSPOSEWX8_SSSE3
-#define HAS_TRANSPOSEUVWX8_SSE2
-#endif
-
-// The following are available for GCC 32 or 64 bit but not NaCL for 64 bit:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(__i386__) || (defined(__x86_64__) && !defined(__native_client__)))
-#define HAS_TRANSPOSEWX8_SSSE3
-#endif
-
-// The following are available for 64 bit GCC but not NaCL:
-#if !defined(LIBYUV_DISABLE_X86) && !defined(__native_client__) && \
-    defined(__x86_64__)
-#define HAS_TRANSPOSEWX8_FAST_SSSE3
-#define HAS_TRANSPOSEUVWX8_SSE2
-#endif
-
-#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
-    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
-#define HAS_TRANSPOSEWX8_NEON
-#define HAS_TRANSPOSEUVWX8_NEON
-#endif
-
-#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
-    defined(__mips__) && \
-    defined(__mips_dsp) && (__mips_dsp_rev >= 2)
-#define HAS_TRANSPOSEWX8_DSPR2
-#define HAS_TRANSPOSEUVWX8_DSPR2
-#endif  // defined(__mips__)
-
-void TransposeWxH_C(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride, int width, int height);
-
-void TransposeWx8_C(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride, int width);
-void TransposeWx8_NEON(const uint8* src, int src_stride,
-                       uint8* dst, int dst_stride, int width);
-void TransposeWx8_SSSE3(const uint8* src, int src_stride,
-                        uint8* dst, int dst_stride, int width);
-void TransposeWx8_Fast_SSSE3(const uint8* src, int src_stride,
-                             uint8* dst, int dst_stride, int width);
-void TransposeWx8_DSPR2(const uint8* src, int src_stride,
-                        uint8* dst, int dst_stride, int width);
-void TransposeWx8_Fast_DSPR2(const uint8* src, int src_stride,
-                             uint8* dst, int dst_stride, int width);
-
-void TransposeWx8_Any_NEON(const uint8* src, int src_stride,
-                           uint8* dst, int dst_stride, int width);
-void TransposeWx8_Any_SSSE3(const uint8* src, int src_stride,
-                            uint8* dst, int dst_stride, int width);
-void TransposeWx8_Fast_Any_SSSE3(const uint8* src, int src_stride,
-                                 uint8* dst, int dst_stride, int width);
-void TransposeWx8_Any_DSPR2(const uint8* src, int src_stride,
-                            uint8* dst, int dst_stride, int width);
-
-void TransposeUVWxH_C(const uint8* src, int src_stride,
-                      uint8* dst_a, int dst_stride_a,
-                      uint8* dst_b, int dst_stride_b,
-                      int width, int height);
-
-void TransposeUVWx8_C(const uint8* src, int src_stride,
-                      uint8* dst_a, int dst_stride_a,
-                      uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_SSE2(const uint8* src, int src_stride,
-                         uint8* dst_a, int dst_stride_a,
-                         uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_NEON(const uint8* src, int src_stride,
-                         uint8* dst_a, int dst_stride_a,
-                         uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_DSPR2(const uint8* src, int src_stride,
-                          uint8* dst_a, int dst_stride_a,
-                          uint8* dst_b, int dst_stride_b, int width);
-
-void TransposeUVWx8_Any_SSE2(const uint8* src, int src_stride,
-                             uint8* dst_a, int dst_stride_a,
-                             uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_Any_NEON(const uint8* src, int src_stride,
-                             uint8* dst_a, int dst_stride_a,
-                             uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_Any_DSPR2(const uint8* src, int src_stride,
-                              uint8* dst_a, int dst_stride_a,
-                              uint8* dst_b, int dst_stride_b, int width);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROTATE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/row.h b/third_party/libyuv/include/libyuv/row.h
deleted file mode 100644
index b810221ec7..0000000000
--- a/third_party/libyuv/include/libyuv/row.h
+++ /dev/null
@@ -1,1963 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROW_H_
-#define INCLUDE_LIBYUV_ROW_H_
-
-#include <stdlib.h>  // For malloc.
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#define IS_ALIGNED(p, a) (!((uintptr_t)(p) & ((a) - 1)))
-
-#define align_buffer_64(var, size)                                             \
-  uint8* var##_mem = (uint8*)(malloc((size) + 63));               /* NOLINT */ \
-  uint8* var = (uint8*)(((intptr_t)(var##_mem) + 63) & ~63)       /* NOLINT */
-
-#define free_aligned_buffer_64(var) \
-  free(var##_mem);  \
-  var = 0
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-// True if compiling for SSSE3 as a requirement.
-#if defined(__SSSE3__) || (defined(_M_IX86_FP) && (_M_IX86_FP >= 3))
-#define LIBYUV_SSSE3_ONLY
-#endif
-
-#if defined(__native_client__)
-#define LIBYUV_DISABLE_NEON
-#endif
-// clang >= 3.5.0 required for Arm64.
-#if defined(__clang__) && defined(__aarch64__) && !defined(LIBYUV_DISABLE_NEON)
-#if (__clang_major__ < 3) || (__clang_major__ == 3 && (__clang_minor__ < 5))
-#define LIBYUV_DISABLE_NEON
-#endif  // clang >= 3.5
-#endif  // __clang__
-
-// GCC >= 4.7.0 required for AVX2.
-#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__))
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7))
-#define GCC_HAS_AVX2 1
-#endif  // GNUC >= 4.7
-#endif  // __GNUC__
-
-// clang >= 3.4.0 required for AVX2.
-#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
-#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
-#define CLANG_HAS_AVX2 1
-#endif  // clang >= 3.4
-#endif  // __clang__
-
-// Visual C 2012 required for AVX2.
-#if defined(_M_IX86) && !defined(__clang__) && \
-    defined(_MSC_VER) && _MSC_VER >= 1700
-#define VISUALC_HAS_AVX2 1
-#endif  // VisualStudio >= 2012
-
-// The following are available on all x86 platforms:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
-// Conversions:
-#define HAS_ABGRTOUVROW_SSSE3
-#define HAS_ABGRTOYROW_SSSE3
-#define HAS_ARGB1555TOARGBROW_SSE2
-#define HAS_ARGB4444TOARGBROW_SSE2
-#define HAS_ARGBSETROW_X86
-#define HAS_ARGBSHUFFLEROW_SSE2
-#define HAS_ARGBSHUFFLEROW_SSSE3
-#define HAS_ARGBTOARGB1555ROW_SSE2
-#define HAS_ARGBTOARGB4444ROW_SSE2
-#define HAS_ARGBTORAWROW_SSSE3
-#define HAS_ARGBTORGB24ROW_SSSE3
-#define HAS_ARGBTORGB565DITHERROW_SSE2
-#define HAS_ARGBTORGB565ROW_SSE2
-#define HAS_ARGBTOUV444ROW_SSSE3
-#define HAS_ARGBTOUVJROW_SSSE3
-#define HAS_ARGBTOUVROW_SSSE3
-#define HAS_ARGBTOYJROW_SSSE3
-#define HAS_ARGBTOYROW_SSSE3
-#define HAS_ARGBEXTRACTALPHAROW_SSE2
-#define HAS_BGRATOUVROW_SSSE3
-#define HAS_BGRATOYROW_SSSE3
-#define HAS_COPYROW_ERMS
-#define HAS_COPYROW_SSE2
-#define HAS_H422TOARGBROW_SSSE3
-#define HAS_I400TOARGBROW_SSE2
-#define HAS_I422TOARGB1555ROW_SSSE3
-#define HAS_I422TOARGB4444ROW_SSSE3
-#define HAS_I422TOARGBROW_SSSE3
-#define HAS_I422TORGB24ROW_SSSE3
-#define HAS_I422TORGB565ROW_SSSE3
-#define HAS_I422TORGBAROW_SSSE3
-#define HAS_I422TOUYVYROW_SSE2
-#define HAS_I422TOYUY2ROW_SSE2
-#define HAS_I444TOARGBROW_SSSE3
-#define HAS_J400TOARGBROW_SSE2
-#define HAS_J422TOARGBROW_SSSE3
-#define HAS_MERGEUVROW_SSE2
-#define HAS_MIRRORROW_SSSE3
-#define HAS_MIRRORUVROW_SSSE3
-#define HAS_NV12TOARGBROW_SSSE3
-#define HAS_NV12TORGB565ROW_SSSE3
-#define HAS_NV21TOARGBROW_SSSE3
-#define HAS_RAWTOARGBROW_SSSE3
-#define HAS_RAWTORGB24ROW_SSSE3
-#define HAS_RAWTOYROW_SSSE3
-#define HAS_RGB24TOARGBROW_SSSE3
-#define HAS_RGB24TOYROW_SSSE3
-#define HAS_RGB565TOARGBROW_SSE2
-#define HAS_RGBATOUVROW_SSSE3
-#define HAS_RGBATOYROW_SSSE3
-#define HAS_SETROW_ERMS
-#define HAS_SETROW_X86
-#define HAS_SPLITUVROW_SSE2
-#define HAS_UYVYTOARGBROW_SSSE3
-#define HAS_UYVYTOUV422ROW_SSE2
-#define HAS_UYVYTOUVROW_SSE2
-#define HAS_UYVYTOYROW_SSE2
-#define HAS_YUY2TOARGBROW_SSSE3
-#define HAS_YUY2TOUV422ROW_SSE2
-#define HAS_YUY2TOUVROW_SSE2
-#define HAS_YUY2TOYROW_SSE2
-
-// Effects:
-#define HAS_ARGBADDROW_SSE2
-#define HAS_ARGBAFFINEROW_SSE2
-#define HAS_ARGBATTENUATEROW_SSSE3
-#define HAS_ARGBBLENDROW_SSSE3
-#define HAS_ARGBCOLORMATRIXROW_SSSE3
-#define HAS_ARGBCOLORTABLEROW_X86
-#define HAS_ARGBCOPYALPHAROW_SSE2
-#define HAS_ARGBCOPYYTOALPHAROW_SSE2
-#define HAS_ARGBGRAYROW_SSSE3
-#define HAS_ARGBLUMACOLORTABLEROW_SSSE3
-#define HAS_ARGBMIRRORROW_SSE2
-#define HAS_ARGBMULTIPLYROW_SSE2
-#define HAS_ARGBPOLYNOMIALROW_SSE2
-#define HAS_ARGBQUANTIZEROW_SSE2
-#define HAS_ARGBSEPIAROW_SSSE3
-#define HAS_ARGBSHADEROW_SSE2
-#define HAS_ARGBSUBTRACTROW_SSE2
-#define HAS_ARGBUNATTENUATEROW_SSE2
-#define HAS_BLENDPLANEROW_SSSE3
-#define HAS_COMPUTECUMULATIVESUMROW_SSE2
-#define HAS_CUMULATIVESUMTOAVERAGEROW_SSE2
-#define HAS_INTERPOLATEROW_SSSE3
-#define HAS_RGBCOLORTABLEROW_X86
-#define HAS_SOBELROW_SSE2
-#define HAS_SOBELTOPLANEROW_SSE2
-#define HAS_SOBELXROW_SSE2
-#define HAS_SOBELXYROW_SSE2
-#define HAS_SOBELYROW_SSE2
-
-// The following functions fail on gcc/clang 32 bit with fpic and framepointer.
-// caveat: clangcl uses row_win.cc which works.
-#if defined(NDEBUG) || !(defined(_DEBUG) && defined(__i386__)) || \
-    !defined(__i386__) || defined(_MSC_VER)
-// TODO(fbarchard): fix build error on x86 debug
-// https://code.google.com/p/libyuv/issues/detail?id=524
-#define HAS_I411TOARGBROW_SSSE3
-// TODO(fbarchard): fix build error on android_full_debug=1
-// https://code.google.com/p/libyuv/issues/detail?id=517
-#define HAS_I422ALPHATOARGBROW_SSSE3
-#endif
-#endif
-
-// The following are available on all x86 platforms, but
-// require VS2012, clang 3.4 or gcc 4.7.
-// The code supports NaCL but requires a new compiler and validator.
-#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \
-    defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2))
-#define HAS_ARGBCOPYALPHAROW_AVX2
-#define HAS_ARGBCOPYYTOALPHAROW_AVX2
-#define HAS_ARGBMIRRORROW_AVX2
-#define HAS_ARGBPOLYNOMIALROW_AVX2
-#define HAS_ARGBSHUFFLEROW_AVX2
-#define HAS_ARGBTORGB565DITHERROW_AVX2
-#define HAS_ARGBTOUVJROW_AVX2
-#define HAS_ARGBTOUVROW_AVX2
-#define HAS_ARGBTOYJROW_AVX2
-#define HAS_ARGBTOYROW_AVX2
-#define HAS_COPYROW_AVX
-#define HAS_H422TOARGBROW_AVX2
-#define HAS_I400TOARGBROW_AVX2
-#if !(defined(_DEBUG) && defined(__i386__))
-// TODO(fbarchard): fix build error on android_full_debug=1
-// https://code.google.com/p/libyuv/issues/detail?id=517
-#define HAS_I422ALPHATOARGBROW_AVX2
-#endif
-#define HAS_I411TOARGBROW_AVX2
-#define HAS_I422TOARGB1555ROW_AVX2
-#define HAS_I422TOARGB4444ROW_AVX2
-#define HAS_I422TOARGBROW_AVX2
-#define HAS_I422TORGB24ROW_AVX2
-#define HAS_I422TORGB565ROW_AVX2
-#define HAS_I422TORGBAROW_AVX2
-#define HAS_I444TOARGBROW_AVX2
-#define HAS_INTERPOLATEROW_AVX2
-#define HAS_J422TOARGBROW_AVX2
-#define HAS_MERGEUVROW_AVX2
-#define HAS_MIRRORROW_AVX2
-#define HAS_NV12TOARGBROW_AVX2
-#define HAS_NV12TORGB565ROW_AVX2
-#define HAS_NV21TOARGBROW_AVX2
-#define HAS_SPLITUVROW_AVX2
-#define HAS_UYVYTOARGBROW_AVX2
-#define HAS_UYVYTOUV422ROW_AVX2
-#define HAS_UYVYTOUVROW_AVX2
-#define HAS_UYVYTOYROW_AVX2
-#define HAS_YUY2TOARGBROW_AVX2
-#define HAS_YUY2TOUV422ROW_AVX2
-#define HAS_YUY2TOUVROW_AVX2
-#define HAS_YUY2TOYROW_AVX2
-#define HAS_HALFFLOATROW_AVX2
-
-// Effects:
-#define HAS_ARGBADDROW_AVX2
-#define HAS_ARGBATTENUATEROW_AVX2
-#define HAS_ARGBMULTIPLYROW_AVX2
-#define HAS_ARGBSUBTRACTROW_AVX2
-#define HAS_ARGBUNATTENUATEROW_AVX2
-#define HAS_BLENDPLANEROW_AVX2
-#endif
-
-// The following are available for AVX2 Visual C and clangcl 32 bit:
-// TODO(fbarchard): Port to gcc.
-#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \
-    (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
-#define HAS_ARGB1555TOARGBROW_AVX2
-#define HAS_ARGB4444TOARGBROW_AVX2
-#define HAS_ARGBTOARGB1555ROW_AVX2
-#define HAS_ARGBTOARGB4444ROW_AVX2
-#define HAS_ARGBTORGB565ROW_AVX2
-#define HAS_J400TOARGBROW_AVX2
-#define HAS_RGB565TOARGBROW_AVX2
-#endif
-
-// The following are also available on x64 Visual C.
-#if !defined(LIBYUV_DISABLE_X86) && defined(_MSC_VER) && defined(_M_X64) && \
-    (!defined(__clang__) || defined(__SSSE3__))
-#define HAS_I422ALPHATOARGBROW_SSSE3
-#define HAS_I422TOARGBROW_SSSE3
-#endif
-
-// The following are available on gcc x86 platforms:
-// TODO(fbarchard): Port to Visual C.
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(__x86_64__) || (defined(__i386__) && !defined(_MSC_VER)))
-#define HAS_HALFFLOATROW_SSE2
-#endif
-
-// The following are available on Neon platforms:
-#if !defined(LIBYUV_DISABLE_NEON) && \
-    (defined(__aarch64__) || defined(__ARM_NEON__) || defined(LIBYUV_NEON))
-#define HAS_ABGRTOUVROW_NEON
-#define HAS_ABGRTOYROW_NEON
-#define HAS_ARGB1555TOARGBROW_NEON
-#define HAS_ARGB1555TOUVROW_NEON
-#define HAS_ARGB1555TOYROW_NEON
-#define HAS_ARGB4444TOARGBROW_NEON
-#define HAS_ARGB4444TOUVROW_NEON
-#define HAS_ARGB4444TOYROW_NEON
-#define HAS_ARGBSETROW_NEON
-#define HAS_ARGBTOARGB1555ROW_NEON
-#define HAS_ARGBTOARGB4444ROW_NEON
-#define HAS_ARGBTORAWROW_NEON
-#define HAS_ARGBTORGB24ROW_NEON
-#define HAS_ARGBTORGB565DITHERROW_NEON
-#define HAS_ARGBTORGB565ROW_NEON
-#define HAS_ARGBTOUV411ROW_NEON
-#define HAS_ARGBTOUV444ROW_NEON
-#define HAS_ARGBTOUVJROW_NEON
-#define HAS_ARGBTOUVROW_NEON
-#define HAS_ARGBTOYJROW_NEON
-#define HAS_ARGBTOYROW_NEON
-#define HAS_ARGBEXTRACTALPHAROW_NEON
-#define HAS_BGRATOUVROW_NEON
-#define HAS_BGRATOYROW_NEON
-#define HAS_COPYROW_NEON
-#define HAS_I400TOARGBROW_NEON
-#define HAS_I411TOARGBROW_NEON
-#define HAS_I422ALPHATOARGBROW_NEON
-#define HAS_I422TOARGB1555ROW_NEON
-#define HAS_I422TOARGB4444ROW_NEON
-#define HAS_I422TOARGBROW_NEON
-#define HAS_I422TORGB24ROW_NEON
-#define HAS_I422TORGB565ROW_NEON
-#define HAS_I422TORGBAROW_NEON
-#define HAS_I422TOUYVYROW_NEON
-#define HAS_I422TOYUY2ROW_NEON
-#define HAS_I444TOARGBROW_NEON
-#define HAS_J400TOARGBROW_NEON
-#define HAS_MERGEUVROW_NEON
-#define HAS_MIRRORROW_NEON
-#define HAS_MIRRORUVROW_NEON
-#define HAS_NV12TOARGBROW_NEON
-#define HAS_NV12TORGB565ROW_NEON
-#define HAS_NV21TOARGBROW_NEON
-#define HAS_RAWTOARGBROW_NEON
-#define HAS_RAWTORGB24ROW_NEON
-#define HAS_RAWTOUVROW_NEON
-#define HAS_RAWTOYROW_NEON
-#define HAS_RGB24TOARGBROW_NEON
-#define HAS_RGB24TOUVROW_NEON
-#define HAS_RGB24TOYROW_NEON
-#define HAS_RGB565TOARGBROW_NEON
-#define HAS_RGB565TOUVROW_NEON
-#define HAS_RGB565TOYROW_NEON
-#define HAS_RGBATOUVROW_NEON
-#define HAS_RGBATOYROW_NEON
-#define HAS_SETROW_NEON
-#define HAS_SPLITUVROW_NEON
-#define HAS_UYVYTOARGBROW_NEON
-#define HAS_UYVYTOUV422ROW_NEON
-#define HAS_UYVYTOUVROW_NEON
-#define HAS_UYVYTOYROW_NEON
-#define HAS_YUY2TOARGBROW_NEON
-#define HAS_YUY2TOUV422ROW_NEON
-#define HAS_YUY2TOUVROW_NEON
-#define HAS_YUY2TOYROW_NEON
-
-// Effects:
-#define HAS_ARGBADDROW_NEON
-#define HAS_ARGBATTENUATEROW_NEON
-#define HAS_ARGBBLENDROW_NEON
-#define HAS_ARGBCOLORMATRIXROW_NEON
-#define HAS_ARGBGRAYROW_NEON
-#define HAS_ARGBMIRRORROW_NEON
-#define HAS_ARGBMULTIPLYROW_NEON
-#define HAS_ARGBQUANTIZEROW_NEON
-#define HAS_ARGBSEPIAROW_NEON
-#define HAS_ARGBSHADEROW_NEON
-#define HAS_ARGBSHUFFLEROW_NEON
-#define HAS_ARGBSUBTRACTROW_NEON
-#define HAS_INTERPOLATEROW_NEON
-#define HAS_SOBELROW_NEON
-#define HAS_SOBELTOPLANEROW_NEON
-#define HAS_SOBELXROW_NEON
-#define HAS_SOBELXYROW_NEON
-#define HAS_SOBELYROW_NEON
-#endif
-
-// The following are available on Mips platforms:
-#if !defined(LIBYUV_DISABLE_MIPS) && defined(__mips__) && \
-    (_MIPS_SIM == _MIPS_SIM_ABI32) && (__mips_isa_rev < 6)
-#define HAS_COPYROW_MIPS
-#if defined(__mips_dsp) && (__mips_dsp_rev >= 2)
-#define HAS_I422TOARGBROW_DSPR2
-#define HAS_INTERPOLATEROW_DSPR2
-#define HAS_MIRRORROW_DSPR2
-#define HAS_MIRRORUVROW_DSPR2
-#define HAS_SPLITUVROW_DSPR2
-#endif
-#endif
-
-#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa)
-#define HAS_MIRRORROW_MSA
-#define HAS_ARGBMIRRORROW_MSA
-#endif
-
-#if defined(_MSC_VER) && !defined(__CLR_VER) && !defined(__clang__)
-#if defined(VISUALC_HAS_AVX2)
-#define SIMD_ALIGNED(var) __declspec(align(32)) var
-#else
-#define SIMD_ALIGNED(var) __declspec(align(16)) var
-#endif
-typedef __declspec(align(16)) int16 vec16[8];
-typedef __declspec(align(16)) int32 vec32[4];
-typedef __declspec(align(16)) int8 vec8[16];
-typedef __declspec(align(16)) uint16 uvec16[8];
-typedef __declspec(align(16)) uint32 uvec32[4];
-typedef __declspec(align(16)) uint8 uvec8[16];
-typedef __declspec(align(32)) int16 lvec16[16];
-typedef __declspec(align(32)) int32 lvec32[8];
-typedef __declspec(align(32)) int8 lvec8[32];
-typedef __declspec(align(32)) uint16 ulvec16[16];
-typedef __declspec(align(32)) uint32 ulvec32[8];
-typedef __declspec(align(32)) uint8 ulvec8[32];
-#elif !defined(__pnacl__) && (defined(__GNUC__) || defined(__clang__))
-// Caveat GCC 4.2 to 4.7 have a known issue using vectors with const.
-#if defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2)
-#define SIMD_ALIGNED(var) var __attribute__((aligned(32)))
-#else
-#define SIMD_ALIGNED(var) var __attribute__((aligned(16)))
-#endif
-typedef int16 __attribute__((vector_size(16))) vec16;
-typedef int32 __attribute__((vector_size(16))) vec32;
-typedef int8 __attribute__((vector_size(16))) vec8;
-typedef uint16 __attribute__((vector_size(16))) uvec16;
-typedef uint32 __attribute__((vector_size(16))) uvec32;
-typedef uint8 __attribute__((vector_size(16))) uvec8;
-typedef int16 __attribute__((vector_size(32))) lvec16;
-typedef int32 __attribute__((vector_size(32))) lvec32;
-typedef int8 __attribute__((vector_size(32))) lvec8;
-typedef uint16 __attribute__((vector_size(32))) ulvec16;
-typedef uint32 __attribute__((vector_size(32))) ulvec32;
-typedef uint8 __attribute__((vector_size(32))) ulvec8;
-#else
-#define SIMD_ALIGNED(var) var
-typedef int16 vec16[8];
-typedef int32 vec32[4];
-typedef int8 vec8[16];
-typedef uint16 uvec16[8];
-typedef uint32 uvec32[4];
-typedef uint8 uvec8[16];
-typedef int16 lvec16[16];
-typedef int32 lvec32[8];
-typedef int8 lvec8[32];
-typedef uint16 ulvec16[16];
-typedef uint32 ulvec32[8];
-typedef uint8 ulvec8[32];
-#endif
-
-#if defined(__aarch64__)
-// This struct is for Arm64 color conversion.
-struct YuvConstants {
-  uvec16 kUVToRB;
-  uvec16 kUVToRB2;
-  uvec16 kUVToG;
-  uvec16 kUVToG2;
-  vec16 kUVBiasBGR;
-  vec32 kYToRgb;
-};
-#elif defined(__arm__)
-// This struct is for ArmV7 color conversion.
-struct YuvConstants {
-  uvec8 kUVToRB;
-  uvec8 kUVToG;
-  vec16 kUVBiasBGR;
-  vec32 kYToRgb;
-};
-#else
-// This struct is for Intel color conversion.
-struct YuvConstants {
-  int8 kUVToB[32];
-  int8 kUVToG[32];
-  int8 kUVToR[32];
-  int16 kUVBiasB[16];
-  int16 kUVBiasG[16];
-  int16 kUVBiasR[16];
-  int16 kYToRgb[16];
-};
-
-// Offsets into YuvConstants structure
-#define KUVTOB   0
-#define KUVTOG   32
-#define KUVTOR   64
-#define KUVBIASB 96
-#define KUVBIASG 128
-#define KUVBIASR 160
-#define KYTORGB  192
-#endif
-
-// Conversion matrix for YUV to RGB
-extern const struct YuvConstants SIMD_ALIGNED(kYuvI601Constants);  // BT.601
-extern const struct YuvConstants SIMD_ALIGNED(kYuvJPEGConstants);  // JPeg
-extern const struct YuvConstants SIMD_ALIGNED(kYuvH709Constants);  // BT.709
-
-// Conversion matrix for YVU to BGR
-extern const struct YuvConstants SIMD_ALIGNED(kYvuI601Constants);  // BT.601
-extern const struct YuvConstants SIMD_ALIGNED(kYvuJPEGConstants);  // JPeg
-extern const struct YuvConstants SIMD_ALIGNED(kYvuH709Constants);  // BT.709
-
-#if defined(__APPLE__) || defined(__x86_64__) || defined(__llvm__)
-#define OMITFP
-#else
-#define OMITFP __attribute__((optimize("omit-frame-pointer")))
-#endif
-
-// NaCL macros for GCC x86 and x64.
-#if defined(__native_client__)
-#define LABELALIGN ".p2align 5\n"
-#else
-#define LABELALIGN
-#endif
-#if defined(__native_client__) && defined(__x86_64__)
-// r14 is used for MEMOP macros.
-#define NACL_R14 "r14",
-#define BUNDLELOCK ".bundle_lock\n"
-#define BUNDLEUNLOCK ".bundle_unlock\n"
-#define MEMACCESS(base) "%%nacl:(%%r15,%q" #base ")"
-#define MEMACCESS2(offset, base) "%%nacl:" #offset "(%%r15,%q" #base ")"
-#define MEMLEA(offset, base) #offset "(%q" #base ")"
-#define MEMLEA3(offset, index, scale) \
-    #offset "(,%q" #index "," #scale ")"
-#define MEMLEA4(offset, base, index, scale) \
-    #offset "(%q" #base ",%q" #index "," #scale ")"
-#define MEMMOVESTRING(s, d) "%%nacl:(%q" #s "),%%nacl:(%q" #d "), %%r15"
-#define MEMSTORESTRING(reg, d) "%%" #reg ",%%nacl:(%q" #d "), %%r15"
-#define MEMOPREG(opcode, offset, base, index, scale, reg) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " (%%r15,%%r14),%%" #reg "\n" \
-    BUNDLEUNLOCK
-#define MEMOPMEM(opcode, reg, offset, base, index, scale) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " %%" #reg ",(%%r15,%%r14)\n" \
-    BUNDLEUNLOCK
-#define MEMOPARG(opcode, offset, base, index, scale, arg) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " (%%r15,%%r14),%" #arg "\n" \
-    BUNDLEUNLOCK
-#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " (%%r15,%%r14),%%" #reg1 ",%%" #reg2 "\n" \
-    BUNDLEUNLOCK
-#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #op " $" #sel ",%%" #reg ",(%%r15,%%r14)\n" \
-    BUNDLEUNLOCK
-#else  // defined(__native_client__) && defined(__x86_64__)
-#define NACL_R14
-#define BUNDLEALIGN
-#define MEMACCESS(base) "(%" #base ")"
-#define MEMACCESS2(offset, base) #offset "(%" #base ")"
-#define MEMLEA(offset, base) #offset "(%" #base ")"
-#define MEMLEA3(offset, index, scale) \
-    #offset "(,%" #index "," #scale ")"
-#define MEMLEA4(offset, base, index, scale) \
-    #offset "(%" #base ",%" #index "," #scale ")"
-#define MEMMOVESTRING(s, d)
-#define MEMSTORESTRING(reg, d)
-#define MEMOPREG(opcode, offset, base, index, scale, reg) \
-    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg "\n"
-#define MEMOPMEM(opcode, reg, offset, base, index, scale) \
-    #opcode " %%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n"
-#define MEMOPARG(opcode, offset, base, index, scale, arg) \
-    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%" #arg "\n"
-#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \
-    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg1 ",%%" \
-    #reg2 "\n"
-#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \
-    #op " $" #sel ",%%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n"
-#endif  // defined(__native_client__) && defined(__x86_64__)
-
-#if defined(__arm__) || defined(__aarch64__)
-#undef MEMACCESS
-#if defined(__native_client__)
-#define MEMACCESS(base) ".p2align 3\nbic %" #base ", #0xc0000000\n"
-#else
-#define MEMACCESS(base)
-#endif
-#endif
-
-void I444ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422AlphaToARGBRow_NEON(const uint8* y_buf,
-                             const uint8* u_buf,
-                             const uint8* v_buf,
-                             const uint8* a_buf,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I411ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGBARow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_rgba,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGB24Row_NEON(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_rgb24,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToRGB565Row_NEON(const uint8* src_y,
-                          const uint8* src_u,
-                          const uint8* src_v,
-                          uint8* dst_rgb565,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I422ToARGB1555Row_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb1555,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGB4444Row_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb4444,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_uv,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void NV12ToRGB565Row_NEON(const uint8* src_y,
-                          const uint8* src_uv,
-                          uint8* dst_rgb565,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void NV21ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_vu,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void YUY2ToARGBRow_NEON(const uint8* src_yuy2,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void UYVYToARGBRow_NEON(const uint8* src_uyvy,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-
-void ARGBToYRow_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_SSSE3(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_SSSE3(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_SSSE3(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_SSSE3(const uint8* src_raw, uint8* dst_y, int width);
-void ARGBToYRow_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToUV444Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                         int width);
-void ARGBToUV411Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                         int width);
-void ARGBToUVRow_NEON(const uint8* src_argb, int src_stride_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_NEON(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_NEON(const uint8* src_bgra, int src_stride_bgra,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_NEON(const uint8* src_abgr, int src_stride_abgr,
-                      uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_NEON(const uint8* src_rgba, int src_stride_rgba,
-                      uint8* dst_u, uint8* dst_v, int width);
-void RGB24ToUVRow_NEON(const uint8* src_rgb24, int src_stride_rgb24,
-                       uint8* dst_u, uint8* dst_v, int width);
-void RAWToUVRow_NEON(const uint8* src_raw, int src_stride_raw,
-                     uint8* dst_u, uint8* dst_v, int width);
-void RGB565ToUVRow_NEON(const uint8* src_rgb565, int src_stride_rgb565,
-                        uint8* dst_u, uint8* dst_v, int width);
-void ARGB1555ToUVRow_NEON(const uint8* src_argb1555, int src_stride_argb1555,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGB4444ToUVRow_NEON(const uint8* src_argb4444, int src_stride_argb4444,
-                          uint8* dst_u, uint8* dst_v, int width);
-void BGRAToYRow_NEON(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_NEON(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_NEON(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_NEON(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_NEON(const uint8* src_raw, uint8* dst_y, int width);
-void RGB565ToYRow_NEON(const uint8* src_rgb565, uint8* dst_y, int width);
-void ARGB1555ToYRow_NEON(const uint8* src_argb1555, uint8* dst_y, int width);
-void ARGB4444ToYRow_NEON(const uint8* src_argb4444, uint8* dst_y, int width);
-void ARGBToYRow_C(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_C(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_C(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_C(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_C(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_C(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_C(const uint8* src_raw, uint8* dst_y, int width);
-void RGB565ToYRow_C(const uint8* src_rgb565, uint8* dst_y, int width);
-void ARGB1555ToYRow_C(const uint8* src_argb1555, uint8* dst_y, int width);
-void ARGB4444ToYRow_C(const uint8* src_argb4444, uint8* dst_y, int width);
-void ARGBToYRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_Any_SSSE3(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_Any_SSSE3(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_Any_SSSE3(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_Any_SSSE3(const uint8* src_raw, uint8* dst_y, int width);
-void ARGBToYRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_Any_NEON(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_Any_NEON(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_Any_NEON(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_Any_NEON(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_Any_NEON(const uint8* src_raw, uint8* dst_y, int width);
-void RGB565ToYRow_Any_NEON(const uint8* src_rgb565, uint8* dst_y, int width);
-void ARGB1555ToYRow_Any_NEON(const uint8* src_argb1555, uint8* dst_y,
-                             int width);
-void ARGB4444ToYRow_Any_NEON(const uint8* src_argb4444, uint8* dst_y,
-                             int width);
-
-void ARGBToUVRow_AVX2(const uint8* src_argb, int src_stride_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_AVX2(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_SSSE3(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_SSSE3(const uint8* src_argb, int src_stride_argb,
-                        uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_SSSE3(const uint8* src_bgra, int src_stride_bgra,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_SSSE3(const uint8* src_abgr, int src_stride_abgr,
-                       uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_SSSE3(const uint8* src_rgba, int src_stride_rgba,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_Any_AVX2(const uint8* src_argb, int src_stride_argb,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_Any_AVX2(const uint8* src_argb, int src_stride_argb,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb,
-                            uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_Any_SSSE3(const uint8* src_bgra, int src_stride_bgra,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_Any_SSSE3(const uint8* src_abgr, int src_stride_abgr,
-                           uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_Any_SSSE3(const uint8* src_rgba, int src_stride_rgba,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUV444Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                             int width);
-void ARGBToUV411Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                             int width);
-void ARGBToUVRow_Any_NEON(const uint8* src_argb, int src_stride_argb,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_Any_NEON(const uint8* src_argb, int src_stride_argb,
-                           uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_Any_NEON(const uint8* src_bgra, int src_stride_bgra,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_Any_NEON(const uint8* src_abgr, int src_stride_abgr,
-                          uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_Any_NEON(const uint8* src_rgba, int src_stride_rgba,
-                          uint8* dst_u, uint8* dst_v, int width);
-void RGB24ToUVRow_Any_NEON(const uint8* src_rgb24, int src_stride_rgb24,
-                           uint8* dst_u, uint8* dst_v, int width);
-void RAWToUVRow_Any_NEON(const uint8* src_raw, int src_stride_raw,
-                         uint8* dst_u, uint8* dst_v, int width);
-void RGB565ToUVRow_Any_NEON(const uint8* src_rgb565, int src_stride_rgb565,
-                            uint8* dst_u, uint8* dst_v, int width);
-void ARGB1555ToUVRow_Any_NEON(const uint8* src_argb1555,
-                              int src_stride_argb1555,
-                              uint8* dst_u, uint8* dst_v, int width);
-void ARGB4444ToUVRow_Any_NEON(const uint8* src_argb4444,
-                              int src_stride_argb4444,
-                              uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_C(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_C(const uint8* src_argb, int src_stride_argb,
-                    uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_C(const uint8* src_bgra, int src_stride_bgra,
-                   uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_C(const uint8* src_abgr, int src_stride_abgr,
-                   uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_C(const uint8* src_rgba, int src_stride_rgba,
-                   uint8* dst_u, uint8* dst_v, int width);
-void RGB24ToUVRow_C(const uint8* src_rgb24, int src_stride_rgb24,
-                    uint8* dst_u, uint8* dst_v, int width);
-void RAWToUVRow_C(const uint8* src_raw, int src_stride_raw,
-                  uint8* dst_u, uint8* dst_v, int width);
-void RGB565ToUVRow_C(const uint8* src_rgb565, int src_stride_rgb565,
-                     uint8* dst_u, uint8* dst_v, int width);
-void ARGB1555ToUVRow_C(const uint8* src_argb1555, int src_stride_argb1555,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGB4444ToUVRow_C(const uint8* src_argb4444, int src_stride_argb4444,
-                       uint8* dst_u, uint8* dst_v, int width);
-
-void ARGBToUV444Row_SSSE3(const uint8* src_argb,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUV444Row_Any_SSSE3(const uint8* src_argb,
-                              uint8* dst_u, uint8* dst_v, int width);
-
-void ARGBToUV444Row_C(const uint8* src_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUV411Row_C(const uint8* src_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-
-void MirrorRow_AVX2(const uint8* src, uint8* dst, int width);
-void MirrorRow_SSSE3(const uint8* src, uint8* dst, int width);
-void MirrorRow_NEON(const uint8* src, uint8* dst, int width);
-void MirrorRow_DSPR2(const uint8* src, uint8* dst, int width);
-void MirrorRow_MSA(const uint8* src, uint8* dst, int width);
-void MirrorRow_C(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_SSSE3(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_NEON(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_MSA(const uint8* src, uint8* dst, int width);
-
-void MirrorUVRow_SSSE3(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                       int width);
-void MirrorUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                      int width);
-void MirrorUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                       int width);
-void MirrorUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width);
-
-void ARGBMirrorRow_AVX2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_SSE2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_NEON(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_MSA(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_C(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_NEON(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_MSA(const uint8* src, uint8* dst, int width);
-
-void SplitUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width);
-void SplitUVRow_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                     int width);
-void SplitUVRow_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                     int width);
-void SplitUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                     int width);
-void SplitUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                      int width);
-void SplitUVRow_Any_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                         int width);
-void SplitUVRow_Any_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                         int width);
-void SplitUVRow_Any_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                         int width);
-void SplitUVRow_Any_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                          int width);
-
-void MergeUVRow_C(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                  int width);
-void MergeUVRow_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                     int width);
-void MergeUVRow_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                     int width);
-void MergeUVRow_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                     int width);
-void MergeUVRow_Any_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                         int width);
-void MergeUVRow_Any_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                         int width);
-void MergeUVRow_Any_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                         int width);
-
-void CopyRow_SSE2(const uint8* src, uint8* dst, int count);
-void CopyRow_AVX(const uint8* src, uint8* dst, int count);
-void CopyRow_ERMS(const uint8* src, uint8* dst, int count);
-void CopyRow_NEON(const uint8* src, uint8* dst, int count);
-void CopyRow_MIPS(const uint8* src, uint8* dst, int count);
-void CopyRow_C(const uint8* src, uint8* dst, int count);
-void CopyRow_Any_SSE2(const uint8* src, uint8* dst, int count);
-void CopyRow_Any_AVX(const uint8* src, uint8* dst, int count);
-void CopyRow_Any_NEON(const uint8* src, uint8* dst, int count);
-
-void CopyRow_16_C(const uint16* src, uint16* dst, int count);
-
-void ARGBCopyAlphaRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBCopyAlphaRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBCopyAlphaRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBCopyAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-void ARGBCopyAlphaRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-
-void ARGBExtractAlphaRow_C(const uint8* src_argb, uint8* dst_a, int width);
-void ARGBExtractAlphaRow_SSE2(const uint8* src_argb, uint8* dst_a, int width);
-void ARGBExtractAlphaRow_NEON(const uint8* src_argb, uint8* dst_a, int width);
-void ARGBExtractAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_a,
-                                  int width);
-void ARGBExtractAlphaRow_Any_NEON(const uint8* src_argb, uint8* dst_a,
-                                  int width);
-
-void ARGBCopyYToAlphaRow_C(const uint8* src_y, uint8* dst_argb, int width);
-void ARGBCopyYToAlphaRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void ARGBCopyYToAlphaRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void ARGBCopyYToAlphaRow_Any_SSE2(const uint8* src_y, uint8* dst_argb,
-                                  int width);
-void ARGBCopyYToAlphaRow_Any_AVX2(const uint8* src_y, uint8* dst_argb,
-                                  int width);
-
-void SetRow_C(uint8* dst, uint8 v8, int count);
-void SetRow_X86(uint8* dst, uint8 v8, int count);
-void SetRow_ERMS(uint8* dst, uint8 v8, int count);
-void SetRow_NEON(uint8* dst, uint8 v8, int count);
-void SetRow_Any_X86(uint8* dst, uint8 v8, int count);
-void SetRow_Any_NEON(uint8* dst, uint8 v8, int count);
-
-void ARGBSetRow_C(uint8* dst_argb, uint32 v32, int count);
-void ARGBSetRow_X86(uint8* dst_argb, uint32 v32, int count);
-void ARGBSetRow_NEON(uint8* dst_argb, uint32 v32, int count);
-void ARGBSetRow_Any_NEON(uint8* dst_argb, uint32 v32, int count);
-
-// ARGBShufflers for BGRAToARGB etc.
-void ARGBShuffleRow_C(const uint8* src_argb, uint8* dst_argb,
-                      const uint8* shuffler, int width);
-void ARGBShuffleRow_SSE2(const uint8* src_argb, uint8* dst_argb,
-                         const uint8* shuffler, int width);
-void ARGBShuffleRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                          const uint8* shuffler, int width);
-void ARGBShuffleRow_AVX2(const uint8* src_argb, uint8* dst_argb,
-                         const uint8* shuffler, int width);
-void ARGBShuffleRow_NEON(const uint8* src_argb, uint8* dst_argb,
-                         const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                             const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                              const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                             const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_NEON(const uint8* src_argb, uint8* dst_argb,
-                             const uint8* shuffler, int width);
-
-void RGB24ToARGBRow_SSSE3(const uint8* src_rgb24, uint8* dst_argb, int width);
-void RAWToARGBRow_SSSE3(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_SSE2(const uint8* src_rgb565, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_SSE2(const uint8* src_argb1555, uint8* dst_argb,
-                            int width);
-void ARGB4444ToARGBRow_SSE2(const uint8* src_argb4444, uint8* dst_argb,
-                            int width);
-void RGB565ToARGBRow_AVX2(const uint8* src_rgb565, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_AVX2(const uint8* src_argb1555, uint8* dst_argb,
-                            int width);
-void ARGB4444ToARGBRow_AVX2(const uint8* src_argb4444, uint8* dst_argb,
-                            int width);
-
-void RGB24ToARGBRow_NEON(const uint8* src_rgb24, uint8* dst_argb, int width);
-void RAWToARGBRow_NEON(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_NEON(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_NEON(const uint8* src_rgb565, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_NEON(const uint8* src_argb1555, uint8* dst_argb,
-                            int width);
-void ARGB4444ToARGBRow_NEON(const uint8* src_argb4444, uint8* dst_argb,
-                            int width);
-void RGB24ToARGBRow_C(const uint8* src_rgb24, uint8* dst_argb, int width);
-void RAWToARGBRow_C(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_C(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_C(const uint8* src_rgb, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGB4444ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void RGB24ToARGBRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_argb,
-                              int width);
-void RAWToARGBRow_Any_SSSE3(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_Any_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width);
-
-void RGB565ToARGBRow_Any_SSE2(const uint8* src_rgb565, uint8* dst_argb,
-                              int width);
-void ARGB1555ToARGBRow_Any_SSE2(const uint8* src_argb1555, uint8* dst_argb,
-                                int width);
-void ARGB4444ToARGBRow_Any_SSE2(const uint8* src_argb4444, uint8* dst_argb,
-                                int width);
-void RGB565ToARGBRow_Any_AVX2(const uint8* src_rgb565, uint8* dst_argb,
-                              int width);
-void ARGB1555ToARGBRow_Any_AVX2(const uint8* src_argb1555, uint8* dst_argb,
-                                int width);
-void ARGB4444ToARGBRow_Any_AVX2(const uint8* src_argb4444, uint8* dst_argb,
-                                int width);
-
-void RGB24ToARGBRow_Any_NEON(const uint8* src_rgb24, uint8* dst_argb,
-                             int width);
-void RAWToARGBRow_Any_NEON(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_Any_NEON(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_Any_NEON(const uint8* src_rgb565, uint8* dst_argb,
-                              int width);
-void ARGB1555ToARGBRow_Any_NEON(const uint8* src_argb1555, uint8* dst_argb,
-                                int width);
-void ARGB4444ToARGBRow_Any_NEON(const uint8* src_argb4444, uint8* dst_argb,
-                                int width);
-
-void ARGBToRGB24Row_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-
-void ARGBToRGB565DitherRow_C(const uint8* src_argb, uint8* dst_rgb,
-                             const uint32 dither4, int width);
-void ARGBToRGB565DitherRow_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                const uint32 dither4, int width);
-void ARGBToRGB565DitherRow_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                const uint32 dither4, int width);
-
-void ARGBToRGB565Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-
-void ARGBToRGB24Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565DitherRow_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                const uint32 dither4, int width);
-
-void ARGBToRGBARow_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB24Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-
-void J400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width);
-
-void I444ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422AlphaToARGBRow_C(const uint8* y_buf,
-                          const uint8* u_buf,
-                          const uint8* v_buf,
-                          const uint8* a_buf,
-                          uint8* dst_argb,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I411ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void NV12ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_uv,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void NV12ToRGB565Row_C(const uint8* src_y,
-                       const uint8* src_uv,
-                       uint8* dst_argb,
-                       const struct YuvConstants* yuvconstants,
-                       int width);
-void NV21ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_uv,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void YUY2ToARGBRow_C(const uint8* src_yuy2,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void UYVYToARGBRow_C(const uint8* src_uyvy,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToRGBARow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_rgba,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToRGB24Row_C(const uint8* src_y,
-                      const uint8* src_u,
-                      const uint8* src_v,
-                      uint8* dst_rgb24,
-                      const struct YuvConstants* yuvconstants,
-                      int width);
-void I422ToARGB4444Row_C(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb4444,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGB1555Row_C(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb4444,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToRGB565Row_C(const uint8* src_y,
-                       const uint8* src_u,
-                       const uint8* src_v,
-                       uint8* dst_rgb565,
-                       const struct YuvConstants* yuvconstants,
-                       int width);
-void I422ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGBARow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I444ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I444ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I444ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I444ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422AlphaToARGBRow_SSSE3(const uint8* y_buf,
-                              const uint8* u_buf,
-                              const uint8* v_buf,
-                              const uint8* a_buf,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void I422AlphaToARGBRow_AVX2(const uint8* y_buf,
-                             const uint8* u_buf,
-                             const uint8* v_buf,
-                             const uint8* a_buf,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I411ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I411ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void NV12ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_uv,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void NV12ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_uv,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void NV12ToRGB565Row_SSSE3(const uint8* src_y,
-                           const uint8* src_uv,
-                           uint8* dst_argb,
-                           const struct YuvConstants* yuvconstants,
-                           int width);
-void NV12ToRGB565Row_AVX2(const uint8* src_y,
-                          const uint8* src_uv,
-                          uint8* dst_argb,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void NV21ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_uv,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void NV21ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_uv,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void YUY2ToARGBRow_SSSE3(const uint8* src_yuy2,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void UYVYToARGBRow_SSSE3(const uint8* src_uyvy,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void YUY2ToARGBRow_AVX2(const uint8* src_yuy2,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void UYVYToARGBRow_AVX2(const uint8* src_uyvy,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGBARow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_rgba,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGB4444Row_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB4444Row_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGB1555Row_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB1555Row_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGB565Row_SSSE3(const uint8* src_y,
-                           const uint8* src_u,
-                           const uint8* src_v,
-                           uint8* dst_argb,
-                           const struct YuvConstants* yuvconstants,
-                           int width);
-void I422ToRGB565Row_AVX2(const uint8* src_y,
-                          const uint8* src_u,
-                          const uint8* src_v,
-                          uint8* dst_argb,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I422ToRGB24Row_SSSE3(const uint8* src_y,
-                          const uint8* src_u,
-                          const uint8* src_v,
-                          uint8* dst_rgb24,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I422ToRGB24Row_AVX2(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_rgb24,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGBARow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I444ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I444ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422AlphaToARGBRow_Any_SSSE3(const uint8* y_buf,
-                                  const uint8* u_buf,
-                                  const uint8* v_buf,
-                                  const uint8* a_buf,
-                                  uint8* dst_argb,
-                                  const struct YuvConstants* yuvconstants,
-                                  int width);
-void I422AlphaToARGBRow_Any_AVX2(const uint8* y_buf,
-                                 const uint8* u_buf,
-                                 const uint8* v_buf,
-                                 const uint8* a_buf,
-                                 uint8* dst_argb,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I411ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I411ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_uv,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void NV12ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_uv,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV21ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_vu,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void NV21ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_vu,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToRGB565Row_Any_SSSE3(const uint8* src_y,
-                               const uint8* src_uv,
-                               uint8* dst_argb,
-                               const struct YuvConstants* yuvconstants,
-                               int width);
-void NV12ToRGB565Row_Any_AVX2(const uint8* src_y,
-                              const uint8* src_uv,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void YUY2ToARGBRow_Any_SSSE3(const uint8* src_yuy2,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void UYVYToARGBRow_Any_SSSE3(const uint8* src_uyvy,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void YUY2ToARGBRow_Any_AVX2(const uint8* src_yuy2,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void UYVYToARGBRow_Any_AVX2(const uint8* src_uyvy,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGBARow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_rgba,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB4444Row_Any_SSSE3(const uint8* src_y,
-                                 const uint8* src_u,
-                                 const uint8* src_v,
-                                 uint8* dst_rgba,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I422ToARGB4444Row_Any_AVX2(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_rgba,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToARGB1555Row_Any_SSSE3(const uint8* src_y,
-                                 const uint8* src_u,
-                                 const uint8* src_v,
-                                 uint8* dst_rgba,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I422ToARGB1555Row_Any_AVX2(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_rgba,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToRGB565Row_Any_SSSE3(const uint8* src_y,
-                               const uint8* src_u,
-                               const uint8* src_v,
-                               uint8* dst_rgba,
-                               const struct YuvConstants* yuvconstants,
-                               int width);
-void I422ToRGB565Row_Any_AVX2(const uint8* src_y,
-                              const uint8* src_u,
-                              const uint8* src_v,
-                              uint8* dst_rgba,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void I422ToRGB24Row_Any_SSSE3(const uint8* src_y,
-                              const uint8* src_u,
-                              const uint8* src_v,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void I422ToRGB24Row_Any_AVX2(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-
-void I400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width);
-
-// ARGB preattenuated alpha blend.
-void ARGBBlendRow_SSSE3(const uint8* src_argb, const uint8* src_argb1,
-                        uint8* dst_argb, int width);
-void ARGBBlendRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                       uint8* dst_argb, int width);
-void ARGBBlendRow_C(const uint8* src_argb, const uint8* src_argb1,
-                    uint8* dst_argb, int width);
-
-// Unattenuated planar alpha blend.
-void BlendPlaneRow_SSSE3(const uint8* src0, const uint8* src1,
-                         const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_Any_SSSE3(const uint8* src0, const uint8* src1,
-                             const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_AVX2(const uint8* src0, const uint8* src1,
-                        const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_Any_AVX2(const uint8* src0, const uint8* src1,
-                            const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_C(const uint8* src0, const uint8* src1,
-                     const uint8* alpha, uint8* dst, int width);
-
-// ARGB multiply images. Same API as Blend, but these require
-// pointer and width alignment for SSE2.
-void ARGBMultiplyRow_C(const uint8* src_argb, const uint8* src_argb1,
-                       uint8* dst_argb, int width);
-void ARGBMultiplyRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBMultiplyRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBMultiplyRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBMultiplyRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBMultiplyRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBMultiplyRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-
-// ARGB add images.
-void ARGBAddRow_C(const uint8* src_argb, const uint8* src_argb1,
-                  uint8* dst_argb, int width);
-void ARGBAddRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                     uint8* dst_argb, int width);
-void ARGBAddRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                         uint8* dst_argb, int width);
-void ARGBAddRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                     uint8* dst_argb, int width);
-void ARGBAddRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                         uint8* dst_argb, int width);
-void ARGBAddRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                     uint8* dst_argb, int width);
-void ARGBAddRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
-                         uint8* dst_argb, int width);
-
-// ARGB subtract images. Same API as Blend, but these require
-// pointer and width alignment for SSE2.
-void ARGBSubtractRow_C(const uint8* src_argb, const uint8* src_argb1,
-                       uint8* dst_argb, int width);
-void ARGBSubtractRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBSubtractRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBSubtractRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBSubtractRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBSubtractRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBSubtractRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-
-void ARGBToRGB24Row_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToARGB4444Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-
-void ARGBToRGB565DitherRow_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                    const uint32 dither4, int width);
-void ARGBToRGB565DitherRow_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                    const uint32 dither4, int width);
-
-void ARGBToRGB565Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToARGB4444Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-
-void ARGBToRGB24Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToARGB4444Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToRGB565DitherRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                    const uint32 dither4, int width);
-
-void I444ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422AlphaToARGBRow_Any_NEON(const uint8* src_y,
-                                 const uint8* src_u,
-                                 const uint8* src_v,
-                                 const uint8* src_a,
-                                 uint8* dst_argb,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I411ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGBARow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGB24Row_Any_NEON(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB4444Row_Any_NEON(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_argb,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToARGB1555Row_Any_NEON(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_argb,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToRGB565Row_Any_NEON(const uint8* src_y,
-                              const uint8* src_u,
-                              const uint8* src_v,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void NV12ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_uv,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV21ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_vu,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToRGB565Row_Any_NEON(const uint8* src_y,
-                              const uint8* src_uv,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void YUY2ToARGBRow_Any_NEON(const uint8* src_yuy2,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void UYVYToARGBRow_Any_NEON(const uint8* src_uyvy,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGBRow_DSPR2(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGBRow_DSPR2(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-
-void YUY2ToYRow_AVX2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_AVX2(const uint8* src_yuy2, int stride_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_AVX2(const uint8* src_yuy2,
-                         uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_SSE2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_SSE2(const uint8* src_yuy2, int stride_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_SSE2(const uint8* src_yuy2,
-                         uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_NEON(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_NEON(const uint8* src_yuy2, int stride_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_NEON(const uint8* src_yuy2,
-                         uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_C(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_C(const uint8* src_yuy2, int stride_yuy2,
-                   uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_C(const uint8* src_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_Any_AVX2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_Any_AVX2(const uint8* src_yuy2, int stride_yuy2,
-                          uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_Any_AVX2(const uint8* src_yuy2,
-                             uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_Any_SSE2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_Any_SSE2(const uint8* src_yuy2, int stride_yuy2,
-                          uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_Any_SSE2(const uint8* src_yuy2,
-                             uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_Any_NEON(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_Any_NEON(const uint8* src_yuy2, int stride_yuy2,
-                          uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_Any_NEON(const uint8* src_yuy2,
-                             uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_AVX2(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_SSE2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_SSE2(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_SSE2(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_AVX2(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_NEON(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_NEON(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_NEON(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-
-void UYVYToYRow_C(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_C(const uint8* src_uyvy, int stride_uyvy,
-                   uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_C(const uint8* src_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_Any_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_Any_AVX2(const uint8* src_uyvy, int stride_uyvy,
-                          uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_Any_AVX2(const uint8* src_uyvy,
-                             uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_Any_SSE2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_Any_SSE2(const uint8* src_uyvy, int stride_uyvy,
-                          uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_Any_SSE2(const uint8* src_uyvy,
-                             uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_Any_NEON(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_Any_NEON(const uint8* src_uyvy, int stride_uyvy,
-                          uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_Any_NEON(const uint8* src_uyvy,
-                             uint8* dst_u, uint8* dst_v, int width);
-
-void I422ToYUY2Row_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_yuy2, int width);
-void I422ToUYVYRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_uyvy, int width);
-void I422ToYUY2Row_SSE2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_yuy2, int width);
-void I422ToUYVYRow_SSE2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_uyvy, int width);
-void I422ToYUY2Row_Any_SSE2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_yuy2, int width);
-void I422ToUYVYRow_Any_SSE2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_uyvy, int width);
-void I422ToYUY2Row_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_yuy2, int width);
-void I422ToUYVYRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_uyvy, int width);
-void I422ToYUY2Row_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_yuy2, int width);
-void I422ToUYVYRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_uyvy, int width);
-
-// Effects related row functions.
-void ARGBAttenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_NEON(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-void ARGBAttenuateRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                                int width);
-void ARGBAttenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-void ARGBAttenuateRow_Any_NEON(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-
-// Inverse table for unattenuate, shared by C and SSE2.
-extern const uint32 fixed_invtbl8[256];
-void ARGBUnattenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBUnattenuateRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBUnattenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBUnattenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                                 int width);
-void ARGBUnattenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                                 int width);
-
-void ARGBGrayRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBGrayRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBGrayRow_NEON(const uint8* src_argb, uint8* dst_argb, int width);
-
-void ARGBSepiaRow_C(uint8* dst_argb, int width);
-void ARGBSepiaRow_SSSE3(uint8* dst_argb, int width);
-void ARGBSepiaRow_NEON(uint8* dst_argb, int width);
-
-void ARGBColorMatrixRow_C(const uint8* src_argb, uint8* dst_argb,
-                          const int8* matrix_argb, int width);
-void ARGBColorMatrixRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                              const int8* matrix_argb, int width);
-void ARGBColorMatrixRow_NEON(const uint8* src_argb, uint8* dst_argb,
-                             const int8* matrix_argb, int width);
-
-void ARGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width);
-void ARGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width);
-
-void RGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width);
-void RGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width);
-
-void ARGBQuantizeRow_C(uint8* dst_argb, int scale, int interval_size,
-                       int interval_offset, int width);
-void ARGBQuantizeRow_SSE2(uint8* dst_argb, int scale, int interval_size,
-                          int interval_offset, int width);
-void ARGBQuantizeRow_NEON(uint8* dst_argb, int scale, int interval_size,
-                          int interval_offset, int width);
-
-void ARGBShadeRow_C(const uint8* src_argb, uint8* dst_argb, int width,
-                    uint32 value);
-void ARGBShadeRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width,
-                       uint32 value);
-void ARGBShadeRow_NEON(const uint8* src_argb, uint8* dst_argb, int width,
-                       uint32 value);
-
-// Used for blur.
-void CumulativeSumToAverageRow_SSE2(const int32* topleft, const int32* botleft,
-                                    int width, int area, uint8* dst, int count);
-void ComputeCumulativeSumRow_SSE2(const uint8* row, int32* cumsum,
-                                  const int32* previous_cumsum, int width);
-
-void CumulativeSumToAverageRow_C(const int32* topleft, const int32* botleft,
-                                 int width, int area, uint8* dst, int count);
-void ComputeCumulativeSumRow_C(const uint8* row, int32* cumsum,
-                               const int32* previous_cumsum, int width);
-
-LIBYUV_API
-void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride,
-                     uint8* dst_argb, const float* uv_dudv, int width);
-LIBYUV_API
-void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride,
-                        uint8* dst_argb, const float* uv_dudv, int width);
-
-// Used for I420Scale, ARGBScale, and ARGBInterpolate.
-void InterpolateRow_C(uint8* dst_ptr, const uint8* src_ptr,
-                      ptrdiff_t src_stride_ptr,
-                      int width, int source_y_fraction);
-void InterpolateRow_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
-                          ptrdiff_t src_stride_ptr, int width,
-                          int source_y_fraction);
-void InterpolateRow_AVX2(uint8* dst_ptr, const uint8* src_ptr,
-                         ptrdiff_t src_stride_ptr, int width,
-                         int source_y_fraction);
-void InterpolateRow_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                         ptrdiff_t src_stride_ptr, int width,
-                         int source_y_fraction);
-void InterpolateRow_DSPR2(uint8* dst_ptr, const uint8* src_ptr,
-                          ptrdiff_t src_stride_ptr, int width,
-                          int source_y_fraction);
-void InterpolateRow_Any_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                             ptrdiff_t src_stride_ptr, int width,
-                             int source_y_fraction);
-void InterpolateRow_Any_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
-                              ptrdiff_t src_stride_ptr, int width,
-                              int source_y_fraction);
-void InterpolateRow_Any_AVX2(uint8* dst_ptr, const uint8* src_ptr,
-                             ptrdiff_t src_stride_ptr, int width,
-                             int source_y_fraction);
-void InterpolateRow_Any_DSPR2(uint8* dst_ptr, const uint8* src_ptr,
-                              ptrdiff_t src_stride_ptr, int width,
-                              int source_y_fraction);
-
-void InterpolateRow_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                         ptrdiff_t src_stride_ptr,
-                         int width, int source_y_fraction);
-
-// Sobel images.
-void SobelXRow_C(const uint8* src_y0, const uint8* src_y1, const uint8* src_y2,
-                 uint8* dst_sobelx, int width);
-void SobelXRow_SSE2(const uint8* src_y0, const uint8* src_y1,
-                    const uint8* src_y2, uint8* dst_sobelx, int width);
-void SobelXRow_NEON(const uint8* src_y0, const uint8* src_y1,
-                    const uint8* src_y2, uint8* dst_sobelx, int width);
-void SobelYRow_C(const uint8* src_y0, const uint8* src_y1,
-                 uint8* dst_sobely, int width);
-void SobelYRow_SSE2(const uint8* src_y0, const uint8* src_y1,
-                    uint8* dst_sobely, int width);
-void SobelYRow_NEON(const uint8* src_y0, const uint8* src_y1,
-                    uint8* dst_sobely, int width);
-void SobelRow_C(const uint8* src_sobelx, const uint8* src_sobely,
-                uint8* dst_argb, int width);
-void SobelRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                   uint8* dst_argb, int width);
-void SobelRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                   uint8* dst_argb, int width);
-void SobelToPlaneRow_C(const uint8* src_sobelx, const uint8* src_sobely,
-                       uint8* dst_y, int width);
-void SobelToPlaneRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                          uint8* dst_y, int width);
-void SobelToPlaneRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                          uint8* dst_y, int width);
-void SobelXYRow_C(const uint8* src_sobelx, const uint8* src_sobely,
-                  uint8* dst_argb, int width);
-void SobelXYRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                     uint8* dst_argb, int width);
-void SobelXYRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                     uint8* dst_argb, int width);
-void SobelRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                       uint8* dst_argb, int width);
-void SobelRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                       uint8* dst_argb, int width);
-void SobelToPlaneRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                              uint8* dst_y, int width);
-void SobelToPlaneRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                              uint8* dst_y, int width);
-void SobelXYRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                         uint8* dst_argb, int width);
-void SobelXYRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                         uint8* dst_argb, int width);
-
-void ARGBPolynomialRow_C(const uint8* src_argb,
-                         uint8* dst_argb, const float* poly,
-                         int width);
-void ARGBPolynomialRow_SSE2(const uint8* src_argb,
-                            uint8* dst_argb, const float* poly,
-                            int width);
-void ARGBPolynomialRow_AVX2(const uint8* src_argb,
-                            uint8* dst_argb, const float* poly,
-                            int width);
-
-// Scale and convert to half float.
-void HalfFloatRow_C(const uint16* src, uint16* dst, float scale, int width);
-void HalfFloatRow_AVX2(const uint16* src, uint16* dst, float scale, int width);
-void HalfFloatRow_Any_AVX2(const uint16* src, uint16* dst, float scale,
-                           int width);
-void HalfFloatRow_SSE2(const uint16* src, uint16* dst, float scale, int width);
-void HalfFloatRow_Any_SSE2(const uint16* src, uint16* dst, float scale,
-                           int width);
-
-void ARGBLumaColorTableRow_C(const uint8* src_argb, uint8* dst_argb, int width,
-                             const uint8* luma, uint32 lumacoeff);
-void ARGBLumaColorTableRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                                 int width,
-                                 const uint8* luma, uint32 lumacoeff);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/scale.h b/third_party/libyuv/include/libyuv/scale.h
deleted file mode 100644
index ae14694598..0000000000
--- a/third_party/libyuv/include/libyuv/scale.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_SCALE_H_
-#define INCLUDE_LIBYUV_SCALE_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Supported filtering.
-typedef enum FilterMode {
-  kFilterNone = 0,  // Point sample; Fastest.
-  kFilterLinear = 1,  // Filter horizontally only.
-  kFilterBilinear = 2,  // Faster than box, but lower quality scaling down.
-  kFilterBox = 3  // Highest quality.
-} FilterModeEnum;
-
-// Scale a YUV plane.
-LIBYUV_API
-void ScalePlane(const uint8* src, int src_stride,
-                int src_width, int src_height,
-                uint8* dst, int dst_stride,
-                int dst_width, int dst_height,
-                enum FilterMode filtering);
-
-LIBYUV_API
-void ScalePlane_16(const uint16* src, int src_stride,
-                   int src_width, int src_height,
-                   uint16* dst, int dst_stride,
-                   int dst_width, int dst_height,
-                   enum FilterMode filtering);
-
-// Scales a YUV 4:2:0 image from the src width and height to the
-// dst width and height.
-// If filtering is kFilterNone, a simple nearest-neighbor algorithm is
-// used. This produces basic (blocky) quality at the fastest speed.
-// If filtering is kFilterBilinear, interpolation is used to produce a better
-// quality image, at the expense of speed.
-// If filtering is kFilterBox, averaging is used to produce ever better
-// quality image, at further expense of speed.
-// Returns 0 if successful.
-
-LIBYUV_API
-int I420Scale(const uint8* src_y, int src_stride_y,
-              const uint8* src_u, int src_stride_u,
-              const uint8* src_v, int src_stride_v,
-              int src_width, int src_height,
-              uint8* dst_y, int dst_stride_y,
-              uint8* dst_u, int dst_stride_u,
-              uint8* dst_v, int dst_stride_v,
-              int dst_width, int dst_height,
-              enum FilterMode filtering);
-
-LIBYUV_API
-int I420Scale_16(const uint16* src_y, int src_stride_y,
-                 const uint16* src_u, int src_stride_u,
-                 const uint16* src_v, int src_stride_v,
-                 int src_width, int src_height,
-                 uint16* dst_y, int dst_stride_y,
-                 uint16* dst_u, int dst_stride_u,
-                 uint16* dst_v, int dst_stride_v,
-                 int dst_width, int dst_height,
-                 enum FilterMode filtering);
-
-#ifdef __cplusplus
-// Legacy API.  Deprecated.
-LIBYUV_API
-int Scale(const uint8* src_y, const uint8* src_u, const uint8* src_v,
-          int src_stride_y, int src_stride_u, int src_stride_v,
-          int src_width, int src_height,
-          uint8* dst_y, uint8* dst_u, uint8* dst_v,
-          int dst_stride_y, int dst_stride_u, int dst_stride_v,
-          int dst_width, int dst_height,
-          LIBYUV_BOOL interpolate);
-
-// Legacy API.  Deprecated.
-LIBYUV_API
-int ScaleOffset(const uint8* src_i420, int src_width, int src_height,
-                uint8* dst_i420, int dst_width, int dst_height, int dst_yoffset,
-                LIBYUV_BOOL interpolate);
-
-// For testing, allow disabling of specialized scalers.
-LIBYUV_API
-void SetUseReferenceImpl(LIBYUV_BOOL use);
-#endif  // __cplusplus
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_SCALE_H_
diff --git a/third_party/libyuv/include/libyuv/scale_argb.h b/third_party/libyuv/include/libyuv/scale_argb.h
deleted file mode 100644
index 35cd191c0f..0000000000
--- a/third_party/libyuv/include/libyuv/scale_argb.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_SCALE_ARGB_H_
-#define INCLUDE_LIBYUV_SCALE_ARGB_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/scale.h"  // For FilterMode
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-LIBYUV_API
-int ARGBScale(const uint8* src_argb, int src_stride_argb,
-              int src_width, int src_height,
-              uint8* dst_argb, int dst_stride_argb,
-              int dst_width, int dst_height,
-              enum FilterMode filtering);
-
-// Clipped scale takes destination rectangle coordinates for clip values.
-LIBYUV_API
-int ARGBScaleClip(const uint8* src_argb, int src_stride_argb,
-                  int src_width, int src_height,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int dst_width, int dst_height,
-                  int clip_x, int clip_y, int clip_width, int clip_height,
-                  enum FilterMode filtering);
-
-// Scale with YUV conversion to ARGB and clipping.
-LIBYUV_API
-int YUVToARGBScaleClip(const uint8* src_y, int src_stride_y,
-                       const uint8* src_u, int src_stride_u,
-                       const uint8* src_v, int src_stride_v,
-                       uint32 src_fourcc,
-                       int src_width, int src_height,
-                       uint8* dst_argb, int dst_stride_argb,
-                       uint32 dst_fourcc,
-                       int dst_width, int dst_height,
-                       int clip_x, int clip_y, int clip_width, int clip_height,
-                       enum FilterMode filtering);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_SCALE_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/scale_row.h b/third_party/libyuv/include/libyuv/scale_row.h
deleted file mode 100644
index 791fbf7d05..0000000000
--- a/third_party/libyuv/include/libyuv/scale_row.h
+++ /dev/null
@@ -1,503 +0,0 @@
-/*
- *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_SCALE_ROW_H_
-#define INCLUDE_LIBYUV_SCALE_ROW_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/scale.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-
-// GCC >= 4.7.0 required for AVX2.
-#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__))
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7))
-#define GCC_HAS_AVX2 1
-#endif  // GNUC >= 4.7
-#endif  // __GNUC__
-
-// clang >= 3.4.0 required for AVX2.
-#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
-#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
-#define CLANG_HAS_AVX2 1
-#endif  // clang >= 3.4
-#endif  // __clang__
-
-// Visual C 2012 required for AVX2.
-#if defined(_M_IX86) && !defined(__clang__) && \
-    defined(_MSC_VER) && _MSC_VER >= 1700
-#define VISUALC_HAS_AVX2 1
-#endif  // VisualStudio >= 2012
-
-// The following are available on all x86 platforms:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
-#define HAS_FIXEDDIV1_X86
-#define HAS_FIXEDDIV_X86
-#define HAS_SCALEARGBCOLS_SSE2
-#define HAS_SCALEARGBCOLSUP2_SSE2
-#define HAS_SCALEARGBFILTERCOLS_SSSE3
-#define HAS_SCALEARGBROWDOWN2_SSE2
-#define HAS_SCALEARGBROWDOWNEVEN_SSE2
-#define HAS_SCALECOLSUP2_SSE2
-#define HAS_SCALEFILTERCOLS_SSSE3
-#define HAS_SCALEROWDOWN2_SSSE3
-#define HAS_SCALEROWDOWN34_SSSE3
-#define HAS_SCALEROWDOWN38_SSSE3
-#define HAS_SCALEROWDOWN4_SSSE3
-#define HAS_SCALEADDROW_SSE2
-#endif
-
-// The following are available on all x86 platforms, but
-// require VS2012, clang 3.4 or gcc 4.7.
-// The code supports NaCL but requires a new compiler and validator.
-#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \
-    defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2))
-#define HAS_SCALEADDROW_AVX2
-#define HAS_SCALEROWDOWN2_AVX2
-#define HAS_SCALEROWDOWN4_AVX2
-#endif
-
-// The following are available on Neon platforms:
-#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
-    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
-#define HAS_SCALEARGBCOLS_NEON
-#define HAS_SCALEARGBROWDOWN2_NEON
-#define HAS_SCALEARGBROWDOWNEVEN_NEON
-#define HAS_SCALEFILTERCOLS_NEON
-#define HAS_SCALEROWDOWN2_NEON
-#define HAS_SCALEROWDOWN34_NEON
-#define HAS_SCALEROWDOWN38_NEON
-#define HAS_SCALEROWDOWN4_NEON
-#define HAS_SCALEARGBFILTERCOLS_NEON
-#endif
-
-// The following are available on Mips platforms:
-#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
-    defined(__mips__) && defined(__mips_dsp) && (__mips_dsp_rev >= 2)
-#define HAS_SCALEROWDOWN2_DSPR2
-#define HAS_SCALEROWDOWN4_DSPR2
-#define HAS_SCALEROWDOWN34_DSPR2
-#define HAS_SCALEROWDOWN38_DSPR2
-#endif
-
-// Scale ARGB vertically with bilinear interpolation.
-void ScalePlaneVertical(int src_height,
-                        int dst_width, int dst_height,
-                        int src_stride, int dst_stride,
-                        const uint8* src_argb, uint8* dst_argb,
-                        int x, int y, int dy,
-                        int bpp, enum FilterMode filtering);
-
-void ScalePlaneVertical_16(int src_height,
-                           int dst_width, int dst_height,
-                           int src_stride, int dst_stride,
-                           const uint16* src_argb, uint16* dst_argb,
-                           int x, int y, int dy,
-                           int wpp, enum FilterMode filtering);
-
-// Simplify the filtering based on scale factors.
-enum FilterMode ScaleFilterReduce(int src_width, int src_height,
-                                  int dst_width, int dst_height,
-                                  enum FilterMode filtering);
-
-// Divide num by div and return as 16.16 fixed point result.
-int FixedDiv_C(int num, int div);
-int FixedDiv_X86(int num, int div);
-// Divide num - 1 by div - 1 and return as 16.16 fixed point result.
-int FixedDiv1_C(int num, int div);
-int FixedDiv1_X86(int num, int div);
-#ifdef HAS_FIXEDDIV_X86
-#define FixedDiv FixedDiv_X86
-#define FixedDiv1 FixedDiv1_X86
-#else
-#define FixedDiv FixedDiv_C
-#define FixedDiv1 FixedDiv1_C
-#endif
-
-// Compute slope values for stepping.
-void ScaleSlope(int src_width, int src_height,
-                int dst_width, int dst_height,
-                enum FilterMode filtering,
-                int* x, int* y, int* dx, int* dy);
-
-void ScaleRowDown2_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                     uint8* dst, int dst_width);
-void ScaleRowDown2_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                        uint16* dst, int dst_width);
-void ScaleRowDown2Linear_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst, int dst_width);
-void ScaleRowDown2Linear_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                              uint16* dst, int dst_width);
-void ScaleRowDown2Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst, int dst_width);
-void ScaleRowDown2Box_Odd_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown2Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                           uint16* dst, int dst_width);
-void ScaleRowDown4_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                     uint8* dst, int dst_width);
-void ScaleRowDown4_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                        uint16* dst, int dst_width);
-void ScaleRowDown4Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst, int dst_width);
-void ScaleRowDown4Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                           uint16* dst, int dst_width);
-void ScaleRowDown34_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                      uint8* dst, int dst_width);
-void ScaleRowDown34_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                         uint16* dst, int dst_width);
-void ScaleRowDown34_0_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* d, int dst_width);
-void ScaleRowDown34_0_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                               uint16* d, int dst_width);
-void ScaleRowDown34_1_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* d, int dst_width);
-void ScaleRowDown34_1_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                               uint16* d, int dst_width);
-void ScaleCols_C(uint8* dst_ptr, const uint8* src_ptr,
-                 int dst_width, int x, int dx);
-void ScaleCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                    int dst_width, int x, int dx);
-void ScaleColsUp2_C(uint8* dst_ptr, const uint8* src_ptr,
-                    int dst_width, int, int);
-void ScaleColsUp2_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                       int dst_width, int, int);
-void ScaleFilterCols_C(uint8* dst_ptr, const uint8* src_ptr,
-                       int dst_width, int x, int dx);
-void ScaleFilterCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                          int dst_width, int x, int dx);
-void ScaleFilterCols64_C(uint8* dst_ptr, const uint8* src_ptr,
-                         int dst_width, int x, int dx);
-void ScaleFilterCols64_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                            int dst_width, int x, int dx);
-void ScaleRowDown38_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                      uint8* dst, int dst_width);
-void ScaleRowDown38_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                         uint16* dst, int dst_width);
-void ScaleRowDown38_3_Box_C(const uint8* src_ptr,
-                            ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_16_C(const uint16* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint16* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                               uint16* dst_ptr, int dst_width);
-void ScaleAddRow_C(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_16_C(const uint16* src_ptr, uint32* dst_ptr, int src_width);
-void ScaleARGBRowDown2_C(const uint8* src_argb,
-                         ptrdiff_t src_stride,
-                         uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Linear_C(const uint8* src_argb,
-                               ptrdiff_t src_stride,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_C(const uint8* src_argb, ptrdiff_t src_stride,
-                            uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_C(const uint8* src_argb, ptrdiff_t src_stride,
-                            int src_stepx,
-                            uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_C(const uint8* src_argb,
-                               ptrdiff_t src_stride,
-                               int src_stepx,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBCols_C(uint8* dst_argb, const uint8* src_argb,
-                     int dst_width, int x, int dx);
-void ScaleARGBCols64_C(uint8* dst_argb, const uint8* src_argb,
-                       int dst_width, int x, int dx);
-void ScaleARGBColsUp2_C(uint8* dst_argb, const uint8* src_argb,
-                        int dst_width, int, int);
-void ScaleARGBFilterCols_C(uint8* dst_argb, const uint8* src_argb,
-                           int dst_width, int x, int dx);
-void ScaleARGBFilterCols64_C(uint8* dst_argb, const uint8* src_argb,
-                             int dst_width, int x, int dx);
-
-// Specialized scalers for x86.
-void ScaleRowDown2_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown2_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst_ptr, int dst_width);
-
-void ScaleRowDown34_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown2_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Odd_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown2_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                  uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Odd_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-void ScaleRowDown34_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-
-void ScaleAddRow_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_Any_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_Any_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-
-void ScaleFilterCols_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
-                           int dst_width, int x, int dx);
-void ScaleColsUp2_SSE2(uint8* dst_ptr, const uint8* src_ptr,
-                       int dst_width, int x, int dx);
-
-
-// ARGB Column functions
-void ScaleARGBCols_SSE2(uint8* dst_argb, const uint8* src_argb,
-                        int dst_width, int x, int dx);
-void ScaleARGBFilterCols_SSSE3(uint8* dst_argb, const uint8* src_argb,
-                               int dst_width, int x, int dx);
-void ScaleARGBColsUp2_SSE2(uint8* dst_argb, const uint8* src_argb,
-                           int dst_width, int x, int dx);
-void ScaleARGBFilterCols_NEON(uint8* dst_argb, const uint8* src_argb,
-                              int dst_width, int x, int dx);
-void ScaleARGBCols_NEON(uint8* dst_argb, const uint8* src_argb,
-                        int dst_width, int x, int dx);
-void ScaleARGBFilterCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
-                                  int dst_width, int x, int dx);
-void ScaleARGBCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
-                            int dst_width, int x, int dx);
-
-// ARGB Row functions
-void ScaleARGBRowDown2_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                            uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Linear_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleARGBRowDown2Linear_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst, int dst_width);
-void ScaleARGBRowDown2_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Linear_Any_SSE2(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                   uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst, int dst_width);
-void ScaleARGBRowDown2Linear_Any_NEON(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst, int dst_width);
-
-void ScaleARGBRowDownEven_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                               int src_stepx, uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                  int src_stepx,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                               int src_stepx,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                                  int src_stepx,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                   int src_stepx,
-                                   uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_Any_SSE2(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      int src_stepx,
-                                      uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_Any_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                                   int src_stepx,
-                                   uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_Any_NEON(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      int src_stepx,
-                                      uint8* dst_argb, int dst_width);
-
-// ScaleRowDown2Box also used by planar functions
-// NEON downscalers with interpolation.
-
-// Note - not static due to reuse in convert for 444 to 420.
-void ScaleRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst, int dst_width);
-void ScaleRowDown2Linear_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst, int dst_width);
-void ScaleRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst, int dst_width);
-
-void ScaleRowDown4_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst_ptr, int dst_width);
-
-// Down scale from 4 to 3 pixels. Use the neon multilane read/write
-//  to load up the every 4th pixel into a 4 different registers.
-// Point samples 32 pixels to 24 pixels.
-void ScaleRowDown34_NEON(const uint8* src_ptr,
-                         ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-// 32 -> 12
-void ScaleRowDown38_NEON(const uint8* src_ptr,
-                         ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-// 32x3 -> 12x1
-void ScaleRowDown38_3_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-// 32x2 -> 12x1
-void ScaleRowDown38_2_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-void ScaleRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown2Linear_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                  uint8* dst, int dst_width);
-void ScaleRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst, int dst_width);
-void ScaleRowDown2Box_Odd_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst, int dst_width);
-void ScaleRowDown4_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst_ptr, int dst_width);
-// 32 -> 12
-void ScaleRowDown38_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-// 32x3 -> 12x1
-void ScaleRowDown38_3_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-// 32x2 -> 12x1
-void ScaleRowDown38_2_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-void ScaleAddRow_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_Any_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-
-void ScaleFilterCols_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                          int dst_width, int x, int dx);
-
-void ScaleFilterCols_Any_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                              int dst_width, int x, int dx);
-
-void ScaleRowDown2_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst, int dst_width);
-void ScaleRowDown2Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown4_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst, int dst_width);
-void ScaleRowDown4Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown34_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst, int dst_width);
-void ScaleRowDown34_0_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* d, int dst_width);
-void ScaleRowDown34_1_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* d, int dst_width);
-void ScaleRowDown38_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst, int dst_width);
-void ScaleRowDown38_2_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_SCALE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/version.h b/third_party/libyuv/include/libyuv/version.h
deleted file mode 100644
index 3a8f6337ca..0000000000
--- a/third_party/libyuv/include/libyuv/version.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_VERSION_H_
-#define INCLUDE_LIBYUV_VERSION_H_
-
-#define LIBYUV_VERSION 1622
-
-#endif  // INCLUDE_LIBYUV_VERSION_H_
diff --git a/third_party/libyuv/include/libyuv/video_common.h b/third_party/libyuv/include/libyuv/video_common.h
deleted file mode 100644
index cb425426a2..0000000000
--- a/third_party/libyuv/include/libyuv/video_common.h
+++ /dev/null
@@ -1,184 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-// Common definitions for video, including fourcc and VideoFormat.
-
-#ifndef INCLUDE_LIBYUV_VIDEO_COMMON_H_
-#define INCLUDE_LIBYUV_VIDEO_COMMON_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-//////////////////////////////////////////////////////////////////////////////
-// Definition of FourCC codes
-//////////////////////////////////////////////////////////////////////////////
-
-// Convert four characters to a FourCC code.
-// Needs to be a macro otherwise the OS X compiler complains when the kFormat*
-// constants are used in a switch.
-#ifdef __cplusplus
-#define FOURCC(a, b, c, d) ( \
-    (static_cast<uint32>(a)) | (static_cast<uint32>(b) << 8) | \
-    (static_cast<uint32>(c) << 16) | (static_cast<uint32>(d) << 24))
-#else
-#define FOURCC(a, b, c, d) ( \
-    ((uint32)(a)) | ((uint32)(b) << 8) | /* NOLINT */ \
-    ((uint32)(c) << 16) | ((uint32)(d) << 24))  /* NOLINT */
-#endif
-
-// Some pages discussing FourCC codes:
-//   http://www.fourcc.org/yuv.php
-//   http://v4l2spec.bytesex.org/spec/book1.htm
-//   http://developer.apple.com/quicktime/icefloe/dispatch020.html
-//   http://msdn.microsoft.com/library/windows/desktop/dd206750.aspx#nv12
-//   http://people.xiph.org/~xiphmont/containers/nut/nut4cc.txt
-
-// FourCC codes grouped according to implementation efficiency.
-// Primary formats should convert in 1 efficient step.
-// Secondary formats are converted in 2 steps.
-// Auxilliary formats call primary converters.
-enum FourCC {
-  // 9 Primary YUV formats: 5 planar, 2 biplanar, 2 packed.
-  FOURCC_I420 = FOURCC('I', '4', '2', '0'),
-  FOURCC_I422 = FOURCC('I', '4', '2', '2'),
-  FOURCC_I444 = FOURCC('I', '4', '4', '4'),
-  FOURCC_I411 = FOURCC('I', '4', '1', '1'),
-  FOURCC_I400 = FOURCC('I', '4', '0', '0'),
-  FOURCC_NV21 = FOURCC('N', 'V', '2', '1'),
-  FOURCC_NV12 = FOURCC('N', 'V', '1', '2'),
-  FOURCC_YUY2 = FOURCC('Y', 'U', 'Y', '2'),
-  FOURCC_UYVY = FOURCC('U', 'Y', 'V', 'Y'),
-
-  // 2 Secondary YUV formats: row biplanar.
-  FOURCC_M420 = FOURCC('M', '4', '2', '0'),
-  FOURCC_Q420 = FOURCC('Q', '4', '2', '0'),  // deprecated.
-
-  // 9 Primary RGB formats: 4 32 bpp, 2 24 bpp, 3 16 bpp.
-  FOURCC_ARGB = FOURCC('A', 'R', 'G', 'B'),
-  FOURCC_BGRA = FOURCC('B', 'G', 'R', 'A'),
-  FOURCC_ABGR = FOURCC('A', 'B', 'G', 'R'),
-  FOURCC_24BG = FOURCC('2', '4', 'B', 'G'),
-  FOURCC_RAW  = FOURCC('r', 'a', 'w', ' '),
-  FOURCC_RGBA = FOURCC('R', 'G', 'B', 'A'),
-  FOURCC_RGBP = FOURCC('R', 'G', 'B', 'P'),  // rgb565 LE.
-  FOURCC_RGBO = FOURCC('R', 'G', 'B', 'O'),  // argb1555 LE.
-  FOURCC_R444 = FOURCC('R', '4', '4', '4'),  // argb4444 LE.
-
-  // 4 Secondary RGB formats: 4 Bayer Patterns. deprecated.
-  FOURCC_RGGB = FOURCC('R', 'G', 'G', 'B'),
-  FOURCC_BGGR = FOURCC('B', 'G', 'G', 'R'),
-  FOURCC_GRBG = FOURCC('G', 'R', 'B', 'G'),
-  FOURCC_GBRG = FOURCC('G', 'B', 'R', 'G'),
-
-  // 1 Primary Compressed YUV format.
-  FOURCC_MJPG = FOURCC('M', 'J', 'P', 'G'),
-
-  // 5 Auxiliary YUV variations: 3 with U and V planes are swapped, 1 Alias.
-  FOURCC_YV12 = FOURCC('Y', 'V', '1', '2'),
-  FOURCC_YV16 = FOURCC('Y', 'V', '1', '6'),
-  FOURCC_YV24 = FOURCC('Y', 'V', '2', '4'),
-  FOURCC_YU12 = FOURCC('Y', 'U', '1', '2'),  // Linux version of I420.
-  FOURCC_J420 = FOURCC('J', '4', '2', '0'),
-  FOURCC_J400 = FOURCC('J', '4', '0', '0'),  // unofficial fourcc
-  FOURCC_H420 = FOURCC('H', '4', '2', '0'),  // unofficial fourcc
-
-  // 14 Auxiliary aliases.  CanonicalFourCC() maps these to canonical fourcc.
-  FOURCC_IYUV = FOURCC('I', 'Y', 'U', 'V'),  // Alias for I420.
-  FOURCC_YU16 = FOURCC('Y', 'U', '1', '6'),  // Alias for I422.
-  FOURCC_YU24 = FOURCC('Y', 'U', '2', '4'),  // Alias for I444.
-  FOURCC_YUYV = FOURCC('Y', 'U', 'Y', 'V'),  // Alias for YUY2.
-  FOURCC_YUVS = FOURCC('y', 'u', 'v', 's'),  // Alias for YUY2 on Mac.
-  FOURCC_HDYC = FOURCC('H', 'D', 'Y', 'C'),  // Alias for UYVY.
-  FOURCC_2VUY = FOURCC('2', 'v', 'u', 'y'),  // Alias for UYVY on Mac.
-  FOURCC_JPEG = FOURCC('J', 'P', 'E', 'G'),  // Alias for MJPG.
-  FOURCC_DMB1 = FOURCC('d', 'm', 'b', '1'),  // Alias for MJPG on Mac.
-  FOURCC_BA81 = FOURCC('B', 'A', '8', '1'),  // Alias for BGGR.
-  FOURCC_RGB3 = FOURCC('R', 'G', 'B', '3'),  // Alias for RAW.
-  FOURCC_BGR3 = FOURCC('B', 'G', 'R', '3'),  // Alias for 24BG.
-  FOURCC_CM32 = FOURCC(0, 0, 0, 32),  // Alias for BGRA kCMPixelFormat_32ARGB
-  FOURCC_CM24 = FOURCC(0, 0, 0, 24),  // Alias for RAW kCMPixelFormat_24RGB
-  FOURCC_L555 = FOURCC('L', '5', '5', '5'),  // Alias for RGBO.
-  FOURCC_L565 = FOURCC('L', '5', '6', '5'),  // Alias for RGBP.
-  FOURCC_5551 = FOURCC('5', '5', '5', '1'),  // Alias for RGBO.
-
-  // 1 Auxiliary compressed YUV format set aside for capturer.
-  FOURCC_H264 = FOURCC('H', '2', '6', '4'),
-
-  // Match any fourcc.
-  FOURCC_ANY = -1,
-};
-
-enum FourCCBpp {
-  // Canonical fourcc codes used in our code.
-  FOURCC_BPP_I420 = 12,
-  FOURCC_BPP_I422 = 16,
-  FOURCC_BPP_I444 = 24,
-  FOURCC_BPP_I411 = 12,
-  FOURCC_BPP_I400 = 8,
-  FOURCC_BPP_NV21 = 12,
-  FOURCC_BPP_NV12 = 12,
-  FOURCC_BPP_YUY2 = 16,
-  FOURCC_BPP_UYVY = 16,
-  FOURCC_BPP_M420 = 12,
-  FOURCC_BPP_Q420 = 12,
-  FOURCC_BPP_ARGB = 32,
-  FOURCC_BPP_BGRA = 32,
-  FOURCC_BPP_ABGR = 32,
-  FOURCC_BPP_RGBA = 32,
-  FOURCC_BPP_24BG = 24,
-  FOURCC_BPP_RAW  = 24,
-  FOURCC_BPP_RGBP = 16,
-  FOURCC_BPP_RGBO = 16,
-  FOURCC_BPP_R444 = 16,
-  FOURCC_BPP_RGGB = 8,
-  FOURCC_BPP_BGGR = 8,
-  FOURCC_BPP_GRBG = 8,
-  FOURCC_BPP_GBRG = 8,
-  FOURCC_BPP_YV12 = 12,
-  FOURCC_BPP_YV16 = 16,
-  FOURCC_BPP_YV24 = 24,
-  FOURCC_BPP_YU12 = 12,
-  FOURCC_BPP_J420 = 12,
-  FOURCC_BPP_J400 = 8,
-  FOURCC_BPP_H420 = 12,
-  FOURCC_BPP_MJPG = 0,  // 0 means unknown.
-  FOURCC_BPP_H264 = 0,
-  FOURCC_BPP_IYUV = 12,
-  FOURCC_BPP_YU16 = 16,
-  FOURCC_BPP_YU24 = 24,
-  FOURCC_BPP_YUYV = 16,
-  FOURCC_BPP_YUVS = 16,
-  FOURCC_BPP_HDYC = 16,
-  FOURCC_BPP_2VUY = 16,
-  FOURCC_BPP_JPEG = 1,
-  FOURCC_BPP_DMB1 = 1,
-  FOURCC_BPP_BA81 = 8,
-  FOURCC_BPP_RGB3 = 24,
-  FOURCC_BPP_BGR3 = 24,
-  FOURCC_BPP_CM32 = 32,
-  FOURCC_BPP_CM24 = 24,
-
-  // Match any fourcc.
-  FOURCC_BPP_ANY  = 0,  // 0 means unknown.
-};
-
-// Converts fourcc aliases into canonical ones.
-LIBYUV_API uint32 CanonicalFourCC(uint32 fourcc);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_VIDEO_COMMON_H_
diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a
deleted file mode 100644
index 9c4a32bcdb..0000000000
--- a/third_party/libyuv/larch64/lib/libyuv.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:adafce26582e425164df7af36253ce58e3ed1dba9965650745c93bd96e42e976
-size 462482
diff --git a/third_party/libyuv/x86_64/lib/libyuv.a b/third_party/libyuv/x86_64/lib/libyuv.a
deleted file mode 100644
index 391b1c8769..0000000000
--- a/third_party/libyuv/x86_64/lib/libyuv.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:00f9759c67c6fa21657fabde9e096478ea5809716989599f673f638f039431e5
-size 504790
diff --git a/third_party/linux/include/linux/ion.h b/third_party/linux/include/linux/ion.h
deleted file mode 100644
index 7b5b031f57..0000000000
--- a/third_party/linux/include/linux/ion.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- ****************************************************************************
- ***
- ***   This header was automatically generated from a Linux kernel header
- ***   of the same name, to make information necessary for userspace to
- ***   call into the kernel available to libc.  It contains only constants,
- ***   structures, and macros generated from the original header, and thus,
- ***   contains no copyrightable information.
- ***
- ***   To edit the content of this header, modify the corresponding
- ***   source file (e.g. under external/kernel-headers/original/) then
- ***   run bionic/libc/kernel/tools/update_all.py
- ***
- ***   Any manual change here will be lost the next time this script will
- ***   be run. You've been warned!
- ***
- ****************************************************************************
- ****************************************************************************/
-#ifndef _UAPI_LINUX_ION_H
-#define _UAPI_LINUX_ION_H
-#include <linux/ioctl.h>
-#include <linux/types.h>
-typedef int ion_user_handle_t;
-enum ion_heap_type {
-  ION_HEAP_TYPE_SYSTEM,
-  ION_HEAP_TYPE_SYSTEM_CONTIG,
-  ION_HEAP_TYPE_CARVEOUT,
-  ION_HEAP_TYPE_CHUNK,
-  ION_HEAP_TYPE_DMA,
-  ION_HEAP_TYPE_CUSTOM,
-};
-#define ION_NUM_HEAP_IDS (sizeof(unsigned int) * 8)
-#define ION_FLAG_CACHED 1
-#define ION_FLAG_CACHED_NEEDS_SYNC 2
-struct ion_allocation_data {
-  size_t len;
-  size_t align;
-  unsigned int heap_id_mask;
-  unsigned int flags;
-  ion_user_handle_t handle;
-};
-struct ion_fd_data {
-  ion_user_handle_t handle;
-  int fd;
-};
-struct ion_handle_data {
-  ion_user_handle_t handle;
-};
-struct ion_custom_data {
-  unsigned int cmd;
-  unsigned long arg;
-};
-#define MAX_HEAP_NAME 32
-struct ion_heap_data {
-  char name[MAX_HEAP_NAME];
-  __u32 type;
-  __u32 heap_id;
-  __u32 reserved0;
-  __u32 reserved1;
-  __u32 reserved2;
-};
-struct ion_heap_query {
-  __u32 cnt;
-  __u32 reserved0;
-  __u64 heaps;
-  __u32 reserved1;
-  __u32 reserved2;
-};
-#define ION_IOC_MAGIC 'I'
-#define ION_IOC_ALLOC _IOWR(ION_IOC_MAGIC, 0, struct ion_allocation_data)
-#define ION_IOC_FREE _IOWR(ION_IOC_MAGIC, 1, struct ion_handle_data)
-#define ION_IOC_MAP _IOWR(ION_IOC_MAGIC, 2, struct ion_fd_data)
-#define ION_IOC_SHARE _IOWR(ION_IOC_MAGIC, 4, struct ion_fd_data)
-#define ION_IOC_IMPORT _IOWR(ION_IOC_MAGIC, 5, struct ion_fd_data)
-#define ION_IOC_SYNC _IOWR(ION_IOC_MAGIC, 7, struct ion_fd_data)
-#define ION_IOC_CUSTOM _IOWR(ION_IOC_MAGIC, 6, struct ion_custom_data)
-#define ION_IOC_HEAP_QUERY _IOWR(ION_IOC_MAGIC, 8, struct ion_heap_query)
-#endif
diff --git a/third_party/linux/include/media/cam_cpas.h b/third_party/linux/include/media/cam_cpas.h
deleted file mode 100644
index c5cbac82e7..0000000000
--- a/third_party/linux/include/media/cam_cpas.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef __UAPI_CAM_CPAS_H__
-#define __UAPI_CAM_CPAS_H__
-
-#include "cam_defs.h"
-
-#define CAM_FAMILY_CAMERA_SS     1
-#define CAM_FAMILY_CPAS_SS       2
-
-/**
- * struct cam_cpas_query_cap - CPAS query device capability payload
- *
- * @camera_family     : Camera family type
- * @reserved          : Reserved field for alignment
- * @camera_version    : Camera platform version
- * @cpas_version      : Camera CPAS version within camera platform
- *
- */
-struct cam_cpas_query_cap {
-	uint32_t                 camera_family;
-	uint32_t                 reserved;
-	struct cam_hw_version    camera_version;
-	struct cam_hw_version    cpas_version;
-};
-
-#endif /* __UAPI_CAM_CPAS_H__ */
diff --git a/third_party/linux/include/media/cam_defs.h b/third_party/linux/include/media/cam_defs.h
deleted file mode 100644
index e006463d2a..0000000000
--- a/third_party/linux/include/media/cam_defs.h
+++ /dev/null
@@ -1,477 +0,0 @@
-#ifndef __UAPI_CAM_DEFS_H__
-#define __UAPI_CAM_DEFS_H__
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-
-/* camera op codes */
-#define CAM_COMMON_OPCODE_BASE                  0x100
-#define CAM_QUERY_CAP                           (CAM_COMMON_OPCODE_BASE + 0x1)
-#define CAM_ACQUIRE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x2)
-#define CAM_START_DEV                           (CAM_COMMON_OPCODE_BASE + 0x3)
-#define CAM_STOP_DEV                            (CAM_COMMON_OPCODE_BASE + 0x4)
-#define CAM_CONFIG_DEV                          (CAM_COMMON_OPCODE_BASE + 0x5)
-#define CAM_RELEASE_DEV                         (CAM_COMMON_OPCODE_BASE + 0x6)
-#define CAM_SD_SHUTDOWN                         (CAM_COMMON_OPCODE_BASE + 0x7)
-#define CAM_FLUSH_REQ                           (CAM_COMMON_OPCODE_BASE + 0x8)
-#define CAM_COMMON_OPCODE_MAX                   (CAM_COMMON_OPCODE_BASE + 0x9)
-
-#define CAM_EXT_OPCODE_BASE                     0x200
-#define CAM_CONFIG_DEV_EXTERNAL                 (CAM_EXT_OPCODE_BASE + 0x1)
-
-/* camera handle type */
-#define CAM_HANDLE_USER_POINTER                 1
-#define CAM_HANDLE_MEM_HANDLE                   2
-
-/* Generic Blob CmdBuffer header properties */
-#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_MASK    0xFFFFFF00
-#define CAM_GENERIC_BLOB_CMDBUFFER_SIZE_SHIFT   8
-#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_MASK    0xFF
-#define CAM_GENERIC_BLOB_CMDBUFFER_TYPE_SHIFT   0
-
-/* Command Buffer Types */
-#define CAM_CMD_BUF_DMI                     0x1
-#define CAM_CMD_BUF_DMI16                   0x2
-#define CAM_CMD_BUF_DMI32                   0x3
-#define CAM_CMD_BUF_DMI64                   0x4
-#define CAM_CMD_BUF_DIRECT                  0x5
-#define CAM_CMD_BUF_INDIRECT                0x6
-#define CAM_CMD_BUF_I2C                     0x7
-#define CAM_CMD_BUF_FW                      0x8
-#define CAM_CMD_BUF_GENERIC                 0x9
-#define CAM_CMD_BUF_LEGACY                  0xA
-
-/**
- * enum flush_type_t - Identifies the various flush types
- *
- * @CAM_FLUSH_TYPE_REQ:    Flush specific request
- * @CAM_FLUSH_TYPE_ALL:    Flush all requests belonging to a context
- * @CAM_FLUSH_TYPE_MAX:    Max enum to validate flush type
- *
- */
-enum flush_type_t {
-	CAM_FLUSH_TYPE_REQ,
-	CAM_FLUSH_TYPE_ALL,
-	CAM_FLUSH_TYPE_MAX
-};
-
-/**
- * struct cam_control - Structure used by ioctl control for camera
- *
- * @op_code:            This is the op code for camera control
- * @size:               Control command size
- * @handle_type:        User pointer or shared memory handle
- * @reserved:           Reserved field for 64 bit alignment
- * @handle:             Control command payload
- */
-struct cam_control {
-	uint32_t        op_code;
-	uint32_t        size;
-	uint32_t        handle_type;
-	uint32_t        reserved;
-	uint64_t        handle;
-};
-
-/* camera IOCTL */
-#define VIDIOC_CAM_CONTROL \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_control)
-
-/**
- * struct cam_hw_version - Structure for HW version of camera devices
- *
- * @major    : Hardware version major
- * @minor    : Hardware version minor
- * @incr     : Hardware version increment
- * @reserved : Reserved for 64 bit aligngment
- */
-struct cam_hw_version {
-	uint32_t major;
-	uint32_t minor;
-	uint32_t incr;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_iommu_handle - Structure for IOMMU handles of camera hw devices
- *
- * @non_secure: Device Non Secure IOMMU handle
- * @secure:     Device Secure IOMMU handle
- *
- */
-struct cam_iommu_handle {
-	int32_t non_secure;
-	int32_t secure;
-};
-
-/* camera secure mode */
-#define CAM_SECURE_MODE_NON_SECURE             0
-#define CAM_SECURE_MODE_SECURE                 1
-
-/* Camera Format Type */
-#define CAM_FORMAT_BASE                         0
-#define CAM_FORMAT_MIPI_RAW_6                   1
-#define CAM_FORMAT_MIPI_RAW_8                   2
-#define CAM_FORMAT_MIPI_RAW_10                  3
-#define CAM_FORMAT_MIPI_RAW_12                  4
-#define CAM_FORMAT_MIPI_RAW_14                  5
-#define CAM_FORMAT_MIPI_RAW_16                  6
-#define CAM_FORMAT_MIPI_RAW_20                  7
-#define CAM_FORMAT_QTI_RAW_8                    8
-#define CAM_FORMAT_QTI_RAW_10                   9
-#define CAM_FORMAT_QTI_RAW_12                   10
-#define CAM_FORMAT_QTI_RAW_14                   11
-#define CAM_FORMAT_PLAIN8                       12
-#define CAM_FORMAT_PLAIN16_8                    13
-#define CAM_FORMAT_PLAIN16_10                   14
-#define CAM_FORMAT_PLAIN16_12                   15
-#define CAM_FORMAT_PLAIN16_14                   16
-#define CAM_FORMAT_PLAIN16_16                   17
-#define CAM_FORMAT_PLAIN32_20                   18
-#define CAM_FORMAT_PLAIN64                      19
-#define CAM_FORMAT_PLAIN128                     20
-#define CAM_FORMAT_ARGB                         21
-#define CAM_FORMAT_ARGB_10                      22
-#define CAM_FORMAT_ARGB_12                      23
-#define CAM_FORMAT_ARGB_14                      24
-#define CAM_FORMAT_DPCM_10_6_10                 25
-#define CAM_FORMAT_DPCM_10_8_10                 26
-#define CAM_FORMAT_DPCM_12_6_12                 27
-#define CAM_FORMAT_DPCM_12_8_12                 28
-#define CAM_FORMAT_DPCM_14_8_14                 29
-#define CAM_FORMAT_DPCM_14_10_14                30
-#define CAM_FORMAT_NV21                         31
-#define CAM_FORMAT_NV12                         32
-#define CAM_FORMAT_TP10                         33
-#define CAM_FORMAT_YUV422                       34
-#define CAM_FORMAT_PD8                          35
-#define CAM_FORMAT_PD10                         36
-#define CAM_FORMAT_UBWC_NV12                    37
-#define CAM_FORMAT_UBWC_NV12_4R                 38
-#define CAM_FORMAT_UBWC_TP10                    39
-#define CAM_FORMAT_UBWC_P010                    40
-#define CAM_FORMAT_PLAIN8_SWAP                  41
-#define CAM_FORMAT_PLAIN8_10                    42
-#define CAM_FORMAT_PLAIN8_10_SWAP               43
-#define CAM_FORMAT_YV12                         44
-#define CAM_FORMAT_Y_ONLY                       45
-#define CAM_FORMAT_MAX                          46
-
-/* camera rotaion */
-#define CAM_ROTATE_CW_0_DEGREE                  0
-#define CAM_ROTATE_CW_90_DEGREE                 1
-#define CAM_RORATE_CW_180_DEGREE                2
-#define CAM_ROTATE_CW_270_DEGREE                3
-
-/* camera Color Space */
-#define CAM_COLOR_SPACE_BASE                    0
-#define CAM_COLOR_SPACE_BT601_FULL              1
-#define CAM_COLOR_SPACE_BT601625                2
-#define CAM_COLOR_SPACE_BT601525                3
-#define CAM_COLOR_SPACE_BT709                   4
-#define CAM_COLOR_SPACE_DEPTH                   5
-#define CAM_COLOR_SPACE_MAX                     6
-
-/* camera buffer direction */
-#define CAM_BUF_INPUT                           1
-#define CAM_BUF_OUTPUT                          2
-#define CAM_BUF_IN_OUT                          3
-
-/* camera packet device Type */
-#define CAM_PACKET_DEV_BASE                     0
-#define CAM_PACKET_DEV_IMG_SENSOR               1
-#define CAM_PACKET_DEV_ACTUATOR                 2
-#define CAM_PACKET_DEV_COMPANION                3
-#define CAM_PACKET_DEV_EEPOM                    4
-#define CAM_PACKET_DEV_CSIPHY                   5
-#define CAM_PACKET_DEV_OIS                      6
-#define CAM_PACKET_DEV_FLASH                    7
-#define CAM_PACKET_DEV_FD                       8
-#define CAM_PACKET_DEV_JPEG_ENC                 9
-#define CAM_PACKET_DEV_JPEG_DEC                 10
-#define CAM_PACKET_DEV_VFE                      11
-#define CAM_PACKET_DEV_CPP                      12
-#define CAM_PACKET_DEV_CSID                     13
-#define CAM_PACKET_DEV_ISPIF                    14
-#define CAM_PACKET_DEV_IFE                      15
-#define CAM_PACKET_DEV_ICP                      16
-#define CAM_PACKET_DEV_LRME                     17
-#define CAM_PACKET_DEV_MAX                      18
-
-
-/* constants */
-#define CAM_PACKET_MAX_PLANES                   3
-
-/**
- * struct cam_plane_cfg - Plane configuration info
- *
- * @width:                      Plane width in pixels
- * @height:                     Plane height in lines
- * @plane_stride:               Plane stride in pixel
- * @slice_height:               Slice height in line (not used by ISP)
- * @meta_stride:                UBWC metadata stride
- * @meta_size:                  UBWC metadata plane size
- * @meta_offset:                UBWC metadata offset
- * @packer_config:              UBWC packer config
- * @mode_config:                UBWC mode config
- * @tile_config:                UBWC tile config
- * @h_init:                     UBWC horizontal initial coordinate in pixels
- * @v_init:                     UBWC vertical initial coordinate in lines
- *
- */
-struct cam_plane_cfg {
-	uint32_t                width;
-	uint32_t                height;
-	uint32_t                plane_stride;
-	uint32_t                slice_height;
-	uint32_t                meta_stride;
-	uint32_t                meta_size;
-	uint32_t                meta_offset;
-	uint32_t                packer_config;
-	uint32_t                mode_config;
-	uint32_t                tile_config;
-	uint32_t                h_init;
-	uint32_t                v_init;
-};
-
-/**
- * struct cam_cmd_buf_desc - Command buffer descriptor
- *
- * @mem_handle:                 Command buffer handle
- * @offset:                     Command start offset
- * @size:                       Size of the command buffer in bytes
- * @length:                     Used memory in command buffer in bytes
- * @type:                       Type of the command buffer
- * @meta_data:                  Data type for private command buffer
- *                              Between UMD and KMD
- *
- */
-struct cam_cmd_buf_desc {
-	int32_t                 mem_handle;
-	uint32_t                offset;
-	uint32_t                size;
-	uint32_t                length;
-	uint32_t                type;
-	uint32_t                meta_data;
-};
-
-/**
- * struct cam_buf_io_cfg - Buffer io configuration for buffers
- *
- * @mem_handle:                 Mem_handle array for the buffers.
- * @offsets:                    Offsets for each planes in the buffer
- * @planes:                     Per plane information
- * @width:                      Main plane width in pixel
- * @height:                     Main plane height in lines
- * @format:                     Format of the buffer
- * @color_space:                Color space for the buffer
- * @color_pattern:              Color pattern in the buffer
- * @bpp:                        Bit per pixel
- * @rotation:                   Rotation information for the buffer
- * @resource_type:              Resource type associated with the buffer
- * @fence:                      Fence handle
- * @early_fence:                Fence handle for early signal
- * @aux_cmd_buf:                An auxiliary command buffer that may be
- *                              used for programming the IO
- * @direction:                  Direction of the config
- * @batch_size:                 Batch size in HFR mode
- * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @subsample_period:           Subsample period. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @framedrop_pattern:          Framedrop pattern
- * @framedrop_period:           Framedrop period
- * @flag:                       Flags for extra information
- * @direction:                  Buffer direction: input or output
- * @padding:                    Padding for the structure
- *
- */
-struct cam_buf_io_cfg {
-	int32_t                         mem_handle[CAM_PACKET_MAX_PLANES];
-	uint32_t                        offsets[CAM_PACKET_MAX_PLANES];
-	struct cam_plane_cfg            planes[CAM_PACKET_MAX_PLANES];
-	uint32_t                        format;
-	uint32_t                        color_space;
-	uint32_t                        color_pattern;
-	uint32_t                        bpp;
-	uint32_t                        rotation;
-	uint32_t                        resource_type;
-	int32_t                         fence;
-	int32_t                         early_fence;
-	struct cam_cmd_buf_desc         aux_cmd_buf;
-	uint32_t                        direction;
-	uint32_t                        batch_size;
-	uint32_t                        subsample_pattern;
-	uint32_t                        subsample_period;
-	uint32_t                        framedrop_pattern;
-	uint32_t                        framedrop_period;
-	uint32_t                        flag;
-	uint32_t                        padding;
-};
-
-/**
- * struct cam_packet_header - Camera packet header
- *
- * @op_code:                    Camera packet opcode
- * @size:                       Size of the camera packet in bytes
- * @request_id:                 Request id for this camera packet
- * @flags:                      Flags for the camera packet
- * @padding:                    Padding
- *
- */
-struct cam_packet_header {
-	uint32_t                op_code;
-	uint32_t                size;
-	uint64_t                request_id;
-	uint32_t                flags;
-	uint32_t                padding;
-};
-
-/**
- * struct cam_patch_desc - Patch structure
- *
- * @dst_buf_hdl:                Memory handle for the dest buffer
- * @dst_offset:                 Offset byte in the dest buffer
- * @src_buf_hdl:                Memory handle for the source buffer
- * @src_offset:                 Offset byte in the source buffer
- *
- */
-struct cam_patch_desc {
-	int32_t                 dst_buf_hdl;
-	uint32_t                dst_offset;
-	int32_t                 src_buf_hdl;
-	uint32_t                src_offset;
-};
-
-/**
- * struct cam_packet - Camera packet structure
- *
- * @header:                     Camera packet header
- * @cmd_buf_offset:             Command buffer start offset
- * @num_cmd_buf:                Number of the command buffer in the packet
- * @io_config_offset:           Buffer io configuration start offset
- * @num_io_configs:             Number of the buffer io configurations
- * @patch_offset:               Patch offset for the patch structure
- * @num_patches:                Number of the patch structure
- * @kmd_cmd_buf_index:          Command buffer index which contains extra
- *                              space for the KMD buffer
- * @kmd_cmd_buf_offset:         Offset from the beginning of the command
- *                              buffer for KMD usage.
- * @payload:                    Camera packet payload
- *
- */
-struct cam_packet {
-	struct cam_packet_header        header;
-	uint32_t                        cmd_buf_offset;
-	uint32_t                        num_cmd_buf;
-	uint32_t                        io_configs_offset;
-	uint32_t                        num_io_configs;
-	uint32_t                        patch_offset;
-	uint32_t                        num_patches;
-	uint32_t                        kmd_cmd_buf_index;
-	uint32_t                        kmd_cmd_buf_offset;
-	uint64_t                        payload[1];
-
-};
-
-/**
- * struct cam_release_dev_cmd - Control payload for release devices
- *
- * @session_handle:             Session handle for the release
- * @dev_handle:                 Device handle for the release
- */
-struct cam_release_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-};
-
-/**
- * struct cam_start_stop_dev_cmd - Control payload for start/stop device
- *
- * @session_handle:             Session handle for the start/stop command
- * @dev_handle:                 Device handle for the start/stop command
- *
- */
-struct cam_start_stop_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-};
-
-/**
- * struct cam_config_dev_cmd - Command payload for configure device
- *
- * @session_handle:             Session handle for the command
- * @dev_handle:                 Device handle for the command
- * @offset:                     Offset byte in the packet handle.
- * @packet_handle:              Packet memory handle for the actual packet:
- *                              struct cam_packet.
- *
- */
-struct cam_config_dev_cmd {
-	int32_t                 session_handle;
-	int32_t                 dev_handle;
-	uint64_t                offset;
-	uint64_t                packet_handle;
-};
-
-/**
- * struct cam_query_cap_cmd - Payload for query device capability
- *
- * @size:               Handle size
- * @handle_type:        User pointer or shared memory handle
- * @caps_handle:        Device specific query command payload
- *
- */
-struct cam_query_cap_cmd {
-	uint32_t        size;
-	uint32_t        handle_type;
-	uint64_t        caps_handle;
-};
-
-/**
- * struct cam_acquire_dev_cmd - Control payload for acquire devices
- *
- * @session_handle:     Session handle for the acquire command
- * @dev_handle:         Device handle to be returned
- * @handle_type:        Resource handle type:
- *                      1 = user pointer, 2 = mem handle
- * @num_resources:      Number of the resources to be acquired
- * @resources_hdl:      Resource handle that refers to the actual
- *                      resource array. Each item in this
- *                      array is device specific resource structure
- *
- */
-struct cam_acquire_dev_cmd {
-	int32_t         session_handle;
-	int32_t         dev_handle;
-	uint32_t        handle_type;
-	uint32_t        num_resources;
-	uint64_t        resource_hdl;
-};
-
-/**
- * struct cam_flush_dev_cmd - Control payload for flush devices
- *
- * @version:           Version
- * @session_handle:    Session handle for the acquire command
- * @dev_handle:        Device handle to be returned
- * @flush_type:        Flush type:
- *                     0 = flush specific request
- *                     1 = flush all
- * @reserved:          Reserved for 64 bit aligngment
- * @req_id:            Request id that needs to cancel
- *
- */
-struct cam_flush_dev_cmd {
-	uint64_t       version;
-	int32_t        session_handle;
-	int32_t        dev_handle;
-	uint32_t       flush_type;
-	uint32_t       reserved;
-	int64_t        req_id;
-};
-
-#endif /* __UAPI_CAM_DEFS_H__ */
diff --git a/third_party/linux/include/media/cam_fd.h b/third_party/linux/include/media/cam_fd.h
deleted file mode 100644
index 8feb6e4da8..0000000000
--- a/third_party/linux/include/media/cam_fd.h
+++ /dev/null
@@ -1,127 +0,0 @@
-#ifndef __UAPI_CAM_FD_H__
-#define __UAPI_CAM_FD_H__
-
-#include "cam_defs.h"
-
-#define CAM_FD_MAX_FACES                       35
-#define CAM_FD_RAW_RESULT_ENTRIES              512
-
-/* FD Op Codes */
-#define CAM_PACKET_OPCODES_FD_FRAME_UPDATE     0x0
-
-/* FD Command Buffer identifiers */
-#define CAM_FD_CMD_BUFFER_ID_GENERIC           0x0
-#define CAM_FD_CMD_BUFFER_ID_CDM               0x1
-#define CAM_FD_CMD_BUFFER_ID_MAX               0x2
-
-/* FD Blob types */
-#define CAM_FD_BLOB_TYPE_SOC_CLOCK_BW_REQUEST  0x0
-#define CAM_FD_BLOB_TYPE_RAW_RESULTS_REQUIRED  0x1
-
-/* FD Resource IDs */
-#define CAM_FD_INPUT_PORT_ID_IMAGE             0x0
-#define CAM_FD_INPUT_PORT_ID_MAX               0x1
-
-#define CAM_FD_OUTPUT_PORT_ID_RESULTS          0x0
-#define CAM_FD_OUTPUT_PORT_ID_RAW_RESULTS      0x1
-#define CAM_FD_OUTPUT_PORT_ID_WORK_BUFFER      0x2
-#define CAM_FD_OUTPUT_PORT_ID_MAX              0x3
-
-/**
- * struct cam_fd_soc_clock_bw_request - SOC clock, bandwidth request info
- *
- * @clock_rate : Clock rate required while processing frame
- * @bandwidth  : Bandwidth required while processing frame
- * @reserved   : Reserved for future use
- */
-struct cam_fd_soc_clock_bw_request {
-	uint64_t    clock_rate;
-	uint64_t    bandwidth;
-	uint64_t    reserved[4];
-};
-
-/**
- * struct cam_fd_face - Face properties
- *
- * @prop1 : Property 1 of face
- * @prop2 : Property 2 of face
- * @prop3 : Property 3 of face
- * @prop4 : Property 4 of face
- *
- * Do not change this layout, this is inline with how HW writes
- * these values directly when the buffer is programmed to HW
- */
-struct cam_fd_face {
-	uint32_t    prop1;
-	uint32_t    prop2;
-	uint32_t    prop3;
-	uint32_t    prop4;
-};
-
-/**
- * struct cam_fd_results - FD results layout
- *
- * @faces      : Array of faces with face properties
- * @face_count : Number of faces detected
- * @reserved   : Reserved for alignment
- *
- * Do not change this layout, this is inline with how HW writes
- * these values directly when the buffer is programmed to HW
- */
-struct cam_fd_results {
-	struct cam_fd_face    faces[CAM_FD_MAX_FACES];
-	uint32_t              face_count;
-	uint32_t              reserved[3];
-};
-
-/**
- * struct cam_fd_hw_caps - Face properties
- *
- * @core_version          : FD core version
- * @wrapper_version       : FD wrapper version
- * @raw_results_available : Whether raw results are available on this HW
- * @supported_modes       : Modes supported by this HW.
- * @reserved              : Reserved for future use
- */
-struct cam_fd_hw_caps {
-	struct cam_hw_version    core_version;
-	struct cam_hw_version    wrapper_version;
-	uint32_t                 raw_results_available;
-	uint32_t                 supported_modes;
-	uint64_t                 reserved;
-};
-
-/**
- * struct cam_fd_query_cap_cmd - FD Query capabilities information
- *
- * @device_iommu : FD IOMMU handles
- * @cdm_iommu    : CDM iommu handles
- * @hw_caps      : FD HW capabilities
- * @reserved     : Reserved for alignment
- */
-struct cam_fd_query_cap_cmd {
-	struct cam_iommu_handle    device_iommu;
-	struct cam_iommu_handle    cdm_iommu;
-	struct cam_fd_hw_caps      hw_caps;
-	uint64_t                   reserved;
-};
-
-/**
- * struct cam_fd_acquire_dev_info - FD acquire device information
- *
- * @clk_bw_request  : SOC clock, bandwidth request
- * @priority        : Priority for this acquire
- * @mode            : Mode in which to run FD HW.
- * @get_raw_results : Whether this acquire needs face raw results
- *                    while frame processing
- * @reserved        : Reserved field for 64 bit alignment
- */
-struct cam_fd_acquire_dev_info {
-	struct cam_fd_soc_clock_bw_request clk_bw_request;
-	uint32_t                           priority;
-	uint32_t                           mode;
-	uint32_t                           get_raw_results;
-	uint32_t                           reserved[13];
-};
-
-#endif /* __UAPI_CAM_FD_H__ */
diff --git a/third_party/linux/include/media/cam_icp.h b/third_party/linux/include/media/cam_icp.h
deleted file mode 100644
index 680d05b630..0000000000
--- a/third_party/linux/include/media/cam_icp.h
+++ /dev/null
@@ -1,179 +0,0 @@
-#ifndef __UAPI_CAM_ICP_H__
-#define __UAPI_CAM_ICP_H__
-
-#include "cam_defs.h"
-
-/* icp, ipe, bps, cdm(ipe/bps) are used in querycap */
-#define CAM_ICP_DEV_TYPE_A5      1
-#define CAM_ICP_DEV_TYPE_IPE     2
-#define CAM_ICP_DEV_TYPE_BPS     3
-#define CAM_ICP_DEV_TYPE_IPE_CDM 4
-#define CAM_ICP_DEV_TYPE_BPS_CDM 5
-#define CAM_ICP_DEV_TYPE_MAX     5
-
-/* definitions needed for icp aquire device */
-#define CAM_ICP_RES_TYPE_BPS        1
-#define CAM_ICP_RES_TYPE_IPE_RT     2
-#define CAM_ICP_RES_TYPE_IPE        3
-#define CAM_ICP_RES_TYPE_MAX        4
-
-/* packet opcode types */
-#define CAM_ICP_OPCODE_IPE_UPDATE 0
-#define CAM_ICP_OPCODE_BPS_UPDATE 1
-
-/* IPE input port resource type */
-#define CAM_ICP_IPE_INPUT_IMAGE_FULL            0x0
-#define CAM_ICP_IPE_INPUT_IMAGE_DS4             0x1
-#define CAM_ICP_IPE_INPUT_IMAGE_DS16            0x2
-#define CAM_ICP_IPE_INPUT_IMAGE_DS64            0x3
-#define CAM_ICP_IPE_INPUT_IMAGE_FULL_REF        0x4
-#define CAM_ICP_IPE_INPUT_IMAGE_DS4_REF         0x5
-#define CAM_ICP_IPE_INPUT_IMAGE_DS16_REF        0x6
-#define CAM_ICP_IPE_INPUT_IMAGE_DS64_REF        0x7
-
-/* IPE output port resource type */
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DISPLAY        0x8
-#define CAM_ICP_IPE_OUTPUT_IMAGE_VIDEO          0x9
-#define CAM_ICP_IPE_OUTPUT_IMAGE_FULL_REF       0xA
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS4_REF        0xB
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS16_REF       0xC
-#define CAM_ICP_IPE_OUTPUT_IMAGE_DS64_REF       0xD
-
-#define CAM_ICP_IPE_IMAGE_MAX                   0xE
-
-/* BPS input port resource type */
-#define CAM_ICP_BPS_INPUT_IMAGE                 0x0
-
-/* BPS output port resource type */
-#define CAM_ICP_BPS_OUTPUT_IMAGE_FULL           0x1
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS4            0x2
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS16           0x3
-#define CAM_ICP_BPS_OUTPUT_IMAGE_DS64           0x4
-#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BG       0x5
-#define CAM_ICP_BPS_OUTPUT_IMAGE_STATS_BHIST    0x6
-#define CAM_ICP_BPS_OUTPUT_IMAGE_REG1           0x7
-#define CAM_ICP_BPS_OUTPUT_IMAGE_REG2           0x8
-
-#define CAM_ICP_BPS_IO_IMAGES_MAX               0x9
-
-/* Command meta types */
-#define CAM_ICP_CMD_META_GENERIC_BLOB           0x1
-
-/* Generic blob types */
-#define CAM_ICP_CMD_GENERIC_BLOB_CLK            0x1
-#define CAM_ICP_CMD_GENERIC_BLOB_CFG_IO         0x2
-
-/**
- * struct cam_icp_clk_bw_request
- *
- * @budget_ns: Time required to process frame
- * @frame_cycles: Frame cycles needed to process the frame
- * @rt_flag: Flag to indicate real time stream
- * @uncompressed_bw: Bandwidth required to process frame
- * @compressed_bw: Compressed bandwidth to process frame
- */
-struct cam_icp_clk_bw_request {
-	uint64_t budget_ns;
-	uint32_t frame_cycles;
-	uint32_t rt_flag;
-	uint64_t uncompressed_bw;
-	uint64_t compressed_bw;
-};
-
-/**
- * struct cam_icp_dev_ver - Device information for particular hw type
- *
- * This is used to get device version info of
- * ICP, IPE, BPS and CDM related IPE and BPS from firmware
- * and use this info in CAM_QUERY_CAP IOCTL
- *
- * @dev_type: hardware type for the cap info(icp, ipe, bps, cdm(ipe/bps))
- * @reserved: reserved field
- * @hw_ver: major, minor and incr values of a device version
- */
-struct cam_icp_dev_ver {
-	uint32_t dev_type;
-	uint32_t reserved;
-	struct cam_hw_version hw_ver;
-};
-
-/**
- * struct cam_icp_ver - ICP version info
- *
- * This strcuture is used for fw and api version
- * this is used to get firmware version and api version from firmware
- * and use this info in CAM_QUERY_CAP IOCTL
- *
- * @major: FW version major
- * @minor: FW version minor
- * @revision: FW version increment
- */
-struct cam_icp_ver {
-	uint32_t major;
-	uint32_t minor;
-	uint32_t revision;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_icp_query_cap_cmd - ICP query device capability payload
- *
- * @dev_iommu_handle: icp iommu handles for secure/non secure modes
- * @cdm_iommu_handle: iommu handles for secure/non secure modes
- * @fw_version: firmware version info
- * @api_version: api version info
- * @num_ipe: number of ipes
- * @num_bps: number of bps
- * @dev_ver: returned device capability array
- */
-struct cam_icp_query_cap_cmd {
-	struct cam_iommu_handle dev_iommu_handle;
-	struct cam_iommu_handle cdm_iommu_handle;
-	struct cam_icp_ver fw_version;
-	struct cam_icp_ver api_version;
-	uint32_t num_ipe;
-	uint32_t num_bps;
-	struct cam_icp_dev_ver dev_ver[CAM_ICP_DEV_TYPE_MAX];
-};
-
-/**
- * struct cam_icp_res_info - ICP output resource info
- *
- * @format: format of the resource
- * @width:  width in pixels
- * @height: height in lines
- * @fps:  fps
- */
-struct cam_icp_res_info {
-	uint32_t format;
-	uint32_t width;
-	uint32_t height;
-	uint32_t fps;
-};
-
-/**
- * struct cam_icp_acquire_dev_info - An ICP device info
- *
- * @scratch_mem_size: Output param - size of scratch memory
- * @dev_type: device type (IPE_RT/IPE_NON_RT/BPS)
- * @io_config_cmd_size: size of IO config command
- * @io_config_cmd_handle: IO config command for each acquire
- * @secure_mode: camera mode (secure/non secure)
- * @chain_info: chaining info of FW device handles
- * @in_res: resource info used for clock and bandwidth calculation
- * @num_out_res: number of output resources
- * @out_res: output resource
- */
-struct cam_icp_acquire_dev_info {
-	uint32_t scratch_mem_size;
-	uint32_t dev_type;
-	uint32_t io_config_cmd_size;
-	int32_t  io_config_cmd_handle;
-	uint32_t secure_mode;
-	int32_t chain_info;
-	struct cam_icp_res_info in_res;
-	uint32_t num_out_res;
-	struct cam_icp_res_info out_res[1];
-} __attribute__((__packed__));
-
-#endif /* __UAPI_CAM_ICP_H__ */
diff --git a/third_party/linux/include/media/cam_isp.h b/third_party/linux/include/media/cam_isp.h
deleted file mode 100644
index 266840d38c..0000000000
--- a/third_party/linux/include/media/cam_isp.h
+++ /dev/null
@@ -1,379 +0,0 @@
-#ifndef __UAPI_CAM_ISP_H__
-#define __UAPI_CAM_ISP_H__
-
-#include "cam_defs.h"
-#include "cam_isp_vfe.h"
-#include "cam_isp_ife.h"
-
-
-/* ISP driver name */
-#define CAM_ISP_DEV_NAME                        "cam-isp"
-
-/* HW type */
-#define CAM_ISP_HW_BASE                         0
-#define CAM_ISP_HW_CSID                         1
-#define CAM_ISP_HW_VFE                          2
-#define CAM_ISP_HW_IFE                          3
-#define CAM_ISP_HW_ISPIF                        4
-#define CAM_ISP_HW_MAX                          5
-
-/* Color Pattern */
-#define CAM_ISP_PATTERN_BAYER_RGRGRG            0
-#define CAM_ISP_PATTERN_BAYER_GRGRGR            1
-#define CAM_ISP_PATTERN_BAYER_BGBGBG            2
-#define CAM_ISP_PATTERN_BAYER_GBGBGB            3
-#define CAM_ISP_PATTERN_YUV_YCBYCR              4
-#define CAM_ISP_PATTERN_YUV_YCRYCB              5
-#define CAM_ISP_PATTERN_YUV_CBYCRY              6
-#define CAM_ISP_PATTERN_YUV_CRYCBY              7
-#define CAM_ISP_PATTERN_MAX                     8
-
-/* Usage Type */
-#define CAM_ISP_RES_USAGE_SINGLE                0
-#define CAM_ISP_RES_USAGE_DUAL                  1
-#define CAM_ISP_RES_USAGE_MAX                   2
-
-/* Resource ID */
-#define CAM_ISP_RES_ID_PORT                     0
-#define CAM_ISP_RES_ID_CLK                      1
-#define CAM_ISP_RES_ID_MAX                      2
-
-/* Resource Type - Type of resource for the resource id
- * defined in cam_isp_vfe.h, cam_isp_ife.h
- */
-
-/* Lane Type in input resource for Port */
-#define CAM_ISP_LANE_TYPE_DPHY                  0
-#define CAM_ISP_LANE_TYPE_CPHY                  1
-#define CAM_ISP_LANE_TYPE_MAX                   2
-
-/* ISP Resurce Composite Group ID */
-#define CAM_ISP_RES_COMP_GROUP_NONE             0
-#define CAM_ISP_RES_COMP_GROUP_ID_0             1
-#define CAM_ISP_RES_COMP_GROUP_ID_1             2
-#define CAM_ISP_RES_COMP_GROUP_ID_2             3
-#define CAM_ISP_RES_COMP_GROUP_ID_3             4
-#define CAM_ISP_RES_COMP_GROUP_ID_4             5
-#define CAM_ISP_RES_COMP_GROUP_ID_5             6
-#define CAM_ISP_RES_COMP_GROUP_ID_MAX           6
-
-/* ISP packet opcode for ISP */
-#define CAM_ISP_PACKET_OP_BASE                  0
-#define CAM_ISP_PACKET_INIT_DEV                 1
-#define CAM_ISP_PACKET_UPDATE_DEV               2
-#define CAM_ISP_PACKET_OP_MAX                   3
-
-/* ISP packet meta_data type for command buffer */
-#define CAM_ISP_PACKET_META_BASE                0
-#define CAM_ISP_PACKET_META_LEFT                1
-#define CAM_ISP_PACKET_META_RIGHT               2
-#define CAM_ISP_PACKET_META_COMMON              3
-#define CAM_ISP_PACKET_META_DMI_LEFT            4
-#define CAM_ISP_PACKET_META_DMI_RIGHT           5
-#define CAM_ISP_PACKET_META_DMI_COMMON          6
-#define CAM_ISP_PACKET_META_CLOCK               7
-#define CAM_ISP_PACKET_META_CSID                8
-#define CAM_ISP_PACKET_META_DUAL_CONFIG         9
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_LEFT   10
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_RIGHT  11
-#define CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON 12
-
-/* DSP mode */
-#define CAM_ISP_DSP_MODE_NONE                   0
-#define CAM_ISP_DSP_MODE_ONE_WAY                1
-#define CAM_ISP_DSP_MODE_ROUND                  2
-
-/* ISP Generic Cmd Buffer Blob types */
-#define CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG      0
-#define CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG    1
-#define CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG       2
-
-/* Query devices */
-/**
- * struct cam_isp_dev_cap_info - A cap info for particular hw type
- *
- * @hw_type:            Hardware type for the cap info
- * @reserved:           reserved field for alignment
- * @hw_version:         Hardware version
- *
- */
-struct cam_isp_dev_cap_info {
-	uint32_t              hw_type;
-	uint32_t              reserved;
-	struct cam_hw_version hw_version;
-};
-
-/**
- * struct cam_isp_query_cap_cmd - ISP query device capability payload
- *
- * @device_iommu:               returned iommu handles for device
- * @cdm_iommu:                  returned iommu handles for cdm
- * @num_dev:                    returned number of device capabilities
- * @reserved:                   reserved field for alignment
- * @dev_caps:                   returned device capability array
- *
- */
-struct cam_isp_query_cap_cmd {
-	struct cam_iommu_handle       device_iommu;
-	struct cam_iommu_handle       cdm_iommu;
-	int32_t                       num_dev;
-	uint32_t                      reserved;
-	struct cam_isp_dev_cap_info   dev_caps[CAM_ISP_HW_MAX];
-};
-
-/* Acquire Device */
-/**
- * struct cam_isp_out_port_info - An output port resource info
- *
- * @res_type:                   output resource type defined in file
- *                              cam_isp_vfe.h or cam_isp_ife.h
- * @format:                     output format of the resource
- * @wdith:                      output width in pixels
- * @height:                     output height in lines
- * @comp_grp_id:                composite group id for the resource.
- * @split_point:                split point in pixels for the dual VFE.
- * @secure_mode:                flag to tell if output should be run in secure
- *                              mode or not. See cam_defs.h for definition
- * @reserved:                   reserved field for alignment
- *
- */
-struct cam_isp_out_port_info {
-	uint32_t                res_type;
-	uint32_t                format;
-	uint32_t                width;
-	uint32_t                height;
-	uint32_t                comp_grp_id;
-	uint32_t                split_point;
-	uint32_t                secure_mode;
-	uint32_t                reserved;
-};
-
-/**
- * struct cam_isp_in_port_info - An input port resource info
- *
- * @res_type:                   input resource type define in file
- *                              cam_isp_vfe.h or cam_isp_ife.h
- * @lane_type:                  lane type: c-phy or d-phy.
- * @lane_num:                   active lane number
- * @lane_cfg:                   lane configurations: 4 bits per lane
- * @vc:                         input virtual channel number
- * @dt:                         input data type number
- * @format:                     input format
- * @test_pattern:               test pattern for the testgen
- * @usage_type:                 whether dual vfe is required
- * @left_start:                 left input start offset in pixels
- * @left_stop:                  left input stop offset in pixels
- * @left_width:                 left input width in pixels
- * @right_start:                right input start offset in pixels.
- *                              Only for Dual VFE
- * @right_stop:                 right input stop offset in pixels.
- *                              Only for Dual VFE
- * @right_width:                right input width in pixels.
- *                              Only for dual VFE
- * @line_start:                 top of the line number
- * @line_stop:                  bottome of the line number
- * @height:                     input height in lines
- * @pixel_clk;                  sensor output clock
- * @batch_size:                 batch size for HFR mode
- * @dsp_mode:                   DSP stream mode (Defines as CAM_ISP_DSP_MODE_*)
- * @hbi_cnt:                    HBI count for the camif input
- * @reserved:                   Reserved field for alignment
- * @num_out_res:                number of the output resource associated
- * @data:                       payload that contains the output resources
- *
- */
-struct cam_isp_in_port_info {
-	uint32_t                        res_type;
-	uint32_t                        lane_type;
-	uint32_t                        lane_num;
-	uint32_t                        lane_cfg;
-	uint32_t                        vc;
-	uint32_t                        dt;
-	uint32_t                        format;
-	uint32_t                        test_pattern;
-	uint32_t                        usage_type;
-	uint32_t                        left_start;
-	uint32_t                        left_stop;
-	uint32_t                        left_width;
-	uint32_t                        right_start;
-	uint32_t                        right_stop;
-	uint32_t                        right_width;
-	uint32_t                        line_start;
-	uint32_t                        line_stop;
-	uint32_t                        height;
-	uint32_t                        pixel_clk;
-	uint32_t                        batch_size;
-	uint32_t                        dsp_mode;
-	uint32_t                        hbi_cnt;
-        uint32_t                        custom_csid;
-	uint32_t                        reserved;
-	uint32_t                        num_out_res;
-	struct cam_isp_out_port_info    data[1];
-};
-
-/**
- * struct cam_isp_resource - A resource bundle
- *
- * @resoruce_id:                resource id for the resource bundle
- * @length:                     length of the while resource blob
- * @handle_type:                type of the resource handle
- * @reserved:                   reserved field for alignment
- * @res_hdl:                    resource handle that points to the
- *                                     resource array;
- *
- */
-struct cam_isp_resource {
-	uint32_t                       resource_id;
-	uint32_t                       length;
-	uint32_t                       handle_type;
-	uint32_t                       reserved;
-	uint64_t                       res_hdl;
-};
-
-/**
- * struct cam_isp_port_hfr_config - HFR configuration for this port
- *
- * @resource_type:              Resource type
- * @subsample_pattern:          Subsample pattern. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @subsample_period:           Subsample period. Used in HFR mode. It
- *                              should be consistent with batchSize and
- *                              CAMIF programming.
- * @framedrop_pattern:          Framedrop pattern
- * @framedrop_period:           Framedrop period
- * @reserved:                   Reserved for alignment
- */
-struct cam_isp_port_hfr_config {
-	uint32_t                       resource_type;
-	uint32_t                       subsample_pattern;
-	uint32_t                       subsample_period;
-	uint32_t                       framedrop_pattern;
-	uint32_t                       framedrop_period;
-	uint32_t                       reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_isp_resource_hfr_config - Resource HFR configuration
- *
- * @num_ports:                  Number of ports
- * @reserved:                   Reserved for alignment
- * @port_hfr_config:            HFR configuration for each IO port
- */
-struct cam_isp_resource_hfr_config {
-	uint32_t                       num_ports;
-	uint32_t                       reserved;
-	struct cam_isp_port_hfr_config port_hfr_config[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_dual_split_params - dual isp spilt parameters
- *
- * @split_point:                Split point information x, where (0 < x < width)
- *                              left ISP's input ends at x + righ padding and
- *                              Right ISP's input starts at x - left padding
- * @right_padding:              Padding added past the split point for left
- *                              ISP's input
- * @left_padding:               Padding added before split point for right
- *                              ISP's input
- * @reserved:                   Reserved filed for alignment
- *
- */
-struct cam_isp_dual_split_params {
-	uint32_t                       split_point;
-	uint32_t                       right_padding;
-	uint32_t                       left_padding;
-	uint32_t                       reserved;
-};
-
-/**
- * struct cam_isp_dual_stripe_config - stripe config per bus client
- *
- * @offset:                     Start horizontal offset relative to
- *                              output buffer
- *                              In UBWC mode, this value indicates the H_INIT
- *                              value in pixel
- * @width:                      Width of the stripe in bytes
- * @tileconfig                  Ubwc meta tile config. Contain the partial
- *                              tile info
- * @port_id:                    port id of ISP output
- *
- */
-struct cam_isp_dual_stripe_config {
-	uint32_t                       offset;
-	uint32_t                       width;
-	uint32_t                       tileconfig;
-	uint32_t                       port_id;
-};
-
-/**
- * struct cam_isp_dual_config - dual isp configuration
- *
- * @num_ports                   Number of isp output ports
- * @reserved                    Reserved field for alignment
- * @split_params:               Inpput split parameters
- * @stripes:                    Stripe information
- *
- */
-struct cam_isp_dual_config {
-	uint32_t                           num_ports;
-	uint32_t                           reserved;
-	struct cam_isp_dual_split_params   split_params;
-	struct cam_isp_dual_stripe_config  stripes[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_clock_config - Clock configuration
- *
- * @usage_type:                 Usage type (Single/Dual)
- * @num_rdi:                    Number of RDI votes
- * @left_pix_hz:                Pixel Clock for Left ISP
- * @right_pix_hz:               Pixel Clock for Right ISP, valid only if Dual
- * @rdi_hz:                     RDI Clock. ISP clock will be max of RDI and
- *                              PIX clocks. For a particular context which ISP
- *                              HW the RDI is allocated to is not known to UMD.
- *                              Hence pass the clock and let KMD decide.
- */
-struct cam_isp_clock_config {
-	uint32_t                       usage_type;
-	uint32_t                       num_rdi;
-	uint64_t                       left_pix_hz;
-	uint64_t                       right_pix_hz;
-	uint64_t                       rdi_hz[1];
-} __attribute__((packed));
-
-/**
- * struct cam_isp_bw_vote - Bandwidth vote information
- *
- * @resource_id:                Resource ID
- * @reserved:                   Reserved field for alignment
- * @cam_bw_bps:                 Bandwidth vote for CAMNOC
- * @ext_bw_bps:                 Bandwidth vote for path-to-DDR after CAMNOC
- */
-
-struct cam_isp_bw_vote {
-	uint32_t                       resource_id;
-	uint32_t                       reserved;
-	uint64_t                       cam_bw_bps;
-	uint64_t                       ext_bw_bps;
-} __attribute__((packed));
-
-/**
- * struct cam_isp_bw_config - Bandwidth configuration
- *
- * @usage_type:                 Usage type (Single/Dual)
- * @num_rdi:                    Number of RDI votes
- * @left_pix_vote:              Bandwidth vote for left ISP
- * @right_pix_vote:             Bandwidth vote for right ISP
- * @rdi_vote:                   RDI bandwidth requirements
- */
-
-struct cam_isp_bw_config {
-	uint32_t                       usage_type;
-	uint32_t                       num_rdi;
-	struct cam_isp_bw_vote         left_pix_vote;
-	struct cam_isp_bw_vote         right_pix_vote;
-	struct cam_isp_bw_vote         rdi_vote[1];
-} __attribute__((packed));
-
-#endif /* __UAPI_CAM_ISP_H__ */
diff --git a/third_party/linux/include/media/cam_isp_ife.h b/third_party/linux/include/media/cam_isp_ife.h
deleted file mode 100644
index f5e72813fc..0000000000
--- a/third_party/linux/include/media/cam_isp_ife.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#ifndef __UAPI_CAM_ISP_IFE_H__
-#define __UAPI_CAM_ISP_IFE_H__
-
-/* IFE output port resource type (global unique)*/
-#define CAM_ISP_IFE_OUT_RES_BASE               0x3000
-
-#define CAM_ISP_IFE_OUT_RES_FULL               (CAM_ISP_IFE_OUT_RES_BASE + 0)
-#define CAM_ISP_IFE_OUT_RES_DS4                (CAM_ISP_IFE_OUT_RES_BASE + 1)
-#define CAM_ISP_IFE_OUT_RES_DS16               (CAM_ISP_IFE_OUT_RES_BASE + 2)
-#define CAM_ISP_IFE_OUT_RES_RAW_DUMP           (CAM_ISP_IFE_OUT_RES_BASE + 3)
-#define CAM_ISP_IFE_OUT_RES_FD                 (CAM_ISP_IFE_OUT_RES_BASE + 4)
-#define CAM_ISP_IFE_OUT_RES_PDAF               (CAM_ISP_IFE_OUT_RES_BASE + 5)
-#define CAM_ISP_IFE_OUT_RES_RDI_0              (CAM_ISP_IFE_OUT_RES_BASE + 6)
-#define CAM_ISP_IFE_OUT_RES_RDI_1              (CAM_ISP_IFE_OUT_RES_BASE + 7)
-#define CAM_ISP_IFE_OUT_RES_RDI_2              (CAM_ISP_IFE_OUT_RES_BASE + 8)
-#define CAM_ISP_IFE_OUT_RES_RDI_3              (CAM_ISP_IFE_OUT_RES_BASE + 9)
-#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_IFE_OUT_RES_BASE + 10)
-#define CAM_ISP_IFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_IFE_OUT_RES_BASE + 11)
-#define CAM_ISP_IFE_OUT_RES_STATS_TL_BG        (CAM_ISP_IFE_OUT_RES_BASE + 12)
-#define CAM_ISP_IFE_OUT_RES_STATS_BF           (CAM_ISP_IFE_OUT_RES_BASE + 13)
-#define CAM_ISP_IFE_OUT_RES_STATS_AWB_BG       (CAM_ISP_IFE_OUT_RES_BASE + 14)
-#define CAM_ISP_IFE_OUT_RES_STATS_BHIST        (CAM_ISP_IFE_OUT_RES_BASE + 15)
-#define CAM_ISP_IFE_OUT_RES_STATS_RS           (CAM_ISP_IFE_OUT_RES_BASE + 16)
-#define CAM_ISP_IFE_OUT_RES_STATS_CS           (CAM_ISP_IFE_OUT_RES_BASE + 17)
-#define CAM_ISP_IFE_OUT_RES_STATS_IHIST        (CAM_ISP_IFE_OUT_RES_BASE + 18)
-#define CAM_ISP_IFE_OUT_RES_MAX                (CAM_ISP_IFE_OUT_RES_BASE + 19)
-
-
-/* IFE input port resource type (global unique) */
-#define CAM_ISP_IFE_IN_RES_BASE                 0x4000
-
-#define CAM_ISP_IFE_IN_RES_TPG                 (CAM_ISP_IFE_IN_RES_BASE + 0)
-#define CAM_ISP_IFE_IN_RES_PHY_0               (CAM_ISP_IFE_IN_RES_BASE + 1)
-#define CAM_ISP_IFE_IN_RES_PHY_1               (CAM_ISP_IFE_IN_RES_BASE + 2)
-#define CAM_ISP_IFE_IN_RES_PHY_2               (CAM_ISP_IFE_IN_RES_BASE + 3)
-#define CAM_ISP_IFE_IN_RES_PHY_3               (CAM_ISP_IFE_IN_RES_BASE + 4)
-#define CAM_ISP_IFE_IN_RES_MAX                 (CAM_ISP_IFE_IN_RES_BASE + 5)
-
-#endif /* __UAPI_CAM_ISP_IFE_H__ */
diff --git a/third_party/linux/include/media/cam_isp_vfe.h b/third_party/linux/include/media/cam_isp_vfe.h
deleted file mode 100644
index e48db2f98d..0000000000
--- a/third_party/linux/include/media/cam_isp_vfe.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef __UAPI_CAM_ISP_VFE_H__
-#define __UAPI_CAM_ISP_VFE_H__
-
-/* VFE output port resource type  (global unique)  */
-#define CAM_ISP_VFE_OUT_RES_BASE               0x1000
-
-#define CAM_ISP_VFE_OUT_RES_ENC                (CAM_ISP_VFE_OUT_RES_BASE + 0)
-#define CAM_ISP_VFE_OUT_RES_VIEW               (CAM_ISP_VFE_OUT_RES_BASE + 1)
-#define CAM_ISP_VFE_OUT_RES_VID                (CAM_ISP_VFE_OUT_RES_BASE + 2)
-#define CAM_ISP_VFE_OUT_RES_RDI_0              (CAM_ISP_VFE_OUT_RES_BASE + 3)
-#define CAM_ISP_VFE_OUT_RES_RDI_1              (CAM_ISP_VFE_OUT_RES_BASE + 4)
-#define CAM_ISP_VFE_OUT_RES_RDI_2              (CAM_ISP_VFE_OUT_RES_BASE + 5)
-#define CAM_ISP_VFE_OUT_RES_RDI_3              (CAM_ISP_VFE_OUT_RES_BASE + 6)
-#define CAM_ISP_VFE_OUT_RES_STATS_AEC          (CAM_ISP_VFE_OUT_RES_BASE + 7)
-#define CAM_ISP_VFE_OUT_RES_STATS_AF           (CAM_ISP_VFE_OUT_RES_BASE + 8)
-#define CAM_ISP_VFE_OUT_RES_STATS_AWB          (CAM_ISP_VFE_OUT_RES_BASE + 9)
-#define CAM_ISP_VFE_OUT_RES_STATS_RS           (CAM_ISP_VFE_OUT_RES_BASE + 10)
-#define CAM_ISP_VFE_OUT_RES_STATS_CS           (CAM_ISP_VFE_OUT_RES_BASE + 11)
-#define CAM_ISP_VFE_OUT_RES_STATS_IHIST        (CAM_ISP_VFE_OUT_RES_BASE + 12)
-#define CAM_ISP_VFE_OUT_RES_STATS_SKIN         (CAM_ISP_VFE_OUT_RES_BASE + 13)
-#define CAM_ISP_VFE_OUT_RES_STATS_BG           (CAM_ISP_VFE_OUT_RES_BASE + 14)
-#define CAM_ISP_VFE_OUT_RES_STATS_BF           (CAM_ISP_VFE_OUT_RES_BASE + 15)
-#define CAM_ISP_VFE_OUT_RES_STATS_BE           (CAM_ISP_VFE_OUT_RES_BASE + 16)
-#define CAM_ISP_VFE_OUT_RES_STATS_BHIST        (CAM_ISP_VFE_OUT_RES_BASE + 17)
-#define CAM_ISP_VFE_OUT_RES_STATS_BF_SCALE     (CAM_ISP_VFE_OUT_RES_BASE + 18)
-#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BE       (CAM_ISP_VFE_OUT_RES_BASE + 19)
-#define CAM_ISP_VFE_OUT_RES_STATS_HDR_BHIST    (CAM_ISP_VFE_OUT_RES_BASE + 20)
-#define CAM_ISP_VFE_OUT_RES_STATS_AEC_BG       (CAM_ISP_VFE_OUT_RES_BASE + 21)
-#define CAM_ISP_VFE_OUT_RES_CAMIF_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 22)
-#define CAM_ISP_VFE_OUT_RES_IDEAL_RAW          (CAM_ISP_VFE_OUT_RES_BASE + 23)
-#define CAM_ISP_VFE_OUT_RES_MAX                (CAM_ISP_VFE_OUT_RES_BASE + 24)
-
-/* VFE input port_ resource type (global unique) */
-#define CAM_ISP_VFE_IN_RES_BASE                0x2000
-
-#define CAM_ISP_VFE_IN_RES_TPG                 (CAM_ISP_VFE_IN_RES_BASE + 0)
-#define CAM_ISP_VFE_IN_RES_PHY_0               (CAM_ISP_VFE_IN_RES_BASE + 1)
-#define CAM_ISP_VFE_IN_RES_PHY_1               (CAM_ISP_VFE_IN_RES_BASE + 2)
-#define CAM_ISP_VFE_IN_RES_PHY_2               (CAM_ISP_VFE_IN_RES_BASE + 3)
-#define CAM_ISP_VFE_IN_RES_PHY_3               (CAM_ISP_VFE_IN_RES_BASE + 4)
-#define CAM_ISP_VFE_IN_RES_FE                  (CAM_ISP_VFE_IN_RES_BASE + 5)
-#define CAM_ISP_VFE_IN_RES_MAX                 (CAM_ISP_VFE_IN_RES_BASE + 6)
-
-#endif /* __UAPI_CAM_ISP_VFE_H__ */
diff --git a/third_party/linux/include/media/cam_jpeg.h b/third_party/linux/include/media/cam_jpeg.h
deleted file mode 100644
index f3082f3bfe..0000000000
--- a/third_party/linux/include/media/cam_jpeg.h
+++ /dev/null
@@ -1,117 +0,0 @@
-#ifndef __UAPI_CAM_JPEG_H__
-#define __UAPI_CAM_JPEG_H__
-
-#include "cam_defs.h"
-
-/* enc, dma, cdm(enc/dma) are used in querycap */
-#define CAM_JPEG_DEV_TYPE_ENC      0
-#define CAM_JPEG_DEV_TYPE_DMA      1
-#define CAM_JPEG_DEV_TYPE_MAX      2
-
-#define CAM_JPEG_NUM_DEV_PER_RES_MAX      1
-
-/* definitions needed for jpeg aquire device */
-#define CAM_JPEG_RES_TYPE_ENC        0
-#define CAM_JPEG_RES_TYPE_DMA        1
-#define CAM_JPEG_RES_TYPE_MAX        2
-
-/* packet opcode types */
-#define CAM_JPEG_OPCODE_ENC_UPDATE 0
-#define CAM_JPEG_OPCODE_DMA_UPDATE 1
-
-/* ENC input port resource type */
-#define CAM_JPEG_ENC_INPUT_IMAGE                 0x0
-
-/* ENC output port resource type */
-#define CAM_JPEG_ENC_OUTPUT_IMAGE                0x1
-
-#define CAM_JPEG_ENC_IO_IMAGES_MAX               0x2
-
-/* DMA input port resource type */
-#define CAM_JPEG_DMA_INPUT_IMAGE                 0x0
-
-/* DMA output port resource type */
-#define CAM_JPEG_DMA_OUTPUT_IMAGE                0x1
-
-#define CAM_JPEG_DMA_IO_IMAGES_MAX               0x2
-
-#define CAM_JPEG_IMAGE_MAX                       0x2
-
-/**
- * struct cam_jpeg_dev_ver - Device information for particular hw type
- *
- * This is used to get device version info of JPEG ENC, JPEG DMA
- * from hardware and use this info in CAM_QUERY_CAP IOCTL
- *
- * @size : Size of struct passed
- * @dev_type: Hardware type for the cap info(jpeg enc, jpeg dma)
- * @hw_ver: Major, minor and incr values of a device version
- */
-struct cam_jpeg_dev_ver {
-	uint32_t size;
-	uint32_t dev_type;
-	struct cam_hw_version hw_ver;
-};
-
-/**
- * struct cam_jpeg_query_cap_cmd - JPEG query device capability payload
- *
- * @dev_iommu_handle: Jpeg iommu handles for secure/non secure
- *      modes
- * @cdm_iommu_handle: Iommu handles for secure/non secure modes
- * @num_enc: Number of encoder
- * @num_dma: Number of dma
- * @dev_ver: Returned device capability array
- */
-struct cam_jpeg_query_cap_cmd {
-	struct cam_iommu_handle dev_iommu_handle;
-	struct cam_iommu_handle cdm_iommu_handle;
-	uint32_t num_enc;
-	uint32_t num_dma;
-	struct cam_jpeg_dev_ver dev_ver[CAM_JPEG_DEV_TYPE_MAX];
-};
-
-/**
- * struct cam_jpeg_res_info - JPEG output resource info
- *
- * @format: Format of the resource
- * @width:  Width in pixels
- * @height: Height in lines
- * @fps:  Fps
- */
-struct cam_jpeg_res_info {
-	uint32_t format;
-	uint32_t width;
-	uint32_t height;
-	uint32_t fps;
-};
-
-/**
- * struct cam_jpeg_acquire_dev_info - An JPEG device info
- *
- * @dev_type: Device type (ENC/DMA)
- * @reserved: Reserved Bytes
- * @in_res: In resource info
- * @in_res: Iut resource info
- */
-struct cam_jpeg_acquire_dev_info {
-	uint32_t dev_type;
-	uint32_t reserved;
-	struct cam_jpeg_res_info in_res;
-	struct cam_jpeg_res_info out_res;
-};
-
-/**
- * struct cam_jpeg_config_inout_param_info - JPEG Config time
- *     input output params
- *
- * @clk_index: Input Param- clock selection index.(-1 default)
- * @output_size: Output Param - jpeg encode/dma output size in
- *     bytes
- */
-struct cam_jpeg_config_inout_param_info {
-	int32_t clk_index;
-	int32_t output_size;
-};
-
-#endif /* __UAPI_CAM_JPEG_H__ */
diff --git a/third_party/linux/include/media/cam_lrme.h b/third_party/linux/include/media/cam_lrme.h
deleted file mode 100644
index 97d957835e..0000000000
--- a/third_party/linux/include/media/cam_lrme.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef __UAPI_CAM_LRME_H__
-#define __UAPI_CAM_LRME_H__
-
-#include "cam_defs.h"
-
-/* LRME Resource Types */
-
-enum CAM_LRME_IO_TYPE {
-	CAM_LRME_IO_TYPE_TAR,
-	CAM_LRME_IO_TYPE_REF,
-	CAM_LRME_IO_TYPE_RES,
-	CAM_LRME_IO_TYPE_DS2,
-};
-
-#define CAM_LRME_INPUT_PORT_TYPE_TAR (1 << 0)
-#define CAM_LRME_INPUT_PORT_TYPE_REF (1 << 1)
-
-#define CAM_LRME_OUTPUT_PORT_TYPE_DS2 (1 << 0)
-#define CAM_LRME_OUTPUT_PORT_TYPE_RES (1 << 1)
-
-#define CAM_LRME_DEV_MAX 1
-
-
-struct cam_lrme_hw_version {
-	uint32_t gen;
-	uint32_t rev;
-	uint32_t step;
-};
-
-struct cam_lrme_dev_cap {
-	struct cam_lrme_hw_version clc_hw_version;
-	struct cam_lrme_hw_version bus_rd_hw_version;
-	struct cam_lrme_hw_version bus_wr_hw_version;
-	struct cam_lrme_hw_version top_hw_version;
-	struct cam_lrme_hw_version top_titan_version;
-};
-
-/**
- * struct cam_lrme_query_cap_cmd - LRME query device capability payload
- *
- * @dev_iommu_handle: LRME iommu handles for secure/non secure
- *      modes
- * @cdm_iommu_handle: Iommu handles for secure/non secure modes
- * @num_devices: number of hardware devices
- * @dev_caps: Returned device capability array
- */
-struct cam_lrme_query_cap_cmd {
-	struct cam_iommu_handle device_iommu;
-	struct cam_iommu_handle cdm_iommu;
-	uint32_t num_devices;
-	struct cam_lrme_dev_cap dev_caps[CAM_LRME_DEV_MAX];
-};
-
-struct cam_lrme_soc_info {
-	uint64_t clock_rate;
-	uint64_t bandwidth;
-	uint64_t reserved[4];
-};
-
-struct cam_lrme_acquire_args {
-	struct cam_lrme_soc_info lrme_soc_info;
-};
-
-#endif /* __UAPI_CAM_LRME_H__ */
-
diff --git a/third_party/linux/include/media/cam_req_mgr.h b/third_party/linux/include/media/cam_req_mgr.h
deleted file mode 100644
index ae65649964..0000000000
--- a/third_party/linux/include/media/cam_req_mgr.h
+++ /dev/null
@@ -1,436 +0,0 @@
-#ifndef __UAPI_LINUX_CAM_REQ_MGR_H
-#define __UAPI_LINUX_CAM_REQ_MGR_H
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <linux/media.h>
-#include <media/cam_defs.h>
-
-#define CAM_REQ_MGR_VNODE_NAME "cam-req-mgr-devnode"
-
-#define CAM_DEVICE_TYPE_BASE      (MEDIA_ENT_F_OLD_BASE)
-#define CAM_VNODE_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE)
-#define CAM_SENSOR_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 1)
-#define CAM_IFE_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 2)
-#define CAM_ICP_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 3)
-#define CAM_LRME_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 4)
-#define CAM_JPEG_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 5)
-#define CAM_FD_DEVICE_TYPE        (CAM_DEVICE_TYPE_BASE + 6)
-#define CAM_CPAS_DEVICE_TYPE      (CAM_DEVICE_TYPE_BASE + 7)
-#define CAM_CSIPHY_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 8)
-#define CAM_ACTUATOR_DEVICE_TYPE  (CAM_DEVICE_TYPE_BASE + 9)
-#define CAM_CCI_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 10)
-#define CAM_FLASH_DEVICE_TYPE     (CAM_DEVICE_TYPE_BASE + 11)
-#define CAM_EEPROM_DEVICE_TYPE    (CAM_DEVICE_TYPE_BASE + 12)
-#define CAM_OIS_DEVICE_TYPE       (CAM_DEVICE_TYPE_BASE + 13)
-
-/* cam_req_mgr hdl info */
-#define CAM_REQ_MGR_HDL_IDX_POS           8
-#define CAM_REQ_MGR_HDL_IDX_MASK          ((1 << CAM_REQ_MGR_HDL_IDX_POS) - 1)
-#define CAM_REQ_MGR_GET_HDL_IDX(hdl)      (hdl & CAM_REQ_MGR_HDL_IDX_MASK)
-
-/**
- * Max handles supported by cam_req_mgr
- * It includes both session and device handles
- */
-#define CAM_REQ_MGR_MAX_HANDLES           64
-#define MAX_LINKS_PER_SESSION             2
-
-/* V4L event type which user space will subscribe to */
-#define V4L_EVENT_CAM_REQ_MGR_EVENT       (V4L2_EVENT_PRIVATE_START + 0)
-
-/* Specific event ids to get notified in user space */
-#define V4L_EVENT_CAM_REQ_MGR_SOF            0
-#define V4L_EVENT_CAM_REQ_MGR_ERROR          1
-#define V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS    2
-
-/* SOF Event status */
-#define CAM_REQ_MGR_SOF_EVENT_SUCCESS           0
-#define CAM_REQ_MGR_SOF_EVENT_ERROR             1
-
-/* Link control operations */
-#define CAM_REQ_MGR_LINK_ACTIVATE               0
-#define CAM_REQ_MGR_LINK_DEACTIVATE             1
-
-/**
- * Request Manager : flush_type
- * @CAM_REQ_MGR_FLUSH_TYPE_ALL: Req mgr will remove all the pending
- * requests from input/processing queue.
- * @CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ: Req mgr will remove only particular
- * request id from input/processing queue.
- * @CAM_REQ_MGR_FLUSH_TYPE_MAX: Max number of the flush type
- * @opcode: CAM_REQ_MGR_FLUSH_REQ
- */
-#define CAM_REQ_MGR_FLUSH_TYPE_ALL          0
-#define CAM_REQ_MGR_FLUSH_TYPE_CANCEL_REQ   1
-#define CAM_REQ_MGR_FLUSH_TYPE_MAX          2
-
-/**
- * Request Manager : Sync Mode type
- * @CAM_REQ_MGR_SYNC_MODE_NO_SYNC: Req mgr will apply non-sync mode for this
- * request.
- * @CAM_REQ_MGR_SYNC_MODE_SYNC: Req mgr will apply sync mode for this request.
- */
-#define CAM_REQ_MGR_SYNC_MODE_NO_SYNC   0
-#define CAM_REQ_MGR_SYNC_MODE_SYNC      1
-
-/**
- * struct cam_req_mgr_event_data
- * @session_hdl: session handle
- * @link_hdl: link handle
- * @frame_id: frame id
- * @reserved: reserved for 64 bit aligngment
- * @req_id: request id
- * @tv_sec: timestamp in seconds
- * @tv_usec: timestamp in micro seconds
- */
-struct cam_req_mgr_event_data {
-	int32_t   session_hdl;
-	int32_t   link_hdl;
-	int32_t   frame_id;
-	int32_t   reserved;
-	int64_t   req_id;
-	uint64_t  tv_sec;
-	uint64_t  tv_usec;
-};
-
-/**
- * struct cam_req_mgr_session_info
- * @session_hdl: In/Output param - session_handle
- * @opcode1: CAM_REQ_MGR_CREATE_SESSION
- * @opcode2: CAM_REQ_MGR_DESTROY_SESSION
- */
-struct cam_req_mgr_session_info {
-	int32_t session_hdl;
-	int32_t reserved;
-};
-
-/**
- * struct cam_req_mgr_link_info
- * @session_hdl: Input param - Identifier for CSL session
- * @num_devices: Input Param - Num of devices to be linked
- * @dev_hdls: Input param - List of device handles to be linked
- * @link_hdl: Output Param -Identifier for link
- * @opcode: CAM_REQ_MGR_LINK
- */
-struct cam_req_mgr_link_info {
-	int32_t session_hdl;
-	uint32_t num_devices;
-	int32_t dev_hdls[CAM_REQ_MGR_MAX_HANDLES];
-	int32_t link_hdl;
-};
-
-/**
- * struct cam_req_mgr_unlink_info
- * @session_hdl: input param - session handle
- * @link_hdl: input param - link handle
- * @opcode: CAM_REQ_MGR_UNLINK
- */
-struct cam_req_mgr_unlink_info {
-	int32_t session_hdl;
-	int32_t link_hdl;
-};
-
-/**
- * struct cam_req_mgr_flush_info
- * @brief: User can tell drivers to flush a particular request id or
- * flush all requests from its pending processing queue. Flush is a
- * blocking call and driver shall ensure all requests are flushed
- * before returning.
- * @session_hdl: Input param - Identifier for CSL session
- * @link_hdl: Input Param -Identifier for link
- * @flush_type: User can cancel a particular req id or can flush
- * all requests in queue
- * @reserved: reserved for 64 bit aligngment
- * @req_id: field is valid only if flush type is cancel request
- * for flush all this field value is not considered.
- * @opcode: CAM_REQ_MGR_FLUSH_REQ
- */
-struct cam_req_mgr_flush_info {
-	int32_t session_hdl;
-	int32_t link_hdl;
-	uint32_t flush_type;
-	uint32_t reserved;
-	int64_t req_id;
-};
-
-/** struct cam_req_mgr_sched_info
- * @session_hdl: Input param - Identifier for CSL session
- * @link_hdl: Input Param -Identifier for link
- * inluding itself.
- * @bubble_enable: Input Param - Cam req mgr will do bubble recovery if this
- * flag is set.
- * @sync_mode: Type of Sync mode for this request
- * @req_id: Input Param - Request Id from which all requests will be flushed
- */
-struct cam_req_mgr_sched_request {
-	int32_t session_hdl;
-	int32_t link_hdl;
-	int32_t bubble_enable;
-	int32_t sync_mode;
-	int64_t req_id;
-};
-
-/**
- * struct cam_req_mgr_sync_mode
- * @session_hdl:         Input param - Identifier for CSL session
- * @sync_mode:           Input Param - Type of sync mode
- * @num_links:           Input Param - Num of links in sync mode (Valid only
- *                             when sync_mode is one of SYNC enabled modes)
- * @link_hdls:           Input Param - Array of link handles to be in sync mode
- *                             (Valid only when sync_mode is one of SYNC
- *                             enabled modes)
- * @master_link_hdl:     Input Param - To dictate which link's SOF drives system
- *                             (Valid only when sync_mode is one of SYNC
- *                             enabled modes)
- *
- * @opcode: CAM_REQ_MGR_SYNC_MODE
- */
-struct cam_req_mgr_sync_mode {
-	int32_t session_hdl;
-	int32_t sync_mode;
-	int32_t num_links;
-	int32_t link_hdls[MAX_LINKS_PER_SESSION];
-	int32_t master_link_hdl;
-	int32_t reserved;
-};
-
-/**
- * struct cam_req_mgr_link_control
- * @ops:                 Link operations: activate/deactive
- * @session_hdl:         Input param - Identifier for CSL session
- * @num_links:           Input Param - Num of links
- * @reserved:            reserved field
- * @link_hdls:           Input Param - Links to be activated/deactivated
- *
- * @opcode: CAM_REQ_MGR_LINK_CONTROL
- */
-struct cam_req_mgr_link_control {
-	int32_t ops;
-	int32_t session_hdl;
-	int32_t num_links;
-	int32_t reserved;
-	int32_t link_hdls[MAX_LINKS_PER_SESSION];
-};
-
-/**
- * cam_req_mgr specific opcode ids
- */
-#define CAM_REQ_MGR_CREATE_DEV_NODES            (CAM_COMMON_OPCODE_MAX + 1)
-#define CAM_REQ_MGR_CREATE_SESSION              (CAM_COMMON_OPCODE_MAX + 2)
-#define CAM_REQ_MGR_DESTROY_SESSION             (CAM_COMMON_OPCODE_MAX + 3)
-#define CAM_REQ_MGR_LINK                        (CAM_COMMON_OPCODE_MAX + 4)
-#define CAM_REQ_MGR_UNLINK                      (CAM_COMMON_OPCODE_MAX + 5)
-#define CAM_REQ_MGR_SCHED_REQ                   (CAM_COMMON_OPCODE_MAX + 6)
-#define CAM_REQ_MGR_FLUSH_REQ                   (CAM_COMMON_OPCODE_MAX + 7)
-#define CAM_REQ_MGR_SYNC_MODE                   (CAM_COMMON_OPCODE_MAX + 8)
-#define CAM_REQ_MGR_ALLOC_BUF                   (CAM_COMMON_OPCODE_MAX + 9)
-#define CAM_REQ_MGR_MAP_BUF                     (CAM_COMMON_OPCODE_MAX + 10)
-#define CAM_REQ_MGR_RELEASE_BUF                 (CAM_COMMON_OPCODE_MAX + 11)
-#define CAM_REQ_MGR_CACHE_OPS                   (CAM_COMMON_OPCODE_MAX + 12)
-#define CAM_REQ_MGR_LINK_CONTROL                (CAM_COMMON_OPCODE_MAX + 13)
-/* end of cam_req_mgr opcodes */
-
-#define CAM_MEM_FLAG_HW_READ_WRITE              (1<<0)
-#define CAM_MEM_FLAG_HW_READ_ONLY               (1<<1)
-#define CAM_MEM_FLAG_HW_WRITE_ONLY              (1<<2)
-#define CAM_MEM_FLAG_KMD_ACCESS                 (1<<3)
-#define CAM_MEM_FLAG_UMD_ACCESS                 (1<<4)
-#define CAM_MEM_FLAG_PROTECTED_MODE             (1<<5)
-#define CAM_MEM_FLAG_CMD_BUF_TYPE               (1<<6)
-#define CAM_MEM_FLAG_PIXEL_BUF_TYPE             (1<<7)
-#define CAM_MEM_FLAG_STATS_BUF_TYPE             (1<<8)
-#define CAM_MEM_FLAG_PACKET_BUF_TYPE            (1<<9)
-#define CAM_MEM_FLAG_CACHE                      (1<<10)
-#define CAM_MEM_FLAG_HW_SHARED_ACCESS           (1<<11)
-
-#define CAM_MEM_MMU_MAX_HANDLE                  16
-
-/* Maximum allowed buffers in existence */
-#define CAM_MEM_BUFQ_MAX                        1024
-
-#define CAM_MEM_MGR_SECURE_BIT_POS              15
-#define CAM_MEM_MGR_HDL_IDX_SIZE                15
-#define CAM_MEM_MGR_HDL_FD_SIZE                 16
-#define CAM_MEM_MGR_HDL_IDX_END_POS             16
-#define CAM_MEM_MGR_HDL_FD_END_POS              32
-
-#define CAM_MEM_MGR_HDL_IDX_MASK      ((1 << CAM_MEM_MGR_HDL_IDX_SIZE) - 1)
-
-#define GET_MEM_HANDLE(idx, fd) \
-	((idx & CAM_MEM_MGR_HDL_IDX_MASK) | \
-	(fd << (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE))) \
-
-#define GET_FD_FROM_HANDLE(hdl) \
-	(hdl >> (CAM_MEM_MGR_HDL_FD_END_POS - CAM_MEM_MGR_HDL_FD_SIZE)) \
-
-#define CAM_MEM_MGR_GET_HDL_IDX(hdl) (hdl & CAM_MEM_MGR_HDL_IDX_MASK)
-
-#define CAM_MEM_MGR_SET_SECURE_HDL(hdl, flag) \
-	((flag) ? (hdl |= (1 << CAM_MEM_MGR_SECURE_BIT_POS)) : \
-	((hdl) &= ~(1 << CAM_MEM_MGR_SECURE_BIT_POS)))
-
-#define CAM_MEM_MGR_IS_SECURE_HDL(hdl) \
-	(((hdl) & \
-	(1<<CAM_MEM_MGR_SECURE_BIT_POS)) >> CAM_MEM_MGR_SECURE_BIT_POS)
-
-/**
- * memory allocation type
- */
-#define CAM_MEM_DMA_NONE                        0
-#define CAM_MEM_DMA_BIDIRECTIONAL               1
-#define CAM_MEM_DMA_TO_DEVICE                   2
-#define CAM_MEM_DMA_FROM_DEVICE                 3
-
-
-/**
- * memory cache operation
- */
-#define CAM_MEM_CLEAN_CACHE                     1
-#define CAM_MEM_INV_CACHE                       2
-#define CAM_MEM_CLEAN_INV_CACHE                 3
-
-
-/**
- * struct cam_mem_alloc_out_params
- * @buf_handle: buffer handle
- * @fd: output buffer file descriptor
- * @vaddr: virtual address pointer
- */
-struct cam_mem_alloc_out_params {
-	uint32_t buf_handle;
-	int32_t fd;
-	uint64_t vaddr;
-};
-
-/**
- * struct cam_mem_map_out_params
- * @buf_handle: buffer handle
- * @reserved: reserved for future
- * @vaddr: virtual address pointer
- */
-struct cam_mem_map_out_params {
-	uint32_t buf_handle;
-	uint32_t reserved;
-	uint64_t vaddr;
-};
-
-/**
- * struct cam_mem_mgr_alloc_cmd
- * @len: size of buffer to allocate
- * @align: alignment of the buffer
- * @mmu_hdls: array of mmu handles
- * @num_hdl: number of handles
- * @flags: flags of the buffer
- * @out: out params
- */
-/* CAM_REQ_MGR_ALLOC_BUF */
-struct cam_mem_mgr_alloc_cmd {
-	uint64_t len;
-	uint64_t align;
-	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
-	uint32_t num_hdl;
-	uint32_t flags;
-	struct cam_mem_alloc_out_params out;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @mmu_hdls: array of mmu handles
- * @num_hdl: number of handles
- * @flags: flags of the buffer
- * @fd: output buffer file descriptor
- * @reserved: reserved field
- * @out: out params
- */
-
-/* CAM_REQ_MGR_MAP_BUF */
-struct cam_mem_mgr_map_cmd {
-	int32_t mmu_hdls[CAM_MEM_MMU_MAX_HANDLE];
-	uint32_t num_hdl;
-	uint32_t flags;
-	int32_t fd;
-	uint32_t reserved;
-	struct cam_mem_map_out_params out;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @buf_handle: buffer handle
- * @reserved: reserved field
- */
-/* CAM_REQ_MGR_RELEASE_BUF */
-struct cam_mem_mgr_release_cmd {
-	int32_t buf_handle;
-	uint32_t reserved;
-};
-
-/**
- * struct cam_mem_mgr_map_cmd
- * @buf_handle: buffer handle
- * @ops: cache operations
- */
-/* CAM_REQ_MGR_CACHE_OPS */
-struct cam_mem_cache_ops_cmd {
-	int32_t buf_handle;
-	uint32_t mem_cache_ops;
-};
-
-/**
- * Request Manager : error message type
- * @CAM_REQ_MGR_ERROR_TYPE_DEVICE: Device error message, fatal to session
- * @CAM_REQ_MGR_ERROR_TYPE_REQUEST: Error on a single request, not fatal
- * @CAM_REQ_MGR_ERROR_TYPE_BUFFER: Buffer was not filled, not fatal
- */
-#define CAM_REQ_MGR_ERROR_TYPE_DEVICE           0
-#define CAM_REQ_MGR_ERROR_TYPE_REQUEST          1
-#define CAM_REQ_MGR_ERROR_TYPE_BUFFER           2
-
-/**
- * struct cam_req_mgr_error_msg
- * @error_type: type of error
- * @request_id: request id of frame
- * @device_hdl: device handle
- * @linke_hdl: link_hdl
- * @resource_size: size of the resource
- */
-struct cam_req_mgr_error_msg {
-	uint32_t error_type;
-	uint32_t request_id;
-	int32_t device_hdl;
-	int32_t link_hdl;
-	uint64_t resource_size;
-};
-
-/**
- * struct cam_req_mgr_frame_msg
- * @request_id: request id of the frame
- * @frame_id: frame id of the frame
- * @timestamp: timestamp of the frame
- * @link_hdl: link handle associated with this message
- * @sof_status: sof status success or fail
- */
-struct cam_req_mgr_frame_msg {
-	uint64_t request_id;
-	uint64_t frame_id;
-	uint64_t timestamp;
-	int32_t  link_hdl;
-	uint32_t sof_status;
-};
-
-/**
- * struct cam_req_mgr_message
- * @session_hdl: session to which the frame belongs to
- * @reserved: reserved field
- * @u: union which can either be error or frame message
- */
-struct cam_req_mgr_message {
-	int32_t session_hdl;
-	int32_t reserved;
-	union {
-		struct cam_req_mgr_error_msg err_msg;
-		struct cam_req_mgr_frame_msg frame_msg;
-	} u;
-};
-#endif /* __UAPI_LINUX_CAM_REQ_MGR_H */
diff --git a/third_party/linux/include/media/cam_sensor.h b/third_party/linux/include/media/cam_sensor.h
deleted file mode 100644
index f5af6047f5..0000000000
--- a/third_party/linux/include/media/cam_sensor.h
+++ /dev/null
@@ -1,477 +0,0 @@
-#ifndef __UAPI_CAM_SENSOR_H__
-#define __UAPI_CAM_SENSOR_H__
-
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <media/cam_defs.h>
-
-#define CAM_SENSOR_PROBE_CMD   (CAM_COMMON_OPCODE_MAX + 1)
-#define CAM_FLASH_MAX_LED_TRIGGERS 3
-#define MAX_OIS_NAME_SIZE 32
-#define CAM_CSIPHY_SECURE_MODE_ENABLED 1
-/**
- * struct cam_sensor_query_cap - capabilities info for sensor
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @secure_camera    :  Camera is in secure/Non-secure mode
- * @pos_pitch        :  Sensor position pitch
- * @pos_roll         :  Sensor position roll
- * @pos_yaw          :  Sensor position yaw
- * @actuator_slot_id :  Actuator slot id which connected to sensor
- * @eeprom_slot_id   :  EEPROM slot id which connected to sensor
- * @ois_slot_id      :  OIS slot id which connected to sensor
- * @flash_slot_id    :  Flash slot id which connected to sensor
- * @csiphy_slot_id   :  CSIphy slot id which connected to sensor
- *
- */
-struct  cam_sensor_query_cap {
-	uint32_t        slot_info;
-	uint32_t        secure_camera;
-	uint32_t        pos_pitch;
-	uint32_t        pos_roll;
-	uint32_t        pos_yaw;
-	uint32_t        actuator_slot_id;
-	uint32_t        eeprom_slot_id;
-	uint32_t        ois_slot_id;
-	uint32_t        flash_slot_id;
-	uint32_t        csiphy_slot_id;
-} __attribute__((packed));
-
-/**
- * struct cam_csiphy_query_cap - capabilities info for csiphy
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @version          :  CSIphy version
- * @clk lane         :  Of the 5 lanes, informs lane configured
- *                      as clock lane
- * @reserved
- */
-struct cam_csiphy_query_cap {
-	uint32_t            slot_info;
-	uint32_t            version;
-	uint32_t            clk_lane;
-	uint32_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_actuator_query_cap - capabilities info for actuator
- *
- * @slot_info        :  Indicates about the slotId or cell Index
- * @reserved
- */
-struct cam_actuator_query_cap {
-	uint32_t            slot_info;
-	uint32_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_eeprom_query_cap_t - capabilities info for eeprom
- *
- * @slot_info                  :  Indicates about the slotId or cell Index
- * @eeprom_kernel_probe        :  Indicates about the kernel or userspace probe
- */
-struct cam_eeprom_query_cap_t {
-	uint32_t            slot_info;
-	uint16_t            eeprom_kernel_probe;
-	uint16_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_ois_query_cap_t - capabilities info for ois
- *
- * @slot_info                  :  Indicates about the slotId or cell Index
- */
-struct cam_ois_query_cap_t {
-	uint32_t            slot_info;
-	uint16_t            reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_info - Contains slave I2C related info
- *
- * @slave_addr      :    Slave address
- * @i2c_freq_mode   :    4 bits are used for I2c freq mode
- * @cmd_type        :    Explains type of command
- */
-struct cam_cmd_i2c_info {
-	uint16_t    slave_addr;
-	uint8_t     i2c_freq_mode;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * struct cam_ois_opcode - Contains OIS opcode
- *
- * @prog            :    OIS FW prog register address
- * @coeff           :    OIS FW coeff register address
- * @pheripheral     :    OIS pheripheral
- * @memory          :    OIS memory
- */
-struct cam_ois_opcode {
-	uint32_t prog;
-	uint32_t coeff;
-	uint32_t pheripheral;
-	uint32_t memory;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_ois_info - Contains OIS slave info
- *
- * @slave_addr            :    OIS i2c slave address
- * @i2c_freq_mode         :    i2c frequency mode
- * @cmd_type              :    Explains type of command
- * @ois_fw_flag           :    indicates if fw is present or not
- * @is_ois_calib          :    indicates the calibration data is available
- * @ois_name              :    OIS name
- * @opcode                :    opcode
- */
-struct cam_cmd_ois_info {
-	uint16_t              slave_addr;
-	uint8_t               i2c_freq_mode;
-	uint8_t               cmd_type;
-	uint8_t               ois_fw_flag;
-	uint8_t               is_ois_calib;
-	char                  ois_name[MAX_OIS_NAME_SIZE];
-	struct cam_ois_opcode opcode;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_probe - Contains sensor slave info
- *
- * @data_type       :   Slave register data type
- * @addr_type       :   Slave register address type
- * @op_code         :   Don't Care
- * @cmd_type        :   Explains type of command
- * @reg_addr        :   Slave register address
- * @expected_data   :   Data expected at slave register address
- * @data_mask       :   Data mask if only few bits are valid
- * @camera_id       :   Indicates the slot to which camera
- *                      needs to be probed
- * @reserved
- */
-struct cam_cmd_probe {
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint32_t    reg_addr;
-	uint32_t    expected_data;
-	uint32_t    data_mask;
-	uint16_t    camera_id;
-	uint16_t    reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_power_settings - Contains sensor power setting info
- *
- * @power_seq_type  :   Type of power sequence
- * @reserved
- * @config_val_low  :   Lower 32 bit value configuration value
- * @config_val_high :   Higher 32 bit value configuration value
- *
- */
-struct cam_power_settings {
-	uint16_t    power_seq_type;
-	uint16_t    reserved;
-	uint32_t    config_val_low;
-	uint32_t    config_val_high;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_power - Explains about the power settings
- *
- * @count           :    Number of power settings follows
- * @reserved
- * @cmd_type        :    Explains type of command
- * @power_settings  :    Contains power setting info
- */
-struct cam_cmd_power {
-	uint16_t                    count;
-	uint8_t                     reserved;
-	uint8_t                     cmd_type;
-	struct cam_power_settings   power_settings[1];
-} __attribute__((packed));
-
-/**
- * struct i2c_rdwr_header - header of READ/WRITE I2C command
- *
- * @ count           :   Number of registers / data / reg-data pairs
- * @ op_code         :   Operation code
- * @ cmd_type        :   Command buffer type
- * @ data_type       :   I2C data type
- * @ addr_type       :   I2C address type
- * @ reserved
- */
-struct i2c_rdwr_header {
-	uint16_t    count;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint16_t    reserved;
-} __attribute__((packed));
-
-/**
- * struct i2c_random_wr_payload - payload for I2C random write
- *
- * @ reg_addr        :   Register address
- * @ reg_data        :   Register data
- *
- */
-struct i2c_random_wr_payload {
-	uint32_t     reg_addr;
-	uint32_t     reg_data;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_random_wr - I2C random write command
- * @ header            :   header of READ/WRITE I2C command
- * @ random_wr_payload :   payload for I2C random write
- */
-struct cam_cmd_i2c_random_wr {
-	struct i2c_rdwr_header       header;
-	struct i2c_random_wr_payload random_wr_payload[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_read - I2C read command
- * @ reg_data        :   Register data
- * @ reserved
- */
-struct cam_cmd_read {
-	uint32_t                reg_data;
-	uint32_t                reserved;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_continuous_wr - I2C continuous write command
- * @ header          :   header of READ/WRITE I2C command
- * @ reg_addr        :   Register address
- * @ data_read       :   I2C read command
- */
-struct cam_cmd_i2c_continuous_wr {
-	struct i2c_rdwr_header  header;
-	uint32_t                reg_addr;
-	struct cam_cmd_read     data_read[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_random_rd - I2C random read command
- * @ header          :   header of READ/WRITE I2C command
- * @ data_read       :   I2C read command
- */
-struct cam_cmd_i2c_random_rd {
-	struct i2c_rdwr_header  header;
-	struct cam_cmd_read     data_read[1];
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_i2c_continuous_rd - I2C continuous continuous read command
- * @ header          :   header of READ/WRITE I2C command
- * @ reg_addr        :   Register address
- *
- */
-struct cam_cmd_i2c_continuous_rd {
-	struct i2c_rdwr_header  header;
-	uint32_t                reg_addr;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_conditional_wait - Conditional wait command
- * @data_type       :   Data type
- * @addr_type       :   Address type
- * @op_code         :   Opcode
- * @cmd_type        :   Explains type of command
- * @timeout         :   Timeout for retries
- * @reserved
- * @reg_addr        :   Register Address
- * @reg_data        :   Register data
- * @data_mask       :   Data mask if only few bits are valid
- * @camera_id       :   Indicates the slot to which camera
- *                      needs to be probed
- *
- */
-struct cam_cmd_conditional_wait {
-	uint8_t     data_type;
-	uint8_t     addr_type;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-	uint16_t    timeout;
-	uint16_t    reserved;
-	uint32_t    reg_addr;
-	uint32_t    reg_data;
-	uint32_t    data_mask;
-} __attribute__((packed));
-
-/**
- * struct cam_cmd_unconditional_wait - Un-conditional wait command
- * @delay           :   Delay
- * @op_code         :   Opcode
- * @cmd_type        :   Explains type of command
- */
-struct cam_cmd_unconditional_wait {
-	int16_t     delay;
-	uint8_t     op_code;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * cam_csiphy_info: Provides cmdbuffer structre
- * @lane_mask     : Lane mask details
- * @lane_assign   : Lane sensor will be using
- * @csiphy_3phase : Total number of lanes
- * @combo_mode    : Info regarding combo_mode is enable / disable
- * @lane_cnt      : Total number of lanes
- * @secure_mode   : Secure mode flag to enable / disable
- * @3phase        : Details whether 3Phase / 2Phase operation
- * @settle_time   : Settling time in ms
- * @data_rate     : Data rate
- *
- */
-struct cam_csiphy_info {
-	uint16_t    lane_mask;
-	uint16_t    lane_assign;
-	uint8_t     csiphy_3phase;
-	uint8_t     combo_mode;
-	uint8_t     lane_cnt;
-	uint8_t     secure_mode;
-	uint64_t    settle_time;
-	uint64_t    data_rate;
-} __attribute__((packed));
-
-/**
- * cam_csiphy_acquire_dev_info : Information needed for
- *                        csiphy at the time of acquire
- * @combo_mode     :    Indicates the device mode of operation
- * @reserved
- *
- */
-struct cam_csiphy_acquire_dev_info {
-	uint32_t    combo_mode;
-	uint32_t    reserved;
-} __attribute__((packed));
-
-/**
- * cam_sensor_acquire_dev : Updates sensor acuire cmd
- * @device_handle  :    Updates device handle
- * @session_handle :    Session handle for acquiring device
- * @handle_type    :    Resource handle type
- * @reserved
- * @info_handle    :    Handle to additional info
- *                      needed for sensor sub modules
- *
- */
-struct cam_sensor_acquire_dev {
-	uint32_t    session_handle;
-	uint32_t    device_handle;
-	uint32_t    handle_type;
-	uint32_t    reserved;
-	uint64_t    info_handle;
-} __attribute__((packed));
-
-/**
- * cam_sensor_streamon_dev : StreamOn command for the sensor
- * @session_handle :    Session handle for acquiring device
- * @device_handle  :    Updates device handle
- * @handle_type    :    Resource handle type
- * @reserved
- * @info_handle    :    Information Needed at the time of streamOn
- *
- */
-struct cam_sensor_streamon_dev {
-	uint32_t    session_handle;
-	uint32_t    device_handle;
-	uint32_t    handle_type;
-	uint32_t    reserved;
-	uint64_t    info_handle;
-} __attribute__((packed));
-
-/**
- * struct cam_flash_init : Init command for the flash
- * @flash_type  :    flash hw type
- * @reserved
- * @cmd_type    :    command buffer type
- */
-struct cam_flash_init {
-	uint8_t     flash_type;
-	uint16_t    reserved;
-	uint8_t     cmd_type;
-} __attribute__((packed));
-
-/**
- * struct cam_flash_set_rer : RedEyeReduction command buffer
- *
- * @count             :   Number of flash leds
- * @opcode            :   Command buffer opcode
- *			CAM_FLASH_FIRE_RER
- * @cmd_type          :   command buffer operation type
- * @num_iteration     :   Number of led turn on/off sequence
- * @reserved
- * @led_on_delay_ms   :   flash led turn on time in ms
- * @led_off_delay_ms  :   flash led turn off time in ms
- * @led_current_ma    :   flash led current in ma
- *
- */
-struct cam_flash_set_rer {
-	uint16_t    count;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint16_t    num_iteration;
-	uint16_t    reserved;
-	uint32_t    led_on_delay_ms;
-	uint32_t    led_off_delay_ms;
-	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__((packed));
-
-/**
- * struct cam_flash_set_on_off : led turn on/off command buffer
- *
- * @count              :   Number of Flash leds
- * @opcode             :   command buffer opcodes
- *			CAM_FLASH_FIRE_LOW
- *			CAM_FLASH_FIRE_HIGH
- *			CAM_FLASH_OFF
- * @cmd_type           :   command buffer operation type
- * @led_current_ma     :   flash led current in ma
- *
- */
-struct cam_flash_set_on_off {
-	uint16_t    count;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint32_t    led_current_ma[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__((packed));
-
-/**
- * struct cam_flash_query_curr : query current command buffer
- *
- * @reserved
- * @opcode            :   command buffer opcode
- * @cmd_type          :   command buffer operation type
- * @query_current_ma  :   battery current in ma
- *
- */
-struct cam_flash_query_curr {
-	uint16_t    reserved;
-	uint8_t     opcode;
-	uint8_t     cmd_type;
-	uint32_t    query_current_ma;
-} __attribute__ ((packed));
-
-/**
- * struct cam_flash_query_cap  :  capabilities info for flash
- *
- * @slot_info           :  Indicates about the slotId or cell Index
- * @max_current_flash   :  max supported current for flash
- * @max_duration_flash  :  max flash turn on duration
- * @max_current_torch   :  max supported current for torch
- *
- */
-struct cam_flash_query_cap_info {
-	uint32_t    slot_info;
-	uint32_t    max_current_flash[CAM_FLASH_MAX_LED_TRIGGERS];
-	uint32_t    max_duration_flash[CAM_FLASH_MAX_LED_TRIGGERS];
-	uint32_t    max_current_torch[CAM_FLASH_MAX_LED_TRIGGERS];
-} __attribute__ ((packed));
-
-#endif
diff --git a/third_party/linux/include/media/cam_sensor_cmn_header.h b/third_party/linux/include/media/cam_sensor_cmn_header.h
deleted file mode 100644
index 24617b39bd..0000000000
--- a/third_party/linux/include/media/cam_sensor_cmn_header.h
+++ /dev/null
@@ -1,391 +0,0 @@
-/* Copyright (c) 2017-2018, The Linux Foundation. All rights reserved.
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 and
- * only version 2 as published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
-
-#ifndef _CAM_SENSOR_CMN_HEADER_
-#define _CAM_SENSOR_CMN_HEADER_
-
-#include <stdbool.h>
-#include <media/cam_sensor.h>
-#include <media/cam_req_mgr.h>
-
-#define MAX_REGULATOR 5
-#define MAX_POWER_CONFIG 12
-
-#define MAX_PER_FRAME_ARRAY 32
-#define BATCH_SIZE_MAX      16
-
-#define CAM_SENSOR_NAME    "cam-sensor"
-#define CAM_ACTUATOR_NAME  "cam-actuator"
-#define CAM_CSIPHY_NAME    "cam-csiphy"
-#define CAM_FLASH_NAME     "cam-flash"
-#define CAM_EEPROM_NAME    "cam-eeprom"
-#define CAM_OIS_NAME       "cam-ois"
-
-#define MAX_SYSTEM_PIPELINE_DELAY 2
-
-#define CAM_PKT_NOP_OPCODE 127
-
-enum camera_sensor_cmd_type {
-	CAMERA_SENSOR_CMD_TYPE_INVALID,
-	CAMERA_SENSOR_CMD_TYPE_PROBE,
-	CAMERA_SENSOR_CMD_TYPE_PWR_UP,
-	CAMERA_SENSOR_CMD_TYPE_PWR_DOWN,
-	CAMERA_SENSOR_CMD_TYPE_I2C_INFO,
-	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR,
-	CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_RD,
-	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_WR,
-	CAMERA_SENSOR_CMD_TYPE_I2C_CONT_RD,
-	CAMERA_SENSOR_CMD_TYPE_WAIT,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_INFO,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_FIRE,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_RER,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_QUERYCURR,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_WIDGET,
-	CAMERA_SENSOR_CMD_TYPE_RD_DATA,
-	CAMERA_SENSOR_FLASH_CMD_TYPE_INIT_FIRE,
-	CAMERA_SENSOR_CMD_TYPE_MAX,
-};
-
-enum camera_sensor_i2c_op_code {
-	CAMERA_SENSOR_I2C_OP_INVALID,
-	CAMERA_SENSOR_I2C_OP_RNDM_WR,
-	CAMERA_SENSOR_I2C_OP_RNDM_WR_VERF,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_BRST_VERF,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN,
-	CAMERA_SENSOR_I2C_OP_CONT_WR_SEQN_VERF,
-	CAMERA_SENSOR_I2C_OP_MAX,
-};
-
-enum camera_sensor_wait_op_code {
-	CAMERA_SENSOR_WAIT_OP_INVALID,
-	CAMERA_SENSOR_WAIT_OP_COND,
-	CAMERA_SENSOR_WAIT_OP_HW_UCND,
-	CAMERA_SENSOR_WAIT_OP_SW_UCND,
-	CAMERA_SENSOR_WAIT_OP_MAX,
-};
-
-enum camera_flash_opcode {
-	CAMERA_SENSOR_FLASH_OP_INVALID,
-	CAMERA_SENSOR_FLASH_OP_OFF,
-	CAMERA_SENSOR_FLASH_OP_FIRELOW,
-	CAMERA_SENSOR_FLASH_OP_FIREHIGH,
-	CAMERA_SENSOR_FLASH_OP_MAX,
-};
-
-enum camera_sensor_i2c_type {
-	CAMERA_SENSOR_I2C_TYPE_INVALID,
-	CAMERA_SENSOR_I2C_TYPE_BYTE,
-	CAMERA_SENSOR_I2C_TYPE_WORD,
-	CAMERA_SENSOR_I2C_TYPE_3B,
-	CAMERA_SENSOR_I2C_TYPE_DWORD,
-	CAMERA_SENSOR_I2C_TYPE_MAX,
-};
-
-enum i2c_freq_mode {
-	I2C_STANDARD_MODE,
-	I2C_FAST_MODE,
-	I2C_CUSTOM_MODE,
-	I2C_FAST_PLUS_MODE,
-	I2C_MAX_MODES,
-};
-
-enum position_roll {
-	ROLL_0       = 0,
-	ROLL_90      = 90,
-	ROLL_180     = 180,
-	ROLL_270     = 270,
-	ROLL_INVALID = 360,
-};
-
-enum position_yaw {
-	FRONT_CAMERA_YAW = 0,
-	REAR_CAMERA_YAW  = 180,
-	INVALID_YAW      = 360,
-};
-
-enum position_pitch {
-	LEVEL_PITCH    = 0,
-	INVALID_PITCH  = 360,
-};
-
-enum sensor_sub_module {
-	SUB_MODULE_SENSOR,
-	SUB_MODULE_ACTUATOR,
-	SUB_MODULE_EEPROM,
-	SUB_MODULE_LED_FLASH,
-	SUB_MODULE_CSID,
-	SUB_MODULE_CSIPHY,
-	SUB_MODULE_OIS,
-	SUB_MODULE_EXT,
-	SUB_MODULE_MAX,
-};
-
-enum msm_camera_power_seq_type {
-	SENSOR_MCLK,
-	SENSOR_VANA,
-	SENSOR_VDIG,
-	SENSOR_VIO,
-	SENSOR_VAF,
-	SENSOR_VAF_PWDM,
-	SENSOR_CUSTOM_REG1,
-	SENSOR_CUSTOM_REG2,
-	SENSOR_RESET,
-	SENSOR_STANDBY,
-	SENSOR_CUSTOM_GPIO1,
-	SENSOR_CUSTOM_GPIO2,
-	SENSOR_SEQ_TYPE_MAX,
-};
-
-enum cam_sensor_packet_opcodes {
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_UPDATE,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_INITIAL_CONFIG,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF,
-	CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP = 127
-};
-
-enum cam_actuator_packet_opcodes {
-	CAM_ACTUATOR_PACKET_OPCODE_INIT,
-	CAM_ACTUATOR_PACKET_AUTO_MOVE_LENS,
-	CAM_ACTUATOR_PACKET_MANUAL_MOVE_LENS
-};
-
-enum cam_eeprom_packet_opcodes {
-	CAM_EEPROM_PACKET_OPCODE_INIT
-};
-
-enum cam_ois_packet_opcodes {
-	CAM_OIS_PACKET_OPCODE_INIT,
-	CAM_OIS_PACKET_OPCODE_OIS_CONTROL
-};
-
-enum msm_bus_perf_setting {
-	S_INIT,
-	S_PREVIEW,
-	S_VIDEO,
-	S_CAPTURE,
-	S_ZSL,
-	S_STEREO_VIDEO,
-	S_STEREO_CAPTURE,
-	S_DEFAULT,
-	S_LIVESHOT,
-	S_DUAL,
-	S_EXIT
-};
-
-enum msm_camera_device_type_t {
-	MSM_CAMERA_I2C_DEVICE,
-	MSM_CAMERA_PLATFORM_DEVICE,
-	MSM_CAMERA_SPI_DEVICE,
-};
-
-enum cam_flash_device_type {
-	CAMERA_FLASH_DEVICE_TYPE_PMIC = 0,
-	CAMERA_FLASH_DEVICE_TYPE_I2C,
-	CAMERA_FLASH_DEVICE_TYPE_GPIO,
-};
-
-enum cci_i2c_master_t {
-	MASTER_0,
-	MASTER_1,
-	MASTER_MAX,
-};
-
-enum camera_vreg_type {
-	VREG_TYPE_DEFAULT,
-	VREG_TYPE_CUSTOM,
-};
-
-enum cam_sensor_i2c_cmd_type {
-	CAM_SENSOR_I2C_WRITE_RANDOM,
-	CAM_SENSOR_I2C_WRITE_BURST,
-	CAM_SENSOR_I2C_WRITE_SEQ,
-	CAM_SENSOR_I2C_READ,
-	CAM_SENSOR_I2C_POLL
-};
-
-struct common_header {
-	uint16_t    first_word;
-	uint8_t     third_byte;
-	uint8_t     cmd_type;
-};
-
-struct camera_vreg_t {
-	const char *reg_name;
-	int min_voltage;
-	int max_voltage;
-	int op_mode;
-	uint32_t delay;
-	const char *custom_vreg_name;
-	enum camera_vreg_type type;
-};
-
-struct msm_camera_gpio_num_info {
-	uint16_t gpio_num[SENSOR_SEQ_TYPE_MAX];
-	uint8_t valid[SENSOR_SEQ_TYPE_MAX];
-};
-
-struct msm_cam_clk_info {
-	const char *clk_name;
-	long clk_rate;
-	uint32_t delay;
-};
-
-struct msm_pinctrl_info {
-	struct pinctrl *pinctrl;
-	struct pinctrl_state *gpio_state_active;
-	struct pinctrl_state *gpio_state_suspend;
-	bool use_pinctrl;
-};
-
-struct cam_sensor_i2c_reg_array {
-	uint32_t reg_addr;
-	uint32_t reg_data;
-	uint32_t delay;
-	uint32_t data_mask;
-};
-
-struct cam_sensor_i2c_reg_setting {
-	struct cam_sensor_i2c_reg_array *reg_setting;
-	unsigned short size;
-	enum camera_sensor_i2c_type addr_type;
-	enum camera_sensor_i2c_type data_type;
-	unsigned short delay;
-};
-
-/*struct i2c_settings_list {
-	struct cam_sensor_i2c_reg_setting i2c_settings;
-	enum cam_sensor_i2c_cmd_type op_code;
-	struct list_head list;
-};
-
-struct i2c_settings_array {
-	struct list_head list_head;
-	int32_t is_settings_valid;
-	int64_t request_id;
-};
-
-struct i2c_data_settings {
-	struct i2c_settings_array init_settings;
-	struct i2c_settings_array config_settings;
-	struct i2c_settings_array streamon_settings;
-	struct i2c_settings_array streamoff_settings;
-	struct i2c_settings_array *per_frame;
-};*/
-
-struct cam_sensor_power_ctrl_t {
-	struct device *dev;
-	struct cam_sensor_power_setting *power_setting;
-	uint16_t power_setting_size;
-	struct cam_sensor_power_setting *power_down_setting;
-	uint16_t power_down_setting_size;
-	struct msm_camera_gpio_num_info *gpio_num_info;
-	struct msm_pinctrl_info pinctrl_info;
-	uint8_t cam_pinctrl_status;
-};
-
-struct cam_camera_slave_info {
-	uint16_t sensor_slave_addr;
-	uint16_t sensor_id_reg_addr;
-	uint16_t sensor_id;
-	uint16_t sensor_id_mask;
-};
-
-struct msm_sensor_init_params {
-	int modes_supported;
-	unsigned int sensor_mount_angle;
-};
-
-enum msm_sensor_camera_id_t {
-	CAMERA_0,
-	CAMERA_1,
-	CAMERA_2,
-	CAMERA_3,
-	CAMERA_4,
-	CAMERA_5,
-	CAMERA_6,
-	MAX_CAMERAS,
-};
-
-struct msm_sensor_id_info_t {
-	unsigned short sensor_id_reg_addr;
-	unsigned short sensor_id;
-	unsigned short sensor_id_mask;
-};
-
-enum msm_sensor_output_format_t {
-	MSM_SENSOR_BAYER,
-	MSM_SENSOR_YCBCR,
-	MSM_SENSOR_META,
-};
-
-struct cam_sensor_power_setting {
-	enum msm_camera_power_seq_type seq_type;
-	unsigned short seq_val;
-	long config_val;
-	unsigned short delay;
-	void *data[10];
-};
-
-struct cam_sensor_board_info {
-	struct cam_camera_slave_info slave_info;
-	int32_t sensor_mount_angle;
-	int32_t secure_mode;
-	int modes_supported;
-	int32_t pos_roll;
-	int32_t pos_yaw;
-	int32_t pos_pitch;
-	int32_t  subdev_id[SUB_MODULE_MAX];
-	int32_t  subdev_intf[SUB_MODULE_MAX];
-	const char *misc_regulator;
-	struct cam_sensor_power_ctrl_t power_info;
-};
-
-enum msm_camera_vreg_name_t {
-	CAM_VDIG,
-	CAM_VIO,
-	CAM_VANA,
-	CAM_VAF,
-	CAM_V_CUSTOM1,
-	CAM_V_CUSTOM2,
-	CAM_VREG_MAX,
-};
-
-struct msm_camera_gpio_conf {
-	void *cam_gpiomux_conf_tbl;
-	uint8_t cam_gpiomux_conf_tbl_size;
-	struct gpio *cam_gpio_common_tbl;
-	uint8_t cam_gpio_common_tbl_size;
-	struct gpio *cam_gpio_req_tbl;
-	uint8_t cam_gpio_req_tbl_size;
-	uint32_t gpio_no_mux;
-	uint32_t *camera_off_table;
-	uint8_t camera_off_table_size;
-	uint32_t *camera_on_table;
-	uint8_t camera_on_table_size;
-	struct msm_camera_gpio_num_info *gpio_num_info;
-};
-
-/*for tof camera  Begin*/
-enum EEPROM_DATA_OP_T{
-	EEPROM_DEFAULT_DATA = 0,
-	EEPROM_INIT_DATA,
-	EEPROM_CONFIG_DATA,
-	EEPROM_STREAMON_DATA,
-	EEPROM_STREAMOFF_DATA,
-	EEPROM_OTHER_DATA,
-};
-/*for tof camera  End*/
-#endif /* _CAM_SENSOR_CMN_HEADER_ */
diff --git a/third_party/linux/include/media/cam_sync.h b/third_party/linux/include/media/cam_sync.h
deleted file mode 100644
index 4a8781fc82..0000000000
--- a/third_party/linux/include/media/cam_sync.h
+++ /dev/null
@@ -1,134 +0,0 @@
-#ifndef __UAPI_CAM_SYNC_H__
-#define __UAPI_CAM_SYNC_H__
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-#include <linux/media.h>
-
-#define CAM_SYNC_DEVICE_NAME                     "cam_sync_device"
-
-/* V4L event which user space will subscribe to */
-#define CAM_SYNC_V4L_EVENT                       (V4L2_EVENT_PRIVATE_START + 0)
-
-/* Specific event ids to get notified in user space */
-#define CAM_SYNC_V4L_EVENT_ID_CB_TRIG            0
-
-/* Size of opaque payload sent to kernel for safekeeping until signal time */
-#define CAM_SYNC_USER_PAYLOAD_SIZE               2
-
-/* Device type for sync device needed for device discovery */
-#define CAM_SYNC_DEVICE_TYPE                     (MEDIA_ENT_F_OLD_BASE)
-
-#define CAM_SYNC_GET_PAYLOAD_PTR(ev, type)       \
-	(type *)((char *)ev.u.data + sizeof(struct cam_sync_ev_header))
-
-#define CAM_SYNC_GET_HEADER_PTR(ev)              \
-	((struct cam_sync_ev_header *)ev.u.data)
-
-#define CAM_SYNC_STATE_INVALID                   0
-#define CAM_SYNC_STATE_ACTIVE                    1
-#define CAM_SYNC_STATE_SIGNALED_SUCCESS          2
-#define CAM_SYNC_STATE_SIGNALED_ERROR            3
-
-/**
- * struct cam_sync_ev_header - Event header for sync event notification
- *
- * @sync_obj: Sync object
- * @status:   Status of the object
- */
-struct cam_sync_ev_header {
-	int32_t sync_obj;
-	int32_t status;
-};
-
-/**
- * struct cam_sync_info - Sync object creation information
- *
- * @name:       Optional string representation of the sync object
- * @sync_obj:   Sync object returned after creation in kernel
- */
-struct cam_sync_info {
-	char name[64];
-	int32_t sync_obj;
-};
-
-/**
- * struct cam_sync_signal - Sync object signaling struct
- *
- * @sync_obj:   Sync object to be signaled
- * @sync_state: State of the sync object to which it should be signaled
- */
-struct cam_sync_signal {
-	int32_t sync_obj;
-	uint32_t sync_state;
-};
-
-/**
- * struct cam_sync_merge - Merge information for sync objects
- *
- * @sync_objs:  Pointer to sync objects
- * @num_objs:   Number of objects in the array
- * @merged:     Merged sync object
- */
-struct cam_sync_merge {
-	__u64 sync_objs;
-	uint32_t num_objs;
-	int32_t merged;
-};
-
-/**
- * struct cam_sync_userpayload_info - Payload info from user space
- *
- * @sync_obj:   Sync object for which payload has to be registered for
- * @reserved:   Reserved
- * @payload:    Pointer to user payload
- */
-struct cam_sync_userpayload_info {
-	int32_t sync_obj;
-	uint32_t reserved;
-	__u64 payload[CAM_SYNC_USER_PAYLOAD_SIZE];
-};
-
-/**
- * struct cam_sync_wait - Sync object wait information
- *
- * @sync_obj:   Sync object to wait on
- * @reserved:   Reserved
- * @timeout_ms: Timeout in milliseconds
- */
-struct cam_sync_wait {
-	int32_t sync_obj;
-	uint32_t reserved;
-	uint64_t timeout_ms;
-};
-
-/**
- * struct cam_private_ioctl_arg - Sync driver ioctl argument
- *
- * @id:         IOCTL command id
- * @size:       Size of command payload
- * @result:     Result of command execution
- * @reserved:   Reserved
- * @ioctl_ptr:  Pointer to user data
- */
-struct cam_private_ioctl_arg {
-	__u32 id;
-	__u32 size;
-	__u32 result;
-	__u32 reserved;
-	__u64 ioctl_ptr;
-};
-
-#define CAM_PRIVATE_IOCTL_CMD \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct cam_private_ioctl_arg)
-
-#define CAM_SYNC_CREATE                          0
-#define CAM_SYNC_DESTROY                         1
-#define CAM_SYNC_SIGNAL                          2
-#define CAM_SYNC_MERGE                           3
-#define CAM_SYNC_REGISTER_PAYLOAD                4
-#define CAM_SYNC_DEREGISTER_PAYLOAD              5
-#define CAM_SYNC_WAIT                            6
-
-#endif /* __UAPI_CAM_SYNC_H__ */
diff --git a/third_party/linux/include/msm_cam_sensor.h b/third_party/linux/include/msm_cam_sensor.h
deleted file mode 100644
index c75d1fd527..0000000000
--- a/third_party/linux/include/msm_cam_sensor.h
+++ /dev/null
@@ -1,829 +0,0 @@
-#ifndef __LINUX_MSM_CAM_SENSOR_H
-#define __LINUX_MSM_CAM_SENSOR_H
-
-#ifdef MSM_CAMERA_BIONIC
-#include <sys/types.h>
-#endif
-
-//#include <linux/v4l2-mediabus.h>
-#include "msm_camsensor_sdk.h"
-
-#include <linux/types.h>
-#include <linux/i2c.h>
-#ifdef CONFIG_COMPAT
-#include <linux/compat.h>
-#endif
-
-#define I2C_SEQ_REG_SETTING_MAX   5
-
-#define MSM_SENSOR_MCLK_8HZ   8000000
-#define MSM_SENSOR_MCLK_16HZ  16000000
-#define MSM_SENSOR_MCLK_24HZ  24000000
-
-#define MAX_SENSOR_NAME 32
-#define MAX_ACTUATOR_AF_TOTAL_STEPS 1024
-
-#define MAX_OIS_MOD_NAME_SIZE 32
-#define MAX_OIS_NAME_SIZE 32
-#define MAX_OIS_REG_SETTINGS 800
-
-#define MOVE_NEAR 0
-#define MOVE_FAR  1
-
-#define MSM_ACTUATOR_MOVE_SIGNED_FAR -1
-#define MSM_ACTUATOR_MOVE_SIGNED_NEAR  1
-
-#define MAX_ACTUATOR_REGION  5
-
-#define MAX_EEPROM_NAME 32
-
-#define MAX_AF_ITERATIONS 3
-#define MAX_NUMBER_OF_STEPS 47
-#define MAX_REGULATOR 5
-
-#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */
-#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4')
-	/* 14  BGBG.. GRGR.. */
-#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4')
-	/* 14  GBGB.. RGRG.. */
-#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4')
-	/* 14  GRGR.. BGBG.. */
-#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4')
-	/* 14  RGRG.. GBGB.. */
-
-enum flash_type {
-	LED_FLASH = 1,
-	STROBE_FLASH,
-	GPIO_FLASH
-};
-
-enum msm_sensor_resolution_t {
-	MSM_SENSOR_RES_FULL,
-	MSM_SENSOR_RES_QTR,
-	MSM_SENSOR_RES_2,
-	MSM_SENSOR_RES_3,
-	MSM_SENSOR_RES_4,
-	MSM_SENSOR_RES_5,
-	MSM_SENSOR_RES_6,
-	MSM_SENSOR_RES_7,
-	MSM_SENSOR_INVALID_RES,
-};
-
-enum msm_camera_stream_type_t {
-	MSM_CAMERA_STREAM_PREVIEW,
-	MSM_CAMERA_STREAM_SNAPSHOT,
-	MSM_CAMERA_STREAM_VIDEO,
-	MSM_CAMERA_STREAM_INVALID,
-};
-
-enum sensor_sub_module_t {
-	SUB_MODULE_SENSOR,
-	SUB_MODULE_CHROMATIX,
-	SUB_MODULE_ACTUATOR,
-	SUB_MODULE_EEPROM,
-	SUB_MODULE_LED_FLASH,
-	SUB_MODULE_STROBE_FLASH,
-	SUB_MODULE_CSID,
-	SUB_MODULE_CSID_3D,
-	SUB_MODULE_CSIPHY,
-	SUB_MODULE_CSIPHY_3D,
-	SUB_MODULE_OIS,
-	SUB_MODULE_EXT,
-	SUB_MODULE_MAX,
-};
-
-enum {
-	MSM_CAMERA_EFFECT_MODE_OFF,
-	MSM_CAMERA_EFFECT_MODE_MONO,
-	MSM_CAMERA_EFFECT_MODE_NEGATIVE,
-	MSM_CAMERA_EFFECT_MODE_SOLARIZE,
-	MSM_CAMERA_EFFECT_MODE_SEPIA,
-	MSM_CAMERA_EFFECT_MODE_POSTERIZE,
-	MSM_CAMERA_EFFECT_MODE_WHITEBOARD,
-	MSM_CAMERA_EFFECT_MODE_BLACKBOARD,
-	MSM_CAMERA_EFFECT_MODE_AQUA,
-	MSM_CAMERA_EFFECT_MODE_EMBOSS,
-	MSM_CAMERA_EFFECT_MODE_SKETCH,
-	MSM_CAMERA_EFFECT_MODE_NEON,
-	MSM_CAMERA_EFFECT_MODE_MAX
-};
-
-enum {
-	MSM_CAMERA_WB_MODE_AUTO,
-	MSM_CAMERA_WB_MODE_CUSTOM,
-	MSM_CAMERA_WB_MODE_INCANDESCENT,
-	MSM_CAMERA_WB_MODE_FLUORESCENT,
-	MSM_CAMERA_WB_MODE_WARM_FLUORESCENT,
-	MSM_CAMERA_WB_MODE_DAYLIGHT,
-	MSM_CAMERA_WB_MODE_CLOUDY_DAYLIGHT,
-	MSM_CAMERA_WB_MODE_TWILIGHT,
-	MSM_CAMERA_WB_MODE_SHADE,
-	MSM_CAMERA_WB_MODE_OFF,
-	MSM_CAMERA_WB_MODE_MAX
-};
-
-enum {
-	MSM_CAMERA_SCENE_MODE_OFF,
-	MSM_CAMERA_SCENE_MODE_AUTO,
-	MSM_CAMERA_SCENE_MODE_LANDSCAPE,
-	MSM_CAMERA_SCENE_MODE_SNOW,
-	MSM_CAMERA_SCENE_MODE_BEACH,
-	MSM_CAMERA_SCENE_MODE_SUNSET,
-	MSM_CAMERA_SCENE_MODE_NIGHT,
-	MSM_CAMERA_SCENE_MODE_PORTRAIT,
-	MSM_CAMERA_SCENE_MODE_BACKLIGHT,
-	MSM_CAMERA_SCENE_MODE_SPORTS,
-	MSM_CAMERA_SCENE_MODE_ANTISHAKE,
-	MSM_CAMERA_SCENE_MODE_FLOWERS,
-	MSM_CAMERA_SCENE_MODE_CANDLELIGHT,
-	MSM_CAMERA_SCENE_MODE_FIREWORKS,
-	MSM_CAMERA_SCENE_MODE_PARTY,
-	MSM_CAMERA_SCENE_MODE_NIGHT_PORTRAIT,
-	MSM_CAMERA_SCENE_MODE_THEATRE,
-	MSM_CAMERA_SCENE_MODE_ACTION,
-	MSM_CAMERA_SCENE_MODE_AR,
-	MSM_CAMERA_SCENE_MODE_FACE_PRIORITY,
-	MSM_CAMERA_SCENE_MODE_BARCODE,
-	MSM_CAMERA_SCENE_MODE_HDR,
-	MSM_CAMERA_SCENE_MODE_MAX
-};
-
-enum csid_cfg_type_t {
-	CSID_INIT,
-	CSID_CFG,
-	CSID_TESTMODE_CFG,
-	CSID_RELEASE,
-};
-
-enum csiphy_cfg_type_t {
-	CSIPHY_INIT,
-	CSIPHY_CFG,
-	CSIPHY_RELEASE,
-};
-
-enum camera_vreg_type {
-	VREG_TYPE_DEFAULT,
-	VREG_TYPE_CUSTOM,
-};
-
-enum sensor_af_t {
-	SENSOR_AF_FOCUSSED,
-	SENSOR_AF_NOT_FOCUSSED,
-};
-
-enum cci_i2c_master_t {
-	MASTER_0,
-	MASTER_1,
-	MASTER_MAX,
-};
-
-struct msm_camera_i2c_array_write_config {
-	struct msm_camera_i2c_reg_setting conf_array;
-	uint16_t slave_addr;
-};
-
-struct msm_camera_i2c_read_config {
-	uint16_t slave_addr;
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	uint16_t data;
-};
-
-struct msm_camera_csi2_params {
-	struct msm_camera_csid_params csid_params;
-	struct msm_camera_csiphy_params csiphy_params;
-	uint8_t csi_clk_scale_enable;
-};
-
-struct msm_camera_csi_lane_params {
-	uint16_t csi_lane_assign;
-	uint16_t csi_lane_mask;
-};
-
-struct csi_lane_params_t {
-	uint16_t csi_lane_assign;
-	uint8_t csi_lane_mask;
-	uint8_t csi_if;
-	int8_t csid_core[2];
-	uint8_t csi_phy_sel;
-};
-
-struct msm_sensor_info_t {
-	char     sensor_name[MAX_SENSOR_NAME];
-	uint32_t session_id;
-	int32_t  subdev_id[SUB_MODULE_MAX];
-	int32_t  subdev_intf[SUB_MODULE_MAX];
-	uint8_t  is_mount_angle_valid;
-	uint32_t sensor_mount_angle;
-	int modes_supported;
-	enum camb_position_t position;
-};
-
-struct camera_vreg_t {
-	const char *reg_name;
-	int min_voltage;
-	int max_voltage;
-	int op_mode;
-	uint32_t delay;
-	const char *custom_vreg_name;
-	enum camera_vreg_type type;
-};
-
-struct sensorb_cfg_data {
-	int cfgtype;
-	union {
-		struct msm_sensor_info_t      sensor_info;
-		struct msm_sensor_init_params sensor_init_params;
-		void                         *setting;
-		struct msm_sensor_i2c_sync_params sensor_i2c_sync_params;
-	} cfg;
-};
-
-struct csid_cfg_data {
-	enum csid_cfg_type_t cfgtype;
-	union {
-		uint32_t csid_version;
-		struct msm_camera_csid_params *csid_params;
-		struct msm_camera_csid_testmode_parms *csid_testmode_params;
-	} cfg;
-};
-
-struct csiphy_cfg_data {
-	enum csiphy_cfg_type_t cfgtype;
-	union {
-		struct msm_camera_csiphy_params *csiphy_params;
-		struct msm_camera_csi_lane_params *csi_lane_params;
-	} cfg;
-};
-
-enum eeprom_cfg_type_t {
-	CFG_EEPROM_GET_INFO,
-	CFG_EEPROM_GET_CAL_DATA,
-	CFG_EEPROM_READ_CAL_DATA,
-	CFG_EEPROM_WRITE_DATA,
-	CFG_EEPROM_GET_MM_INFO,
-	CFG_EEPROM_INIT,
-};
-
-struct eeprom_get_t {
-	uint32_t num_bytes;
-};
-
-struct eeprom_read_t {
-	uint8_t *dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_write_t {
-	uint8_t *dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_get_cmm_t {
-	uint32_t cmm_support;
-	uint32_t cmm_compression;
-	uint32_t cmm_size;
-};
-
-struct msm_eeprom_info_t {
-	struct msm_sensor_power_setting_array *power_setting_array;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	struct msm_eeprom_memory_map_array *mem_map_array;
-};
-
-struct msm_eeprom_cfg_data {
-	enum eeprom_cfg_type_t cfgtype;
-	uint8_t is_supported;
-	union {
-		char eeprom_name[MAX_SENSOR_NAME];
-		struct eeprom_get_t get_data;
-		struct eeprom_read_t read_data;
-		struct eeprom_write_t write_data;
-		struct eeprom_get_cmm_t get_cmm_data;
-		struct msm_eeprom_info_t eeprom_info;
-	} cfg;
-};
-
-#ifdef CONFIG_COMPAT
-struct msm_sensor_power_setting32 {
-	enum msm_sensor_power_seq_type_t seq_type;
-	uint16_t seq_val;
-	compat_uint_t config_val;
-	uint16_t delay;
-	compat_uptr_t data[10];
-};
-
-struct msm_sensor_power_setting_array32 {
-	struct msm_sensor_power_setting32 power_setting_a[MAX_POWER_CONFIG];
-	compat_uptr_t power_setting;
-	uint16_t size;
-	struct msm_sensor_power_setting32
-		power_down_setting_a[MAX_POWER_CONFIG];
-	compat_uptr_t power_down_setting;
-	uint16_t size_down;
-};
-
-struct msm_camera_sensor_slave_info32 {
-	char sensor_name[32];
-	char eeprom_name[32];
-	char actuator_name[32];
-	char ois_name[32];
-	char flash_name[32];
-	enum msm_sensor_camera_id_t camera_id;
-	uint16_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	struct msm_sensor_id_info_t sensor_id_info;
-	struct msm_sensor_power_setting_array32 power_setting_array;
-	uint8_t  is_init_params_valid;
-	struct msm_sensor_init_params sensor_init_params;
-	enum msm_sensor_output_format_t output_format;
-};
-
-struct msm_camera_csid_lut_params32 {
-	uint8_t num_cid;
-	struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID];
-	compat_uptr_t vc_cfg[MAX_CID];
-};
-
-struct msm_camera_csid_params32 {
-	uint8_t lane_cnt;
-	uint16_t lane_assign;
-	uint8_t phy_sel;
-	uint32_t csi_clk;
-	struct msm_camera_csid_lut_params32 lut_params;
-	uint8_t csi_3p_sel;
-};
-
-struct msm_camera_csi2_params32 {
-	struct msm_camera_csid_params32 csid_params;
-	struct msm_camera_csiphy_params csiphy_params;
-	uint8_t csi_clk_scale_enable;
-};
-
-struct csid_cfg_data32 {
-	enum csid_cfg_type_t cfgtype;
-	union {
-		uint32_t csid_version;
-		compat_uptr_t csid_params;
-		compat_uptr_t csid_testmode_params;
-	} cfg;
-};
-
-struct eeprom_read_t32 {
-	compat_uptr_t dbuffer;
-	uint32_t num_bytes;
-};
-
-struct eeprom_write_t32 {
-	compat_uptr_t dbuffer;
-	uint32_t num_bytes;
-};
-
-struct msm_eeprom_info_t32 {
-	compat_uptr_t power_setting_array;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	compat_uptr_t mem_map_array;
-};
-
-struct msm_eeprom_cfg_data32 {
-	enum eeprom_cfg_type_t cfgtype;
-	uint8_t is_supported;
-	union {
-		char eeprom_name[MAX_SENSOR_NAME];
-		struct eeprom_get_t get_data;
-		struct eeprom_read_t32 read_data;
-		struct eeprom_write_t32 write_data;
-		struct msm_eeprom_info_t32 eeprom_info;
-	} cfg;
-};
-
-struct msm_camera_i2c_seq_reg_setting32 {
-	compat_uptr_t reg_setting;
-	uint16_t size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint16_t delay;
-};
-#endif
-
-enum msm_sensor_cfg_type_t {
-	CFG_SET_SLAVE_INFO,
-	CFG_SLAVE_READ_I2C,
-	CFG_WRITE_I2C_ARRAY,
-	CFG_SLAVE_WRITE_I2C_ARRAY,
-	CFG_WRITE_I2C_SEQ_ARRAY,
-	CFG_POWER_UP,
-	CFG_POWER_DOWN,
-	CFG_SET_STOP_STREAM_SETTING,
-	CFG_GET_SENSOR_INFO,
-	CFG_GET_SENSOR_INIT_PARAMS,
-	CFG_SET_INIT_SETTING,
-	CFG_SET_RESOLUTION,
-	CFG_SET_STOP_STREAM,
-	CFG_SET_START_STREAM,
-	CFG_SET_SATURATION,
-	CFG_SET_CONTRAST,
-	CFG_SET_SHARPNESS,
-	CFG_SET_ISO,
-	CFG_SET_EXPOSURE_COMPENSATION,
-	CFG_SET_ANTIBANDING,
-	CFG_SET_BESTSHOT_MODE,
-	CFG_SET_EFFECT,
-	CFG_SET_WHITE_BALANCE,
-	CFG_SET_AUTOFOCUS,
-	CFG_CANCEL_AUTOFOCUS,
-	CFG_SET_STREAM_TYPE,
-	CFG_SET_I2C_SYNC_PARAM,
-	CFG_WRITE_I2C_ARRAY_ASYNC,
-	CFG_WRITE_I2C_ARRAY_SYNC,
-	CFG_WRITE_I2C_ARRAY_SYNC_BLOCK,
-};
-
-enum msm_actuator_cfg_type_t {
-	CFG_GET_ACTUATOR_INFO,
-	CFG_SET_ACTUATOR_INFO,
-	CFG_SET_DEFAULT_FOCUS,
-	CFG_MOVE_FOCUS,
-	CFG_SET_POSITION,
-	CFG_ACTUATOR_POWERDOWN,
-	CFG_ACTUATOR_POWERUP,
-	CFG_ACTUATOR_INIT,
-};
-
-enum msm_ois_cfg_type_t {
-	CFG_OIS_INIT,
-	CFG_OIS_POWERDOWN,
-	CFG_OIS_POWERUP,
-	CFG_OIS_CONTROL,
-	CFG_OIS_I2C_WRITE_SEQ_TABLE,
-};
-
-enum msm_ois_i2c_operation {
-	MSM_OIS_WRITE = 0,
-	MSM_OIS_POLL,
-};
-
-struct reg_settings_ois_t {
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint32_t reg_data;
-	enum msm_camera_i2c_data_type data_type;
-	enum msm_ois_i2c_operation i2c_operation;
-	uint32_t delay;
-#define OIS_REG_DATA_SEQ_MAX 128
-    unsigned char reg_data_seq[OIS_REG_DATA_SEQ_MAX];
-    uint32_t reg_data_seq_size;
-};
-
-struct msm_ois_params_t {
-	uint16_t data_size;
-	uint16_t setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type i2c_addr_type;
-	enum msm_camera_i2c_data_type i2c_data_type;
-	struct reg_settings_ois_t *settings;
-};
-
-struct msm_ois_set_info_t {
-	struct msm_ois_params_t ois_params;
-};
-
-struct msm_actuator_move_params_t {
-	int8_t dir;
-	int8_t sign_dir;
-	int16_t dest_step_pos;
-	int32_t num_steps;
-	uint16_t curr_lens_pos;
-	struct damping_params_t *ringing_params;
-};
-
-struct msm_actuator_tuning_params_t {
-	int16_t initial_code;
-	uint16_t pwd_step;
-	uint16_t region_size;
-	uint32_t total_steps;
-	struct region_params_t *region_params;
-};
-
-struct park_lens_data_t {
-	uint32_t damping_step;
-	uint32_t damping_delay;
-	uint32_t hw_params;
-	uint32_t max_step;
-};
-
-struct msm_actuator_params_t {
-	enum actuator_type act_type;
-	uint8_t reg_tbl_size;
-	uint16_t data_size;
-	uint16_t init_setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_actuator_addr_type i2c_addr_type;
-	enum msm_actuator_data_type i2c_data_type;
-	struct msm_actuator_reg_params_t *reg_tbl_params;
-	struct reg_settings_t *init_settings;
-	struct park_lens_data_t park_lens;
-};
-
-struct msm_actuator_set_info_t {
-	struct msm_actuator_params_t actuator_params;
-	struct msm_actuator_tuning_params_t af_tuning_params;
-};
-
-struct msm_actuator_get_info_t {
-	uint32_t focal_length_num;
-	uint32_t focal_length_den;
-	uint32_t f_number_num;
-	uint32_t f_number_den;
-	uint32_t f_pix_num;
-	uint32_t f_pix_den;
-	uint32_t total_f_dist_num;
-	uint32_t total_f_dist_den;
-	uint32_t hor_view_angle_num;
-	uint32_t hor_view_angle_den;
-	uint32_t ver_view_angle_num;
-	uint32_t ver_view_angle_den;
-};
-
-enum af_camera_name {
-	ACTUATOR_MAIN_CAM_0,
-	ACTUATOR_MAIN_CAM_1,
-	ACTUATOR_MAIN_CAM_2,
-	ACTUATOR_MAIN_CAM_3,
-	ACTUATOR_MAIN_CAM_4,
-	ACTUATOR_MAIN_CAM_5,
-	ACTUATOR_WEB_CAM_0,
-	ACTUATOR_WEB_CAM_1,
-	ACTUATOR_WEB_CAM_2,
-};
-
-struct msm_ois_cfg_data {
-	int cfgtype;
-	union {
-		struct msm_ois_set_info_t set_info;
-		struct msm_camera_i2c_seq_reg_setting *settings;
-	} cfg;
-};
-
-struct msm_actuator_set_position_t {
-	uint16_t number_of_steps;
-	uint32_t hw_params;
-	uint16_t pos[MAX_NUMBER_OF_STEPS];
-	uint16_t delay[MAX_NUMBER_OF_STEPS];
-};
-
-struct msm_actuator_cfg_data {
-	int cfgtype;
-	uint8_t is_af_supported;
-	union {
-		struct msm_actuator_move_params_t move;
-		struct msm_actuator_set_info_t set_info;
-		struct msm_actuator_get_info_t get_info;
-		struct msm_actuator_set_position_t setpos;
-		enum af_camera_name cam_name;
-	} cfg;
-};
-
-enum msm_camera_led_config_t {
-	MSM_CAMERA_LED_OFF,
-	MSM_CAMERA_LED_LOW,
-	MSM_CAMERA_LED_HIGH,
-	MSM_CAMERA_LED_INIT,
-	MSM_CAMERA_LED_RELEASE,
-};
-
-struct msm_camera_led_cfg_t {
-	enum msm_camera_led_config_t cfgtype;
-	int32_t torch_current[MAX_LED_TRIGGERS];
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-};
-
-struct msm_flash_init_info_t {
-	enum msm_flash_driver_type flash_driver_type;
-	uint32_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	struct msm_sensor_power_setting_array *power_setting_array;
-	struct msm_camera_i2c_reg_setting_array *settings;
-};
-
-struct msm_flash_cfg_data_t {
-	enum msm_flash_cfg_type_t cfg_type;
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-	union {
-		struct msm_flash_init_info_t *flash_init_info;
-		struct msm_camera_i2c_reg_setting_array *settings;
-	} cfg;
-};
-
-/* sensor init structures and enums */
-enum msm_sensor_init_cfg_type_t {
-	CFG_SINIT_PROBE,
-	CFG_SINIT_PROBE_DONE,
-	CFG_SINIT_PROBE_WAIT_DONE,
-};
-
-struct sensor_init_cfg_data {
-	enum msm_sensor_init_cfg_type_t cfgtype;
-	struct msm_sensor_info_t        probed_info;
-	char                            entity_name[MAX_SENSOR_NAME];
-	union {
-		void *setting;
-	} cfg;
-};
-
-#define VIDIOC_MSM_SENSOR_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data)
-
-#define VIDIOC_MSM_SENSOR_RELEASE \
-	_IO('V', BASE_VIDIOC_PRIVATE + 2)
-
-#define VIDIOC_MSM_SENSOR_GET_SUBDEV_ID \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 3, uint32_t)
-
-#define VIDIOC_MSM_CSIPHY_IO_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data)
-
-#define VIDIOC_MSM_CSID_IO_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data)
-
-#define VIDIOC_MSM_ACTUATOR_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data)
-
-#define VIDIOC_MSM_FLASH_LED_DATA_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 7, struct msm_camera_led_cfg_t)
-
-#define VIDIOC_MSM_EEPROM_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data)
-
-#define VIDIOC_MSM_SENSOR_GET_AF_STATUS \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 9, uint32_t)
-
-#define VIDIOC_MSM_SENSOR_INIT_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data)
-
-#define VIDIOC_MSM_OIS_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data)
-
-#define VIDIOC_MSM_FLASH_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t)
-
-#ifdef CONFIG_COMPAT
-struct msm_camera_i2c_reg_setting32 {
-	compat_uptr_t reg_setting;
-	uint16_t size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	uint16_t delay;
-};
-
-struct msm_camera_i2c_array_write_config32 {
-	struct msm_camera_i2c_reg_setting32 conf_array;
-	uint16_t slave_addr;
-};
-
-struct msm_actuator_tuning_params_t32 {
-	int16_t initial_code;
-	uint16_t pwd_step;
-	uint16_t region_size;
-	uint32_t total_steps;
-	compat_uptr_t region_params;
-};
-
-struct msm_actuator_params_t32 {
-	enum actuator_type act_type;
-	uint8_t reg_tbl_size;
-	uint16_t data_size;
-	uint16_t init_setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_actuator_addr_type i2c_addr_type;
-	enum msm_actuator_data_type i2c_data_type;
-	compat_uptr_t reg_tbl_params;
-	compat_uptr_t init_settings;
-	struct park_lens_data_t park_lens;
-};
-
-struct msm_actuator_set_info_t32 {
-	struct msm_actuator_params_t32 actuator_params;
-	struct msm_actuator_tuning_params_t32 af_tuning_params;
-};
-
-struct sensor_init_cfg_data32 {
-	enum msm_sensor_init_cfg_type_t cfgtype;
-	struct msm_sensor_info_t        probed_info;
-	char                            entity_name[MAX_SENSOR_NAME];
-	union {
-		compat_uptr_t setting;
-	} cfg;
-};
-
-struct msm_actuator_move_params_t32 {
-	int8_t dir;
-	int8_t sign_dir;
-	int16_t dest_step_pos;
-	int32_t num_steps;
-	uint16_t curr_lens_pos;
-	compat_uptr_t ringing_params;
-};
-
-struct msm_actuator_cfg_data32 {
-	int cfgtype;
-	uint8_t is_af_supported;
-	union {
-		struct msm_actuator_move_params_t32 move;
-		struct msm_actuator_set_info_t32 set_info;
-		struct msm_actuator_get_info_t get_info;
-		struct msm_actuator_set_position_t setpos;
-		enum af_camera_name cam_name;
-	} cfg;
-};
-
-struct csiphy_cfg_data32 {
-	enum csiphy_cfg_type_t cfgtype;
-	union {
-		compat_uptr_t csiphy_params;
-		compat_uptr_t csi_lane_params;
-	} cfg;
-};
-
-struct sensorb_cfg_data32 {
-	int cfgtype;
-	union {
-		struct msm_sensor_info_t      sensor_info;
-		struct msm_sensor_init_params sensor_init_params;
-		compat_uptr_t                 setting;
-		struct msm_sensor_i2c_sync_params sensor_i2c_sync_params;
-	} cfg;
-};
-
-struct msm_ois_params_t32 {
-	uint16_t data_size;
-	uint16_t setting_size;
-	uint32_t i2c_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type i2c_addr_type;
-	enum msm_camera_i2c_data_type i2c_data_type;
-	compat_uptr_t settings;
-};
-
-struct msm_ois_set_info_t32 {
-	struct msm_ois_params_t32 ois_params;
-};
-
-struct msm_ois_cfg_data32 {
-	int cfgtype;
-	union {
-		struct msm_ois_set_info_t32 set_info;
-		compat_uptr_t settings;
-	} cfg;
-};
-
-struct msm_flash_init_info_t32 {
-	enum msm_flash_driver_type flash_driver_type;
-	uint32_t slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	compat_uptr_t power_setting_array;
-	compat_uptr_t settings;
-};
-
-struct msm_flash_cfg_data_t32 {
-	enum msm_flash_cfg_type_t cfg_type;
-	int32_t flash_current[MAX_LED_TRIGGERS];
-	int32_t flash_duration[MAX_LED_TRIGGERS];
-	union {
-		compat_uptr_t flash_init_info;
-		compat_uptr_t settings;
-	} cfg;
-};
-
-#define VIDIOC_MSM_ACTUATOR_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 6, struct msm_actuator_cfg_data32)
-
-#define VIDIOC_MSM_SENSOR_INIT_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 10, struct sensor_init_cfg_data32)
-
-#define VIDIOC_MSM_CSIPHY_IO_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 4, struct csiphy_cfg_data32)
-
-#define VIDIOC_MSM_SENSOR_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 1, struct sensorb_cfg_data32)
-
-#define VIDIOC_MSM_EEPROM_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 8, struct msm_eeprom_cfg_data32)
-
-#define VIDIOC_MSM_OIS_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 11, struct msm_ois_cfg_data32)
-
-#define VIDIOC_MSM_CSID_IO_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 5, struct csid_cfg_data32)
-
-#define VIDIOC_MSM_FLASH_CFG32 \
-	_IOWR('V', BASE_VIDIOC_PRIVATE + 13, struct msm_flash_cfg_data_t32)
-#endif
-
-#endif /* __LINUX_MSM_CAM_SENSOR_H */
diff --git a/third_party/linux/include/msm_camsensor_sdk.h b/third_party/linux/include/msm_camsensor_sdk.h
deleted file mode 100644
index 62a4da253c..0000000000
--- a/third_party/linux/include/msm_camsensor_sdk.h
+++ /dev/null
@@ -1,386 +0,0 @@
-#ifndef __LINUX_MSM_CAMSENSOR_SDK_H
-#define __LINUX_MSM_CAMSENSOR_SDK_H
-
-#define KVERSION 0x1
-
-#define MAX_POWER_CONFIG      12
-#define GPIO_OUT_LOW          (0 << 1)
-#define GPIO_OUT_HIGH         (1 << 1)
-#define CSI_EMBED_DATA        0x12
-#define CSI_RESERVED_DATA_0   0x13
-#define CSI_YUV422_8          0x1E
-#define CSI_RAW8              0x2A
-#define CSI_RAW10             0x2B
-#define CSI_RAW12             0x2C
-#define CSI_DECODE_6BIT         0
-#define CSI_DECODE_8BIT         1
-#define CSI_DECODE_10BIT        2
-#define CSI_DECODE_12BIT        3
-#define CSI_DECODE_DPCM_10_8_10 5
-#define MAX_CID                 16
-#define I2C_SEQ_REG_DATA_MAX    1024
-#define I2C_REG_DATA_MAX       (8*1024)
-
-#define MSM_V4L2_PIX_FMT_META v4l2_fourcc('M', 'E', 'T', 'A') /* META */
-#define MSM_V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4')
-	/* 14  BGBG.. GRGR.. */
-#define MSM_V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4')
-	/* 14  GBGB.. RGRG.. */
-#define MSM_V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4')
-	/* 14  GRGR.. BGBG.. */
-#define MSM_V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4')
-	/* 14  RGRG.. GBGB.. */
-
-#define MAX_ACTUATOR_REG_TBL_SIZE 8
-#define MAX_ACTUATOR_REGION       5
-#define NUM_ACTUATOR_DIR          2
-#define MAX_ACTUATOR_SCENARIO     8
-#define MAX_ACT_MOD_NAME_SIZE     32
-#define MAX_ACT_NAME_SIZE         32
-#define MAX_ACTUATOR_INIT_SET     120
-#define MAX_I2C_REG_SET           12
-
-#define MAX_LED_TRIGGERS          3
-
-#define MSM_EEPROM_MEMORY_MAP_MAX_SIZE  80
-#define MSM_EEPROM_MAX_MEM_MAP_CNT      8
-
-enum msm_sensor_camera_id_t {
-	CAMERA_0,
-	CAMERA_1,
-	CAMERA_2,
-	CAMERA_3,
-	MAX_CAMERAS,
-};
-
-enum i2c_freq_mode_t {
-	I2C_STANDARD_MODE,
-	I2C_FAST_MODE,
-	I2C_CUSTOM_MODE,
-	I2C_FAST_PLUS_MODE,
-	I2C_MAX_MODES,
-};
-
-enum camb_position_t {
-	BACK_CAMERA_B,
-	FRONT_CAMERA_B,
-	AUX_CAMERA_B = 0x100,
-	INVALID_CAMERA_B,
-};
-
-enum msm_sensor_power_seq_type_t {
-	SENSOR_CLK,
-	SENSOR_GPIO,
-	SENSOR_VREG,
-	SENSOR_I2C_MUX,
-	SENSOR_I2C,
-};
-
-enum msm_camera_i2c_reg_addr_type {
-	MSM_CAMERA_I2C_BYTE_ADDR = 1,
-	MSM_CAMERA_I2C_WORD_ADDR,
-	MSM_CAMERA_I2C_3B_ADDR,
-	MSM_CAMERA_I2C_ADDR_TYPE_MAX,
-};
-
-enum msm_camera_i2c_data_type {
-	MSM_CAMERA_I2C_BYTE_DATA = 1,
-	MSM_CAMERA_I2C_WORD_DATA,
-	MSM_CAMERA_I2C_DWORD_DATA,
-	MSM_CAMERA_I2C_SET_BYTE_MASK,
-	MSM_CAMERA_I2C_UNSET_BYTE_MASK,
-	MSM_CAMERA_I2C_SET_WORD_MASK,
-	MSM_CAMERA_I2C_UNSET_WORD_MASK,
-	MSM_CAMERA_I2C_SET_BYTE_WRITE_MASK_DATA,
-	MSM_CAMERA_I2C_SEQ_DATA,
-	MSM_CAMERA_I2C_DATA_TYPE_MAX,
-};
-
-enum msm_sensor_power_seq_gpio_t {
-	SENSOR_GPIO_RESET,
-	SENSOR_GPIO_STANDBY,
-	SENSOR_GPIO_AF_PWDM,
-	SENSOR_GPIO_VIO,
-	SENSOR_GPIO_VANA,
-	SENSOR_GPIO_VDIG,
-	SENSOR_GPIO_VAF,
-	SENSOR_GPIO_FL_EN,
-	SENSOR_GPIO_FL_NOW,
-	SENSOR_GPIO_FL_RESET,
-	SENSOR_GPIO_CUSTOM1,
-	SENSOR_GPIO_CUSTOM2,
-	SENSOR_GPIO_MAX,
-};
-
-enum msm_camera_vreg_name_t {
-	CAM_VDIG,
-	CAM_VIO,
-	CAM_VANA,
-	CAM_VAF,
-	CAM_V_CUSTOM1,
-	CAM_V_CUSTOM2,
-	CAM_VREG_MAX,
-};
-
-enum msm_sensor_clk_type_t {
-	SENSOR_CAM_MCLK,
-	SENSOR_CAM_CLK,
-	SENSOR_CAM_CLK_MAX,
-};
-
-enum camerab_mode_t {
-	CAMERA_MODE_2D_B = (1<<0),
-	CAMERA_MODE_3D_B = (1<<1),
-	CAMERA_MODE_INVALID = (1<<2),
-};
-
-enum msm_actuator_data_type {
-	MSM_ACTUATOR_BYTE_DATA = 1,
-	MSM_ACTUATOR_WORD_DATA,
-};
-
-enum msm_actuator_addr_type {
-	MSM_ACTUATOR_BYTE_ADDR = 1,
-	MSM_ACTUATOR_WORD_ADDR,
-};
-
-enum msm_actuator_write_type {
-	MSM_ACTUATOR_WRITE_HW_DAMP,
-	MSM_ACTUATOR_WRITE_DAC,
-	MSM_ACTUATOR_WRITE,
-	MSM_ACTUATOR_WRITE_DIR_REG,
-	MSM_ACTUATOR_POLL,
-	MSM_ACTUATOR_READ_WRITE,
-};
-
-enum msm_actuator_i2c_operation {
-	MSM_ACT_WRITE = 0,
-	MSM_ACT_POLL,
-};
-
-enum actuator_type {
-	ACTUATOR_VCM,
-	ACTUATOR_PIEZO,
-	ACTUATOR_HVCM,
-	ACTUATOR_BIVCM,
-};
-
-enum msm_flash_driver_type {
-	FLASH_DRIVER_PMIC,
-	FLASH_DRIVER_I2C,
-	FLASH_DRIVER_GPIO,
-	FLASH_DRIVER_DEFAULT
-};
-
-enum msm_flash_cfg_type_t {
-	CFG_FLASH_INIT,
-	CFG_FLASH_RELEASE,
-	CFG_FLASH_OFF,
-	CFG_FLASH_LOW,
-	CFG_FLASH_HIGH,
-};
-
-enum msm_sensor_output_format_t {
-	MSM_SENSOR_BAYER,
-	MSM_SENSOR_YCBCR,
-	MSM_SENSOR_META,
-};
-
-struct msm_sensor_power_setting {
-	enum msm_sensor_power_seq_type_t seq_type;
-	unsigned short seq_val;
-	long config_val;
-	unsigned short delay;
-	void *data[10];
-};
-
-struct msm_sensor_power_setting_array {
-	struct msm_sensor_power_setting  power_setting_a[MAX_POWER_CONFIG];
-	struct msm_sensor_power_setting *power_setting;
-	unsigned short size;
-	struct msm_sensor_power_setting  power_down_setting_a[MAX_POWER_CONFIG];
-	struct msm_sensor_power_setting *power_down_setting;
-	unsigned short size_down;
-};
-
-enum msm_camera_i2c_operation {
-	MSM_CAM_WRITE = 0,
-	MSM_CAM_POLL,
-	MSM_CAM_READ,
-};
-
-struct msm_sensor_i2c_sync_params {
-	unsigned int cid;
-	int csid;
-	unsigned short line;
-	unsigned short delay;
-};
-
-struct msm_camera_reg_settings_t {
-	uint16_t reg_addr;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	uint16_t reg_data;
-	enum msm_camera_i2c_data_type data_type;
-	enum msm_camera_i2c_operation i2c_operation;
-	uint16_t delay;
-};
-
-struct msm_eeprom_mem_map_t {
-	int slave_addr;
-	struct msm_camera_reg_settings_t
-		mem_settings[MSM_EEPROM_MEMORY_MAP_MAX_SIZE];
-	int memory_map_size;
-};
-
-struct msm_eeprom_memory_map_array {
-	struct msm_eeprom_mem_map_t memory_map[MSM_EEPROM_MAX_MEM_MAP_CNT];
-	uint32_t msm_size_of_max_mappings;
-};
-
-struct msm_sensor_init_params {
-	/* mask of modes supported: 2D, 3D */
-	int                 modes_supported;
-	/* sensor position: front, back */
-	enum camb_position_t position;
-	/* sensor mount angle */
-	unsigned int            sensor_mount_angle;
-};
-
-struct msm_sensor_id_info_t {
-	unsigned short sensor_id_reg_addr;
-	unsigned short sensor_id;
-	unsigned short sensor_id_mask;
-  // added in LeEco
-  unsigned char module_id;
-  unsigned char vcm_id;
-};
-
-struct msm_camera_sensor_slave_info {
-	char sensor_name[32];
-	char eeprom_name[32];
-	char actuator_name[32];
-	char ois_name[32];
-	char flash_name[32];
-	enum msm_sensor_camera_id_t camera_id;
-	unsigned short slave_addr;
-	enum i2c_freq_mode_t i2c_freq_mode;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	struct msm_sensor_id_info_t sensor_id_info;
-	struct msm_sensor_power_setting_array power_setting_array;
-	unsigned char  is_init_params_valid;
-	struct msm_sensor_init_params sensor_init_params;
-	enum msm_sensor_output_format_t output_format;
-};
-
-struct msm_camera_i2c_reg_array {
-	unsigned short reg_addr;
-	unsigned short reg_data;
-	unsigned int delay;
-};
-
-struct msm_camera_i2c_reg_setting {
-	struct msm_camera_i2c_reg_array *reg_setting;
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	unsigned short delay;
-};
-
-struct msm_camera_csid_vc_cfg {
-	unsigned char cid;
-	unsigned char dt;
-	unsigned char decode_format;
-};
-
-struct msm_camera_csid_lut_params {
-	unsigned char num_cid;
-	struct msm_camera_csid_vc_cfg vc_cfg_a[MAX_CID];
-	struct msm_camera_csid_vc_cfg *vc_cfg[MAX_CID];
-};
-
-struct msm_camera_csid_params {
-	unsigned char lane_cnt;
-	unsigned short lane_assign;
-	unsigned char phy_sel;
-	unsigned int csi_clk;
-	struct msm_camera_csid_lut_params lut_params;
-	unsigned char csi_3p_sel;
-};
-
-struct msm_camera_csid_testmode_parms {
-	unsigned int num_bytes_per_line;
-	unsigned int num_lines;
-	unsigned int h_blanking_count;
-	unsigned int v_blanking_count;
-	unsigned int payload_mode;
-};
-
-struct msm_camera_csiphy_params {
-	unsigned char lane_cnt;
-	unsigned char settle_cnt;
-	unsigned short lane_mask;
-	unsigned char combo_mode;
-	unsigned char csid_core;
-	unsigned int csiphy_clk;
-	unsigned char csi_3phase;
-};
-
-struct msm_camera_i2c_seq_reg_array {
-	unsigned short reg_addr;
-	unsigned char reg_data[I2C_SEQ_REG_DATA_MAX];
-	unsigned short reg_data_size;
-};
-
-struct msm_camera_i2c_seq_reg_setting {
-	struct msm_camera_i2c_seq_reg_array *reg_setting;
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	unsigned short delay;
-};
-
-struct msm_actuator_reg_params_t {
-	enum msm_actuator_write_type reg_write_type;
-	unsigned int hw_mask;
-	unsigned short reg_addr;
-	unsigned short hw_shift;
-	unsigned short data_shift;
-	unsigned short data_type;
-	unsigned short addr_type;
-	unsigned short reg_data;
-	unsigned short delay;
-};
-
-
-struct damping_params_t {
-	unsigned int damping_step;
-	unsigned int damping_delay;
-	unsigned int hw_params;
-};
-
-struct region_params_t {
-	/* [0] = ForwardDirection Macro boundary
-	   [1] = ReverseDirection Inf boundary
-	*/
-	unsigned short step_bound[2];
-	unsigned short code_per_step;
-	/* qvalue for converting float type numbers to integer format */
-	unsigned int qvalue;
-};
-
-struct reg_settings_t {
-	unsigned short reg_addr;
-	enum msm_actuator_addr_type addr_type;
-	unsigned short reg_data;
-	enum msm_actuator_data_type data_type;
-	enum msm_actuator_i2c_operation i2c_operation;
-	unsigned int delay;
-};
-
-struct msm_camera_i2c_reg_setting_array {
-	struct msm_camera_i2c_reg_array reg_setting_a[MAX_I2C_REG_SET];
-	unsigned short size;
-	enum msm_camera_i2c_reg_addr_type addr_type;
-	enum msm_camera_i2c_data_type data_type;
-	unsigned short delay;
-};
-#endif /* __LINUX_MSM_CAM_SENSOR_H */
diff --git a/third_party/linux/include/msm_ion.h b/third_party/linux/include/msm_ion.h
deleted file mode 100644
index d5caed5eb3..0000000000
--- a/third_party/linux/include/msm_ion.h
+++ /dev/null
@@ -1,211 +0,0 @@
-#ifndef _UAPI_MSM_ION_H
-#define _UAPI_MSM_ION_H
-
-#include <linux/ion.h>
-
-enum msm_ion_heap_types {
-	ION_HEAP_TYPE_MSM_START = ION_HEAP_TYPE_CUSTOM + 1,
-	ION_HEAP_TYPE_SECURE_DMA = ION_HEAP_TYPE_MSM_START,
-	ION_HEAP_TYPE_SYSTEM_SECURE,
-	ION_HEAP_TYPE_HYP_CMA,
-	/*
-	 * if you add a heap type here you should also add it to
-	 * heap_types_info[] in msm_ion.c
-	 */
-};
-
-/**
- * These are the only ids that should be used for Ion heap ids.
- * The ids listed are the order in which allocation will be attempted
- * if specified. Don't swap the order of heap ids unless you know what
- * you are doing!
- * Id's are spaced by purpose to allow new Id's to be inserted in-between (for
- * possible fallbacks)
- */
-
-enum ion_heap_ids {
-	INVALID_HEAP_ID = -1,
-	ION_CP_MM_HEAP_ID = 8,
-	ION_SECURE_HEAP_ID = 9,
-	ION_SECURE_DISPLAY_HEAP_ID = 10,
-	ION_CP_MFC_HEAP_ID = 12,
-	ION_CP_WB_HEAP_ID = 16, /* 8660 only */
-	ION_CAMERA_HEAP_ID = 20, /* 8660 only */
-	ION_SYSTEM_CONTIG_HEAP_ID = 21,
-	ION_ADSP_HEAP_ID = 22,
-	ION_PIL1_HEAP_ID = 23, /* Currently used for other PIL images */
-	ION_SF_HEAP_ID = 24,
-	ION_SYSTEM_HEAP_ID = 25,
-	ION_PIL2_HEAP_ID = 26, /* Currently used for modem firmware images */
-	ION_QSECOM_HEAP_ID = 27,
-	ION_AUDIO_HEAP_ID = 28,
-
-	ION_MM_FIRMWARE_HEAP_ID = 29,
-
-	ION_HEAP_ID_RESERVED = 31 /** Bit reserved for ION_FLAG_SECURE flag */
-};
-
-/*
- * The IOMMU heap is deprecated! Here are some aliases for backwards
- * compatibility:
- */
-#define ION_IOMMU_HEAP_ID ION_SYSTEM_HEAP_ID
-#define ION_HEAP_TYPE_IOMMU ION_HEAP_TYPE_SYSTEM
-
-enum ion_fixed_position {
-	NOT_FIXED,
-	FIXED_LOW,
-	FIXED_MIDDLE,
-	FIXED_HIGH,
-};
-
-enum cp_mem_usage {
-	VIDEO_BITSTREAM = 0x1,
-	VIDEO_PIXEL = 0x2,
-	VIDEO_NONPIXEL = 0x3,
-	DISPLAY_SECURE_CP_USAGE = 0x4,
-	CAMERA_SECURE_CP_USAGE = 0x5,
-	MAX_USAGE = 0x6,
-	UNKNOWN = 0x7FFFFFFF,
-};
-
-/**
- * Flags to be used when allocating from the secure heap for
- * content protection
- */
-#define ION_FLAG_CP_TOUCH (1 << 17)
-#define ION_FLAG_CP_BITSTREAM (1 << 18)
-#define ION_FLAG_CP_PIXEL  (1 << 19)
-#define ION_FLAG_CP_NON_PIXEL (1 << 20)
-#define ION_FLAG_CP_CAMERA (1 << 21)
-#define ION_FLAG_CP_HLOS (1 << 22)
-#define ION_FLAG_CP_HLOS_FREE (1 << 23)
-#define ION_FLAG_CP_SEC_DISPLAY (1 << 25)
-#define ION_FLAG_CP_APP (1 << 26)
-
-/**
- * Flag to allow non continguous allocation of memory from secure
- * heap
- */
-#define ION_FLAG_ALLOW_NON_CONTIG (1 << 24)
-
-/**
- * Flag to use when allocating to indicate that a heap is secure.
- */
-#define ION_FLAG_SECURE (1 << ION_HEAP_ID_RESERVED)
-
-/**
- * Flag for clients to force contiguous memort allocation
- *
- * Use of this flag is carefully monitored!
- */
-#define ION_FLAG_FORCE_CONTIGUOUS (1 << 30)
-
-/*
- * Used in conjunction with heap which pool memory to force an allocation
- * to come from the page allocator directly instead of from the pool allocation
- */
-#define ION_FLAG_POOL_FORCE_ALLOC (1 << 16)
-
-
-#define ION_FLAG_POOL_PREFETCH (1 << 27)
-
-/**
-* Deprecated! Please use the corresponding ION_FLAG_*
-*/
-#define ION_SECURE ION_FLAG_SECURE
-#define ION_FORCE_CONTIGUOUS ION_FLAG_FORCE_CONTIGUOUS
-
-/**
- * Macro should be used with ion_heap_ids defined above.
- */
-#define ION_HEAP(bit) (1 << (bit))
-
-#define ION_ADSP_HEAP_NAME	"adsp"
-#define ION_SYSTEM_HEAP_NAME	"system"
-#define ION_VMALLOC_HEAP_NAME	ION_SYSTEM_HEAP_NAME
-#define ION_KMALLOC_HEAP_NAME	"kmalloc"
-#define ION_AUDIO_HEAP_NAME	"audio"
-#define ION_SF_HEAP_NAME	"sf"
-#define ION_MM_HEAP_NAME	"mm"
-#define ION_CAMERA_HEAP_NAME	"camera_preview"
-#define ION_IOMMU_HEAP_NAME	"iommu"
-#define ION_MFC_HEAP_NAME	"mfc"
-#define ION_WB_HEAP_NAME	"wb"
-#define ION_MM_FIRMWARE_HEAP_NAME	"mm_fw"
-#define ION_PIL1_HEAP_NAME  "pil_1"
-#define ION_PIL2_HEAP_NAME  "pil_2"
-#define ION_QSECOM_HEAP_NAME	"qsecom"
-#define ION_SECURE_HEAP_NAME	"secure_heap"
-#define ION_SECURE_DISPLAY_HEAP_NAME "secure_display"
-
-#define ION_SET_CACHED(__cache)		(__cache | ION_FLAG_CACHED)
-#define ION_SET_UNCACHED(__cache)	(__cache & ~ION_FLAG_CACHED)
-
-#define ION_IS_CACHED(__flags)	((__flags) & ION_FLAG_CACHED)
-
-/* struct ion_flush_data - data passed to ion for flushing caches
- *
- * @handle:	handle with data to flush
- * @fd:		fd to flush
- * @vaddr:	userspace virtual address mapped with mmap
- * @offset:	offset into the handle to flush
- * @length:	length of handle to flush
- *
- * Performs cache operations on the handle. If p is the start address
- * of the handle, p + offset through p + offset + length will have
- * the cache operations performed
- */
-struct ion_flush_data {
-	ion_user_handle_t handle;
-	int fd;
-	void *vaddr;
-	unsigned int offset;
-	unsigned int length;
-};
-
-struct ion_prefetch_regions {
-	unsigned int vmid;
-	size_t *sizes;
-	unsigned int nr_sizes;
-};
-
-struct ion_prefetch_data {
-	int heap_id;
-	unsigned long len;
-	/* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/
-	struct ion_prefetch_regions *regions;
-	unsigned int nr_regions;
-};
-
-#define ION_IOC_MSM_MAGIC 'M'
-
-/**
- * DOC: ION_IOC_CLEAN_CACHES - clean the caches
- *
- * Clean the caches of the handle specified.
- */
-#define ION_IOC_CLEAN_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 0, \
-						struct ion_flush_data)
-/**
- * DOC: ION_IOC_INV_CACHES - invalidate the caches
- *
- * Invalidate the caches of the handle specified.
- */
-#define ION_IOC_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 1, \
-						struct ion_flush_data)
-/**
- * DOC: ION_IOC_CLEAN_INV_CACHES - clean and invalidate the caches
- *
- * Clean and invalidate the caches of the handle specified.
- */
-#define ION_IOC_CLEAN_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 2, \
-						struct ion_flush_data)
-
-#define ION_IOC_PREFETCH		_IOWR(ION_IOC_MSM_MAGIC, 3, \
-						struct ion_prefetch_data)
-
-#define ION_IOC_DRAIN			_IOWR(ION_IOC_MSM_MAGIC, 4, \
-						struct ion_prefetch_data)
-
-#endif
diff --git a/third_party/linux/include/msm_kgsl.h b/third_party/linux/include/msm_kgsl.h
deleted file mode 100644
index 93582eb066..0000000000
--- a/third_party/linux/include/msm_kgsl.h
+++ /dev/null
@@ -1,1449 +0,0 @@
-#ifndef _UAPI_MSM_KGSL_H
-#define _UAPI_MSM_KGSL_H
-
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-/*
- * The KGSL version has proven not to be very useful in userspace if features
- * are cherry picked into other trees out of order so it is frozen as of 3.14.
- * It is left here for backwards compatabilty and as a reminder that
- * software releases are never linear. Also, I like pie.
- */
-
-#define KGSL_VERSION_MAJOR        3
-#define KGSL_VERSION_MINOR        14
-
-/*
- * We have traditionally mixed context and issueibcmds / command batch flags
- * together into a big flag stew. This worked fine until we started adding a
- * lot more command batch flags and we started running out of bits. Turns out
- * we have a bit of room in the context type / priority mask that we could use
- * for command batches, but that means we need to split out the flags into two
- * coherent sets.
- *
- * If any future definitions are for both context and cmdbatch add both defines
- * and link the cmdbatch to the context define as we do below. Otherwise feel
- * free to add exclusive bits to either set.
- */
-
-/* --- context flags --- */
-#define KGSL_CONTEXT_SAVE_GMEM		0x00000001
-#define KGSL_CONTEXT_NO_GMEM_ALLOC	0x00000002
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_SUBMIT_IB_LIST	0x00000004
-#define KGSL_CONTEXT_CTX_SWITCH		0x00000008
-#define KGSL_CONTEXT_PREAMBLE		0x00000010
-#define KGSL_CONTEXT_TRASH_STATE	0x00000020
-#define KGSL_CONTEXT_PER_CONTEXT_TS	0x00000040
-#define KGSL_CONTEXT_USER_GENERATED_TS	0x00000080
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_END_OF_FRAME	0x00000100
-#define KGSL_CONTEXT_NO_FAULT_TOLERANCE 0x00000200
-/* This is a cmdbatch exclusive flag - use the CMDBATCH equivalent instead */
-#define KGSL_CONTEXT_SYNC               0x00000400
-#define KGSL_CONTEXT_PWR_CONSTRAINT     0x00000800
-
-#define KGSL_CONTEXT_PRIORITY_MASK      0x0000F000
-#define KGSL_CONTEXT_PRIORITY_SHIFT     12
-#define KGSL_CONTEXT_PRIORITY_UNDEF     0
-
-#define KGSL_CONTEXT_IFH_NOP            0x00010000
-#define KGSL_CONTEXT_SECURE             0x00020000
-
-#define KGSL_CONTEXT_PREEMPT_STYLE_MASK       0x0E000000
-#define KGSL_CONTEXT_PREEMPT_STYLE_SHIFT      25
-#define KGSL_CONTEXT_PREEMPT_STYLE_DEFAULT    0x0
-#define KGSL_CONTEXT_PREEMPT_STYLE_RINGBUFFER 0x1
-#define KGSL_CONTEXT_PREEMPT_STYLE_FINEGRAIN  0x2
-
-#define KGSL_CONTEXT_TYPE_MASK          0x01F00000
-#define KGSL_CONTEXT_TYPE_SHIFT         20
-#define KGSL_CONTEXT_TYPE_ANY		0
-#define KGSL_CONTEXT_TYPE_GL		1
-#define KGSL_CONTEXT_TYPE_CL		2
-#define KGSL_CONTEXT_TYPE_C2D		3
-#define KGSL_CONTEXT_TYPE_RS		4
-#define KGSL_CONTEXT_TYPE_UNKNOWN	0x1E
-
-#define KGSL_CONTEXT_INVALID 0xffffffff
-
-/*
- * --- command batch flags ---
- * The bits that are linked to a KGSL_CONTEXT equivalent are either legacy
- * definitions or bits that are valid for both contexts and cmdbatches.  To be
- * safe the other 8 bits that are still available in the context field should be
- * omitted here in case we need to share - the other bits are available for
- * cmdbatch only flags as needed
- */
-#define KGSL_CMDBATCH_MEMLIST		0x00000001
-#define KGSL_CMDBATCH_MARKER		0x00000002
-#define KGSL_CMDBATCH_SUBMIT_IB_LIST	KGSL_CONTEXT_SUBMIT_IB_LIST /* 0x004 */
-#define KGSL_CMDBATCH_CTX_SWITCH	KGSL_CONTEXT_CTX_SWITCH     /* 0x008 */
-#define KGSL_CMDBATCH_PROFILING		0x00000010
-#define KGSL_CMDBATCH_PROFILING_KTIME	0x00000020
-#define KGSL_CMDBATCH_END_OF_FRAME	KGSL_CONTEXT_END_OF_FRAME   /* 0x100 */
-#define KGSL_CMDBATCH_SYNC		KGSL_CONTEXT_SYNC           /* 0x400 */
-#define KGSL_CMDBATCH_PWR_CONSTRAINT	KGSL_CONTEXT_PWR_CONSTRAINT /* 0x800 */
-
-/*
- * Reserve bits [16:19] and bits [28:31] for possible bits shared between
- * contexts and command batches.  Update this comment as new flags are added.
- */
-
-/*
- * gpu_command_object flags - these flags communicate the type of command or
- * memory object being submitted for a GPU command
- */
-
-/* Flags for GPU command objects */
-#define KGSL_CMDLIST_IB                  0x00000001U
-#define KGSL_CMDLIST_CTXTSWITCH_PREAMBLE 0x00000002U
-#define KGSL_CMDLIST_IB_PREAMBLE         0x00000004U
-
-/* Flags for GPU command memory objects */
-#define KGSL_OBJLIST_MEMOBJ  0x00000008U
-#define KGSL_OBJLIST_PROFILE 0x00000010U
-
-/* Flags for GPU command sync points */
-#define KGSL_CMD_SYNCPOINT_TYPE_TIMESTAMP 0
-#define KGSL_CMD_SYNCPOINT_TYPE_FENCE 1
-
-/* --- Memory allocation flags --- */
-
-/* General allocation hints */
-#define KGSL_MEMFLAGS_SECURE      0x00000008ULL
-#define KGSL_MEMFLAGS_GPUREADONLY 0x01000000U
-#define KGSL_MEMFLAGS_GPUWRITEONLY 0x02000000U
-#define KGSL_MEMFLAGS_FORCE_32BIT 0x100000000ULL
-
-/* Memory caching hints */
-#define KGSL_CACHEMODE_MASK       0x0C000000U
-#define KGSL_CACHEMODE_SHIFT 26
-
-#define KGSL_CACHEMODE_WRITECOMBINE 0
-#define KGSL_CACHEMODE_UNCACHED 1
-#define KGSL_CACHEMODE_WRITETHROUGH 2
-#define KGSL_CACHEMODE_WRITEBACK 3
-
-#define KGSL_MEMFLAGS_USE_CPU_MAP 0x10000000ULL
-
-/* Memory types for which allocations are made */
-#define KGSL_MEMTYPE_MASK		0x0000FF00
-#define KGSL_MEMTYPE_SHIFT		8
-
-#define KGSL_MEMTYPE_OBJECTANY			0
-#define KGSL_MEMTYPE_FRAMEBUFFER		1
-#define KGSL_MEMTYPE_RENDERBUFFER		2
-#define KGSL_MEMTYPE_ARRAYBUFFER		3
-#define KGSL_MEMTYPE_ELEMENTARRAYBUFFER		4
-#define KGSL_MEMTYPE_VERTEXARRAYBUFFER		5
-#define KGSL_MEMTYPE_TEXTURE			6
-#define KGSL_MEMTYPE_SURFACE			7
-#define KGSL_MEMTYPE_EGL_SURFACE		8
-#define KGSL_MEMTYPE_GL				9
-#define KGSL_MEMTYPE_CL				10
-#define KGSL_MEMTYPE_CL_BUFFER_MAP		11
-#define KGSL_MEMTYPE_CL_BUFFER_NOMAP		12
-#define KGSL_MEMTYPE_CL_IMAGE_MAP		13
-#define KGSL_MEMTYPE_CL_IMAGE_NOMAP		14
-#define KGSL_MEMTYPE_CL_KERNEL_STACK		15
-#define KGSL_MEMTYPE_COMMAND			16
-#define KGSL_MEMTYPE_2D				17
-#define KGSL_MEMTYPE_EGL_IMAGE			18
-#define KGSL_MEMTYPE_EGL_SHADOW			19
-#define KGSL_MEMTYPE_MULTISAMPLE		20
-#define KGSL_MEMTYPE_KERNEL			255
-
-/*
- * Alignment hint, passed as the power of 2 exponent.
- * i.e 4k (2^12) would be 12, 64k (2^16)would be 16.
- */
-#define KGSL_MEMALIGN_MASK		0x00FF0000
-#define KGSL_MEMALIGN_SHIFT		16
-
-enum kgsl_user_mem_type {
-	KGSL_USER_MEM_TYPE_PMEM		= 0x00000000,
-	KGSL_USER_MEM_TYPE_ASHMEM	= 0x00000001,
-	KGSL_USER_MEM_TYPE_ADDR		= 0x00000002,
-	KGSL_USER_MEM_TYPE_ION		= 0x00000003,
-	/*
-	 * ION type is retained for backwards compatibilty but Ion buffers are
-	 * dma-bufs so try to use that naming if we can
-	 */
-	KGSL_USER_MEM_TYPE_DMABUF       = 0x00000003,
-	KGSL_USER_MEM_TYPE_MAX		= 0x00000007,
-};
-#define KGSL_MEMFLAGS_USERMEM_MASK 0x000000e0
-#define KGSL_MEMFLAGS_USERMEM_SHIFT 5
-
-/*
- * Unfortunately, enum kgsl_user_mem_type starts at 0 which does not
- * leave a good value for allocated memory. In the flags we use
- * 0 to indicate allocated memory and thus need to add 1 to the enum
- * values.
- */
-#define KGSL_USERMEM_FLAG(x) (((x) + 1) << KGSL_MEMFLAGS_USERMEM_SHIFT)
-
-#define KGSL_MEMFLAGS_NOT_USERMEM 0
-#define KGSL_MEMFLAGS_USERMEM_PMEM KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_PMEM)
-#define KGSL_MEMFLAGS_USERMEM_ASHMEM \
-		KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ASHMEM)
-#define KGSL_MEMFLAGS_USERMEM_ADDR KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ADDR)
-#define KGSL_MEMFLAGS_USERMEM_ION KGSL_USERMEM_FLAG(KGSL_USER_MEM_TYPE_ION)
-
-/* --- generic KGSL flag values --- */
-
-#define KGSL_FLAGS_NORMALMODE  0x00000000
-#define KGSL_FLAGS_SAFEMODE    0x00000001
-#define KGSL_FLAGS_INITIALIZED0 0x00000002
-#define KGSL_FLAGS_INITIALIZED 0x00000004
-#define KGSL_FLAGS_STARTED     0x00000008
-#define KGSL_FLAGS_ACTIVE      0x00000010
-#define KGSL_FLAGS_RESERVED0   0x00000020
-#define KGSL_FLAGS_RESERVED1   0x00000040
-#define KGSL_FLAGS_RESERVED2   0x00000080
-#define KGSL_FLAGS_SOFT_RESET  0x00000100
-#define KGSL_FLAGS_PER_CONTEXT_TIMESTAMPS 0x00000200
-
-/* Server Side Sync Timeout in milliseconds */
-#define KGSL_SYNCOBJ_SERVER_TIMEOUT 2000
-
-/*
- * Reset status values for context
- */
-enum kgsl_ctx_reset_stat {
-	KGSL_CTX_STAT_NO_ERROR				= 0x00000000,
-	KGSL_CTX_STAT_GUILTY_CONTEXT_RESET_EXT		= 0x00000001,
-	KGSL_CTX_STAT_INNOCENT_CONTEXT_RESET_EXT	= 0x00000002,
-	KGSL_CTX_STAT_UNKNOWN_CONTEXT_RESET_EXT		= 0x00000003
-};
-
-#define KGSL_CONVERT_TO_MBPS(val) \
-	(val*1000*1000U)
-
-/* device id */
-enum kgsl_deviceid {
-	KGSL_DEVICE_3D0		= 0x00000000,
-	KGSL_DEVICE_MAX
-};
-
-struct kgsl_devinfo {
-
-	unsigned int device_id;
-	/* chip revision id
-	* coreid:8 majorrev:8 minorrev:8 patch:8
-	*/
-	unsigned int chip_id;
-	unsigned int mmu_enabled;
-	unsigned long gmem_gpubaseaddr;
-	/*
-	* This field contains the adreno revision
-	* number 200, 205, 220, etc...
-	*/
-	unsigned int gpu_id;
-	size_t gmem_sizebytes;
-};
-
-/*
- * struct kgsl_devmemstore - this structure defines the region of memory
- * that can be mmap()ed from this driver. The timestamp fields are volatile
- * because they are written by the GPU
- * @soptimestamp: Start of pipeline timestamp written by GPU before the
- * commands in concern are processed
- * @sbz: Unused, kept for 8 byte alignment
- * @eoptimestamp: End of pipeline timestamp written by GPU after the
- * commands in concern are processed
- * @sbz2: Unused, kept for 8 byte alignment
- * @preempted: Indicates if the context was preempted
- * @sbz3: Unused, kept for 8 byte alignment
- * @ref_wait_ts: Timestamp on which to generate interrupt, unused now.
- * @sbz4: Unused, kept for 8 byte alignment
- * @current_context: The current context the GPU is working on
- * @sbz5: Unused, kept for 8 byte alignment
- */
-struct kgsl_devmemstore {
-	volatile unsigned int soptimestamp;
-	unsigned int sbz;
-	volatile unsigned int eoptimestamp;
-	unsigned int sbz2;
-	volatile unsigned int preempted;
-	unsigned int sbz3;
-	volatile unsigned int ref_wait_ts;
-	unsigned int sbz4;
-	unsigned int current_context;
-	unsigned int sbz5;
-};
-
-#define KGSL_MEMSTORE_OFFSET(ctxt_id, field) \
-	((ctxt_id)*sizeof(struct kgsl_devmemstore) + \
-	 offsetof(struct kgsl_devmemstore, field))
-
-/* timestamp id*/
-enum kgsl_timestamp_type {
-	KGSL_TIMESTAMP_CONSUMED = 0x00000001, /* start-of-pipeline timestamp */
-	KGSL_TIMESTAMP_RETIRED  = 0x00000002, /* end-of-pipeline timestamp*/
-	KGSL_TIMESTAMP_QUEUED   = 0x00000003,
-};
-
-/* property types - used with kgsl_device_getproperty */
-#define KGSL_PROP_DEVICE_INFO		0x1
-#define KGSL_PROP_DEVICE_SHADOW		0x2
-#define KGSL_PROP_DEVICE_POWER		0x3
-#define KGSL_PROP_SHMEM			0x4
-#define KGSL_PROP_SHMEM_APERTURES	0x5
-#define KGSL_PROP_MMU_ENABLE		0x6
-#define KGSL_PROP_INTERRUPT_WAITS	0x7
-#define KGSL_PROP_VERSION		0x8
-#define KGSL_PROP_GPU_RESET_STAT	0x9
-#define KGSL_PROP_PWRCTRL		0xE
-#define KGSL_PROP_PWR_CONSTRAINT	0x12
-#define KGSL_PROP_UCHE_GMEM_VADDR	0x13
-#define KGSL_PROP_SP_GENERIC_MEM	0x14
-#define KGSL_PROP_UCODE_VERSION		0x15
-#define KGSL_PROP_GPMU_VERSION		0x16
-#define KGSL_PROP_DEVICE_BITNESS	0x18
-
-struct kgsl_shadowprop {
-	unsigned long gpuaddr;
-	size_t size;
-	unsigned int flags; /* contains KGSL_FLAGS_ values */
-};
-
-struct kgsl_version {
-	unsigned int drv_major;
-	unsigned int drv_minor;
-	unsigned int dev_major;
-	unsigned int dev_minor;
-};
-
-struct kgsl_sp_generic_mem {
-	uint64_t local;
-	uint64_t pvt;
-};
-
-struct kgsl_ucode_version {
-	unsigned int pfp;
-	unsigned int pm4;
-};
-
-struct kgsl_gpmu_version {
-	unsigned int major;
-	unsigned int minor;
-	unsigned int features;
-};
-
-/* Performance counter groups */
-
-#define KGSL_PERFCOUNTER_GROUP_CP 0x0
-#define KGSL_PERFCOUNTER_GROUP_RBBM 0x1
-#define KGSL_PERFCOUNTER_GROUP_PC 0x2
-#define KGSL_PERFCOUNTER_GROUP_VFD 0x3
-#define KGSL_PERFCOUNTER_GROUP_HLSQ 0x4
-#define KGSL_PERFCOUNTER_GROUP_VPC 0x5
-#define KGSL_PERFCOUNTER_GROUP_TSE 0x6
-#define KGSL_PERFCOUNTER_GROUP_RAS 0x7
-#define KGSL_PERFCOUNTER_GROUP_UCHE 0x8
-#define KGSL_PERFCOUNTER_GROUP_TP 0x9
-#define KGSL_PERFCOUNTER_GROUP_SP 0xA
-#define KGSL_PERFCOUNTER_GROUP_RB 0xB
-#define KGSL_PERFCOUNTER_GROUP_PWR 0xC
-#define KGSL_PERFCOUNTER_GROUP_VBIF 0xD
-#define KGSL_PERFCOUNTER_GROUP_VBIF_PWR 0xE
-#define KGSL_PERFCOUNTER_GROUP_MH 0xF
-#define KGSL_PERFCOUNTER_GROUP_PA_SU 0x10
-#define KGSL_PERFCOUNTER_GROUP_SQ 0x11
-#define KGSL_PERFCOUNTER_GROUP_SX 0x12
-#define KGSL_PERFCOUNTER_GROUP_TCF 0x13
-#define KGSL_PERFCOUNTER_GROUP_TCM 0x14
-#define KGSL_PERFCOUNTER_GROUP_TCR 0x15
-#define KGSL_PERFCOUNTER_GROUP_L2 0x16
-#define KGSL_PERFCOUNTER_GROUP_VSC 0x17
-#define KGSL_PERFCOUNTER_GROUP_CCU 0x18
-#define KGSL_PERFCOUNTER_GROUP_LRZ 0x19
-#define KGSL_PERFCOUNTER_GROUP_CMP 0x1A
-#define KGSL_PERFCOUNTER_GROUP_ALWAYSON 0x1B
-#define KGSL_PERFCOUNTER_GROUP_SP_PWR 0x1C
-#define KGSL_PERFCOUNTER_GROUP_TP_PWR 0x1D
-#define KGSL_PERFCOUNTER_GROUP_RB_PWR 0x1E
-#define KGSL_PERFCOUNTER_GROUP_CCU_PWR 0x1F
-#define KGSL_PERFCOUNTER_GROUP_UCHE_PWR 0x20
-#define KGSL_PERFCOUNTER_GROUP_CP_PWR 0x21
-#define KGSL_PERFCOUNTER_GROUP_GPMU_PWR 0x22
-#define KGSL_PERFCOUNTER_GROUP_ALWAYSON_PWR 0x23
-#define KGSL_PERFCOUNTER_GROUP_MAX 0x24
-
-#define KGSL_PERFCOUNTER_NOT_USED 0xFFFFFFFF
-#define KGSL_PERFCOUNTER_BROKEN 0xFFFFFFFE
-
-/* structure holds list of ibs */
-struct kgsl_ibdesc {
-	unsigned long gpuaddr;
-	unsigned long __pad;
-	size_t sizedwords;
-	unsigned int ctrl;
-};
-
-/**
- * struct kgsl_cmdbatch_profiling_buffer
- * @wall_clock_s: Ringbuffer submission time (seconds).
- *                If KGSL_CMDBATCH_PROFILING_KTIME is set, time is provided
- *                in kernel clocks, otherwise wall clock time is used.
- * @wall_clock_ns: Ringbuffer submission time (nanoseconds).
- *                 If KGSL_CMDBATCH_PROFILING_KTIME is set time is provided
- *                 in kernel clocks, otherwise wall clock time is used.
- * @gpu_ticks_queued: GPU ticks at ringbuffer submission
- * @gpu_ticks_submitted: GPU ticks when starting cmdbatch execution
- * @gpu_ticks_retired: GPU ticks when finishing cmdbatch execution
- *
- * This structure defines the profiling buffer used to measure cmdbatch
- * execution time
- */
-struct kgsl_cmdbatch_profiling_buffer {
-	uint64_t wall_clock_s;
-	uint64_t wall_clock_ns;
-	uint64_t gpu_ticks_queued;
-	uint64_t gpu_ticks_submitted;
-	uint64_t gpu_ticks_retired;
-};
-
-/* ioctls */
-#define KGSL_IOC_TYPE 0x09
-
-/* get misc info about the GPU
-   type should be a value from enum kgsl_property_type
-   value points to a structure that varies based on type
-   sizebytes is sizeof() that structure
-   for KGSL_PROP_DEVICE_INFO, use struct kgsl_devinfo
-   this structure contaings hardware versioning info.
-   for KGSL_PROP_DEVICE_SHADOW, use struct kgsl_shadowprop
-   this is used to find mmap() offset and sizes for mapping
-   struct kgsl_memstore into userspace.
-*/
-struct kgsl_device_getproperty {
-	unsigned int type;
-	void __user *value;
-	size_t sizebytes;
-};
-
-#define IOCTL_KGSL_DEVICE_GETPROPERTY \
-	_IOWR(KGSL_IOC_TYPE, 0x2, struct kgsl_device_getproperty)
-
-/* IOCTL_KGSL_DEVICE_READ (0x3) - removed 03/2012
- */
-
-/* block until the GPU has executed past a given timestamp
- * timeout is in milliseconds.
- */
-struct kgsl_device_waittimestamp {
-	unsigned int timestamp;
-	unsigned int timeout;
-};
-
-#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP \
-	_IOW(KGSL_IOC_TYPE, 0x6, struct kgsl_device_waittimestamp)
-
-struct kgsl_device_waittimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned int timestamp;
-	unsigned int timeout;
-};
-
-#define IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID \
-	_IOW(KGSL_IOC_TYPE, 0x7, struct kgsl_device_waittimestamp_ctxtid)
-
-/* DEPRECATED: issue indirect commands to the GPU.
- * drawctxt_id must have been created with IOCTL_KGSL_DRAWCTXT_CREATE
- * ibaddr and sizedwords must specify a subset of a buffer created
- * with IOCTL_KGSL_SHAREDMEM_FROM_PMEM
- * flags may be a mask of KGSL_CONTEXT_ values
- * timestamp is a returned counter value which can be passed to
- * other ioctls to determine when the commands have been executed by
- * the GPU.
- *
- * This fucntion is deprecated - consider using IOCTL_KGSL_SUBMIT_COMMANDS
- * instead
- */
-struct kgsl_ringbuffer_issueibcmds {
-	unsigned int drawctxt_id;
-	unsigned long ibdesc_addr;
-	unsigned int numibs;
-	unsigned int timestamp; /*output param */
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_RINGBUFFER_ISSUEIBCMDS \
-	_IOWR(KGSL_IOC_TYPE, 0x10, struct kgsl_ringbuffer_issueibcmds)
-
-/* read the most recently executed timestamp value
- * type should be a value from enum kgsl_timestamp_type
- */
-struct kgsl_cmdstream_readtimestamp {
-	unsigned int type;
-	unsigned int timestamp; /*output param */
-};
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_OLD \
-	_IOR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP \
-	_IOWR(KGSL_IOC_TYPE, 0x11, struct kgsl_cmdstream_readtimestamp)
-
-/* free memory when the GPU reaches a given timestamp.
- * gpuaddr specify a memory region created by a
- * IOCTL_KGSL_SHAREDMEM_FROM_PMEM call
- * type should be a value from enum kgsl_timestamp_type
- */
-struct kgsl_cmdstream_freememontimestamp {
-	unsigned long gpuaddr;
-	unsigned int type;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP \
-	_IOW(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
-
-/* Previous versions of this header had incorrectly defined
-   IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP as a read-only ioctl instead
-   of a write only ioctl.  To ensure binary compatability, the following
-   #define will be used to intercept the incorrect ioctl
-*/
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_OLD \
-	_IOR(KGSL_IOC_TYPE, 0x12, struct kgsl_cmdstream_freememontimestamp)
-
-/* create a draw context, which is used to preserve GPU state.
- * The flags field may contain a mask KGSL_CONTEXT_*  values
- */
-struct kgsl_drawctxt_create {
-	unsigned int flags;
-	unsigned int drawctxt_id; /*output param */
-};
-
-#define IOCTL_KGSL_DRAWCTXT_CREATE \
-	_IOWR(KGSL_IOC_TYPE, 0x13, struct kgsl_drawctxt_create)
-
-/* destroy a draw context */
-struct kgsl_drawctxt_destroy {
-	unsigned int drawctxt_id;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_DESTROY \
-	_IOW(KGSL_IOC_TYPE, 0x14, struct kgsl_drawctxt_destroy)
-
-/* add a block of pmem, fb, ashmem or user allocated address
- * into the GPU address space */
-struct kgsl_map_user_mem {
-	int fd;
-	unsigned long gpuaddr;   /*output param */
-	size_t len;
-	size_t offset;
-	unsigned long hostptr;   /*input param */
-	enum kgsl_user_mem_type memtype;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_MAP_USER_MEM \
-	_IOWR(KGSL_IOC_TYPE, 0x15, struct kgsl_map_user_mem)
-
-struct kgsl_cmdstream_readtimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned int type;
-	unsigned int timestamp; /*output param */
-};
-
-#define IOCTL_KGSL_CMDSTREAM_READTIMESTAMP_CTXTID \
-	_IOWR(KGSL_IOC_TYPE, 0x16, struct kgsl_cmdstream_readtimestamp_ctxtid)
-
-struct kgsl_cmdstream_freememontimestamp_ctxtid {
-	unsigned int context_id;
-	unsigned long gpuaddr;
-	unsigned int type;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_CMDSTREAM_FREEMEMONTIMESTAMP_CTXTID \
-	_IOW(KGSL_IOC_TYPE, 0x17, \
-	struct kgsl_cmdstream_freememontimestamp_ctxtid)
-
-/* add a block of pmem or fb into the GPU address space */
-struct kgsl_sharedmem_from_pmem {
-        int pmem_fd;
-        unsigned long gpuaddr;  /*output param */
-        unsigned int len;
-        unsigned int offset;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FROM_PMEM \
-        _IOWR(KGSL_IOC_TYPE, 0x20, struct kgsl_sharedmem_from_pmem)
-
-/* remove memory from the GPU's address space */
-struct kgsl_sharedmem_free {
-	unsigned long gpuaddr;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FREE \
-	_IOW(KGSL_IOC_TYPE, 0x21, struct kgsl_sharedmem_free)
-
-struct kgsl_cff_user_event {
-	unsigned char cff_opcode;
-	unsigned int op1;
-	unsigned int op2;
-	unsigned int op3;
-	unsigned int op4;
-	unsigned int op5;
-	unsigned int __pad[2];
-};
-
-#define IOCTL_KGSL_CFF_USER_EVENT \
-	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_cff_user_event)
-
-struct kgsl_gmem_desc {
-	unsigned int x;
-	unsigned int y;
-	unsigned int width;
-	unsigned int height;
-	unsigned int pitch;
-};
-
-struct kgsl_buffer_desc {
-	void 			*hostptr;
-	unsigned long	gpuaddr;
-	int				size;
-	unsigned int	format;
-	unsigned int  	pitch;
-	unsigned int  	enabled;
-};
-
-struct kgsl_bind_gmem_shadow {
-	unsigned int drawctxt_id;
-	struct kgsl_gmem_desc gmem_desc;
-	unsigned int shadow_x;
-	unsigned int shadow_y;
-	struct kgsl_buffer_desc shadow_buffer;
-	unsigned int buffer_id;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_BIND_GMEM_SHADOW \
-    _IOW(KGSL_IOC_TYPE, 0x22, struct kgsl_bind_gmem_shadow)
-
-/* add a block of memory into the GPU address space */
-
-/*
- * IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC deprecated 09/2012
- * use IOCTL_KGSL_GPUMEM_ALLOC instead
- */
-
-struct kgsl_sharedmem_from_vmalloc {
-	unsigned long gpuaddr;	/*output param */
-	unsigned int hostptr;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_SHAREDMEM_FROM_VMALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x23, struct kgsl_sharedmem_from_vmalloc)
-
-/*
- * This is being deprecated in favor of IOCTL_KGSL_GPUMEM_CACHE_SYNC which
- * supports both directions (flush and invalidate). This code will still
- * work, but by definition it will do a flush of the cache which might not be
- * what you want to have happen on a buffer following a GPU operation.  It is
- * safer to go with IOCTL_KGSL_GPUMEM_CACHE_SYNC
- */
-
-#define IOCTL_KGSL_SHAREDMEM_FLUSH_CACHE \
-	_IOW(KGSL_IOC_TYPE, 0x24, struct kgsl_sharedmem_free)
-
-struct kgsl_drawctxt_set_bin_base_offset {
-	unsigned int drawctxt_id;
-	unsigned int offset;
-};
-
-#define IOCTL_KGSL_DRAWCTXT_SET_BIN_BASE_OFFSET \
-	_IOW(KGSL_IOC_TYPE, 0x25, struct kgsl_drawctxt_set_bin_base_offset)
-
-enum kgsl_cmdwindow_type {
-	KGSL_CMDWINDOW_MIN     = 0x00000000,
-	KGSL_CMDWINDOW_2D      = 0x00000000,
-	KGSL_CMDWINDOW_3D      = 0x00000001, /* legacy */
-	KGSL_CMDWINDOW_MMU     = 0x00000002,
-	KGSL_CMDWINDOW_ARBITER = 0x000000FF,
-	KGSL_CMDWINDOW_MAX     = 0x000000FF,
-};
-
-/* write to the command window */
-struct kgsl_cmdwindow_write {
-	enum kgsl_cmdwindow_type target;
-	unsigned int addr;
-	unsigned int data;
-};
-
-#define IOCTL_KGSL_CMDWINDOW_WRITE \
-	_IOW(KGSL_IOC_TYPE, 0x2e, struct kgsl_cmdwindow_write)
-
-struct kgsl_gpumem_alloc {
-	unsigned long gpuaddr; /* output param */
-	size_t size;
-	unsigned int flags;
-};
-
-#define IOCTL_KGSL_GPUMEM_ALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x2f, struct kgsl_gpumem_alloc)
-
-struct kgsl_cff_syncmem {
-	unsigned long gpuaddr;
-	size_t len;
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_CFF_SYNCMEM \
-	_IOW(KGSL_IOC_TYPE, 0x30, struct kgsl_cff_syncmem)
-
-/*
- * A timestamp event allows the user space to register an action following an
- * expired timestamp. Note IOCTL_KGSL_TIMESTAMP_EVENT has been redefined to
- * _IOWR to support fences which need to return a fd for the priv parameter.
- */
-
-struct kgsl_timestamp_event {
-	int type;                /* Type of event (see list below) */
-	unsigned int timestamp;  /* Timestamp to trigger event on */
-	unsigned int context_id; /* Context for the timestamp */
-	void __user *priv;	 /* Pointer to the event specific blob */
-	size_t len;              /* Size of the event specific blob */
-};
-
-#define IOCTL_KGSL_TIMESTAMP_EVENT_OLD \
-	_IOW(KGSL_IOC_TYPE, 0x31, struct kgsl_timestamp_event)
-
-/* A genlock timestamp event releases an existing lock on timestamp expire */
-
-#define KGSL_TIMESTAMP_EVENT_GENLOCK 1
-
-struct kgsl_timestamp_event_genlock {
-	int handle; /* Handle of the genlock lock to release */
-};
-
-/* A fence timestamp event releases an existing lock on timestamp expire */
-
-#define KGSL_TIMESTAMP_EVENT_FENCE 2
-
-struct kgsl_timestamp_event_fence {
-	int fence_fd; /* Fence to signal */
-};
-
-/*
- * Set a property within the kernel.  Uses the same structure as
- * IOCTL_KGSL_GETPROPERTY
- */
-
-#define IOCTL_KGSL_SETPROPERTY \
-	_IOW(KGSL_IOC_TYPE, 0x32, struct kgsl_device_getproperty)
-
-#define IOCTL_KGSL_TIMESTAMP_EVENT \
-	_IOWR(KGSL_IOC_TYPE, 0x33, struct kgsl_timestamp_event)
-
-/**
- * struct kgsl_gpumem_alloc_id - argument to IOCTL_KGSL_GPUMEM_ALLOC_ID
- * @id: returned id value for this allocation.
- * @flags: mask of KGSL_MEM* values requested and actual flags on return.
- * @size: requested size of the allocation and actual size on return.
- * @mmapsize: returned size to pass to mmap() which may be larger than 'size'
- * @gpuaddr: returned GPU address for the allocation
- *
- * Allocate memory for access by the GPU. The flags and size fields are echoed
- * back by the kernel, so that the caller can know if the request was
- * adjusted.
- *
- * Supported flags:
- * KGSL_MEMFLAGS_GPUREADONLY: the GPU will be unable to write to the buffer
- * KGSL_MEMTYPE*: usage hint for debugging aid
- * KGSL_MEMALIGN*: alignment hint, may be ignored or adjusted by the kernel.
- * KGSL_MEMFLAGS_USE_CPU_MAP: If set on call and return, the returned GPU
- * address will be 0. Calling mmap() will set the GPU address.
- */
-struct kgsl_gpumem_alloc_id {
-	unsigned int id;
-	unsigned int flags;
-	size_t size;
-	size_t mmapsize;
-	unsigned long gpuaddr;
-/* private: reserved for future use*/
-	unsigned long __pad[2];
-};
-
-#define IOCTL_KGSL_GPUMEM_ALLOC_ID \
-	_IOWR(KGSL_IOC_TYPE, 0x34, struct kgsl_gpumem_alloc_id)
-
-/**
- * struct kgsl_gpumem_free_id - argument to IOCTL_KGSL_GPUMEM_FREE_ID
- * @id: GPU allocation id to free
- *
- * Free an allocation by id, in case a GPU address has not been assigned or
- * is unknown. Freeing an allocation by id with this ioctl or by GPU address
- * with IOCTL_KGSL_SHAREDMEM_FREE are equivalent.
- */
-struct kgsl_gpumem_free_id {
-	unsigned int id;
-/* private: reserved for future use*/
-	unsigned int __pad;
-};
-
-#define IOCTL_KGSL_GPUMEM_FREE_ID \
-	_IOWR(KGSL_IOC_TYPE, 0x35, struct kgsl_gpumem_free_id)
-
-/**
- * struct kgsl_gpumem_get_info - argument to IOCTL_KGSL_GPUMEM_GET_INFO
- * @gpuaddr: GPU address to query. Also set on return.
- * @id: GPU allocation id to query. Also set on return.
- * @flags: returned mask of KGSL_MEM* values.
- * @size: returned size of the allocation.
- * @mmapsize: returned size to pass mmap(), which may be larger than 'size'
- * @useraddr: returned address of the userspace mapping for this buffer
- *
- * This ioctl allows querying of all user visible attributes of an existing
- * allocation, by either the GPU address or the id returned by a previous
- * call to IOCTL_KGSL_GPUMEM_ALLOC_ID. Legacy allocation ioctls may not
- * return all attributes so this ioctl can be used to look them up if needed.
- *
- */
-struct kgsl_gpumem_get_info {
-	unsigned long gpuaddr;
-	unsigned int id;
-	unsigned int flags;
-	size_t size;
-	size_t mmapsize;
-	unsigned long useraddr;
-/* private: reserved for future use*/
-	unsigned long __pad[4];
-};
-
-#define IOCTL_KGSL_GPUMEM_GET_INFO\
-	_IOWR(KGSL_IOC_TYPE, 0x36, struct kgsl_gpumem_get_info)
-
-/**
- * struct kgsl_gpumem_sync_cache - argument to IOCTL_KGSL_GPUMEM_SYNC_CACHE
- * @gpuaddr: GPU address of the buffer to sync.
- * @id: id of the buffer to sync. Either gpuaddr or id is sufficient.
- * @op: a mask of KGSL_GPUMEM_CACHE_* values
- * @offset: offset into the buffer
- * @length: number of bytes starting from offset to perform
- * the cache operation on
- *
- * Sync the L2 cache for memory headed to and from the GPU - this replaces
- * KGSL_SHAREDMEM_FLUSH_CACHE since it can handle cache management for both
- * directions
- *
- */
-struct kgsl_gpumem_sync_cache {
-	unsigned long gpuaddr;
-	unsigned int id;
-	unsigned int op;
-	size_t offset;
-	size_t length;
-};
-
-#define KGSL_GPUMEM_CACHE_CLEAN (1 << 0)
-#define KGSL_GPUMEM_CACHE_TO_GPU KGSL_GPUMEM_CACHE_CLEAN
-
-#define KGSL_GPUMEM_CACHE_INV (1 << 1)
-#define KGSL_GPUMEM_CACHE_FROM_GPU KGSL_GPUMEM_CACHE_INV
-
-#define KGSL_GPUMEM_CACHE_FLUSH \
-	(KGSL_GPUMEM_CACHE_CLEAN | KGSL_GPUMEM_CACHE_INV)
-
-/* Flag to ensure backwards compatibility of kgsl_gpumem_sync_cache struct */
-#define KGSL_GPUMEM_CACHE_RANGE (1 << 31U)
-
-#define IOCTL_KGSL_GPUMEM_SYNC_CACHE \
-	_IOW(KGSL_IOC_TYPE, 0x37, struct kgsl_gpumem_sync_cache)
-
-/**
- * struct kgsl_perfcounter_get - argument to IOCTL_KGSL_PERFCOUNTER_GET
- * @groupid: Performance counter group ID
- * @countable: Countable to select within the group
- * @offset: Return offset of the reserved LO counter
- * @offset_hi: Return offset of the reserved HI counter
- *
- * Get an available performance counter from a specified groupid.  The offset
- * of the performance counter will be returned after successfully assigning
- * the countable to the counter for the specified group.  An error will be
- * returned and an offset of 0 if the groupid is invalid or there are no
- * more counters left.  After successfully getting a perfcounter, the user
- * must call kgsl_perfcounter_put(groupid, contable) when finished with
- * the perfcounter to clear up perfcounter resources.
- *
- */
-struct kgsl_perfcounter_get {
-	unsigned int groupid;
-	unsigned int countable;
-	unsigned int offset;
-	unsigned int offset_hi;
-/* private: reserved for future use */
-	unsigned int __pad; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_GET \
-	_IOWR(KGSL_IOC_TYPE, 0x38, struct kgsl_perfcounter_get)
-
-/**
- * struct kgsl_perfcounter_put - argument to IOCTL_KGSL_PERFCOUNTER_PUT
- * @groupid: Performance counter group ID
- * @countable: Countable to release within the group
- *
- * Put an allocated performance counter to allow others to have access to the
- * resource that was previously taken.  This is only to be called after
- * successfully getting a performance counter from kgsl_perfcounter_get().
- *
- */
-struct kgsl_perfcounter_put {
-	unsigned int groupid;
-	unsigned int countable;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_PUT \
-	_IOW(KGSL_IOC_TYPE, 0x39, struct kgsl_perfcounter_put)
-
-/**
- * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
- * @groupid: Performance counter group ID
- * @countable: Return active countables array
- * @size: Size of active countables array
- * @max_counters: Return total number counters for the group ID
- *
- * Query the available performance counters given a groupid.  The array
- * *countables is used to return the current active countables in counters.
- * The size of the array is passed in so the kernel will only write at most
- * size or counter->size for the group id.  The total number of available
- * counters for the group ID is returned in max_counters.
- * If the array or size passed in are invalid, then only the maximum number
- * of counters will be returned, no data will be written to *countables.
- * If the groupid is invalid an error code will be returned.
- *
- */
-struct kgsl_perfcounter_query {
-	unsigned int groupid;
-	/* Array to return the current countable for up to size counters */
-	unsigned int __user *countables;
-	unsigned int count;
-	unsigned int max_counters;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_QUERY \
-	_IOWR(KGSL_IOC_TYPE, 0x3A, struct kgsl_perfcounter_query)
-
-/**
- * struct kgsl_perfcounter_query - argument to IOCTL_KGSL_PERFCOUNTER_QUERY
- * @groupid: Performance counter group IDs
- * @countable: Performance counter countable IDs
- * @value: Return performance counter reads
- * @size: Size of all arrays (groupid/countable pair and return value)
- *
- * Read in the current value of a performance counter given by the groupid
- * and countable.
- *
- */
-
-struct kgsl_perfcounter_read_group {
-	unsigned int groupid;
-	unsigned int countable;
-	unsigned long long value;
-};
-
-struct kgsl_perfcounter_read {
-	struct kgsl_perfcounter_read_group __user *reads;
-	unsigned int count;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_PERFCOUNTER_READ \
-	_IOWR(KGSL_IOC_TYPE, 0x3B, struct kgsl_perfcounter_read)
-/*
- * struct kgsl_gpumem_sync_cache_bulk - argument to
- * IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK
- * @id_list: list of GPU buffer ids of the buffers to sync
- * @count: number of GPU buffer ids in id_list
- * @op: a mask of KGSL_GPUMEM_CACHE_* values
- *
- * Sync the cache for memory headed to and from the GPU. Certain
- * optimizations can be made on the cache operation based on the total
- * size of the working set of memory to be managed.
- */
-struct kgsl_gpumem_sync_cache_bulk {
-	unsigned int __user *id_list;
-	unsigned int count;
-	unsigned int op;
-/* private: reserved for future use */
-	unsigned int __pad[2]; /* For future binary compatibility */
-};
-
-#define IOCTL_KGSL_GPUMEM_SYNC_CACHE_BULK \
-	_IOWR(KGSL_IOC_TYPE, 0x3C, struct kgsl_gpumem_sync_cache_bulk)
-
-/*
- * struct kgsl_cmd_syncpoint_timestamp
- * @context_id: ID of a KGSL context
- * @timestamp: GPU timestamp
- *
- * This structure defines a syncpoint comprising a context/timestamp pair. A
- * list of these may be passed by IOCTL_KGSL_SUBMIT_COMMANDS to define
- * dependencies that must be met before the command can be submitted to the
- * hardware
- */
-struct kgsl_cmd_syncpoint_timestamp {
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-struct kgsl_cmd_syncpoint_fence {
-	int fd;
-};
-
-/**
- * struct kgsl_cmd_syncpoint - Define a sync point for a command batch
- * @type: type of sync point defined here
- * @priv: Pointer to the type specific buffer
- * @size: Size of the type specific buffer
- *
- * This structure contains pointers defining a specific command sync point.
- * The pointer and size should point to a type appropriate structure.
- */
-struct kgsl_cmd_syncpoint {
-	int type;
-	void __user *priv;
-	size_t size;
-};
-
-/* Flag to indicate that the cmdlist may contain memlists */
-#define KGSL_IBDESC_MEMLIST 0x1
-
-/* Flag to point out the cmdbatch profiling buffer in the memlist */
-#define KGSL_IBDESC_PROFILING_BUFFER 0x2
-
-/**
- * struct kgsl_submit_commands - Argument to IOCTL_KGSL_SUBMIT_COMMANDS
- * @context_id: KGSL context ID that owns the commands
- * @flags:
- * @cmdlist: User pointer to a list of kgsl_ibdesc structures
- * @numcmds: Number of commands listed in cmdlist
- * @synclist: User pointer to a list of kgsl_cmd_syncpoint structures
- * @numsyncs: Number of sync points listed in synclist
- * @timestamp: On entry the a user defined timestamp, on exist the timestamp
- * assigned to the command batch
- *
- * This structure specifies a command to send to the GPU hardware.  This is
- * similar to kgsl_issueibcmds expect that it doesn't support the legacy way to
- * submit IB lists and it adds sync points to block the IB until the
- * dependencies are satisified.  This entry point is the new and preferred way
- * to submit commands to the GPU. The memory list can be used to specify all
- * memory that is referrenced in the current set of commands.
- */
-
-struct kgsl_submit_commands {
-	unsigned int context_id;
-	unsigned int flags;
-	struct kgsl_ibdesc __user *cmdlist;
-	unsigned int numcmds;
-	struct kgsl_cmd_syncpoint __user *synclist;
-	unsigned int numsyncs;
-	unsigned int timestamp;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-#define IOCTL_KGSL_SUBMIT_COMMANDS \
-	_IOWR(KGSL_IOC_TYPE, 0x3D, struct kgsl_submit_commands)
-
-/**
- * struct kgsl_device_constraint - device constraint argument
- * @context_id: KGSL context ID
- * @type: type of constraint i.e pwrlevel/none
- * @data: constraint data
- * @size: size of the constraint data
- */
-struct kgsl_device_constraint {
-	unsigned int type;
-	unsigned int context_id;
-	void __user *data;
-	size_t size;
-};
-
-/* Constraint Type*/
-#define KGSL_CONSTRAINT_NONE 0
-#define KGSL_CONSTRAINT_PWRLEVEL 1
-
-/* PWRLEVEL constraint level*/
-/* set to min frequency */
-#define KGSL_CONSTRAINT_PWR_MIN    0
-/* set to max frequency */
-#define KGSL_CONSTRAINT_PWR_MAX    1
-
-struct kgsl_device_constraint_pwrlevel {
-	unsigned int level;
-};
-
-/**
- * struct kgsl_syncsource_create - Argument to IOCTL_KGSL_SYNCSOURCE_CREATE
- * @id: returned id for the syncsource that was created.
- *
- * This ioctl creates a userspace sync timeline.
- */
-
-struct kgsl_syncsource_create {
-	unsigned int id;
-/* private: reserved for future use */
-	unsigned int __pad[3];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_CREATE \
-	_IOWR(KGSL_IOC_TYPE, 0x40, struct kgsl_syncsource_create)
-
-/**
- * struct kgsl_syncsource_destroy - Argument to IOCTL_KGSL_SYNCSOURCE_DESTROY
- * @id: syncsource id to destroy
- *
- * This ioctl creates a userspace sync timeline.
- */
-
-struct kgsl_syncsource_destroy {
-	unsigned int id;
-/* private: reserved for future use */
-	unsigned int __pad[3];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_DESTROY \
-	_IOWR(KGSL_IOC_TYPE, 0x41, struct kgsl_syncsource_destroy)
-
-/**
- * struct kgsl_syncsource_create_fence - Argument to
- *     IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
- * @id: syncsource id
- * @fence_fd: returned sync_fence fd
- *
- * Create a fence that may be signaled by userspace by calling
- * IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE. There are no order dependencies between
- * these fences.
- */
-struct kgsl_syncsource_create_fence {
-	unsigned int id;
-	int fence_fd;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-/**
- * struct kgsl_syncsource_signal_fence - Argument to
- *     IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE
- * @id: syncsource id
- * @fence_fd: sync_fence fd to signal
- *
- * Signal a fence that was created by a IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE
- * call using the same syncsource id. This allows a fence to be shared
- * to other processes but only signaled by the process owning the fd
- * used to create the fence.
- */
-#define IOCTL_KGSL_SYNCSOURCE_CREATE_FENCE \
-	_IOWR(KGSL_IOC_TYPE, 0x42, struct kgsl_syncsource_create_fence)
-
-struct kgsl_syncsource_signal_fence {
-	unsigned int id;
-	int fence_fd;
-/* private: reserved for future use */
-	unsigned int __pad[4];
-};
-
-#define IOCTL_KGSL_SYNCSOURCE_SIGNAL_FENCE \
-	_IOWR(KGSL_IOC_TYPE, 0x43, struct kgsl_syncsource_signal_fence)
-
-/**
- * struct kgsl_cff_sync_gpuobj - Argument to IOCTL_KGSL_CFF_SYNC_GPUOBJ
- * @offset: Offset into the GPU object to sync
- * @length: Number of bytes to sync
- * @id: ID of the GPU object to sync
- */
-struct kgsl_cff_sync_gpuobj {
-	uint64_t offset;
-	uint64_t length;
-	unsigned int id;
-};
-
-#define IOCTL_KGSL_CFF_SYNC_GPUOBJ \
-	_IOW(KGSL_IOC_TYPE, 0x44, struct kgsl_cff_sync_gpuobj)
-
-/**
- * struct kgsl_gpuobj_alloc - Argument to IOCTL_KGSL_GPUOBJ_ALLOC
- * @size: Size in bytes of the object to allocate
- * @flags: mask of KGSL_MEMFLAG_* bits
- * @va_len: Size in bytes of the virtual region to allocate
- * @mmapsize: Returns the mmap() size of the object
- * @id: Returns the GPU object ID of the new object
- * @metadata_len: Length of the metdata to copy from the user
- * @metadata: Pointer to the user specified metadata to store for the object
- */
-struct kgsl_gpuobj_alloc {
-	uint64_t size;
-	uint64_t flags;
-	uint64_t va_len;
-	uint64_t mmapsize;
-	unsigned int id;
-	unsigned int metadata_len;
-	uint64_t metadata;
-};
-
-/* Let the user know that this header supports the gpuobj metadata */
-#define KGSL_GPUOBJ_ALLOC_METADATA_MAX 64
-
-#define IOCTL_KGSL_GPUOBJ_ALLOC \
-	_IOWR(KGSL_IOC_TYPE, 0x45, struct kgsl_gpuobj_alloc)
-
-/**
- * struct kgsl_gpuobj_free - Argument to IOCTL_KGLS_GPUOBJ_FREE
- * @flags: Mask of: KGSL_GUPOBJ_FREE_ON_EVENT
- * @priv: Pointer to the private object if KGSL_GPUOBJ_FREE_ON_EVENT is
- * specified
- * @id: ID of the GPU object to free
- * @type: If KGSL_GPUOBJ_FREE_ON_EVENT is specified, the type of asynchronous
- * event to free on
- * @len: Length of the data passed in priv
- */
-struct kgsl_gpuobj_free {
-	uint64_t flags;
-	uint64_t __user priv;
-	unsigned int id;
-	unsigned int type;
-	unsigned int len;
-};
-
-#define KGSL_GPUOBJ_FREE_ON_EVENT 1
-
-#define KGSL_GPU_EVENT_TIMESTAMP 1
-#define KGSL_GPU_EVENT_FENCE     2
-
-/**
- * struct kgsl_gpu_event_timestamp - Specifies a timestamp event to free a GPU
- * object on
- * @context_id: ID of the timestamp event to wait for
- * @timestamp: Timestamp of the timestamp event to wait for
- */
-struct kgsl_gpu_event_timestamp {
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-/**
- * struct kgsl_gpu_event_fence - Specifies a fence ID to to free a GPU object on
- * @fd: File descriptor for the fence
- */
-struct kgsl_gpu_event_fence {
-	int fd;
-};
-
-#define IOCTL_KGSL_GPUOBJ_FREE \
-	_IOW(KGSL_IOC_TYPE, 0x46, struct kgsl_gpuobj_free)
-
-/**
- * struct kgsl_gpuobj_info - argument to IOCTL_KGSL_GPUOBJ_INFO
- * @gpuaddr: GPU address of the object
- * @flags: Current flags for the object
- * @size: Size of the object
- * @va_len: VA size of the object
- * @va_addr: Virtual address of the object (if it is mapped)
- * id - GPU object ID of the object to query
- */
-struct kgsl_gpuobj_info {
-	uint64_t gpuaddr;
-	uint64_t flags;
-	uint64_t size;
-	uint64_t va_len;
-	uint64_t va_addr;
-	unsigned int id;
-};
-
-#define IOCTL_KGSL_GPUOBJ_INFO \
-	_IOWR(KGSL_IOC_TYPE, 0x47, struct kgsl_gpuobj_info)
-
-/**
- * struct kgsl_gpuobj_import - argument to IOCTL_KGSL_GPUOBJ_IMPORT
- * @priv: Pointer to the private data for the import type
- * @priv_len: Length of the private data
- * @flags: Mask of KGSL_MEMFLAG_ flags
- * @type: Type of the import (KGSL_USER_MEM_TYPE_*)
- * @id: Returns the ID of the new GPU object
- */
-struct kgsl_gpuobj_import {
-	uint64_t __user priv;
-	uint64_t priv_len;
-	uint64_t flags;
-	unsigned int type;
-	unsigned int id;
-};
-
-/**
- * struct kgsl_gpuobj_import_dma_buf - import a dmabuf object
- * @fd: File descriptor for the dma-buf object
- */
-struct kgsl_gpuobj_import_dma_buf {
-	int fd;
-};
-
-/**
- * struct kgsl_gpuobj_import_useraddr - import an object based on a useraddr
- * @virtaddr: Virtual address of the object to import
- */
-struct kgsl_gpuobj_import_useraddr {
-	uint64_t virtaddr;
-};
-
-#define IOCTL_KGSL_GPUOBJ_IMPORT \
-	_IOWR(KGSL_IOC_TYPE, 0x48, struct kgsl_gpuobj_import)
-
-/**
- * struct kgsl_gpuobj_sync_obj - Individual GPU object to sync
- * @offset: Offset within the GPU object to sync
- * @length: Number of bytes to sync
- * @id: ID of the GPU object to sync
- * @op: Cache operation to execute
- */
-
-struct kgsl_gpuobj_sync_obj {
-	uint64_t offset;
-	uint64_t length;
-	unsigned int id;
-	unsigned int op;
-};
-
-/**
- * struct kgsl_gpuobj_sync - Argument for IOCTL_KGSL_GPUOBJ_SYNC
- * @objs: Pointer to an array of kgsl_gpuobj_sync_obj structs
- * @obj_len: Size of each item in the array
- * @count: Number of items in the array
- */
-
-struct kgsl_gpuobj_sync {
-	uint64_t __user objs;
-	unsigned int obj_len;
-	unsigned int count;
-};
-
-#define IOCTL_KGSL_GPUOBJ_SYNC \
-	_IOW(KGSL_IOC_TYPE, 0x49, struct kgsl_gpuobj_sync)
-
-/**
- * struct kgsl_command_object - GPU command object
- * @offset: GPU address offset of the object
- * @gpuaddr: GPU address of the object
- * @size: Size of the object
- * @flags: Current flags for the object
- * @id - GPU command object ID
- */
-struct kgsl_command_object {
-	uint64_t offset;
-	uint64_t gpuaddr;
-	uint64_t size;
-	unsigned int flags;
-	unsigned int id;
-};
-
-/**
- * struct kgsl_command_syncpoint - GPU syncpoint object
- * @priv: Pointer to the type specific buffer
- * @size: Size of the type specific buffer
- * @type: type of sync point defined here
- */
-struct kgsl_command_syncpoint {
-	uint64_t __user priv;
-	uint64_t size;
-	unsigned int type;
-};
-
-/**
- * struct kgsl_command_object - Argument for IOCTL_KGSL_GPU_COMMAND
- * @flags: Current flags for the object
- * @cmdlist: List of kgsl_command_objects for submission
- * @cmd_size: Size of kgsl_command_objects structure
- * @numcmds: Number of kgsl_command_objects in command list
- * @objlist: List of kgsl_command_objects for tracking
- * @obj_size: Size of kgsl_command_objects structure
- * @numobjs: Number of kgsl_command_objects in object list
- * @synclist: List of kgsl_command_syncpoints
- * @sync_size: Size of kgsl_command_syncpoint structure
- * @numsyncs: Number of kgsl_command_syncpoints in syncpoint list
- * @context_id: Context ID submittin ghte kgsl_gpu_command
- * @timestamp: Timestamp for the submitted commands
- */
-struct kgsl_gpu_command {
-	uint64_t flags;
-	uint64_t __user cmdlist;
-	unsigned int cmdsize;
-	unsigned int numcmds;
-	uint64_t __user objlist;
-	unsigned int objsize;
-	unsigned int numobjs;
-	uint64_t __user synclist;
-	unsigned int syncsize;
-	unsigned int numsyncs;
-	unsigned int context_id;
-	unsigned int timestamp;
-};
-
-#define IOCTL_KGSL_GPU_COMMAND \
-	_IOWR(KGSL_IOC_TYPE, 0x4A, struct kgsl_gpu_command)
-
-/**
- * struct kgsl_preemption_counters_query - argument to
- * IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY
- * @counters: Return preemption counters array
- * @size_user: Size allocated by userspace
- * @size_priority_level: Size of preemption counters for each
- * priority level
- * @max_priority_level: Return max number of priority levels
- *
- * Query the available preemption counters. The array counters
- * is used to return preemption counters. The size of the array
- * is passed in so the kernel will only write at most size_user
- * or max available preemption counters.  The total number of
- * preemption counters is returned in max_priority_level. If the
- * array or size passed in are invalid, then an error is
- * returned back.
- */
-struct kgsl_preemption_counters_query {
-	uint64_t __user counters;
-	unsigned int size_user;
-	unsigned int size_priority_level;
-	unsigned int max_priority_level;
-};
-
-#define IOCTL_KGSL_PREEMPTIONCOUNTER_QUERY \
-	_IOWR(KGSL_IOC_TYPE, 0x4B, struct kgsl_preemption_counters_query)
-
-/**
- * struct kgsl_gpuobj_set_info - argument for IOCTL_KGSL_GPUOBJ_SET_INFO
- * @flags: Flags to indicate which paramaters to change
- * @metadata:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, a pointer to the new
- * metadata
- * @id: GPU memory object ID to change
- * @metadata_len:  If KGSL_GPUOBJ_SET_INFO_METADATA is set, the length of the
- * new metadata string
- * @type: If KGSL_GPUOBJ_SET_INFO_TYPE is set, the new type of the memory object
- */
-
-#define KGSL_GPUOBJ_SET_INFO_METADATA (1 << 0)
-#define KGSL_GPUOBJ_SET_INFO_TYPE (1 << 1)
-
-struct kgsl_gpuobj_set_info {
-	uint64_t flags;
-	uint64_t metadata;
-	unsigned int id;
-	unsigned int metadata_len;
-	unsigned int type;
-};
-
-#define IOCTL_KGSL_GPUOBJ_SET_INFO \
-	_IOW(KGSL_IOC_TYPE, 0x4C, struct kgsl_gpuobj_set_info)
-
-#endif /* _UAPI_MSM_KGSL_H */
diff --git a/third_party/linux/include/msm_media_info.h b/third_party/linux/include/msm_media_info.h
deleted file mode 100644
index 3fd0c8849a..0000000000
--- a/third_party/linux/include/msm_media_info.h
+++ /dev/null
@@ -1,1392 +0,0 @@
-#ifndef __MEDIA_INFO_H__
-#define __MEDIA_INFO_H__
-
-#ifndef MSM_MEDIA_ALIGN
-#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ?\
-	((((__sz) + (__align) - 1) / (__align)) * (__align)) :\
-	(((__sz) + (__align) - 1) & (~((__align) - 1))))
-#endif
-
-#ifndef MSM_MEDIA_ROUNDUP
-#define MSM_MEDIA_ROUNDUP(__sz, __r) (((__sz) + ((__r) - 1)) / (__r))
-#endif
-
-#ifndef MSM_MEDIA_MAX
-#define MSM_MEDIA_MAX(__a, __b) ((__a) > (__b)?(__a):(__b))
-#endif
-
-enum color_fmts {
-	/* Venus NV12:
-	 * YUV 4:2:0 image with a plane of 8 bit Y samples followed
-	 * by an interleaved U/V plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * U V U V U V U V U V U V . . . .  ^
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_NV12,
-
-	/* Venus NV21:
-	 * YUV 4:2:0 image with a plane of 8 bit Y samples followed
-	 * by an interleaved V/U plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * V U V U V U V U V U V U . . . .  ^
-	 * V U V U V U V U V U V U . . . .  |
-	 * V U V U V U V U V U V U . . . .  |
-	 * V U V U V U V U V U V U . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Padding & Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_NV21,
-	/* Venus NV12_MVTB:
-	 * Two YUV 4:2:0 images/views one after the other
-	 * in a top-bottom layout, same as NV12
-	 * with a plane of 8 bit Y samples followed
-	 * by an interleaved U/V plane containing 8 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^               ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |               |
-	 * . . . . . . . . . . . . . . . .              |             View_1
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              V               |
-	 * U V U V U V U V U V U V . . . .  ^                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines                |
-	 * . . . . . . . . . . . . . . . .  |                           |
-	 * . . . . . . . . . . . . . . . .  V                           V
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^               ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |               |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |               |
-	 * . . . . . . . . . . . . . . . .              |             View_2
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              |               |
-	 * . . . . . . . . . . . . . . . .              V               |
-	 * U V U V U V U V U V U V . . . .  ^                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  |                           |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines                |
-	 * . . . . . . . . . . . . . . . .  |                           |
-	 * . . . . . . . . . . . . . . . .  V                           V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width aligned to 128
-	 * UV_Stride : Width aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * View_1 begin at: 0 (zero)
-	 * View_2 begin at: Y_Stride * Y_Scanlines + UV_Stride * UV_Scanlines
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((2*(Y_Stride * Y_Scanlines)
-	 *          + 2*(UV_Stride * UV_Scanlines) + Extradata), 4096)
-	 */
-	COLOR_FMT_NV12_MVTB,
-	/*
-	 * The buffer can be of 2 types:
-	 * (1) Venus NV12 UBWC Progressive
-	 * (2) Venus NV12 UBWC Interlaced
-	 *
-	 * (1) Venus NV12 UBWC Progressive Buffer Format:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 8 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 8 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 * Y_Stride = align(Width, 128)
-	 * UV_Stride = align(Width, 128)
-	 * Y_Scanlines = align(Height, 32)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align( Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 *
-	 *
-	 * (2) Venus NV12 UBWC Interlaced Buffer Format:
-	 * Compressed Macro-tile format for NV12 interlaced.
-	 * Contains 8 planes in the following order -
-	 * (A) Y_Meta_Top_Field_Plane
-	 * (B) Y_UBWC_Top_Field_Plane
-	 * (C) UV_Meta_Top_Field_Plane
-	 * (D) UV_UBWC_Top_Field_Plane
-	 * (E) Y_Meta_Bottom_Field_Plane
-	 * (F) Y_UBWC_Bottom_Field_Plane
-	 * (G) UV_Meta_Bottom_Field_Plane
-	 * (H) UV_UBWC_Bottom_Field_Plane
-	 * Y_Meta_Top_Field_Plane consists of meta information to decode
-	 * compressed tile data for Y_UBWC_Top_Field_Plane.
-	 * Y_UBWC_Top_Field_Plane consists of Y data in compressed macro-tile
-	 * format for top field of an interlaced frame.
-	 * UBWC decoder block will use the Y_Meta_Top_Field_Plane data together
-	 * with Y_UBWC_Top_Field_Plane data to produce loss-less uncompressed
-	 * 8 bit Y samples for top field of an interlaced frame.
-	 *
-	 * UV_Meta_Top_Field_Plane consists of meta information to decode
-	 * compressed tile data in UV_UBWC_Top_Field_Plane.
-	 * UV_UBWC_Top_Field_Plane consists of UV data in compressed macro-tile
-	 * format for top field of an interlaced frame.
-	 * UBWC decoder block will use UV_Meta_Top_Field_Plane data together
-	 * with UV_UBWC_Top_Field_Plane data to produce loss-less uncompressed
-	 * 8 bit subsampled color difference samples for top field of an
-	 * interlaced frame.
-	 *
-	 * Each tile in Y_UBWC_Top_Field_Plane/UV_UBWC_Top_Field_Plane is
-	 * independently decodable and randomly accessible. There is no
-	 * dependency between tiles.
-	 *
-	 * Y_Meta_Bottom_Field_Plane consists of meta information to decode
-	 * compressed tile data for Y_UBWC_Bottom_Field_Plane.
-	 * Y_UBWC_Bottom_Field_Plane consists of Y data in compressed macro-tile
-	 * format for bottom field of an interlaced frame.
-	 * UBWC decoder block will use the Y_Meta_Bottom_Field_Plane data
-	 * together with Y_UBWC_Bottom_Field_Plane data to produce loss-less
-	 * uncompressed 8 bit Y samples for bottom field of an interlaced frame.
-	 *
-	 * UV_Meta_Bottom_Field_Plane consists of meta information to decode
-	 * compressed tile data in UV_UBWC_Bottom_Field_Plane.
-	 * UV_UBWC_Bottom_Field_Plane consists of UV data in compressed
-	 * macro-tile format for bottom field of an interlaced frame.
-	 * UBWC decoder block will use UV_Meta_Bottom_Field_Plane data together
-	 * with UV_UBWC_Bottom_Field_Plane data to produce loss-less
-	 * uncompressed 8 bit subsampled color difference samples for bottom
-	 * field of an interlaced frame.
-	 *
-	 * Each tile in Y_UBWC_Bottom_Field_Plane/UV_UBWC_Bottom_Field_Plane is
-	 * independently decodable and randomly accessible. There is no
-	 * dependency between tiles.
-	 *
-	 * <-----Y_TF_Meta_Stride---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . . Half_height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_TF_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-Compressed tile Y_TF Stride->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_TF_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----UV_TF_Meta_Stride---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_TF_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <-Compressed tile UV_TF Stride->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_TF_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * <-----Y_BF_Meta_Stride---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . . Half_height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_BF_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-Compressed tile Y_BF Stride->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_BF_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----UV_BF_Meta_Stride---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_BF_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <-Compressed tile UV_BF Stride->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_BF_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 * Half_height = (Height+1)>>1
-	 * Y_TF_Stride = align(Width, 128)
-	 * UV_TF_Stride = align(Width, 128)
-	 * Y_TF_Scanlines = align(Half_height, 32)
-	 * UV_TF_Scanlines = align((Half_height+1)/2, 32)
-	 * Y_UBWC_TF_Plane_size = align(Y_TF_Stride * Y_TF_Scanlines, 4096)
-	 * UV_UBWC_TF_Plane_size = align(UV_TF_Stride * UV_TF_Scanlines, 4096)
-	 * Y_TF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_TF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
-	 * Y_TF_Meta_Plane_size =
-	 *     align(Y_TF_Meta_Stride * Y_TF_Meta_Scanlines, 4096)
-	 * UV_TF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_TF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
-	 * UV_TF_Meta_Plane_size =
-	 *     align(UV_TF_Meta_Stride * UV_TF_Meta_Scanlines, 4096)
-	 * Y_BF_Stride = align(Width, 128)
-	 * UV_BF_Stride = align(Width, 128)
-	 * Y_BF_Scanlines = align(Half_height, 32)
-	 * UV_BF_Scanlines = align((Half_height+1)/2, 32)
-	 * Y_UBWC_BF_Plane_size = align(Y_BF_Stride * Y_BF_Scanlines, 4096)
-	 * UV_UBWC_BF_Plane_size = align(UV_BF_Stride * UV_BF_Scanlines, 4096)
-	 * Y_BF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_BF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
-	 * Y_BF_Meta_Plane_size =
-	 *     align(Y_BF_Meta_Stride * Y_BF_Meta_Scanlines, 4096)
-	 * UV_BF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_BF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
-	 * UV_BF_Meta_Plane_size =
-	 *     align(UV_BF_Meta_Stride * UV_BF_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align( Y_UBWC_TF_Plane_size + UV_UBWC_TF_Plane_size +
-	 *           Y_TF_Meta_Plane_size + UV_TF_Meta_Plane_size +
-	 *			 Y_UBWC_BF_Plane_size + UV_UBWC_BF_Plane_size +
-	 *           Y_BF_Meta_Plane_size + UV_BF_Meta_Plane_size +
-	 *           + max(Extradata, Y_TF_Stride * 48), 4096)
-	 */
-	COLOR_FMT_NV12_UBWC,
-	/* Venus NV12 10-bit UBWC:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ----->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 *
-	 * Y_Stride = align(Width * 4/3, 128)
-	 * UV_Stride = align(Width * 4/3, 128)
-	 * Y_Scanlines = align(Height, 32)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 */
-	COLOR_FMT_NV12_BPP10_UBWC,
-	/* Venus RGBA8888 format:
-	 * Contains 1 plane in the following order -
-	 * (A) RGBA plane
-	 *
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 128)
-	 * RGB_Scanlines = align(Height, 32)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Plane_size + Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA8888,
-	/* Venus RGBA8888 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGBA plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 128)
-	 * RGB_Scanlines = align(Height, 32)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA8888_UBWC,
-	/* Venus RGBA1010102 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGBA plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 4, 256)
-	 * RGB_Scanlines = align(Height, 16)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGBA1010102_UBWC,
-	/* Venus RGB565 UBWC format:
-	 * Contains 2 planes in the following order -
-	 * (A) Meta plane
-	 * (B) RGB plane
-	 *
-	 * <--- RGB_Meta_Stride ---->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <-------- RGB_Stride -------->
-	 * <------- Width ------->
-	 * R R R R R R R R R R R R . . . .  ^           ^
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  Height      |
-	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  |           |
-	 * R R R R R R R R R R R R . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 *
-	 * RGB_Stride = align(Width * 2, 128)
-	 * RGB_Scanlines = align(Height, 16)
-	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
-	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
-	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
-	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
-	 *		RGB_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
-	 *		Extradata, 4096)
-	 */
-	COLOR_FMT_RGB565_UBWC,
-	/* P010 UBWC:
-	 * Compressed Macro-tile format for NV12.
-	 * Contains 4 planes in the following order -
-	 * (A) Y_Meta_Plane
-	 * (B) Y_UBWC_Plane
-	 * (C) UV_Meta_Plane
-	 * (D) UV_UBWC_Plane
-	 *
-	 * Y_Meta_Plane consists of meta information to decode compressed
-	 * tile data in Y_UBWC_Plane.
-	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
-	 * UBWC decoder block will use the Y_Meta_Plane data together with
-	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
-	 *
-	 * UV_Meta_Plane consists of meta information to decode compressed
-	 * tile data in UV_UBWC_Plane.
-	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
-	 * UBWC decoder block will use UV_Meta_Plane data together with
-	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
-	 * subsampled color difference samples.
-	 *
-	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
-	 * and randomly accessible. There is no dependency between tiles.
-	 *
-	 * <----- Y_Meta_Stride ----->
-	 * <-------- Width ------>
-	 * M M M M M M M M M M M M . .      ^           ^
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      Height      |
-	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      |           |
-	 * M M M M M M M M M M M M . .      V           |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .                  |
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . .                  V
-	 * <--Compressed tile Y Stride--->
-	 * <------- Width ------->
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
-	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 * . . . . . . . . . . . . . . . .              V
-	 * <----- UV_Meta_Stride ---->
-	 * M M M M M M M M M M M M . .      ^
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      |
-	 * M M M M M M M M M M M M . .      M_UV_Scanlines
-	 * . . . . . . . . . . . . . .      |
-	 * . . . . . . . . . . . . . .      V
-	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
-	 * <--Compressed tile UV Stride--->
-	 * U* V* U* V* U* V* U* V* . . . .  ^
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  |
-	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
-	 *
-	 *
-	 * Y_Stride = align(Width * 2, 256)
-	 * UV_Stride = align(Width * 2, 256)
-	 * Y_Scanlines = align(Height, 16)
-	 * UV_Scanlines = align(Height/2, 16)
-	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
-	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
-	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
-	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
-	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
-	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
-	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
-	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
-	 * Extradata = 8k
-	 *
-	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
-	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
-	 *           + max(Extradata, Y_Stride * 48), 4096)
-	 */
-	COLOR_FMT_P010_UBWC,
-	/* Venus P010:
-	 * YUV 4:2:0 image with a plane of 10 bit Y samples followed
-	 * by an interleaved U/V plane containing 10 bit 2x2 subsampled
-	 * colour difference samples.
-	 *
-	 * <-------- Y/UV_Stride -------->
-	 * <------- Width ------->
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
-	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              |
-	 * . . . . . . . . . . . . . . . .              V
-	 * U V U V U V U V U V U V . . . .  ^
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  |
-	 * U V U V U V U V U V U V . . . .  UV_Scanlines
-	 * . . . . . . . . . . . . . . . .  |
-	 * . . . . . . . . . . . . . . . .  V
-	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
-	 *
-	 * Y_Stride : Width * 2 aligned to 128
-	 * UV_Stride : Width * 2 aligned to 128
-	 * Y_Scanlines: Height aligned to 32
-	 * UV_Scanlines: Height/2 aligned to 16
-	 * Extradata: Arbitrary (software-imposed) padding
-	 * Total size = align((Y_Stride * Y_Scanlines
-	 *          + UV_Stride * UV_Scanlines
-	 *          + max(Extradata, Y_Stride * 8), 4096)
-	 */
-	COLOR_FMT_P010,
-};
-
-#define COLOR_FMT_RGBA1010102_UBWC	COLOR_FMT_RGBA1010102_UBWC
-#define COLOR_FMT_RGB565_UBWC		COLOR_FMT_RGB565_UBWC
-#define COLOR_FMT_P010_UBWC		COLOR_FMT_P010_UBWC
-#define COLOR_FMT_P010		COLOR_FMT_P010
-
-static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height)
-{
-	(void)height;
-	(void)width;
-
-	/*
-	 * In the future, calculate the size based on the w/h but just
-	 * hardcode it for now since 16K satisfies all current usecases.
-	 */
-	return 16 * 1024;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment, stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width, alignment);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width, 192);
-		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
-		break;
-	case COLOR_FMT_P010:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width*2, alignment);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment, stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width, alignment);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width, 192);
-		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		alignment = 256;
-		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
-		break;
-	case COLOR_FMT_P010:
-		alignment = 128;
-		stride = MSM_MEDIA_ALIGN(width*2, alignment);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment, sclines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010:
-		alignment = 32;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		alignment = 16;
-		break;
-	default:
-		return 0;
-	}
-	sclines = MSM_MEDIA_ALIGN(height, alignment);
-invalid_input:
-	return sclines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment, sclines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-	case COLOR_FMT_NV12_MVTB:
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-	case COLOR_FMT_P010:
-		alignment = 16;
-		break;
-	case COLOR_FMT_NV12_UBWC:
-		alignment = 32;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	sclines = MSM_MEDIA_ALIGN((height+1)>>1, alignment);
-
-invalid_input:
-	return sclines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width)
-{
-	int y_tile_width = 0, y_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		y_tile_width = 32;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		y_tile_width = 48;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	y_meta_stride = MSM_MEDIA_ROUNDUP(width, y_tile_width);
-	y_meta_stride = MSM_MEDIA_ALIGN(y_meta_stride, 64);
-
-invalid_input:
-	return y_meta_stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height)
-{
-	int y_tile_height = 0, y_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-		y_tile_height = 8;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		y_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	y_meta_scanlines = MSM_MEDIA_ROUNDUP(height, y_tile_height);
-	y_meta_scanlines = MSM_MEDIA_ALIGN(y_meta_scanlines, 16);
-
-invalid_input:
-	return y_meta_scanlines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- */
-static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
-{
-	int uv_tile_width = 0, uv_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		uv_tile_width = 16;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		uv_tile_width = 24;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	uv_meta_stride = MSM_MEDIA_ROUNDUP((width+1)>>1, uv_tile_width);
-	uv_meta_stride = MSM_MEDIA_ALIGN(uv_meta_stride, 64);
-
-invalid_input:
-	return uv_meta_stride;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @height
- * Progressive: height
- * Interlaced: (height+1)>>1
- */
-static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height)
-{
-	int uv_tile_height = 0, uv_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_UBWC:
-		uv_tile_height = 8;
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-	case COLOR_FMT_P010_UBWC:
-		uv_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	uv_meta_scanlines = MSM_MEDIA_ROUNDUP((height+1)>>1, uv_tile_height);
-	uv_meta_scanlines = MSM_MEDIA_ALIGN(uv_meta_scanlines, 16);
-
-invalid_input:
-	return uv_meta_scanlines;
-}
-
-static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width)
-{
-	unsigned int alignment = 0, stride = 0, bpp = 4;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888:
-		alignment = 128;
-		break;
-	case COLOR_FMT_RGB565_UBWC:
-		alignment = 256;
-		bpp = 2;
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-		alignment = 256;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	stride = MSM_MEDIA_ALIGN(width * bpp, alignment);
-
-invalid_input:
-	return stride;
-}
-
-static inline unsigned int VENUS_RGB_SCANLINES(int color_fmt, int height)
-{
-	unsigned int alignment = 0, scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888:
-		alignment = 32;
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		alignment = 16;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	scanlines = MSM_MEDIA_ALIGN(height, alignment);
-
-invalid_input:
-	return scanlines;
-}
-
-static inline unsigned int VENUS_RGB_META_STRIDE(int color_fmt, int width)
-{
-	int rgb_tile_width = 0, rgb_meta_stride = 0;
-
-	if (!width)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_tile_width = 16;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	rgb_meta_stride = MSM_MEDIA_ROUNDUP(width, rgb_tile_width);
-	rgb_meta_stride = MSM_MEDIA_ALIGN(rgb_meta_stride, 64);
-
-invalid_input:
-	return rgb_meta_stride;
-}
-
-static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height)
-{
-	int rgb_tile_height = 0, rgb_meta_scanlines = 0;
-
-	if (!height)
-		goto invalid_input;
-
-	switch (color_fmt) {
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_tile_height = 4;
-		break;
-	default:
-		goto invalid_input;
-	}
-
-	rgb_meta_scanlines = MSM_MEDIA_ROUNDUP(height, rgb_tile_height);
-	rgb_meta_scanlines = MSM_MEDIA_ALIGN(rgb_meta_scanlines, 16);
-
-invalid_input:
-	return rgb_meta_scanlines;
-}
-
-/*
- * Function arguments:
- * @color_fmt
- * @width
- * Progressive: width
- * Interlaced: width
- * @height
- * Progressive: height
- * Interlaced: height
- */
-static inline unsigned int VENUS_BUFFER_SIZE(
-	int color_fmt, int width, int height)
-{
-	const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
-	unsigned int uv_alignment = 0, size = 0;
-	unsigned int w_alignment = 512;
-	unsigned int y_plane, uv_plane, y_stride,
-		uv_stride, y_sclines, uv_sclines;
-	unsigned int y_ubwc_plane = 0, uv_ubwc_plane = 0;
-	unsigned int y_meta_stride = 0, y_meta_scanlines = 0;
-	unsigned int uv_meta_stride = 0, uv_meta_scanlines = 0;
-	unsigned int y_meta_plane = 0, uv_meta_plane = 0;
-	unsigned int rgb_stride = 0, rgb_scanlines = 0;
-	unsigned int rgb_plane = 0, rgb_ubwc_plane = 0, rgb_meta_plane = 0;
-	unsigned int rgb_meta_stride = 0, rgb_meta_scanlines = 0;
-
-	if (!width || !height)
-		goto invalid_input;
-
-	y_stride = VENUS_Y_STRIDE(color_fmt, width);
-	uv_stride = VENUS_UV_STRIDE(color_fmt, width);
-	y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
-	uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
-	rgb_stride = VENUS_RGB_STRIDE(color_fmt, width);
-	rgb_scanlines = VENUS_RGB_SCANLINES(color_fmt, height);
-
-	switch (color_fmt) {
-	case COLOR_FMT_NV21:
-	case COLOR_FMT_NV12:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane +
-				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-
-		/* Additional size to cover last row of non-aligned frame */
-		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_P010:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane +
-				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_MVTB:
-		uv_alignment = 4096;
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines + uv_alignment;
-		size = y_plane + uv_plane;
-		size = 2 * size + extra_size;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_UBWC:
-		y_sclines = VENUS_Y_SCANLINES(color_fmt, (height+1)>>1);
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_sclines = VENUS_UV_SCANLINES(color_fmt, (height+1)>>1);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines =
-			VENUS_Y_META_SCANLINES(color_fmt, (height+1)>>1);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-			y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines =
-			VENUS_UV_META_SCANLINES(color_fmt, (height+1)>>1);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-			uv_meta_scanlines, 4096);
-
-		size = (y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane)*2 +
-			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-
-		/* Additional size to cover last row of non-aligned frame */
-		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_NV12_BPP10_UBWC:
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-				y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-					uv_meta_scanlines, 4096);
-
-		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane +
-			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_P010_UBWC:
-		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
-		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
-		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
-		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
-		y_meta_plane = MSM_MEDIA_ALIGN(
-				y_meta_stride * y_meta_scanlines, 4096);
-		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
-		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
-		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
-					uv_meta_scanlines, 4096);
-
-		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
-			uv_meta_plane;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_RGBA8888:
-		rgb_plane = MSM_MEDIA_ALIGN(rgb_stride  * rgb_scanlines, 4096);
-		size = rgb_plane;
-		size =  MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	case COLOR_FMT_RGBA8888_UBWC:
-	case COLOR_FMT_RGBA1010102_UBWC:
-	case COLOR_FMT_RGB565_UBWC:
-		rgb_ubwc_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines,
-							4096);
-		rgb_meta_stride = VENUS_RGB_META_STRIDE(color_fmt, width);
-		rgb_meta_scanlines = VENUS_RGB_META_SCANLINES(color_fmt,
-					height);
-		rgb_meta_plane = MSM_MEDIA_ALIGN(rgb_meta_stride *
-					rgb_meta_scanlines, 4096);
-		size = rgb_ubwc_plane + rgb_meta_plane;
-		size = MSM_MEDIA_ALIGN(size, 4096);
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return size;
-}
-
-static inline unsigned int VENUS_VIEW2_OFFSET(
-	int color_fmt, int width, int height)
-{
-	unsigned int offset = 0;
-	unsigned int y_plane, uv_plane, y_stride,
-		uv_stride, y_sclines, uv_sclines;
-	if (!width || !height)
-		goto invalid_input;
-
-	y_stride = VENUS_Y_STRIDE(color_fmt, width);
-	uv_stride = VENUS_UV_STRIDE(color_fmt, width);
-	y_sclines = VENUS_Y_SCANLINES(color_fmt, height);
-	uv_sclines = VENUS_UV_SCANLINES(color_fmt, height);
-	switch (color_fmt) {
-	case COLOR_FMT_NV12_MVTB:
-		y_plane = y_stride * y_sclines;
-		uv_plane = uv_stride * uv_sclines;
-		offset = y_plane + uv_plane;
-		break;
-	default:
-		break;
-	}
-invalid_input:
-	return offset;
-}
-
-#endif
diff --git a/third_party/linux/include/msmb_camera.h b/third_party/linux/include/msmb_camera.h
deleted file mode 100644
index f4c4b3e183..0000000000
--- a/third_party/linux/include/msmb_camera.h
+++ /dev/null
@@ -1,220 +0,0 @@
-#ifndef __LINUX_MSMB_CAMERA_H
-#define __LINUX_MSMB_CAMERA_H
-
-#include <linux/videodev2.h>
-#include <linux/types.h>
-#include <linux/ioctl.h>
-
-#define MSM_CAM_LOGSYNC_FILE_NAME "logsync"
-#define MSM_CAM_LOGSYNC_FILE_BASEDIR "camera"
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 30, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_META \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 31, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_CMD_ACK \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 32, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 33, struct msm_v4l2_event_data)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 34, struct msm_v4l2_event_data)
-
-#ifdef CONFIG_COMPAT
-#define MSM_CAM_V4L2_IOCTL_NOTIFY32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 30, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_META32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 31, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_CMD_ACK32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 32, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_ERROR32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 33, struct v4l2_event32)
-
-#define MSM_CAM_V4L2_IOCTL_NOTIFY_DEBUG32 \
-	_IOW('V', BASE_VIDIOC_PRIVATE + 34, struct v4l2_event32)
-
-#endif
-
-#define QCAMERA_DEVICE_GROUP_ID	1
-#define QCAMERA_VNODE_GROUP_ID	2
-#define MSM_CAMERA_NAME					"msm_camera"
-#define MSM_CONFIGURATION_NAME	"msm_config"
-
-#define MSM_CAMERA_SUBDEV_CSIPHY       0
-#define MSM_CAMERA_SUBDEV_CSID         1
-#define MSM_CAMERA_SUBDEV_ISPIF        2
-#define MSM_CAMERA_SUBDEV_VFE          3
-#define MSM_CAMERA_SUBDEV_AXI          4
-#define MSM_CAMERA_SUBDEV_VPE          5
-#define MSM_CAMERA_SUBDEV_SENSOR       6
-#define MSM_CAMERA_SUBDEV_ACTUATOR     7
-#define MSM_CAMERA_SUBDEV_EEPROM       8
-#define MSM_CAMERA_SUBDEV_CPP          9
-#define MSM_CAMERA_SUBDEV_CCI          10
-#define MSM_CAMERA_SUBDEV_LED_FLASH    11
-#define MSM_CAMERA_SUBDEV_STROBE_FLASH 12
-#define MSM_CAMERA_SUBDEV_BUF_MNGR     13
-#define MSM_CAMERA_SUBDEV_SENSOR_INIT  14
-#define MSM_CAMERA_SUBDEV_OIS          15
-#define MSM_CAMERA_SUBDEV_FLASH        16
-#define MSM_CAMERA_SUBDEV_EXT          17
-
-#define MSM_MAX_CAMERA_SENSORS  5
-
-/* The below macro is defined to put an upper limit on maximum
- * number of buffer requested per stream. In case of extremely
- * large value for number of buffer due to data structure corruption
- * we return error to avoid integer overflow. Group processing
- * can have max of 9 groups of 8 bufs each. This value may be
- * configured in future*/
-#define MSM_CAMERA_MAX_STREAM_BUF 72
-
-/* Max batch size of processing */
-#define MSM_CAMERA_MAX_USER_BUFF_CNT 16
-
-/* featur base */
-#define MSM_CAMERA_FEATURE_BASE     0x00010000
-#define MSM_CAMERA_FEATURE_SHUTDOWN (MSM_CAMERA_FEATURE_BASE + 1)
-
-#define MSM_CAMERA_STATUS_BASE      0x00020000
-#define MSM_CAMERA_STATUS_FAIL      (MSM_CAMERA_STATUS_BASE + 1)
-#define MSM_CAMERA_STATUS_SUCCESS   (MSM_CAMERA_STATUS_BASE + 2)
-
-/* event type */
-#define MSM_CAMERA_V4L2_EVENT_TYPE (V4L2_EVENT_PRIVATE_START + 0x00002000)
-
-/* event id */
-#define MSM_CAMERA_EVENT_MIN    0
-#define MSM_CAMERA_NEW_SESSION  (MSM_CAMERA_EVENT_MIN + 1)
-#define MSM_CAMERA_DEL_SESSION  (MSM_CAMERA_EVENT_MIN + 2)
-#define MSM_CAMERA_SET_PARM     (MSM_CAMERA_EVENT_MIN + 3)
-#define MSM_CAMERA_GET_PARM     (MSM_CAMERA_EVENT_MIN + 4)
-#define MSM_CAMERA_MAPPING_CFG  (MSM_CAMERA_EVENT_MIN + 5)
-#define MSM_CAMERA_MAPPING_SES  (MSM_CAMERA_EVENT_MIN + 6)
-#define MSM_CAMERA_MSM_NOTIFY   (MSM_CAMERA_EVENT_MIN + 7)
-#define MSM_CAMERA_EVENT_MAX    (MSM_CAMERA_EVENT_MIN + 8)
-
-/* data.command */
-#define MSM_CAMERA_PRIV_S_CROP		 (V4L2_CID_PRIVATE_BASE + 1)
-#define MSM_CAMERA_PRIV_G_CROP		 (V4L2_CID_PRIVATE_BASE + 2)
-#define MSM_CAMERA_PRIV_G_FMT			 (V4L2_CID_PRIVATE_BASE + 3)
-#define MSM_CAMERA_PRIV_S_FMT			 (V4L2_CID_PRIVATE_BASE + 4)
-#define MSM_CAMERA_PRIV_TRY_FMT		 (V4L2_CID_PRIVATE_BASE + 5)
-#define MSM_CAMERA_PRIV_METADATA	 (V4L2_CID_PRIVATE_BASE + 6)
-#define MSM_CAMERA_PRIV_QUERY_CAP  (V4L2_CID_PRIVATE_BASE + 7)
-#define MSM_CAMERA_PRIV_STREAM_ON  (V4L2_CID_PRIVATE_BASE + 8)
-#define MSM_CAMERA_PRIV_STREAM_OFF (V4L2_CID_PRIVATE_BASE + 9)
-#define MSM_CAMERA_PRIV_NEW_STREAM (V4L2_CID_PRIVATE_BASE + 10)
-#define MSM_CAMERA_PRIV_DEL_STREAM (V4L2_CID_PRIVATE_BASE + 11)
-#define MSM_CAMERA_PRIV_SHUTDOWN   (V4L2_CID_PRIVATE_BASE + 12)
-#define MSM_CAMERA_PRIV_STREAM_INFO_SYNC \
-	(V4L2_CID_PRIVATE_BASE + 13)
-#define MSM_CAMERA_PRIV_G_SESSION_ID (V4L2_CID_PRIVATE_BASE + 14)
-#define MSM_CAMERA_PRIV_CMD_MAX  20
-
-/* data.status - success */
-#define MSM_CAMERA_CMD_SUCESS      0x00000001
-#define MSM_CAMERA_BUF_MAP_SUCESS  0x00000002
-
-/* data.status - error */
-#define MSM_CAMERA_ERR_EVT_BASE 0x00010000
-#define MSM_CAMERA_ERR_CMD_FAIL (MSM_CAMERA_ERR_EVT_BASE + 1)
-#define MSM_CAMERA_ERR_MAPPING  (MSM_CAMERA_ERR_EVT_BASE + 2)
-#define MSM_CAMERA_ERR_DEVICE_BUSY  (MSM_CAMERA_ERR_EVT_BASE + 3)
-
-/* The msm_v4l2_event_data structure should match the
- * v4l2_event.u.data field.
- * should not exceed 16 elements */
-struct msm_v4l2_event_data {
-	/*word 0*/
-	unsigned int command;
-	/*word 1*/
-	unsigned int status;
-	/*word 2*/
-	unsigned int session_id;
-	/*word 3*/
-	unsigned int stream_id;
-	/*word 4*/
-	unsigned int map_op;
-	/*word 5*/
-	unsigned int map_buf_idx;
-	/*word 6*/
-	unsigned int notify;
-	/*word 7*/
-	unsigned int arg_value;
-	/*word 8*/
-	unsigned int ret_value;
-	/*word 9*/
-	unsigned int v4l2_event_type;
-	/*word 10*/
-	unsigned int v4l2_event_id;
-	/*word 11*/
-	unsigned int handle;
-	/*word 12*/
-	unsigned int nop6;
-	/*word 13*/
-	unsigned int nop7;
-	/*word 14*/
-	unsigned int nop8;
-	/*word 15*/
-	unsigned int nop9;
-};
-
-/* map to v4l2_format.fmt.raw_data */
-struct msm_v4l2_format_data {
-	enum v4l2_buf_type type;
-	unsigned int width;
-	unsigned int height;
-	unsigned int pixelformat; /* FOURCC */
-	unsigned char num_planes;
-	unsigned int plane_sizes[VIDEO_MAX_PLANES];
-};
-
-/*  MSM Four-character-code (FOURCC) */
-#define msm_v4l2_fourcc(a, b, c, d)\
-	((__u32)(a) | ((__u32)(b) << 8) | ((__u32)(c) << 16) |\
-	((__u32)(d) << 24))
-
-/* Composite stats */
-#define MSM_V4L2_PIX_FMT_STATS_COMB v4l2_fourcc('S', 'T', 'C', 'M')
-/* AEC stats */
-#define MSM_V4L2_PIX_FMT_STATS_AE   v4l2_fourcc('S', 'T', 'A', 'E')
-/* AF stats */
-#define MSM_V4L2_PIX_FMT_STATS_AF   v4l2_fourcc('S', 'T', 'A', 'F')
-/* AWB stats */
-#define MSM_V4L2_PIX_FMT_STATS_AWB  v4l2_fourcc('S', 'T', 'W', 'B')
-/* IHIST stats */
-#define MSM_V4L2_PIX_FMT_STATS_IHST v4l2_fourcc('I', 'H', 'S', 'T')
-/* Column count stats */
-#define MSM_V4L2_PIX_FMT_STATS_CS   v4l2_fourcc('S', 'T', 'C', 'S')
-/* Row count stats */
-#define MSM_V4L2_PIX_FMT_STATS_RS   v4l2_fourcc('S', 'T', 'R', 'S')
-/* Bayer Grid stats */
-#define MSM_V4L2_PIX_FMT_STATS_BG   v4l2_fourcc('S', 'T', 'B', 'G')
-/* Bayer focus stats */
-#define MSM_V4L2_PIX_FMT_STATS_BF   v4l2_fourcc('S', 'T', 'B', 'F')
-/* Bayer hist stats */
-#define MSM_V4L2_PIX_FMT_STATS_BHST v4l2_fourcc('B', 'H', 'S', 'T')
-
-enum smmu_attach_mode {
-	NON_SECURE_MODE = 0x01,
-	SECURE_MODE = 0x02,
-	MAX_PROTECTION_MODE = 0x03,
-};
-
-struct msm_camera_smmu_attach_type {
-	enum smmu_attach_mode attach;
-};
-
-struct msm_camera_user_buf_cont_t {
-	unsigned int buf_cnt;
-	unsigned int buf_idx[MSM_CAMERA_MAX_USER_BUFF_CNT];
-};
-
-#endif /* __LINUX_MSMB_CAMERA_H */
diff --git a/third_party/linux/include/msmb_isp.h b/third_party/linux/include/msmb_isp.h
deleted file mode 100644
index 35589e050a..0000000000
--- a/third_party/linux/include/msmb_isp.h
+++ /dev/null
@@ -1,880 +0,0 @@
-#ifndef __MSMB_ISP__
-#define __MSMB_ISP__
-
-#include <linux/videodev2.h>
-
-#define MAX_PLANES_PER_STREAM 3
-#define MAX_NUM_STREAM 7
-
-#define ISP_VERSION_47        47
-#define ISP_VERSION_46        46
-#define ISP_VERSION_44        44
-#define ISP_VERSION_40        40
-#define ISP_VERSION_32        32
-#define ISP_NATIVE_BUF_BIT    (0x10000 << 0)
-#define ISP0_BIT              (0x10000 << 1)
-#define ISP1_BIT              (0x10000 << 2)
-#define ISP_META_CHANNEL_BIT  (0x10000 << 3)
-#define ISP_SCRATCH_BUF_BIT   (0x10000 << 4)
-#define ISP_OFFLINE_STATS_BIT (0x10000 << 5)
-#define ISP_STATS_STREAM_BIT  0x80000000
-
-struct msm_vfe_cfg_cmd_list;
-
-enum ISP_START_PIXEL_PATTERN {
-	ISP_BAYER_RGRGRG,
-	ISP_BAYER_GRGRGR,
-	ISP_BAYER_BGBGBG,
-	ISP_BAYER_GBGBGB,
-	ISP_YUV_YCbYCr,
-	ISP_YUV_YCrYCb,
-	ISP_YUV_CbYCrY,
-	ISP_YUV_CrYCbY,
-	ISP_PIX_PATTERN_MAX
-};
-
-enum msm_vfe_plane_fmt {
-	Y_PLANE,
-	CB_PLANE,
-	CR_PLANE,
-	CRCB_PLANE,
-	CBCR_PLANE,
-	VFE_PLANE_FMT_MAX
-};
-
-enum msm_vfe_input_src {
-	VFE_PIX_0,
-	VFE_RAW_0,
-	VFE_RAW_1,
-	VFE_RAW_2,
-	VFE_SRC_MAX,
-};
-
-enum msm_vfe_axi_stream_src {
-	PIX_ENCODER,
-	PIX_VIEWFINDER,
-	PIX_VIDEO,
-	CAMIF_RAW,
-	IDEAL_RAW,
-	RDI_INTF_0,
-	RDI_INTF_1,
-	RDI_INTF_2,
-	VFE_AXI_SRC_MAX
-};
-
-enum msm_vfe_frame_skip_pattern {
-	NO_SKIP,
-	EVERY_2FRAME,
-	EVERY_3FRAME,
-	EVERY_4FRAME,
-	EVERY_5FRAME,
-	EVERY_6FRAME,
-	EVERY_7FRAME,
-	EVERY_8FRAME,
-	EVERY_16FRAME,
-	EVERY_32FRAME,
-	SKIP_ALL,
-	SKIP_RANGE,
-	MAX_SKIP,
-};
-
-/*
- * Define an unused period. When this period is set it means that the stream is
- * stopped(i.e the pattern is 0). We don't track the current pattern, just the
- * period defines what the pattern is, if period is this then pattern is 0 else
- * pattern is 1
- */
-#define MSM_VFE_STREAM_STOP_PERIOD 15
-
-enum msm_isp_stats_type {
-	MSM_ISP_STATS_AEC,   /* legacy based AEC */
-	MSM_ISP_STATS_AF,    /* legacy based AF */
-	MSM_ISP_STATS_AWB,   /* legacy based AWB */
-	MSM_ISP_STATS_RS,    /* legacy based RS */
-	MSM_ISP_STATS_CS,    /* legacy based CS */
-	MSM_ISP_STATS_IHIST, /* legacy based HIST */
-	MSM_ISP_STATS_SKIN,  /* legacy based SKIN */
-	MSM_ISP_STATS_BG,    /* Bayer Grids */
-	MSM_ISP_STATS_BF,    /* Bayer Focus */
-	MSM_ISP_STATS_BE,    /* Bayer Exposure*/
-	MSM_ISP_STATS_BHIST, /* Bayer Hist */
-	MSM_ISP_STATS_BF_SCALE,  /* Bayer Focus scale */
-	MSM_ISP_STATS_HDR_BE,    /* HDR Bayer Exposure */
-	MSM_ISP_STATS_HDR_BHIST, /* HDR Bayer Hist */
-	MSM_ISP_STATS_AEC_BG,   /* AEC BG */
-	MSM_ISP_STATS_MAX    /* MAX */
-};
-
-/*
- * @stats_type_mask: Stats type mask (enum msm_isp_stats_type).
- * @stream_src_mask: Stream src mask (enum msm_vfe_axi_stream_src)
- * @skip_mode: skip pattern, if skip mode is range only then min/max is used
- * @min_frame_id: minimum frame id (valid only if skip_mode = RANGE)
- * @max_frame_id: maximum frame id (valid only if skip_mode = RANGE)
-*/
-struct msm_isp_sw_framskip {
-	uint32_t stats_type_mask;
-	uint32_t stream_src_mask;
-	enum msm_vfe_frame_skip_pattern skip_mode;
-	uint32_t min_frame_id;
-	uint32_t max_frame_id;
-};
-
-enum msm_vfe_testgen_color_pattern {
-	COLOR_BAR_8_COLOR,
-	UNICOLOR_WHITE,
-	UNICOLOR_YELLOW,
-	UNICOLOR_CYAN,
-	UNICOLOR_GREEN,
-	UNICOLOR_MAGENTA,
-	UNICOLOR_RED,
-	UNICOLOR_BLUE,
-	UNICOLOR_BLACK,
-	MAX_COLOR,
-};
-
-enum msm_vfe_camif_input {
-	CAMIF_DISABLED,
-	CAMIF_PAD_REG_INPUT,
-	CAMIF_MIDDI_INPUT,
-	CAMIF_MIPI_INPUT,
-};
-
-struct msm_vfe_fetch_engine_cfg {
-	uint32_t input_format;
-	uint32_t buf_width;
-	uint32_t buf_height;
-	uint32_t fetch_width;
-	uint32_t fetch_height;
-	uint32_t x_offset;
-	uint32_t y_offset;
-	uint32_t buf_stride;
-};
-
-enum msm_vfe_camif_output_format {
-	CAMIF_QCOM_RAW,
-	CAMIF_MIPI_RAW,
-	CAMIF_PLAIN_8,
-	CAMIF_PLAIN_16,
-	CAMIF_MAX_FORMAT,
-};
-
-/*
- * Camif output general configuration
- */
-struct msm_vfe_camif_subsample_cfg {
-	uint32_t irq_subsample_period;
-	uint32_t irq_subsample_pattern;
-	uint32_t sof_counter_step;
-	uint32_t pixel_skip;
-	uint32_t line_skip;
-	uint32_t first_line;
-	uint32_t last_line;
-	uint32_t first_pixel;
-	uint32_t last_pixel;
-	enum msm_vfe_camif_output_format output_format;
-};
-
-/*
- * Camif frame and window configuration
- */
-struct msm_vfe_camif_cfg {
-	uint32_t lines_per_frame;
-	uint32_t pixels_per_line;
-	uint32_t first_pixel;
-	uint32_t last_pixel;
-	uint32_t first_line;
-	uint32_t last_line;
-	uint32_t epoch_line0;
-	uint32_t epoch_line1;
-	uint32_t is_split;
-	enum msm_vfe_camif_input camif_input;
-	struct msm_vfe_camif_subsample_cfg subsample_cfg;
-};
-
-struct msm_vfe_testgen_cfg {
-	uint32_t lines_per_frame;
-	uint32_t pixels_per_line;
-	uint32_t v_blank;
-	uint32_t h_blank;
-	enum ISP_START_PIXEL_PATTERN pixel_bayer_pattern;
-	uint32_t rotate_period;
-	enum msm_vfe_testgen_color_pattern color_bar_pattern;
-	uint32_t burst_num_frame;
-};
-
-enum msm_vfe_inputmux {
-	CAMIF,
-	TESTGEN,
-	EXTERNAL_READ,
-};
-
-enum msm_vfe_stats_composite_group {
-	STATS_COMPOSITE_GRP_NONE,
-	STATS_COMPOSITE_GRP_1,
-	STATS_COMPOSITE_GRP_2,
-	STATS_COMPOSITE_GRP_MAX,
-};
-
-enum msm_vfe_hvx_streaming_cmd {
-	HVX_DISABLE,
-	HVX_ONE_WAY,
-	HVX_ROUND_TRIP
-};
-
-struct msm_vfe_pix_cfg {
-	struct msm_vfe_camif_cfg camif_cfg;
-	struct msm_vfe_testgen_cfg testgen_cfg;
-	struct msm_vfe_fetch_engine_cfg fetch_engine_cfg;
-	enum msm_vfe_inputmux input_mux;
-	enum ISP_START_PIXEL_PATTERN pixel_pattern;
-	uint32_t input_format;
-	enum msm_vfe_hvx_streaming_cmd hvx_cmd;
-	uint32_t is_split;
-};
-
-struct msm_vfe_rdi_cfg {
-	uint8_t cid;
-	uint8_t frame_based;
-};
-
-struct msm_vfe_input_cfg {
-	union {
-		struct msm_vfe_pix_cfg pix_cfg;
-		struct msm_vfe_rdi_cfg rdi_cfg;
-	} d;
-	enum msm_vfe_input_src input_src;
-	uint32_t input_pix_clk;
-};
-
-struct msm_vfe_fetch_eng_start {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t buf_idx;
-	uint8_t  offline_mode;
-	uint32_t fd;
-	uint32_t buf_addr;
-	uint32_t frame_id;
-};
-
-struct msm_vfe_axi_plane_cfg {
-	uint32_t output_width; /*Include padding*/
-	uint32_t output_height;
-	uint32_t output_stride;
-	uint32_t output_scan_lines;
-	uint32_t output_plane_format; /*Y/Cb/Cr/CbCr*/
-	uint32_t plane_addr_offset;
-	uint8_t csid_src; /*RDI 0-2*/
-	uint8_t rdi_cid;/*CID 1-16*/
-};
-
-enum msm_stream_memory_input_t {
-	MEMORY_INPUT_DISABLED,
-	MEMORY_INPUT_ENABLED
-};
-
-struct msm_vfe_axi_stream_request_cmd {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t vt_enable;
-	uint32_t output_format;/*Planar/RAW/Misc*/
-	enum msm_vfe_axi_stream_src stream_src; /*CAMIF/IDEAL/RDIs*/
-	struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM];
-
-	uint32_t burst_count;
-	uint32_t hfr_mode;
-	uint8_t frame_base;
-
-	uint32_t init_frame_drop; /*MAX 31 Frames*/
-	enum msm_vfe_frame_skip_pattern frame_skip_pattern;
-	uint8_t buf_divert; /* if TRUE no vb2 buf done. */
-	/*Return values*/
-	uint32_t axi_stream_handle;
-	uint32_t controllable_output;
-	uint32_t burst_len;
-	/* Flag indicating memory input stream */
-	enum msm_stream_memory_input_t memory_input;
-};
-
-struct msm_vfe_axi_stream_release_cmd {
-	uint32_t stream_handle;
-};
-
-enum msm_vfe_axi_stream_cmd {
-	STOP_STREAM,
-	START_STREAM,
-	STOP_IMMEDIATELY,
-};
-
-struct msm_vfe_axi_stream_cfg_cmd {
-	uint8_t num_streams;
-	uint32_t stream_handle[VFE_AXI_SRC_MAX];
-	enum msm_vfe_axi_stream_cmd cmd;
-	uint8_t sync_frame_id_src;
-};
-
-enum msm_vfe_axi_stream_update_type {
-	ENABLE_STREAM_BUF_DIVERT,
-	DISABLE_STREAM_BUF_DIVERT,
-	UPDATE_STREAM_FRAMEDROP_PATTERN,
-	UPDATE_STREAM_STATS_FRAMEDROP_PATTERN,
-	UPDATE_STREAM_AXI_CONFIG,
-	UPDATE_STREAM_REQUEST_FRAMES,
-	UPDATE_STREAM_ADD_BUFQ,
-	UPDATE_STREAM_REMOVE_BUFQ,
-	UPDATE_STREAM_SW_FRAME_DROP,
-};
-
-enum msm_vfe_iommu_type {
-	IOMMU_ATTACH,
-	IOMMU_DETACH,
-};
-
-enum msm_vfe_buff_queue_id {
-	VFE_BUF_QUEUE_DEFAULT,
-	VFE_BUF_QUEUE_SHARED,
-	VFE_BUF_QUEUE_MAX,
-};
-
-struct msm_vfe_axi_stream_cfg_update_info {
-	uint32_t stream_handle;
-	uint32_t output_format;
-	uint32_t user_stream_id;
-	uint32_t frame_id;
-	enum msm_vfe_frame_skip_pattern skip_pattern;
-	struct msm_vfe_axi_plane_cfg plane_cfg[MAX_PLANES_PER_STREAM];
-	struct msm_isp_sw_framskip sw_skip_info;
-};
-
-struct msm_vfe_axi_halt_cmd {
-	uint32_t stop_camif;
-	uint32_t overflow_detected;
-	uint32_t blocking_halt;
-};
-
-struct msm_vfe_axi_reset_cmd {
-	uint32_t blocking;
-	uint32_t frame_id;
-};
-
-struct msm_vfe_axi_restart_cmd {
-	uint32_t enable_camif;
-};
-
-struct msm_vfe_axi_stream_update_cmd {
-	uint32_t num_streams;
-	enum msm_vfe_axi_stream_update_type update_type;
-	struct msm_vfe_axi_stream_cfg_update_info
-					update_info[MSM_ISP_STATS_MAX];
-};
-
-struct msm_vfe_smmu_attach_cmd {
-	uint32_t security_mode;
-	uint32_t iommu_attach_mode;
-};
-
-struct msm_vfe_stats_stream_request_cmd {
-	uint32_t session_id;
-	uint32_t stream_id;
-	enum msm_isp_stats_type stats_type;
-	uint32_t composite_flag;
-	uint32_t framedrop_pattern;
-	uint32_t init_frame_drop; /*MAX 31 Frames*/
-	uint32_t irq_subsample_pattern;
-	uint32_t buffer_offset;
-	uint32_t stream_handle;
-};
-
-struct msm_vfe_stats_stream_release_cmd {
-	uint32_t stream_handle;
-};
-struct msm_vfe_stats_stream_cfg_cmd {
-	uint8_t num_streams;
-	uint32_t stream_handle[MSM_ISP_STATS_MAX];
-	uint8_t enable;
-	uint32_t stats_burst_len;
-};
-
-enum msm_vfe_reg_cfg_type {
-	VFE_WRITE,
-	VFE_WRITE_MB,
-	VFE_READ,
-	VFE_CFG_MASK,
-	VFE_WRITE_DMI_16BIT,
-	VFE_WRITE_DMI_32BIT,
-	VFE_WRITE_DMI_64BIT,
-	VFE_READ_DMI_16BIT,
-	VFE_READ_DMI_32BIT,
-	VFE_READ_DMI_64BIT,
-	GET_MAX_CLK_RATE,
-	GET_CLK_RATES,
-	GET_ISP_ID,
-	VFE_HW_UPDATE_LOCK,
-	VFE_HW_UPDATE_UNLOCK,
-	SET_WM_UB_SIZE,
-	SET_UB_POLICY,
-};
-
-struct msm_vfe_cfg_cmd2 {
-	uint16_t num_cfg;
-	uint16_t cmd_len;
-	void __user *cfg_data;
-	void __user *cfg_cmd;
-};
-
-struct msm_vfe_cfg_cmd_list {
-	struct msm_vfe_cfg_cmd2      cfg_cmd;
-	struct msm_vfe_cfg_cmd_list *next;
-	uint32_t                     next_size;
-};
-
-struct msm_vfe_reg_rw_info {
-	uint32_t reg_offset;
-	uint32_t cmd_data_offset;
-	uint32_t len;
-};
-
-struct msm_vfe_reg_mask_info {
-	uint32_t reg_offset;
-	uint32_t mask;
-	uint32_t val;
-};
-
-struct msm_vfe_reg_dmi_info {
-	uint32_t hi_tbl_offset; /*Optional*/
-	uint32_t lo_tbl_offset; /*Required*/
-	uint32_t len;
-};
-
-struct msm_vfe_reg_cfg_cmd {
-	union {
-		struct msm_vfe_reg_rw_info rw_info;
-		struct msm_vfe_reg_mask_info mask_info;
-		struct msm_vfe_reg_dmi_info dmi_info;
-	} u;
-
-	enum msm_vfe_reg_cfg_type cmd_type;
-};
-
-enum vfe_sd_type {
-	VFE_SD_0 = 0,
-	VFE_SD_1,
-	VFE_SD_COMMON,
-	VFE_SD_MAX,
-};
-
-/* When you change the value below, check for the sof event_data size.
- * V4l2 limits payload to 64 bytes */
-#define MS_NUM_SLAVE_MAX 1
-
-/* Usecases when 2 HW need to be related or synced */
-enum msm_vfe_dual_hw_type {
-	DUAL_NONE = 0,
-	DUAL_HW_VFE_SPLIT = 1,
-	DUAL_HW_MASTER_SLAVE = 2,
-};
-
-/* Type for 2 INTF when used in Master-Slave mode */
-enum msm_vfe_dual_hw_ms_type {
-	MS_TYPE_NONE,
-	MS_TYPE_MASTER,
-	MS_TYPE_SLAVE,
-};
-
-struct msm_isp_set_dual_hw_ms_cmd {
-	uint8_t num_src;
-	/* Each session can be only one type but multiple intf if YUV cam */
-	enum msm_vfe_dual_hw_ms_type dual_hw_ms_type;
-	/* Primary intf is mostly associated with preview.
-	 * This primary intf SOF frame_id and timestamp is tracked
-	 * and used to calculate delta */
-	enum msm_vfe_input_src primary_intf;
-	/* input_src array indicates other input INTF that may be Master/Slave.
-	 * For these additional intf, frame_id and timestamp are not saved.
-	 * However, if these are slaves then they will still get their
-	 * frame_id from Master */
-	enum msm_vfe_input_src input_src[VFE_SRC_MAX];
-	uint32_t sof_delta_threshold; /* In milliseconds. Sent for Master */
-};
-
-enum msm_isp_buf_type {
-	ISP_PRIVATE_BUF,
-	ISP_SHARE_BUF,
-	MAX_ISP_BUF_TYPE,
-};
-
-struct msm_isp_unmap_buf_req {
-	uint32_t fd;
-};
-
-struct msm_isp_buf_request {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint8_t num_buf;
-	uint32_t handle;
-	enum msm_isp_buf_type buf_type;
-};
-
-struct msm_isp_qbuf_plane {
-	uint32_t addr;
-	uint32_t offset;
-	uint32_t length;
-};
-
-struct msm_isp_qbuf_buffer {
-	struct msm_isp_qbuf_plane planes[MAX_PLANES_PER_STREAM];
-	uint32_t num_planes;
-};
-
-struct msm_isp_qbuf_info {
-	uint32_t handle;
-	int32_t buf_idx;
-	/*Only used for prepare buffer*/
-	struct msm_isp_qbuf_buffer buffer;
-	/*Only used for diverted buffer*/
-	uint32_t dirty_buf;
-};
-
-struct msm_isp_clk_rates {
-	uint32_t svs_rate;
-	uint32_t nominal_rate;
-	uint32_t high_rate;
-};
-
-struct msm_vfe_axi_src_state {
-	enum msm_vfe_input_src input_src;
-	uint32_t src_active;
-	uint32_t src_frame_id;
-};
-
-enum msm_isp_event_mask_index {
-	ISP_EVENT_MASK_INDEX_STATS_NOTIFY		= 0,
-	ISP_EVENT_MASK_INDEX_ERROR			= 1,
-	ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT		= 2,
-	ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE		= 3,
-	ISP_EVENT_MASK_INDEX_REG_UPDATE			= 4,
-	ISP_EVENT_MASK_INDEX_SOF			= 5,
-	ISP_EVENT_MASK_INDEX_BUF_DIVERT			= 6,
-	ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY		= 7,
-	ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE		= 8,
-	ISP_EVENT_MASK_INDEX_BUF_DONE			= 9,
-	ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING		= 10,
-	ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH		= 11,
-	ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR		= 12,
-};
-
-
-#define ISP_EVENT_SUBS_MASK_NONE			0
-
-#define ISP_EVENT_SUBS_MASK_STATS_NOTIFY \
-			(1 << ISP_EVENT_MASK_INDEX_STATS_NOTIFY)
-
-#define ISP_EVENT_SUBS_MASK_ERROR \
-			(1 << ISP_EVENT_MASK_INDEX_ERROR)
-
-#define ISP_EVENT_SUBS_MASK_IOMMU_P_FAULT \
-			(1 << ISP_EVENT_MASK_INDEX_IOMMU_P_FAULT)
-
-#define ISP_EVENT_SUBS_MASK_STREAM_UPDATE_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_STREAM_UPDATE_DONE)
-
-#define ISP_EVENT_SUBS_MASK_REG_UPDATE \
-			(1 << ISP_EVENT_MASK_INDEX_REG_UPDATE)
-
-#define ISP_EVENT_SUBS_MASK_SOF \
-			(1 << ISP_EVENT_MASK_INDEX_SOF)
-
-#define ISP_EVENT_SUBS_MASK_BUF_DIVERT \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_DIVERT)
-
-#define ISP_EVENT_SUBS_MASK_COMP_STATS_NOTIFY \
-			(1 << ISP_EVENT_MASK_INDEX_COMP_STATS_NOTIFY)
-
-#define ISP_EVENT_SUBS_MASK_FE_READ_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_MASK_FE_READ_DONE)
-
-#define ISP_EVENT_SUBS_MASK_BUF_DONE \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_DONE)
-
-#define ISP_EVENT_SUBS_MASK_REG_UPDATE_MISSING \
-			(1 << ISP_EVENT_MASK_INDEX_REG_UPDATE_MISSING)
-
-#define ISP_EVENT_SUBS_MASK_PING_PONG_MISMATCH \
-			(1 << ISP_EVENT_MASK_INDEX_PING_PONG_MISMATCH)
-
-#define ISP_EVENT_SUBS_MASK_BUF_FATAL_ERROR \
-			(1 << ISP_EVENT_MASK_INDEX_BUF_FATAL_ERROR)
-
-enum msm_isp_event_idx {
-	ISP_REG_UPDATE        = 0,
-	ISP_EPOCH_0           = 1,
-	ISP_EPOCH_1           = 2,
-	ISP_START_ACK         = 3,
-	ISP_STOP_ACK          = 4,
-	ISP_IRQ_VIOLATION     = 5,
-	ISP_STATS_OVERFLOW    = 6,
-	ISP_BUF_DONE          = 7,
-	ISP_FE_RD_DONE        = 8,
-	ISP_IOMMU_P_FAULT     = 9,
-	ISP_ERROR             = 10,
-	ISP_HW_FATAL_ERROR      = 11,
-	ISP_PING_PONG_MISMATCH = 12,
-	ISP_REG_UPDATE_MISSING = 13,
-	ISP_BUF_FATAL_ERROR = 14,
-	ISP_EVENT_MAX         = 15
-};
-
-#define ISP_EVENT_OFFSET          8
-#define ISP_EVENT_BASE            (V4L2_EVENT_PRIVATE_START)
-#define ISP_BUF_EVENT_BASE        (ISP_EVENT_BASE + (1 << ISP_EVENT_OFFSET))
-#define ISP_STATS_EVENT_BASE      (ISP_EVENT_BASE + (2 << ISP_EVENT_OFFSET))
-#define ISP_CAMIF_EVENT_BASE      (ISP_EVENT_BASE + (3 << ISP_EVENT_OFFSET))
-#define ISP_STREAM_EVENT_BASE     (ISP_EVENT_BASE + (4 << ISP_EVENT_OFFSET))
-#define ISP_EVENT_REG_UPDATE      (ISP_EVENT_BASE + ISP_REG_UPDATE)
-#define ISP_EVENT_EPOCH_0         (ISP_EVENT_BASE + ISP_EPOCH_0)
-#define ISP_EVENT_EPOCH_1         (ISP_EVENT_BASE + ISP_EPOCH_1)
-#define ISP_EVENT_START_ACK       (ISP_EVENT_BASE + ISP_START_ACK)
-#define ISP_EVENT_STOP_ACK        (ISP_EVENT_BASE + ISP_STOP_ACK)
-#define ISP_EVENT_IRQ_VIOLATION   (ISP_EVENT_BASE + ISP_IRQ_VIOLATION)
-#define ISP_EVENT_STATS_OVERFLOW  (ISP_EVENT_BASE + ISP_STATS_OVERFLOW)
-#define ISP_EVENT_ERROR           (ISP_EVENT_BASE + ISP_ERROR)
-#define ISP_EVENT_SOF             (ISP_CAMIF_EVENT_BASE)
-#define ISP_EVENT_EOF             (ISP_CAMIF_EVENT_BASE + 1)
-#define ISP_EVENT_BUF_DONE        (ISP_EVENT_BASE + ISP_BUF_DONE)
-#define ISP_EVENT_BUF_DIVERT      (ISP_BUF_EVENT_BASE)
-#define ISP_EVENT_STATS_NOTIFY    (ISP_STATS_EVENT_BASE)
-#define ISP_EVENT_COMP_STATS_NOTIFY (ISP_EVENT_STATS_NOTIFY + MSM_ISP_STATS_MAX)
-#define ISP_EVENT_FE_READ_DONE    (ISP_EVENT_BASE + ISP_FE_RD_DONE)
-#define ISP_EVENT_IOMMU_P_FAULT   (ISP_EVENT_BASE + ISP_IOMMU_P_FAULT)
-#define ISP_EVENT_HW_FATAL_ERROR  (ISP_EVENT_BASE + ISP_HW_FATAL_ERROR)
-#define ISP_EVENT_PING_PONG_MISMATCH (ISP_EVENT_BASE + ISP_PING_PONG_MISMATCH)
-#define ISP_EVENT_REG_UPDATE_MISSING (ISP_EVENT_BASE + ISP_REG_UPDATE_MISSING)
-#define ISP_EVENT_BUF_FATAL_ERROR (ISP_EVENT_BASE + ISP_BUF_FATAL_ERROR)
-#define ISP_EVENT_STREAM_UPDATE_DONE   (ISP_STREAM_EVENT_BASE)
-
-/* The msm_v4l2_event_data structure should match the
- * v4l2_event.u.data field.
- * should not exceed 64 bytes */
-
-struct msm_isp_buf_event {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-	uint32_t output_format;
-	int8_t buf_idx;
-};
-struct msm_isp_fetch_eng_event {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-	uint32_t fd;
-	int8_t buf_idx;
-	int8_t offline_mode;
-};
-struct msm_isp_stats_event {
-	uint32_t stats_mask;                        /* 4 bytes */
-	uint8_t stats_buf_idxs[MSM_ISP_STATS_MAX];  /* 11 bytes */
-};
-
-struct msm_isp_stream_ack {
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t handle;
-};
-
-enum msm_vfe_error_type {
-	ISP_ERROR_NONE,
-	ISP_ERROR_CAMIF,
-	ISP_ERROR_BUS_OVERFLOW,
-	ISP_ERROR_RETURN_EMPTY_BUFFER,
-	ISP_ERROR_FRAME_ID_MISMATCH,
-	ISP_ERROR_MAX,
-};
-
-struct msm_isp_error_info {
-	enum msm_vfe_error_type err_type;
-	uint32_t session_id;
-	uint32_t stream_id;
-	uint32_t stream_id_mask;
-};
-
-/* This structure reports delta between master and slave */
-struct msm_isp_ms_delta_info {
-	uint8_t num_delta_info;
-	uint32_t delta[MS_NUM_SLAVE_MAX];
-};
-
-/* This is sent in EPOCH irq */
-struct msm_isp_output_info {
-	uint8_t regs_not_updated;
-	/* mask with bufq_handle for regs not updated or return empty */
-	uint16_t output_err_mask;
-	/* mask with stream_idx for get_buf failed */
-	uint8_t stream_framedrop_mask;
-	/* mask with stats stream_idx for get_buf failed */
-	uint16_t stats_framedrop_mask;
-	/* delta between master and slave */
-};
-
-/* This structure is piggybacked with SOF event */
-struct msm_isp_sof_info {
-	uint8_t regs_not_updated;
-	/* mask with AXI_SRC for regs not updated */
-	uint16_t reg_update_fail_mask;
-	/* mask with bufq_handle for get_buf failed */
-	uint32_t stream_get_buf_fail_mask;
-	/* mask with stats stream_idx for get_buf failed */
-	uint16_t stats_get_buf_fail_mask;
-	/* delta between master and slave */
-	struct msm_isp_ms_delta_info ms_delta_info;
-};
-
-struct msm_isp_event_data {
-	/*Wall clock except for buffer divert events
-	 *which use monotonic clock
-	 */
-	struct timeval timestamp;
-	/* Monotonic timestamp since bootup */
-	struct timeval mono_timestamp;
-	uint32_t frame_id;
-	union {
-		/* Sent for Stats_Done event */
-		struct msm_isp_stats_event stats;
-		/* Sent for Buf_Divert event */
-		struct msm_isp_buf_event buf_done;
-		/* Sent for offline fetch done event */
-		struct msm_isp_fetch_eng_event fetch_done;
-		/* Sent for Error_Event */
-		struct msm_isp_error_info error_info;
-		/*
-		 * This struct needs to be removed once
-		 * userspace switches to sof_info
-		 */
-		struct msm_isp_output_info output_info;
-		/* Sent for SOF event */
-		struct msm_isp_sof_info sof_info;
-	} u; /* union can have max 52 bytes */
-};
-
-#ifdef CONFIG_COMPAT
-struct msm_isp_event_data32 {
-	struct compat_timeval timestamp;
-	struct compat_timeval mono_timestamp;
-	uint32_t frame_id;
-	union {
-		struct msm_isp_stats_event stats;
-		struct msm_isp_buf_event buf_done;
-		struct msm_isp_fetch_eng_event fetch_done;
-		struct msm_isp_error_info error_info;
-		struct msm_isp_output_info output_info;
-		struct msm_isp_sof_info sof_info;
-	} u;
-};
-#endif
-
-#define V4L2_PIX_FMT_QBGGR8  v4l2_fourcc('Q', 'B', 'G', '8')
-#define V4L2_PIX_FMT_QGBRG8  v4l2_fourcc('Q', 'G', 'B', '8')
-#define V4L2_PIX_FMT_QGRBG8  v4l2_fourcc('Q', 'G', 'R', '8')
-#define V4L2_PIX_FMT_QRGGB8  v4l2_fourcc('Q', 'R', 'G', '8')
-#define V4L2_PIX_FMT_QBGGR10 v4l2_fourcc('Q', 'B', 'G', '0')
-#define V4L2_PIX_FMT_QGBRG10 v4l2_fourcc('Q', 'G', 'B', '0')
-#define V4L2_PIX_FMT_QGRBG10 v4l2_fourcc('Q', 'G', 'R', '0')
-#define V4L2_PIX_FMT_QRGGB10 v4l2_fourcc('Q', 'R', 'G', '0')
-#define V4L2_PIX_FMT_QBGGR12 v4l2_fourcc('Q', 'B', 'G', '2')
-#define V4L2_PIX_FMT_QGBRG12 v4l2_fourcc('Q', 'G', 'B', '2')
-#define V4L2_PIX_FMT_QGRBG12 v4l2_fourcc('Q', 'G', 'R', '2')
-#define V4L2_PIX_FMT_QRGGB12 v4l2_fourcc('Q', 'R', 'G', '2')
-#define V4L2_PIX_FMT_QBGGR14 v4l2_fourcc('Q', 'B', 'G', '4')
-#define V4L2_PIX_FMT_QGBRG14 v4l2_fourcc('Q', 'G', 'B', '4')
-#define V4L2_PIX_FMT_QGRBG14 v4l2_fourcc('Q', 'G', 'R', '4')
-#define V4L2_PIX_FMT_QRGGB14 v4l2_fourcc('Q', 'R', 'G', '4')
-#define V4L2_PIX_FMT_P16BGGR10 v4l2_fourcc('P', 'B', 'G', '0')
-#define V4L2_PIX_FMT_P16GBRG10 v4l2_fourcc('P', 'G', 'B', '0')
-#define V4L2_PIX_FMT_P16GRBG10 v4l2_fourcc('P', 'G', 'R', '0')
-#define V4L2_PIX_FMT_P16RGGB10 v4l2_fourcc('P', 'R', 'G', '0')
-#define V4L2_PIX_FMT_NV14 v4l2_fourcc('N', 'V', '1', '4')
-#define V4L2_PIX_FMT_NV41 v4l2_fourcc('N', 'V', '4', '1')
-#define V4L2_PIX_FMT_META v4l2_fourcc('Q', 'M', 'E', 'T')
-#define V4L2_PIX_FMT_SBGGR14 v4l2_fourcc('B', 'G', '1', '4') /* 14 BGBG.GRGR.*/
-#define V4L2_PIX_FMT_SGBRG14 v4l2_fourcc('G', 'B', '1', '4') /* 14 GBGB.RGRG.*/
-#define V4L2_PIX_FMT_SGRBG14 v4l2_fourcc('B', 'A', '1', '4') /* 14 GRGR.BGBG.*/
-#define V4L2_PIX_FMT_SRGGB14 v4l2_fourcc('R', 'G', '1', '4') /* 14 RGRG.GBGB.*/
-
-#define VIDIOC_MSM_VFE_REG_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct msm_vfe_cfg_cmd2)
-
-#define VIDIOC_MSM_ISP_REQUEST_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+1, struct msm_isp_buf_request)
-
-#define VIDIOC_MSM_ISP_ENQUEUE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+2, struct msm_isp_qbuf_info)
-
-#define VIDIOC_MSM_ISP_RELEASE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+3, struct msm_isp_buf_request)
-
-#define VIDIOC_MSM_ISP_REQUEST_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+4, struct msm_vfe_axi_stream_request_cmd)
-
-#define VIDIOC_MSM_ISP_CFG_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+5, struct msm_vfe_axi_stream_cfg_cmd)
-
-#define VIDIOC_MSM_ISP_RELEASE_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+6, struct msm_vfe_axi_stream_release_cmd)
-
-#define VIDIOC_MSM_ISP_INPUT_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+7, struct msm_vfe_input_cfg)
-
-#define VIDIOC_MSM_ISP_SET_SRC_STATE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+8, struct msm_vfe_axi_src_state)
-
-#define VIDIOC_MSM_ISP_REQUEST_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+9, \
-	struct msm_vfe_stats_stream_request_cmd)
-
-#define VIDIOC_MSM_ISP_CFG_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+10, struct msm_vfe_stats_stream_cfg_cmd)
-
-#define VIDIOC_MSM_ISP_RELEASE_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+11, \
-	struct msm_vfe_stats_stream_release_cmd)
-
-#define VIDIOC_MSM_ISP_REG_UPDATE_CMD \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+12, enum msm_vfe_input_src)
-
-#define VIDIOC_MSM_ISP_UPDATE_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+13, struct msm_vfe_axi_stream_update_cmd)
-
-#define VIDIOC_MSM_VFE_REG_LIST_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+14, struct msm_vfe_cfg_cmd_list)
-
-#define VIDIOC_MSM_ISP_SMMU_ATTACH \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+15, struct msm_vfe_smmu_attach_cmd)
-
-#define VIDIOC_MSM_ISP_UPDATE_STATS_STREAM \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+16, struct msm_vfe_axi_stream_update_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_HALT \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+17, struct msm_vfe_axi_halt_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_RESET \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+18, struct msm_vfe_axi_reset_cmd)
-
-#define VIDIOC_MSM_ISP_AXI_RESTART \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+19, struct msm_vfe_axi_restart_cmd)
-
-#define VIDIOC_MSM_ISP_FETCH_ENG_START \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+20, struct msm_vfe_fetch_eng_start)
-
-#define VIDIOC_MSM_ISP_DEQUEUE_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+21, struct msm_isp_qbuf_info)
-
-#define VIDIOC_MSM_ISP_SET_DUAL_HW_MASTER_SLAVE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+22, struct msm_isp_set_dual_hw_ms_cmd)
-
-#define VIDIOC_MSM_ISP_MAP_BUF_START_FE \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+23, struct msm_vfe_fetch_eng_start)
-
-#define VIDIOC_MSM_ISP_UNMAP_BUF \
-	_IOWR('V', BASE_VIDIOC_PRIVATE+24, struct msm_isp_unmap_buf_req)
-
-#endif /* __MSMB_ISP__ */
diff --git a/third_party/linux/include/msmb_ispif.h b/third_party/linux/include/msmb_ispif.h
deleted file mode 100644
index 2564c33b7b..0000000000
--- a/third_party/linux/include/msmb_ispif.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#ifndef MSM_CAM_ISPIF_H
-#define MSM_CAM_ISPIF_H
-
-#define CSID_VERSION_V20                      0x02000011
-#define CSID_VERSION_V22                      0x02001000
-#define CSID_VERSION_V30                      0x30000000
-#define CSID_VERSION_V3                      0x30000000
-
-enum msm_ispif_vfe_intf {
-	VFE0,
-	VFE1,
-	VFE_MAX
-};
-#define VFE0_MASK    (1 << VFE0)
-#define VFE1_MASK    (1 << VFE1)
-
-enum msm_ispif_intftype {
-	PIX0,
-	RDI0,
-	PIX1,
-	RDI1,
-	RDI2,
-	INTF_MAX
-};
-#define MAX_PARAM_ENTRIES (INTF_MAX * 2)
-#define MAX_CID_CH	8
-
-#define PIX0_MASK (1 << PIX0)
-#define PIX1_MASK (1 << PIX1)
-#define RDI0_MASK (1 << RDI0)
-#define RDI1_MASK (1 << RDI1)
-#define RDI2_MASK (1 << RDI2)
-
-
-enum msm_ispif_vc {
-	VC0,
-	VC1,
-	VC2,
-	VC3,
-	VC_MAX
-};
-
-enum msm_ispif_cid {
-	CID0,
-	CID1,
-	CID2,
-	CID3,
-	CID4,
-	CID5,
-	CID6,
-	CID7,
-	CID8,
-	CID9,
-	CID10,
-	CID11,
-	CID12,
-	CID13,
-	CID14,
-	CID15,
-	CID_MAX
-};
-
-enum msm_ispif_csid {
-	CSID0,
-	CSID1,
-	CSID2,
-	CSID3,
-	CSID_MAX
-};
-
-struct msm_ispif_params_entry {
-	enum msm_ispif_vfe_intf vfe_intf;
-	enum msm_ispif_intftype intftype;
-	int num_cids;
-	enum msm_ispif_cid cids[3];
-	enum msm_ispif_csid csid;
-	int crop_enable;
-	uint16_t crop_start_pixel;
-	uint16_t crop_end_pixel;
-};
-
-struct msm_ispif_param_data {
-	uint32_t num;
-	struct msm_ispif_params_entry entries[MAX_PARAM_ENTRIES];
-};
-
-struct msm_isp_info {
-	uint32_t max_resolution;
-	uint32_t id;
-	uint32_t ver;
-};
-
-struct msm_ispif_vfe_info {
-	int num_vfe;
-	struct msm_isp_info info[VFE_MAX];
-};
-
-enum ispif_cfg_type_t {
-	ISPIF_CLK_ENABLE,
-	ISPIF_CLK_DISABLE,
-	ISPIF_INIT,
-	ISPIF_CFG,
-	ISPIF_START_FRAME_BOUNDARY,
-	ISPIF_RESTART_FRAME_BOUNDARY,
-	ISPIF_STOP_FRAME_BOUNDARY,
-	ISPIF_STOP_IMMEDIATELY,
-	ISPIF_RELEASE,
-	ISPIF_ENABLE_REG_DUMP,
-	ISPIF_SET_VFE_INFO,
-};
-
-struct ispif_cfg_data {
-	enum ispif_cfg_type_t cfg_type;
-	union {
-		int reg_dump;                        /* ISPIF_ENABLE_REG_DUMP */
-		uint32_t csid_version;               /* ISPIF_INIT */
-		struct msm_ispif_vfe_info vfe_info;  /* ISPIF_SET_VFE_INFO */
-		struct msm_ispif_param_data params;  /* CFG, START, STOP */
-	};
-};
-
-#define VIDIOC_MSM_ISPIF_CFG \
-	_IOWR('V', BASE_VIDIOC_PRIVATE, struct ispif_cfg_data)
-
-#endif /* MSM_CAM_ISPIF_H */
diff --git a/third_party/linux/include/v4l2-controls.h b/third_party/linux/include/v4l2-controls.h
deleted file mode 100644
index d14cd8fabe..0000000000
--- a/third_party/linux/include/v4l2-controls.h
+++ /dev/null
@@ -1,1696 +0,0 @@
-/*
- *  Video for Linux Two controls header file
- *
- *  Copyright (C) 1999-2012 the contributors
- *
- *  This program is free software; you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation; either version 2 of the License, or
- *  (at your option) any later version.
- *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  Alternatively you can redistribute this file under the terms of the
- *  BSD license as stated below:
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in
- *     the documentation and/or other materials provided with the
- *     distribution.
- *  3. The names of its contributors may not be used to endorse or promote
- *     products derived from this software without specific prior written
- *     permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- *  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
- *  TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- *  PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
- *  LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
- *  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- *  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- *  The contents of this header was split off from videodev2.h. All control
- *  definitions should be added to this header, which is included by
- *  videodev2.h.
- */
-
-#ifndef __LINUX_V4L2_CONTROLS_H
-#define __LINUX_V4L2_CONTROLS_H
-
-/* Control classes */
-#define V4L2_CTRL_CLASS_USER		0x00980000	/* Old-style 'user' controls */
-#define V4L2_CTRL_CLASS_MPEG		0x00990000	/* MPEG-compression controls */
-#define V4L2_CTRL_CLASS_CAMERA		0x009a0000	/* Camera class controls */
-#define V4L2_CTRL_CLASS_FM_TX		0x009b0000	/* FM Modulator controls */
-#define V4L2_CTRL_CLASS_FLASH		0x009c0000	/* Camera flash controls */
-#define V4L2_CTRL_CLASS_JPEG		0x009d0000	/* JPEG-compression controls */
-#define V4L2_CTRL_CLASS_IMAGE_SOURCE	0x009e0000	/* Image source controls */
-#define V4L2_CTRL_CLASS_IMAGE_PROC	0x009f0000	/* Image processing controls */
-#define V4L2_CTRL_CLASS_DV		0x00a00000	/* Digital Video controls */
-#define V4L2_CTRL_CLASS_FM_RX		0x00a10000	/* FM Receiver controls */
-#define V4L2_CTRL_CLASS_RF_TUNER	0x00a20000	/* RF tuner controls */
-#define V4L2_CTRL_CLASS_DETECT		0x00a30000	/* Detection controls */
-
-/* User-class control IDs */
-
-#define V4L2_CID_BASE			(V4L2_CTRL_CLASS_USER | 0x900)
-#define V4L2_CID_USER_BASE 		V4L2_CID_BASE
-#define V4L2_CID_USER_CLASS 		(V4L2_CTRL_CLASS_USER | 1)
-#define V4L2_CID_BRIGHTNESS		(V4L2_CID_BASE+0)
-#define V4L2_CID_CONTRAST		(V4L2_CID_BASE+1)
-#define V4L2_CID_SATURATION		(V4L2_CID_BASE+2)
-#define V4L2_CID_HUE			(V4L2_CID_BASE+3)
-#define V4L2_CID_AUDIO_VOLUME		(V4L2_CID_BASE+5)
-#define V4L2_CID_AUDIO_BALANCE		(V4L2_CID_BASE+6)
-#define V4L2_CID_AUDIO_BASS		(V4L2_CID_BASE+7)
-#define V4L2_CID_AUDIO_TREBLE		(V4L2_CID_BASE+8)
-#define V4L2_CID_AUDIO_MUTE		(V4L2_CID_BASE+9)
-#define V4L2_CID_AUDIO_LOUDNESS		(V4L2_CID_BASE+10)
-#define V4L2_CID_BLACK_LEVEL		(V4L2_CID_BASE+11) /* Deprecated */
-#define V4L2_CID_AUTO_WHITE_BALANCE	(V4L2_CID_BASE+12)
-#define V4L2_CID_DO_WHITE_BALANCE	(V4L2_CID_BASE+13)
-#define V4L2_CID_RED_BALANCE		(V4L2_CID_BASE+14)
-#define V4L2_CID_BLUE_BALANCE		(V4L2_CID_BASE+15)
-#define V4L2_CID_GAMMA			(V4L2_CID_BASE+16)
-#define V4L2_CID_WHITENESS		(V4L2_CID_GAMMA) /* Deprecated */
-#define V4L2_CID_EXPOSURE		(V4L2_CID_BASE+17)
-#define V4L2_CID_AUTOGAIN		(V4L2_CID_BASE+18)
-#define V4L2_CID_GAIN			(V4L2_CID_BASE+19)
-#define V4L2_CID_HFLIP			(V4L2_CID_BASE+20)
-#define V4L2_CID_VFLIP			(V4L2_CID_BASE+21)
-
-#define V4L2_CID_POWER_LINE_FREQUENCY	(V4L2_CID_BASE+24)
-enum v4l2_power_line_frequency {
-	V4L2_CID_POWER_LINE_FREQUENCY_DISABLED	= 0,
-	V4L2_CID_POWER_LINE_FREQUENCY_50HZ	= 1,
-	V4L2_CID_POWER_LINE_FREQUENCY_60HZ	= 2,
-	V4L2_CID_POWER_LINE_FREQUENCY_AUTO	= 3,
-};
-#define V4L2_CID_HUE_AUTO			(V4L2_CID_BASE+25)
-#define V4L2_CID_WHITE_BALANCE_TEMPERATURE	(V4L2_CID_BASE+26)
-#define V4L2_CID_SHARPNESS			(V4L2_CID_BASE+27)
-#define V4L2_CID_BACKLIGHT_COMPENSATION 	(V4L2_CID_BASE+28)
-#define V4L2_CID_CHROMA_AGC                     (V4L2_CID_BASE+29)
-#define V4L2_CID_COLOR_KILLER                   (V4L2_CID_BASE+30)
-#define V4L2_CID_COLORFX			(V4L2_CID_BASE+31)
-enum v4l2_colorfx {
-	V4L2_COLORFX_NONE			= 0,
-	V4L2_COLORFX_BW				= 1,
-	V4L2_COLORFX_SEPIA			= 2,
-	V4L2_COLORFX_NEGATIVE			= 3,
-	V4L2_COLORFX_EMBOSS			= 4,
-	V4L2_COLORFX_SKETCH			= 5,
-	V4L2_COLORFX_SKY_BLUE			= 6,
-	V4L2_COLORFX_GRASS_GREEN		= 7,
-	V4L2_COLORFX_SKIN_WHITEN		= 8,
-	V4L2_COLORFX_VIVID			= 9,
-	V4L2_COLORFX_AQUA			= 10,
-	V4L2_COLORFX_ART_FREEZE			= 11,
-	V4L2_COLORFX_SILHOUETTE			= 12,
-	V4L2_COLORFX_SOLARIZATION		= 13,
-	V4L2_COLORFX_ANTIQUE			= 14,
-	V4L2_COLORFX_SET_CBCR			= 15,
-};
-#define V4L2_CID_AUTOBRIGHTNESS			(V4L2_CID_BASE+32)
-#define V4L2_CID_BAND_STOP_FILTER		(V4L2_CID_BASE+33)
-
-#define V4L2_CID_ROTATE				(V4L2_CID_BASE+34)
-#define V4L2_CID_BG_COLOR			(V4L2_CID_BASE+35)
-
-#define V4L2_CID_CHROMA_GAIN                    (V4L2_CID_BASE+36)
-
-#define V4L2_CID_ILLUMINATORS_1			(V4L2_CID_BASE+37)
-#define V4L2_CID_ILLUMINATORS_2			(V4L2_CID_BASE+38)
-
-#define V4L2_CID_MIN_BUFFERS_FOR_CAPTURE	(V4L2_CID_BASE+39)
-#define V4L2_CID_MIN_BUFFERS_FOR_OUTPUT		(V4L2_CID_BASE+40)
-
-#define V4L2_CID_ALPHA_COMPONENT		(V4L2_CID_BASE+41)
-#define V4L2_CID_COLORFX_CBCR			(V4L2_CID_BASE+42)
-
-/* last CID + 1 */
-#define V4L2_CID_LASTP1                         (V4L2_CID_BASE+43)
-
-/* USER-class private control IDs */
-
-/* The base for the meye driver controls. See linux/meye.h for the list
- * of controls. We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_MEYE_BASE			(V4L2_CID_USER_BASE + 0x1000)
-
-/* The base for the bttv driver controls.
- * We reserve 32 controls for this driver. */
-#define V4L2_CID_USER_BTTV_BASE			(V4L2_CID_USER_BASE + 0x1010)
-
-
-/* The base for the s2255 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_S2255_BASE		(V4L2_CID_USER_BASE + 0x1030)
-
-/*
- * The base for the si476x driver controls. See include/media/drv-intf/si476x.h
- * for the list of controls. Total of 16 controls is reserved for this driver
- */
-#define V4L2_CID_USER_SI476X_BASE		(V4L2_CID_USER_BASE + 0x1040)
-
-/* The base for the TI VPE driver controls. Total of 16 controls is reserved for
- * this driver */
-#define V4L2_CID_USER_TI_VPE_BASE		(V4L2_CID_USER_BASE + 0x1050)
-
-/* The base for the saa7134 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_SAA7134_BASE		(V4L2_CID_USER_BASE + 0x1060)
-
-/* The base for the adv7180 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_ADV7180_BASE		(V4L2_CID_USER_BASE + 0x1070)
-
-/* The base for the tc358743 driver controls.
- * We reserve 16 controls for this driver. */
-#define V4L2_CID_USER_TC358743_BASE		(V4L2_CID_USER_BASE + 0x1080)
-
-/* MPEG-class control IDs */
-/* The MPEG controls are applicable to all codec controls
- * and the 'MPEG' part of the define is historical */
-
-#define V4L2_CID_MPEG_BASE 			(V4L2_CTRL_CLASS_MPEG | 0x900)
-#define V4L2_CID_MPEG_CLASS 			(V4L2_CTRL_CLASS_MPEG | 1)
-
-/*  MPEG streams, specific to multiplexed streams */
-#define V4L2_CID_MPEG_STREAM_TYPE 		(V4L2_CID_MPEG_BASE+0)
-enum v4l2_mpeg_stream_type {
-	V4L2_MPEG_STREAM_TYPE_MPEG2_PS   = 0, /* MPEG-2 program stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_TS   = 1, /* MPEG-2 transport stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG1_SS   = 2, /* MPEG-1 system stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_DVD  = 3, /* MPEG-2 DVD-compatible stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG1_VCD  = 4, /* MPEG-1 VCD-compatible stream */
-	V4L2_MPEG_STREAM_TYPE_MPEG2_SVCD = 5, /* MPEG-2 SVCD-compatible stream */
-};
-#define V4L2_CID_MPEG_STREAM_PID_PMT 		(V4L2_CID_MPEG_BASE+1)
-#define V4L2_CID_MPEG_STREAM_PID_AUDIO 		(V4L2_CID_MPEG_BASE+2)
-#define V4L2_CID_MPEG_STREAM_PID_VIDEO 		(V4L2_CID_MPEG_BASE+3)
-#define V4L2_CID_MPEG_STREAM_PID_PCR 		(V4L2_CID_MPEG_BASE+4)
-#define V4L2_CID_MPEG_STREAM_PES_ID_AUDIO 	(V4L2_CID_MPEG_BASE+5)
-#define V4L2_CID_MPEG_STREAM_PES_ID_VIDEO 	(V4L2_CID_MPEG_BASE+6)
-#define V4L2_CID_MPEG_STREAM_VBI_FMT 		(V4L2_CID_MPEG_BASE+7)
-enum v4l2_mpeg_stream_vbi_fmt {
-	V4L2_MPEG_STREAM_VBI_FMT_NONE = 0,  /* No VBI in the MPEG stream */
-	V4L2_MPEG_STREAM_VBI_FMT_IVTV = 1,  /* VBI in private packets, IVTV format */
-};
-
-/*  MPEG audio controls specific to multiplexed streams  */
-#define V4L2_CID_MPEG_AUDIO_SAMPLING_FREQ 	(V4L2_CID_MPEG_BASE+100)
-enum v4l2_mpeg_audio_sampling_freq {
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_44100 = 0,
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_48000 = 1,
-	V4L2_MPEG_AUDIO_SAMPLING_FREQ_32000 = 2,
-};
-#define V4L2_CID_MPEG_AUDIO_ENCODING 		(V4L2_CID_MPEG_BASE+101)
-enum v4l2_mpeg_audio_encoding {
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_1 = 0,
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_2 = 1,
-	V4L2_MPEG_AUDIO_ENCODING_LAYER_3 = 2,
-	V4L2_MPEG_AUDIO_ENCODING_AAC     = 3,
-	V4L2_MPEG_AUDIO_ENCODING_AC3     = 4,
-};
-#define V4L2_CID_MPEG_AUDIO_L1_BITRATE 		(V4L2_CID_MPEG_BASE+102)
-enum v4l2_mpeg_audio_l1_bitrate {
-	V4L2_MPEG_AUDIO_L1_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L1_BITRATE_64K  = 1,
-	V4L2_MPEG_AUDIO_L1_BITRATE_96K  = 2,
-	V4L2_MPEG_AUDIO_L1_BITRATE_128K = 3,
-	V4L2_MPEG_AUDIO_L1_BITRATE_160K = 4,
-	V4L2_MPEG_AUDIO_L1_BITRATE_192K = 5,
-	V4L2_MPEG_AUDIO_L1_BITRATE_224K = 6,
-	V4L2_MPEG_AUDIO_L1_BITRATE_256K = 7,
-	V4L2_MPEG_AUDIO_L1_BITRATE_288K = 8,
-	V4L2_MPEG_AUDIO_L1_BITRATE_320K = 9,
-	V4L2_MPEG_AUDIO_L1_BITRATE_352K = 10,
-	V4L2_MPEG_AUDIO_L1_BITRATE_384K = 11,
-	V4L2_MPEG_AUDIO_L1_BITRATE_416K = 12,
-	V4L2_MPEG_AUDIO_L1_BITRATE_448K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_L2_BITRATE 		(V4L2_CID_MPEG_BASE+103)
-enum v4l2_mpeg_audio_l2_bitrate {
-	V4L2_MPEG_AUDIO_L2_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L2_BITRATE_48K  = 1,
-	V4L2_MPEG_AUDIO_L2_BITRATE_56K  = 2,
-	V4L2_MPEG_AUDIO_L2_BITRATE_64K  = 3,
-	V4L2_MPEG_AUDIO_L2_BITRATE_80K  = 4,
-	V4L2_MPEG_AUDIO_L2_BITRATE_96K  = 5,
-	V4L2_MPEG_AUDIO_L2_BITRATE_112K = 6,
-	V4L2_MPEG_AUDIO_L2_BITRATE_128K = 7,
-	V4L2_MPEG_AUDIO_L2_BITRATE_160K = 8,
-	V4L2_MPEG_AUDIO_L2_BITRATE_192K = 9,
-	V4L2_MPEG_AUDIO_L2_BITRATE_224K = 10,
-	V4L2_MPEG_AUDIO_L2_BITRATE_256K = 11,
-	V4L2_MPEG_AUDIO_L2_BITRATE_320K = 12,
-	V4L2_MPEG_AUDIO_L2_BITRATE_384K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_L3_BITRATE 		(V4L2_CID_MPEG_BASE+104)
-enum v4l2_mpeg_audio_l3_bitrate {
-	V4L2_MPEG_AUDIO_L3_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_L3_BITRATE_40K  = 1,
-	V4L2_MPEG_AUDIO_L3_BITRATE_48K  = 2,
-	V4L2_MPEG_AUDIO_L3_BITRATE_56K  = 3,
-	V4L2_MPEG_AUDIO_L3_BITRATE_64K  = 4,
-	V4L2_MPEG_AUDIO_L3_BITRATE_80K  = 5,
-	V4L2_MPEG_AUDIO_L3_BITRATE_96K  = 6,
-	V4L2_MPEG_AUDIO_L3_BITRATE_112K = 7,
-	V4L2_MPEG_AUDIO_L3_BITRATE_128K = 8,
-	V4L2_MPEG_AUDIO_L3_BITRATE_160K = 9,
-	V4L2_MPEG_AUDIO_L3_BITRATE_192K = 10,
-	V4L2_MPEG_AUDIO_L3_BITRATE_224K = 11,
-	V4L2_MPEG_AUDIO_L3_BITRATE_256K = 12,
-	V4L2_MPEG_AUDIO_L3_BITRATE_320K = 13,
-};
-#define V4L2_CID_MPEG_AUDIO_MODE 		(V4L2_CID_MPEG_BASE+105)
-enum v4l2_mpeg_audio_mode {
-	V4L2_MPEG_AUDIO_MODE_STEREO       = 0,
-	V4L2_MPEG_AUDIO_MODE_JOINT_STEREO = 1,
-	V4L2_MPEG_AUDIO_MODE_DUAL         = 2,
-	V4L2_MPEG_AUDIO_MODE_MONO         = 3,
-};
-#define V4L2_CID_MPEG_AUDIO_MODE_EXTENSION 	(V4L2_CID_MPEG_BASE+106)
-enum v4l2_mpeg_audio_mode_extension {
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_4  = 0,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_8  = 1,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_12 = 2,
-	V4L2_MPEG_AUDIO_MODE_EXTENSION_BOUND_16 = 3,
-};
-#define V4L2_CID_MPEG_AUDIO_EMPHASIS 		(V4L2_CID_MPEG_BASE+107)
-enum v4l2_mpeg_audio_emphasis {
-	V4L2_MPEG_AUDIO_EMPHASIS_NONE         = 0,
-	V4L2_MPEG_AUDIO_EMPHASIS_50_DIV_15_uS = 1,
-	V4L2_MPEG_AUDIO_EMPHASIS_CCITT_J17    = 2,
-};
-#define V4L2_CID_MPEG_AUDIO_CRC 		(V4L2_CID_MPEG_BASE+108)
-enum v4l2_mpeg_audio_crc {
-	V4L2_MPEG_AUDIO_CRC_NONE  = 0,
-	V4L2_MPEG_AUDIO_CRC_CRC16 = 1,
-};
-#define V4L2_CID_MPEG_AUDIO_MUTE 		(V4L2_CID_MPEG_BASE+109)
-#define V4L2_CID_MPEG_AUDIO_AAC_BITRATE		(V4L2_CID_MPEG_BASE+110)
-#define V4L2_CID_MPEG_AUDIO_AC3_BITRATE		(V4L2_CID_MPEG_BASE+111)
-enum v4l2_mpeg_audio_ac3_bitrate {
-	V4L2_MPEG_AUDIO_AC3_BITRATE_32K  = 0,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_40K  = 1,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_48K  = 2,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_56K  = 3,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_64K  = 4,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_80K  = 5,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_96K  = 6,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_112K = 7,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_128K = 8,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_160K = 9,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_192K = 10,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_224K = 11,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_256K = 12,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_320K = 13,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_384K = 14,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_448K = 15,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_512K = 16,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_576K = 17,
-	V4L2_MPEG_AUDIO_AC3_BITRATE_640K = 18,
-};
-#define V4L2_CID_MPEG_AUDIO_DEC_PLAYBACK	(V4L2_CID_MPEG_BASE+112)
-enum v4l2_mpeg_audio_dec_playback {
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_AUTO	    = 0,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_STEREO	    = 1,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_LEFT	    = 2,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_RIGHT	    = 3,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_MONO	    = 4,
-	V4L2_MPEG_AUDIO_DEC_PLAYBACK_SWAPPED_STEREO = 5,
-};
-#define V4L2_CID_MPEG_AUDIO_DEC_MULTILINGUAL_PLAYBACK (V4L2_CID_MPEG_BASE+113)
-
-/*  MPEG video controls specific to multiplexed streams */
-#define V4L2_CID_MPEG_VIDEO_ENCODING 		(V4L2_CID_MPEG_BASE+200)
-enum v4l2_mpeg_video_encoding {
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_1     = 0,
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_2     = 1,
-	V4L2_MPEG_VIDEO_ENCODING_MPEG_4_AVC = 2,
-};
-#define V4L2_CID_MPEG_VIDEO_ASPECT 		(V4L2_CID_MPEG_BASE+201)
-enum v4l2_mpeg_video_aspect {
-	V4L2_MPEG_VIDEO_ASPECT_1x1     = 0,
-	V4L2_MPEG_VIDEO_ASPECT_4x3     = 1,
-	V4L2_MPEG_VIDEO_ASPECT_16x9    = 2,
-	V4L2_MPEG_VIDEO_ASPECT_221x100 = 3,
-};
-#define V4L2_CID_MPEG_VIDEO_B_FRAMES 		(V4L2_CID_MPEG_BASE+202)
-#define V4L2_CID_MPEG_VIDEO_GOP_SIZE 		(V4L2_CID_MPEG_BASE+203)
-#define V4L2_CID_MPEG_VIDEO_GOP_CLOSURE 	(V4L2_CID_MPEG_BASE+204)
-#define V4L2_CID_MPEG_VIDEO_PULLDOWN 		(V4L2_CID_MPEG_BASE+205)
-#define V4L2_CID_MPEG_VIDEO_BITRATE_MODE 	(V4L2_CID_MPEG_BASE+206)
-enum v4l2_mpeg_video_bitrate_mode {
-	V4L2_MPEG_VIDEO_BITRATE_MODE_VBR = 0,
-	V4L2_MPEG_VIDEO_BITRATE_MODE_CBR = 1,
-};
-#define V4L2_CID_MPEG_VIDEO_BITRATE 		(V4L2_CID_MPEG_BASE+207)
-#define V4L2_CID_MPEG_VIDEO_BITRATE_PEAK 	(V4L2_CID_MPEG_BASE+208)
-#define V4L2_CID_MPEG_VIDEO_TEMPORAL_DECIMATION (V4L2_CID_MPEG_BASE+209)
-#define V4L2_CID_MPEG_VIDEO_MUTE 		(V4L2_CID_MPEG_BASE+210)
-#define V4L2_CID_MPEG_VIDEO_MUTE_YUV 		(V4L2_CID_MPEG_BASE+211)
-#define V4L2_CID_MPEG_VIDEO_DECODER_SLICE_INTERFACE		(V4L2_CID_MPEG_BASE+212)
-#define V4L2_CID_MPEG_VIDEO_DECODER_MPEG4_DEBLOCK_FILTER	(V4L2_CID_MPEG_BASE+213)
-#define V4L2_CID_MPEG_VIDEO_CYCLIC_INTRA_REFRESH_MB		(V4L2_CID_MPEG_BASE+214)
-#define V4L2_CID_MPEG_VIDEO_FRAME_RC_ENABLE			(V4L2_CID_MPEG_BASE+215)
-#define V4L2_CID_MPEG_VIDEO_HEADER_MODE				(V4L2_CID_MPEG_BASE+216)
-enum v4l2_mpeg_video_header_mode {
-	V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE			= 0,
-	V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_1ST_FRAME	= 1,
-	V4L2_MPEG_VIDEO_HEADER_MODE_JOINED_WITH_I_FRAME		= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_MAX_REF_PIC			(V4L2_CID_MPEG_BASE+217)
-#define V4L2_CID_MPEG_VIDEO_MB_RC_ENABLE		(V4L2_CID_MPEG_BASE+218)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_BYTES	(V4L2_CID_MPEG_BASE+219)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MAX_MB		(V4L2_CID_MPEG_BASE+220)
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE		(V4L2_CID_MPEG_BASE+221)
-enum v4l2_mpeg_video_multi_slice_mode {
-	V4L2_MPEG_VIDEO_MULTI_SLICE_MODE_SINGLE		= 0,
-	V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_MB		= 1,
-	V4L2_MPEG_VIDEO_MULTI_SICE_MODE_MAX_BYTES	= 2,
-	V4L2_MPEG_VIDEO_MULTI_SLICE_GOB			= 3,
-};
-#define V4L2_CID_MPEG_VIDEO_VBV_SIZE			(V4L2_CID_MPEG_BASE+222)
-#define V4L2_CID_MPEG_VIDEO_DEC_PTS			(V4L2_CID_MPEG_BASE+223)
-#define V4L2_CID_MPEG_VIDEO_DEC_FRAME			(V4L2_CID_MPEG_BASE+224)
-#define V4L2_CID_MPEG_VIDEO_VBV_DELAY			(V4L2_CID_MPEG_BASE+225)
-#define V4L2_CID_MPEG_VIDEO_REPEAT_SEQ_HEADER		(V4L2_CID_MPEG_BASE+226)
-#define V4L2_CID_MPEG_VIDEO_MV_H_SEARCH_RANGE		(V4L2_CID_MPEG_BASE+227)
-#define V4L2_CID_MPEG_VIDEO_MV_V_SEARCH_RANGE		(V4L2_CID_MPEG_BASE+228)
-#define V4L2_CID_MPEG_VIDEO_FORCE_KEY_FRAME		(V4L2_CID_MPEG_BASE+229)
-
-#define V4L2_CID_MPEG_VIDEO_H263_I_FRAME_QP		(V4L2_CID_MPEG_BASE+300)
-#define V4L2_CID_MPEG_VIDEO_H263_P_FRAME_QP		(V4L2_CID_MPEG_BASE+301)
-#define V4L2_CID_MPEG_VIDEO_H263_B_FRAME_QP		(V4L2_CID_MPEG_BASE+302)
-#define V4L2_CID_MPEG_VIDEO_H263_MIN_QP			(V4L2_CID_MPEG_BASE+303)
-#define V4L2_CID_MPEG_VIDEO_H263_MAX_QP			(V4L2_CID_MPEG_BASE+304)
-#define V4L2_CID_MPEG_VIDEO_H264_I_FRAME_QP		(V4L2_CID_MPEG_BASE+350)
-#define V4L2_CID_MPEG_VIDEO_H264_P_FRAME_QP		(V4L2_CID_MPEG_BASE+351)
-#define V4L2_CID_MPEG_VIDEO_H264_B_FRAME_QP		(V4L2_CID_MPEG_BASE+352)
-#define V4L2_CID_MPEG_VIDEO_H264_MIN_QP			(V4L2_CID_MPEG_BASE+353)
-#define V4L2_CID_MPEG_VIDEO_H264_MAX_QP			(V4L2_CID_MPEG_BASE+354)
-#define V4L2_CID_MPEG_VIDEO_H264_8X8_TRANSFORM		(V4L2_CID_MPEG_BASE+355)
-#define V4L2_CID_MPEG_VIDEO_H264_CPB_SIZE		(V4L2_CID_MPEG_BASE+356)
-#define V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE		(V4L2_CID_MPEG_BASE+357)
-enum v4l2_mpeg_video_h264_entropy_mode {
-	V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CAVLC	= 0,
-	V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_I_PERIOD		(V4L2_CID_MPEG_BASE+358)
-#define V4L2_CID_MPEG_VIDEO_H264_LEVEL			(V4L2_CID_MPEG_BASE+359)
-enum v4l2_mpeg_video_h264_level {
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_0	= 0,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1B	= 1,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_1	= 2,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_2	= 3,
-	V4L2_MPEG_VIDEO_H264_LEVEL_1_3	= 4,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_0	= 5,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_1	= 6,
-	V4L2_MPEG_VIDEO_H264_LEVEL_2_2	= 7,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_0	= 8,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_1	= 9,
-	V4L2_MPEG_VIDEO_H264_LEVEL_3_2	= 10,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_0	= 11,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_1	= 12,
-	V4L2_MPEG_VIDEO_H264_LEVEL_4_2	= 13,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_0	= 14,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_1	= 15,
-	V4L2_MPEG_VIDEO_H264_LEVEL_5_2	= 16,
-#define V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN \
-	V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN
-	V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN = 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA	(V4L2_CID_MPEG_BASE+360)
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA	(V4L2_CID_MPEG_BASE+361)
-#define V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE	(V4L2_CID_MPEG_BASE+362)
-enum v4l2_mpeg_video_h264_loop_filter_mode {
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_ENABLED				= 0,
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED				= 1,
-	V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_DISABLED_AT_SLICE_BOUNDARY	= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_PROFILE		(V4L2_CID_MPEG_BASE+363)
-enum v4l2_mpeg_video_h264_profile {
-	V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE			= 0,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_BASELINE	= 1,
-	V4L2_MPEG_VIDEO_H264_PROFILE_MAIN			= 2,
-	V4L2_MPEG_VIDEO_H264_PROFILE_EXTENDED			= 3,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH			= 4,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10			= 5,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422			= 6,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_PREDICTIVE	= 7,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_10_INTRA		= 8,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_422_INTRA		= 9,
-	V4L2_MPEG_VIDEO_H264_PROFILE_HIGH_444_INTRA		= 10,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CAVLC_444_INTRA		= 11,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_BASELINE		= 12,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH		= 13,
-	V4L2_MPEG_VIDEO_H264_PROFILE_SCALABLE_HIGH_INTRA	= 14,
-	V4L2_MPEG_VIDEO_H264_PROFILE_STEREO_HIGH		= 15,
-	V4L2_MPEG_VIDEO_H264_PROFILE_MULTIVIEW_HIGH		= 16,
-	V4L2_MPEG_VIDEO_H264_PROFILE_CONSTRAINED_HIGH		= 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_HEIGHT	(V4L2_CID_MPEG_BASE+364)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_EXT_SAR_WIDTH	(V4L2_CID_MPEG_BASE+365)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_ENABLE		(V4L2_CID_MPEG_BASE+366)
-#define V4L2_CID_MPEG_VIDEO_H264_VUI_SAR_IDC		(V4L2_CID_MPEG_BASE+367)
-enum v4l2_mpeg_video_h264_vui_sar_idc {
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_UNSPECIFIED	= 0,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_1x1		= 1,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_12x11		= 2,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_10x11		= 3,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_16x11		= 4,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_40x33		= 5,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_24x11		= 6,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_20x11		= 7,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_32x11		= 8,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_80x33		= 9,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_18x11		= 10,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_15x11		= 11,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_64x33		= 12,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_160x99		= 13,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_4x3		= 14,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_3x2		= 15,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_2x1		= 16,
-	V4L2_MPEG_VIDEO_H264_VUI_SAR_IDC_EXTENDED	= 17,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FRAME_PACKING		(V4L2_CID_MPEG_BASE+368)
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_CURRENT_FRAME_0		(V4L2_CID_MPEG_BASE+369)
-#define V4L2_CID_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE	(V4L2_CID_MPEG_BASE+370)
-enum v4l2_mpeg_video_h264_sei_fp_arrangement_type {
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_CHECKERBOARD	= 0,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_COLUMN		= 1,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_ROW		= 2,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_SIDE_BY_SIDE	= 3,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TOP_BOTTOM		= 4,
-	V4L2_MPEG_VIDEO_H264_SEI_FP_ARRANGEMENT_TYPE_TEMPORAL		= 5,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO			(V4L2_CID_MPEG_BASE+371)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_MAP_TYPE		(V4L2_CID_MPEG_BASE+372)
-enum v4l2_mpeg_video_h264_fmo_map_type {
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_INTERLEAVED_SLICES		= 0,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_SCATTERED_SLICES		= 1,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_FOREGROUND_WITH_LEFT_OVER	= 2,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_BOX_OUT			= 3,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_RASTER_SCAN			= 4,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_WIPE_SCAN			= 5,
-	V4L2_MPEG_VIDEO_H264_FMO_MAP_TYPE_EXPLICIT			= 6,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_SLICE_GROUP	(V4L2_CID_MPEG_BASE+373)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_DIRECTION	(V4L2_CID_MPEG_BASE+374)
-enum v4l2_mpeg_video_h264_fmo_change_dir {
-	V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_RIGHT	= 0,
-	V4L2_MPEG_VIDEO_H264_FMO_CHANGE_DIR_LEFT	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_CHANGE_RATE	(V4L2_CID_MPEG_BASE+375)
-#define V4L2_CID_MPEG_VIDEO_H264_FMO_RUN_LENGTH		(V4L2_CID_MPEG_BASE+376)
-#define V4L2_CID_MPEG_VIDEO_H264_ASO			(V4L2_CID_MPEG_BASE+377)
-#define V4L2_CID_MPEG_VIDEO_H264_ASO_SLICE_ORDER	(V4L2_CID_MPEG_BASE+378)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING		(V4L2_CID_MPEG_BASE+379)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_TYPE	(V4L2_CID_MPEG_BASE+380)
-enum v4l2_mpeg_video_h264_hierarchical_coding_type {
-	V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_B	= 0,
-	V4L2_MPEG_VIDEO_H264_HIERARCHICAL_CODING_P	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER	(V4L2_CID_MPEG_BASE+381)
-#define V4L2_CID_MPEG_VIDEO_H264_HIERARCHICAL_CODING_LAYER_QP	(V4L2_CID_MPEG_BASE+382)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_I_FRAME_QP	(V4L2_CID_MPEG_BASE+400)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_P_FRAME_QP	(V4L2_CID_MPEG_BASE+401)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_B_FRAME_QP	(V4L2_CID_MPEG_BASE+402)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_MIN_QP	(V4L2_CID_MPEG_BASE+403)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_MAX_QP	(V4L2_CID_MPEG_BASE+404)
-#define V4L2_CID_MPEG_VIDEO_MPEG4_LEVEL		(V4L2_CID_MPEG_BASE+405)
-enum v4l2_mpeg_video_mpeg4_level {
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_0	= 0,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_0B	= 1,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_1	= 2,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_2	= 3,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_3	= 4,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_3B	= 5,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_4	= 6,
-	V4L2_MPEG_VIDEO_MPEG4_LEVEL_5	= 7,
-};
-#define V4L2_CID_MPEG_VIDEO_MPEG4_PROFILE	(V4L2_CID_MPEG_BASE+406)
-enum v4l2_mpeg_video_mpeg4_profile {
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE				= 0,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_SIMPLE			= 1,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_CORE				= 2,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_SIMPLE_SCALABLE			= 3,
-	V4L2_MPEG_VIDEO_MPEG4_PROFILE_ADVANCED_CODING_EFFICIENCY	= 4,
-};
-#define V4L2_CID_MPEG_VIDEO_MPEG4_QPEL		(V4L2_CID_MPEG_BASE+407)
-
-/*  Control IDs for VP8 streams
- *  Although VP8 is not part of MPEG we add these controls to the MPEG class
- *  as that class is already handling other video compression standards
- */
-#define V4L2_CID_MPEG_VIDEO_VPX_NUM_PARTITIONS		(V4L2_CID_MPEG_BASE+500)
-enum v4l2_vp8_num_partitions {
-	V4L2_CID_MPEG_VIDEO_VPX_1_PARTITION	= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_2_PARTITIONS	= 1,
-	V4L2_CID_MPEG_VIDEO_VPX_4_PARTITIONS	= 2,
-	V4L2_CID_MPEG_VIDEO_VPX_8_PARTITIONS	= 3,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_IMD_DISABLE_4X4		(V4L2_CID_MPEG_BASE+501)
-#define V4L2_CID_MPEG_VIDEO_VPX_NUM_REF_FRAMES		(V4L2_CID_MPEG_BASE+502)
-enum v4l2_vp8_num_ref_frames {
-	V4L2_CID_MPEG_VIDEO_VPX_1_REF_FRAME	= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_2_REF_FRAME	= 1,
-	V4L2_CID_MPEG_VIDEO_VPX_3_REF_FRAME	= 2,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_LEVEL		(V4L2_CID_MPEG_BASE+503)
-#define V4L2_CID_MPEG_VIDEO_VPX_FILTER_SHARPNESS	(V4L2_CID_MPEG_BASE+504)
-#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_REF_PERIOD	(V4L2_CID_MPEG_BASE+505)
-#define V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_SEL	(V4L2_CID_MPEG_BASE+506)
-enum v4l2_vp8_golden_frame_sel {
-	V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_PREV		= 0,
-	V4L2_CID_MPEG_VIDEO_VPX_GOLDEN_FRAME_USE_REF_PERIOD	= 1,
-};
-#define V4L2_CID_MPEG_VIDEO_VPX_MIN_QP			(V4L2_CID_MPEG_BASE+507)
-#define V4L2_CID_MPEG_VIDEO_VPX_MAX_QP			(V4L2_CID_MPEG_BASE+508)
-#define V4L2_CID_MPEG_VIDEO_VPX_I_FRAME_QP		(V4L2_CID_MPEG_BASE+509)
-#define V4L2_CID_MPEG_VIDEO_VPX_P_FRAME_QP		(V4L2_CID_MPEG_BASE+510)
-#define V4L2_CID_MPEG_VIDEO_VPX_PROFILE			(V4L2_CID_MPEG_BASE+511)
-
-/*  MPEG-class control IDs specific to the CX2341x driver as defined by V4L2 */
-#define V4L2_CID_MPEG_CX2341X_BASE 				(V4L2_CTRL_CLASS_MPEG | 0x1000)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE 	(V4L2_CID_MPEG_CX2341X_BASE+0)
-enum v4l2_mpeg_cx2341x_video_spatial_filter_mode {
-	V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_MANUAL = 0,
-	V4L2_MPEG_CX2341X_VIDEO_SPATIAL_FILTER_MODE_AUTO   = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_SPATIAL_FILTER 		(V4L2_CID_MPEG_CX2341X_BASE+1)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE 	(V4L2_CID_MPEG_CX2341X_BASE+2)
-enum v4l2_mpeg_cx2341x_video_luma_spatial_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_OFF                  = 0,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_HOR               = 1,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_1D_VERT              = 2,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_HV_SEPARABLE      = 3,
-	V4L2_MPEG_CX2341X_VIDEO_LUMA_SPATIAL_FILTER_TYPE_2D_SYM_NON_SEPARABLE = 4,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE 	(V4L2_CID_MPEG_CX2341X_BASE+3)
-enum v4l2_mpeg_cx2341x_video_chroma_spatial_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_OFF    = 0,
-	V4L2_MPEG_CX2341X_VIDEO_CHROMA_SPATIAL_FILTER_TYPE_1D_HOR = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE 	(V4L2_CID_MPEG_CX2341X_BASE+4)
-enum v4l2_mpeg_cx2341x_video_temporal_filter_mode {
-	V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_MANUAL = 0,
-	V4L2_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER_MODE_AUTO   = 1,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_TEMPORAL_FILTER 		(V4L2_CID_MPEG_CX2341X_BASE+5)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE 		(V4L2_CID_MPEG_CX2341X_BASE+6)
-enum v4l2_mpeg_cx2341x_video_median_filter_type {
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_OFF      = 0,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR      = 1,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_VERT     = 2,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_HOR_VERT = 3,
-	V4L2_MPEG_CX2341X_VIDEO_MEDIAN_FILTER_TYPE_DIAG     = 4,
-};
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_BOTTOM 	(V4L2_CID_MPEG_CX2341X_BASE+7)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_LUMA_MEDIAN_FILTER_TOP 	(V4L2_CID_MPEG_CX2341X_BASE+8)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_BOTTOM	(V4L2_CID_MPEG_CX2341X_BASE+9)
-#define V4L2_CID_MPEG_CX2341X_VIDEO_CHROMA_MEDIAN_FILTER_TOP 	(V4L2_CID_MPEG_CX2341X_BASE+10)
-#define V4L2_CID_MPEG_CX2341X_STREAM_INSERT_NAV_PACKETS 	(V4L2_CID_MPEG_CX2341X_BASE+11)
-
-/*  MPEG-class control IDs specific to the Samsung MFC 5.1 driver as defined by V4L2 */
-#define V4L2_CID_MPEG_MFC51_BASE				(V4L2_CTRL_CLASS_MPEG | 0x1100)
-
-#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY		(V4L2_CID_MPEG_MFC51_BASE+0)
-#define V4L2_CID_MPEG_MFC51_VIDEO_DECODER_H264_DISPLAY_DELAY_ENABLE	(V4L2_CID_MPEG_MFC51_BASE+1)
-#define V4L2_CID_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE			(V4L2_CID_MPEG_MFC51_BASE+2)
-enum v4l2_mpeg_mfc51_video_frame_skip_mode {
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_DISABLED		= 0,
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_LEVEL_LIMIT	= 1,
-	V4L2_MPEG_MFC51_VIDEO_FRAME_SKIP_MODE_BUF_LIMIT		= 2,
-};
-#define V4L2_CID_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE			(V4L2_CID_MPEG_MFC51_BASE+3)
-enum v4l2_mpeg_mfc51_video_force_frame_type {
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_DISABLED		= 0,
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_I_FRAME		= 1,
-	V4L2_MPEG_MFC51_VIDEO_FORCE_FRAME_TYPE_NOT_CODED	= 2,
-};
-#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING				(V4L2_CID_MPEG_MFC51_BASE+4)
-#define V4L2_CID_MPEG_MFC51_VIDEO_PADDING_YUV				(V4L2_CID_MPEG_MFC51_BASE+5)
-#define V4L2_CID_MPEG_MFC51_VIDEO_RC_FIXED_TARGET_BIT			(V4L2_CID_MPEG_MFC51_BASE+6)
-#define V4L2_CID_MPEG_MFC51_VIDEO_RC_REACTION_COEFF			(V4L2_CID_MPEG_MFC51_BASE+7)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_ACTIVITY		(V4L2_CID_MPEG_MFC51_BASE+50)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_DARK			(V4L2_CID_MPEG_MFC51_BASE+51)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_SMOOTH		(V4L2_CID_MPEG_MFC51_BASE+52)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_ADAPTIVE_RC_STATIC		(V4L2_CID_MPEG_MFC51_BASE+53)
-#define V4L2_CID_MPEG_MFC51_VIDEO_H264_NUM_REF_PIC_FOR_P		(V4L2_CID_MPEG_MFC51_BASE+54)
-
-/*  MPEG-class control IDs specific to the msm_vidc driver */
-#define V4L2_CID_MPEG_MSM_VIDC_BASE		(V4L2_CTRL_CLASS_MPEG | 0x2000)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PICTYPE_DEC_MODE \
-			(V4L2_CID_MPEG_MSM_VIDC_BASE+0)
-enum v4l2_mpeg_vidc_video_pictype_dec_mode {
-	V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_OFF = 0,
-	V4L2_MPEG_VIDC_VIDEO_PICTYPE_DECODE_ON = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_KEEP_ASPECT_RATIO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+1)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_FORMAT   (V4L2_CID_MPEG_MSM_VIDC_BASE+2)
-enum v4l2_mpeg_vidc_video_stream_format {
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_STARTCODES         = 0,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_NAL_PER_BUFFER = 1,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_ONE_BYTE_LENGTH    = 2,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_TWO_BYTE_LENGTH    = 3,
-	V4L2_MPEG_VIDC_VIDEO_NAL_FORMAT_FOUR_BYTE_LENGTH   = 4,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_OUTPUT_ORDER   (V4L2_CID_MPEG_MSM_VIDC_BASE+3)
-enum v4l2_mpeg_vidc_video_output_order {
-	V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DISPLAY         = 0,
-	V4L2_MPEG_VIDC_VIDEO_OUTPUT_ORDER_DECODE          = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_RATE   (V4L2_CID_MPEG_MSM_VIDC_BASE+4)
-#define V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD   (V4L2_CID_MPEG_MSM_VIDC_BASE+5)
-#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+6)
-#define V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES (V4L2_CID_MPEG_MSM_VIDC_BASE+7)
-#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_IFRAME (V4L2_CID_MPEG_MSM_VIDC_BASE+8)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL (V4L2_CID_MPEG_MSM_VIDC_BASE+9)
-enum v4l2_mpeg_vidc_video_rate_control {
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_OFF = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_VFR = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_VFR = 3,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CBR_CFR = 4,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR = 5,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR = 6,
-	V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_CQ = 7,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR	\
-			V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_CFR
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR	\
-			V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_MBR_VFR
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ROTATION (V4L2_CID_MPEG_MSM_VIDC_BASE+10)
-enum v4l2_mpeg_vidc_video_rotation {
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_90 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_180 = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_ROTATION_270 = 3,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+11)
-enum v4l2_mpeg_vidc_h264_cabac_model {
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0 = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_1 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_2 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+12)
-enum v4l2_mpeg_vidc_video_intra_refresh_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_RANDOM = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_ADAPTIVE = 3,
-	V4L2_CID_MPEG_VIDC_VIDEO_INTRA_REFRESH_CYCLIC_ADAPTIVE = 4,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_IR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE+13)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_AU_DELIMITER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 14)
-enum v4l2_mpeg_vidc_video_au_delimiter {
-	V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_AU_DELIMITER_ENABLED = 1
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 15)
-enum v4l2_mpeg_vidc_video_sync_frame_decode {
-	V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_SYNC_FRAME_DECODE_ENABLE = 1
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE (V4L2_CID_MPEG_MSM_VIDC_BASE+16)
-#define V4L2_CID_MPEG_VIDC_VIDEO_EXTRADATA \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 17)
-enum v4l2_mpeg_vidc_extradata {
-	V4L2_MPEG_VIDC_EXTRADATA_NONE = 0,
-	V4L2_MPEG_VIDC_EXTRADATA_MB_QUANTIZATION = 1,
-	V4L2_MPEG_VIDC_EXTRADATA_INTERLACE_VIDEO = 2,
-	V4L2_MPEG_VIDC_EXTRADATA_VC1_FRAMEDISP = 3,
-	V4L2_MPEG_VIDC_EXTRADATA_VC1_SEQDISP = 4,
-	V4L2_MPEG_VIDC_EXTRADATA_TIMESTAMP = 5,
-	V4L2_MPEG_VIDC_EXTRADATA_S3D_FRAME_PACKING = 6,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_RATE = 7,
-	V4L2_MPEG_VIDC_EXTRADATA_PANSCAN_WINDOW = 8,
-	V4L2_MPEG_VIDC_EXTRADATA_RECOVERY_POINT_SEI = 9,
-	V4L2_MPEG_VIDC_EXTRADATA_MULTISLICE_INFO = 10,
-	V4L2_MPEG_VIDC_EXTRADATA_NUM_CONCEALED_MB = 11,
-	V4L2_MPEG_VIDC_EXTRADATA_METADATA_FILLER = 12,
-	V4L2_MPEG_VIDC_EXTRADATA_INPUT_CROP = 13,
-	V4L2_MPEG_VIDC_EXTRADATA_DIGITAL_ZOOM = 14,
-	V4L2_MPEG_VIDC_EXTRADATA_ASPECT_RATIO = 15,
-	V4L2_MPEG_VIDC_EXTRADATA_MPEG2_SEQDISP = 16,
-	V4L2_MPEG_VIDC_EXTRADATA_STREAM_USERDATA = 17,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_QP = 18,
-	V4L2_MPEG_VIDC_EXTRADATA_FRAME_BITS_INFO = 19,
-	V4L2_MPEG_VIDC_EXTRADATA_LTR = 20,
-	V4L2_MPEG_VIDC_EXTRADATA_METADATA_MBI = 21,
-	V4L2_MPEG_VIDC_EXTRADATA_VQZIP_SEI = 22,
-	V4L2_MPEG_VIDC_EXTRADATA_YUV_STATS = 23,
-	V4L2_MPEG_VIDC_EXTRADATA_ROI_QP = 24,
-#define V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP \
-	V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP
-	V4L2_MPEG_VIDC_EXTRADATA_OUTPUT_CROP = 25,
-#define V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI \
-	V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI
-	V4L2_MPEG_VIDC_EXTRADATA_DISPLAY_COLOUR_SEI = 26,
-#define V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI \
-	V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI
-	V4L2_MPEG_VIDC_EXTRADATA_CONTENT_LIGHT_LEVEL_SEI = 27,
-#define V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO \
-	V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO
-	V4L2_MPEG_VIDC_EXTRADATA_PQ_INFO = 28,
-#define V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY \
-	V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY
-	V4L2_MPEG_VIDC_EXTRADATA_VUI_DISPLAY = 29,
-#define V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE \
-	V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE
-	V4L2_MPEG_VIDC_EXTRADATA_VPX_COLORSPACE = 30,
-#define V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO \
-	V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO
-	V4L2_MPEG_VIDC_EXTRADATA_UBWC_CR_STATS_INFO = 31,
-#define V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP \
-	V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP
-	V4L2_MPEG_VIDC_EXTRADATA_ENC_FRAME_QP = 32,
-};
-
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_DELIVERY_MODE	\
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 18)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 19)
-enum v4l2_mpeg_vidc_video_vui_timing_info {
-	V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_PROFILE_LEVEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 20)
-enum v4l2_mpeg_vidc_video_vp8_profile_level {
-	V4L2_MPEG_VIDC_VIDEO_VP8_UNUSED,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_0,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_1,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_2,
-	V4L2_MPEG_VIDC_VIDEO_VP8_VERSION_3,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 21)
-enum v4l2_mpeg_vidc_video_preserve_text_quality {
-	V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_PRESERVE_TEXT_QUALITY_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
-enum v4l2_mpeg_vidc_video_decoder_multi_stream {
-	V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_PRIMARY = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_SECONDARY = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_LEVEL	(V4L2_CID_MPEG_MSM_VIDC_BASE+23)
-enum v4l2_mpeg_vidc_video_mpeg2_level {
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_0	= 0,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_1	= 1,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_2	= 2,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_LEVEL_3	= 3,
-};
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG2_PROFILE	(V4L2_CID_MPEG_MSM_VIDC_BASE+24)
-enum v4l2_mpeg_vidc_video_mpeg2_profile {
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SIMPLE		= 0,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_MAIN			= 1,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_422			= 2,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SNR_SCALABLE		= 3,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_SPATIAL_SCALABLE	= 4,
-	V4L2_MPEG_VIDC_VIDEO_MPEG2_PROFILE_HIGH			= 5,
-};
-
-enum v4l2_mpeg_vidc_video_mvc_layout {
-	V4L2_MPEG_VIDC_VIDEO_MVC_SEQUENTIAL = 0,
-	V4L2_MPEG_VIDC_VIDEO_MVC_TOP_BOTTOM = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 25)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LTRMODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 26)
-
-enum v4l2_mpeg_vidc_video_ltrmode {
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_MANUAL = 1,
-	V4L2_MPEG_VIDC_VIDEO_LTR_MODE_PERIODIC = 2
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LTRCOUNT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 27)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_USELTRFRAME \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 28)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MARKLTRFRAME \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 29)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_P_NUM_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 30)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_OUTPUT       \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE+31)
-enum v4l2_mpeg_vidc_video_alloc_mode_type {
-	V4L2_MPEG_VIDC_VIDEO_STATIC = 0,
-	V4L2_MPEG_VIDC_VIDEO_RING = 1,
-	V4L2_MPEG_VIDC_VIDEO_DYNAMIC = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 32)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 33)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_X_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 34)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 35)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 36)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BFRAME_Y_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 37)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 38)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BUFFER_SIZE_LIMIT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 39)
-
-enum vl42_mpeg_vidc_video_vpx_error_resilience {
-	V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VPX_ERROR_RESILIENCE_ENABLED = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 40)
-enum v4l2_mpeg_video_hevc_profile {
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN			= 0,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN10		= 1,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN_STILL_PIC	= 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 41)
-enum v4l2_mpeg_video_hevc_level {
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_1	= 0,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_1	= 1,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2	= 2,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2	= 3,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_2_1	= 4,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_2_1	= 5,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3	= 6,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3	= 7,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_3_1	= 8,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_3_1	= 9,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4	= 10,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4	= 11,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_4_1	= 12,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_4_1	= 13,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5	= 14,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5	= 15,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_1	= 16,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_1	= 17,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_5_2	= 18,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5_2	= 19,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6	= 20,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6	= 21,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_1	= 22,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_1	= 23,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_MAIN_TIER_LEVEL_6_2	= 24,
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_6_2	= 25,
-#define V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN \
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN
-	V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_UNKNOWN = 26,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HIER_B_NUM_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 42)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_HYBRID_HIERP_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 43)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
-
-enum v4l2_mpeg_vidc_video_dpb_color_format {
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_NONE = 0,
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_UBWC = 1,
-	V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_TP10_UBWC = 2
-};
-
-#define V4L2_CID_VIDC_QBUF_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 45)
-enum v4l2_vidc_qbuf_mode {
-	V4L2_VIDC_QBUF_STANDARD = 0,
-	V4L2_VIDC_QBUF_BATCHED = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MAX_HIERP_LAYERS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 46)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BASELAYER_ID \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 47)
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_WIDTH \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 48)
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_SAR_HEIGHT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 49)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 50)
-
-enum v4l2_mpeg_vidc_video_vqzip_sei_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_DISABLE	= 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VQZIP_SEI_ENABLE	= 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VENC_PARAM_LAYER_BITRATE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 51)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 52)
-
-enum v4l2_mpeg_vidc_video_priority {
-	V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 53)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_TYPE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 54)
-
-enum v4l2_mpeg_vidc_video_venc_bitrate_type_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_DISABLE	= 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VENC_BITRATE_ENABLE	= 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 55)
-
-enum v4l2_cid_mpeg_vidc_video_vpe_csc_type_enable {
-	V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_DISABLE  = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_ENABLE   = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 56)
-
-enum v4l2_mpeg_vidc_video_lowlatency_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_DISABLE     = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_LOWLATENCY_ENABLE      = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_WIDTH \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 57)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_BLUR_HEIGHT \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 58)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 59)
-enum v4l2_mpeg_vidc_video_h264_transform_8x8 {
-	V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_DISABLE = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_TRANSFORM_8x8_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_COLOR_SPACE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 60)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 61)
-
-enum v4l2_cid_mpeg_vidc_video_full_range {
-	V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_DISABLE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_FULL_RANGE_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TRANSFER_CHARS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 62)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MATRIX_COEFFS \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 63)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_TYPE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 64)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_LAYER_ID \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 65)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_PROFILE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 66)
-enum v4l2_mpeg_vidc_video_vp9_profile {
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_UNUSED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P0 = 1,
-	V4L2_MPEG_VIDC_VIDEO_VP9_PROFILE_P2_10 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP9_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 67)
-enum v4l2_mpeg_vidc_video_vp9_level {
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_UNUSED = 0,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_1 = 1,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_11 = 2,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_2 = 3,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_21 = 4,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_3 = 5,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_31 = 6,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_4 = 7,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_41 = 8,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_5 = 9,
-	V4L2_MPEG_VIDC_VIDEO_VP9_LEVEL_51 = 10,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MB_ERROR_MAP_REPORTING \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 68)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONTINUE_DATA_TRANSFER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 69)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ALLOC_MODE_INPUT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 70)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_ASSEMBLY	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 71)
-enum v4l2_mpeg_vidc_video_assembly {
-	V4L2_MPEG_VIDC_FRAME_ASSEMBLY_DISABLE = 0,
-	V4L2_MPEG_VIDC_FRAME_ASSEMBLY_ENABLE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H263_PROFILE\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 72)
-enum v4l2_mpeg_vidc_video_h263_profile {
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BASELINE = 0,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_H320CODING	= 1,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_BACKWARDCOMPATIBLE = 2,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV2 = 3,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_ISWV3 = 4,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHCOMPRESSION = 5,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERNET = 6,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_INTERLACE = 7,
-	V4L2_MPEG_VIDC_VIDEO_H263_PROFILE_HIGHLATENCY = 8,
-};
-
-#define V4L2_CID_MPEG_VIDEO_MIN_QP_PACKED \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 97)
-#define V4L2_CID_MPEG_VIDEO_MAX_QP_PACKED \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 98)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 99)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 100)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 101)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 102)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 103)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MIN \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 104)
-#define V4L2_CID_MPEG_VIDC_VIDEO_I_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 105)
-#define V4L2_CID_MPEG_VIDC_VIDEO_P_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 106)
-#define V4L2_CID_MPEG_VIDC_VIDEO_B_FRAME_QP_MAX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 107)
-#define V4L2_CID_MPEG_VIDC_VIDEO_QP_MASK \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 108)
-
-enum v4l2_mpeg_vidc_video_venc_iframesize_type {
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_DEFAULT,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_MEDIUM,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_HUGE,
-	V4L2_CID_MPEG_VIDC_VIDEO_IFRAME_SIZE_UNLIMITED,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_8BIT	\
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 109)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONCEAL_COLOR_10BIT \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 110)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PROFILE  \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 111)
-
-enum v4l2_mpeg_vidc_video_tme_profile {
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_0 = 0,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_1 = 1,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_2 = 2,
-	V4L2_MPEG_VIDC_VIDEO_TME_PROFILE_3 = 3,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_LEVEL \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 112)
-
-enum v4l2_mpeg_vidc_video_tme_level {
-	V4L2_MPEG_VIDC_VIDEO_TME_LEVEL_INTEGER = 0,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_TME_PAYLOAD_VERSION  \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 113)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VPE_CSC_CUSTOM_MATRIX \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 114)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FLIP (V4L2_CID_MPEG_MSM_VIDC_BASE + 115)
-enum v4l2_mpeg_vidc_video_flip {
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_NONE = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_HORI = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_VERT = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_FLIP_BOTH = 3,
-};
-
-/* HDR SEI INFO related control IDs and definitions*/
-#define V4L2_MPEG_VIDC_VENC_HDR_INFO_ENABLED 1
-#define V4L2_MPEG_VIDC_VENC_HDR_INFO_DISABLED 0
-
-#define V4L2_CID_MPEG_VIDC_VENC_HDR_INFO \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 116)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_00 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 117)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_01 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 118)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_10 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 119)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_11 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 120)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_20 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 121)
-#define V4L2_CID_MPEG_VIDC_VENC_RGB_PRIMARY_21 \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 122)
-#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_X \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 123)
-#define V4L2_CID_MPEG_VIDC_VENC_WHITEPOINT_Y \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 124)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_DISP_LUM \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 125)
-#define V4L2_CID_MPEG_VIDC_VENC_MIN_DISP_LUM \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 126)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_CLL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 127)
-#define V4L2_CID_MPEG_VIDC_VENC_MAX_FLL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 128)
-
-#define V4L2_CID_MPEG_VIDC_SET_PERF_LEVEL \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE + 129)
-enum v4l2_mpeg_vidc_perf_level {
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_NOMINAL	= 0,
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_PERFORMANCE	= 1,
-	V4L2_CID_MPEG_VIDC_PERF_LEVEL_TURBO	= 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 130)
-#define V4L2_CID_MPEG_VIDC_VIDEO_AIR_REF (V4L2_CID_MPEG_MSM_VIDC_BASE + 131)
-#define V4L2_CID_MPEG_VIDC_VIDEO_CIR_MBS (V4L2_CID_MPEG_MSM_VIDC_BASE + 132)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 135)
-
-#define V4L2_CID_MPEG_VIDEO_MULTI_SLICE_GOB \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 136)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 137)
-enum v4l2_mpeg_vidc_video_h264_vui_bitstream_restrict {
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_BITSTREAM_RESTRICT_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 138)
-enum v4l2_mpeg_vidc_video_deinterlace {
-	V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_DISABLED = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_DEINTERLACE_ENABLED = 1
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MPEG4_TIME_RESOLUTION \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 139)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_REQUEST_SEQ_HEADER \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 140)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 141)
-enum v4l2_mpeg_vidc_video_rate_control_timestamp_mode {
-	V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_HONOR = 0,
-	V4L2_MPEG_VIDC_VIDEO_RATE_CONTROL_TIMESTAMP_MODE_IGNORE = 1,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 142)
-enum vl42_mpeg_vidc_video_enable_initial_qp {
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_IFRAME = 0x1,
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_PFRAME = 0x2,
-	V4L2_CID_MPEG_VIDC_VIDEO_ENABLE_INITIAL_QP_BFRAME = 0x4,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_I_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 143)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_P_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 144)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_INITIAL_B_FRAME_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 145)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 146)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_PERF_MODE	 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 147)
-enum v4l2_mpeg_vidc_video_perf_mode {
-	V4L2_MPEG_VIDC_VIDEO_PERF_MAX_QUALITY = 1,
-	V4L2_MPEG_VIDC_VIDEO_PERF_POWER_SAVE = 2
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MBI_STATISTICS_MODE	\
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 148)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_CONFIG_QP \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 149)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H264_PIC_ORDER_CNT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 150)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_SCS_THRESHOLD \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 151)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_MVC_BUFFER_LAYOUT \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 152)
-
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_SECURE_SCALING_THRESHOLD \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 153)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_NON_SECURE_OUTPUT2 \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 154)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MIN_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 155)
-#define V4L2_CID_MPEG_VIDC_VIDEO_VP8_MAX_QP (V4L2_CID_MPEG_MSM_VIDC_BASE + 156)
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_H263_LEVEL (V4L2_CID_MPEG_MSM_VIDC_BASE + 157)
-enum v4l2_mpeg_vidc_video_h263_level {
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_1_0 = 0,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_2_0 = 1,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_3_0 = 2,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_0 = 3,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_4_5 = 4,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_5_0 = 5,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_6_0 = 6,
-	V4L2_MPEG_VIDC_VIDEO_H263_LEVEL_7_0 = 7,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_POST_LOOP_DEBLOCKER_MODE \
-		(V4L2_CID_MPEG_MSM_VIDC_BASE + 158)
-
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_DIVX_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE+159)
-
-enum v4l2_mpeg_vidc_video_divx_format_type {
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_4 = 0,
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_5 = 1,
-		V4L2_MPEG_VIDC_VIDEO_DIVX_FORMAT_6 = 2,
-};
-
-#define V4L2_CID_MPEG_VIDC_VIDEO_FRAME_QUALITY \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE+160)
-
-#define V4L2_CID_MPEG_VIDC_IMG_GRID_DIMENSION \
-	(V4L2_CID_MPEG_MSM_VIDC_BASE+161)
-
-enum v4l2_mpeg_vidc_video_mbi_statistics_mode {
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_DEFAULT = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_1 = 1,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_2 = 2,
-	V4L2_CID_MPEG_VIDC_VIDEO_MBI_MODE_3 = 3,
-};
-
-enum vl42_mpeg_vidc_video_h264_svc_nal {
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_DISABLED = 0,
-	V4L2_CID_MPEG_VIDC_VIDEO_H264_NAL_SVC_ENABLED = 1,
-};
-
-enum v4l2_mpeg_vidc_video_h264_vui_timing_info {
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_DISABLED = 0,
-	V4L2_MPEG_VIDC_VIDEO_H264_VUI_TIMING_INFO_ENABLED = 1
-};
-
-/*  Camera class control IDs */
-
-#define V4L2_CID_CAMERA_CLASS_BASE 	(V4L2_CTRL_CLASS_CAMERA | 0x900)
-#define V4L2_CID_CAMERA_CLASS 		(V4L2_CTRL_CLASS_CAMERA | 1)
-
-#define V4L2_CID_EXPOSURE_AUTO			(V4L2_CID_CAMERA_CLASS_BASE+1)
-enum  v4l2_exposure_auto_type {
-	V4L2_EXPOSURE_AUTO = 0,
-	V4L2_EXPOSURE_MANUAL = 1,
-	V4L2_EXPOSURE_SHUTTER_PRIORITY = 2,
-	V4L2_EXPOSURE_APERTURE_PRIORITY = 3
-};
-#define V4L2_CID_EXPOSURE_ABSOLUTE		(V4L2_CID_CAMERA_CLASS_BASE+2)
-#define V4L2_CID_EXPOSURE_AUTO_PRIORITY		(V4L2_CID_CAMERA_CLASS_BASE+3)
-
-#define V4L2_CID_PAN_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+4)
-#define V4L2_CID_TILT_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+5)
-#define V4L2_CID_PAN_RESET			(V4L2_CID_CAMERA_CLASS_BASE+6)
-#define V4L2_CID_TILT_RESET			(V4L2_CID_CAMERA_CLASS_BASE+7)
-
-#define V4L2_CID_PAN_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+8)
-#define V4L2_CID_TILT_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+9)
-
-#define V4L2_CID_FOCUS_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+10)
-#define V4L2_CID_FOCUS_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+11)
-#define V4L2_CID_FOCUS_AUTO			(V4L2_CID_CAMERA_CLASS_BASE+12)
-
-#define V4L2_CID_ZOOM_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+13)
-#define V4L2_CID_ZOOM_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+14)
-#define V4L2_CID_ZOOM_CONTINUOUS		(V4L2_CID_CAMERA_CLASS_BASE+15)
-
-#define V4L2_CID_PRIVACY			(V4L2_CID_CAMERA_CLASS_BASE+16)
-
-#define V4L2_CID_IRIS_ABSOLUTE			(V4L2_CID_CAMERA_CLASS_BASE+17)
-#define V4L2_CID_IRIS_RELATIVE			(V4L2_CID_CAMERA_CLASS_BASE+18)
-
-#define V4L2_CID_AUTO_EXPOSURE_BIAS		(V4L2_CID_CAMERA_CLASS_BASE+19)
-
-#define V4L2_CID_AUTO_N_PRESET_WHITE_BALANCE	(V4L2_CID_CAMERA_CLASS_BASE+20)
-enum v4l2_auto_n_preset_white_balance {
-	V4L2_WHITE_BALANCE_MANUAL		= 0,
-	V4L2_WHITE_BALANCE_AUTO			= 1,
-	V4L2_WHITE_BALANCE_INCANDESCENT		= 2,
-	V4L2_WHITE_BALANCE_FLUORESCENT		= 3,
-	V4L2_WHITE_BALANCE_FLUORESCENT_H	= 4,
-	V4L2_WHITE_BALANCE_HORIZON		= 5,
-	V4L2_WHITE_BALANCE_DAYLIGHT		= 6,
-	V4L2_WHITE_BALANCE_FLASH		= 7,
-	V4L2_WHITE_BALANCE_CLOUDY		= 8,
-	V4L2_WHITE_BALANCE_SHADE		= 9,
-};
-
-#define V4L2_CID_WIDE_DYNAMIC_RANGE		(V4L2_CID_CAMERA_CLASS_BASE+21)
-#define V4L2_CID_IMAGE_STABILIZATION		(V4L2_CID_CAMERA_CLASS_BASE+22)
-
-#define V4L2_CID_ISO_SENSITIVITY		(V4L2_CID_CAMERA_CLASS_BASE+23)
-#define V4L2_CID_ISO_SENSITIVITY_AUTO		(V4L2_CID_CAMERA_CLASS_BASE+24)
-enum v4l2_iso_sensitivity_auto_type {
-	V4L2_ISO_SENSITIVITY_MANUAL		= 0,
-	V4L2_ISO_SENSITIVITY_AUTO		= 1,
-};
-
-#define V4L2_CID_EXPOSURE_METERING		(V4L2_CID_CAMERA_CLASS_BASE+25)
-enum v4l2_exposure_metering {
-	V4L2_EXPOSURE_METERING_AVERAGE		= 0,
-	V4L2_EXPOSURE_METERING_CENTER_WEIGHTED	= 1,
-	V4L2_EXPOSURE_METERING_SPOT		= 2,
-	V4L2_EXPOSURE_METERING_MATRIX		= 3,
-};
-
-#define V4L2_CID_SCENE_MODE			(V4L2_CID_CAMERA_CLASS_BASE+26)
-enum v4l2_scene_mode {
-	V4L2_SCENE_MODE_NONE			= 0,
-	V4L2_SCENE_MODE_BACKLIGHT		= 1,
-	V4L2_SCENE_MODE_BEACH_SNOW		= 2,
-	V4L2_SCENE_MODE_CANDLE_LIGHT		= 3,
-	V4L2_SCENE_MODE_DAWN_DUSK		= 4,
-	V4L2_SCENE_MODE_FALL_COLORS		= 5,
-	V4L2_SCENE_MODE_FIREWORKS		= 6,
-	V4L2_SCENE_MODE_LANDSCAPE		= 7,
-	V4L2_SCENE_MODE_NIGHT			= 8,
-	V4L2_SCENE_MODE_PARTY_INDOOR		= 9,
-	V4L2_SCENE_MODE_PORTRAIT		= 10,
-	V4L2_SCENE_MODE_SPORTS			= 11,
-	V4L2_SCENE_MODE_SUNSET			= 12,
-	V4L2_SCENE_MODE_TEXT			= 13,
-};
-
-#define V4L2_CID_3A_LOCK			(V4L2_CID_CAMERA_CLASS_BASE+27)
-#define V4L2_LOCK_EXPOSURE			(1 << 0)
-#define V4L2_LOCK_WHITE_BALANCE			(1 << 1)
-#define V4L2_LOCK_FOCUS				(1 << 2)
-
-#define V4L2_CID_AUTO_FOCUS_START		(V4L2_CID_CAMERA_CLASS_BASE+28)
-#define V4L2_CID_AUTO_FOCUS_STOP		(V4L2_CID_CAMERA_CLASS_BASE+29)
-#define V4L2_CID_AUTO_FOCUS_STATUS		(V4L2_CID_CAMERA_CLASS_BASE+30)
-#define V4L2_AUTO_FOCUS_STATUS_IDLE		(0 << 0)
-#define V4L2_AUTO_FOCUS_STATUS_BUSY		(1 << 0)
-#define V4L2_AUTO_FOCUS_STATUS_REACHED		(1 << 1)
-#define V4L2_AUTO_FOCUS_STATUS_FAILED		(1 << 2)
-
-#define V4L2_CID_AUTO_FOCUS_RANGE		(V4L2_CID_CAMERA_CLASS_BASE+31)
-enum v4l2_auto_focus_range {
-	V4L2_AUTO_FOCUS_RANGE_AUTO		= 0,
-	V4L2_AUTO_FOCUS_RANGE_NORMAL		= 1,
-	V4L2_AUTO_FOCUS_RANGE_MACRO		= 2,
-	V4L2_AUTO_FOCUS_RANGE_INFINITY		= 3,
-};
-
-#define V4L2_CID_PAN_SPEED			(V4L2_CID_CAMERA_CLASS_BASE+32)
-#define V4L2_CID_TILT_SPEED			(V4L2_CID_CAMERA_CLASS_BASE+33)
-
-/* FM Modulator class control IDs */
-
-#define V4L2_CID_FM_TX_CLASS_BASE		(V4L2_CTRL_CLASS_FM_TX | 0x900)
-#define V4L2_CID_FM_TX_CLASS			(V4L2_CTRL_CLASS_FM_TX | 1)
-
-#define V4L2_CID_RDS_TX_DEVIATION		(V4L2_CID_FM_TX_CLASS_BASE + 1)
-#define V4L2_CID_RDS_TX_PI			(V4L2_CID_FM_TX_CLASS_BASE + 2)
-#define V4L2_CID_RDS_TX_PTY			(V4L2_CID_FM_TX_CLASS_BASE + 3)
-#define V4L2_CID_RDS_TX_PS_NAME			(V4L2_CID_FM_TX_CLASS_BASE + 5)
-#define V4L2_CID_RDS_TX_RADIO_TEXT		(V4L2_CID_FM_TX_CLASS_BASE + 6)
-#define V4L2_CID_RDS_TX_MONO_STEREO		(V4L2_CID_FM_TX_CLASS_BASE + 7)
-#define V4L2_CID_RDS_TX_ARTIFICIAL_HEAD		(V4L2_CID_FM_TX_CLASS_BASE + 8)
-#define V4L2_CID_RDS_TX_COMPRESSED		(V4L2_CID_FM_TX_CLASS_BASE + 9)
-#define V4L2_CID_RDS_TX_DYNAMIC_PTY		(V4L2_CID_FM_TX_CLASS_BASE + 10)
-#define V4L2_CID_RDS_TX_TRAFFIC_ANNOUNCEMENT	(V4L2_CID_FM_TX_CLASS_BASE + 11)
-#define V4L2_CID_RDS_TX_TRAFFIC_PROGRAM		(V4L2_CID_FM_TX_CLASS_BASE + 12)
-#define V4L2_CID_RDS_TX_MUSIC_SPEECH		(V4L2_CID_FM_TX_CLASS_BASE + 13)
-#define V4L2_CID_RDS_TX_ALT_FREQS_ENABLE	(V4L2_CID_FM_TX_CLASS_BASE + 14)
-#define V4L2_CID_RDS_TX_ALT_FREQS		(V4L2_CID_FM_TX_CLASS_BASE + 15)
-
-#define V4L2_CID_AUDIO_LIMITER_ENABLED		(V4L2_CID_FM_TX_CLASS_BASE + 64)
-#define V4L2_CID_AUDIO_LIMITER_RELEASE_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 65)
-#define V4L2_CID_AUDIO_LIMITER_DEVIATION	(V4L2_CID_FM_TX_CLASS_BASE + 66)
-
-#define V4L2_CID_AUDIO_COMPRESSION_ENABLED	(V4L2_CID_FM_TX_CLASS_BASE + 80)
-#define V4L2_CID_AUDIO_COMPRESSION_GAIN		(V4L2_CID_FM_TX_CLASS_BASE + 81)
-#define V4L2_CID_AUDIO_COMPRESSION_THRESHOLD	(V4L2_CID_FM_TX_CLASS_BASE + 82)
-#define V4L2_CID_AUDIO_COMPRESSION_ATTACK_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 83)
-#define V4L2_CID_AUDIO_COMPRESSION_RELEASE_TIME	(V4L2_CID_FM_TX_CLASS_BASE + 84)
-
-#define V4L2_CID_PILOT_TONE_ENABLED		(V4L2_CID_FM_TX_CLASS_BASE + 96)
-#define V4L2_CID_PILOT_TONE_DEVIATION		(V4L2_CID_FM_TX_CLASS_BASE + 97)
-#define V4L2_CID_PILOT_TONE_FREQUENCY		(V4L2_CID_FM_TX_CLASS_BASE + 98)
-
-#define V4L2_CID_TUNE_PREEMPHASIS		(V4L2_CID_FM_TX_CLASS_BASE + 112)
-enum v4l2_preemphasis {
-	V4L2_PREEMPHASIS_DISABLED	= 0,
-	V4L2_PREEMPHASIS_50_uS		= 1,
-	V4L2_PREEMPHASIS_75_uS		= 2,
-};
-#define V4L2_CID_TUNE_POWER_LEVEL		(V4L2_CID_FM_TX_CLASS_BASE + 113)
-#define V4L2_CID_TUNE_ANTENNA_CAPACITOR		(V4L2_CID_FM_TX_CLASS_BASE + 114)
-
-
-/* Flash and privacy (indicator) light controls */
-
-#define V4L2_CID_FLASH_CLASS_BASE		(V4L2_CTRL_CLASS_FLASH | 0x900)
-#define V4L2_CID_FLASH_CLASS			(V4L2_CTRL_CLASS_FLASH | 1)
-
-#define V4L2_CID_FLASH_LED_MODE			(V4L2_CID_FLASH_CLASS_BASE + 1)
-enum v4l2_flash_led_mode {
-	V4L2_FLASH_LED_MODE_NONE,
-	V4L2_FLASH_LED_MODE_FLASH,
-	V4L2_FLASH_LED_MODE_TORCH,
-};
-
-#define V4L2_CID_FLASH_STROBE_SOURCE		(V4L2_CID_FLASH_CLASS_BASE + 2)
-enum v4l2_flash_strobe_source {
-	V4L2_FLASH_STROBE_SOURCE_SOFTWARE,
-	V4L2_FLASH_STROBE_SOURCE_EXTERNAL,
-};
-
-#define V4L2_CID_FLASH_STROBE			(V4L2_CID_FLASH_CLASS_BASE + 3)
-#define V4L2_CID_FLASH_STROBE_STOP		(V4L2_CID_FLASH_CLASS_BASE + 4)
-#define V4L2_CID_FLASH_STROBE_STATUS		(V4L2_CID_FLASH_CLASS_BASE + 5)
-
-#define V4L2_CID_FLASH_TIMEOUT			(V4L2_CID_FLASH_CLASS_BASE + 6)
-#define V4L2_CID_FLASH_INTENSITY		(V4L2_CID_FLASH_CLASS_BASE + 7)
-#define V4L2_CID_FLASH_TORCH_INTENSITY		(V4L2_CID_FLASH_CLASS_BASE + 8)
-#define V4L2_CID_FLASH_INDICATOR_INTENSITY	(V4L2_CID_FLASH_CLASS_BASE + 9)
-
-#define V4L2_CID_FLASH_FAULT			(V4L2_CID_FLASH_CLASS_BASE + 10)
-#define V4L2_FLASH_FAULT_OVER_VOLTAGE		(1 << 0)
-#define V4L2_FLASH_FAULT_TIMEOUT		(1 << 1)
-#define V4L2_FLASH_FAULT_OVER_TEMPERATURE	(1 << 2)
-#define V4L2_FLASH_FAULT_SHORT_CIRCUIT		(1 << 3)
-#define V4L2_FLASH_FAULT_OVER_CURRENT		(1 << 4)
-#define V4L2_FLASH_FAULT_INDICATOR		(1 << 5)
-#define V4L2_FLASH_FAULT_UNDER_VOLTAGE		(1 << 6)
-#define V4L2_FLASH_FAULT_INPUT_VOLTAGE		(1 << 7)
-#define V4L2_FLASH_FAULT_LED_OVER_TEMPERATURE	(1 << 8)
-
-#define V4L2_CID_FLASH_CHARGE			(V4L2_CID_FLASH_CLASS_BASE + 11)
-#define V4L2_CID_FLASH_READY			(V4L2_CID_FLASH_CLASS_BASE + 12)
-
-
-/* JPEG-class control IDs */
-
-#define V4L2_CID_JPEG_CLASS_BASE		(V4L2_CTRL_CLASS_JPEG | 0x900)
-#define V4L2_CID_JPEG_CLASS			(V4L2_CTRL_CLASS_JPEG | 1)
-
-#define	V4L2_CID_JPEG_CHROMA_SUBSAMPLING	(V4L2_CID_JPEG_CLASS_BASE + 1)
-enum v4l2_jpeg_chroma_subsampling {
-	V4L2_JPEG_CHROMA_SUBSAMPLING_444	= 0,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_422	= 1,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_420	= 2,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_411	= 3,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_410	= 4,
-	V4L2_JPEG_CHROMA_SUBSAMPLING_GRAY	= 5,
-};
-#define	V4L2_CID_JPEG_RESTART_INTERVAL		(V4L2_CID_JPEG_CLASS_BASE + 2)
-#define	V4L2_CID_JPEG_COMPRESSION_QUALITY	(V4L2_CID_JPEG_CLASS_BASE + 3)
-
-#define	V4L2_CID_JPEG_ACTIVE_MARKER		(V4L2_CID_JPEG_CLASS_BASE + 4)
-#define	V4L2_JPEG_ACTIVE_MARKER_APP0		(1 << 0)
-#define	V4L2_JPEG_ACTIVE_MARKER_APP1		(1 << 1)
-#define	V4L2_JPEG_ACTIVE_MARKER_COM		(1 << 16)
-#define	V4L2_JPEG_ACTIVE_MARKER_DQT		(1 << 17)
-#define	V4L2_JPEG_ACTIVE_MARKER_DHT		(1 << 18)
-
-
-/* Image source controls */
-#define V4L2_CID_IMAGE_SOURCE_CLASS_BASE	(V4L2_CTRL_CLASS_IMAGE_SOURCE | 0x900)
-#define V4L2_CID_IMAGE_SOURCE_CLASS		(V4L2_CTRL_CLASS_IMAGE_SOURCE | 1)
-
-#define V4L2_CID_VBLANK				(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 1)
-#define V4L2_CID_HBLANK				(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 2)
-#define V4L2_CID_ANALOGUE_GAIN			(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 3)
-#define V4L2_CID_TEST_PATTERN_RED		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 4)
-#define V4L2_CID_TEST_PATTERN_GREENR		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 5)
-#define V4L2_CID_TEST_PATTERN_BLUE		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 6)
-#define V4L2_CID_TEST_PATTERN_GREENB		(V4L2_CID_IMAGE_SOURCE_CLASS_BASE + 7)
-
-
-/* Image processing controls */
-
-#define V4L2_CID_IMAGE_PROC_CLASS_BASE		(V4L2_CTRL_CLASS_IMAGE_PROC | 0x900)
-#define V4L2_CID_IMAGE_PROC_CLASS		(V4L2_CTRL_CLASS_IMAGE_PROC | 1)
-
-#define V4L2_CID_LINK_FREQ			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 1)
-#define V4L2_CID_PIXEL_RATE			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 2)
-#define V4L2_CID_TEST_PATTERN			(V4L2_CID_IMAGE_PROC_CLASS_BASE + 3)
-
-
-/*  DV-class control IDs defined by V4L2 */
-#define V4L2_CID_DV_CLASS_BASE			(V4L2_CTRL_CLASS_DV | 0x900)
-#define V4L2_CID_DV_CLASS			(V4L2_CTRL_CLASS_DV | 1)
-
-#define	V4L2_CID_DV_TX_HOTPLUG			(V4L2_CID_DV_CLASS_BASE + 1)
-#define	V4L2_CID_DV_TX_RXSENSE			(V4L2_CID_DV_CLASS_BASE + 2)
-#define	V4L2_CID_DV_TX_EDID_PRESENT		(V4L2_CID_DV_CLASS_BASE + 3)
-#define	V4L2_CID_DV_TX_MODE			(V4L2_CID_DV_CLASS_BASE + 4)
-enum v4l2_dv_tx_mode {
-	V4L2_DV_TX_MODE_DVI_D	= 0,
-	V4L2_DV_TX_MODE_HDMI	= 1,
-};
-#define V4L2_CID_DV_TX_RGB_RANGE		(V4L2_CID_DV_CLASS_BASE + 5)
-enum v4l2_dv_rgb_range {
-	V4L2_DV_RGB_RANGE_AUTO	  = 0,
-	V4L2_DV_RGB_RANGE_LIMITED = 1,
-	V4L2_DV_RGB_RANGE_FULL	  = 2,
-};
-
-#define V4L2_CID_DV_TX_IT_CONTENT_TYPE		(V4L2_CID_DV_CLASS_BASE + 6)
-enum v4l2_dv_it_content_type {
-	V4L2_DV_IT_CONTENT_TYPE_GRAPHICS  = 0,
-	V4L2_DV_IT_CONTENT_TYPE_PHOTO	  = 1,
-	V4L2_DV_IT_CONTENT_TYPE_CINEMA	  = 2,
-	V4L2_DV_IT_CONTENT_TYPE_GAME	  = 3,
-	V4L2_DV_IT_CONTENT_TYPE_NO_ITC	  = 4,
-};
-
-#define	V4L2_CID_DV_RX_POWER_PRESENT		(V4L2_CID_DV_CLASS_BASE + 100)
-#define V4L2_CID_DV_RX_RGB_RANGE		(V4L2_CID_DV_CLASS_BASE + 101)
-#define V4L2_CID_DV_RX_IT_CONTENT_TYPE		(V4L2_CID_DV_CLASS_BASE + 102)
-
-#define V4L2_CID_FM_RX_CLASS_BASE		(V4L2_CTRL_CLASS_FM_RX | 0x900)
-#define V4L2_CID_FM_RX_CLASS			(V4L2_CTRL_CLASS_FM_RX | 1)
-
-#define V4L2_CID_TUNE_DEEMPHASIS		(V4L2_CID_FM_RX_CLASS_BASE + 1)
-enum v4l2_deemphasis {
-	V4L2_DEEMPHASIS_DISABLED	= V4L2_PREEMPHASIS_DISABLED,
-	V4L2_DEEMPHASIS_50_uS		= V4L2_PREEMPHASIS_50_uS,
-	V4L2_DEEMPHASIS_75_uS		= V4L2_PREEMPHASIS_75_uS,
-};
-
-#define V4L2_CID_RDS_RECEPTION			(V4L2_CID_FM_RX_CLASS_BASE + 2)
-#define V4L2_CID_RDS_RX_PTY			(V4L2_CID_FM_RX_CLASS_BASE + 3)
-#define V4L2_CID_RDS_RX_PS_NAME			(V4L2_CID_FM_RX_CLASS_BASE + 4)
-#define V4L2_CID_RDS_RX_RADIO_TEXT		(V4L2_CID_FM_RX_CLASS_BASE + 5)
-#define V4L2_CID_RDS_RX_TRAFFIC_ANNOUNCEMENT	(V4L2_CID_FM_RX_CLASS_BASE + 6)
-#define V4L2_CID_RDS_RX_TRAFFIC_PROGRAM		(V4L2_CID_FM_RX_CLASS_BASE + 7)
-#define V4L2_CID_RDS_RX_MUSIC_SPEECH		(V4L2_CID_FM_RX_CLASS_BASE + 8)
-
-#define V4L2_CID_RF_TUNER_CLASS_BASE		(V4L2_CTRL_CLASS_RF_TUNER | 0x900)
-#define V4L2_CID_RF_TUNER_CLASS			(V4L2_CTRL_CLASS_RF_TUNER | 1)
-
-#define V4L2_CID_RF_TUNER_BANDWIDTH_AUTO	(V4L2_CID_RF_TUNER_CLASS_BASE + 11)
-#define V4L2_CID_RF_TUNER_BANDWIDTH		(V4L2_CID_RF_TUNER_CLASS_BASE + 12)
-#define V4L2_CID_RF_TUNER_RF_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 32)
-#define V4L2_CID_RF_TUNER_LNA_GAIN_AUTO		(V4L2_CID_RF_TUNER_CLASS_BASE + 41)
-#define V4L2_CID_RF_TUNER_LNA_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 42)
-#define V4L2_CID_RF_TUNER_MIXER_GAIN_AUTO	(V4L2_CID_RF_TUNER_CLASS_BASE + 51)
-#define V4L2_CID_RF_TUNER_MIXER_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 52)
-#define V4L2_CID_RF_TUNER_IF_GAIN_AUTO		(V4L2_CID_RF_TUNER_CLASS_BASE + 61)
-#define V4L2_CID_RF_TUNER_IF_GAIN		(V4L2_CID_RF_TUNER_CLASS_BASE + 62)
-#define V4L2_CID_RF_TUNER_PLL_LOCK			(V4L2_CID_RF_TUNER_CLASS_BASE + 91)
-
-
-/*  Detection-class control IDs defined by V4L2 */
-#define V4L2_CID_DETECT_CLASS_BASE		(V4L2_CTRL_CLASS_DETECT | 0x900)
-#define V4L2_CID_DETECT_CLASS			(V4L2_CTRL_CLASS_DETECT | 1)
-
-#define V4L2_CID_DETECT_MD_MODE			(V4L2_CID_DETECT_CLASS_BASE + 1)
-enum v4l2_detect_md_mode {
-	V4L2_DETECT_MD_MODE_DISABLED		= 0,
-	V4L2_DETECT_MD_MODE_GLOBAL		= 1,
-	V4L2_DETECT_MD_MODE_THRESHOLD_GRID	= 2,
-	V4L2_DETECT_MD_MODE_REGION_GRID		= 3,
-};
-#define V4L2_CID_DETECT_MD_GLOBAL_THRESHOLD	(V4L2_CID_DETECT_CLASS_BASE + 2)
-#define V4L2_CID_DETECT_MD_THRESHOLD_GRID	(V4L2_CID_DETECT_CLASS_BASE + 3)
-#define V4L2_CID_DETECT_MD_REGION_GRID		(V4L2_CID_DETECT_CLASS_BASE + 4)
-
-#endif
diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h
deleted file mode 100644
index 0086319f5f..0000000000
--- a/third_party/opencl/include/CL/cl.h
+++ /dev/null
@@ -1,1452 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-#ifndef __OPENCL_CL_H
-#define __OPENCL_CL_H
-
-#ifdef __APPLE__
-#include <OpenCL/cl_platform.h>
-#else
-#include <CL/cl_platform.h>
-#endif	
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
-
-typedef struct _cl_platform_id *    cl_platform_id;
-typedef struct _cl_device_id *      cl_device_id;
-typedef struct _cl_context *        cl_context;
-typedef struct _cl_command_queue *  cl_command_queue;
-typedef struct _cl_mem *            cl_mem;
-typedef struct _cl_program *        cl_program;
-typedef struct _cl_kernel *         cl_kernel;
-typedef struct _cl_event *          cl_event;
-typedef struct _cl_sampler *        cl_sampler;
-
-typedef cl_uint             cl_bool;                     /* WARNING!  Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ 
-typedef cl_ulong            cl_bitfield;
-typedef cl_bitfield         cl_device_type;
-typedef cl_uint             cl_platform_info;
-typedef cl_uint             cl_device_info;
-typedef cl_bitfield         cl_device_fp_config;
-typedef cl_uint             cl_device_mem_cache_type;
-typedef cl_uint             cl_device_local_mem_type;
-typedef cl_bitfield         cl_device_exec_capabilities;
-typedef cl_bitfield         cl_device_svm_capabilities;
-typedef cl_bitfield         cl_command_queue_properties;
-typedef intptr_t            cl_device_partition_property;
-typedef cl_bitfield         cl_device_affinity_domain;
-
-typedef intptr_t            cl_context_properties;
-typedef cl_uint             cl_context_info;
-typedef cl_bitfield         cl_queue_properties;
-typedef cl_uint             cl_command_queue_info;
-typedef cl_uint             cl_channel_order;
-typedef cl_uint             cl_channel_type;
-typedef cl_bitfield         cl_mem_flags;
-typedef cl_bitfield         cl_svm_mem_flags;
-typedef cl_uint             cl_mem_object_type;
-typedef cl_uint             cl_mem_info;
-typedef cl_bitfield         cl_mem_migration_flags;
-typedef cl_uint             cl_image_info;
-typedef cl_uint             cl_buffer_create_type;
-typedef cl_uint             cl_addressing_mode;
-typedef cl_uint             cl_filter_mode;
-typedef cl_uint             cl_sampler_info;
-typedef cl_bitfield         cl_map_flags;
-typedef intptr_t            cl_pipe_properties;
-typedef cl_uint             cl_pipe_info;
-typedef cl_uint             cl_program_info;
-typedef cl_uint             cl_program_build_info;
-typedef cl_uint             cl_program_binary_type;
-typedef cl_int              cl_build_status;
-typedef cl_uint             cl_kernel_info;
-typedef cl_uint             cl_kernel_arg_info;
-typedef cl_uint             cl_kernel_arg_address_qualifier;
-typedef cl_uint             cl_kernel_arg_access_qualifier;
-typedef cl_bitfield         cl_kernel_arg_type_qualifier;
-typedef cl_uint             cl_kernel_work_group_info;
-typedef cl_uint             cl_kernel_sub_group_info;
-typedef cl_uint             cl_event_info;
-typedef cl_uint             cl_command_type;
-typedef cl_uint             cl_profiling_info;
-typedef cl_bitfield         cl_sampler_properties;
-typedef cl_uint             cl_kernel_exec_info;
-
-typedef struct _cl_image_format {
-    cl_channel_order        image_channel_order;
-    cl_channel_type         image_channel_data_type;
-} cl_image_format;
-
-typedef struct _cl_image_desc {
-    cl_mem_object_type      image_type;
-    size_t                  image_width;
-    size_t                  image_height;
-    size_t                  image_depth;
-    size_t                  image_array_size;
-    size_t                  image_row_pitch;
-    size_t                  image_slice_pitch;
-    cl_uint                 num_mip_levels;
-    cl_uint                 num_samples;
-#ifdef __GNUC__
-    __extension__   /* Prevents warnings about anonymous union in -pedantic builds */
-#endif
-    union {
-      cl_mem                  buffer;
-      cl_mem                  mem_object;
-    };
-} cl_image_desc;
-
-typedef struct _cl_buffer_region {
-    size_t                  origin;
-    size_t                  size;
-} cl_buffer_region;
-
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_SUCCESS                                  0
-#define CL_DEVICE_NOT_FOUND                         -1
-#define CL_DEVICE_NOT_AVAILABLE                     -2
-#define CL_COMPILER_NOT_AVAILABLE                   -3
-#define CL_MEM_OBJECT_ALLOCATION_FAILURE            -4
-#define CL_OUT_OF_RESOURCES                         -5
-#define CL_OUT_OF_HOST_MEMORY                       -6
-#define CL_PROFILING_INFO_NOT_AVAILABLE             -7
-#define CL_MEM_COPY_OVERLAP                         -8
-#define CL_IMAGE_FORMAT_MISMATCH                    -9
-#define CL_IMAGE_FORMAT_NOT_SUPPORTED               -10
-#define CL_BUILD_PROGRAM_FAILURE                    -11
-#define CL_MAP_FAILURE                              -12
-#define CL_MISALIGNED_SUB_BUFFER_OFFSET             -13
-#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14
-#define CL_COMPILE_PROGRAM_FAILURE                  -15
-#define CL_LINKER_NOT_AVAILABLE                     -16
-#define CL_LINK_PROGRAM_FAILURE                     -17
-#define CL_DEVICE_PARTITION_FAILED                  -18
-#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE            -19
-
-#define CL_INVALID_VALUE                            -30
-#define CL_INVALID_DEVICE_TYPE                      -31
-#define CL_INVALID_PLATFORM                         -32
-#define CL_INVALID_DEVICE                           -33
-#define CL_INVALID_CONTEXT                          -34
-#define CL_INVALID_QUEUE_PROPERTIES                 -35
-#define CL_INVALID_COMMAND_QUEUE                    -36
-#define CL_INVALID_HOST_PTR                         -37
-#define CL_INVALID_MEM_OBJECT                       -38
-#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR          -39
-#define CL_INVALID_IMAGE_SIZE                       -40
-#define CL_INVALID_SAMPLER                          -41
-#define CL_INVALID_BINARY                           -42
-#define CL_INVALID_BUILD_OPTIONS                    -43
-#define CL_INVALID_PROGRAM                          -44
-#define CL_INVALID_PROGRAM_EXECUTABLE               -45
-#define CL_INVALID_KERNEL_NAME                      -46
-#define CL_INVALID_KERNEL_DEFINITION                -47
-#define CL_INVALID_KERNEL                           -48
-#define CL_INVALID_ARG_INDEX                        -49
-#define CL_INVALID_ARG_VALUE                        -50
-#define CL_INVALID_ARG_SIZE                         -51
-#define CL_INVALID_KERNEL_ARGS                      -52
-#define CL_INVALID_WORK_DIMENSION                   -53
-#define CL_INVALID_WORK_GROUP_SIZE                  -54
-#define CL_INVALID_WORK_ITEM_SIZE                   -55
-#define CL_INVALID_GLOBAL_OFFSET                    -56
-#define CL_INVALID_EVENT_WAIT_LIST                  -57
-#define CL_INVALID_EVENT                            -58
-#define CL_INVALID_OPERATION                        -59
-#define CL_INVALID_GL_OBJECT                        -60
-#define CL_INVALID_BUFFER_SIZE                      -61
-#define CL_INVALID_MIP_LEVEL                        -62
-#define CL_INVALID_GLOBAL_WORK_SIZE                 -63
-#define CL_INVALID_PROPERTY                         -64
-#define CL_INVALID_IMAGE_DESCRIPTOR                 -65
-#define CL_INVALID_COMPILER_OPTIONS                 -66
-#define CL_INVALID_LINKER_OPTIONS                   -67
-#define CL_INVALID_DEVICE_PARTITION_COUNT           -68
-#define CL_INVALID_PIPE_SIZE                        -69
-#define CL_INVALID_DEVICE_QUEUE                     -70
-
-/* OpenCL Version */
-#define CL_VERSION_1_0                              1
-#define CL_VERSION_1_1                              1
-#define CL_VERSION_1_2                              1
-#define CL_VERSION_2_0                              1
-#define CL_VERSION_2_1                              1
-
-/* cl_bool */
-#define CL_FALSE                                    0
-#define CL_TRUE                                     1
-#define CL_BLOCKING                                 CL_TRUE
-#define CL_NON_BLOCKING                             CL_FALSE
-
-/* cl_platform_info */
-#define CL_PLATFORM_PROFILE                         0x0900
-#define CL_PLATFORM_VERSION                         0x0901
-#define CL_PLATFORM_NAME                            0x0902
-#define CL_PLATFORM_VENDOR                          0x0903
-#define CL_PLATFORM_EXTENSIONS                      0x0904
-#define CL_PLATFORM_HOST_TIMER_RESOLUTION           0x0905
-
-/* cl_device_type - bitfield */
-#define CL_DEVICE_TYPE_DEFAULT                      (1 << 0)
-#define CL_DEVICE_TYPE_CPU                          (1 << 1)
-#define CL_DEVICE_TYPE_GPU                          (1 << 2)
-#define CL_DEVICE_TYPE_ACCELERATOR                  (1 << 3)
-#define CL_DEVICE_TYPE_CUSTOM                       (1 << 4)
-#define CL_DEVICE_TYPE_ALL                          0xFFFFFFFF
-
-/* cl_device_info */
-#define CL_DEVICE_TYPE                                   0x1000
-#define CL_DEVICE_VENDOR_ID                              0x1001
-#define CL_DEVICE_MAX_COMPUTE_UNITS                      0x1002
-#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS               0x1003
-#define CL_DEVICE_MAX_WORK_GROUP_SIZE                    0x1004
-#define CL_DEVICE_MAX_WORK_ITEM_SIZES                    0x1005
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR            0x1006
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT           0x1007
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT             0x1008
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG            0x1009
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT           0x100A
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE          0x100B
-#define CL_DEVICE_MAX_CLOCK_FREQUENCY                    0x100C
-#define CL_DEVICE_ADDRESS_BITS                           0x100D
-#define CL_DEVICE_MAX_READ_IMAGE_ARGS                    0x100E
-#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS                   0x100F
-#define CL_DEVICE_MAX_MEM_ALLOC_SIZE                     0x1010
-#define CL_DEVICE_IMAGE2D_MAX_WIDTH                      0x1011
-#define CL_DEVICE_IMAGE2D_MAX_HEIGHT                     0x1012
-#define CL_DEVICE_IMAGE3D_MAX_WIDTH                      0x1013
-#define CL_DEVICE_IMAGE3D_MAX_HEIGHT                     0x1014
-#define CL_DEVICE_IMAGE3D_MAX_DEPTH                      0x1015
-#define CL_DEVICE_IMAGE_SUPPORT                          0x1016
-#define CL_DEVICE_MAX_PARAMETER_SIZE                     0x1017
-#define CL_DEVICE_MAX_SAMPLERS                           0x1018
-#define CL_DEVICE_MEM_BASE_ADDR_ALIGN                    0x1019
-#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE               0x101A
-#define CL_DEVICE_SINGLE_FP_CONFIG                       0x101B
-#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE                  0x101C
-#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE              0x101D
-#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE                  0x101E
-#define CL_DEVICE_GLOBAL_MEM_SIZE                        0x101F
-#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE               0x1020
-#define CL_DEVICE_MAX_CONSTANT_ARGS                      0x1021
-#define CL_DEVICE_LOCAL_MEM_TYPE                         0x1022
-#define CL_DEVICE_LOCAL_MEM_SIZE                         0x1023
-#define CL_DEVICE_ERROR_CORRECTION_SUPPORT               0x1024
-#define CL_DEVICE_PROFILING_TIMER_RESOLUTION             0x1025
-#define CL_DEVICE_ENDIAN_LITTLE                          0x1026
-#define CL_DEVICE_AVAILABLE                              0x1027
-#define CL_DEVICE_COMPILER_AVAILABLE                     0x1028
-#define CL_DEVICE_EXECUTION_CAPABILITIES                 0x1029
-#define CL_DEVICE_QUEUE_PROPERTIES                       0x102A    /* deprecated */
-#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES               0x102A
-#define CL_DEVICE_NAME                                   0x102B
-#define CL_DEVICE_VENDOR                                 0x102C
-#define CL_DRIVER_VERSION                                0x102D
-#define CL_DEVICE_PROFILE                                0x102E
-#define CL_DEVICE_VERSION                                0x102F
-#define CL_DEVICE_EXTENSIONS                             0x1030
-#define CL_DEVICE_PLATFORM                               0x1031
-#define CL_DEVICE_DOUBLE_FP_CONFIG                       0x1032
-/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF            0x1034
-#define CL_DEVICE_HOST_UNIFIED_MEMORY                    0x1035   /* deprecated */
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR               0x1036
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT              0x1037
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT                0x1038
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG               0x1039
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT              0x103A
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE             0x103B
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF               0x103C
-#define CL_DEVICE_OPENCL_C_VERSION                       0x103D
-#define CL_DEVICE_LINKER_AVAILABLE                       0x103E
-#define CL_DEVICE_BUILT_IN_KERNELS                       0x103F
-#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE                  0x1040
-#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE                   0x1041
-#define CL_DEVICE_PARENT_DEVICE                          0x1042
-#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES              0x1043
-#define CL_DEVICE_PARTITION_PROPERTIES                   0x1044
-#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN              0x1045
-#define CL_DEVICE_PARTITION_TYPE                         0x1046
-#define CL_DEVICE_REFERENCE_COUNT                        0x1047
-#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC            0x1048
-#define CL_DEVICE_PRINTF_BUFFER_SIZE                     0x1049
-#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT                  0x104A
-#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT           0x104B
-#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS              0x104C
-#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE               0x104D
-#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES             0x104E
-#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE         0x104F
-#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE               0x1050
-#define CL_DEVICE_MAX_ON_DEVICE_QUEUES                   0x1051
-#define CL_DEVICE_MAX_ON_DEVICE_EVENTS                   0x1052
-#define CL_DEVICE_SVM_CAPABILITIES                       0x1053
-#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE   0x1054
-#define CL_DEVICE_MAX_PIPE_ARGS                          0x1055
-#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS           0x1056
-#define CL_DEVICE_PIPE_MAX_PACKET_SIZE                   0x1057
-#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT    0x1058
-#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT      0x1059
-#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT       0x105A
-#define CL_DEVICE_IL_VERSION                             0x105B
-#define CL_DEVICE_MAX_NUM_SUB_GROUPS                     0x105C
-#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D
-
-/* cl_device_fp_config - bitfield */
-#define CL_FP_DENORM                                (1 << 0)
-#define CL_FP_INF_NAN                               (1 << 1)
-#define CL_FP_ROUND_TO_NEAREST                      (1 << 2)
-#define CL_FP_ROUND_TO_ZERO                         (1 << 3)
-#define CL_FP_ROUND_TO_INF                          (1 << 4)
-#define CL_FP_FMA                                   (1 << 5)
-#define CL_FP_SOFT_FLOAT                            (1 << 6)
-#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT         (1 << 7)
-
-/* cl_device_mem_cache_type */
-#define CL_NONE                                     0x0
-#define CL_READ_ONLY_CACHE                          0x1
-#define CL_READ_WRITE_CACHE                         0x2
-
-/* cl_device_local_mem_type */
-#define CL_LOCAL                                    0x1
-#define CL_GLOBAL                                   0x2
-
-/* cl_device_exec_capabilities - bitfield */
-#define CL_EXEC_KERNEL                              (1 << 0)
-#define CL_EXEC_NATIVE_KERNEL                       (1 << 1)
-
-/* cl_command_queue_properties - bitfield */
-#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE      (1 << 0)
-#define CL_QUEUE_PROFILING_ENABLE                   (1 << 1)
-#define CL_QUEUE_ON_DEVICE                          (1 << 2)
-#define CL_QUEUE_ON_DEVICE_DEFAULT                  (1 << 3)
-
-/* cl_context_info  */
-#define CL_CONTEXT_REFERENCE_COUNT                  0x1080
-#define CL_CONTEXT_DEVICES                          0x1081
-#define CL_CONTEXT_PROPERTIES                       0x1082
-#define CL_CONTEXT_NUM_DEVICES                      0x1083
-
-/* cl_context_properties */
-#define CL_CONTEXT_PLATFORM                         0x1084
-#define CL_CONTEXT_INTEROP_USER_SYNC                0x1085
-    
-/* cl_device_partition_property */
-#define CL_DEVICE_PARTITION_EQUALLY                 0x1086
-#define CL_DEVICE_PARTITION_BY_COUNTS               0x1087
-#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END      0x0
-#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN      0x1088
-    
-/* cl_device_affinity_domain */
-#define CL_DEVICE_AFFINITY_DOMAIN_NUMA               (1 << 0)
-#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE           (1 << 1)
-#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE           (1 << 2)
-#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE           (1 << 3)
-#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE           (1 << 4)
-#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5)
-    
-/* cl_device_svm_capabilities */
-#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER           (1 << 0)
-#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER             (1 << 1)
-#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM             (1 << 2)
-#define CL_DEVICE_SVM_ATOMICS                       (1 << 3)
-
-/* cl_command_queue_info */
-#define CL_QUEUE_CONTEXT                            0x1090
-#define CL_QUEUE_DEVICE                             0x1091
-#define CL_QUEUE_REFERENCE_COUNT                    0x1092
-#define CL_QUEUE_PROPERTIES                         0x1093
-#define CL_QUEUE_SIZE                               0x1094
-#define CL_QUEUE_DEVICE_DEFAULT                     0x1095
-
-/* cl_mem_flags and cl_svm_mem_flags - bitfield */
-#define CL_MEM_READ_WRITE                           (1 << 0)
-#define CL_MEM_WRITE_ONLY                           (1 << 1)
-#define CL_MEM_READ_ONLY                            (1 << 2)
-#define CL_MEM_USE_HOST_PTR                         (1 << 3)
-#define CL_MEM_ALLOC_HOST_PTR                       (1 << 4)
-#define CL_MEM_COPY_HOST_PTR                        (1 << 5)
-/* reserved                                         (1 << 6)    */
-#define CL_MEM_HOST_WRITE_ONLY                      (1 << 7)
-#define CL_MEM_HOST_READ_ONLY                       (1 << 8)
-#define CL_MEM_HOST_NO_ACCESS                       (1 << 9)
-#define CL_MEM_SVM_FINE_GRAIN_BUFFER                (1 << 10)   /* used by cl_svm_mem_flags only */
-#define CL_MEM_SVM_ATOMICS                          (1 << 11)   /* used by cl_svm_mem_flags only */
-#define CL_MEM_KERNEL_READ_AND_WRITE                (1 << 12)
-
-/* cl_mem_migration_flags - bitfield */
-#define CL_MIGRATE_MEM_OBJECT_HOST                  (1 << 0)
-#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED     (1 << 1)
-
-/* cl_channel_order */
-#define CL_R                                        0x10B0
-#define CL_A                                        0x10B1
-#define CL_RG                                       0x10B2
-#define CL_RA                                       0x10B3
-#define CL_RGB                                      0x10B4
-#define CL_RGBA                                     0x10B5
-#define CL_BGRA                                     0x10B6
-#define CL_ARGB                                     0x10B7
-#define CL_INTENSITY                                0x10B8
-#define CL_LUMINANCE                                0x10B9
-#define CL_Rx                                       0x10BA
-#define CL_RGx                                      0x10BB
-#define CL_RGBx                                     0x10BC
-#define CL_DEPTH                                    0x10BD
-#define CL_DEPTH_STENCIL                            0x10BE
-#define CL_sRGB                                     0x10BF
-#define CL_sRGBx                                    0x10C0
-#define CL_sRGBA                                    0x10C1
-#define CL_sBGRA                                    0x10C2
-#define CL_ABGR                                     0x10C3
-
-/* cl_channel_type */
-#define CL_SNORM_INT8                               0x10D0
-#define CL_SNORM_INT16                              0x10D1
-#define CL_UNORM_INT8                               0x10D2
-#define CL_UNORM_INT16                              0x10D3
-#define CL_UNORM_SHORT_565                          0x10D4
-#define CL_UNORM_SHORT_555                          0x10D5
-#define CL_UNORM_INT_101010                         0x10D6
-#define CL_SIGNED_INT8                              0x10D7
-#define CL_SIGNED_INT16                             0x10D8
-#define CL_SIGNED_INT32                             0x10D9
-#define CL_UNSIGNED_INT8                            0x10DA
-#define CL_UNSIGNED_INT16                           0x10DB
-#define CL_UNSIGNED_INT32                           0x10DC
-#define CL_HALF_FLOAT                               0x10DD
-#define CL_FLOAT                                    0x10DE
-#define CL_UNORM_INT24                              0x10DF
-#define CL_UNORM_INT_101010_2                       0x10E0
-
-/* cl_mem_object_type */
-#define CL_MEM_OBJECT_BUFFER                        0x10F0
-#define CL_MEM_OBJECT_IMAGE2D                       0x10F1
-#define CL_MEM_OBJECT_IMAGE3D                       0x10F2
-#define CL_MEM_OBJECT_IMAGE2D_ARRAY                 0x10F3
-#define CL_MEM_OBJECT_IMAGE1D                       0x10F4
-#define CL_MEM_OBJECT_IMAGE1D_ARRAY                 0x10F5
-#define CL_MEM_OBJECT_IMAGE1D_BUFFER                0x10F6
-#define CL_MEM_OBJECT_PIPE                          0x10F7
-
-/* cl_mem_info */
-#define CL_MEM_TYPE                                 0x1100
-#define CL_MEM_FLAGS                                0x1101
-#define CL_MEM_SIZE                                 0x1102
-#define CL_MEM_HOST_PTR                             0x1103
-#define CL_MEM_MAP_COUNT                            0x1104
-#define CL_MEM_REFERENCE_COUNT                      0x1105
-#define CL_MEM_CONTEXT                              0x1106
-#define CL_MEM_ASSOCIATED_MEMOBJECT                 0x1107
-#define CL_MEM_OFFSET                               0x1108
-#define CL_MEM_USES_SVM_POINTER                     0x1109
-
-/* cl_image_info */
-#define CL_IMAGE_FORMAT                             0x1110
-#define CL_IMAGE_ELEMENT_SIZE                       0x1111
-#define CL_IMAGE_ROW_PITCH                          0x1112
-#define CL_IMAGE_SLICE_PITCH                        0x1113
-#define CL_IMAGE_WIDTH                              0x1114
-#define CL_IMAGE_HEIGHT                             0x1115
-#define CL_IMAGE_DEPTH                              0x1116
-#define CL_IMAGE_ARRAY_SIZE                         0x1117
-#define CL_IMAGE_BUFFER                             0x1118
-#define CL_IMAGE_NUM_MIP_LEVELS                     0x1119
-#define CL_IMAGE_NUM_SAMPLES                        0x111A
-    
-/* cl_pipe_info */
-#define CL_PIPE_PACKET_SIZE                         0x1120
-#define CL_PIPE_MAX_PACKETS                         0x1121
-
-/* cl_addressing_mode */
-#define CL_ADDRESS_NONE                             0x1130
-#define CL_ADDRESS_CLAMP_TO_EDGE                    0x1131
-#define CL_ADDRESS_CLAMP                            0x1132
-#define CL_ADDRESS_REPEAT                           0x1133
-#define CL_ADDRESS_MIRRORED_REPEAT                  0x1134
-
-/* cl_filter_mode */
-#define CL_FILTER_NEAREST                           0x1140
-#define CL_FILTER_LINEAR                            0x1141
-
-/* cl_sampler_info */
-#define CL_SAMPLER_REFERENCE_COUNT                  0x1150
-#define CL_SAMPLER_CONTEXT                          0x1151
-#define CL_SAMPLER_NORMALIZED_COORDS                0x1152
-#define CL_SAMPLER_ADDRESSING_MODE                  0x1153
-#define CL_SAMPLER_FILTER_MODE                      0x1154
-#define CL_SAMPLER_MIP_FILTER_MODE                  0x1155
-#define CL_SAMPLER_LOD_MIN                          0x1156
-#define CL_SAMPLER_LOD_MAX                          0x1157
-
-/* cl_map_flags - bitfield */
-#define CL_MAP_READ                                 (1 << 0)
-#define CL_MAP_WRITE                                (1 << 1)
-#define CL_MAP_WRITE_INVALIDATE_REGION              (1 << 2)
-
-/* cl_program_info */
-#define CL_PROGRAM_REFERENCE_COUNT                  0x1160
-#define CL_PROGRAM_CONTEXT                          0x1161
-#define CL_PROGRAM_NUM_DEVICES                      0x1162
-#define CL_PROGRAM_DEVICES                          0x1163
-#define CL_PROGRAM_SOURCE                           0x1164
-#define CL_PROGRAM_BINARY_SIZES                     0x1165
-#define CL_PROGRAM_BINARIES                         0x1166
-#define CL_PROGRAM_NUM_KERNELS                      0x1167
-#define CL_PROGRAM_KERNEL_NAMES                     0x1168
-#define CL_PROGRAM_IL                               0x1169
-
-/* cl_program_build_info */
-#define CL_PROGRAM_BUILD_STATUS                     0x1181
-#define CL_PROGRAM_BUILD_OPTIONS                    0x1182
-#define CL_PROGRAM_BUILD_LOG                        0x1183
-#define CL_PROGRAM_BINARY_TYPE                      0x1184
-#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185
-    
-/* cl_program_binary_type */
-#define CL_PROGRAM_BINARY_TYPE_NONE                 0x0
-#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT      0x1
-#define CL_PROGRAM_BINARY_TYPE_LIBRARY              0x2
-#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE           0x4
-
-/* cl_build_status */
-#define CL_BUILD_SUCCESS                            0
-#define CL_BUILD_NONE                               -1
-#define CL_BUILD_ERROR                              -2
-#define CL_BUILD_IN_PROGRESS                        -3
-
-/* cl_kernel_info */
-#define CL_KERNEL_FUNCTION_NAME                     0x1190
-#define CL_KERNEL_NUM_ARGS                          0x1191
-#define CL_KERNEL_REFERENCE_COUNT                   0x1192
-#define CL_KERNEL_CONTEXT                           0x1193
-#define CL_KERNEL_PROGRAM                           0x1194
-#define CL_KERNEL_ATTRIBUTES                        0x1195
-#define CL_KERNEL_MAX_NUM_SUB_GROUPS                0x11B9
-#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS            0x11BA
-
-/* cl_kernel_arg_info */
-#define CL_KERNEL_ARG_ADDRESS_QUALIFIER             0x1196
-#define CL_KERNEL_ARG_ACCESS_QUALIFIER              0x1197
-#define CL_KERNEL_ARG_TYPE_NAME                     0x1198
-#define CL_KERNEL_ARG_TYPE_QUALIFIER                0x1199
-#define CL_KERNEL_ARG_NAME                          0x119A
-
-/* cl_kernel_arg_address_qualifier */
-#define CL_KERNEL_ARG_ADDRESS_GLOBAL                0x119B
-#define CL_KERNEL_ARG_ADDRESS_LOCAL                 0x119C
-#define CL_KERNEL_ARG_ADDRESS_CONSTANT              0x119D
-#define CL_KERNEL_ARG_ADDRESS_PRIVATE               0x119E
-
-/* cl_kernel_arg_access_qualifier */
-#define CL_KERNEL_ARG_ACCESS_READ_ONLY              0x11A0
-#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY             0x11A1
-#define CL_KERNEL_ARG_ACCESS_READ_WRITE             0x11A2
-#define CL_KERNEL_ARG_ACCESS_NONE                   0x11A3
-    
-/* cl_kernel_arg_type_qualifer */
-#define CL_KERNEL_ARG_TYPE_NONE                     0
-#define CL_KERNEL_ARG_TYPE_CONST                    (1 << 0)
-#define CL_KERNEL_ARG_TYPE_RESTRICT                 (1 << 1)
-#define CL_KERNEL_ARG_TYPE_VOLATILE                 (1 << 2)
-#define CL_KERNEL_ARG_TYPE_PIPE                     (1 << 3)
-
-/* cl_kernel_work_group_info */
-#define CL_KERNEL_WORK_GROUP_SIZE                   0x11B0
-#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE           0x11B1
-#define CL_KERNEL_LOCAL_MEM_SIZE                    0x11B2
-#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3
-#define CL_KERNEL_PRIVATE_MEM_SIZE                  0x11B4
-#define CL_KERNEL_GLOBAL_WORK_SIZE                  0x11B5
-
-/* cl_kernel_sub_group_info */
-#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE    0x2033
-#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE       0x2034
-#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT    0x11B8
-    
-/* cl_kernel_exec_info */
-#define CL_KERNEL_EXEC_INFO_SVM_PTRS                0x11B6
-#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM   0x11B7
-
-/* cl_event_info  */
-#define CL_EVENT_COMMAND_QUEUE                      0x11D0
-#define CL_EVENT_COMMAND_TYPE                       0x11D1
-#define CL_EVENT_REFERENCE_COUNT                    0x11D2
-#define CL_EVENT_COMMAND_EXECUTION_STATUS           0x11D3
-#define CL_EVENT_CONTEXT                            0x11D4
-
-/* cl_command_type */
-#define CL_COMMAND_NDRANGE_KERNEL                   0x11F0
-#define CL_COMMAND_TASK                             0x11F1
-#define CL_COMMAND_NATIVE_KERNEL                    0x11F2
-#define CL_COMMAND_READ_BUFFER                      0x11F3
-#define CL_COMMAND_WRITE_BUFFER                     0x11F4
-#define CL_COMMAND_COPY_BUFFER                      0x11F5
-#define CL_COMMAND_READ_IMAGE                       0x11F6
-#define CL_COMMAND_WRITE_IMAGE                      0x11F7
-#define CL_COMMAND_COPY_IMAGE                       0x11F8
-#define CL_COMMAND_COPY_IMAGE_TO_BUFFER             0x11F9
-#define CL_COMMAND_COPY_BUFFER_TO_IMAGE             0x11FA
-#define CL_COMMAND_MAP_BUFFER                       0x11FB
-#define CL_COMMAND_MAP_IMAGE                        0x11FC
-#define CL_COMMAND_UNMAP_MEM_OBJECT                 0x11FD
-#define CL_COMMAND_MARKER                           0x11FE
-#define CL_COMMAND_ACQUIRE_GL_OBJECTS               0x11FF
-#define CL_COMMAND_RELEASE_GL_OBJECTS               0x1200
-#define CL_COMMAND_READ_BUFFER_RECT                 0x1201
-#define CL_COMMAND_WRITE_BUFFER_RECT                0x1202
-#define CL_COMMAND_COPY_BUFFER_RECT                 0x1203
-#define CL_COMMAND_USER                             0x1204
-#define CL_COMMAND_BARRIER                          0x1205
-#define CL_COMMAND_MIGRATE_MEM_OBJECTS              0x1206
-#define CL_COMMAND_FILL_BUFFER                      0x1207
-#define CL_COMMAND_FILL_IMAGE                       0x1208
-#define CL_COMMAND_SVM_FREE                         0x1209
-#define CL_COMMAND_SVM_MEMCPY                       0x120A
-#define CL_COMMAND_SVM_MEMFILL                      0x120B
-#define CL_COMMAND_SVM_MAP                          0x120C
-#define CL_COMMAND_SVM_UNMAP                        0x120D
-
-/* command execution status */
-#define CL_COMPLETE                                 0x0
-#define CL_RUNNING                                  0x1
-#define CL_SUBMITTED                                0x2
-#define CL_QUEUED                                   0x3
-
-/* cl_buffer_create_type  */
-#define CL_BUFFER_CREATE_TYPE_REGION                0x1220
-
-/* cl_profiling_info  */
-#define CL_PROFILING_COMMAND_QUEUED                 0x1280
-#define CL_PROFILING_COMMAND_SUBMIT                 0x1281
-#define CL_PROFILING_COMMAND_START                  0x1282
-#define CL_PROFILING_COMMAND_END                    0x1283
-#define CL_PROFILING_COMMAND_COMPLETE               0x1284
-
-/********************************************************************************************************/
-
-/* Platform API */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetPlatformIDs(cl_uint          /* num_entries */,
-                 cl_platform_id * /* platforms */,
-                 cl_uint *        /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL 
-clGetPlatformInfo(cl_platform_id   /* platform */, 
-                  cl_platform_info /* param_name */,
-                  size_t           /* param_value_size */, 
-                  void *           /* param_value */,
-                  size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Device APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceIDs(cl_platform_id   /* platform */,
-               cl_device_type   /* device_type */, 
-               cl_uint          /* num_entries */, 
-               cl_device_id *   /* devices */, 
-               cl_uint *        /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceInfo(cl_device_id    /* device */,
-                cl_device_info  /* param_name */, 
-                size_t          /* param_value_size */, 
-                void *          /* param_value */,
-                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCreateSubDevices(cl_device_id                         /* in_device */,
-                   const cl_device_partition_property * /* properties */,
-                   cl_uint                              /* num_devices */,
-                   cl_device_id *                       /* out_devices */,
-                   cl_uint *                            /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetDefaultDeviceCommandQueue(cl_context           /* context */,
-                               cl_device_id         /* device */,
-                               cl_command_queue     /* command_queue */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceAndHostTimer(cl_device_id    /* device */,
-                        cl_ulong*       /* device_timestamp */,
-                        cl_ulong*       /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetHostTimer(cl_device_id /* device */,
-               cl_ulong *   /* host_timestamp */)  CL_API_SUFFIX__VERSION_2_1;
-
-    
-/* Context APIs  */
-extern CL_API_ENTRY cl_context CL_API_CALL
-clCreateContext(const cl_context_properties * /* properties */,
-                cl_uint                 /* num_devices */,
-                const cl_device_id *    /* devices */,
-                void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *),
-                void *                  /* user_data */,
-                cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_context CL_API_CALL
-clCreateContextFromType(const cl_context_properties * /* properties */,
-                        cl_device_type          /* device_type */,
-                        void (CL_CALLBACK *     /* pfn_notify*/ )(const char *, const void *, size_t, void *),
-                        void *                  /* user_data */,
-                        cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetContextInfo(cl_context         /* context */, 
-                 cl_context_info    /* param_name */, 
-                 size_t             /* param_value_size */, 
-                 void *             /* param_value */, 
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Command Queue APIs */
-extern CL_API_ENTRY cl_command_queue CL_API_CALL
-clCreateCommandQueueWithProperties(cl_context               /* context */,
-                                   cl_device_id             /* device */,
-                                   const cl_queue_properties *    /* properties */,
-                                   cl_int *                 /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetCommandQueueInfo(cl_command_queue      /* command_queue */,
-                      cl_command_queue_info /* param_name */,
-                      size_t                /* param_value_size */,
-                      void *                /* param_value */,
-                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Memory Object APIs */
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateBuffer(cl_context   /* context */,
-               cl_mem_flags /* flags */,
-               size_t       /* size */,
-               void *       /* host_ptr */,
-               cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateSubBuffer(cl_mem                   /* buffer */,
-                  cl_mem_flags             /* flags */,
-                  cl_buffer_create_type    /* buffer_create_type */,
-                  const void *             /* buffer_create_info */,
-                  cl_int *                 /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateImage(cl_context              /* context */,
-              cl_mem_flags            /* flags */,
-              const cl_image_format * /* image_format */,
-              const cl_image_desc *   /* image_desc */, 
-              void *                  /* host_ptr */,
-              cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-                        
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreatePipe(cl_context                 /* context */,
-             cl_mem_flags               /* flags */,
-             cl_uint                    /* pipe_packet_size */,
-             cl_uint                    /* pipe_max_packets */,
-             const cl_pipe_properties * /* properties */,
-             cl_int *                   /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetSupportedImageFormats(cl_context           /* context */,
-                           cl_mem_flags         /* flags */,
-                           cl_mem_object_type   /* image_type */,
-                           cl_uint              /* num_entries */,
-                           cl_image_format *    /* image_formats */,
-                           cl_uint *            /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
-                                    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetMemObjectInfo(cl_mem           /* memobj */,
-                   cl_mem_info      /* param_name */, 
-                   size_t           /* param_value_size */,
-                   void *           /* param_value */,
-                   size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetImageInfo(cl_mem           /* image */,
-               cl_image_info    /* param_name */, 
-               size_t           /* param_value_size */,
-               void *           /* param_value */,
-               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetPipeInfo(cl_mem           /* pipe */,
-              cl_pipe_info     /* param_name */,
-              size_t           /* param_value_size */,
-              void *           /* param_value */,
-              size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0;
-    
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetMemObjectDestructorCallback(cl_mem /* memobj */,
-                                 void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/),
-                                 void * /*user_data */ )             CL_API_SUFFIX__VERSION_1_1;
-
-/* SVM Allocation APIs */
-extern CL_API_ENTRY void * CL_API_CALL
-clSVMAlloc(cl_context       /* context */,
-           cl_svm_mem_flags /* flags */,
-           size_t           /* size */,
-           cl_uint          /* alignment */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY void CL_API_CALL
-clSVMFree(cl_context        /* context */,
-          void *            /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0;
-    
-/* Sampler APIs */
-extern CL_API_ENTRY cl_sampler CL_API_CALL
-clCreateSamplerWithProperties(cl_context                     /* context */,
-                              const cl_sampler_properties *  /* normalized_coords */,
-                              cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetSamplerInfo(cl_sampler         /* sampler */,
-                 cl_sampler_info    /* param_name */,
-                 size_t             /* param_value_size */,
-                 void *             /* param_value */,
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                            
-/* Program Object APIs  */
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithSource(cl_context        /* context */,
-                          cl_uint           /* count */,
-                          const char **     /* strings */,
-                          const size_t *    /* lengths */,
-                          cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithBinary(cl_context                     /* context */,
-                          cl_uint                        /* num_devices */,
-                          const cl_device_id *           /* device_list */,
-                          const size_t *                 /* lengths */,
-                          const unsigned char **         /* binaries */,
-                          cl_int *                       /* binary_status */,
-                          cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithBuiltInKernels(cl_context            /* context */,
-                                  cl_uint               /* num_devices */,
-                                  const cl_device_id *  /* device_list */,
-                                  const char *          /* kernel_names */,
-                                  cl_int *              /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithIL(cl_context    /* context */,
-                     const void*    /* il */,
-                     size_t         /* length */,
-                     cl_int*        /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clBuildProgram(cl_program           /* program */,
-               cl_uint              /* num_devices */,
-               const cl_device_id * /* device_list */,
-               const char *         /* options */, 
-               void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-               void *               /* user_data */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCompileProgram(cl_program           /* program */,
-                 cl_uint              /* num_devices */,
-                 const cl_device_id * /* device_list */,
-                 const char *         /* options */, 
-                 cl_uint              /* num_input_headers */,
-                 const cl_program *   /* input_headers */,
-                 const char **        /* header_include_names */,
-                 void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-                 void *               /* user_data */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clLinkProgram(cl_context           /* context */,
-              cl_uint              /* num_devices */,
-              const cl_device_id * /* device_list */,
-              const char *         /* options */, 
-              cl_uint              /* num_input_programs */,
-              const cl_program *   /* input_programs */,
-              void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-              void *               /* user_data */,
-              cl_int *             /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2;
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetProgramInfo(cl_program         /* program */,
-                 cl_program_info    /* param_name */,
-                 size_t             /* param_value_size */,
-                 void *             /* param_value */,
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetProgramBuildInfo(cl_program            /* program */,
-                      cl_device_id          /* device */,
-                      cl_program_build_info /* param_name */,
-                      size_t                /* param_value_size */,
-                      void *                /* param_value */,
-                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                            
-/* Kernel Object APIs */
-extern CL_API_ENTRY cl_kernel CL_API_CALL
-clCreateKernel(cl_program      /* program */,
-               const char *    /* kernel_name */,
-               cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCreateKernelsInProgram(cl_program     /* program */,
-                         cl_uint        /* num_kernels */,
-                         cl_kernel *    /* kernels */,
-                         cl_uint *      /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_kernel CL_API_CALL
-clCloneKernel(cl_kernel     /* source_kernel */,
-              cl_int*       /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainKernel(cl_kernel    /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseKernel(cl_kernel   /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelArg(cl_kernel    /* kernel */,
-               cl_uint      /* arg_index */,
-               size_t       /* arg_size */,
-               const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelArgSVMPointer(cl_kernel    /* kernel */,
-                         cl_uint      /* arg_index */,
-                         const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelExecInfo(cl_kernel            /* kernel */,
-                    cl_kernel_exec_info  /* param_name */,
-                    size_t               /* param_value_size */,
-                    const void *         /* param_value */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelInfo(cl_kernel       /* kernel */,
-                cl_kernel_info  /* param_name */,
-                size_t          /* param_value_size */,
-                void *          /* param_value */,
-                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelArgInfo(cl_kernel       /* kernel */,
-                   cl_uint         /* arg_indx */,
-                   cl_kernel_arg_info  /* param_name */,
-                   size_t          /* param_value_size */,
-                   void *          /* param_value */,
-                   size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelWorkGroupInfo(cl_kernel                  /* kernel */,
-                         cl_device_id               /* device */,
-                         cl_kernel_work_group_info  /* param_name */,
-                         size_t                     /* param_value_size */,
-                         void *                     /* param_value */,
-                         size_t *                   /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelSubGroupInfo(cl_kernel                   /* kernel */,
-                        cl_device_id                /* device */,
-                        cl_kernel_sub_group_info    /* param_name */,
-                        size_t                      /* input_value_size */,
-                        const void*                 /*input_value */,
-                        size_t                      /* param_value_size */,
-                        void*                       /* param_value */,
-                        size_t*                     /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1;
-
-
-/* Event Object APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clWaitForEvents(cl_uint             /* num_events */,
-                const cl_event *    /* event_list */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetEventInfo(cl_event         /* event */,
-               cl_event_info    /* param_name */,
-               size_t           /* param_value_size */,
-               void *           /* param_value */,
-               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateUserEvent(cl_context    /* context */,
-                  cl_int *      /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;               
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetUserEventStatus(cl_event   /* event */,
-                     cl_int     /* execution_status */) CL_API_SUFFIX__VERSION_1_1;
-                     
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetEventCallback( cl_event    /* event */,
-                    cl_int      /* command_exec_callback_type */,
-                    void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *),
-                    void *      /* user_data */) CL_API_SUFFIX__VERSION_1_1;
-
-/* Profiling APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetEventProfilingInfo(cl_event            /* event */,
-                        cl_profiling_info   /* param_name */,
-                        size_t              /* param_value_size */,
-                        void *              /* param_value */,
-                        size_t *            /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                                
-/* Flush and Finish APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Enqueued Commands APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadBuffer(cl_command_queue    /* command_queue */,
-                    cl_mem              /* buffer */,
-                    cl_bool             /* blocking_read */,
-                    size_t              /* offset */,
-                    size_t              /* size */, 
-                    void *              /* ptr */,
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadBufferRect(cl_command_queue    /* command_queue */,
-                        cl_mem              /* buffer */,
-                        cl_bool             /* blocking_read */,
-                        const size_t *      /* buffer_offset */,
-                        const size_t *      /* host_offset */, 
-                        const size_t *      /* region */,
-                        size_t              /* buffer_row_pitch */,
-                        size_t              /* buffer_slice_pitch */,
-                        size_t              /* host_row_pitch */,
-                        size_t              /* host_slice_pitch */,                        
-                        void *              /* ptr */,
-                        cl_uint             /* num_events_in_wait_list */,
-                        const cl_event *    /* event_wait_list */,
-                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteBuffer(cl_command_queue   /* command_queue */, 
-                     cl_mem             /* buffer */, 
-                     cl_bool            /* blocking_write */, 
-                     size_t             /* offset */, 
-                     size_t             /* size */, 
-                     const void *       /* ptr */, 
-                     cl_uint            /* num_events_in_wait_list */, 
-                     const cl_event *   /* event_wait_list */, 
-                     cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteBufferRect(cl_command_queue    /* command_queue */,
-                         cl_mem              /* buffer */,
-                         cl_bool             /* blocking_write */,
-                         const size_t *      /* buffer_offset */,
-                         const size_t *      /* host_offset */, 
-                         const size_t *      /* region */,
-                         size_t              /* buffer_row_pitch */,
-                         size_t              /* buffer_slice_pitch */,
-                         size_t              /* host_row_pitch */,
-                         size_t              /* host_slice_pitch */,                        
-                         const void *        /* ptr */,
-                         cl_uint             /* num_events_in_wait_list */,
-                         const cl_event *    /* event_wait_list */,
-                         cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueFillBuffer(cl_command_queue   /* command_queue */,
-                    cl_mem             /* buffer */, 
-                    const void *       /* pattern */, 
-                    size_t             /* pattern_size */, 
-                    size_t             /* offset */, 
-                    size_t             /* size */, 
-                    cl_uint            /* num_events_in_wait_list */, 
-                    const cl_event *   /* event_wait_list */, 
-                    cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_2;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBuffer(cl_command_queue    /* command_queue */, 
-                    cl_mem              /* src_buffer */,
-                    cl_mem              /* dst_buffer */, 
-                    size_t              /* src_offset */,
-                    size_t              /* dst_offset */,
-                    size_t              /* size */, 
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBufferRect(cl_command_queue    /* command_queue */, 
-                        cl_mem              /* src_buffer */,
-                        cl_mem              /* dst_buffer */, 
-                        const size_t *      /* src_origin */,
-                        const size_t *      /* dst_origin */,
-                        const size_t *      /* region */, 
-                        size_t              /* src_row_pitch */,
-                        size_t              /* src_slice_pitch */,
-                        size_t              /* dst_row_pitch */,
-                        size_t              /* dst_slice_pitch */,
-                        cl_uint             /* num_events_in_wait_list */,
-                        const cl_event *    /* event_wait_list */,
-                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadImage(cl_command_queue     /* command_queue */,
-                   cl_mem               /* image */,
-                   cl_bool              /* blocking_read */, 
-                   const size_t *       /* origin[3] */,
-                   const size_t *       /* region[3] */,
-                   size_t               /* row_pitch */,
-                   size_t               /* slice_pitch */, 
-                   void *               /* ptr */,
-                   cl_uint              /* num_events_in_wait_list */,
-                   const cl_event *     /* event_wait_list */,
-                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteImage(cl_command_queue    /* command_queue */,
-                    cl_mem              /* image */,
-                    cl_bool             /* blocking_write */, 
-                    const size_t *      /* origin[3] */,
-                    const size_t *      /* region[3] */,
-                    size_t              /* input_row_pitch */,
-                    size_t              /* input_slice_pitch */, 
-                    const void *        /* ptr */,
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueFillImage(cl_command_queue   /* command_queue */,
-                   cl_mem             /* image */, 
-                   const void *       /* fill_color */, 
-                   const size_t *     /* origin[3] */, 
-                   const size_t *     /* region[3] */, 
-                   cl_uint            /* num_events_in_wait_list */, 
-                   const cl_event *   /* event_wait_list */, 
-                   cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_2;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyImage(cl_command_queue     /* command_queue */,
-                   cl_mem               /* src_image */,
-                   cl_mem               /* dst_image */, 
-                   const size_t *       /* src_origin[3] */,
-                   const size_t *       /* dst_origin[3] */,
-                   const size_t *       /* region[3] */, 
-                   cl_uint              /* num_events_in_wait_list */,
-                   const cl_event *     /* event_wait_list */,
-                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */,
-                           cl_mem           /* src_image */,
-                           cl_mem           /* dst_buffer */, 
-                           const size_t *   /* src_origin[3] */,
-                           const size_t *   /* region[3] */, 
-                           size_t           /* dst_offset */,
-                           cl_uint          /* num_events_in_wait_list */,
-                           const cl_event * /* event_wait_list */,
-                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */,
-                           cl_mem           /* src_buffer */,
-                           cl_mem           /* dst_image */, 
-                           size_t           /* src_offset */,
-                           const size_t *   /* dst_origin[3] */,
-                           const size_t *   /* region[3] */, 
-                           cl_uint          /* num_events_in_wait_list */,
-                           const cl_event * /* event_wait_list */,
-                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY void * CL_API_CALL
-clEnqueueMapBuffer(cl_command_queue /* command_queue */,
-                   cl_mem           /* buffer */,
-                   cl_bool          /* blocking_map */, 
-                   cl_map_flags     /* map_flags */,
-                   size_t           /* offset */,
-                   size_t           /* size */,
-                   cl_uint          /* num_events_in_wait_list */,
-                   const cl_event * /* event_wait_list */,
-                   cl_event *       /* event */,
-                   cl_int *         /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY void * CL_API_CALL
-clEnqueueMapImage(cl_command_queue  /* command_queue */,
-                  cl_mem            /* image */, 
-                  cl_bool           /* blocking_map */, 
-                  cl_map_flags      /* map_flags */, 
-                  const size_t *    /* origin[3] */,
-                  const size_t *    /* region[3] */,
-                  size_t *          /* image_row_pitch */,
-                  size_t *          /* image_slice_pitch */,
-                  cl_uint           /* num_events_in_wait_list */,
-                  const cl_event *  /* event_wait_list */,
-                  cl_event *        /* event */,
-                  cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueUnmapMemObject(cl_command_queue /* command_queue */,
-                        cl_mem           /* memobj */,
-                        void *           /* mapped_ptr */,
-                        cl_uint          /* num_events_in_wait_list */,
-                        const cl_event *  /* event_wait_list */,
-                        cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueMigrateMemObjects(cl_command_queue       /* command_queue */,
-                           cl_uint                /* num_mem_objects */,
-                           const cl_mem *         /* mem_objects */,
-                           cl_mem_migration_flags /* flags */,
-                           cl_uint                /* num_events_in_wait_list */,
-                           const cl_event *       /* event_wait_list */,
-                           cl_event *             /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueNDRangeKernel(cl_command_queue /* command_queue */,
-                       cl_kernel        /* kernel */,
-                       cl_uint          /* work_dim */,
-                       const size_t *   /* global_work_offset */,
-                       const size_t *   /* global_work_size */,
-                       const size_t *   /* local_work_size */,
-                       cl_uint          /* num_events_in_wait_list */,
-                       const cl_event * /* event_wait_list */,
-                       cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueNativeKernel(cl_command_queue  /* command_queue */,
-					  void (CL_CALLBACK * /*user_func*/)(void *), 
-                      void *            /* args */,
-                      size_t            /* cb_args */, 
-                      cl_uint           /* num_mem_objects */,
-                      const cl_mem *    /* mem_list */,
-                      const void **     /* args_mem_loc */,
-                      cl_uint           /* num_events_in_wait_list */,
-                      const cl_event *  /* event_wait_list */,
-                      cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueMarkerWithWaitList(cl_command_queue  /* command_queue */,
-                            cl_uint           /* num_events_in_wait_list */,
-                            const cl_event *  /* event_wait_list */,
-                            cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueBarrierWithWaitList(cl_command_queue  /* command_queue */,
-                             cl_uint           /* num_events_in_wait_list */,
-                             const cl_event *  /* event_wait_list */,
-                             cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMFree(cl_command_queue  /* command_queue */,
-                 cl_uint           /* num_svm_pointers */,
-                 void *[]          /* svm_pointers[] */,
-                 void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */,
-                                                        cl_uint          /* num_svm_pointers */,
-                                                        void *[]         /* svm_pointers[] */,
-                                                        void *           /* user_data */),
-                 void *            /* user_data */,
-                 cl_uint           /* num_events_in_wait_list */,
-                 const cl_event *  /* event_wait_list */,
-                 cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMemcpy(cl_command_queue  /* command_queue */,
-                   cl_bool           /* blocking_copy */,
-                   void *            /* dst_ptr */,
-                   const void *      /* src_ptr */,
-                   size_t            /* size */,
-                   cl_uint           /* num_events_in_wait_list */,
-                   const cl_event *  /* event_wait_list */,
-                   cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMemFill(cl_command_queue  /* command_queue */,
-                    void *            /* svm_ptr */,
-                    const void *      /* pattern */,
-                    size_t            /* pattern_size */,
-                    size_t            /* size */,
-                    cl_uint           /* num_events_in_wait_list */,
-                    const cl_event *  /* event_wait_list */,
-                    cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMap(cl_command_queue  /* command_queue */,
-                cl_bool           /* blocking_map */,
-                cl_map_flags      /* flags */,
-                void *            /* svm_ptr */,
-                size_t            /* size */,
-                cl_uint           /* num_events_in_wait_list */,
-                const cl_event *  /* event_wait_list */,
-                cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMUnmap(cl_command_queue  /* command_queue */,
-                  void *            /* svm_ptr */,
-                  cl_uint           /* num_events_in_wait_list */,
-                  const cl_event *  /* event_wait_list */,
-                  cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMigrateMem(cl_command_queue         /* command_queue */,
-                       cl_uint                  /* num_svm_pointers */,
-                       const void **            /* svm_pointers */,
-                       const size_t *           /* sizes */,
-                       cl_mem_migration_flags   /* flags */,
-                       cl_uint                  /* num_events_in_wait_list */,
-                       const cl_event *         /* event_wait_list */,
-                       cl_event *               /* event */) CL_API_SUFFIX__VERSION_2_1;
-
-
-/* Extension function access
- *
- * Returns the extension function address for the given function name,
- * or NULL if a valid function can not be found.  The client must
- * check to make sure the address is not NULL, before using or 
- * calling the returned function address.
- */
-extern CL_API_ENTRY void * CL_API_CALL 
-clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */,
-                                         const char *   /* func_name */) CL_API_SUFFIX__VERSION_1_2;
-    
-
-/* Deprecated OpenCL 1.1 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateImage2D(cl_context              /* context */,
-                cl_mem_flags            /* flags */,
-                const cl_image_format * /* image_format */,
-                size_t                  /* image_width */,
-                size_t                  /* image_height */,
-                size_t                  /* image_row_pitch */, 
-                void *                  /* host_ptr */,
-                cl_int *                /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateImage3D(cl_context              /* context */,
-                cl_mem_flags            /* flags */,
-                const cl_image_format * /* image_format */,
-                size_t                  /* image_width */, 
-                size_t                  /* image_height */,
-                size_t                  /* image_depth */, 
-                size_t                  /* image_row_pitch */, 
-                size_t                  /* image_slice_pitch */, 
-                void *                  /* host_ptr */,
-                cl_int *                /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueMarker(cl_command_queue    /* command_queue */,
-                cl_event *          /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueWaitForEvents(cl_command_queue /* command_queue */,
-                        cl_uint          /* num_events */,
-                        const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL
-clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-/* Deprecated OpenCL 2.0 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL
-clCreateCommandQueue(cl_context                     /* context */,
-                     cl_device_id                   /* device */,
-                     cl_command_queue_properties    /* properties */,
-                     cl_int *                       /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-    
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL
-clCreateSampler(cl_context          /* context */,
-                cl_bool             /* normalized_coords */,
-                cl_addressing_mode  /* addressing_mode */,
-                cl_filter_mode      /* filter_mode */,
-                cl_int *            /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL
-clEnqueueTask(cl_command_queue  /* command_queue */,
-              cl_kernel         /* kernel */,
-              cl_uint           /* num_events_in_wait_list */,
-              const cl_event *  /* event_wait_list */,
-              cl_event *        /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-    
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_H */
-
diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h
deleted file mode 100644
index d5960a43f7..0000000000
--- a/third_party/opencl/include/CL/cl_d3d10.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_D3D10_H
-#define __OPENCL_CL_D3D10_H
-
-#include <d3d10.h>
-#include <CL/cl.h>
-#include <CL/cl_platform.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************
- * cl_khr_d3d10_sharing                                                       */
-#define cl_khr_d3d10_sharing 1
-
-typedef cl_uint cl_d3d10_device_source_khr;
-typedef cl_uint cl_d3d10_device_set_khr;
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_D3D10_DEVICE_KHR                  -1002
-#define CL_INVALID_D3D10_RESOURCE_KHR                -1003
-#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR       -1004
-#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR           -1005
-
-/* cl_d3d10_device_source_nv */
-#define CL_D3D10_DEVICE_KHR                          0x4010
-#define CL_D3D10_DXGI_ADAPTER_KHR                    0x4011
-
-/* cl_d3d10_device_set_nv */
-#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR           0x4012
-#define CL_ALL_DEVICES_FOR_D3D10_KHR                 0x4013
-
-/* cl_context_info */
-#define CL_CONTEXT_D3D10_DEVICE_KHR                  0x4014
-#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C
-
-/* cl_mem_info */
-#define CL_MEM_D3D10_RESOURCE_KHR                    0x4015
-
-/* cl_image_info */
-#define CL_IMAGE_D3D10_SUBRESOURCE_KHR               0x4016
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR         0x4017
-#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR         0x4018
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)(
-    cl_platform_id             platform,
-    cl_d3d10_device_source_khr d3d_device_source,
-    void *                     d3d_object,
-    cl_d3d10_device_set_khr    d3d_device_set,
-    cl_uint                    num_entries,
-    cl_device_id *             devices,
-    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)(
-    cl_context     context,
-    cl_mem_flags   flags,
-    ID3D10Buffer * resource,
-    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D10Texture2D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D10Texture3D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_D3D10_H */
-
diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h
deleted file mode 100644
index 39f9072398..0000000000
--- a/third_party/opencl/include/CL/cl_d3d11.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_D3D11_H
-#define __OPENCL_CL_D3D11_H
-
-#include <d3d11.h>
-#include <CL/cl.h>
-#include <CL/cl_platform.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************
- * cl_khr_d3d11_sharing                                                       */
-#define cl_khr_d3d11_sharing 1
-
-typedef cl_uint cl_d3d11_device_source_khr;
-typedef cl_uint cl_d3d11_device_set_khr;
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_D3D11_DEVICE_KHR                  -1006
-#define CL_INVALID_D3D11_RESOURCE_KHR                -1007
-#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR       -1008
-#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR           -1009
-
-/* cl_d3d11_device_source */
-#define CL_D3D11_DEVICE_KHR                          0x4019
-#define CL_D3D11_DXGI_ADAPTER_KHR                    0x401A
-
-/* cl_d3d11_device_set */
-#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR           0x401B
-#define CL_ALL_DEVICES_FOR_D3D11_KHR                 0x401C
-
-/* cl_context_info */
-#define CL_CONTEXT_D3D11_DEVICE_KHR                  0x401D
-#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D
-
-/* cl_mem_info */
-#define CL_MEM_D3D11_RESOURCE_KHR                    0x401E
-
-/* cl_image_info */
-#define CL_IMAGE_D3D11_SUBRESOURCE_KHR               0x401F
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR         0x4020
-#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR         0x4021
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)(
-    cl_platform_id             platform,
-    cl_d3d11_device_source_khr d3d_device_source,
-    void *                     d3d_object,
-    cl_d3d11_device_set_khr    d3d_device_set,
-    cl_uint                    num_entries,
-    cl_device_id *             devices,
-    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)(
-    cl_context     context,
-    cl_mem_flags   flags,
-    ID3D11Buffer * resource,
-    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D11Texture2D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D11Texture3D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_D3D11_H */
-
diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h
deleted file mode 100644
index 2729e8b9e8..0000000000
--- a/third_party/opencl/include/CL/cl_dx9_media_sharing.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H
-#define __OPENCL_CL_DX9_MEDIA_SHARING_H
-
-#include <CL/cl.h>
-#include <CL/cl_platform.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
-/* cl_khr_dx9_media_sharing                                                   */
-#define cl_khr_dx9_media_sharing 1
-
-typedef cl_uint             cl_dx9_media_adapter_type_khr;
-typedef cl_uint             cl_dx9_media_adapter_set_khr;
-    
-#if defined(_WIN32)
-#include <d3d9.h>
-typedef struct _cl_dx9_surface_info_khr
-{
-    IDirect3DSurface9 *resource;
-    HANDLE shared_handle;
-} cl_dx9_surface_info_khr;
-#endif
-
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR                -1010
-#define CL_INVALID_DX9_MEDIA_SURFACE_KHR                -1011
-#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR       -1012
-#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR           -1013
-
-/* cl_media_adapter_type_khr */
-#define CL_ADAPTER_D3D9_KHR                              0x2020
-#define CL_ADAPTER_D3D9EX_KHR                            0x2021
-#define CL_ADAPTER_DXVA_KHR                              0x2022
-
-/* cl_media_adapter_set_khr */
-#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR   0x2023
-#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR         0x2024
-
-/* cl_context_info */
-#define CL_CONTEXT_ADAPTER_D3D9_KHR                      0x2025
-#define CL_CONTEXT_ADAPTER_D3D9EX_KHR                    0x2026
-#define CL_CONTEXT_ADAPTER_DXVA_KHR                      0x2027
-
-/* cl_mem_info */
-#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR                0x2028
-#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR                0x2029
-
-/* cl_image_info */
-#define CL_IMAGE_DX9_MEDIA_PLANE_KHR                     0x202A
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR        0x202B
-#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR        0x202C
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)(
-    cl_platform_id                   platform,
-    cl_uint                          num_media_adapters,
-    cl_dx9_media_adapter_type_khr *  media_adapter_type,
-    void *                           media_adapters,
-    cl_dx9_media_adapter_set_khr     media_adapter_set,
-    cl_uint                          num_entries,
-    cl_device_id *                   devices,
-    cl_uint *                        num_devices) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)(
-    cl_context                    context,
-    cl_mem_flags                  flags,
-    cl_dx9_media_adapter_type_khr adapter_type,
-    void *                        surface_info,
-    cl_uint                       plane,                                                                          
-    cl_int *                      errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_DX9_MEDIA_SHARING_H */
-
diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h
deleted file mode 100644
index a765bd5266..0000000000
--- a/third_party/opencl/include/CL/cl_egl.h
+++ /dev/null
@@ -1,136 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-#ifndef __OPENCL_CL_EGL_H
-#define __OPENCL_CL_EGL_H
-
-#ifdef __APPLE__
-
-#else
-#include <CL/cl.h>
-#endif  
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */
-#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR  0x202F
-#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR    0x202D
-#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR    0x202E
-
-/* Error type for clCreateFromEGLImageKHR */
-#define CL_INVALID_EGL_OBJECT_KHR             -1093
-#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR      -1092
-
-/* CLeglImageKHR is an opaque handle to an EGLImage */
-typedef void* CLeglImageKHR;
-
-/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */
-typedef void* CLeglDisplayKHR;
-
-/* CLeglSyncKHR is an opaque handle to an EGLSync object */
-typedef void* CLeglSyncKHR;
-
-/* properties passed to clCreateFromEGLImageKHR */
-typedef intptr_t cl_egl_image_properties_khr;
-
-
-#define cl_khr_egl_image 1
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromEGLImageKHR(cl_context                  /* context */,
-                        CLeglDisplayKHR             /* egldisplay */,
-                        CLeglImageKHR               /* eglimage */,
-                        cl_mem_flags                /* flags */,
-                        const cl_egl_image_properties_khr * /* properties */,
-                        cl_int *                    /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)(
-	cl_context                  context,
-	CLeglDisplayKHR             egldisplay,
-	CLeglImageKHR               eglimage,
-	cl_mem_flags                flags,
-	const cl_egl_image_properties_khr * properties,
-	cl_int *                    errcode_ret);
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */,
-                              cl_uint          /* num_objects */,
-                              const cl_mem *   /* mem_objects */,
-                              cl_uint          /* num_events_in_wait_list */,
-                              const cl_event * /* event_wait_list */,
-                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)(
-	cl_command_queue command_queue,
-	cl_uint          num_objects,
-	const cl_mem *   mem_objects,
-	cl_uint          num_events_in_wait_list,
-	const cl_event * event_wait_list,
-	cl_event *       event);
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */,
-                              cl_uint          /* num_objects */,
-                              const cl_mem *   /* mem_objects */,
-                              cl_uint          /* num_events_in_wait_list */,
-                              const cl_event * /* event_wait_list */,
-                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)(
-	cl_command_queue command_queue,
-	cl_uint          num_objects,
-	const cl_mem *   mem_objects,
-	cl_uint          num_events_in_wait_list,
-	const cl_event * event_wait_list,
-	cl_event *       event);
-
-
-#define cl_khr_egl_event 1
-
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateEventFromEGLSyncKHR(cl_context      /* context */,
-                            CLeglSyncKHR    /* sync */,
-                            CLeglDisplayKHR /* display */,
-                            cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)(
-	cl_context      context,
-	CLeglSyncKHR    sync,
-	CLeglDisplayKHR display,
-	cl_int *        errcode_ret);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_EGL_H */
diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h
deleted file mode 100644
index 7941583895..0000000000
--- a/third_party/opencl/include/CL/cl_ext.h
+++ /dev/null
@@ -1,391 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */
-
-/* cl_ext.h contains OpenCL extensions which don't have external */
-/* (OpenGL, D3D) dependencies.                                   */
-
-#ifndef __CL_EXT_H
-#define __CL_EXT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-        #include <OpenCL/cl.h>
-    #include <AvailabilityMacros.h>
-#else
-        #include <CL/cl.h>
-#endif
-
-/* cl_khr_fp16 extension - no extension #define since it has no functions  */
-#define CL_DEVICE_HALF_FP_CONFIG                    0x1033
-
-/* Memory object destruction
- *
- * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR
- *
- * Registers a user callback function that will be called when the memory object is deleted and its resources 
- * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback 
- * stack associated with memobj. The registered user callback functions are called in the reverse order in 
- * which they were registered. The user callback functions are called and then the memory object is deleted 
- * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be 
- * notified when the memory referenced by host_ptr, specified when the memory object is created and used as 
- * the storage bits for the memory object, can be reused or freed.
- *
- * The application may not call CL api's with the cl_mem object passed to the pfn_notify.
- *
- * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
- * before using.
- */
-#define cl_APPLE_SetMemObjectDestructor 1
-cl_int  CL_API_ENTRY clSetMemObjectDestructorAPPLE(  cl_mem /* memobj */, 
-                                        void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), 
-                                        void * /*user_data */ )             CL_EXT_SUFFIX__VERSION_1_0;  
-
-
-/* Context Logging Functions
- *
- * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext().
- * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
- * before using.
- *
- * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger 
- */
-#define cl_APPLE_ContextLoggingFunctions 1
-extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE(  const char * /* errstr */, 
-                                            const void * /* private_info */, 
-                                            size_t       /* cb */, 
-                                            void *       /* user_data */ )  CL_EXT_SUFFIX__VERSION_1_0;
-
-/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */
-extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE(   const char * /* errstr */, 
-                                          const void * /* private_info */, 
-                                          size_t       /* cb */, 
-                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
-
-/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */
-extern void CL_API_ENTRY clLogMessagesToStderrAPPLE(   const char * /* errstr */, 
-                                          const void * /* private_info */, 
-                                          size_t       /* cb */, 
-                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
-
-
-/************************ 
-* cl_khr_icd extension *                                                  
-************************/
-#define cl_khr_icd 1
-
-/* cl_platform_info                                                        */
-#define CL_PLATFORM_ICD_SUFFIX_KHR                  0x0920
-
-/* Additional Error Codes                                                  */
-#define CL_PLATFORM_NOT_FOUND_KHR                   -1001
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clIcdGetPlatformIDsKHR(cl_uint          /* num_entries */,
-                       cl_platform_id * /* platforms */,
-                       cl_uint *        /* num_platforms */);
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)(
-    cl_uint          /* num_entries */,
-    cl_platform_id * /* platforms */,
-    cl_uint *        /* num_platforms */);
-
-
-/* Extension: cl_khr_image2D_buffer
- *
- * This extension allows a 2D image to be created from a cl_mem buffer without a copy.
- * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t.
- * Both the sampler and sampler-less read_image built-in functions are supported for 2D images
- * and 2D images created from a buffer.  Similarly, the write_image built-ins are also supported
- * for 2D images created from a buffer.
- *
- * When the 2D image from buffer is created, the client must specify the width,
- * height, image format (i.e. channel order and channel data type) and optionally the row pitch
- *
- * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels.
- * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels.
- */
-    
-/*************************************
- * cl_khr_initalize_memory extension *
- *************************************/
-    
-#define CL_CONTEXT_MEMORY_INITIALIZE_KHR            0x2030
-    
-    
-/**************************************
- * cl_khr_terminate_context extension *
- **************************************/
-    
-#define CL_DEVICE_TERMINATE_CAPABILITY_KHR          0x2031
-#define CL_CONTEXT_TERMINATE_KHR                    0x2032
-
-#define cl_khr_terminate_context 1
-extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
-    
-    
-/*
- * Extension: cl_khr_spir
- *
- * This extension adds support to create an OpenCL program object from a 
- * Standard Portable Intermediate Representation (SPIR) instance
- */
-
-#define CL_DEVICE_SPIR_VERSIONS                     0x40E0
-#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE         0x40E1
-
-
-/******************************************
-* cl_nv_device_attribute_query extension *
-******************************************/
-/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */
-#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV       0x4000
-#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV       0x4001
-#define CL_DEVICE_REGISTERS_PER_BLOCK_NV            0x4002
-#define CL_DEVICE_WARP_SIZE_NV                      0x4003
-#define CL_DEVICE_GPU_OVERLAP_NV                    0x4004
-#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV            0x4005
-#define CL_DEVICE_INTEGRATED_MEMORY_NV              0x4006
-
-/*********************************
-* cl_amd_device_attribute_query *
-*********************************/
-#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD        0x4036
-
-/*********************************
-* cl_arm_printf extension
-*********************************/
-#define CL_PRINTF_CALLBACK_ARM                      0x40B0
-#define CL_PRINTF_BUFFERSIZE_ARM                    0x40B1
-
-#ifdef CL_VERSION_1_1
-   /***********************************
-    * cl_ext_device_fission extension *
-    ***********************************/
-    #define cl_ext_device_fission   1
-    
-    extern CL_API_ENTRY cl_int CL_API_CALL
-    clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
-    
-    typedef CL_API_ENTRY cl_int 
-    (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    extern CL_API_ENTRY cl_int CL_API_CALL
-    clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
-    
-    typedef CL_API_ENTRY cl_int 
-    (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    typedef cl_ulong  cl_device_partition_property_ext;
-    extern CL_API_ENTRY cl_int CL_API_CALL
-    clCreateSubDevicesEXT(  cl_device_id /*in_device*/,
-                            const cl_device_partition_property_ext * /* properties */,
-                            cl_uint /*num_entries*/,
-                            cl_device_id * /*out_devices*/,
-                            cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    typedef CL_API_ENTRY cl_int 
-    ( CL_API_CALL * clCreateSubDevicesEXT_fn)(  cl_device_id /*in_device*/,
-                                                const cl_device_partition_property_ext * /* properties */,
-                                                cl_uint /*num_entries*/,
-                                                cl_device_id * /*out_devices*/,
-                                                cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    /* cl_device_partition_property_ext */
-    #define CL_DEVICE_PARTITION_EQUALLY_EXT             0x4050
-    #define CL_DEVICE_PARTITION_BY_COUNTS_EXT           0x4051
-    #define CL_DEVICE_PARTITION_BY_NAMES_EXT            0x4052
-    #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT  0x4053
-    
-    /* clDeviceGetInfo selectors */
-    #define CL_DEVICE_PARENT_DEVICE_EXT                 0x4054
-    #define CL_DEVICE_PARTITION_TYPES_EXT               0x4055
-    #define CL_DEVICE_AFFINITY_DOMAINS_EXT              0x4056
-    #define CL_DEVICE_REFERENCE_COUNT_EXT               0x4057
-    #define CL_DEVICE_PARTITION_STYLE_EXT               0x4058
-    
-    /* error codes */
-    #define CL_DEVICE_PARTITION_FAILED_EXT              -1057
-    #define CL_INVALID_PARTITION_COUNT_EXT              -1058
-    #define CL_INVALID_PARTITION_NAME_EXT               -1059
-    
-    /* CL_AFFINITY_DOMAINs */
-    #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT             0x1
-    #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT             0x2
-    #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT             0x3
-    #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT             0x4
-    #define CL_AFFINITY_DOMAIN_NUMA_EXT                 0x10
-    #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT     0x100
-    
-    /* cl_device_partition_property_ext list terminators */
-    #define CL_PROPERTIES_LIST_END_EXT                  ((cl_device_partition_property_ext) 0)
-    #define CL_PARTITION_BY_COUNTS_LIST_END_EXT         ((cl_device_partition_property_ext) 0)
-    #define CL_PARTITION_BY_NAMES_LIST_END_EXT          ((cl_device_partition_property_ext) 0 - 1)
-
-/*********************************
-* cl_qcom_ext_host_ptr extension
-*********************************/
-
-#define CL_MEM_EXT_HOST_PTR_QCOM                  (1 << 29)
-
-#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM   0x40A0      
-#define CL_DEVICE_PAGE_SIZE_QCOM                  0x40A1
-#define CL_IMAGE_ROW_ALIGNMENT_QCOM               0x40A2
-#define CL_IMAGE_SLICE_ALIGNMENT_QCOM             0x40A3
-#define CL_MEM_HOST_UNCACHED_QCOM                 0x40A4
-#define CL_MEM_HOST_WRITEBACK_QCOM                0x40A5
-#define CL_MEM_HOST_WRITETHROUGH_QCOM             0x40A6
-#define CL_MEM_HOST_WRITE_COMBINING_QCOM          0x40A7
-
-typedef cl_uint                                   cl_image_pitch_info_qcom;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceImageInfoQCOM(cl_device_id             device,
-                         size_t                   image_width,
-                         size_t                   image_height,
-                         const cl_image_format   *image_format,
-                         cl_image_pitch_info_qcom param_name,
-                         size_t                   param_value_size,
-                         void                    *param_value,
-                         size_t                  *param_value_size_ret);
-
-typedef struct _cl_mem_ext_host_ptr
-{
-    /* Type of external memory allocation. */
-    /* Legal values will be defined in layered extensions. */
-    cl_uint  allocation_type;
-            
-    /* Host cache policy for this external memory allocation. */
-    cl_uint  host_cache_policy;
-
-} cl_mem_ext_host_ptr;
-
-/*********************************
-* cl_qcom_ion_host_ptr extension
-*********************************/
-
-#define CL_MEM_ION_HOST_PTR_QCOM                  0x40A8
-
-typedef struct _cl_mem_ion_host_ptr
-{
-    /* Type of external memory allocation. */
-    /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */
-    cl_mem_ext_host_ptr  ext_host_ptr;
-
-    /* ION file descriptor */
-    int                  ion_filedesc;
-            
-    /* Host pointer to the ION allocated memory */
-    void*                ion_hostptr;
-
-} cl_mem_ion_host_ptr;
-
-#endif /* CL_VERSION_1_1 */
-
-
-#ifdef CL_VERSION_2_0
-/*********************************
-* cl_khr_sub_groups extension
-*********************************/
-#define cl_khr_sub_groups 1
-
-typedef cl_uint  cl_kernel_sub_group_info_khr;
-
-/* cl_khr_sub_group_info */
-#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR	0x2033
-#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR		0x2034
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */,
-						   cl_device_id /*in_device*/,
-						   cl_kernel_sub_group_info_khr /* param_name */,
-						   size_t /*input_value_size*/,
-						   const void * /*input_value*/,
-						   size_t /*param_value_size*/,
-						   void* /*param_value*/,
-						   size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
-						   
-typedef CL_API_ENTRY cl_int
-     ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */,
-						      cl_device_id /*in_device*/,
-						      cl_kernel_sub_group_info_khr /* param_name */,
-						      size_t /*input_value_size*/,
-						      const void * /*input_value*/,
-						      size_t /*param_value_size*/,
-						      void* /*param_value*/,
-						      size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
-#endif /* CL_VERSION_2_0 */
-
-#ifdef CL_VERSION_2_1
-/*********************************
-* cl_khr_priority_hints extension
-*********************************/
-#define cl_khr_priority_hints 1
-
-typedef cl_uint  cl_queue_priority_khr;
-
-/* cl_command_queue_properties */
-#define CL_QUEUE_PRIORITY_KHR 0x1096
-
-/* cl_queue_priority_khr */
-#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0)
-#define CL_QUEUE_PRIORITY_MED_KHR (1<<1)
-#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2)
-
-#endif /* CL_VERSION_2_1 */
-
-#ifdef CL_VERSION_2_1
-/*********************************
-* cl_khr_throttle_hints extension
-*********************************/
-#define cl_khr_throttle_hints 1
-
-typedef cl_uint  cl_queue_throttle_khr;
-
-/* cl_command_queue_properties */
-#define CL_QUEUE_THROTTLE_KHR 0x1097
-
-/* cl_queue_throttle_khr */
-#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0)
-#define CL_QUEUE_THROTTLE_MED_KHR (1<<1)
-#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2)
-
-#endif /* CL_VERSION_2_1 */
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif /* __CL_EXT_H */
diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h
deleted file mode 100644
index 6328a1cd93..0000000000
--- a/third_party/opencl/include/CL/cl_ext_qcom.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc.  All Rights Reserved.
- * Qualcomm Technologies Proprietary and Confidential.
- */
-
-#ifndef __OPENCL_CL_EXT_QCOM_H
-#define __OPENCL_CL_EXT_QCOM_H
-
-// Needed by cl_khr_egl_event extension 
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-#include <CL/cl_ext.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************
- * cl_qcom_create_buffer_from_image *
- ************************************/
-
-#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM         0x40C0
-#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM       0x40C1
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateBufferFromImageQCOM(cl_mem       image,
-                            cl_mem_flags flags,
-                            cl_int      *errcode_ret);
-
-
-/************************************
- * cl_qcom_limited_printf extension *
- ************************************/
-
-/* Builtin printf function buffer size in bytes. */
-#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM           0x1049
-
-
-/*************************************
- * cl_qcom_extended_images extension *
- *************************************/
-
-#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM      0x40AA
-#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM   0x40AB
-#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM  0x40AC
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM   0x40AD
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM  0x40AE
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM   0x40AF
-
-/*************************************
- * cl_qcom_perf_hint extension *
- *************************************/
-
-typedef cl_uint                                     cl_perf_hint;
-
-#define CL_CONTEXT_PERF_HINT_QCOM                   0x40C2
-
-/*cl_perf_hint*/
-#define CL_PERF_HINT_HIGH_QCOM                      0x40C3
-#define CL_PERF_HINT_NORMAL_QCOM                    0x40C4
-#define CL_PERF_HINT_LOW_QCOM                       0x40C5
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetPerfHintQCOM(cl_context    context,
-                  cl_perf_hint  perf_hint);
-
-// This extension is published at Khronos, so its definitions are made in cl_ext.h.
-// This duplication is for backward compatibility.
-
-#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
-
-/*********************************
-* cl_qcom_android_native_buffer_host_ptr extension
-*********************************/
-
-#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM                  0x40C6
-
-
-typedef struct _cl_mem_android_native_buffer_host_ptr
-{
-    // Type of external memory allocation.
-    // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
-    cl_mem_ext_host_ptr  ext_host_ptr;
-
-    // Virtual pointer to the android native buffer
-    void*                anb_ptr;
-
-} cl_mem_android_native_buffer_host_ptr;
-
-#endif   //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
-
-/***********************************
-* cl_img_egl_image extension *
-************************************/
-typedef void* CLeglImageIMG;
-typedef void* CLeglDisplayIMG;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromEGLImageIMG(cl_context      context,
-                        cl_mem_flags     flags,
-                        CLeglImageIMG    image,
-                        CLeglDisplayIMG  display,
-                        cl_int           *errcode_ret);
-
-
-/*********************************
-* cl_qcom_other_image extension
-*********************************/
-
-// Extended flag for creating/querying QCOM non-standard images
-#define CL_MEM_OTHER_IMAGE_QCOM                             (1<<25)
-
-// cl_channel_type
-#define CL_QCOM_UNORM_MIPI10                                0x4159
-#define CL_QCOM_UNORM_MIPI12                                0x415A
-#define CL_QCOM_UNSIGNED_MIPI10                             0x415B
-#define CL_QCOM_UNSIGNED_MIPI12                             0x415C
-#define CL_QCOM_UNORM_INT10                                 0x415D
-#define CL_QCOM_UNORM_INT12                                 0x415E
-#define CL_QCOM_UNSIGNED_INT16                              0x415F
-
-// cl_channel_order
-// Dedicate 0x4130-0x415F range for QCOM extended image formats
-// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
-#define CL_QCOM_BAYER                                       0x414E
-
-#define CL_QCOM_NV12                                        0x4133
-#define CL_QCOM_NV12_Y                                      0x4134
-#define CL_QCOM_NV12_UV                                     0x4135
-
-#define CL_QCOM_TILED_NV12                                  0x4136
-#define CL_QCOM_TILED_NV12_Y                                0x4137
-#define CL_QCOM_TILED_NV12_UV                               0x4138
-
-#define CL_QCOM_P010                                        0x413C
-#define CL_QCOM_P010_Y                                      0x413D
-#define CL_QCOM_P010_UV                                     0x413E
-
-#define CL_QCOM_TILED_P010                                  0x413F
-#define CL_QCOM_TILED_P010_Y                                0x4140
-#define CL_QCOM_TILED_P010_UV                               0x4141
-
-
-#define CL_QCOM_TP10                                        0x4145
-#define CL_QCOM_TP10_Y                                      0x4146
-#define CL_QCOM_TP10_UV                                     0x4147
-
-#define CL_QCOM_TILED_TP10                                  0x4148
-#define CL_QCOM_TILED_TP10_Y                                0x4149
-#define CL_QCOM_TILED_TP10_UV                               0x414A
-
-/*********************************
-* cl_qcom_compressed_image extension
-*********************************/
-
-// Extended flag for creating/querying QCOM non-planar compressed images
-#define CL_MEM_COMPRESSED_IMAGE_QCOM                        (1<<27)
-
-// Extended image format
-// cl_channel_order
-#define CL_QCOM_COMPRESSED_RGBA                             0x4130
-#define CL_QCOM_COMPRESSED_RGBx                             0x4131
-
-#define CL_QCOM_COMPRESSED_NV12_Y                           0x413A
-#define CL_QCOM_COMPRESSED_NV12_UV                          0x413B
-
-#define CL_QCOM_COMPRESSED_P010                             0x4142
-#define CL_QCOM_COMPRESSED_P010_Y                           0x4143
-#define CL_QCOM_COMPRESSED_P010_UV                          0x4144
-
-#define CL_QCOM_COMPRESSED_TP10                             0x414B
-#define CL_QCOM_COMPRESSED_TP10_Y                           0x414C
-#define CL_QCOM_COMPRESSED_TP10_UV                          0x414D
-
-#define CL_QCOM_COMPRESSED_NV12_4R                          0x414F
-#define CL_QCOM_COMPRESSED_NV12_4R_Y                        0x4150
-#define CL_QCOM_COMPRESSED_NV12_4R_UV                       0x4151
-/*********************************
-* cl_qcom_compressed_yuv_image_read extension
-*********************************/
-
-// Extended flag for creating/querying QCOM compressed images
-#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM                    (1<<28)
-
-// Extended image format
-#define CL_QCOM_COMPRESSED_NV12                             0x10C4
-
-// Extended flag for setting ION buffer allocation type
-#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM                 0x40CD
-#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM       0x40CE
-
-/*********************************
-* cl_qcom_accelerated_image_ops
-*********************************/
-#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM                         0x4110
-#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM                       0x4111
-#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM                    0x4112
-#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM                    0x4113
-#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM         0x4114
-#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM         0x4115
-
-//Extended flag for specifying weight image type
-#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM                          (1<<0)
-
-// Box Filter
-typedef struct _cl_box_filter_size_qcom
-{
-    // Width of box filter on X direction.
-    float box_filter_width;
-
-    // Height of box filter on Y direction.
-    float box_filter_height;
-} cl_box_filter_size_qcom;
-
-// HOF Weight Image Desc
-typedef struct _cl_weight_desc_qcom
-{
-    /** Coordinate of the "center" point of the weight image,
-        based on the weight image's top-left corner as the origin. */
-    size_t        center_coord_x;
-    size_t        center_coord_y;
-    cl_bitfield   flags;
-} cl_weight_desc_qcom;
-
-typedef struct _cl_weight_image_desc_qcom
-{
-    cl_image_desc           image_desc;
-    cl_weight_desc_qcom     weight_desc;
-} cl_weight_image_desc_qcom;
-
-/*************************************
- * cl_qcom_protected_context extension *
- *************************************/
-
-#define CL_CONTEXT_PROTECTED_QCOM                    0x40C7
-#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM           0x40C8
-
-/*************************************
- * cl_qcom_priority_hint extension *
- *************************************/
-#define CL_PRIORITY_HINT_NONE_QCOM                   0
-typedef cl_uint                                     cl_priority_hint;
-
-#define CL_CONTEXT_PRIORITY_HINT_QCOM               0x40C9
-
-/*cl_priority_hint*/
-#define CL_PRIORITY_HINT_HIGH_QCOM                  0x40CA
-#define CL_PRIORITY_HINT_NORMAL_QCOM                0x40CB
-#define CL_PRIORITY_HINT_LOW_QCOM                   0x40CC
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_EXT_QCOM_H */
diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h
deleted file mode 100644
index 945daa83d7..0000000000
--- a/third_party/opencl/include/CL/cl_gl.h
+++ /dev/null
@@ -1,167 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-#ifndef __OPENCL_CL_GL_H
-#define __OPENCL_CL_GL_H
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif	
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef cl_uint     cl_gl_object_type;
-typedef cl_uint     cl_gl_texture_info;
-typedef cl_uint     cl_gl_platform_info;
-typedef struct __GLsync *cl_GLsync;
-
-/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken           */
-#define CL_GL_OBJECT_BUFFER                     0x2000
-#define CL_GL_OBJECT_TEXTURE2D                  0x2001
-#define CL_GL_OBJECT_TEXTURE3D                  0x2002
-#define CL_GL_OBJECT_RENDERBUFFER               0x2003
-#define CL_GL_OBJECT_TEXTURE2D_ARRAY            0x200E
-#define CL_GL_OBJECT_TEXTURE1D                  0x200F
-#define CL_GL_OBJECT_TEXTURE1D_ARRAY            0x2010
-#define CL_GL_OBJECT_TEXTURE_BUFFER             0x2011
-
-/* cl_gl_texture_info           */
-#define CL_GL_TEXTURE_TARGET                    0x2004
-#define CL_GL_MIPMAP_LEVEL                      0x2005
-#define CL_GL_NUM_SAMPLES                       0x2012
-
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLBuffer(cl_context     /* context */,
-                     cl_mem_flags   /* flags */,
-                     cl_GLuint      /* bufobj */,
-                     int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLTexture(cl_context      /* context */,
-                      cl_mem_flags    /* flags */,
-                      cl_GLenum       /* target */,
-                      cl_GLint        /* miplevel */,
-                      cl_GLuint       /* texture */,
-                      cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-    
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLRenderbuffer(cl_context   /* context */,
-                           cl_mem_flags /* flags */,
-                           cl_GLuint    /* renderbuffer */,
-                           cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLObjectInfo(cl_mem                /* memobj */,
-                  cl_gl_object_type *   /* gl_object_type */,
-                  cl_GLuint *           /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0;
-                  
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLTextureInfo(cl_mem               /* memobj */,
-                   cl_gl_texture_info   /* param_name */,
-                   size_t               /* param_value_size */,
-                   void *               /* param_value */,
-                   size_t *             /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueAcquireGLObjects(cl_command_queue      /* command_queue */,
-                          cl_uint               /* num_objects */,
-                          const cl_mem *        /* mem_objects */,
-                          cl_uint               /* num_events_in_wait_list */,
-                          const cl_event *      /* event_wait_list */,
-                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReleaseGLObjects(cl_command_queue      /* command_queue */,
-                          cl_uint               /* num_objects */,
-                          const cl_mem *        /* mem_objects */,
-                          cl_uint               /* num_events_in_wait_list */,
-                          const cl_event *      /* event_wait_list */,
-                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-
-/* Deprecated OpenCL 1.1 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateFromGLTexture2D(cl_context      /* context */,
-                        cl_mem_flags    /* flags */,
-                        cl_GLenum       /* target */,
-                        cl_GLint        /* miplevel */,
-                        cl_GLuint       /* texture */,
-                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateFromGLTexture3D(cl_context      /* context */,
-                        cl_mem_flags    /* flags */,
-                        cl_GLenum       /* target */,
-                        cl_GLint        /* miplevel */,
-                        cl_GLuint       /* texture */,
-                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-/* cl_khr_gl_sharing extension  */
-    
-#define cl_khr_gl_sharing 1
-    
-typedef cl_uint     cl_gl_context_info;
-    
-/* Additional Error Codes  */
-#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR  -1000
-    
-/* cl_gl_context_info  */
-#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR    0x2006
-#define CL_DEVICES_FOR_GL_CONTEXT_KHR           0x2007
-    
-/* Additional cl_context_properties  */
-#define CL_GL_CONTEXT_KHR                       0x2008
-#define CL_EGL_DISPLAY_KHR                      0x2009
-#define CL_GLX_DISPLAY_KHR                      0x200A
-#define CL_WGL_HDC_KHR                          0x200B
-#define CL_CGL_SHAREGROUP_KHR                   0x200C
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLContextInfoKHR(const cl_context_properties * /* properties */,
-                      cl_gl_context_info            /* param_name */,
-                      size_t                        /* param_value_size */,
-                      void *                        /* param_value */,
-                      size_t *                      /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-    
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)(
-    const cl_context_properties * properties,
-    cl_gl_context_info            param_name,
-    size_t                        param_value_size,
-    void *                        param_value,
-    size_t *                      param_value_size_ret);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_GL_H */
diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h
deleted file mode 100644
index e3c14c6408..0000000000
--- a/third_party/opencl/include/CL/cl_gl_ext.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have           */
-/* OpenGL dependencies.                                                         */
-
-#ifndef __OPENCL_CL_GL_EXT_H
-#define __OPENCL_CL_GL_EXT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-    #include <OpenCL/cl_gl.h>
-#else
-    #include <CL/cl_gl.h>
-#endif
-
-/*
- * For each extension, follow this template
- *  cl_VEN_extname extension  */
-/* #define cl_VEN_extname 1
- * ... define new types, if any
- * ... define new tokens, if any
- * ... define new APIs, if any
- *
- *  If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header
- *  This allows us to avoid having to decide whether to include GL headers or GLES here.
- */
-
-/* 
- *  cl_khr_gl_event  extension
- *  See section 9.9 in the OpenCL 1.1 spec for more information
- */
-#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR     0x200D
-
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateEventFromGLsyncKHR(cl_context           /* context */,
-                           cl_GLsync            /* cl_GLsync */,
-                           cl_int *             /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif	/* __OPENCL_CL_GL_EXT_H  */
diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h
deleted file mode 100644
index 4e334a2918..0000000000
--- a/third_party/opencl/include/CL/cl_platform.h
+++ /dev/null
@@ -1,1333 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */
-
-#ifndef __CL_PLATFORM_H
-#define __CL_PLATFORM_H
-
-#ifdef __APPLE__
-    /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
-    #include <AvailabilityMacros.h>
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if defined(_WIN32)
-    #define CL_API_ENTRY
-    #define CL_API_CALL     __stdcall
-    #define CL_CALLBACK     __stdcall
-#else
-    #define CL_API_ENTRY
-    #define CL_API_CALL
-    #define CL_CALLBACK
-#endif
-
-/*
- * Deprecation flags refer to the last version of the header in which the
- * feature was not deprecated.
- *
- * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without
- * deprecation but is deprecated in versions later than 1.1.
- */
-
-#ifdef __APPLE__
-    #define CL_EXTENSION_WEAK_LINK       __attribute__((weak_import))
-    #define CL_API_SUFFIX__VERSION_1_0                  AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_0                  CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-    #define CL_API_SUFFIX__VERSION_1_1                  AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #define GCL_API_SUFFIX__VERSION_1_1                 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_1                  CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED       CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7
-    
-    #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define CL_API_SUFFIX__VERSION_1_2              AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define GCL_API_SUFFIX__VERSION_1_2             AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define CL_EXT_SUFFIX__VERSION_1_2              CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
-        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED   CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8
-    #else
-        #warning  This path should never happen outside of internal operating system development.  AvailabilityMacros do not function correctly here!
-        #define CL_API_SUFFIX__VERSION_1_2              AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-        #define GCL_API_SUFFIX__VERSION_1_2             AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-        #define CL_EXT_SUFFIX__VERSION_1_2              CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED   CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #endif
-#else
-    #define CL_EXTENSION_WEAK_LINK  
-    #define CL_API_SUFFIX__VERSION_1_0
-    #define CL_EXT_SUFFIX__VERSION_1_0
-    #define CL_API_SUFFIX__VERSION_1_1
-    #define CL_EXT_SUFFIX__VERSION_1_1
-    #define CL_API_SUFFIX__VERSION_1_2
-    #define CL_EXT_SUFFIX__VERSION_1_2
-    #define CL_API_SUFFIX__VERSION_2_0
-    #define CL_EXT_SUFFIX__VERSION_2_0
-    #define CL_API_SUFFIX__VERSION_2_1
-    #define CL_EXT_SUFFIX__VERSION_2_1
-    
-    #ifdef __GNUC__
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
-        #endif
-    
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED    
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
-        #endif
-
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-         #endif
-
-        #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-        #endif
-    #elif _WIN32
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED 
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated)     
-        #endif
-    
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED 
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated)     
-        #endif
-    
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated)
-        #endif
-
-        #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED 
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated)
-        #endif
-    #else
-        #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
-    
-        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
-    
-        #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-
-        #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-    #endif
-#endif
-
-#if (defined (_WIN32) && defined(_MSC_VER))
-
-/* scalar types  */
-typedef signed   __int8         cl_char;
-typedef unsigned __int8         cl_uchar;
-typedef signed   __int16        cl_short;
-typedef unsigned __int16        cl_ushort;
-typedef signed   __int32        cl_int;
-typedef unsigned __int32        cl_uint;
-typedef signed   __int64        cl_long;
-typedef unsigned __int64        cl_ulong;
-
-typedef unsigned __int16        cl_half;
-typedef float                   cl_float;
-typedef double                  cl_double;
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT         8
-#define CL_SCHAR_MAX        127
-#define CL_SCHAR_MIN        (-127-1)
-#define CL_CHAR_MAX         CL_SCHAR_MAX
-#define CL_CHAR_MIN         CL_SCHAR_MIN
-#define CL_UCHAR_MAX        255
-#define CL_SHRT_MAX         32767
-#define CL_SHRT_MIN         (-32767-1)
-#define CL_USHRT_MAX        65535
-#define CL_INT_MAX          2147483647
-#define CL_INT_MIN          (-2147483647-1)
-#define CL_UINT_MAX         0xffffffffU
-#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG          6
-#define CL_FLT_MANT_DIG     24
-#define CL_FLT_MAX_10_EXP   +38
-#define CL_FLT_MAX_EXP      +128
-#define CL_FLT_MIN_10_EXP   -37
-#define CL_FLT_MIN_EXP      -125
-#define CL_FLT_RADIX        2
-#define CL_FLT_MAX          340282346638528859811704183484516925440.0f
-#define CL_FLT_MIN          1.175494350822287507969e-38f
-#define CL_FLT_EPSILON      0x1.0p-23f
-
-#define CL_DBL_DIG          15
-#define CL_DBL_MANT_DIG     53
-#define CL_DBL_MAX_10_EXP   +308
-#define CL_DBL_MAX_EXP      +1024
-#define CL_DBL_MIN_10_EXP   -307
-#define CL_DBL_MIN_EXP      -1021
-#define CL_DBL_RADIX        2
-#define CL_DBL_MAX          179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0
-#define CL_DBL_MIN          2.225073858507201383090e-308
-#define CL_DBL_EPSILON      2.220446049250313080847e-16
-
-#define  CL_M_E             2.718281828459045090796
-#define  CL_M_LOG2E         1.442695040888963387005
-#define  CL_M_LOG10E        0.434294481903251816668
-#define  CL_M_LN2           0.693147180559945286227
-#define  CL_M_LN10          2.302585092994045901094
-#define  CL_M_PI            3.141592653589793115998
-#define  CL_M_PI_2          1.570796326794896557999
-#define  CL_M_PI_4          0.785398163397448278999
-#define  CL_M_1_PI          0.318309886183790691216
-#define  CL_M_2_PI          0.636619772367581382433
-#define  CL_M_2_SQRTPI      1.128379167095512558561
-#define  CL_M_SQRT2         1.414213562373095145475
-#define  CL_M_SQRT1_2       0.707106781186547572737
-
-#define  CL_M_E_F           2.71828174591064f
-#define  CL_M_LOG2E_F       1.44269502162933f
-#define  CL_M_LOG10E_F      0.43429449200630f
-#define  CL_M_LN2_F         0.69314718246460f
-#define  CL_M_LN10_F        2.30258512496948f
-#define  CL_M_PI_F          3.14159274101257f
-#define  CL_M_PI_2_F        1.57079637050629f
-#define  CL_M_PI_4_F        0.78539818525314f
-#define  CL_M_1_PI_F        0.31830987334251f
-#define  CL_M_2_PI_F        0.63661974668503f
-#define  CL_M_2_SQRTPI_F    1.12837922573090f
-#define  CL_M_SQRT2_F       1.41421353816986f
-#define  CL_M_SQRT1_2_F     0.70710676908493f
-
-#define CL_NAN              (CL_INFINITY - CL_INFINITY)
-#define CL_HUGE_VALF        ((cl_float) 1e50)
-#define CL_HUGE_VAL         ((cl_double) 1e500)
-#define CL_MAXFLOAT         CL_FLT_MAX
-#define CL_INFINITY         CL_HUGE_VALF
-
-#else
-
-#include <stdint.h>
-
-/* scalar types  */
-typedef int8_t          cl_char;
-typedef uint8_t         cl_uchar;
-typedef int16_t         cl_short    __attribute__((aligned(2)));
-typedef uint16_t        cl_ushort   __attribute__((aligned(2)));
-typedef int32_t         cl_int      __attribute__((aligned(4)));
-typedef uint32_t        cl_uint     __attribute__((aligned(4)));
-typedef int64_t         cl_long     __attribute__((aligned(8)));
-typedef uint64_t        cl_ulong    __attribute__((aligned(8)));
-
-typedef uint16_t        cl_half     __attribute__((aligned(2)));
-typedef float           cl_float    __attribute__((aligned(4)));
-typedef double          cl_double   __attribute__((aligned(8)));
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT         8
-#define CL_SCHAR_MAX        127
-#define CL_SCHAR_MIN        (-127-1)
-#define CL_CHAR_MAX         CL_SCHAR_MAX
-#define CL_CHAR_MIN         CL_SCHAR_MIN
-#define CL_UCHAR_MAX        255
-#define CL_SHRT_MAX         32767
-#define CL_SHRT_MIN         (-32767-1)
-#define CL_USHRT_MAX        65535
-#define CL_INT_MAX          2147483647
-#define CL_INT_MIN          (-2147483647-1)
-#define CL_UINT_MAX         0xffffffffU
-#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG          6
-#define CL_FLT_MANT_DIG     24
-#define CL_FLT_MAX_10_EXP   +38
-#define CL_FLT_MAX_EXP      +128
-#define CL_FLT_MIN_10_EXP   -37
-#define CL_FLT_MIN_EXP      -125
-#define CL_FLT_RADIX        2
-#define CL_FLT_MAX          0x1.fffffep127f
-#define CL_FLT_MIN          0x1.0p-126f
-#define CL_FLT_EPSILON      0x1.0p-23f
-
-#define CL_DBL_DIG          15
-#define CL_DBL_MANT_DIG     53
-#define CL_DBL_MAX_10_EXP   +308
-#define CL_DBL_MAX_EXP      +1024
-#define CL_DBL_MIN_10_EXP   -307
-#define CL_DBL_MIN_EXP      -1021
-#define CL_DBL_RADIX        2
-#define CL_DBL_MAX          0x1.fffffffffffffp1023
-#define CL_DBL_MIN          0x1.0p-1022
-#define CL_DBL_EPSILON      0x1.0p-52
-
-#define  CL_M_E             2.718281828459045090796
-#define  CL_M_LOG2E         1.442695040888963387005
-#define  CL_M_LOG10E        0.434294481903251816668
-#define  CL_M_LN2           0.693147180559945286227
-#define  CL_M_LN10          2.302585092994045901094
-#define  CL_M_PI            3.141592653589793115998
-#define  CL_M_PI_2          1.570796326794896557999
-#define  CL_M_PI_4          0.785398163397448278999
-#define  CL_M_1_PI          0.318309886183790691216
-#define  CL_M_2_PI          0.636619772367581382433
-#define  CL_M_2_SQRTPI      1.128379167095512558561
-#define  CL_M_SQRT2         1.414213562373095145475
-#define  CL_M_SQRT1_2       0.707106781186547572737
-
-#define  CL_M_E_F           2.71828174591064f
-#define  CL_M_LOG2E_F       1.44269502162933f
-#define  CL_M_LOG10E_F      0.43429449200630f
-#define  CL_M_LN2_F         0.69314718246460f
-#define  CL_M_LN10_F        2.30258512496948f
-#define  CL_M_PI_F          3.14159274101257f
-#define  CL_M_PI_2_F        1.57079637050629f
-#define  CL_M_PI_4_F        0.78539818525314f
-#define  CL_M_1_PI_F        0.31830987334251f
-#define  CL_M_2_PI_F        0.63661974668503f
-#define  CL_M_2_SQRTPI_F    1.12837922573090f
-#define  CL_M_SQRT2_F       1.41421353816986f
-#define  CL_M_SQRT1_2_F     0.70710676908493f
-
-#if defined( __GNUC__ )
-   #define CL_HUGE_VALF     __builtin_huge_valf()
-   #define CL_HUGE_VAL      __builtin_huge_val()
-   #define CL_NAN           __builtin_nanf( "" )
-#else
-   #define CL_HUGE_VALF     ((cl_float) 1e50)
-   #define CL_HUGE_VAL      ((cl_double) 1e500)
-   float nanf( const char * );
-   #define CL_NAN           nanf( "" )  
-#endif
-#define CL_MAXFLOAT         CL_FLT_MAX
-#define CL_INFINITY         CL_HUGE_VALF
-
-#endif
-
-#include <stddef.h>
-
-/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */
-typedef unsigned int cl_GLuint;
-typedef int          cl_GLint;
-typedef unsigned int cl_GLenum;
-
-/*
- * Vector types 
- *
- *  Note:   OpenCL requires that all types be naturally aligned. 
- *          This means that vector types must be naturally aligned.
- *          For example, a vector of four floats must be aligned to
- *          a 16 byte boundary (calculated as 4 * the natural 4-byte 
- *          alignment of the float).  The alignment qualifiers here
- *          will only function properly if your compiler supports them
- *          and if you don't actively work to defeat them.  For example,
- *          in order for a cl_float4 to be 16 byte aligned in a struct,
- *          the start of the struct must itself be 16-byte aligned. 
- *
- *          Maintaining proper alignment is the user's responsibility.
- */
-
-/* Define basic vector types */
-#if defined( __VEC__ )
-   #include <altivec.h>   /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */
-   typedef vector unsigned char     __cl_uchar16;
-   typedef vector signed char       __cl_char16;
-   typedef vector unsigned short    __cl_ushort8;
-   typedef vector signed short      __cl_short8;
-   typedef vector unsigned int      __cl_uint4;
-   typedef vector signed int        __cl_int4;
-   typedef vector float             __cl_float4;
-   #define  __CL_UCHAR16__  1
-   #define  __CL_CHAR16__   1
-   #define  __CL_USHORT8__  1
-   #define  __CL_SHORT8__   1
-   #define  __CL_UINT4__    1
-   #define  __CL_INT4__     1
-   #define  __CL_FLOAT4__   1
-#endif
-
-#if defined( __SSE__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <xmmintrin.h>
-    #endif
-    #if defined( __GNUC__ )
-        typedef float __cl_float4   __attribute__((vector_size(16)));
-    #else
-        typedef __m128 __cl_float4;
-    #endif
-    #define __CL_FLOAT4__   1
-#endif
-
-#if defined( __SSE2__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <emmintrin.h>
-    #endif
-    #if defined( __GNUC__ )
-        typedef cl_uchar    __cl_uchar16    __attribute__((vector_size(16)));
-        typedef cl_char     __cl_char16     __attribute__((vector_size(16)));
-        typedef cl_ushort   __cl_ushort8    __attribute__((vector_size(16)));
-        typedef cl_short    __cl_short8     __attribute__((vector_size(16)));
-        typedef cl_uint     __cl_uint4      __attribute__((vector_size(16)));
-        typedef cl_int      __cl_int4       __attribute__((vector_size(16)));
-        typedef cl_ulong    __cl_ulong2     __attribute__((vector_size(16)));
-        typedef cl_long     __cl_long2      __attribute__((vector_size(16)));
-        typedef cl_double   __cl_double2    __attribute__((vector_size(16)));
-    #else
-        typedef __m128i __cl_uchar16;
-        typedef __m128i __cl_char16;
-        typedef __m128i __cl_ushort8;
-        typedef __m128i __cl_short8;
-        typedef __m128i __cl_uint4;
-        typedef __m128i __cl_int4;
-        typedef __m128i __cl_ulong2;
-        typedef __m128i __cl_long2;
-        typedef __m128d __cl_double2;
-    #endif
-    #define __CL_UCHAR16__  1
-    #define __CL_CHAR16__   1
-    #define __CL_USHORT8__  1
-    #define __CL_SHORT8__   1
-    #define __CL_INT4__     1
-    #define __CL_UINT4__    1
-    #define __CL_ULONG2__   1
-    #define __CL_LONG2__    1
-    #define __CL_DOUBLE2__  1
-#endif
-
-#if defined( __MMX__ )
-    #include <mmintrin.h>
-    #if defined( __GNUC__ )
-        typedef cl_uchar    __cl_uchar8     __attribute__((vector_size(8)));
-        typedef cl_char     __cl_char8      __attribute__((vector_size(8)));
-        typedef cl_ushort   __cl_ushort4    __attribute__((vector_size(8)));
-        typedef cl_short    __cl_short4     __attribute__((vector_size(8)));
-        typedef cl_uint     __cl_uint2      __attribute__((vector_size(8)));
-        typedef cl_int      __cl_int2       __attribute__((vector_size(8)));
-        typedef cl_ulong    __cl_ulong1     __attribute__((vector_size(8)));
-        typedef cl_long     __cl_long1      __attribute__((vector_size(8)));
-        typedef cl_float    __cl_float2     __attribute__((vector_size(8)));
-    #else
-        typedef __m64       __cl_uchar8;
-        typedef __m64       __cl_char8;
-        typedef __m64       __cl_ushort4;
-        typedef __m64       __cl_short4;
-        typedef __m64       __cl_uint2;
-        typedef __m64       __cl_int2;
-        typedef __m64       __cl_ulong1;
-        typedef __m64       __cl_long1;
-        typedef __m64       __cl_float2;
-    #endif
-    #define __CL_UCHAR8__   1
-    #define __CL_CHAR8__    1
-    #define __CL_USHORT4__  1
-    #define __CL_SHORT4__   1
-    #define __CL_INT2__     1
-    #define __CL_UINT2__    1
-    #define __CL_ULONG1__   1
-    #define __CL_LONG1__    1
-    #define __CL_FLOAT2__   1
-#endif
-
-#if defined( __AVX__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <immintrin.h> 
-    #endif
-    #if defined( __GNUC__ )
-        typedef cl_float    __cl_float8     __attribute__((vector_size(32)));
-        typedef cl_double   __cl_double4    __attribute__((vector_size(32)));
-    #else
-        typedef __m256      __cl_float8;
-        typedef __m256d     __cl_double4;
-    #endif
-    #define __CL_FLOAT8__   1
-    #define __CL_DOUBLE4__  1
-#endif
-
-/* Define capabilities for anonymous struct members. */
-#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ )
-#define  __CL_HAS_ANON_STRUCT__ 1
-#define  __CL_ANON_STRUCT__ __extension__
-#elif defined( _WIN32) && (_MSC_VER >= 1500)
-   /* Microsoft Developer Studio 2008 supports anonymous structs, but
-    * complains by default. */
-#define  __CL_HAS_ANON_STRUCT__ 1
-#define  __CL_ANON_STRUCT__
-   /* Disable warning C4201: nonstandard extension used : nameless
-    * struct/union */
-#pragma warning( push )
-#pragma warning( disable : 4201 )
-#else
-#define  __CL_HAS_ANON_STRUCT__ 0
-#define  __CL_ANON_STRUCT__
-#endif
-
-/* Define alignment keys */
-#if defined( __GNUC__ )
-    #define CL_ALIGNED(_x)          __attribute__ ((aligned(_x)))
-#elif defined( _WIN32) && (_MSC_VER)
-    /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements     */
-    /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx                                                 */
-    /* #include <crtdefs.h>                                                                                             */
-    /* #define CL_ALIGNED(_x)          _CRT_ALIGN(_x)                                                                   */
-    #define CL_ALIGNED(_x)
-#else
-   #warning  Need to implement some method to align data here
-   #define  CL_ALIGNED(_x)
-#endif
-
-/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */
-#if __CL_HAS_ANON_STRUCT__
-    /* .xyzw and .s0123...{f|F} are supported */
-    #define CL_HAS_NAMED_VECTOR_FIELDS 1
-    /* .hi and .lo are supported */
-    #define CL_HAS_HI_LO_VECTOR_FIELDS 1
-#endif
-
-/* Define cl_vector types */
-
-/* ---- cl_charn ---- */
-typedef union
-{
-    cl_char  CL_ALIGNED(2) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_char  lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2;
-#endif
-}cl_char2;
-
-typedef union
-{
-    cl_char  CL_ALIGNED(4) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[2];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4;
-#endif
-}cl_char4;
-
-/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */
-typedef  cl_char4  cl_char3;
-
-typedef union
-{
-    cl_char   CL_ALIGNED(8) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[4];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4[2];
-#endif
-#if defined( __CL_CHAR8__ )
-    __cl_char8     v8;
-#endif
-}cl_char8;
-
-typedef union
-{
-    cl_char  CL_ALIGNED(16) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[8];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4[4];
-#endif
-#if defined( __CL_CHAR8__ )
-    __cl_char8     v8[2];
-#endif
-#if defined( __CL_CHAR16__ )
-    __cl_char16    v16;
-#endif
-}cl_char16;
-
-
-/* ---- cl_ucharn ---- */
-typedef union
-{
-    cl_uchar  CL_ALIGNED(2) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  lo, hi; };
-#endif
-#if defined( __cl_uchar2__) 
-    __cl_uchar2     v2;
-#endif
-}cl_uchar2;
-
-typedef union
-{
-    cl_uchar  CL_ALIGNED(4) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[2];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4;
-#endif
-}cl_uchar4;
-
-/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */
-typedef  cl_uchar4  cl_uchar3;
-
-typedef union
-{
-    cl_uchar   CL_ALIGNED(8) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[4];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4[2];
-#endif
-#if defined( __CL_UCHAR8__ )
-    __cl_uchar8     v8;
-#endif
-}cl_uchar8;
-
-typedef union
-{
-    cl_uchar  CL_ALIGNED(16) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[8];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4[4];
-#endif
-#if defined( __CL_UCHAR8__ )
-    __cl_uchar8     v8[2];
-#endif
-#if defined( __CL_UCHAR16__ )
-    __cl_uchar16    v16;
-#endif
-}cl_uchar16;
-
-
-/* ---- cl_shortn ---- */
-typedef union
-{
-    cl_short  CL_ALIGNED(4) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_short  lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2;
-#endif
-}cl_short2;
-
-typedef union
-{
-    cl_short  CL_ALIGNED(8) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[2];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4;
-#endif
-}cl_short4;
-
-/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */
-typedef  cl_short4  cl_short3;
-
-typedef union
-{
-    cl_short   CL_ALIGNED(16) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[4];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4[2];
-#endif
-#if defined( __CL_SHORT8__ )
-    __cl_short8     v8;
-#endif
-}cl_short8;
-
-typedef union
-{
-    cl_short  CL_ALIGNED(32) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[8];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4[4];
-#endif
-#if defined( __CL_SHORT8__ )
-    __cl_short8     v8[2];
-#endif
-#if defined( __CL_SHORT16__ )
-    __cl_short16    v16;
-#endif
-}cl_short16;
-
-
-/* ---- cl_ushortn ---- */
-typedef union
-{
-    cl_ushort  CL_ALIGNED(4) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2;
-#endif
-}cl_ushort2;
-
-typedef union
-{
-    cl_ushort  CL_ALIGNED(8) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[2];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4;
-#endif
-}cl_ushort4;
-
-/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */
-typedef  cl_ushort4  cl_ushort3;
-
-typedef union
-{
-    cl_ushort   CL_ALIGNED(16) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[4];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4[2];
-#endif
-#if defined( __CL_USHORT8__ )
-    __cl_ushort8     v8;
-#endif
-}cl_ushort8;
-
-typedef union
-{
-    cl_ushort  CL_ALIGNED(32) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[8];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4[4];
-#endif
-#if defined( __CL_USHORT8__ )
-    __cl_ushort8     v8[2];
-#endif
-#if defined( __CL_USHORT16__ )
-    __cl_ushort16    v16;
-#endif
-}cl_ushort16;
-
-/* ---- cl_intn ---- */
-typedef union
-{
-    cl_int  CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_int  lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2;
-#endif
-}cl_int2;
-
-typedef union
-{
-    cl_int  CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[2];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4;
-#endif
-}cl_int4;
-
-/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */
-typedef  cl_int4  cl_int3;
-
-typedef union
-{
-    cl_int   CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[4];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4[2];
-#endif
-#if defined( __CL_INT8__ )
-    __cl_int8     v8;
-#endif
-}cl_int8;
-
-typedef union
-{
-    cl_int  CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[8];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4[4];
-#endif
-#if defined( __CL_INT8__ )
-    __cl_int8     v8[2];
-#endif
-#if defined( __CL_INT16__ )
-    __cl_int16    v16;
-#endif
-}cl_int16;
-
-
-/* ---- cl_uintn ---- */
-typedef union
-{
-    cl_uint  CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2;
-#endif
-}cl_uint2;
-
-typedef union
-{
-    cl_uint  CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[2];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4;
-#endif
-}cl_uint4;
-
-/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */
-typedef  cl_uint4  cl_uint3;
-
-typedef union
-{
-    cl_uint   CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[4];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4[2];
-#endif
-#if defined( __CL_UINT8__ )
-    __cl_uint8     v8;
-#endif
-}cl_uint8;
-
-typedef union
-{
-    cl_uint  CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[8];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4[4];
-#endif
-#if defined( __CL_UINT8__ )
-    __cl_uint8     v8[2];
-#endif
-#if defined( __CL_UINT16__ )
-    __cl_uint16    v16;
-#endif
-}cl_uint16;
-
-/* ---- cl_longn ---- */
-typedef union
-{
-    cl_long  CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_long  lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2;
-#endif
-}cl_long2;
-
-typedef union
-{
-    cl_long  CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[2];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4;
-#endif
-}cl_long4;
-
-/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */
-typedef  cl_long4  cl_long3;
-
-typedef union
-{
-    cl_long   CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[4];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4[2];
-#endif
-#if defined( __CL_LONG8__ )
-    __cl_long8     v8;
-#endif
-}cl_long8;
-
-typedef union
-{
-    cl_long  CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[8];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4[4];
-#endif
-#if defined( __CL_LONG8__ )
-    __cl_long8     v8[2];
-#endif
-#if defined( __CL_LONG16__ )
-    __cl_long16    v16;
-#endif
-}cl_long16;
-
-
-/* ---- cl_ulongn ---- */
-typedef union
-{
-    cl_ulong  CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2;
-#endif
-}cl_ulong2;
-
-typedef union
-{
-    cl_ulong  CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[2];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4;
-#endif
-}cl_ulong4;
-
-/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */
-typedef  cl_ulong4  cl_ulong3;
-
-typedef union
-{
-    cl_ulong   CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[4];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4[2];
-#endif
-#if defined( __CL_ULONG8__ )
-    __cl_ulong8     v8;
-#endif
-}cl_ulong8;
-
-typedef union
-{
-    cl_ulong  CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[8];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4[4];
-#endif
-#if defined( __CL_ULONG8__ )
-    __cl_ulong8     v8[2];
-#endif
-#if defined( __CL_ULONG16__ )
-    __cl_ulong16    v16;
-#endif
-}cl_ulong16;
-
-
-/* --- cl_floatn ---- */
-
-typedef union
-{
-    cl_float  CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_float  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_float  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2;
-#endif
-}cl_float2;
-
-typedef union
-{
-    cl_float  CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float   x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_float   s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_float2  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[2];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4;
-#endif
-}cl_float4;
-
-/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */
-typedef  cl_float4  cl_float3;
-
-typedef union
-{
-    cl_float   CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float   x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_float   s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_float4  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[4];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4[2];
-#endif
-#if defined( __CL_FLOAT8__ )
-    __cl_float8     v8;
-#endif
-}cl_float8;
-
-typedef union
-{
-    cl_float  CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_float  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[8];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4[4];
-#endif
-#if defined( __CL_FLOAT8__ )
-    __cl_float8     v8[2];
-#endif
-#if defined( __CL_FLOAT16__ )
-    __cl_float16    v16;
-#endif
-}cl_float16;
-
-/* --- cl_doublen ---- */
-
-typedef union
-{
-    cl_double  CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_double s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_double lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2;
-#endif
-}cl_double2;
-
-typedef union
-{
-    cl_double  CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[2];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4;
-#endif
-}cl_double4;
-
-/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */
-typedef  cl_double4  cl_double3;
-
-typedef union
-{
-    cl_double   CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[4];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4[2];
-#endif
-#if defined( __CL_DOUBLE8__ )
-    __cl_double8     v8;
-#endif
-}cl_double8;
-
-typedef union
-{
-    cl_double  CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[8];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4[4];
-#endif
-#if defined( __CL_DOUBLE8__ )
-    __cl_double8     v8[2];
-#endif
-#if defined( __CL_DOUBLE16__ )
-    __cl_double16    v16;
-#endif
-}cl_double16;
-
-/* Macro to facilitate debugging 
- * Usage:
- *   Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. 
- *   The first line ends with:   CL_PROGRAM_STRING_DEBUG_INFO \"
- *   Each line thereafter of OpenCL C source must end with: \n\
- *   The last line ends in ";
- *
- *   Example:
- *
- *   const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\
- *   kernel void foo( int a, float * b )             \n\
- *   {                                               \n\
- *      // my comment                                \n\
- *      *b[ get_global_id(0)] = a;                   \n\
- *   }                                               \n\
- *   ";
- *
- * This should correctly set up the line, (column) and file information for your source 
- * string so you can do source level debugging.
- */
-#define  __CL_STRINGIFY( _x )               # _x
-#define  _CL_STRINGIFY( _x )                __CL_STRINGIFY( _x )
-#define  CL_PROGRAM_STRING_DEBUG_INFO       "#line "  _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" 
-  
-#ifdef __cplusplus
-}
-#endif
-
-#undef __CL_HAS_ANON_STRUCT__
-#undef __CL_ANON_STRUCT__
-#if defined( _WIN32) && (_MSC_VER >= 1500)
-#pragma warning( pop )
-#endif
-
-#endif  /* __CL_PLATFORM_H  */
diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h
deleted file mode 100644
index 9855cd75e7..0000000000
--- a/third_party/opencl/include/CL/opencl.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_H
-#define __OPENCL_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-
-#include <OpenCL/cl.h>
-#include <OpenCL/cl_gl.h>
-#include <OpenCL/cl_gl_ext.h>
-#include <OpenCL/cl_ext.h>
-
-#else
-
-#include <CL/cl.h>
-#include <CL/cl_gl.h>
-#include <CL/cl_gl_ext.h>
-#include <CL/cl_ext.h>
-
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_H   */
-
diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore
deleted file mode 100644
index 6b1d3ad748..0000000000
--- a/third_party/raylib/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-/raylib_repo/
-/raylib_python_repo/
-/wheel/
-!*.a
diff --git a/third_party/raylib/Darwin/libraylib.a b/third_party/raylib/Darwin/libraylib.a
deleted file mode 100644
index dd2e9b33f1..0000000000
--- a/third_party/raylib/Darwin/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fd045c1d4bca5c9b2ad044ea730826ff6cedeef0b64451b123717b136f1cd702
-size 6392532
diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh
deleted file mode 100755
index d20f9d33af..0000000000
--- a/third_party/raylib/build.sh
+++ /dev/null
@@ -1,93 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-export SOURCE_DATE_EPOCH=0
-export ZERO_AR_DATE=1
-
-SUDO=""
-
-# Use sudo if not root
-if [[ ! $(id -u) -eq 0 ]]; then
-  if [[ -z $(which sudo) ]]; then
-    echo "Please install sudo or run as root"
-    exit 1
-  fi
-  SUDO="sudo"
-fi
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
-
-RAYLIB_PLATFORM="PLATFORM_DESKTOP"
-
-ARCHNAME=$(uname -m)
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  RAYLIB_PLATFORM="PLATFORM_COMMA"
-elif [[ "$OSTYPE" == "linux"* ]]; then
-  # required dependencies on Linux PC
-  $SUDO apt install \
-    libxcursor-dev \
-    libxi-dev \
-    libxinerama-dev \
-    libxrandr-dev
-fi
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ARCHNAME="Darwin"
-fi
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-INSTALL_H_DIR="$DIR/include"
-rm -rf $INSTALL_H_DIR
-mkdir -p $INSTALL_H_DIR
-
-if [ ! -d raylib_repo ]; then
-  git clone -b master --no-tags https://github.com/commaai/raylib.git raylib_repo
-fi
-
-cd raylib_repo
-
-COMMIT=${1:-3425bd9d1fb292ede4d80f97a1f4f258f614cffc}
-git fetch origin $COMMIT
-git reset --hard $COMMIT
-git clean -xdff .
-
-cd src
-
-make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM RAYLIB_RELEASE_PATH=$INSTALL_DIR
-cp raylib.h raymath.h rlgl.h $INSTALL_H_DIR/
-echo "raylib development files installed/updated in $INSTALL_H_DIR"
-
-# this commit needs to be in line with raylib
-set -x
-RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827"
-curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h
-
-if [ -f /TICI ]; then
-
-  # Building the python bindings
-  cd $DIR
-
-  if [ ! -d raylib_python_repo ]; then
-    git clone -b master --no-tags https://github.com/commaai/raylib-python-cffi.git raylib_python_repo
-  fi
-
-  cd raylib_python_repo
-
-  BINDINGS_COMMIT="a0710d95af3c12fd7f4b639589be9a13dad93cb6"
-  git fetch origin $BINDINGS_COMMIT
-  git reset --hard $BINDINGS_COMMIT
-  git clean -xdff .
-
-  RAYLIB_PLATFORM=$RAYLIB_PLATFORM RAYLIB_INCLUDE_PATH=$INSTALL_H_DIR RAYLIB_LIB_PATH=$INSTALL_DIR python setup.py bdist_wheel
-  cd $DIR
-
-  rm -rf wheel
-  mkdir wheel
-  cp raylib_python_repo/dist/*.whl wheel/
-
-fi
diff --git a/third_party/raylib/include/raygui.h b/third_party/raylib/include/raygui.h
deleted file mode 100644
index fe233a16cf..0000000000
--- a/third_party/raylib/include/raygui.h
+++ /dev/null
@@ -1,5759 +0,0 @@
-/*******************************************************************************************
-*
-*   raygui v4.5-dev - A simple and easy-to-use immediate-mode gui library
-*
-*   DESCRIPTION:
-*       raygui is a tools-dev-focused immediate-mode-gui library based on raylib but also
-*       available as a standalone library, as long as input and drawing functions are provided.
-*
-*   FEATURES:
-*       - Immediate-mode gui, minimal retained data
-*       - +25 controls provided (basic and advanced)
-*       - Styling system for colors, font and metrics
-*       - Icons supported, embedded as a 1-bit icons pack
-*       - Standalone mode option (custom input/graphics backend)
-*       - Multiple support tools provided for raygui development
-*
-*   POSSIBLE IMPROVEMENTS:
-*       - Better standalone mode API for easy plug of custom backends
-*       - Externalize required inputs, allow user easier customization
-*
-*   LIMITATIONS:
-*       - No editable multi-line word-wraped text box supported
-*       - No auto-layout mechanism, up to the user to define controls position and size
-*       - Standalone mode requires library modification and some user work to plug another backend
-*
-*   NOTES:
-*       - WARNING: GuiLoadStyle() and GuiLoadStyle{Custom}() functions, allocate memory for
-*         font atlas recs and glyphs, freeing that memory is (usually) up to the user,
-*         no unload function is explicitly provided... but note that GuiLoadStyleDefault() unloads
-*         by default any previously loaded font (texture, recs, glyphs).
-*       - Global UI alpha (guiAlpha) is applied inside GuiDrawRectangle() and GuiDrawText() functions
-*
-*   CONTROLS PROVIDED:
-*     # Container/separators Controls
-*       - WindowBox     --> StatusBar, Panel
-*       - GroupBox      --> Line
-*       - Line
-*       - Panel         --> StatusBar
-*       - ScrollPanel   --> StatusBar
-*       - TabBar        --> Button
-*
-*     # Basic Controls
-*       - Label
-*       - LabelButton   --> Label
-*       - Button
-*       - Toggle
-*       - ToggleGroup   --> Toggle
-*       - ToggleSlider
-*       - CheckBox
-*       - ComboBox
-*       - DropdownBox
-*       - TextBox
-*       - ValueBox      --> TextBox
-*       - Spinner       --> Button, ValueBox
-*       - Slider
-*       - SliderBar     --> Slider
-*       - ProgressBar
-*       - StatusBar
-*       - DummyRec
-*       - Grid
-*
-*     # Advance Controls
-*       - ListView
-*       - ColorPicker   --> ColorPanel, ColorBarHue
-*       - MessageBox    --> Window, Label, Button
-*       - TextInputBox  --> Window, Label, TextBox, Button
-*
-*     It also provides a set of functions for styling the controls based on its properties (size, color).
-*
-*
-*   RAYGUI STYLE (guiStyle):
-*       raygui uses a global data array for all gui style properties (allocated on data segment by default),
-*       when a new style is loaded, it is loaded over the global style... but a default gui style could always be
-*       recovered with GuiLoadStyleDefault() function, that overwrites the current style to the default one
-*
-*       The global style array size is fixed and depends on the number of controls and properties:
-*
-*           static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)];
-*
-*       guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
-*
-*       Note that the first set of BASE properties (by default guiStyle[0..15]) belong to the generic style
-*       used for all controls, when any of those base values is set, it is automatically populated to all
-*       controls, so, specific control values overwriting generic style should be set after base values.
-*
-*       After the first BASE set we have the EXTENDED properties (by default guiStyle[16..23]), those
-*       properties are actually common to all controls and can not be overwritten individually (like BASE ones)
-*       Some of those properties are: TEXT_SIZE, TEXT_SPACING, LINE_COLOR, BACKGROUND_COLOR
-*
-*       Custom control properties can be defined using the EXTENDED properties for each independent control.
-*
-*       TOOL: rGuiStyler is a visual tool to customize raygui style: github.com/raysan5/rguistyler
-*
-*
-*   RAYGUI ICONS (guiIcons):
-*       raygui could use a global array containing icons data (allocated on data segment by default),
-*       a custom icons set could be loaded over this array using GuiLoadIcons(), but loaded icons set
-*       must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS will be loaded
-*
-*       Every icon is codified in binary form, using 1 bit per pixel, so, every 16x16 icon
-*       requires 8 integers (16*16/32) to be stored in memory.
-*
-*       When the icon is draw, actually one quad per pixel is drawn if the bit for that pixel is set.
-*
-*       The global icons array size is fixed and depends on the number of icons and size:
-*
-*           static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS];
-*
-*       guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
-*
-*       TOOL: rGuiIcons is a visual tool to customize/create raygui icons: github.com/raysan5/rguiicons
-*
-*   RAYGUI LAYOUT:
-*       raygui currently does not provide an auto-layout mechanism like other libraries,
-*       layouts must be defined manually on controls drawing, providing the right bounds Rectangle for it.
-*
-*       TOOL: rGuiLayout is a visual tool to create raygui layouts: github.com/raysan5/rguilayout
-*
-*   CONFIGURATION:
-*       #define RAYGUI_IMPLEMENTATION
-*           Generates the implementation of the library into the included file.
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation.
-*
-*       #define RAYGUI_STANDALONE
-*           Avoid raylib.h header inclusion in this file. Data types defined on raylib are defined
-*           internally in the library and input management and drawing functions must be provided by
-*           the user (check library implementation for further details).
-*
-*       #define RAYGUI_NO_ICONS
-*           Avoid including embedded ricons data (256 icons, 16x16 pixels, 1-bit per pixel, 2KB)
-*
-*       #define RAYGUI_CUSTOM_ICONS
-*           Includes custom ricons.h header defining a set of custom icons,
-*           this file can be generated using rGuiIcons tool
-*
-*       #define RAYGUI_DEBUG_RECS_BOUNDS
-*           Draw control bounds rectangles for debug
-*
-*       #define RAYGUI_DEBUG_TEXT_BOUNDS
-*           Draw text bounds rectangles for debug
-*
-*   VERSIONS HISTORY:
-*       4.5-dev (Sep-2024)    Current dev version...
-*                         ADDED: guiControlExclusiveMode and guiControlExclusiveRec for exclusive modes
-*                         ADDED: GuiValueBoxFloat()
-*                         ADDED: GuiDropdonwBox() properties: DROPDOWN_ARROW_HIDDEN, DROPDOWN_ROLL_UP
-*                         ADDED: GuiListView() property: LIST_ITEMS_BORDER_WIDTH
-*                         ADDED: Multiple new icons
-*                         REVIEWED: GuiTabBar(), close tab with mouse middle button
-*                         REVIEWED: GuiScrollPanel(), scroll speed proportional to content
-*                         REVIEWED: GuiDropdownBox(), support roll up and hidden arrow
-*                         REVIEWED: GuiTextBox(), cursor position initialization
-*                         REVIEWED: GuiSliderPro(), control value change check
-*                         REVIEWED: GuiGrid(), simplified implementation
-*                         REVIEWED: GuiIconText(), increase buffer size and reviewed padding
-*                         REVIEWED: GuiDrawText(), improved wrap mode drawing
-*                         REVIEWED: GuiScrollBar(), minor tweaks
-*                         REVIEWED: Functions descriptions, removed wrong return value reference
-*                         REDESIGNED: GuiColorPanel(), improved HSV <-> RGBA convertion
-*
-*       4.0 (12-Sep-2023) ADDED: GuiToggleSlider()
-*                         ADDED: GuiColorPickerHSV() and GuiColorPanelHSV()
-*                         ADDED: Multiple new icons, mostly compiler related
-*                         ADDED: New DEFAULT properties: TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE
-*                         ADDED: New enum values: GuiTextAlignment, GuiTextAlignmentVertical, GuiTextWrapMode
-*                         ADDED: Support loading styles with custom font charset from external file
-*                         REDESIGNED: GuiTextBox(), support mouse cursor positioning
-*                         REDESIGNED: GuiDrawText(), support multiline and word-wrap modes (read only)
-*                         REDESIGNED: GuiProgressBar() to be more visual, progress affects border color
-*                         REDESIGNED: Global alpha consideration moved to GuiDrawRectangle() and GuiDrawText()
-*                         REDESIGNED: GuiScrollPanel(), get parameters by reference and return result value
-*                         REDESIGNED: GuiToggleGroup(), get parameters by reference and return result value
-*                         REDESIGNED: GuiComboBox(), get parameters by reference and return result value
-*                         REDESIGNED: GuiCheckBox(), get parameters by reference and return result value
-*                         REDESIGNED: GuiSlider(), get parameters by reference and return result value
-*                         REDESIGNED: GuiSliderBar(), get parameters by reference and return result value
-*                         REDESIGNED: GuiProgressBar(), get parameters by reference and return result value
-*                         REDESIGNED: GuiListView(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorPicker(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorPanel(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorBarAlpha(), get parameters by reference and return result value
-*                         REDESIGNED: GuiColorBarHue(), get parameters by reference and return result value
-*                         REDESIGNED: GuiGrid(), get parameters by reference and return result value
-*                         REDESIGNED: GuiGrid(), added extra parameter
-*                         REDESIGNED: GuiListViewEx(), change parameters order
-*                         REDESIGNED: All controls return result as int value
-*                         REVIEWED: GuiScrollPanel() to avoid smallish scroll-bars
-*                         REVIEWED: All examples and specially controls_test_suite
-*                         RENAMED: gui_file_dialog module to gui_window_file_dialog
-*                         UPDATED: All styles to include ISO-8859-15 charset (as much as possible)
-*
-*       3.6 (10-May-2023) ADDED: New icon: SAND_TIMER
-*                         ADDED: GuiLoadStyleFromMemory() (binary only)
-*                         REVIEWED: GuiScrollBar() horizontal movement key
-*                         REVIEWED: GuiTextBox() crash on cursor movement
-*                         REVIEWED: GuiTextBox(), additional inputs support
-*                         REVIEWED: GuiLabelButton(), avoid text cut
-*                         REVIEWED: GuiTextInputBox(), password input
-*                         REVIEWED: Local GetCodepointNext(), aligned with raylib
-*                         REDESIGNED: GuiSlider*()/GuiScrollBar() to support out-of-bounds
-*
-*       3.5 (20-Apr-2023) ADDED: GuiTabBar(), based on GuiToggle()
-*                         ADDED: Helper functions to split text in separate lines
-*                         ADDED: Multiple new icons, useful for code editing tools
-*                         REMOVED: Unneeded icon editing functions
-*                         REMOVED: GuiTextBoxMulti(), very limited and broken
-*                         REMOVED: MeasureTextEx() dependency, logic directly implemented
-*                         REMOVED: DrawTextEx() dependency, logic directly implemented
-*                         REVIEWED: GuiScrollBar(), improve mouse-click behaviour
-*                         REVIEWED: Library header info, more info, better organized
-*                         REDESIGNED: GuiTextBox() to support cursor movement
-*                         REDESIGNED: GuiDrawText() to divide drawing by lines
-*
-*       3.2 (22-May-2022) RENAMED: Some enum values, for unification, avoiding prefixes
-*                         REMOVED: GuiScrollBar(), only internal
-*                         REDESIGNED: GuiPanel() to support text parameter
-*                         REDESIGNED: GuiScrollPanel() to support text parameter
-*                         REDESIGNED: GuiColorPicker() to support text parameter
-*                         REDESIGNED: GuiColorPanel() to support text parameter
-*                         REDESIGNED: GuiColorBarAlpha() to support text parameter
-*                         REDESIGNED: GuiColorBarHue() to support text parameter
-*                         REDESIGNED: GuiTextInputBox() to support password
-*
-*       3.1 (12-Jan-2022) REVIEWED: Default style for consistency (aligned with rGuiLayout v2.5 tool)
-*                         REVIEWED: GuiLoadStyle() to support compressed font atlas image data and unload previous textures
-*                         REVIEWED: External icons usage logic
-*                         REVIEWED: GuiLine() for centered alignment when including text
-*                         RENAMED: Multiple controls properties definitions to prepend RAYGUI_
-*                         RENAMED: RICON_ references to RAYGUI_ICON_ for library consistency
-*                         Projects updated and multiple tweaks
-*
-*       3.0 (04-Nov-2021) Integrated ricons data to avoid external file
-*                         REDESIGNED: GuiTextBoxMulti()
-*                         REMOVED: GuiImageButton*()
-*                         Multiple minor tweaks and bugs corrected
-*
-*       2.9 (17-Mar-2021) REMOVED: Tooltip API
-*       2.8 (03-May-2020) Centralized rectangles drawing to GuiDrawRectangle()
-*       2.7 (20-Feb-2020) ADDED: Possible tooltips API
-*       2.6 (09-Sep-2019) ADDED: GuiTextInputBox()
-*                         REDESIGNED: GuiListView*(), GuiDropdownBox(), GuiSlider*(), GuiProgressBar(), GuiMessageBox()
-*                         REVIEWED: GuiTextBox(), GuiSpinner(), GuiValueBox(), GuiLoadStyle()
-*                         Replaced property INNER_PADDING by TEXT_PADDING, renamed some properties
-*                         ADDED: 8 new custom styles ready to use
-*                         Multiple minor tweaks and bugs corrected
-*
-*       2.5 (28-May-2019) Implemented extended GuiTextBox(), GuiValueBox(), GuiSpinner()
-*       2.3 (29-Apr-2019) ADDED: rIcons auxiliar library and support for it, multiple controls reviewed
-*                         Refactor all controls drawing mechanism to use control state
-*       2.2 (05-Feb-2019) ADDED: GuiScrollBar(), GuiScrollPanel(), reviewed GuiListView(), removed Gui*Ex() controls
-*       2.1 (26-Dec-2018) REDESIGNED: GuiCheckBox(), GuiComboBox(), GuiDropdownBox(), GuiToggleGroup() > Use combined text string
-*                         REDESIGNED: Style system (breaking change)
-*       2.0 (08-Nov-2018) ADDED: Support controls guiLock and custom fonts
-*                         REVIEWED: GuiComboBox(), GuiListView()...
-*       1.9 (09-Oct-2018) REVIEWED: GuiGrid(), GuiTextBox(), GuiTextBoxMulti(), GuiValueBox()...
-*       1.8 (01-May-2018) Lot of rework and redesign to align with rGuiStyler and rGuiLayout
-*       1.5 (21-Jun-2017) Working in an improved styles system
-*       1.4 (15-Jun-2017) Rewritten all GUI functions (removed useless ones)
-*       1.3 (12-Jun-2017) Complete redesign of style system
-*       1.1 (01-Jun-2017) Complete review of the library
-*       1.0 (07-Jun-2016) Converted to header-only by Ramon Santamaria.
-*       0.9 (07-Mar-2016) Reviewed and tested by Albert Martos, Ian Eito, Sergio Martinez and Ramon Santamaria.
-*       0.8 (27-Aug-2015) Initial release. Implemented by Kevin Gato, Daniel Nicolás and Ramon Santamaria.
-*
-*   DEPENDENCIES:
-*       raylib 5.0  - Inputs reading (keyboard/mouse), shapes drawing, font loading and text drawing
-*
-*   STANDALONE MODE:
-*       By default raygui depends on raylib mostly for the inputs and the drawing functionality but that dependency can be disabled
-*       with the config flag RAYGUI_STANDALONE. In that case is up to the user to provide another backend to cover library needs.
-*
-*       The following functions should be redefined for a custom backend:
-*
-*           - Vector2 GetMousePosition(void);
-*           - float GetMouseWheelMove(void);
-*           - bool IsMouseButtonDown(int button);
-*           - bool IsMouseButtonPressed(int button);
-*           - bool IsMouseButtonReleased(int button);
-*           - bool IsKeyDown(int key);
-*           - bool IsKeyPressed(int key);
-*           - int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
-*
-*           - void DrawRectangle(int x, int y, int width, int height, Color color); // -- GuiDrawRectangle()
-*           - void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
-*
-*           - Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
-*           - Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle()
-*           - Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
-*           - void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
-*           - char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
-*           - void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
-*           - const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
-*           - int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
-*           - void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
-*           - unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
-*
-*   CONTRIBUTORS:
-*       Ramon Santamaria:   Supervision, review, redesign, update and maintenance
-*       Vlad Adrian:        Complete rewrite of GuiTextBox() to support extended features (2019)
-*       Sergio Martinez:    Review, testing (2015) and redesign of multiple controls (2018)
-*       Adria Arranz:       Testing and implementation of additional controls (2018)
-*       Jordi Jorba:        Testing and implementation of additional controls (2018)
-*       Albert Martos:      Review and testing of the library (2015)
-*       Ian Eito:           Review and testing of the library (2015)
-*       Kevin Gato:         Initial implementation of basic components (2014)
-*       Daniel Nicolas:     Initial implementation of basic components (2014)
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2014-2025 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYGUI_H
-#define RAYGUI_H
-
-#define RAYGUI_VERSION_MAJOR 4
-#define RAYGUI_VERSION_MINOR 5
-#define RAYGUI_VERSION_PATCH 0
-#define RAYGUI_VERSION  "4.5-dev"
-
-#if !defined(RAYGUI_STANDALONE)
-    #include "raylib.h"
-#endif
-
-// Function specifiers in case library is build/used as a shared library (Windows)
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-#if defined(_WIN32)
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RAYGUIAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-    #elif defined(USE_LIBTYPE_SHARED)
-        #define RAYGUIAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-    #endif
-#endif
-
-// Function specifiers definition
-#ifndef RAYGUIAPI
-    #define RAYGUIAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-// Allow custom memory allocators
-#ifndef RAYGUI_MALLOC
-    #define RAYGUI_MALLOC(sz)       malloc(sz)
-#endif
-#ifndef RAYGUI_CALLOC
-    #define RAYGUI_CALLOC(n,sz)     calloc(n,sz)
-#endif
-#ifndef RAYGUI_FREE
-    #define RAYGUI_FREE(p)          free(p)
-#endif
-
-// Simple log system to avoid printf() calls if required
-// NOTE: Avoiding those calls, also avoids const strings memory usage
-#define RAYGUI_SUPPORT_LOG_INFO
-#if defined(RAYGUI_SUPPORT_LOG_INFO)
-  #define RAYGUI_LOG(...)           printf(__VA_ARGS__)
-#else
-  #define RAYGUI_LOG(...)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-// NOTE: Some types are required for RAYGUI_STANDALONE usage
-//----------------------------------------------------------------------------------
-#if defined(RAYGUI_STANDALONE)
-    #ifndef __cplusplus
-    // Boolean type
-        #ifndef true
-            typedef enum { false, true } bool;
-        #endif
-    #endif
-
-    // Vector2 type
-    typedef struct Vector2 {
-        float x;
-        float y;
-    } Vector2;
-
-    // Vector3 type                 // -- ConvertHSVtoRGB(), ConvertRGBtoHSV()
-    typedef struct Vector3 {
-        float x;
-        float y;
-        float z;
-    } Vector3;
-
-    // Color type, RGBA (32bit)
-    typedef struct Color {
-        unsigned char r;
-        unsigned char g;
-        unsigned char b;
-        unsigned char a;
-    } Color;
-
-    // Rectangle type
-    typedef struct Rectangle {
-        float x;
-        float y;
-        float width;
-        float height;
-    } Rectangle;
-
-    // TODO: Texture2D type is very coupled to raylib, required by Font type
-    // It should be redesigned to be provided by user
-    typedef struct Texture2D {
-        unsigned int id;        // OpenGL texture id
-        int width;              // Texture base width
-        int height;             // Texture base height
-        int mipmaps;            // Mipmap levels, 1 by default
-        int format;             // Data format (PixelFormat type)
-    } Texture2D;
-
-    // Image, pixel data stored in CPU memory (RAM)
-    typedef struct Image {
-        void *data;             // Image raw data
-        int width;              // Image base width
-        int height;             // Image base height
-        int mipmaps;            // Mipmap levels, 1 by default
-        int format;             // Data format (PixelFormat type)
-    } Image;
-
-    // GlyphInfo, font characters glyphs info
-    typedef struct GlyphInfo {
-        int value;              // Character value (Unicode)
-        int offsetX;            // Character offset X when drawing
-        int offsetY;            // Character offset Y when drawing
-        int advanceX;           // Character advance position X
-        Image image;            // Character image data
-    } GlyphInfo;
-
-    // TODO: Font type is very coupled to raylib, mostly required by GuiLoadStyle()
-    // It should be redesigned to be provided by user
-    typedef struct Font {
-        int baseSize;           // Base size (default chars height)
-        int glyphCount;         // Number of glyph characters
-        int glyphPadding;       // Padding around the glyph characters
-        Texture2D texture;      // Texture atlas containing the glyphs
-        Rectangle *recs;        // Rectangles in texture for the glyphs
-        GlyphInfo *glyphs;      // Glyphs info data
-    } Font;
-#endif
-
-// Style property
-// NOTE: Used when exporting style as code for convenience
-typedef struct GuiStyleProp {
-    unsigned short controlId;   // Control identifier
-    unsigned short propertyId;  // Property identifier
-    int propertyValue;          // Property value
-} GuiStyleProp;
-
-/*
-// Controls text style -NOT USED-
-// NOTE: Text style is defined by control
-typedef struct GuiTextStyle {
-    unsigned int size;
-    int charSpacing;
-    int lineSpacing;
-    int alignmentH;
-    int alignmentV;
-    int padding;
-} GuiTextStyle;
-*/
-
-// Gui control state
-typedef enum {
-    STATE_NORMAL = 0,
-    STATE_FOCUSED,
-    STATE_PRESSED,
-    STATE_DISABLED
-} GuiState;
-
-// Gui control text alignment
-typedef enum {
-    TEXT_ALIGN_LEFT = 0,
-    TEXT_ALIGN_CENTER,
-    TEXT_ALIGN_RIGHT
-} GuiTextAlignment;
-
-// Gui control text alignment vertical
-// NOTE: Text vertical position inside the text bounds
-typedef enum {
-    TEXT_ALIGN_TOP = 0,
-    TEXT_ALIGN_MIDDLE,
-    TEXT_ALIGN_BOTTOM
-} GuiTextAlignmentVertical;
-
-// Gui control text wrap mode
-// NOTE: Useful for multiline text
-typedef enum {
-    TEXT_WRAP_NONE = 0,
-    TEXT_WRAP_CHAR,
-    TEXT_WRAP_WORD
-} GuiTextWrapMode;
-
-// Gui controls
-typedef enum {
-    // Default -> populates to all controls when set
-    DEFAULT = 0,
-
-    // Basic controls
-    LABEL,          // Used also for: LABELBUTTON
-    BUTTON,
-    TOGGLE,         // Used also for: TOGGLEGROUP
-    SLIDER,         // Used also for: SLIDERBAR, TOGGLESLIDER
-    PROGRESSBAR,
-    CHECKBOX,
-    COMBOBOX,
-    DROPDOWNBOX,
-    TEXTBOX,        // Used also for: TEXTBOXMULTI
-    VALUEBOX,
-    SPINNER,        // Uses: BUTTON, VALUEBOX
-    LISTVIEW,
-    COLORPICKER,
-    SCROLLBAR,
-    STATUSBAR
-} GuiControl;
-
-// Gui base properties for every control
-// NOTE: RAYGUI_MAX_PROPS_BASE properties (by default 16 properties)
-typedef enum {
-    BORDER_COLOR_NORMAL = 0,    // Control border color in STATE_NORMAL
-    BASE_COLOR_NORMAL,          // Control base color in STATE_NORMAL
-    TEXT_COLOR_NORMAL,          // Control text color in STATE_NORMAL
-    BORDER_COLOR_FOCUSED,       // Control border color in STATE_FOCUSED
-    BASE_COLOR_FOCUSED,         // Control base color in STATE_FOCUSED
-    TEXT_COLOR_FOCUSED,         // Control text color in STATE_FOCUSED
-    BORDER_COLOR_PRESSED,       // Control border color in STATE_PRESSED
-    BASE_COLOR_PRESSED,         // Control base color in STATE_PRESSED
-    TEXT_COLOR_PRESSED,         // Control text color in STATE_PRESSED
-    BORDER_COLOR_DISABLED,      // Control border color in STATE_DISABLED
-    BASE_COLOR_DISABLED,        // Control base color in STATE_DISABLED
-    TEXT_COLOR_DISABLED,        // Control text color in STATE_DISABLED
-    BORDER_WIDTH,               // Control border size, 0 for no border
-    //TEXT_SIZE,                  // Control text size (glyphs max height) -> GLOBAL for all controls
-    //TEXT_SPACING,               // Control text spacing between glyphs -> GLOBAL for all controls
-    //TEXT_LINE_SPACING           // Control text spacing between lines -> GLOBAL for all controls
-    TEXT_PADDING,               // Control text padding, not considering border
-    TEXT_ALIGNMENT,             // Control text horizontal alignment inside control text bound (after border and padding)
-    //TEXT_WRAP_MODE              // Control text wrap-mode inside text bounds -> GLOBAL for all controls
-} GuiControlProperty;
-
-// TODO: Which text styling properties should be global or per-control?
-// At this moment TEXT_PADDING and TEXT_ALIGNMENT is configured and saved per control while
-// TEXT_SIZE, TEXT_SPACING, TEXT_LINE_SPACING, TEXT_ALIGNMENT_VERTICAL, TEXT_WRAP_MODE are global and
-// should be configured by user as needed while defining the UI layout
-
-// Gui extended properties depend on control
-// NOTE: RAYGUI_MAX_PROPS_EXTENDED properties (by default, max 8 properties)
-//----------------------------------------------------------------------------------
-// DEFAULT extended properties
-// NOTE: Those properties are common to all controls or global
-// WARNING: We only have 8 slots for those properties by default!!! -> New global control: TEXT?
-typedef enum {
-    TEXT_SIZE = 16,             // Text size (glyphs max height)
-    TEXT_SPACING,               // Text spacing between glyphs
-    LINE_COLOR,                 // Line control color
-    BACKGROUND_COLOR,           // Background color
-    TEXT_LINE_SPACING,          // Text spacing between lines
-    TEXT_ALIGNMENT_VERTICAL,    // Text vertical alignment inside text bounds (after border and padding)
-    TEXT_WRAP_MODE              // Text wrap-mode inside text bounds
-    //TEXT_DECORATION             // Text decoration: 0-None, 1-Underline, 2-Line-through, 3-Overline
-    //TEXT_DECORATION_THICK       // Text decoration line thickness
-} GuiDefaultProperty;
-
-// Other possible text properties:
-// TEXT_WEIGHT                  // Normal, Italic, Bold -> Requires specific font change
-// TEXT_INDENT                  // Text indentation -> Now using TEXT_PADDING...
-
-// Label
-//typedef enum { } GuiLabelProperty;
-
-// Button/Spinner
-//typedef enum { } GuiButtonProperty;
-
-// Toggle/ToggleGroup
-typedef enum {
-    GROUP_PADDING = 16,         // ToggleGroup separation between toggles
-} GuiToggleProperty;
-
-// Slider/SliderBar
-typedef enum {
-    SLIDER_WIDTH = 16,          // Slider size of internal bar
-    SLIDER_PADDING              // Slider/SliderBar internal bar padding
-} GuiSliderProperty;
-
-// ProgressBar
-typedef enum {
-    PROGRESS_PADDING = 16,      // ProgressBar internal padding
-} GuiProgressBarProperty;
-
-// ScrollBar
-typedef enum {
-    ARROWS_SIZE = 16,           // ScrollBar arrows size
-    ARROWS_VISIBLE,             // ScrollBar arrows visible
-    SCROLL_SLIDER_PADDING,      // ScrollBar slider internal padding
-    SCROLL_SLIDER_SIZE,         // ScrollBar slider size
-    SCROLL_PADDING,             // ScrollBar scroll padding from arrows
-    SCROLL_SPEED,               // ScrollBar scrolling speed
-} GuiScrollBarProperty;
-
-// CheckBox
-typedef enum {
-    CHECK_PADDING = 16          // CheckBox internal check padding
-} GuiCheckBoxProperty;
-
-// ComboBox
-typedef enum {
-    COMBO_BUTTON_WIDTH = 16,    // ComboBox right button width
-    COMBO_BUTTON_SPACING        // ComboBox button separation
-} GuiComboBoxProperty;
-
-// DropdownBox
-typedef enum {
-    ARROW_PADDING = 16,         // DropdownBox arrow separation from border and items
-    DROPDOWN_ITEMS_SPACING,     // DropdownBox items separation
-    DROPDOWN_ARROW_HIDDEN,      // DropdownBox arrow hidden
-    DROPDOWN_ROLL_UP            // DropdownBox roll up flag (default rolls down)
-} GuiDropdownBoxProperty;
-
-// TextBox/TextBoxMulti/ValueBox/Spinner
-typedef enum {
-    TEXT_READONLY = 16,         // TextBox in read-only mode: 0-text editable, 1-text no-editable
-} GuiTextBoxProperty;
-
-// Spinner
-typedef enum {
-    SPIN_BUTTON_WIDTH = 16,     // Spinner left/right buttons width
-    SPIN_BUTTON_SPACING,        // Spinner buttons separation
-} GuiSpinnerProperty;
-
-// ListView
-typedef enum {
-    LIST_ITEMS_HEIGHT = 16,     // ListView items height
-    LIST_ITEMS_SPACING,         // ListView items separation
-    SCROLLBAR_WIDTH,            // ListView scrollbar size (usually width)
-    SCROLLBAR_SIDE,             // ListView scrollbar side (0-SCROLLBAR_LEFT_SIDE, 1-SCROLLBAR_RIGHT_SIDE)
-    LIST_ITEMS_BORDER_WIDTH     // ListView items border width
-} GuiListViewProperty;
-
-// ColorPicker
-typedef enum {
-    COLOR_SELECTOR_SIZE = 16,
-    HUEBAR_WIDTH,               // ColorPicker right hue bar width
-    HUEBAR_PADDING,             // ColorPicker right hue bar separation from panel
-    HUEBAR_SELECTOR_HEIGHT,     // ColorPicker right hue bar selector height
-    HUEBAR_SELECTOR_OVERFLOW    // ColorPicker right hue bar selector overflow
-} GuiColorPickerProperty;
-
-#define SCROLLBAR_LEFT_SIDE     0
-#define SCROLLBAR_RIGHT_SIDE    1
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-// ...
-
-//----------------------------------------------------------------------------------
-// Module Functions Declaration
-//----------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-// Global gui state control functions
-RAYGUIAPI void GuiEnable(void);                                 // Enable gui controls (global state)
-RAYGUIAPI void GuiDisable(void);                                // Disable gui controls (global state)
-RAYGUIAPI void GuiLock(void);                                   // Lock gui controls (global state)
-RAYGUIAPI void GuiUnlock(void);                                 // Unlock gui controls (global state)
-RAYGUIAPI bool GuiIsLocked(void);                               // Check if gui is locked (global state)
-RAYGUIAPI void GuiSetAlpha(float alpha);                        // Set gui controls alpha (global state), alpha goes from 0.0f to 1.0f
-RAYGUIAPI void GuiSetState(int state);                          // Set gui state (global state)
-RAYGUIAPI int GuiGetState(void);                                // Get gui state (global state)
-
-// Font set/get functions
-RAYGUIAPI void GuiSetFont(Font font);                           // Set gui custom font (global state)
-RAYGUIAPI Font GuiGetFont(void);                                // Get gui custom font (global state)
-
-// Style set/get functions
-RAYGUIAPI void GuiSetStyle(int control, int property, int value); // Set one style property
-RAYGUIAPI int GuiGetStyle(int control, int property);           // Get one style property
-
-// Styles loading functions
-RAYGUIAPI void GuiLoadStyle(const char *fileName);              // Load style file over global style variable (.rgs)
-RAYGUIAPI void GuiLoadStyleDefault(void);                       // Load style default over global style
-
-// Tooltips management functions
-RAYGUIAPI void GuiEnableTooltip(void);                          // Enable gui tooltips (global state)
-RAYGUIAPI void GuiDisableTooltip(void);                         // Disable gui tooltips (global state)
-RAYGUIAPI void GuiSetTooltip(const char *tooltip);              // Set tooltip string
-
-// Icons functionality
-RAYGUIAPI const char *GuiIconText(int iconId, const char *text); // Get text with icon id prepended (if supported)
-#if !defined(RAYGUI_NO_ICONS)
-RAYGUIAPI void GuiSetIconScale(int scale);                      // Set default icon drawing size
-RAYGUIAPI unsigned int *GuiGetIcons(void);                      // Get raygui icons data pointer
-RAYGUIAPI char **GuiLoadIcons(const char *fileName, bool loadIconsName); // Load raygui icons file (.rgi) into internal icons data
-RAYGUIAPI void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color); // Draw icon using pixel size at specified position
-#endif
-
-// Controls
-//----------------------------------------------------------------------------------------------------------
-// Container/separator controls, useful for controls organization
-RAYGUIAPI int GuiWindowBox(Rectangle bounds, const char *title);                                       // Window Box control, shows a window that can be closed
-RAYGUIAPI int GuiGroupBox(Rectangle bounds, const char *text);                                         // Group Box control with text name
-RAYGUIAPI int GuiLine(Rectangle bounds, const char *text);                                             // Line separator control, could contain text
-RAYGUIAPI int GuiPanel(Rectangle bounds, const char *text);                                            // Panel control, useful to group controls
-RAYGUIAPI int GuiTabBar(Rectangle bounds, const char **text, int count, int *active);                  // Tab Bar control, returns TAB to be closed or -1
-RAYGUIAPI int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view); // Scroll Panel control
-
-// Basic controls set
-RAYGUIAPI int GuiLabel(Rectangle bounds, const char *text);                                            // Label control
-RAYGUIAPI int GuiButton(Rectangle bounds, const char *text);                                           // Button control, returns true when clicked
-RAYGUIAPI int GuiLabelButton(Rectangle bounds, const char *text);                                      // Label button control, returns true when clicked
-RAYGUIAPI int GuiToggle(Rectangle bounds, const char *text, bool *active);                             // Toggle Button control
-RAYGUIAPI int GuiToggleGroup(Rectangle bounds, const char *text, int *active);                         // Toggle Group control
-RAYGUIAPI int GuiToggleSlider(Rectangle bounds, const char *text, int *active);                        // Toggle Slider control
-RAYGUIAPI int GuiCheckBox(Rectangle bounds, const char *text, bool *checked);                          // Check Box control, returns true when active
-RAYGUIAPI int GuiComboBox(Rectangle bounds, const char *text, int *active);                            // Combo Box control
-
-RAYGUIAPI int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode);          // Dropdown Box control
-RAYGUIAPI int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Spinner control
-RAYGUIAPI int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode); // Value Box control, updates input text with numbers
-RAYGUIAPI int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode); // Value box control for float values
-RAYGUIAPI int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode);                   // Text Box control, updates input text
-
-RAYGUIAPI int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider control
-RAYGUIAPI int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Slider Bar control
-RAYGUIAPI int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue); // Progress Bar control
-RAYGUIAPI int GuiStatusBar(Rectangle bounds, const char *text);                                        // Status Bar control, shows info text
-RAYGUIAPI int GuiDummyRec(Rectangle bounds, const char *text);                                         // Dummy control for placeholders
-RAYGUIAPI int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell); // Grid control
-
-// Advance controls set
-RAYGUIAPI int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active);          // List View control
-RAYGUIAPI int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus); // List View with extended parameters
-RAYGUIAPI int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons); // Message Box control, displays a message
-RAYGUIAPI int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive); // Text Input Box control, ask for text, supports secret
-RAYGUIAPI int GuiColorPicker(Rectangle bounds, const char *text, Color *color);                        // Color Picker control (multiple color controls)
-RAYGUIAPI int GuiColorPanel(Rectangle bounds, const char *text, Color *color);                         // Color Panel control
-RAYGUIAPI int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha);                      // Color Bar Alpha control
-RAYGUIAPI int GuiColorBarHue(Rectangle bounds, const char *text, float *value);                        // Color Bar Hue control
-RAYGUIAPI int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                // Color Picker control that avoids conversion to RGB on each call (multiple color controls)
-RAYGUIAPI int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv);                 // Color Panel control that updates Hue-Saturation-Value color value, used by GuiColorPickerHSV()
-//----------------------------------------------------------------------------------------------------------
-
-#if !defined(RAYGUI_NO_ICONS)
-
-#if !defined(RAYGUI_CUSTOM_ICONS)
-//----------------------------------------------------------------------------------
-// Icons enumeration
-//----------------------------------------------------------------------------------
-typedef enum {
-    ICON_NONE                     = 0,
-    ICON_FOLDER_FILE_OPEN         = 1,
-    ICON_FILE_SAVE_CLASSIC        = 2,
-    ICON_FOLDER_OPEN              = 3,
-    ICON_FOLDER_SAVE              = 4,
-    ICON_FILE_OPEN                = 5,
-    ICON_FILE_SAVE                = 6,
-    ICON_FILE_EXPORT              = 7,
-    ICON_FILE_ADD                 = 8,
-    ICON_FILE_DELETE              = 9,
-    ICON_FILETYPE_TEXT            = 10,
-    ICON_FILETYPE_AUDIO           = 11,
-    ICON_FILETYPE_IMAGE           = 12,
-    ICON_FILETYPE_PLAY            = 13,
-    ICON_FILETYPE_VIDEO           = 14,
-    ICON_FILETYPE_INFO            = 15,
-    ICON_FILE_COPY                = 16,
-    ICON_FILE_CUT                 = 17,
-    ICON_FILE_PASTE               = 18,
-    ICON_CURSOR_HAND              = 19,
-    ICON_CURSOR_POINTER           = 20,
-    ICON_CURSOR_CLASSIC           = 21,
-    ICON_PENCIL                   = 22,
-    ICON_PENCIL_BIG               = 23,
-    ICON_BRUSH_CLASSIC            = 24,
-    ICON_BRUSH_PAINTER            = 25,
-    ICON_WATER_DROP               = 26,
-    ICON_COLOR_PICKER             = 27,
-    ICON_RUBBER                   = 28,
-    ICON_COLOR_BUCKET             = 29,
-    ICON_TEXT_T                   = 30,
-    ICON_TEXT_A                   = 31,
-    ICON_SCALE                    = 32,
-    ICON_RESIZE                   = 33,
-    ICON_FILTER_POINT             = 34,
-    ICON_FILTER_BILINEAR          = 35,
-    ICON_CROP                     = 36,
-    ICON_CROP_ALPHA               = 37,
-    ICON_SQUARE_TOGGLE            = 38,
-    ICON_SYMMETRY                 = 39,
-    ICON_SYMMETRY_HORIZONTAL      = 40,
-    ICON_SYMMETRY_VERTICAL        = 41,
-    ICON_LENS                     = 42,
-    ICON_LENS_BIG                 = 43,
-    ICON_EYE_ON                   = 44,
-    ICON_EYE_OFF                  = 45,
-    ICON_FILTER_TOP               = 46,
-    ICON_FILTER                   = 47,
-    ICON_TARGET_POINT             = 48,
-    ICON_TARGET_SMALL             = 49,
-    ICON_TARGET_BIG               = 50,
-    ICON_TARGET_MOVE              = 51,
-    ICON_CURSOR_MOVE              = 52,
-    ICON_CURSOR_SCALE             = 53,
-    ICON_CURSOR_SCALE_RIGHT       = 54,
-    ICON_CURSOR_SCALE_LEFT        = 55,
-    ICON_UNDO                     = 56,
-    ICON_REDO                     = 57,
-    ICON_REREDO                   = 58,
-    ICON_MUTATE                   = 59,
-    ICON_ROTATE                   = 60,
-    ICON_REPEAT                   = 61,
-    ICON_SHUFFLE                  = 62,
-    ICON_EMPTYBOX                 = 63,
-    ICON_TARGET                   = 64,
-    ICON_TARGET_SMALL_FILL        = 65,
-    ICON_TARGET_BIG_FILL          = 66,
-    ICON_TARGET_MOVE_FILL         = 67,
-    ICON_CURSOR_MOVE_FILL         = 68,
-    ICON_CURSOR_SCALE_FILL        = 69,
-    ICON_CURSOR_SCALE_RIGHT_FILL  = 70,
-    ICON_CURSOR_SCALE_LEFT_FILL   = 71,
-    ICON_UNDO_FILL                = 72,
-    ICON_REDO_FILL                = 73,
-    ICON_REREDO_FILL              = 74,
-    ICON_MUTATE_FILL              = 75,
-    ICON_ROTATE_FILL              = 76,
-    ICON_REPEAT_FILL              = 77,
-    ICON_SHUFFLE_FILL             = 78,
-    ICON_EMPTYBOX_SMALL           = 79,
-    ICON_BOX                      = 80,
-    ICON_BOX_TOP                  = 81,
-    ICON_BOX_TOP_RIGHT            = 82,
-    ICON_BOX_RIGHT                = 83,
-    ICON_BOX_BOTTOM_RIGHT         = 84,
-    ICON_BOX_BOTTOM               = 85,
-    ICON_BOX_BOTTOM_LEFT          = 86,
-    ICON_BOX_LEFT                 = 87,
-    ICON_BOX_TOP_LEFT             = 88,
-    ICON_BOX_CENTER               = 89,
-    ICON_BOX_CIRCLE_MASK          = 90,
-    ICON_POT                      = 91,
-    ICON_ALPHA_MULTIPLY           = 92,
-    ICON_ALPHA_CLEAR              = 93,
-    ICON_DITHERING                = 94,
-    ICON_MIPMAPS                  = 95,
-    ICON_BOX_GRID                 = 96,
-    ICON_GRID                     = 97,
-    ICON_BOX_CORNERS_SMALL        = 98,
-    ICON_BOX_CORNERS_BIG          = 99,
-    ICON_FOUR_BOXES               = 100,
-    ICON_GRID_FILL                = 101,
-    ICON_BOX_MULTISIZE            = 102,
-    ICON_ZOOM_SMALL               = 103,
-    ICON_ZOOM_MEDIUM              = 104,
-    ICON_ZOOM_BIG                 = 105,
-    ICON_ZOOM_ALL                 = 106,
-    ICON_ZOOM_CENTER              = 107,
-    ICON_BOX_DOTS_SMALL           = 108,
-    ICON_BOX_DOTS_BIG             = 109,
-    ICON_BOX_CONCENTRIC           = 110,
-    ICON_BOX_GRID_BIG             = 111,
-    ICON_OK_TICK                  = 112,
-    ICON_CROSS                    = 113,
-    ICON_ARROW_LEFT               = 114,
-    ICON_ARROW_RIGHT              = 115,
-    ICON_ARROW_DOWN               = 116,
-    ICON_ARROW_UP                 = 117,
-    ICON_ARROW_LEFT_FILL          = 118,
-    ICON_ARROW_RIGHT_FILL         = 119,
-    ICON_ARROW_DOWN_FILL          = 120,
-    ICON_ARROW_UP_FILL            = 121,
-    ICON_AUDIO                    = 122,
-    ICON_FX                       = 123,
-    ICON_WAVE                     = 124,
-    ICON_WAVE_SINUS               = 125,
-    ICON_WAVE_SQUARE              = 126,
-    ICON_WAVE_TRIANGULAR          = 127,
-    ICON_CROSS_SMALL              = 128,
-    ICON_PLAYER_PREVIOUS          = 129,
-    ICON_PLAYER_PLAY_BACK         = 130,
-    ICON_PLAYER_PLAY              = 131,
-    ICON_PLAYER_PAUSE             = 132,
-    ICON_PLAYER_STOP              = 133,
-    ICON_PLAYER_NEXT              = 134,
-    ICON_PLAYER_RECORD            = 135,
-    ICON_MAGNET                   = 136,
-    ICON_LOCK_CLOSE               = 137,
-    ICON_LOCK_OPEN                = 138,
-    ICON_CLOCK                    = 139,
-    ICON_TOOLS                    = 140,
-    ICON_GEAR                     = 141,
-    ICON_GEAR_BIG                 = 142,
-    ICON_BIN                      = 143,
-    ICON_HAND_POINTER             = 144,
-    ICON_LASER                    = 145,
-    ICON_COIN                     = 146,
-    ICON_EXPLOSION                = 147,
-    ICON_1UP                      = 148,
-    ICON_PLAYER                   = 149,
-    ICON_PLAYER_JUMP              = 150,
-    ICON_KEY                      = 151,
-    ICON_DEMON                    = 152,
-    ICON_TEXT_POPUP               = 153,
-    ICON_GEAR_EX                  = 154,
-    ICON_CRACK                    = 155,
-    ICON_CRACK_POINTS             = 156,
-    ICON_STAR                     = 157,
-    ICON_DOOR                     = 158,
-    ICON_EXIT                     = 159,
-    ICON_MODE_2D                  = 160,
-    ICON_MODE_3D                  = 161,
-    ICON_CUBE                     = 162,
-    ICON_CUBE_FACE_TOP            = 163,
-    ICON_CUBE_FACE_LEFT           = 164,
-    ICON_CUBE_FACE_FRONT          = 165,
-    ICON_CUBE_FACE_BOTTOM         = 166,
-    ICON_CUBE_FACE_RIGHT          = 167,
-    ICON_CUBE_FACE_BACK           = 168,
-    ICON_CAMERA                   = 169,
-    ICON_SPECIAL                  = 170,
-    ICON_LINK_NET                 = 171,
-    ICON_LINK_BOXES               = 172,
-    ICON_LINK_MULTI               = 173,
-    ICON_LINK                     = 174,
-    ICON_LINK_BROKE               = 175,
-    ICON_TEXT_NOTES               = 176,
-    ICON_NOTEBOOK                 = 177,
-    ICON_SUITCASE                 = 178,
-    ICON_SUITCASE_ZIP             = 179,
-    ICON_MAILBOX                  = 180,
-    ICON_MONITOR                  = 181,
-    ICON_PRINTER                  = 182,
-    ICON_PHOTO_CAMERA             = 183,
-    ICON_PHOTO_CAMERA_FLASH       = 184,
-    ICON_HOUSE                    = 185,
-    ICON_HEART                    = 186,
-    ICON_CORNER                   = 187,
-    ICON_VERTICAL_BARS            = 188,
-    ICON_VERTICAL_BARS_FILL       = 189,
-    ICON_LIFE_BARS                = 190,
-    ICON_INFO                     = 191,
-    ICON_CROSSLINE                = 192,
-    ICON_HELP                     = 193,
-    ICON_FILETYPE_ALPHA           = 194,
-    ICON_FILETYPE_HOME            = 195,
-    ICON_LAYERS_VISIBLE           = 196,
-    ICON_LAYERS                   = 197,
-    ICON_WINDOW                   = 198,
-    ICON_HIDPI                    = 199,
-    ICON_FILETYPE_BINARY          = 200,
-    ICON_HEX                      = 201,
-    ICON_SHIELD                   = 202,
-    ICON_FILE_NEW                 = 203,
-    ICON_FOLDER_ADD               = 204,
-    ICON_ALARM                    = 205,
-    ICON_CPU                      = 206,
-    ICON_ROM                      = 207,
-    ICON_STEP_OVER                = 208,
-    ICON_STEP_INTO                = 209,
-    ICON_STEP_OUT                 = 210,
-    ICON_RESTART                  = 211,
-    ICON_BREAKPOINT_ON            = 212,
-    ICON_BREAKPOINT_OFF           = 213,
-    ICON_BURGER_MENU              = 214,
-    ICON_CASE_SENSITIVE           = 215,
-    ICON_REG_EXP                  = 216,
-    ICON_FOLDER                   = 217,
-    ICON_FILE                     = 218,
-    ICON_SAND_TIMER               = 219,
-    ICON_WARNING                  = 220,
-    ICON_HELP_BOX                 = 221,
-    ICON_INFO_BOX                 = 222,
-    ICON_PRIORITY                 = 223,
-    ICON_LAYERS_ISO               = 224,
-    ICON_LAYERS2                  = 225,
-    ICON_MLAYERS                  = 226,
-    ICON_MAPS                     = 227,
-    ICON_HOT                      = 228,
-    ICON_229                      = 229,
-    ICON_230                      = 230,
-    ICON_231                      = 231,
-    ICON_232                      = 232,
-    ICON_233                      = 233,
-    ICON_234                      = 234,
-    ICON_235                      = 235,
-    ICON_236                      = 236,
-    ICON_237                      = 237,
-    ICON_238                      = 238,
-    ICON_239                      = 239,
-    ICON_240                      = 240,
-    ICON_241                      = 241,
-    ICON_242                      = 242,
-    ICON_243                      = 243,
-    ICON_244                      = 244,
-    ICON_245                      = 245,
-    ICON_246                      = 246,
-    ICON_247                      = 247,
-    ICON_248                      = 248,
-    ICON_249                      = 249,
-    ICON_250                      = 250,
-    ICON_251                      = 251,
-    ICON_252                      = 252,
-    ICON_253                      = 253,
-    ICON_254                      = 254,
-    ICON_255                      = 255,
-} GuiIconName;
-#endif
-
-#endif
-
-#if defined(__cplusplus)
-}            // Prevents name mangling of functions
-#endif
-
-#endif // RAYGUI_H
-
-/***********************************************************************************
-*
-*   RAYGUI IMPLEMENTATION
-*
-************************************************************************************/
-
-#if defined(RAYGUI_IMPLEMENTATION)
-
-#include <ctype.h>              // required for: isspace() [GuiTextBox()]
-#include <stdio.h>              // Required for: FILE, fopen(), fclose(), fprintf(), feof(), fscanf(), vsprintf() [GuiLoadStyle(), GuiLoadIcons()]
-#include <stdlib.h>             // Required for: malloc(), calloc(), free() [GuiLoadStyle(), GuiLoadIcons()]
-#include <string.h>             // Required for: strlen() [GuiTextBox(), GuiValueBox()], memset(), memcpy()
-#include <stdarg.h>             // Required for: va_list, va_start(), vfprintf(), va_end() [TextFormat()]
-#include <math.h>               // Required for: roundf() [GuiColorPicker()]
-
-#ifdef __cplusplus
-    #define RAYGUI_CLITERAL(name) name
-#else
-    #define RAYGUI_CLITERAL(name) (name)
-#endif
-
-// Check if two rectangles are equal, used to validate a slider bounds as an id
-#ifndef CHECK_BOUNDS_ID
-    #define CHECK_BOUNDS_ID(src, dst) ((src.x == dst.x) && (src.y == dst.y) && (src.width == dst.width) && (src.height == dst.height))
-#endif
-
-#if !defined(RAYGUI_NO_ICONS) && !defined(RAYGUI_CUSTOM_ICONS)
-
-// Embedded icons, no external file provided
-#define RAYGUI_ICON_SIZE               16          // Size of icons in pixels (squared)
-#define RAYGUI_ICON_MAX_ICONS         256          // Maximum number of icons
-#define RAYGUI_ICON_MAX_NAME_LENGTH    32          // Maximum length of icon name id
-
-// Icons data is defined by bit array (every bit represents one pixel)
-// Those arrays are stored as unsigned int data arrays, so,
-// every array element defines 32 pixels (bits) of information
-// One icon is defined by 8 int, (8 int * 32 bit = 256 bit = 16*16 pixels)
-// NOTE: Number of elemens depend on RAYGUI_ICON_SIZE (by default 16x16 pixels)
-#define RAYGUI_ICON_DATA_ELEMENTS   (RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32)
-
-//----------------------------------------------------------------------------------
-// Icons data for all gui possible icons (allocated on data segment by default)
-//
-// NOTE 1: Every icon is codified in binary form, using 1 bit per pixel, so,
-// every 16x16 icon requires 8 integers (16*16/32) to be stored
-//
-// NOTE 2: A different icon set could be loaded over this array using GuiLoadIcons(),
-// but loaded icons set must be same RAYGUI_ICON_SIZE and no more than RAYGUI_ICON_MAX_ICONS
-//
-// guiIcons size is by default: 256*(16*16/32) = 2048*4 = 8192 bytes = 8 KB
-//----------------------------------------------------------------------------------
-static unsigned int guiIcons[RAYGUI_ICON_MAX_ICONS*RAYGUI_ICON_DATA_ELEMENTS] = {
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_NONE
-    0x3ff80000, 0x2f082008, 0x2042207e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x00007ffe,      // ICON_FOLDER_FILE_OPEN
-    0x3ffe0000, 0x44226422, 0x400247e2, 0x5ffa4002, 0x57ea500a, 0x500a500a, 0x40025ffa, 0x00007ffe,      // ICON_FILE_SAVE_CLASSIC
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024002, 0x44424282, 0x793e4102, 0x00000100,      // ICON_FOLDER_OPEN
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x41024102, 0x44424102, 0x793e4282, 0x00000000,      // ICON_FOLDER_SAVE
-    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x24442284, 0x21042104, 0x20042104, 0x00003ffc,      // ICON_FILE_OPEN
-    0x3ff00000, 0x201c2010, 0x20042004, 0x21042004, 0x21042104, 0x22842444, 0x20042104, 0x00003ffc,      // ICON_FILE_SAVE
-    0x3ff00000, 0x201c2010, 0x00042004, 0x20041004, 0x20844784, 0x00841384, 0x20042784, 0x00003ffc,      // ICON_FILE_EXPORT
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x22042204, 0x22042f84, 0x20042204, 0x00003ffc,      // ICON_FILE_ADD
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x25042884, 0x25042204, 0x20042884, 0x00003ffc,      // ICON_FILE_DELETE
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_TEXT
-    0x3ff00000, 0x201c2010, 0x27042004, 0x244424c4, 0x26442444, 0x20642664, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_AUDIO
-    0x3ff00000, 0x201c2010, 0x26042604, 0x20042004, 0x35442884, 0x2414222c, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_IMAGE
-    0x3ff00000, 0x201c2010, 0x20c42004, 0x22442144, 0x22442444, 0x20c42144, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_PLAY
-    0x3ff00000, 0x3ffc2ff0, 0x3f3c2ff4, 0x3dbc2eb4, 0x3dbc2bb4, 0x3f3c2eb4, 0x3ffc2ff4, 0x00002ff4,      // ICON_FILETYPE_VIDEO
-    0x3ff00000, 0x201c2010, 0x21842184, 0x21842004, 0x21842184, 0x21842184, 0x20042184, 0x00003ffc,      // ICON_FILETYPE_INFO
-    0x0ff00000, 0x381c0810, 0x28042804, 0x28042804, 0x28042804, 0x28042804, 0x20102ffc, 0x00003ff0,      // ICON_FILE_COPY
-    0x00000000, 0x701c0000, 0x079c1e14, 0x55a000f0, 0x079c00f0, 0x701c1e14, 0x00000000, 0x00000000,      // ICON_FILE_CUT
-    0x01c00000, 0x13e41bec, 0x3f841004, 0x204420c4, 0x20442044, 0x20442044, 0x207c2044, 0x00003fc0,      // ICON_FILE_PASTE
-    0x00000000, 0x3aa00fe0, 0x2abc2aa0, 0x2aa42aa4, 0x20042aa4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_CURSOR_HAND
-    0x00000000, 0x003c000c, 0x030800c8, 0x30100c10, 0x10202020, 0x04400840, 0x01800280, 0x00000000,      // ICON_CURSOR_POINTER
-    0x00000000, 0x00180000, 0x01f00078, 0x03e007f0, 0x07c003e0, 0x04000e40, 0x00000000, 0x00000000,      // ICON_CURSOR_CLASSIC
-    0x00000000, 0x04000000, 0x11000a00, 0x04400a80, 0x01100220, 0x00580088, 0x00000038, 0x00000000,      // ICON_PENCIL
-    0x04000000, 0x15000a00, 0x50402880, 0x14102820, 0x05040a08, 0x015c028c, 0x007c00bc, 0x00000000,      // ICON_PENCIL_BIG
-    0x01c00000, 0x01400140, 0x01400140, 0x0ff80140, 0x0ff80808, 0x0aa80808, 0x0aa80aa8, 0x00000ff8,      // ICON_BRUSH_CLASSIC
-    0x1ffc0000, 0x5ffc7ffe, 0x40004000, 0x00807f80, 0x01c001c0, 0x01c001c0, 0x01c001c0, 0x00000080,      // ICON_BRUSH_PAINTER
-    0x00000000, 0x00800000, 0x01c00080, 0x03e001c0, 0x07f003e0, 0x036006f0, 0x000001c0, 0x00000000,      // ICON_WATER_DROP
-    0x00000000, 0x3e003800, 0x1f803f80, 0x0c201e40, 0x02080c10, 0x00840104, 0x00380044, 0x00000000,      // ICON_COLOR_PICKER
-    0x00000000, 0x07800300, 0x1fe00fc0, 0x3f883fd0, 0x0e021f04, 0x02040402, 0x00f00108, 0x00000000,      // ICON_RUBBER
-    0x00c00000, 0x02800140, 0x08200440, 0x20081010, 0x2ffe3004, 0x03f807fc, 0x00e001f0, 0x00000040,      // ICON_COLOR_BUCKET
-    0x00000000, 0x21843ffc, 0x01800180, 0x01800180, 0x01800180, 0x01800180, 0x03c00180, 0x00000000,      // ICON_TEXT_T
-    0x00800000, 0x01400180, 0x06200340, 0x0c100620, 0x1ff80c10, 0x380c1808, 0x70067004, 0x0000f80f,      // ICON_TEXT_A
-    0x78000000, 0x50004000, 0x00004800, 0x03c003c0, 0x03c003c0, 0x00100000, 0x0002000a, 0x0000000e,      // ICON_SCALE
-    0x75560000, 0x5e004002, 0x54001002, 0x41001202, 0x408200fe, 0x40820082, 0x40820082, 0x00006afe,      // ICON_RESIZE
-    0x00000000, 0x3f003f00, 0x3f003f00, 0x3f003f00, 0x00400080, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_POINT
-    0x6d800000, 0x00004080, 0x40804080, 0x40800000, 0x00406d80, 0x001c0020, 0x001c001c, 0x00000000,      // ICON_FILTER_BILINEAR
-    0x40080000, 0x1ffe2008, 0x14081008, 0x11081208, 0x10481088, 0x10081028, 0x10047ff8, 0x00001002,      // ICON_CROP
-    0x00100000, 0x3ffc0010, 0x2ab03550, 0x22b02550, 0x20b02150, 0x20302050, 0x2000fff0, 0x00002000,      // ICON_CROP_ALPHA
-    0x40000000, 0x1ff82000, 0x04082808, 0x01082208, 0x00482088, 0x00182028, 0x35542008, 0x00000002,      // ICON_SQUARE_TOGGLE
-    0x00000000, 0x02800280, 0x06c006c0, 0x0ea00ee0, 0x1e901eb0, 0x3e883e98, 0x7efc7e8c, 0x00000000,      // ICON_SYMMETRY
-    0x01000000, 0x05600100, 0x1d480d50, 0x7d423d44, 0x3d447d42, 0x0d501d48, 0x01000560, 0x00000100,      // ICON_SYMMETRY_HORIZONTAL
-    0x01800000, 0x04200240, 0x10080810, 0x00001ff8, 0x00007ffe, 0x0ff01ff8, 0x03c007e0, 0x00000180,      // ICON_SYMMETRY_VERTICAL
-    0x00000000, 0x010800f0, 0x02040204, 0x02040204, 0x07f00308, 0x1c000e00, 0x30003800, 0x00000000,      // ICON_LENS
-    0x00000000, 0x061803f0, 0x08240c0c, 0x08040814, 0x0c0c0804, 0x23f01618, 0x18002400, 0x00000000,      // ICON_LENS_BIG
-    0x00000000, 0x00000000, 0x1c7007c0, 0x638e3398, 0x1c703398, 0x000007c0, 0x00000000, 0x00000000,      // ICON_EYE_ON
-    0x00000000, 0x10002000, 0x04700fc0, 0x610e3218, 0x1c703098, 0x001007a0, 0x00000008, 0x00000000,      // ICON_EYE_OFF
-    0x00000000, 0x00007ffc, 0x40047ffc, 0x10102008, 0x04400820, 0x02800280, 0x02800280, 0x00000100,      // ICON_FILTER_TOP
-    0x00000000, 0x40027ffe, 0x10082004, 0x04200810, 0x02400240, 0x02400240, 0x01400240, 0x000000c0,      // ICON_FILTER
-    0x00800000, 0x00800080, 0x00000080, 0x3c9e0000, 0x00000000, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_POINT
-    0x00800000, 0x00800080, 0x00800080, 0x3f7e01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL
-    0x00800000, 0x00800080, 0x03e00080, 0x3e3e0220, 0x03e00220, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG
-    0x01000000, 0x04400280, 0x01000100, 0x43842008, 0x43849ab2, 0x01002008, 0x04400100, 0x01000280,      // ICON_TARGET_MOVE
-    0x01000000, 0x04400280, 0x01000100, 0x41042108, 0x41049ff2, 0x01002108, 0x04400100, 0x01000280,      // ICON_CURSOR_MOVE
-    0x781e0000, 0x500a4002, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x4002500a, 0x0000781e,      // ICON_CURSOR_SCALE
-    0x00000000, 0x20003c00, 0x24002800, 0x01000200, 0x00400080, 0x00140024, 0x003c0004, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT
-    0x00000000, 0x0004003c, 0x00240014, 0x00800040, 0x02000100, 0x28002400, 0x3c002000, 0x00000000,      // ICON_CURSOR_SCALE_LEFT
-    0x00000000, 0x00100020, 0x10101fc8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO
-    0x00000000, 0x08000400, 0x080813f8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO
-    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3f902020, 0x00400020, 0x00000000,      // ICON_REREDO
-    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3fc82010, 0x00200010, 0x00000000,      // ICON_MUTATE
-    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18101020, 0x00100fc8, 0x00000020,      // ICON_ROTATE
-    0x00000000, 0x04000200, 0x240429fc, 0x20042204, 0x20442004, 0x3f942024, 0x00400020, 0x00000000,      // ICON_REPEAT
-    0x00000000, 0x20001000, 0x22104c0e, 0x00801120, 0x11200040, 0x4c0e2210, 0x10002000, 0x00000000,      // ICON_SHUFFLE
-    0x7ffe0000, 0x50024002, 0x44024802, 0x41024202, 0x40424082, 0x40124022, 0x4002400a, 0x00007ffe,      // ICON_EMPTYBOX
-    0x00800000, 0x03e00080, 0x08080490, 0x3c9e0808, 0x08080808, 0x03e00490, 0x00800080, 0x00000000,      // ICON_TARGET
-    0x00800000, 0x00800080, 0x00800080, 0x3ffe01c0, 0x008001c0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_SMALL_FILL
-    0x00800000, 0x00800080, 0x03e00080, 0x3ffe03e0, 0x03e003e0, 0x00800080, 0x00800080, 0x00000000,      // ICON_TARGET_BIG_FILL
-    0x01000000, 0x07c00380, 0x01000100, 0x638c2008, 0x638cfbbe, 0x01002008, 0x07c00100, 0x01000380,      // ICON_TARGET_MOVE_FILL
-    0x01000000, 0x07c00380, 0x01000100, 0x610c2108, 0x610cfffe, 0x01002108, 0x07c00100, 0x01000380,      // ICON_CURSOR_MOVE_FILL
-    0x781e0000, 0x6006700e, 0x04204812, 0x00000240, 0x02400000, 0x48120420, 0x700e6006, 0x0000781e,      // ICON_CURSOR_SCALE_FILL
-    0x00000000, 0x38003c00, 0x24003000, 0x01000200, 0x00400080, 0x000c0024, 0x003c001c, 0x00000000,      // ICON_CURSOR_SCALE_RIGHT_FILL
-    0x00000000, 0x001c003c, 0x0024000c, 0x00800040, 0x02000100, 0x30002400, 0x3c003800, 0x00000000,      // ICON_CURSOR_SCALE_LEFT_FILL
-    0x00000000, 0x00300020, 0x10301ff8, 0x10001020, 0x10001000, 0x10001000, 0x00001fc0, 0x00000000,      // ICON_UNDO_FILL
-    0x00000000, 0x0c000400, 0x0c081ff8, 0x00080408, 0x00080008, 0x00080008, 0x000003f8, 0x00000000,      // ICON_REDO_FILL
-    0x00000000, 0x3ffc0000, 0x20042004, 0x20002000, 0x20402000, 0x3ff02060, 0x00400060, 0x00000000,      // ICON_REREDO_FILL
-    0x00000000, 0x3ffc0000, 0x20042004, 0x27fc2004, 0x20202000, 0x3ff82030, 0x00200030, 0x00000000,      // ICON_MUTATE_FILL
-    0x00000000, 0x0ff00000, 0x10081818, 0x11801008, 0x10001180, 0x18301020, 0x00300ff8, 0x00000020,      // ICON_ROTATE_FILL
-    0x00000000, 0x06000200, 0x26042ffc, 0x20042204, 0x20442004, 0x3ff42064, 0x00400060, 0x00000000,      // ICON_REPEAT_FILL
-    0x00000000, 0x30001000, 0x32107c0e, 0x00801120, 0x11200040, 0x7c0e3210, 0x10003000, 0x00000000,      // ICON_SHUFFLE_FILL
-    0x00000000, 0x30043ffc, 0x24042804, 0x21042204, 0x20442084, 0x20142024, 0x3ffc200c, 0x00000000,      // ICON_EMPTYBOX_SMALL
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX
-    0x00000000, 0x23c43ffc, 0x23c423c4, 0x200423c4, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP
-    0x00000000, 0x3e043ffc, 0x3e043e04, 0x20043e04, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x3e043e04, 0x3e043e04, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x3e042004, 0x3e043e04, 0x3ffc3e04, 0x00000000,      // ICON_BOX_BOTTOM_RIGHT
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x23c42004, 0x23c423c4, 0x3ffc23c4, 0x00000000,      // ICON_BOX_BOTTOM
-    0x00000000, 0x20043ffc, 0x20042004, 0x20042004, 0x207c2004, 0x207c207c, 0x3ffc207c, 0x00000000,      // ICON_BOX_BOTTOM_LEFT
-    0x00000000, 0x20043ffc, 0x20042004, 0x207c207c, 0x207c207c, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_LEFT
-    0x00000000, 0x207c3ffc, 0x207c207c, 0x2004207c, 0x20042004, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_TOP_LEFT
-    0x00000000, 0x20043ffc, 0x20042004, 0x23c423c4, 0x23c423c4, 0x20042004, 0x3ffc2004, 0x00000000,      // ICON_BOX_CENTER
-    0x7ffe0000, 0x40024002, 0x47e24182, 0x4ff247e2, 0x47e24ff2, 0x418247e2, 0x40024002, 0x00007ffe,      // ICON_BOX_CIRCLE_MASK
-    0x7fff0000, 0x40014001, 0x40014001, 0x49555ddd, 0x4945495d, 0x400149c5, 0x40014001, 0x00007fff,      // ICON_POT
-    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x404e40ce, 0x48125432, 0x4006540e, 0x00007ffe,      // ICON_ALPHA_MULTIPLY
-    0x7ffe0000, 0x53327332, 0x44ce4cce, 0x41324332, 0x5c4e40ce, 0x44124432, 0x40065c0e, 0x00007ffe,      // ICON_ALPHA_CLEAR
-    0x7ffe0000, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x42fe417e, 0x00007ffe,      // ICON_DITHERING
-    0x07fe0000, 0x1ffa0002, 0x7fea000a, 0x402a402a, 0x5b2a512a, 0x5128552a, 0x40205128, 0x00007fe0,      // ICON_MIPMAPS
-    0x00000000, 0x1ff80000, 0x12481248, 0x12481ff8, 0x1ff81248, 0x12481248, 0x00001ff8, 0x00000000,      // ICON_BOX_GRID
-    0x12480000, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x7ffe1248, 0x12481248, 0x12487ffe, 0x00001248,      // ICON_GRID
-    0x00000000, 0x1c380000, 0x1c3817e8, 0x08100810, 0x08100810, 0x17e81c38, 0x00001c38, 0x00000000,      // ICON_BOX_CORNERS_SMALL
-    0x700e0000, 0x700e5ffa, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x5ffa700e, 0x0000700e,      // ICON_BOX_CORNERS_BIG
-    0x3f7e0000, 0x21422142, 0x21422142, 0x00003f7e, 0x21423f7e, 0x21422142, 0x3f7e2142, 0x00000000,      // ICON_FOUR_BOXES
-    0x00000000, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x3bb80000, 0x3bb83bb8, 0x00000000,      // ICON_GRID_FILL
-    0x7ffe0000, 0x7ffe7ffe, 0x77fe7000, 0x77fe77fe, 0x777e7700, 0x777e777e, 0x777e777e, 0x0000777e,      // ICON_BOX_MULTISIZE
-    0x781e0000, 0x40024002, 0x00004002, 0x01800000, 0x00000180, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_SMALL
-    0x781e0000, 0x40024002, 0x00004002, 0x03c003c0, 0x03c003c0, 0x40020000, 0x40024002, 0x0000781e,      // ICON_ZOOM_MEDIUM
-    0x781e0000, 0x40024002, 0x07e04002, 0x07e007e0, 0x07e007e0, 0x400207e0, 0x40024002, 0x0000781e,      // ICON_ZOOM_BIG
-    0x781e0000, 0x5ffa4002, 0x1ff85ffa, 0x1ff81ff8, 0x1ff81ff8, 0x5ffa1ff8, 0x40025ffa, 0x0000781e,      // ICON_ZOOM_ALL
-    0x00000000, 0x2004381c, 0x00002004, 0x00000000, 0x00000000, 0x20040000, 0x381c2004, 0x00000000,      // ICON_ZOOM_CENTER
-    0x00000000, 0x1db80000, 0x10081008, 0x10080000, 0x00001008, 0x10081008, 0x00001db8, 0x00000000,      // ICON_BOX_DOTS_SMALL
-    0x35560000, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x00002002, 0x35562002, 0x00000000,      // ICON_BOX_DOTS_BIG
-    0x7ffe0000, 0x40024002, 0x48124ff2, 0x49924812, 0x48124992, 0x4ff24812, 0x40024002, 0x00007ffe,      // ICON_BOX_CONCENTRIC
-    0x00000000, 0x10841ffc, 0x10841084, 0x1ffc1084, 0x10841084, 0x10841084, 0x00001ffc, 0x00000000,      // ICON_BOX_GRID_BIG
-    0x00000000, 0x00000000, 0x10000000, 0x04000800, 0x01040200, 0x00500088, 0x00000020, 0x00000000,      // ICON_OK_TICK
-    0x00000000, 0x10080000, 0x04200810, 0x01800240, 0x02400180, 0x08100420, 0x00001008, 0x00000000,      // ICON_CROSS
-    0x00000000, 0x02000000, 0x00800100, 0x00200040, 0x00200010, 0x00800040, 0x02000100, 0x00000000,      // ICON_ARROW_LEFT
-    0x00000000, 0x00400000, 0x01000080, 0x04000200, 0x04000800, 0x01000200, 0x00400080, 0x00000000,      // ICON_ARROW_RIGHT
-    0x00000000, 0x00000000, 0x00000000, 0x08081004, 0x02200410, 0x00800140, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN
-    0x00000000, 0x00000000, 0x01400080, 0x04100220, 0x10040808, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP
-    0x00000000, 0x02000000, 0x03800300, 0x03e003c0, 0x03e003f0, 0x038003c0, 0x02000300, 0x00000000,      // ICON_ARROW_LEFT_FILL
-    0x00000000, 0x00400000, 0x01c000c0, 0x07c003c0, 0x07c00fc0, 0x01c003c0, 0x004000c0, 0x00000000,      // ICON_ARROW_RIGHT_FILL
-    0x00000000, 0x00000000, 0x00000000, 0x0ff81ffc, 0x03e007f0, 0x008001c0, 0x00000000, 0x00000000,      // ICON_ARROW_DOWN_FILL
-    0x00000000, 0x00000000, 0x01c00080, 0x07f003e0, 0x1ffc0ff8, 0x00000000, 0x00000000, 0x00000000,      // ICON_ARROW_UP_FILL
-    0x00000000, 0x18a008c0, 0x32881290, 0x24822686, 0x26862482, 0x12903288, 0x08c018a0, 0x00000000,      // ICON_AUDIO
-    0x00000000, 0x04800780, 0x004000c0, 0x662000f0, 0x08103c30, 0x130a0e18, 0x0000318e, 0x00000000,      // ICON_FX
-    0x00000000, 0x00800000, 0x08880888, 0x2aaa0a8a, 0x0a8a2aaa, 0x08880888, 0x00000080, 0x00000000,      // ICON_WAVE
-    0x00000000, 0x00600000, 0x01080090, 0x02040108, 0x42044204, 0x24022402, 0x00001800, 0x00000000,      // ICON_WAVE_SINUS
-    0x00000000, 0x07f80000, 0x04080408, 0x04080408, 0x04080408, 0x7c0e0408, 0x00000000, 0x00000000,      // ICON_WAVE_SQUARE
-    0x00000000, 0x00000000, 0x00a00040, 0x22084110, 0x08021404, 0x00000000, 0x00000000, 0x00000000,      // ICON_WAVE_TRIANGULAR
-    0x00000000, 0x00000000, 0x04200000, 0x01800240, 0x02400180, 0x00000420, 0x00000000, 0x00000000,      // ICON_CROSS_SMALL
-    0x00000000, 0x18380000, 0x12281428, 0x10a81128, 0x112810a8, 0x14281228, 0x00001838, 0x00000000,      // ICON_PLAYER_PREVIOUS
-    0x00000000, 0x18000000, 0x11801600, 0x10181060, 0x10601018, 0x16001180, 0x00001800, 0x00000000,      // ICON_PLAYER_PLAY_BACK
-    0x00000000, 0x00180000, 0x01880068, 0x18080608, 0x06081808, 0x00680188, 0x00000018, 0x00000000,      // ICON_PLAYER_PLAY
-    0x00000000, 0x1e780000, 0x12481248, 0x12481248, 0x12481248, 0x12481248, 0x00001e78, 0x00000000,      // ICON_PLAYER_PAUSE
-    0x00000000, 0x1ff80000, 0x10081008, 0x10081008, 0x10081008, 0x10081008, 0x00001ff8, 0x00000000,      // ICON_PLAYER_STOP
-    0x00000000, 0x1c180000, 0x14481428, 0x15081488, 0x14881508, 0x14281448, 0x00001c18, 0x00000000,      // ICON_PLAYER_NEXT
-    0x00000000, 0x03c00000, 0x08100420, 0x10081008, 0x10081008, 0x04200810, 0x000003c0, 0x00000000,      // ICON_PLAYER_RECORD
-    0x00000000, 0x0c3007e0, 0x13c81818, 0x14281668, 0x14281428, 0x1c381c38, 0x08102244, 0x00000000,      // ICON_MAGNET
-    0x07c00000, 0x08200820, 0x3ff80820, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_CLOSE
-    0x07c00000, 0x08000800, 0x3ff80800, 0x23882008, 0x21082388, 0x20082108, 0x1ff02008, 0x00000000,      // ICON_LOCK_OPEN
-    0x01c00000, 0x0c180770, 0x3086188c, 0x60832082, 0x60034781, 0x30062002, 0x0c18180c, 0x01c00770,      // ICON_CLOCK
-    0x0a200000, 0x1b201b20, 0x04200e20, 0x04200420, 0x04700420, 0x0e700e70, 0x0e700e70, 0x04200e70,      // ICON_TOOLS
-    0x01800000, 0x3bdc318c, 0x0ff01ff8, 0x7c3e1e78, 0x1e787c3e, 0x1ff80ff0, 0x318c3bdc, 0x00000180,      // ICON_GEAR
-    0x01800000, 0x3ffc318c, 0x1c381ff8, 0x781e1818, 0x1818781e, 0x1ff81c38, 0x318c3ffc, 0x00000180,      // ICON_GEAR_BIG
-    0x00000000, 0x08080ff8, 0x08081ffc, 0x0aa80aa8, 0x0aa80aa8, 0x0aa80aa8, 0x08080aa8, 0x00000ff8,      // ICON_BIN
-    0x00000000, 0x00000000, 0x20043ffc, 0x08043f84, 0x04040f84, 0x04040784, 0x000007fc, 0x00000000,      // ICON_HAND_POINTER
-    0x00000000, 0x24400400, 0x00001480, 0x6efe0e00, 0x00000e00, 0x24401480, 0x00000400, 0x00000000,      // ICON_LASER
-    0x00000000, 0x03c00000, 0x08300460, 0x11181118, 0x11181118, 0x04600830, 0x000003c0, 0x00000000,      // ICON_COIN
-    0x00000000, 0x10880080, 0x06c00810, 0x366c07e0, 0x07e00240, 0x00001768, 0x04200240, 0x00000000,      // ICON_EXPLOSION
-    0x00000000, 0x3d280000, 0x2528252c, 0x3d282528, 0x05280528, 0x05e80528, 0x00000000, 0x00000000,      // ICON_1UP
-    0x01800000, 0x03c003c0, 0x018003c0, 0x0ff007e0, 0x0bd00bd0, 0x0a500bd0, 0x02400240, 0x02400240,      // ICON_PLAYER
-    0x01800000, 0x03c003c0, 0x118013c0, 0x03c81ff8, 0x07c003c8, 0x04400440, 0x0c080478, 0x00000000,      // ICON_PLAYER_JUMP
-    0x3ff80000, 0x30183ff8, 0x30183018, 0x3ff83ff8, 0x03000300, 0x03c003c0, 0x03e00300, 0x000003e0,      // ICON_KEY
-    0x3ff80000, 0x3ff83ff8, 0x33983ff8, 0x3ff83398, 0x3ff83ff8, 0x00000540, 0x0fe00aa0, 0x00000fe0,      // ICON_DEMON
-    0x00000000, 0x0ff00000, 0x20041008, 0x25442004, 0x10082004, 0x06000bf0, 0x00000300, 0x00000000,      // ICON_TEXT_POPUP
-    0x00000000, 0x11440000, 0x07f00be8, 0x1c1c0e38, 0x1c1c0c18, 0x07f00e38, 0x11440be8, 0x00000000,      // ICON_GEAR_EX
-    0x00000000, 0x20080000, 0x0c601010, 0x07c00fe0, 0x07c007c0, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK
-    0x00000000, 0x20080000, 0x0c601010, 0x04400fe0, 0x04405554, 0x0c600fe0, 0x20081010, 0x00000000,      // ICON_CRACK_POINTS
-    0x00000000, 0x00800080, 0x01c001c0, 0x1ffc3ffe, 0x03e007f0, 0x07f003e0, 0x0c180770, 0x00000808,      // ICON_STAR
-    0x0ff00000, 0x08180810, 0x08100818, 0x0a100810, 0x08180810, 0x08100818, 0x08100810, 0x00001ff8,      // ICON_DOOR
-    0x0ff00000, 0x08100810, 0x08100810, 0x10100010, 0x4f902010, 0x10102010, 0x08100010, 0x00000ff0,      // ICON_EXIT
-    0x00040000, 0x001f000e, 0x0ef40004, 0x12f41284, 0x0ef41214, 0x10040004, 0x7ffc3004, 0x10003000,      // ICON_MODE_2D
-    0x78040000, 0x501f600e, 0x0ef44004, 0x12f41284, 0x0ef41284, 0x10140004, 0x7ffc300c, 0x10003000,      // ICON_MODE_3D
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE
-    0x7fe00000, 0x5ff87ff0, 0x47fe4ffc, 0x44224402, 0x44224422, 0x241275e2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_TOP
-    0x7fe00000, 0x50386030, 0x47c2483c, 0x443e443e, 0x443e443e, 0x241e75fe, 0x0c06140e, 0x000007fe,      // ICON_CUBE_FACE_LEFT
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x47fe47fe, 0x47fe47fe, 0x27fe77fe, 0x0ffe17fe, 0x000007fe,      // ICON_CUBE_FACE_FRONT
-    0x7fe00000, 0x50286030, 0x47fe4804, 0x44224402, 0x44224422, 0x3bf27be2, 0x0bfe1bfa, 0x000007fe,      // ICON_CUBE_FACE_BOTTOM
-    0x7fe00000, 0x70286030, 0x7ffe7804, 0x7c227c02, 0x7c227c22, 0x3c127de2, 0x0c061c0a, 0x000007fe,      // ICON_CUBE_FACE_RIGHT
-    0x7fe00000, 0x6fe85ff0, 0x781e77e4, 0x7be27be2, 0x7be27be2, 0x24127be2, 0x0c06140a, 0x000007fe,      // ICON_CUBE_FACE_BACK
-    0x00000000, 0x2a0233fe, 0x22022602, 0x22022202, 0x2a022602, 0x00a033fe, 0x02080110, 0x00000000,      // ICON_CAMERA
-    0x00000000, 0x200c3ffc, 0x000c000c, 0x3ffc000c, 0x30003000, 0x30003000, 0x3ffc3004, 0x00000000,      // ICON_SPECIAL
-    0x00000000, 0x0022003e, 0x012201e2, 0x0100013e, 0x01000100, 0x79000100, 0x4f004900, 0x00007800,      // ICON_LINK_NET
-    0x00000000, 0x44007c00, 0x45004600, 0x00627cbe, 0x00620022, 0x45007cbe, 0x44004600, 0x00007c00,      // ICON_LINK_BOXES
-    0x00000000, 0x0044007c, 0x0010007c, 0x3f100010, 0x3f1021f0, 0x3f100010, 0x3f0021f0, 0x00000000,      // ICON_LINK_MULTI
-    0x00000000, 0x0044007c, 0x00440044, 0x0010007c, 0x00100010, 0x44107c10, 0x440047f0, 0x00007c00,      // ICON_LINK
-    0x00000000, 0x0044007c, 0x00440044, 0x0000007c, 0x00000010, 0x44007c10, 0x44004550, 0x00007c00,      // ICON_LINK_BROKE
-    0x02a00000, 0x22a43ffc, 0x20042004, 0x20042ff4, 0x20042ff4, 0x20042ff4, 0x20042004, 0x00003ffc,      // ICON_TEXT_NOTES
-    0x3ffc0000, 0x20042004, 0x245e27c4, 0x27c42444, 0x2004201e, 0x201e2004, 0x20042004, 0x00003ffc,      // ICON_NOTEBOOK
-    0x00000000, 0x07e00000, 0x04200420, 0x24243ffc, 0x24242424, 0x24242424, 0x3ffc2424, 0x00000000,      // ICON_SUITCASE
-    0x00000000, 0x0fe00000, 0x08200820, 0x40047ffc, 0x7ffc5554, 0x40045554, 0x7ffc4004, 0x00000000,      // ICON_SUITCASE_ZIP
-    0x00000000, 0x20043ffc, 0x3ffc2004, 0x13c81008, 0x100813c8, 0x10081008, 0x1ff81008, 0x00000000,      // ICON_MAILBOX
-    0x00000000, 0x40027ffe, 0x5ffa5ffa, 0x5ffa5ffa, 0x40025ffa, 0x03c07ffe, 0x1ff81ff8, 0x00000000,      // ICON_MONITOR
-    0x0ff00000, 0x6bfe7ffe, 0x7ffe7ffe, 0x68167ffe, 0x08106816, 0x08100810, 0x0ff00810, 0x00000000,      // ICON_PRINTER
-    0x3ff80000, 0xfffe2008, 0x870a8002, 0x904a888a, 0x904a904a, 0x870a888a, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA
-    0x0fc00000, 0xfcfe0cd8, 0x8002fffe, 0x84428382, 0x84428442, 0x80028382, 0xfffe8002, 0x00000000,      // ICON_PHOTO_CAMERA_FLASH
-    0x00000000, 0x02400180, 0x08100420, 0x20041008, 0x23c42004, 0x22442244, 0x3ffc2244, 0x00000000,      // ICON_HOUSE
-    0x00000000, 0x1c700000, 0x3ff83ef8, 0x3ff83ff8, 0x0fe01ff0, 0x038007c0, 0x00000100, 0x00000000,      // ICON_HEART
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x80000000, 0xe000c000,      // ICON_CORNER
-    0x00000000, 0x14001c00, 0x15c01400, 0x15401540, 0x155c1540, 0x15541554, 0x1ddc1554, 0x00000000,      // ICON_VERTICAL_BARS
-    0x00000000, 0x03000300, 0x1b001b00, 0x1b601b60, 0x1b6c1b60, 0x1b6c1b6c, 0x1b6c1b6c, 0x00000000,      // ICON_VERTICAL_BARS_FILL
-    0x00000000, 0x00000000, 0x403e7ffe, 0x7ffe403e, 0x7ffe0000, 0x43fe43fe, 0x00007ffe, 0x00000000,      // ICON_LIFE_BARS
-    0x7ffc0000, 0x43844004, 0x43844284, 0x43844004, 0x42844284, 0x42844284, 0x40044384, 0x00007ffc,      // ICON_INFO
-    0x40008000, 0x10002000, 0x04000800, 0x01000200, 0x00400080, 0x00100020, 0x00040008, 0x00010002,      // ICON_CROSSLINE
-    0x00000000, 0x1ff01ff0, 0x18301830, 0x1f001830, 0x03001f00, 0x00000300, 0x03000300, 0x00000000,      // ICON_HELP
-    0x3ff00000, 0x2abc3550, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x2aac3554, 0x00003ffc,      // ICON_FILETYPE_ALPHA
-    0x3ff00000, 0x201c2010, 0x22442184, 0x28142424, 0x29942814, 0x2ff42994, 0x20042004, 0x00003ffc,      // ICON_FILETYPE_HOME
-    0x07fe0000, 0x04020402, 0x7fe20402, 0x44224422, 0x44224422, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS_VISIBLE
-    0x07fe0000, 0x04020402, 0x7c020402, 0x44024402, 0x44024402, 0x402047fe, 0x40204020, 0x00007fe0,      // ICON_LAYERS
-    0x00000000, 0x40027ffe, 0x7ffe4002, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_WINDOW
-    0x09100000, 0x09f00910, 0x09100910, 0x00000910, 0x24a2779e, 0x27a224a2, 0x709e20a2, 0x00000000,      // ICON_HIDPI
-    0x3ff00000, 0x201c2010, 0x2a842e84, 0x2e842a84, 0x2ba42004, 0x2aa42aa4, 0x20042ba4, 0x00003ffc,      // ICON_FILETYPE_BINARY
-    0x00000000, 0x00000000, 0x00120012, 0x4a5e4bd2, 0x485233d2, 0x00004bd2, 0x00000000, 0x00000000,      // ICON_HEX
-    0x01800000, 0x381c0660, 0x23c42004, 0x23c42044, 0x13c82204, 0x08101008, 0x02400420, 0x00000180,      // ICON_SHIELD
-    0x007e0000, 0x20023fc2, 0x40227fe2, 0x400a403a, 0x400a400a, 0x400a400a, 0x4008400e, 0x00007ff8,      // ICON_FILE_NEW
-    0x00000000, 0x0042007e, 0x40027fc2, 0x44024002, 0x5f024402, 0x44024402, 0x7ffe4002, 0x00000000,      // ICON_FOLDER_ADD
-    0x44220000, 0x12482244, 0xf3cf0000, 0x14280420, 0x48122424, 0x08100810, 0x1ff81008, 0x03c00420,      // ICON_ALARM
-    0x0aa00000, 0x1ff80aa0, 0x1068700e, 0x1008706e, 0x1008700e, 0x1008700e, 0x0aa01ff8, 0x00000aa0,      // ICON_CPU
-    0x07e00000, 0x04201db8, 0x04a01c38, 0x04a01d38, 0x04a01d38, 0x04a01d38, 0x04201d38, 0x000007e0,      // ICON_ROM
-    0x00000000, 0x03c00000, 0x3c382ff0, 0x3c04380c, 0x01800000, 0x03c003c0, 0x00000180, 0x00000000,      // ICON_STEP_OVER
-    0x01800000, 0x01800180, 0x01800180, 0x03c007e0, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_INTO
-    0x01800000, 0x07e003c0, 0x01800180, 0x01800180, 0x00000180, 0x01800000, 0x03c003c0, 0x00000180,      // ICON_STEP_OUT
-    0x00000000, 0x0ff003c0, 0x181c1c34, 0x303c301c, 0x30003000, 0x1c301800, 0x03c00ff0, 0x00000000,      // ICON_RESTART
-    0x00000000, 0x00000000, 0x07e003c0, 0x0ff00ff0, 0x0ff00ff0, 0x03c007e0, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_ON
-    0x00000000, 0x00000000, 0x042003c0, 0x08100810, 0x08100810, 0x03c00420, 0x00000000, 0x00000000,      // ICON_BREAKPOINT_OFF
-    0x00000000, 0x00000000, 0x1ff81ff8, 0x1ff80000, 0x00001ff8, 0x1ff81ff8, 0x00000000, 0x00000000,      // ICON_BURGER_MENU
-    0x00000000, 0x00000000, 0x00880070, 0x0c880088, 0x1e8810f8, 0x3e881288, 0x00000000, 0x00000000,      // ICON_CASE_SENSITIVE
-    0x00000000, 0x02000000, 0x07000a80, 0x07001fc0, 0x02000a80, 0x00300030, 0x00000000, 0x00000000,      // ICON_REG_EXP
-    0x00000000, 0x0042007e, 0x40027fc2, 0x40024002, 0x40024002, 0x40024002, 0x7ffe4002, 0x00000000,      // ICON_FOLDER
-    0x3ff00000, 0x201c2010, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x20042004, 0x00003ffc,      // ICON_FILE
-    0x1ff00000, 0x20082008, 0x17d02fe8, 0x05400ba0, 0x09200540, 0x23881010, 0x2fe827c8, 0x00001ff0,      // ICON_SAND_TIMER
-    0x01800000, 0x02400240, 0x05a00420, 0x09900990, 0x11881188, 0x21842004, 0x40024182, 0x00003ffc,      // ICON_WARNING
-    0x7ffe0000, 0x4ff24002, 0x4c324ff2, 0x4f824c02, 0x41824f82, 0x41824002, 0x40024182, 0x00007ffe,      // ICON_HELP_BOX
-    0x7ffe0000, 0x41824002, 0x40024182, 0x41824182, 0x41824182, 0x41824182, 0x40024182, 0x00007ffe,      // ICON_INFO_BOX
-    0x01800000, 0x04200240, 0x10080810, 0x7bde2004, 0x0a500a50, 0x08500bd0, 0x08100850, 0x00000ff0,      // ICON_PRIORITY
-    0x01800000, 0x18180660, 0x80016006, 0x98196006, 0x99996666, 0x19986666, 0x01800660, 0x00000000,      // ICON_LAYERS_ISO
-    0x07fe0000, 0x1c020402, 0x74021402, 0x54025402, 0x54025402, 0x500857fe, 0x40205ff8, 0x00007fe0,      // ICON_LAYERS2
-    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x422a422a, 0x422e422a, 0x40384e28, 0x00007fe0,      // ICON_MLAYERS
-    0x0ffe0000, 0x3ffa0802, 0x7fea200a, 0x402a402a, 0x5b2a512a, 0x512e552a, 0x40385128, 0x00007fe0,      // ICON_MAPS
-    0x04200000, 0x1cf00c60, 0x11f019f0, 0x0f3807b8, 0x1e3c0f3c, 0x1c1c1e1c, 0x1e3c1c1c, 0x00000f70,      // ICON_HOT
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_229
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_230
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_231
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_232
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_233
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_234
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_235
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_236
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_237
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_238
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_239
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_240
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_241
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_242
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_243
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_244
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_245
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_246
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_247
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_248
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_249
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_250
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_251
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_252
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_253
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_254
-    0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000,      // ICON_255
-};
-
-// NOTE: A pointer to current icons array should be defined
-static unsigned int *guiIconsPtr = guiIcons;
-
-#endif      // !RAYGUI_NO_ICONS && !RAYGUI_CUSTOM_ICONS
-
-#ifndef RAYGUI_ICON_SIZE
-    #define RAYGUI_ICON_SIZE             0
-#endif
-
-// WARNING: Those values define the total size of the style data array,
-// if changed, previous saved styles could become incompatible
-#define RAYGUI_MAX_CONTROLS             16      // Maximum number of controls
-#define RAYGUI_MAX_PROPS_BASE           16      // Maximum number of base properties
-#define RAYGUI_MAX_PROPS_EXTENDED        8      // Maximum number of extended properties
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-// Gui control property style color element
-typedef enum { BORDER = 0, BASE, TEXT, OTHER } GuiPropertyElement;
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-static GuiState guiState = STATE_NORMAL;        // Gui global state, if !STATE_NORMAL, forces defined state
-
-static Font guiFont = { 0 };                    // Gui current font (WARNING: highly coupled to raylib)
-static bool guiLocked = false;                  // Gui lock state (no inputs processed)
-static float guiAlpha = 1.0f;                   // Gui controls transparency
-
-static unsigned int guiIconScale = 1;           // Gui icon default scale (if icons enabled)
-
-static bool guiTooltip = false;                 // Tooltip enabled/disabled
-static const char *guiTooltipPtr = NULL;        // Tooltip string pointer (string provided by user)
-
-static bool guiControlExclusiveMode = false;    // Gui control exclusive mode (no inputs processed except current control)
-static Rectangle guiControlExclusiveRec = { 0 }; // Gui control exclusive bounds rectangle, used as an unique identifier
-
-static int textBoxCursorIndex = 0;              // Cursor index, shared by all GuiTextBox*()
-//static int blinkCursorFrameCounter = 0;       // Frame counter for cursor blinking
-static int autoCursorCooldownCounter = 0;       // Cooldown frame counter for automatic cursor movement on key-down
-static int autoCursorDelayCounter = 0;          // Delay frame counter for automatic cursor movement
-
-//----------------------------------------------------------------------------------
-// Style data array for all gui style properties (allocated on data segment by default)
-//
-// NOTE 1: First set of BASE properties are generic to all controls but could be individually
-// overwritten per control, first set of EXTENDED properties are generic to all controls and
-// can not be overwritten individually but custom EXTENDED properties can be used by control
-//
-// NOTE 2: A new style set could be loaded over this array using GuiLoadStyle(),
-// but default gui style could always be recovered with GuiLoadStyleDefault()
-//
-// guiStyle size is by default: 16*(16 + 8) = 384*4 = 1536 bytes = 1.5 KB
-//----------------------------------------------------------------------------------
-static unsigned int guiStyle[RAYGUI_MAX_CONTROLS*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED)] = { 0 };
-
-static bool guiStyleLoaded = false;         // Style loaded flag for lazy style initialization
-
-//----------------------------------------------------------------------------------
-// Standalone Mode Functions Declaration
-//
-// NOTE: raygui depend on some raylib input and drawing functions
-// To use raygui as standalone library, below functions must be defined by the user
-//----------------------------------------------------------------------------------
-#if defined(RAYGUI_STANDALONE)
-
-#define KEY_RIGHT           262
-#define KEY_LEFT            263
-#define KEY_DOWN            264
-#define KEY_UP              265
-#define KEY_BACKSPACE       259
-#define KEY_ENTER           257
-
-#define MOUSE_LEFT_BUTTON     0
-
-// Input required functions
-//-------------------------------------------------------------------------------
-static Vector2 GetMousePosition(void);
-static float GetMouseWheelMove(void);
-static bool IsMouseButtonDown(int button);
-static bool IsMouseButtonPressed(int button);
-static bool IsMouseButtonReleased(int button);
-
-static bool IsKeyDown(int key);
-static bool IsKeyPressed(int key);
-static int GetCharPressed(void);         // -- GuiTextBox(), GuiValueBox()
-//-------------------------------------------------------------------------------
-
-// Drawing required functions
-//-------------------------------------------------------------------------------
-static void DrawRectangle(int x, int y, int width, int height, Color color);        // -- GuiDrawRectangle()
-static void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // -- GuiColorPicker()
-//-------------------------------------------------------------------------------
-
-// Text required functions
-//-------------------------------------------------------------------------------
-static Font GetFontDefault(void);                            // -- GuiLoadStyleDefault()
-static Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // -- GuiLoadStyle(), load font
-
-static Texture2D LoadTextureFromImage(Image image);          // -- GuiLoadStyle(), required to load texture from embedded font atlas image
-static void SetShapesTexture(Texture2D tex, Rectangle rec);  // -- GuiLoadStyle(), required to set shapes rec to font white rec (optimization)
-
-static char *LoadFileText(const char *fileName);             // -- GuiLoadStyle(), required to load charset data
-static void UnloadFileText(char *text);                      // -- GuiLoadStyle(), required to unload charset data
-
-static const char *GetDirectoryPath(const char *filePath);   // -- GuiLoadStyle(), required to find charset/font file from text .rgs
-
-static int *LoadCodepoints(const char *text, int *count);    // -- GuiLoadStyle(), required to load required font codepoints list
-static void UnloadCodepoints(int *codepoints);               // -- GuiLoadStyle(), required to unload codepoints list
-
-static unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // -- GuiLoadStyle()
-//-------------------------------------------------------------------------------
-
-// raylib functions already implemented in raygui
-//-------------------------------------------------------------------------------
-static Color GetColor(int hexValue);                // Returns a Color struct from hexadecimal value
-static int ColorToInt(Color color);                 // Returns hexadecimal value for a Color
-static bool CheckCollisionPointRec(Vector2 point, Rectangle rec);   // Check if point is inside rectangle
-static const char *TextFormat(const char *text, ...);               // Formatting of text with variables to 'embed'
-static const char **TextSplit(const char *text, char delimiter, int *count);    // Split text into multiple strings
-static int TextToInteger(const char *text);         // Get integer value from text
-static float TextToFloat(const char *text);         // Get float value from text
-
-static int GetCodepointNext(const char *text, int *codepointSize);  // Get next codepoint in a UTF-8 encoded text
-static const char *CodepointToUTF8(int codepoint, int *byteSize);   // Encode codepoint into UTF-8 text (char array size returned as parameter)
-
-static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);  // Draw rectangle vertical gradient
-//-------------------------------------------------------------------------------
-
-#endif      // RAYGUI_STANDALONE
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Declaration
-//----------------------------------------------------------------------------------
-static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize);    // Load style from memory (binary only)
-
-static int GetTextWidth(const char *text);                      // Gui get text width using gui font and style
-static Rectangle GetTextBounds(int control, Rectangle bounds);  // Get text bounds considering control bounds
-static const char *GetTextIcon(const char *text, int *iconId);  // Get text icon if provided and move text cursor
-
-static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint);     // Gui draw text using default font
-static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color);   // Gui draw rectangle using default raygui style
-
-static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow);   // Split controls text into multiple strings
-static Vector3 ConvertHSVtoRGB(Vector3 hsv);                    // Convert color data from HSV to RGB
-static Vector3 ConvertRGBtoHSV(Vector3 rgb);                    // Convert color data from RGB to HSV
-
-static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue);   // Scroll bar control, used by GuiScrollPanel()
-static void GuiTooltip(Rectangle controlRec);                   // Draw tooltip using control rec position
-
-static Color GuiFade(Color color, float alpha);         // Fade color by an alpha factor
-
-//----------------------------------------------------------------------------------
-// Gui Setup Functions Definition
-//----------------------------------------------------------------------------------
-// Enable gui global state
-// NOTE: We check for STATE_DISABLED to avoid messing custom global state setups
-void GuiEnable(void) { if (guiState == STATE_DISABLED) guiState = STATE_NORMAL; }
-
-// Disable gui global state
-// NOTE: We check for STATE_NORMAL to avoid messing custom global state setups
-void GuiDisable(void) { if (guiState == STATE_NORMAL) guiState = STATE_DISABLED; }
-
-// Lock gui global state
-void GuiLock(void) { guiLocked = true; }
-
-// Unlock gui global state
-void GuiUnlock(void) { guiLocked = false; }
-
-// Check if gui is locked (global state)
-bool GuiIsLocked(void) { return guiLocked; }
-
-// Set gui controls alpha global state
-void GuiSetAlpha(float alpha)
-{
-    if (alpha < 0.0f) alpha = 0.0f;
-    else if (alpha > 1.0f) alpha = 1.0f;
-
-    guiAlpha = alpha;
-}
-
-// Set gui state (global state)
-void GuiSetState(int state) { guiState = (GuiState)state; }
-
-// Get gui state (global state)
-int GuiGetState(void) { return guiState; }
-
-// Set custom gui font
-// NOTE: Font loading/unloading is external to raygui
-void GuiSetFont(Font font)
-{
-    if (font.texture.id > 0)
-    {
-        // NOTE: If we try to setup a font but default style has not been
-        // lazily loaded before, it will be overwritten, so we need to force
-        // default style loading first
-        if (!guiStyleLoaded) GuiLoadStyleDefault();
-
-        guiFont = font;
-    }
-}
-
-// Get custom gui font
-Font GuiGetFont(void)
-{
-    return guiFont;
-}
-
-// Set control style property value
-void GuiSetStyle(int control, int property, int value)
-{
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-    guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
-
-    // Default properties are propagated to all controls
-    if ((control == 0) && (property < RAYGUI_MAX_PROPS_BASE))
-    {
-        for (int i = 1; i < RAYGUI_MAX_CONTROLS; i++) guiStyle[i*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property] = value;
-    }
-}
-
-// Get control style property value
-int GuiGetStyle(int control, int property)
-{
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-    return guiStyle[control*(RAYGUI_MAX_PROPS_BASE + RAYGUI_MAX_PROPS_EXTENDED) + property];
-}
-
-//----------------------------------------------------------------------------------
-// Gui Controls Functions Definition
-//----------------------------------------------------------------------------------
-
-// Window Box control
-int GuiWindowBox(Rectangle bounds, const char *title)
-{
-    // Window title bar height (including borders)
-    // NOTE: This define is also used by GuiMessageBox() and GuiTextInputBox()
-    #if !defined(RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT)
-        #define RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT        24
-    #endif
-
-    int result = 0;
-    //GuiState state = guiState;
-
-    int statusBarHeight = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT;
-
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)statusBarHeight };
-    if (bounds.height < statusBarHeight*2.0f) bounds.height = statusBarHeight*2.0f;
-
-    Rectangle windowPanel = { bounds.x, bounds.y + (float)statusBarHeight - 1, bounds.width, bounds.height - (float)statusBarHeight + 1 };
-    Rectangle closeButtonRec = { statusBar.x + statusBar.width - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - 20,
-                                 statusBar.y + statusBarHeight/2.0f - 18.0f/2.0f, 18, 18 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    // NOTE: Logic is directly managed by button
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiStatusBar(statusBar, title); // Draw window header as status bar
-    GuiPanel(windowPanel, NULL);    // Draw window base
-
-    // Draw window close button
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-#if defined(RAYGUI_NO_ICONS)
-    result = GuiButton(closeButtonRec, "x");
-#else
-    result = GuiButton(closeButtonRec, GuiIconText(ICON_CROSS_SMALL, NULL));
-#endif
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;      // Window close button clicked: result = 1
-}
-
-// Group Box control with text name
-int GuiGroupBox(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_GROUPBOX_LINE_THICK)
-        #define RAYGUI_GROUPBOX_LINE_THICK     1
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, RAYGUI_GROUPBOX_LINE_THICK }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y, RAYGUI_GROUPBOX_LINE_THICK, bounds.height }, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR)));
-
-    GuiLine(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y - GuiGetStyle(DEFAULT, TEXT_SIZE)/2, bounds.width, (float)GuiGetStyle(DEFAULT, TEXT_SIZE) }, text);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Line control
-int GuiLine(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_LINE_ORIGIN_SIZE)
-        #define RAYGUI_LINE_MARGIN_TEXT  12
-    #endif
-    #if !defined(RAYGUI_LINE_TEXT_PADDING)
-        #define RAYGUI_LINE_TEXT_PADDING  4
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Color color = GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED : (int)LINE_COLOR));
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text == NULL) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, bounds.width, 1 }, 0, BLANK, color);
-    else
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = bounds.height;
-        textBounds.x = bounds.x + RAYGUI_LINE_MARGIN_TEXT;
-        textBounds.y = bounds.y;
-
-        // Draw line with embedded text label: "--- text --------------"
-        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height/2, RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
-        GuiDrawText(text, textBounds, TEXT_ALIGN_LEFT, color);
-        GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + 12 + textBounds.width + 4, bounds.y + bounds.height/2, bounds.width - textBounds.width - RAYGUI_LINE_MARGIN_TEXT - RAYGUI_LINE_TEXT_PADDING, 1 }, 0, BLANK, color);
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Panel control
-int GuiPanel(Rectangle bounds, const char *text)
-{
-    #if !defined(RAYGUI_PANEL_BORDER_WIDTH)
-        #define RAYGUI_PANEL_BORDER_WIDTH   1
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    // Text will be drawn as a header bar (if provided)
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
-    if ((text != NULL) && (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f)) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
-
-    if (text != NULL)
-    {
-        // Move panel bounds after the header bar
-        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-    }
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
-
-    GuiDrawRectangle(bounds, RAYGUI_PANEL_BORDER_WIDTH, GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? (int)BORDER_COLOR_DISABLED: (int)LINE_COLOR)),
-                     GetColor(GuiGetStyle(DEFAULT, (state == STATE_DISABLED)? BASE_COLOR_DISABLED : BACKGROUND_COLOR)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Tab Bar control
-// NOTE: Using GuiToggle() for the TABS
-int GuiTabBar(Rectangle bounds, const char **text, int count, int *active)
-{
-    #define RAYGUI_TABBAR_ITEM_WIDTH    160
-
-    int result = -1;
-    //GuiState state = guiState;
-
-    Rectangle tabBounds = { bounds.x, bounds.y, RAYGUI_TABBAR_ITEM_WIDTH, bounds.height };
-
-    if (*active < 0) *active = 0;
-    else if (*active > count - 1) *active = count - 1;
-
-    int offsetX = 0;    // Required in case tabs go out of screen
-    offsetX = (*active + 2)*RAYGUI_TABBAR_ITEM_WIDTH - GetScreenWidth();
-    if (offsetX < 0) offsetX = 0;
-
-    bool toggle = false;    // Required for individual toggles
-
-    // Draw control
-    //--------------------------------------------------------------------
-    for (int i = 0; i < count; i++)
-    {
-        tabBounds.x = bounds.x + (RAYGUI_TABBAR_ITEM_WIDTH + 4)*i - offsetX;
-
-        if (tabBounds.x < GetScreenWidth())
-        {
-            // Draw tabs as toggle controls
-            int textAlignment = GuiGetStyle(TOGGLE, TEXT_ALIGNMENT);
-            int textPadding = GuiGetStyle(TOGGLE, TEXT_PADDING);
-            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-            GuiSetStyle(TOGGLE, TEXT_PADDING, 8);
-
-            if (i == (*active))
-            {
-                toggle = true;
-                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
-            }
-            else
-            {
-                toggle = false;
-                GuiToggle(tabBounds, GuiIconText(12, text[i]), &toggle);
-                if (toggle) *active = i;
-            }
-
-            // Close tab with middle mouse button pressed
-            if (CheckCollisionPointRec(GetMousePosition(), tabBounds) && IsMouseButtonPressed(MOUSE_MIDDLE_BUTTON)) result = i;
-
-            GuiSetStyle(TOGGLE, TEXT_PADDING, textPadding);
-            GuiSetStyle(TOGGLE, TEXT_ALIGNMENT, textAlignment);
-
-            // Draw tab close button
-            // NOTE: Only draw close button for current tab: if (CheckCollisionPointRec(mousePosition, tabBounds))
-            int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-            int tempTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-            GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-#if defined(RAYGUI_NO_ICONS)
-            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, "x")) result = i;
-#else
-            if (GuiButton(RAYGUI_CLITERAL(Rectangle){ tabBounds.x + tabBounds.width - 14 - 5, tabBounds.y + 5, 14, 14 }, GuiIconText(ICON_CROSS_SMALL, NULL))) result = i;
-#endif
-            GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-            GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlignment);
-        }
-    }
-
-    // Draw tab-bar bottom line
-    GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, bounds.width, 1 }, 0, BLANK, GetColor(GuiGetStyle(TOGGLE, BORDER_COLOR_NORMAL)));
-    //--------------------------------------------------------------------
-
-    return result;     // Return as result the current TAB closing requested
-}
-
-// Scroll Panel control
-int GuiScrollPanel(Rectangle bounds, const char *text, Rectangle content, Vector2 *scroll, Rectangle *view)
-{
-    #define RAYGUI_MIN_SCROLLBAR_WIDTH     40
-    #define RAYGUI_MIN_SCROLLBAR_HEIGHT    40
-    #define RAYGUI_MIN_MOUSE_WHEEL_SPEED   20
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Rectangle temp = { 0 };
-    if (view == NULL) view = &temp;
-
-    Vector2 scrollPos = { 0.0f, 0.0f };
-    if (scroll != NULL) scrollPos = *scroll;
-
-    // Text will be drawn as a header bar (if provided)
-    Rectangle statusBar = { bounds.x, bounds.y, bounds.width, (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT };
-    if (bounds.height < RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f) bounds.height = RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT*2.0f;
-
-    if (text != NULL)
-    {
-        // Move panel bounds after the header bar
-        bounds.y += (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 1;
-        bounds.height -= (float)RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + 1;
-    }
-
-    bool hasHorizontalScrollBar = (content.width > bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
-    bool hasVerticalScrollBar = (content.height > bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH))? true : false;
-
-    // Recheck to account for the other scrollbar being visible
-    if (!hasHorizontalScrollBar) hasHorizontalScrollBar = (hasVerticalScrollBar && (content.width > (bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
-    if (!hasVerticalScrollBar) hasVerticalScrollBar = (hasHorizontalScrollBar && (content.height > (bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH))))? true : false;
-
-    int horizontalScrollBarWidth = hasHorizontalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
-    int verticalScrollBarWidth =  hasVerticalScrollBar? GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH) : 0;
-    Rectangle horizontalScrollBar = {
-        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + verticalScrollBarWidth : (float)bounds.x) + GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)bounds.y + bounds.height - horizontalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)bounds.width - verticalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)horizontalScrollBarWidth
-    };
-    Rectangle verticalScrollBar = {
-        (float)((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)bounds.x + bounds.width - verticalScrollBarWidth - GuiGetStyle(DEFAULT, BORDER_WIDTH)),
-        (float)bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH),
-        (float)verticalScrollBarWidth,
-        (float)bounds.height - horizontalScrollBarWidth - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
-    };
-
-    // Make sure scroll bars have a minimum width/height
-    if (horizontalScrollBar.width < RAYGUI_MIN_SCROLLBAR_WIDTH) horizontalScrollBar.width = RAYGUI_MIN_SCROLLBAR_WIDTH;
-    if (verticalScrollBar.height < RAYGUI_MIN_SCROLLBAR_HEIGHT) verticalScrollBar.height = RAYGUI_MIN_SCROLLBAR_HEIGHT;
-
-    // Calculate view area (area without the scrollbars)
-    *view = (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)?
-                RAYGUI_CLITERAL(Rectangle){ bounds.x + verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth } :
-                RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.y + GuiGetStyle(DEFAULT, BORDER_WIDTH), bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth, bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth };
-
-    // Clip view area to the actual content size
-    if (view->width > content.width) view->width = content.width;
-    if (view->height > content.height) view->height = content.height;
-
-    float horizontalMin = hasHorizontalScrollBar? ((GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)-verticalScrollBarWidth : 0) - (float)GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    float horizontalMax = hasHorizontalScrollBar? content.width - bounds.width + (float)verticalScrollBarWidth + GuiGetStyle(DEFAULT, BORDER_WIDTH) - (((float)GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (float)verticalScrollBarWidth : 0) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    float verticalMin = hasVerticalScrollBar? 0.0f : -1.0f;
-    float verticalMax = hasVerticalScrollBar? content.height - bounds.height + (float)horizontalScrollBarWidth + (float)GuiGetStyle(DEFAULT, BORDER_WIDTH) : (float)-GuiGetStyle(DEFAULT, BORDER_WIDTH);
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-#if defined(SUPPORT_SCROLLBAR_KEY_INPUT)
-            if (hasHorizontalScrollBar)
-            {
-                if (IsKeyDown(KEY_RIGHT)) scrollPos.x -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                if (IsKeyDown(KEY_LEFT)) scrollPos.x += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-            }
-
-            if (hasVerticalScrollBar)
-            {
-                if (IsKeyDown(KEY_DOWN)) scrollPos.y -= GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                if (IsKeyDown(KEY_UP)) scrollPos.y += GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-            }
-#endif
-            float wheelMove = GetMouseWheelMove();
-
-            // Set scrolling speed with mouse wheel based on ratio between bounds and content
-            Vector2 mouseWheelSpeed = { content.width/bounds.width, content.height/bounds.height };
-            if (mouseWheelSpeed.x < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.x = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
-            if (mouseWheelSpeed.y < RAYGUI_MIN_MOUSE_WHEEL_SPEED) mouseWheelSpeed.y = RAYGUI_MIN_MOUSE_WHEEL_SPEED;
-
-            // Horizontal and vertical scrolling with mouse wheel
-            if (hasHorizontalScrollBar && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_LEFT_SHIFT))) scrollPos.x += wheelMove*mouseWheelSpeed.x;
-            else scrollPos.y += wheelMove*mouseWheelSpeed.y; // Vertical scroll
-        }
-    }
-
-    // Normalize scroll values
-    if (scrollPos.x > -horizontalMin) scrollPos.x = -horizontalMin;
-    if (scrollPos.x < -horizontalMax) scrollPos.x = -horizontalMax;
-    if (scrollPos.y > -verticalMin) scrollPos.y = -verticalMin;
-    if (scrollPos.y < -verticalMax) scrollPos.y = -verticalMax;
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (text != NULL) GuiStatusBar(statusBar, text);  // Draw panel header as status bar
-
-    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));        // Draw background
-
-    // Save size of the scrollbar slider
-    const int slider = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
-
-    // Draw horizontal scrollbar if visible
-    if (hasHorizontalScrollBar)
-    {
-        // Change scrollbar slider size to show the diff in size between the content width and the widget width
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)/(int)content.width)*((int)bounds.width - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - verticalScrollBarWidth)));
-        scrollPos.x = (float)-GuiScrollBar(horizontalScrollBar, (int)-scrollPos.x, (int)horizontalMin, (int)horizontalMax);
-    }
-    else scrollPos.x = 0.0f;
-
-    // Draw vertical scrollbar if visible
-    if (hasVerticalScrollBar)
-    {
-        // Change scrollbar slider size to show the diff in size between the content height and the widget height
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)(((bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)/(int)content.height)*((int)bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH) - horizontalScrollBarWidth)));
-        scrollPos.y = (float)-GuiScrollBar(verticalScrollBar, (int)-scrollPos.y, (int)verticalMin, (int)verticalMax);
-    }
-    else scrollPos.y = 0.0f;
-
-    // Draw detail corner rectangle if both scroll bars are visible
-    if (hasHorizontalScrollBar && hasVerticalScrollBar)
-    {
-        Rectangle corner = { (GuiGetStyle(LISTVIEW, SCROLLBAR_SIDE) == SCROLLBAR_LEFT_SIDE)? (bounds.x + GuiGetStyle(DEFAULT, BORDER_WIDTH) + 2) : (horizontalScrollBar.x + horizontalScrollBar.width + 2), verticalScrollBar.y + verticalScrollBar.height + 2, (float)horizontalScrollBarWidth - 4, (float)verticalScrollBarWidth - 4 };
-        GuiDrawRectangle(corner, 0, BLANK, GetColor(GuiGetStyle(LISTVIEW, TEXT + (state*3))));
-    }
-
-    // Draw scrollbar lines depending on current state
-    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + (state*3))), BLANK);
-
-    // Set scrollbar slider size back to the way it was before
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, slider);
-    //--------------------------------------------------------------------
-
-    if (scroll != NULL) *scroll = scrollPos;
-
-    return result;
-}
-
-// Label control
-int GuiLabel(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    //...
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Button control, returns true when clicked
-int GuiButton(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(BUTTON, BORDER_WIDTH), GetColor(GuiGetStyle(BUTTON, BORDER + (state*3))), GetColor(GuiGetStyle(BUTTON, BASE + (state*3))));
-    GuiDrawText(text, GetTextBounds(BUTTON, bounds), GuiGetStyle(BUTTON, TEXT_ALIGNMENT), GetColor(GuiGetStyle(BUTTON, TEXT + (state*3))));
-
-    if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //------------------------------------------------------------------
-
-    return result;      // Button pressed: result = 1
-}
-
-// Label button control
-int GuiLabelButton(Rectangle bounds, const char *text)
-{
-    GuiState state = guiState;
-    bool pressed = false;
-
-    // NOTE: We force bounds.width to be all text
-    float textWidth = (float)GetTextWidth(text);
-    if ((bounds.width - 2*GuiGetStyle(LABEL, BORDER_WIDTH) - 2*GuiGetStyle(LABEL, TEXT_PADDING)) < textWidth) bounds.width = textWidth + 2*GuiGetStyle(LABEL, BORDER_WIDTH) + 2*GuiGetStyle(LABEL, TEXT_PADDING) + 2;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check checkbox state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) pressed = true;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawText(text, GetTextBounds(LABEL, bounds), GuiGetStyle(LABEL, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return pressed;
-}
-
-// Toggle Button control
-int GuiToggle(Rectangle bounds, const char *text, bool *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    bool temp = false;
-    if (active == NULL) active = &temp;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check toggle button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_NORMAL;
-                *active = !(*active);
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_NORMAL)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, ((*active)? BORDER_COLOR_PRESSED : (BORDER + state*3)))), GetColor(GuiGetStyle(TOGGLE, ((*active)? BASE_COLOR_PRESSED : (BASE + state*3)))));
-        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, ((*active)? TEXT_COLOR_PRESSED : (TEXT + state*3)))));
-    }
-    else
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TOGGLE, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + state*3)), GetColor(GuiGetStyle(TOGGLE, BASE + state*3)));
-        GuiDrawText(text, GetTextBounds(TOGGLE, bounds), GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TOGGLE, TEXT + state*3)));
-    }
-
-    if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Toggle Group control
-int GuiToggleGroup(Rectangle bounds, const char *text, int *active)
-{
-    #if !defined(RAYGUI_TOGGLEGROUP_MAX_ITEMS)
-        #define RAYGUI_TOGGLEGROUP_MAX_ITEMS    32
-    #endif
-
-    int result = 0;
-    float initBoundsX = bounds.x;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    bool toggle = false;    // Required for individual toggles
-
-    // Get substrings items from text (items pointers)
-    int rows[RAYGUI_TOGGLEGROUP_MAX_ITEMS] = { 0 };
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, rows);
-
-    int prevRow = rows[0];
-
-    for (int i = 0; i < itemCount; i++)
-    {
-        if (prevRow != rows[i])
-        {
-            bounds.x = initBoundsX;
-            bounds.y += (bounds.height + GuiGetStyle(TOGGLE, GROUP_PADDING));
-            prevRow = rows[i];
-        }
-
-        if (i == (*active))
-        {
-            toggle = true;
-            GuiToggle(bounds, items[i], &toggle);
-        }
-        else
-        {
-            toggle = false;
-            GuiToggle(bounds, items[i], &toggle);
-            if (toggle) *active = i;
-        }
-
-        bounds.x += (bounds.width + GuiGetStyle(TOGGLE, GROUP_PADDING));
-    }
-
-    return result;
-}
-
-// Toggle Slider control extended
-int GuiToggleSlider(Rectangle bounds, const char *text, int *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    //bool toggle = false;    // Required for individual toggles
-
-    // Get substrings items from text (items pointers)
-    int itemCount = 0;
-    const char **items = NULL;
-
-    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    Rectangle slider = {
-        0,      // Calculated later depending on the active toggle
-        bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
-        (bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - (itemCount + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING))/itemCount,
-        bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                (*active)++;
-                result = 1;
-            }
-            else state = STATE_FOCUSED;
-        }
-
-        if ((*active) && (state != STATE_FOCUSED)) state = STATE_PRESSED;
-    }
-
-    if (*active >= itemCount) *active = 0;
-    slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH) + (*active + 1)*GuiGetStyle(SLIDER, SLIDER_PADDING) + (*active)*slider.width;
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(TOGGLE, BORDER + (state*3))),
-        GetColor(GuiGetStyle(TOGGLE, BASE_COLOR_NORMAL)));
-
-    // Draw internal slider
-    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_FOCUSED)));
-    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-
-    // Draw text in slider
-    if (text != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(text);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = slider.x + slider.width/2 - textBounds.width/2;
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(items[*active], textBounds, GuiGetStyle(TOGGLE, TEXT_ALIGNMENT), Fade(GetColor(GuiGetStyle(TOGGLE, TEXT + (state*3))), guiAlpha));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Check Box control, returns 1 when state changed
-int GuiCheckBox(Rectangle bounds, const char *text, bool *checked)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    bool temp = false;
-    if (checked == NULL) checked = &temp;
-
-    Rectangle textBounds = { 0 };
-
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(CHECKBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        Rectangle totalBounds = {
-            (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT)? textBounds.x : bounds.x,
-            bounds.y,
-            bounds.width + textBounds.width + GuiGetStyle(CHECKBOX, TEXT_PADDING),
-            bounds.height,
-        };
-
-        // Check checkbox state
-        if (CheckCollisionPointRec(mousePoint, totalBounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-
-            if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-            {
-                *checked = !(*checked);
-                result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(CHECKBOX, BORDER_WIDTH), GetColor(GuiGetStyle(CHECKBOX, BORDER + (state*3))), BLANK);
-
-    if (*checked)
-    {
-        Rectangle check = { bounds.x + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
-                            bounds.y + GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING),
-                            bounds.width - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)),
-                            bounds.height - 2*(GuiGetStyle(CHECKBOX, BORDER_WIDTH) + GuiGetStyle(CHECKBOX, CHECK_PADDING)) };
-        GuiDrawRectangle(check, 0, BLANK, GetColor(GuiGetStyle(CHECKBOX, TEXT + state*3)));
-    }
-
-    GuiDrawText(text, textBounds, (GuiGetStyle(CHECKBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Combo Box control
-int GuiComboBox(Rectangle bounds, const char *text, int *active)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    bounds.width -= (GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH) + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING));
-
-    Rectangle selector = { (float)bounds.x + bounds.width + GuiGetStyle(COMBOBOX, COMBO_BUTTON_SPACING),
-                           (float)bounds.y, (float)GuiGetStyle(COMBOBOX, COMBO_BUTTON_WIDTH), (float)bounds.height };
-
-    // Get substrings items from text (items pointers, lengths and count)
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    if (*active < 0) *active = 0;
-    else if (*active > (itemCount - 1)) *active = itemCount - 1;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && (itemCount > 1) && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (CheckCollisionPointRec(mousePoint, bounds) ||
-            CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-            {
-                *active += 1;
-                if (*active >= itemCount) *active = 0;      // Cyclic combobox
-            }
-
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    // Draw combo box main
-    GuiDrawRectangle(bounds, GuiGetStyle(COMBOBOX, BORDER_WIDTH), GetColor(GuiGetStyle(COMBOBOX, BORDER + (state*3))), GetColor(GuiGetStyle(COMBOBOX, BASE + (state*3))));
-    GuiDrawText(items[*active], GetTextBounds(COMBOBOX, bounds), GuiGetStyle(COMBOBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(COMBOBOX, TEXT + (state*3))));
-
-    // Draw selector using a custom button
-    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 1);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    GuiButton(selector, TextFormat("%i/%i", *active + 1, itemCount));
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Dropdown Box control
-// NOTE: Returns mouse click
-int GuiDropdownBox(Rectangle bounds, const char *text, int *active, bool editMode)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int temp = 0;
-    if (active == NULL) active = &temp;
-
-    int itemSelected = *active;
-    int itemFocused = -1;
-
-    int direction = 0; // Dropdown box open direction: down (default)
-    if (GuiGetStyle(DROPDOWNBOX, DROPDOWN_ROLL_UP) == 1) direction = 1; // Up
-
-    // Get substrings items from text (items pointers, lengths and count)
-    int itemCount = 0;
-    const char **items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    Rectangle boundsOpen = bounds;
-    boundsOpen.height = (itemCount + 1)*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-    if (direction == 1) boundsOpen.y -= itemCount*(bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING)) + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING);
-
-    Rectangle itemBounds = bounds;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && (editMode || !guiLocked) && (itemCount > 1) && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            // Check if mouse has been pressed or released outside limits
-            if (!CheckCollisionPointRec(mousePoint, boundsOpen))
-            {
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON) || IsMouseButtonReleased(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-
-            // Check if already selected item has been pressed again
-            if (CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-
-            // Check focused and selected item
-            for (int i = 0; i < itemCount; i++)
-            {
-                // Update item rectangle y position for next item
-                if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-                else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-
-                if (CheckCollisionPointRec(mousePoint, itemBounds))
-                {
-                    itemFocused = i;
-                    if (IsMouseButtonReleased(MOUSE_LEFT_BUTTON))
-                    {
-                        itemSelected = i;
-                        result = 1;         // Item selected
-                    }
-                    break;
-                }
-            }
-
-            itemBounds = bounds;
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    result = 1;
-                    state = STATE_PRESSED;
-                }
-                else state = STATE_FOCUSED;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (editMode) GuiPanel(boundsOpen, NULL);
-
-    GuiDrawRectangle(bounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER + state*3)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE + state*3)));
-    GuiDrawText(items[itemSelected], GetTextBounds(DROPDOWNBOX, bounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + state*3)));
-
-    if (editMode)
-    {
-        // Draw visible items
-        for (int i = 0; i < itemCount; i++)
-        {
-            // Update item rectangle y position for next item
-            if (direction == 0) itemBounds.y += (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-            else itemBounds.y -= (bounds.height + GuiGetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING));
-
-            if (i == itemSelected)
-            {
-                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_PRESSED)));
-                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_PRESSED)));
-            }
-            else if (i == itemFocused)
-            {
-                GuiDrawRectangle(itemBounds, GuiGetStyle(DROPDOWNBOX, BORDER_WIDTH), GetColor(GuiGetStyle(DROPDOWNBOX, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(DROPDOWNBOX, BASE_COLOR_FOCUSED)));
-                GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_FOCUSED)));
-            }
-            else GuiDrawText(items[i], GetTextBounds(DROPDOWNBOX, itemBounds), GuiGetStyle(DROPDOWNBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(DROPDOWNBOX, TEXT_COLOR_NORMAL)));
-        }
-    }
-
-    if (!GuiGetStyle(DROPDOWNBOX, DROPDOWN_ARROW_HIDDEN))
-    {
-        // Draw arrows (using icon if available)
-#if defined(RAYGUI_NO_ICONS)
-        GuiDrawText("v", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 2, 10, 10 },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-#else
-        GuiDrawText(direction? "#121#" : "#120#", RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - GuiGetStyle(DROPDOWNBOX, ARROW_PADDING), bounds.y + bounds.height/2 - 6, 10, 10 },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));   // ICON_ARROW_DOWN_FILL
-#endif
-    }
-    //--------------------------------------------------------------------
-
-    *active = itemSelected;
-
-    // TODO: Use result to return more internal states: mouse-press out-of-bounds, mouse-press over selected-item...
-    return result;   // Mouse click: result = 1
-}
-
-// Text Box control
-// NOTE: Returns true on ENTER pressed (useful for data validation)
-int GuiTextBox(Rectangle bounds, char *text, int textSize, bool editMode)
-{
-    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)
-        #define RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN  40        // Frames to wait for autocursor movement
-    #endif
-    #if !defined(RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY)
-        #define RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY      1        // Frames delay for autocursor movement
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    bool multiline = false;     // TODO: Consider multiline text input
-    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);
-
-    Rectangle textBounds = GetTextBounds(TEXTBOX, bounds);
-    int textLength = (int)strlen(text);     // Get current text length
-    int thisCursorIndex = textBoxCursorIndex;
-    if (thisCursorIndex > textLength) thisCursorIndex = textLength;
-    int textWidth = GetTextWidth(text) - GetTextWidth(text + thisCursorIndex);
-    int textIndexOffset = 0;    // Text index offset to start drawing in the box
-
-    // Cursor rectangle
-    // NOTE: Position X value should be updated
-    Rectangle cursor = {
-        textBounds.x + textWidth + GuiGetStyle(DEFAULT, TEXT_SPACING),
-        textBounds.y + textBounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE),
-        2,
-        (float)GuiGetStyle(DEFAULT, TEXT_SIZE)*2
-    };
-
-    if (cursor.height >= bounds.height) cursor.height = bounds.height - GuiGetStyle(TEXTBOX, BORDER_WIDTH)*2;
-    if (cursor.y < (bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH))) cursor.y = bounds.y + GuiGetStyle(TEXTBOX, BORDER_WIDTH);
-
-    // Mouse cursor rectangle
-    // NOTE: Initialized outside of screen
-    Rectangle mouseCursor = cursor;
-    mouseCursor.x = -1;
-    mouseCursor.width = 1;
-
-    // Auto-cursor movement logic
-    // NOTE: Cursor moves automatically when key down after some time
-    if (IsKeyDown(KEY_LEFT) || IsKeyDown(KEY_RIGHT) || IsKeyDown(KEY_UP) || IsKeyDown(KEY_DOWN) || IsKeyDown(KEY_BACKSPACE) || IsKeyDown(KEY_DELETE)) autoCursorCooldownCounter++;
-    else
-    {
-        autoCursorCooldownCounter = 0;      // GLOBAL: Cursor cooldown counter
-        autoCursorDelayCounter = 0;         // GLOBAL: Cursor delay counter
-    }
-
-    // Blink-cursor frame counter
-    //if (!autoCursorMode) blinkCursorFrameCounter++;
-    //else blinkCursorFrameCounter = 0;
-
-    // Update control
-    //--------------------------------------------------------------------
-    // WARNING: Text editing is only supported under certain conditions:
-    if ((state != STATE_DISABLED) &&                // Control not disabled
-        !GuiGetStyle(TEXTBOX, TEXT_READONLY) &&     // TextBox not on read-only mode
-        !guiLocked &&                               // Gui not locked
-        !guiControlExclusiveMode &&                       // No gui slider on dragging
-        (wrapMode == TEXT_WRAP_NONE))               // No wrap mode
-    {
-        Vector2 mousePosition = GetMousePosition();
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
-
-            // If text does not fit in the textbox and current cursor position is out of bounds,
-            // we add an index offset to text for drawing only what requires depending on cursor
-            while (textWidth >= textBounds.width)
-            {
-                int nextCodepointSize = 0;
-                GetCodepointNext(text + textIndexOffset, &nextCodepointSize);
-
-                textIndexOffset += nextCodepointSize;
-
-                textWidth = GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex);
-            }
-
-            int codepoint = GetCharPressed();       // Get Unicode codepoint
-            if (multiline && IsKeyPressed(KEY_ENTER)) codepoint = (int)'\n';
-
-            // Encode codepoint as UTF-8
-            int codepointSize = 0;
-            const char *charEncoded = CodepointToUTF8(codepoint, &codepointSize);
-
-            // Add codepoint to text, at current cursor position
-            // NOTE: Make sure we do not overflow buffer size
-            if (((multiline && (codepoint == (int)'\n')) || (codepoint >= 32)) && ((textLength + codepointSize) < textSize))
-            {
-                // Move forward data from cursor position
-                for (int i = (textLength + codepointSize); i > textBoxCursorIndex; i--) text[i] = text[i - codepointSize];
-
-                // Add new codepoint in current cursor position
-                for (int i = 0; i < codepointSize; i++) text[textBoxCursorIndex + i] = charEncoded[i];
-
-                textBoxCursorIndex += codepointSize;
-                textLength += codepointSize;
-
-                // Make sure text last character is EOL
-                text[textLength] = '\0';
-            }
-
-            // Move cursor to start
-            if ((textLength > 0) && IsKeyPressed(KEY_HOME)) textBoxCursorIndex = 0;
-
-            // Move cursor to end
-            if ((textLength > textBoxCursorIndex) && IsKeyPressed(KEY_END)) textBoxCursorIndex = textLength;
-
-            // Delete codepoint from text, after current cursor position
-            if ((textLength > textBoxCursorIndex) && (IsKeyPressed(KEY_DELETE) || (IsKeyDown(KEY_DELETE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_DELETE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int nextCodepointSize = 0;
-                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
-
-                    // Move backward text from cursor position
-                    for (int i = textBoxCursorIndex; i < textLength; i++) text[i] = text[i + nextCodepointSize];
-
-                    textLength -= codepointSize;
-                    if (textBoxCursorIndex > textLength) textBoxCursorIndex = textLength;
-
-                    // Make sure text last character is EOL
-                    text[textLength] = '\0';
-                }
-            }
-
-            // Delete related codepoints from text, before current cursor position
-            if ((textLength > 0) && IsKeyPressed(KEY_BACKSPACE) && (IsKeyDown(KEY_LEFT_CONTROL) || IsKeyDown(KEY_RIGHT_CONTROL)))
-            {
-                int i = textBoxCursorIndex - 1;
-                int accCodepointSize = 0;
-
-                // Move cursor to the end of word if on space already
-                while ((i > 0) && isspace(text[i]))
-                {
-                    int prevCodepointSize = 0;
-                    GetCodepointPrevious(text + i, &prevCodepointSize);
-                    i -= prevCodepointSize;
-                    accCodepointSize += prevCodepointSize;
-                }
-
-                // Move cursor to the start of the word
-                while ((i > 0) && !isspace(text[i]))
-                {
-                    int prevCodepointSize = 0;
-                    GetCodepointPrevious(text + i, &prevCodepointSize);
-                    i -= prevCodepointSize;
-                    accCodepointSize += prevCodepointSize;
-                }
-
-                // Move forward text from cursor position
-                for (int j = (textBoxCursorIndex - accCodepointSize); j < textLength; j++) text[j] = text[j + accCodepointSize];
-
-                // Prevent cursor index from decrementing past 0
-                if (textBoxCursorIndex > 0)
-                {
-                    textBoxCursorIndex -= accCodepointSize;
-                    textLength -= accCodepointSize;
-                }
-
-                // Make sure text last character is EOL
-                text[textLength] = '\0';
-            }
-            else if ((textLength > 0) && (IsKeyPressed(KEY_BACKSPACE) || (IsKeyDown(KEY_BACKSPACE) && (autoCursorCooldownCounter >= RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN))))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_BACKSPACE) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int prevCodepointSize = 0;
-
-                    // Prevent cursor index from decrementing past 0
-                    if (textBoxCursorIndex > 0)
-                    {
-                        GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
-
-                        // Move backward text from cursor position
-                        for (int i = (textBoxCursorIndex - prevCodepointSize); i < textLength; i++) text[i] = text[i + prevCodepointSize];
-
-                        textBoxCursorIndex -= codepointSize;
-                        textLength -= codepointSize;
-                    }
-
-                    // Make sure text last character is EOL
-                    text[textLength] = '\0';
-                }
-            }
-
-            // Move cursor position with keys
-            if (IsKeyPressed(KEY_LEFT) || (IsKeyDown(KEY_LEFT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_LEFT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int prevCodepointSize = 0;
-                    if (textBoxCursorIndex > 0) GetCodepointPrevious(text + textBoxCursorIndex, &prevCodepointSize);
-
-                    if (textBoxCursorIndex >= prevCodepointSize) textBoxCursorIndex -= prevCodepointSize;
-                }
-            }
-            else if (IsKeyPressed(KEY_RIGHT) || (IsKeyDown(KEY_RIGHT) && (autoCursorCooldownCounter > RAYGUI_TEXTBOX_AUTO_CURSOR_COOLDOWN)))
-            {
-                autoCursorDelayCounter++;
-
-                if (IsKeyPressed(KEY_RIGHT) || (autoCursorDelayCounter%RAYGUI_TEXTBOX_AUTO_CURSOR_DELAY) == 0)      // Delay every movement some frames
-                {
-                    int nextCodepointSize = 0;
-                    GetCodepointNext(text + textBoxCursorIndex, &nextCodepointSize);
-
-                    if ((textBoxCursorIndex + nextCodepointSize) <= textLength) textBoxCursorIndex += nextCodepointSize;
-                }
-            }
-
-            // Move cursor position with mouse
-            if (CheckCollisionPointRec(mousePosition, textBounds))     // Mouse hover text
-            {
-                float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/(float)guiFont.baseSize;
-                int codepointIndex = 0;
-                float glyphWidth = 0.0f;
-                float widthToMouseX = 0;
-                int mouseCursorIndex = 0;
-
-                for (int i = textIndexOffset; i < textLength; i++)
-                {
-                    codepoint = GetCodepointNext(&text[i], &codepointSize);
-                    codepointIndex = GetGlyphIndex(guiFont, codepoint);
-
-                    if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
-                    else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
-
-                    if (mousePosition.x <= (textBounds.x + (widthToMouseX + glyphWidth/2)))
-                    {
-                        mouseCursor.x = textBounds.x + widthToMouseX;
-                        mouseCursorIndex = i;
-                        break;
-                    }
-
-                    widthToMouseX += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-                }
-
-                // Check if mouse cursor is at the last position
-                int textEndWidth = GetTextWidth(text + textIndexOffset);
-                if (GetMousePosition().x >= (textBounds.x + textEndWidth - glyphWidth/2))
-                {
-                    mouseCursor.x = textBounds.x + textEndWidth;
-                    mouseCursorIndex = textLength;
-                }
-
-                // Place cursor at required index on mouse click
-                if ((mouseCursor.x >= 0) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    cursor.x = mouseCursor.x;
-                    textBoxCursorIndex = mouseCursorIndex;
-                }
-            }
-            else mouseCursor.x = -1;
-
-            // Recalculate cursor position.y depending on textBoxCursorIndex
-            cursor.x = bounds.x + GuiGetStyle(TEXTBOX, TEXT_PADDING) + GetTextWidth(text + textIndexOffset) - GetTextWidth(text + textBoxCursorIndex) + GuiGetStyle(DEFAULT, TEXT_SPACING);
-            //if (multiline) cursor.y = GetTextLines()
-
-            // Finish text editing on ENTER or mouse click outside bounds
-            if ((!multiline && IsKeyPressed(KEY_ENTER)) ||
-                (!CheckCollisionPointRec(mousePosition, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
-            {
-                textBoxCursorIndex = 0;     // GLOBAL: Reset the shared cursor index
-                result = 1;
-            }
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePosition, bounds))
-            {
-                state = STATE_FOCUSED;
-
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                {
-                    textBoxCursorIndex = textLength;   // GLOBAL: Place cursor index to the end of current text
-                    result = 1;
-                }
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_PRESSED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_PRESSED)));
-    }
-    else if (state == STATE_DISABLED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), GetColor(GuiGetStyle(TEXTBOX, BASE_COLOR_DISABLED)));
-    }
-    else GuiDrawRectangle(bounds, GuiGetStyle(TEXTBOX, BORDER_WIDTH), GetColor(GuiGetStyle(TEXTBOX, BORDER + (state*3))), BLANK);
-
-    // Draw text considering index offset if required
-    // NOTE: Text index offset depends on cursor position
-    GuiDrawText(text + textIndexOffset, textBounds, GuiGetStyle(TEXTBOX, TEXT_ALIGNMENT), GetColor(GuiGetStyle(TEXTBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode && !GuiGetStyle(TEXTBOX, TEXT_READONLY))
-    {
-        //if (autoCursorMode || ((blinkCursorFrameCounter/40)%2 == 0))
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
-
-        // Draw mouse position cursor (if required)
-        if (mouseCursor.x >= 0) GuiDrawRectangle(mouseCursor, 0, BLANK, GetColor(GuiGetStyle(TEXTBOX, BORDER_COLOR_PRESSED)));
-    }
-    else if (state == STATE_FOCUSED) GuiTooltip(bounds);
-    //--------------------------------------------------------------------
-
-    return result;      // Mouse button pressed: result = 1
-}
-
-/*
-// Text Box control with multiple lines and word-wrap
-// NOTE: This text-box is readonly, no editing supported by default
-bool GuiTextBoxMulti(Rectangle bounds, char *text, int textSize, bool editMode)
-{
-    bool pressed = false;
-
-    GuiSetStyle(TEXTBOX, TEXT_READONLY, 1);
-    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_WORD);   // WARNING: If wrap mode enabled, text editing is not supported
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_TOP);
-
-    // TODO: Implement methods to calculate cursor position properly
-    pressed = GuiTextBox(bounds, text, textSize, editMode);
-
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);
-    GuiSetStyle(DEFAULT, TEXT_WRAP_MODE, TEXT_WRAP_NONE);
-    GuiSetStyle(TEXTBOX, TEXT_READONLY, 0);
-
-    return pressed;
-}
-*/
-
-// Spinner control, returns selected value
-int GuiSpinner(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
-{
-    int result = 1;
-    GuiState state = guiState;
-
-    int tempValue = *value;
-
-    Rectangle spinner = { bounds.x + GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING), bounds.y,
-                          bounds.width - 2*(GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH) + GuiGetStyle(SPINNER, SPIN_BUTTON_SPACING)), bounds.height };
-    Rectangle leftButtonBound = { (float)bounds.x, (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
-    Rectangle rightButtonBound = { (float)bounds.x + bounds.width - GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.y, (float)GuiGetStyle(SPINNER, SPIN_BUTTON_WIDTH), (float)bounds.height };
-
-    Rectangle textBounds = { 0 };
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SPINNER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SPINNER, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check spinner state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-
-#if defined(RAYGUI_NO_ICONS)
-    if (GuiButton(leftButtonBound, "<")) tempValue--;
-    if (GuiButton(rightButtonBound, ">")) tempValue++;
-#else
-    if (GuiButton(leftButtonBound, GuiIconText(ICON_ARROW_LEFT_FILL, NULL))) tempValue--;
-    if (GuiButton(rightButtonBound, GuiIconText(ICON_ARROW_RIGHT_FILL, NULL))) tempValue++;
-#endif
-
-    if (!editMode)
-    {
-        if (tempValue < minValue) tempValue = minValue;
-        if (tempValue > maxValue) tempValue = maxValue;
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    result = GuiValueBox(spinner, NULL, &tempValue, minValue, maxValue, editMode);
-
-    // Draw value selector custom buttons
-    // NOTE: BORDER_WIDTH and TEXT_ALIGNMENT forced values
-    int tempBorderWidth = GuiGetStyle(BUTTON, BORDER_WIDTH);
-    int tempTextAlign = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, GuiGetStyle(SPINNER, BORDER_WIDTH));
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, tempTextAlign);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, tempBorderWidth);
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds, (GuiGetStyle(SPINNER, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    *value = tempValue;
-    return result;
-}
-
-// Value Box control, updates input text with numbers
-// NOTE: Requires static variables: frameCounter
-int GuiValueBox(Rectangle bounds, const char *text, int *value, int minValue, int maxValue, bool editMode)
-{
-    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
-        #define RAYGUI_VALUEBOX_MAX_CHARS  32
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
-    sprintf(textValue, "%i", *value);
-
-    Rectangle textBounds = { 0 };
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        bool valueHasChanged = false;
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            int keyCount = (int)strlen(textValue);
-
-            // Only allow keys in range [48..57]
-            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
-            {
-                if (GetTextWidth(textValue) < bounds.width)
-                {
-                    int key = GetCharPressed();
-                    if ((key >= 48) && (key <= 57))
-                    {
-                        textValue[keyCount] = (char)key;
-                        keyCount++;
-                        valueHasChanged = true;
-                    }
-                }
-            }
-
-            // Delete text
-            if (keyCount > 0)
-            {
-                if (IsKeyPressed(KEY_BACKSPACE))
-                {
-                    keyCount--;
-                    textValue[keyCount] = '\0';
-                    valueHasChanged = true;
-                }
-            }
-
-            if (valueHasChanged) *value = TextToInteger(textValue);
-
-            // NOTE: We are not clamp values until user input finishes
-            //if (*value > maxValue) *value = maxValue;
-            //else if (*value < minValue) *value = minValue;
-
-            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON)))
-            {
-                if (*value > maxValue) *value = maxValue;
-                else if (*value < minValue) *value = minValue;
-
-                result = 1;
-            }
-        }
-        else
-        {
-            if (*value > maxValue) *value = maxValue;
-            else if (*value < minValue) *value = minValue;
-
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                state = STATE_FOCUSED;
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    Color baseColor = BLANK;
-    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
-    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
-    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode)
-    {
-        // NOTE: ValueBox internal text is always centered
-        Rectangle cursor = { bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1, bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4, bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH) };
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
-    }
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds, (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Floating point Value Box control, updates input val_str with numbers
-// NOTE: Requires static variables: frameCounter
-int GuiValueBoxFloat(Rectangle bounds, const char *text, char *textValue, float *value, bool editMode)
-{
-    #if !defined(RAYGUI_VALUEBOX_MAX_CHARS)
-        #define RAYGUI_VALUEBOX_MAX_CHARS  32
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    //char textValue[RAYGUI_VALUEBOX_MAX_CHARS + 1] = "\0";
-    //sprintf(textValue, "%2.2f", *value);
-
-    Rectangle textBounds = {0};
-    if (text != NULL)
-    {
-        textBounds.width = (float)GetTextWidth(text) + 2;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(VALUEBOX, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        if (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_LEFT) textBounds.x = bounds.x - textBounds.width - GuiGetStyle(VALUEBOX, TEXT_PADDING);
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        bool valueHasChanged = false;
-
-        if (editMode)
-        {
-            state = STATE_PRESSED;
-
-            int keyCount = (int)strlen(textValue);
-
-            // Only allow keys in range [48..57]
-            if (keyCount < RAYGUI_VALUEBOX_MAX_CHARS)
-            {
-                if (GetTextWidth(textValue) < bounds.width)
-                {
-                    int key = GetCharPressed();
-                    if (((key >= 48) && (key <= 57)) ||
-                        (key == '.') ||
-                        ((keyCount == 0) && (key == '+')) ||  // NOTE: Sign can only be in first position
-                        ((keyCount == 0) && (key == '-')))
-                    {
-                        textValue[keyCount] = (char)key;
-                        keyCount++;
-
-                        valueHasChanged = true;
-                    }
-                }
-            }
-
-            // Pressed backspace
-            if (IsKeyPressed(KEY_BACKSPACE))
-            {
-                if (keyCount > 0)
-                {
-                    keyCount--;
-                    textValue[keyCount] = '\0';
-                    valueHasChanged = true;
-                }
-            }
-
-            if (valueHasChanged) *value = TextToFloat(textValue);
-
-            if ((IsKeyPressed(KEY_ENTER) || IsKeyPressed(KEY_KP_ENTER)) || (!CheckCollisionPointRec(mousePoint, bounds) && IsMouseButtonPressed(MOUSE_LEFT_BUTTON))) result = 1;
-        }
-        else
-        {
-            if (CheckCollisionPointRec(mousePoint, bounds))
-            {
-                state = STATE_FOCUSED;
-                if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON)) result = 1;
-            }
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    Color baseColor = BLANK;
-    if (state == STATE_PRESSED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_PRESSED));
-    else if (state == STATE_DISABLED) baseColor = GetColor(GuiGetStyle(VALUEBOX, BASE_COLOR_DISABLED));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(VALUEBOX, BORDER_WIDTH), GetColor(GuiGetStyle(VALUEBOX, BORDER + (state*3))), baseColor);
-    GuiDrawText(textValue, GetTextBounds(VALUEBOX, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(VALUEBOX, TEXT + (state*3))));
-
-    // Draw cursor
-    if (editMode)
-    {
-        // NOTE: ValueBox internal text is always centered
-        Rectangle cursor = {bounds.x + GetTextWidth(textValue)/2 + bounds.width/2 + 1,
-                            bounds.y + 2*GuiGetStyle(VALUEBOX, BORDER_WIDTH), 4,
-                            bounds.height - 4*GuiGetStyle(VALUEBOX, BORDER_WIDTH)};
-        GuiDrawRectangle(cursor, 0, BLANK, GetColor(GuiGetStyle(VALUEBOX, BORDER_COLOR_PRESSED)));
-    }
-
-    // Draw text label if provided
-    GuiDrawText(text, textBounds,
-                (GuiGetStyle(VALUEBOX, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT)? TEXT_ALIGN_LEFT : TEXT_ALIGN_RIGHT,
-                GetColor(GuiGetStyle(LABEL, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Slider control with pro parameters
-// NOTE: Other GuiSlider*() controls use this one
-int GuiSliderPro(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue, int sliderWidth)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    float temp = (maxValue - minValue)/2.0f;
-    if (value == NULL) value = &temp;
-    float oldValue = *value;
-
-    Rectangle slider = { bounds.x, bounds.y + GuiGetStyle(SLIDER, BORDER_WIDTH) + GuiGetStyle(SLIDER, SLIDER_PADDING),
-                         0, bounds.height - 2*GuiGetStyle(SLIDER, BORDER_WIDTH) - 2*GuiGetStyle(SLIDER, SLIDER_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-                    // Get equivalent value and slider position from mousePosition.x
-                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                if (!CheckCollisionPointRec(mousePoint, slider))
-                {
-                    // Get equivalent value and slider position from mousePosition.x
-                    *value = (maxValue - minValue)*((mousePoint.x - bounds.x - sliderWidth/2)/(bounds.width-sliderWidth)) + minValue;
-                }
-            }
-            else state = STATE_FOCUSED;
-        }
-
-        if (*value > maxValue) *value = maxValue;
-        else if (*value < minValue) *value = minValue;
-    }
-
-    // Control value change check
-    if (oldValue == *value) result = 0;
-    else result = 1;
-
-    // Slider bar limits check
-    float sliderValue = (((*value - minValue)/(maxValue - minValue))*(bounds.width - sliderWidth - 2*GuiGetStyle(SLIDER, BORDER_WIDTH)));
-    if (sliderWidth > 0)        // Slider
-    {
-        slider.x += sliderValue;
-        slider.width = (float)sliderWidth;
-        if (slider.x <= (bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH))) slider.x = bounds.x + GuiGetStyle(SLIDER, BORDER_WIDTH);
-        else if ((slider.x + slider.width) >= (bounds.x + bounds.width)) slider.x = bounds.x + bounds.width - slider.width - GuiGetStyle(SLIDER, BORDER_WIDTH);
-    }
-    else if (sliderWidth == 0)  // SliderBar
-    {
-        slider.x += GuiGetStyle(SLIDER, BORDER_WIDTH);
-        slider.width = sliderValue;
-        if (slider.width > bounds.width) slider.width = bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH);
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SLIDER, BORDER_WIDTH), GetColor(GuiGetStyle(SLIDER, BORDER + (state*3))), GetColor(GuiGetStyle(SLIDER, (state != STATE_DISABLED)?  BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
-
-    // Draw slider internal bar (depends on state)
-    if (state == STATE_NORMAL) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BASE_COLOR_PRESSED)));
-    else if (state == STATE_FOCUSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_FOCUSED)));
-    else if (state == STATE_PRESSED) GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, TEXT_COLOR_PRESSED)));
-
-    // Draw left/right text if provided
-    if (textLeft != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textLeft);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(SLIDER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
-    }
-
-    if (textRight != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textRight);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(SLIDER, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(SLIDER, TEXT + (state*3))));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Slider control extended, returns selected value and has text
-int GuiSlider(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, GuiGetStyle(SLIDER, SLIDER_WIDTH));
-}
-
-// Slider Bar control extended, returns selected value
-int GuiSliderBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    return GuiSliderPro(bounds, textLeft, textRight, value, minValue, maxValue, 0);
-}
-
-// Progress Bar control extended, shows current progress value
-int GuiProgressBar(Rectangle bounds, const char *textLeft, const char *textRight, float *value, float minValue, float maxValue)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    float temp = (maxValue - minValue)/2.0f;
-    if (value == NULL) value = &temp;
-
-    // Progress bar
-    Rectangle progress = { bounds.x + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH),
-                           bounds.y + GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) + GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING), 0,
-                           bounds.height - 2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) - 2*GuiGetStyle(PROGRESSBAR, PROGRESS_PADDING) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if (*value > maxValue) *value = maxValue;
-
-    // WARNING: Working with floats could lead to rounding issues
-    if ((state != STATE_DISABLED)) progress.width = (float)(*value/(maxValue - minValue))*bounds.width - ((*value >= maxValue)? (float)(2*GuiGetStyle(PROGRESSBAR, BORDER_WIDTH)) : 0.0f);
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_DISABLED)
-    {
-        GuiDrawRectangle(bounds, GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(PROGRESSBAR, BORDER + (state*3))), BLANK);
-    }
-    else
-    {
-        if (*value > minValue)
-        {
-            // Draw progress bar with colored border, more visual
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y + bounds.height - 1, (int)progress.width + (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-        }
-        else GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-
-        if (*value >= maxValue) GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + progress.width + 1, bounds.y, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_FOCUSED)));
-        else
-        {
-            // Draw borders not yet reached by value
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + (int)progress.width + 1, bounds.y + bounds.height - 1, bounds.width - (int)progress.width - 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH) }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-            GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ bounds.x + bounds.width - 1, bounds.y + 1, (float)GuiGetStyle(PROGRESSBAR, BORDER_WIDTH), bounds.height - 2 }, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BORDER_COLOR_NORMAL)));
-        }
-
-        // Draw slider internal progress bar (depends on state)
-        GuiDrawRectangle(progress, 0, BLANK, GetColor(GuiGetStyle(PROGRESSBAR, BASE_COLOR_PRESSED)));
-    }
-
-    // Draw left/right text if provided
-    if (textLeft != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textLeft);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x - textBounds.width - GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textLeft, textBounds, TEXT_ALIGN_RIGHT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
-    }
-
-    if (textRight != NULL)
-    {
-        Rectangle textBounds = { 0 };
-        textBounds.width = (float)GetTextWidth(textRight);
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-        textBounds.x = bounds.x + bounds.width + GuiGetStyle(PROGRESSBAR, TEXT_PADDING);
-        textBounds.y = bounds.y + bounds.height/2 - GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-
-        GuiDrawText(textRight, textBounds, TEXT_ALIGN_LEFT, GetColor(GuiGetStyle(PROGRESSBAR, TEXT + (state*3))));
-    }
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Status Bar control
-int GuiStatusBar(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(STATUSBAR, BORDER_WIDTH), GetColor(GuiGetStyle(STATUSBAR, BORDER + (state*3))), GetColor(GuiGetStyle(STATUSBAR, BASE + (state*3))));
-    GuiDrawText(text, GetTextBounds(STATUSBAR, bounds), GuiGetStyle(STATUSBAR, TEXT_ALIGNMENT), GetColor(GuiGetStyle(STATUSBAR, TEXT + (state*3))));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Dummy rectangle control, intended for placeholding
-int GuiDummyRec(Rectangle bounds, const char *text)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check button state
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON)) state = STATE_PRESSED;
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, 0, BLANK, GetColor(GuiGetStyle(DEFAULT, (state != STATE_DISABLED)? BASE_COLOR_NORMAL : BASE_COLOR_DISABLED)));
-    GuiDrawText(text, GetTextBounds(DEFAULT, bounds), TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(BUTTON, (state != STATE_DISABLED)? TEXT_COLOR_NORMAL : TEXT_COLOR_DISABLED)));
-    //------------------------------------------------------------------
-
-    return result;
-}
-
-// List View control
-int GuiListView(Rectangle bounds, const char *text, int *scrollIndex, int *active)
-{
-    int result = 0;
-    int itemCount = 0;
-    const char **items = NULL;
-
-    if (text != NULL) items = GuiTextSplit(text, ';', &itemCount, NULL);
-
-    result = GuiListViewEx(bounds, items, itemCount, scrollIndex, active, NULL);
-
-    return result;
-}
-
-// List View control with extended parameters
-int GuiListViewEx(Rectangle bounds, const char **text, int count, int *scrollIndex, int *active, int *focus)
-{
-    int result = 0;
-    GuiState state = guiState;
-
-    int itemFocused = (focus == NULL)? -1 : *focus;
-    int itemSelected = (active == NULL)? -1 : *active;
-
-    // Check if we need a scroll bar
-    bool useScrollBar = false;
-    if ((GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING))*count > bounds.height) useScrollBar = true;
-
-    // Define base item rectangle [0]
-    Rectangle itemBounds = { 0 };
-    itemBounds.x = bounds.x + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING);
-    itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    itemBounds.width = bounds.width - 2*GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) - GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    itemBounds.height = (float)GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT);
-    if (useScrollBar) itemBounds.width -= GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH);
-
-    // Get items on the list
-    int visibleItems = (int)bounds.height/(GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-    if (visibleItems > count) visibleItems = count;
-
-    int startIndex = (scrollIndex == NULL)? 0 : *scrollIndex;
-    if ((startIndex < 0) || (startIndex > (count - visibleItems))) startIndex = 0;
-    int endIndex = startIndex + visibleItems;
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        // Check mouse inside list view
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            state = STATE_FOCUSED;
-
-            // Check focused and selected item
-            for (int i = 0; i < visibleItems; i++)
-            {
-                if (CheckCollisionPointRec(mousePoint, itemBounds))
-                {
-                    itemFocused = startIndex + i;
-                    if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-                    {
-                        if (itemSelected == (startIndex + i)) itemSelected = -1;
-                        else itemSelected = startIndex + i;
-                    }
-                    break;
-                }
-
-                // Update item rectangle y position for next item
-                itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-            }
-
-            if (useScrollBar)
-            {
-                int wheelMove = (int)GetMouseWheelMove();
-                startIndex -= wheelMove;
-
-                if (startIndex < 0) startIndex = 0;
-                else if (startIndex > (count - visibleItems)) startIndex = count - visibleItems;
-
-                endIndex = startIndex + visibleItems;
-                if (endIndex > count) endIndex = count;
-            }
-        }
-        else itemFocused = -1;
-
-        // Reset item rectangle y to [0]
-        itemBounds.y = bounds.y + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING) + GuiGetStyle(DEFAULT, BORDER_WIDTH);
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BACKGROUND_COLOR)));     // Draw background
-
-    // Draw visible items
-    for (int i = 0; ((i < visibleItems) && (text != NULL)); i++)
-    {
-        GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, LIST_ITEMS_BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_NORMAL)), BLANK);
-
-        if (state == STATE_DISABLED)
-        {
-            if ((startIndex + i) == itemSelected) GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_DISABLED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_DISABLED)));
-
-            GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_DISABLED)));
-        }
-        else
-        {
-            if (((startIndex + i) == itemSelected) && (active != NULL))
-            {
-                // Draw item selected
-                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_PRESSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_PRESSED)));
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_PRESSED)));
-            }
-            else if (((startIndex + i) == itemFocused)) // && (focus != NULL))  // NOTE: We want items focused, despite not returned!
-            {
-                // Draw item focused
-                GuiDrawRectangle(itemBounds, GuiGetStyle(LISTVIEW, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER_COLOR_FOCUSED)), GetColor(GuiGetStyle(LISTVIEW, BASE_COLOR_FOCUSED)));
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_FOCUSED)));
-            }
-            else
-            {
-                // Draw item normal
-                GuiDrawText(text[startIndex + i], GetTextBounds(DEFAULT, itemBounds), GuiGetStyle(LISTVIEW, TEXT_ALIGNMENT), GetColor(GuiGetStyle(LISTVIEW, TEXT_COLOR_NORMAL)));
-            }
-        }
-
-        // Update item rectangle y position for next item
-        itemBounds.y += (GuiGetStyle(LISTVIEW, LIST_ITEMS_HEIGHT) + GuiGetStyle(LISTVIEW, LIST_ITEMS_SPACING));
-    }
-
-    if (useScrollBar)
-    {
-        Rectangle scrollBarBounds = {
-            bounds.x + bounds.width - GuiGetStyle(LISTVIEW, BORDER_WIDTH) - GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
-            bounds.y + GuiGetStyle(LISTVIEW, BORDER_WIDTH), (float)GuiGetStyle(LISTVIEW, SCROLLBAR_WIDTH),
-            bounds.height - 2*GuiGetStyle(DEFAULT, BORDER_WIDTH)
-        };
-
-        // Calculate percentage of visible items and apply same percentage to scrollbar
-        float percentVisible = (float)(endIndex - startIndex)/count;
-        float sliderSize = bounds.height*percentVisible;
-
-        int prevSliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);   // Save default slider size
-        int prevScrollSpeed = GuiGetStyle(SCROLLBAR, SCROLL_SPEED); // Save default scroll speed
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, (int)sliderSize);            // Change slider size
-        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, count - visibleItems); // Change scroll speed
-
-        startIndex = GuiScrollBar(scrollBarBounds, startIndex, 0, count - visibleItems);
-
-        GuiSetStyle(SCROLLBAR, SCROLL_SPEED, prevScrollSpeed); // Reset scroll speed to default
-        GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, prevSliderSize); // Reset slider size to default
-    }
-    //--------------------------------------------------------------------
-
-    if (active != NULL) *active = itemSelected;
-    if (focus != NULL) *focus = itemFocused;
-    if (scrollIndex != NULL) *scrollIndex = startIndex;
-
-    return result;
-}
-
-// Color Panel control - Color (RGBA) variant.
-int GuiColorPanel(Rectangle bounds, const char *text, Color *color)
-{
-    int result = 0;
-
-    Vector3 vcolor = { (float)color->r/255.0f, (float)color->g/255.0f, (float)color->b/255.0f };
-    Vector3 hsv = ConvertRGBtoHSV(vcolor);
-    Vector3 prevHsv = hsv; // workaround to see if GuiColorPanelHSV modifies the hsv.
-
-    GuiColorPanelHSV(bounds, text, &hsv);
-
-    // Check if the hsv was changed, only then change the color.
-    // This is required, because the Color->HSV->Color conversion has precision errors.
-    // Thus the assignment from HSV to Color should only be made, if the HSV has a new user-entered value.
-    // Otherwise GuiColorPanel would often modify it's color without user input.
-    // TODO: GuiColorPanelHSV could return 1 if the slider was dragged, to simplify this check.
-    if (hsv.x != prevHsv.x || hsv.y != prevHsv.y || hsv.z != prevHsv.z)
-    {
-        Vector3 rgb = ConvertHSVtoRGB(hsv);
-
-        // NOTE: Vector3ToColor() only available on raylib 1.8.1
-        *color = RAYGUI_CLITERAL(Color){ (unsigned char)(255.0f*rgb.x),
-                            (unsigned char)(255.0f*rgb.y),
-                            (unsigned char)(255.0f*rgb.z),
-                            color->a };
-    }
-    return result;
-}
-
-// Color Bar Alpha control
-// NOTE: Returns alpha value normalized [0..1]
-int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
-{
-    #if !defined(RAYGUI_COLORBARALPHA_CHECKED_SIZE)
-        #define RAYGUI_COLORBARALPHA_CHECKED_SIZE   10
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-    Rectangle selector = { (float)bounds.x + (*alpha)*bounds.width - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.y - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT), (float)bounds.height + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    *alpha = (mousePoint.x - bounds.x)/bounds.width;
-                    if (*alpha <= 0.0f) *alpha = 0.0f;
-                    if (*alpha >= 1.0f) *alpha = 1.0f;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                *alpha = (mousePoint.x - bounds.x)/bounds.width;
-                if (*alpha <= 0.0f) *alpha = 0.0f;
-                if (*alpha >= 1.0f) *alpha = 1.0f;
-                //selector.x = bounds.x + (int)(((alpha - 0)/(100 - 0))*(bounds.width - 2*GuiGetStyle(SLIDER, BORDER_WIDTH))) - selector.width/2;
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-
-    // Draw alpha bar: checked background
-    if (state != STATE_DISABLED)
-    {
-        int checksX = (int)bounds.width/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
-        int checksY = (int)bounds.height/RAYGUI_COLORBARALPHA_CHECKED_SIZE;
-
-        for (int x = 0; x < checksX; x++)
-        {
-            for (int y = 0; y < checksY; y++)
-            {
-                Rectangle check = { bounds.x + x*RAYGUI_COLORBARALPHA_CHECKED_SIZE, bounds.y + y*RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE, RAYGUI_COLORBARALPHA_CHECKED_SIZE };
-                GuiDrawRectangle(check, 0, BLANK, ((x + y)%2)? Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.4f) : Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.4f));
-            }
-        }
-
-        DrawRectangleGradientEx(bounds, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, RAYGUI_CLITERAL(Color){ 255, 255, 255, 0 }, Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 0, 255 }, guiAlpha));
-    }
-    else DrawRectangleGradientEx(bounds, Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-
-    // Draw alpha bar: selector
-    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Color Bar Hue control
-// Returns hue value normalized [0..1]
-// NOTE: Other similar bars (for reference):
-//      Color GuiColorBarSat() [WHITE->color]
-//      Color GuiColorBarValue() [BLACK->color], HSV/HSL
-//      float GuiColorBarLuminance() [BLACK->WHITE]
-int GuiColorBarHue(Rectangle bounds, const char *text, float *hue)
-{
-    int result = 0;
-    GuiState state = guiState;
-    Rectangle selector = { (float)bounds.x - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW), (float)bounds.y + (*hue)/360.0f*bounds.height - GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT)/2, (float)bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW)*2, (float)GuiGetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT) };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    *hue = (mousePoint.y - bounds.y)*360/bounds.height;
-                    if (*hue <= 0.0f) *hue = 0.0f;
-                    if (*hue >= 359.0f) *hue = 359.0f;
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds) || CheckCollisionPointRec(mousePoint, selector))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                *hue = (mousePoint.y - bounds.y)*360/bounds.height;
-                if (*hue <= 0.0f) *hue = 0.0f;
-                if (*hue >= 359.0f) *hue = 359.0f;
-
-            }
-            else state = STATE_FOCUSED;
-
-            /*if (IsKeyDown(KEY_UP))
-            {
-                hue -= 2.0f;
-                if (hue <= 0.0f) hue = 0.0f;
-            }
-            else if (IsKeyDown(KEY_DOWN))
-            {
-                hue += 2.0f;
-                if (hue >= 360.0f) hue = 360.0f;
-            }*/
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state != STATE_DISABLED)
-    {
-        // Draw hue bar:color bars
-        // TODO: Use directly DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + bounds.height/6), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 2*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 0, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 3*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 255, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 4*(bounds.height/6)), (int)bounds.width, (int)ceilf(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 0, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha));
-        DrawRectangleGradientV((int)bounds.x, (int)(bounds.y + 5*(bounds.height/6)), (int)bounds.width, (int)(bounds.height/6), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 255, 255 }, guiAlpha), Fade(RAYGUI_CLITERAL(Color){ 255, 0, 0, 255 }, guiAlpha));
-    }
-    else DrawRectangleGradientV((int)bounds.x, (int)bounds.y, (int)bounds.width, (int)bounds.height, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), guiAlpha));
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-
-    // Draw hue bar: selector
-    GuiDrawRectangle(selector, 0, BLANK, GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)));
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Color Picker control
-// NOTE: It's divided in multiple controls:
-//      Color GuiColorPanel(Rectangle bounds, Color color)
-//      float GuiColorBarAlpha(Rectangle bounds, float alpha)
-//      float GuiColorBarHue(Rectangle bounds, float value)
-// NOTE: bounds define GuiColorPanel() size
-// NOTE: this picker converts RGB to HSV, which can cause the Hue control to jump. If you have this problem, consider using the HSV variant instead
-int GuiColorPicker(Rectangle bounds, const char *text, Color *color)
-{
-    int result = 0;
-
-    Color temp = { 200, 0, 0, 255 };
-    if (color == NULL) color = &temp;
-
-    GuiColorPanel(bounds, NULL, color);
-
-    Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
-    //Rectangle boundsAlpha = { bounds.x, bounds.y + bounds.height + GuiGetStyle(COLORPICKER, BARS_PADDING), bounds.width, GuiGetStyle(COLORPICKER, BARS_THICK) };
-
-    // NOTE: this conversion can cause low hue-resolution, if the r, g and b value are very similar, which causes the hue bar to shift around when only the GuiColorPanel is used.
-    Vector3 hsv = ConvertRGBtoHSV(RAYGUI_CLITERAL(Vector3){ (*color).r/255.0f, (*color).g/255.0f, (*color).b/255.0f });
-
-    GuiColorBarHue(boundsHue, NULL, &hsv.x);
-
-    //color.a = (unsigned char)(GuiColorBarAlpha(boundsAlpha, (float)color.a/255.0f)*255.0f);
-    Vector3 rgb = ConvertHSVtoRGB(hsv);
-
-    *color = RAYGUI_CLITERAL(Color){ (unsigned char)roundf(rgb.x*255.0f), (unsigned char)roundf(rgb.y*255.0f), (unsigned char)roundf(rgb.z*255.0f), (*color).a };
-
-    return result;
-}
-
-// Color Picker control that avoids conversion to RGB and back to HSV on each call, thus avoiding jittering.
-// The user can call ConvertHSVtoRGB() to convert *colorHsv value to RGB.
-// NOTE: It's divided in multiple controls:
-//      int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-//      int GuiColorBarAlpha(Rectangle bounds, const char *text, float *alpha)
-//      float GuiColorBarHue(Rectangle bounds, float value)
-// NOTE: bounds define GuiColorPanelHSV() size
-int GuiColorPickerHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-{
-    int result = 0;
-
-    Vector3 tempHsv = { 0 };
-
-    if (colorHsv == NULL)
-    {
-        const Vector3 tempColor = { 200.0f/255.0f, 0.0f, 0.0f };
-        tempHsv = ConvertRGBtoHSV(tempColor);
-        colorHsv = &tempHsv;
-    }
-
-    GuiColorPanelHSV(bounds, NULL, colorHsv);
-
-    const Rectangle boundsHue = { (float)bounds.x + bounds.width + GuiGetStyle(COLORPICKER, HUEBAR_PADDING), (float)bounds.y, (float)GuiGetStyle(COLORPICKER, HUEBAR_WIDTH), (float)bounds.height };
-
-    GuiColorBarHue(boundsHue, NULL, &colorHsv->x);
-
-    return result;
-}
-
-// Color Panel control - HSV variant
-int GuiColorPanelHSV(Rectangle bounds, const char *text, Vector3 *colorHsv)
-{
-    int result = 0;
-    GuiState state = guiState;
-    Vector2 pickerSelector = { 0 };
-
-    const Color colWhite = { 255, 255, 255, 255 };
-    const Color colBlack = { 0, 0, 0, 255 };
-
-    pickerSelector.x = bounds.x + (float)colorHsv->y*bounds.width;            // HSV: Saturation
-    pickerSelector.y = bounds.y + (1.0f - (float)colorHsv->z)*bounds.height;  // HSV: Value
-
-    Vector3 maxHue = { colorHsv->x, 1.0f, 1.0f };
-    Vector3 rgbHue = ConvertHSVtoRGB(maxHue);
-    Color maxHueCol = { (unsigned char)(255.0f*rgbHue.x),
-                      (unsigned char)(255.0f*rgbHue.y),
-                      (unsigned char)(255.0f*rgbHue.z), 255 };
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    pickerSelector = mousePoint;
-
-                    if (pickerSelector.x < bounds.x) pickerSelector.x = bounds.x;
-                    if (pickerSelector.x > bounds.x + bounds.width) pickerSelector.x = bounds.x + bounds.width;
-                    if (pickerSelector.y < bounds.y) pickerSelector.y = bounds.y;
-                    if (pickerSelector.y > bounds.y + bounds.height) pickerSelector.y = bounds.y + bounds.height;
-
-                    // Calculate color from picker
-                    Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
-
-                    colorPick.x /= (float)bounds.width;     // Get normalized value on x
-                    colorPick.y /= (float)bounds.height;    // Get normalized value on y
-
-                    colorHsv->y = colorPick.x;
-                    colorHsv->z = 1.0f - colorPick.y;
-
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON))
-            {
-                state = STATE_PRESSED;
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds;
-                pickerSelector = mousePoint;
-
-                // Calculate color from picker
-                Vector2 colorPick = { pickerSelector.x - bounds.x, pickerSelector.y - bounds.y };
-
-                colorPick.x /= (float)bounds.width;     // Get normalized value on x
-                colorPick.y /= (float)bounds.height;    // Get normalized value on y
-
-                colorHsv->y = colorPick.x;
-                colorHsv->z = 1.0f - colorPick.y;
-            }
-            else state = STATE_FOCUSED;
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state != STATE_DISABLED)
-    {
-        DrawRectangleGradientEx(bounds, Fade(colWhite, guiAlpha), Fade(colWhite, guiAlpha), Fade(maxHueCol, guiAlpha), Fade(maxHueCol, guiAlpha));
-        DrawRectangleGradientEx(bounds, Fade(colBlack, 0), Fade(colBlack, guiAlpha), Fade(colBlack, guiAlpha), Fade(colBlack, 0));
-
-        // Draw color picker: selector
-        Rectangle selector = { pickerSelector.x - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, pickerSelector.y - GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE)/2, (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE), (float)GuiGetStyle(COLORPICKER, COLOR_SELECTOR_SIZE) };
-        GuiDrawRectangle(selector, 0, BLANK, colWhite);
-    }
-    else
-    {
-        DrawRectangleGradientEx(bounds, Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BASE_COLOR_DISABLED)), 0.1f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(colBlack, 0.6f), guiAlpha), Fade(Fade(GetColor(GuiGetStyle(COLORPICKER, BORDER_COLOR_DISABLED)), 0.6f), guiAlpha));
-    }
-
-    GuiDrawRectangle(bounds, GuiGetStyle(COLORPICKER, BORDER_WIDTH), GetColor(GuiGetStyle(COLORPICKER, BORDER + state*3)), BLANK);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Message Box control
-int GuiMessageBox(Rectangle bounds, const char *title, const char *message, const char *buttons)
-{
-    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_HEIGHT)
-        #define RAYGUI_MESSAGEBOX_BUTTON_HEIGHT    24
-    #endif
-    #if !defined(RAYGUI_MESSAGEBOX_BUTTON_PADDING)
-        #define RAYGUI_MESSAGEBOX_BUTTON_PADDING   12
-    #endif
-
-    int result = -1;    // Returns clicked button from buttons list, 0 refers to closed window button
-
-    int buttonCount = 0;
-    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
-    Rectangle buttonBounds = { 0 };
-    buttonBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    buttonBounds.y = bounds.y + bounds.height - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT - RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    buttonBounds.width = (bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
-    buttonBounds.height = RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
-
-    //int textWidth = GetTextWidth(message) + 2;
-
-    Rectangle textBounds = { 0 };
-    textBounds.x = bounds.x + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + RAYGUI_MESSAGEBOX_BUTTON_PADDING;
-    textBounds.width = bounds.width - RAYGUI_MESSAGEBOX_BUTTON_PADDING*2;
-    textBounds.height = bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - 3*RAYGUI_MESSAGEBOX_BUTTON_PADDING - RAYGUI_MESSAGEBOX_BUTTON_HEIGHT;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (GuiWindowBox(bounds, title)) result = 0;
-
-    int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-    GuiLabel(textBounds, message);
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
-
-    prevTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    for (int i = 0; i < buttonCount; i++)
-    {
-        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
-        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
-    }
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;
-}
-
-// Text Input Box control, ask for text
-int GuiTextInputBox(Rectangle bounds, const char *title, const char *message, const char *buttons, char *text, int textMaxSize, bool *secretViewActive)
-{
-    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT)
-        #define RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT      24
-    #endif
-    #if !defined(RAYGUI_TEXTINPUTBOX_BUTTON_PADDING)
-        #define RAYGUI_TEXTINPUTBOX_BUTTON_PADDING     12
-    #endif
-    #if !defined(RAYGUI_TEXTINPUTBOX_HEIGHT)
-        #define RAYGUI_TEXTINPUTBOX_HEIGHT             26
-    #endif
-
-    // Used to enable text edit mode
-    // WARNING: No more than one GuiTextInputBox() should be open at the same time
-    static bool textEditMode = false;
-
-    int result = -1;
-
-    int buttonCount = 0;
-    const char **buttonsText = GuiTextSplit(buttons, ';', &buttonCount, NULL);
-    Rectangle buttonBounds = { 0 };
-    buttonBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    buttonBounds.y = bounds.y + bounds.height - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    buttonBounds.width = (bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*(buttonCount + 1))/buttonCount;
-    buttonBounds.height = RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT;
-
-    int messageInputHeight = (int)bounds.height - RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - GuiGetStyle(STATUSBAR, BORDER_WIDTH) - RAYGUI_TEXTINPUTBOX_BUTTON_HEIGHT - 2*RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-
-    Rectangle textBounds = { 0 };
-    if (message != NULL)
-    {
-        int textSize = GetTextWidth(message) + 2;
-
-        textBounds.x = bounds.x + bounds.width/2 - textSize/2;
-        textBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT + messageInputHeight/4 - (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/2;
-        textBounds.width = (float)textSize;
-        textBounds.height = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-    }
-
-    Rectangle textBoxBounds = { 0 };
-    textBoxBounds.x = bounds.x + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    textBoxBounds.y = bounds.y + RAYGUI_WINDOWBOX_STATUSBAR_HEIGHT - RAYGUI_TEXTINPUTBOX_HEIGHT/2;
-    if (message == NULL) textBoxBounds.y = bounds.y + 24 + RAYGUI_TEXTINPUTBOX_BUTTON_PADDING;
-    else textBoxBounds.y += (messageInputHeight/2 + messageInputHeight/4);
-    textBoxBounds.width = bounds.width - RAYGUI_TEXTINPUTBOX_BUTTON_PADDING*2;
-    textBoxBounds.height = RAYGUI_TEXTINPUTBOX_HEIGHT;
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (GuiWindowBox(bounds, title)) result = 0;
-
-    // Draw message if available
-    if (message != NULL)
-    {
-        int prevTextAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-        GuiLabel(textBounds, message);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, prevTextAlignment);
-    }
-
-    if (secretViewActive != NULL)
-    {
-        static char stars[] = "****************";
-        if (GuiTextBox(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x, textBoxBounds.y, textBoxBounds.width - 4 - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.height },
-            ((*secretViewActive == 1) || textEditMode)? text : stars, textMaxSize, textEditMode)) textEditMode = !textEditMode;
-
-        GuiToggle(RAYGUI_CLITERAL(Rectangle){ textBoxBounds.x + textBoxBounds.width - RAYGUI_TEXTINPUTBOX_HEIGHT, textBoxBounds.y, RAYGUI_TEXTINPUTBOX_HEIGHT, RAYGUI_TEXTINPUTBOX_HEIGHT }, (*secretViewActive == 1)? "#44#" : "#45#", secretViewActive);
-    }
-    else
-    {
-        if (GuiTextBox(textBoxBounds, text, textMaxSize, textEditMode)) textEditMode = !textEditMode;
-    }
-
-    int prevBtnTextAlignment = GuiGetStyle(BUTTON, TEXT_ALIGNMENT);
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    for (int i = 0; i < buttonCount; i++)
-    {
-        if (GuiButton(buttonBounds, buttonsText[i])) result = i + 1;
-        buttonBounds.x += (buttonBounds.width + RAYGUI_MESSAGEBOX_BUTTON_PADDING);
-    }
-
-    if (result >= 0) textEditMode = false;
-
-    GuiSetStyle(BUTTON, TEXT_ALIGNMENT, prevBtnTextAlignment);
-    //--------------------------------------------------------------------
-
-    return result;      // Result is the pressed button index
-}
-
-// Grid control
-// NOTE: Returns grid mouse-hover selected cell
-// About drawing lines at subpixel spacing, simple put, not easy solution:
-// https://stackoverflow.com/questions/4435450/2d-opengl-drawing-lines-that-dont-exactly-fit-pixel-raster
-int GuiGrid(Rectangle bounds, const char *text, float spacing, int subdivs, Vector2 *mouseCell)
-{
-    // Grid lines alpha amount
-    #if !defined(RAYGUI_GRID_ALPHA)
-        #define RAYGUI_GRID_ALPHA    0.15f
-    #endif
-
-    int result = 0;
-    GuiState state = guiState;
-
-    Vector2 mousePoint = GetMousePosition();
-    Vector2 currentMouseCell = { -1, -1 };
-
-    float spaceWidth = spacing/(float)subdivs;
-    int linesV = (int)(bounds.width/spaceWidth) + 1;
-    int linesH = (int)(bounds.height/spaceWidth) + 1;
-
-    int color = GuiGetStyle(DEFAULT, LINE_COLOR);
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked && !guiControlExclusiveMode)
-    {
-        if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            // NOTE: Cell values must be the upper left of the cell the mouse is in
-            currentMouseCell.x = floorf((mousePoint.x - bounds.x)/spacing);
-            currentMouseCell.y = floorf((mousePoint.y - bounds.y)/spacing);
-        }
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    if (state == STATE_DISABLED) color = GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED);
-
-    if (subdivs > 0)
-    {
-        // Draw vertical grid lines
-        for (int i = 0; i < linesV; i++)
-        {
-            Rectangle lineV = { bounds.x + spacing*i/subdivs, bounds.y, 1, bounds.height + 1 };
-            GuiDrawRectangle(lineV, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
-        }
-
-        // Draw horizontal grid lines
-        for (int i = 0; i < linesH; i++)
-        {
-            Rectangle lineH = { bounds.x, bounds.y + spacing*i/subdivs, bounds.width + 1, 1 };
-            GuiDrawRectangle(lineH, 0, BLANK, ((i%subdivs) == 0)? GuiFade(GetColor(color), RAYGUI_GRID_ALPHA*4) : GuiFade(GetColor(color), RAYGUI_GRID_ALPHA));
-        }
-    }
-
-    if (mouseCell != NULL) *mouseCell = currentMouseCell;
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Tooltip management functions
-// NOTE: Tooltips requires some global variables: tooltipPtr
-//----------------------------------------------------------------------------------
-// Enable gui tooltips (global state)
-void GuiEnableTooltip(void) { guiTooltip = true; }
-
-// Disable gui tooltips (global state)
-void GuiDisableTooltip(void) { guiTooltip = false; }
-
-// Set tooltip string
-void GuiSetTooltip(const char *tooltip) { guiTooltipPtr = tooltip; }
-
-//----------------------------------------------------------------------------------
-// Styles loading functions
-//----------------------------------------------------------------------------------
-
-// Load raygui style file (.rgs)
-// NOTE: By default a binary file is expected, that file could contain a custom font,
-// in that case, custom font image atlas is GRAY+ALPHA and pixel data can be compressed (DEFLATE)
-void GuiLoadStyle(const char *fileName)
-{
-    #define MAX_LINE_BUFFER_SIZE    256
-
-    bool tryBinary = false;
-    if (!guiStyleLoaded) GuiLoadStyleDefault();
-
-    // Try reading the files as text file first
-    FILE *rgsFile = fopen(fileName, "rt");
-
-    if (rgsFile != NULL)
-    {
-        char buffer[MAX_LINE_BUFFER_SIZE] = { 0 };
-        fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
-
-        if (buffer[0] == '#')
-        {
-            int controlId = 0;
-            int propertyId = 0;
-            unsigned int propertyValue = 0;
-
-            while (!feof(rgsFile))
-            {
-                switch (buffer[0])
-                {
-                    case 'p':
-                    {
-                        // Style property: p <control_id> <property_id> <property_value> <property_name>
-
-                        sscanf(buffer, "p %d %d 0x%x", &controlId, &propertyId, &propertyValue);
-                        GuiSetStyle(controlId, propertyId, (int)propertyValue);
-
-                    } break;
-                    case 'f':
-                    {
-                        // Style font: f <gen_font_size> <charmap_file> <font_file>
-
-                        int fontSize = 0;
-                        char charmapFileName[256] = { 0 };
-                        char fontFileName[256] = { 0 };
-                        sscanf(buffer, "f %d %s %[^\r\n]s", &fontSize, charmapFileName, fontFileName);
-
-                        Font font = { 0 };
-                        int *codepoints = NULL;
-                        int codepointCount = 0;
-
-                        if (charmapFileName[0] != '0')
-                        {
-                            // Load text data from file
-                            // NOTE: Expected an UTF-8 array of codepoints, no separation
-                            char *textData = LoadFileText(TextFormat("%s/%s", GetDirectoryPath(fileName), charmapFileName));
-                            codepoints = LoadCodepoints(textData, &codepointCount);
-                            UnloadFileText(textData);
-                        }
-
-                        if (fontFileName[0] != '\0')
-                        {
-                            // In case a font is already loaded and it is not default internal font, unload it
-                            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
-
-                            if (codepointCount > 0) font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, codepoints, codepointCount);
-                            else font = LoadFontEx(TextFormat("%s/%s", GetDirectoryPath(fileName), fontFileName), fontSize, NULL, 0);   // Default to 95 standard codepoints
-                        }
-
-                        // If font texture not properly loaded, revert to default font and size/spacing
-                        if (font.texture.id == 0)
-                        {
-                            font = GetFontDefault();
-                            GuiSetStyle(DEFAULT, TEXT_SIZE, 10);
-                            GuiSetStyle(DEFAULT, TEXT_SPACING, 1);
-                        }
-
-                        UnloadCodepoints(codepoints);
-
-                        if ((font.texture.id > 0) && (font.glyphCount > 0)) GuiSetFont(font);
-
-                    } break;
-                    default: break;
-                }
-
-                fgets(buffer, MAX_LINE_BUFFER_SIZE, rgsFile);
-            }
-        }
-        else tryBinary = true;
-
-        fclose(rgsFile);
-    }
-
-    if (tryBinary)
-    {
-        rgsFile = fopen(fileName, "rb");
-
-        if (rgsFile != NULL)
-        {
-            fseek(rgsFile, 0, SEEK_END);
-            int fileDataSize = ftell(rgsFile);
-            fseek(rgsFile, 0, SEEK_SET);
-
-            if (fileDataSize > 0)
-            {
-                unsigned char *fileData = (unsigned char *)RAYGUI_MALLOC(fileDataSize*sizeof(unsigned char));
-                fread(fileData, sizeof(unsigned char), fileDataSize, rgsFile);
-
-                GuiLoadStyleFromMemory(fileData, fileDataSize);
-
-                RAYGUI_FREE(fileData);
-            }
-
-            fclose(rgsFile);
-        }
-    }
-}
-
-// Load style default over global style
-void GuiLoadStyleDefault(void)
-{
-    // We set this variable first to avoid cyclic function calls
-    // when calling GuiSetStyle() and GuiGetStyle()
-    guiStyleLoaded = true;
-
-    // Initialize default LIGHT style property values
-    // WARNING: Default value are applied to all controls on set but
-    // they can be overwritten later on for every custom control
-    GuiSetStyle(DEFAULT, BORDER_COLOR_NORMAL, 0x838383ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_NORMAL, 0xc9c9c9ff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_NORMAL, 0x686868ff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_FOCUSED, 0x5bb2d9ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_FOCUSED, 0xc9effeff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_FOCUSED, 0x6c9bbcff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_PRESSED, 0x0492c7ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_PRESSED, 0x97e8ffff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_PRESSED, 0x368bafff);
-    GuiSetStyle(DEFAULT, BORDER_COLOR_DISABLED, 0xb5c1c2ff);
-    GuiSetStyle(DEFAULT, BASE_COLOR_DISABLED, 0xe6e9e9ff);
-    GuiSetStyle(DEFAULT, TEXT_COLOR_DISABLED, 0xaeb7b8ff);
-    GuiSetStyle(DEFAULT, BORDER_WIDTH, 1);
-    GuiSetStyle(DEFAULT, TEXT_PADDING, 0);
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-
-    // Initialize default extended property values
-    // NOTE: By default, extended property values are initialized to 0
-    GuiSetStyle(DEFAULT, TEXT_SIZE, 10);                // DEFAULT, shared by all controls
-    GuiSetStyle(DEFAULT, TEXT_SPACING, 1);              // DEFAULT, shared by all controls
-    GuiSetStyle(DEFAULT, LINE_COLOR, 0x90abb5ff);       // DEFAULT specific property
-    GuiSetStyle(DEFAULT, BACKGROUND_COLOR, 0xf5f5f5ff); // DEFAULT specific property
-    GuiSetStyle(DEFAULT, TEXT_LINE_SPACING, 15);        // DEFAULT, 15 pixels between lines
-    GuiSetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL, TEXT_ALIGN_MIDDLE);   // DEFAULT, text aligned vertically to middle of text-bounds
-
-    // Initialize control-specific property values
-    // NOTE: Those properties are in default list but require specific values by control type
-    GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(BUTTON, BORDER_WIDTH, 2);
-    GuiSetStyle(SLIDER, TEXT_PADDING, 4);
-    GuiSetStyle(PROGRESSBAR, TEXT_PADDING, 4);
-    GuiSetStyle(CHECKBOX, TEXT_PADDING, 4);
-    GuiSetStyle(CHECKBOX, TEXT_ALIGNMENT, TEXT_ALIGN_RIGHT);
-    GuiSetStyle(DROPDOWNBOX, TEXT_PADDING, 0);
-    GuiSetStyle(DROPDOWNBOX, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-    GuiSetStyle(TEXTBOX, TEXT_PADDING, 4);
-    GuiSetStyle(TEXTBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(VALUEBOX, TEXT_PADDING, 0);
-    GuiSetStyle(VALUEBOX, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(SPINNER, TEXT_PADDING, 0);
-    GuiSetStyle(SPINNER, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-    GuiSetStyle(STATUSBAR, TEXT_PADDING, 8);
-    GuiSetStyle(STATUSBAR, TEXT_ALIGNMENT, TEXT_ALIGN_LEFT);
-
-    // Initialize extended property values
-    // NOTE: By default, extended property values are initialized to 0
-    GuiSetStyle(TOGGLE, GROUP_PADDING, 2);
-    GuiSetStyle(SLIDER, SLIDER_WIDTH, 16);
-    GuiSetStyle(SLIDER, SLIDER_PADDING, 1);
-    GuiSetStyle(PROGRESSBAR, PROGRESS_PADDING, 1);
-    GuiSetStyle(CHECKBOX, CHECK_PADDING, 1);
-    GuiSetStyle(COMBOBOX, COMBO_BUTTON_WIDTH, 32);
-    GuiSetStyle(COMBOBOX, COMBO_BUTTON_SPACING, 2);
-    GuiSetStyle(DROPDOWNBOX, ARROW_PADDING, 16);
-    GuiSetStyle(DROPDOWNBOX, DROPDOWN_ITEMS_SPACING, 2);
-    GuiSetStyle(SPINNER, SPIN_BUTTON_WIDTH, 24);
-    GuiSetStyle(SPINNER, SPIN_BUTTON_SPACING, 2);
-    GuiSetStyle(SCROLLBAR, BORDER_WIDTH, 0);
-    GuiSetStyle(SCROLLBAR, ARROWS_VISIBLE, 0);
-    GuiSetStyle(SCROLLBAR, ARROWS_SIZE, 6);
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING, 0);
-    GuiSetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE, 16);
-    GuiSetStyle(SCROLLBAR, SCROLL_PADDING, 0);
-    GuiSetStyle(SCROLLBAR, SCROLL_SPEED, 12);
-    GuiSetStyle(LISTVIEW, LIST_ITEMS_HEIGHT, 28);
-    GuiSetStyle(LISTVIEW, LIST_ITEMS_SPACING, 2);
-    GuiSetStyle(LISTVIEW, SCROLLBAR_WIDTH, 12);
-    GuiSetStyle(LISTVIEW, SCROLLBAR_SIDE, SCROLLBAR_RIGHT_SIDE);
-    GuiSetStyle(COLORPICKER, COLOR_SELECTOR_SIZE, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_WIDTH, 16);
-    GuiSetStyle(COLORPICKER, HUEBAR_PADDING, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_HEIGHT, 8);
-    GuiSetStyle(COLORPICKER, HUEBAR_SELECTOR_OVERFLOW, 2);
-
-    if (guiFont.texture.id != GetFontDefault().texture.id)
-    {
-        // Unload previous font texture
-        UnloadTexture(guiFont.texture);
-        RL_FREE(guiFont.recs);
-        RL_FREE(guiFont.glyphs);
-        guiFont.recs = NULL;
-        guiFont.glyphs = NULL;
-
-        // Setup default raylib font
-        guiFont = GetFontDefault();
-
-        // NOTE: Default raylib font character 95 is a white square
-        Rectangle whiteChar = guiFont.recs[95];
-
-        // NOTE: We set up a 1px padding on char rectangle to avoid pixel bleeding on MSAA filtering
-        SetShapesTexture(guiFont.texture, RAYGUI_CLITERAL(Rectangle){ whiteChar.x + 1, whiteChar.y + 1, whiteChar.width - 2, whiteChar.height - 2 });
-    }
-}
-
-// Get text with icon id prepended
-// NOTE: Useful to add icons by name id (enum) instead of
-// a number that can change between ricon versions
-const char *GuiIconText(int iconId, const char *text)
-{
-#if defined(RAYGUI_NO_ICONS)
-    return NULL;
-#else
-    static char buffer[1024] = { 0 };
-    static char iconBuffer[16] = { 0 };
-
-    if (text != NULL)
-    {
-        memset(buffer, 0, 1024);
-        sprintf(buffer, "#%03i#", iconId);
-
-        for (int i = 5; i < 1024; i++)
-        {
-            buffer[i] = text[i - 5];
-            if (text[i - 5] == '\0') break;
-        }
-
-        return buffer;
-    }
-    else
-    {
-        sprintf(iconBuffer, "#%03i#", iconId);
-
-        return iconBuffer;
-    }
-#endif
-}
-
-#if !defined(RAYGUI_NO_ICONS)
-// Get full icons data pointer
-unsigned int *GuiGetIcons(void) { return guiIconsPtr; }
-
-// Load raygui icons file (.rgi)
-// NOTE: In case nameIds are required, they can be requested with loadIconsName,
-// they are returned as a guiIconsName[iconCount][RAYGUI_ICON_MAX_NAME_LENGTH],
-// WARNING: guiIconsName[]][] memory should be manually freed!
-char **GuiLoadIcons(const char *fileName, bool loadIconsName)
-{
-    // Style File Structure (.rgi)
-    // ------------------------------------------------------
-    // Offset  | Size    | Type       | Description
-    // ------------------------------------------------------
-    // 0       | 4       | char       | Signature: "rGI "
-    // 4       | 2       | short      | Version: 100
-    // 6       | 2       | short      | reserved
-
-    // 8       | 2       | short      | Num icons (N)
-    // 10      | 2       | short      | Icons size (Options: 16, 32, 64) (S)
-
-    // Icons name id (32 bytes per name id)
-    // foreach (icon)
-    // {
-    //   12+32*i  | 32   | char       | Icon NameId
-    // }
-
-    // Icons data: One bit per pixel, stored as unsigned int array (depends on icon size)
-    // S*S pixels/32bit per unsigned int = K unsigned int per icon
-    // foreach (icon)
-    // {
-    //   ...   | K       | unsigned int | Icon Data
-    // }
-
-    FILE *rgiFile = fopen(fileName, "rb");
-
-    char **guiIconsName = NULL;
-
-    if (rgiFile != NULL)
-    {
-        char signature[5] = { 0 };
-        short version = 0;
-        short reserved = 0;
-        short iconCount = 0;
-        short iconSize = 0;
-
-        fread(signature, 1, 4, rgiFile);
-        fread(&version, sizeof(short), 1, rgiFile);
-        fread(&reserved, sizeof(short), 1, rgiFile);
-        fread(&iconCount, sizeof(short), 1, rgiFile);
-        fread(&iconSize, sizeof(short), 1, rgiFile);
-
-        if ((signature[0] == 'r') &&
-            (signature[1] == 'G') &&
-            (signature[2] == 'I') &&
-            (signature[3] == ' '))
-        {
-            if (loadIconsName)
-            {
-                guiIconsName = (char **)RAYGUI_MALLOC(iconCount*sizeof(char **));
-                for (int i = 0; i < iconCount; i++)
-                {
-                    guiIconsName[i] = (char *)RAYGUI_MALLOC(RAYGUI_ICON_MAX_NAME_LENGTH);
-                    fread(guiIconsName[i], 1, RAYGUI_ICON_MAX_NAME_LENGTH, rgiFile);
-                }
-            }
-            else fseek(rgiFile, iconCount*RAYGUI_ICON_MAX_NAME_LENGTH, SEEK_CUR);
-
-            // Read icons data directly over internal icons array
-            fread(guiIconsPtr, sizeof(unsigned int), iconCount*(iconSize*iconSize/32), rgiFile);
-        }
-
-        fclose(rgiFile);
-    }
-
-    return guiIconsName;
-}
-
-// Draw selected icon using rectangles pixel-by-pixel
-void GuiDrawIcon(int iconId, int posX, int posY, int pixelSize, Color color)
-{
-    #define BIT_CHECK(a,b) ((a) & (1u<<(b)))
-
-    for (int i = 0, y = 0; i < RAYGUI_ICON_SIZE*RAYGUI_ICON_SIZE/32; i++)
-    {
-        for (int k = 0; k < 32; k++)
-        {
-            if (BIT_CHECK(guiIconsPtr[iconId*RAYGUI_ICON_DATA_ELEMENTS + i], k))
-            {
-            #if !defined(RAYGUI_STANDALONE)
-                GuiDrawRectangle(RAYGUI_CLITERAL(Rectangle){ (float)posX + (k%RAYGUI_ICON_SIZE)*pixelSize, (float)posY + y*pixelSize, (float)pixelSize, (float)pixelSize }, 0, BLANK, color);
-            #endif
-            }
-
-            if ((k == 15) || (k == 31)) y++;
-        }
-    }
-}
-
-// Set icon drawing size
-void GuiSetIconScale(int scale)
-{
-    if (scale >= 1) guiIconScale = scale;
-}
-
-#endif      // !RAYGUI_NO_ICONS
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Definition
-//----------------------------------------------------------------------------------
-
-// Load style from memory
-// WARNING: Binary files only
-static void GuiLoadStyleFromMemory(const unsigned char *fileData, int dataSize)
-{
-    unsigned char *fileDataPtr = (unsigned char *)fileData;
-
-    char signature[5] = { 0 };
-    short version = 0;
-    short reserved = 0;
-    int propertyCount = 0;
-
-    memcpy(signature, fileDataPtr, 4);
-    memcpy(&version, fileDataPtr + 4, sizeof(short));
-    memcpy(&reserved, fileDataPtr + 4 + 2, sizeof(short));
-    memcpy(&propertyCount, fileDataPtr + 4 + 2 + 2, sizeof(int));
-    fileDataPtr += 12;
-
-    if ((signature[0] == 'r') &&
-        (signature[1] == 'G') &&
-        (signature[2] == 'S') &&
-        (signature[3] == ' '))
-    {
-        short controlId = 0;
-        short propertyId = 0;
-        unsigned int propertyValue = 0;
-
-        for (int i = 0; i < propertyCount; i++)
-        {
-            memcpy(&controlId, fileDataPtr, sizeof(short));
-            memcpy(&propertyId, fileDataPtr + 2, sizeof(short));
-            memcpy(&propertyValue, fileDataPtr + 2 + 2, sizeof(unsigned int));
-            fileDataPtr += 8;
-
-            if (controlId == 0) // DEFAULT control
-            {
-                // If a DEFAULT property is loaded, it is propagated to all controls
-                // NOTE: All DEFAULT properties should be defined first in the file
-                GuiSetStyle(0, (int)propertyId, propertyValue);
-
-                if (propertyId < RAYGUI_MAX_PROPS_BASE) for (int j = 1; j < RAYGUI_MAX_CONTROLS; j++) GuiSetStyle(j, (int)propertyId, propertyValue);
-            }
-            else GuiSetStyle((int)controlId, (int)propertyId, propertyValue);
-        }
-
-        // Font loading is highly dependant on raylib API to load font data and image
-
-#if !defined(RAYGUI_STANDALONE)
-        // Load custom font if available
-        int fontDataSize = 0;
-        memcpy(&fontDataSize, fileDataPtr, sizeof(int));
-        fileDataPtr += 4;
-
-        if (fontDataSize > 0)
-        {
-            Font font = { 0 };
-            int fontType = 0;   // 0-Normal, 1-SDF
-
-            memcpy(&font.baseSize, fileDataPtr, sizeof(int));
-            memcpy(&font.glyphCount, fileDataPtr + 4, sizeof(int));
-            memcpy(&fontType, fileDataPtr + 4 + 4, sizeof(int));
-            fileDataPtr += 12;
-
-            // Load font white rectangle
-            Rectangle fontWhiteRec = { 0 };
-            memcpy(&fontWhiteRec, fileDataPtr, sizeof(Rectangle));
-            fileDataPtr += 16;
-
-            // Load font image parameters
-            int fontImageUncompSize = 0;
-            int fontImageCompSize = 0;
-            memcpy(&fontImageUncompSize, fileDataPtr, sizeof(int));
-            memcpy(&fontImageCompSize, fileDataPtr + 4, sizeof(int));
-            fileDataPtr += 8;
-
-            Image imFont = { 0 };
-            imFont.mipmaps = 1;
-            memcpy(&imFont.width, fileDataPtr, sizeof(int));
-            memcpy(&imFont.height, fileDataPtr + 4, sizeof(int));
-            memcpy(&imFont.format, fileDataPtr + 4 + 4, sizeof(int));
-            fileDataPtr += 12;
-
-            if ((fontImageCompSize > 0) && (fontImageCompSize != fontImageUncompSize))
-            {
-                // Compressed font atlas image data (DEFLATE), it requires DecompressData()
-                int dataUncompSize = 0;
-                unsigned char *compData = (unsigned char *)RAYGUI_MALLOC(fontImageCompSize);
-                memcpy(compData, fileDataPtr, fontImageCompSize);
-                fileDataPtr += fontImageCompSize;
-
-                imFont.data = DecompressData(compData, fontImageCompSize, &dataUncompSize);
-
-                // Security check, dataUncompSize must match the provided fontImageUncompSize
-                if (dataUncompSize != fontImageUncompSize) RAYGUI_LOG("WARNING: Uncompressed font atlas image data could be corrupted");
-
-                RAYGUI_FREE(compData);
-            }
-            else
-            {
-                // Font atlas image data is not compressed
-                imFont.data = (unsigned char *)RAYGUI_MALLOC(fontImageUncompSize);
-                memcpy(imFont.data, fileDataPtr, fontImageUncompSize);
-                fileDataPtr += fontImageUncompSize;
-            }
-
-            if (font.texture.id != GetFontDefault().texture.id) UnloadTexture(font.texture);
-            font.texture = LoadTextureFromImage(imFont);
-
-            RAYGUI_FREE(imFont.data);
-
-            // Validate font atlas texture was loaded correctly
-            if (font.texture.id != 0)
-            {
-                // Load font recs data
-                int recsDataSize = font.glyphCount*sizeof(Rectangle);
-                int recsDataCompressedSize = 0;
-
-                // WARNING: Version 400 adds the compression size parameter
-                if (version >= 400)
-                {
-                    // RGS files version 400 support compressed recs data
-                    memcpy(&recsDataCompressedSize, fileDataPtr, sizeof(int));
-                    fileDataPtr += sizeof(int);
-                }
-
-                if ((recsDataCompressedSize > 0) && (recsDataCompressedSize != recsDataSize))
-                {
-                    // Recs data is compressed, uncompress it
-                    unsigned char *recsDataCompressed = (unsigned char *)RAYGUI_MALLOC(recsDataCompressedSize);
-
-                    memcpy(recsDataCompressed, fileDataPtr, recsDataCompressedSize);
-                    fileDataPtr += recsDataCompressedSize;
-
-                    int recsDataUncompSize = 0;
-                    font.recs = (Rectangle *)DecompressData(recsDataCompressed, recsDataCompressedSize, &recsDataUncompSize);
-
-                    // Security check, data uncompressed size must match the expected original data size
-                    if (recsDataUncompSize != recsDataSize) RAYGUI_LOG("WARNING: Uncompressed font recs data could be corrupted");
-
-                    RAYGUI_FREE(recsDataCompressed);
-                }
-                else
-                {
-                    // Recs data is uncompressed
-                    font.recs = (Rectangle *)RAYGUI_CALLOC(font.glyphCount, sizeof(Rectangle));
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.recs[i], fileDataPtr, sizeof(Rectangle));
-                        fileDataPtr += sizeof(Rectangle);
-                    }
-                }
-
-                // Load font glyphs info data
-                int glyphsDataSize = font.glyphCount*16;    // 16 bytes data per glyph
-                int glyphsDataCompressedSize = 0;
-
-                // WARNING: Version 400 adds the compression size parameter
-                if (version >= 400)
-                {
-                    // RGS files version 400 support compressed glyphs data
-                    memcpy(&glyphsDataCompressedSize, fileDataPtr, sizeof(int));
-                    fileDataPtr += sizeof(int);
-                }
-
-                // Allocate required glyphs space to fill with data
-                font.glyphs = (GlyphInfo *)RAYGUI_CALLOC(font.glyphCount, sizeof(GlyphInfo));
-
-                if ((glyphsDataCompressedSize > 0) && (glyphsDataCompressedSize != glyphsDataSize))
-                {
-                    // Glyphs data is compressed, uncompress it
-                    unsigned char *glypsDataCompressed = (unsigned char *)RAYGUI_MALLOC(glyphsDataCompressedSize);
-
-                    memcpy(glypsDataCompressed, fileDataPtr, glyphsDataCompressedSize);
-                    fileDataPtr += glyphsDataCompressedSize;
-
-                    int glyphsDataUncompSize = 0;
-                    unsigned char *glyphsDataUncomp = DecompressData(glypsDataCompressed, glyphsDataCompressedSize, &glyphsDataUncompSize);
-
-                    // Security check, data uncompressed size must match the expected original data size
-                    if (glyphsDataUncompSize != glyphsDataSize) RAYGUI_LOG("WARNING: Uncompressed font glyphs data could be corrupted");
-
-                    unsigned char *glyphsDataUncompPtr = glyphsDataUncomp;
-
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.glyphs[i].value, glyphsDataUncompPtr, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetX, glyphsDataUncompPtr + 4, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetY, glyphsDataUncompPtr + 8, sizeof(int));
-                        memcpy(&font.glyphs[i].advanceX, glyphsDataUncompPtr + 12, sizeof(int));
-                        glyphsDataUncompPtr += 16;
-                    }
-
-                    RAYGUI_FREE(glypsDataCompressed);
-                    RAYGUI_FREE(glyphsDataUncomp);
-                }
-                else
-                {
-                    // Glyphs data is uncompressed
-                    for (int i = 0; i < font.glyphCount; i++)
-                    {
-                        memcpy(&font.glyphs[i].value, fileDataPtr, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetX, fileDataPtr + 4, sizeof(int));
-                        memcpy(&font.glyphs[i].offsetY, fileDataPtr + 8, sizeof(int));
-                        memcpy(&font.glyphs[i].advanceX, fileDataPtr + 12, sizeof(int));
-                        fileDataPtr += 16;
-                    }
-                }
-            }
-            else font = GetFontDefault();   // Fallback in case of errors loading font atlas texture
-
-            GuiSetFont(font);
-
-            // Set font texture source rectangle to be used as white texture to draw shapes
-            // NOTE: It makes possible to draw shapes and text (full UI) in a single draw call
-            if ((fontWhiteRec.x > 0) &&
-                (fontWhiteRec.y > 0) &&
-                (fontWhiteRec.width > 0) &&
-                (fontWhiteRec.height > 0)) SetShapesTexture(font.texture, fontWhiteRec);
-        }
-#endif
-    }
-}
-
-// Gui get text width considering icon
-static int GetTextWidth(const char *text)
-{
-    #if !defined(ICON_TEXT_PADDING)
-        #define ICON_TEXT_PADDING   4
-    #endif
-
-    Vector2 textSize = { 0 };
-    int textIconOffset = 0;
-
-    if ((text != NULL) && (text[0] != '\0'))
-    {
-        if (text[0] == '#')
-        {
-            for (int i = 1; (i < 5) && (text[i] != '\0'); i++)
-            {
-                if (text[i] == '#')
-                {
-                    textIconOffset = i;
-                    break;
-                }
-            }
-        }
-
-        text += textIconOffset;
-
-        // Make sure guiFont is set, GuiGetStyle() initializes it lazynessly
-        float fontSize = (float)GuiGetStyle(DEFAULT, TEXT_SIZE);
-
-        // Custom MeasureText() implementation
-        if ((guiFont.texture.id > 0) && (text != NULL))
-        {
-            // Get size in bytes of text, considering end of line and line break
-            int size = 0;
-            for (int i = 0; i < MAX_LINE_BUFFER_SIZE; i++)
-            {
-                if ((text[i] != '\0') && (text[i] != '\n')) size++;
-                else break;
-            }
-
-            float scaleFactor = fontSize/(float)guiFont.baseSize;
-            textSize.y = (float)guiFont.baseSize*scaleFactor;
-            float glyphWidth = 0.0f;
-
-            for (int i = 0, codepointSize = 0; i < size; i += codepointSize)
-            {
-                int codepoint = GetCodepointNext(&text[i], &codepointSize);
-                int codepointIndex = GetGlyphIndex(guiFont, codepoint);
-
-                if (guiFont.glyphs[codepointIndex].advanceX == 0) glyphWidth = ((float)guiFont.recs[codepointIndex].width*scaleFactor);
-                else glyphWidth = ((float)guiFont.glyphs[codepointIndex].advanceX*scaleFactor);
-
-                textSize.x += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-            }
-        }
-
-        if (textIconOffset > 0) textSize.x += (RAYGUI_ICON_SIZE + ICON_TEXT_PADDING);
-    }
-
-    return (int)textSize.x;
-}
-
-// Get text bounds considering control bounds
-static Rectangle GetTextBounds(int control, Rectangle bounds)
-{
-    Rectangle textBounds = bounds;
-
-    textBounds.x = bounds.x + GuiGetStyle(control, BORDER_WIDTH);
-    textBounds.y = bounds.y + GuiGetStyle(control, BORDER_WIDTH) + GuiGetStyle(control, TEXT_PADDING);
-    textBounds.width = bounds.width - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);
-    textBounds.height = bounds.height - 2*GuiGetStyle(control, BORDER_WIDTH) - 2*GuiGetStyle(control, TEXT_PADDING);    // NOTE: Text is processed line per line!
-
-    // Depending on control, TEXT_PADDING and TEXT_ALIGNMENT properties could affect the text-bounds
-    switch (control)
-    {
-        case COMBOBOX:
-        case DROPDOWNBOX:
-        case LISTVIEW:
-            // TODO: Special cases (no label): COMBOBOX, DROPDOWNBOX, LISTVIEW
-        case SLIDER:
-        case CHECKBOX:
-        case VALUEBOX:
-        case SPINNER:
-            // TODO: More special cases (label on side): SLIDER, CHECKBOX, VALUEBOX, SPINNER
-        default:
-        {
-            // TODO: WARNING: TEXT_ALIGNMENT is already considered in GuiDrawText()
-            if (GuiGetStyle(control, TEXT_ALIGNMENT) == TEXT_ALIGN_RIGHT) textBounds.x -= GuiGetStyle(control, TEXT_PADDING);
-            else textBounds.x += GuiGetStyle(control, TEXT_PADDING);
-        }
-        break;
-    }
-
-    return textBounds;
-}
-
-// Get text icon if provided and move text cursor
-// NOTE: We support up to 999 values for iconId
-static const char *GetTextIcon(const char *text, int *iconId)
-{
-#if !defined(RAYGUI_NO_ICONS)
-    *iconId = -1;
-    if (text[0] == '#')     // Maybe we have an icon!
-    {
-        char iconValue[4] = { 0 };  // Maximum length for icon value: 3 digits + '\0'
-
-        int pos = 1;
-        while ((pos < 4) && (text[pos] >= '0') && (text[pos] <= '9'))
-        {
-            iconValue[pos - 1] = text[pos];
-            pos++;
-        }
-
-        if (text[pos] == '#')
-        {
-            *iconId = TextToInteger(iconValue);
-
-            // Move text pointer after icon
-            // WARNING: If only icon provided, it could point to EOL character: '\0'
-            if (*iconId >= 0) text += (pos + 1);
-        }
-    }
-#endif
-
-    return text;
-}
-
-// Get text divided into lines (by line-breaks '\n')
-const char **GetTextLines(const char *text, int *count)
-{
-    #define RAYGUI_MAX_TEXT_LINES   128
-
-    static const char *lines[RAYGUI_MAX_TEXT_LINES] = { 0 };
-    for (int i = 0; i < RAYGUI_MAX_TEXT_LINES; i++) lines[i] = NULL;    // Init NULL pointers to substrings
-
-    int textSize = (int)strlen(text);
-
-    lines[0] = text;
-    int len = 0;
-    *count = 1;
-    //int lineSize = 0;   // Stores current line size, not returned
-
-    for (int i = 0, k = 0; (i < textSize) && (*count < RAYGUI_MAX_TEXT_LINES); i++)
-    {
-        if (text[i] == '\n')
-        {
-            //lineSize = len;
-            k++;
-            lines[k] = &text[i + 1];     // WARNING: next value is valid?
-            len = 0;
-            *count += 1;
-        }
-        else len++;
-    }
-
-    //lines[*count - 1].size = len;
-
-    return lines;
-}
-
-// Get text width to next space for provided string
-static float GetNextSpaceWidth(const char *text, int *nextSpaceIndex)
-{
-    float width = 0;
-    int codepointByteCount = 0;
-    int codepoint = 0;
-    int index = 0;
-    float glyphWidth = 0;
-    float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
-
-    for (int i = 0; text[i] != '\0'; i++)
-    {
-        if (text[i] != ' ')
-        {
-            codepoint = GetCodepoint(&text[i], &codepointByteCount);
-            index = GetGlyphIndex(guiFont, codepoint);
-            glyphWidth = (guiFont.glyphs[index].advanceX == 0)? guiFont.recs[index].width*scaleFactor : guiFont.glyphs[index].advanceX*scaleFactor;
-            width += (glyphWidth + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-        }
-        else
-        {
-            *nextSpaceIndex = i;
-            break;
-        }
-    }
-
-    return width;
-}
-
-// Gui draw text using default font
-static void GuiDrawText(const char *text, Rectangle textBounds, int alignment, Color tint)
-{
-    #define TEXT_VALIGN_PIXEL_OFFSET(h)  ((int)h%2)     // Vertical alignment for pixel perfect
-
-    #if !defined(ICON_TEXT_PADDING)
-        #define ICON_TEXT_PADDING   4
-    #endif
-
-    if ((text == NULL) || (text[0] == '\0')) return;    // Security check
-
-    // PROCEDURE:
-    //   - Text is processed line per line
-    //   - For every line, horizontal alignment is defined
-    //   - For all text, vertical alignment is defined (multiline text only)
-    //   - For every line, wordwrap mode is checked (useful for GuitextBox(), read-only)
-
-    // Get text lines (using '\n' as delimiter) to be processed individually
-    // WARNING: We can't use GuiTextSplit() function because it can be already used
-    // before the GuiDrawText() call and its buffer is static, it would be overriden :(
-    int lineCount = 0;
-    const char **lines = GetTextLines(text, &lineCount);
-
-    // Text style variables
-    //int alignment = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT);
-    int alignmentVertical = GuiGetStyle(DEFAULT, TEXT_ALIGNMENT_VERTICAL);
-    int wrapMode = GuiGetStyle(DEFAULT, TEXT_WRAP_MODE);    // Wrap-mode only available in read-only mode, no for text editing
-
-    // TODO: WARNING: This totalHeight is not valid for vertical alignment in case of word-wrap
-    float totalHeight = (float)(lineCount*GuiGetStyle(DEFAULT, TEXT_SIZE) + (lineCount - 1)*GuiGetStyle(DEFAULT, TEXT_SIZE)/2);
-    float posOffsetY = 0.0f;
-
-    for (int i = 0; i < lineCount; i++)
-    {
-        int iconId = 0;
-        lines[i] = GetTextIcon(lines[i], &iconId);      // Check text for icon and move cursor
-
-        // Get text position depending on alignment and iconId
-        //---------------------------------------------------------------------------------
-        Vector2 textBoundsPosition = { textBounds.x, textBounds.y };
-        float textBoundsWidthOffset = 0.0f;
-
-        // NOTE: We get text size after icon has been processed
-        // WARNING: GetTextWidth() also processes text icon to get width! -> Really needed?
-        int textSizeX = GetTextWidth(lines[i]);
-
-        // If text requires an icon, add size to measure
-        if (iconId >= 0)
-        {
-            textSizeX += RAYGUI_ICON_SIZE*guiIconScale;
-
-            // WARNING: If only icon provided, text could be pointing to EOF character: '\0'
-#if !defined(RAYGUI_NO_ICONS)
-            if ((lines[i] != NULL) && (lines[i][0] != '\0')) textSizeX += ICON_TEXT_PADDING;
-#endif
-        }
-
-        // Check guiTextAlign global variables
-        switch (alignment)
-        {
-            case TEXT_ALIGN_LEFT: textBoundsPosition.x = textBounds.x; break;
-            case TEXT_ALIGN_CENTER: textBoundsPosition.x = textBounds.x +  textBounds.width/2 - textSizeX/2; break;
-            case TEXT_ALIGN_RIGHT: textBoundsPosition.x = textBounds.x + textBounds.width - textSizeX; break;
-            default: break;
-        }
-
-        if (textSizeX > textBounds.width && (lines[i] != NULL) && (lines[i][0] != '\0')) textBoundsPosition.x = textBounds.x;
-
-        switch (alignmentVertical)
-        {
-            // Only valid in case of wordWrap = 0;
-            case TEXT_ALIGN_TOP: textBoundsPosition.y = textBounds.y + posOffsetY; break;
-            case TEXT_ALIGN_MIDDLE: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height/2 - totalHeight/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
-            case TEXT_ALIGN_BOTTOM: textBoundsPosition.y = textBounds.y + posOffsetY + textBounds.height - totalHeight + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height); break;
-            default: break;
-        }
-
-        // NOTE: Make sure we get pixel-perfect coordinates,
-        // In case of decimals we got weird text positioning
-        textBoundsPosition.x = (float)((int)textBoundsPosition.x);
-        textBoundsPosition.y = (float)((int)textBoundsPosition.y);
-        //---------------------------------------------------------------------------------
-
-        // Draw text (with icon if available)
-        //---------------------------------------------------------------------------------
-#if !defined(RAYGUI_NO_ICONS)
-        if (iconId >= 0)
-        {
-            // NOTE: We consider icon height, probably different than text size
-            GuiDrawIcon(iconId, (int)textBoundsPosition.x, (int)(textBounds.y + textBounds.height/2 - RAYGUI_ICON_SIZE*guiIconScale/2 + TEXT_VALIGN_PIXEL_OFFSET(textBounds.height)), guiIconScale, tint);
-            textBoundsPosition.x += (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
-            textBoundsWidthOffset = (float)(RAYGUI_ICON_SIZE*guiIconScale + ICON_TEXT_PADDING);
-        }
-#endif
-        // Get size in bytes of text,
-        // considering end of line and line break
-        int lineSize = 0;
-        for (int c = 0; (lines[i][c] != '\0') && (lines[i][c] != '\n') && (lines[i][c] != '\r'); c++, lineSize++){ }
-        float scaleFactor = (float)GuiGetStyle(DEFAULT, TEXT_SIZE)/guiFont.baseSize;
-
-        int lastSpaceIndex = 0;
-        bool tempWrapCharMode = false;
-
-        int textOffsetY = 0;
-        float textOffsetX = 0.0f;
-        float glyphWidth = 0;
-
-        int ellipsisWidth = GetTextWidth("...");
-        bool textOverflow = false;
-        for (int c = 0, codepointSize = 0; c < lineSize; c += codepointSize)
-        {
-            int codepoint = GetCodepointNext(&lines[i][c], &codepointSize);
-            int index = GetGlyphIndex(guiFont, codepoint);
-
-            // NOTE: Normally we exit the decoding sequence as soon as a bad byte is found (and return 0x3f)
-            // but we need to draw all of the bad bytes using the '?' symbol moving one byte
-            if (codepoint == 0x3f) codepointSize = 1; // TODO: Review not recognized codepoints size
-
-            // Get glyph width to check if it goes out of bounds
-            if (guiFont.glyphs[index].advanceX == 0) glyphWidth = ((float)guiFont.recs[index].width*scaleFactor);
-            else glyphWidth = (float)guiFont.glyphs[index].advanceX*scaleFactor;
-
-            // Wrap mode text measuring, to validate if
-            // it can be drawn or a new line is required
-            if (wrapMode == TEXT_WRAP_CHAR)
-            {
-                // Jump to next line if current character reach end of the box limits
-                if ((textOffsetX + glyphWidth) > textBounds.width - textBoundsWidthOffset)
-                {
-                    textOffsetX = 0.0f;
-                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-
-                    if (tempWrapCharMode)   // Wrap at char level when too long words
-                    {
-                        wrapMode = TEXT_WRAP_WORD;
-                        tempWrapCharMode = false;
-                    }
-                }
-            }
-            else if (wrapMode == TEXT_WRAP_WORD)
-            {
-                if (codepoint == 32) lastSpaceIndex = c;
-
-                // Get width to next space in line
-                int nextSpaceIndex = 0;
-                float nextSpaceWidth = GetNextSpaceWidth(lines[i] + c, &nextSpaceIndex);
-
-                int nextSpaceIndex2 = 0;
-                float nextWordSize = GetNextSpaceWidth(lines[i] + lastSpaceIndex + 1, &nextSpaceIndex2);
-
-                if (nextWordSize > textBounds.width - textBoundsWidthOffset)
-                {
-                    // Considering the case the next word is longer than bounds
-                    tempWrapCharMode = true;
-                    wrapMode = TEXT_WRAP_CHAR;
-                }
-                else if ((textOffsetX + nextSpaceWidth) > textBounds.width - textBoundsWidthOffset)
-                {
-                    textOffsetX = 0.0f;
-                    textOffsetY += GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-                }
-            }
-
-            if (codepoint == '\n') break;   // WARNING: Lines are already processed manually, no need to keep drawing after this codepoint
-            else
-            {
-                // TODO: There are multiple types of spaces in Unicode,
-                // maybe it's a good idea to add support for more: http://jkorpela.fi/chars/spaces.html
-                if ((codepoint != ' ') && (codepoint != '\t'))      // Do not draw codepoints with no glyph
-                {
-                    if (wrapMode == TEXT_WRAP_NONE)
-                    {
-                        // Draw only required text glyphs fitting the textBounds.width
-                        if (textSizeX > textBounds.width)
-                        {
-                            if (textOffsetX <= (textBounds.width - glyphWidth - textBoundsWidthOffset - ellipsisWidth))
-                            {
-                                DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                            }
-                            else if (!textOverflow)
-                            {
-                                textOverflow = true;
-
-                                for (int j = 0; j < ellipsisWidth; j += ellipsisWidth/3)
-                                {
-                                    DrawTextCodepoint(guiFont, '.', RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX + j, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                                }
-                            }
-                        }
-                        else
-                        {
-                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                        }
-                    }
-                    else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD))
-                    {
-                        // Draw only glyphs inside the bounds
-                        if ((textBoundsPosition.y + textOffsetY) <= (textBounds.y + textBounds.height - GuiGetStyle(DEFAULT, TEXT_SIZE)))
-                        {
-                            DrawTextCodepoint(guiFont, codepoint, RAYGUI_CLITERAL(Vector2){ textBoundsPosition.x + textOffsetX, textBoundsPosition.y + textOffsetY }, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), GuiFade(tint, guiAlpha));
-                        }
-                    }
-                }
-
-                if (guiFont.glyphs[index].advanceX == 0) textOffsetX += ((float)guiFont.recs[index].width*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-                else textOffsetX += ((float)guiFont.glyphs[index].advanceX*scaleFactor + (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-            }
-        }
-
-        if (wrapMode == TEXT_WRAP_NONE) posOffsetY += (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING);
-        else if ((wrapMode == TEXT_WRAP_CHAR) || (wrapMode == TEXT_WRAP_WORD)) posOffsetY += (textOffsetY + (float)GuiGetStyle(DEFAULT, TEXT_LINE_SPACING));
-        //---------------------------------------------------------------------------------
-    }
-
-#if defined(RAYGUI_DEBUG_TEXT_BOUNDS)
-    GuiDrawRectangle(textBounds, 0, WHITE, Fade(BLUE, 0.4f));
-#endif
-}
-
-// Gui draw rectangle using default raygui plain style with borders
-static void GuiDrawRectangle(Rectangle rec, int borderWidth, Color borderColor, Color color)
-{
-    if (color.a > 0)
-    {
-        // Draw rectangle filled with color
-        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, GuiFade(color, guiAlpha));
-    }
-
-    if (borderWidth > 0)
-    {
-        // Draw rectangle border lines with color
-        DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x + (int)rec.width - borderWidth, (int)rec.y + borderWidth, borderWidth, (int)rec.height - 2*borderWidth, GuiFade(borderColor, guiAlpha));
-        DrawRectangle((int)rec.x, (int)rec.y + (int)rec.height - borderWidth, (int)rec.width, borderWidth, GuiFade(borderColor, guiAlpha));
-    }
-
-#if defined(RAYGUI_DEBUG_RECS_BOUNDS)
-    DrawRectangle((int)rec.x, (int)rec.y, (int)rec.width, (int)rec.height, Fade(RED, 0.4f));
-#endif
-}
-
-// Draw tooltip using control bounds
-static void GuiTooltip(Rectangle controlRec)
-{
-    if (!guiLocked && guiTooltip && (guiTooltipPtr != NULL) && !guiControlExclusiveMode)
-    {
-        Vector2 textSize = MeasureTextEx(GuiGetFont(), guiTooltipPtr, (float)GuiGetStyle(DEFAULT, TEXT_SIZE), (float)GuiGetStyle(DEFAULT, TEXT_SPACING));
-
-        if ((controlRec.x + textSize.x + 16) > GetScreenWidth()) controlRec.x -= (textSize.x + 16 - controlRec.width);
-
-        GuiPanel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, NULL);
-
-        int textPadding = GuiGetStyle(LABEL, TEXT_PADDING);
-        int textAlignment = GuiGetStyle(LABEL, TEXT_ALIGNMENT);
-        GuiSetStyle(LABEL, TEXT_PADDING, 0);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, TEXT_ALIGN_CENTER);
-        GuiLabel(RAYGUI_CLITERAL(Rectangle){ controlRec.x, controlRec.y + controlRec.height + 4, textSize.x + 16, GuiGetStyle(DEFAULT, TEXT_SIZE) + 8.f }, guiTooltipPtr);
-        GuiSetStyle(LABEL, TEXT_ALIGNMENT, textAlignment);
-        GuiSetStyle(LABEL, TEXT_PADDING, textPadding);
-    }
-}
-
-// Split controls text into multiple strings
-// Also check for multiple columns (required by GuiToggleGroup())
-static const char **GuiTextSplit(const char *text, char delimiter, int *count, int *textRow)
-{
-    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
-    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
-    // all used memory is static... it has some limitations:
-    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
-    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
-    // NOTE: Those definitions could be externally provided if required
-
-    // TODO: HACK: GuiTextSplit() - Review how textRows are returned to user
-    // textRow is an externally provided array of integers that stores row number for every splitted string
-
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
-        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
-    #endif
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
-        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE     1024
-    #endif
-
-    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };   // String pointers array (points to buffer data)
-    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };         // Buffer data (text input copy with '\0' added)
-    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
-
-    result[0] = buffer;
-    int counter = 1;
-
-    if (textRow != NULL) textRow[0] = 0;
-
-    // Count how many substrings we have on text and point to every one
-    for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
-    {
-        buffer[i] = text[i];
-        if (buffer[i] == '\0') break;
-        else if ((buffer[i] == delimiter) || (buffer[i] == '\n'))
-        {
-            result[counter] = buffer + i + 1;
-
-            if (textRow != NULL)
-            {
-                if (buffer[i] == '\n') textRow[counter] = textRow[counter - 1] + 1;
-                else textRow[counter] = textRow[counter - 1];
-            }
-
-            buffer[i] = '\0';   // Set an end of string at this point
-
-            counter++;
-            if (counter > RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
-        }
-    }
-
-    *count = counter;
-
-    return result;
-}
-
-// Convert color data from RGB to HSV
-// NOTE: Color data should be passed normalized
-static Vector3 ConvertRGBtoHSV(Vector3 rgb)
-{
-    Vector3 hsv = { 0 };
-    float min = 0.0f;
-    float max = 0.0f;
-    float delta = 0.0f;
-
-    min = (rgb.x < rgb.y)? rgb.x : rgb.y;
-    min = (min < rgb.z)? min  : rgb.z;
-
-    max = (rgb.x > rgb.y)? rgb.x : rgb.y;
-    max = (max > rgb.z)? max  : rgb.z;
-
-    hsv.z = max;            // Value
-    delta = max - min;
-
-    if (delta < 0.00001f)
-    {
-        hsv.y = 0.0f;
-        hsv.x = 0.0f;           // Undefined, maybe NAN?
-        return hsv;
-    }
-
-    if (max > 0.0f)
-    {
-        // NOTE: If max is 0, this divide would cause a crash
-        hsv.y = (delta/max);    // Saturation
-    }
-    else
-    {
-        // NOTE: If max is 0, then r = g = b = 0, s = 0, h is undefined
-        hsv.y = 0.0f;
-        hsv.x = 0.0f;           // Undefined, maybe NAN?
-        return hsv;
-    }
-
-    // NOTE: Comparing float values could not work properly
-    if (rgb.x >= max) hsv.x = (rgb.y - rgb.z)/delta;    // Between yellow & magenta
-    else
-    {
-        if (rgb.y >= max) hsv.x = 2.0f + (rgb.z - rgb.x)/delta;  // Between cyan & yellow
-        else hsv.x = 4.0f + (rgb.x - rgb.y)/delta;      // Between magenta & cyan
-    }
-
-    hsv.x *= 60.0f;     // Convert to degrees
-
-    if (hsv.x < 0.0f) hsv.x += 360.0f;
-
-    return hsv;
-}
-
-// Convert color data from HSV to RGB
-// NOTE: Color data should be passed normalized
-static Vector3 ConvertHSVtoRGB(Vector3 hsv)
-{
-    Vector3 rgb = { 0 };
-    float hh = 0.0f, p = 0.0f, q = 0.0f, t = 0.0f, ff = 0.0f;
-    long i = 0;
-
-    // NOTE: Comparing float values could not work properly
-    if (hsv.y <= 0.0f)
-    {
-        rgb.x = hsv.z;
-        rgb.y = hsv.z;
-        rgb.z = hsv.z;
-        return rgb;
-    }
-
-    hh = hsv.x;
-    if (hh >= 360.0f) hh = 0.0f;
-    hh /= 60.0f;
-
-    i = (long)hh;
-    ff = hh - i;
-    p = hsv.z*(1.0f - hsv.y);
-    q = hsv.z*(1.0f - (hsv.y*ff));
-    t = hsv.z*(1.0f - (hsv.y*(1.0f - ff)));
-
-    switch (i)
-    {
-        case 0:
-        {
-            rgb.x = hsv.z;
-            rgb.y = t;
-            rgb.z = p;
-        } break;
-        case 1:
-        {
-            rgb.x = q;
-            rgb.y = hsv.z;
-            rgb.z = p;
-        } break;
-        case 2:
-        {
-            rgb.x = p;
-            rgb.y = hsv.z;
-            rgb.z = t;
-        } break;
-        case 3:
-        {
-            rgb.x = p;
-            rgb.y = q;
-            rgb.z = hsv.z;
-        } break;
-        case 4:
-        {
-            rgb.x = t;
-            rgb.y = p;
-            rgb.z = hsv.z;
-        } break;
-        case 5:
-        default:
-        {
-            rgb.x = hsv.z;
-            rgb.y = p;
-            rgb.z = q;
-        } break;
-    }
-
-    return rgb;
-}
-
-// Scroll bar control (used by GuiScrollPanel())
-static int GuiScrollBar(Rectangle bounds, int value, int minValue, int maxValue)
-{
-    GuiState state = guiState;
-
-    // Is the scrollbar horizontal or vertical?
-    bool isVertical = (bounds.width > bounds.height)? false : true;
-
-    // The size (width or height depending on scrollbar type) of the spinner buttons
-    const int spinnerSize = GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE)?
-        (isVertical? (int)bounds.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) :
-        (int)bounds.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH)) : 0;
-
-    // Arrow buttons [<] [>] [∧] [∨]
-    Rectangle arrowUpLeft = { 0 };
-    Rectangle arrowDownRight = { 0 };
-
-    // Actual area of the scrollbar excluding the arrow buttons
-    Rectangle scrollbar = { 0 };
-
-    // Slider bar that moves     --[///]-----
-    Rectangle slider = { 0 };
-
-    // Normalize value
-    if (value > maxValue) value = maxValue;
-    if (value < minValue) value = minValue;
-
-    int valueRange = maxValue - minValue;
-    if (valueRange <= 0) valueRange = 1;
-
-    int sliderSize = GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_SIZE);
-    if (sliderSize < 1) sliderSize = 1;  // TODO: Consider a minimum slider size
-
-    // Calculate rectangles for all of the components
-    arrowUpLeft = RAYGUI_CLITERAL(Rectangle){
-        (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
-        (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH),
-        (float)spinnerSize, (float)spinnerSize };
-
-    if (isVertical)
-    {
-        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + bounds.height - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
-        scrollbar = RAYGUI_CLITERAL(Rectangle){ bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), arrowUpLeft.y + arrowUpLeft.height, bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)), bounds.height - arrowUpLeft.height - arrowDownRight.height - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH) };
-
-        // Make sure the slider won't get outside of the scrollbar
-        sliderSize = (sliderSize >= scrollbar.height)? ((int)scrollbar.height - 2) : sliderSize;
-        slider = RAYGUI_CLITERAL(Rectangle){
-            bounds.x + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
-            scrollbar.y + (int)(((float)(value - minValue)/valueRange)*(scrollbar.height - sliderSize)),
-            bounds.width - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)),
-            (float)sliderSize };
-    }
-    else    // horizontal
-    {
-        arrowDownRight = RAYGUI_CLITERAL(Rectangle){ (float)bounds.x + bounds.width - spinnerSize - GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH), (float)spinnerSize, (float)spinnerSize };
-        scrollbar = RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x + arrowUpLeft.width, bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING), bounds.width - arrowUpLeft.width - arrowDownRight.width - 2*GuiGetStyle(SCROLLBAR, BORDER_WIDTH), bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_PADDING)) };
-
-        // Make sure the slider won't get outside of the scrollbar
-        sliderSize = (sliderSize >= scrollbar.width)? ((int)scrollbar.width - 2) : sliderSize;
-        slider = RAYGUI_CLITERAL(Rectangle){
-            scrollbar.x + (int)(((float)(value - minValue)/valueRange)*(scrollbar.width - sliderSize)),
-            bounds.y + GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING),
-            (float)sliderSize,
-            bounds.height - 2*(GuiGetStyle(SCROLLBAR, BORDER_WIDTH) + GuiGetStyle(SCROLLBAR, SCROLL_SLIDER_PADDING)) };
-    }
-
-    // Update control
-    //--------------------------------------------------------------------
-    if ((state != STATE_DISABLED) && !guiLocked)
-    {
-        Vector2 mousePoint = GetMousePosition();
-
-        if (guiControlExclusiveMode) // Allows to keep dragging outside of bounds
-        {
-            if (IsMouseButtonDown(MOUSE_LEFT_BUTTON) &&
-                !CheckCollisionPointRec(mousePoint, arrowUpLeft) &&
-                !CheckCollisionPointRec(mousePoint, arrowDownRight))
-            {
-                if (CHECK_BOUNDS_ID(bounds, guiControlExclusiveRec))
-                {
-                    state = STATE_PRESSED;
-
-                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
-                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
-                }
-            }
-            else
-            {
-                guiControlExclusiveMode = false;
-                guiControlExclusiveRec = RAYGUI_CLITERAL(Rectangle){ 0, 0, 0, 0 };
-            }
-        }
-        else if (CheckCollisionPointRec(mousePoint, bounds))
-        {
-            state = STATE_FOCUSED;
-
-            // Handle mouse wheel
-            int wheel = (int)GetMouseWheelMove();
-            if (wheel != 0) value += wheel;
-
-            // Handle mouse button down
-            if (IsMouseButtonPressed(MOUSE_LEFT_BUTTON))
-            {
-                guiControlExclusiveMode = true;
-                guiControlExclusiveRec = bounds; // Store bounds as an identifier when dragging starts
-
-                // Check arrows click
-                if (CheckCollisionPointRec(mousePoint, arrowUpLeft)) value -= valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                else if (CheckCollisionPointRec(mousePoint, arrowDownRight)) value += valueRange/GuiGetStyle(SCROLLBAR, SCROLL_SPEED);
-                else if (!CheckCollisionPointRec(mousePoint, slider))
-                {
-                    // If click on scrollbar position but not on slider, place slider directly on that position
-                    if (isVertical) value = (int)(((float)(mousePoint.y - scrollbar.y - slider.height/2)*valueRange)/(scrollbar.height - slider.height) + minValue);
-                    else value = (int)(((float)(mousePoint.x - scrollbar.x - slider.width/2)*valueRange)/(scrollbar.width - slider.width) + minValue);
-                }
-
-                state = STATE_PRESSED;
-            }
-
-            // Keyboard control on mouse hover scrollbar
-            /*
-            if (isVertical)
-            {
-                if (IsKeyDown(KEY_DOWN)) value += 5;
-                else if (IsKeyDown(KEY_UP)) value -= 5;
-            }
-            else
-            {
-                if (IsKeyDown(KEY_RIGHT)) value += 5;
-                else if (IsKeyDown(KEY_LEFT)) value -= 5;
-            }
-            */
-        }
-
-        // Normalize value
-        if (value > maxValue) value = maxValue;
-        if (value < minValue) value = minValue;
-    }
-    //--------------------------------------------------------------------
-
-    // Draw control
-    //--------------------------------------------------------------------
-    GuiDrawRectangle(bounds, GuiGetStyle(SCROLLBAR, BORDER_WIDTH), GetColor(GuiGetStyle(LISTVIEW, BORDER + state*3)), GetColor(GuiGetStyle(DEFAULT, BORDER_COLOR_DISABLED)));   // Draw the background
-
-    GuiDrawRectangle(scrollbar, 0, BLANK, GetColor(GuiGetStyle(BUTTON, BASE_COLOR_NORMAL)));     // Draw the scrollbar active area background
-    GuiDrawRectangle(slider, 0, BLANK, GetColor(GuiGetStyle(SLIDER, BORDER + state*3)));         // Draw the slider bar
-
-    // Draw arrows (using icon if available)
-    if (GuiGetStyle(SCROLLBAR, ARROWS_VISIBLE))
-    {
-#if defined(RAYGUI_NO_ICONS)
-        GuiDrawText(isVertical? "^" : "<",
-            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-        GuiDrawText(isVertical? "v" : ">",
-            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(DROPDOWNBOX, TEXT + (state*3))));
-#else
-        GuiDrawText(isVertical? "#121#" : "#118#",
-            RAYGUI_CLITERAL(Rectangle){ arrowUpLeft.x, arrowUpLeft.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_UP_FILL / ICON_ARROW_LEFT_FILL
-        GuiDrawText(isVertical? "#120#" : "#119#",
-            RAYGUI_CLITERAL(Rectangle){ arrowDownRight.x, arrowDownRight.y, isVertical? bounds.width : bounds.height, isVertical? bounds.width : bounds.height },
-            TEXT_ALIGN_CENTER, GetColor(GuiGetStyle(SCROLLBAR, TEXT + state*3)));   // ICON_ARROW_DOWN_FILL / ICON_ARROW_RIGHT_FILL
-#endif
-    }
-    //--------------------------------------------------------------------
-
-    return value;
-}
-
-// Color fade-in or fade-out, alpha goes from 0.0f to 1.0f
-// WARNING: It multiplies current alpha by alpha scale factor
-static Color GuiFade(Color color, float alpha)
-{
-    if (alpha < 0.0f) alpha = 0.0f;
-    else if (alpha > 1.0f) alpha = 1.0f;
-
-    Color result = { color.r, color.g, color.b, (unsigned char)(color.a*alpha) };
-
-    return result;
-}
-
-#if defined(RAYGUI_STANDALONE)
-// Returns a Color struct from hexadecimal value
-static Color GetColor(int hexValue)
-{
-    Color color;
-
-    color.r = (unsigned char)(hexValue >> 24) & 0xFF;
-    color.g = (unsigned char)(hexValue >> 16) & 0xFF;
-    color.b = (unsigned char)(hexValue >> 8) & 0xFF;
-    color.a = (unsigned char)hexValue & 0xFF;
-
-    return color;
-}
-
-// Returns hexadecimal value for a Color
-static int ColorToInt(Color color)
-{
-    return (((int)color.r << 24) | ((int)color.g << 16) | ((int)color.b << 8) | (int)color.a);
-}
-
-// Check if point is inside rectangle
-static bool CheckCollisionPointRec(Vector2 point, Rectangle rec)
-{
-    bool collision = false;
-
-    if ((point.x >= rec.x) && (point.x <= (rec.x + rec.width)) &&
-        (point.y >= rec.y) && (point.y <= (rec.y + rec.height))) collision = true;
-
-    return collision;
-}
-
-// Formatting of text with variables to 'embed'
-static const char *TextFormat(const char *text, ...)
-{
-    #if !defined(RAYGUI_TEXTFORMAT_MAX_SIZE)
-        #define RAYGUI_TEXTFORMAT_MAX_SIZE   256
-    #endif
-
-    static char buffer[RAYGUI_TEXTFORMAT_MAX_SIZE];
-
-    va_list args;
-    va_start(args, text);
-    vsprintf(buffer, text, args);
-    va_end(args);
-
-    return buffer;
-}
-
-// Draw rectangle with vertical gradient fill color
-// NOTE: This function is only used by GuiColorPicker()
-static void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2)
-{
-    Rectangle bounds = { (float)posX, (float)posY, (float)width, (float)height };
-    DrawRectangleGradientEx(bounds, color1, color2, color2, color1);
-}
-
-// Split string into multiple strings
-const char **TextSplit(const char *text, char delimiter, int *count)
-{
-    // NOTE: Current implementation returns a copy of the provided string with '\0' (string end delimiter)
-    // inserted between strings defined by "delimiter" parameter. No memory is dynamically allocated,
-    // all used memory is static... it has some limitations:
-    //      1. Maximum number of possible split strings is set by RAYGUI_TEXTSPLIT_MAX_ITEMS
-    //      2. Maximum size of text to split is RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE
-
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_ITEMS)
-        #define RAYGUI_TEXTSPLIT_MAX_ITEMS          128
-    #endif
-    #if !defined(RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE)
-        #define RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE      1024
-    #endif
-
-    static const char *result[RAYGUI_TEXTSPLIT_MAX_ITEMS] = { NULL };
-    static char buffer[RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE] = { 0 };
-    memset(buffer, 0, RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE);
-
-    result[0] = buffer;
-    int counter = 0;
-
-    if (text != NULL)
-    {
-        counter = 1;
-
-        // Count how many substrings we have on text and point to every one
-        for (int i = 0; i < RAYGUI_TEXTSPLIT_MAX_TEXT_SIZE; i++)
-        {
-            buffer[i] = text[i];
-            if (buffer[i] == '\0') break;
-            else if (buffer[i] == delimiter)
-            {
-                buffer[i] = '\0';   // Set an end of string at this point
-                result[counter] = buffer + i + 1;
-                counter++;
-
-                if (counter == RAYGUI_TEXTSPLIT_MAX_ITEMS) break;
-            }
-        }
-    }
-
-    *count = counter;
-    return result;
-}
-
-// Get integer value from text
-// NOTE: This function replaces atoi() [stdlib.h]
-static int TextToInteger(const char *text)
-{
-    int value = 0;
-    int sign = 1;
-
-    if ((text[0] == '+') || (text[0] == '-'))
-    {
-        if (text[0] == '-') sign = -1;
-        text++;
-    }
-
-    for (int i = 0; ((text[i] >= '0') && (text[i] <= '9')); ++i) value = value*10 + (int)(text[i] - '0');
-
-    return value*sign;
-}
-
-// Get float value from text
-// NOTE: This function replaces atof() [stdlib.h]
-// WARNING: Only '.' character is understood as decimal point
-static float TextToFloat(const char *text)
-{
-    float value = 0.0f;
-    float sign = 1.0f;
-
-    if ((text[0] == '+') || (text[0] == '-'))
-    {
-        if (text[0] == '-') sign = -1.0f;
-        text++;
-    }
-
-    int i = 0;
-    for (; ((text[i] >= '0') && (text[i] <= '9')); i++) value = value*10.0f + (float)(text[i] - '0');
-
-    if (text[i++] != '.') value *= sign;
-    else
-    {
-        float divisor = 10.0f;
-        for (; ((text[i] >= '0') && (text[i] <= '9')); i++)
-        {
-            value += ((float)(text[i] - '0'))/divisor;
-            divisor = divisor*10.0f;
-        }
-    }
-
-    return value;
-}
-
-// Encode codepoint into UTF-8 text (char array size returned as parameter)
-static const char *CodepointToUTF8(int codepoint, int *byteSize)
-{
-    static char utf8[6] = { 0 };
-    int size = 0;
-
-    if (codepoint <= 0x7f)
-    {
-        utf8[0] = (char)codepoint;
-        size = 1;
-    }
-    else if (codepoint <= 0x7ff)
-    {
-        utf8[0] = (char)(((codepoint >> 6) & 0x1f) | 0xc0);
-        utf8[1] = (char)((codepoint & 0x3f) | 0x80);
-        size = 2;
-    }
-    else if (codepoint <= 0xffff)
-    {
-        utf8[0] = (char)(((codepoint >> 12) & 0x0f) | 0xe0);
-        utf8[1] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
-        utf8[2] = (char)((codepoint & 0x3f) | 0x80);
-        size = 3;
-    }
-    else if (codepoint <= 0x10ffff)
-    {
-        utf8[0] = (char)(((codepoint >> 18) & 0x07) | 0xf0);
-        utf8[1] = (char)(((codepoint >> 12) & 0x3f) | 0x80);
-        utf8[2] = (char)(((codepoint >>  6) & 0x3f) | 0x80);
-        utf8[3] = (char)((codepoint & 0x3f) | 0x80);
-        size = 4;
-    }
-
-    *byteSize = size;
-
-    return utf8;
-}
-
-// Get next codepoint in a UTF-8 encoded text, scanning until '\0' is found
-// When a invalid UTF-8 byte is encountered we exit as soon as possible and a '?'(0x3f) codepoint is returned
-// Total number of bytes processed are returned as a parameter
-// NOTE: the standard says U+FFFD should be returned in case of errors
-// but that character is not supported by the default font in raylib
-static int GetCodepointNext(const char *text, int *codepointSize)
-{
-    const char *ptr = text;
-    int codepoint = 0x3f;       // Codepoint (defaults to '?')
-    *codepointSize = 1;
-
-    // Get current codepoint and bytes processed
-    if (0xf0 == (0xf8 & ptr[0]))
-    {
-        // 4 byte UTF-8 codepoint
-        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80) || ((ptr[3] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x07 & ptr[0]) << 18) | ((0x3f & ptr[1]) << 12) | ((0x3f & ptr[2]) << 6) | (0x3f & ptr[3]);
-        *codepointSize = 4;
-    }
-    else if (0xe0 == (0xf0 & ptr[0]))
-    {
-        // 3 byte UTF-8 codepoint */
-        if (((ptr[1] & 0xC0) ^ 0x80) || ((ptr[2] & 0xC0) ^ 0x80)) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x0f & ptr[0]) << 12) | ((0x3f & ptr[1]) << 6) | (0x3f & ptr[2]);
-        *codepointSize = 3;
-    }
-    else if (0xc0 == (0xe0 & ptr[0]))
-    {
-        // 2 byte UTF-8 codepoint
-        if ((ptr[1] & 0xC0) ^ 0x80) { return codepoint; } //10xxxxxx checks
-        codepoint = ((0x1f & ptr[0]) << 6) | (0x3f & ptr[1]);
-        *codepointSize = 2;
-    }
-    else if (0x00 == (0x80 & ptr[0]))
-    {
-        // 1 byte UTF-8 codepoint
-        codepoint = ptr[0];
-        *codepointSize = 1;
-    }
-
-    return codepoint;
-}
-#endif      // RAYGUI_STANDALONE
-
-#endif      // RAYGUI_IMPLEMENTATION
diff --git a/third_party/raylib/include/raylib.h b/third_party/raylib/include/raylib.h
deleted file mode 100644
index ea973ff1ba..0000000000
--- a/third_party/raylib/include/raylib.h
+++ /dev/null
@@ -1,1766 +0,0 @@
-/**********************************************************************************************
-*
-*   raylib v5.6-dev - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
-*
-*   FEATURES:
-*       - NO external dependencies, all required libraries included with raylib
-*       - Multiplatform: Windows, Linux, FreeBSD, OpenBSD, NetBSD, DragonFly,
-*                        MacOS, Haiku, Android, Raspberry Pi, DRM native, HTML5.
-*       - Written in plain C code (C99) in PascalCase/camelCase notation
-*       - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3, ES2, ES3 - choose at compile)
-*       - Unique OpenGL abstraction layer (usable as standalone module): [rlgl]
-*       - Multiple Fonts formats supported (TTF, OTF, FNT, BDF, Sprite fonts)
-*       - Outstanding texture formats support, including compressed formats (DXT, ETC, ASTC)
-*       - Full 3d support for 3d Shapes, Models, Billboards, Heightmaps and more!
-*       - Flexible Materials system, supporting classic maps and PBR maps
-*       - Animated 3D models supported (skeletal bones animation) (IQM, M3D, GLTF)
-*       - Shaders support, including Model shaders and Postprocessing shaders
-*       - Powerful math module for Vector, Matrix and Quaternion operations: [raymath]
-*       - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, QOA, XM, MOD)
-*       - VR stereo rendering with configurable HMD device parameters
-*       - Bindings to multiple programming languages available!
-*
-*   NOTES:
-*       - One default Font is loaded on InitWindow()->LoadFontDefault() [core, text]
-*       - One default Texture2D is loaded on rlglInit(), 1x1 white pixel R8G8B8A8 [rlgl] (OpenGL 3.3 or ES2)
-*       - One default Shader is loaded on rlglInit()->rlLoadShaderDefault() [rlgl] (OpenGL 3.3 or ES2)
-*       - One default RenderBatch is loaded on rlglInit()->rlLoadRenderBatch() [rlgl] (OpenGL 3.3 or ES2)
-*
-*   DEPENDENCIES (included):
-*       [rcore][GLFW] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input
-*       [rcore][RGFW] rgfw (ColleagueRiley - github.com/ColleagueRiley/RGFW) for window/context management and input
-*       [rlgl] glad/glad_gles2 (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading
-*       [raudio] miniaudio (David Reid - github.com/mackron/miniaudio) for audio device/context management
-*
-*   OPTIONAL DEPENDENCIES (included):
-*       [rcore] msf_gif (Miles Fogle) for GIF recording
-*       [rcore] sinfl (Micha Mettke) for DEFLATE decompression algorithm
-*       [rcore] sdefl (Micha Mettke) for DEFLATE compression algorithm
-*       [rcore] rprand (Ramon Snatamaria) for pseudo-random numbers generation
-*       [rtextures] qoi (Dominic Szablewski - https://phoboslab.org) for QOI image manage
-*       [rtextures] stb_image (Sean Barret) for images loading (BMP, TGA, PNG, JPEG, HDR...)
-*       [rtextures] stb_image_write (Sean Barret) for image writing (BMP, TGA, PNG, JPG)
-*       [rtextures] stb_image_resize2 (Sean Barret) for image resizing algorithms
-*       [rtextures] stb_perlin (Sean Barret) for Perlin Noise image generation
-*       [rtext] stb_truetype (Sean Barret) for ttf fonts loading
-*       [rtext] stb_rect_pack (Sean Barret) for rectangles packing
-*       [rmodels] par_shapes (Philip Rideout) for parametric 3d shapes generation
-*       [rmodels] tinyobj_loader_c (Syoyo Fujita) for models loading (OBJ, MTL)
-*       [rmodels] cgltf (Johannes Kuhlmann) for models loading (glTF)
-*       [rmodels] m3d (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
-*       [rmodels] vox_loader (Johann Nadalutti) for models loading (VOX)
-*       [raudio] dr_wav (David Reid) for WAV audio file loading
-*       [raudio] dr_flac (David Reid) for FLAC audio file loading
-*       [raudio] dr_mp3 (David Reid) for MP3 audio file loading
-*       [raudio] stb_vorbis (Sean Barret) for OGG audio loading
-*       [raudio] jar_xm (Joshua Reisenauer) for XM audio module loading
-*       [raudio] jar_mod (Joshua Reisenauer) for MOD audio module loading
-*       [raudio] qoa (Dominic Szablewski - https://phoboslab.org) for QOA audio manage
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   raylib is licensed under an unmodified zlib/libpng license, which is an OSI-certified,
-*   BSD-like license that allows static linking with closed source software:
-*
-*   Copyright (c) 2013-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYLIB_H
-#define RAYLIB_H
-
-#include <stdarg.h>     // Required for: va_list - Only used by TraceLogCallback
-
-#define RAYLIB_VERSION_MAJOR 5
-#define RAYLIB_VERSION_MINOR 6
-#define RAYLIB_VERSION_PATCH 0
-#define RAYLIB_VERSION  "5.6-dev"
-
-// Function specifiers in case library is build/used as a shared library
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-// NOTE: visibility("default") attribute makes symbols "visible" when compiled with -fvisibility=hidden
-#if defined(_WIN32)
-    #if defined(__TINYC__)
-        #define __declspec(x) __attribute__((x))
-    #endif
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-    #elif defined(USE_LIBTYPE_SHARED)
-        #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-    #endif
-#else
-    #if defined(BUILD_LIBTYPE_SHARED)
-        #define RLAPI __attribute__((visibility("default"))) // We are building as a Unix shared library (.so/.dylib)
-    #endif
-#endif
-
-#ifndef RLAPI
-    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-//----------------------------------------------------------------------------------
-// Some basic Defines
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-// Allow custom memory allocators
-// NOTE: Require recompiling raylib sources
-#ifndef RL_MALLOC
-    #define RL_MALLOC(sz)       malloc(sz)
-#endif
-#ifndef RL_CALLOC
-    #define RL_CALLOC(n,sz)     calloc(n,sz)
-#endif
-#ifndef RL_REALLOC
-    #define RL_REALLOC(ptr,sz)  realloc(ptr,sz)
-#endif
-#ifndef RL_FREE
-    #define RL_FREE(ptr)        free(ptr)
-#endif
-
-// NOTE: MSVC C++ compiler does not support compound literals (C99 feature)
-// Plain structures in C++ (without constructors) can be initialized with { }
-// This is called aggregate initialization (C++11 feature)
-#if defined(__cplusplus)
-    #define CLITERAL(type)      type
-#else
-    #define CLITERAL(type)      (type)
-#endif
-
-// Some compilers (mostly macos clang) default to C++98,
-// where aggregate initialization can't be used
-// So, give a more clear error stating how to fix this
-#if !defined(_MSC_VER) && (defined(__cplusplus) && __cplusplus < 201103L)
-    #error "C++11 or later is required. Add -std=c++11"
-#endif
-
-// NOTE: We set some defines with some data types declared by raylib
-// Other modules (raymath, rlgl) also require some of those types, so,
-// to be able to use those other modules as standalone (not depending on raylib)
-// this defines are very useful for internal check and avoid type (re)definitions
-#define RL_COLOR_TYPE
-#define RL_RECTANGLE_TYPE
-#define RL_VECTOR2_TYPE
-#define RL_VECTOR3_TYPE
-#define RL_VECTOR4_TYPE
-#define RL_QUATERNION_TYPE
-#define RL_MATRIX_TYPE
-
-// Some Basic Colors
-// NOTE: Custom raylib color palette for amazing visuals on WHITE background
-#define _rl_LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
-#define _rl_GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
-#define _rl_DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
-#define _rl_YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
-#define _rl_GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
-#define _rl_ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
-#define _rl_PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
-#define _rl_RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
-#define _rl_MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
-#define _rl_GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
-#define _rl_LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
-#define _rl_DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
-#define _rl_SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
-#define _rl_BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
-#define _rl_DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
-#define _rl_PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
-#define _rl_VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
-#define _rl_DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
-#define _rl_BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
-#define _rl_BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
-#define _rl_DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
-
-#define _rl_WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
-#define _rl_BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
-#define _rl_BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
-#define _rl_MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
-#define _rl_RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
-
-#ifndef OPENPILOT_RAYLIB
-  #define LIGHTGRAY  _rl_LIGHTGRAY
-  #define GRAY       _rl_GRAY
-  #define DARKGRAY   _rl_DARKGRAY
-  #define YELLOW     _rl_YELLOW
-  #define GOLD       _rl_GOLD
-  #define ORANGE     _rl_ORANGE
-  #define PINK       _rl_PINK
-  #define RED        _rl_RED
-  #define MAROON     _rl_MAROON
-  #define GREEN      _rl_GREEN
-  #define LIME       _rl_LIME
-  #define DARKGREEN  _rl_DARKGREEN
-  #define SKYBLUE    _rl_SKYBLUE
-  #define BLUE       _rl_BLUE
-  #define DARKBLUE   _rl_DARKBLUE
-  #define PURPLE     _rl_PURPLE
-  #define VIOLET     _rl_VIOLET
-  #define DARKPURPLE _rl_DARKBLUE
-  #define BEIGE      _rl_BEIGE
-  #define BROWN      _rl_BROWN
-  #define DARKBROWN  _rl_DARKBROWN
-
-  #define WHITE      _rl_WHITE
-  #define BLACK      _rl_BLACK
-  #define BLANK      _rl_BLANK
-  #define MAGENTA    _rl_MAGENTA
-  #define RAYWHITE   _rl_RAYWHITE
-#else
-  #define RAYLIB_LIGHTGRAY  _rl_LIGHTGRAY
-  #define RAYLIB_GRAY       _rl_GRAY
-  #define RAYLIB_DARKGRAY   _rl_DARKGRAY
-  #define RAYLIB_YELLOW     _rl_YELLOW
-  #define RAYLIB_GOLD       _rl_GOLD
-  #define RAYLIB_ORANGE     _rl_ORANGE
-  #define RAYLIB_PINK       _rl_PINK
-  #define RAYLIB_RED        _rl_RED
-  #define RAYLIB_MAROON     _rl_MAROON
-  #define RAYLIB_GREEN      _rl_GREEN
-  #define RAYLIB_LIME       _rl_LIME
-  #define RAYLIB_DARKGREEN  _rl_DARKGREEN
-  #define RAYLIB_SKYBLUE    _rl_SKYBLUE
-  #define RAYLIB_BLUE       _rl_BLUE
-  #define RAYLIB_DARKBLUE   _rl_DARKBLUE
-  #define RAYLIB_PURPLE     _rl_PURPLE
-  #define RAYLIB_VIOLET     _rl_VIOLET
-  #define RAYLIB_DARKPURPLE _rl_DARKBLUE
-  #define RAYLIB_BEIGE      _rl_BEIGE
-  #define RAYLIB_BROWN      _rl_BROWN
-  #define RAYLIB_DARKBROWN  _rl_DARKBROWN
-
-  #define RAYLIB_WHITE      _rl_WHITE
-  #define RAYLIB_BLACK      _rl_BLACK
-  #define RAYLIB_BLANK      _rl_BLANK
-  #define RAYLIB_MAGENTA    _rl_MAGENTA
-  #define RAYLIB_RAYWHITE   _rl_RAYWHITE
-#endif
-
-//----------------------------------------------------------------------------------
-// Structures Definition
-//----------------------------------------------------------------------------------
-// Boolean type
-#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
-    #include <stdbool.h>
-#elif !defined(__cplusplus) && !defined(bool)
-    typedef enum bool { false = 0, true = !false } bool;
-    #define RL_BOOL_TYPE
-#endif
-
-// Vector2, 2 components
-typedef struct Vector2 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-} Vector2;
-
-// Vector3, 3 components
-typedef struct Vector3 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-    float z;                // Vector z component
-} Vector3;
-
-// Vector4, 4 components
-typedef struct Vector4 {
-    float x;                // Vector x component
-    float y;                // Vector y component
-    float z;                // Vector z component
-    float w;                // Vector w component
-} Vector4;
-
-// Quaternion, 4 components (Vector4 alias)
-typedef Vector4 Quaternion;
-
-// Matrix, 4x4 components, column major, OpenGL style, right-handed
-typedef struct Matrix {
-    float m0, m4, m8, m12;  // Matrix first row (4 components)
-    float m1, m5, m9, m13;  // Matrix second row (4 components)
-    float m2, m6, m10, m14; // Matrix third row (4 components)
-    float m3, m7, m11, m15; // Matrix fourth row (4 components)
-} Matrix;
-
-// Color, 4 components, R8G8B8A8 (32bit)
-typedef struct Color {
-    unsigned char r;        // Color red value
-    unsigned char g;        // Color green value
-    unsigned char b;        // Color blue value
-    unsigned char a;        // Color alpha value
-} Color;
-
-// Rectangle, 4 components
-typedef struct Rectangle {
-    float x;                // Rectangle top-left corner position x
-    float y;                // Rectangle top-left corner position y
-    float width;            // Rectangle width
-    float height;           // Rectangle height
-} Rectangle;
-
-// Image, pixel data stored in CPU memory (RAM)
-typedef struct Image {
-    void *data;             // Image raw data
-    int width;              // Image base width
-    int height;             // Image base height
-    int mipmaps;            // Mipmap levels, 1 by default
-    int format;             // Data format (PixelFormat type)
-} Image;
-
-// Texture, tex data stored in GPU memory (VRAM)
-typedef struct Texture {
-    unsigned int id;        // OpenGL texture id
-    int width;              // Texture base width
-    int height;             // Texture base height
-    int mipmaps;            // Mipmap levels, 1 by default
-    int format;             // Data format (PixelFormat type)
-} Texture;
-
-// Texture2D, same as Texture
-typedef Texture Texture2D;
-
-// TextureCubemap, same as Texture
-typedef Texture TextureCubemap;
-
-// RenderTexture, fbo for texture rendering
-typedef struct RenderTexture {
-    unsigned int id;        // OpenGL framebuffer object id
-    Texture texture;        // Color buffer attachment texture
-    Texture depth;          // Depth buffer attachment texture
-} RenderTexture;
-
-// RenderTexture2D, same as RenderTexture
-typedef RenderTexture RenderTexture2D;
-
-// NPatchInfo, n-patch layout info
-typedef struct NPatchInfo {
-    Rectangle source;       // Texture source rectangle
-    int left;               // Left border offset
-    int top;                // Top border offset
-    int right;              // Right border offset
-    int bottom;             // Bottom border offset
-    int layout;             // Layout of the n-patch: 3x3, 1x3 or 3x1
-} NPatchInfo;
-
-// GlyphInfo, font characters glyphs info
-typedef struct GlyphInfo {
-    int value;              // Character value (Unicode)
-    int offsetX;            // Character offset X when drawing
-    int offsetY;            // Character offset Y when drawing
-    int advanceX;           // Character advance position X
-    Image image;            // Character image data
-} GlyphInfo;
-
-// Font, font texture and GlyphInfo array data
-typedef struct Font {
-    int baseSize;           // Base size (default chars height)
-    int glyphCount;         // Number of glyph characters
-    int glyphPadding;       // Padding around the glyph characters
-    Texture2D texture;      // Texture atlas containing the glyphs
-    Rectangle *recs;        // Rectangles in texture for the glyphs
-    GlyphInfo *glyphs;      // Glyphs info data
-} Font;
-
-// Camera, defines position/orientation in 3d space
-typedef struct Camera3D {
-    Vector3 position;       // Camera position
-    Vector3 target;         // Camera target it looks-at
-    Vector3 up;             // Camera up vector (rotation over its axis)
-    float fovy;             // Camera field-of-view aperture in Y (degrees) in perspective, used as near plane width in orthographic
-    int projection;         // Camera projection: CAMERA_PERSPECTIVE or CAMERA_ORTHOGRAPHIC
-} Camera3D;
-
-typedef Camera3D Camera;    // Camera type fallback, defaults to Camera3D
-
-// Camera2D, defines position/orientation in 2d space
-typedef struct Camera2D {
-    Vector2 offset;         // Camera offset (displacement from target)
-    Vector2 target;         // Camera target (rotation and zoom origin)
-    float rotation;         // Camera rotation in degrees
-    float zoom;             // Camera zoom (scaling), should be 1.0f by default
-} Camera2D;
-
-// Mesh, vertex data and vao/vbo
-typedef struct Mesh {
-    int vertexCount;        // Number of vertices stored in arrays
-    int triangleCount;      // Number of triangles stored (indexed or not)
-
-    // Vertex attributes data
-    float *vertices;        // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
-    float *texcoords;       // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
-    float *texcoords2;      // Vertex texture second coordinates (UV - 2 components per vertex) (shader-location = 5)
-    float *normals;         // Vertex normals (XYZ - 3 components per vertex) (shader-location = 2)
-    float *tangents;        // Vertex tangents (XYZW - 4 components per vertex) (shader-location = 4)
-    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
-    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed)
-
-    // Animation vertex data
-    float *animVertices;    // Animated vertex positions (after bones transformations)
-    float *animNormals;     // Animated normals (after bones transformations)
-    unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning) (shader-location = 6)
-    float *boneWeights;     // Vertex bone weight, up to 4 bones influence by vertex (skinning) (shader-location = 7)
-    Matrix *boneMatrices;   // Bones animated transformation matrices
-    int boneCount;          // Number of bones
-
-    // OpenGL identifiers
-    unsigned int vaoId;     // OpenGL Vertex Array Object id
-    unsigned int *vboId;    // OpenGL Vertex Buffer Objects id (default vertex data)
-} Mesh;
-
-// Shader
-typedef struct Shader {
-    unsigned int id;        // Shader program id
-    int *locs;              // Shader locations array (RL_MAX_SHADER_LOCATIONS)
-} Shader;
-
-// MaterialMap
-typedef struct MaterialMap {
-    Texture2D texture;      // Material map texture
-    Color color;            // Material map color
-    float value;            // Material map value
-} MaterialMap;
-
-// Material, includes shader and maps
-typedef struct Material {
-    Shader shader;          // Material shader
-    MaterialMap *maps;      // Material maps array (MAX_MATERIAL_MAPS)
-    float params[4];        // Material generic parameters (if required)
-} Material;
-
-// Transform, vertex transformation data
-typedef struct Transform {
-    Vector3 translation;    // Translation
-    Quaternion rotation;    // Rotation
-    Vector3 scale;          // Scale
-} Transform;
-
-// Bone, skeletal animation bone
-typedef struct BoneInfo {
-    char name[32];          // Bone name
-    int parent;             // Bone parent
-} BoneInfo;
-
-// Model, meshes, materials and animation data
-typedef struct Model {
-    Matrix transform;       // Local transform matrix
-
-    int meshCount;          // Number of meshes
-    int materialCount;      // Number of materials
-    Mesh *meshes;           // Meshes array
-    Material *materials;    // Materials array
-    int *meshMaterial;      // Mesh material number
-
-    // Animation data
-    int boneCount;          // Number of bones
-    BoneInfo *bones;        // Bones information (skeleton)
-    Transform *bindPose;    // Bones base transformation (pose)
-} Model;
-
-// ModelAnimation
-typedef struct ModelAnimation {
-    int boneCount;          // Number of bones
-    int frameCount;         // Number of animation frames
-    BoneInfo *bones;        // Bones information (skeleton)
-    Transform **framePoses; // Poses array by frame
-    char name[32];          // Animation name
-} ModelAnimation;
-
-// Ray, ray for raycasting
-typedef struct Ray {
-    Vector3 position;       // Ray position (origin)
-    Vector3 direction;      // Ray direction (normalized)
-} Ray;
-
-// RayCollision, ray hit information
-typedef struct RayCollision {
-    bool hit;               // Did the ray hit something?
-    float distance;         // Distance to the nearest hit
-    Vector3 point;          // Point of the nearest hit
-    Vector3 normal;         // Surface normal of hit
-} RayCollision;
-
-// BoundingBox
-typedef struct BoundingBox {
-    Vector3 min;            // Minimum vertex box-corner
-    Vector3 max;            // Maximum vertex box-corner
-} BoundingBox;
-
-// Wave, audio wave data
-typedef struct Wave {
-    unsigned int frameCount;    // Total number of frames (considering channels)
-    unsigned int sampleRate;    // Frequency (samples per second)
-    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
-    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
-    void *data;                 // Buffer data pointer
-} Wave;
-
-// Opaque structs declaration
-// NOTE: Actual structs are defined internally in raudio module
-typedef struct rAudioBuffer rAudioBuffer;
-typedef struct rAudioProcessor rAudioProcessor;
-
-// AudioStream, custom audio stream
-typedef struct AudioStream {
-    rAudioBuffer *buffer;       // Pointer to internal data used by the audio system
-    rAudioProcessor *processor; // Pointer to internal data processor, useful for audio effects
-
-    unsigned int sampleRate;    // Frequency (samples per second)
-    unsigned int sampleSize;    // Bit depth (bits per sample): 8, 16, 32 (24 not supported)
-    unsigned int channels;      // Number of channels (1-mono, 2-stereo, ...)
-} AudioStream;
-
-// Sound
-typedef struct Sound {
-    AudioStream stream;         // Audio stream
-    unsigned int frameCount;    // Total number of frames (considering channels)
-} Sound;
-
-// Music, audio stream, anything longer than ~10 seconds should be streamed
-typedef struct Music {
-    AudioStream stream;         // Audio stream
-    unsigned int frameCount;    // Total number of frames (considering channels)
-    bool looping;               // Music looping enable
-
-    int ctxType;                // Type of music context (audio filetype)
-    void *ctxData;              // Audio context data, depends on type
-} Music;
-
-// VrDeviceInfo, Head-Mounted-Display device parameters
-typedef struct VrDeviceInfo {
-    int hResolution;                // Horizontal resolution in pixels
-    int vResolution;                // Vertical resolution in pixels
-    float hScreenSize;              // Horizontal size in meters
-    float vScreenSize;              // Vertical size in meters
-    float eyeToScreenDistance;      // Distance between eye and display in meters
-    float lensSeparationDistance;   // Lens separation distance in meters
-    float interpupillaryDistance;   // IPD (distance between pupils) in meters
-    float lensDistortionValues[4];  // Lens distortion constant parameters
-    float chromaAbCorrection[4];    // Chromatic aberration correction parameters
-} VrDeviceInfo;
-
-// VrStereoConfig, VR stereo rendering configuration for simulator
-typedef struct VrStereoConfig {
-    Matrix projection[2];           // VR projection matrices (per eye)
-    Matrix viewOffset[2];           // VR view offset matrices (per eye)
-    float leftLensCenter[2];        // VR left lens center
-    float rightLensCenter[2];       // VR right lens center
-    float leftScreenCenter[2];      // VR left screen center
-    float rightScreenCenter[2];     // VR right screen center
-    float scale[2];                 // VR distortion scale
-    float scaleIn[2];               // VR distortion scale in
-} VrStereoConfig;
-
-// File path list
-typedef struct FilePathList {
-    unsigned int capacity;          // Filepaths max entries
-    unsigned int count;             // Filepaths entries count
-    char **paths;                   // Filepaths entries
-} FilePathList;
-
-// Automation event
-typedef struct AutomationEvent {
-    unsigned int frame;             // Event frame
-    unsigned int type;              // Event type (AutomationEventType)
-    int params[4];                  // Event parameters (if required)
-} AutomationEvent;
-
-// Automation event list
-typedef struct AutomationEventList {
-    unsigned int capacity;          // Events max entries (MAX_AUTOMATION_EVENTS)
-    unsigned int count;             // Events entries count
-    AutomationEvent *events;        // Events entries
-} AutomationEventList;
-
-//----------------------------------------------------------------------------------
-// Enumerators Definition
-//----------------------------------------------------------------------------------
-// System/Window config flags
-// NOTE: Every bit registers one state (use it with bit masks)
-// By default all flags are set to 0
-typedef enum {
-    FLAG_VSYNC_HINT         = 0x00000040,   // Set to try enabling V-Sync on GPU
-    FLAG_FULLSCREEN_MODE    = 0x00000002,   // Set to run program in fullscreen
-    FLAG_WINDOW_RESIZABLE   = 0x00000004,   // Set to allow resizable window
-    FLAG_WINDOW_UNDECORATED = 0x00000008,   // Set to disable window decoration (frame and buttons)
-    FLAG_WINDOW_HIDDEN      = 0x00000080,   // Set to hide window
-    FLAG_WINDOW_MINIMIZED   = 0x00000200,   // Set to minimize window (iconify)
-    FLAG_WINDOW_MAXIMIZED   = 0x00000400,   // Set to maximize window (expanded to monitor)
-    FLAG_WINDOW_UNFOCUSED   = 0x00000800,   // Set to window non focused
-    FLAG_WINDOW_TOPMOST     = 0x00001000,   // Set to window always on top
-    FLAG_WINDOW_ALWAYS_RUN  = 0x00000100,   // Set to allow windows running while minimized
-    FLAG_WINDOW_TRANSPARENT = 0x00000010,   // Set to allow transparent framebuffer
-    FLAG_WINDOW_HIGHDPI     = 0x00002000,   // Set to support HighDPI
-    FLAG_WINDOW_MOUSE_PASSTHROUGH = 0x00004000, // Set to support mouse passthrough, only supported when FLAG_WINDOW_UNDECORATED
-    FLAG_BORDERLESS_WINDOWED_MODE = 0x00008000, // Set to run program in borderless windowed mode
-    FLAG_MSAA_4X_HINT       = 0x00000020,   // Set to try enabling MSAA 4X
-    FLAG_INTERLACED_HINT    = 0x00010000    // Set to try enabling interlaced video format (for V3D)
-} ConfigFlags;
-
-// Trace log level
-// NOTE: Organized by priority level
-typedef enum {
-    LOG_ALL = 0,        // Display all logs
-    LOG_TRACE,          // Trace logging, intended for internal use only
-    LOG_DEBUG,          // Debug logging, used for internal debugging, it should be disabled on release builds
-    LOG_INFO,           // Info logging, used for program execution info
-    LOG_WARNING,        // Warning logging, used on recoverable failures
-    LOG_ERROR,          // Error logging, used on unrecoverable failures
-    LOG_FATAL,          // Fatal logging, used to abort program: exit(EXIT_FAILURE)
-    LOG_NONE            // Disable logging
-} TraceLogLevel;
-
-// Keyboard keys (US keyboard layout)
-// NOTE: Use GetKeyPressed() to allow redefining
-// required keys for alternative layouts
-typedef enum {
-    KEY_NULL            = 0,        // Key: NULL, used for no key pressed
-    // Alphanumeric keys
-    KEY_APOSTROPHE      = 39,       // Key: '
-    KEY_COMMA           = 44,       // Key: ,
-    KEY_MINUS           = 45,       // Key: -
-    KEY_PERIOD          = 46,       // Key: .
-    KEY_SLASH           = 47,       // Key: /
-    KEY_ZERO            = 48,       // Key: 0
-    KEY_ONE             = 49,       // Key: 1
-    KEY_TWO             = 50,       // Key: 2
-    KEY_THREE           = 51,       // Key: 3
-    KEY_FOUR            = 52,       // Key: 4
-    KEY_FIVE            = 53,       // Key: 5
-    KEY_SIX             = 54,       // Key: 6
-    KEY_SEVEN           = 55,       // Key: 7
-    KEY_EIGHT           = 56,       // Key: 8
-    KEY_NINE            = 57,       // Key: 9
-    KEY_SEMICOLON       = 59,       // Key: ;
-    KEY_EQUAL           = 61,       // Key: =
-    KEY_A               = 65,       // Key: A | a
-    KEY_B               = 66,       // Key: B | b
-    KEY_C               = 67,       // Key: C | c
-    KEY_D               = 68,       // Key: D | d
-    KEY_E               = 69,       // Key: E | e
-    KEY_F               = 70,       // Key: F | f
-    KEY_G               = 71,       // Key: G | g
-    KEY_H               = 72,       // Key: H | h
-    KEY_I               = 73,       // Key: I | i
-    KEY_J               = 74,       // Key: J | j
-    KEY_K               = 75,       // Key: K | k
-    KEY_L               = 76,       // Key: L | l
-    KEY_M               = 77,       // Key: M | m
-    KEY_N               = 78,       // Key: N | n
-    KEY_O               = 79,       // Key: O | o
-    KEY_P               = 80,       // Key: P | p
-    KEY_Q               = 81,       // Key: Q | q
-    KEY_R               = 82,       // Key: R | r
-    KEY_S               = 83,       // Key: S | s
-    KEY_T               = 84,       // Key: T | t
-    KEY_U               = 85,       // Key: U | u
-    KEY_V               = 86,       // Key: V | v
-    KEY_W               = 87,       // Key: W | w
-    KEY_X               = 88,       // Key: X | x
-    KEY_Y               = 89,       // Key: Y | y
-    KEY_Z               = 90,       // Key: Z | z
-    KEY_LEFT_BRACKET    = 91,       // Key: [
-    KEY_BACKSLASH       = 92,       // Key: '\'
-    KEY_RIGHT_BRACKET   = 93,       // Key: ]
-    KEY_GRAVE           = 96,       // Key: `
-    // Function keys
-    KEY_SPACE           = 32,       // Key: Space
-    KEY_ESCAPE          = 256,      // Key: Esc
-    KEY_ENTER           = 257,      // Key: Enter
-    KEY_TAB             = 258,      // Key: Tab
-    KEY_BACKSPACE       = 259,      // Key: Backspace
-    KEY_INSERT          = 260,      // Key: Ins
-    KEY_DELETE          = 261,      // Key: Del
-    KEY_RIGHT           = 262,      // Key: Cursor right
-    KEY_LEFT            = 263,      // Key: Cursor left
-    KEY_DOWN            = 264,      // Key: Cursor down
-    KEY_UP              = 265,      // Key: Cursor up
-    KEY_PAGE_UP         = 266,      // Key: Page up
-    KEY_PAGE_DOWN       = 267,      // Key: Page down
-    KEY_HOME            = 268,      // Key: Home
-    KEY_END             = 269,      // Key: End
-    KEY_CAPS_LOCK       = 280,      // Key: Caps lock
-    KEY_SCROLL_LOCK     = 281,      // Key: Scroll down
-    KEY_NUM_LOCK        = 282,      // Key: Num lock
-    KEY_PRINT_SCREEN    = 283,      // Key: Print screen
-    KEY_PAUSE           = 284,      // Key: Pause
-    KEY_F1              = 290,      // Key: F1
-    KEY_F2              = 291,      // Key: F2
-    KEY_F3              = 292,      // Key: F3
-    KEY_F4              = 293,      // Key: F4
-    KEY_F5              = 294,      // Key: F5
-    KEY_F6              = 295,      // Key: F6
-    KEY_F7              = 296,      // Key: F7
-    KEY_F8              = 297,      // Key: F8
-    KEY_F9              = 298,      // Key: F9
-    KEY_F10             = 299,      // Key: F10
-    KEY_F11             = 300,      // Key: F11
-    KEY_F12             = 301,      // Key: F12
-    KEY_LEFT_SHIFT      = 340,      // Key: Shift left
-    KEY_LEFT_CONTROL    = 341,      // Key: Control left
-    KEY_LEFT_ALT        = 342,      // Key: Alt left
-    KEY_LEFT_SUPER      = 343,      // Key: Super left
-    KEY_RIGHT_SHIFT     = 344,      // Key: Shift right
-    KEY_RIGHT_CONTROL   = 345,      // Key: Control right
-    KEY_RIGHT_ALT       = 346,      // Key: Alt right
-    KEY_RIGHT_SUPER     = 347,      // Key: Super right
-    KEY_KB_MENU         = 348,      // Key: KB menu
-    // Keypad keys
-    KEY_KP_0            = 320,      // Key: Keypad 0
-    KEY_KP_1            = 321,      // Key: Keypad 1
-    KEY_KP_2            = 322,      // Key: Keypad 2
-    KEY_KP_3            = 323,      // Key: Keypad 3
-    KEY_KP_4            = 324,      // Key: Keypad 4
-    KEY_KP_5            = 325,      // Key: Keypad 5
-    KEY_KP_6            = 326,      // Key: Keypad 6
-    KEY_KP_7            = 327,      // Key: Keypad 7
-    KEY_KP_8            = 328,      // Key: Keypad 8
-    KEY_KP_9            = 329,      // Key: Keypad 9
-    KEY_KP_DECIMAL      = 330,      // Key: Keypad .
-    KEY_KP_DIVIDE       = 331,      // Key: Keypad /
-    KEY_KP_MULTIPLY     = 332,      // Key: Keypad *
-    KEY_KP_SUBTRACT     = 333,      // Key: Keypad -
-    KEY_KP_ADD          = 334,      // Key: Keypad +
-    KEY_KP_ENTER        = 335,      // Key: Keypad Enter
-    KEY_KP_EQUAL        = 336,      // Key: Keypad =
-    // Android key buttons
-    KEY_BACK            = 4,        // Key: Android back button
-    KEY_MENU            = 5,        // Key: Android menu button
-    KEY_VOLUME_UP       = 24,       // Key: Android volume up button
-    KEY_VOLUME_DOWN     = 25        // Key: Android volume down button
-} KeyboardKey;
-
-// Add backwards compatibility support for deprecated names
-#define MOUSE_LEFT_BUTTON   MOUSE_BUTTON_LEFT
-#define MOUSE_RIGHT_BUTTON  MOUSE_BUTTON_RIGHT
-#define MOUSE_MIDDLE_BUTTON MOUSE_BUTTON_MIDDLE
-
-// Mouse buttons
-typedef enum {
-    MOUSE_BUTTON_LEFT    = 0,       // Mouse button left
-    MOUSE_BUTTON_RIGHT   = 1,       // Mouse button right
-    MOUSE_BUTTON_MIDDLE  = 2,       // Mouse button middle (pressed wheel)
-    MOUSE_BUTTON_SIDE    = 3,       // Mouse button side (advanced mouse device)
-    MOUSE_BUTTON_EXTRA   = 4,       // Mouse button extra (advanced mouse device)
-    MOUSE_BUTTON_FORWARD = 5,       // Mouse button forward (advanced mouse device)
-    MOUSE_BUTTON_BACK    = 6,       // Mouse button back (advanced mouse device)
-} MouseButton;
-
-// Mouse cursor
-typedef enum {
-    MOUSE_CURSOR_DEFAULT       = 0,     // Default pointer shape
-    MOUSE_CURSOR_ARROW         = 1,     // Arrow shape
-    MOUSE_CURSOR_IBEAM         = 2,     // Text writing cursor shape
-    MOUSE_CURSOR_CROSSHAIR     = 3,     // Cross shape
-    MOUSE_CURSOR_POINTING_HAND = 4,     // Pointing hand cursor
-    MOUSE_CURSOR_RESIZE_EW     = 5,     // Horizontal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NS     = 6,     // Vertical resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NWSE   = 7,     // Top-left to bottom-right diagonal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_NESW   = 8,     // The top-right to bottom-left diagonal resize/move arrow shape
-    MOUSE_CURSOR_RESIZE_ALL    = 9,     // The omnidirectional resize/move cursor shape
-    MOUSE_CURSOR_NOT_ALLOWED   = 10     // The operation-not-allowed shape
-} MouseCursor;
-
-// Gamepad buttons
-typedef enum {
-    GAMEPAD_BUTTON_UNKNOWN = 0,         // Unknown button, just for error checking
-    GAMEPAD_BUTTON_LEFT_FACE_UP,        // Gamepad left DPAD up button
-    GAMEPAD_BUTTON_LEFT_FACE_RIGHT,     // Gamepad left DPAD right button
-    GAMEPAD_BUTTON_LEFT_FACE_DOWN,      // Gamepad left DPAD down button
-    GAMEPAD_BUTTON_LEFT_FACE_LEFT,      // Gamepad left DPAD left button
-    GAMEPAD_BUTTON_RIGHT_FACE_UP,       // Gamepad right button up (i.e. PS3: Triangle, Xbox: Y)
-    GAMEPAD_BUTTON_RIGHT_FACE_RIGHT,    // Gamepad right button right (i.e. PS3: Circle, Xbox: B)
-    GAMEPAD_BUTTON_RIGHT_FACE_DOWN,     // Gamepad right button down (i.e. PS3: Cross, Xbox: A)
-    GAMEPAD_BUTTON_RIGHT_FACE_LEFT,     // Gamepad right button left (i.e. PS3: Square, Xbox: X)
-    GAMEPAD_BUTTON_LEFT_TRIGGER_1,      // Gamepad top/back trigger left (first), it could be a trailing button
-    GAMEPAD_BUTTON_LEFT_TRIGGER_2,      // Gamepad top/back trigger left (second), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_1,     // Gamepad top/back trigger right (first), it could be a trailing button
-    GAMEPAD_BUTTON_RIGHT_TRIGGER_2,     // Gamepad top/back trigger right (second), it could be a trailing button
-    GAMEPAD_BUTTON_MIDDLE_LEFT,         // Gamepad center buttons, left one (i.e. PS3: Select)
-    GAMEPAD_BUTTON_MIDDLE,              // Gamepad center buttons, middle one (i.e. PS3: PS, Xbox: XBOX)
-    GAMEPAD_BUTTON_MIDDLE_RIGHT,        // Gamepad center buttons, right one (i.e. PS3: Start)
-    GAMEPAD_BUTTON_LEFT_THUMB,          // Gamepad joystick pressed button left
-    GAMEPAD_BUTTON_RIGHT_THUMB          // Gamepad joystick pressed button right
-} GamepadButton;
-
-// Gamepad axis
-typedef enum {
-    GAMEPAD_AXIS_LEFT_X        = 0,     // Gamepad left stick X axis
-    GAMEPAD_AXIS_LEFT_Y        = 1,     // Gamepad left stick Y axis
-    GAMEPAD_AXIS_RIGHT_X       = 2,     // Gamepad right stick X axis
-    GAMEPAD_AXIS_RIGHT_Y       = 3,     // Gamepad right stick Y axis
-    GAMEPAD_AXIS_LEFT_TRIGGER  = 4,     // Gamepad back trigger left, pressure level: [1..-1]
-    GAMEPAD_AXIS_RIGHT_TRIGGER = 5      // Gamepad back trigger right, pressure level: [1..-1]
-} GamepadAxis;
-
-// Material map index
-typedef enum {
-    MATERIAL_MAP_ALBEDO = 0,        // Albedo material (same as: MATERIAL_MAP_DIFFUSE)
-    MATERIAL_MAP_METALNESS,         // Metalness material (same as: MATERIAL_MAP_SPECULAR)
-    MATERIAL_MAP_NORMAL,            // Normal material
-    MATERIAL_MAP_ROUGHNESS,         // Roughness material
-    MATERIAL_MAP_OCCLUSION,         // Ambient occlusion material
-    MATERIAL_MAP_EMISSION,          // Emission material
-    MATERIAL_MAP_HEIGHT,            // Heightmap material
-    MATERIAL_MAP_CUBEMAP,           // Cubemap material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_IRRADIANCE,        // Irradiance material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_PREFILTER,         // Prefilter material (NOTE: Uses GL_TEXTURE_CUBE_MAP)
-    MATERIAL_MAP_BRDF               // Brdf material
-} MaterialMapIndex;
-
-#define MATERIAL_MAP_DIFFUSE      MATERIAL_MAP_ALBEDO
-#define MATERIAL_MAP_SPECULAR     MATERIAL_MAP_METALNESS
-
-// Shader location index
-typedef enum {
-    SHADER_LOC_VERTEX_POSITION = 0, // Shader location: vertex attribute: position
-    SHADER_LOC_VERTEX_TEXCOORD01,   // Shader location: vertex attribute: texcoord01
-    SHADER_LOC_VERTEX_TEXCOORD02,   // Shader location: vertex attribute: texcoord02
-    SHADER_LOC_VERTEX_NORMAL,       // Shader location: vertex attribute: normal
-    SHADER_LOC_VERTEX_TANGENT,      // Shader location: vertex attribute: tangent
-    SHADER_LOC_VERTEX_COLOR,        // Shader location: vertex attribute: color
-    SHADER_LOC_MATRIX_MVP,          // Shader location: matrix uniform: model-view-projection
-    SHADER_LOC_MATRIX_VIEW,         // Shader location: matrix uniform: view (camera transform)
-    SHADER_LOC_MATRIX_PROJECTION,   // Shader location: matrix uniform: projection
-    SHADER_LOC_MATRIX_MODEL,        // Shader location: matrix uniform: model (transform)
-    SHADER_LOC_MATRIX_NORMAL,       // Shader location: matrix uniform: normal
-    SHADER_LOC_VECTOR_VIEW,         // Shader location: vector uniform: view
-    SHADER_LOC_COLOR_DIFFUSE,       // Shader location: vector uniform: diffuse color
-    SHADER_LOC_COLOR_SPECULAR,      // Shader location: vector uniform: specular color
-    SHADER_LOC_COLOR_AMBIENT,       // Shader location: vector uniform: ambient color
-    SHADER_LOC_MAP_ALBEDO,          // Shader location: sampler2d texture: albedo (same as: SHADER_LOC_MAP_DIFFUSE)
-    SHADER_LOC_MAP_METALNESS,       // Shader location: sampler2d texture: metalness (same as: SHADER_LOC_MAP_SPECULAR)
-    SHADER_LOC_MAP_NORMAL,          // Shader location: sampler2d texture: normal
-    SHADER_LOC_MAP_ROUGHNESS,       // Shader location: sampler2d texture: roughness
-    SHADER_LOC_MAP_OCCLUSION,       // Shader location: sampler2d texture: occlusion
-    SHADER_LOC_MAP_EMISSION,        // Shader location: sampler2d texture: emission
-    SHADER_LOC_MAP_HEIGHT,          // Shader location: sampler2d texture: height
-    SHADER_LOC_MAP_CUBEMAP,         // Shader location: samplerCube texture: cubemap
-    SHADER_LOC_MAP_IRRADIANCE,      // Shader location: samplerCube texture: irradiance
-    SHADER_LOC_MAP_PREFILTER,       // Shader location: samplerCube texture: prefilter
-    SHADER_LOC_MAP_BRDF,            // Shader location: sampler2d texture: brdf
-    SHADER_LOC_VERTEX_BONEIDS,      // Shader location: vertex attribute: boneIds
-    SHADER_LOC_VERTEX_BONEWEIGHTS,  // Shader location: vertex attribute: boneWeights
-    SHADER_LOC_BONE_MATRICES        // Shader location: array of matrices uniform: boneMatrices
-} ShaderLocationIndex;
-
-#define SHADER_LOC_MAP_DIFFUSE      SHADER_LOC_MAP_ALBEDO
-#define SHADER_LOC_MAP_SPECULAR     SHADER_LOC_MAP_METALNESS
-
-// Shader uniform data type
-typedef enum {
-    SHADER_UNIFORM_FLOAT = 0,       // Shader uniform type: float
-    SHADER_UNIFORM_VEC2,            // Shader uniform type: vec2 (2 float)
-    SHADER_UNIFORM_VEC3,            // Shader uniform type: vec3 (3 float)
-    SHADER_UNIFORM_VEC4,            // Shader uniform type: vec4 (4 float)
-    SHADER_UNIFORM_INT,             // Shader uniform type: int
-    SHADER_UNIFORM_IVEC2,           // Shader uniform type: ivec2 (2 int)
-    SHADER_UNIFORM_IVEC3,           // Shader uniform type: ivec3 (3 int)
-    SHADER_UNIFORM_IVEC4,           // Shader uniform type: ivec4 (4 int)
-    SHADER_UNIFORM_SAMPLER2D        // Shader uniform type: sampler2d
-} ShaderUniformDataType;
-
-// Shader attribute data types
-typedef enum {
-    SHADER_ATTRIB_FLOAT = 0,        // Shader attribute type: float
-    SHADER_ATTRIB_VEC2,             // Shader attribute type: vec2 (2 float)
-    SHADER_ATTRIB_VEC3,             // Shader attribute type: vec3 (3 float)
-    SHADER_ATTRIB_VEC4              // Shader attribute type: vec4 (4 float)
-} ShaderAttributeDataType;
-
-// Pixel formats
-// NOTE: Support depends on OpenGL version and platform
-typedef enum {
-    PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1, // 8 bit per pixel (no alpha)
-    PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,    // 8*2 bpp (2 channels)
-    PIXELFORMAT_UNCOMPRESSED_R5G6B5,        // 16 bpp
-    PIXELFORMAT_UNCOMPRESSED_R8G8B8,        // 24 bpp
-    PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,      // 16 bpp (1 bit alpha)
-    PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,      // 16 bpp (4 bit alpha)
-    PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,      // 32 bpp
-    PIXELFORMAT_UNCOMPRESSED_R32,           // 32 bpp (1 channel - float)
-    PIXELFORMAT_UNCOMPRESSED_R32G32B32,     // 32*3 bpp (3 channels - float)
-    PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,  // 32*4 bpp (4 channels - float)
-    PIXELFORMAT_UNCOMPRESSED_R16,           // 16 bpp (1 channel - half float)
-    PIXELFORMAT_UNCOMPRESSED_R16G16B16,     // 16*3 bpp (3 channels - half float)
-    PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,  // 16*4 bpp (4 channels - half float)
-    PIXELFORMAT_COMPRESSED_DXT1_RGB,        // 4 bpp (no alpha)
-    PIXELFORMAT_COMPRESSED_DXT1_RGBA,       // 4 bpp (1 bit alpha)
-    PIXELFORMAT_COMPRESSED_DXT3_RGBA,       // 8 bpp
-    PIXELFORMAT_COMPRESSED_DXT5_RGBA,       // 8 bpp
-    PIXELFORMAT_COMPRESSED_ETC1_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_ETC2_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,   // 8 bpp
-    PIXELFORMAT_COMPRESSED_PVRT_RGB,        // 4 bpp
-    PIXELFORMAT_COMPRESSED_PVRT_RGBA,       // 4 bpp
-    PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,   // 8 bpp
-    PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA    // 2 bpp
-} PixelFormat;
-
-// Texture parameters: filter mode
-// NOTE 1: Filtering considers mipmaps if available in the texture
-// NOTE 2: Filter is accordingly set for minification and magnification
-typedef enum {
-    TEXTURE_FILTER_POINT = 0,               // No filter, just pixel approximation
-    TEXTURE_FILTER_BILINEAR,                // Linear filtering
-    TEXTURE_FILTER_TRILINEAR,               // Trilinear filtering (linear with mipmaps)
-    TEXTURE_FILTER_ANISOTROPIC_4X,          // Anisotropic filtering 4x
-    TEXTURE_FILTER_ANISOTROPIC_8X,          // Anisotropic filtering 8x
-    TEXTURE_FILTER_ANISOTROPIC_16X,         // Anisotropic filtering 16x
-} TextureFilter;
-
-// Texture parameters: wrap mode
-typedef enum {
-    TEXTURE_WRAP_REPEAT = 0,                // Repeats texture in tiled mode
-    TEXTURE_WRAP_CLAMP,                     // Clamps texture to edge pixel in tiled mode
-    TEXTURE_WRAP_MIRROR_REPEAT,             // Mirrors and repeats the texture in tiled mode
-    TEXTURE_WRAP_MIRROR_CLAMP               // Mirrors and clamps to border the texture in tiled mode
-} TextureWrap;
-
-// Cubemap layouts
-typedef enum {
-    CUBEMAP_LAYOUT_AUTO_DETECT = 0,         // Automatically detect layout type
-    CUBEMAP_LAYOUT_LINE_VERTICAL,           // Layout is defined by a vertical line with faces
-    CUBEMAP_LAYOUT_LINE_HORIZONTAL,         // Layout is defined by a horizontal line with faces
-    CUBEMAP_LAYOUT_CROSS_THREE_BY_FOUR,     // Layout is defined by a 3x4 cross with cubemap faces
-    CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE     // Layout is defined by a 4x3 cross with cubemap faces
-} CubemapLayout;
-
-// Font type, defines generation method
-typedef enum {
-    FONT_DEFAULT = 0,               // Default font generation, anti-aliased
-    FONT_BITMAP,                    // Bitmap font generation, no anti-aliasing
-    FONT_SDF                        // SDF font generation, requires external shader
-} FontType;
-
-// Color blending modes (pre-defined)
-typedef enum {
-    BLEND_ALPHA = 0,                // Blend textures considering alpha (default)
-    BLEND_ADDITIVE,                 // Blend textures adding colors
-    BLEND_MULTIPLIED,               // Blend textures multiplying colors
-    BLEND_ADD_COLORS,               // Blend textures adding colors (alternative)
-    BLEND_SUBTRACT_COLORS,          // Blend textures subtracting colors (alternative)
-    BLEND_ALPHA_PREMULTIPLY,        // Blend premultiplied textures considering alpha
-    BLEND_CUSTOM,                   // Blend textures using custom src/dst factors (use rlSetBlendFactors())
-    BLEND_CUSTOM_SEPARATE           // Blend textures using custom rgb/alpha separate src/dst factors (use rlSetBlendFactorsSeparate())
-} BlendMode;
-
-// Gesture
-// NOTE: Provided as bit-wise flags to enable only desired gestures
-typedef enum {
-    GESTURE_NONE        = 0,        // No gesture
-    GESTURE_TAP         = 1,        // Tap gesture
-    GESTURE_DOUBLETAP   = 2,        // Double tap gesture
-    GESTURE_HOLD        = 4,        // Hold gesture
-    GESTURE_DRAG        = 8,        // Drag gesture
-    GESTURE_SWIPE_RIGHT = 16,       // Swipe right gesture
-    GESTURE_SWIPE_LEFT  = 32,       // Swipe left gesture
-    GESTURE_SWIPE_UP    = 64,       // Swipe up gesture
-    GESTURE_SWIPE_DOWN  = 128,      // Swipe down gesture
-    GESTURE_PINCH_IN    = 256,      // Pinch in gesture
-    GESTURE_PINCH_OUT   = 512       // Pinch out gesture
-} Gesture;
-
-// Camera system modes
-typedef enum {
-    CAMERA_CUSTOM = 0,              // Camera custom, controlled by user (UpdateCamera() does nothing)
-    CAMERA_FREE,                    // Camera free mode
-    CAMERA_ORBITAL,                 // Camera orbital, around target, zoom supported
-    CAMERA_FIRST_PERSON,            // Camera first person
-    CAMERA_THIRD_PERSON             // Camera third person
-} CameraMode;
-
-// Camera projection
-typedef enum {
-    CAMERA_PERSPECTIVE = 0,         // Perspective projection
-    CAMERA_ORTHOGRAPHIC             // Orthographic projection
-} CameraProjection;
-
-// N-patch layout
-typedef enum {
-    NPATCH_NINE_PATCH = 0,          // Npatch layout: 3x3 tiles
-    NPATCH_THREE_PATCH_VERTICAL,    // Npatch layout: 1x3 tiles
-    NPATCH_THREE_PATCH_HORIZONTAL   // Npatch layout: 3x1 tiles
-} NPatchLayout;
-
-// Callbacks to hook some internal functions
-// WARNING: These callbacks are intended for advanced users
-typedef void (*TraceLogCallback)(int logLevel, const char *text, va_list args);  // Logging: Redirect trace log messages
-typedef unsigned char *(*LoadFileDataCallback)(const char *fileName, int *dataSize);    // FileIO: Load binary data
-typedef bool (*SaveFileDataCallback)(const char *fileName, void *data, int dataSize);   // FileIO: Save binary data
-typedef char *(*LoadFileTextCallback)(const char *fileName);            // FileIO: Load text data
-typedef bool (*SaveFileTextCallback)(const char *fileName, char *text); // FileIO: Save text data
-
-//------------------------------------------------------------------------------------
-// Global Variables Definition
-//------------------------------------------------------------------------------------
-// It's lonely here...
-
-//------------------------------------------------------------------------------------
-// Window and Graphics Device Functions (Module: core)
-//------------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-// Window-related functions
-RLAPI void InitWindow(int width, int height, const char *title);  // Initialize window and OpenGL context
-RLAPI void CloseWindow(void);                                     // Close window and unload OpenGL context
-RLAPI bool WindowShouldClose(void);                               // Check if application should close (KEY_ESCAPE pressed or windows close icon clicked)
-RLAPI bool IsWindowReady(void);                                   // Check if window has been initialized successfully
-RLAPI bool IsWindowFullscreen(void);                              // Check if window is currently fullscreen
-RLAPI bool IsWindowHidden(void);                                  // Check if window is currently hidden
-RLAPI bool IsWindowMinimized(void);                               // Check if window is currently minimized
-RLAPI bool IsWindowMaximized(void);                               // Check if window is currently maximized
-RLAPI bool IsWindowFocused(void);                                 // Check if window is currently focused
-RLAPI bool IsWindowResized(void);                                 // Check if window has been resized last frame
-RLAPI bool IsWindowState(unsigned int flag);                      // Check if one specific window flag is enabled
-RLAPI void SetWindowState(unsigned int flags);                    // Set window configuration state using flags
-RLAPI void ClearWindowState(unsigned int flags);                  // Clear window configuration state flags
-RLAPI void ToggleFullscreen(void);                                // Toggle window state: fullscreen/windowed, resizes monitor to match window resolution
-RLAPI void ToggleBorderlessWindowed(void);                        // Toggle window state: borderless windowed, resizes window to match monitor resolution
-RLAPI void MaximizeWindow(void);                                  // Set window state: maximized, if resizable
-RLAPI void MinimizeWindow(void);                                  // Set window state: minimized, if resizable
-RLAPI void RestoreWindow(void);                                   // Set window state: not minimized/maximized
-RLAPI void SetWindowIcon(Image image);                            // Set icon for window (single image, RGBA 32bit)
-RLAPI void SetWindowIcons(Image *images, int count);              // Set icon for window (multiple images, RGBA 32bit)
-RLAPI void SetWindowTitle(const char *title);                     // Set title for window
-RLAPI void SetWindowPosition(int x, int y);                       // Set window position on screen
-RLAPI void SetWindowMonitor(int monitor);                         // Set monitor for the current window
-RLAPI void SetWindowMinSize(int width, int height);               // Set window minimum dimensions (for FLAG_WINDOW_RESIZABLE)
-RLAPI void SetWindowMaxSize(int width, int height);               // Set window maximum dimensions (for FLAG_WINDOW_RESIZABLE)
-RLAPI void SetWindowSize(int width, int height);                  // Set window dimensions
-RLAPI void SetWindowOpacity(float opacity);                       // Set window opacity [0.0f..1.0f]
-RLAPI void SetWindowFocused(void);                                // Set window focused
-RLAPI void *GetWindowHandle(void);                                // Get native window handle
-RLAPI int GetScreenWidth(void);                                   // Get current screen width
-RLAPI int GetScreenHeight(void);                                  // Get current screen height
-RLAPI int GetRenderWidth(void);                                   // Get current render width (it considers HiDPI)
-RLAPI int GetRenderHeight(void);                                  // Get current render height (it considers HiDPI)
-RLAPI int GetMonitorCount(void);                                  // Get number of connected monitors
-RLAPI int GetCurrentMonitor(void);                                // Get current monitor where window is placed
-RLAPI Vector2 GetMonitorPosition(int monitor);                    // Get specified monitor position
-RLAPI int GetMonitorWidth(int monitor);                           // Get specified monitor width (current video mode used by monitor)
-RLAPI int GetMonitorHeight(int monitor);                          // Get specified monitor height (current video mode used by monitor)
-RLAPI int GetMonitorPhysicalWidth(int monitor);                   // Get specified monitor physical width in millimetres
-RLAPI int GetMonitorPhysicalHeight(int monitor);                  // Get specified monitor physical height in millimetres
-RLAPI int GetMonitorRefreshRate(int monitor);                     // Get specified monitor refresh rate
-RLAPI Vector2 GetWindowPosition(void);                            // Get window position XY on monitor
-RLAPI Vector2 GetWindowScaleDPI(void);                            // Get window scale DPI factor
-RLAPI const char *GetMonitorName(int monitor);                    // Get the human-readable, UTF-8 encoded name of the specified monitor
-RLAPI void SetClipboardText(const char *text);                    // Set clipboard text content
-RLAPI const char *GetClipboardText(void);                         // Get clipboard text content
-RLAPI Image GetClipboardImage(void);                              // Get clipboard image content
-RLAPI void EnableEventWaiting(void);                              // Enable waiting for events on EndDrawing(), no automatic event polling
-RLAPI void DisableEventWaiting(void);                             // Disable waiting for events on EndDrawing(), automatic events polling
-
-// Cursor-related functions
-RLAPI void ShowCursor(void);                                      // Shows cursor
-RLAPI void HideCursor(void);                                      // Hides cursor
-RLAPI bool IsCursorHidden(void);                                  // Check if cursor is not visible
-RLAPI void EnableCursor(void);                                    // Enables cursor (unlock cursor)
-RLAPI void DisableCursor(void);                                   // Disables cursor (lock cursor)
-RLAPI bool IsCursorOnScreen(void);                                // Check if cursor is on the screen
-
-// Drawing-related functions
-RLAPI void ClearBackground(Color color);                          // Set background color (framebuffer clear color)
-RLAPI void BeginDrawing(void);                                    // Setup canvas (framebuffer) to start drawing
-RLAPI void EndDrawing(void);                                      // End canvas drawing and swap buffers (double buffering)
-RLAPI void BeginMode2D(Camera2D camera);                          // Begin 2D mode with custom camera (2D)
-RLAPI void EndMode2D(void);                                       // Ends 2D mode with custom camera
-RLAPI void BeginMode3D(Camera3D camera);                          // Begin 3D mode with custom camera (3D)
-RLAPI void EndMode3D(void);                                       // Ends 3D mode and returns to default 2D orthographic mode
-RLAPI void BeginTextureMode(RenderTexture2D target);              // Begin drawing to render texture
-RLAPI void EndTextureMode(void);                                  // Ends drawing to render texture
-RLAPI void BeginShaderMode(Shader shader);                        // Begin custom shader drawing
-RLAPI void EndShaderMode(void);                                   // End custom shader drawing (use default shader)
-RLAPI void BeginBlendMode(int mode);                              // Begin blending mode (alpha, additive, multiplied, subtract, custom)
-RLAPI void EndBlendMode(void);                                    // End blending mode (reset to default: alpha blending)
-RLAPI void BeginScissorMode(int x, int y, int width, int height); // Begin scissor mode (define screen area for following drawing)
-RLAPI void EndScissorMode(void);                                  // End scissor mode
-RLAPI void BeginVrStereoMode(VrStereoConfig config);              // Begin stereo rendering (requires VR simulator)
-RLAPI void EndVrStereoMode(void);                                 // End stereo rendering (requires VR simulator)
-
-// VR stereo config functions for VR simulator
-RLAPI VrStereoConfig LoadVrStereoConfig(VrDeviceInfo device);     // Load VR stereo config for VR simulator device parameters
-RLAPI void UnloadVrStereoConfig(VrStereoConfig config);           // Unload VR stereo config
-
-// Shader management functions
-// NOTE: Shader functionality is not available on OpenGL 1.1
-RLAPI Shader LoadShader(const char *vsFileName, const char *fsFileName);   // Load shader from files and bind default locations
-RLAPI Shader LoadShaderFromMemory(const char *vsCode, const char *fsCode); // Load shader from code strings and bind default locations
-RLAPI bool IsShaderValid(Shader shader);                                   // Check if a shader is valid (loaded on GPU)
-RLAPI int GetShaderLocation(Shader shader, const char *uniformName);       // Get shader uniform location
-RLAPI int GetShaderLocationAttrib(Shader shader, const char *attribName);  // Get shader attribute location
-RLAPI void SetShaderValue(Shader shader, int locIndex, const void *value, int uniformType);               // Set shader uniform value
-RLAPI void SetShaderValueV(Shader shader, int locIndex, const void *value, int uniformType, int count);   // Set shader uniform value vector
-RLAPI void SetShaderValueMatrix(Shader shader, int locIndex, Matrix mat);         // Set shader uniform value (matrix 4x4)
-RLAPI void SetShaderValueTexture(Shader shader, int locIndex, Texture2D texture); // Set shader uniform value for texture (sampler2d)
-RLAPI void UnloadShader(Shader shader);                                    // Unload shader from GPU memory (VRAM)
-
-// Screen-space-related functions
-#define GetMouseRay GetScreenToWorldRay     // Compatibility hack for previous raylib versions
-RLAPI Ray GetScreenToWorldRay(Vector2 position, Camera camera);         // Get a ray trace from screen position (i.e mouse)
-RLAPI Ray GetScreenToWorldRayEx(Vector2 position, Camera camera, int width, int height); // Get a ray trace from screen position (i.e mouse) in a viewport
-RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera);        // Get the screen space position for a 3d world space position
-RLAPI Vector2 GetWorldToScreenEx(Vector3 position, Camera camera, int width, int height); // Get size position for a 3d world space position
-RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera);    // Get the screen space position for a 2d camera world space position
-RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera);    // Get the world space position for a 2d camera screen space position
-RLAPI Matrix GetCameraMatrix(Camera camera);                            // Get camera transform matrix (view matrix)
-RLAPI Matrix GetCameraMatrix2D(Camera2D camera);                        // Get camera 2d transform matrix
-
-// Timing-related functions
-RLAPI void SetTargetFPS(int fps);                                 // Set target FPS (maximum)
-RLAPI float GetFrameTime(void);                                   // Get time in seconds for last frame drawn (delta time)
-RLAPI double GetTime(void);                                       // Get elapsed time in seconds since InitWindow()
-RLAPI int GetFPS(void);                                           // Get current FPS
-
-// Custom frame control functions
-// NOTE: Those functions are intended for advanced users that want full control over the frame processing
-// By default EndDrawing() does this job: draws everything + SwapScreenBuffer() + manage frame timing + PollInputEvents()
-// To avoid that behaviour and control frame processes manually, enable in config.h: SUPPORT_CUSTOM_FRAME_CONTROL
-RLAPI void SwapScreenBuffer(void);                                // Swap back buffer with front buffer (screen drawing)
-RLAPI void PollInputEvents(void);                                 // Register all input events
-RLAPI void WaitTime(double seconds);                              // Wait for some time (halt program execution)
-
-// Random values generation functions
-RLAPI void SetRandomSeed(unsigned int seed);                      // Set the seed for the random number generator
-RLAPI int GetRandomValue(int min, int max);                       // Get a random value between min and max (both included)
-RLAPI int *LoadRandomSequence(unsigned int count, int min, int max); // Load random values sequence, no values repeated
-RLAPI void UnloadRandomSequence(int *sequence);                   // Unload random values sequence
-
-// Misc. functions
-RLAPI void TakeScreenshot(const char *fileName);                  // Takes a screenshot of current screen (filename extension defines format)
-RLAPI void SetConfigFlags(unsigned int flags);                    // Setup init configuration flags (view FLAGS)
-RLAPI void OpenURL(const char *url);                              // Open URL with default system browser (if available)
-
-// NOTE: Following functions implemented in module [utils]
-//------------------------------------------------------------------
-RLAPI void TraceLog(int logLevel, const char *text, ...);         // Show trace log messages (LOG_DEBUG, LOG_INFO, LOG_WARNING, LOG_ERROR...)
-RLAPI void SetTraceLogLevel(int logLevel);                        // Set the current threshold (minimum) log level
-RLAPI void *MemAlloc(unsigned int size);                          // Internal memory allocator
-RLAPI void *MemRealloc(void *ptr, unsigned int size);             // Internal memory reallocator
-RLAPI void MemFree(void *ptr);                                    // Internal memory free
-
-// Set custom callbacks
-// WARNING: Callbacks setup is intended for advanced users
-RLAPI void SetTraceLogCallback(TraceLogCallback callback);         // Set custom trace log
-RLAPI void SetLoadFileDataCallback(LoadFileDataCallback callback); // Set custom file binary data loader
-RLAPI void SetSaveFileDataCallback(SaveFileDataCallback callback); // Set custom file binary data saver
-RLAPI void SetLoadFileTextCallback(LoadFileTextCallback callback); // Set custom file text data loader
-RLAPI void SetSaveFileTextCallback(SaveFileTextCallback callback); // Set custom file text data saver
-
-// Files management functions
-RLAPI unsigned char *LoadFileData(const char *fileName, int *dataSize); // Load file data as byte array (read)
-RLAPI void UnloadFileData(unsigned char *data);                   // Unload file data allocated by LoadFileData()
-RLAPI bool SaveFileData(const char *fileName, void *data, int dataSize); // Save data to file from byte array (write), returns true on success
-RLAPI bool ExportDataAsCode(const unsigned char *data, int dataSize, const char *fileName); // Export data to code (.h), returns true on success
-RLAPI char *LoadFileText(const char *fileName);                   // Load text data from file (read), returns a '\0' terminated string
-RLAPI void UnloadFileText(char *text);                            // Unload file text data allocated by LoadFileText()
-RLAPI bool SaveFileText(const char *fileName, char *text);        // Save text data to file (write), string must be '\0' terminated, returns true on success
-//------------------------------------------------------------------
-
-// File system functions
-RLAPI bool FileExists(const char *fileName);                      // Check if file exists
-RLAPI bool DirectoryExists(const char *dirPath);                  // Check if a directory path exists
-RLAPI bool IsFileExtension(const char *fileName, const char *ext); // Check file extension (including point: .png, .wav)
-RLAPI int GetFileLength(const char *fileName);                    // Get file length in bytes (NOTE: GetFileSize() conflicts with windows.h)
-RLAPI const char *GetFileExtension(const char *fileName);         // Get pointer to extension for a filename string (includes dot: '.png')
-RLAPI const char *GetFileName(const char *filePath);              // Get pointer to filename for a path string
-RLAPI const char *GetFileNameWithoutExt(const char *filePath);    // Get filename string without extension (uses static string)
-RLAPI const char *GetDirectoryPath(const char *filePath);         // Get full path for a given fileName with path (uses static string)
-RLAPI const char *GetPrevDirectoryPath(const char *dirPath);      // Get previous directory path for a given path (uses static string)
-RLAPI const char *GetWorkingDirectory(void);                      // Get current working directory (uses static string)
-RLAPI const char *GetApplicationDirectory(void);                  // Get the directory of the running application (uses static string)
-RLAPI int MakeDirectory(const char *dirPath);                     // Create directories (including full path requested), returns 0 on success
-RLAPI bool ChangeDirectory(const char *dir);                      // Change working directory, return true on success
-RLAPI bool IsPathFile(const char *path);                          // Check if a given path is a file or a directory
-RLAPI bool IsFileNameValid(const char *fileName);                 // Check if fileName is valid for the platform/OS
-RLAPI FilePathList LoadDirectoryFiles(const char *dirPath);       // Load directory filepaths
-RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan. Use 'DIR' in the filter string to include directories in the result
-RLAPI void UnloadDirectoryFiles(FilePathList files);              // Unload filepaths
-RLAPI bool IsFileDropped(void);                                   // Check if a file has been dropped into window
-RLAPI FilePathList LoadDroppedFiles(void);                        // Load dropped filepaths
-RLAPI void UnloadDroppedFiles(FilePathList files);                // Unload dropped filepaths
-RLAPI long GetFileModTime(const char *fileName);                  // Get file modification time (last write time)
-
-// Compression/Encoding functionality
-RLAPI unsigned char *CompressData(const unsigned char *data, int dataSize, int *compDataSize);        // Compress data (DEFLATE algorithm), memory must be MemFree()
-RLAPI unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize);  // Decompress data (DEFLATE algorithm), memory must be MemFree()
-RLAPI char *EncodeDataBase64(const unsigned char *data, int dataSize, int *outputSize);               // Encode data to Base64 string, memory must be MemFree()
-RLAPI unsigned char *DecodeDataBase64(const unsigned char *data, int *outputSize);                    // Decode Base64 string data, memory must be MemFree()
-RLAPI unsigned int ComputeCRC32(unsigned char *data, int dataSize);     // Compute CRC32 hash code
-RLAPI unsigned int *ComputeMD5(unsigned char *data, int dataSize);      // Compute MD5 hash code, returns static int[4] (16 bytes)
-RLAPI unsigned int *ComputeSHA1(unsigned char *data, int dataSize);     // Compute SHA1 hash code, returns static int[5] (20 bytes)
-
-
-// Automation events functionality
-RLAPI AutomationEventList LoadAutomationEventList(const char *fileName);                // Load automation events list from file, NULL for empty list, capacity = MAX_AUTOMATION_EVENTS
-RLAPI void UnloadAutomationEventList(AutomationEventList list);                         // Unload automation events list from file
-RLAPI bool ExportAutomationEventList(AutomationEventList list, const char *fileName);   // Export automation events list as text file
-RLAPI void SetAutomationEventList(AutomationEventList *list);                           // Set automation event list to record to
-RLAPI void SetAutomationEventBaseFrame(int frame);                                      // Set automation event internal base frame to start recording
-RLAPI void StartAutomationEventRecording(void);                                         // Start recording automation events (AutomationEventList must be set)
-RLAPI void StopAutomationEventRecording(void);                                          // Stop recording automation events
-RLAPI void PlayAutomationEvent(AutomationEvent event);                                  // Play a recorded automation event
-
-//------------------------------------------------------------------------------------
-// Input Handling Functions (Module: core)
-//------------------------------------------------------------------------------------
-
-// Input-related functions: keyboard
-RLAPI bool IsKeyPressed(int key);                             // Check if a key has been pressed once
-RLAPI bool IsKeyPressedRepeat(int key);                       // Check if a key has been pressed again
-RLAPI bool IsKeyDown(int key);                                // Check if a key is being pressed
-RLAPI bool IsKeyReleased(int key);                            // Check if a key has been released once
-RLAPI bool IsKeyUp(int key);                                  // Check if a key is NOT being pressed
-RLAPI int GetKeyPressed(void);                                // Get key pressed (keycode), call it multiple times for keys queued, returns 0 when the queue is empty
-RLAPI int GetCharPressed(void);                               // Get char pressed (unicode), call it multiple times for chars queued, returns 0 when the queue is empty
-RLAPI void SetExitKey(int key);                               // Set a custom key to exit program (default is ESC)
-
-// Input-related functions: gamepads
-RLAPI bool IsGamepadAvailable(int gamepad);                                        // Check if a gamepad is available
-RLAPI const char *GetGamepadName(int gamepad);                                     // Get gamepad internal name id
-RLAPI bool IsGamepadButtonPressed(int gamepad, int button);                        // Check if a gamepad button has been pressed once
-RLAPI bool IsGamepadButtonDown(int gamepad, int button);                           // Check if a gamepad button is being pressed
-RLAPI bool IsGamepadButtonReleased(int gamepad, int button);                       // Check if a gamepad button has been released once
-RLAPI bool IsGamepadButtonUp(int gamepad, int button);                             // Check if a gamepad button is NOT being pressed
-RLAPI int GetGamepadButtonPressed(void);                                           // Get the last gamepad button pressed
-RLAPI int GetGamepadAxisCount(int gamepad);                                        // Get gamepad axis count for a gamepad
-RLAPI float GetGamepadAxisMovement(int gamepad, int axis);                         // Get axis movement value for a gamepad axis
-RLAPI int SetGamepadMappings(const char *mappings);                                // Set internal gamepad mappings (SDL_GameControllerDB)
-RLAPI void SetGamepadVibration(int gamepad, float leftMotor, float rightMotor, float duration); // Set gamepad vibration for both motors (duration in seconds)
-
-// Input-related functions: mouse
-RLAPI bool IsMouseButtonPressed(int button);                  // Check if a mouse button has been pressed once
-RLAPI bool IsMouseButtonDown(int button);                     // Check if a mouse button is being pressed
-RLAPI bool IsMouseButtonReleased(int button);                 // Check if a mouse button has been released once
-RLAPI bool IsMouseButtonUp(int button);                       // Check if a mouse button is NOT being pressed
-RLAPI int GetMouseX(void);                                    // Get mouse position X
-RLAPI int GetMouseY(void);                                    // Get mouse position Y
-RLAPI Vector2 GetMousePosition(void);                         // Get mouse position XY
-RLAPI Vector2 GetMouseDelta(void);                            // Get mouse delta between frames
-RLAPI void SetMousePosition(int x, int y);                    // Set mouse position XY
-RLAPI void SetMouseOffset(int offsetX, int offsetY);          // Set mouse offset
-RLAPI void SetMouseScale(float scaleX, float scaleY);         // Set mouse scaling
-RLAPI float GetMouseWheelMove(void);                          // Get mouse wheel movement for X or Y, whichever is larger
-RLAPI Vector2 GetMouseWheelMoveV(void);                       // Get mouse wheel movement for both X and Y
-RLAPI void SetMouseCursor(int cursor);                        // Set mouse cursor
-
-// Input-related functions: touch
-RLAPI int GetTouchX(void);                                    // Get touch position X for touch point 0 (relative to screen size)
-RLAPI int GetTouchY(void);                                    // Get touch position Y for touch point 0 (relative to screen size)
-RLAPI Vector2 GetTouchPosition(int index);                    // Get touch position XY for a touch point index (relative to screen size)
-RLAPI int GetTouchPointId(int index);                         // Get touch point identifier for given index
-RLAPI int GetTouchPointCount(void);                           // Get number of touch points
-
-//------------------------------------------------------------------------------------
-// Gestures and Touch Handling Functions (Module: rgestures)
-//------------------------------------------------------------------------------------
-RLAPI void SetGesturesEnabled(unsigned int flags);      // Enable a set of gestures using flags
-RLAPI bool IsGestureDetected(unsigned int gesture);     // Check if a gesture have been detected
-RLAPI int GetGestureDetected(void);                     // Get latest detected gesture
-RLAPI float GetGestureHoldDuration(void);               // Get gesture hold time in seconds
-RLAPI Vector2 GetGestureDragVector(void);               // Get gesture drag vector
-RLAPI float GetGestureDragAngle(void);                  // Get gesture drag angle
-RLAPI Vector2 GetGesturePinchVector(void);              // Get gesture pinch delta
-RLAPI float GetGesturePinchAngle(void);                 // Get gesture pinch angle
-
-//------------------------------------------------------------------------------------
-// Camera System Functions (Module: rcamera)
-//------------------------------------------------------------------------------------
-RLAPI void UpdateCamera(Camera *camera, int mode);      // Update camera position for selected mode
-RLAPI void UpdateCameraPro(Camera *camera, Vector3 movement, Vector3 rotation, float zoom); // Update camera movement/rotation
-
-//------------------------------------------------------------------------------------
-// Basic Shapes Drawing Functions (Module: shapes)
-//------------------------------------------------------------------------------------
-// Set texture and rectangle to be used on shapes drawing
-// NOTE: It can be useful when using basic shapes and one single font,
-// defining a font char white rectangle would allow drawing everything in a single draw call
-RLAPI void SetShapesTexture(Texture2D texture, Rectangle source);       // Set texture and rectangle to be used on shapes drawing
-RLAPI Texture2D GetShapesTexture(void);                                 // Get texture that is used for shapes drawing
-RLAPI Rectangle GetShapesTextureRectangle(void);                        // Get texture source rectangle that is used for shapes drawing
-
-// Basic shapes drawing functions
-RLAPI void DrawPixel(int posX, int posY, Color color);                                                   // Draw a pixel using geometry [Can be slow, use with care]
-RLAPI void DrawPixelV(Vector2 position, Color color);                                                    // Draw a pixel using geometry (Vector version) [Can be slow, use with care]
-RLAPI void DrawLine(int startPosX, int startPosY, int endPosX, int endPosY, Color color);                // Draw a line
-RLAPI void DrawLineV(Vector2 startPos, Vector2 endPos, Color color);                                     // Draw a line (using gl lines)
-RLAPI void DrawLineEx(Vector2 startPos, Vector2 endPos, float thick, Color color);                       // Draw a line (using triangles/quads)
-RLAPI void DrawLineStrip(const Vector2 *points, int pointCount, Color color);                            // Draw lines sequence (using gl lines)
-RLAPI void DrawLineBezier(Vector2 startPos, Vector2 endPos, float thick, Color color);                   // Draw line segment cubic-bezier in-out interpolation
-RLAPI void DrawCircle(int centerX, int centerY, float radius, Color color);                              // Draw a color-filled circle
-RLAPI void DrawCircleSector(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color);      // Draw a piece of a circle
-RLAPI void DrawCircleSectorLines(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color); // Draw circle sector outline
-RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color inner, Color outer);         // Draw a gradient-filled circle
-RLAPI void DrawCircleV(Vector2 center, float radius, Color color);                                       // Draw a color-filled circle (Vector version)
-RLAPI void DrawCircleLines(int centerX, int centerY, float radius, Color color);                         // Draw circle outline
-RLAPI void DrawCircleLinesV(Vector2 center, float radius, Color color);                                  // Draw circle outline (Vector version)
-RLAPI void DrawEllipse(int centerX, int centerY, float radiusH, float radiusV, Color color);             // Draw ellipse
-RLAPI void DrawEllipseLines(int centerX, int centerY, float radiusH, float radiusV, Color color);        // Draw ellipse outline
-RLAPI void DrawRing(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color); // Draw ring
-RLAPI void DrawRingLines(Vector2 center, float innerRadius, float outerRadius, float startAngle, float endAngle, int segments, Color color);    // Draw ring outline
-RLAPI void DrawRectangle(int posX, int posY, int width, int height, Color color);                        // Draw a color-filled rectangle
-RLAPI void DrawRectangleV(Vector2 position, Vector2 size, Color color);                                  // Draw a color-filled rectangle (Vector version)
-RLAPI void DrawRectangleRec(Rectangle rec, Color color);                                                 // Draw a color-filled rectangle
-RLAPI void DrawRectanglePro(Rectangle rec, Vector2 origin, float rotation, Color color);                 // Draw a color-filled rectangle with pro parameters
-RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color top, Color bottom);   // Draw a vertical-gradient-filled rectangle
-RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color left, Color right);   // Draw a horizontal-gradient-filled rectangle
-RLAPI void DrawRectangleGradientEx(Rectangle rec, Color topLeft, Color bottomLeft, Color topRight, Color bottomRight); // Draw a gradient-filled rectangle with custom vertex colors
-RLAPI void DrawRectangleLines(int posX, int posY, int width, int height, Color color);                   // Draw rectangle outline
-RLAPI void DrawRectangleLinesEx(Rectangle rec, float lineThick, Color color);                            // Draw rectangle outline with extended parameters
-RLAPI void DrawRectangleRounded(Rectangle rec, float roundness, int segments, Color color);              // Draw rectangle with rounded edges
-RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, Color color);         // Draw rectangle lines with rounded edges
-RLAPI void DrawRectangleRoundedLinesEx(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
-RLAPI void DrawTriangle(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                                // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleLines(Vector2 v1, Vector2 v2, Vector2 v3, Color color);                           // Draw triangle outline (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleFan(const Vector2 *points, int pointCount, Color color);                          // Draw a triangle fan defined by points (first vertex is the center)
-RLAPI void DrawTriangleStrip(const Vector2 *points, int pointCount, Color color);                        // Draw a triangle strip defined by points
-RLAPI void DrawPoly(Vector2 center, int sides, float radius, float rotation, Color color);               // Draw a regular polygon (Vector version)
-RLAPI void DrawPolyLines(Vector2 center, int sides, float radius, float rotation, Color color);          // Draw a polygon outline of n sides
-RLAPI void DrawPolyLinesEx(Vector2 center, int sides, float radius, float rotation, float lineThick, Color color); // Draw a polygon outline of n sides with extended parameters
-
-// Splines drawing functions
-RLAPI void DrawSplineLinear(const Vector2 *points, int pointCount, float thick, Color color);                  // Draw spline: Linear, minimum 2 points
-RLAPI void DrawSplineBasis(const Vector2 *points, int pointCount, float thick, Color color);                   // Draw spline: B-Spline, minimum 4 points
-RLAPI void DrawSplineCatmullRom(const Vector2 *points, int pointCount, float thick, Color color);              // Draw spline: Catmull-Rom, minimum 4 points
-RLAPI void DrawSplineBezierQuadratic(const Vector2 *points, int pointCount, float thick, Color color);         // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
-RLAPI void DrawSplineBezierCubic(const Vector2 *points, int pointCount, float thick, Color color);             // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
-RLAPI void DrawSplineSegmentLinear(Vector2 p1, Vector2 p2, float thick, Color color);                    // Draw spline segment: Linear, 2 points
-RLAPI void DrawSplineSegmentBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: B-Spline, 4 points
-RLAPI void DrawSplineSegmentCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: Catmull-Rom, 4 points
-RLAPI void DrawSplineSegmentBezierQuadratic(Vector2 p1, Vector2 c2, Vector2 p3, float thick, Color color); // Draw spline segment: Quadratic Bezier, 2 points, 1 control point
-RLAPI void DrawSplineSegmentBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float thick, Color color); // Draw spline segment: Cubic Bezier, 2 points, 2 control points
-
-// Spline segment point evaluation functions, for a given t [0.0f .. 1.0f]
-RLAPI Vector2 GetSplinePointLinear(Vector2 startPos, Vector2 endPos, float t);                           // Get (evaluate) spline point: Linear
-RLAPI Vector2 GetSplinePointBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);              // Get (evaluate) spline point: B-Spline
-RLAPI Vector2 GetSplinePointCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float t);         // Get (evaluate) spline point: Catmull-Rom
-RLAPI Vector2 GetSplinePointBezierQuad(Vector2 p1, Vector2 c2, Vector2 p3, float t);                     // Get (evaluate) spline point: Quadratic Bezier
-RLAPI Vector2 GetSplinePointBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vector2 p4, float t);        // Get (evaluate) spline point: Cubic Bezier
-
-// Basic shapes collision detection functions
-RLAPI bool CheckCollisionRecs(Rectangle rec1, Rectangle rec2);                                           // Check collision between two rectangles
-RLAPI bool CheckCollisionCircles(Vector2 center1, float radius1, Vector2 center2, float radius2);        // Check collision between two circles
-RLAPI bool CheckCollisionCircleRec(Vector2 center, float radius, Rectangle rec);                         // Check collision between circle and rectangle
-RLAPI bool CheckCollisionCircleLine(Vector2 center, float radius, Vector2 p1, Vector2 p2);               // Check if circle collides with a line created betweeen two points [p1] and [p2]
-RLAPI bool CheckCollisionPointRec(Vector2 point, Rectangle rec);                                         // Check if point is inside rectangle
-RLAPI bool CheckCollisionPointCircle(Vector2 point, Vector2 center, float radius);                       // Check if point is inside circle
-RLAPI bool CheckCollisionPointTriangle(Vector2 point, Vector2 p1, Vector2 p2, Vector2 p3);               // Check if point is inside a triangle
-RLAPI bool CheckCollisionPointLine(Vector2 point, Vector2 p1, Vector2 p2, int threshold);                // Check if point belongs to line created between two points [p1] and [p2] with defined margin in pixels [threshold]
-RLAPI bool CheckCollisionPointPoly(Vector2 point, const Vector2 *points, int pointCount);                // Check if point is within a polygon described by array of vertices
-RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
-RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);                                         // Get collision rectangle for two rectangles collision
-
-//------------------------------------------------------------------------------------
-// Texture Loading and Drawing Functions (Module: textures)
-//------------------------------------------------------------------------------------
-
-// Image loading functions
-// NOTE: These functions do not require GPU access
-RLAPI Image LoadImage(const char *fileName);                                                             // Load image from file into CPU memory (RAM)
-RLAPI Image LoadImageRaw(const char *fileName, int width, int height, int format, int headerSize);       // Load image from RAW file data
-RLAPI Image LoadImageAnim(const char *fileName, int *frames);                                            // Load image sequence from file (frames appended to image.data)
-RLAPI Image LoadImageAnimFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int *frames); // Load image sequence from memory buffer
-RLAPI Image LoadImageFromMemory(const char *fileType, const unsigned char *fileData, int dataSize);      // Load image from memory buffer, fileType refers to extension: i.e. '.png'
-RLAPI Image LoadImageFromTexture(Texture2D texture);                                                     // Load image from GPU texture data
-RLAPI Image LoadImageFromScreen(void);                                                                   // Load image from screen buffer and (screenshot)
-RLAPI bool IsImageValid(Image image);                                                                    // Check if an image is valid (data and parameters)
-RLAPI void UnloadImage(Image image);                                                                     // Unload image from CPU memory (RAM)
-RLAPI bool ExportImage(Image image, const char *fileName);                                               // Export image data to file, returns true on success
-RLAPI unsigned char *ExportImageToMemory(Image image, const char *fileType, int *fileSize);              // Export image to memory buffer
-RLAPI bool ExportImageAsCode(Image image, const char *fileName);                                         // Export image as code file defining an array of bytes, returns true on success
-
-// Image generation functions
-RLAPI Image GenImageColor(int width, int height, Color color);                                           // Generate image: plain color
-RLAPI Image GenImageGradientLinear(int width, int height, int direction, Color start, Color end);        // Generate image: linear gradient, direction in degrees [0..360], 0=Vertical gradient
-RLAPI Image GenImageGradientRadial(int width, int height, float density, Color inner, Color outer);      // Generate image: radial gradient
-RLAPI Image GenImageGradientSquare(int width, int height, float density, Color inner, Color outer);      // Generate image: square gradient
-RLAPI Image GenImageChecked(int width, int height, int checksX, int checksY, Color col1, Color col2);    // Generate image: checked
-RLAPI Image GenImageWhiteNoise(int width, int height, float factor);                                     // Generate image: white noise
-RLAPI Image GenImagePerlinNoise(int width, int height, int offsetX, int offsetY, float scale);           // Generate image: perlin noise
-RLAPI Image GenImageCellular(int width, int height, int tileSize);                                       // Generate image: cellular algorithm, bigger tileSize means bigger cells
-RLAPI Image GenImageText(int width, int height, const char *text);                                       // Generate image: grayscale image from text data
-
-// Image manipulation functions
-RLAPI Image ImageCopy(Image image);                                                                      // Create an image duplicate (useful for transformations)
-RLAPI Image ImageFromImage(Image image, Rectangle rec);                                                  // Create an image from another image piece
-RLAPI Image ImageFromChannel(Image image, int selectedChannel);                                          // Create an image from a selected channel of another image (GRAYSCALE)
-RLAPI Image ImageText(const char *text, int fontSize, Color color);                                      // Create an image from text (default font)
-RLAPI Image ImageTextEx(Font font, const char *text, float fontSize, float spacing, Color tint);         // Create an image from text (custom sprite font)
-RLAPI void ImageFormat(Image *image, int newFormat);                                                     // Convert image data to desired format
-RLAPI void ImageToPOT(Image *image, Color fill);                                                         // Convert image to POT (power-of-two)
-RLAPI void ImageCrop(Image *image, Rectangle crop);                                                      // Crop an image to a defined rectangle
-RLAPI void ImageAlphaCrop(Image *image, float threshold);                                                // Crop image depending on alpha value
-RLAPI void ImageAlphaClear(Image *image, Color color, float threshold);                                  // Clear alpha channel to desired color
-RLAPI void ImageAlphaMask(Image *image, Image alphaMask);                                                // Apply alpha mask to image
-RLAPI void ImageAlphaPremultiply(Image *image);                                                          // Premultiply alpha channel
-RLAPI void ImageBlurGaussian(Image *image, int blurSize);                                                // Apply Gaussian blur using a box blur approximation
-RLAPI void ImageKernelConvolution(Image *image, const float *kernel, int kernelSize);                    // Apply custom square convolution kernel to image
-RLAPI void ImageResize(Image *image, int newWidth, int newHeight);                                       // Resize image (Bicubic scaling algorithm)
-RLAPI void ImageResizeNN(Image *image, int newWidth,int newHeight);                                      // Resize image (Nearest-Neighbor scaling algorithm)
-RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill); // Resize canvas and fill with color
-RLAPI void ImageMipmaps(Image *image);                                                                   // Compute all mipmap levels for a provided image
-RLAPI void ImageDither(Image *image, int rBpp, int gBpp, int bBpp, int aBpp);                            // Dither image data to 16bpp or lower (Floyd-Steinberg dithering)
-RLAPI void ImageFlipVertical(Image *image);                                                              // Flip image vertically
-RLAPI void ImageFlipHorizontal(Image *image);                                                            // Flip image horizontally
-RLAPI void ImageRotate(Image *image, int degrees);                                                       // Rotate image by input angle in degrees (-359 to 359)
-RLAPI void ImageRotateCW(Image *image);                                                                  // Rotate image clockwise 90deg
-RLAPI void ImageRotateCCW(Image *image);                                                                 // Rotate image counter-clockwise 90deg
-RLAPI void ImageColorTint(Image *image, Color color);                                                    // Modify image color: tint
-RLAPI void ImageColorInvert(Image *image);                                                               // Modify image color: invert
-RLAPI void ImageColorGrayscale(Image *image);                                                            // Modify image color: grayscale
-RLAPI void ImageColorContrast(Image *image, float contrast);                                             // Modify image color: contrast (-100 to 100)
-RLAPI void ImageColorBrightness(Image *image, int brightness);                                           // Modify image color: brightness (-255 to 255)
-RLAPI void ImageColorReplace(Image *image, Color color, Color replace);                                  // Modify image color: replace color
-RLAPI Color *LoadImageColors(Image image);                                                               // Load color data from image as a Color array (RGBA - 32bit)
-RLAPI Color *LoadImagePalette(Image image, int maxPaletteSize, int *colorCount);                         // Load colors palette from image as a Color array (RGBA - 32bit)
-RLAPI void UnloadImageColors(Color *colors);                                                             // Unload color data loaded with LoadImageColors()
-RLAPI void UnloadImagePalette(Color *colors);                                                            // Unload colors palette loaded with LoadImagePalette()
-RLAPI Rectangle GetImageAlphaBorder(Image image, float threshold);                                       // Get image alpha border rectangle
-RLAPI Color GetImageColor(Image image, int x, int y);                                                    // Get image pixel color at (x, y) position
-
-// Image drawing functions
-// NOTE: Image software-rendering functions (CPU)
-RLAPI void ImageClearBackground(Image *dst, Color color);                                                // Clear image background with given color
-RLAPI void ImageDrawPixel(Image *dst, int posX, int posY, Color color);                                  // Draw pixel within an image
-RLAPI void ImageDrawPixelV(Image *dst, Vector2 position, Color color);                                   // Draw pixel within an image (Vector version)
-RLAPI void ImageDrawLine(Image *dst, int startPosX, int startPosY, int endPosX, int endPosY, Color color); // Draw line within an image
-RLAPI void ImageDrawLineV(Image *dst, Vector2 start, Vector2 end, Color color);                          // Draw line within an image (Vector version)
-RLAPI void ImageDrawLineEx(Image *dst, Vector2 start, Vector2 end, int thick, Color color);              // Draw a line defining thickness within an image
-RLAPI void ImageDrawCircle(Image *dst, int centerX, int centerY, int radius, Color color);               // Draw a filled circle within an image
-RLAPI void ImageDrawCircleV(Image *dst, Vector2 center, int radius, Color color);                        // Draw a filled circle within an image (Vector version)
-RLAPI void ImageDrawCircleLines(Image *dst, int centerX, int centerY, int radius, Color color);          // Draw circle outline within an image
-RLAPI void ImageDrawCircleLinesV(Image *dst, Vector2 center, int radius, Color color);                   // Draw circle outline within an image (Vector version)
-RLAPI void ImageDrawRectangle(Image *dst, int posX, int posY, int width, int height, Color color);       // Draw rectangle within an image
-RLAPI void ImageDrawRectangleV(Image *dst, Vector2 position, Vector2 size, Color color);                 // Draw rectangle within an image (Vector version)
-RLAPI void ImageDrawRectangleRec(Image *dst, Rectangle rec, Color color);                                // Draw rectangle within an image
-RLAPI void ImageDrawRectangleLines(Image *dst, Rectangle rec, int thick, Color color);                   // Draw rectangle lines within an image
-RLAPI void ImageDrawTriangle(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);               // Draw triangle within an image
-RLAPI void ImageDrawTriangleEx(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color c1, Color c2, Color c3); // Draw triangle with interpolated colors within an image
-RLAPI void ImageDrawTriangleLines(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color);          // Draw triangle outline within an image
-RLAPI void ImageDrawTriangleFan(Image *dst, Vector2 *points, int pointCount, Color color);               // Draw a triangle fan defined by points within an image (first vertex is the center)
-RLAPI void ImageDrawTriangleStrip(Image *dst, Vector2 *points, int pointCount, Color color);             // Draw a triangle strip defined by points within an image
-RLAPI void ImageDraw(Image *dst, Image src, Rectangle srcRec, Rectangle dstRec, Color tint);             // Draw a source image within a destination image (tint applied to source)
-RLAPI void ImageDrawText(Image *dst, const char *text, int posX, int posY, int fontSize, Color color);   // Draw text (using default font) within an image (destination)
-RLAPI void ImageDrawTextEx(Image *dst, Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text (custom sprite font) within an image (destination)
-
-// Texture loading functions
-// NOTE: These functions require GPU access
-RLAPI Texture2D LoadTexture(const char *fileName);                                                       // Load texture from file into GPU memory (VRAM)
-RLAPI Texture2D LoadTextureFromImage(Image image);                                                       // Load texture from image data
-RLAPI TextureCubemap LoadTextureCubemap(Image image, int layout);                                        // Load cubemap from image, multiple image cubemap layouts supported
-RLAPI RenderTexture2D LoadRenderTexture(int width, int height);                                          // Load texture for rendering (framebuffer)
-RLAPI bool IsTextureValid(Texture2D texture);                                                            // Check if a texture is valid (loaded in GPU)
-RLAPI void UnloadTexture(Texture2D texture);                                                             // Unload texture from GPU memory (VRAM)
-RLAPI bool IsRenderTextureValid(RenderTexture2D target);                                                 // Check if a render texture is valid (loaded in GPU)
-RLAPI void UnloadRenderTexture(RenderTexture2D target);                                                  // Unload render texture from GPU memory (VRAM)
-RLAPI void UpdateTexture(Texture2D texture, const void *pixels);                                         // Update GPU texture with new data
-RLAPI void UpdateTextureRec(Texture2D texture, Rectangle rec, const void *pixels);                       // Update GPU texture rectangle with new data
-
-// Texture configuration functions
-RLAPI void GenTextureMipmaps(Texture2D *texture);                                                        // Generate GPU mipmaps for a texture
-RLAPI void SetTextureFilter(Texture2D texture, int filter);                                              // Set texture scaling filter mode
-RLAPI void SetTextureWrap(Texture2D texture, int wrap);                                                  // Set texture wrapping mode
-
-// Texture drawing functions
-RLAPI void DrawTexture(Texture2D texture, int posX, int posY, Color tint);                               // Draw a Texture2D
-RLAPI void DrawTextureV(Texture2D texture, Vector2 position, Color tint);                                // Draw a Texture2D with position defined as Vector2
-RLAPI void DrawTextureEx(Texture2D texture, Vector2 position, float rotation, float scale, Color tint);  // Draw a Texture2D with extended parameters
-RLAPI void DrawTextureRec(Texture2D texture, Rectangle source, Vector2 position, Color tint);            // Draw a part of a texture defined by a rectangle
-RLAPI void DrawTexturePro(Texture2D texture, Rectangle source, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draw a part of a texture defined by a rectangle with 'pro' parameters
-RLAPI void DrawTextureNPatch(Texture2D texture, NPatchInfo nPatchInfo, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draws a texture (or part of it) that stretches or shrinks nicely
-
-// Color/pixel related functions
-RLAPI bool ColorIsEqual(Color col1, Color col2);                            // Check if two colors are equal
-RLAPI Color Fade(Color color, float alpha);                                 // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI int ColorToInt(Color color);                                          // Get hexadecimal value for a Color (0xRRGGBBAA)
-RLAPI Vector4 ColorNormalize(Color color);                                  // Get Color normalized as float [0..1]
-RLAPI Color ColorFromNormalized(Vector4 normalized);                        // Get Color from normalized values [0..1]
-RLAPI Vector3 ColorToHSV(Color color);                                      // Get HSV values for a Color, hue [0..360], saturation/value [0..1]
-RLAPI Color ColorFromHSV(float hue, float saturation, float value);         // Get a Color from HSV values, hue [0..360], saturation/value [0..1]
-RLAPI Color ColorTint(Color color, Color tint);                             // Get color multiplied with another color
-RLAPI Color ColorBrightness(Color color, float factor);                     // Get color with brightness correction, brightness factor goes from -1.0f to 1.0f
-RLAPI Color ColorContrast(Color color, float contrast);                     // Get color with contrast correction, contrast values between -1.0f and 1.0f
-RLAPI Color ColorAlpha(Color color, float alpha);                           // Get color with alpha applied, alpha goes from 0.0f to 1.0f
-RLAPI Color ColorAlphaBlend(Color dst, Color src, Color tint);              // Get src alpha-blended into dst color with tint
-RLAPI Color ColorLerp(Color color1, Color color2, float factor);            // Get color lerp interpolation between two colors, factor [0.0f..1.0f]
-RLAPI Color GetColor(unsigned int hexValue);                                // Get Color structure from hexadecimal value
-RLAPI Color GetPixelColor(void *srcPtr, int format);                        // Get Color from a source pixel pointer of certain format
-RLAPI void SetPixelColor(void *dstPtr, Color color, int format);            // Set color formatted into destination pixel pointer
-RLAPI int GetPixelDataSize(int width, int height, int format);              // Get pixel data size in bytes for certain format
-
-//------------------------------------------------------------------------------------
-// Font Loading and Text Drawing Functions (Module: text)
-//------------------------------------------------------------------------------------
-
-// Font loading/unloading functions
-RLAPI Font GetFontDefault(void);                                                            // Get the default Font
-RLAPI Font LoadFont(const char *fileName);                                                  // Load font from file into GPU memory (VRAM)
-RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set, font size is provided in pixels height
-RLAPI Font LoadFontFromImage(Image image, Color key, int firstChar);                        // Load font from Image (XNA style)
-RLAPI Font LoadFontFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount); // Load font from memory buffer, fileType refers to extension: i.e. '.ttf'
-RLAPI bool IsFontValid(Font font);                                                          // Check if a font is valid (font data loaded, WARNING: GPU texture not checked)
-RLAPI GlyphInfo *LoadFontData(const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount, int type); // Load font data for further use
-RLAPI Image GenImageFontAtlas(const GlyphInfo *glyphs, Rectangle **glyphRecs, int glyphCount, int fontSize, int padding, int packMethod); // Generate image font atlas using chars info
-RLAPI void UnloadFontData(GlyphInfo *glyphs, int glyphCount);                               // Unload font chars info data (RAM)
-RLAPI void UnloadFont(Font font);                                                           // Unload font from GPU memory (VRAM)
-RLAPI bool ExportFontAsCode(Font font, const char *fileName);                               // Export font as code file, returns true on success
-
-// Text drawing functions
-RLAPI void DrawFPS(int posX, int posY);                                                     // Draw current FPS
-RLAPI void DrawText(const char *text, int posX, int posY, int fontSize, Color color);       // Draw text (using default font)
-RLAPI void DrawTextEx(Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text using font and additional parameters
-RLAPI void DrawTextPro(Font font, const char *text, Vector2 position, Vector2 origin, float rotation, float fontSize, float spacing, Color tint); // Draw text using Font and pro parameters (rotation)
-RLAPI void DrawTextCodepoint(Font font, int codepoint, Vector2 position, float fontSize, Color tint); // Draw one character (codepoint)
-RLAPI void DrawTextCodepoints(Font font, const int *codepoints, int codepointCount, Vector2 position, float fontSize, float spacing, Color tint); // Draw multiple character (codepoint)
-
-// Text font info functions
-RLAPI void SetTextLineSpacing(int spacing);                                                 // Set vertical line spacing when drawing with line-breaks
-RLAPI int MeasureText(const char *text, int fontSize);                                      // Measure string width for default font
-RLAPI Vector2 MeasureTextEx(Font font, const char *text, float fontSize, float spacing);    // Measure string size for Font
-RLAPI int GetGlyphIndex(Font font, int codepoint);                                          // Get glyph index position in font for a codepoint (unicode character), fallback to '?' if not found
-RLAPI GlyphInfo GetGlyphInfo(Font font, int codepoint);                                     // Get glyph font info data for a codepoint (unicode character), fallback to '?' if not found
-RLAPI Rectangle GetGlyphAtlasRec(Font font, int codepoint);                                 // Get glyph rectangle in font atlas for a codepoint (unicode character), fallback to '?' if not found
-
-// Text codepoints management functions (unicode characters)
-RLAPI char *LoadUTF8(const int *codepoints, int length);                // Load UTF-8 text encoded from codepoints array
-RLAPI void UnloadUTF8(char *text);                                      // Unload UTF-8 text encoded from codepoints array
-RLAPI int *LoadCodepoints(const char *text, int *count);                // Load all codepoints from a UTF-8 text string, codepoints count returned by parameter
-RLAPI void UnloadCodepoints(int *codepoints);                           // Unload codepoints data from memory
-RLAPI int GetCodepointCount(const char *text);                          // Get total number of codepoints in a UTF-8 encoded string
-RLAPI int GetCodepoint(const char *text, int *codepointSize);           // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI int GetCodepointNext(const char *text, int *codepointSize);       // Get next codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI int GetCodepointPrevious(const char *text, int *codepointSize);   // Get previous codepoint in a UTF-8 encoded string, 0x3f('?') is returned on failure
-RLAPI const char *CodepointToUTF8(int codepoint, int *utf8Size);        // Encode one codepoint into UTF-8 byte array (array length returned as parameter)
-
-// Text strings management functions (no UTF-8 strings, only byte chars)
-// NOTE: Some strings allocate memory internally for returned strings, just be careful!
-RLAPI int TextCopy(char *dst, const char *src);                                             // Copy one string to another, returns bytes copied
-RLAPI bool TextIsEqual(const char *text1, const char *text2);                               // Check if two text string are equal
-RLAPI unsigned int TextLength(const char *text);                                            // Get text length, checks for '\0' ending
-RLAPI const char *TextFormat(const char *text, ...);                                        // Text formatting with variables (sprintf() style)
-RLAPI const char *TextSubtext(const char *text, int position, int length);                  // Get a piece of a text string
-RLAPI char *TextReplace(const char *text, const char *replace, const char *by);             // Replace text string (WARNING: memory must be freed!)
-RLAPI char *TextInsert(const char *text, const char *insert, int position);                 // Insert text in a position (WARNING: memory must be freed!)
-RLAPI const char *TextJoin(const char **textList, int count, const char *delimiter);        // Join text strings with delimiter
-RLAPI const char **TextSplit(const char *text, char delimiter, int *count);                 // Split text into multiple strings
-RLAPI void TextAppend(char *text, const char *append, int *position);                       // Append text at specific position and move cursor!
-RLAPI int TextFindIndex(const char *text, const char *find);                                // Find first text occurrence within a string
-RLAPI const char *TextToUpper(const char *text);                      // Get upper case version of provided string
-RLAPI const char *TextToLower(const char *text);                      // Get lower case version of provided string
-RLAPI const char *TextToPascal(const char *text);                     // Get Pascal case notation version of provided string
-RLAPI const char *TextToSnake(const char *text);                      // Get Snake case notation version of provided string
-RLAPI const char *TextToCamel(const char *text);                      // Get Camel case notation version of provided string
-
-RLAPI int TextToInteger(const char *text);                            // Get integer value from text (negative values not supported)
-RLAPI float TextToFloat(const char *text);                            // Get float value from text (negative values not supported)
-
-//------------------------------------------------------------------------------------
-// Basic 3d Shapes Drawing Functions (Module: models)
-//------------------------------------------------------------------------------------
-
-// Basic geometric 3D shapes drawing functions
-RLAPI void DrawLine3D(Vector3 startPos, Vector3 endPos, Color color);                                    // Draw a line in 3D world space
-RLAPI void DrawPoint3D(Vector3 position, Color color);                                                   // Draw a point in 3D space, actually a small line
-RLAPI void DrawCircle3D(Vector3 center, float radius, Vector3 rotationAxis, float rotationAngle, Color color); // Draw a circle in 3D world space
-RLAPI void DrawTriangle3D(Vector3 v1, Vector3 v2, Vector3 v3, Color color);                              // Draw a color-filled triangle (vertex in counter-clockwise order!)
-RLAPI void DrawTriangleStrip3D(const Vector3 *points, int pointCount, Color color);                      // Draw a triangle strip defined by points
-RLAPI void DrawCube(Vector3 position, float width, float height, float length, Color color);             // Draw cube
-RLAPI void DrawCubeV(Vector3 position, Vector3 size, Color color);                                       // Draw cube (Vector version)
-RLAPI void DrawCubeWires(Vector3 position, float width, float height, float length, Color color);        // Draw cube wires
-RLAPI void DrawCubeWiresV(Vector3 position, Vector3 size, Color color);                                  // Draw cube wires (Vector version)
-RLAPI void DrawSphere(Vector3 centerPos, float radius, Color color);                                     // Draw sphere
-RLAPI void DrawSphereEx(Vector3 centerPos, float radius, int rings, int slices, Color color);            // Draw sphere with extended parameters
-RLAPI void DrawSphereWires(Vector3 centerPos, float radius, int rings, int slices, Color color);         // Draw sphere wires
-RLAPI void DrawCylinder(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone
-RLAPI void DrawCylinderEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder with base at startPos and top at endPos
-RLAPI void DrawCylinderWires(Vector3 position, float radiusTop, float radiusBottom, float height, int slices, Color color); // Draw a cylinder/cone wires
-RLAPI void DrawCylinderWiresEx(Vector3 startPos, Vector3 endPos, float startRadius, float endRadius, int sides, Color color); // Draw a cylinder wires with base at startPos and top at endPos
-RLAPI void DrawCapsule(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw a capsule with the center of its sphere caps at startPos and endPos
-RLAPI void DrawCapsuleWires(Vector3 startPos, Vector3 endPos, float radius, int slices, int rings, Color color); // Draw capsule wireframe with the center of its sphere caps at startPos and endPos
-RLAPI void DrawPlane(Vector3 centerPos, Vector2 size, Color color);                                      // Draw a plane XZ
-RLAPI void DrawRay(Ray ray, Color color);                                                                // Draw a ray line
-RLAPI void DrawGrid(int slices, float spacing);                                                          // Draw a grid (centered at (0, 0, 0))
-
-//------------------------------------------------------------------------------------
-// Model 3d Loading and Drawing Functions (Module: models)
-//------------------------------------------------------------------------------------
-
-// Model management functions
-RLAPI Model LoadModel(const char *fileName);                                                // Load model from files (meshes and materials)
-RLAPI Model LoadModelFromMesh(Mesh mesh);                                                   // Load model from generated mesh (default material)
-RLAPI bool IsModelValid(Model model);                                                       // Check if a model is valid (loaded in GPU, VAO/VBOs)
-RLAPI void UnloadModel(Model model);                                                        // Unload model (including meshes) from memory (RAM and/or VRAM)
-RLAPI BoundingBox GetModelBoundingBox(Model model);                                         // Compute model bounding box limits (considers all meshes)
-
-// Model drawing functions
-RLAPI void DrawModel(Model model, Vector3 position, float scale, Color tint);               // Draw a model (with texture if set)
-RLAPI void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model with extended parameters
-RLAPI void DrawModelWires(Model model, Vector3 position, float scale, Color tint);          // Draw a model wires (with texture if set)
-RLAPI void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model wires (with texture if set) with extended parameters
-RLAPI void DrawModelPoints(Model model, Vector3 position, float scale, Color tint); // Draw a model as points
-RLAPI void DrawModelPointsEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model as points with extended parameters
-RLAPI void DrawBoundingBox(BoundingBox box, Color color);                                   // Draw bounding box (wires)
-RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float scale, Color tint);   // Draw a billboard texture
-RLAPI void DrawBillboardRec(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector2 size, Color tint); // Draw a billboard texture defined by source
-RLAPI void DrawBillboardPro(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector3 up, Vector2 size, Vector2 origin, float rotation, Color tint); // Draw a billboard texture defined by source and rotation
-
-// Mesh management functions
-RLAPI void UploadMesh(Mesh *mesh, bool dynamic);                                            // Upload mesh vertex data in GPU and provide VAO/VBO ids
-RLAPI void UpdateMeshBuffer(Mesh mesh, int index, const void *data, int dataSize, int offset); // Update mesh vertex data in GPU for a specific buffer index
-RLAPI void UnloadMesh(Mesh mesh);                                                           // Unload mesh data from CPU and GPU
-RLAPI void DrawMesh(Mesh mesh, Material material, Matrix transform);                        // Draw a 3d mesh with material and transform
-RLAPI void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, int instances); // Draw multiple mesh instances with material and different transforms
-RLAPI BoundingBox GetMeshBoundingBox(Mesh mesh);                                            // Compute mesh bounding box limits
-RLAPI void GenMeshTangents(Mesh *mesh);                                                     // Compute mesh tangents
-RLAPI bool ExportMesh(Mesh mesh, const char *fileName);                                     // Export mesh data to file, returns true on success
-RLAPI bool ExportMeshAsCode(Mesh mesh, const char *fileName);                               // Export mesh as code file (.h) defining multiple arrays of vertex attributes
-
-// Mesh generation functions
-RLAPI Mesh GenMeshPoly(int sides, float radius);                                            // Generate polygonal mesh
-RLAPI Mesh GenMeshPlane(float width, float length, int resX, int resZ);                     // Generate plane mesh (with subdivisions)
-RLAPI Mesh GenMeshCube(float width, float height, float length);                            // Generate cuboid mesh
-RLAPI Mesh GenMeshSphere(float radius, int rings, int slices);                              // Generate sphere mesh (standard sphere)
-RLAPI Mesh GenMeshHemiSphere(float radius, int rings, int slices);                          // Generate half-sphere mesh (no bottom cap)
-RLAPI Mesh GenMeshCylinder(float radius, float height, int slices);                         // Generate cylinder mesh
-RLAPI Mesh GenMeshCone(float radius, float height, int slices);                             // Generate cone/pyramid mesh
-RLAPI Mesh GenMeshTorus(float radius, float size, int radSeg, int sides);                   // Generate torus mesh
-RLAPI Mesh GenMeshKnot(float radius, float size, int radSeg, int sides);                    // Generate trefoil knot mesh
-RLAPI Mesh GenMeshHeightmap(Image heightmap, Vector3 size);                                 // Generate heightmap mesh from image data
-RLAPI Mesh GenMeshCubicmap(Image cubicmap, Vector3 cubeSize);                               // Generate cubes-based map mesh from image data
-
-// Material loading/unloading functions
-RLAPI Material *LoadMaterials(const char *fileName, int *materialCount);                    // Load materials from model file
-RLAPI Material LoadMaterialDefault(void);                                                   // Load default material (Supports: DIFFUSE, SPECULAR, NORMAL maps)
-RLAPI bool IsMaterialValid(Material material);                                              // Check if a material is valid (shader assigned, map textures loaded in GPU)
-RLAPI void UnloadMaterial(Material material);                                               // Unload material from GPU memory (VRAM)
-RLAPI void SetMaterialTexture(Material *material, int mapType, Texture2D texture);          // Set texture for a material map type (MATERIAL_MAP_DIFFUSE, MATERIAL_MAP_SPECULAR...)
-RLAPI void SetModelMeshMaterial(Model *model, int meshId, int materialId);                  // Set material for a mesh
-
-// Model animations loading/unloading functions
-RLAPI ModelAnimation *LoadModelAnimations(const char *fileName, int *animCount);            // Load model animations from file
-RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame);               // Update model animation pose (CPU)
-RLAPI void UpdateModelAnimationBones(Model model, ModelAnimation anim, int frame);          // Update model animation mesh bone matrices (GPU skinning)
-RLAPI void UnloadModelAnimation(ModelAnimation anim);                                       // Unload animation data
-RLAPI void UnloadModelAnimations(ModelAnimation *animations, int animCount);                // Unload animation array data
-RLAPI bool IsModelAnimationValid(Model model, ModelAnimation anim);                         // Check model animation skeleton match
-
-// Collision detection functions
-RLAPI bool CheckCollisionSpheres(Vector3 center1, float radius1, Vector3 center2, float radius2);   // Check collision between two spheres
-RLAPI bool CheckCollisionBoxes(BoundingBox box1, BoundingBox box2);                                 // Check collision between two bounding boxes
-RLAPI bool CheckCollisionBoxSphere(BoundingBox box, Vector3 center, float radius);                  // Check collision between box and sphere
-RLAPI RayCollision GetRayCollisionSphere(Ray ray, Vector3 center, float radius);                    // Get collision info between ray and sphere
-RLAPI RayCollision GetRayCollisionBox(Ray ray, BoundingBox box);                                    // Get collision info between ray and box
-RLAPI RayCollision GetRayCollisionMesh(Ray ray, Mesh mesh, Matrix transform);                       // Get collision info between ray and mesh
-RLAPI RayCollision GetRayCollisionTriangle(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3);            // Get collision info between ray and triangle
-RLAPI RayCollision GetRayCollisionQuad(Ray ray, Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4);    // Get collision info between ray and quad
-
-//------------------------------------------------------------------------------------
-// Audio Loading and Playing Functions (Module: audio)
-//------------------------------------------------------------------------------------
-typedef void (*AudioCallback)(void *bufferData, unsigned int frames);
-
-// Audio device management functions
-RLAPI void InitAudioDevice(void);                                     // Initialize audio device and context
-RLAPI void CloseAudioDevice(void);                                    // Close the audio device and context
-RLAPI bool IsAudioDeviceReady(void);                                  // Check if audio device has been initialized successfully
-RLAPI void SetMasterVolume(float volume);                             // Set master volume (listener)
-RLAPI float GetMasterVolume(void);                                    // Get master volume (listener)
-
-// Wave/Sound loading/unloading functions
-RLAPI Wave LoadWave(const char *fileName);                            // Load wave data from file
-RLAPI Wave LoadWaveFromMemory(const char *fileType, const unsigned char *fileData, int dataSize); // Load wave from memory buffer, fileType refers to extension: i.e. '.wav'
-RLAPI bool IsWaveValid(Wave wave);                                    // Checks if wave data is valid (data loaded and parameters)
-RLAPI Sound LoadSound(const char *fileName);                          // Load sound from file
-RLAPI Sound LoadSoundFromWave(Wave wave);                             // Load sound from wave data
-RLAPI Sound LoadSoundAlias(Sound source);                             // Create a new sound that shares the same sample data as the source sound, does not own the sound data
-RLAPI bool IsSoundValid(Sound sound);                                 // Checks if a sound is valid (data loaded and buffers initialized)
-RLAPI void UpdateSound(Sound sound, const void *data, int sampleCount); // Update sound buffer with new data
-RLAPI void UnloadWave(Wave wave);                                     // Unload wave data
-RLAPI void UnloadSound(Sound sound);                                  // Unload sound
-RLAPI void UnloadSoundAlias(Sound alias);                             // Unload a sound alias (does not deallocate sample data)
-RLAPI bool ExportWave(Wave wave, const char *fileName);               // Export wave data to file, returns true on success
-RLAPI bool ExportWaveAsCode(Wave wave, const char *fileName);         // Export wave sample data to code (.h), returns true on success
-
-// Wave/Sound management functions
-RLAPI void PlaySound(Sound sound);                                    // Play a sound
-RLAPI void StopSound(Sound sound);                                    // Stop playing a sound
-RLAPI void PauseSound(Sound sound);                                   // Pause a sound
-RLAPI void ResumeSound(Sound sound);                                  // Resume a paused sound
-RLAPI bool IsSoundPlaying(Sound sound);                               // Check if a sound is currently playing
-RLAPI void SetSoundVolume(Sound sound, float volume);                 // Set volume for a sound (1.0 is max level)
-RLAPI void SetSoundPitch(Sound sound, float pitch);                   // Set pitch for a sound (1.0 is base level)
-RLAPI void SetSoundPan(Sound sound, float pan);                       // Set pan for a sound (0.5 is center)
-RLAPI Wave WaveCopy(Wave wave);                                       // Copy a wave to a new wave
-RLAPI void WaveCrop(Wave *wave, int initFrame, int finalFrame);       // Crop a wave to defined frames range
-RLAPI void WaveFormat(Wave *wave, int sampleRate, int sampleSize, int channels); // Convert wave data to desired format
-RLAPI float *LoadWaveSamples(Wave wave);                              // Load samples data from wave as a 32bit float data array
-RLAPI void UnloadWaveSamples(float *samples);                         // Unload samples data loaded with LoadWaveSamples()
-
-// Music management functions
-RLAPI Music LoadMusicStream(const char *fileName);                    // Load music stream from file
-RLAPI Music LoadMusicStreamFromMemory(const char *fileType, const unsigned char *data, int dataSize); // Load music stream from data
-RLAPI bool IsMusicValid(Music music);                                 // Checks if a music stream is valid (context and buffers initialized)
-RLAPI void UnloadMusicStream(Music music);                            // Unload music stream
-RLAPI void PlayMusicStream(Music music);                              // Start music playing
-RLAPI bool IsMusicStreamPlaying(Music music);                         // Check if music is playing
-RLAPI void UpdateMusicStream(Music music);                            // Updates buffers for music streaming
-RLAPI void StopMusicStream(Music music);                              // Stop music playing
-RLAPI void PauseMusicStream(Music music);                             // Pause music playing
-RLAPI void ResumeMusicStream(Music music);                            // Resume playing paused music
-RLAPI void SeekMusicStream(Music music, float position);              // Seek music to a position (in seconds)
-RLAPI void SetMusicVolume(Music music, float volume);                 // Set volume for music (1.0 is max level)
-RLAPI void SetMusicPitch(Music music, float pitch);                   // Set pitch for a music (1.0 is base level)
-RLAPI void SetMusicPan(Music music, float pan);                       // Set pan for a music (0.5 is center)
-RLAPI float GetMusicTimeLength(Music music);                          // Get music time length (in seconds)
-RLAPI float GetMusicTimePlayed(Music music);                          // Get current music time played (in seconds)
-
-// AudioStream management functions
-RLAPI AudioStream LoadAudioStream(unsigned int sampleRate, unsigned int sampleSize, unsigned int channels); // Load audio stream (to stream raw audio pcm data)
-RLAPI bool IsAudioStreamValid(AudioStream stream);                    // Checks if an audio stream is valid (buffers initialized)
-RLAPI void UnloadAudioStream(AudioStream stream);                     // Unload audio stream and free memory
-RLAPI void UpdateAudioStream(AudioStream stream, const void *data, int frameCount); // Update audio stream buffers with data
-RLAPI bool IsAudioStreamProcessed(AudioStream stream);                // Check if any audio stream buffers requires refill
-RLAPI void PlayAudioStream(AudioStream stream);                       // Play audio stream
-RLAPI void PauseAudioStream(AudioStream stream);                      // Pause audio stream
-RLAPI void ResumeAudioStream(AudioStream stream);                     // Resume audio stream
-RLAPI bool IsAudioStreamPlaying(AudioStream stream);                  // Check if audio stream is playing
-RLAPI void StopAudioStream(AudioStream stream);                       // Stop audio stream
-RLAPI void SetAudioStreamVolume(AudioStream stream, float volume);    // Set volume for audio stream (1.0 is max level)
-RLAPI void SetAudioStreamPitch(AudioStream stream, float pitch);      // Set pitch for audio stream (1.0 is base level)
-RLAPI void SetAudioStreamPan(AudioStream stream, float pan);          // Set pan for audio stream (0.5 is centered)
-RLAPI void SetAudioStreamBufferSizeDefault(int size);                 // Default size for new audio streams
-RLAPI void SetAudioStreamCallback(AudioStream stream, AudioCallback callback); // Audio thread callback to request new data
-
-RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as 'float'
-RLAPI void DetachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Detach audio stream processor from stream
-
-RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as 'float'
-RLAPI void DetachAudioMixedProcessor(AudioCallback processor); // Detach audio stream processor from the entire audio pipeline
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // RAYLIB_H
diff --git a/third_party/raylib/include/raymath.h b/third_party/raylib/include/raymath.h
deleted file mode 100644
index 5b5e4c74ff..0000000000
--- a/third_party/raylib/include/raymath.h
+++ /dev/null
@@ -1,2949 +0,0 @@
-/**********************************************************************************************
-*
-*   raymath v2.0 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
-*
-*   CONVENTIONS:
-*     - Matrix structure is defined as row-major (memory layout) but parameters naming AND all
-*       math operations performed by the library consider the structure as it was column-major
-*       It is like transposed versions of the matrices are used for all the maths
-*       It benefits some functions making them cache-friendly and also avoids matrix
-*       transpositions sometimes required by OpenGL
-*       Example: In memory order, row0 is [m0 m4 m8 m12] but in semantic math row0 is [m0 m1 m2 m3]
-*     - Functions are always self-contained, no function use another raymath function inside,
-*       required code is directly re-implemented inside
-*     - Functions input parameters are always received by value (2 unavoidable exceptions)
-*     - Functions use always a "result" variable for return (except C++ operators)
-*     - Functions are always defined inline
-*     - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for convenience)
-*     - No compound literals used to make sure libray is compatible with C++
-*
-*   CONFIGURATION:
-*       #define RAYMATH_IMPLEMENTATION
-*           Generates the implementation of the library into the included file.
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation.
-*
-*       #define RAYMATH_STATIC_INLINE
-*           Define static inline functions code, so #include header suffices for use.
-*           This may use up lots of memory.
-*
-*       #define RAYMATH_DISABLE_CPP_OPERATORS
-*           Disables C++ operator overloads for raymath types.
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2015-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RAYMATH_H
-#define RAYMATH_H
-
-#if defined(RAYMATH_IMPLEMENTATION) && defined(RAYMATH_STATIC_INLINE)
-    #error "Specifying both RAYMATH_IMPLEMENTATION and RAYMATH_STATIC_INLINE is contradictory"
-#endif
-
-// Function specifiers definition
-#if defined(RAYMATH_IMPLEMENTATION)
-    #if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll)
-    #elif defined(BUILD_LIBTYPE_SHARED)
-        #define RMAPI __attribute__((visibility("default"))) // We are building raylib as a Unix shared library (.so/.dylib)
-    #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
-        #define RMAPI __declspec(dllimport)         // We are using raylib as a Win32 shared library (.dll)
-    #else
-        #define RMAPI extern inline // Provide external definition
-    #endif
-#elif defined(RAYMATH_STATIC_INLINE)
-    #define RMAPI static inline // Functions may be inlined, no external out-of-line definition
-#else
-    #if defined(__TINYC__)
-        #define RMAPI static inline // plain inline not supported by tinycc (See issue #435)
-    #else
-        #define RMAPI inline        // Functions may be inlined or external definition used
-    #endif
-#endif
-
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-
-#ifndef EPSILON
-    #define EPSILON 0.000001f
-#endif
-
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-// Get float vector for Matrix
-#ifndef MatrixToFloat
-    #define MatrixToFloat(mat) (MatrixToFloatV(mat).v)
-#endif
-
-// Get float vector for Vector3
-#ifndef Vector3ToFloat
-    #define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if !defined(RL_VECTOR2_TYPE)
-// Vector2 type
-typedef struct Vector2 {
-    float x;
-    float y;
-} Vector2;
-#define RL_VECTOR2_TYPE
-#endif
-
-#if !defined(RL_VECTOR3_TYPE)
-// Vector3 type
-typedef struct Vector3 {
-    float x;
-    float y;
-    float z;
-} Vector3;
-#define RL_VECTOR3_TYPE
-#endif
-
-#if !defined(RL_VECTOR4_TYPE)
-// Vector4 type
-typedef struct Vector4 {
-    float x;
-    float y;
-    float z;
-    float w;
-} Vector4;
-#define RL_VECTOR4_TYPE
-#endif
-
-#if !defined(RL_QUATERNION_TYPE)
-// Quaternion type
-typedef Vector4 Quaternion;
-#define RL_QUATERNION_TYPE
-#endif
-
-#if !defined(RL_MATRIX_TYPE)
-// Matrix type (OpenGL style 4x4 - right handed, column major)
-typedef struct Matrix {
-    float m0, m4, m8, m12;      // Matrix first row (4 components)
-    float m1, m5, m9, m13;      // Matrix second row (4 components)
-    float m2, m6, m10, m14;     // Matrix third row (4 components)
-    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
-} Matrix;
-#define RL_MATRIX_TYPE
-#endif
-
-// NOTE: Helper types to be used instead of array return types for *ToFloat functions
-typedef struct float3 {
-    float v[3];
-} float3;
-
-typedef struct float16 {
-    float v[16];
-} float16;
-
-#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabsf()
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Utils math
-//----------------------------------------------------------------------------------
-
-// Clamp float value
-RMAPI float Clamp(float value, float min, float max)
-{
-    float result = (value < min)? min : value;
-
-    if (result > max) result = max;
-
-    return result;
-}
-
-// Calculate linear interpolation between two floats
-RMAPI float Lerp(float start, float end, float amount)
-{
-    float result = start + amount*(end - start);
-
-    return result;
-}
-
-// Normalize input value within input range
-RMAPI float Normalize(float value, float start, float end)
-{
-    float result = (value - start)/(end - start);
-
-    return result;
-}
-
-// Remap input value within input range to output range
-RMAPI float Remap(float value, float inputStart, float inputEnd, float outputStart, float outputEnd)
-{
-    float result = (value - inputStart)/(inputEnd - inputStart)*(outputEnd - outputStart) + outputStart;
-
-    return result;
-}
-
-// Wrap input value from min to max
-RMAPI float Wrap(float value, float min, float max)
-{
-    float result = value - (max - min)*floorf((value - min)/(max - min));
-
-    return result;
-}
-
-// Check whether two given floats are almost equal
-RMAPI int FloatEquals(float x, float y)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = (fabsf(x - y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(x), fabsf(y))));
-
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector2 math
-//----------------------------------------------------------------------------------
-
-// Vector with components value 0.0f
-RMAPI Vector2 Vector2Zero(void)
-{
-    Vector2 result = { 0.0f, 0.0f };
-
-    return result;
-}
-
-// Vector with components value 1.0f
-RMAPI Vector2 Vector2One(void)
-{
-    Vector2 result = { 1.0f, 1.0f };
-
-    return result;
-}
-
-// Add two vectors (v1 + v2)
-RMAPI Vector2 Vector2Add(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x + v2.x, v1.y + v2.y };
-
-    return result;
-}
-
-// Add vector and float value
-RMAPI Vector2 Vector2AddValue(Vector2 v, float add)
-{
-    Vector2 result = { v.x + add, v.y + add };
-
-    return result;
-}
-
-// Subtract two vectors (v1 - v2)
-RMAPI Vector2 Vector2Subtract(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x - v2.x, v1.y - v2.y };
-
-    return result;
-}
-
-// Subtract vector by float value
-RMAPI Vector2 Vector2SubtractValue(Vector2 v, float sub)
-{
-    Vector2 result = { v.x - sub, v.y - sub };
-
-    return result;
-}
-
-// Calculate vector length
-RMAPI float Vector2Length(Vector2 v)
-{
-    float result = sqrtf((v.x*v.x) + (v.y*v.y));
-
-    return result;
-}
-
-// Calculate vector square length
-RMAPI float Vector2LengthSqr(Vector2 v)
-{
-    float result = (v.x*v.x) + (v.y*v.y);
-
-    return result;
-}
-
-// Calculate two vectors dot product
-RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y);
-
-    return result;
-}
-
-// Calculate two vectors cross product
-RMAPI float Vector2CrossProduct(Vector2 v1, Vector2 v2)
-{
-    float result = (v1.x*v2.y - v1.y*v2.x);
-
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector2Distance(Vector2 v1, Vector2 v2)
-{
-    float result = sqrtf((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
-
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector2DistanceSqr(Vector2 v1, Vector2 v2)
-{
-    float result = ((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
-
-    return result;
-}
-
-// Calculate angle between two vectors
-// NOTE: Angle is calculated from origin point (0, 0)
-RMAPI float Vector2Angle(Vector2 v1, Vector2 v2)
-{
-    float result = 0.0f;
-
-    float dot = v1.x*v2.x + v1.y*v2.y;
-    float det = v1.x*v2.y - v1.y*v2.x;
-
-    result = atan2f(det, dot);
-
-    return result;
-}
-
-// Calculate angle defined by a two vectors line
-// NOTE: Parameters need to be normalized
-// Current implementation should be aligned with glm::angle
-RMAPI float Vector2LineAngle(Vector2 start, Vector2 end)
-{
-    float result = 0.0f;
-
-    // TODO(10/9/2023): Currently angles move clockwise, determine if this is wanted behavior
-    result = -atan2f(end.y - start.y, end.x - start.x);
-
-    return result;
-}
-
-// Scale vector (multiply by value)
-RMAPI Vector2 Vector2Scale(Vector2 v, float scale)
-{
-    Vector2 result = { v.x*scale, v.y*scale };
-
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector2 Vector2Multiply(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x*v2.x, v1.y*v2.y };
-
-    return result;
-}
-
-// Negate vector
-RMAPI Vector2 Vector2Negate(Vector2 v)
-{
-    Vector2 result = { -v.x, -v.y };
-
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector2 Vector2Divide(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { v1.x/v2.x, v1.y/v2.y };
-
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector2 Vector2Normalize(Vector2 v)
-{
-    Vector2 result = { 0 };
-    float length = sqrtf((v.x*v.x) + (v.y*v.y));
-
-    if (length > 0)
-    {
-        float ilength = 1.0f/length;
-        result.x = v.x*ilength;
-        result.y = v.y*ilength;
-    }
-
-    return result;
-}
-
-// Transforms a Vector2 by a given Matrix
-RMAPI Vector2 Vector2Transform(Vector2 v, Matrix mat)
-{
-    Vector2 result = { 0 };
-
-    float x = v.x;
-    float y = v.y;
-    float z = 0;
-
-    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
-    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount)
-{
-    Vector2 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-
-    return result;
-}
-
-// Calculate reflected vector to normal
-RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal)
-{
-    Vector2 result = { 0 };
-
-    float dotProduct = (v.x*normal.x + v.y*normal.y); // Dot product
-
-    result.x = v.x - (2.0f*normal.x)*dotProduct;
-    result.y = v.y - (2.0f*normal.y)*dotProduct;
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector2 Vector2Min(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector2 Vector2Max(Vector2 v1, Vector2 v2)
-{
-    Vector2 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-
-    return result;
-}
-
-// Rotate vector by angle
-RMAPI Vector2 Vector2Rotate(Vector2 v, float angle)
-{
-    Vector2 result = { 0 };
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.x = v.x*cosres - v.y*sinres;
-    result.y = v.x*sinres + v.y*cosres;
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector2 Vector2MoveTowards(Vector2 v, Vector2 target, float maxDistance)
-{
-    Vector2 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float value = (dx*dx) + (dy*dy);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-
-    return result;
-}
-
-// Invert the given vector
-RMAPI Vector2 Vector2Invert(Vector2 v)
-{
-    Vector2 result = { 1.0f/v.x, 1.0f/v.y };
-
-    return result;
-}
-
-// Clamp the components of the vector between
-// min and max values specified by the given vectors
-RMAPI Vector2 Vector2Clamp(Vector2 v, Vector2 min, Vector2 max)
-{
-    Vector2 result = { 0 };
-
-    result.x = fminf(max.x, fmaxf(min.x, v.x));
-    result.y = fminf(max.y, fmaxf(min.y, v.y));
-
-    return result;
-}
-
-// Clamp the magnitude of the vector between two min and max values
-RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max)
-{
-    Vector2 result = v;
-
-    float length = (v.x*v.x) + (v.y*v.y);
-    if (length > 0.0f)
-    {
-        length = sqrtf(length);
-
-        float scale = 1;    // By default, 1 as the neutral element.
-        if (length < min)
-        {
-            scale = min/length;
-        }
-        else if (length > max)
-        {
-            scale = max/length;
-        }
-
-        result.x = v.x*scale;
-        result.y = v.y*scale;
-    }
-
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector2Equals(Vector2 p, Vector2 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y)))));
-
-    return result;
-}
-
-// Compute the direction of a refracted ray
-// v: normalized direction of the incoming ray
-// n: normalized normal vector of the interface of two optical media
-// r: ratio of the refractive index of the medium from where the ray comes
-//    to the refractive index of the medium on the other side of the surface
-RMAPI Vector2 Vector2Refract(Vector2 v, Vector2 n, float r)
-{
-    Vector2 result = { 0 };
-
-    float dot = v.x*n.x + v.y*n.y;
-    float d = 1.0f - r*r*(1.0f - dot*dot);
-
-    if (d >= 0.0f)
-    {
-        d = sqrtf(d);
-        v.x = r*v.x - (r*dot + d)*n.x;
-        v.y = r*v.y - (r*dot + d)*n.y;
-
-        result = v;
-    }
-
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector3 math
-//----------------------------------------------------------------------------------
-
-// Vector with components value 0.0f
-RMAPI Vector3 Vector3Zero(void)
-{
-    Vector3 result = { 0.0f, 0.0f, 0.0f };
-
-    return result;
-}
-
-// Vector with components value 1.0f
-RMAPI Vector3 Vector3One(void)
-{
-    Vector3 result = { 1.0f, 1.0f, 1.0f };
-
-    return result;
-}
-
-// Add two vectors
-RMAPI Vector3 Vector3Add(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z };
-
-    return result;
-}
-
-// Add vector and float value
-RMAPI Vector3 Vector3AddValue(Vector3 v, float add)
-{
-    Vector3 result = { v.x + add, v.y + add, v.z + add };
-
-    return result;
-}
-
-// Subtract two vectors
-RMAPI Vector3 Vector3Subtract(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z };
-
-    return result;
-}
-
-// Subtract vector by float value
-RMAPI Vector3 Vector3SubtractValue(Vector3 v, float sub)
-{
-    Vector3 result = { v.x - sub, v.y - sub, v.z - sub };
-
-    return result;
-}
-
-// Multiply vector by scalar
-RMAPI Vector3 Vector3Scale(Vector3 v, float scalar)
-{
-    Vector3 result = { v.x*scalar, v.y*scalar, v.z*scalar };
-
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector3 Vector3Multiply(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z };
-
-    return result;
-}
-
-// Calculate two vectors cross product
-RMAPI Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
-
-    return result;
-}
-
-// Calculate one vector perpendicular vector
-RMAPI Vector3 Vector3Perpendicular(Vector3 v)
-{
-    Vector3 result = { 0 };
-
-    float min = fabsf(v.x);
-    Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
-
-    if (fabsf(v.y) < min)
-    {
-        min = fabsf(v.y);
-        Vector3 tmp = {0.0f, 1.0f, 0.0f};
-        cardinalAxis = tmp;
-    }
-
-    if (fabsf(v.z) < min)
-    {
-        Vector3 tmp = {0.0f, 0.0f, 1.0f};
-        cardinalAxis = tmp;
-    }
-
-    // Cross product between vectors
-    result.x = v.y*cardinalAxis.z - v.z*cardinalAxis.y;
-    result.y = v.z*cardinalAxis.x - v.x*cardinalAxis.z;
-    result.z = v.x*cardinalAxis.y - v.y*cardinalAxis.x;
-
-    return result;
-}
-
-// Calculate vector length
-RMAPI float Vector3Length(const Vector3 v)
-{
-    float result = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-
-    return result;
-}
-
-// Calculate vector square length
-RMAPI float Vector3LengthSqr(const Vector3 v)
-{
-    float result = v.x*v.x + v.y*v.y + v.z*v.z;
-
-    return result;
-}
-
-// Calculate two vectors dot product
-RMAPI float Vector3DotProduct(Vector3 v1, Vector3 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector3Distance(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    float dx = v2.x - v1.x;
-    float dy = v2.y - v1.y;
-    float dz = v2.z - v1.z;
-    result = sqrtf(dx*dx + dy*dy + dz*dz);
-
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector3DistanceSqr(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    float dx = v2.x - v1.x;
-    float dy = v2.y - v1.y;
-    float dz = v2.z - v1.z;
-    result = dx*dx + dy*dy + dz*dz;
-
-    return result;
-}
-
-// Calculate angle between two vectors
-RMAPI float Vector3Angle(Vector3 v1, Vector3 v2)
-{
-    float result = 0.0f;
-
-    Vector3 cross = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
-    float len = sqrtf(cross.x*cross.x + cross.y*cross.y + cross.z*cross.z);
-    float dot = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    result = atan2f(len, dot);
-
-    return result;
-}
-
-// Negate provided vector (invert direction)
-RMAPI Vector3 Vector3Negate(Vector3 v)
-{
-    Vector3 result = { -v.x, -v.y, -v.z };
-
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector3 Vector3Divide(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z };
-
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector3 Vector3Normalize(Vector3 v)
-{
-    Vector3 result = v;
-
-    float length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length != 0.0f)
-    {
-        float ilength = 1.0f/length;
-
-        result.x *= ilength;
-        result.y *= ilength;
-        result.z *= ilength;
-    }
-
-    return result;
-}
-
-//Calculate the projection of the vector v1 on to v2
-RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
-
-    float mag = v1dv2/v2dv2;
-
-    result.x = v2.x*mag;
-    result.y = v2.y*mag;
-    result.z = v2.z*mag;
-
-    return result;
-}
-
-//Calculate the rejection of the vector v1 on to v2
-RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
-    float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
-
-    float mag = v1dv2/v2dv2;
-
-    result.x = v1.x - (v2.x*mag);
-    result.y = v1.y - (v2.y*mag);
-    result.z = v1.z - (v2.z*mag);
-
-    return result;
-}
-
-// Orthonormalize provided vectors
-// Makes vectors normalized and orthogonal to each other
-// Gram-Schmidt function implementation
-RMAPI void Vector3OrthoNormalize(Vector3 *v1, Vector3 *v2)
-{
-    float length = 0.0f;
-    float ilength = 0.0f;
-
-    // Vector3Normalize(*v1);
-    Vector3 v = *v1;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    v1->x *= ilength;
-    v1->y *= ilength;
-    v1->z *= ilength;
-
-    // Vector3CrossProduct(*v1, *v2)
-    Vector3 vn1 = { v1->y*v2->z - v1->z*v2->y, v1->z*v2->x - v1->x*v2->z, v1->x*v2->y - v1->y*v2->x };
-
-    // Vector3Normalize(vn1);
-    v = vn1;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vn1.x *= ilength;
-    vn1.y *= ilength;
-    vn1.z *= ilength;
-
-    // Vector3CrossProduct(vn1, *v1)
-    Vector3 vn2 = { vn1.y*v1->z - vn1.z*v1->y, vn1.z*v1->x - vn1.x*v1->z, vn1.x*v1->y - vn1.y*v1->x };
-
-    *v2 = vn2;
-}
-
-// Transforms a Vector3 by a given Matrix
-RMAPI Vector3 Vector3Transform(Vector3 v, Matrix mat)
-{
-    Vector3 result = { 0 };
-
-    float x = v.x;
-    float y = v.y;
-    float z = v.z;
-
-    result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
-    result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
-    result.z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14;
-
-    return result;
-}
-
-// Transform a vector by quaternion rotation
-RMAPI Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q)
-{
-    Vector3 result = { 0 };
-
-    result.x = v.x*(q.x*q.x + q.w*q.w - q.y*q.y - q.z*q.z) + v.y*(2*q.x*q.y - 2*q.w*q.z) + v.z*(2*q.x*q.z + 2*q.w*q.y);
-    result.y = v.x*(2*q.w*q.z + 2*q.x*q.y) + v.y*(q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z) + v.z*(-2*q.w*q.x + 2*q.y*q.z);
-    result.z = v.x*(-2*q.w*q.y + 2*q.x*q.z) + v.y*(2*q.w*q.x + 2*q.y*q.z)+ v.z*(q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z);
-
-    return result;
-}
-
-// Rotates a vector around an axis
-RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
-{
-    // Using Euler-Rodrigues Formula
-    // Ref.: https://en.wikipedia.org/w/index.php?title=Euler%E2%80%93Rodrigues_formula
-
-    Vector3 result = v;
-
-    // Vector3Normalize(axis);
-    float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-    axis.x *= ilength;
-    axis.y *= ilength;
-    axis.z *= ilength;
-
-    angle /= 2.0f;
-    float a = sinf(angle);
-    float b = axis.x*a;
-    float c = axis.y*a;
-    float d = axis.z*a;
-    a = cosf(angle);
-    Vector3 w = { b, c, d };
-
-    // Vector3CrossProduct(w, v)
-    Vector3 wv = { w.y*v.z - w.z*v.y, w.z*v.x - w.x*v.z, w.x*v.y - w.y*v.x };
-
-    // Vector3CrossProduct(w, wv)
-    Vector3 wwv = { w.y*wv.z - w.z*wv.y, w.z*wv.x - w.x*wv.z, w.x*wv.y - w.y*wv.x };
-
-    // Vector3Scale(wv, 2*a)
-    a *= 2;
-    wv.x *= a;
-    wv.y *= a;
-    wv.z *= a;
-
-    // Vector3Scale(wwv, 2)
-    wwv.x *= 2;
-    wwv.y *= 2;
-    wwv.z *= 2;
-
-    result.x += wv.x;
-    result.y += wv.y;
-    result.z += wv.z;
-
-    result.x += wwv.x;
-    result.y += wwv.y;
-    result.z += wwv.z;
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector3 Vector3MoveTowards(Vector3 v, Vector3 target, float maxDistance)
-{
-    Vector3 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float dz = target.z - v.z;
-    float value = (dx*dx) + (dy*dy) + (dz*dz);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-    result.z = v.z + dz/dist*maxDistance;
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
-{
-    Vector3 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-    result.z = v1.z + amount*(v2.z - v1.z);
-
-    return result;
-}
-
-// Calculate cubic hermite interpolation between two vectors and their tangents
-// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
-RMAPI Vector3 Vector3CubicHermite(Vector3 v1, Vector3 tangent1, Vector3 v2, Vector3 tangent2, float amount)
-{
-    Vector3 result = { 0 };
-
-    float amountPow2 = amount*amount;
-    float amountPow3 = amount*amount*amount;
-
-    result.x = (2*amountPow3 - 3*amountPow2 + 1)*v1.x + (amountPow3 - 2*amountPow2 + amount)*tangent1.x + (-2*amountPow3 + 3*amountPow2)*v2.x + (amountPow3 - amountPow2)*tangent2.x;
-    result.y = (2*amountPow3 - 3*amountPow2 + 1)*v1.y + (amountPow3 - 2*amountPow2 + amount)*tangent1.y + (-2*amountPow3 + 3*amountPow2)*v2.y + (amountPow3 - amountPow2)*tangent2.y;
-    result.z = (2*amountPow3 - 3*amountPow2 + 1)*v1.z + (amountPow3 - 2*amountPow2 + amount)*tangent1.z + (-2*amountPow3 + 3*amountPow2)*v2.z + (amountPow3 - amountPow2)*tangent2.z;
-
-    return result;
-}
-
-// Calculate reflected vector to normal
-RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
-{
-    Vector3 result = { 0 };
-
-    // I is the original vector
-    // N is the normal of the incident plane
-    // R = I - (2*N*(DotProduct[I, N]))
-
-    float dotProduct = (v.x*normal.x + v.y*normal.y + v.z*normal.z);
-
-    result.x = v.x - (2.0f*normal.x)*dotProduct;
-    result.y = v.y - (2.0f*normal.y)*dotProduct;
-    result.z = v.z - (2.0f*normal.z)*dotProduct;
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector3 Vector3Min(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-    result.z = fminf(v1.z, v2.z);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector3 Vector3Max(Vector3 v1, Vector3 v2)
-{
-    Vector3 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-    result.z = fmaxf(v1.z, v2.z);
-
-    return result;
-}
-
-// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c)
-// NOTE: Assumes P is on the plane of the triangle
-RMAPI Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
-{
-    Vector3 result = { 0 };
-
-    Vector3 v0 = { b.x - a.x, b.y - a.y, b.z - a.z };   // Vector3Subtract(b, a)
-    Vector3 v1 = { c.x - a.x, c.y - a.y, c.z - a.z };   // Vector3Subtract(c, a)
-    Vector3 v2 = { p.x - a.x, p.y - a.y, p.z - a.z };   // Vector3Subtract(p, a)
-    float d00 = (v0.x*v0.x + v0.y*v0.y + v0.z*v0.z);    // Vector3DotProduct(v0, v0)
-    float d01 = (v0.x*v1.x + v0.y*v1.y + v0.z*v1.z);    // Vector3DotProduct(v0, v1)
-    float d11 = (v1.x*v1.x + v1.y*v1.y + v1.z*v1.z);    // Vector3DotProduct(v1, v1)
-    float d20 = (v2.x*v0.x + v2.y*v0.y + v2.z*v0.z);    // Vector3DotProduct(v2, v0)
-    float d21 = (v2.x*v1.x + v2.y*v1.y + v2.z*v1.z);    // Vector3DotProduct(v2, v1)
-
-    float denom = d00*d11 - d01*d01;
-
-    result.y = (d11*d20 - d01*d21)/denom;
-    result.z = (d00*d21 - d01*d20)/denom;
-    result.x = 1.0f - (result.z + result.y);
-
-    return result;
-}
-
-// Projects a Vector3 from screen space into object space
-// NOTE: We are avoiding calling other raymath functions despite available
-RMAPI Vector3 Vector3Unproject(Vector3 source, Matrix projection, Matrix view)
-{
-    Vector3 result = { 0 };
-
-    // Calculate unprojected matrix (multiply view matrix by projection matrix) and invert it
-    Matrix matViewProj = {      // MatrixMultiply(view, projection);
-        view.m0*projection.m0 + view.m1*projection.m4 + view.m2*projection.m8 + view.m3*projection.m12,
-        view.m0*projection.m1 + view.m1*projection.m5 + view.m2*projection.m9 + view.m3*projection.m13,
-        view.m0*projection.m2 + view.m1*projection.m6 + view.m2*projection.m10 + view.m3*projection.m14,
-        view.m0*projection.m3 + view.m1*projection.m7 + view.m2*projection.m11 + view.m3*projection.m15,
-        view.m4*projection.m0 + view.m5*projection.m4 + view.m6*projection.m8 + view.m7*projection.m12,
-        view.m4*projection.m1 + view.m5*projection.m5 + view.m6*projection.m9 + view.m7*projection.m13,
-        view.m4*projection.m2 + view.m5*projection.m6 + view.m6*projection.m10 + view.m7*projection.m14,
-        view.m4*projection.m3 + view.m5*projection.m7 + view.m6*projection.m11 + view.m7*projection.m15,
-        view.m8*projection.m0 + view.m9*projection.m4 + view.m10*projection.m8 + view.m11*projection.m12,
-        view.m8*projection.m1 + view.m9*projection.m5 + view.m10*projection.m9 + view.m11*projection.m13,
-        view.m8*projection.m2 + view.m9*projection.m6 + view.m10*projection.m10 + view.m11*projection.m14,
-        view.m8*projection.m3 + view.m9*projection.m7 + view.m10*projection.m11 + view.m11*projection.m15,
-        view.m12*projection.m0 + view.m13*projection.m4 + view.m14*projection.m8 + view.m15*projection.m12,
-        view.m12*projection.m1 + view.m13*projection.m5 + view.m14*projection.m9 + view.m15*projection.m13,
-        view.m12*projection.m2 + view.m13*projection.m6 + view.m14*projection.m10 + view.m15*projection.m14,
-        view.m12*projection.m3 + view.m13*projection.m7 + view.m14*projection.m11 + view.m15*projection.m15 };
-
-    // Calculate inverted matrix -> MatrixInvert(matViewProj);
-    // Cache the matrix values (speed optimization)
-    float a00 = matViewProj.m0, a01 = matViewProj.m1, a02 = matViewProj.m2, a03 = matViewProj.m3;
-    float a10 = matViewProj.m4, a11 = matViewProj.m5, a12 = matViewProj.m6, a13 = matViewProj.m7;
-    float a20 = matViewProj.m8, a21 = matViewProj.m9, a22 = matViewProj.m10, a23 = matViewProj.m11;
-    float a30 = matViewProj.m12, a31 = matViewProj.m13, a32 = matViewProj.m14, a33 = matViewProj.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    Matrix matViewProjInv = {
-        (a11*b11 - a12*b10 + a13*b09)*invDet,
-        (-a01*b11 + a02*b10 - a03*b09)*invDet,
-        (a31*b05 - a32*b04 + a33*b03)*invDet,
-        (-a21*b05 + a22*b04 - a23*b03)*invDet,
-        (-a10*b11 + a12*b08 - a13*b07)*invDet,
-        (a00*b11 - a02*b08 + a03*b07)*invDet,
-        (-a30*b05 + a32*b02 - a33*b01)*invDet,
-        (a20*b05 - a22*b02 + a23*b01)*invDet,
-        (a10*b10 - a11*b08 + a13*b06)*invDet,
-        (-a00*b10 + a01*b08 - a03*b06)*invDet,
-        (a30*b04 - a31*b02 + a33*b00)*invDet,
-        (-a20*b04 + a21*b02 - a23*b00)*invDet,
-        (-a10*b09 + a11*b07 - a12*b06)*invDet,
-        (a00*b09 - a01*b07 + a02*b06)*invDet,
-        (-a30*b03 + a31*b01 - a32*b00)*invDet,
-        (a20*b03 - a21*b01 + a22*b00)*invDet };
-
-    // Create quaternion from source point
-    Quaternion quat = { source.x, source.y, source.z, 1.0f };
-
-    // Multiply quat point by unprojecte matrix
-    Quaternion qtransformed = {     // QuaternionTransform(quat, matViewProjInv)
-        matViewProjInv.m0*quat.x + matViewProjInv.m4*quat.y + matViewProjInv.m8*quat.z + matViewProjInv.m12*quat.w,
-        matViewProjInv.m1*quat.x + matViewProjInv.m5*quat.y + matViewProjInv.m9*quat.z + matViewProjInv.m13*quat.w,
-        matViewProjInv.m2*quat.x + matViewProjInv.m6*quat.y + matViewProjInv.m10*quat.z + matViewProjInv.m14*quat.w,
-        matViewProjInv.m3*quat.x + matViewProjInv.m7*quat.y + matViewProjInv.m11*quat.z + matViewProjInv.m15*quat.w };
-
-    // Normalized world points in vectors
-    result.x = qtransformed.x/qtransformed.w;
-    result.y = qtransformed.y/qtransformed.w;
-    result.z = qtransformed.z/qtransformed.w;
-
-    return result;
-}
-
-// Get Vector3 as float array
-RMAPI float3 Vector3ToFloatV(Vector3 v)
-{
-    float3 buffer = { 0 };
-
-    buffer.v[0] = v.x;
-    buffer.v[1] = v.y;
-    buffer.v[2] = v.z;
-
-    return buffer;
-}
-
-// Invert the given vector
-RMAPI Vector3 Vector3Invert(Vector3 v)
-{
-    Vector3 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z };
-
-    return result;
-}
-
-// Clamp the components of the vector between
-// min and max values specified by the given vectors
-RMAPI Vector3 Vector3Clamp(Vector3 v, Vector3 min, Vector3 max)
-{
-    Vector3 result = { 0 };
-
-    result.x = fminf(max.x, fmaxf(min.x, v.x));
-    result.y = fminf(max.y, fmaxf(min.y, v.y));
-    result.z = fminf(max.z, fmaxf(min.z, v.z));
-
-    return result;
-}
-
-// Clamp the magnitude of the vector between two values
-RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max)
-{
-    Vector3 result = v;
-
-    float length = (v.x*v.x) + (v.y*v.y) + (v.z*v.z);
-    if (length > 0.0f)
-    {
-        length = sqrtf(length);
-
-        float scale = 1;    // By default, 1 as the neutral element.
-        if (length < min)
-        {
-            scale = min/length;
-        }
-        else if (length > max)
-        {
-            scale = max/length;
-        }
-
-        result.x = v.x*scale;
-        result.y = v.y*scale;
-        result.z = v.z*scale;
-    }
-
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector3Equals(Vector3 p, Vector3 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                 ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                 ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z)))));
-
-    return result;
-}
-
-// Compute the direction of a refracted ray
-// v: normalized direction of the incoming ray
-// n: normalized normal vector of the interface of two optical media
-// r: ratio of the refractive index of the medium from where the ray comes
-//    to the refractive index of the medium on the other side of the surface
-RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r)
-{
-    Vector3 result = { 0 };
-
-    float dot = v.x*n.x + v.y*n.y + v.z*n.z;
-    float d = 1.0f - r*r*(1.0f - dot*dot);
-
-    if (d >= 0.0f)
-    {
-        d = sqrtf(d);
-        v.x = r*v.x - (r*dot + d)*n.x;
-        v.y = r*v.y - (r*dot + d)*n.y;
-        v.z = r*v.z - (r*dot + d)*n.z;
-
-        result = v;
-    }
-
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vector4 math
-//----------------------------------------------------------------------------------
-
-RMAPI Vector4 Vector4Zero(void)
-{
-    Vector4 result = { 0.0f, 0.0f, 0.0f, 0.0f };
-    return result;
-}
-
-RMAPI Vector4 Vector4One(void)
-{
-    Vector4 result = { 1.0f, 1.0f, 1.0f, 1.0f };
-    return result;
-}
-
-RMAPI Vector4 Vector4Add(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = {
-        v1.x + v2.x,
-        v1.y + v2.y,
-        v1.z + v2.z,
-        v1.w + v2.w
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4AddValue(Vector4 v, float add)
-{
-    Vector4 result = {
-        v.x + add,
-        v.y + add,
-        v.z + add,
-        v.w + add
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4Subtract(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = {
-        v1.x - v2.x,
-        v1.y - v2.y,
-        v1.z - v2.z,
-        v1.w - v2.w
-    };
-    return result;
-}
-
-RMAPI Vector4 Vector4SubtractValue(Vector4 v, float add)
-{
-    Vector4 result = {
-        v.x - add,
-        v.y - add,
-        v.z - add,
-        v.w - add
-    };
-    return result;
-}
-
-RMAPI float Vector4Length(Vector4 v)
-{
-    float result = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
-    return result;
-}
-
-RMAPI float Vector4LengthSqr(Vector4 v)
-{
-    float result = (v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w);
-    return result;
-}
-
-RMAPI float Vector4DotProduct(Vector4 v1, Vector4 v2)
-{
-    float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z + v1.w*v2.w);
-    return result;
-}
-
-// Calculate distance between two vectors
-RMAPI float Vector4Distance(Vector4 v1, Vector4 v2)
-{
-    float result = sqrtf(
-        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
-        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w));
-    return result;
-}
-
-// Calculate square distance between two vectors
-RMAPI float Vector4DistanceSqr(Vector4 v1, Vector4 v2)
-{
-    float result =
-        (v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
-        (v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w);
-
-    return result;
-}
-
-RMAPI Vector4 Vector4Scale(Vector4 v, float scale)
-{
-    Vector4 result = { v.x*scale, v.y*scale, v.z*scale, v.w*scale };
-    return result;
-}
-
-// Multiply vector by vector
-RMAPI Vector4 Vector4Multiply(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z, v1.w*v2.w };
-    return result;
-}
-
-// Negate vector
-RMAPI Vector4 Vector4Negate(Vector4 v)
-{
-    Vector4 result = { -v.x, -v.y, -v.z, -v.w };
-    return result;
-}
-
-// Divide vector by vector
-RMAPI Vector4 Vector4Divide(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z, v1.w/v2.w };
-    return result;
-}
-
-// Normalize provided vector
-RMAPI Vector4 Vector4Normalize(Vector4 v)
-{
-    Vector4 result = { 0 };
-    float length = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
-
-    if (length > 0)
-    {
-        float ilength = 1.0f/length;
-        result.x = v.x*ilength;
-        result.y = v.y*ilength;
-        result.z = v.z*ilength;
-        result.w = v.w*ilength;
-    }
-
-    return result;
-}
-
-// Get min value for each pair of components
-RMAPI Vector4 Vector4Min(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { 0 };
-
-    result.x = fminf(v1.x, v2.x);
-    result.y = fminf(v1.y, v2.y);
-    result.z = fminf(v1.z, v2.z);
-    result.w = fminf(v1.w, v2.w);
-
-    return result;
-}
-
-// Get max value for each pair of components
-RMAPI Vector4 Vector4Max(Vector4 v1, Vector4 v2)
-{
-    Vector4 result = { 0 };
-
-    result.x = fmaxf(v1.x, v2.x);
-    result.y = fmaxf(v1.y, v2.y);
-    result.z = fmaxf(v1.z, v2.z);
-    result.w = fmaxf(v1.w, v2.w);
-
-    return result;
-}
-
-// Calculate linear interpolation between two vectors
-RMAPI Vector4 Vector4Lerp(Vector4 v1, Vector4 v2, float amount)
-{
-    Vector4 result = { 0 };
-
-    result.x = v1.x + amount*(v2.x - v1.x);
-    result.y = v1.y + amount*(v2.y - v1.y);
-    result.z = v1.z + amount*(v2.z - v1.z);
-    result.w = v1.w + amount*(v2.w - v1.w);
-
-    return result;
-}
-
-// Move Vector towards target
-RMAPI Vector4 Vector4MoveTowards(Vector4 v, Vector4 target, float maxDistance)
-{
-    Vector4 result = { 0 };
-
-    float dx = target.x - v.x;
-    float dy = target.y - v.y;
-    float dz = target.z - v.z;
-    float dw = target.w - v.w;
-    float value = (dx*dx) + (dy*dy) + (dz*dz) + (dw*dw);
-
-    if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
-
-    float dist = sqrtf(value);
-
-    result.x = v.x + dx/dist*maxDistance;
-    result.y = v.y + dy/dist*maxDistance;
-    result.z = v.z + dz/dist*maxDistance;
-    result.w = v.w + dw/dist*maxDistance;
-
-    return result;
-}
-
-// Invert the given vector
-RMAPI Vector4 Vector4Invert(Vector4 v)
-{
-    Vector4 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z, 1.0f/v.w };
-    return result;
-}
-
-// Check whether two given vectors are almost equal
-RMAPI int Vector4Equals(Vector4 p, Vector4 q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))));
-    return result;
-}
-
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Matrix math
-//----------------------------------------------------------------------------------
-
-// Compute matrix determinant
-RMAPI float MatrixDeterminant(Matrix mat)
-{
-    float result = 0.0f;
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    result = a30*a21*a12*a03 - a20*a31*a12*a03 - a30*a11*a22*a03 + a10*a31*a22*a03 +
-             a20*a11*a32*a03 - a10*a21*a32*a03 - a30*a21*a02*a13 + a20*a31*a02*a13 +
-             a30*a01*a22*a13 - a00*a31*a22*a13 - a20*a01*a32*a13 + a00*a21*a32*a13 +
-             a30*a11*a02*a23 - a10*a31*a02*a23 - a30*a01*a12*a23 + a00*a31*a12*a23 +
-             a10*a01*a32*a23 - a00*a11*a32*a23 - a20*a11*a02*a33 + a10*a21*a02*a33 +
-             a20*a01*a12*a33 - a00*a21*a12*a33 - a10*a01*a22*a33 + a00*a11*a22*a33;
-
-    return result;
-}
-
-// Get the trace of the matrix (sum of the values along the diagonal)
-RMAPI float MatrixTrace(Matrix mat)
-{
-    float result = (mat.m0 + mat.m5 + mat.m10 + mat.m15);
-
-    return result;
-}
-
-// Transposes provided matrix
-RMAPI Matrix MatrixTranspose(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    result.m0 = mat.m0;
-    result.m1 = mat.m4;
-    result.m2 = mat.m8;
-    result.m3 = mat.m12;
-    result.m4 = mat.m1;
-    result.m5 = mat.m5;
-    result.m6 = mat.m9;
-    result.m7 = mat.m13;
-    result.m8 = mat.m2;
-    result.m9 = mat.m6;
-    result.m10 = mat.m10;
-    result.m11 = mat.m14;
-    result.m12 = mat.m3;
-    result.m13 = mat.m7;
-    result.m14 = mat.m11;
-    result.m15 = mat.m15;
-
-    return result;
-}
-
-// Invert provided matrix
-RMAPI Matrix MatrixInvert(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
-    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
-    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
-    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
-    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
-    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
-    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
-    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
-    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
-    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
-    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
-    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
-    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
-    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
-    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
-    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
-
-    return result;
-}
-
-// Get identity matrix
-RMAPI Matrix MatrixIdentity(void)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Add two matrices
-RMAPI Matrix MatrixAdd(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0 + right.m0;
-    result.m1 = left.m1 + right.m1;
-    result.m2 = left.m2 + right.m2;
-    result.m3 = left.m3 + right.m3;
-    result.m4 = left.m4 + right.m4;
-    result.m5 = left.m5 + right.m5;
-    result.m6 = left.m6 + right.m6;
-    result.m7 = left.m7 + right.m7;
-    result.m8 = left.m8 + right.m8;
-    result.m9 = left.m9 + right.m9;
-    result.m10 = left.m10 + right.m10;
-    result.m11 = left.m11 + right.m11;
-    result.m12 = left.m12 + right.m12;
-    result.m13 = left.m13 + right.m13;
-    result.m14 = left.m14 + right.m14;
-    result.m15 = left.m15 + right.m15;
-
-    return result;
-}
-
-// Subtract two matrices (left - right)
-RMAPI Matrix MatrixSubtract(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0 - right.m0;
-    result.m1 = left.m1 - right.m1;
-    result.m2 = left.m2 - right.m2;
-    result.m3 = left.m3 - right.m3;
-    result.m4 = left.m4 - right.m4;
-    result.m5 = left.m5 - right.m5;
-    result.m6 = left.m6 - right.m6;
-    result.m7 = left.m7 - right.m7;
-    result.m8 = left.m8 - right.m8;
-    result.m9 = left.m9 - right.m9;
-    result.m10 = left.m10 - right.m10;
-    result.m11 = left.m11 - right.m11;
-    result.m12 = left.m12 - right.m12;
-    result.m13 = left.m13 - right.m13;
-    result.m14 = left.m14 - right.m14;
-    result.m15 = left.m15 - right.m15;
-
-    return result;
-}
-
-// Get two matrix multiplication
-// NOTE: When multiplying matrices... the order matters!
-RMAPI Matrix MatrixMultiply(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
-    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
-    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
-    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
-    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
-    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
-    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
-    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
-    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
-    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
-    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
-    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
-    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
-    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
-    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
-    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
-
-    return result;
-}
-
-// Get translation matrix
-RMAPI Matrix MatrixTranslate(float x, float y, float z)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, x,
-                      0.0f, 1.0f, 0.0f, y,
-                      0.0f, 0.0f, 1.0f, z,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Create rotation matrix from axis and angle
-// NOTE: Angle should be provided in radians
-RMAPI Matrix MatrixRotate(Vector3 axis, float angle)
-{
-    Matrix result = { 0 };
-
-    float x = axis.x, y = axis.y, z = axis.z;
-
-    float lengthSquared = x*x + y*y + z*z;
-
-    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
-    {
-        float ilength = 1.0f/sqrtf(lengthSquared);
-        x *= ilength;
-        y *= ilength;
-        z *= ilength;
-    }
-
-    float sinres = sinf(angle);
-    float cosres = cosf(angle);
-    float t = 1.0f - cosres;
-
-    result.m0 = x*x*t + cosres;
-    result.m1 = y*x*t + z*sinres;
-    result.m2 = z*x*t - y*sinres;
-    result.m3 = 0.0f;
-
-    result.m4 = x*y*t - z*sinres;
-    result.m5 = y*y*t + cosres;
-    result.m6 = z*y*t + x*sinres;
-    result.m7 = 0.0f;
-
-    result.m8 = x*z*t + y*sinres;
-    result.m9 = y*z*t - x*sinres;
-    result.m10 = z*z*t + cosres;
-    result.m11 = 0.0f;
-
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = 0.0f;
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get x-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateX(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m5 = cosres;
-    result.m6 = sinres;
-    result.m9 = -sinres;
-    result.m10 = cosres;
-
-    return result;
-}
-
-// Get y-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateY(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m0 = cosres;
-    result.m2 = -sinres;
-    result.m8 = sinres;
-    result.m10 = cosres;
-
-    return result;
-}
-
-// Get z-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateZ(float angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosres = cosf(angle);
-    float sinres = sinf(angle);
-
-    result.m0 = cosres;
-    result.m1 = sinres;
-    result.m4 = -sinres;
-    result.m5 = cosres;
-
-    return result;
-}
-
-
-// Get xyz-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateXYZ(Vector3 angle)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float cosz = cosf(-angle.z);
-    float sinz = sinf(-angle.z);
-    float cosy = cosf(-angle.y);
-    float siny = sinf(-angle.y);
-    float cosx = cosf(-angle.x);
-    float sinx = sinf(-angle.x);
-
-    result.m0 = cosz*cosy;
-    result.m1 = (cosz*siny*sinx) - (sinz*cosx);
-    result.m2 = (cosz*siny*cosx) + (sinz*sinx);
-
-    result.m4 = sinz*cosy;
-    result.m5 = (sinz*siny*sinx) + (cosz*cosx);
-    result.m6 = (sinz*siny*cosx) - (cosz*sinx);
-
-    result.m8 = -siny;
-    result.m9 = cosy*sinx;
-    result.m10= cosy*cosx;
-
-    return result;
-}
-
-// Get zyx-rotation matrix
-// NOTE: Angle must be provided in radians
-RMAPI Matrix MatrixRotateZYX(Vector3 angle)
-{
-    Matrix result = { 0 };
-
-    float cz = cosf(angle.z);
-    float sz = sinf(angle.z);
-    float cy = cosf(angle.y);
-    float sy = sinf(angle.y);
-    float cx = cosf(angle.x);
-    float sx = sinf(angle.x);
-
-    result.m0 = cz*cy;
-    result.m4 = cz*sy*sx - cx*sz;
-    result.m8 = sz*sx + cz*cx*sy;
-    result.m12 = 0;
-
-    result.m1 = cy*sz;
-    result.m5 = cz*cx + sz*sy*sx;
-    result.m9 = cx*sz*sy - cz*sx;
-    result.m13 = 0;
-
-    result.m2 = -sy;
-    result.m6 = cy*sx;
-    result.m10 = cy*cx;
-    result.m14 = 0;
-
-    result.m3 = 0;
-    result.m7 = 0;
-    result.m11 = 0;
-    result.m15 = 1;
-
-    return result;
-}
-
-// Get scaling matrix
-RMAPI Matrix MatrixScale(float x, float y, float z)
-{
-    Matrix result = { x, 0.0f, 0.0f, 0.0f,
-                      0.0f, y, 0.0f, 0.0f,
-                      0.0f, 0.0f, z, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Get perspective projection matrix
-RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = ((float)nearPlane*2.0f)/rl;
-    result.m1 = 0.0f;
-    result.m2 = 0.0f;
-    result.m3 = 0.0f;
-
-    result.m4 = 0.0f;
-    result.m5 = ((float)nearPlane*2.0f)/tb;
-    result.m6 = 0.0f;
-    result.m7 = 0.0f;
-
-    result.m8 = ((float)right + (float)left)/rl;
-    result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m11 = -1.0f;
-
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
-    result.m15 = 0.0f;
-
-    return result;
-}
-
-// Get perspective projection matrix
-// NOTE: Fovy angle must be provided in radians
-RMAPI Matrix MatrixPerspective(double fovY, double aspect, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    double top = nearPlane*tan(fovY*0.5);
-    double bottom = -top;
-    double right = top*aspect;
-    double left = -right;
-
-    // MatrixFrustum(-right, right, -top, top, near, far);
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = ((float)nearPlane*2.0f)/rl;
-    result.m5 = ((float)nearPlane*2.0f)/tb;
-    result.m8 = ((float)right + (float)left)/rl;
-    result.m9 = ((float)top + (float)bottom)/tb;
-    result.m10 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m11 = -1.0f;
-    result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
-
-    return result;
-}
-
-// Get orthographic projection matrix
-RMAPI Matrix MatrixOrtho(double left, double right, double bottom, double top, double nearPlane, double farPlane)
-{
-    Matrix result = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(farPlane - nearPlane);
-
-    result.m0 = 2.0f/rl;
-    result.m1 = 0.0f;
-    result.m2 = 0.0f;
-    result.m3 = 0.0f;
-    result.m4 = 0.0f;
-    result.m5 = 2.0f/tb;
-    result.m6 = 0.0f;
-    result.m7 = 0.0f;
-    result.m8 = 0.0f;
-    result.m9 = 0.0f;
-    result.m10 = -2.0f/fn;
-    result.m11 = 0.0f;
-    result.m12 = -((float)left + (float)right)/rl;
-    result.m13 = -((float)top + (float)bottom)/tb;
-    result.m14 = -((float)farPlane + (float)nearPlane)/fn;
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get camera look-at matrix (view matrix)
-RMAPI Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
-{
-    Matrix result = { 0 };
-
-    float length = 0.0f;
-    float ilength = 0.0f;
-
-    // Vector3Subtract(eye, target)
-    Vector3 vz = { eye.x - target.x, eye.y - target.y, eye.z - target.z };
-
-    // Vector3Normalize(vz)
-    Vector3 v = vz;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vz.x *= ilength;
-    vz.y *= ilength;
-    vz.z *= ilength;
-
-    // Vector3CrossProduct(up, vz)
-    Vector3 vx = { up.y*vz.z - up.z*vz.y, up.z*vz.x - up.x*vz.z, up.x*vz.y - up.y*vz.x };
-
-    // Vector3Normalize(x)
-    v = vx;
-    length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
-    if (length == 0.0f) length = 1.0f;
-    ilength = 1.0f/length;
-    vx.x *= ilength;
-    vx.y *= ilength;
-    vx.z *= ilength;
-
-    // Vector3CrossProduct(vz, vx)
-    Vector3 vy = { vz.y*vx.z - vz.z*vx.y, vz.z*vx.x - vz.x*vx.z, vz.x*vx.y - vz.y*vx.x };
-
-    result.m0 = vx.x;
-    result.m1 = vy.x;
-    result.m2 = vz.x;
-    result.m3 = 0.0f;
-    result.m4 = vx.y;
-    result.m5 = vy.y;
-    result.m6 = vz.y;
-    result.m7 = 0.0f;
-    result.m8 = vx.z;
-    result.m9 = vy.z;
-    result.m10 = vz.z;
-    result.m11 = 0.0f;
-    result.m12 = -(vx.x*eye.x + vx.y*eye.y + vx.z*eye.z);   // Vector3DotProduct(vx, eye)
-    result.m13 = -(vy.x*eye.x + vy.y*eye.y + vy.z*eye.z);   // Vector3DotProduct(vy, eye)
-    result.m14 = -(vz.x*eye.x + vz.y*eye.y + vz.z*eye.z);   // Vector3DotProduct(vz, eye)
-    result.m15 = 1.0f;
-
-    return result;
-}
-
-// Get float array of matrix data
-RMAPI float16 MatrixToFloatV(Matrix mat)
-{
-    float16 result = { 0 };
-
-    result.v[0] = mat.m0;
-    result.v[1] = mat.m1;
-    result.v[2] = mat.m2;
-    result.v[3] = mat.m3;
-    result.v[4] = mat.m4;
-    result.v[5] = mat.m5;
-    result.v[6] = mat.m6;
-    result.v[7] = mat.m7;
-    result.v[8] = mat.m8;
-    result.v[9] = mat.m9;
-    result.v[10] = mat.m10;
-    result.v[11] = mat.m11;
-    result.v[12] = mat.m12;
-    result.v[13] = mat.m13;
-    result.v[14] = mat.m14;
-    result.v[15] = mat.m15;
-
-    return result;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Quaternion math
-//----------------------------------------------------------------------------------
-
-// Add two quaternions
-RMAPI Quaternion QuaternionAdd(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = {q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w};
-
-    return result;
-}
-
-// Add quaternion and float value
-RMAPI Quaternion QuaternionAddValue(Quaternion q, float add)
-{
-    Quaternion result = {q.x + add, q.y + add, q.z + add, q.w + add};
-
-    return result;
-}
-
-// Subtract two quaternions
-RMAPI Quaternion QuaternionSubtract(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = {q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w};
-
-    return result;
-}
-
-// Subtract quaternion and float value
-RMAPI Quaternion QuaternionSubtractValue(Quaternion q, float sub)
-{
-    Quaternion result = {q.x - sub, q.y - sub, q.z - sub, q.w - sub};
-
-    return result;
-}
-
-// Get identity quaternion
-RMAPI Quaternion QuaternionIdentity(void)
-{
-    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
-
-    return result;
-}
-
-// Computes the length of a quaternion
-RMAPI float QuaternionLength(Quaternion q)
-{
-    float result = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-
-    return result;
-}
-
-// Normalize provided quaternion
-RMAPI Quaternion QuaternionNormalize(Quaternion q)
-{
-    Quaternion result = { 0 };
-
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Invert provided quaternion
-RMAPI Quaternion QuaternionInvert(Quaternion q)
-{
-    Quaternion result = q;
-
-    float lengthSq = q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w;
-
-    if (lengthSq != 0.0f)
-    {
-        float invLength = 1.0f/lengthSq;
-
-        result.x *= -invLength;
-        result.y *= -invLength;
-        result.z *= -invLength;
-        result.w *= invLength;
-    }
-
-    return result;
-}
-
-// Calculate two quaternion multiplication
-RMAPI Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = { 0 };
-
-    float qax = q1.x, qay = q1.y, qaz = q1.z, qaw = q1.w;
-    float qbx = q2.x, qby = q2.y, qbz = q2.z, qbw = q2.w;
-
-    result.x = qax*qbw + qaw*qbx + qay*qbz - qaz*qby;
-    result.y = qay*qbw + qaw*qby + qaz*qbx - qax*qbz;
-    result.z = qaz*qbw + qaw*qbz + qax*qby - qay*qbx;
-    result.w = qaw*qbw - qax*qbx - qay*qby - qaz*qbz;
-
-    return result;
-}
-
-// Scale quaternion by float value
-RMAPI Quaternion QuaternionScale(Quaternion q, float mul)
-{
-    Quaternion result = { 0 };
-
-    result.x = q.x*mul;
-    result.y = q.y*mul;
-    result.z = q.z*mul;
-    result.w = q.w*mul;
-
-    return result;
-}
-
-// Divide two quaternions
-RMAPI Quaternion QuaternionDivide(Quaternion q1, Quaternion q2)
-{
-    Quaternion result = { q1.x/q2.x, q1.y/q2.y, q1.z/q2.z, q1.w/q2.w };
-
-    return result;
-}
-
-// Calculate linear interpolation between two quaternions
-RMAPI Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-    result.x = q1.x + amount*(q2.x - q1.x);
-    result.y = q1.y + amount*(q2.y - q1.y);
-    result.z = q1.z + amount*(q2.z - q1.z);
-    result.w = q1.w + amount*(q2.w - q1.w);
-
-    return result;
-}
-
-// Calculate slerp-optimized interpolation between two quaternions
-RMAPI Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-    // QuaternionLerp(q1, q2, amount)
-    result.x = q1.x + amount*(q2.x - q1.x);
-    result.y = q1.y + amount*(q2.y - q1.y);
-    result.z = q1.z + amount*(q2.z - q1.z);
-    result.w = q1.w + amount*(q2.w - q1.w);
-
-    // QuaternionNormalize(q);
-    Quaternion q = result;
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Calculates spherical linear interpolation between two quaternions
-RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
-{
-    Quaternion result = { 0 };
-
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    float cosHalfTheta = q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
-
-    if (cosHalfTheta < 0)
-    {
-        q2.x = -q2.x; q2.y = -q2.y; q2.z = -q2.z; q2.w = -q2.w;
-        cosHalfTheta = -cosHalfTheta;
-    }
-
-    if (fabsf(cosHalfTheta) >= 1.0f) result = q1;
-    else if (cosHalfTheta > 0.95f) result = QuaternionNlerp(q1, q2, amount);
-    else
-    {
-        float halfTheta = acosf(cosHalfTheta);
-        float sinHalfTheta = sqrtf(1.0f - cosHalfTheta*cosHalfTheta);
-
-        if (fabsf(sinHalfTheta) < EPSILON)
-        {
-            result.x = (q1.x*0.5f + q2.x*0.5f);
-            result.y = (q1.y*0.5f + q2.y*0.5f);
-            result.z = (q1.z*0.5f + q2.z*0.5f);
-            result.w = (q1.w*0.5f + q2.w*0.5f);
-        }
-        else
-        {
-            float ratioA = sinf((1 - amount)*halfTheta)/sinHalfTheta;
-            float ratioB = sinf(amount*halfTheta)/sinHalfTheta;
-
-            result.x = (q1.x*ratioA + q2.x*ratioB);
-            result.y = (q1.y*ratioA + q2.y*ratioB);
-            result.z = (q1.z*ratioA + q2.z*ratioB);
-            result.w = (q1.w*ratioA + q2.w*ratioB);
-        }
-    }
-
-    return result;
-}
-
-// Calculate quaternion cubic spline interpolation using Cubic Hermite Spline algorithm
-// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
-RMAPI Quaternion QuaternionCubicHermiteSpline(Quaternion q1, Quaternion outTangent1, Quaternion q2, Quaternion inTangent2, float t)
-{
-    float t2 = t*t;
-    float t3 = t2*t;
-    float h00 = 2*t3 - 3*t2 + 1;
-    float h10 = t3 - 2*t2 + t;
-    float h01 = -2*t3 + 3*t2;
-    float h11 = t3 - t2;
-
-    Quaternion p0 = QuaternionScale(q1, h00);
-    Quaternion m0 = QuaternionScale(outTangent1, h10);
-    Quaternion p1 = QuaternionScale(q2, h01);
-    Quaternion m1 = QuaternionScale(inTangent2, h11);
-
-    Quaternion result = { 0 };
-
-    result = QuaternionAdd(p0, m0);
-    result = QuaternionAdd(result, p1);
-    result = QuaternionAdd(result, m1);
-    result = QuaternionNormalize(result);
-
-    return result;
-}
-
-// Calculate quaternion based on the rotation from one vector to another
-RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
-{
-    Quaternion result = { 0 };
-
-    float cos2Theta = (from.x*to.x + from.y*to.y + from.z*to.z);    // Vector3DotProduct(from, to)
-    Vector3 cross = { from.y*to.z - from.z*to.y, from.z*to.x - from.x*to.z, from.x*to.y - from.y*to.x }; // Vector3CrossProduct(from, to)
-
-    result.x = cross.x;
-    result.y = cross.y;
-    result.z = cross.z;
-    result.w = 1.0f + cos2Theta;
-
-    // QuaternionNormalize(q);
-    // NOTE: Normalize to essentially nlerp the original and identity to 0.5
-    Quaternion q = result;
-    float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-    if (length == 0.0f) length = 1.0f;
-    float ilength = 1.0f/length;
-
-    result.x = q.x*ilength;
-    result.y = q.y*ilength;
-    result.z = q.z*ilength;
-    result.w = q.w*ilength;
-
-    return result;
-}
-
-// Get a quaternion for a given rotation matrix
-RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
-{
-    Quaternion result = { 0 };
-
-    float fourWSquaredMinus1 = mat.m0  + mat.m5 + mat.m10;
-    float fourXSquaredMinus1 = mat.m0  - mat.m5 - mat.m10;
-    float fourYSquaredMinus1 = mat.m5  - mat.m0 - mat.m10;
-    float fourZSquaredMinus1 = mat.m10 - mat.m0 - mat.m5;
-
-    int biggestIndex = 0;
-    float fourBiggestSquaredMinus1 = fourWSquaredMinus1;
-    if (fourXSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourXSquaredMinus1;
-        biggestIndex = 1;
-    }
-
-    if (fourYSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourYSquaredMinus1;
-        biggestIndex = 2;
-    }
-
-    if (fourZSquaredMinus1 > fourBiggestSquaredMinus1)
-    {
-        fourBiggestSquaredMinus1 = fourZSquaredMinus1;
-        biggestIndex = 3;
-    }
-
-    float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f)*0.5f;
-    float mult = 0.25f/biggestVal;
-
-    switch (biggestIndex)
-    {
-        case 0:
-            result.w = biggestVal;
-            result.x = (mat.m6 - mat.m9)*mult;
-            result.y = (mat.m8 - mat.m2)*mult;
-            result.z = (mat.m1 - mat.m4)*mult;
-            break;
-        case 1:
-            result.x = biggestVal;
-            result.w = (mat.m6 - mat.m9)*mult;
-            result.y = (mat.m1 + mat.m4)*mult;
-            result.z = (mat.m8 + mat.m2)*mult;
-            break;
-        case 2:
-            result.y = biggestVal;
-            result.w = (mat.m8 - mat.m2)*mult;
-            result.x = (mat.m1 + mat.m4)*mult;
-            result.z = (mat.m6 + mat.m9)*mult;
-            break;
-        case 3:
-            result.z = biggestVal;
-            result.w = (mat.m1 - mat.m4)*mult;
-            result.x = (mat.m8 + mat.m2)*mult;
-            result.y = (mat.m6 + mat.m9)*mult;
-            break;
-    }
-
-    return result;
-}
-
-// Get a matrix for a given quaternion
-RMAPI Matrix QuaternionToMatrix(Quaternion q)
-{
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
-                      0.0f, 1.0f, 0.0f, 0.0f,
-                      0.0f, 0.0f, 1.0f, 0.0f,
-                      0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
-
-    float a2 = q.x*q.x;
-    float b2 = q.y*q.y;
-    float c2 = q.z*q.z;
-    float ac = q.x*q.z;
-    float ab = q.x*q.y;
-    float bc = q.y*q.z;
-    float ad = q.w*q.x;
-    float bd = q.w*q.y;
-    float cd = q.w*q.z;
-
-    result.m0 = 1 - 2*(b2 + c2);
-    result.m1 = 2*(ab + cd);
-    result.m2 = 2*(ac - bd);
-
-    result.m4 = 2*(ab - cd);
-    result.m5 = 1 - 2*(a2 + c2);
-    result.m6 = 2*(bc + ad);
-
-    result.m8 = 2*(ac + bd);
-    result.m9 = 2*(bc - ad);
-    result.m10 = 1 - 2*(a2 + b2);
-
-    return result;
-}
-
-// Get rotation quaternion for an angle and axis
-// NOTE: Angle must be provided in radians
-RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
-{
-    Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
-
-    float axisLength = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
-
-    if (axisLength != 0.0f)
-    {
-        angle *= 0.5f;
-
-        float length = 0.0f;
-        float ilength = 0.0f;
-
-        // Vector3Normalize(axis)
-        length = axisLength;
-        if (length == 0.0f) length = 1.0f;
-        ilength = 1.0f/length;
-        axis.x *= ilength;
-        axis.y *= ilength;
-        axis.z *= ilength;
-
-        float sinres = sinf(angle);
-        float cosres = cosf(angle);
-
-        result.x = axis.x*sinres;
-        result.y = axis.y*sinres;
-        result.z = axis.z*sinres;
-        result.w = cosres;
-
-        // QuaternionNormalize(q);
-        Quaternion q = result;
-        length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-        if (length == 0.0f) length = 1.0f;
-        ilength = 1.0f/length;
-        result.x = q.x*ilength;
-        result.y = q.y*ilength;
-        result.z = q.z*ilength;
-        result.w = q.w*ilength;
-    }
-
-    return result;
-}
-
-// Get the rotation angle and axis for a given quaternion
-RMAPI void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle)
-{
-    if (fabsf(q.w) > 1.0f)
-    {
-        // QuaternionNormalize(q);
-        float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
-        if (length == 0.0f) length = 1.0f;
-        float ilength = 1.0f/length;
-
-        q.x = q.x*ilength;
-        q.y = q.y*ilength;
-        q.z = q.z*ilength;
-        q.w = q.w*ilength;
-    }
-
-    Vector3 resAxis = { 0.0f, 0.0f, 0.0f };
-    float resAngle = 2.0f*acosf(q.w);
-    float den = sqrtf(1.0f - q.w*q.w);
-
-    if (den > EPSILON)
-    {
-        resAxis.x = q.x/den;
-        resAxis.y = q.y/den;
-        resAxis.z = q.z/den;
-    }
-    else
-    {
-        // This occurs when the angle is zero.
-        // Not a problem: just set an arbitrary normalized axis.
-        resAxis.x = 1.0f;
-    }
-
-    *outAxis = resAxis;
-    *outAngle = resAngle;
-}
-
-// Get the quaternion equivalent to Euler angles
-// NOTE: Rotation order is ZYX
-RMAPI Quaternion QuaternionFromEuler(float pitch, float yaw, float roll)
-{
-    Quaternion result = { 0 };
-
-    float x0 = cosf(pitch*0.5f);
-    float x1 = sinf(pitch*0.5f);
-    float y0 = cosf(yaw*0.5f);
-    float y1 = sinf(yaw*0.5f);
-    float z0 = cosf(roll*0.5f);
-    float z1 = sinf(roll*0.5f);
-
-    result.x = x1*y0*z0 - x0*y1*z1;
-    result.y = x0*y1*z0 + x1*y0*z1;
-    result.z = x0*y0*z1 - x1*y1*z0;
-    result.w = x0*y0*z0 + x1*y1*z1;
-
-    return result;
-}
-
-// Get the Euler angles equivalent to quaternion (roll, pitch, yaw)
-// NOTE: Angles are returned in a Vector3 struct in radians
-RMAPI Vector3 QuaternionToEuler(Quaternion q)
-{
-    Vector3 result = { 0 };
-
-    // Roll (x-axis rotation)
-    float x0 = 2.0f*(q.w*q.x + q.y*q.z);
-    float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y);
-    result.x = atan2f(x0, x1);
-
-    // Pitch (y-axis rotation)
-    float y0 = 2.0f*(q.w*q.y - q.z*q.x);
-    y0 = y0 > 1.0f ? 1.0f : y0;
-    y0 = y0 < -1.0f ? -1.0f : y0;
-    result.y = asinf(y0);
-
-    // Yaw (z-axis rotation)
-    float z0 = 2.0f*(q.w*q.z + q.x*q.y);
-    float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
-    result.z = atan2f(z0, z1);
-
-    return result;
-}
-
-// Transform a quaternion given a transformation matrix
-RMAPI Quaternion QuaternionTransform(Quaternion q, Matrix mat)
-{
-    Quaternion result = { 0 };
-
-    result.x = mat.m0*q.x + mat.m4*q.y + mat.m8*q.z + mat.m12*q.w;
-    result.y = mat.m1*q.x + mat.m5*q.y + mat.m9*q.z + mat.m13*q.w;
-    result.z = mat.m2*q.x + mat.m6*q.y + mat.m10*q.z + mat.m14*q.w;
-    result.w = mat.m3*q.x + mat.m7*q.y + mat.m11*q.z + mat.m15*q.w;
-
-    return result;
-}
-
-// Check whether two given quaternions are almost equal
-RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
-{
-#if !defined(EPSILON)
-    #define EPSILON 0.000001f
-#endif
-
-    int result = (((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))))) ||
-                 (((fabsf(p.x + q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
-                  ((fabsf(p.y + q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
-                  ((fabsf(p.z + q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
-                  ((fabsf(p.w + q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w))))));
-
-    return result;
-}
-
-// Decompose a transformation matrix into its rotational, translational and scaling components
-RMAPI void MatrixDecompose(Matrix mat, Vector3 *translation, Quaternion *rotation, Vector3 *scale)
-{
-    // Extract translation.
-    translation->x = mat.m12;
-    translation->y = mat.m13;
-    translation->z = mat.m14;
-
-    // Extract upper-left for determinant computation
-    const float a = mat.m0;
-    const float b = mat.m4;
-    const float c = mat.m8;
-    const float d = mat.m1;
-    const float e = mat.m5;
-    const float f = mat.m9;
-    const float g = mat.m2;
-    const float h = mat.m6;
-    const float i = mat.m10;
-    const float A = e*i - f*h;
-    const float B = f*g - d*i;
-    const float C = d*h - e*g;
-
-    // Extract scale
-    const float det = a*A + b*B + c*C;
-    Vector3 abc = { a, b, c };
-    Vector3 def = { d, e, f };
-    Vector3 ghi = { g, h, i };
-
-    float scalex = Vector3Length(abc);
-    float scaley = Vector3Length(def);
-    float scalez = Vector3Length(ghi);
-    Vector3 s = { scalex, scaley, scalez };
-
-    if (det < 0) s = Vector3Negate(s);
-
-    *scale = s;
-
-    // Remove scale from the matrix if it is not close to zero
-    Matrix clone = mat;
-    if (!FloatEquals(det, 0))
-    {
-        clone.m0 /= s.x;
-        clone.m4 /= s.x;
-        clone.m8 /= s.x;
-        clone.m1 /= s.y;
-        clone.m5 /= s.y;
-        clone.m9 /= s.y;
-        clone.m2 /= s.z;
-        clone.m6 /= s.z;
-        clone.m10 /= s.z;
-
-        // Extract rotation
-        *rotation = QuaternionFromMatrix(clone);
-    }
-    else
-    {
-        // Set to identity if close to zero
-        *rotation = QuaternionIdentity();
-    }
-}
-
-#if defined(__cplusplus) && !defined(RAYMATH_DISABLE_CPP_OPERATORS)
-
-// Optional C++ math operators
-//-------------------------------------------------------------------------------
-
-// Vector2 operators
-static constexpr Vector2 Vector2Zeros = { 0, 0 };
-static constexpr Vector2 Vector2Ones = { 1, 1 };
-static constexpr Vector2 Vector2UnitX = { 1, 0 };
-static constexpr Vector2 Vector2UnitY = { 0, 1 };
-
-inline Vector2 operator + (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Add(lhs, rhs);
-}
-
-inline const Vector2& operator += (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator - (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Subtract(lhs, rhs);
-}
-
-inline const Vector2& operator -= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const float& rhs)
-{
-    return Vector2Scale(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const float& rhs)
-{
-    lhs = Vector2Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Multiply(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator * (const Vector2& lhs, const Matrix& rhs)
-{
-    return Vector2Transform(lhs, rhs);
-}
-
-inline const Vector2& operator *= (Vector2& lhs, const Matrix& rhs)
-{
-    lhs = Vector2Transform(lhs, rhs);
-    return lhs;
-}
-
-inline Vector2 operator / (const Vector2& lhs, const float& rhs)
-{
-    return Vector2Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector2& operator /= (Vector2& lhs, const float& rhs)
-{
-    lhs = Vector2Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector2 operator / (const Vector2& lhs, const Vector2& rhs)
-{
-    return Vector2Divide(lhs, rhs);
-}
-
-inline const Vector2& operator /= (Vector2& lhs, const Vector2& rhs)
-{
-    lhs = Vector2Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector2& lhs, const Vector2& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y);
-}
-
-inline bool operator != (const Vector2& lhs, const Vector2& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y);
-}
-
-// Vector3 operators
-static constexpr Vector3 Vector3Zeros = { 0, 0, 0 };
-static constexpr Vector3 Vector3Ones = { 1, 1, 1 };
-static constexpr Vector3 Vector3UnitX = { 1, 0, 0 };
-static constexpr Vector3 Vector3UnitY = { 0, 1, 0 };
-static constexpr Vector3 Vector3UnitZ = { 0, 0, 1 };
-
-inline Vector3 operator + (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Add(lhs, rhs);
-}
-
-inline const Vector3& operator += (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator - (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Subtract(lhs, rhs);
-}
-
-inline const Vector3& operator -= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const float& rhs)
-{
-    return Vector3Scale(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const float& rhs)
-{
-    lhs = Vector3Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Multiply(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator * (const Vector3& lhs, const Matrix& rhs)
-{
-    return Vector3Transform(lhs, rhs);
-}
-
-inline const Vector3& operator *= (Vector3& lhs, const Matrix& rhs)
-{
-    lhs = Vector3Transform(lhs, rhs);
-    return lhs;
-}
-
-inline Vector3 operator / (const Vector3& lhs, const float& rhs)
-{
-    return Vector3Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector3& operator /= (Vector3& lhs, const float& rhs)
-{
-    lhs = Vector3Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector3 operator / (const Vector3& lhs, const Vector3& rhs)
-{
-    return Vector3Divide(lhs, rhs);
-}
-
-inline const Vector3& operator /= (Vector3& lhs, const Vector3& rhs)
-{
-    lhs = Vector3Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector3& lhs, const Vector3& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z);
-}
-
-inline bool operator != (const Vector3& lhs, const Vector3& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z);
-}
-
-// Vector4 operators
-static constexpr Vector4 Vector4Zeros = { 0, 0, 0, 0 };
-static constexpr Vector4 Vector4Ones = { 1, 1, 1, 1 };
-static constexpr Vector4 Vector4UnitX = { 1, 0, 0, 0 };
-static constexpr Vector4 Vector4UnitY = { 0, 1, 0, 0 };
-static constexpr Vector4 Vector4UnitZ = { 0, 0, 1, 0 };
-static constexpr Vector4 Vector4UnitW = { 0, 0, 0, 1 };
-
-inline Vector4 operator + (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Add(lhs, rhs);
-}
-
-inline const Vector4& operator += (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Add(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator - (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Subtract(lhs, rhs);
-}
-
-inline const Vector4& operator -= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Subtract(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator * (const Vector4& lhs, const float& rhs)
-{
-    return Vector4Scale(lhs, rhs);
-}
-
-inline const Vector4& operator *= (Vector4& lhs, const float& rhs)
-{
-    lhs = Vector4Scale(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator * (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Multiply(lhs, rhs);
-}
-
-inline const Vector4& operator *= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Multiply(lhs, rhs);
-    return lhs;
-}
-
-inline Vector4 operator / (const Vector4& lhs, const float& rhs)
-{
-    return Vector4Scale(lhs, 1.0f / rhs);
-}
-
-inline const Vector4& operator /= (Vector4& lhs, const float& rhs)
-{
-    lhs = Vector4Scale(lhs, 1.0f / rhs);
-    return lhs;
-}
-
-inline Vector4 operator / (const Vector4& lhs, const Vector4& rhs)
-{
-    return Vector4Divide(lhs, rhs);
-}
-
-inline const Vector4& operator /= (Vector4& lhs, const Vector4& rhs)
-{
-    lhs = Vector4Divide(lhs, rhs);
-    return lhs;
-}
-
-inline bool operator == (const Vector4& lhs, const Vector4& rhs)
-{
-    return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z) && FloatEquals(lhs.w, rhs.w);
-}
-
-inline bool operator != (const Vector4& lhs, const Vector4& rhs)
-{
-    return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z) || !FloatEquals(lhs.w, rhs.w);
-}
-
-// Quaternion operators
-static constexpr Quaternion QuaternionZeros = { 0, 0, 0, 0 };
-static constexpr Quaternion QuaternionOnes = { 1, 1, 1, 1 };
-static constexpr Quaternion QuaternionUnitX = { 0, 0, 0, 1 };
-
-inline Quaternion operator + (const Quaternion& lhs, const float& rhs)
-{
-    return QuaternionAddValue(lhs, rhs);
-}
-
-inline const Quaternion& operator += (Quaternion& lhs, const float& rhs)
-{
-    lhs = QuaternionAddValue(lhs, rhs);
-    return lhs;
-}
-
-inline Quaternion operator - (const Quaternion& lhs, const float& rhs)
-{
-    return QuaternionSubtractValue(lhs, rhs);
-}
-
-inline const Quaternion& operator -= (Quaternion& lhs, const float& rhs)
-{
-    lhs = QuaternionSubtractValue(lhs, rhs);
-    return lhs;
-}
-
-inline Quaternion operator * (const Quaternion& lhs, const Matrix& rhs)
-{
-    return QuaternionTransform(lhs, rhs);
-}
-
-inline const Quaternion& operator *= (Quaternion& lhs, const Matrix& rhs)
-{
-    lhs = QuaternionTransform(lhs, rhs);
-    return lhs;
-}
-
-// Matrix operators
-inline Matrix operator + (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixAdd(lhs, rhs);
-}
-
-inline const Matrix& operator += (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixAdd(lhs, rhs);
-    return lhs;
-}
-
-inline Matrix operator - (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixSubtract(lhs, rhs);
-}
-
-inline const Matrix& operator -= (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixSubtract(lhs, rhs);
-    return lhs;
-}
-
-inline Matrix operator * (const Matrix& lhs, const Matrix& rhs)
-{
-    return MatrixMultiply(lhs, rhs);
-}
-
-inline const Matrix& operator *= (Matrix& lhs, const Matrix& rhs)
-{
-    lhs = MatrixMultiply(lhs, rhs);
-    return lhs;
-}
-//-------------------------------------------------------------------------------
-#endif  // C++ operators
-
-#endif  // RAYMATH_H
diff --git a/third_party/raylib/include/rlgl.h b/third_party/raylib/include/rlgl.h
deleted file mode 100644
index 92971df627..0000000000
--- a/third_party/raylib/include/rlgl.h
+++ /dev/null
@@ -1,5262 +0,0 @@
-/**********************************************************************************************
-*
-*   rlgl v5.0 - A multi-OpenGL abstraction layer with an immediate-mode style API
-*
-*   DESCRIPTION:
-*       An abstraction layer for multiple OpenGL versions (1.1, 2.1, 3.3 Core, 4.3 Core, ES 2.0, ES 3.0)
-*       that provides a pseudo-OpenGL 1.1 immediate-mode style API (rlVertex, rlTranslate, rlRotate...)
-*
-*   ADDITIONAL NOTES:
-*       When choosing an OpenGL backend different than OpenGL 1.1, some internal buffer are
-*       initialized on rlglInit() to accumulate vertex data
-*
-*       When an internal state change is required all the stored vertex data is renderer in batch,
-*       additionally, rlDrawRenderBatchActive() could be called to force flushing of the batch
-*
-*       Some resources are also loaded for convenience, here the complete list:
-*          - Default batch (RLGL.defaultBatch): RenderBatch system to accumulate vertex data
-*          - Default texture (RLGL.defaultTextureId): 1x1 white pixel R8G8B8A8
-*          - Default shader (RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs)
-*
-*       Internal buffer (and resources) must be manually unloaded calling rlglClose()
-*
-*   CONFIGURATION:
-*       #define GRAPHICS_API_OPENGL_11
-*       #define GRAPHICS_API_OPENGL_21
-*       #define GRAPHICS_API_OPENGL_33
-*       #define GRAPHICS_API_OPENGL_43
-*       #define GRAPHICS_API_OPENGL_ES2
-*       #define GRAPHICS_API_OPENGL_ES3
-*           Use selected OpenGL graphics backend, should be supported by platform
-*           Those preprocessor defines are only used on rlgl module, if OpenGL version is
-*           required by any other module, use rlGetVersion() to check it
-*
-*       #define RLGL_IMPLEMENTATION
-*           Generates the implementation of the library into the included file
-*           If not defined, the library is in header only mode and can be included in other headers
-*           or source files without problems. But only ONE file should hold the implementation
-*
-*       #define RLGL_RENDER_TEXTURES_HINT
-*           Enable framebuffer objects (fbo) support (enabled by default)
-*           Some GPUs could not support them despite the OpenGL version
-*
-*       #define RLGL_SHOW_GL_DETAILS_INFO
-*           Show OpenGL extensions and capabilities detailed logs on init
-*
-*       #define RLGL_ENABLE_OPENGL_DEBUG_CONTEXT
-*           Enable debug context (only available on OpenGL 4.3)
-*
-*       rlgl capabilities could be customized just defining some internal
-*       values before library inclusion (default values listed):
-*
-*       #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS   8192    // Default internal render batch elements limits
-*       #define RL_DEFAULT_BATCH_BUFFERS              1    // Default number of batch buffers (multi-buffering)
-*       #define RL_DEFAULT_BATCH_DRAWCALLS          256    // Default number of batch draw calls (by state changes: mode, texture)
-*       #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS    4    // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
-*
-*       #define RL_MAX_MATRIX_STACK_SIZE             32    // Maximum size of internal Matrix stack
-*       #define RL_MAX_SHADER_LOCATIONS              32    // Maximum number of shader locations supported
-*       #define RL_CULL_DISTANCE_NEAR              0.01    // Default projection matrix near cull distance
-*       #define RL_CULL_DISTANCE_FAR             1000.0    // Default projection matrix far cull distance
-*
-*       When loading a shader, the following vertex attributes and uniform
-*       location names are tried to be set automatically:
-*
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
-*       #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView)))
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
-*       #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
-*       #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
-*
-*   DEPENDENCIES:
-*      - OpenGL libraries (depending on platform and OpenGL version selected)
-*      - GLAD OpenGL extensions loading library (only for OpenGL 3.3 Core, 4.3 Core)
-*
-*
-*   LICENSE: zlib/libpng
-*
-*   Copyright (c) 2014-2024 Ramon Santamaria (@raysan5)
-*
-*   This software is provided "as-is", without any express or implied warranty. In no event
-*   will the authors be held liable for any damages arising from the use of this software.
-*
-*   Permission is granted to anyone to use this software for any purpose, including commercial
-*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
-*
-*     1. The origin of this software must not be misrepresented; you must not claim that you
-*     wrote the original software. If you use this software in a product, an acknowledgment
-*     in the product documentation would be appreciated but is not required.
-*
-*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
-*     as being the original software.
-*
-*     3. This notice may not be removed or altered from any source distribution.
-*
-**********************************************************************************************/
-
-#ifndef RLGL_H
-#define RLGL_H
-
-#define RLGL_VERSION  "5.0"
-
-// Function specifiers in case library is build/used as a shared library
-// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
-// NOTE: visibility(default) attribute makes symbols "visible" when compiled with -fvisibility=hidden
-#if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
-    #define RLAPI __declspec(dllexport)     // We are building the library as a Win32 shared library (.dll)
-#elif defined(BUILD_LIBTYPE_SHARED)
-    #define RLAPI __attribute__((visibility("default"))) // We are building the library as a Unix shared library (.so/.dylib)
-#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
-    #define RLAPI __declspec(dllimport)     // We are using the library as a Win32 shared library (.dll)
-#endif
-
-// Function specifiers definition
-#ifndef RLAPI
-    #define RLAPI       // Functions defined as 'extern' by default (implicit specifiers)
-#endif
-
-// Support TRACELOG macros
-#ifndef TRACELOG
-    #define TRACELOG(level, ...) (void)0
-    #define TRACELOGD(...) (void)0
-#endif
-
-// Allow custom memory allocators
-#ifndef RL_MALLOC
-    #define RL_MALLOC(sz)     malloc(sz)
-#endif
-#ifndef RL_CALLOC
-    #define RL_CALLOC(n,sz)   calloc(n,sz)
-#endif
-#ifndef RL_REALLOC
-    #define RL_REALLOC(n,sz)  realloc(n,sz)
-#endif
-#ifndef RL_FREE
-    #define RL_FREE(p)        free(p)
-#endif
-
-// Security check in case no GRAPHICS_API_OPENGL_* defined
-#if !defined(GRAPHICS_API_OPENGL_11) && \
-    !defined(GRAPHICS_API_OPENGL_21) && \
-    !defined(GRAPHICS_API_OPENGL_33) && \
-    !defined(GRAPHICS_API_OPENGL_43) && \
-    !defined(GRAPHICS_API_OPENGL_ES2) && \
-    !defined(GRAPHICS_API_OPENGL_ES3)
-        #define GRAPHICS_API_OPENGL_33
-#endif
-
-// Security check in case multiple GRAPHICS_API_OPENGL_* defined
-#if defined(GRAPHICS_API_OPENGL_11)
-    #if defined(GRAPHICS_API_OPENGL_21)
-        #undef GRAPHICS_API_OPENGL_21
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_33)
-        #undef GRAPHICS_API_OPENGL_33
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_43)
-        #undef GRAPHICS_API_OPENGL_43
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-        #undef GRAPHICS_API_OPENGL_ES2
-    #endif
-#endif
-
-// OpenGL 2.1 uses most of OpenGL 3.3 Core functionality
-// WARNING: Specific parts are checked with #if defines
-#if defined(GRAPHICS_API_OPENGL_21)
-    #define GRAPHICS_API_OPENGL_33
-#endif
-
-// OpenGL 4.3 uses OpenGL 3.3 Core functionality
-#if defined(GRAPHICS_API_OPENGL_43)
-    #define GRAPHICS_API_OPENGL_33
-#endif
-
-// OpenGL ES 3.0 uses OpenGL ES 2.0 functionality (and more)
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    #define GRAPHICS_API_OPENGL_ES2
-#endif
-
-// Support framebuffer objects by default
-// NOTE: Some driver implementation do not support it, despite they should
-#define RLGL_RENDER_TEXTURES_HINT
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-
-// Default internal render batch elements limits
-#ifndef RL_DEFAULT_BATCH_BUFFER_ELEMENTS
-    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-        // This is the maximum amount of elements (quads) per batch
-        // NOTE: Be careful with text, every letter maps to a quad
-        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  8192
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-        // We reduce memory sizes for embedded systems (RPI and HTML5)
-        // NOTE: On HTML5 (emscripten) this is allocated on heap,
-        // by default it's only 16MB!...just take care...
-        #define RL_DEFAULT_BATCH_BUFFER_ELEMENTS  2048
-    #endif
-#endif
-#ifndef RL_DEFAULT_BATCH_BUFFERS
-    #define RL_DEFAULT_BATCH_BUFFERS                 1      // Default number of batch buffers (multi-buffering)
-#endif
-#ifndef RL_DEFAULT_BATCH_DRAWCALLS
-    #define RL_DEFAULT_BATCH_DRAWCALLS             256      // Default number of batch draw calls (by state changes: mode, texture)
-#endif
-#ifndef RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS
-    #define RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS       4      // Maximum number of textures units that can be activated on batch drawing (SetShaderValueTexture())
-#endif
-
-// Internal Matrix stack
-#ifndef RL_MAX_MATRIX_STACK_SIZE
-    #define RL_MAX_MATRIX_STACK_SIZE                32      // Maximum size of Matrix stack
-#endif
-
-// Shader limits
-#ifndef RL_MAX_SHADER_LOCATIONS
-    #define RL_MAX_SHADER_LOCATIONS                 32      // Maximum number of shader locations supported
-#endif
-
-// Projection matrix culling
-#ifndef RL_CULL_DISTANCE_NEAR
-    #define RL_CULL_DISTANCE_NEAR                 0.01      // Default near cull distance
-#endif
-#ifndef RL_CULL_DISTANCE_FAR
-    #define RL_CULL_DISTANCE_FAR                1000.0      // Default far cull distance
-#endif
-
-// Texture parameters (equivalent to OpenGL defines)
-#define RL_TEXTURE_WRAP_S                       0x2802      // GL_TEXTURE_WRAP_S
-#define RL_TEXTURE_WRAP_T                       0x2803      // GL_TEXTURE_WRAP_T
-#define RL_TEXTURE_MAG_FILTER                   0x2800      // GL_TEXTURE_MAG_FILTER
-#define RL_TEXTURE_MIN_FILTER                   0x2801      // GL_TEXTURE_MIN_FILTER
-
-#define RL_TEXTURE_FILTER_NEAREST               0x2600      // GL_NEAREST
-#define RL_TEXTURE_FILTER_LINEAR                0x2601      // GL_LINEAR
-#define RL_TEXTURE_FILTER_MIP_NEAREST           0x2700      // GL_NEAREST_MIPMAP_NEAREST
-#define RL_TEXTURE_FILTER_NEAREST_MIP_LINEAR    0x2702      // GL_NEAREST_MIPMAP_LINEAR
-#define RL_TEXTURE_FILTER_LINEAR_MIP_NEAREST    0x2701      // GL_LINEAR_MIPMAP_NEAREST
-#define RL_TEXTURE_FILTER_MIP_LINEAR            0x2703      // GL_LINEAR_MIPMAP_LINEAR
-#define RL_TEXTURE_FILTER_ANISOTROPIC           0x3000      // Anisotropic filter (custom identifier)
-#define RL_TEXTURE_MIPMAP_BIAS_RATIO            0x4000      // Texture mipmap bias, percentage ratio (custom identifier)
-
-#define RL_TEXTURE_WRAP_REPEAT                  0x2901      // GL_REPEAT
-#define RL_TEXTURE_WRAP_CLAMP                   0x812F      // GL_CLAMP_TO_EDGE
-#define RL_TEXTURE_WRAP_MIRROR_REPEAT           0x8370      // GL_MIRRORED_REPEAT
-#define RL_TEXTURE_WRAP_MIRROR_CLAMP            0x8742      // GL_MIRROR_CLAMP_EXT
-
-// Matrix modes (equivalent to OpenGL)
-#define RL_MODELVIEW                            0x1700      // GL_MODELVIEW
-#define RL_PROJECTION                           0x1701      // GL_PROJECTION
-#define RL_TEXTURE                              0x1702      // GL_TEXTURE
-
-// Primitive assembly draw modes
-#define RL_LINES                                0x0001      // GL_LINES
-#define RL_TRIANGLES                            0x0004      // GL_TRIANGLES
-#define RL_QUADS                                0x0007      // GL_QUADS
-
-// GL equivalent data types
-#define RL_UNSIGNED_BYTE                        0x1401      // GL_UNSIGNED_BYTE
-#define RL_FLOAT                                0x1406      // GL_FLOAT
-
-// GL buffer usage hint
-#define RL_STREAM_DRAW                          0x88E0      // GL_STREAM_DRAW
-#define RL_STREAM_READ                          0x88E1      // GL_STREAM_READ
-#define RL_STREAM_COPY                          0x88E2      // GL_STREAM_COPY
-#define RL_STATIC_DRAW                          0x88E4      // GL_STATIC_DRAW
-#define RL_STATIC_READ                          0x88E5      // GL_STATIC_READ
-#define RL_STATIC_COPY                          0x88E6      // GL_STATIC_COPY
-#define RL_DYNAMIC_DRAW                         0x88E8      // GL_DYNAMIC_DRAW
-#define RL_DYNAMIC_READ                         0x88E9      // GL_DYNAMIC_READ
-#define RL_DYNAMIC_COPY                         0x88EA      // GL_DYNAMIC_COPY
-
-// GL Shader type
-#define RL_FRAGMENT_SHADER                      0x8B30      // GL_FRAGMENT_SHADER
-#define RL_VERTEX_SHADER                        0x8B31      // GL_VERTEX_SHADER
-#define RL_COMPUTE_SHADER                       0x91B9      // GL_COMPUTE_SHADER
-
-// GL blending factors
-#define RL_ZERO                                 0           // GL_ZERO
-#define RL_ONE                                  1           // GL_ONE
-#define RL_SRC_COLOR                            0x0300      // GL_SRC_COLOR
-#define RL_ONE_MINUS_SRC_COLOR                  0x0301      // GL_ONE_MINUS_SRC_COLOR
-#define RL_SRC_ALPHA                            0x0302      // GL_SRC_ALPHA
-#define RL_ONE_MINUS_SRC_ALPHA                  0x0303      // GL_ONE_MINUS_SRC_ALPHA
-#define RL_DST_ALPHA                            0x0304      // GL_DST_ALPHA
-#define RL_ONE_MINUS_DST_ALPHA                  0x0305      // GL_ONE_MINUS_DST_ALPHA
-#define RL_DST_COLOR                            0x0306      // GL_DST_COLOR
-#define RL_ONE_MINUS_DST_COLOR                  0x0307      // GL_ONE_MINUS_DST_COLOR
-#define RL_SRC_ALPHA_SATURATE                   0x0308      // GL_SRC_ALPHA_SATURATE
-#define RL_CONSTANT_COLOR                       0x8001      // GL_CONSTANT_COLOR
-#define RL_ONE_MINUS_CONSTANT_COLOR             0x8002      // GL_ONE_MINUS_CONSTANT_COLOR
-#define RL_CONSTANT_ALPHA                       0x8003      // GL_CONSTANT_ALPHA
-#define RL_ONE_MINUS_CONSTANT_ALPHA             0x8004      // GL_ONE_MINUS_CONSTANT_ALPHA
-
-// GL blending functions/equations
-#define RL_FUNC_ADD                             0x8006      // GL_FUNC_ADD
-#define RL_MIN                                  0x8007      // GL_MIN
-#define RL_MAX                                  0x8008      // GL_MAX
-#define RL_FUNC_SUBTRACT                        0x800A      // GL_FUNC_SUBTRACT
-#define RL_FUNC_REVERSE_SUBTRACT                0x800B      // GL_FUNC_REVERSE_SUBTRACT
-#define RL_BLEND_EQUATION                       0x8009      // GL_BLEND_EQUATION
-#define RL_BLEND_EQUATION_RGB                   0x8009      // GL_BLEND_EQUATION_RGB   // (Same as BLEND_EQUATION)
-#define RL_BLEND_EQUATION_ALPHA                 0x883D      // GL_BLEND_EQUATION_ALPHA
-#define RL_BLEND_DST_RGB                        0x80C8      // GL_BLEND_DST_RGB
-#define RL_BLEND_SRC_RGB                        0x80C9      // GL_BLEND_SRC_RGB
-#define RL_BLEND_DST_ALPHA                      0x80CA      // GL_BLEND_DST_ALPHA
-#define RL_BLEND_SRC_ALPHA                      0x80CB      // GL_BLEND_SRC_ALPHA
-#define RL_BLEND_COLOR                          0x8005      // GL_BLEND_COLOR
-
-#define RL_READ_FRAMEBUFFER                     0x8CA8      // GL_READ_FRAMEBUFFER
-#define RL_DRAW_FRAMEBUFFER                     0x8CA9      // GL_DRAW_FRAMEBUFFER
-
-// Default shader vertex attribute locations
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION    0
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD    1
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL      2
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR       3
-#endif
-    #ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT
-#define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT         4
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2   5
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_INDICES     6
-#endif
-#ifdef RL_SUPPORT_MESH_GPU_SKINNING
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS     7
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS
-    #define RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS 8
-#endif
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if (defined(__STDC__) && __STDC_VERSION__ >= 199901L) || (defined(_MSC_VER) && _MSC_VER >= 1800)
-    #include <stdbool.h>
-#elif !defined(__cplusplus) && !defined(bool) && !defined(RL_BOOL_TYPE)
-    // Boolean type
-typedef enum bool { false = 0, true = !false } bool;
-#endif
-
-#if !defined(RL_MATRIX_TYPE)
-// Matrix, 4x4 components, column major, OpenGL style, right handed
-typedef struct Matrix {
-    float m0, m4, m8, m12;      // Matrix first row (4 components)
-    float m1, m5, m9, m13;      // Matrix second row (4 components)
-    float m2, m6, m10, m14;     // Matrix third row (4 components)
-    float m3, m7, m11, m15;     // Matrix fourth row (4 components)
-} Matrix;
-#define RL_MATRIX_TYPE
-#endif
-
-// Dynamic vertex buffers (position + texcoords + colors + indices arrays)
-typedef struct rlVertexBuffer {
-    int elementCount;           // Number of elements in the buffer (QUADS)
-
-    float *vertices;            // Vertex position (XYZ - 3 components per vertex) (shader-location = 0)
-    float *texcoords;           // Vertex texture coordinates (UV - 2 components per vertex) (shader-location = 1)
-    float *normals;             // Vertex normal (XYZ - 3 components per vertex) (shader-location = 2)
-    unsigned char *colors;      // Vertex colors (RGBA - 4 components per vertex) (shader-location = 3)
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    unsigned int *indices;      // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned short *indices;    // Vertex indices (in case vertex data comes indexed) (6 indices per quad)
-#endif
-    unsigned int vaoId;         // OpenGL Vertex Array Object id
-    unsigned int vboId[5];      // OpenGL Vertex Buffer Objects id (5 types of vertex data)
-} rlVertexBuffer;
-
-// Draw call type
-// NOTE: Only texture changes register a new draw, other state-change-related elements are not
-// used at this moment (vaoId, shaderId, matrices), raylib just forces a batch draw call if any
-// of those state-change happens (this is done in core module)
-typedef struct rlDrawCall {
-    int mode;                   // Drawing mode: LINES, TRIANGLES, QUADS
-    int vertexCount;            // Number of vertex of the draw
-    int vertexAlignment;        // Number of vertex required for index alignment (LINES, TRIANGLES)
-    //unsigned int vaoId;       // Vertex array id to be used on the draw -> Using RLGL.currentBatch->vertexBuffer.vaoId
-    //unsigned int shaderId;    // Shader id to be used on the draw -> Using RLGL.currentShaderId
-    unsigned int textureId;     // Texture id to be used on the draw -> Use to create new draw call if changes
-
-    //Matrix projection;        // Projection matrix for this draw -> Using RLGL.projection by default
-    //Matrix modelview;         // Modelview matrix for this draw -> Using RLGL.modelview by default
-} rlDrawCall;
-
-// rlRenderBatch type
-typedef struct rlRenderBatch {
-    int bufferCount;            // Number of vertex buffers (multi-buffering support)
-    int currentBuffer;          // Current buffer tracking in case of multi-buffering
-    rlVertexBuffer *vertexBuffer; // Dynamic buffer(s) for vertex data
-
-    rlDrawCall *draws;          // Draw calls array, depends on textureId
-    int drawCounter;            // Draw calls counter
-    float currentDepth;         // Current depth value for next draw
-} rlRenderBatch;
-
-// OpenGL version
-typedef enum {
-    RL_OPENGL_11 = 1,           // OpenGL 1.1
-    RL_OPENGL_21,               // OpenGL 2.1 (GLSL 120)
-    RL_OPENGL_33,               // OpenGL 3.3 (GLSL 330)
-    RL_OPENGL_43,               // OpenGL 4.3 (using GLSL 330)
-    RL_OPENGL_ES_20,            // OpenGL ES 2.0 (GLSL 100)
-    RL_OPENGL_ES_30             // OpenGL ES 3.0 (GLSL 300 es)
-} rlGlVersion;
-
-// Trace log level
-// NOTE: Organized by priority level
-typedef enum {
-    RL_LOG_ALL = 0,             // Display all logs
-    RL_LOG_TRACE,               // Trace logging, intended for internal use only
-    RL_LOG_DEBUG,               // Debug logging, used for internal debugging, it should be disabled on release builds
-    RL_LOG_INFO,                // Info logging, used for program execution info
-    RL_LOG_WARNING,             // Warning logging, used on recoverable failures
-    RL_LOG_ERROR,               // Error logging, used on unrecoverable failures
-    RL_LOG_FATAL,               // Fatal logging, used to abort program: exit(EXIT_FAILURE)
-    RL_LOG_NONE                 // Disable logging
-} rlTraceLogLevel;
-
-// Texture pixel formats
-// NOTE: Support depends on OpenGL version
-typedef enum {
-    RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE = 1,     // 8 bit per pixel (no alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA,        // 8*2 bpp (2 channels)
-    RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5,            // 16 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8,            // 24 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1,          // 16 bpp (1 bit alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4,          // 16 bpp (4 bit alpha)
-    RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8,          // 32 bpp
-    RL_PIXELFORMAT_UNCOMPRESSED_R32,               // 32 bpp (1 channel - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32,         // 32*3 bpp (3 channels - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32,      // 32*4 bpp (4 channels - float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16,               // 16 bpp (1 channel - half float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16,         // 16*3 bpp (3 channels - half float)
-    RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16,      // 16*4 bpp (4 channels - half float)
-    RL_PIXELFORMAT_COMPRESSED_DXT1_RGB,            // 4 bpp (no alpha)
-    RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA,           // 4 bpp (1 bit alpha)
-    RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA,           // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA,           // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC1_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC2_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA,       // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_PVRT_RGB,            // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA,           // 4 bpp
-    RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA,       // 8 bpp
-    RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA        // 2 bpp
-} rlPixelFormat;
-
-// Texture parameters: filter mode
-// NOTE 1: Filtering considers mipmaps if available in the texture
-// NOTE 2: Filter is accordingly set for minification and magnification
-typedef enum {
-    RL_TEXTURE_FILTER_POINT = 0,        // No filter, just pixel approximation
-    RL_TEXTURE_FILTER_BILINEAR,         // Linear filtering
-    RL_TEXTURE_FILTER_TRILINEAR,        // Trilinear filtering (linear with mipmaps)
-    RL_TEXTURE_FILTER_ANISOTROPIC_4X,   // Anisotropic filtering 4x
-    RL_TEXTURE_FILTER_ANISOTROPIC_8X,   // Anisotropic filtering 8x
-    RL_TEXTURE_FILTER_ANISOTROPIC_16X,  // Anisotropic filtering 16x
-} rlTextureFilter;
-
-// Color blending modes (pre-defined)
-typedef enum {
-    RL_BLEND_ALPHA = 0,                 // Blend textures considering alpha (default)
-    RL_BLEND_ADDITIVE,                  // Blend textures adding colors
-    RL_BLEND_MULTIPLIED,                // Blend textures multiplying colors
-    RL_BLEND_ADD_COLORS,                // Blend textures adding colors (alternative)
-    RL_BLEND_SUBTRACT_COLORS,           // Blend textures subtracting colors (alternative)
-    RL_BLEND_ALPHA_PREMULTIPLY,         // Blend premultiplied textures considering alpha
-    RL_BLEND_CUSTOM,                    // Blend textures using custom src/dst factors (use rlSetBlendFactors())
-    RL_BLEND_CUSTOM_SEPARATE            // Blend textures using custom src/dst factors (use rlSetBlendFactorsSeparate())
-} rlBlendMode;
-
-// Shader location point type
-typedef enum {
-    RL_SHADER_LOC_VERTEX_POSITION = 0,  // Shader location: vertex attribute: position
-    RL_SHADER_LOC_VERTEX_TEXCOORD01,    // Shader location: vertex attribute: texcoord01
-    RL_SHADER_LOC_VERTEX_TEXCOORD02,    // Shader location: vertex attribute: texcoord02
-    RL_SHADER_LOC_VERTEX_NORMAL,        // Shader location: vertex attribute: normal
-    RL_SHADER_LOC_VERTEX_TANGENT,       // Shader location: vertex attribute: tangent
-    RL_SHADER_LOC_VERTEX_COLOR,         // Shader location: vertex attribute: color
-    RL_SHADER_LOC_MATRIX_MVP,           // Shader location: matrix uniform: model-view-projection
-    RL_SHADER_LOC_MATRIX_VIEW,          // Shader location: matrix uniform: view (camera transform)
-    RL_SHADER_LOC_MATRIX_PROJECTION,    // Shader location: matrix uniform: projection
-    RL_SHADER_LOC_MATRIX_MODEL,         // Shader location: matrix uniform: model (transform)
-    RL_SHADER_LOC_MATRIX_NORMAL,        // Shader location: matrix uniform: normal
-    RL_SHADER_LOC_VECTOR_VIEW,          // Shader location: vector uniform: view
-    RL_SHADER_LOC_COLOR_DIFFUSE,        // Shader location: vector uniform: diffuse color
-    RL_SHADER_LOC_COLOR_SPECULAR,       // Shader location: vector uniform: specular color
-    RL_SHADER_LOC_COLOR_AMBIENT,        // Shader location: vector uniform: ambient color
-    RL_SHADER_LOC_MAP_ALBEDO,           // Shader location: sampler2d texture: albedo (same as: RL_SHADER_LOC_MAP_DIFFUSE)
-    RL_SHADER_LOC_MAP_METALNESS,        // Shader location: sampler2d texture: metalness (same as: RL_SHADER_LOC_MAP_SPECULAR)
-    RL_SHADER_LOC_MAP_NORMAL,           // Shader location: sampler2d texture: normal
-    RL_SHADER_LOC_MAP_ROUGHNESS,        // Shader location: sampler2d texture: roughness
-    RL_SHADER_LOC_MAP_OCCLUSION,        // Shader location: sampler2d texture: occlusion
-    RL_SHADER_LOC_MAP_EMISSION,         // Shader location: sampler2d texture: emission
-    RL_SHADER_LOC_MAP_HEIGHT,           // Shader location: sampler2d texture: height
-    RL_SHADER_LOC_MAP_CUBEMAP,          // Shader location: samplerCube texture: cubemap
-    RL_SHADER_LOC_MAP_IRRADIANCE,       // Shader location: samplerCube texture: irradiance
-    RL_SHADER_LOC_MAP_PREFILTER,        // Shader location: samplerCube texture: prefilter
-    RL_SHADER_LOC_MAP_BRDF              // Shader location: sampler2d texture: brdf
-} rlShaderLocationIndex;
-
-#define RL_SHADER_LOC_MAP_DIFFUSE       RL_SHADER_LOC_MAP_ALBEDO
-#define RL_SHADER_LOC_MAP_SPECULAR      RL_SHADER_LOC_MAP_METALNESS
-
-// Shader uniform data type
-typedef enum {
-    RL_SHADER_UNIFORM_FLOAT = 0,        // Shader uniform type: float
-    RL_SHADER_UNIFORM_VEC2,             // Shader uniform type: vec2 (2 float)
-    RL_SHADER_UNIFORM_VEC3,             // Shader uniform type: vec3 (3 float)
-    RL_SHADER_UNIFORM_VEC4,             // Shader uniform type: vec4 (4 float)
-    RL_SHADER_UNIFORM_INT,              // Shader uniform type: int
-    RL_SHADER_UNIFORM_IVEC2,            // Shader uniform type: ivec2 (2 int)
-    RL_SHADER_UNIFORM_IVEC3,            // Shader uniform type: ivec3 (3 int)
-    RL_SHADER_UNIFORM_IVEC4,            // Shader uniform type: ivec4 (4 int)
-    RL_SHADER_UNIFORM_UINT,             // Shader uniform type: unsigned int
-    RL_SHADER_UNIFORM_UIVEC2,           // Shader uniform type: uivec2 (2 unsigned int)
-    RL_SHADER_UNIFORM_UIVEC3,           // Shader uniform type: uivec3 (3 unsigned int)
-    RL_SHADER_UNIFORM_UIVEC4,           // Shader uniform type: uivec4 (4 unsigned int)
-    RL_SHADER_UNIFORM_SAMPLER2D         // Shader uniform type: sampler2d
-} rlShaderUniformDataType;
-
-// Shader attribute data types
-typedef enum {
-    RL_SHADER_ATTRIB_FLOAT = 0,         // Shader attribute type: float
-    RL_SHADER_ATTRIB_VEC2,              // Shader attribute type: vec2 (2 float)
-    RL_SHADER_ATTRIB_VEC3,              // Shader attribute type: vec3 (3 float)
-    RL_SHADER_ATTRIB_VEC4               // Shader attribute type: vec4 (4 float)
-} rlShaderAttributeDataType;
-
-// Framebuffer attachment type
-// NOTE: By default up to 8 color channels defined, but it can be more
-typedef enum {
-    RL_ATTACHMENT_COLOR_CHANNEL0 = 0,       // Framebuffer attachment type: color 0
-    RL_ATTACHMENT_COLOR_CHANNEL1 = 1,       // Framebuffer attachment type: color 1
-    RL_ATTACHMENT_COLOR_CHANNEL2 = 2,       // Framebuffer attachment type: color 2
-    RL_ATTACHMENT_COLOR_CHANNEL3 = 3,       // Framebuffer attachment type: color 3
-    RL_ATTACHMENT_COLOR_CHANNEL4 = 4,       // Framebuffer attachment type: color 4
-    RL_ATTACHMENT_COLOR_CHANNEL5 = 5,       // Framebuffer attachment type: color 5
-    RL_ATTACHMENT_COLOR_CHANNEL6 = 6,       // Framebuffer attachment type: color 6
-    RL_ATTACHMENT_COLOR_CHANNEL7 = 7,       // Framebuffer attachment type: color 7
-    RL_ATTACHMENT_DEPTH = 100,              // Framebuffer attachment type: depth
-    RL_ATTACHMENT_STENCIL = 200,            // Framebuffer attachment type: stencil
-} rlFramebufferAttachType;
-
-// Framebuffer texture attachment type
-typedef enum {
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_X = 0,   // Framebuffer texture attachment type: cubemap, +X side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_X = 1,   // Framebuffer texture attachment type: cubemap, -X side
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_Y = 2,   // Framebuffer texture attachment type: cubemap, +Y side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Y = 3,   // Framebuffer texture attachment type: cubemap, -Y side
-    RL_ATTACHMENT_CUBEMAP_POSITIVE_Z = 4,   // Framebuffer texture attachment type: cubemap, +Z side
-    RL_ATTACHMENT_CUBEMAP_NEGATIVE_Z = 5,   // Framebuffer texture attachment type: cubemap, -Z side
-    RL_ATTACHMENT_TEXTURE2D = 100,          // Framebuffer texture attachment type: texture2d
-    RL_ATTACHMENT_RENDERBUFFER = 200,       // Framebuffer texture attachment type: renderbuffer
-} rlFramebufferAttachTextureType;
-
-// Face culling mode
-typedef enum {
-    RL_CULL_FACE_FRONT = 0,
-    RL_CULL_FACE_BACK
-} rlCullMode;
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - Matrix operations
-//------------------------------------------------------------------------------------
-
-#if defined(__cplusplus)
-extern "C" {            // Prevents name mangling of functions
-#endif
-
-RLAPI void rlMatrixMode(int mode);                      // Choose the current matrix to be transformed
-RLAPI void rlPushMatrix(void);                          // Push the current matrix to stack
-RLAPI void rlPopMatrix(void);                           // Pop latest inserted matrix from stack
-RLAPI void rlLoadIdentity(void);                        // Reset current matrix to identity matrix
-RLAPI void rlTranslatef(float x, float y, float z);     // Multiply the current matrix by a translation matrix
-RLAPI void rlRotatef(float angle, float x, float y, float z); // Multiply the current matrix by a rotation matrix
-RLAPI void rlScalef(float x, float y, float z);         // Multiply the current matrix by a scaling matrix
-RLAPI void rlMultMatrixf(const float *matf);            // Multiply the current matrix by another matrix
-RLAPI void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar);
-RLAPI void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar);
-RLAPI void rlViewport(int x, int y, int width, int height); // Set the viewport area
-RLAPI void rlSetClipPlanes(double nearPlane, double farPlane);    // Set clip planes distances
-RLAPI double rlGetCullDistanceNear(void);               // Get cull plane distance near
-RLAPI double rlGetCullDistanceFar(void);                // Get cull plane distance far
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - Vertex level operations
-//------------------------------------------------------------------------------------
-RLAPI void rlBegin(int mode);                           // Initialize drawing mode (how to organize vertex)
-RLAPI void rlEnd(void);                                 // Finish vertex providing
-RLAPI void rlVertex2i(int x, int y);                    // Define one vertex (position) - 2 int
-RLAPI void rlVertex2f(float x, float y);                // Define one vertex (position) - 2 float
-RLAPI void rlVertex3f(float x, float y, float z);       // Define one vertex (position) - 3 float
-RLAPI void rlTexCoord2f(float x, float y);              // Define one vertex (texture coordinate) - 2 float
-RLAPI void rlNormal3f(float x, float y, float z);       // Define one vertex (normal) - 3 float
-RLAPI void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Define one vertex (color) - 4 byte
-RLAPI void rlColor3f(float x, float y, float z);        // Define one vertex (color) - 3 float
-RLAPI void rlColor4f(float x, float y, float z, float w); // Define one vertex (color) - 4 float
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - OpenGL style functions (common to 1.1, 3.3+, ES2)
-// NOTE: This functions are used to completely abstract raylib code from OpenGL layer,
-// some of them are direct wrappers over OpenGL calls, some others are custom
-//------------------------------------------------------------------------------------
-
-// Vertex buffers state
-RLAPI bool rlEnableVertexArray(unsigned int vaoId);     // Enable vertex array (VAO, if supported)
-RLAPI void rlDisableVertexArray(void);                  // Disable vertex array (VAO, if supported)
-RLAPI void rlEnableVertexBuffer(unsigned int id);       // Enable vertex buffer (VBO)
-RLAPI void rlDisableVertexBuffer(void);                 // Disable vertex buffer (VBO)
-RLAPI void rlEnableVertexBufferElement(unsigned int id); // Enable vertex buffer element (VBO element)
-RLAPI void rlDisableVertexBufferElement(void);          // Disable vertex buffer element (VBO element)
-RLAPI void rlEnableVertexAttribute(unsigned int index); // Enable vertex attribute index
-RLAPI void rlDisableVertexAttribute(unsigned int index); // Disable vertex attribute index
-#if defined(GRAPHICS_API_OPENGL_11)
-RLAPI void rlEnableStatePointer(int vertexAttribType, void *buffer); // Enable attribute state pointer
-RLAPI void rlDisableStatePointer(int vertexAttribType); // Disable attribute state pointer
-#endif
-
-// Textures state
-RLAPI void rlActiveTextureSlot(int slot);               // Select and active a texture slot
-RLAPI void rlEnableTexture(unsigned int id);            // Enable texture
-RLAPI void rlDisableTexture(void);                      // Disable texture
-RLAPI void rlEnableTextureCubemap(unsigned int id);     // Enable texture cubemap
-RLAPI void rlDisableTextureCubemap(void);               // Disable texture cubemap
-RLAPI void rlTextureParameters(unsigned int id, int param, int value); // Set texture parameters (filter, wrap)
-RLAPI void rlCubemapParameters(unsigned int id, int param, int value); // Set cubemap parameters (filter, wrap)
-
-// Shader state
-RLAPI void rlEnableShader(unsigned int id);             // Enable shader program
-RLAPI void rlDisableShader(void);                       // Disable shader program
-
-// Framebuffer state
-RLAPI void rlEnableFramebuffer(unsigned int id);        // Enable render texture (fbo)
-RLAPI void rlDisableFramebuffer(void);                  // Disable render texture (fbo), return to default framebuffer
-RLAPI unsigned int rlGetActiveFramebuffer(void);        // Get the currently active render texture (fbo), 0 for default framebuffer
-RLAPI void rlActiveDrawBuffers(int count);              // Activate multiple draw color buffers
-RLAPI void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask); // Blit active framebuffer to main framebuffer
-RLAPI void rlBindFramebuffer(unsigned int target, unsigned int framebuffer); // Bind framebuffer (FBO)
-
-// General render state
-RLAPI void rlEnableColorBlend(void);                    // Enable color blending
-RLAPI void rlDisableColorBlend(void);                   // Disable color blending
-RLAPI void rlEnableDepthTest(void);                     // Enable depth test
-RLAPI void rlDisableDepthTest(void);                    // Disable depth test
-RLAPI void rlEnableDepthMask(void);                     // Enable depth write
-RLAPI void rlDisableDepthMask(void);                    // Disable depth write
-RLAPI void rlEnableBackfaceCulling(void);               // Enable backface culling
-RLAPI void rlDisableBackfaceCulling(void);              // Disable backface culling
-RLAPI void rlColorMask(bool r, bool g, bool b, bool a); // Color mask control
-RLAPI void rlSetCullFace(int mode);                     // Set face culling mode
-RLAPI void rlEnableScissorTest(void);                   // Enable scissor test
-RLAPI void rlDisableScissorTest(void);                  // Disable scissor test
-RLAPI void rlScissor(int x, int y, int width, int height); // Scissor test
-RLAPI void rlEnableWireMode(void);                      // Enable wire mode
-RLAPI void rlEnablePointMode(void);                     // Enable point mode
-RLAPI void rlDisableWireMode(void);                     // Disable wire (and point) mode
-RLAPI void rlSetLineWidth(float width);                 // Set the line drawing width
-RLAPI float rlGetLineWidth(void);                       // Get the line drawing width
-RLAPI void rlEnableSmoothLines(void);                   // Enable line aliasing
-RLAPI void rlDisableSmoothLines(void);                  // Disable line aliasing
-RLAPI void rlEnableStereoRender(void);                  // Enable stereo rendering
-RLAPI void rlDisableStereoRender(void);                 // Disable stereo rendering
-RLAPI bool rlIsStereoRenderEnabled(void);               // Check if stereo render is enabled
-
-RLAPI void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a); // Clear color buffer with color
-RLAPI void rlClearScreenBuffers(void);                  // Clear used screen buffers (color and depth)
-RLAPI void rlCheckErrors(void);                         // Check and log OpenGL error codes
-RLAPI void rlSetBlendMode(int mode);                    // Set blending mode
-RLAPI void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation); // Set blending mode factor and equation (using OpenGL factors)
-RLAPI void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha); // Set blending mode factors and equations separately (using OpenGL factors)
-
-//------------------------------------------------------------------------------------
-// Functions Declaration - rlgl functionality
-//------------------------------------------------------------------------------------
-// rlgl initialization functions
-RLAPI void rlglInit(int width, int height);             // Initialize rlgl (buffers, shaders, textures, states)
-RLAPI void rlglClose(void);                             // De-initialize rlgl (buffers, shaders, textures)
-RLAPI void rlLoadExtensions(void *loader);              // Load OpenGL extensions (loader function required)
-RLAPI int rlGetVersion(void);                           // Get current OpenGL version
-RLAPI void rlSetFramebufferWidth(int width);            // Set current framebuffer width
-RLAPI int rlGetFramebufferWidth(void);                  // Get default framebuffer width
-RLAPI void rlSetFramebufferHeight(int height);          // Set current framebuffer height
-RLAPI int rlGetFramebufferHeight(void);                 // Get default framebuffer height
-
-RLAPI unsigned int rlGetTextureIdDefault(void);         // Get default texture id
-RLAPI unsigned int rlGetShaderIdDefault(void);          // Get default shader id
-RLAPI int *rlGetShaderLocsDefault(void);                // Get default shader locations
-
-// Render batch management
-// NOTE: rlgl provides a default render batch to behave like OpenGL 1.1 immediate mode
-// but this render batch API is exposed in case of custom batches are required
-RLAPI rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements); // Load a render batch system
-RLAPI void rlUnloadRenderBatch(rlRenderBatch batch);    // Unload render batch system
-RLAPI void rlDrawRenderBatch(rlRenderBatch *batch);     // Draw render batch data (Update->Draw->Reset)
-RLAPI void rlSetRenderBatchActive(rlRenderBatch *batch); // Set the active render batch for rlgl (NULL for default internal)
-RLAPI void rlDrawRenderBatchActive(void);               // Update and draw internal render batch
-RLAPI bool rlCheckRenderBatchLimit(int vCount);         // Check internal buffer overflow for a given number of vertex
-
-RLAPI void rlSetTexture(unsigned int id);               // Set current texture for render batch and check buffers limits
-
-//------------------------------------------------------------------------------------------------------------------------
-
-// Vertex buffers management
-RLAPI unsigned int rlLoadVertexArray(void);             // Load vertex array (vao) if supported
-RLAPI unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic); // Load a vertex buffer object
-RLAPI unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic); // Load vertex buffer elements object
-RLAPI void rlUpdateVertexBuffer(unsigned int bufferId, const void *data, int dataSize, int offset); // Update vertex buffer object data on GPU buffer
-RLAPI void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset); // Update vertex buffer elements data on GPU buffer
-RLAPI void rlUnloadVertexArray(unsigned int vaoId);     // Unload vertex array (vao)
-RLAPI void rlUnloadVertexBuffer(unsigned int vboId);    // Unload vertex buffer object
-RLAPI void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset); // Set vertex attribute data configuration
-RLAPI void rlSetVertexAttributeDivisor(unsigned int index, int divisor); // Set vertex attribute data divisor
-RLAPI void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count); // Set vertex attribute default value, when attribute to provided
-RLAPI void rlDrawVertexArray(int offset, int count);    // Draw vertex array (currently active vao)
-RLAPI void rlDrawVertexArrayElements(int offset, int count, const void *buffer); // Draw vertex array elements
-RLAPI void rlDrawVertexArrayInstanced(int offset, int count, int instances); // Draw vertex array (currently active vao) with instancing
-RLAPI void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances); // Draw vertex array elements with instancing
-
-// Textures management
-RLAPI unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount); // Load texture data
-RLAPI unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer); // Load depth texture/renderbuffer (to be attached to fbo)
-RLAPI unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount); // Load texture cubemap data
-RLAPI void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data); // Update texture with new data on GPU
-RLAPI void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType); // Get OpenGL internal formats
-RLAPI const char *rlGetPixelFormatName(unsigned int format);              // Get name string for pixel format
-RLAPI void rlUnloadTexture(unsigned int id);                              // Unload texture from GPU memory
-RLAPI void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps); // Generate mipmap data for selected texture
-RLAPI void *rlReadTexturePixels(unsigned int id, int width, int height, int format); // Read texture pixel data
-RLAPI unsigned char *rlReadScreenPixels(int width, int height);           // Read screen pixel data (color buffer)
-
-// Framebuffer management (fbo)
-RLAPI unsigned int rlLoadFramebuffer(void);                               // Load an empty framebuffer
-RLAPI void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel); // Attach texture/renderbuffer to a framebuffer
-RLAPI bool rlFramebufferComplete(unsigned int id);                        // Verify framebuffer is complete
-RLAPI void rlUnloadFramebuffer(unsigned int id);                          // Delete framebuffer from GPU
-
-// Shaders management
-RLAPI unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode);    // Load shader from code strings
-RLAPI unsigned int rlCompileShader(const char *shaderCode, int type);           // Compile custom shader and return shader id (type: RL_VERTEX_SHADER, RL_FRAGMENT_SHADER, RL_COMPUTE_SHADER)
-RLAPI unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId); // Load custom shader program
-RLAPI void rlUnloadShaderProgram(unsigned int id);                              // Unload shader program
-RLAPI int rlGetLocationUniform(unsigned int shaderId, const char *uniformName); // Get shader location uniform
-RLAPI int rlGetLocationAttrib(unsigned int shaderId, const char *attribName);   // Get shader location attribute
-RLAPI void rlSetUniform(int locIndex, const void *value, int uniformType, int count); // Set shader value uniform
-RLAPI void rlSetUniformMatrix(int locIndex, Matrix mat);                        // Set shader value matrix
-RLAPI void rlSetUniformMatrices(int locIndex, const Matrix *mat, int count);    // Set shader value matrices
-RLAPI void rlSetUniformSampler(int locIndex, unsigned int textureId);           // Set shader value sampler
-RLAPI void rlSetShader(unsigned int id, int *locs);                             // Set shader currently active (id and locations)
-
-// Compute shader management
-RLAPI unsigned int rlLoadComputeShaderProgram(unsigned int shaderId);           // Load compute shader program
-RLAPI void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ); // Dispatch compute shader (equivalent to *draw* for graphics pipeline)
-
-// Shader buffer storage object management (ssbo)
-RLAPI unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint); // Load shader storage buffer object (SSBO)
-RLAPI void rlUnloadShaderBuffer(unsigned int ssboId);                           // Unload shader storage buffer object (SSBO)
-RLAPI void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset); // Update SSBO buffer data
-RLAPI void rlBindShaderBuffer(unsigned int id, unsigned int index);             // Bind SSBO buffer
-RLAPI void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset); // Read SSBO buffer data (GPU->CPU)
-RLAPI void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count); // Copy SSBO data between buffers
-RLAPI unsigned int rlGetShaderBufferSize(unsigned int id);                      // Get SSBO buffer size
-
-// Buffer management
-RLAPI void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly);  // Bind image texture
-
-// Matrix state management
-RLAPI Matrix rlGetMatrixModelview(void);                                  // Get internal modelview matrix
-RLAPI Matrix rlGetMatrixProjection(void);                                 // Get internal projection matrix
-RLAPI Matrix rlGetMatrixTransform(void);                                  // Get internal accumulated transform matrix
-RLAPI Matrix rlGetMatrixProjectionStereo(int eye);                        // Get internal projection matrix for stereo render (selected eye)
-RLAPI Matrix rlGetMatrixViewOffsetStereo(int eye);                        // Get internal view offset matrix for stereo render (selected eye)
-RLAPI void rlSetMatrixProjection(Matrix proj);                            // Set a custom projection matrix (replaces internal projection matrix)
-RLAPI void rlSetMatrixModelview(Matrix view);                             // Set a custom modelview matrix (replaces internal modelview matrix)
-RLAPI void rlSetMatrixProjectionStereo(Matrix right, Matrix left);        // Set eyes projection matrices for stereo rendering
-RLAPI void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left);        // Set eyes view offsets matrices for stereo rendering
-
-// Quick and dirty cube/quad buffers load->draw->unload
-RLAPI void rlLoadDrawCube(void);     // Load and draw a cube
-RLAPI void rlLoadDrawQuad(void);     // Load and draw a quad
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // RLGL_H
-
-/***********************************************************************************
-*
-*   RLGL IMPLEMENTATION
-*
-************************************************************************************/
-
-#if defined(RLGL_IMPLEMENTATION)
-
-// Expose OpenGL functions from glad in raylib
-#if defined(BUILD_LIBTYPE_SHARED)
-    #define GLAD_API_CALL_EXPORT
-    #define GLAD_API_CALL_EXPORT_BUILD
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    #if defined(__APPLE__)
-        #include <OpenGL/gl.h>          // OpenGL 1.1 library for OSX
-        #include <OpenGL/glext.h>       // OpenGL extensions library
-    #else
-        // APIENTRY for OpenGL function pointer declarations is required
-        #if !defined(APIENTRY)
-            #if defined(_WIN32)
-                #define APIENTRY __stdcall
-            #else
-                #define APIENTRY
-            #endif
-        #endif
-        // WINGDIAPI definition. Some Windows OpenGL headers need it
-        #if !defined(WINGDIAPI) && defined(_WIN32)
-            #define WINGDIAPI __declspec(dllimport)
-        #endif
-
-        #include <GL/gl.h>              // OpenGL 1.1 library
-    #endif
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33)
-    #define GLAD_MALLOC RL_MALLOC
-    #define GLAD_FREE RL_FREE
-
-    #define GLAD_GL_IMPLEMENTATION
-    #include "external/glad.h"          // GLAD extensions loading library, includes OpenGL headers
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    #include <GLES3/gl3.h>              // OpenGL ES 3.0 library
-    #define GL_GLEXT_PROTOTYPES
-    #include <GLES2/gl2ext.h>           // OpenGL ES 2.0 extensions library
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: OpenGL ES 2.0 can be enabled on Desktop platforms,
-    // in that case, functions are loaded from a custom glad for OpenGL ES 2.0
-    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
-        #define GLAD_GLES2_IMPLEMENTATION
-        #include "external/glad_gles2.h"
-    #else
-        #define GL_GLEXT_PROTOTYPES
-        //#include <EGL/egl.h>          // EGL library -> not required, platform layer
-        #include <GLES2/gl2.h>          // OpenGL ES 2.0 library
-        #include <GLES2/gl2ext.h>       // OpenGL ES 2.0 extensions library
-    #endif
-
-    // It seems OpenGL ES 2.0 instancing entry points are not defined on Raspberry Pi
-    // provided headers (despite being defined in official Khronos GLES2 headers)
-    #if defined(PLATFORM_DRM)
-    typedef void (GL_APIENTRYP PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount);
-    typedef void (GL_APIENTRYP PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const void *indices, GLsizei primcount);
-    typedef void (GL_APIENTRYP PFNGLVERTEXATTRIBDIVISOREXTPROC) (GLuint index, GLuint divisor);
-    #endif
-#endif
-
-#include <stdlib.h>                     // Required for: malloc(), free()
-#include <string.h>                     // Required for: strcmp(), strlen() [Used in rlglInit(), on extensions loading]
-#include <math.h>                       // Required for: sqrtf(), sinf(), cosf(), floor(), log()
-
-//----------------------------------------------------------------------------------
-// Defines and Macros
-//----------------------------------------------------------------------------------
-#ifndef PI
-    #define PI 3.14159265358979323846f
-#endif
-#ifndef DEG2RAD
-    #define DEG2RAD (PI/180.0f)
-#endif
-#ifndef RAD2DEG
-    #define RAD2DEG (180.0f/PI)
-#endif
-
-#ifndef GL_SHADING_LANGUAGE_VERSION
-    #define GL_SHADING_LANGUAGE_VERSION         0x8B8C
-#endif
-
-#ifndef GL_COMPRESSED_RGB_S3TC_DXT1_EXT
-    #define GL_COMPRESSED_RGB_S3TC_DXT1_EXT     0x83F0
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT1_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT    0x83F1
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT3_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT    0x83F2
-#endif
-#ifndef GL_COMPRESSED_RGBA_S3TC_DXT5_EXT
-    #define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT    0x83F3
-#endif
-#ifndef GL_ETC1_RGB8_OES
-    #define GL_ETC1_RGB8_OES                    0x8D64
-#endif
-#ifndef GL_COMPRESSED_RGB8_ETC2
-    #define GL_COMPRESSED_RGB8_ETC2             0x9274
-#endif
-#ifndef GL_COMPRESSED_RGBA8_ETC2_EAC
-    #define GL_COMPRESSED_RGBA8_ETC2_EAC        0x9278
-#endif
-#ifndef GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG
-    #define GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG  0x8C00
-#endif
-#ifndef GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG
-    #define GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG 0x8C02
-#endif
-#ifndef GL_COMPRESSED_RGBA_ASTC_4x4_KHR
-    #define GL_COMPRESSED_RGBA_ASTC_4x4_KHR     0x93b0
-#endif
-#ifndef GL_COMPRESSED_RGBA_ASTC_8x8_KHR
-    #define GL_COMPRESSED_RGBA_ASTC_8x8_KHR     0x93b7
-#endif
-
-#ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
-    #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT   0x84FF
-#endif
-#ifndef GL_TEXTURE_MAX_ANISOTROPY_EXT
-    #define GL_TEXTURE_MAX_ANISOTROPY_EXT       0x84FE
-#endif
-
-#ifndef GL_PROGRAM_POINT_SIZE
-    #define GL_PROGRAM_POINT_SIZE               0x8642
-#endif
-
-#ifndef GL_LINE_WIDTH
-    #define GL_LINE_WIDTH                       0x0B21
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    #define GL_UNSIGNED_SHORT_5_6_5             0x8363
-    #define GL_UNSIGNED_SHORT_5_5_5_1           0x8034
-    #define GL_UNSIGNED_SHORT_4_4_4_4           0x8033
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_21)
-    #define GL_LUMINANCE                        0x1909
-    #define GL_LUMINANCE_ALPHA                  0x190A
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    #define glClearDepth                 glClearDepthf
-    #if !defined(GRAPHICS_API_OPENGL_ES3)
-        #define GL_READ_FRAMEBUFFER         GL_FRAMEBUFFER
-        #define GL_DRAW_FRAMEBUFFER         GL_FRAMEBUFFER
-    #endif
-#endif
-
-// Default shader vertex attribute names to set location points
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION     "vertexPosition"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD     "vertexTexCoord"    // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL       "vertexNormal"      // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR        "vertexColor"       // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT      "vertexTangent"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2    "vertexTexCoord2"   // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS      "vertexBoneIds"     // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS
-#endif
-#ifndef RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
-    #define RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS  "vertexBoneWeights" // Bound by default to shader location: RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS
-#endif
-
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MVP
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MVP         "mvp"               // model-view-projection matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_VIEW        "matView"           // view matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_PROJECTION  "matProjection"     // projection matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_MODEL       "matModel"          // model matrix
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_NORMAL      "matNormal"         // normal matrix (transpose(inverse(matModelView))
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR       "colDiffuse"        // color diffuse (base tint color, multiplied by texture color)
-#endif
-#ifndef RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES
-    #define RL_DEFAULT_SHADER_UNIFORM_NAME_BONE_MATRICES  "boneMatrices"   // bone matrices
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0  "texture0"          // texture0 (texture slot active 0)
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE1  "texture1"          // texture1 (texture slot active 1)
-#endif
-#ifndef RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2
-    #define RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE2  "texture2"          // texture2 (texture slot active 2)
-#endif
-
-//----------------------------------------------------------------------------------
-// Types and Structures Definition
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-typedef struct rlglData {
-    rlRenderBatch *currentBatch;            // Current render batch
-    rlRenderBatch defaultBatch;             // Default internal render batch
-
-    struct {
-        int vertexCounter;                  // Current active render batch vertex counter (generic, used for all batches)
-        float texcoordx, texcoordy;         // Current active texture coordinate (added on glVertex*())
-        float normalx, normaly, normalz;    // Current active normal (added on glVertex*())
-        unsigned char colorr, colorg, colorb, colora;   // Current active color (added on glVertex*())
-
-        int currentMatrixMode;              // Current matrix mode
-        Matrix *currentMatrix;              // Current matrix pointer
-        Matrix modelview;                   // Default modelview matrix
-        Matrix projection;                  // Default projection matrix
-        Matrix transform;                   // Transform matrix to be used with rlTranslate, rlRotate, rlScale
-        bool transformRequired;             // Require transform matrix application to current draw-call vertex (if required)
-        Matrix stack[RL_MAX_MATRIX_STACK_SIZE];// Matrix stack for push/pop
-        int stackCounter;                   // Matrix stack counter
-
-        unsigned int defaultTextureId;      // Default texture used on shapes/poly drawing (required by shader)
-        unsigned int activeTextureId[RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS];    // Active texture ids to be enabled on batch drawing (0 active by default)
-        unsigned int defaultVShaderId;      // Default vertex shader id (used by default shader program)
-        unsigned int defaultFShaderId;      // Default fragment shader id (used by default shader program)
-        unsigned int defaultShaderId;       // Default shader program id, supports vertex color and diffuse texture
-        int *defaultShaderLocs;             // Default shader locations pointer to be used on rendering
-        unsigned int currentShaderId;       // Current shader id to be used on rendering (by default, defaultShaderId)
-        int *currentShaderLocs;             // Current shader locations pointer to be used on rendering (by default, defaultShaderLocs)
-
-        bool stereoRender;                  // Stereo rendering flag
-        Matrix projectionStereo[2];         // VR stereo rendering eyes projection matrices
-        Matrix viewOffsetStereo[2];         // VR stereo rendering eyes view offset matrices
-
-        // Blending variables
-        int currentBlendMode;               // Blending mode active
-        int glBlendSrcFactor;               // Blending source factor
-        int glBlendDstFactor;               // Blending destination factor
-        int glBlendEquation;                // Blending equation
-        int glBlendSrcFactorRGB;            // Blending source RGB factor
-        int glBlendDestFactorRGB;           // Blending destination RGB factor
-        int glBlendSrcFactorAlpha;          // Blending source alpha factor
-        int glBlendDestFactorAlpha;         // Blending destination alpha factor
-        int glBlendEquationRGB;             // Blending equation for RGB
-        int glBlendEquationAlpha;           // Blending equation for alpha
-        bool glCustomBlendModeModified;     // Custom blending factor and equation modification status
-
-        int framebufferWidth;               // Current framebuffer width
-        int framebufferHeight;              // Current framebuffer height
-
-    } State;            // Renderer state
-    struct {
-        bool vao;                           // VAO support (OpenGL ES2 could not support VAO extension) (GL_ARB_vertex_array_object)
-        bool instancing;                    // Instancing supported (GL_ANGLE_instanced_arrays, GL_EXT_draw_instanced + GL_EXT_instanced_arrays)
-        bool texNPOT;                       // NPOT textures full support (GL_ARB_texture_non_power_of_two, GL_OES_texture_npot)
-        bool texDepth;                      // Depth textures supported (GL_ARB_depth_texture, GL_OES_depth_texture)
-        bool texDepthWebGL;                 // Depth textures supported WebGL specific (GL_WEBGL_depth_texture)
-        bool texFloat32;                    // float textures support (32 bit per channel) (GL_OES_texture_float)
-        bool texFloat16;                    // half float textures support (16 bit per channel) (GL_OES_texture_half_float)
-        bool texCompDXT;                    // DDS texture compression support (GL_EXT_texture_compression_s3tc, GL_WEBGL_compressed_texture_s3tc, GL_WEBKIT_WEBGL_compressed_texture_s3tc)
-        bool texCompETC1;                   // ETC1 texture compression support (GL_OES_compressed_ETC1_RGB8_texture, GL_WEBGL_compressed_texture_etc1)
-        bool texCompETC2;                   // ETC2/EAC texture compression support (GL_ARB_ES3_compatibility)
-        bool texCompPVRT;                   // PVR texture compression support (GL_IMG_texture_compression_pvrtc)
-        bool texCompASTC;                   // ASTC texture compression support (GL_KHR_texture_compression_astc_hdr, GL_KHR_texture_compression_astc_ldr)
-        bool texMirrorClamp;                // Clamp mirror wrap mode supported (GL_EXT_texture_mirror_clamp)
-        bool texAnisoFilter;                // Anisotropic texture filtering support (GL_EXT_texture_filter_anisotropic)
-        bool computeShader;                 // Compute shaders support (GL_ARB_compute_shader)
-        bool ssbo;                          // Shader storage buffer object support (GL_ARB_shader_storage_buffer_object)
-
-        float maxAnisotropyLevel;           // Maximum anisotropy level supported (minimum is 2.0f)
-        int maxDepthBits;                   // Maximum bits for depth component
-
-    } ExtSupported;     // Extensions supported flags
-} rlglData;
-
-typedef void *(*rlglLoadProc)(const char *name);   // OpenGL extension functions loader signature (same as GLADloadproc)
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-//----------------------------------------------------------------------------------
-// Global Variables Definition
-//----------------------------------------------------------------------------------
-static double rlCullDistanceNear = RL_CULL_DISTANCE_NEAR;
-static double rlCullDistanceFar = RL_CULL_DISTANCE_FAR;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-static rlglData RLGL = { 0 };
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-#if defined(GRAPHICS_API_OPENGL_ES2) && !defined(GRAPHICS_API_OPENGL_ES3)
-// NOTE: VAO functionality is exposed through extensions (OES)
-static PFNGLGENVERTEXARRAYSOESPROC glGenVertexArrays = NULL;
-static PFNGLBINDVERTEXARRAYOESPROC glBindVertexArray = NULL;
-static PFNGLDELETEVERTEXARRAYSOESPROC glDeleteVertexArrays = NULL;
-
-// NOTE: Instancing functionality could also be available through extension
-static PFNGLDRAWARRAYSINSTANCEDEXTPROC glDrawArraysInstanced = NULL;
-static PFNGLDRAWELEMENTSINSTANCEDEXTPROC glDrawElementsInstanced = NULL;
-static PFNGLVERTEXATTRIBDIVISOREXTPROC glVertexAttribDivisor = NULL;
-#endif
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Declaration
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-static void rlLoadShaderDefault(void);      // Load default shader
-static void rlUnloadShaderDefault(void);    // Unload default shader
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-static const char *rlGetCompressedFormatName(int format); // Get compressed format official GL identifier name
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-static int rlGetPixelDataSize(int width, int height, int format);   // Get pixel data size in bytes (image or texture)
-
-// Auxiliar matrix math functions
-typedef struct rl_float16 {
-    float v[16];
-} rl_float16;
-static rl_float16 rlMatrixToFloatV(Matrix mat);             // Get float array of matrix data
-#define rlMatrixToFloat(mat) (rlMatrixToFloatV(mat).v)      // Get float vector for Matrix
-static Matrix rlMatrixIdentity(void);                       // Get identity matrix
-static Matrix rlMatrixMultiply(Matrix left, Matrix right);  // Multiply two matrices
-static Matrix rlMatrixTranspose(Matrix mat);                // Transposes provided matrix
-static Matrix rlMatrixInvert(Matrix mat);                   // Invert provided matrix
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Matrix operations
-//----------------------------------------------------------------------------------
-
-#if defined(GRAPHICS_API_OPENGL_11)
-// Fallback to OpenGL 1.1 function calls
-//---------------------------------------
-void rlMatrixMode(int mode)
-{
-    switch (mode)
-    {
-        case RL_PROJECTION: glMatrixMode(GL_PROJECTION); break;
-        case RL_MODELVIEW: glMatrixMode(GL_MODELVIEW); break;
-        case RL_TEXTURE: glMatrixMode(GL_TEXTURE); break;
-        default: break;
-    }
-}
-
-void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    glFrustum(left, right, bottom, top, znear, zfar);
-}
-
-void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    glOrtho(left, right, bottom, top, znear, zfar);
-}
-
-void rlPushMatrix(void) { glPushMatrix(); }
-void rlPopMatrix(void) { glPopMatrix(); }
-void rlLoadIdentity(void) { glLoadIdentity(); }
-void rlTranslatef(float x, float y, float z) { glTranslatef(x, y, z); }
-void rlRotatef(float angle, float x, float y, float z) { glRotatef(angle, x, y, z); }
-void rlScalef(float x, float y, float z) { glScalef(x, y, z); }
-void rlMultMatrixf(const float *matf) { glMultMatrixf(matf); }
-#endif
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Choose the current matrix to be transformed
-void rlMatrixMode(int mode)
-{
-    if (mode == RL_PROJECTION) RLGL.State.currentMatrix = &RLGL.State.projection;
-    else if (mode == RL_MODELVIEW) RLGL.State.currentMatrix = &RLGL.State.modelview;
-    //else if (mode == RL_TEXTURE) // Not supported
-
-    RLGL.State.currentMatrixMode = mode;
-}
-
-// Push the current matrix into RLGL.State.stack
-void rlPushMatrix(void)
-{
-    if (RLGL.State.stackCounter >= RL_MAX_MATRIX_STACK_SIZE) TRACELOG(RL_LOG_ERROR, "RLGL: Matrix stack overflow (RL_MAX_MATRIX_STACK_SIZE)");
-
-    if (RLGL.State.currentMatrixMode == RL_MODELVIEW)
-    {
-        RLGL.State.transformRequired = true;
-        RLGL.State.currentMatrix = &RLGL.State.transform;
-    }
-
-    RLGL.State.stack[RLGL.State.stackCounter] = *RLGL.State.currentMatrix;
-    RLGL.State.stackCounter++;
-}
-
-// Pop lattest inserted matrix from RLGL.State.stack
-void rlPopMatrix(void)
-{
-    if (RLGL.State.stackCounter > 0)
-    {
-        Matrix mat = RLGL.State.stack[RLGL.State.stackCounter - 1];
-        *RLGL.State.currentMatrix = mat;
-        RLGL.State.stackCounter--;
-    }
-
-    if ((RLGL.State.stackCounter == 0) && (RLGL.State.currentMatrixMode == RL_MODELVIEW))
-    {
-        RLGL.State.currentMatrix = &RLGL.State.modelview;
-        RLGL.State.transformRequired = false;
-    }
-}
-
-// Reset current matrix to identity matrix
-void rlLoadIdentity(void)
-{
-    *RLGL.State.currentMatrix = rlMatrixIdentity();
-}
-
-// Multiply the current matrix by a translation matrix
-void rlTranslatef(float x, float y, float z)
-{
-    Matrix matTranslation = {
-        1.0f, 0.0f, 0.0f, x,
-        0.0f, 1.0f, 0.0f, y,
-        0.0f, 0.0f, 1.0f, z,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matTranslation, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a rotation matrix
-// NOTE: The provided angle must be in degrees
-void rlRotatef(float angle, float x, float y, float z)
-{
-    Matrix matRotation = rlMatrixIdentity();
-
-    // Axis vector (x, y, z) normalization
-    float lengthSquared = x*x + y*y + z*z;
-    if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
-    {
-        float inverseLength = 1.0f/sqrtf(lengthSquared);
-        x *= inverseLength;
-        y *= inverseLength;
-        z *= inverseLength;
-    }
-
-    // Rotation matrix generation
-    float sinres = sinf(DEG2RAD*angle);
-    float cosres = cosf(DEG2RAD*angle);
-    float t = 1.0f - cosres;
-
-    matRotation.m0 = x*x*t + cosres;
-    matRotation.m1 = y*x*t + z*sinres;
-    matRotation.m2 = z*x*t - y*sinres;
-    matRotation.m3 = 0.0f;
-
-    matRotation.m4 = x*y*t - z*sinres;
-    matRotation.m5 = y*y*t + cosres;
-    matRotation.m6 = z*y*t + x*sinres;
-    matRotation.m7 = 0.0f;
-
-    matRotation.m8 = x*z*t + y*sinres;
-    matRotation.m9 = y*z*t - x*sinres;
-    matRotation.m10 = z*z*t + cosres;
-    matRotation.m11 = 0.0f;
-
-    matRotation.m12 = 0.0f;
-    matRotation.m13 = 0.0f;
-    matRotation.m14 = 0.0f;
-    matRotation.m15 = 1.0f;
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matRotation, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a scaling matrix
-void rlScalef(float x, float y, float z)
-{
-    Matrix matScale = {
-        x, 0.0f, 0.0f, 0.0f,
-        0.0f, y, 0.0f, 0.0f,
-        0.0f, 0.0f, z, 0.0f,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    // NOTE: We transpose matrix with multiplication order
-    *RLGL.State.currentMatrix = rlMatrixMultiply(matScale, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by another matrix
-void rlMultMatrixf(const float *matf)
-{
-    // Matrix creation from array
-    Matrix mat = { matf[0], matf[4], matf[8], matf[12],
-                   matf[1], matf[5], matf[9], matf[13],
-                   matf[2], matf[6], matf[10], matf[14],
-                   matf[3], matf[7], matf[11], matf[15] };
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(mat, *RLGL.State.currentMatrix);
-}
-
-// Multiply the current matrix by a perspective matrix generated by parameters
-void rlFrustum(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    Matrix matFrustum = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(zfar - znear);
-
-    matFrustum.m0 = ((float) znear*2.0f)/rl;
-    matFrustum.m1 = 0.0f;
-    matFrustum.m2 = 0.0f;
-    matFrustum.m3 = 0.0f;
-
-    matFrustum.m4 = 0.0f;
-    matFrustum.m5 = ((float) znear*2.0f)/tb;
-    matFrustum.m6 = 0.0f;
-    matFrustum.m7 = 0.0f;
-
-    matFrustum.m8 = ((float)right + (float)left)/rl;
-    matFrustum.m9 = ((float)top + (float)bottom)/tb;
-    matFrustum.m10 = -((float)zfar + (float)znear)/fn;
-    matFrustum.m11 = -1.0f;
-
-    matFrustum.m12 = 0.0f;
-    matFrustum.m13 = 0.0f;
-    matFrustum.m14 = -((float)zfar*(float)znear*2.0f)/fn;
-    matFrustum.m15 = 0.0f;
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matFrustum);
-}
-
-// Multiply the current matrix by an orthographic matrix generated by parameters
-void rlOrtho(double left, double right, double bottom, double top, double znear, double zfar)
-{
-    // NOTE: If left-right and top-botton values are equal it could create a division by zero,
-    // response to it is platform/compiler dependant
-    Matrix matOrtho = { 0 };
-
-    float rl = (float)(right - left);
-    float tb = (float)(top - bottom);
-    float fn = (float)(zfar - znear);
-
-    matOrtho.m0 = 2.0f/rl;
-    matOrtho.m1 = 0.0f;
-    matOrtho.m2 = 0.0f;
-    matOrtho.m3 = 0.0f;
-    matOrtho.m4 = 0.0f;
-    matOrtho.m5 = 2.0f/tb;
-    matOrtho.m6 = 0.0f;
-    matOrtho.m7 = 0.0f;
-    matOrtho.m8 = 0.0f;
-    matOrtho.m9 = 0.0f;
-    matOrtho.m10 = -2.0f/fn;
-    matOrtho.m11 = 0.0f;
-    matOrtho.m12 = -((float)left + (float)right)/rl;
-    matOrtho.m13 = -((float)top + (float)bottom)/tb;
-    matOrtho.m14 = -((float)zfar + (float)znear)/fn;
-    matOrtho.m15 = 1.0f;
-
-    *RLGL.State.currentMatrix = rlMatrixMultiply(*RLGL.State.currentMatrix, matOrtho);
-}
-#endif
-
-// Set the viewport area (transformation from normalized device coordinates to window coordinates)
-// NOTE: We store current viewport dimensions
-void rlViewport(int x, int y, int width, int height)
-{
-    glViewport(x, y, width, height);
-}
-
-// Set clip planes distances
-void rlSetClipPlanes(double nearPlane, double farPlane)
-{
-    rlCullDistanceNear = nearPlane;
-    rlCullDistanceFar = farPlane;
-}
-
-// Get cull plane distance near
-double rlGetCullDistanceNear(void)
-{
-    return rlCullDistanceNear;
-}
-
-// Get cull plane distance far
-double rlGetCullDistanceFar(void)
-{
-    return rlCullDistanceFar;
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - Vertex level operations
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_11)
-// Fallback to OpenGL 1.1 function calls
-//---------------------------------------
-void rlBegin(int mode)
-{
-    switch (mode)
-    {
-        case RL_LINES: glBegin(GL_LINES); break;
-        case RL_TRIANGLES: glBegin(GL_TRIANGLES); break;
-        case RL_QUADS: glBegin(GL_QUADS); break;
-        default: break;
-    }
-}
-
-void rlEnd(void) { glEnd(); }
-void rlVertex2i(int x, int y) { glVertex2i(x, y); }
-void rlVertex2f(float x, float y) { glVertex2f(x, y); }
-void rlVertex3f(float x, float y, float z) { glVertex3f(x, y, z); }
-void rlTexCoord2f(float x, float y) { glTexCoord2f(x, y); }
-void rlNormal3f(float x, float y, float z) { glNormal3f(x, y, z); }
-void rlColor4ub(unsigned char r, unsigned char g, unsigned char b, unsigned char a) { glColor4ub(r, g, b, a); }
-void rlColor3f(float x, float y, float z) { glColor3f(x, y, z); }
-void rlColor4f(float x, float y, float z, float w) { glColor4f(x, y, z, w); }
-#endif
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Initialize drawing mode (how to organize vertex)
-void rlBegin(int mode)
-{
-    // Draw mode can be RL_LINES, RL_TRIANGLES and RL_QUADS
-    // NOTE: In all three cases, vertex are accumulated over default internal vertex buffer
-    if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode != mode)
-    {
-        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
-        {
-            // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
-            // that way, following QUADS drawing will keep aligned with index processing
-            // It implies adding some extra alignment vertex at the end of the draw,
-            // those vertex are not processed but they are considered as an additional offset
-            // for the next set of vertex to be drawn
-            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
-            else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
-            else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
-
-            if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
-            {
-                RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
-                RLGL.currentBatch->drawCounter++;
-            }
-        }
-
-        if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
-
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = mode;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = RLGL.State.defaultTextureId;
-    }
-}
-
-// Finish vertex providing
-void rlEnd(void)
-{
-    // NOTE: Depth increment is dependant on rlOrtho(): z-near and z-far values,
-    // as well as depth buffer bit-depth (16bit or 24bit or 32bit)
-    // Correct increment formula would be: depthInc = (zfar - znear)/pow(2, bits)
-    RLGL.currentBatch->currentDepth += (1.0f/20000.0f);
-}
-
-// Define one vertex (position)
-// NOTE: Vertex position data is the basic information required for drawing
-void rlVertex3f(float x, float y, float z)
-{
-    float tx = x;
-    float ty = y;
-    float tz = z;
-
-    // Transform provided vector if required
-    if (RLGL.State.transformRequired)
-    {
-        tx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z + RLGL.State.transform.m12;
-        ty = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z + RLGL.State.transform.m13;
-        tz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z + RLGL.State.transform.m14;
-    }
-
-    // WARNING: We can't break primitives when launching a new batch
-    // RL_LINES comes in pairs, RL_TRIANGLES come in groups of 3 vertices and RL_QUADS come in groups of 4 vertices
-    // We must check current draw.mode when a new vertex is required and finish the batch only if the draw.mode draw.vertexCount is %2, %3 or %4
-    if (RLGL.State.vertexCounter > (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4 - 4))
-    {
-        if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%2 == 0))
-        {
-            // Reached the maximum number of vertices for RL_LINES drawing
-            // Launch a draw call but keep current state for next vertices comming
-            // NOTE: We add +1 vertex to the check for security
-            rlCheckRenderBatchLimit(2 + 1);
-        }
-        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%3 == 0))
-        {
-            rlCheckRenderBatchLimit(3 + 1);
-        }
-        else if ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_QUADS) &&
-            (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4 == 0))
-        {
-            rlCheckRenderBatchLimit(4 + 1);
-        }
-    }
-
-    // Add vertices
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter] = tx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 1] = ty;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].vertices[3*RLGL.State.vertexCounter + 2] = tz;
-
-    // Add current texcoord
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter] = RLGL.State.texcoordx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].texcoords[2*RLGL.State.vertexCounter + 1] = RLGL.State.texcoordy;
-
-    // Add current normal
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter] = RLGL.State.normalx;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 1] = RLGL.State.normaly;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].normals[3*RLGL.State.vertexCounter + 2] = RLGL.State.normalz;
-
-    // Add current color
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter] = RLGL.State.colorr;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 1] = RLGL.State.colorg;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 2] = RLGL.State.colorb;
-    RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].colors[4*RLGL.State.vertexCounter + 3] = RLGL.State.colora;
-
-    RLGL.State.vertexCounter++;
-    RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount++;
-}
-
-// Define one vertex (position)
-void rlVertex2f(float x, float y)
-{
-    rlVertex3f(x, y, RLGL.currentBatch->currentDepth);
-}
-
-// Define one vertex (position)
-void rlVertex2i(int x, int y)
-{
-    rlVertex3f((float)x, (float)y, RLGL.currentBatch->currentDepth);
-}
-
-// Define one vertex (texture coordinate)
-// NOTE: Texture coordinates are limited to QUADS only
-void rlTexCoord2f(float x, float y)
-{
-    RLGL.State.texcoordx = x;
-    RLGL.State.texcoordy = y;
-}
-
-// Define one vertex (normal)
-// NOTE: Normals limited to TRIANGLES only?
-void rlNormal3f(float x, float y, float z)
-{
-    float normalx = x;
-    float normaly = y;
-    float normalz = z;
-    if (RLGL.State.transformRequired)
-    {
-        normalx = RLGL.State.transform.m0*x + RLGL.State.transform.m4*y + RLGL.State.transform.m8*z;
-        normaly = RLGL.State.transform.m1*x + RLGL.State.transform.m5*y + RLGL.State.transform.m9*z;
-        normalz = RLGL.State.transform.m2*x + RLGL.State.transform.m6*y + RLGL.State.transform.m10*z;
-    }
-    float length = sqrtf(normalx*normalx + normaly*normaly + normalz*normalz);
-    if (length != 0.0f)
-    {
-        float ilength = 1.0f/length;
-        normalx *= ilength;
-        normaly *= ilength;
-        normalz *= ilength;
-    }
-    RLGL.State.normalx = normalx;
-    RLGL.State.normaly = normaly;
-    RLGL.State.normalz = normalz;
-}
-
-// Define one vertex (color)
-void rlColor4ub(unsigned char x, unsigned char y, unsigned char z, unsigned char w)
-{
-    RLGL.State.colorr = x;
-    RLGL.State.colorg = y;
-    RLGL.State.colorb = z;
-    RLGL.State.colora = w;
-}
-
-// Define one vertex (color)
-void rlColor4f(float r, float g, float b, float a)
-{
-    rlColor4ub((unsigned char)(r*255), (unsigned char)(g*255), (unsigned char)(b*255), (unsigned char)(a*255));
-}
-
-// Define one vertex (color)
-void rlColor3f(float x, float y, float z)
-{
-    rlColor4ub((unsigned char)(x*255), (unsigned char)(y*255), (unsigned char)(z*255), 255);
-}
-
-#endif
-
-//--------------------------------------------------------------------------------------
-// Module Functions Definition - OpenGL style functions (common to 1.1, 3.3+, ES2)
-//--------------------------------------------------------------------------------------
-
-// Set current texture to use
-void rlSetTexture(unsigned int id)
-{
-    if (id == 0)
-    {
-#if defined(GRAPHICS_API_OPENGL_11)
-        rlDisableTexture();
-#else
-        // NOTE: If quads batch limit is reached, we force a draw call and next batch starts
-        if (RLGL.State.vertexCounter >=
-            RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4)
-        {
-            rlDrawRenderBatch(RLGL.currentBatch);
-        }
-#endif
-    }
-    else
-    {
-#if defined(GRAPHICS_API_OPENGL_11)
-        rlEnableTexture(id);
-#else
-        if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId != id)
-        {
-            if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount > 0)
-            {
-                // Make sure current RLGL.currentBatch->draws[i].vertexCount is aligned a multiple of 4,
-                // that way, following QUADS drawing will keep aligned with index processing
-                // It implies adding some extra alignment vertex at the end of the draw,
-                // those vertex are not processed but they are considered as an additional offset
-                // for the next set of vertex to be drawn
-                if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_LINES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount : RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4);
-                else if (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode == RL_TRIANGLES) RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = ((RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount < 4)? 1 : (4 - (RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount%4)));
-                else RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment = 0;
-
-                if (!rlCheckRenderBatchLimit(RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment))
-                {
-                    RLGL.State.vertexCounter += RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexAlignment;
-
-                    RLGL.currentBatch->drawCounter++;
-                }
-            }
-
-            if (RLGL.currentBatch->drawCounter >= RL_DEFAULT_BATCH_DRAWCALLS) rlDrawRenderBatch(RLGL.currentBatch);
-
-            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = id;
-            RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].vertexCount = 0;
-        }
-#endif
-    }
-}
-
-// Select and active a texture slot
-void rlActiveTextureSlot(int slot)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glActiveTexture(GL_TEXTURE0 + slot);
-#endif
-}
-
-// Enable texture
-void rlEnableTexture(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    glEnable(GL_TEXTURE_2D);
-#endif
-    glBindTexture(GL_TEXTURE_2D, id);
-}
-
-// Disable texture
-void rlDisableTexture(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    glDisable(GL_TEXTURE_2D);
-#endif
-    glBindTexture(GL_TEXTURE_2D, 0);
-}
-
-// Enable texture cubemap
-void rlEnableTextureCubemap(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-#endif
-}
-
-// Disable texture cubemap
-void rlDisableTextureCubemap(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-}
-
-// Set texture parameters (wrap mode/filter mode)
-void rlTextureParameters(unsigned int id, int param, int value)
-{
-    glBindTexture(GL_TEXTURE_2D, id);
-
-#if !defined(GRAPHICS_API_OPENGL_11)
-    // Reset anisotropy filter, in case it was set
-    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
-#endif
-
-    switch (param)
-    {
-        case RL_TEXTURE_WRAP_S:
-        case RL_TEXTURE_WRAP_T:
-        {
-            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
-            {
-#if !defined(GRAPHICS_API_OPENGL_11)
-                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_2D, param, value);
-                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
-#endif
-            }
-            else glTexParameteri(GL_TEXTURE_2D, param, value);
-
-        } break;
-        case RL_TEXTURE_MAG_FILTER:
-        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_2D, param, value); break;
-        case RL_TEXTURE_FILTER_ANISOTROPIC:
-        {
-#if !defined(GRAPHICS_API_OPENGL_11)
-            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
-            {
-                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
-                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            }
-            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
-#endif
-        } break;
-#if defined(GRAPHICS_API_OPENGL_33)
-        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_LOD_BIAS, value/100.0f);
-#endif
-        default: break;
-    }
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-}
-
-// Set cubemap parameters (wrap mode/filter mode)
-void rlCubemapParameters(unsigned int id, int param, int value)
-{
-#if !defined(GRAPHICS_API_OPENGL_11)
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-
-    // Reset anisotropy filter, in case it was set
-    glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, 1.0f);
-
-    switch (param)
-    {
-        case RL_TEXTURE_WRAP_S:
-        case RL_TEXTURE_WRAP_T:
-        {
-            if (value == RL_TEXTURE_WRAP_MIRROR_CLAMP)
-            {
-                if (RLGL.ExtSupported.texMirrorClamp) glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
-                else TRACELOG(RL_LOG_WARNING, "GL: Clamp mirror wrap mode not supported (GL_MIRROR_CLAMP_EXT)");
-            }
-            else glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value);
-
-        } break;
-        case RL_TEXTURE_MAG_FILTER:
-        case RL_TEXTURE_MIN_FILTER: glTexParameteri(GL_TEXTURE_CUBE_MAP, param, value); break;
-        case RL_TEXTURE_FILTER_ANISOTROPIC:
-        {
-            if (value <= RLGL.ExtSupported.maxAnisotropyLevel) glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            else if (RLGL.ExtSupported.maxAnisotropyLevel > 0.0f)
-            {
-                TRACELOG(RL_LOG_WARNING, "GL: Maximum anisotropic filter level supported is %iX", id, (int)RLGL.ExtSupported.maxAnisotropyLevel);
-                glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAX_ANISOTROPY_EXT, (float)value);
-            }
-            else TRACELOG(RL_LOG_WARNING, "GL: Anisotropic filtering not supported");
-        } break;
-#if defined(GRAPHICS_API_OPENGL_33)
-        case RL_TEXTURE_MIPMAP_BIAS_RATIO: glTexParameterf(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_LOD_BIAS, value/100.0f);
-#endif
-        default: break;
-    }
-
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-}
-
-// Enable shader program
-void rlEnableShader(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    glUseProgram(id);
-#endif
-}
-
-// Disable shader program
-void rlDisableShader(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    glUseProgram(0);
-#endif
-}
-
-// Enable rendering to texture (fbo)
-void rlEnableFramebuffer(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, id);
-#endif
-}
-
-// return the active render texture (fbo)
-unsigned int rlGetActiveFramebuffer(void)
-{
-    GLint fboId = 0;
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glGetIntegerv(GL_DRAW_FRAMEBUFFER_BINDING, &fboId);
-#endif
-    return fboId;
-}
-
-// Disable rendering to texture
-void rlDisableFramebuffer(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-#endif
-}
-
-// Blit active framebuffer to main framebuffer
-void rlBlitFramebuffer(int srcX, int srcY, int srcWidth, int srcHeight, int dstX, int dstY, int dstWidth, int dstHeight, int bufferMask)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBlitFramebuffer(srcX, srcY, srcWidth, srcHeight, dstX, dstY, dstWidth, dstHeight, bufferMask, GL_NEAREST);
-#endif
-}
-
-// Bind framebuffer object (fbo)
-void rlBindFramebuffer(unsigned int target, unsigned int framebuffer)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(target, framebuffer);
-#endif
-}
-
-// Activate multiple draw color buffers
-// NOTE: One color buffer is always active by default
-void rlActiveDrawBuffers(int count)
-{
-#if ((defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES3)) && defined(RLGL_RENDER_TEXTURES_HINT))
-    // NOTE: Maximum number of draw buffers supported is implementation dependant,
-    // it can be queried with glGet*() but it must be at least 8
-    //GLint maxDrawBuffers = 0;
-    //glGetIntegerv(GL_MAX_DRAW_BUFFERS, &maxDrawBuffers);
-
-    if (count > 0)
-    {
-        if (count > 8) TRACELOG(LOG_WARNING, "GL: Max color buffers limited to 8");
-        else
-        {
-            unsigned int buffers[8] = {
-#if defined(GRAPHICS_API_OPENGL_ES3)
-                GL_COLOR_ATTACHMENT0_EXT,
-                GL_COLOR_ATTACHMENT1_EXT,
-                GL_COLOR_ATTACHMENT2_EXT,
-                GL_COLOR_ATTACHMENT3_EXT,
-                GL_COLOR_ATTACHMENT4_EXT,
-                GL_COLOR_ATTACHMENT5_EXT,
-                GL_COLOR_ATTACHMENT6_EXT,
-                GL_COLOR_ATTACHMENT7_EXT,
-#else
-                GL_COLOR_ATTACHMENT0,
-                GL_COLOR_ATTACHMENT1,
-                GL_COLOR_ATTACHMENT2,
-                GL_COLOR_ATTACHMENT3,
-                GL_COLOR_ATTACHMENT4,
-                GL_COLOR_ATTACHMENT5,
-                GL_COLOR_ATTACHMENT6,
-                GL_COLOR_ATTACHMENT7,
-#endif
-            };
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-            glDrawBuffersEXT(count, buffers);
-#else
-            glDrawBuffers(count, buffers);
-#endif
-        }
-    }
-    else TRACELOG(LOG_WARNING, "GL: One color buffer active by default");
-#endif
-}
-
-//----------------------------------------------------------------------------------
-// General render state configuration
-//----------------------------------------------------------------------------------
-
-// Enable color blending
-void rlEnableColorBlend(void) { glEnable(GL_BLEND); }
-
-// Disable color blending
-void rlDisableColorBlend(void) { glDisable(GL_BLEND); }
-
-// Enable depth test
-void rlEnableDepthTest(void) { glEnable(GL_DEPTH_TEST); }
-
-// Disable depth test
-void rlDisableDepthTest(void) { glDisable(GL_DEPTH_TEST); }
-
-// Enable depth write
-void rlEnableDepthMask(void) { glDepthMask(GL_TRUE); }
-
-// Disable depth write
-void rlDisableDepthMask(void) { glDepthMask(GL_FALSE); }
-
-// Enable backface culling
-void rlEnableBackfaceCulling(void) { glEnable(GL_CULL_FACE); }
-
-// Disable backface culling
-void rlDisableBackfaceCulling(void) { glDisable(GL_CULL_FACE); }
-
-// Set color mask active for screen read/draw
-void rlColorMask(bool r, bool g, bool b, bool a) { glColorMask(r, g, b, a); }
-
-// Set face culling mode
-void rlSetCullFace(int mode)
-{
-    switch (mode)
-    {
-        case RL_CULL_FACE_BACK: glCullFace(GL_BACK); break;
-        case RL_CULL_FACE_FRONT: glCullFace(GL_FRONT); break;
-        default: break;
-    }
-}
-
-// Enable scissor test
-void rlEnableScissorTest(void) { glEnable(GL_SCISSOR_TEST); }
-
-// Disable scissor test
-void rlDisableScissorTest(void) { glDisable(GL_SCISSOR_TEST); }
-
-// Scissor test
-void rlScissor(int x, int y, int width, int height) { glScissor(x, y, width, height); }
-
-// Enable wire mode
-void rlEnableWireMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
-#endif
-}
-
-// Enable point mode
-void rlEnablePointMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_POINT);
-    glEnable(GL_PROGRAM_POINT_SIZE);
-#endif
-}
-
-// Disable wire mode
-void rlDisableWireMode(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    // NOTE: glPolygonMode() not available on OpenGL ES
-    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-#endif
-}
-
-// Set the line drawing width
-void rlSetLineWidth(float width) { glLineWidth(width); }
-
-// Get the line drawing width
-float rlGetLineWidth(void)
-{
-    float width = 0;
-    glGetFloatv(GL_LINE_WIDTH, &width);
-    return width;
-}
-
-// Enable line aliasing
-void rlEnableSmoothLines(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
-    glEnable(GL_LINE_SMOOTH);
-#endif
-}
-
-// Disable line aliasing
-void rlDisableSmoothLines(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_11)
-    glDisable(GL_LINE_SMOOTH);
-#endif
-}
-
-// Enable stereo rendering
-void rlEnableStereoRender(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    RLGL.State.stereoRender = true;
-#endif
-}
-
-// Disable stereo rendering
-void rlDisableStereoRender(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    RLGL.State.stereoRender = false;
-#endif
-}
-
-// Check if stereo render is enabled
-bool rlIsStereoRenderEnabled(void)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2))
-    return RLGL.State.stereoRender;
-#else
-    return false;
-#endif
-}
-
-// Clear color buffer with color
-void rlClearColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a)
-{
-    // Color values clamp to 0.0f(0) and 1.0f(255)
-    float cr = (float)r/255;
-    float cg = (float)g/255;
-    float cb = (float)b/255;
-    float ca = (float)a/255;
-
-    glClearColor(cr, cg, cb, ca);
-}
-
-// Clear used screen buffers (color and depth)
-void rlClearScreenBuffers(void)
-{
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear used buffers: Color and Depth (Depth is used for 3D)
-    //glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);     // Stencil buffer not used...
-}
-
-// Check and log OpenGL error codes
-void rlCheckErrors(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    int check = 1;
-    while (check)
-    {
-        const GLenum err = glGetError();
-        switch (err)
-        {
-            case GL_NO_ERROR: check = 0; break;
-            case 0x0500: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_ENUM"); break;
-            case 0x0501: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_VALUE"); break;
-            case 0x0502: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_OPERATION"); break;
-            case 0x0503: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_OVERFLOW"); break;
-            case 0x0504: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_STACK_UNDERFLOW"); break;
-            case 0x0505: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_OUT_OF_MEMORY"); break;
-            case 0x0506: TRACELOG(RL_LOG_WARNING, "GL: Error detected: GL_INVALID_FRAMEBUFFER_OPERATION"); break;
-            default: TRACELOG(RL_LOG_WARNING, "GL: Error detected: Unknown error code: %x", err); break;
-        }
-    }
-#endif
-}
-
-// Set blend mode
-void rlSetBlendMode(int mode)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.currentBlendMode != mode) || ((mode == RL_BLEND_CUSTOM || mode == RL_BLEND_CUSTOM_SEPARATE) && RLGL.State.glCustomBlendModeModified))
-    {
-        rlDrawRenderBatch(RLGL.currentBatch);
-
-        switch (mode)
-        {
-            case RL_BLEND_ALPHA: glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_ADDITIVE: glBlendFunc(GL_SRC_ALPHA, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_MULTIPLIED: glBlendFunc(GL_DST_COLOR, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_ADD_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_SUBTRACT_COLORS: glBlendFunc(GL_ONE, GL_ONE); glBlendEquation(GL_FUNC_SUBTRACT); break;
-            case RL_BLEND_ALPHA_PREMULTIPLY: glBlendFunc(GL_ONE, GL_ONE_MINUS_SRC_ALPHA); glBlendEquation(GL_FUNC_ADD); break;
-            case RL_BLEND_CUSTOM:
-            {
-                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactors()
-                glBlendFunc(RLGL.State.glBlendSrcFactor, RLGL.State.glBlendDstFactor); glBlendEquation(RLGL.State.glBlendEquation);
-
-            } break;
-            case RL_BLEND_CUSTOM_SEPARATE:
-            {
-                // NOTE: Using GL blend src/dst factors and GL equation configured with rlSetBlendFactorsSeparate()
-                glBlendFuncSeparate(RLGL.State.glBlendSrcFactorRGB, RLGL.State.glBlendDestFactorRGB, RLGL.State.glBlendSrcFactorAlpha, RLGL.State.glBlendDestFactorAlpha);
-                glBlendEquationSeparate(RLGL.State.glBlendEquationRGB, RLGL.State.glBlendEquationAlpha);
-
-            } break;
-            default: break;
-        }
-
-        RLGL.State.currentBlendMode = mode;
-        RLGL.State.glCustomBlendModeModified = false;
-    }
-#endif
-}
-
-// Set blending mode factor and equation
-void rlSetBlendFactors(int glSrcFactor, int glDstFactor, int glEquation)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.glBlendSrcFactor != glSrcFactor) ||
-        (RLGL.State.glBlendDstFactor != glDstFactor) ||
-        (RLGL.State.glBlendEquation != glEquation))
-    {
-        RLGL.State.glBlendSrcFactor = glSrcFactor;
-        RLGL.State.glBlendDstFactor = glDstFactor;
-        RLGL.State.glBlendEquation = glEquation;
-
-        RLGL.State.glCustomBlendModeModified = true;
-    }
-#endif
-}
-
-// Set blending mode factor and equation separately for RGB and alpha
-void rlSetBlendFactorsSeparate(int glSrcRGB, int glDstRGB, int glSrcAlpha, int glDstAlpha, int glEqRGB, int glEqAlpha)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.glBlendSrcFactorRGB != glSrcRGB) ||
-        (RLGL.State.glBlendDestFactorRGB != glDstRGB) ||
-        (RLGL.State.glBlendSrcFactorAlpha != glSrcAlpha) ||
-        (RLGL.State.glBlendDestFactorAlpha != glDstAlpha) ||
-        (RLGL.State.glBlendEquationRGB != glEqRGB) ||
-        (RLGL.State.glBlendEquationAlpha != glEqAlpha))
-    {
-        RLGL.State.glBlendSrcFactorRGB = glSrcRGB;
-        RLGL.State.glBlendDestFactorRGB = glDstRGB;
-        RLGL.State.glBlendSrcFactorAlpha = glSrcAlpha;
-        RLGL.State.glBlendDestFactorAlpha = glDstAlpha;
-        RLGL.State.glBlendEquationRGB = glEqRGB;
-        RLGL.State.glBlendEquationAlpha = glEqAlpha;
-
-        RLGL.State.glCustomBlendModeModified = true;
-    }
-#endif
-}
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - OpenGL Debug
-//----------------------------------------------------------------------------------
-#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
-static void GLAPIENTRY rlDebugMessageCallback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *message, const void *userParam)
-{
-    // Ignore non-significant error/warning codes (NVidia drivers)
-    // NOTE: Here there are the details with a sample output:
-    // - #131169 - Framebuffer detailed info: The driver allocated storage for renderbuffer 2. (severity: low)
-    // - #131185 - Buffer detailed info: Buffer object 1 (bound to GL_ELEMENT_ARRAY_BUFFER_ARB, usage hint is GL_ENUM_88e4)
-    //             will use VIDEO memory as the source for buffer object operations. (severity: low)
-    // - #131218 - Program/shader state performance warning: Vertex shader in program 7 is being recompiled based on GL state. (severity: medium)
-    // - #131204 - Texture state usage warning: The texture object (0) bound to texture image unit 0 does not have
-    //             a defined base level and cannot be used for texture mapping. (severity: low)
-    if ((id == 131169) || (id == 131185) || (id == 131218) || (id == 131204)) return;
-
-    const char *msgSource = NULL;
-    switch (source)
-    {
-        case GL_DEBUG_SOURCE_API: msgSource = "API"; break;
-        case GL_DEBUG_SOURCE_WINDOW_SYSTEM: msgSource = "WINDOW_SYSTEM"; break;
-        case GL_DEBUG_SOURCE_SHADER_COMPILER: msgSource = "SHADER_COMPILER"; break;
-        case GL_DEBUG_SOURCE_THIRD_PARTY: msgSource = "THIRD_PARTY"; break;
-        case GL_DEBUG_SOURCE_APPLICATION: msgSource = "APPLICATION"; break;
-        case GL_DEBUG_SOURCE_OTHER: msgSource = "OTHER"; break;
-        default: break;
-    }
-
-    const char *msgType = NULL;
-    switch (type)
-    {
-        case GL_DEBUG_TYPE_ERROR: msgType = "ERROR"; break;
-        case GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR: msgType = "DEPRECATED_BEHAVIOR"; break;
-        case GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR: msgType = "UNDEFINED_BEHAVIOR"; break;
-        case GL_DEBUG_TYPE_PORTABILITY: msgType = "PORTABILITY"; break;
-        case GL_DEBUG_TYPE_PERFORMANCE: msgType = "PERFORMANCE"; break;
-        case GL_DEBUG_TYPE_MARKER: msgType = "MARKER"; break;
-        case GL_DEBUG_TYPE_PUSH_GROUP: msgType = "PUSH_GROUP"; break;
-        case GL_DEBUG_TYPE_POP_GROUP: msgType = "POP_GROUP"; break;
-        case GL_DEBUG_TYPE_OTHER: msgType = "OTHER"; break;
-        default: break;
-    }
-
-    const char *msgSeverity = "DEFAULT";
-    switch (severity)
-    {
-        case GL_DEBUG_SEVERITY_LOW: msgSeverity = "LOW"; break;
-        case GL_DEBUG_SEVERITY_MEDIUM: msgSeverity = "MEDIUM"; break;
-        case GL_DEBUG_SEVERITY_HIGH: msgSeverity = "HIGH"; break;
-        case GL_DEBUG_SEVERITY_NOTIFICATION: msgSeverity = "NOTIFICATION"; break;
-        default: break;
-    }
-
-    TRACELOG(LOG_WARNING, "GL: OpenGL debug message: %s", message);
-    TRACELOG(LOG_WARNING, "    > Type: %s", msgType);
-    TRACELOG(LOG_WARNING, "    > Source = %s", msgSource);
-    TRACELOG(LOG_WARNING, "    > Severity = %s", msgSeverity);
-}
-#endif
-
-//----------------------------------------------------------------------------------
-// Module Functions Definition - rlgl functionality
-//----------------------------------------------------------------------------------
-
-// Initialize rlgl: OpenGL extensions, default buffers/shaders/textures, OpenGL states
-void rlglInit(int width, int height)
-{
-    // Enable OpenGL debug context if required
-#if defined(RLGL_ENABLE_OPENGL_DEBUG_CONTEXT) && defined(GRAPHICS_API_OPENGL_43)
-    if ((glDebugMessageCallback != NULL) && (glDebugMessageControl != NULL))
-    {
-        glDebugMessageCallback(rlDebugMessageCallback, 0);
-        // glDebugMessageControl(GL_DEBUG_SOURCE_API, GL_DEBUG_TYPE_ERROR, GL_DEBUG_SEVERITY_HIGH, 0, 0, GL_TRUE);
-
-        // Debug context options:
-        //  - GL_DEBUG_OUTPUT - Faster version but not useful for breakpoints
-        //  - GL_DEBUG_OUTPUT_SYNCHRONUS - Callback is in sync with errors, so a breakpoint can be placed on the callback in order to get a stacktrace for the GL error
-        glEnable(GL_DEBUG_OUTPUT);
-        glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
-    }
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Init default white texture
-    unsigned char pixels[4] = { 255, 255, 255, 255 };   // 1 pixel RGBA (4 bytes)
-    RLGL.State.defaultTextureId = rlLoadTexture(pixels, 1, 1, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8, 1);
-
-    if (RLGL.State.defaultTextureId != 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture loaded successfully", RLGL.State.defaultTextureId);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load default texture");
-
-    // Init default Shader (customized for GL 3.3 and ES2)
-    // Loaded: RLGL.State.defaultShaderId + RLGL.State.defaultShaderLocs
-    rlLoadShaderDefault();
-    RLGL.State.currentShaderId = RLGL.State.defaultShaderId;
-    RLGL.State.currentShaderLocs = RLGL.State.defaultShaderLocs;
-
-    // Init default vertex arrays buffers
-    // Simulate that the default shader has the location RL_SHADER_LOC_VERTEX_NORMAL to bind the normal buffer for the default render batch
-    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL;
-    RLGL.defaultBatch = rlLoadRenderBatch(RL_DEFAULT_BATCH_BUFFERS, RL_DEFAULT_BATCH_BUFFER_ELEMENTS);
-    RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL] = -1;
-    RLGL.currentBatch = &RLGL.defaultBatch;
-
-    // Init stack matrices (emulating OpenGL 1.1)
-    for (int i = 0; i < RL_MAX_MATRIX_STACK_SIZE; i++) RLGL.State.stack[i] = rlMatrixIdentity();
-
-    // Init internal matrices
-    RLGL.State.transform = rlMatrixIdentity();
-    RLGL.State.projection = rlMatrixIdentity();
-    RLGL.State.modelview = rlMatrixIdentity();
-    RLGL.State.currentMatrix = &RLGL.State.modelview;
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-    // Initialize OpenGL default states
-    //----------------------------------------------------------
-    // Init state: Depth test
-    glDepthFunc(GL_LEQUAL);                                 // Type of depth testing to apply
-    glDisable(GL_DEPTH_TEST);                               // Disable depth testing for 2D (only used for 3D)
-
-    // Init state: Blending mode
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);      // Color blending function (how colors are mixed)
-    glEnable(GL_BLEND);                                     // Enable color blending (required to work with transparencies)
-
-    // Init state: Culling
-    // NOTE: All shapes/models triangles are drawn CCW
-    glCullFace(GL_BACK);                                    // Cull the back face (default)
-    glFrontFace(GL_CCW);                                    // Front face are defined counter clockwise (default)
-    glEnable(GL_CULL_FACE);                                 // Enable backface culling
-
-    // Init state: Cubemap seamless
-#if defined(GRAPHICS_API_OPENGL_33)
-    glEnable(GL_TEXTURE_CUBE_MAP_SEAMLESS);                 // Seamless cubemaps (not supported on OpenGL ES 2.0)
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_11)
-    // Init state: Color hints (deprecated in OpenGL 3.0+)
-    glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);      // Improve quality of color and texture coordinate interpolation
-    glShadeModel(GL_SMOOTH);                                // Smooth shading between vertex (vertex colors interpolation)
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Store screen size into global variables
-    RLGL.State.framebufferWidth = width;
-    RLGL.State.framebufferHeight = height;
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Default OpenGL state initialized successfully");
-    //----------------------------------------------------------
-#endif
-
-    // Init state: Color/Depth buffers clear
-    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);                   // Set clear color (black)
-    glClearDepth(1.0f);                                     // Set clear depth value (default)
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear color and depth buffers (depth buffer required for 3D)
-}
-
-// Vertex Buffer Object deinitialization (memory free)
-void rlglClose(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlUnloadRenderBatch(RLGL.defaultBatch);
-
-    rlUnloadShaderDefault();          // Unload default shader
-
-    glDeleteTextures(1, &RLGL.State.defaultTextureId); // Unload default texture
-    TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Default texture unloaded successfully", RLGL.State.defaultTextureId);
-#endif
-}
-
-// Load OpenGL extensions
-// NOTE: External loader function must be provided
-void rlLoadExtensions(void *loader)
-{
-#if defined(GRAPHICS_API_OPENGL_33)     // Also defined for GRAPHICS_API_OPENGL_21
-    // NOTE: glad is generated and contains only required OpenGL 3.3 Core extensions (and lower versions)
-    if (gladLoadGL((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL extensions");
-    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL extensions loaded successfully");
-
-    // Get number of supported extensions
-    GLint numExt = 0;
-    glGetIntegerv(GL_NUM_EXTENSIONS, &numExt);
-    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    // Get supported extensions list
-    // WARNING: glGetStringi() not available on OpenGL 2.1
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
-    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", glGetStringi(GL_EXTENSIONS, i));
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_21)
-    // Register supported extensions flags
-    // Optional OpenGL 2.1 extensions
-    RLGL.ExtSupported.vao = GLAD_GL_ARB_vertex_array_object;
-    RLGL.ExtSupported.instancing = (GLAD_GL_EXT_draw_instanced && GLAD_GL_ARB_instanced_arrays);
-    RLGL.ExtSupported.texNPOT = GLAD_GL_ARB_texture_non_power_of_two;
-    RLGL.ExtSupported.texFloat32 = GLAD_GL_ARB_texture_float;
-    RLGL.ExtSupported.texFloat16 = GLAD_GL_ARB_texture_float;
-    RLGL.ExtSupported.texDepth = GLAD_GL_ARB_depth_texture;
-    RLGL.ExtSupported.maxDepthBits = 32;
-    RLGL.ExtSupported.texAnisoFilter = GLAD_GL_EXT_texture_filter_anisotropic;
-    RLGL.ExtSupported.texMirrorClamp = GLAD_GL_EXT_texture_mirror_clamp;
-#else
-    // Register supported extensions flags
-    // OpenGL 3.3 extensions supported by default (core)
-    RLGL.ExtSupported.vao = true;
-    RLGL.ExtSupported.instancing = true;
-    RLGL.ExtSupported.texNPOT = true;
-    RLGL.ExtSupported.texFloat32 = true;
-    RLGL.ExtSupported.texFloat16 = true;
-    RLGL.ExtSupported.texDepth = true;
-    RLGL.ExtSupported.maxDepthBits = 32;
-    RLGL.ExtSupported.texAnisoFilter = true;
-    RLGL.ExtSupported.texMirrorClamp = true;
-#endif
-
-    // Optional OpenGL 3.3 extensions
-    RLGL.ExtSupported.texCompASTC = GLAD_GL_KHR_texture_compression_astc_hdr && GLAD_GL_KHR_texture_compression_astc_ldr;
-    RLGL.ExtSupported.texCompDXT = GLAD_GL_EXT_texture_compression_s3tc;  // Texture compression: DXT
-    RLGL.ExtSupported.texCompETC2 = GLAD_GL_ARB_ES3_compatibility;        // Texture compression: ETC2/EAC
-    #if defined(GRAPHICS_API_OPENGL_43)
-    RLGL.ExtSupported.computeShader = GLAD_GL_ARB_compute_shader;
-    RLGL.ExtSupported.ssbo = GLAD_GL_ARB_shader_storage_buffer_object;
-    #endif
-
-#endif  // GRAPHICS_API_OPENGL_33
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    // Register supported extensions flags
-    // OpenGL ES 3.0 extensions supported by default (or it should be)
-    RLGL.ExtSupported.vao = true;
-    RLGL.ExtSupported.instancing = true;
-    RLGL.ExtSupported.texNPOT = true;
-    RLGL.ExtSupported.texFloat32 = true;
-    RLGL.ExtSupported.texFloat16 = true;
-    RLGL.ExtSupported.texDepth = true;
-    RLGL.ExtSupported.texDepthWebGL = true;
-    RLGL.ExtSupported.maxDepthBits = 24;
-    RLGL.ExtSupported.texAnisoFilter = true;
-    RLGL.ExtSupported.texMirrorClamp = true;
-    // TODO: Check for additional OpenGL ES 3.0 supported extensions:
-    //RLGL.ExtSupported.texCompDXT = true;
-    //RLGL.ExtSupported.texCompETC1 = true;
-    //RLGL.ExtSupported.texCompETC2 = true;
-    //RLGL.ExtSupported.texCompPVRT = true;
-    //RLGL.ExtSupported.texCompASTC = true;
-    //RLGL.ExtSupported.maxAnisotropyLevel = true;
-    //RLGL.ExtSupported.computeShader = true;
-    //RLGL.ExtSupported.ssbo = true;
-
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-
-    #if defined(PLATFORM_DESKTOP_GLFW) || defined(PLATFORM_DESKTOP_SDL)
-    // TODO: Support GLAD loader for OpenGL ES 3.0
-    if (gladLoadGLES2((GLADloadfunc)loader) == 0) TRACELOG(RL_LOG_WARNING, "GLAD: Cannot load OpenGL ES2.0 functions");
-    else TRACELOG(RL_LOG_INFO, "GLAD: OpenGL ES 2.0 loaded successfully");
-    #endif
-
-    // Get supported extensions list
-    GLint numExt = 0;
-    const char **extList = RL_MALLOC(512*sizeof(const char *)); // Allocate 512 strings pointers (2 KB)
-    const char *extensions = (const char *)glGetString(GL_EXTENSIONS);  // One big const string
-
-    // NOTE: We have to duplicate string because glGetString() returns a const string
-    int size = strlen(extensions) + 1;      // Get extensions string size in bytes
-    char *extensionsDup = (char *)RL_CALLOC(size, sizeof(char));
-    strcpy(extensionsDup, extensions);
-    extList[numExt] = extensionsDup;
-
-    for (int i = 0; i < size; i++)
-    {
-        if (extensionsDup[i] == ' ')
-        {
-            extensionsDup[i] = '\0';
-            numExt++;
-            extList[numExt] = &extensionsDup[i + 1];
-        }
-    }
-
-    TRACELOG(RL_LOG_INFO, "GL: Supported extensions count: %i", numExt);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL extensions:");
-    for (int i = 0; i < numExt; i++) TRACELOG(RL_LOG_INFO, "    %s", extList[i]);
-#endif
-
-    // Check required extensions
-    for (int i = 0; i < numExt; i++)
-    {
-        // Check VAO support
-        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has VAO support as core feature
-        if (strcmp(extList[i], (const char *)"GL_OES_vertex_array_object") == 0)
-        {
-            // The extension is supported by our hardware and driver, try to get related functions pointers
-            // NOTE: emscripten does not support VAOs natively, it uses emulation and it reduces overall performance...
-            glGenVertexArrays = (PFNGLGENVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glGenVertexArraysOES");
-            glBindVertexArray = (PFNGLBINDVERTEXARRAYOESPROC)((rlglLoadProc)loader)("glBindVertexArrayOES");
-            glDeleteVertexArrays = (PFNGLDELETEVERTEXARRAYSOESPROC)((rlglLoadProc)loader)("glDeleteVertexArraysOES");
-            //glIsVertexArray = (PFNGLISVERTEXARRAYOESPROC)loader("glIsVertexArrayOES");     // NOTE: Fails in WebGL, omitted
-
-            if ((glGenVertexArrays != NULL) && (glBindVertexArray != NULL) && (glDeleteVertexArrays != NULL)) RLGL.ExtSupported.vao = true;
-        }
-
-        // Check instanced rendering support
-        if (strstr(extList[i], (const char*)"instanced_arrays") != NULL)   // Broad check for instanced_arrays
-        {
-            // Specific check
-            if (strcmp(extList[i], (const char *)"GL_ANGLE_instanced_arrays") == 0)      // ANGLE
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedANGLE");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedANGLE");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorANGLE");
-            }
-            else if (strcmp(extList[i], (const char *)"GL_EXT_instanced_arrays") == 0)   // EXT
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorEXT");
-            }
-            else if (strcmp(extList[i], (const char *)"GL_NV_instanced_arrays") == 0)    // NVIDIA GLES
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
-                glVertexAttribDivisor = (PFNGLVERTEXATTRIBDIVISOREXTPROC)((rlglLoadProc)loader)("glVertexAttribDivisorNV");
-            }
-
-            // The feature will only be marked as supported if the elements from GL_XXX_instanced_arrays are present
-            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
-        }
-        else if (strstr(extList[i], (const char *)"draw_instanced") != NULL)
-        {
-            // GL_ANGLE_draw_instanced doesn't exist
-            if (strcmp(extList[i], (const char *)"GL_EXT_draw_instanced") == 0)
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedEXT");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedEXT");
-            }
-            else if (strcmp(extList[i], (const char*)"GL_NV_draw_instanced") == 0)
-            {
-                glDrawArraysInstanced = (PFNGLDRAWARRAYSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawArraysInstancedNV");
-                glDrawElementsInstanced = (PFNGLDRAWELEMENTSINSTANCEDEXTPROC)((rlglLoadProc)loader)("glDrawElementsInstancedNV");
-            }
-
-            // But the functions will at least be loaded if only GL_XX_EXT_draw_instanced exist
-            if ((glDrawArraysInstanced != NULL) && (glDrawElementsInstanced != NULL) && (glVertexAttribDivisor != NULL)) RLGL.ExtSupported.instancing = true;
-        }
-
-        // Check NPOT textures support
-        // NOTE: Only check on OpenGL ES, OpenGL 3.3 has NPOT textures full support as core feature
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_npot") == 0) RLGL.ExtSupported.texNPOT = true;
-
-        // Check texture float support
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_float") == 0) RLGL.ExtSupported.texFloat32 = true;
-        if (strcmp(extList[i], (const char *)"GL_OES_texture_half_float") == 0) RLGL.ExtSupported.texFloat16 = true;
-
-        // Check depth texture support
-        if (strcmp(extList[i], (const char *)"GL_OES_depth_texture") == 0) RLGL.ExtSupported.texDepth = true;
-        if (strcmp(extList[i], (const char *)"GL_WEBGL_depth_texture") == 0) RLGL.ExtSupported.texDepthWebGL = true;    // WebGL requires unsized internal format
-        if (RLGL.ExtSupported.texDepthWebGL) RLGL.ExtSupported.texDepth = true;
-
-        if (strcmp(extList[i], (const char *)"GL_OES_depth24") == 0) RLGL.ExtSupported.maxDepthBits = 24;   // Not available on WebGL
-        if (strcmp(extList[i], (const char *)"GL_OES_depth32") == 0) RLGL.ExtSupported.maxDepthBits = 32;   // Not available on WebGL
-
-        // Check texture compression support: DXT
-        if ((strcmp(extList[i], (const char *)"GL_EXT_texture_compression_s3tc") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_s3tc") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBKIT_WEBGL_compressed_texture_s3tc") == 0)) RLGL.ExtSupported.texCompDXT = true;
-
-        // Check texture compression support: ETC1
-        if ((strcmp(extList[i], (const char *)"GL_OES_compressed_ETC1_RGB8_texture") == 0) ||
-            (strcmp(extList[i], (const char *)"GL_WEBGL_compressed_texture_etc1") == 0)) RLGL.ExtSupported.texCompETC1 = true;
-
-        // Check texture compression support: ETC2/EAC
-        if (strcmp(extList[i], (const char *)"GL_ARB_ES3_compatibility") == 0) RLGL.ExtSupported.texCompETC2 = true;
-
-        // Check texture compression support: PVR
-        if (strcmp(extList[i], (const char *)"GL_IMG_texture_compression_pvrtc") == 0) RLGL.ExtSupported.texCompPVRT = true;
-
-        // Check texture compression support: ASTC
-        if (strcmp(extList[i], (const char *)"GL_KHR_texture_compression_astc_hdr") == 0) RLGL.ExtSupported.texCompASTC = true;
-
-        // Check anisotropic texture filter support
-        if (strcmp(extList[i], (const char *)"GL_EXT_texture_filter_anisotropic") == 0) RLGL.ExtSupported.texAnisoFilter = true;
-
-        // Check clamp mirror wrap mode support
-        if (strcmp(extList[i], (const char *)"GL_EXT_texture_mirror_clamp") == 0) RLGL.ExtSupported.texMirrorClamp = true;
-    }
-
-    // Free extensions pointers
-    RL_FREE(extList);
-    RL_FREE(extensionsDup);    // Duplicated string must be deallocated
-#endif  // GRAPHICS_API_OPENGL_ES2
-
-    // Check OpenGL information and capabilities
-    //------------------------------------------------------------------------------
-    // Show current OpenGL and GLSL version
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL device information:");
-    TRACELOG(RL_LOG_INFO, "    > Vendor:   %s", glGetString(GL_VENDOR));
-    TRACELOG(RL_LOG_INFO, "    > Renderer: %s", glGetString(GL_RENDERER));
-    TRACELOG(RL_LOG_INFO, "    > Version:  %s", glGetString(GL_VERSION));
-    TRACELOG(RL_LOG_INFO, "    > GLSL:     %s", glGetString(GL_SHADING_LANGUAGE_VERSION));
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Anisotropy levels capability is an extension
-    #ifndef GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT
-        #define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF
-    #endif
-    glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &RLGL.ExtSupported.maxAnisotropyLevel);
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-    // Show some OpenGL GPU capabilities
-    TRACELOG(RL_LOG_INFO, "GL: OpenGL capabilities:");
-    GLint capability = 0;
-    glGetIntegerv(GL_MAX_TEXTURE_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_CUBE_MAP_TEXTURE_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_CUBE_MAP_TEXTURE_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_TEXTURE_IMAGE_UNITS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_IMAGE_UNITS: %i", capability);
-    glGetIntegerv(GL_MAX_VERTEX_ATTRIBS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIBS: %i", capability);
-    #if !defined(GRAPHICS_API_OPENGL_ES2)
-    glGetIntegerv(GL_MAX_UNIFORM_BLOCK_SIZE, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_BLOCK_SIZE: %i", capability);
-    glGetIntegerv(GL_MAX_DRAW_BUFFERS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_DRAW_BUFFERS: %i", capability);
-    if (RLGL.ExtSupported.texAnisoFilter) TRACELOG(RL_LOG_INFO, "    GL_MAX_TEXTURE_MAX_ANISOTROPY: %.0f", RLGL.ExtSupported.maxAnisotropyLevel);
-    #endif
-    glGetIntegerv(GL_NUM_COMPRESSED_TEXTURE_FORMATS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_NUM_COMPRESSED_TEXTURE_FORMATS: %i", capability);
-    GLint *compFormats = (GLint *)RL_CALLOC(capability, sizeof(GLint));
-    glGetIntegerv(GL_COMPRESSED_TEXTURE_FORMATS, compFormats);
-    for (int i = 0; i < capability; i++) TRACELOG(RL_LOG_INFO, "        %s", rlGetCompressedFormatName(compFormats[i]));
-    RL_FREE(compFormats);
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    glGetIntegerv(GL_MAX_VERTEX_ATTRIB_BINDINGS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_VERTEX_ATTRIB_BINDINGS: %i", capability);
-    glGetIntegerv(GL_MAX_UNIFORM_LOCATIONS, &capability);
-    TRACELOG(RL_LOG_INFO, "    GL_MAX_UNIFORM_LOCATIONS: %i", capability);
-#endif  // GRAPHICS_API_OPENGL_43
-#else   // RLGL_SHOW_GL_DETAILS_INFO
-
-    // Show some basic info about GL supported features
-    if (RLGL.ExtSupported.vao) TRACELOG(RL_LOG_INFO, "GL: VAO extension detected, VAO functions loaded successfully");
-    else TRACELOG(RL_LOG_WARNING, "GL: VAO extension not found, VAO not supported");
-    if (RLGL.ExtSupported.texNPOT) TRACELOG(RL_LOG_INFO, "GL: NPOT textures extension detected, full NPOT textures supported");
-    else TRACELOG(RL_LOG_WARNING, "GL: NPOT textures extension not found, limited NPOT support (no-mipmaps, no-repeat)");
-    if (RLGL.ExtSupported.texCompDXT) TRACELOG(RL_LOG_INFO, "GL: DXT compressed textures supported");
-    if (RLGL.ExtSupported.texCompETC1) TRACELOG(RL_LOG_INFO, "GL: ETC1 compressed textures supported");
-    if (RLGL.ExtSupported.texCompETC2) TRACELOG(RL_LOG_INFO, "GL: ETC2/EAC compressed textures supported");
-    if (RLGL.ExtSupported.texCompPVRT) TRACELOG(RL_LOG_INFO, "GL: PVRT compressed textures supported");
-    if (RLGL.ExtSupported.texCompASTC) TRACELOG(RL_LOG_INFO, "GL: ASTC compressed textures supported");
-    if (RLGL.ExtSupported.computeShader) TRACELOG(RL_LOG_INFO, "GL: Compute shaders supported");
-    if (RLGL.ExtSupported.ssbo) TRACELOG(RL_LOG_INFO, "GL: Shader storage buffer objects supported");
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-}
-
-// Get current OpenGL version
-int rlGetVersion(void)
-{
-    int glVersion = 0;
-#if defined(GRAPHICS_API_OPENGL_11)
-    glVersion = RL_OPENGL_11;
-#endif
-#if defined(GRAPHICS_API_OPENGL_21)
-    glVersion = RL_OPENGL_21;
-#elif defined(GRAPHICS_API_OPENGL_43)
-    glVersion = RL_OPENGL_43;
-#elif defined(GRAPHICS_API_OPENGL_33)
-    glVersion = RL_OPENGL_33;
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    glVersion = RL_OPENGL_ES_30;
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    glVersion = RL_OPENGL_ES_20;
-#endif
-
-    return glVersion;
-}
-
-// Set current framebuffer width
-void rlSetFramebufferWidth(int width)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.framebufferWidth = width;
-#endif
-}
-
-// Set current framebuffer height
-void rlSetFramebufferHeight(int height)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.framebufferHeight = height;
-#endif
-}
-
-// Get default framebuffer width
-int rlGetFramebufferWidth(void)
-{
-    int width = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    width = RLGL.State.framebufferWidth;
-#endif
-    return width;
-}
-
-// Get default framebuffer height
-int rlGetFramebufferHeight(void)
-{
-    int height = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    height = RLGL.State.framebufferHeight;
-#endif
-    return height;
-}
-
-// Get default internal texture (white texture)
-// NOTE: Default texture is a 1x1 pixel UNCOMPRESSED_R8G8B8A8
-unsigned int rlGetTextureIdDefault(void)
-{
-    unsigned int id = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    id = RLGL.State.defaultTextureId;
-#endif
-    return id;
-}
-
-// Get default shader id
-unsigned int rlGetShaderIdDefault(void)
-{
-    unsigned int id = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    id = RLGL.State.defaultShaderId;
-#endif
-    return id;
-}
-
-// Get default shader locs
-int *rlGetShaderLocsDefault(void)
-{
-    int *locs = NULL;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    locs = RLGL.State.defaultShaderLocs;
-#endif
-    return locs;
-}
-
-// Render batch management
-//------------------------------------------------------------------------------------------------
-// Load render batch
-rlRenderBatch rlLoadRenderBatch(int numBuffers, int bufferElements)
-{
-    rlRenderBatch batch = { 0 };
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Initialize CPU (RAM) vertex buffers (position, texcoord, color data and indexes)
-    //--------------------------------------------------------------------------------------------
-    batch.vertexBuffer = (rlVertexBuffer *)RL_MALLOC(numBuffers*sizeof(rlVertexBuffer));
-
-    for (int i = 0; i < numBuffers; i++)
-    {
-        batch.vertexBuffer[i].elementCount = bufferElements;
-
-        batch.vertexBuffer[i].vertices = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
-        batch.vertexBuffer[i].texcoords = (float *)RL_MALLOC(bufferElements*2*4*sizeof(float));       // 2 float by texcoord, 4 texcoord by quad
-        batch.vertexBuffer[i].normals = (float *)RL_MALLOC(bufferElements*3*4*sizeof(float));        // 3 float by vertex, 4 vertex by quad
-        batch.vertexBuffer[i].colors = (unsigned char *)RL_MALLOC(bufferElements*4*4*sizeof(unsigned char));   // 4 float by color, 4 colors by quad
-#if defined(GRAPHICS_API_OPENGL_33)
-        batch.vertexBuffer[i].indices = (unsigned int *)RL_MALLOC(bufferElements*6*sizeof(unsigned int));      // 6 int by quad (indices)
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-        batch.vertexBuffer[i].indices = (unsigned short *)RL_MALLOC(bufferElements*6*sizeof(unsigned short));  // 6 int by quad (indices)
-#endif
-
-        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].vertices[j] = 0.0f;
-        for (int j = 0; j < (2*4*bufferElements); j++) batch.vertexBuffer[i].texcoords[j] = 0.0f;
-        for (int j = 0; j < (3*4*bufferElements); j++) batch.vertexBuffer[i].normals[j] = 0.0f;
-        for (int j = 0; j < (4*4*bufferElements); j++) batch.vertexBuffer[i].colors[j] = 0;
-
-        int k = 0;
-
-        // Indices can be initialized right now
-        for (int j = 0; j < (6*bufferElements); j += 6)
-        {
-            batch.vertexBuffer[i].indices[j] = 4*k;
-            batch.vertexBuffer[i].indices[j + 1] = 4*k + 1;
-            batch.vertexBuffer[i].indices[j + 2] = 4*k + 2;
-            batch.vertexBuffer[i].indices[j + 3] = 4*k;
-            batch.vertexBuffer[i].indices[j + 4] = 4*k + 2;
-            batch.vertexBuffer[i].indices[j + 5] = 4*k + 3;
-
-            k++;
-        }
-
-        RLGL.State.vertexCounter = 0;
-    }
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in RAM (CPU)");
-    //--------------------------------------------------------------------------------------------
-
-    // Upload to GPU (VRAM) vertex data and initialize VAOs/VBOs
-    //--------------------------------------------------------------------------------------------
-    for (int i = 0; i < numBuffers; i++)
-    {
-        if (RLGL.ExtSupported.vao)
-        {
-            // Initialize Quads VAO
-            glGenVertexArrays(1, &batch.vertexBuffer[i].vaoId);
-            glBindVertexArray(batch.vertexBuffer[i].vaoId);
-        }
-
-        // Quads - Vertex buffers binding and attributes enable
-        // Vertex position buffer (shader-location = 0)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[0]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[0]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].vertices, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
-
-        // Vertex texcoord buffer (shader-location = 1)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[1]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[1]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*2*4*sizeof(float), batch.vertexBuffer[i].texcoords, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
-
-        // Vertex normal buffer (shader-location = 2)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[2]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[2]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*3*4*sizeof(float), batch.vertexBuffer[i].normals, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
-
-        // Vertex color buffer (shader-location = 3)
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[3]);
-        glBindBuffer(GL_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[3]);
-        glBufferData(GL_ARRAY_BUFFER, bufferElements*4*4*sizeof(unsigned char), batch.vertexBuffer[i].colors, GL_DYNAMIC_DRAW);
-        glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
-        glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
-
-        // Fill index buffer
-        glGenBuffers(1, &batch.vertexBuffer[i].vboId[4]);
-        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch.vertexBuffer[i].vboId[4]);
-#if defined(GRAPHICS_API_OPENGL_33)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(int), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
-#endif
-#if defined(GRAPHICS_API_OPENGL_ES2)
-        glBufferData(GL_ELEMENT_ARRAY_BUFFER, bufferElements*6*sizeof(short), batch.vertexBuffer[i].indices, GL_STATIC_DRAW);
-#endif
-    }
-
-    TRACELOG(RL_LOG_INFO, "RLGL: Render batch vertex buffers loaded successfully in VRAM (GPU)");
-
-    // Unbind the current VAO
-    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-    //--------------------------------------------------------------------------------------------
-
-    // Init draw calls tracking system
-    //--------------------------------------------------------------------------------------------
-    batch.draws = (rlDrawCall *)RL_MALLOC(RL_DEFAULT_BATCH_DRAWCALLS*sizeof(rlDrawCall));
-
-    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
-    {
-        batch.draws[i].mode = RL_QUADS;
-        batch.draws[i].vertexCount = 0;
-        batch.draws[i].vertexAlignment = 0;
-        //batch.draws[i].vaoId = 0;
-        //batch.draws[i].shaderId = 0;
-        batch.draws[i].textureId = RLGL.State.defaultTextureId;
-        //batch.draws[i].RLGL.State.projection = rlMatrixIdentity();
-        //batch.draws[i].RLGL.State.modelview = rlMatrixIdentity();
-    }
-
-    batch.bufferCount = numBuffers;    // Record buffer count
-    batch.drawCounter = 1;             // Reset draws counter
-    batch.currentDepth = -1.0f;         // Reset depth value
-    //--------------------------------------------------------------------------------------------
-#endif
-
-    return batch;
-}
-
-// Unload default internal buffers vertex data from CPU and GPU
-void rlUnloadRenderBatch(rlRenderBatch batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Unbind everything
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-
-    // Unload all vertex buffers data
-    for (int i = 0; i < batch.bufferCount; i++)
-    {
-        // Unbind VAO attribs data
-        if (RLGL.ExtSupported.vao)
-        {
-            glBindVertexArray(batch.vertexBuffer[i].vaoId);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
-            glDisableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR);
-            glBindVertexArray(0);
-        }
-
-        // Delete VBOs from GPU (VRAM)
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[0]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[1]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[2]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[3]);
-        glDeleteBuffers(1, &batch.vertexBuffer[i].vboId[4]);
-
-        // Delete VAOs from GPU (VRAM)
-        if (RLGL.ExtSupported.vao) glDeleteVertexArrays(1, &batch.vertexBuffer[i].vaoId);
-
-        // Free vertex arrays memory from CPU (RAM)
-        RL_FREE(batch.vertexBuffer[i].vertices);
-        RL_FREE(batch.vertexBuffer[i].texcoords);
-        RL_FREE(batch.vertexBuffer[i].normals);
-        RL_FREE(batch.vertexBuffer[i].colors);
-        RL_FREE(batch.vertexBuffer[i].indices);
-    }
-
-    // Unload arrays
-    RL_FREE(batch.vertexBuffer);
-    RL_FREE(batch.draws);
-#endif
-}
-
-// Draw render batch
-// NOTE: We require a pointer to reset batch and increase current buffer (multi-buffer)
-void rlDrawRenderBatch(rlRenderBatch *batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Update batch vertex buffers
-    //------------------------------------------------------------------------------------------------------------
-    // NOTE: If there is not vertex data, buffers doesn't need to be updated (vertexCount > 0)
-    // TODO: If no data changed on the CPU arrays --> No need to re-update GPU arrays (use a change detector flag?)
-    if (RLGL.State.vertexCounter > 0)
-    {
-        // Activate elements VAO
-        if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
-
-        // Vertex positions buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].vertices);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].vertices, GL_DYNAMIC_DRAW);  // Update all buffer
-
-        // Texture coordinates buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*2*sizeof(float), batch->vertexBuffer[batch->currentBuffer].texcoords);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*2*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].texcoords, GL_DYNAMIC_DRAW); // Update all buffer
-
-        // Normals buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*3*sizeof(float), batch->vertexBuffer[batch->currentBuffer].normals);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*3*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].normals, GL_DYNAMIC_DRAW); // Update all buffer
-
-        // Colors buffer
-        glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
-        glBufferSubData(GL_ARRAY_BUFFER, 0, RLGL.State.vertexCounter*4*sizeof(unsigned char), batch->vertexBuffer[batch->currentBuffer].colors);
-        //glBufferData(GL_ARRAY_BUFFER, sizeof(float)*4*4*batch->vertexBuffer[batch->currentBuffer].elementCount, batch->vertexBuffer[batch->currentBuffer].colors, GL_DYNAMIC_DRAW);    // Update all buffer
-
-        // NOTE: glMapBuffer() causes sync issue
-        // If GPU is working with this buffer, glMapBuffer() will wait(stall) until GPU to finish its job
-        // To avoid waiting (idle), you can call first glBufferData() with NULL pointer before glMapBuffer()
-        // If you do that, the previous data in PBO will be discarded and glMapBuffer() returns a new
-        // allocated pointer immediately even if GPU is still working with the previous data
-
-        // Another option: map the buffer object into client's memory
-        // Probably this code could be moved somewhere else...
-        // batch->vertexBuffer[batch->currentBuffer].vertices = (float *)glMapBuffer(GL_ARRAY_BUFFER, GL_READ_WRITE);
-        // if (batch->vertexBuffer[batch->currentBuffer].vertices)
-        // {
-            // Update vertex data
-        // }
-        // glUnmapBuffer(GL_ARRAY_BUFFER);
-
-        // Unbind the current VAO
-        if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-    }
-    //------------------------------------------------------------------------------------------------------------
-
-    // Draw batch vertex buffers (considering VR stereo if required)
-    //------------------------------------------------------------------------------------------------------------
-    Matrix matProjection = RLGL.State.projection;
-    Matrix matModelView = RLGL.State.modelview;
-
-    int eyeCount = 1;
-    if (RLGL.State.stereoRender) eyeCount = 2;
-
-    for (int eye = 0; eye < eyeCount; eye++)
-    {
-        if (eyeCount == 2)
-        {
-            // Setup current eye viewport (half screen width)
-            rlViewport(eye*RLGL.State.framebufferWidth/2, 0, RLGL.State.framebufferWidth/2, RLGL.State.framebufferHeight);
-
-            // Set current eye view offset to modelview matrix
-            rlSetMatrixModelview(rlMatrixMultiply(matModelView, RLGL.State.viewOffsetStereo[eye]));
-            // Set current eye projection matrix
-            rlSetMatrixProjection(RLGL.State.projectionStereo[eye]);
-        }
-
-        // Draw buffers
-        if (RLGL.State.vertexCounter > 0)
-        {
-            // Set current shader and upload current MVP matrix
-            glUseProgram(RLGL.State.currentShaderId);
-
-            // Create modelview-projection matrix and upload to shader
-            Matrix matMVP = rlMatrixMultiply(RLGL.State.modelview, RLGL.State.projection);
-            glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MVP], 1, false, rlMatrixToFloat(matMVP));
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_PROJECTION], 1, false, rlMatrixToFloat(RLGL.State.projection));
-            }
-
-            // WARNING: For the following setup of the view, model, and normal matrices, it is expected that
-            // transformations and rendering occur between rlPushMatrix() and rlPopMatrix()
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_VIEW], 1, false, rlMatrixToFloat(RLGL.State.modelview));
-            }
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_MODEL], 1, false, rlMatrixToFloat(RLGL.State.transform));
-            }
-
-            if (RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL] != -1)
-            {
-                glUniformMatrix4fv(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MATRIX_NORMAL], 1, false, rlMatrixToFloat(rlMatrixTranspose(rlMatrixInvert(RLGL.State.transform))));
-            }
-
-            if (RLGL.ExtSupported.vao) glBindVertexArray(batch->vertexBuffer[batch->currentBuffer].vaoId);
-            else
-            {
-                // Bind vertex attrib: position (shader-location = 0)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[0]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION], 3, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_POSITION]);
-
-                // Bind vertex attrib: texcoord (shader-location = 1)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[1]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01], 2, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01]);
-
-                // Bind vertex attrib: normal (shader-location = 2)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[2]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL], 3, GL_FLOAT, 0, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_NORMAL]);
-
-                // Bind vertex attrib: color (shader-location = 3)
-                glBindBuffer(GL_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[3]);
-                glVertexAttribPointer(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR], 4, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
-                glEnableVertexAttribArray(RLGL.State.currentShaderLocs[RL_SHADER_LOC_VERTEX_COLOR]);
-
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, batch->vertexBuffer[batch->currentBuffer].vboId[4]);
-            }
-
-            // Setup some default shader values
-            glUniform4f(RLGL.State.currentShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE], 1.0f, 1.0f, 1.0f, 1.0f);
-            glUniform1i(RLGL.State.currentShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE], 0);  // Active default sampler2D: texture0
-
-            // Activate additional sampler textures
-            // Those additional textures will be common for all draw calls of the batch
-            for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-            {
-                if (RLGL.State.activeTextureId[i] > 0)
-                {
-                    glActiveTexture(GL_TEXTURE0 + 1 + i);
-                    glBindTexture(GL_TEXTURE_2D, RLGL.State.activeTextureId[i]);
-                }
-            }
-
-            // Activate default sampler2D texture0 (one texture is always active for default batch shader)
-            // NOTE: Batch system accumulates calls by texture0 changes, additional textures are enabled for all the draw calls
-            glActiveTexture(GL_TEXTURE0);
-
-            for (int i = 0, vertexOffset = 0; i < batch->drawCounter; i++)
-            {
-                // Bind current draw call texture, activated as GL_TEXTURE0 and Bound to sampler2D texture0 by default
-                glBindTexture(GL_TEXTURE_2D, batch->draws[i].textureId);
-
-                if ((batch->draws[i].mode == RL_LINES) || (batch->draws[i].mode == RL_TRIANGLES)) glDrawArrays(batch->draws[i].mode, vertexOffset, batch->draws[i].vertexCount);
-                else
-                {
-    #if defined(GRAPHICS_API_OPENGL_33)
-                    // We need to define the number of indices to be processed: elementCount*6
-                    // NOTE: The final parameter tells the GPU the offset in bytes from the
-                    // start of the index buffer to the location of the first index to process
-                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_INT, (GLvoid *)(vertexOffset/4*6*sizeof(GLuint)));
-    #endif
-    #if defined(GRAPHICS_API_OPENGL_ES2)
-                    glDrawElements(GL_TRIANGLES, batch->draws[i].vertexCount/4*6, GL_UNSIGNED_SHORT, (GLvoid *)(vertexOffset/4*6*sizeof(GLushort)));
-    #endif
-                }
-
-                vertexOffset += (batch->draws[i].vertexCount + batch->draws[i].vertexAlignment);
-            }
-
-            if (!RLGL.ExtSupported.vao)
-            {
-                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-            }
-
-            glBindTexture(GL_TEXTURE_2D, 0);    // Unbind textures
-        }
-
-        if (RLGL.ExtSupported.vao) glBindVertexArray(0); // Unbind VAO
-
-        glUseProgram(0);    // Unbind shader program
-    }
-
-    // Restore viewport to default measures
-    if (eyeCount == 2) rlViewport(0, 0, RLGL.State.framebufferWidth, RLGL.State.framebufferHeight);
-    //------------------------------------------------------------------------------------------------------------
-
-    // Reset batch buffers
-    //------------------------------------------------------------------------------------------------------------
-    // Reset vertex counter for next frame
-    RLGL.State.vertexCounter = 0;
-
-    // Reset depth for next draw
-    batch->currentDepth = -1.0f;
-
-    // Restore projection/modelview matrices
-    RLGL.State.projection = matProjection;
-    RLGL.State.modelview = matModelView;
-
-    // Reset RLGL.currentBatch->draws array
-    for (int i = 0; i < RL_DEFAULT_BATCH_DRAWCALLS; i++)
-    {
-        batch->draws[i].mode = RL_QUADS;
-        batch->draws[i].vertexCount = 0;
-        batch->draws[i].textureId = RLGL.State.defaultTextureId;
-    }
-
-    // Reset active texture units for next batch
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++) RLGL.State.activeTextureId[i] = 0;
-
-    // Reset draws counter to one draw for the batch
-    batch->drawCounter = 1;
-    //------------------------------------------------------------------------------------------------------------
-
-    // Change to next buffer in the list (in case of multi-buffering)
-    batch->currentBuffer++;
-    if (batch->currentBuffer >= batch->bufferCount) batch->currentBuffer = 0;
-#endif
-}
-
-// Set the active render batch for rlgl
-void rlSetRenderBatchActive(rlRenderBatch *batch)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlDrawRenderBatch(RLGL.currentBatch);
-
-    if (batch != NULL) RLGL.currentBatch = batch;
-    else RLGL.currentBatch = &RLGL.defaultBatch;
-#endif
-}
-
-// Update and draw internal render batch
-void rlDrawRenderBatchActive(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
-#endif
-}
-
-// Check internal buffer overflow for a given number of vertex
-// and force a rlRenderBatch draw call if required
-bool rlCheckRenderBatchLimit(int vCount)
-{
-    bool overflow = false;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((RLGL.State.vertexCounter + vCount) >=
-        (RLGL.currentBatch->vertexBuffer[RLGL.currentBatch->currentBuffer].elementCount*4))
-    {
-        overflow = true;
-
-        // Store current primitive drawing mode and texture id
-        int currentMode = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode;
-        int currentTexture = RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId;
-
-        rlDrawRenderBatch(RLGL.currentBatch);    // NOTE: Stereo rendering is checked inside
-
-        // Restore state of last batch so we can continue adding vertices
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].mode = currentMode;
-        RLGL.currentBatch->draws[RLGL.currentBatch->drawCounter - 1].textureId = currentTexture;
-    }
-#endif
-
-    return overflow;
-}
-
-// Textures data management
-//-----------------------------------------------------------------------------------------
-// Convert image data to OpenGL texture (returns OpenGL valid Id)
-unsigned int rlLoadTexture(const void *data, int width, int height, int format, int mipmapCount)
-{
-    unsigned int id = 0;
-
-    glBindTexture(GL_TEXTURE_2D, 0);    // Free any old binding
-
-    // Check texture format support by OpenGL 1.1 (compressed textures not supported)
-#if defined(GRAPHICS_API_OPENGL_11)
-    if (format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: OpenGL 1.1 does not support GPU compressed texture formats");
-        return id;
-    }
-#else
-    if ((!RLGL.ExtSupported.texCompDXT) && ((format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA) ||
-        (format == RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: DXT compressed texture format not supported");
-        return id;
-    }
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if ((!RLGL.ExtSupported.texCompETC1) && (format == RL_PIXELFORMAT_COMPRESSED_ETC1_RGB))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ETC1 compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompETC2) && ((format == RL_PIXELFORMAT_COMPRESSED_ETC2_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ETC2 compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompPVRT) && ((format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGB) || (format == RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: PVRT compressed texture format not supported");
-        return id;
-    }
-
-    if ((!RLGL.ExtSupported.texCompASTC) && ((format == RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA) || (format == RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)))
-    {
-        TRACELOG(RL_LOG_WARNING, "GL: ASTC compressed texture format not supported");
-        return id;
-    }
-#endif
-#endif  // GRAPHICS_API_OPENGL_11
-
-    glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-
-    glGenTextures(1, &id);              // Generate texture id
-
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    int mipWidth = width;
-    int mipHeight = height;
-    int mipOffset = 0;          // Mipmap data offset, only used for tracelog
-
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned char *dataPtr = NULL;
-    if (data != NULL) dataPtr = (unsigned char *)data;
-
-    // Load the different mipmap levels
-    for (int i = 0; i < mipmapCount; i++)
-    {
-        unsigned int mipSize = rlGetPixelDataSize(mipWidth, mipHeight, format);
-
-        unsigned int glInternalFormat, glFormat, glType;
-        rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-        TRACELOGD("TEXTURE: Load mipmap level %i (%i x %i), size: %i, offset: %i", i, mipWidth, mipHeight, mipSize, mipOffset);
-
-        if (glInternalFormat != 0)
-        {
-            if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, glFormat, glType, dataPtr);
-#if !defined(GRAPHICS_API_OPENGL_11)
-            else glCompressedTexImage2D(GL_TEXTURE_2D, i, glInternalFormat, mipWidth, mipHeight, 0, mipSize, dataPtr);
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_33)
-            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
-            {
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
-                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
-            {
-#if defined(GRAPHICS_API_OPENGL_21)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
-#elif defined(GRAPHICS_API_OPENGL_33)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
-#endif
-                glTexParameteriv(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-#endif
-        }
-
-        mipWidth /= 2;
-        mipHeight /= 2;
-        mipOffset += mipSize;       // Increment offset position to next mipmap
-        if (data != NULL) dataPtr += mipSize;         // Increment data pointer to next mipmap
-
-        // Security check for NPOT textures
-        if (mipWidth < 1) mipWidth = 1;
-        if (mipHeight < 1) mipHeight = 1;
-    }
-
-    // Texture parameters configuration
-    // NOTE: glTexParameteri does NOT affect texture uploading, just the way it's used
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: OpenGL ES 2.0 with no GL_OES_texture_npot support (i.e. WebGL) has limited NPOT support, so CLAMP_TO_EDGE must be used
-    if (RLGL.ExtSupported.texNPOT)
-    {
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
-    }
-    else
-    {
-        // NOTE: If using negative texture coordinates (LoadOBJ()), it does not work!
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);       // Set texture to clamp on x-axis
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);       // Set texture to clamp on y-axis
-    }
-#else
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);       // Set texture to repeat on x-axis
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);       // Set texture to repeat on y-axis
-#endif
-
-    // Magnification and minification filters
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);  // Alternative: GL_LINEAR
-
-#if defined(GRAPHICS_API_OPENGL_33)
-    if (mipmapCount > 1)
-    {
-        // Activate Trilinear filtering if mipmaps are available
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    }
-#endif
-
-    // At this point we have the texture loaded in GPU and texture parameters configured
-
-    // NOTE: If mipmaps were not in data, they are not generated automatically
-
-    // Unbind current texture
-    glBindTexture(GL_TEXTURE_2D, 0);
-
-    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Texture loaded successfully (%ix%i | %s | %i mipmaps)", id, width, height, rlGetPixelFormatName(format), mipmapCount);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load texture");
-
-    return id;
-}
-
-// Load depth texture/renderbuffer (to be attached to fbo)
-// WARNING: OpenGL ES 2.0 requires GL_OES_depth_texture and WebGL requires WEBGL_depth_texture extensions
-unsigned int rlLoadTextureDepth(int width, int height, bool useRenderBuffer)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // In case depth textures not supported, we force renderbuffer usage
-    if (!RLGL.ExtSupported.texDepth) useRenderBuffer = true;
-
-    // NOTE: We let the implementation to choose the best bit-depth
-    // Possible formats: GL_DEPTH_COMPONENT16, GL_DEPTH_COMPONENT24, GL_DEPTH_COMPONENT32 and GL_DEPTH_COMPONENT32F
-    unsigned int glInternalFormat = GL_DEPTH_COMPONENT;
-
-#if (defined(GRAPHICS_API_OPENGL_ES2) || defined(GRAPHICS_API_OPENGL_ES3))
-    // WARNING: WebGL platform requires unsized internal format definition (GL_DEPTH_COMPONENT)
-    // while other platforms using OpenGL ES 2.0 require/support sized internal formats depending on the GPU capabilities
-    if (!RLGL.ExtSupported.texDepthWebGL || useRenderBuffer)
-    {
-        if (RLGL.ExtSupported.maxDepthBits == 32) glInternalFormat = GL_DEPTH_COMPONENT32_OES;
-        else if (RLGL.ExtSupported.maxDepthBits == 24) glInternalFormat = GL_DEPTH_COMPONENT24_OES;
-        else glInternalFormat = GL_DEPTH_COMPONENT16;
-    }
-#endif
-
-    if (!useRenderBuffer && RLGL.ExtSupported.texDepth)
-    {
-        glGenTextures(1, &id);
-        glBindTexture(GL_TEXTURE_2D, id);
-        glTexImage2D(GL_TEXTURE_2D, 0, glInternalFormat, width, height, 0, GL_DEPTH_COMPONENT, GL_UNSIGNED_INT, NULL);
-
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-
-        glBindTexture(GL_TEXTURE_2D, 0);
-
-        TRACELOG(RL_LOG_INFO, "TEXTURE: Depth texture loaded successfully");
-    }
-    else
-    {
-        // Create the renderbuffer that will serve as the depth attachment for the framebuffer
-        // NOTE: A renderbuffer is simpler than a texture and could offer better performance on embedded devices
-        glGenRenderbuffers(1, &id);
-        glBindRenderbuffer(GL_RENDERBUFFER, id);
-        glRenderbufferStorage(GL_RENDERBUFFER, glInternalFormat, width, height);
-
-        glBindRenderbuffer(GL_RENDERBUFFER, 0);
-
-        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Depth renderbuffer loaded successfully (%i bits)", id, (RLGL.ExtSupported.maxDepthBits >= 24)? RLGL.ExtSupported.maxDepthBits : 16);
-    }
-#endif
-
-    return id;
-}
-
-// Load texture cubemap
-// NOTE: Cubemap data is expected to be 6 images in a single data array (one after the other),
-// expected the following convention: +X, -X, +Y, -Y, +Z, -Z
-unsigned int rlLoadTextureCubemap(const void *data, int size, int format, int mipmapCount)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    int mipSize = size;
-
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned char *dataPtr = NULL;
-    if (data != NULL) dataPtr = (unsigned char *)data;
-
-    unsigned int dataSize = rlGetPixelDataSize(size, size, format);
-
-    glGenTextures(1, &id);
-    glBindTexture(GL_TEXTURE_CUBE_MAP, id);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-    if (glInternalFormat != 0)
-    {
-        // Load cubemap faces/mipmaps
-        for (int i = 0; i < 6*mipmapCount; i++)
-        {
-            int mipmapLevel = i/6;
-            int face = i%6;
-
-            if (data == NULL)
-            {
-                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB)
-                {
-                    if ((format == RL_PIXELFORMAT_UNCOMPRESSED_R32) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16) ||
-                        (format == RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16)) TRACELOG(RL_LOG_WARNING, "TEXTURES: Cubemap requested format not supported");
-                    else glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, NULL);
-                }
-                else TRACELOG(RL_LOG_WARNING, "TEXTURES: Empty cubemap creation does not support compressed format");
-            }
-            else
-            {
-                if (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, glFormat, glType, (unsigned char *)dataPtr + face*dataSize);
-                else glCompressedTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X + face, mipmapLevel, glInternalFormat, mipSize, mipSize, 0, dataSize, (unsigned char *)dataPtr + face*dataSize);
-            }
-
-#if defined(GRAPHICS_API_OPENGL_33)
-            if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)
-            {
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ONE };
-                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-            else if (format == RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)
-            {
-#if defined(GRAPHICS_API_OPENGL_21)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_ALPHA };
-#elif defined(GRAPHICS_API_OPENGL_33)
-                GLint swizzleMask[] = { GL_RED, GL_RED, GL_RED, GL_GREEN };
-#endif
-                glTexParameteriv(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_SWIZZLE_RGBA, swizzleMask);
-            }
-#endif
-            if (face == 5)
-            {
-                mipSize /= 2;
-                if (data != NULL) dataPtr += dataSize*6; // Increment data pointer to next mipmap
-
-                // Security check for NPOT textures
-                if (mipSize < 1) mipSize = 1;
-
-                dataSize = rlGetPixelDataSize(mipSize, mipSize, format);
-            }
-        }
-    }
-
-    // Set cubemap texture sampling parameters
-    if (mipmapCount > 1) glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    else glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-#if defined(GRAPHICS_API_OPENGL_33)
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);  // Flag not supported on OpenGL ES 2.0
-#endif
-
-    glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
-#endif
-
-    if (id > 0) TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Cubemap texture loaded successfully (%ix%i)", id, size, size);
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: Failed to load cubemap texture");
-
-    return id;
-}
-
-// Update already loaded texture in GPU with new data
-// NOTE: We don't know safely if internal texture format is the expected one...
-void rlUpdateTexture(unsigned int id, int offsetX, int offsetY, int width, int height, int format, const void *data)
-{
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-
-    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
-    {
-        glTexSubImage2D(GL_TEXTURE_2D, 0, offsetX, offsetY, width, height, glFormat, glType, data);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to update for current texture format (%i)", id, format);
-}
-
-// Get OpenGL internal formats and data type from raylib PixelFormat
-void rlGetGlTextureFormats(int format, unsigned int *glInternalFormat, unsigned int *glFormat, unsigned int *glType)
-{
-    *glInternalFormat = 0;
-    *glFormat = 0;
-    *glType = 0;
-
-    switch (format)
-    {
-    #if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_21) || defined(GRAPHICS_API_OPENGL_ES2)
-        // NOTE: on OpenGL ES 2.0 (WebGL), internalFormat must match format and options allowed are: GL_LUMINANCE, GL_RGB, GL_RGBA
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_LUMINANCE_ALPHA; *glFormat = GL_LUMINANCE_ALPHA; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
-        #if !defined(GRAPHICS_API_OPENGL_11)
-        #if defined(GRAPHICS_API_OPENGL_ES3)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F_EXT; *glFormat = GL_RED_EXT; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F_EXT; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F_EXT; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F_EXT; *glFormat = GL_RED_EXT; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F_EXT; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F_EXT; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
-        #else
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_FLOAT; break;            // NOTE: Requires extension OES_texture_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_FLOAT; break;                  // NOTE: Requires extension OES_texture_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;             // NOTE: Requires extension OES_texture_float
-        #if defined(GRAPHICS_API_OPENGL_21)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_ARB; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_ARB; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_ARB; break;
-        #else // defined(GRAPHICS_API_OPENGL_ES2)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_LUMINANCE; *glFormat = GL_LUMINANCE; *glType = GL_HALF_FLOAT_OES; break;   // NOTE: Requires extension OES_texture_half_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT_OES; break;         // NOTE: Requires extension OES_texture_half_float
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT_OES; break;    // NOTE: Requires extension OES_texture_half_float
-        #endif
-        #endif
-        #endif
-    #elif defined(GRAPHICS_API_OPENGL_33)
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: *glInternalFormat = GL_R8; *glFormat = GL_RED; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: *glInternalFormat = GL_RG8; *glFormat = GL_RG; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: *glInternalFormat = GL_RGB565; *glFormat = GL_RGB; *glType = GL_UNSIGNED_SHORT_5_6_5; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: *glInternalFormat = GL_RGB8; *glFormat = GL_RGB; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: *glInternalFormat = GL_RGB5_A1; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_5_5_5_1; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: *glInternalFormat = GL_RGBA4; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_SHORT_4_4_4_4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: *glInternalFormat = GL_RGBA8; *glFormat = GL_RGBA; *glType = GL_UNSIGNED_BYTE; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_R32F; *glFormat = GL_RED; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGB32F; *glFormat = GL_RGB; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: if (RLGL.ExtSupported.texFloat32) *glInternalFormat = GL_RGBA32F; *glFormat = GL_RGBA; *glType = GL_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_R16F; *glFormat = GL_RED; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGB16F; *glFormat = GL_RGB; *glType = GL_HALF_FLOAT; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: if (RLGL.ExtSupported.texFloat16) *glInternalFormat = GL_RGBA16F; *glFormat = GL_RGBA; *glType = GL_HALF_FLOAT; break;
-    #endif
-    #if !defined(GRAPHICS_API_OPENGL_11)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGB_S3TC_DXT1_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT1_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT3_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: if (RLGL.ExtSupported.texCompDXT) *glInternalFormat = GL_COMPRESSED_RGBA_S3TC_DXT5_EXT; break;
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: if (RLGL.ExtSupported.texCompETC1) *glInternalFormat = GL_ETC1_RGB8_OES; break;                      // NOTE: Requires OpenGL ES 2.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGB8_ETC2; break;               // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: if (RLGL.ExtSupported.texCompETC2) *glInternalFormat = GL_COMPRESSED_RGBA8_ETC2_EAC; break;     // NOTE: Requires OpenGL ES 3.0 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG; break;    // NOTE: Requires PowerVR GPU
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: if (RLGL.ExtSupported.texCompPVRT) *glInternalFormat = GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG; break;  // NOTE: Requires PowerVR GPU
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_4x4_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: if (RLGL.ExtSupported.texCompASTC) *glInternalFormat = GL_COMPRESSED_RGBA_ASTC_8x8_KHR; break;  // NOTE: Requires OpenGL ES 3.1 or OpenGL 4.3
-    #endif
-        default: TRACELOG(RL_LOG_WARNING, "TEXTURE: Current format not supported (%i)", format); break;
-    }
-}
-
-// Unload texture from GPU memory
-void rlUnloadTexture(unsigned int id)
-{
-    glDeleteTextures(1, &id);
-}
-
-// Generate mipmap data for selected texture
-// NOTE: Only supports GPU mipmap generation
-void rlGenTextureMipmaps(unsigned int id, int width, int height, int format, int *mipmaps)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    // Check if texture is power-of-two (POT)
-    bool texIsPOT = false;
-
-    if (((width > 0) && ((width & (width - 1)) == 0)) &&
-        ((height > 0) && ((height & (height - 1)) == 0))) texIsPOT = true;
-
-    if ((texIsPOT) || (RLGL.ExtSupported.texNPOT))
-    {
-        //glHint(GL_GENERATE_MIPMAP_HINT, GL_DONT_CARE);   // Hint for mipmaps generation algorithm: GL_FASTEST, GL_NICEST, GL_DONT_CARE
-        glGenerateMipmap(GL_TEXTURE_2D);    // Generate mipmaps automatically
-
-        #define MIN(a,b) (((a)<(b))? (a):(b))
-        #define MAX(a,b) (((a)>(b))? (a):(b))
-
-        *mipmaps = 1 + (int)floor(log(MAX(width, height))/log(2));
-        TRACELOG(RL_LOG_INFO, "TEXTURE: [ID %i] Mipmaps generated automatically, total: %i", id, *mipmaps);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Failed to generate mipmaps", id);
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-#else
-    TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] GPU mipmap generation not supported", id);
-#endif
-}
-
-// Read texture pixel data
-void *rlReadTexturePixels(unsigned int id, int width, int height, int format)
-{
-    void *pixels = NULL;
-
-#if defined(GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
-    glBindTexture(GL_TEXTURE_2D, id);
-
-    // NOTE: Using texture id, we can retrieve some texture info (but not on OpenGL ES 2.0)
-    // Possible texture info: GL_TEXTURE_RED_SIZE, GL_TEXTURE_GREEN_SIZE, GL_TEXTURE_BLUE_SIZE, GL_TEXTURE_ALPHA_SIZE
-    //int width, height, format;
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_WIDTH, &width);
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_HEIGHT, &height);
-    //glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_INTERNAL_FORMAT, &format);
-
-    // NOTE: Each row written to or read from by OpenGL pixel operations like glGetTexImage are aligned to a 4 byte boundary by default, which may add some padding
-    // Use glPixelStorei to modify padding with the GL_[UN]PACK_ALIGNMENT setting
-    // GL_PACK_ALIGNMENT affects operations that read from OpenGL memory (glReadPixels, glGetTexImage, etc.)
-    // GL_UNPACK_ALIGNMENT affects operations that write to OpenGL memory (glTexImage, etc.)
-    glPixelStorei(GL_PACK_ALIGNMENT, 1);
-
-    unsigned int glInternalFormat, glFormat, glType;
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-    unsigned int size = rlGetPixelDataSize(width, height, format);
-
-    if ((glInternalFormat != 0) && (format < RL_PIXELFORMAT_COMPRESSED_DXT1_RGB))
-    {
-        pixels = RL_MALLOC(size);
-        glGetTexImage(GL_TEXTURE_2D, 0, glFormat, glType, pixels);
-    }
-    else TRACELOG(RL_LOG_WARNING, "TEXTURE: [ID %i] Data retrieval not suported for pixel format (%i)", id, format);
-
-    glBindTexture(GL_TEXTURE_2D, 0);
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES2)
-    // glGetTexImage() is not available on OpenGL ES 2.0
-    // Texture width and height are required on OpenGL ES 2.0, there is no way to get it from texture id
-    // Two possible Options:
-    // 1 - Bind texture to color fbo attachment and glReadPixels()
-    // 2 - Create an fbo, activate it, render quad with texture, glReadPixels()
-    // We are using Option 1, just need to care for texture format on retrieval
-    // NOTE: This behaviour could be conditioned by graphic driver...
-    unsigned int fboId = rlLoadFramebuffer();
-
-    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
-    glBindTexture(GL_TEXTURE_2D, 0);
-
-    // Attach our texture to FBO
-    glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, id, 0);
-
-    // We read data as RGBA because FBO texture is configured as RGBA, despite binding another texture format
-    pixels = (unsigned char *)RL_MALLOC(rlGetPixelDataSize(width, height, RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8));
-    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
-    // Clean up temporal fbo
-    rlUnloadFramebuffer(fboId);
-#endif
-
-    return pixels;
-}
-
-// Read screen pixel data (color buffer)
-unsigned char *rlReadScreenPixels(int width, int height)
-{
-    unsigned char *screenData = (unsigned char *)RL_CALLOC(width*height*4, sizeof(unsigned char));
-
-    // NOTE 1: glReadPixels returns image flipped vertically -> (0,0) is the bottom left corner of the framebuffer
-    // NOTE 2: We are getting alpha channel! Be careful, it can be transparent if not cleared properly!
-    glReadPixels(0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, screenData);
-
-    // Flip image vertically!
-    unsigned char *imgData = (unsigned char *)RL_MALLOC(width*height*4*sizeof(unsigned char));
-
-    for (int y = height - 1; y >= 0; y--)
-    {
-        for (int x = 0; x < (width*4); x++)
-        {
-            imgData[((height - 1) - y)*width*4 + x] = screenData[(y*width*4) + x];  // Flip line
-
-            // Set alpha component value to 255 (no trasparent image retrieval)
-            // NOTE: Alpha value has already been applied to RGB in framebuffer, we don't need it!
-            if (((x + 1)%4) == 0) imgData[((height - 1) - y)*width*4 + x] = 255;
-        }
-    }
-
-    RL_FREE(screenData);
-
-    return imgData;     // NOTE: image data should be freed
-}
-
-// Framebuffer management (fbo)
-//-----------------------------------------------------------------------------------------
-// Load a framebuffer to be used for rendering
-// NOTE: No textures attached
-unsigned int rlLoadFramebuffer(void)
-{
-    unsigned int fboId = 0;
-
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glGenFramebuffers(1, &fboId);       // Create the framebuffer object
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);   // Unbind any framebuffer
-#endif
-
-    return fboId;
-}
-
-// Attach color buffer texture to an fbo (unloads previous attachment)
-// NOTE: Attach type: 0-Color, 1-Depth renderbuffer, 2-Depth texture
-void rlFramebufferAttach(unsigned int fboId, unsigned int texId, int attachType, int texType, int mipLevel)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, fboId);
-
-    switch (attachType)
-    {
-        case RL_ATTACHMENT_COLOR_CHANNEL0:
-        case RL_ATTACHMENT_COLOR_CHANNEL1:
-        case RL_ATTACHMENT_COLOR_CHANNEL2:
-        case RL_ATTACHMENT_COLOR_CHANNEL3:
-        case RL_ATTACHMENT_COLOR_CHANNEL4:
-        case RL_ATTACHMENT_COLOR_CHANNEL5:
-        case RL_ATTACHMENT_COLOR_CHANNEL6:
-        case RL_ATTACHMENT_COLOR_CHANNEL7:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER) glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_RENDERBUFFER, texId);
-            else if (texType >= RL_ATTACHMENT_CUBEMAP_POSITIVE_X) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0 + attachType, GL_TEXTURE_CUBE_MAP_POSITIVE_X + texType, texId, mipLevel);
-
-        } break;
-        case RL_ATTACHMENT_DEPTH:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, texId);
-
-        } break;
-        case RL_ATTACHMENT_STENCIL:
-        {
-            if (texType == RL_ATTACHMENT_TEXTURE2D) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_TEXTURE_2D, texId, mipLevel);
-            else if (texType == RL_ATTACHMENT_RENDERBUFFER)  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_RENDERBUFFER, texId);
-
-        } break;
-        default: break;
-    }
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-#endif
-}
-
-// Verify render texture is complete
-bool rlFramebufferComplete(unsigned int id)
-{
-    bool result = false;
-
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    glBindFramebuffer(GL_FRAMEBUFFER, id);
-
-    GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-
-    if (status != GL_FRAMEBUFFER_COMPLETE)
-    {
-        switch (status)
-        {
-            case GL_FRAMEBUFFER_UNSUPPORTED: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer is unsupported", id); break;
-            case GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete attachment", id); break;
-#if defined(GRAPHICS_API_OPENGL_ES2)
-            case GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has incomplete dimensions", id); break;
-#endif
-            case GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT: TRACELOG(RL_LOG_WARNING, "FBO: [ID %i] Framebuffer has a missing attachment", id); break;
-            default: break;
-        }
-    }
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
-    result = (status == GL_FRAMEBUFFER_COMPLETE);
-#endif
-
-    return result;
-}
-
-// Unload framebuffer from GPU memory
-// NOTE: All attached textures/cubemaps/renderbuffers are also deleted
-void rlUnloadFramebuffer(unsigned int id)
-{
-#if (defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)) && defined(RLGL_RENDER_TEXTURES_HINT)
-    // Query depth attachment to automatically delete texture/renderbuffer
-    int depthType = 0, depthId = 0;
-    glBindFramebuffer(GL_FRAMEBUFFER, id);   // Bind framebuffer to query depth texture type
-    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE, &depthType);
-
-    // TODO: Review warning retrieving object name in WebGL
-    // WARNING: WebGL: INVALID_ENUM: getFramebufferAttachmentParameter: invalid parameter name
-    // https://registry.khronos.org/webgl/specs/latest/1.0/
-    glGetFramebufferAttachmentParameteriv(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME, &depthId);
-
-    unsigned int depthIdU = (unsigned int)depthId;
-    if (depthType == GL_RENDERBUFFER) glDeleteRenderbuffers(1, &depthIdU);
-    else if (depthType == GL_TEXTURE) glDeleteTextures(1, &depthIdU);
-
-    // NOTE: If a texture object is deleted while its image is attached to the *currently bound* framebuffer,
-    // the texture image is automatically detached from the currently bound framebuffer
-
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-    glDeleteFramebuffers(1, &id);
-
-    TRACELOG(RL_LOG_INFO, "FBO: [ID %i] Unloaded framebuffer from VRAM (GPU)", id);
-#endif
-}
-
-// Vertex data management
-//-----------------------------------------------------------------------------------------
-// Load a new attributes buffer
-unsigned int rlLoadVertexBuffer(const void *buffer, int size, bool dynamic)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glGenBuffers(1, &id);
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-    glBufferData(GL_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
-#endif
-
-    return id;
-}
-
-// Load a new attributes element buffer
-unsigned int rlLoadVertexBufferElement(const void *buffer, int size, bool dynamic)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glGenBuffers(1, &id);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-    glBufferData(GL_ELEMENT_ARRAY_BUFFER, size, buffer, dynamic? GL_DYNAMIC_DRAW : GL_STATIC_DRAW);
-#endif
-
-    return id;
-}
-
-// Enable vertex buffer (VBO)
-void rlEnableVertexBuffer(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-#endif
-}
-
-// Disable vertex buffer (VBO)
-void rlDisableVertexBuffer(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-#endif
-}
-
-// Enable vertex buffer element (VBO element)
-void rlEnableVertexBufferElement(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-#endif
-}
-
-// Disable vertex buffer element (VBO element)
-void rlDisableVertexBufferElement(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-#endif
-}
-
-// Update vertex buffer with new data
-// NOTE: dataSize and offset must be provided in bytes
-void rlUpdateVertexBuffer(unsigned int id, const void *data, int dataSize, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ARRAY_BUFFER, id);
-    glBufferSubData(GL_ARRAY_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Update vertex buffer elements with new data
-// NOTE: dataSize and offset must be provided in bytes
-void rlUpdateVertexBufferElements(unsigned int id, const void *data, int dataSize, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, id);
-    glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Enable vertex array object (VAO)
-bool rlEnableVertexArray(unsigned int vaoId)
-{
-    bool result = false;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glBindVertexArray(vaoId);
-        result = true;
-    }
-#endif
-    return result;
-}
-
-// Disable vertex array object (VAO)
-void rlDisableVertexArray(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao) glBindVertexArray(0);
-#endif
-}
-
-// Enable vertex attribute index
-void rlEnableVertexAttribute(unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glEnableVertexAttribArray(index);
-#endif
-}
-
-// Disable vertex attribute index
-void rlDisableVertexAttribute(unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDisableVertexAttribArray(index);
-#endif
-}
-
-// Draw vertex array
-void rlDrawVertexArray(int offset, int count)
-{
-    glDrawArrays(GL_TRIANGLES, offset, count);
-}
-
-// Draw vertex array elements
-void rlDrawVertexArrayElements(int offset, int count, const void *buffer)
-{
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned short *bufferPtr = (unsigned short *)buffer;
-    if (offset > 0) bufferPtr += offset;
-
-    glDrawElements(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr);
-}
-
-// Draw vertex array instanced
-void rlDrawVertexArrayInstanced(int offset, int count, int instances)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDrawArraysInstanced(GL_TRIANGLES, 0, count, instances);
-#endif
-}
-
-// Draw vertex array elements instanced
-void rlDrawVertexArrayElementsInstanced(int offset, int count, const void *buffer, int instances)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Added pointer math separately from function to avoid UBSAN complaining
-    unsigned short *bufferPtr = (unsigned short *)buffer;
-    if (offset > 0) bufferPtr += offset;
-
-    glDrawElementsInstanced(GL_TRIANGLES, count, GL_UNSIGNED_SHORT, (const unsigned short *)bufferPtr, instances);
-#endif
-}
-
-#if defined(GRAPHICS_API_OPENGL_11)
-// Enable vertex state pointer
-void rlEnableStatePointer(int vertexAttribType, void *buffer)
-{
-    if (buffer != NULL) glEnableClientState(vertexAttribType);
-    switch (vertexAttribType)
-    {
-        case GL_VERTEX_ARRAY: glVertexPointer(3, GL_FLOAT, 0, buffer); break;
-        case GL_TEXTURE_COORD_ARRAY: glTexCoordPointer(2, GL_FLOAT, 0, buffer); break;
-        case GL_NORMAL_ARRAY: if (buffer != NULL) glNormalPointer(GL_FLOAT, 0, buffer); break;
-        case GL_COLOR_ARRAY: if (buffer != NULL) glColorPointer(4, GL_UNSIGNED_BYTE, 0, buffer); break;
-        //case GL_INDEX_ARRAY: if (buffer != NULL) glIndexPointer(GL_SHORT, 0, buffer); break; // Indexed colors
-        default: break;
-    }
-}
-
-// Disable vertex state pointer
-void rlDisableStatePointer(int vertexAttribType)
-{
-    glDisableClientState(vertexAttribType);
-}
-#endif
-
-// Load vertex array object (VAO)
-unsigned int rlLoadVertexArray(void)
-{
-    unsigned int vaoId = 0;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glGenVertexArrays(1, &vaoId);
-    }
-#endif
-    return vaoId;
-}
-
-// Set vertex attribute
-void rlSetVertexAttribute(unsigned int index, int compSize, int type, bool normalized, int stride, int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // NOTE: Data type could be: GL_BYTE, GL_UNSIGNED_BYTE, GL_SHORT, GL_UNSIGNED_SHORT, GL_INT, GL_UNSIGNED_INT
-    // Additional types (depends on OpenGL version or extensions):
-    //  - GL_HALF_FLOAT, GL_FLOAT, GL_DOUBLE, GL_FIXED,
-    //  - GL_INT_2_10_10_10_REV, GL_UNSIGNED_INT_2_10_10_10_REV, GL_UNSIGNED_INT_10F_11F_11F_REV
-
-    size_t offsetNative = offset;
-    glVertexAttribPointer(index, compSize, type, normalized, stride, (void *)offsetNative);
-#endif
-}
-
-// Set vertex attribute divisor
-void rlSetVertexAttributeDivisor(unsigned int index, int divisor)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glVertexAttribDivisor(index, divisor);
-#endif
-}
-
-// Unload vertex array object (VAO)
-void rlUnloadVertexArray(unsigned int vaoId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.ExtSupported.vao)
-    {
-        glBindVertexArray(0);
-        glDeleteVertexArrays(1, &vaoId);
-        TRACELOG(RL_LOG_INFO, "VAO: [ID %i] Unloaded vertex array data from VRAM (GPU)", vaoId);
-    }
-#endif
-}
-
-// Unload vertex buffer (VBO)
-void rlUnloadVertexBuffer(unsigned int vboId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDeleteBuffers(1, &vboId);
-    //TRACELOG(RL_LOG_INFO, "VBO: Unloaded vertex data from VRAM (GPU)");
-#endif
-}
-
-// Shaders management
-//-----------------------------------------------------------------------------------------------
-// Load shader from code strings
-// NOTE: If shader string is NULL, using default vertex/fragment shaders
-unsigned int rlLoadShaderCode(const char *vsCode, const char *fsCode)
-{
-    unsigned int id = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int vertexShaderId = 0;
-    unsigned int fragmentShaderId = 0;
-
-    // Compile vertex shader (if provided)
-    // NOTE: If not vertex shader is provided, use default one
-    if (vsCode != NULL) vertexShaderId = rlCompileShader(vsCode, GL_VERTEX_SHADER);
-    else vertexShaderId = RLGL.State.defaultVShaderId;
-
-    // Compile fragment shader (if provided)
-    // NOTE: If not vertex shader is provided, use default one
-    if (fsCode != NULL) fragmentShaderId = rlCompileShader(fsCode, GL_FRAGMENT_SHADER);
-    else fragmentShaderId = RLGL.State.defaultFShaderId;
-
-    // In case vertex and fragment shader are the default ones, no need to recompile, we can just assign the default shader program id
-    if ((vertexShaderId == RLGL.State.defaultVShaderId) && (fragmentShaderId == RLGL.State.defaultFShaderId)) id = RLGL.State.defaultShaderId;
-    else if ((vertexShaderId > 0) && (fragmentShaderId > 0))
-    {
-        // One of or both shader are new, we need to compile a new shader program
-        id = rlLoadShaderProgram(vertexShaderId, fragmentShaderId);
-
-        // We can detach and delete vertex/fragment shaders (if not default ones)
-        // NOTE: We detach shader before deletion to make sure memory is freed
-        if (vertexShaderId != RLGL.State.defaultVShaderId)
-        {
-            // WARNING: Shader program linkage could fail and returned id is 0
-            if (id > 0) glDetachShader(id, vertexShaderId);
-            glDeleteShader(vertexShaderId);
-        }
-        if (fragmentShaderId != RLGL.State.defaultFShaderId)
-        {
-            // WARNING: Shader program linkage could fail and returned id is 0
-            if (id > 0) glDetachShader(id, fragmentShaderId);
-            glDeleteShader(fragmentShaderId);
-        }
-
-        // In case shader program loading failed, we assign default shader
-        if (id == 0)
-        {
-            // In case shader loading fails, we return the default shader
-            TRACELOG(RL_LOG_WARNING, "SHADER: Failed to load custom shader code, using default shader");
-            id = RLGL.State.defaultShaderId;
-        }
-        /*
-        else
-        {
-            // Get available shader uniforms
-            // NOTE: This information is useful for debug...
-            int uniformCount = -1;
-            glGetProgramiv(id, GL_ACTIVE_UNIFORMS, &uniformCount);
-
-            for (int i = 0; i < uniformCount; i++)
-            {
-                int namelen = -1;
-                int num = -1;
-                char name[256] = { 0 };     // Assume no variable names longer than 256
-                GLenum type = GL_ZERO;
-
-                // Get the name of the uniforms
-                glGetActiveUniform(id, i, sizeof(name) - 1, &namelen, &num, &type, name);
-
-                name[namelen] = 0;
-                TRACELOGD("SHADER: [ID %i] Active uniform (%s) set at location: %i", id, name, glGetUniformLocation(id, name));
-            }
-        }
-        */
-    }
-#endif
-
-    return id;
-}
-
-// Compile custom shader and return shader id
-unsigned int rlCompileShader(const char *shaderCode, int type)
-{
-    unsigned int shader = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    shader = glCreateShader(type);
-    glShaderSource(shader, 1, &shaderCode, NULL);
-
-    GLint success = 0;
-    glCompileShader(shader);
-    glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        switch (type)
-        {
-            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile vertex shader code", shader); break;
-            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile fragment shader code", shader); break;
-            //case GL_GEOMETRY_SHADER:
-        #if defined(GRAPHICS_API_OPENGL_43)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to compile compute shader code", shader); break;
-        #elif defined(GRAPHICS_API_OPENGL_33)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
-        #endif
-            default: break;
-        }
-
-        int maxLength = 0;
-        glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetShaderInfoLog(shader, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Compile error: %s", shader, log);
-            RL_FREE(log);
-        }
-
-        shader = 0;
-    }
-    else
-    {
-        switch (type)
-        {
-            case GL_VERTEX_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Vertex shader compiled successfully", shader); break;
-            case GL_FRAGMENT_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Fragment shader compiled successfully", shader); break;
-            //case GL_GEOMETRY_SHADER:
-        #if defined(GRAPHICS_API_OPENGL_43)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader compiled successfully", shader); break;
-        #elif defined(GRAPHICS_API_OPENGL_33)
-            case GL_COMPUTE_SHADER: TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43", shader); break;
-        #endif
-            default: break;
-        }
-    }
-#endif
-
-    return shader;
-}
-
-// Load custom shader strings and return program id
-unsigned int rlLoadShaderProgram(unsigned int vShaderId, unsigned int fShaderId)
-{
-    unsigned int program = 0;
-
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    GLint success = 0;
-    program = glCreateProgram();
-
-    glAttachShader(program, vShaderId);
-    glAttachShader(program, fShaderId);
-
-    // NOTE: Default attribute shader locations must be Bound before linking
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, RL_DEFAULT_SHADER_ATTRIB_NAME_NORMAL);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_COLOR, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TANGENT, RL_DEFAULT_SHADER_ATTRIB_NAME_TANGENT);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD2, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD2);
-
-#ifdef RL_SUPPORT_MESH_GPU_SKINNING
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEIDS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEIDS);
-    glBindAttribLocation(program, RL_DEFAULT_SHADER_ATTRIB_LOCATION_BONEWEIGHTS, RL_DEFAULT_SHADER_ATTRIB_NAME_BONEWEIGHTS);
-#endif
-
-    // NOTE: If some attrib name is no found on the shader, it locations becomes -1
-
-    glLinkProgram(program);
-
-    // NOTE: All uniform variables are intitialised to 0 when a program links
-
-    glGetProgramiv(program, GL_LINK_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link shader program", program);
-
-        int maxLength = 0;
-        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetProgramInfoLog(program, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
-            RL_FREE(log);
-        }
-
-        glDeleteProgram(program);
-
-        program = 0;
-    }
-    else
-    {
-        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
-        //GLint binarySize = 0;
-        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
-
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Program shader loaded successfully", program);
-    }
-#endif
-    return program;
-}
-
-// Unload shader program
-void rlUnloadShaderProgram(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    glDeleteProgram(id);
-
-    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Unloaded shader program data from VRAM (GPU)", id);
-#endif
-}
-
-// Get shader location uniform
-int rlGetLocationUniform(unsigned int shaderId, const char *uniformName)
-{
-    int location = -1;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    location = glGetUniformLocation(shaderId, uniformName);
-
-    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader uniform: %s", shaderId, uniformName);
-    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader uniform (%s) set at location: %i", shaderId, uniformName, location);
-#endif
-    return location;
-}
-
-// Get shader location attribute
-int rlGetLocationAttrib(unsigned int shaderId, const char *attribName)
-{
-    int location = -1;
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    location = glGetAttribLocation(shaderId, attribName);
-
-    //if (location == -1) TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to find shader attribute: %s", shaderId, attribName);
-    //else TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Shader attribute (%s) set at location: %i", shaderId, attribName, location);
-#endif
-    return location;
-}
-
-// Set shader value uniform
-void rlSetUniform(int locIndex, const void *value, int uniformType, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    switch (uniformType)
-    {
-        case RL_SHADER_UNIFORM_FLOAT: glUniform1fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC2: glUniform2fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC3: glUniform3fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_VEC4: glUniform4fv(locIndex, count, (float *)value); break;
-        case RL_SHADER_UNIFORM_INT: glUniform1iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC2: glUniform2iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC3: glUniform3iv(locIndex, count, (int *)value); break;
-        case RL_SHADER_UNIFORM_IVEC4: glUniform4iv(locIndex, count, (int *)value); break;
-    #if !defined(GRAPHICS_API_OPENGL_ES2)
-        case RL_SHADER_UNIFORM_UINT: glUniform1uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC2: glUniform2uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC3: glUniform3uiv(locIndex, count, (unsigned int *)value); break;
-        case RL_SHADER_UNIFORM_UIVEC4: glUniform4uiv(locIndex, count, (unsigned int *)value); break;
-    #endif
-        case RL_SHADER_UNIFORM_SAMPLER2D: glUniform1iv(locIndex, count, (int *)value); break;
-        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set uniform value, data type not recognized");
-
-        // TODO: Support glUniform1uiv(), glUniform2uiv(), glUniform3uiv(), glUniform4uiv()
-    }
-#endif
-}
-
-// Set shader value attribute
-void rlSetVertexAttributeDefault(int locIndex, const void *value, int attribType, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    switch (attribType)
-    {
-        case RL_SHADER_ATTRIB_FLOAT: if (count == 1) glVertexAttrib1fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC2: if (count == 2) glVertexAttrib2fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC3: if (count == 3) glVertexAttrib3fv(locIndex, (float *)value); break;
-        case RL_SHADER_ATTRIB_VEC4: if (count == 4) glVertexAttrib4fv(locIndex, (float *)value); break;
-        default: TRACELOG(RL_LOG_WARNING, "SHADER: Failed to set attrib default value, data type not recognized");
-    }
-#endif
-}
-
-// Set shader value uniform matrix
-void rlSetUniformMatrix(int locIndex, Matrix mat)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    float matfloat[16] = {
-        mat.m0, mat.m1, mat.m2, mat.m3,
-        mat.m4, mat.m5, mat.m6, mat.m7,
-        mat.m8, mat.m9, mat.m10, mat.m11,
-        mat.m12, mat.m13, mat.m14, mat.m15
-    };
-    glUniformMatrix4fv(locIndex, 1, false, matfloat);
-#endif
-}
-
-// Set shader value uniform matrix
-void rlSetUniformMatrices(int locIndex, const Matrix *matrices, int count)
-{
-#if defined(GRAPHICS_API_OPENGL_33)
-    glUniformMatrix4fv(locIndex, count, true, (const float *)matrices);
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    // WARNING: WebGL does not support Matrix transpose ("true" parameter)
-    // REF: https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/uniformMatrix
-    glUniformMatrix4fv(locIndex, count, false, (const float *)matrices);
-#endif
-}
-
-// Set shader value uniform sampler
-void rlSetUniformSampler(int locIndex, unsigned int textureId)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // Check if texture is already active
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-    {
-        if (RLGL.State.activeTextureId[i] == textureId)
-        {
-            glUniform1i(locIndex, 1 + i);
-            return;
-        }
-    }
-
-    // Register a new active texture for the internal batch system
-    // NOTE: Default texture is always activated as GL_TEXTURE0
-    for (int i = 0; i < RL_DEFAULT_BATCH_MAX_TEXTURE_UNITS; i++)
-    {
-        if (RLGL.State.activeTextureId[i] == 0)
-        {
-            glUniform1i(locIndex, 1 + i);              // Activate new texture unit
-            RLGL.State.activeTextureId[i] = textureId; // Save texture id for binding on drawing
-            break;
-        }
-    }
-#endif
-}
-
-// Set shader currently active (id and locations)
-void rlSetShader(unsigned int id, int *locs)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    if (RLGL.State.currentShaderId != id)
-    {
-        rlDrawRenderBatch(RLGL.currentBatch);
-        RLGL.State.currentShaderId = id;
-        RLGL.State.currentShaderLocs = locs;
-    }
-#endif
-}
-
-// Load compute shader program
-unsigned int rlLoadComputeShaderProgram(unsigned int shaderId)
-{
-    unsigned int program = 0;
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    GLint success = 0;
-    program = glCreateProgram();
-    glAttachShader(program, shaderId);
-    glLinkProgram(program);
-
-    // NOTE: All uniform variables are intitialised to 0 when a program links
-
-    glGetProgramiv(program, GL_LINK_STATUS, &success);
-
-    if (success == GL_FALSE)
-    {
-        TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to link compute shader program", program);
-
-        int maxLength = 0;
-        glGetProgramiv(program, GL_INFO_LOG_LENGTH, &maxLength);
-
-        if (maxLength > 0)
-        {
-            int length = 0;
-            char *log = (char *)RL_CALLOC(maxLength, sizeof(char));
-            glGetProgramInfoLog(program, maxLength, &length, log);
-            TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Link error: %s", program, log);
-            RL_FREE(log);
-        }
-
-        glDeleteProgram(program);
-
-        program = 0;
-    }
-    else
-    {
-        // Get the size of compiled shader program (not available on OpenGL ES 2.0)
-        // NOTE: If GL_LINK_STATUS is GL_FALSE, program binary length is zero
-        //GLint binarySize = 0;
-        //glGetProgramiv(id, GL_PROGRAM_BINARY_LENGTH, &binarySize);
-
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Compute shader program loaded successfully", program);
-    }
-#else
-    TRACELOG(RL_LOG_WARNING, "SHADER: Compute shaders not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-    return program;
-}
-
-// Dispatch compute shader (equivalent to *draw* for graphics pilepine)
-void rlComputeShaderDispatch(unsigned int groupX, unsigned int groupY, unsigned int groupZ)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glDispatchCompute(groupX, groupY, groupZ);
-#endif
-}
-
-// Load shader storage buffer object (SSBO)
-unsigned int rlLoadShaderBuffer(unsigned int size, const void *data, int usageHint)
-{
-    unsigned int ssbo = 0;
-
-#if defined(GRAPHICS_API_OPENGL_43)
-    glGenBuffers(1, &ssbo);
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, ssbo);
-    glBufferData(GL_SHADER_STORAGE_BUFFER, size, data, usageHint? usageHint : RL_STREAM_COPY);
-    if (data == NULL) glClearBufferData(GL_SHADER_STORAGE_BUFFER, GL_R8UI, GL_RED_INTEGER, GL_UNSIGNED_BYTE, NULL);    // Clear buffer data to 0
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, 0);
-#else
-    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-    return ssbo;
-}
-
-// Unload shader storage buffer object (SSBO)
-void rlUnloadShaderBuffer(unsigned int ssboId)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glDeleteBuffers(1, &ssboId);
-#else
-    TRACELOG(RL_LOG_WARNING, "SSBO: SSBO not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-
-}
-
-// Update SSBO buffer data
-void rlUpdateShaderBuffer(unsigned int id, const void *data, unsigned int dataSize, unsigned int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, dataSize, data);
-#endif
-}
-
-// Get SSBO buffer size
-unsigned int rlGetShaderBufferSize(unsigned int id)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    GLint64 size = 0;
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glGetBufferParameteri64v(GL_SHADER_STORAGE_BUFFER, GL_BUFFER_SIZE, &size);
-    return (size > 0)? (unsigned int)size : 0;
-#else
-    return 0;
-#endif
-}
-
-// Read SSBO buffer data (GPU->CPU)
-void rlReadShaderBuffer(unsigned int id, void *dest, unsigned int count, unsigned int offset)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_SHADER_STORAGE_BUFFER, id);
-    glGetBufferSubData(GL_SHADER_STORAGE_BUFFER, offset, count, dest);
-#endif
-}
-
-// Bind SSBO buffer
-void rlBindShaderBuffer(unsigned int id, unsigned int index)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBufferBase(GL_SHADER_STORAGE_BUFFER, index, id);
-#endif
-}
-
-// Copy SSBO buffer data
-void rlCopyShaderBuffer(unsigned int destId, unsigned int srcId, unsigned int destOffset, unsigned int srcOffset, unsigned int count)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    glBindBuffer(GL_COPY_READ_BUFFER, srcId);
-    glBindBuffer(GL_COPY_WRITE_BUFFER, destId);
-    glCopyBufferSubData(GL_COPY_READ_BUFFER, GL_COPY_WRITE_BUFFER, srcOffset, destOffset, count);
-#endif
-}
-
-// Bind image texture
-void rlBindImageTexture(unsigned int id, unsigned int index, int format, bool readonly)
-{
-#if defined(GRAPHICS_API_OPENGL_43)
-    unsigned int glInternalFormat = 0, glFormat = 0, glType = 0;
-
-    rlGetGlTextureFormats(format, &glInternalFormat, &glFormat, &glType);
-    glBindImageTexture(index, id, 0, 0, 0, readonly? GL_READ_ONLY : GL_READ_WRITE, glInternalFormat);
-#else
-    TRACELOG(RL_LOG_WARNING, "TEXTURE: Image texture binding not enabled. Define GRAPHICS_API_OPENGL_43");
-#endif
-}
-
-// Matrix state management
-//-----------------------------------------------------------------------------------------
-// Get internal modelview matrix
-Matrix rlGetMatrixModelview(void)
-{
-    Matrix matrix = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_11)
-    float mat[16];
-    glGetFloatv(GL_MODELVIEW_MATRIX, mat);
-    matrix.m0 = mat[0];
-    matrix.m1 = mat[1];
-    matrix.m2 = mat[2];
-    matrix.m3 = mat[3];
-    matrix.m4 = mat[4];
-    matrix.m5 = mat[5];
-    matrix.m6 = mat[6];
-    matrix.m7 = mat[7];
-    matrix.m8 = mat[8];
-    matrix.m9 = mat[9];
-    matrix.m10 = mat[10];
-    matrix.m11 = mat[11];
-    matrix.m12 = mat[12];
-    matrix.m13 = mat[13];
-    matrix.m14 = mat[14];
-    matrix.m15 = mat[15];
-#else
-    matrix = RLGL.State.modelview;
-#endif
-    return matrix;
-}
-
-// Get internal projection matrix
-Matrix rlGetMatrixProjection(void)
-{
-#if defined(GRAPHICS_API_OPENGL_11)
-    float mat[16];
-    glGetFloatv(GL_PROJECTION_MATRIX,mat);
-    Matrix m;
-    m.m0 = mat[0];
-    m.m1 = mat[1];
-    m.m2 = mat[2];
-    m.m3 = mat[3];
-    m.m4 = mat[4];
-    m.m5 = mat[5];
-    m.m6 = mat[6];
-    m.m7 = mat[7];
-    m.m8 = mat[8];
-    m.m9 = mat[9];
-    m.m10 = mat[10];
-    m.m11 = mat[11];
-    m.m12 = mat[12];
-    m.m13 = mat[13];
-    m.m14 = mat[14];
-    m.m15 = mat[15];
-    return m;
-#else
-    return RLGL.State.projection;
-#endif
-}
-
-// Get internal accumulated transform matrix
-Matrix rlGetMatrixTransform(void)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    // TODO: Consider possible transform matrices in the RLGL.State.stack
-    // Is this the right order? or should we start with the first stored matrix instead of the last one?
-    //Matrix matStackTransform = rlMatrixIdentity();
-    //for (int i = RLGL.State.stackCounter; i > 0; i--) matStackTransform = rlMatrixMultiply(RLGL.State.stack[i], matStackTransform);
-    mat = RLGL.State.transform;
-#endif
-    return mat;
-}
-
-// Get internal projection matrix for stereo render (selected eye)
-Matrix rlGetMatrixProjectionStereo(int eye)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    mat = RLGL.State.projectionStereo[eye];
-#endif
-    return mat;
-}
-
-// Get internal view offset matrix for stereo render (selected eye)
-Matrix rlGetMatrixViewOffsetStereo(int eye)
-{
-    Matrix mat = rlMatrixIdentity();
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    mat = RLGL.State.viewOffsetStereo[eye];
-#endif
-    return mat;
-}
-
-// Set a custom modelview matrix (replaces internal modelview matrix)
-void rlSetMatrixModelview(Matrix view)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.modelview = view;
-#endif
-}
-
-// Set a custom projection matrix (replaces internal projection matrix)
-void rlSetMatrixProjection(Matrix projection)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.projection = projection;
-#endif
-}
-
-// Set eyes projection matrices for stereo rendering
-void rlSetMatrixProjectionStereo(Matrix right, Matrix left)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.projectionStereo[0] = right;
-    RLGL.State.projectionStereo[1] = left;
-#endif
-}
-
-// Set eyes view offsets matrices for stereo rendering
-void rlSetMatrixViewOffsetStereo(Matrix right, Matrix left)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    RLGL.State.viewOffsetStereo[0] = right;
-    RLGL.State.viewOffsetStereo[1] = left;
-#endif
-}
-
-// Load and draw a quad in NDC
-void rlLoadDrawQuad(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int quadVAO = 0;
-    unsigned int quadVBO = 0;
-
-    float vertices[] = {
-         // Positions         Texcoords
-        -1.0f,  1.0f, 0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f, 0.0f,   0.0f, 0.0f,
-         1.0f,  1.0f, 0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, 0.0f,   1.0f, 0.0f,
-    };
-
-    // Gen VAO to contain VBO
-    glGenVertexArrays(1, &quadVAO);
-    glBindVertexArray(quadVAO);
-
-    // Gen and fill vertex buffer (VBO)
-    glGenBuffers(1, &quadVBO);
-    glBindBuffer(GL_ARRAY_BUFFER, quadVBO);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), &vertices, GL_STATIC_DRAW);
-
-    // Bind vertex attributes (position, texcoords)
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 5*sizeof(float), (void *)(3*sizeof(float))); // Texcoords
-
-    // Draw quad
-    glBindVertexArray(quadVAO);
-    glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
-    glBindVertexArray(0);
-
-    // Delete buffers (VBO and VAO)
-    glDeleteBuffers(1, &quadVBO);
-    glDeleteVertexArrays(1, &quadVAO);
-#endif
-}
-
-// Load and draw a cube in NDC
-void rlLoadDrawCube(void)
-{
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-    unsigned int cubeVAO = 0;
-    unsigned int cubeVBO = 0;
-
-    float vertices[] = {
-         // Positions          Normals               Texcoords
-        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   1.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  0.0f, -1.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 0.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   1.0f, 1.0f,
-        -1.0f,  1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f,  0.0f,  1.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f, -1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f, -1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f,  1.0f,  1.0f,  -1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   1.0f,  0.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
-         1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 1.0f,
-         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
-         1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f, -1.0f,  1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 0.0f,
-        -1.0f, -1.0f, -1.0f,   0.0f, -1.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
-         1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 1.0f,
-         1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   1.0f, 0.0f,
-        -1.0f,  1.0f, -1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 1.0f,
-        -1.0f,  1.0f,  1.0f,   0.0f,  1.0f,  0.0f,   0.0f, 0.0f
-    };
-
-    // Gen VAO to contain VBO
-    glGenVertexArrays(1, &cubeVAO);
-    glBindVertexArray(cubeVAO);
-
-    // Gen and fill vertex buffer (VBO)
-    glGenBuffers(1, &cubeVBO);
-    glBindBuffer(GL_ARRAY_BUFFER, cubeVBO);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
-
-    // Bind vertex attributes (position, normals, texcoords)
-    glBindVertexArray(cubeVAO);
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_POSITION, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)0); // Positions
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_NORMAL, 3, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(3*sizeof(float))); // Normals
-    glEnableVertexAttribArray(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD);
-    glVertexAttribPointer(RL_DEFAULT_SHADER_ATTRIB_LOCATION_TEXCOORD, 2, GL_FLOAT, GL_FALSE, 8*sizeof(float), (void *)(6*sizeof(float))); // Texcoords
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-    glBindVertexArray(0);
-
-    // Draw cube
-    glBindVertexArray(cubeVAO);
-    glDrawArrays(GL_TRIANGLES, 0, 36);
-    glBindVertexArray(0);
-
-    // Delete VBO and VAO
-    glDeleteBuffers(1, &cubeVBO);
-    glDeleteVertexArrays(1, &cubeVAO);
-#endif
-}
-
-// Get name string for pixel format
-const char *rlGetPixelFormatName(unsigned int format)
-{
-    switch (format)
-    {
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: return "GRAYSCALE"; break;         // 8 bit per pixel (no alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA: return "GRAY_ALPHA"; break;       // 8*2 bpp (2 channels)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5: return "R5G6B5"; break;               // 16 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: return "R8G8B8"; break;               // 24 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1: return "R5G5B5A1"; break;           // 16 bpp (1 bit alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: return "R4G4B4A4"; break;           // 16 bpp (4 bit alpha)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: return "R8G8B8A8"; break;           // 32 bpp
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: return "R32"; break;                     // 32 bpp (1 channel - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: return "R32G32B32"; break;         // 32*3 bpp (3 channels - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: return "R32G32B32A32"; break;   // 32*4 bpp (4 channels - float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: return "R16"; break;                     // 16 bpp (1 channel - half float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: return "R16G16B16"; break;         // 16*3 bpp (3 channels - half float)
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: return "R16G16B16A16"; break;   // 16*4 bpp (4 channels - half float)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB: return "DXT1_RGB"; break;             // 4 bpp (no alpha)
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA: return "DXT1_RGBA"; break;           // 4 bpp (1 bit alpha)
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA: return "DXT3_RGBA"; break;           // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA: return "DXT5_RGBA"; break;           // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB: return "ETC1_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB: return "ETC2_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA: return "ETC2_RGBA"; break;       // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB: return "PVRT_RGB"; break;             // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: return "PVRT_RGBA"; break;           // 4 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: return "ASTC_4x4_RGBA"; break;   // 8 bpp
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: return "ASTC_8x8_RGBA"; break;   // 2 bpp
-        default: return "UNKNOWN"; break;
-    }
-}
-
-//----------------------------------------------------------------------------------
-// Module specific Functions Definition
-//----------------------------------------------------------------------------------
-#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
-// Load default shader (just vertex positioning and texture coloring)
-// NOTE: This shader program is used for internal buffers
-// NOTE: Loaded: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
-static void rlLoadShaderDefault(void)
-{
-    RLGL.State.defaultShaderLocs = (int *)RL_CALLOC(RL_MAX_SHADER_LOCATIONS, sizeof(int));
-
-    // NOTE: All locations must be reseted to -1 (no location)
-    for (int i = 0; i < RL_MAX_SHADER_LOCATIONS; i++) RLGL.State.defaultShaderLocs[i] = -1;
-
-    // Vertex shader directly defined, no external file required
-    const char *defaultVShaderCode =
-#if defined(GRAPHICS_API_OPENGL_21)
-    "#version 120                       \n"
-    "attribute vec3 vertexPosition;     \n"
-    "attribute vec2 vertexTexCoord;     \n"
-    "attribute vec4 vertexColor;        \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-#elif defined(GRAPHICS_API_OPENGL_33)
-    "#version 330                       \n"
-    "in vec3 vertexPosition;            \n"
-    "in vec2 vertexTexCoord;            \n"
-    "in vec4 vertexColor;               \n"
-    "out vec2 fragTexCoord;             \n"
-    "out vec4 fragColor;                \n"
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    "#version 300 es                    \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2) (on some browsers)
-    "in vec3 vertexPosition;            \n"
-    "in vec2 vertexTexCoord;            \n"
-    "in vec4 vertexColor;               \n"
-    "out vec2 fragTexCoord;             \n"
-    "out vec4 fragColor;                \n"
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    "#version 100                       \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL) (on some browsers)
-    "attribute vec3 vertexPosition;     \n"
-    "attribute vec2 vertexTexCoord;     \n"
-    "attribute vec4 vertexColor;        \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-#endif
-
-    "uniform mat4 mvp;                  \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    fragTexCoord = vertexTexCoord; \n"
-    "    fragColor = vertexColor;       \n"
-    "    gl_Position = mvp*vec4(vertexPosition, 1.0); \n"
-    "}                                  \n";
-
-    // Fragment shader directly defined, no external file required
-    const char *defaultFShaderCode =
-#if defined(GRAPHICS_API_OPENGL_21)
-    "#version 120                       \n"
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
-    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
-    "}                                  \n";
-#elif defined(GRAPHICS_API_OPENGL_33)
-    "#version 330       \n"
-    "in vec2 fragTexCoord;              \n"
-    "in vec4 fragColor;                 \n"
-    "out vec4 finalColor;               \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
-    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
-    "}                                  \n";
-#endif
-
-#if defined(GRAPHICS_API_OPENGL_ES3)
-    "#version 300 es                    \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES3 (WebGL 2)
-    "in vec2 fragTexCoord;              \n"
-    "in vec4 fragColor;                 \n"
-    "out vec4 finalColor;               \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture(texture0, fragTexCoord);   \n"
-    "    finalColor = texelColor*colDiffuse*fragColor;        \n"
-    "}                                  \n";
-#elif defined(GRAPHICS_API_OPENGL_ES2)
-    "#version 100                       \n"
-    "precision mediump float;           \n"     // Precision required for OpenGL ES2 (WebGL)
-    "varying vec2 fragTexCoord;         \n"
-    "varying vec4 fragColor;            \n"
-    "uniform sampler2D texture0;        \n"
-    "uniform vec4 colDiffuse;           \n"
-    "void main()                        \n"
-    "{                                  \n"
-    "    vec4 texelColor = texture2D(texture0, fragTexCoord); \n"
-    "    gl_FragColor = texelColor*colDiffuse*fragColor;      \n"
-    "}                                  \n";
-#endif
-
-    // NOTE: Compiled vertex/fragment shaders are not deleted,
-    // they are kept for re-use as default shaders in case some shader loading fails
-    RLGL.State.defaultVShaderId = rlCompileShader(defaultVShaderCode, GL_VERTEX_SHADER);     // Compile default vertex shader
-    RLGL.State.defaultFShaderId = rlCompileShader(defaultFShaderCode, GL_FRAGMENT_SHADER);   // Compile default fragment shader
-
-    RLGL.State.defaultShaderId = rlLoadShaderProgram(RLGL.State.defaultVShaderId, RLGL.State.defaultFShaderId);
-
-    if (RLGL.State.defaultShaderId > 0)
-    {
-        TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader loaded successfully", RLGL.State.defaultShaderId);
-
-        // Set default shader locations: attributes locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_POSITION] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_POSITION);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_TEXCOORD01] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_TEXCOORD);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_VERTEX_COLOR] = glGetAttribLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_ATTRIB_NAME_COLOR);
-
-        // Set default shader locations: uniform locations
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MATRIX_MVP] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_MVP);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_COLOR_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_UNIFORM_NAME_COLOR);
-        RLGL.State.defaultShaderLocs[RL_SHADER_LOC_MAP_DIFFUSE] = glGetUniformLocation(RLGL.State.defaultShaderId, RL_DEFAULT_SHADER_SAMPLER2D_NAME_TEXTURE0);
-    }
-    else TRACELOG(RL_LOG_WARNING, "SHADER: [ID %i] Failed to load default shader", RLGL.State.defaultShaderId);
-}
-
-// Unload default shader
-// NOTE: Unloads: RLGL.State.defaultShaderId, RLGL.State.defaultShaderLocs
-static void rlUnloadShaderDefault(void)
-{
-    glUseProgram(0);
-
-    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultVShaderId);
-    glDetachShader(RLGL.State.defaultShaderId, RLGL.State.defaultFShaderId);
-    glDeleteShader(RLGL.State.defaultVShaderId);
-    glDeleteShader(RLGL.State.defaultFShaderId);
-
-    glDeleteProgram(RLGL.State.defaultShaderId);
-
-    RL_FREE(RLGL.State.defaultShaderLocs);
-
-    TRACELOG(RL_LOG_INFO, "SHADER: [ID %i] Default shader unloaded successfully", RLGL.State.defaultShaderId);
-}
-
-#if defined(RLGL_SHOW_GL_DETAILS_INFO)
-// Get compressed format official GL identifier name
-static const char *rlGetCompressedFormatName(int format)
-{
-    switch (format)
-    {
-        // GL_EXT_texture_compression_s3tc
-        case 0x83F0: return "GL_COMPRESSED_RGB_S3TC_DXT1_EXT"; break;
-        case 0x83F1: return "GL_COMPRESSED_RGBA_S3TC_DXT1_EXT"; break;
-        case 0x83F2: return "GL_COMPRESSED_RGBA_S3TC_DXT3_EXT"; break;
-        case 0x83F3: return "GL_COMPRESSED_RGBA_S3TC_DXT5_EXT"; break;
-        // GL_3DFX_texture_compression_FXT1
-        case 0x86B0: return "GL_COMPRESSED_RGB_FXT1_3DFX"; break;
-        case 0x86B1: return "GL_COMPRESSED_RGBA_FXT1_3DFX"; break;
-        // GL_IMG_texture_compression_pvrtc
-        case 0x8C00: return "GL_COMPRESSED_RGB_PVRTC_4BPPV1_IMG"; break;
-        case 0x8C01: return "GL_COMPRESSED_RGB_PVRTC_2BPPV1_IMG"; break;
-        case 0x8C02: return "GL_COMPRESSED_RGBA_PVRTC_4BPPV1_IMG"; break;
-        case 0x8C03: return "GL_COMPRESSED_RGBA_PVRTC_2BPPV1_IMG"; break;
-        // GL_OES_compressed_ETC1_RGB8_texture
-        case 0x8D64: return "GL_ETC1_RGB8_OES"; break;
-        // GL_ARB_texture_compression_rgtc
-        case 0x8DBB: return "GL_COMPRESSED_RED_RGTC1"; break;
-        case 0x8DBC: return "GL_COMPRESSED_SIGNED_RED_RGTC1"; break;
-        case 0x8DBD: return "GL_COMPRESSED_RG_RGTC2"; break;
-        case 0x8DBE: return "GL_COMPRESSED_SIGNED_RG_RGTC2"; break;
-        // GL_ARB_texture_compression_bptc
-        case 0x8E8C: return "GL_COMPRESSED_RGBA_BPTC_UNORM_ARB"; break;
-        case 0x8E8D: return "GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_ARB"; break;
-        case 0x8E8E: return "GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_ARB"; break;
-        case 0x8E8F: return "GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_ARB"; break;
-        // GL_ARB_ES3_compatibility
-        case 0x9274: return "GL_COMPRESSED_RGB8_ETC2"; break;
-        case 0x9275: return "GL_COMPRESSED_SRGB8_ETC2"; break;
-        case 0x9276: return "GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
-        case 0x9277: return "GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2"; break;
-        case 0x9278: return "GL_COMPRESSED_RGBA8_ETC2_EAC"; break;
-        case 0x9279: return "GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC"; break;
-        case 0x9270: return "GL_COMPRESSED_R11_EAC"; break;
-        case 0x9271: return "GL_COMPRESSED_SIGNED_R11_EAC"; break;
-        case 0x9272: return "GL_COMPRESSED_RG11_EAC"; break;
-        case 0x9273: return "GL_COMPRESSED_SIGNED_RG11_EAC"; break;
-        // GL_KHR_texture_compression_astc_hdr
-        case 0x93B0: return "GL_COMPRESSED_RGBA_ASTC_4x4_KHR"; break;
-        case 0x93B1: return "GL_COMPRESSED_RGBA_ASTC_5x4_KHR"; break;
-        case 0x93B2: return "GL_COMPRESSED_RGBA_ASTC_5x5_KHR"; break;
-        case 0x93B3: return "GL_COMPRESSED_RGBA_ASTC_6x5_KHR"; break;
-        case 0x93B4: return "GL_COMPRESSED_RGBA_ASTC_6x6_KHR"; break;
-        case 0x93B5: return "GL_COMPRESSED_RGBA_ASTC_8x5_KHR"; break;
-        case 0x93B6: return "GL_COMPRESSED_RGBA_ASTC_8x6_KHR"; break;
-        case 0x93B7: return "GL_COMPRESSED_RGBA_ASTC_8x8_KHR"; break;
-        case 0x93B8: return "GL_COMPRESSED_RGBA_ASTC_10x5_KHR"; break;
-        case 0x93B9: return "GL_COMPRESSED_RGBA_ASTC_10x6_KHR"; break;
-        case 0x93BA: return "GL_COMPRESSED_RGBA_ASTC_10x8_KHR"; break;
-        case 0x93BB: return "GL_COMPRESSED_RGBA_ASTC_10x10_KHR"; break;
-        case 0x93BC: return "GL_COMPRESSED_RGBA_ASTC_12x10_KHR"; break;
-        case 0x93BD: return "GL_COMPRESSED_RGBA_ASTC_12x12_KHR"; break;
-        case 0x93D0: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR"; break;
-        case 0x93D1: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR"; break;
-        case 0x93D2: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR"; break;
-        case 0x93D3: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR"; break;
-        case 0x93D4: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR"; break;
-        case 0x93D5: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR"; break;
-        case 0x93D6: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR"; break;
-        case 0x93D7: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR"; break;
-        case 0x93D8: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR"; break;
-        case 0x93D9: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR"; break;
-        case 0x93DA: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR"; break;
-        case 0x93DB: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR"; break;
-        case 0x93DC: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR"; break;
-        case 0x93DD: return "GL_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR"; break;
-        default: return "GL_COMPRESSED_UNKNOWN"; break;
-    }
-}
-#endif  // RLGL_SHOW_GL_DETAILS_INFO
-
-#endif  // GRAPHICS_API_OPENGL_33 || GRAPHICS_API_OPENGL_ES2
-
-// Get pixel data size in bytes (image or texture)
-// NOTE: Size depends on pixel format
-static int rlGetPixelDataSize(int width, int height, int format)
-{
-    int dataSize = 0;       // Size in bytes
-    int bpp = 0;            // Bits per pixel
-
-    switch (format)
-    {
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAYSCALE: bpp = 8; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G6B5:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R5G5B5A1:
-        case RL_PIXELFORMAT_UNCOMPRESSED_R4G4B4A4: bpp = 16; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8A8: bpp = 32; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R8G8B8: bpp = 24; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32: bpp = 32; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32: bpp = 32*3; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R32G32B32A32: bpp = 32*4; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16: bpp = 16; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16: bpp = 16*3; break;
-        case RL_PIXELFORMAT_UNCOMPRESSED_R16G16B16A16: bpp = 16*4; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_DXT1_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ETC1_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGB:
-        case RL_PIXELFORMAT_COMPRESSED_PVRT_RGBA: bpp = 4; break;
-        case RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_DXT5_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ETC2_EAC_RGBA:
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_4x4_RGBA: bpp = 8; break;
-        case RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA: bpp = 2; break;
-        default: break;
-    }
-
-    double bytesPerPixel = (double)bpp/8.0;
-    dataSize = (int)(bytesPerPixel*width*height); // Total data size in bytes
-
-    // Most compressed formats works on 4x4 blocks,
-    // if texture is smaller, minimum dataSize is 8 or 16
-    if ((width < 4) && (height < 4))
-    {
-        if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT1_RGB) && (format < RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA)) dataSize = 8;
-        else if ((format >= RL_PIXELFORMAT_COMPRESSED_DXT3_RGBA) && (format < RL_PIXELFORMAT_COMPRESSED_ASTC_8x8_RGBA)) dataSize = 16;
-    }
-
-    return dataSize;
-}
-
-// Auxiliar math functions
-
-// Get float array of matrix data
-static rl_float16 rlMatrixToFloatV(Matrix mat)
-{
-    rl_float16 result = { 0 };
-
-    result.v[0] = mat.m0;
-    result.v[1] = mat.m1;
-    result.v[2] = mat.m2;
-    result.v[3] = mat.m3;
-    result.v[4] = mat.m4;
-    result.v[5] = mat.m5;
-    result.v[6] = mat.m6;
-    result.v[7] = mat.m7;
-    result.v[8] = mat.m8;
-    result.v[9] = mat.m9;
-    result.v[10] = mat.m10;
-    result.v[11] = mat.m11;
-    result.v[12] = mat.m12;
-    result.v[13] = mat.m13;
-    result.v[14] = mat.m14;
-    result.v[15] = mat.m15;
-
-    return result;
-}
-
-// Get identity matrix
-static Matrix rlMatrixIdentity(void)
-{
-    Matrix result = {
-        1.0f, 0.0f, 0.0f, 0.0f,
-        0.0f, 1.0f, 0.0f, 0.0f,
-        0.0f, 0.0f, 1.0f, 0.0f,
-        0.0f, 0.0f, 0.0f, 1.0f
-    };
-
-    return result;
-}
-
-// Get two matrix multiplication
-// NOTE: When multiplying matrices... the order matters!
-static Matrix rlMatrixMultiply(Matrix left, Matrix right)
-{
-    Matrix result = { 0 };
-
-    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
-    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
-    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
-    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
-    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
-    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
-    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
-    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
-    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
-    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
-    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
-    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
-    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
-    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
-    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
-    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
-
-    return result;
-}
-
-// Transposes provided matrix
-static Matrix rlMatrixTranspose(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    result.m0 = mat.m0;
-    result.m1 = mat.m4;
-    result.m2 = mat.m8;
-    result.m3 = mat.m12;
-    result.m4 = mat.m1;
-    result.m5 = mat.m5;
-    result.m6 = mat.m9;
-    result.m7 = mat.m13;
-    result.m8 = mat.m2;
-    result.m9 = mat.m6;
-    result.m10 = mat.m10;
-    result.m11 = mat.m14;
-    result.m12 = mat.m3;
-    result.m13 = mat.m7;
-    result.m14 = mat.m11;
-    result.m15 = mat.m15;
-
-    return result;
-}
-
-// Invert provided matrix
-static Matrix rlMatrixInvert(Matrix mat)
-{
-    Matrix result = { 0 };
-
-    // Cache the matrix values (speed optimization)
-    float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
-    float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
-    float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
-    float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
-
-    float b00 = a00*a11 - a01*a10;
-    float b01 = a00*a12 - a02*a10;
-    float b02 = a00*a13 - a03*a10;
-    float b03 = a01*a12 - a02*a11;
-    float b04 = a01*a13 - a03*a11;
-    float b05 = a02*a13 - a03*a12;
-    float b06 = a20*a31 - a21*a30;
-    float b07 = a20*a32 - a22*a30;
-    float b08 = a20*a33 - a23*a30;
-    float b09 = a21*a32 - a22*a31;
-    float b10 = a21*a33 - a23*a31;
-    float b11 = a22*a33 - a23*a32;
-
-    // Calculate the invert determinant (inlined to avoid double-caching)
-    float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
-
-    result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
-    result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
-    result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
-    result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
-    result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
-    result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
-    result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
-    result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
-    result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
-    result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
-    result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
-    result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
-    result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
-    result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
-    result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
-    result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
-
-    return result;
-}
-
-#endif  // RLGL_IMPLEMENTATION
diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a
deleted file mode 100644
index fa538e5214..0000000000
--- a/third_party/raylib/larch64/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f760af8b4693cf60e3760341e5275890d78d933da2354c4bad0572ec575b970a
-size 2001860
diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a
deleted file mode 100644
index ea124c1bcf..0000000000
--- a/third_party/raylib/x86_64/libraylib.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3c928e849b51b04d8e3603cd649184299efed0e9e0fb02201612b967b31efd73
-size 2771092
diff --git a/tinygrad b/tinygrad
deleted file mode 120000
index cb003823c6..0000000000
--- a/tinygrad
+++ /dev/null
@@ -1 +0,0 @@
-tinygrad_repo/tinygrad
\ No newline at end of file
diff --git a/tinygrad_repo b/tinygrad_repo
index 3501a71478..2fecac4e4a 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 3501a714785ff370cffb966a45d5f9cdf6c9ea7a
+Subproject commit 2fecac4e4ac32fe369c41f8400b6e7b9adb18683
diff --git a/tools/CTF.md b/tools/CTF.md
index 32891cd389..ae7bea09c2 100644
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -5,16 +5,16 @@ Welcome to the first part of the comma CTF!
 * there's 2 flags in each segment, with roughly increasing difficulty
 * everything you'll need to find the flags is in the openpilot repo
   * grep is also your friend
-  * first, [setup](https://github.com/commaai/openpilot/tree/master/tools#setup-your-pc) your PC
-  * read the docs & checkout out the tools in tools/ and selfdrive/debug/
+  * first, [setup](https://github.com/commaai/openpilot/tree/master/tools) your PC
+  * read the docs & checkout out the tools in openpilot/tools/
   * tip: once you get the replay and UI up, start by familiarizing yourself with seeking in replay
 
 getting started
 ```bash
 # start the route replay
-cd tools/replay
+cd openpilot/tools/replay
 ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam
 
 # start the UI in another terminal
-selfdrive/ui/ui
+openpilot/selfdrive/ui/ui
 ```
diff --git a/tools/README.md b/tools/README.md
index d52c8f4522..ae36282828 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -29,7 +29,7 @@ source .venv/bin/activate
 
 **4. Build openpilot**
 ``` bash
-scons -u -j$(nproc)
+scons -u
 ```
 
 ## WSL on Windows
@@ -38,13 +38,21 @@ scons -u -j$(nproc)
 
 Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-24.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
-**NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`.
+**NOTE**: If you are running WSL 2 and experiencing performance issues with the UI or simulator, you may need to explicitly enable hardware acceleration by setting `GALLIUM_DRIVER=d3d12` before commands. Add `export GALLIUM_DRIVER=d3d12` to your `~/.bashrc` file to make it automatic for future sessions.
 
 ## CTF
 Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md).
 
 ## Directory Structure
 
+```
+├── car_porting/        # Tools for porting new cars
+├── release/            # Scripts for building openpilot releases
+└── scripts/            # Miscellaneous scripts
+```
+
+Development tools such as cabana, plotjuggler, and replay live in [openpilot/tools/](/openpilot/tools/):
+
 ```
 ├── cabana/             # View and plot CAN messages from drives or in realtime
 ├── camerastream/       # Cameras stream over the network
@@ -52,8 +60,5 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md
 ├── lib/                # Libraries to support the tools and reading openpilot logs
 ├── plotjuggler/        # A tool to plot openpilot logs
 ├── replay/             # Replay drives and mock openpilot services
-├── scripts/            # Miscellaneous scripts
-├── serial/             # Tools for using the comma serial
-├── sim/                # Run openpilot in a simulator
-└── webcam/             # Run openpilot on a PC with webcams
+└── sim/                # Run openpilot in a simulator
 ```
diff --git a/tools/bodyteleop/.gitignore b/tools/bodyteleop/.gitignore
deleted file mode 100644
index adeab99a95..0000000000
--- a/tools/bodyteleop/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-av
-av-10.0.0/*
-key.pem
-cert.pem
\ No newline at end of file
diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html
deleted file mode 100644
index 3654769756..0000000000
--- a/tools/bodyteleop/static/index.html
+++ /dev/null
@@ -1,103 +0,0 @@
-<html>
-  <head>
-    <meta charset="UTF-8"/>
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>commabody</title>
-    <link rel="stylesheet" href="/static/main.css">
-    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/css/bootstrap.min.css" integrity="sha512-SbiR/eusphKoMVVXysTKG/7VseWii+Y3FdHrt0EpKgpToZeemhqHeZeLWLhJutz/2ut2Vw1uQEj2MbRF+TVBUA==" crossorigin="anonymous" referrerpolicy="no-referrer" /><script src="https://code.jquery.com/jquery-3.6.0.min.js"></script>
-    <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.10.5/font/bootstrap-icons.css">
-    <script src="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/js/bootstrap.min.js" integrity="sha512-1/RvZTcCDEUjY/CypiMz+iqqtaoQfAITmNSJY17Myp4Ms5mdxPS5UV7iOfdZoxcGhzFbOm6sntTKJppjvuhg4g==" crossorigin="anonymous" referrerpolicy="no-referrer"></script>
-    <script src="https://cdnjs.cloudflare.com/ajax/libs/moment.js/2.29.1/moment.min.js"></script>
-    <script src="https://cdn.jsdelivr.net/npm/chart.js@^3"></script>
-    <script src="https://cdn.jsdelivr.net/npm/moment@^2"></script>
-    <script src="https://cdn.jsdelivr.net/npm/chartjs-adapter-moment@^1"></script>
-  </head>
-  <body>
-    <div id="main">
-      <p class="jumbo">comma body</p>
-      <audio id="audio" autoplay="true"></audio>
-      <video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
-      <div id="icon-panel" class="row">
-        <div class="col-sm-12 col-md-6 details">
-          <div class="icon-sup-panel col-12">
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i class="bi bi-speaker-fill pre-blob"></i>
-                <i class="bi bi-mic-fill pre-blob"></i>
-                <i class="bi bi-camera-video-fill pre-blob"></i>
-              </div>
-              <p class="small">body</p>
-            </div>
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i class="bi bi-speaker-fill pre-blob"></i>
-                <i class="bi bi-mic-fill pre-blob"></i>
-              </div>
-              <p class="small">you</p>
-            </div>
-          </div>
-        </div>
-        <div class="col-sm-12 col-md-6 details">
-          <div class="icon-sup-panel col-12">
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i id="ping-time" class="pre-blob1">-</i>
-              </div>
-              <p class="bi bi-arrow-repeat small"> ping time</p>
-            </div>
-            <div class="icon-sub-panel">
-              <div class="icon-sub-sub-panel">
-                <i id="battery" class="pre-blob1">-</i>
-              </div>
-              <p class="bi bi-battery-half small"> battery</p>
-            </div>
-          </div>
-        </div>
-        <!-- <div class="icon-sub-panel">
-                <button type="button" id="start" class="btn btn-light btn-lg">Start</button>
-                <button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
-            </div> -->
-      </div>
-      <div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
-        <div id="wasd" class="col-md-12 row">
-          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
-            <div class="wasd-row">
-              <div class="keys" id="key-w">W</div>
-              <div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
-            </div>
-            <div class="wasd-row">
-              <div class="keys" id="key-a">A</div>
-              <div class="keys" id="key-s">S</div>
-              <div class="keys" id="key-d">D</div>
-            </div>
-          </div>
-          <div class="col-md-6 col-sm-12 form-group plan-form">
-            <label for="plan-text">Plan (w, a, s, d, t)</label>
-            <label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
-            <textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
-            <button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
-          </div>
-        </div>
-      </div>
-      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
-        <div class="panel row">
-          <div class="col-sm-3" style="text-align: center;">
-            <p>Play Sounds</p>
-          </div>
-          <div class="btn-group col-sm-8">
-            <button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
-            <button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
-            <button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
-          </div>
-        </div>
-      </div>
-      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
-        <div class="panel row">
-          <div class="col-sm-6"><canvas id="chart-ping"></canvas></div>
-          <div class="col-sm-6"><canvas id="chart-battery"></canvas></div>
-        </div>
-      </div>
-    </div>
-    <script src="/static/js/jsmain.js" type="module"></script>
-  </body>
-</html>
diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js
deleted file mode 100644
index b1e0e7ee70..0000000000
--- a/tools/bodyteleop/static/js/controls.js
+++ /dev/null
@@ -1,54 +0,0 @@
-const keyVals = {w: 0, a: 0, s: 0, d: 0}
-
-export function getXY() {
-  let x = -keyVals.w + keyVals.s
-  let y = -keyVals.d + keyVals.a
-  return {x, y}
-}
-
-export const handleKeyX = (key, setValue) => {
-  if (['w', 'a', 's', 'd'].includes(key)){
-    keyVals[key] = setValue;
-    let color = "#333";
-    if (setValue === 1){
-      color = "#e74c3c";
-    }
-    $("#key-"+key).css('background', color);
-    const {x, y} = getXY();
-    $("#pos-vals").text(x+","+y);
-  }
-};
-
-export async function executePlan() {
-  let plan = $("#plan-text").val();
-  const planList = [];
-  plan.split("\n").forEach(function(e){
-    let line = e.split(",").map(k=>parseInt(k));
-    if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
-      console.log("invalid plan");
-    }
-    else{
-      planList.push(line)
-    }
-  });
-
-  async function execute() {
-    for (var i = 0; i < planList.length; i++) {
-      let [w, a, s, d, t] = planList[i];
-      while(t > 0){
-        console.log(w, a, s, d, t);
-        if(w==1){$("#key-w").mousedown();}
-        if(a==1){$("#key-a").mousedown();}
-        if(s==1){$("#key-s").mousedown();}
-        if(d==1){$("#key-d").mousedown();}
-        await sleep(50);
-        $("#key-w").mouseup();
-        $("#key-a").mouseup();
-        $("#key-s").mouseup();
-        $("#key-d").mouseup();
-        t = t - 0.05;
-      }
-    }
-  }
-  execute();
-}
\ No newline at end of file
diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js
deleted file mode 100644
index 83205a876b..0000000000
--- a/tools/bodyteleop/static/js/jsmain.js
+++ /dev/null
@@ -1,27 +0,0 @@
-import { handleKeyX, executePlan } from "./controls.js";
-import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js";
-
-export var pc = null;
-export var dc = null;
-
-document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
-document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
-$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
-$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
-$("#plan-button").click(executePlan);
-$(".sound").click((e)=>{
-  const sound = $(e.target).attr('id').replace('sound-', '')
-  return playSoundRequest(sound);
-});
-
-setInterval( () => {
-  const dt = new Date().getTime();
-  if ((dt - lastChannelMessageTime) > 1000) {
-    $(".pre-blob").removeClass('blob');
-    $("#battery").text("-");
-    $("#ping-time").text('-');
-    $("video")[0].load();
-  }
-}, 5000);
-
-start(pc, dc);
diff --git a/tools/bodyteleop/static/js/plots.js b/tools/bodyteleop/static/js/plots.js
deleted file mode 100644
index 5327bf71be..0000000000
--- a/tools/bodyteleop/static/js/plots.js
+++ /dev/null
@@ -1,53 +0,0 @@
-export const pingPoints = [];
-export const batteryPoints = [];
-
-function getChartConfig(pts, color, title, ymax=100) {
-  return {
-    type: 'line',
-    data: {
-      datasets: [{
-        label: title,
-        data: pts,
-        borderWidth: 1,
-        borderColor: color,
-        backgroundColor: color,
-        fill: 'origin'
-      }]
-    },
-    options: {
-      scales: {
-        x: {
-          type: 'time',
-          time: {
-            unit: 'minute',
-            displayFormats: {
-              second: 'h:mm a'
-            }
-          },
-          grid: {
-            color: '#222', // Grid lines color
-          },
-          ticks: {
-            source: 'data',
-            fontColor: 'rgba(255, 255, 255, 1.0)', // Y-axis label color
-          }
-        },
-        y: {
-          beginAtZero: true,
-          max: ymax,
-          grid: {
-            color: 'rgba(255, 255, 255, 0.1)', // Grid lines color
-          },
-          ticks: {
-            fontColor: 'rgba(255, 255, 255, 0.7)', // Y-axis label color
-          }
-        }
-      }
-    }
-  }
-}
-
-const ctxPing = document.getElementById('chart-ping');
-const ctxBattery = document.getElementById('chart-battery');
-export const chartPing = new Chart(ctxPing, getChartConfig(pingPoints, 'rgba(192, 57, 43, 0.7)', 'Controls Ping Time (ms)', 250));
-export const chartBattery = new Chart(ctxBattery, getChartConfig(batteryPoints, 'rgba(41, 128, 185, 0.7)', 'Battery %', 100));
diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js
deleted file mode 100644
index 165a2ce6c4..0000000000
--- a/tools/bodyteleop/static/js/webrtc.js
+++ /dev/null
@@ -1,209 +0,0 @@
-import { getXY } from "./controls.js";
-import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js";
-
-export let controlCommandInterval = null;
-export let latencyInterval = null;
-export let lastChannelMessageTime = null;
-
-
-export function offerRtcRequest(sdp, type) {
-  return fetch('/offer', {
-    body: JSON.stringify({sdp: sdp, type: type}),
-    headers: {'Content-Type': 'application/json'},
-    method: 'POST'
-  });
-}
-
-
-export function playSoundRequest(sound) {
-  return fetch('/sound', {
-    body: JSON.stringify({sound}),
-    headers: {'Content-Type': 'application/json'},
-    method: 'POST'
-  });
-}
-
-
-export function pingHeadRequest() {
-  return fetch('/', {
-    method: 'HEAD'
-  });
-}
-
-
-export function createPeerConnection(pc) {
-  var config = {
-    sdpSemantics: 'unified-plan'
-  };
-
-  pc = new RTCPeerConnection(config);
-
-  // connect audio / video
-  pc.addEventListener('track', function(evt) {
-    console.log("Adding Tracks!")
-    if (evt.track.kind == 'video')
-      document.getElementById('video').srcObject = evt.streams[0];
-    else
-      document.getElementById('audio').srcObject = evt.streams[0];
-  });
-  return pc;
-}
-
-
-export function negotiate(pc) {
-  return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
-    return pc.setLocalDescription(offer);
-  }).then(function() {
-    return new Promise(function(resolve) {
-      if (pc.iceGatheringState === 'complete') {
-        resolve();
-      }
-      else {
-        function checkState() {
-          if (pc.iceGatheringState === 'complete') {
-            pc.removeEventListener('icegatheringstatechange', checkState);
-            resolve();
-          }
-        }
-        pc.addEventListener('icegatheringstatechange', checkState);
-      }
-    });
-  }).then(function() {
-    var offer = pc.localDescription;
-    return offerRtcRequest(offer.sdp, offer.type);
-  }).then(function(response) {
-    console.log(response);
-    return response.json();
-  }).then(function(answer) {
-    return pc.setRemoteDescription(answer);
-  }).catch(function(e) {
-    alert(e);
-  });
-}
-
-
-function isMobile() {
-    let check = false;
-    (function(a){if(/(android|bb\d+|meego).+mobile|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|series(4|6)0|symbian|treo|up\.(browser|link)|vodafone|wap|windows ce|xda|xiino/i.test(a)||/1207|6310|6590|3gso|4thp|50[1-6]i|770s|802s|a wa|abac|ac(er|oo|s\-)|ai(ko|rn)|al(av|ca|co)|amoi|an(ex|ny|yw)|aptu|ar(ch|go)|as(te|us)|attw|au(di|\-m|r |s )|avan|be(ck|ll|nq)|bi(lb|rd)|bl(ac|az)|br(e|v)w|bumb|bw\-(n|u)|c55\/|capi|ccwa|cdm\-|cell|chtm|cldc|cmd\-|co(mp|nd)|craw|da(it|ll|ng)|dbte|dc\-s|devi|dica|dmob|do(c|p)o|ds(12|\-d)|el(49|ai)|em(l2|ul)|er(ic|k0)|esl8|ez([4-7]0|os|wa|ze)|fetc|fly(\-|_)|g1 u|g560|gene|gf\-5|g\-mo|go(\.w|od)|gr(ad|un)|haie|hcit|hd\-(m|p|t)|hei\-|hi(pt|ta)|hp( i|ip)|hs\-c|ht(c(\-| |_|a|g|p|s|t)|tp)|hu(aw|tc)|i\-(20|go|ma)|i230|iac( |\-|\/)|ibro|idea|ig01|ikom|im1k|inno|ipaq|iris|ja(t|v)a|jbro|jemu|jigs|kddi|keji|kgt( |\/)|klon|kpt |kwc\-|kyo(c|k)|le(no|xi)|lg( g|\/(k|l|u)|50|54|\-[a-w])|libw|lynx|m1\-w|m3ga|m50\/|ma(te|ui|xo)|mc(01|21|ca)|m\-cr|me(rc|ri)|mi(o8|oa|ts)|mmef|mo(01|02|bi|de|do|t(\-| |o|v)|zz)|mt(50|p1|v )|mwbp|mywa|n10[0-2]|n20[2-3]|n30(0|2)|n50(0|2|5)|n7(0(0|1)|10)|ne((c|m)\-|on|tf|wf|wg|wt)|nok(6|i)|nzph|o2im|op(ti|wv)|oran|owg1|p800|pan(a|d|t)|pdxg|pg(13|\-([1-8]|c))|phil|pire|pl(ay|uc)|pn\-2|po(ck|rt|se)|prox|psio|pt\-g|qa\-a|qc(07|12|21|32|60|\-[2-7]|i\-)|qtek|r380|r600|raks|rim9|ro(ve|zo)|s55\/|sa(ge|ma|mm|ms|ny|va)|sc(01|h\-|oo|p\-)|sdk\/|se(c(\-|0|1)|47|mc|nd|ri)|sgh\-|shar|sie(\-|m)|sk\-0|sl(45|id)|sm(al|ar|b3|it|t5)|so(ft|ny)|sp(01|h\-|v\-|v )|sy(01|mb)|t2(18|50)|t6(00|10|18)|ta(gt|lk)|tcl\-|tdg\-|tel(i|m)|tim\-|t\-mo|to(pl|sh)|ts(70|m\-|m3|m5)|tx\-9|up(\.b|g1|si)|utst|v400|v750|veri|vi(rg|te)|vk(40|5[0-3]|\-v)|vm40|voda|vulc|vx(52|53|60|61|70|80|81|83|85|98)|w3c(\-| )|webc|whit|wi(g |nc|nw)|wmlb|wonu|x700|yas\-|your|zeto|zte\-/i.test(a.substr(0,4))) check = true;})(navigator.userAgent||navigator.vendor||window.opera);
-    return check;
-};
-
-
-export const constraints = {
-  audio: {
-    autoGainControl: false,
-    sampleRate: 48000,
-    sampleSize: 16,
-    echoCancellation: true,
-    noiseSuppression: true,
-    channelCount: 1
-  },
-  video: isMobile()
-};
-
-
-export function start(pc, dc) {
-  pc = createPeerConnection(pc);
-
-  // add audio track
-  navigator.mediaDevices.enumerateDevices()
-    .then(function(devices) {
-      const hasAudioInput = devices.find((device) => device.kind === "audioinput");
-      var modifiedConstraints = {};
-      modifiedConstraints.video = constraints.video;
-      modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;
-
-      return Promise.resolve(modifiedConstraints);
-    })
-    .then(function(constraints) {
-      if (constraints.audio || constraints.video) {
-        return navigator.mediaDevices.getUserMedia(constraints);
-      } else{
-        return Promise.resolve(null);
-      }
-    })
-    .then(function(stream) {
-      if (stream) {
-        stream.getTracks().forEach(function(track) {
-          pc.addTrack(track, stream);
-        });
-      }
-
-      return negotiate(pc);
-    })
-    .catch(function(err) {
-      alert('Could not acquire media: ' + err);
-    });
-
-  var parameters = {"ordered": true};
-  dc = pc.createDataChannel('data', parameters);
-  dc.onclose = function() {
-    clearInterval(controlCommandInterval);
-    clearInterval(latencyInterval);
-  };
-
-  function sendJoystickOverDataChannel() {
-    const {x, y} = getXY();
-    var message = JSON.stringify({type: "testJoystick", data: {axes: [x, y], buttons: [false]}})
-    dc.send(message);
-  }
-  function checkLatency() {
-    const initialTime = new Date().getTime();
-    pingHeadRequest().then(function() {
-      const currentTime = new Date().getTime();
-      if (Math.abs(currentTime - lastChannelMessageTime) < 1000) {
-        const pingtime = currentTime - initialTime;
-        pingPoints.push({'x': currentTime, 'y': pingtime});
-        if (pingPoints.length > 1000) {
-          pingPoints.shift();
-        }
-        chartPing.update();
-        $("#ping-time").text((pingtime) + "ms");
-      }
-    })
-  }
-  dc.onopen = function() {
-    controlCommandInterval = setInterval(sendJoystickOverDataChannel, 50);
-    latencyInterval = setInterval(checkLatency, 1000);
-    sendJoystickOverDataChannel();
-  };
-
-  const textDecoder = new TextDecoder();
-  var carStaterIndex = 0;
-  dc.onmessage = function(evt) {
-    const text = textDecoder.decode(evt.data);
-    const msg = JSON.parse(text);
-    if (carStaterIndex % 100 == 0 && msg.type === 'carState') {
-      const batteryLevel = Math.round(msg.data.fuelGauge * 100);
-      $("#battery").text(batteryLevel + "%");
-      batteryPoints.push({'x': new Date().getTime(), 'y': batteryLevel});
-      if (batteryPoints.length > 1000) {
-        batteryPoints.shift();
-      }
-      chartBattery.update();
-    }
-    carStaterIndex += 1;
-    lastChannelMessageTime = new Date().getTime();
-    $(".pre-blob").addClass('blob');
-  };
-}
-
-
-export function stop(pc, dc) {
-  if (dc) {
-    dc.close();
-  }
-  if (pc.getTransceivers) {
-    pc.getTransceivers().forEach(function(transceiver) {
-      if (transceiver.stop) {
-        transceiver.stop();
-      }
-    });
-  }
-  pc.getSenders().forEach(function(sender) {
-    sender.track.stop();
-  });
-  setTimeout(function() {
-    pc.close();
-  }, 500);
-}
diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css
deleted file mode 100644
index 1bfb5982b4..0000000000
--- a/tools/bodyteleop/static/main.css
+++ /dev/null
@@ -1,185 +0,0 @@
-body {
-  background: #333 !important;
-  color: #fff !important;
-  display: flex;
-  justify-content: center;
-  align-items: start;
-}
-
-p {
-  margin: 0px !important;
-}
-
-i {
-  font-style: normal;
-}
-
-.small {
-  font-size: 1em !important
-}
-
-.jumbo {
-  font-size: 8rem;
-}
-
-
-@media (max-width: 600px) {
-  .small {
-      font-size: 0.5em !important
-  }
-  .jumbo {
-      display: none;
-  }
-  
-}
-
-#main {
-  display: flex;
-  flex-direction: column;
-  align-content: center;
-  justify-content: center;
-  align-items: center;
-  font-size: 30px;
-  width: 100%;
-  max-width: 1200px;
-}
-
-video {
-  width: 95%;
-}
-
-.pre-blob {
-  display: flex;
-  background: #333;
-  border-radius: 50%;
-  margin: 10px;
-  height: 45px;
-  width: 45px;
-  justify-content: center;
-  align-items: center;
-  font-size: 1rem;
-}
-
-.blob {
-  background: rgba(231, 76, 60,1.0);
-  box-shadow: 0 0 0 0 rgba(231, 76, 60,1.0);
-  animation: pulse 2s infinite;
-}
-
-@keyframes pulse {
-  0% {
-    box-shadow: 0 0 0 0px rgba(192, 57, 43, 1);
-  }
-  100% {
-    box-shadow: 0 0 0 20px rgba(192, 57, 43, 0);
-  }
-}
-
-
-.icon-sup-panel {
-  display: flex;
-  flex-direction: row;
-  justify-content: space-around;
-  align-items: center;
-  background: #222;
-  border-radius: 10px;
-  padding: 5px;
-  margin: 5px 0px 5px 0px;
-}
-
-.icon-sub-panel {
-  display: flex;
-  flex-direction: column;
-  justify-content: space-between;
-  align-items: center;
-}
-
-#icon-panel {
-  display: flex;
-  width: 100%;
-  justify-content: space-between;
-  margin-top: 5px;
-}
-
-.icon-sub-sub-panel {
-  display: flex;
-  flex-direction: row;
-}
-
-.keys, #key-val {
-  background: #333;
-  padding: 2rem;
-  margin: 5px;
-  color: #fff;
-  display: flex;
-  justify-content: center;
-  align-items: center;
-  border-radius: 10px;
-  cursor: pointer;
-}
-
-#key-val {
-  pointer-events: none;
-  background: #fff;
-  color: #333;
-  line-height: 1;
-  font-size: 20px;
-  flex-direction: column;
-}
-
-.wasd-row {
-  display: flex;
-  flex-direction: row;
-  justify-content: center;
-  align-items: stretch;
-}
-
-#wasd {
-  margin: 5px 0px 5px 0px;
-  background: #222;
-  border-radius: 10px;
-  width: 100%;
-  padding: 20px;
-  display: flex;
-  flex-direction: row;
-  justify-content: space-around;
-  align-items: stretch;
-
-  user-select: none;
-  -webkit-touch-callout: none;
-  -webkit-user-select: none;
-  -khtml-user-select: none;
-  -moz-user-select: none;
-  -ms-user-select: none;
-  touch-action: manipulation;
-}
-
-.panel {
-  display: flex;
-  justify-content: center;
-  margin: 5px 0px 5px 0px !important;
-  background: #222;
-  border-radius: 10px;
-  width: 100%;
-  padding: 10px;
-}
-
-#ping-time, #battery {
-  font-size: 25px;
-}
-
-#stop {
-  display: none;
-}
-
-.plan-form {
-  display: flex;
-  flex-direction: column;
-  justify-content: space-between;
-  align-items: center;
-}
-
-.details {
-  display: flex;
-  padding: 0px 10px 0px 10px;
-}
diff --git a/tools/bodyteleop/static/poster.png b/tools/bodyteleop/static/poster.png
deleted file mode 100644
index 2f2b02dd8a..0000000000
--- a/tools/bodyteleop/static/poster.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8740da2be7faac198b5e10780c646166056a76ebbe3d64499e0cdc49280c8a4f
-size 8297
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
deleted file mode 100644
index fd8f691d19..0000000000
--- a/tools/bodyteleop/web.py
+++ /dev/null
@@ -1,127 +0,0 @@
-import asyncio
-import dataclasses
-import json
-import logging
-import os
-import ssl
-import subprocess
-
-import pyaudio
-import wave
-from aiohttp import web
-from aiohttp import ClientSession
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.system.webrtc.webrtcd import StreamRequestBody
-from openpilot.common.params import Params
-
-logger = logging.getLogger("bodyteleop")
-logging.basicConfig(level=logging.INFO)
-
-TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
-WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001
-
-
-## UTILS
-async def play_sound(sound: str):
-  SOUNDS = {
-    "engage": "selfdrive/assets/sounds/engage.wav",
-    "disengage": "selfdrive/assets/sounds/disengage.wav",
-    "error": "selfdrive/assets/sounds/warning_immediate.wav",
-  }
-  assert sound in SOUNDS
-
-  chunk = 5120
-  with wave.open(os.path.join(BASEDIR, SOUNDS[sound]), "rb") as wf:
-    def callback(in_data, frame_count, time_info, status):
-      data = wf.readframes(frame_count)
-      return data, pyaudio.paContinue
-
-    p = pyaudio.PyAudio()
-    stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
-                    channels=wf.getnchannels(),
-                    rate=wf.getframerate(),
-                    output=True,
-                    frames_per_buffer=chunk,
-                    stream_callback=callback)
-    stream.start_stream()
-    while stream.is_active():
-      await asyncio.sleep(0)
-    stream.stop_stream()
-    stream.close()
-    p.terminate()
-
-## SSL
-def create_ssl_cert(cert_path: str, key_path: str):
-  try:
-    proc = subprocess.run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
-                          -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"',
-                          capture_output=True, shell=True)
-    proc.check_returncode()
-  except subprocess.CalledProcessError as ex:
-    raise ValueError(f"Error creating SSL certificate:\n[stdout]\n{proc.stdout.decode()}\n[stderr]\n{proc.stderr.decode()}") from ex
-
-
-def create_ssl_context():
-  cert_path = os.path.join(TELEOPDIR, "cert.pem")
-  key_path = os.path.join(TELEOPDIR, "key.pem")
-  if not os.path.exists(cert_path) or not os.path.exists(key_path):
-    logger.info("Creating certificate...")
-    create_ssl_cert(cert_path, key_path)
-  else:
-    logger.info("Certificate exists!")
-  ssl_context = ssl.SSLContext(protocol=ssl.PROTOCOL_TLS_SERVER)
-  ssl_context.load_cert_chain(cert_path, key_path)
-
-  return ssl_context
-
-## ENDPOINTS
-async def index(request: 'web.Request'):
-  with open(os.path.join(TELEOPDIR, "static", "index.html")) as f:
-    content = f.read()
-    return web.Response(content_type="text/html", text=content)
-
-
-async def ping(request: 'web.Request'):
-  return web.Response(text="pong")
-
-
-async def sound(request: 'web.Request'):
-  params = await request.json()
-  sound_to_play = params["sound"]
-
-  await play_sound(sound_to_play)
-  return web.json_response({"status": "ok"})
-
-
-async def offer(request: 'web.Request'):
-  params = await request.json()
-  body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
-  body_json = json.dumps(dataclasses.asdict(body))
-
-  logger.info("Sending offer to webrtcd...")
-  webrtcd_url = f"http://{WEBRTCD_HOST}:{WEBRTCD_PORT}/stream"
-  async with ClientSession() as session, session.post(webrtcd_url, data=body_json) as resp:
-    assert resp.status == 200
-    answer = await resp.json()
-    return web.json_response(answer)
-
-
-def main():
-  # Enable joystick debug mode
-  Params().put_bool("JoystickDebugMode", True)
-
-  # App needs to be HTTPS for microphone and audio autoplay to work on the browser
-  ssl_context = create_ssl_context()
-
-  app = web.Application()
-  app.router.add_get("/", index)
-  app.router.add_get("/ping", ping, allow_head=True)
-  app.router.add_post("/offer", offer)
-  app.router.add_post("/sound", sound)
-  app.router.add_static('/static', os.path.join(TELEOPDIR, 'static'))
-  web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
-
-
-if __name__ == "__main__":
-  main()
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
deleted file mode 100644
index 362a51f5c9..0000000000
--- a/tools/cabana/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-moc_*
-*.moc
-
-cabana
-dbc/car_fingerprint_to_dbc.json
-tests/test_cabana
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
deleted file mode 100644
index d4cfc67280..0000000000
--- a/tools/cabana/SConscript
+++ /dev/null
@@ -1,97 +0,0 @@
-import subprocess
-import os
-
-Import('env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal')
-
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
-
-qt_libs = []
-if arch == "Darwin":
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
-  qt_dirs = [
-    os.path.join(qt_env['QTDIR'], "include"),
-  ]
-  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
-  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
-  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
-  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-else:
-  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
-  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
-
-  qt_env['QTDIR'] = qt_install_prefix
-  qt_dirs = [
-    f"{qt_install_headers}",
-  ]
-
-  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
-  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
-  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
-  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
-    qt_libs += ["GLESv2", "wayland-client"]
-    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
-qt_env['QT3DIR'] = qt_env['QTDIR']
-qt_env.Tool('qt3')
-
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
-qt_flags = [
-  "-D_REENTRANT",
-  "-DQT_NO_DEBUG",
-  "-DQT_WIDGETS_LIB",
-  "-DQT_GUI_LIB",
-  "-DQT_CORE_LIB",
-  "-DQT_MESSAGELOGCONTEXT",
-]
-qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
-qt_env['LIBS'] = qt_libs
-
-base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
-
-if arch == "Darwin":
-  base_frameworks.append('OpenCL')
-  base_frameworks.append('QtCharts')
-  base_frameworks.append('QtSerialBus')
-else:
-  base_libs.append('OpenCL')
-  base_libs.append('Qt5Charts')
-  base_libs.append('Qt5SerialBus')
-
-qt_libs = base_libs
-
-cabana_env = qt_env.Clone()
-
-cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
-opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
-cabana_env['CXXFLAGS'] += [opendbc_path]
-
-# build assets
-assets = "assets/assets.cc"
-assets_src = "assets/assets.qrc"
-cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
-cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
-
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcanstream.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
-                                               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
-                                               'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc', 'utils/api.cc',
-                                               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
-                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
-                                               'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-
-if GetOption('extras'):
-  cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
-
-output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
-generate_dbc = cabana_env.Command('#' + output_json_file,
-                                  ['dbc/generate_dbc_json.py'],
-                                  "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", '#opendbc_repo', "#cereal", "#msgq_repo"])
diff --git a/tools/cabana/assets/.gitignore b/tools/cabana/assets/.gitignore
deleted file mode 100644
index 283034ca8b..0000000000
--- a/tools/cabana/assets/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.cc
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
deleted file mode 100644
index bc50afc03a..0000000000
--- a/tools/cabana/cabana.cc
+++ /dev/null
@@ -1,82 +0,0 @@
-#include <QApplication>
-#include <QCommandLineParser>
-
-#include "tools/cabana/mainwin.h"
-#include "tools/cabana/streams/devicestream.h"
-#include "tools/cabana/streams/pandastream.h"
-#include "tools/cabana/streams/replaystream.h"
-#include "tools/cabana/streams/socketcanstream.h"
-
-int main(int argc, char *argv[]) {
-  QCoreApplication::setApplicationName("Cabana");
-  QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
-  initApp(argc, argv, false);
-  QApplication app(argc, argv);
-  app.setApplicationDisplayName("Cabana");
-  app.setWindowIcon(QIcon(":cabana-icon.png"));
-
-  UnixSignalHandler signalHandler;
-  utils::setTheme(settings.theme);
-
-  QCommandLineParser cmd_parser;
-  cmd_parser.addHelpOption();
-  cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
-  cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
-  cmd_parser.addOption({"auto", "Auto load the route from the best available source (no video): internal, openpilotci, comma_api, car_segments, testing_closet"});
-  cmd_parser.addOption({"qcam", "load qcamera"});
-  cmd_parser.addOption({"ecam", "load wide road camera"});
-  cmd_parser.addOption({"dcam", "load driver camera"});
-  cmd_parser.addOption({"msgq", "read can messages from the msgq"});
-  cmd_parser.addOption({"panda", "read can messages from panda"});
-  cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
-  if (SocketCanStream::available()) {
-    cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"});
-  }
-  cmd_parser.addOption({"zmq", "read can messages from zmq at the specified ip-address", "ip-address"});
-  cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
-  cmd_parser.addOption({"no-vipc", "do not output video"});
-  cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
-  cmd_parser.process(app);
-
-  AbstractStream *stream = nullptr;
-
-  if (cmd_parser.isSet("msgq")) {
-    stream = new DeviceStream(&app);
-  } else if (cmd_parser.isSet("zmq")) {
-    stream = new DeviceStream(&app, cmd_parser.value("zmq"));
-  } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
-    try {
-      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")});
-    } catch (std::exception &e) {
-      qWarning() << e.what();
-      return 0;
-    }
-  } else if (SocketCanStream::available() && cmd_parser.isSet("socketcan")) {
-    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
-  } else {
-    uint32_t replay_flags = REPLAY_FLAG_NONE;
-    if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
-    if (cmd_parser.isSet("qcam")) replay_flags |= REPLAY_FLAG_QCAMERA;
-    if (cmd_parser.isSet("dcam")) replay_flags |= REPLAY_FLAG_DCAM;
-    if (cmd_parser.isSet("no-vipc")) replay_flags |= REPLAY_FLAG_NO_VIPC;
-
-    const QStringList args = cmd_parser.positionalArguments();
-    QString route;
-    if (args.size() > 0) {
-      route = args.first();
-    } else if (cmd_parser.isSet("demo")) {
-      route = DEMO_ROUTE;
-    }
-    if (!route.isEmpty()) {
-      auto replay_stream = std::make_unique<ReplayStream>(&app);
-      bool auto_source = cmd_parser.isSet("auto");
-      if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags, auto_source)) {
-        return 0;
-      }
-      stream = replay_stream.release();
-    }
-  }
-
-  MainWindow w(stream, cmd_parser.value("dbc"));
-  return app.exec();
-}
diff --git a/tools/cabana/cameraview.cc b/tools/cabana/cameraview.cc
deleted file mode 100644
index 13c838efd8..0000000000
--- a/tools/cabana/cameraview.cc
+++ /dev/null
@@ -1,261 +0,0 @@
-#include "tools/cabana/cameraview.h"
-
-#ifdef __APPLE__
-#include <OpenGL/gl3.h>
-#else
-#include <GLES3/gl3.h>
-#endif
-
-#include <QApplication>
-
-namespace {
-
-const char frame_vertex_shader[] =
-#ifdef __APPLE__
-  "#version 330 core\n"
-#else
-  "#version 300 es\n"
-#endif
-  "layout(location = 0) in vec4 aPosition;\n"
-  "layout(location = 1) in vec2 aTexCoord;\n"
-  "uniform mat4 uTransform;\n"
-  "out vec2 vTexCoord;\n"
-  "void main() {\n"
-  "  gl_Position = uTransform * aPosition;\n"
-  "  vTexCoord = aTexCoord;\n"
-  "}\n";
-
-const char frame_fragment_shader[] =
-#ifdef __APPLE__
-  "#version 330 core\n"
-#else
-  "#version 300 es\n"
-  "precision mediump float;\n"
-#endif
-  "uniform sampler2D uTextureY;\n"
-  "uniform sampler2D uTextureUV;\n"
-  "in vec2 vTexCoord;\n"
-  "out vec4 colorOut;\n"
-  "void main() {\n"
-  "  float y = texture(uTextureY, vTexCoord).r;\n"
-  "  vec2 uv = texture(uTextureUV, vTexCoord).rg - 0.5;\n"
-  "  float r = y + 1.402 * uv.y;\n"
-  "  float g = y - 0.344 * uv.x - 0.714 * uv.y;\n"
-  "  float b = y + 1.772 * uv.x;\n"
-  "  colorOut = vec4(r, g, b, 1.0);\n"
-  "}\n";
-
-} // namespace
-
-CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
-                          stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) {
-  setAttribute(Qt::WA_OpaquePaintEvent);
-  qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
-  QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
-  QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
-  QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
-  QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread);
-}
-
-CameraWidget::~CameraWidget() {
-  makeCurrent();
-  stopVipcThread();
-  if (isValid()) {
-    glDeleteVertexArrays(1, &frame_vao);
-    glDeleteBuffers(1, &frame_vbo);
-    glDeleteBuffers(1, &frame_ibo);
-    glDeleteTextures(2, textures);
-    shader_program_.reset();
-  }
-  doneCurrent();
-}
-
-void CameraWidget::initializeGL() {
-  initializeOpenGLFunctions();
-
-  shader_program_ = std::make_unique<QOpenGLShaderProgram>(context());
-  shader_program_->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader);
-  shader_program_->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader);
-  shader_program_->link();
-
-  GLint frame_pos_loc = shader_program_->attributeLocation("aPosition");
-  GLint frame_texcoord_loc = shader_program_->attributeLocation("aTexCoord");
-
-  auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
-  const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
-  const float frame_coords[4][4] = {
-    {-1.0, -1.0, x2, y1}, // bl
-    {-1.0,  1.0, x2, y2}, // tl
-    { 1.0,  1.0, x1, y2}, // tr
-    { 1.0, -1.0, x1, y1}, // br
-  };
-
-  glGenVertexArrays(1, &frame_vao);
-  glBindVertexArray(frame_vao);
-  glGenBuffers(1, &frame_vbo);
-  glBindBuffer(GL_ARRAY_BUFFER, frame_vbo);
-  glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW);
-  glEnableVertexAttribArray(frame_pos_loc);
-  glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
-                        sizeof(frame_coords[0]), (const void *)0);
-  glEnableVertexAttribArray(frame_texcoord_loc);
-  glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
-                        sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2));
-  glGenBuffers(1, &frame_ibo);
-  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, frame_ibo);
-  glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW);
-  glBindBuffer(GL_ARRAY_BUFFER, 0);
-  glBindVertexArray(0);
-
-  glGenTextures(2, textures);
-
-  shader_program_->bind();
-  shader_program_->setUniformValue("uTextureY", 0);
-  shader_program_->setUniformValue("uTextureUV", 1);
-  shader_program_->release();
-}
-
-void CameraWidget::showEvent(QShowEvent *event) {
-  if (!vipc_thread) {
-    clearFrames();
-    vipc_thread = new QThread();
-    connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
-    connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
-    vipc_thread->start();
-  }
-}
-
-void CameraWidget::stopVipcThread() {
-  makeCurrent();
-  if (vipc_thread) {
-    vipc_thread->requestInterruption();
-    vipc_thread->quit();
-    vipc_thread->wait();
-    vipc_thread = nullptr;
-  }
-}
-
-void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
-  available_streams = streams;
-}
-
-void CameraWidget::paintGL() {
-  glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
-  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-  std::lock_guard lk(frame_lock);
-  if (!current_frame_) return;
-
-  // Scale for aspect ratio
-  float widget_ratio = (float)width() / height();
-  float frame_ratio = (float)stream_width / stream_height;
-  float scale_x = std::min(frame_ratio / widget_ratio, 1.0f);
-  float scale_y = std::min(widget_ratio / frame_ratio, 1.0f);
-
-  glViewport(0, 0, width() * devicePixelRatio(), height() * devicePixelRatio());
-
-  shader_program_->bind();
-  QMatrix4x4 transform;
-  transform.scale(scale_x, scale_y, 1.0f);
-  shader_program_->setUniformValue("uTransform", transform);
-
-  glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-
-  glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
-  glActiveTexture(GL_TEXTURE0);
-  glBindTexture(GL_TEXTURE_2D, textures[0]);
-  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, current_frame_->y);
-
-  glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2);
-  glActiveTexture(GL_TEXTURE1);
-  glBindTexture(GL_TEXTURE_2D, textures[1]);
-  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, current_frame_->uv);
-
-  glBindVertexArray(frame_vao);
-  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, nullptr);
-  glBindVertexArray(0);
-
-  // Reset both texture units
-  glActiveTexture(GL_TEXTURE1);
-  glBindTexture(GL_TEXTURE_2D, 0);
-  glActiveTexture(GL_TEXTURE0);
-  glBindTexture(GL_TEXTURE_2D, 0);
-  glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
-  glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
-
-  shader_program_->release();
-}
-
-void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
-  makeCurrent();
-  stream_width = vipc_client->buffers[0].width;
-  stream_height = vipc_client->buffers[0].height;
-  stream_stride = vipc_client->buffers[0].stride;
-
-  glBindTexture(GL_TEXTURE_2D, textures[0]);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_R8, stream_width, stream_height, 0, GL_RED, GL_UNSIGNED_BYTE, nullptr);
-  assert(glGetError() == GL_NO_ERROR);
-
-  glBindTexture(GL_TEXTURE_2D, textures[1]);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-  glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr);
-  assert(glGetError() == GL_NO_ERROR);
-}
-
-void CameraWidget::vipcFrameReceived() {
-  update();
-}
-
-void CameraWidget::vipcThread() {
-  VisionStreamType cur_stream = requested_stream_type;
-  std::unique_ptr<VisionIpcClient> vipc_client;
-  VisionIpcBufExtra frame_meta = {};
-
-  while (!QThread::currentThread()->isInterruptionRequested()) {
-    if (!vipc_client || cur_stream != requested_stream_type) {
-      clearFrames();
-      qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
-      cur_stream = requested_stream_type;
-      vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
-    }
-    active_stream_type = cur_stream;
-
-    if (!vipc_client->connected) {
-      clearFrames();
-      auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
-      if (streams.empty()) {
-        QThread::msleep(100);
-        continue;
-      }
-      emit vipcAvailableStreamsUpdated(streams);
-
-      if (!vipc_client->connect(false)) {
-        QThread::msleep(100);
-        continue;
-      }
-      emit vipcThreadConnected(vipc_client.get());
-    }
-
-    if (VisionBuf *buf = vipc_client->recv(&frame_meta, 100)) {
-      {
-        std::lock_guard lk(frame_lock);
-        current_frame_ = buf;
-        frame_meta_ = frame_meta;
-      }
-      emit vipcThreadFrameReceived();
-    }
-  }
-}
-
-void CameraWidget::clearFrames() {
-  std::lock_guard lk(frame_lock);
-  current_frame_ = nullptr;
-  available_streams.clear();
-}
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
deleted file mode 100644
index bc2380e550..0000000000
--- a/tools/cabana/chart/chart.cc
+++ /dev/null
@@ -1,862 +0,0 @@
-#include "tools/cabana/chart/chart.h"
-
-#include <algorithm>
-#include <limits>
-
-#include <QActionGroup>
-#include <QApplication>
-#include <QDrag>
-#include <QGraphicsLayout>
-#include <QGraphicsDropShadowEffect>
-#include <QGraphicsItemGroup>
-#include <QGraphicsOpacityEffect>
-#include <QMimeData>
-#include <QOpenGLWidget>
-#include <QPropertyAnimation>
-#include <QRandomGenerator>
-#include <QRubberBand>
-#include <QScreen>
-#include <QWindow>
-
-#include "tools/cabana/chart/chartswidget.h"
-
-// ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html)
-const int AXIS_X_TOP_MARGIN = 4;
-const double MIN_ZOOM_SECONDS = 0.01; // 10ms
-// Define a small value of epsilon to compare double values
-const float EPSILON = 0.000001;
-static inline bool xLessThan(const QPointF &p, float x) { return p.x() < (x - EPSILON); }
-
-ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent)
-    : charts_widget(parent), QChartView(parent) {
-  series_type = (SeriesType)settings.chart_series_type;
-  chart()->setBackgroundVisible(false);
-  axis_x = new QValueAxis(this);
-  axis_y = new QValueAxis(this);
-  chart()->addAxis(axis_x, Qt::AlignBottom);
-  chart()->addAxis(axis_y, Qt::AlignLeft);
-  chart()->legend()->layout()->setContentsMargins(0, 0, 0, 0);
-  chart()->legend()->setShowToolTips(true);
-  chart()->setMargins({0, 0, 0, 0});
-
-  axis_x->setRange(x_range.first, x_range.second);
-
-  tip_label = new TipLabel(this);
-  createToolButtons();
-  setRubberBand(QChartView::HorizontalRubberBand);
-  setMouseTracking(true);
-  setTheme(utils::isDarkTheme() ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
-  signal_value_font.setPointSize(9);
-
-  QObject::connect(axis_y, &QValueAxis::rangeChanged, this, &ChartView::resetChartCache);
-  QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, this, &ChartView::resetChartCache);
-  QObject::connect(window()->windowHandle(), &QWindow::screenChanged, this, &ChartView::resetChartCache);
-
-  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
-  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved);
-  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated);
-}
-
-void ChartView::createToolButtons() {
-  move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart());
-  move_icon->setToolTip(tr("Drag and drop to move chart"));
-
-  QToolButton *remove_btn = new ToolButton("x", tr("Remove Chart"));
-  close_btn_proxy = new QGraphicsProxyWidget(chart());
-  close_btn_proxy->setWidget(remove_btn);
-  close_btn_proxy->setZValue(chart()->zValue() + 11);
-
-  menu = new QMenu(this);
-  // series types
-  auto change_series_group = new QActionGroup(menu);
-  change_series_group->setExclusive(true);
-  QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")};
-  for (int i = 0; i < types.size(); ++i) {
-    QAction *act = new QAction(types[i], change_series_group);
-    act->setData(i);
-    act->setCheckable(true);
-    act->setChecked(i == (int)series_type);
-    menu->addAction(act);
-  }
-  menu->addSeparator();
-  menu->addAction(tr("Manage Signals"), this, &ChartView::manageSignals);
-  split_chart_act = menu->addAction(tr("Split Chart"), [this]() { charts_widget->splitChart(this); });
-
-  QToolButton *manage_btn = new ToolButton("list", "");
-  manage_btn->setMenu(menu);
-  manage_btn->setPopupMode(QToolButton::InstantPopup);
-  manage_btn->setStyleSheet("QToolButton::menu-indicator { image: none; }");
-  manage_btn_proxy = new QGraphicsProxyWidget(chart());
-  manage_btn_proxy->setWidget(manage_btn);
-  manage_btn_proxy->setZValue(chart()->zValue() + 11);
-
-  close_act = new QAction(tr("Close"), this);
-  QObject::connect(close_act, &QAction::triggered, [this] () { charts_widget->removeChart(this); });
-  QObject::connect(remove_btn, &QToolButton::clicked, close_act, &QAction::triggered);
-  QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
-    setSeriesType((SeriesType)action->data().toInt());
-  });
-}
-
-QSize ChartView::sizeHint() const {
-  return {CHART_MIN_WIDTH, settings.chart_height};
-}
-
-void ChartView::setTheme(QChart::ChartTheme theme) {
-  chart()->setTheme(theme);
-  if (theme == QChart::ChartThemeDark) {
-    axis_x->setTitleBrush(palette().text());
-    axis_x->setLabelsBrush(palette().text());
-    axis_y->setTitleBrush(palette().text());
-    axis_y->setLabelsBrush(palette().text());
-    chart()->legend()->setLabelColor(palette().color(QPalette::Text));
-  }
-  axis_x->setLineVisible(false);
-  axis_y->setLineVisible(false);
-  for (auto &s : sigs) {
-    s.series->setColor(s.sig->color);
-  }
-}
-
-void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) {
-  if (hasSignal(msg_id, sig)) return;
-
-  QXYSeries *series = createSeries(series_type, sig->color);
-  sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series});
-  updateSeries(sig);
-  updateSeriesPoints();
-  updateTitle();
-  emit charts_widget->seriesChanged();
-}
-
-bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const {
-  return std::any_of(sigs.cbegin(), sigs.cend(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
-}
-
-void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
-  int prev_size = sigs.size();
-  for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-    if (predicate(*it)) {
-      chart()->removeSeries(it->series);
-      it->series->deleteLater();
-      it = sigs.erase(it);
-    } else {
-      ++it;
-    }
-  }
-  if (sigs.empty()) {
-    charts_widget->removeChart(this);
-  } else if (sigs.size() != prev_size) {
-    emit charts_widget->seriesChanged();
-    updateAxisY();
-    resetChartCache();
-  }
-}
-
-void ChartView::signalUpdated(const cabana::Signal *sig) {
-  auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
-  if (it != sigs.end()) {
-    if (it->series->color() != sig->color) {
-      setSeriesColor(it->series, sig->color);
-    }
-    updateTitle();
-    updateSeries(sig);
-  }
-}
-
-void ChartView::msgUpdated(MessageId id) {
-  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id.address == id.address; })) {
-    updateTitle();
-  }
-}
-
-void ChartView::manageSignals() {
-  SignalSelector dlg(tr("Manage Chart"), this);
-  for (auto &s : sigs) {
-    dlg.addSelected(s.msg_id, s.sig);
-  }
-  if (dlg.exec() == QDialog::Accepted) {
-    auto items = dlg.seletedItems();
-    for (auto s : items) {
-      addSignal(s->msg_id, s->sig);
-    }
-    removeIf([&](auto &s) {
-      return std::none_of(items.cbegin(), items.cend(), [&](auto &it) { return s.msg_id == it->msg_id && s.sig == it->sig; });
-    });
-  }
-}
-
-void ChartView::resizeEvent(QResizeEvent *event) {
-  qreal left, top, right, bottom;
-  chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
-  move_icon->setPos(left, top);
-  close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top);
-  int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing);
-  manage_btn_proxy->setPos(x, top);
-  if (align_to > 0) {
-    updatePlotArea(align_to, true);
-  }
-  QChartView::resizeEvent(event);
-}
-
-void ChartView::updatePlotArea(int left_pos, bool force) {
-  if (align_to != left_pos || force) {
-    align_to = left_pos;
-
-    qreal left, top, right, bottom;
-    chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
-    QSizeF legend_size = chart()->legend()->layout()->minimumSize();
-    legend_size.setWidth(manage_btn_proxy->sceneBoundingRect().left() - move_icon->sceneBoundingRect().right());
-    chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), legend_size});
-
-    // add top space for signal value
-    int adjust_top = chart()->legend()->geometry().height() + QFontMetrics(signal_value_font).height() + 3;
-    adjust_top = std::max<int>(adjust_top, manage_btn_proxy->sceneBoundingRect().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin));
-    // add right space for x-axis label
-    QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2));
-    x_label_size += QSizeF{5, 5};
-    chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom));
-    chart()->layout()->invalidate();
-    resetChartCache();
-  }
-}
-
-void ChartView::updateTitle() {
-  for (QLegendMarker *marker : chart()->legend()->markers()) {
-    QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection);
-  }
-
-  // Use CSS to draw titles in the WindowText color
-  auto tmp = palette().color(QPalette::WindowText);
-  auto titleColorCss = tmp.name(QColor::HexArgb);
-  // Draw message details in similar color, but slightly fade it to the background
-  tmp.setAlpha(180);
-  auto msgColorCss = tmp.name(QColor::HexArgb);
-
-  for (auto &s : sigs) {
-    auto decoration = s.series->isVisible() ? "none" : "line-through";
-    s.series->setName(QString("<span style=\"text-decoration:%1; color:%2\"><b>%3</b> <font color=\"%4\">%5 %6</font></span>")
-                      .arg(decoration, titleColorCss, s.sig->name,
-                           msgColorCss, msgName(s.msg_id), s.msg_id.toString()));
-  }
-  split_chart_act->setEnabled(sigs.size() > 1);
-  resetChartCache();
-}
-
-void ChartView::updatePlot(double cur, double min, double max) {
-  cur_sec = cur;
-  if (min != axis_x->min() || max != axis_x->max()) {
-    axis_x->setRange(min, max);
-    updateAxisY();
-    updateSeriesPoints();
-    // update tooltip
-    if (tooltip_x >= 0) {
-      showTip(chart()->mapToValue({tooltip_x, 0}).x());
-    }
-    resetChartCache();
-  }
-  viewport()->update();
-}
-
-void ChartView::updateSeriesPoints() {
-  // Show points when zoomed in enough
-  for (auto &s : sigs) {
-    auto begin = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
-    auto end = std::lower_bound(begin, s.vals.cend(), axis_x->max(), xLessThan);
-    if (begin != end) {
-      int num_points = std::max<int>((end - begin), 1);
-      QPointF right_pt = end == s.vals.cend() ? s.vals.back() : *end;
-      double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points;
-
-      if (series_type == SeriesType::Scatter) {
-        qreal size = std::clamp(pixels_per_point / 2.0, 2.0, 8.0);
-        if (s.series->useOpenGL()) {
-          size *= devicePixelRatioF();
-        }
-        ((QScatterSeries *)s.series)->setMarkerSize(size);
-      } else {
-        s.series->setPointsVisible(num_points == 1 || pixels_per_point > 20);
-      }
-    }
-  }
-}
-
-void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector<const CanEvent *> &events,
-                                std::vector<QPointF> &vals, std::vector<QPointF> &step_vals) {
-  vals.reserve(vals.size() + events.capacity());
-  step_vals.reserve(step_vals.size() + events.capacity() * 2);
-
-  double value = 0;
-  for (const CanEvent *e : events) {
-    if (sig->getValue(e->dat, e->size, &value)) {
-      const double ts = can->toSeconds(e->mono_time);
-      vals.emplace_back(ts, value);
-      if (!step_vals.empty())
-        step_vals.emplace_back(ts, step_vals.back().y());
-      step_vals.emplace_back(ts, value);
-    }
-  }
-}
-
-void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *msg_new_events) {
-  for (auto &s : sigs) {
-    if (!sig || s.sig == sig) {
-      if (!msg_new_events) {
-        s.vals.clear();
-        s.step_vals.clear();
-      }
-      auto events = msg_new_events ? msg_new_events : &can->eventsMap();
-      auto it = events->find(s.msg_id);
-      if (it == events->end() || it->second.empty()) continue;
-
-      if (s.vals.empty() || can->toSeconds(it->second.back()->mono_time) > s.vals.back().x()) {
-        appendCanEvents(s.sig, it->second, s.vals, s.step_vals);
-      } else {
-        std::vector<QPointF> vals, step_vals;
-        appendCanEvents(s.sig, it->second, vals, step_vals);
-        s.vals.insert(std::lower_bound(s.vals.begin(), s.vals.end(), vals.front().x(), xLessThan),
-                      vals.begin(), vals.end());
-        s.step_vals.insert(std::lower_bound(s.step_vals.begin(), s.step_vals.end(), step_vals.front().x(), xLessThan),
-                           step_vals.begin(), step_vals.end());
-      }
-
-      if (!can->liveStreaming()) {
-        s.segment_tree.build(s.vals);
-      }
-      const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
-      s.series->replace(QVector<QPointF>(points.cbegin(), points.cend()));
-    }
-  }
-  updateAxisY();
-  // invoke resetChartCache in ui thread
-  QMetaObject::invokeMethod(this, &ChartView::resetChartCache, Qt::QueuedConnection);
-}
-
-// auto zoom on yaxis
-void ChartView::updateAxisY() {
-  if (sigs.empty()) return;
-
-  double min = std::numeric_limits<double>::max();
-  double max = std::numeric_limits<double>::lowest();
-  QString unit = sigs[0].sig->unit;
-
-  for (auto &s : sigs) {
-    if (!s.series->isVisible()) continue;
-
-    // Only show unit when all signals have the same unit
-    if (unit != s.sig->unit) {
-      unit.clear();
-    }
-
-    auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
-    auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan);
-    s.min = std::numeric_limits<double>::max();
-    s.max = std::numeric_limits<double>::lowest();
-    if (can->liveStreaming()) {
-      for (auto it = first; it != last; ++it) {
-        if (it->y() < s.min) s.min = it->y();
-        if (it->y() > s.max) s.max = it->y();
-      }
-    } else {
-      std::tie(s.min, s.max) = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last));
-    }
-    min = std::min(min, s.min);
-    max = std::max(max, s.max);
-  }
-  if (min == std::numeric_limits<double>::max()) min = 0;
-  if (max == std::numeric_limits<double>::lowest()) max = 0;
-
-  if (axis_y->titleText() != unit) {
-    axis_y->setTitleText(unit);
-    y_label_width = 0;  // recalc width
-  }
-
-  double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05;
-  auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, 3);
-  if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) {
-    axis_y->setRange(min_y, max_y);
-    axis_y->setTickCount(tick_count);
-
-    int n = std::max(int(-std::floor(std::log10((max_y - min_y) / (tick_count - 1)))), 0);
-    int max_label_width = 0;
-    QFontMetrics fm(axis_y->labelsFont());
-    for (int i = 0; i < tick_count; i++) {
-      qreal value = min_y + (i * (max_y - min_y) / (tick_count - 1));
-      max_label_width = std::max(max_label_width, fm.horizontalAdvance(QString::number(value, 'f', n)));
-    }
-
-    int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height();
-    y_label_width = title_spacing + max_label_width + 15;
-    axis_y->setLabelFormat(QString("%.%1f").arg(n));
-    emit axisYLabelWidthChanged(y_label_width);
-  }
-}
-
-std::tuple<double, double, int> ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) {
-  qreal range = niceNumber((max - min), true);  // range with ceiling
-  qreal step = niceNumber(range / (tick_count - 1), false);
-  min = std::floor(min / step);
-  max = std::ceil(max / step);
-  tick_count = int(max - min) + 1;
-  return {min * step, max * step, tick_count};
-}
-
-// nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n
-qreal ChartView::niceNumber(qreal x, bool ceiling) {
-  qreal z = std::pow(10, std::floor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
-  qreal q = x / z; //q<10 && q>=1;
-  if (ceiling) {
-    if (q <= 1.0) q = 1;
-    else if (q <= 2.0) q = 2;
-    else if (q <= 5.0) q = 5;
-    else q = 10;
-  } else {
-    if (q < 1.5) q = 1;
-    else if (q < 3.0) q = 2;
-    else if (q < 7.0) q = 5;
-    else q = 10;
-  }
-  return q * z;
-}
-
-QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
-  QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
-  e->setColor(QColor(40, 40, 40, 245));
-  e->setOffset(0, 0);
-  e->setBlurRadius(radius);
-
-  qreal dpr = px.devicePixelRatio();
-  QPixmap blank(px.size());
-  blank.setDevicePixelRatio(dpr);
-  blank.fill(Qt::white);
-
-  QGraphicsScene scene;
-  QGraphicsPixmapItem item(blank);
-  item.setGraphicsEffect(e);
-  scene.addItem(&item);
-
-  QPixmap shadow(px.size() + QSize(radius * dpr * 2, radius * dpr * 2));
-  shadow.setDevicePixelRatio(dpr);
-  shadow.fill(Qt::transparent);
-  QPainter p(&shadow);
-  scene.render(&p, {QPoint(), shadow.size() / dpr}, item.boundingRect().adjusted(-radius, -radius, radius, radius));
-  return shadow;
-}
-
-static QPixmap getDropPixmap(const QPixmap &src) {
-  static QPixmap shadow_px;
-  const int radius = 10;
-  if (shadow_px.size() != src.size() + QSize(radius * 2, radius * 2)) {
-    shadow_px = getBlankShadowPixmap(src, radius);
-  }
-  QPixmap px = shadow_px;
-  QPainter p(&px);
-  QRectF target_rect(QPointF(radius, radius), src.size() / src.devicePixelRatio());
-  p.drawPixmap(target_rect.topLeft(), src);
-  p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
-  p.fillRect(target_rect, QColor(0, 0, 0, 200));
-  return px;
-}
-
-void ChartView::contextMenuEvent(QContextMenuEvent *event) {
-  QMenu context_menu(this);
-  context_menu.addActions(menu->actions());
-  context_menu.addSeparator();
-  context_menu.addAction(charts_widget->undo_zoom_action);
-  context_menu.addAction(charts_widget->redo_zoom_action);
-  context_menu.addSeparator();
-  context_menu.addAction(close_act);
-  context_menu.exec(event->globalPos());
-}
-
-void ChartView::mousePressEvent(QMouseEvent *event) {
-  if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
-    QMimeData *mimeData = new QMimeData;
-    mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this));
-    QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH * viewport()->devicePixelRatio(), Qt::SmoothTransformation);
-    charts_widget->stopAutoScroll();
-    QDrag *drag = new QDrag(this);
-    drag->setMimeData(mimeData);
-    drag->setPixmap(getDropPixmap(px));
-    drag->setHotSpot(-QPoint(5, 5));
-    drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
-  } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
-    // Save current playback state when scrubbing
-    resume_after_scrub = !can->isPaused();
-    if (resume_after_scrub) {
-      can->pause(true);
-    }
-    is_scrubbing = true;
-  } else {
-    QChartView::mousePressEvent(event);
-  }
-}
-
-void ChartView::mouseReleaseEvent(QMouseEvent *event) {
-  auto rubber = findChild<QRubberBand *>();
-  if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) {
-    rubber->hide();
-    auto rect = rubber->geometry().normalized();
-    // Prevent zooming/seeking past the end of the route
-    double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), can->minSeconds(), can->maxSeconds());
-    double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), can->minSeconds(), can->maxSeconds());
-    if (rubber->width() <= 0) {
-      // no rubber dragged, seek to mouse position
-      can->seekTo(min);
-    } else if (rubber->width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
-      charts_widget->zoom_undo_stack->push(new ZoomCommand({min, max}));
-    } else {
-      viewport()->update();
-    }
-    event->accept();
-  } else if (event->button() == Qt::RightButton) {
-    charts_widget->zoom_undo_stack->undo();
-    event->accept();
-  } else {
-    QGraphicsView::mouseReleaseEvent(event);
-  }
-
-  // Resume playback if we were scrubbing
-  is_scrubbing = false;
-  if (resume_after_scrub) {
-    can->pause(false);
-    resume_after_scrub = false;
-  }
-}
-
-void ChartView::mouseMoveEvent(QMouseEvent *ev) {
-  const auto plot_area = chart()->plotArea();
-  // Scrubbing
-  if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
-    if (plot_area.contains(ev->pos())) {
-      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), can->minSeconds(), can->maxSeconds()));
-    }
-  }
-
-  auto rubber = findChild<QRubberBand *>();
-  bool is_zooming = rubber && rubber->isVisible();
-  clearTrackPoints();
-
-  if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) {
-    charts_widget->showValueTip(secondsAtPoint(ev->pos()));
-  } else if (tip_label->isVisible()) {
-    charts_widget->showValueTip(-1);
-  }
-
-  QChartView::mouseMoveEvent(ev);
-  if (is_zooming) {
-    QRect rubber_rect = rubber->geometry();
-    rubber_rect.setLeft(std::max(rubber_rect.left(), (int)plot_area.left()));
-    rubber_rect.setRight(std::min(rubber_rect.right(), (int)plot_area.right()));
-    if (rubber_rect != rubber->geometry()) {
-      rubber->setGeometry(rubber_rect);
-    }
-    viewport()->update();
-  }
-}
-
-void ChartView::showTip(double sec) {
-  QRect tip_area(0, chart()->plotArea().top(), rect().width(), chart()->plotArea().height());
-  QRect visible_rect = charts_widget->chartVisibleRect(this).intersected(tip_area);
-  if (visible_rect.isEmpty()) {
-    tip_label->hide();
-    return;
-  }
-
-  tooltip_x = chart()->mapToPosition({sec, 0}).x();
-  qreal x = -1;
-  QStringList text_list;
-  for (auto &s : sigs) {
-    if (s.series->isVisible()) {
-      QString value = "--";
-      // use reverse iterator to find last item <= sec.
-      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double x) { return p.x() > x; });
-      if (it != s.vals.crend() && it->x() >= axis_x->min()) {
-        value = s.sig->formatValue(it->y(), false);
-        s.track_pt = *it;
-        x = std::max(x, chart()->mapToPosition(*it).x());
-      }
-      QString name = sigs.size() > 1 ? s.sig->name + ": " : "";
-      QString min = s.min == std::numeric_limits<double>::max() ? "--" : QString::number(s.min);
-      QString max = s.max == std::numeric_limits<double>::lowest() ? "--" : QString::number(s.max);
-      text_list << QString("<span style=\"color:%1;\">■ </span>%2<b>%3</b> (%4, %5)")
-                       .arg(s.series->color().name(), name, value, min, max);
-    }
-  }
-  if (x < 0) {
-    x = tooltip_x;
-  }
-  QPoint pt(x, chart()->plotArea().top());
-  text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
-  QString text = "<p style='white-space:pre'>" % text_list.join("<br />") % "</p>";
-  tip_label->showText(pt, text, this, visible_rect);
-  viewport()->update();
-}
-
-void ChartView::hideTip() {
-  clearTrackPoints();
-  tooltip_x = -1;
-  tip_label->hide();
-  viewport()->update();
-}
-
-void ChartView::dragEnterEvent(QDragEnterEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    drawDropIndicator(event->source() != this);
-    event->acceptProposedAction();
-  }
-}
-
-void ChartView::dragMoveEvent(QDragMoveEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction);
-    event->accept();
-  }
-  charts_widget->startAutoScroll();
-}
-
-void ChartView::dropEvent(QDropEvent *event) {
-  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
-    if (event->source() != this) {
-      ChartView *source_chart = (ChartView *)event->source();
-      for (auto &s : source_chart->sigs) {
-        source_chart->chart()->removeSeries(s.series);
-        addSeries(s.series);
-      }
-      sigs.insert(sigs.end(), std::move_iterator(source_chart->sigs.begin()), std::move_iterator(source_chart->sigs.end()));
-      updateAxisY();
-      updateTitle();
-      startAnimation();
-
-      source_chart->sigs.clear();
-      charts_widget->removeChart(source_chart);
-      event->acceptProposedAction();
-    }
-    can_drop = false;
-  }
-}
-
-void ChartView::resetChartCache() {
-  chart_pixmap = QPixmap();
-  viewport()->update();
-}
-
-void ChartView::startAnimation() {
-  QGraphicsOpacityEffect *eff = new QGraphicsOpacityEffect(this);
-  viewport()->setGraphicsEffect(eff);
-  QPropertyAnimation *a = new QPropertyAnimation(eff, "opacity");
-  a->setDuration(250);
-  a->setStartValue(0.3);
-  a->setEndValue(1);
-  a->setEasingCurve(QEasingCurve::InBack);
-  a->start(QPropertyAnimation::DeleteWhenStopped);
-}
-
-void ChartView::paintEvent(QPaintEvent *event) {
-  if (!can->liveStreaming()) {
-    if (chart_pixmap.isNull()) {
-      const qreal dpr = viewport()->devicePixelRatioF();
-      chart_pixmap = QPixmap(viewport()->size() * dpr);
-      chart_pixmap.setDevicePixelRatio(dpr);
-      QPainter p(&chart_pixmap);
-      p.setRenderHints(QPainter::Antialiasing);
-      drawBackground(&p, viewport()->rect());
-      scene()->setSceneRect(viewport()->rect());
-      scene()->render(&p, viewport()->rect());
-    }
-
-    QPainter painter(viewport());
-    painter.setRenderHints(QPainter::Antialiasing);
-    painter.drawPixmap(QPoint(), chart_pixmap);
-    if (can_drop) {
-      painter.setPen(QPen(palette().color(QPalette::Highlight), 4));
-      painter.drawRect(viewport()->rect());
-    }
-    QRectF exposed_rect = mapToScene(event->region().boundingRect()).boundingRect();
-    drawForeground(&painter, exposed_rect);
-  } else {
-    QChartView::paintEvent(event);
-  }
-}
-
-void ChartView::drawBackground(QPainter *painter, const QRectF &rect) {
-  painter->fillRect(rect, palette().color(QPalette::Base));
-}
-
-void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
-  drawTimeline(painter);
-  drawSignalValue(painter);
-  // draw track points
-  painter->setPen(Qt::NoPen);
-  qreal track_line_x = -1;
-  for (auto &s : sigs) {
-    if (!s.track_pt.isNull() && s.series->isVisible()) {
-      painter->setBrush(s.series->color().darker(125));
-      QPointF pos = chart()->mapToPosition(s.track_pt);
-      painter->drawEllipse(pos, 5.5, 5.5);
-      track_line_x = std::max(track_line_x, pos.x());
-    }
-  }
-  if (track_line_x > 0) {
-    auto plot_area = chart()->plotArea();
-    painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
-    painter->drawLine(QPointF{track_line_x, plot_area.top()}, QPointF{track_line_x, plot_area.bottom()});
-  }
-
-  // paint points. OpenGL mode lacks certain features (such as showing points)
-  painter->setPen(Qt::NoPen);
-  for (auto &s : sigs) {
-    if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) {
-      auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
-      auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan);
-      painter->setBrush(s.series->color());
-      for (auto it = first; it != last; ++it) {
-        painter->drawEllipse(chart()->mapToPosition(*it), 4, 4);
-      }
-    }
-  }
-
-  drawRubberBandTimeRange(painter);
-}
-
-void ChartView::drawRubberBandTimeRange(QPainter *painter) {
-  auto rubber = findChild<QRubberBand *>();
-  if (rubber && rubber->isVisible() && rubber->width() > 1) {
-    painter->setPen(Qt::white);
-    auto rubber_rect = rubber->geometry().normalized();
-    for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) {
-      QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 2);
-      auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN);
-      pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2});
-      painter->fillRect(r, Qt::gray);
-      painter->drawText(r, Qt::AlignCenter, sec);
-    }
-  }
-}
-
-void ChartView::drawTimeline(QPainter *painter) {
-  const auto plot_area = chart()->plotArea();
-  // draw vertical time line
-  qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right());
-  painter->setPen(QPen(chart()->titleBrush().color(), 1));
-  painter->drawLine(QPointF{x, plot_area.top() - 1}, QPointF{x, plot_area.bottom() + 1});
-
-  // draw current time under the axis-x
-  QString time_str = QString::number(cur_sec, 'f', 2);
-  QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
-  QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
-  QPainterPath path;
-  path.addRoundedRect(time_str_rect, 3, 3);
-  painter->fillPath(path, utils::isDarkTheme() ? Qt::darkGray : Qt::gray);
-  painter->setPen(palette().color(QPalette::BrightText));
-  painter->setFont(axis_x->labelsFont());
-  painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
-}
-
-void ChartView::drawSignalValue(QPainter *painter) {
-  auto item_group = qgraphicsitem_cast<QGraphicsItemGroup *>(chart()->legend()->childItems()[0]);
-  assert(item_group != nullptr);
-  auto legend_markers = item_group->childItems();
-  assert(legend_markers.size() == sigs.size());
-
-  painter->setFont(signal_value_font);
-  painter->setPen(chart()->legend()->labelColor());
-  int i = 0;
-  for (auto &s : sigs) {
-    auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec,
-                               [](auto &p, double x) { return p.x() > x + EPSILON; });
-    QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--";
-    QRectF marker_rect = legend_markers[i++]->sceneBoundingRect();
-    QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size());
-    QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());
-    painter->drawText(value_rect, Qt::AlignHCenter | Qt::AlignTop, elided_val);
-  }
-}
-
-QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
-  QXYSeries *series = nullptr;
-  if (type == SeriesType::Line) {
-    series = new QLineSeries(this);
-    chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle);
-  } else if (type == SeriesType::StepLine) {
-    series = new QLineSeries(this);
-    chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries);
-  } else {
-    series = new QScatterSeries(this);
-    static_cast<QScatterSeries*>(series)->setBorderColor(color);
-    chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle);
-  }
-  series->setColor(color);
-  // TODO: Due to a bug in CameraWidget the camera frames
-  // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed
-#ifndef __APPLE__
-  series->setUseOpenGL(true);
-  // Qt doesn't properly apply device pixel ratio in OpenGL mode
-  QPen pen = series->pen();
-  pen.setWidthF(2.0 * devicePixelRatioF());
-  series->setPen(pen);
-#endif
-  addSeries(series);
-  return series;
-}
-
-void ChartView::addSeries(QXYSeries *series) {
-  setSeriesColor(series, series->color());
-  chart()->addSeries(series);
-  series->attachAxis(axis_x);
-  series->attachAxis(axis_y);
-
-  // disables the delivery of mouse events to the opengl widget.
-  // this enables the user to select the zoom area when the mouse press on the data point.
-  auto glwidget = findChild<QOpenGLWidget *>();
-  if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) {
-    glwidget->setAttribute(Qt::WA_TransparentForMouseEvents);
-  }
-}
-
-void ChartView::setSeriesColor(QXYSeries *series, QColor color) {
-  auto existing_series = chart()->series();
-  for (auto s : existing_series) {
-    if (s != series && std::abs(color.hueF() - qobject_cast<QXYSeries *>(s)->color().hueF()) < 0.1) {
-      // use different color to distinguish it from others.
-      auto last_color = qobject_cast<QXYSeries *>(existing_series.back())->color();
-      color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0),
-                    QRandomGenerator::global()->bounded(35, 100) / 100.0,
-                    QRandomGenerator::global()->bounded(85, 100) / 100.0);
-      break;
-    }
-  }
-  series->setColor(color);
-}
-
-void ChartView::setSeriesType(SeriesType type) {
-  if (type != series_type) {
-    series_type = type;
-    for (auto &s : sigs) {
-      chart()->removeSeries(s.series);
-      s.series->deleteLater();
-    }
-    for (auto &s : sigs) {
-      s.series = createSeries(series_type, s.sig->color);
-      const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
-      s.series->replace(QVector<QPointF>(points.cbegin(), points.cend()));
-    }
-    updateSeriesPoints();
-    updateTitle();
-
-    menu->actions()[(int)type]->setChecked(true);
-  }
-}
-
-void ChartView::handleMarkerClicked() {
-  auto marker = qobject_cast<QLegendMarker *>(sender());
-  Q_ASSERT(marker);
-  if (sigs.size() > 1) {
-    auto series = marker->series();
-    series->setVisible(!series->isVisible());
-    marker->setVisible(true);
-    updateAxisY();
-    updateTitle();
-  }
-}
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
deleted file mode 100644
index 0736d9b83f..0000000000
--- a/tools/cabana/commands.h
+++ /dev/null
@@ -1,72 +0,0 @@
-#pragma once
-
-#include <utility>
-
-#include <QUndoCommand>
-#include <QUndoStack>
-
-#include "tools/cabana/dbc/dbcmanager.h"
-#include "tools/cabana/streams/abstractstream.h"
-
-class EditMsgCommand : public QUndoCommand {
-public:
-  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node,
-                 const QString &comment, QUndoCommand *parent = nullptr);
-  void undo() override;
-  void redo() override;
-
-private:
-  const MessageId id;
-  QString old_name, new_name, old_comment, new_comment, old_node, new_node;
-  int old_size = 0, new_size = 0;
-};
-
-class RemoveMsgCommand : public QUndoCommand {
-public:
-  RemoveMsgCommand(const MessageId &id, QUndoCommand *parent = nullptr);
-  void undo() override;
-  void redo() override;
-
-private:
-  const MessageId id;
-  cabana::Msg message;
-};
-
-class AddSigCommand : public QUndoCommand {
-public:
-  AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent = nullptr);
-  void undo() override;
-  void redo() override;
-
-private:
-  const MessageId id;
-  bool msg_created = false;
-  cabana::Signal signal = {};
-};
-
-class RemoveSigCommand : public QUndoCommand {
-public:
-  RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent = nullptr);
-  void undo() override;
-  void redo() override;
-
-private:
-  const MessageId id;
-  QList<cabana::Signal> sigs;
-};
-
-class EditSignalCommand : public QUndoCommand {
-public:
-  EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent = nullptr);
-  void undo() override;
-  void redo() override;
-
-private:
-  const MessageId id;
-  QList<std::pair<cabana::Signal, cabana::Signal>> sigs; // QList<{old_sig, new_sig}>
-};
-
-namespace UndoStack {
-  QUndoStack *instance();
-  inline void push(QUndoCommand *cmd) { instance()->push(cmd); }
-};
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
deleted file mode 100644
index 134d88a919..0000000000
--- a/tools/cabana/dbc/dbc.h
+++ /dev/null
@@ -1,126 +0,0 @@
-#pragma once
-
-#include <limits>
-#include <utility>
-#include <vector>
-
-#include <QColor>
-#include <QMetaType>
-#include <QString>
-
-const QString UNTITLED = "untitled";
-const QString DEFAULT_NODE_NAME = "XXX";
-constexpr int CAN_MAX_DATA_BYTES = 64;
-
-struct MessageId {
-  uint8_t source = 0;
-  uint32_t address = 0;
-
-  QString toString() const {
-    return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
-  }
-
-  inline static MessageId fromString(const QString &str) {
-    auto parts = str.split(':');
-    if (parts.size() != 2) return {};
-    return MessageId{.source = uint8_t(parts[0].toUInt()), .address = parts[1].toUInt(nullptr, 16)};
-  }
-
-  bool operator==(const MessageId &other) const {
-    return source == other.source && address == other.address;
-  }
-
-  bool operator!=(const MessageId &other) const {
-    return !(*this == other);
-  }
-
-  bool operator<(const MessageId &other) const {
-    return std::tie(source, address) < std::tie(other.source, other.address);
-  }
-
-  bool operator>(const MessageId &other) const {
-    return std::tie(source, address) > std::tie(other.source, other.address);
-  }
-};
-
-uint qHash(const MessageId &item);
-Q_DECLARE_METATYPE(MessageId);
-
-template <>
-struct std::hash<MessageId> {
-  std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); }
-};
-
-typedef std::vector<std::pair<double, QString>> ValueDescription;
-
-namespace cabana {
-
-class Signal {
-public:
-  Signal() = default;
-  Signal(const Signal &other) = default;
-  void update();
-  bool getValue(const uint8_t *data, size_t data_size, double *val) const;
-  QString formatValue(double value, bool with_unit = true) const;
-  bool operator==(const cabana::Signal &other) const;
-  inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); }
-
-  enum class Type {
-    Normal = 0,
-    Multiplexed,
-    Multiplexor
-  };
-
-  Type type = Type::Normal;
-  QString name;
-  int start_bit, msb, lsb, size;
-  double factor = 1.0;
-  double offset = 0;
-  bool is_signed;
-  bool is_little_endian;
-  double min, max;
-  QString unit;
-  QString comment;
-  QString receiver_name;
-  ValueDescription val_desc;
-  int precision = 0;
-  QColor color;
-
-  // Multiplexed
-  int multiplex_value = 0;
-  Signal *multiplexor = nullptr;
-};
-
-class Msg {
-public:
-  Msg() = default;
-  Msg(const Msg &other) { *this = other; }
-  ~Msg();
-  cabana::Signal *addSignal(const cabana::Signal &sig);
-  cabana::Signal *updateSignal(const QString &sig_name, const cabana::Signal &sig);
-  void removeSignal(const QString &sig_name);
-  Msg &operator=(const Msg &other);
-  int indexOf(const cabana::Signal *sig) const;
-  cabana::Signal *sig(const QString &sig_name) const;
-  QString newSignalName();
-  void update();
-  inline const std::vector<cabana::Signal *> &getSignals() const { return sigs; }
-
-  uint32_t address;
-  QString name;
-  uint32_t size;
-  QString comment;
-  QString transmitter;
-  std::vector<cabana::Signal *> sigs;
-
-  std::vector<uint8_t> mask;
-  cabana::Signal *multiplexor = nullptr;
-};
-
-}  // namespace cabana
-
-// Helper functions
-double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
-void updateMsbLsb(cabana::Signal &s);
-inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
-inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
deleted file mode 100644
index 1c03c8a0aa..0000000000
--- a/tools/cabana/dbc/dbcfile.cc
+++ /dev/null
@@ -1,274 +0,0 @@
-#include "tools/cabana/dbc/dbcfile.h"
-
-#include <QFile>
-#include <QFileInfo>
-#include <QRegularExpression>
-
-DBCFile::DBCFile(const QString &dbc_file_name) {
-  QFile file(dbc_file_name);
-  if (file.open(QIODevice::ReadOnly)) {
-    name_ = QFileInfo(dbc_file_name).baseName();
-    filename = dbc_file_name;
-    parse(file.readAll());
-  } else {
-    throw std::runtime_error("Failed to open file.");
-  }
-}
-
-DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
-  parse(content);
-}
-
-bool DBCFile::save() {
-  assert(!filename.isEmpty());
-  return writeContents(filename);
-}
-
-bool DBCFile::saveAs(const QString &new_filename) {
-  filename = new_filename;
-  return save();
-}
-
-bool DBCFile::writeContents(const QString &fn) {
-  QFile file(fn);
-  if (file.open(QIODevice::WriteOnly)) {
-    return file.write(generateDBC().toUtf8()) >= 0;
-  }
-  return false;
-}
-
-void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
-  auto &m = msgs[id.address];
-  m.address = id.address;
-  m.name = name;
-  m.size = size;
-  m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
-  m.comment = comment;
-}
-
-cabana::Msg *DBCFile::msg(uint32_t address) {
-  auto it = msgs.find(address);
-  return it != msgs.end() ? &it->second : nullptr;
-}
-
-cabana::Msg *DBCFile::msg(const QString &name) {
-  auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
-  return it != msgs.end() ? &(it->second) : nullptr;
-}
-
-cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
-  auto m = msg(address);
-  return m ? (cabana::Signal *)m->sig(name) : nullptr;
-}
-
-void DBCFile::parse(const QString &content) {
-  msgs.clear();
-
-  int line_num = 0;
-  QString line;
-  cabana::Msg *current_msg = nullptr;
-  int multiplexor_cnt = 0;
-  bool seen_first = false;
-  QTextStream stream((QString *)&content);
-
-  while (!stream.atEnd()) {
-    ++line_num;
-    QString raw_line = stream.readLine();
-    line = raw_line.trimmed();
-
-    bool seen = true;
-    try {
-      if (line.startsWith("BO_ ")) {
-        multiplexor_cnt = 0;
-        current_msg = parseBO(line);
-      } else if (line.startsWith("SG_ ")) {
-        parseSG(line, current_msg, multiplexor_cnt);
-      } else if (line.startsWith("VAL_ ")) {
-        parseVAL(line);
-      } else if (line.startsWith("CM_ BO_")) {
-        parseCM_BO(line, content, raw_line, stream);
-      } else if (line.startsWith("CM_ SG_ ")) {
-        parseCM_SG(line, content, raw_line, stream);
-      } else {
-        seen = false;
-      }
-    } catch (std::exception &e) {
-      throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(e.what()).arg(line).toStdString());
-    }
-
-    if (seen) {
-      seen_first = true;
-    } else if (!seen_first) {
-      header += raw_line + "\n";
-    }
-  }
-
-  for (auto &[_, m] : msgs) {
-    m.update();
-  }
-}
-
-cabana::Msg *DBCFile::parseBO(const QString &line) {
-  static QRegularExpression bo_regexp(R"(^BO_ (?<address>\w+) (?<name>\w+) *: (?<size>\w+) (?<transmitter>\w+))");
-
-  QRegularExpressionMatch match = bo_regexp.match(line);
-  if (!match.hasMatch())
-    throw std::runtime_error("Invalid BO_ line format");
-
-  uint32_t address = match.captured("address").toUInt();
-  if (msgs.count(address) > 0)
-    throw std::runtime_error(QString("Duplicate message address: %1").arg(address).toStdString());
-
-  // Create a new message object
-  cabana::Msg *msg = &msgs[address];
-  msg->address = address;
-  msg->name = match.captured("name");
-  msg->size = match.captured("size").toULong();
-  msg->transmitter = match.captured("transmitter").trimmed();
-  return msg;
-}
-
-void DBCFile::parseCM_BO(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
-  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(?<address>\w+) *\"(?<comment>(?:[^"\\]|\\.)*)\"\s*;)");
-
-  QString parse_line = line;
-  if (!parse_line.endsWith("\";")) {
-    int pos = stream.pos() - raw_line.length() - 1;
-    parse_line = content.mid(pos, content.indexOf("\";", pos));
-  }
-  auto match = msg_comment_regexp.match(parse_line);
-  if (!match.hasMatch())
-    throw std::runtime_error("Invalid message comment format");
-
-  if (auto m = (cabana::Msg *)msg(match.captured("address").toUInt()))
-    m->comment = match.captured("comment").trimmed().replace("\\\"", "\"");
-}
-
-void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
-  static QRegularExpression sg_regexp(R"(^SG_ (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
-  static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
-
-  if (!current_msg)
-    throw std::runtime_error("No Message");
-
-  int offset = 0;
-  auto match = sg_regexp.match(line);
-  if (!match.hasMatch()) {
-    match = sgm_regexp.match(line);
-    offset = 1;
-  }
-  if (!match.hasMatch())
-    throw std::runtime_error("Invalid SG_ line format");
-
-  QString name = match.captured(1);
-  if (current_msg->sig(name) != nullptr)
-    throw std::runtime_error("Duplicate signal name");
-
-  cabana::Signal s{};
-  if (offset == 1) {
-    auto indicator = match.captured(2);
-    if (indicator == "M") {
-      ++multiplexor_cnt;
-      // Only one signal within a single message can be the multiplexer switch.
-      if (multiplexor_cnt >= 2)
-        throw std::runtime_error("Multiple multiplexor");
-
-      s.type = cabana::Signal::Type::Multiplexor;
-    } else {
-      s.type = cabana::Signal::Type::Multiplexed;
-      s.multiplex_value = indicator.mid(1).toInt();
-    }
-  }
-  s.name = name;
-  s.start_bit = match.captured(offset + 2).toInt();
-  s.size = match.captured(offset + 3).toInt();
-  s.is_little_endian = match.captured(offset + 4).toInt() == 1;
-  s.is_signed = match.captured(offset + 5) == "-";
-  s.factor = match.captured(offset + 6).toDouble();
-  s.offset = match.captured(offset + 7).toDouble();
-  s.min = match.captured(8 + offset).toDouble();
-  s.max = match.captured(9 + offset).toDouble();
-  s.unit = match.captured(10 + offset);
-  s.receiver_name = match.captured(11 + offset).trimmed();
-  current_msg->sigs.push_back(new cabana::Signal(s));
-}
-
-void DBCFile::parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream) {
-  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"((?:[^"\\]|\\.)*)\"\s*;)");
-
-  QString parse_line = line;
-  if (!parse_line.endsWith("\";")) {
-    int pos = stream.pos() - raw_line.length() - 1;
-    parse_line = content.mid(pos, content.indexOf("\";", pos));
-  }
-  auto match = sg_comment_regexp.match(parse_line);
-  if (!match.hasMatch())
-    throw std::runtime_error("Invalid CM_ SG_ line format");
-
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
-    s->comment = match.captured(3).trimmed().replace("\\\"", "\"");
-  }
-}
-
-void DBCFile::parseVAL(const QString &line) {
-  static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
-
-  auto match = val_regexp.match(line);
-  if (!match.hasMatch())
-    throw std::runtime_error("invalid VAL_ line format");
-
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
-    QStringList desc_list = match.captured(3).trimmed().split('"');
-    for (int i = 0; i < desc_list.size(); i += 2) {
-      auto val = desc_list[i].trimmed();
-      if (!val.isEmpty() && (i + 1) < desc_list.size()) {
-        auto desc = desc_list[i + 1].trimmed();
-        s->val_desc.push_back({val.toDouble(), desc});
-      }
-    }
-  }
-}
-
-QString DBCFile::generateDBC() {
-  QString dbc_string, comment, val_desc;
-  for (const auto &[address, m] : msgs) {
-    const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
-    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
-    if (!m.comment.isEmpty()) {
-      comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(QString(m.comment).replace("\"", "\\\""));
-    }
-    for (auto sig : m.getSignals()) {
-      QString multiplexer_indicator;
-      if (sig->type == cabana::Signal::Type::Multiplexor) {
-        multiplexer_indicator = "M ";
-      } else if (sig->type == cabana::Signal::Type::Multiplexed) {
-        multiplexer_indicator = QString("m%1 ").arg(sig->multiplex_value);
-      }
-      dbc_string += QString(" SG_ %1 %2: %3|%4@%5%6 (%7,%8) [%9|%10] \"%11\" %12\n")
-                        .arg(sig->name)
-                        .arg(multiplexer_indicator)
-                        .arg(sig->start_bit)
-                        .arg(sig->size)
-                        .arg(sig->is_little_endian ? '1' : '0')
-                        .arg(sig->is_signed ? '-' : '+')
-                        .arg(doubleToString(sig->factor))
-                        .arg(doubleToString(sig->offset))
-                        .arg(doubleToString(sig->min))
-                        .arg(doubleToString(sig->max))
-                        .arg(sig->unit)
-                        .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
-      if (!sig->comment.isEmpty()) {
-        comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(QString(sig->comment).replace("\"", "\\\""));
-      }
-      if (!sig->val_desc.empty()) {
-        QStringList text;
-        for (auto &[val, desc] : sig->val_desc) {
-          text << QString("%1 \"%2\"").arg(val).arg(desc);
-        }
-        val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" "));
-      }
-    }
-    dbc_string += "\n";
-  }
-  return header + dbc_string + comment + val_desc;
-}
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
deleted file mode 100644
index bd267898f9..0000000000
--- a/tools/cabana/dbc/dbcfile.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#pragma once
-
-#include <map>
-#include <QTextStream>
-
-#include "tools/cabana/dbc/dbc.h"
-
-class DBCFile {
-public:
-  DBCFile(const QString &dbc_file_name);
-  DBCFile(const QString &name, const QString &content);
-  ~DBCFile() {}
-
-  bool save();
-  bool saveAs(const QString &new_filename);
-  bool writeContents(const QString &fn);
-  QString generateDBC();
-
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
-  inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
-
-  inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
-  cabana::Msg *msg(uint32_t address);
-  cabana::Msg *msg(const QString &name);
-  inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
-  cabana::Signal *signal(uint32_t address, const QString &name);
-
-  inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
-  inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
-
-  QString filename;
-
-private:
-  void parse(const QString &content);
-  cabana::Msg *parseBO(const QString &line);
-  void parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt);
-  void parseCM_BO(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream);
-  void parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream);
-  void parseVAL(const QString &line);
-
-  QString header;
-  std::map<uint32_t, cabana::Msg> msgs;
-  QString name_;
-};
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
deleted file mode 100644
index 5f183752d2..0000000000
--- a/tools/cabana/dbc/dbcmanager.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#pragma once
-
-#include <QObject>
-#include <memory>
-#include <map>
-#include <set>
-
-#include "tools/cabana/dbc/dbcfile.h"
-
-typedef std::set<int> SourceSet;
-const SourceSet SOURCE_ALL = {-1};
-const int INVALID_SOURCE = 0xff;
-inline bool operator<(const std::shared_ptr<DBCFile> &l, const std::shared_ptr<DBCFile> &r) { return l.get() < r.get(); }
-
-class DBCManager : public QObject {
-  Q_OBJECT
-
-public:
-  DBCManager(QObject *parent) : QObject(parent) {}
-  ~DBCManager() {}
-  bool open(const SourceSet &sources, const QString &dbc_file_name, QString *error = nullptr);
-  bool open(const SourceSet &sources, const QString &name, const QString &content, QString *error = nullptr);
-  void close(const SourceSet &sources);
-  void close(DBCFile *dbc_file);
-  void closeAll();
-
-  void addSignal(const MessageId &id, const cabana::Signal &sig);
-  void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
-  void removeSignal(const MessageId &id, const QString &sig_name);
-
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
-  void removeMsg(const MessageId &id);
-
-  QString newMsgName(const MessageId &id);
-  QString newSignalName(const MessageId &id);
-
-  const std::map<uint32_t, cabana::Msg> &getMessages(uint8_t source);
-  cabana::Msg *msg(const MessageId &id);
-  cabana::Msg* msg(uint8_t source, const QString &name);
-
-  QStringList signalNames();
-  inline int dbcCount() { return allDBCFiles().size(); }
-  int nonEmptyDBCCount();
-
-  const SourceSet sources(const DBCFile *dbc_file) const;
-  DBCFile *findDBCFile(const uint8_t source);
-  inline DBCFile *findDBCFile(const MessageId &id) { return findDBCFile(id.source); }
-  std::set<DBCFile *> allDBCFiles();
-
-signals:
-  void signalAdded(MessageId id, const cabana::Signal *sig);
-  void signalRemoved(const cabana::Signal *sig);
-  void signalUpdated(const cabana::Signal *sig);
-  void msgUpdated(MessageId id);
-  void msgRemoved(MessageId id);
-  void DBCFileChanged();
-  void maskUpdated();
-
-private:
-  std::map<int, std::shared_ptr<DBCFile>> dbc_files;
-};
-
-DBCManager *dbc();
-
-QString toString(const SourceSet &ss);
-inline QString msgName(const MessageId &id) {
-  auto msg = dbc()->msg(id);
-  return msg ? msg->name : UNTITLED;
-}
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
deleted file mode 100644
index e7b1129a30..0000000000
--- a/tools/cabana/settings.cc
+++ /dev/null
@@ -1,141 +0,0 @@
-#include "tools/cabana/settings.h"
-
-#include <QAbstractButton>
-#include <QDialogButtonBox>
-#include <QDir>
-#include <QFileDialog>
-#include <QFormLayout>
-#include <QPushButton>
-#include <QSettings>
-#include <QStandardPaths>
-#include <type_traits>
-
-#include "tools/cabana/utils/util.h"
-
-const int MIN_CACHE_MINIUTES = 30;
-const int MAX_CACHE_MINIUTES = 120;
-
-Settings settings;
-
-template <class SettingOperation>
-void settings_op(SettingOperation op) {
-  QSettings s("cabana");
-  op(s, "absolute_time", settings.absolute_time);
-  op(s, "fps", settings.fps);
-  op(s, "max_cached_minutes", settings.max_cached_minutes);
-  op(s, "chart_height", settings.chart_height);
-  op(s, "chart_range", settings.chart_range);
-  op(s, "chart_column_count", settings.chart_column_count);
-  op(s, "last_dir", settings.last_dir);
-  op(s, "last_route_dir", settings.last_route_dir);
-  op(s, "window_state", settings.window_state);
-  op(s, "geometry", settings.geometry);
-  op(s, "video_splitter_state", settings.video_splitter_state);
-  op(s, "recent_files", settings.recent_files);
-  op(s, "message_header_state", settings.message_header_state);
-  op(s, "chart_series_type", settings.chart_series_type);
-  op(s, "theme", settings.theme);
-  op(s, "sparkline_range", settings.sparkline_range);
-  op(s, "multiple_lines_hex", settings.multiple_lines_hex);
-  op(s, "log_livestream", settings.log_livestream);
-  op(s, "log_path", settings.log_path);
-  op(s, "drag_direction", (int &)settings.drag_direction);
-  op(s, "suppress_defined_signals", settings.suppress_defined_signals);
-  op(s, "recent_dbc_file", settings.recent_dbc_file);
-  op(s, "active_msg_id", settings.active_msg_id);
-  op(s, "selected_msg_ids", settings.selected_msg_ids);
-  op(s, "active_charts", settings.active_charts);
-}
-
-Settings::Settings() {
-  last_dir = last_route_dir = QDir::homePath();
-  log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
-  settings_op([](QSettings &s, const QString &key, auto &value) {
-    if (auto v = s.value(key); v.canConvert<std::decay_t<decltype(value)>>())
-      value = v.value<std::decay_t<decltype(value)>>();
-  });
-}
-
-Settings::~Settings() {
-  settings_op([](QSettings &s, const QString &key, auto &v) { s.setValue(key, v); });
-}
-
-// SettingsDlg
-
-SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
-  setWindowTitle(tr("Settings"));
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  QGroupBox *groupbox = new QGroupBox("General");
-  QFormLayout *form_layout = new QFormLayout(groupbox);
-
-  form_layout->addRow(tr("Color Theme"), theme = new QComboBox(this));
-  theme->setToolTip(tr("You may need to restart cabana after changes theme"));
-  theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")});
-  theme->setCurrentIndex(settings.theme);
-
-  form_layout->addRow("FPS", fps = new QSpinBox(this));
-  fps->setRange(10, 100);
-  fps->setSingleStep(10);
-  fps->setValue(settings.fps);
-
-  form_layout->addRow(tr("Max Cached Minutes"), cached_minutes = new QSpinBox(this));
-  cached_minutes->setRange(MIN_CACHE_MINIUTES, MAX_CACHE_MINIUTES);
-  cached_minutes->setSingleStep(1);
-  cached_minutes->setValue(settings.max_cached_minutes);
-  main_layout->addWidget(groupbox);
-
-  groupbox = new QGroupBox("New Signal Settings");
-  form_layout = new QFormLayout(groupbox);
-  form_layout->addRow(tr("Drag Direction"), drag_direction = new QComboBox(this));
-  drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")});
-  drag_direction->setCurrentIndex(settings.drag_direction);
-  main_layout->addWidget(groupbox);
-
-  groupbox = new QGroupBox("Chart");
-  form_layout = new QFormLayout(groupbox);
-  form_layout->addRow(tr("Chart Height"), chart_height = new QSpinBox(this));
-  chart_height->setRange(100, 500);
-  chart_height->setSingleStep(10);
-  chart_height->setValue(settings.chart_height);
-  main_layout->addWidget(groupbox);
-
-  log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
-  log_livestream->setCheckable(true);
-  QHBoxLayout *path_layout = new QHBoxLayout(log_livestream);
-  path_layout->addWidget(log_path = new QLineEdit(settings.log_path, this));
-  log_path->setReadOnly(true);
-  auto browse_btn = new QPushButton(tr("B&rowse..."));
-  path_layout->addWidget(browse_btn);
-  main_layout->addWidget(log_livestream);
-
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
-  main_layout->addWidget(buttonBox);
-  setFixedSize(400, sizeHint().height());
-
-  QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
-    QString fn = QFileDialog::getExistingDirectory(
-        this, tr("Log File Location"),
-        QStandardPaths::writableLocation(QStandardPaths::HomeLocation),
-        QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);
-    if (!fn.isEmpty()) {
-      log_path->setText(fn);
-    }
-  });
-  QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
-  QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
-}
-
-void SettingsDlg::save() {
-  if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) {
-    // set theme before emit changed
-    utils::setTheme(settings.theme);
-  }
-  settings.fps = fps->value();
-  settings.max_cached_minutes = cached_minutes->value();
-  settings.chart_height = chart_height->value();
-  settings.log_livestream = log_livestream->isChecked();
-  settings.log_path = log_path->text();
-  settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex();
-  emit settings.changed();
-  QDialog::accept();
-}
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
deleted file mode 100644
index 7ab50d1494..0000000000
--- a/tools/cabana/settings.h
+++ /dev/null
@@ -1,73 +0,0 @@
-#pragma once
-
-#include <QByteArray>
-#include <QComboBox>
-#include <QDialog>
-#include <QGroupBox>
-#include <QLineEdit>
-#include <QSpinBox>
-
-#define LIGHT_THEME 1
-#define DARK_THEME 2
-
-class Settings : public QObject {
-  Q_OBJECT
-
-public:
-  enum DragDirection {
-    MsbFirst,
-    LsbFirst,
-    AlwaysLE,
-    AlwaysBE,
-  };
-
-  Settings();
-  ~Settings();
-
-  bool absolute_time = false;
-  int fps = 10;
-  int max_cached_minutes = 30;
-  int chart_height = 200;
-  int chart_column_count = 1;
-  int chart_range = 3 * 60; // 3 minutes
-  int chart_series_type = 0;
-  int theme = 0;
-  int sparkline_range = 15; // 15 seconds
-  bool multiple_lines_hex = false;
-  bool log_livestream = true;
-  bool suppress_defined_signals = false;
-  QString log_path;
-  QString last_dir;
-  QString last_route_dir;
-  QByteArray geometry;
-  QByteArray video_splitter_state;
-  QByteArray window_state;
-  QStringList recent_files;
-  QByteArray message_header_state;
-  DragDirection drag_direction = MsbFirst;
-
-  // session data
-  QString recent_dbc_file;
-  QString active_msg_id;
-  QStringList selected_msg_ids;
-  QStringList active_charts;
-
-signals:
-  void changed();
-};
-
-class SettingsDlg : public QDialog {
-public:
-  SettingsDlg(QWidget *parent);
-  void save();
-  QSpinBox *fps;
-  QSpinBox *cached_minutes;
-  QSpinBox *chart_height;
-  QComboBox *chart_series_type;
-  QComboBox *theme;
-  QGroupBox *log_livestream;
-  QLineEdit *log_path;
-  QComboBox *drag_direction;
-};
-
-extern Settings settings;
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
deleted file mode 100644
index 462dd7a361..0000000000
--- a/tools/cabana/streams/devicestream.cc
+++ /dev/null
@@ -1,67 +0,0 @@
-#include "tools/cabana/streams/devicestream.h"
-
-#include <memory>
-#include <string>
-
-#include "cereal/services.h"
-
-#include <QButtonGroup>
-#include <QFormLayout>
-#include <QRadioButton>
-#include <QRegularExpression>
-#include <QRegularExpressionValidator>
-#include <QThread>
-
-// DeviceStream
-
-DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
-}
-
-void DeviceStream::streamThread() {
-  zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1);
-
-  std::unique_ptr<Context> context(Context::create());
-  std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
-  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address, false, true, services.at("can").queue_size));
-  assert(sock != NULL);
-  // run as fast as messages come in
-  while (!QThread::currentThread()->isInterruptionRequested()) {
-    std::unique_ptr<Message> msg(sock->receive(true));
-    if (!msg) {
-      QThread::msleep(50);
-      continue;
-    }
-    handleEvent(kj::ArrayPtr<capnp::word>((capnp::word*)msg->getData(), msg->getSize() / sizeof(capnp::word)));
-  }
-}
-
-// OpenDeviceWidget
-
-OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
-  QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
-  QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
-  ip_address = new QLineEdit(this);
-  ip_address->setPlaceholderText(tr("Enter device Ip Address"));
-  QString ip_range = "(?:[0-1]?[0-9]?[0-9]|2[0-4][0-9]|25[0-5])";
-  QString pattern("^" + ip_range + "\\." + ip_range + "\\." + ip_range + "\\." + ip_range + "$");
-  QRegularExpression re(pattern);
-  ip_address->setValidator(new QRegularExpressionValidator(re, this));
-
-  group = new QButtonGroup(this);
-  group->addButton(msgq, 0);
-  group->addButton(zmq, 1);
-
-  QFormLayout *form_layout = new QFormLayout(this);
-  form_layout->addRow(msgq);
-  form_layout->addRow(zmq, ip_address);
-  QObject::connect(group, qOverload<QAbstractButton *, bool>(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) {
-    ip_address->setEnabled(button == zmq && checked);
-  });
-  zmq->setChecked(true);
-}
-
-AbstractStream *OpenDeviceWidget::open() {
-  QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
-  bool msgq = group->checkedId() == 0;
-  return new DeviceStream(qApp, msgq ? "" : ip);
-}
diff --git a/tools/cabana/streams/routes.cc b/tools/cabana/streams/routes.cc
deleted file mode 100644
index 5915c98065..0000000000
--- a/tools/cabana/streams/routes.cc
+++ /dev/null
@@ -1,138 +0,0 @@
-#include "tools/cabana/streams/routes.h"
-
-#include <QDateTime>
-#include <QDialogButtonBox>
-#include <QFormLayout>
-#include <QJsonArray>
-#include <QJsonDocument>
-#include <QListWidget>
-#include <QMessageBox>
-#include <QPainter>
-
-class OneShotHttpRequest : public HttpRequest {
-public:
-  OneShotHttpRequest(QObject *parent) : HttpRequest(parent, false) {}
-  void send(const QString &url) {
-    if (reply) {
-      reply->disconnect();
-      reply->abort();
-      reply->deleteLater();
-      reply = nullptr;
-    }
-    sendRequest(url);
-  }
-};
-
-// The RouteListWidget class extends QListWidget to display a custom message when empty
-class RouteListWidget : public QListWidget {
-public:
-  RouteListWidget(QWidget *parent = nullptr) : QListWidget(parent) {}
-  void setEmptyText(const QString &text) {
-    empty_text_ = text;
-    viewport()->update();
-  }
-  void paintEvent(QPaintEvent *event) override {
-    QListWidget::paintEvent(event);
-    if (count() == 0) {
-      QPainter painter(viewport());
-      painter.drawText(viewport()->rect(), Qt::AlignCenter, empty_text_);
-    }
-  }
-  QString empty_text_ = tr("No items");
-};
-
-RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(new OneShotHttpRequest(this)) {
-  setWindowTitle(tr("Remote routes"));
-
-  QFormLayout *layout = new QFormLayout(this);
-  layout->addRow(tr("Device"), device_list_ = new QComboBox(this));
-  layout->addRow(period_selector_ = new QComboBox(this));
-  layout->addRow(route_list_ = new RouteListWidget(this));
-  auto button_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
-  layout->addRow(button_box);
-
-  device_list_->addItem(tr("Loading..."));
-  // Populate period selector with predefined durations
-  period_selector_->addItem(tr("Last week"), 7);
-  period_selector_->addItem(tr("Last 2 weeks"), 14);
-  period_selector_->addItem(tr("Last month"), 30);
-  period_selector_->addItem(tr("Last 6 months"), 180);
-  period_selector_->addItem(tr("Preserved"), -1);
-
-  // Connect signals and slots
-  QObject::connect(route_requester_, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
-  connect(device_list_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
-  connect(period_selector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
-  connect(route_list_, &QListWidget::itemDoubleClicked, this, &QDialog::accept);
-  QObject::connect(button_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
-  QObject::connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
-
-  // Send request to fetch devices
-  HttpRequest *http = new HttpRequest(this, false);
-  QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseDeviceList);
-  http->sendRequest(CommaApi::BASE_URL + "/v1/me/devices/");
-}
-
-void RoutesDialog::parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err) {
-  if (success) {
-    device_list_->clear();
-    auto devices = QJsonDocument::fromJson(json.toUtf8()).array();
-    for (const QJsonValue &device : devices) {
-      QString dongle_id = device["dongle_id"].toString();
-      device_list_->addItem(dongle_id, dongle_id);
-    }
-  } else {
-    bool unauthorized = (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError);
-    QMessageBox::warning(this, tr("Error"), unauthorized ? tr("Unauthorized, Authenticate with tools/lib/auth.py") : tr("Network error"));
-    reject();
-  }
-  sender()->deleteLater();
-}
-
-void RoutesDialog::fetchRoutes() {
-  if (device_list_->currentIndex() == -1 || device_list_->currentData().isNull())
-    return;
-
-  route_list_->clear();
-  route_list_->setEmptyText(tr("Loading..."));
-  // Construct URL with selected device and date range
-  QString url = QString("%1/v1/devices/%2").arg(CommaApi::BASE_URL, device_list_->currentText());
-  int period = period_selector_->currentData().toInt();
-  if (period == -1) {
-    url += "/routes/preserved";
-  } else {
-    QDateTime now = QDateTime::currentDateTime();
-    url += QString("/routes_segments?start=%1&end=%2")
-               .arg(now.addDays(-period).toMSecsSinceEpoch())
-               .arg(now.toMSecsSinceEpoch());
-  }
-  route_requester_->send(url);
-}
-
-void RoutesDialog::parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err) {
-  if (success) {
-    for (const QJsonValue &route : QJsonDocument::fromJson(json.toUtf8()).array()) {
-      QDateTime from, to;
-      if (period_selector_->currentData().toInt() == -1) {
-        from = QDateTime::fromString(route["start_time"].toString(), Qt::ISODateWithMs);
-        to = QDateTime::fromString(route["end_time"].toString(), Qt::ISODateWithMs);
-      } else {
-        from = QDateTime::fromMSecsSinceEpoch(route["start_time_utc_millis"].toDouble());
-        to = QDateTime::fromMSecsSinceEpoch(route["end_time_utc_millis"].toDouble());
-      }
-      auto item = new QListWidgetItem(QString("%1    %2min").arg(from.toString()).arg(from.secsTo(to) / 60));
-      item->setData(Qt::UserRole, route["fullname"].toString());
-      route_list_->addItem(item);
-    }
-    if (route_list_->count() > 0) route_list_->setCurrentRow(0);
-  } else {
-    QMessageBox::warning(this, tr("Error"), tr("Failed to fetch routes. Check your network connection."));
-    reject();
-  }
-  route_list_->setEmptyText(tr("No items"));
-}
-
-QString RoutesDialog::route() {
-  auto current_item = route_list_->currentItem();
-  return current_item ? current_item->data(Qt::UserRole).toString() : "";
-}
diff --git a/tools/cabana/streams/routes.h b/tools/cabana/streams/routes.h
deleted file mode 100644
index 045dc67220..0000000000
--- a/tools/cabana/streams/routes.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#include <QComboBox>
-#include <QDialog>
-#include "tools/cabana/utils/api.h"
-
-class RouteListWidget;
-class OneShotHttpRequest;
-
-class RoutesDialog : public QDialog {
-  Q_OBJECT
-public:
-  RoutesDialog(QWidget *parent);
-  QString route();
-
-protected:
-  void parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err);
-  void parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err);
-  void fetchRoutes();
-
-  QComboBox *device_list_;
-  QComboBox *period_selector_;
-  RouteListWidget *route_list_;
-  OneShotHttpRequest *route_requester_;
-};
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
deleted file mode 100644
index e4801df9c0..0000000000
--- a/tools/cabana/streams/socketcanstream.cc
+++ /dev/null
@@ -1,111 +0,0 @@
-#include "tools/cabana/streams/socketcanstream.h"
-
-#include <QDebug>
-#include <QFormLayout>
-#include <QHBoxLayout>
-#include <QMessageBox>
-#include <QPushButton>
-#include <QThread>
-
-SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
-  if (!available()) {
-    throw std::runtime_error("SocketCAN plugin not available");
-  }
-
-  qDebug() << "Connecting to SocketCAN device" << config.device;
-  if (!connect()) {
-    throw std::runtime_error("Failed to connect to SocketCAN device");
-  }
-}
-
-bool SocketCanStream::available() {
-  return QCanBus::instance()->plugins().contains("socketcan");
-}
-
-bool SocketCanStream::connect() {
-  // Connecting might generate some warnings about missing socketcan/libsocketcan libraries
-  // These are expected and can be ignored, we don't need the advanced features of libsocketcan
-  QString errorString;
-  device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString));
-  device->setConfigurationParameter(QCanBusDevice::CanFdKey, true);
-
-  if (!device) {
-    qDebug() << "Failed to create SocketCAN device" << errorString;
-    return false;
-  }
-
-  if (!device->connectDevice()) {
-    qDebug() << "Failed to connect to device";
-    return false;
-  }
-
-  return true;
-}
-
-void SocketCanStream::streamThread() {
-  while (!QThread::currentThread()->isInterruptionRequested()) {
-    QThread::msleep(1);
-
-    auto frames = device->readAllFrames();
-    if (frames.size() == 0) continue;
-
-    MessageBuilder msg;
-    auto evt = msg.initEvent();
-    auto canData = evt.initCan(frames.size());
-
-    for (uint i = 0; i < frames.size(); i++) {
-      if (!frames[i].isValid()) continue;
-
-      canData[i].setAddress(frames[i].frameId());
-      canData[i].setSrc(0);
-
-      auto payload = frames[i].payload();
-      canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
-    }
-
-    handleEvent(capnp::messageToFlatArray(msg));
-  }
-}
-
-OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->addStretch(1);
-
-  QFormLayout *form_layout = new QFormLayout();
-
-  QHBoxLayout *device_layout = new QHBoxLayout();
-  device_edit = new QComboBox();
-  device_edit->setFixedWidth(300);
-  device_layout->addWidget(device_edit);
-
-  QPushButton *refresh = new QPushButton(tr("Refresh"));
-  refresh->setFixedWidth(100);
-  device_layout->addWidget(refresh);
-  form_layout->addRow(tr("Device"), device_layout);
-  main_layout->addLayout(form_layout);
-
-  main_layout->addStretch(1);
-
-  QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
-  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); });
-
-  // Populate devices
-  refreshDevices();
-}
-
-void OpenSocketCanWidget::refreshDevices() {
-  device_edit->clear();
-  for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
-    device_edit->addItem(device.name());
-  }
-}
-
-
-AbstractStream *OpenSocketCanWidget::open() {
-  try {
-    return new SocketCanStream(qApp, config);
-  } catch (std::exception &e) {
-    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
-    return nullptr;
-  }
-}
diff --git a/tools/cabana/tests/test_runner.cc b/tools/cabana/tests/test_runner.cc
deleted file mode 100644
index b20ac86c64..0000000000
--- a/tools/cabana/tests/test_runner.cc
+++ /dev/null
@@ -1,10 +0,0 @@
-#define CATCH_CONFIG_RUNNER
-#include "catch2/catch.hpp"
-#include <QCoreApplication>
-
-int main(int argc, char **argv) {
-  // unit tests for Qt
-  QCoreApplication app(argc, argv);
-  const int res = Catch::Session().run(argc, argv);
-  return (res < 0xff ? res : 0xff);
-}
diff --git a/tools/cabana/utils/api.cc b/tools/cabana/utils/api.cc
deleted file mode 100644
index 89379a8434..0000000000
--- a/tools/cabana/utils/api.cc
+++ /dev/null
@@ -1,171 +0,0 @@
-#include "tools/cabana/utils/api.h"
-
-#include <openssl/evp.h>
-#include <openssl/pem.h>
-
-#include <QApplication>
-#include <QCryptographicHash>
-#include <QDateTime>
-#include <QDebug>
-#include <QJsonDocument>
-#include <QNetworkRequest>
-
-#include <memory>
-#include <string>
-
-#include "common/params.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "tools/cabana/utils/util.h"
-
-QString getVersion() {
-  static QString version =  QString::fromStdString(Params().get("Version"));
-  return version;
-}
-
-QString getUserAgent() {
-  return "openpilot-" + getVersion();
-}
-
-std::optional<QString> getDongleId() {
-  std::string id = Params().get("DongleId");
-
-  if (!id.empty() && (id != "UnregisteredDevice")) {
-    return QString::fromStdString(id);
-  } else {
-    return {};
-  }
-}
-
-namespace CommaApi {
-
-EVP_PKEY *get_private_key() {
-  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> pkey(nullptr, EVP_PKEY_free);
-  if (!pkey) {
-    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
-    if (!fp) {
-      qDebug() << "No private key found, please run manager.py or registration.py";
-      return nullptr;
-    }
-    pkey.reset(PEM_read_PrivateKey(fp, nullptr, nullptr, nullptr));
-    fclose(fp);
-  }
-  return pkey.get();
-}
-
-QByteArray rsa_sign(const QByteArray &data) {
-  EVP_PKEY *pkey = get_private_key();
-  if (!pkey) return {};
-
-  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
-  if (!mdctx) return {};
-
-  QByteArray sig(EVP_PKEY_size(pkey), Qt::Uninitialized);
-  size_t sig_len = sig.size();
-
-  int ret = EVP_DigestSignInit(mdctx, nullptr, EVP_sha256(), nullptr, pkey);
-  ret &= EVP_DigestSignUpdate(mdctx, data.data(), data.size());
-  ret &= EVP_DigestSignFinal(mdctx, (unsigned char*)sig.data(), &sig_len);
-
-  EVP_MD_CTX_free(mdctx);
-
-  if (ret != 1) return {};
-  sig.resize(sig_len);
-  return sig;
-}
-
-QString create_jwt(const QJsonObject &payloads, int expiry) {
-  QJsonObject header = {{"alg", "RS256"}};
-
-  auto t = QDateTime::currentSecsSinceEpoch();
-  QJsonObject payload = {{"identity", getDongleId().value_or("")}, {"nbf", t}, {"iat", t}, {"exp", t + expiry}};
-  for (auto it = payloads.begin(); it != payloads.end(); ++it) {
-    payload.insert(it.key(), it.value());
-  }
-
-  auto b64_opts = QByteArray::Base64UrlEncoding | QByteArray::OmitTrailingEquals;
-  QString jwt = QJsonDocument(header).toJson(QJsonDocument::Compact).toBase64(b64_opts) + '.' +
-                QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts);
-
-  auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256);
-  return jwt + "." + rsa_sign(hash).toBase64(b64_opts);
-}
-
-}  // namespace CommaApi
-
-HttpRequest::HttpRequest(QObject *parent, bool create_jwt, int timeout) : create_jwt(create_jwt), QObject(parent) {
-  networkTimer = new QTimer(this);
-  networkTimer->setSingleShot(true);
-  networkTimer->setInterval(timeout);
-  connect(networkTimer, &QTimer::timeout, this, &HttpRequest::requestTimeout);
-}
-
-bool HttpRequest::active() const {
-  return reply != nullptr;
-}
-
-bool HttpRequest::timeout() const {
-  return reply && reply->error() == QNetworkReply::OperationCanceledError;
-}
-
-void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Method method) {
-  if (active()) {
-    qDebug() << "HttpRequest is active";
-    return;
-  }
-  QString token;
-  if (create_jwt) {
-    token = CommaApi::create_jwt();
-  } else {
-    QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json"));
-    QJsonDocument json_d = QJsonDocument::fromJson(token_json.toUtf8());
-    token = json_d["access_token"].toString();
-  }
-
-  QNetworkRequest request;
-  request.setUrl(QUrl(requestURL));
-  request.setRawHeader("User-Agent", getUserAgent().toUtf8());
-
-  if (!token.isEmpty()) {
-    request.setRawHeader(QByteArray("Authorization"), ("JWT " + token).toUtf8());
-  }
-
-  if (method == HttpRequest::Method::GET) {
-    reply = nam()->get(request);
-  } else if (method == HttpRequest::Method::DELETE) {
-    reply = nam()->deleteResource(request);
-  }
-
-  networkTimer->start();
-  connect(reply, &QNetworkReply::finished, this, &HttpRequest::requestFinished);
-}
-
-void HttpRequest::requestTimeout() {
-  reply->abort();
-}
-
-void HttpRequest::requestFinished() {
-  networkTimer->stop();
-
-  if (reply->error() == QNetworkReply::NoError) {
-    emit requestDone(reply->readAll(), true, reply->error());
-  } else {
-    QString error;
-    if (reply->error() == QNetworkReply::OperationCanceledError) {
-      nam()->clearAccessCache();
-      nam()->clearConnectionCache();
-      error = "Request timed out";
-    } else {
-      error = reply->errorString();
-    }
-    emit requestDone(error, false, reply->error());
-  }
-
-  reply->deleteLater();
-  reply = nullptr;
-}
-
-QNetworkAccessManager *HttpRequest::nam() {
-  static QNetworkAccessManager *networkAccessManager = new QNetworkAccessManager(qApp);
-  return networkAccessManager;
-}
diff --git a/tools/cabana/utils/api.h b/tools/cabana/utils/api.h
deleted file mode 100644
index ad64d7e722..0000000000
--- a/tools/cabana/utils/api.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#pragma once
-
-#include <QJsonObject>
-#include <QNetworkReply>
-#include <QString>
-#include <QTimer>
-
-#include "common/util.h"
-
-namespace CommaApi {
-
-const QString BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
-QByteArray rsa_sign(const QByteArray &data);
-QString create_jwt(const QJsonObject &payloads = {}, int expiry = 3600);
-
-}  // namespace CommaApi
-
-/**
- * Makes a request to the request endpoint.
- */
-
-class HttpRequest : public QObject {
-  Q_OBJECT
-
-public:
-  enum class Method {GET, DELETE};
-
-  explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000);
-  void sendRequest(const QString &requestURL, const Method method = Method::GET);
-  bool active() const;
-  bool timeout() const;
-
-signals:
-  void requestDone(const QString &response, bool success, QNetworkReply::NetworkError error);
-
-protected:
-  QNetworkReply *reply = nullptr;
-
-private:
-  static QNetworkAccessManager *nam();
-  QTimer *networkTimer = nullptr;
-  bool create_jwt;
-
-private slots:
-  void requestTimeout();
-  void requestFinished();
-};
diff --git a/tools/cabana/utils/export.cc b/tools/cabana/utils/export.cc
deleted file mode 100644
index 79ca97ba8f..0000000000
--- a/tools/cabana/utils/export.cc
+++ /dev/null
@@ -1,45 +0,0 @@
-#include "tools/cabana/utils/export.h"
-
-#include <QFile>
-#include <QTextStream>
-
-#include "tools/cabana/streams/abstractstream.h"
-
-namespace utils {
-
-void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id) {
-  QFile file(file_name);
-  if (file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
-    QTextStream stream(&file);
-    stream << "time,addr,bus,data\n";
-    for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) {
-      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
-             << "0x" << QString::number(e->address, 16) << "," << e->src << ","
-             << "0x" << QByteArray::fromRawData((const char *)e->dat, e->size).toHex().toUpper() << "\n";
-    }
-  }
-}
-
-void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
-  QFile file(file_name);
-  if (auto msg = dbc()->msg(msg_id); msg && msg->sigs.size() && file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
-    QTextStream stream(&file);
-    stream << "time,addr,bus";
-    for (auto s : msg->sigs)
-      stream << "," << s->name;
-    stream << "\n";
-
-    for (auto e : can->events(msg_id)) {
-      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
-             << "0x" << QString::number(e->address, 16) << "," << e->src;
-      for (auto s : msg->sigs) {
-        double value = 0;
-        s->getValue(e->dat, e->size, &value);
-        stream << "," << QString::number(value, 'f', s->precision);
-      }
-      stream << "\n";
-    }
-  }
-}
-
-}  // namespace utils
diff --git a/tools/cabana/utils/export.h b/tools/cabana/utils/export.h
deleted file mode 100644
index 270906b163..0000000000
--- a/tools/cabana/utils/export.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#pragma once
-
-#include <optional>
-
-#include "tools/cabana/dbc/dbcmanager.h"
-
-namespace utils {
-void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id = std::nullopt);
-void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id);
-}  // namespace utils
diff --git a/tools/cabana/utils/util.cc b/tools/cabana/utils/util.cc
deleted file mode 100644
index ca069b358d..0000000000
--- a/tools/cabana/utils/util.cc
+++ /dev/null
@@ -1,360 +0,0 @@
-#include "tools/cabana/utils/util.h"
-
-#include <algorithm>
-#include <csignal>
-#include <limits>
-#include <memory>
-#include <string>
-#include <sys/socket.h>
-#include <unistd.h>
-
-#include <QColor>
-#include <QDateTime>
-#include <QDir>
-#include <QFontDatabase>
-#include <QLocale>
-#include <QPixmapCache>
-#include <QSurfaceFormat>
-#include <QFileInfo>
-#include <QPainterPath>
-#include <QTextStream>
-#include <QtXml/QDomDocument>
-#include "common/util.h"
-
-// SegmentTree
-
-void SegmentTree::build(const std::vector<QPointF> &arr) {
-  size = arr.size();
-  tree.resize(4 * size);  // size of the tree is 4 times the size of the array
-  if (size > 0) {
-    build_tree(arr, 1, 0, size - 1);
-  }
-}
-
-void SegmentTree::build_tree(const std::vector<QPointF> &arr, int n, int left, int right) {
-  if (left == right) {
-    const double y = arr[left].y();
-    tree[n] = {y, y};
-  } else {
-    const int mid = (left + right) >> 1;
-    build_tree(arr, 2 * n, left, mid);
-    build_tree(arr, 2 * n + 1, mid + 1, right);
-    tree[n] = {std::min(tree[2 * n].first, tree[2 * n + 1].first), std::max(tree[2 * n].second, tree[2 * n + 1].second)};
-  }
-}
-
-std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, int range_left, int range_right) const {
-  if (range_left > right || range_right < left)
-    return {std::numeric_limits<double>::max(), std::numeric_limits<double>::lowest()};
-  if (range_left <= left && range_right >= right)
-    return tree[n];
-  int mid = (left + right) >> 1;
-  auto l = get_minmax(2 * n, left, mid, range_left, range_right);
-  auto r = get_minmax(2 * n + 1, mid + 1, right, range_left, range_right);
-  return {std::min(l.first, r.first), std::max(l.second, r.second)};
-}
-
-// MessageBytesDelegate
-
-MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines)
-    : font_metrics(QApplication::font()), multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
-  fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
-  byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
-  for (int i = 0; i < 256; ++i) {
-    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
-    hex_text_table[i].prepare({}, fixed_font);
-  }
-  h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
-  v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
-}
-
-QSize MessageBytesDelegate::sizeForBytes(int n) const {
-  int rows = multiple_lines ? std::max(1, n / 8) : 1;
-  return {(n / rows) * byte_size.width() + h_margin * 2, rows * byte_size.height() + v_margin * 2};
-}
-
-QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  auto data = index.data(BytesRole);
-  return sizeForBytes(data.isValid() ? static_cast<std::vector<uint8_t> *>(data.value<void *>())->size() : 0);
-}
-
-void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  if (option.state & QStyle::State_Selected) {
-    painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
-  }
-
-  QRect item_rect = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
-  QColor highlighted_color = option.palette.color(QPalette::HighlightedText);
-  auto text_color = index.data(Qt::ForegroundRole).value<QColor>();
-  bool inactive = text_color.isValid();
-  if (!inactive) {
-    text_color = option.palette.color(QPalette::Text);
-  }
-  auto data = index.data(BytesRole);
-  if (!data.isValid()) {
-    painter->setFont(option.font);
-    painter->setPen(option.state & QStyle::State_Selected ? highlighted_color : text_color);
-    QString text = font_metrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, item_rect.width());
-    painter->drawText(item_rect, Qt::AlignLeft | Qt::AlignVCenter, text);
-    return;
-  }
-
-  // Paint hex column
-  const auto &bytes = *static_cast<std::vector<uint8_t> *>(data.value<void *>());
-  const auto &colors = *static_cast<std::vector<QColor> *>(index.data(ColorsRole).value<void *>());
-
-  painter->setFont(fixed_font);
-  const QPen text_pen(option.state & QStyle::State_Selected ? highlighted_color : text_color);
-  const QPoint pt = item_rect.topLeft();
-  for (int i = 0; i < bytes.size(); ++i) {
-    int row = !multiple_lines ? 0 : i / 8;
-    int column = !multiple_lines ? i : i % 8;
-    QRect r({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
-
-    if (!inactive && i < colors.size() && colors[i].alpha() > 0) {
-      if (option.state & QStyle::State_Selected) {
-        painter->setPen(option.palette.color(QPalette::Text));
-        painter->fillRect(r, option.palette.color(QPalette::Window));
-      }
-      painter->fillRect(r, colors[i]);
-    } else {
-      painter->setPen(text_pen);
-    }
-    utils::drawStaticText(painter, r, hex_text_table[bytes[i]]);
-  }
-}
-
-// TabBar
-
-int TabBar::addTab(const QString &text) {
-  int index = QTabBar::addTab(text);
-  QToolButton *btn = new ToolButton("x", tr("Close Tab"));
-  int width = style()->pixelMetric(QStyle::PM_TabCloseIndicatorWidth, nullptr, btn);
-  int height = style()->pixelMetric(QStyle::PM_TabCloseIndicatorHeight, nullptr, btn);
-  btn->setFixedSize({width, height});
-  setTabButton(index, QTabBar::RightSide, btn);
-  QObject::connect(btn, &QToolButton::clicked, this, &TabBar::closeTabClicked);
-  return index;
-}
-
-void TabBar::closeTabClicked() {
-  QObject *object = sender();
-  for (int i = 0; i < count(); ++i) {
-    if (tabButton(i, QTabBar::RightSide) == object) {
-      emit tabCloseRequested(i);
-      break;
-    }
-  }
-}
-
-// UnixSignalHandler
-
-UnixSignalHandler::UnixSignalHandler(QObject *parent) : QObject(nullptr) {
-  if (::socketpair(AF_UNIX, SOCK_STREAM, 0, sig_fd)) {
-    qFatal("Couldn't create TERM socketpair");
-  }
-
-  sn = new QSocketNotifier(sig_fd[1], QSocketNotifier::Read, this);
-  connect(sn, &QSocketNotifier::activated, this, &UnixSignalHandler::handleSigTerm);
-  std::signal(SIGINT, signalHandler);
-  std::signal(SIGTERM, UnixSignalHandler::signalHandler);
-}
-
-UnixSignalHandler::~UnixSignalHandler() {
-  ::close(sig_fd[0]);
-  ::close(sig_fd[1]);
-}
-
-void UnixSignalHandler::signalHandler(int s) {
-  ::write(sig_fd[0], &s, sizeof(s));
-}
-
-void UnixSignalHandler::handleSigTerm() {
-  sn->setEnabled(false);
-  int tmp;
-  ::read(sig_fd[1], &tmp, sizeof(tmp));
-
-  printf("\nexiting...\n");
-  qApp->closeAllWindows();
-  qApp->exit();
-}
-
-// NameValidator
-
-NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {}
-
-QValidator::State NameValidator::validate(QString &input, int &pos) const {
-  input.replace(' ', '_');
-  return QRegExpValidator::validate(input, pos);
-}
-
-DoubleValidator::DoubleValidator(QObject *parent) : QDoubleValidator(parent) {
-  // Match locale of QString::toDouble() instead of system
-  QLocale locale(QLocale::C);
-  locale.setNumberOptions(QLocale::RejectGroupSeparator);
-  setLocale(locale);
-}
-
-namespace utils {
-
-bool isDarkTheme() {
-  QColor windowColor = QApplication::palette().color(QPalette::Window);
-  return windowColor.lightness() < 128;
-}
-
-QPixmap icon(const QString &id) {
-  bool dark_theme = isDarkTheme();
-
-  QPixmap pm;
-  QString key = "bootstrap_" % id % (dark_theme ? "1" : "0");
-  if (!QPixmapCache::find(key, &pm)) {
-    pm = bootstrapPixmap(id);
-    if (dark_theme) {
-      QPainter p(&pm);
-      p.setCompositionMode(QPainter::CompositionMode_SourceIn);
-      p.fillRect(pm.rect(), QColor("#bbbbbb"));
-    }
-    QPixmapCache::insert(key, pm);
-  }
-  return pm;
-}
-
-void setTheme(int theme) {
-  auto style = QApplication::style();
-  if (!style) return;
-
-  static int prev_theme = 0;
-  if (theme != prev_theme) {
-    prev_theme = theme;
-    QPalette new_palette;
-    if (theme == DARK_THEME) {
-      // "Darcula" like dark theme
-      new_palette.setColor(QPalette::Window, QColor("#353535"));
-      new_palette.setColor(QPalette::WindowText, QColor("#bbbbbb"));
-      new_palette.setColor(QPalette::Base, QColor("#3c3f41"));
-      new_palette.setColor(QPalette::AlternateBase, QColor("#3c3f41"));
-      new_palette.setColor(QPalette::ToolTipBase, QColor("#3c3f41"));
-      new_palette.setColor(QPalette::ToolTipText, QColor("#bbb"));
-      new_palette.setColor(QPalette::Text, QColor("#bbbbbb"));
-      new_palette.setColor(QPalette::Button, QColor("#3c3f41"));
-      new_palette.setColor(QPalette::ButtonText, QColor("#bbbbbb"));
-      new_palette.setColor(QPalette::Highlight, QColor("#2f65ca"));
-      new_palette.setColor(QPalette::HighlightedText, QColor("#bbbbbb"));
-      new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0"));
-      new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777"));
-      new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777"));
-      new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));
-      new_palette.setColor(QPalette::Light, QColor("#777777"));
-      new_palette.setColor(QPalette::Dark, QColor("#353535"));
-    } else {
-      new_palette = style->standardPalette();
-    }
-    qApp->setPalette(new_palette);
-    style->polish(qApp);
-    for (auto w : QApplication::allWidgets()) {
-      w->setPalette(new_palette);
-    }
-  }
-}
-
-QString formatSeconds(double sec, bool include_milliseconds, bool absolute_time) {
-  QString format = absolute_time ? "yyyy-MM-dd hh:mm:ss"
-                                 : (sec > 60 * 60 ? "hh:mm:ss" : "mm:ss");
-  if (include_milliseconds) format += ".zzz";
-  return QDateTime::fromMSecsSinceEpoch(sec * 1000).toString(format);
-}
-
-}  // namespace utils
-
-int num_decimals(double num) {
-  const QString string = QString::number(num);
-  auto dot_pos = string.indexOf('.');
-  return dot_pos == -1 ? 0 : string.size() - dot_pos - 1;
-}
-
-QString signalToolTip(const cabana::Signal *sig) {
-  return QObject::tr(R"(
-    %1<br /><span font-size:small">
-    Start Bit: %2 Size: %3<br />
-    MSB: %4 LSB: %5<br />
-    Little Endian: %6 Signed: %7</span>
-  )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
-     .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
-}
-
-void setSurfaceFormat() {
-  QSurfaceFormat fmt;
-#ifdef __APPLE__
-  fmt.setVersion(3, 2);
-  fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile);
-  fmt.setRenderableType(QSurfaceFormat::OpenGL);
-#else
-  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
-#endif
-  fmt.setSamples(16);
-  fmt.setStencilBufferSize(1);
-  QSurfaceFormat::setDefaultFormat(fmt);
-}
-
-void sigTermHandler(int s) {
-  std::signal(s, SIG_DFL);
-  qApp->quit();
-}
-
-void initApp(int argc, char *argv[], bool disable_hidpi) {
-  // setup signal handlers to exit gracefully
-  std::signal(SIGINT, sigTermHandler);
-  std::signal(SIGTERM, sigTermHandler);
-
-  QString app_dir;
-#ifdef __APPLE__
-  // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
-  QApplication tmp(argc, argv);
-  app_dir = QCoreApplication::applicationDirPath();
-  if (disable_hidpi) {
-    qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit());
-  }
-#else
-  app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path();
-#endif
-
-  qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
-  // ensure the current dir matches the exectuable's directory
-  QDir::setCurrent(app_dir);
-
-  setSurfaceFormat();
-}
-
-static QHash<QString, QByteArray> load_bootstrap_icons() {
-  QHash<QString, QByteArray> icons;
-
-  QFile f(":/bootstrap-icons.svg");
-  if (f.open(QIODevice::ReadOnly | QIODevice::Text)) {
-    QDomDocument xml;
-    xml.setContent(&f);
-    QDomNode n = xml.documentElement().firstChild();
-    while (!n.isNull()) {
-      QDomElement e = n.toElement();
-      if (!e.isNull() && e.hasAttribute("id")) {
-        QString svg_str;
-        QTextStream stream(&svg_str);
-        n.save(stream, 0);
-        svg_str.replace("<symbol", "<svg");
-        svg_str.replace("</symbol>", "</svg>");
-        icons[e.attribute("id")] = svg_str.toUtf8();
-      }
-      n = n.nextSibling();
-    }
-  }
-  return icons;
-}
-
-QPixmap bootstrapPixmap(const QString &id) {
-  static QHash<QString, QByteArray> icons = load_bootstrap_icons();
-
-  QPixmap pixmap;
-  if (auto it = icons.find(id); it != icons.end()) {
-    pixmap.loadFromData(it.value(), "svg");
-  }
-  return pixmap;
-}
diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md
index 77492035ca..ef4c6ef80b 100644
--- a/tools/car_porting/README.md
+++ b/tools/car_porting/README.md
@@ -6,13 +6,13 @@ Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-ope
 
 Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.
 
-### [Cabana](/tools/cabana/README.md)
+### [Cabana](/openpilot/tools/cabana/README.md)
 
 View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.
 
 Example:
 ```bash
-> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
+> openpilot/tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'
 ```
 
 ### [tools/car_porting/auto_fingerprint.py](/tools/car_porting/auto_fingerprint.py)
@@ -25,17 +25,17 @@ Example:
 Attempting to add fw version for:  OUTBACK
 ```
 
-### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
+### [openpilot/selfdrive/car/tests/test_car_interfaces.py](/openpilot/selfdrive/car/tests/test_car_interfaces.py)
 
 Finds common bugs for car interfaces, without even requiring a route.
 
 
 #### Example: Typo in signal name
 ```bash
-> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on
+> tools/test_runner.py openpilot/selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on
 
 =====================================================================
-FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
+FAILED openpilot/selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
 
 ```
 
@@ -52,9 +52,9 @@ FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_ca
 Assert that panda safety matches openpilot's carState
 ----------------------------------------------------------------------
 Traceback (most recent call last):
-  File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate
-    self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
-AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}
+  File "/home/batman/openpilot/opendbc_repo/opendbc/car/tests/test_models.py", line 440, in test_panda_safety_carstate
+    self.assertFalse(failed_checks, f"panda safety doesn't agree with CarState: {failed_checks}")
+AssertionError: {'gasPressed': 116} is not false : panda safety doesn't agree with CarState: {'gasPressed': 116}
 ```
 
 ## Jupyter notebooks
diff --git a/tools/car_porting/examples/find_segments_with_message.ipynb b/tools/car_porting/examples/find_segments_with_message.ipynb
index af17bde52b..f91827f7e5 100644
--- a/tools/car_porting/examples/find_segments_with_message.ipynb
+++ b/tools/car_porting/examples/find_segments_with_message.ipynb
@@ -9,7 +9,6 @@
    "source": [
     "# Import all cars from opendbc\n",
     "\n",
-    "from opendbc.car import structs\n",
     "from opendbc.car.values import PLATFORMS as TEST_PLATFORMS\n",
     "\n",
     "# Example: add additional platforms/segments to test outside of commaCarSegments\n",
@@ -147,8 +146,8 @@
     }
    ],
    "source": [
-    "from openpilot.tools.lib.logreader import LogReader, comma_car_segments_source\n",
-    "from tqdm.notebook import tqdm, tnrange\n",
+    "from openpilot.tools.lib.logreader import comma_car_segments_source\n",
+    "from tqdm.notebook import tnrange\n",
     "\n",
     "# Example search for CAN ignition messages\n",
     "# Be careful when filtering by bus, account for odd harness arrangements on Honda/HKG\n",
diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
index 6b806d22d2..cb5fd8f820 100644
--- a/tools/car_porting/examples/ford_vin_fingerprint.ipynb
+++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
@@ -53,12 +53,12 @@
     "  if vin.startswith('1FT'):\n",
     "    if vin_positions_567 in F150_CODES:\n",
     "      if vin[7] in LIGHTNING_CODES:\n",
-    "        return f\"FORD F-150 LIGHTNING 1ST GEN\"\n",
+    "        return \"FORD F-150 LIGHTNING 1ST GEN\"\n",
     "      else:\n",
-    "        return f\"FORD F-150 14TH GEN\"\n",
+    "        return \"FORD F-150 14TH GEN\"\n",
     "  elif vin.startswith('3FM'):\n",
     "    if vin_positions_567 in MACHE_CODES:\n",
-    "      return f\"FORD MUSTANG MACH-E 1ST GEN\"\n",
+    "      return \"FORD MUSTANG MACH-E 1ST GEN\"\n",
     "  elif vin.startswith('5LM'):\n",
     "    pass\n",
     "\n",
@@ -147,7 +147,8 @@
    "source": [
     "for vin, real_fingerprint in VINS_TO_CHECK:\n",
     "  determined_fingerprint = ford_vin_fingerprint(vin)\n",
-    "  print(f\"vin: {vin} real platform: {real_fingerprint: <30}     determined platform: {determined_fingerprint: <30}    correct: {real_fingerprint == determined_fingerprint}\")"
+    "  print(f\"vin: {vin} real platform: {real_fingerprint: <30}     \" +\n",
+    "        f\"determined platform: {determined_fingerprint: <30}    correct: {real_fingerprint == determined_fingerprint}\")"
    ]
   }
  ],
diff --git a/tools/car_porting/examples/hkg_canfd_gear_message.ipynb b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
index f0bca8decc..ec902b7d10 100644
--- a/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
+++ b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
@@ -21,9 +21,7 @@
     }
    ],
    "source": [
-    "from opendbc.car import structs\n",
     "from opendbc.car.hyundai.values import CAR, HyundaiFlags\n",
-    "from opendbc.car.hyundai.fingerprints import FW_VERSIONS\n",
     "\n",
     "TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) & set(CAR.with_flags(HyundaiFlags.EV))  # CAN-FD electric vehicles only\n",
     "#TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) - set(CAR.with_flags(HyundaiFlags.EV))  # CAN-FD hybrid and ICE vehicles only\n",
@@ -190,15 +188,13 @@
    ],
    "source": [
     "import copy\n",
-    "import matplotlib.pyplot as plt\n",
-    "import numpy as np\n",
     "\n",
     "from opendbc.can.parser import CANParser\n",
     "from opendbc.car.hyundai.values import DBC\n",
     "from opendbc.car.hyundai.hyundaicanfd import CanBus\n",
     "\n",
     "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
-    "from openpilot.tools.lib.logreader import LogReader, comma_car_segments_source\n",
+    "from openpilot.tools.lib.logreader import comma_car_segments_source\n",
     "\n",
     "message_names = [\"GEAR_SHIFTER\", \"ACCELERATOR\", \"GEAR\", \"GEAR_ALT\", \"GEAR_ALT_2\"]\n",
     "\n",
@@ -229,11 +225,11 @@
     "      for i, parsed_messages in enumerate(parsed_message_history):\n",
     "        gear = parsed_messages[name][\"GEAR\"]\n",
     "        if gear != gear_prev:\n",
-    "          print(f\"  *** Signal transition found! ***\")\n",
+    "          print(\"  *** Signal transition found! ***\")\n",
     "          examples.append(i)\n",
     "        gear_prev = gear\n",
     "\n",
-    "print(f\"Analysis finished\")\n"
+    "print(\"Analysis finished\")\n"
    ]
   },
   {
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/car_porting/measure_steering_accuracy.py
similarity index 99%
rename from tools/tuning/measure_steering_accuracy.py
rename to tools/car_porting/measure_steering_accuracy.py
index ae3344c2eb..fa1da959a7 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/car_porting/measure_steering_accuracy.py
@@ -6,7 +6,7 @@ import argparse
 import signal
 from collections import defaultdict
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.tools.lib.logreader import LogReader
 
 def sigint_handler(signal, frame):
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index dd248f562e..3fb7ec9ae6 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -1,10 +1,9 @@
 #!/usr/bin/env python3
 import argparse
 import sys
-import unittest # noqa: TID251
-
+import unittest
 from opendbc.car.tests.routes import CarTestRoute
-from openpilot.selfdrive.car.tests.test_models import TestCarModel
+from opendbc.car.tests.test_models import TestCarModelBase
 from openpilot.tools.lib.route import SegmentRange
 
 
@@ -13,14 +12,14 @@ def create_test_models_suite(routes: list[CarTestRoute]) -> unittest.TestSuite:
   for test_route in routes:
     # create new test case and discover tests
     test_case_args = {"platform": test_route.car_model, "test_route": test_route}
-    CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
+    CarModelTestCase = type("CarModelTestCase", (TestCarModelBase,), test_case_args)
     test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
   return test_suite
 
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " +
-                                               "Uses selfdrive/car/tests/test_models.py")
+                                               "Uses opendbc_repo/opendbc/car/tests/test_models.py")
   parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
   parser.add_argument("--car", help="Specify car model for test route")
   args = parser.parse_args()
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
deleted file mode 100755
index 4454845fcd..0000000000
--- a/tools/install_python_dependencies.sh
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-# Increase the pip timeout to handle TimeoutError
-export PIP_DEFAULT_TIMEOUT=200
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT="$DIR"/../
-cd "$ROOT"
-
-if ! command -v "uv" > /dev/null 2>&1; then
-  echo "installing uv..."
-  curl -LsSf --retry 5 --retry-delay 5 --retry-all-errors https://astral.sh/uv/install.sh | sh
-  UV_BIN="$HOME/.local/bin"
-  PATH="$UV_BIN:$PATH"
-fi
-
-echo "updating uv..."
-# ok to fail, can also fail due to installing with brew
-uv self update || true
-
-echo "installing python packages..."
-uv sync --frozen --all-extras
-source .venv/bin/activate
-
-if [[ "$(uname)" == 'Darwin' ]]; then
-  touch "$ROOT"/.env
-  echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env
-fi
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
deleted file mode 100755
index 5c2131d4bf..0000000000
--- a/tools/install_ubuntu_dependencies.sh
+++ /dev/null
@@ -1,132 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SUDO=""
-
-# Use sudo if not root
-if [[ ! $(id -u) -eq 0 ]]; then
-  if [[ -z $(which sudo) ]]; then
-    echo "Please install sudo or run as root"
-    exit 1
-  fi
-  SUDO="sudo"
-fi
-
-# Check if stdin is open
-if [ -t 0 ]; then
-  INTERACTIVE=1
-fi
-
-# Install common packages
-function install_ubuntu_common_requirements() {
-  $SUDO apt-get update
-
-  # normal stuff, mostly for the bare docker image
-  $SUDO apt-get install -y --no-install-recommends \
-    ca-certificates \
-    clang \
-    build-essential \
-    curl \
-    libssl-dev \
-    libcurl4-openssl-dev \
-    locales \
-    git \
-    git-lfs \
-    xvfb
-
-  # TODO: vendor the rest of these in third_party/
-  $SUDO apt-get install -y --no-install-recommends \
-    gcc-arm-none-eabi \
-    capnproto \
-    libcapnp-dev \
-    ffmpeg \
-    libavformat-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavutil-dev \
-    libavfilter-dev \
-    libbz2-dev \
-    libeigen3-dev \
-    libffi-dev \
-    libgles2-mesa-dev \
-    libglfw3-dev \
-    libglib2.0-0 \
-    libjpeg-dev \
-    libqt5charts5-dev \
-    libncurses5-dev \
-    libusb-1.0-0-dev \
-    libzmq3-dev \
-    libzstd-dev \
-    libsqlite3-dev \
-    opencl-headers \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    portaudio19-dev \
-    qttools5-dev-tools \
-    libqt5svg5-dev \
-    libqt5serialbus5-dev  \
-    libqt5x11extras5-dev \
-    libqt5opengl5-dev \
-    gettext
-}
-
-# Install Ubuntu 24.04 LTS packages
-function install_ubuntu_lts_latest_requirements() {
-  install_ubuntu_common_requirements
-
-  $SUDO apt-get install -y --no-install-recommends \
-    g++-12 \
-    qtbase5-dev \
-    qtbase5-dev-tools \
-    python3-dev \
-    python3-venv
-}
-
-# Detect OS using /etc/os-release file
-if [ -f "/etc/os-release" ]; then
-  source /etc/os-release
-  case "$VERSION_CODENAME" in
-    "jammy" | "kinetic" | "noble")
-      install_ubuntu_lts_latest_requirements
-      ;;
-    *)
-      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
-      read -p "Would you like to attempt installation anyway? " -n 1 -r
-      echo ""
-      if [[ ! $REPLY =~ ^[Yy]$ ]]; then
-        exit 1
-      fi
-      install_ubuntu_lts_latest_requirements
-  esac
-
-  if [[ -d "/etc/udev/rules.d/" ]]; then
-    # Setup jungle udev rules
-    $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
-
-EOF
-
-    # Setup panda udev rules
-    $SUDO tee /etc/udev/rules.d/11-panda.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
-EOF
-
-    # Setup adb udev rules
-    $SUDO tee /etc/udev/rules.d/50-comma-adb.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
-EOF
-
-    $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
-  fi
-
-else
-  echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
-  exit 1
-fi
diff --git a/tools/jotpluggler/README.md b/tools/jotpluggler/README.md
deleted file mode 100644
index c5b43dbd3a..0000000000
--- a/tools/jotpluggler/README.md
+++ /dev/null
@@ -1,67 +0,0 @@
-# JotPluggler
-
-JotPluggler is a tool to quickly visualize openpilot logs.
-
-## Usage
-
-```
-$ ./jotpluggler/pluggle.py -h
-usage: pluggle.py [-h] [--demo] [--layout LAYOUT] [route]
-
-A tool for visualizing openpilot logs.
-
-positional arguments:
-  route            Optional route name to load on startup.
-
-options:
-  -h, --help       show this help message and exit
-  --demo           Use the demo route instead of providing one
-  --layout LAYOUT  Path to YAML layout file to load on startup
-```
-
-Example using route name:
-
-`./pluggle.py "a2a0ccea32023010/2023-07-27--13-01-19"`
-
-Examples using segment:
-
-`./pluggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"`
-
-`./pluggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs`
-
-Example using segment range:
-
-`./pluggle.py "a2a0ccea32023010/2023-07-27--13-01-19/0:1"`
-
-## Demo
-
-For a quick demo, run this command:
-
-`./pluggle.py --demo --layout=layouts/torque-controller.yaml`
-
-
-## Basic Usage/Features:
-- The text box to load a route is a the top left of the page, accepts standard openpilot format routes (e.g. `a2a0ccea32023010/2023-07-27--13-01-19/0:1`, `https://connect.comma.ai/a2a0ccea32023010/2023-07-27--13-01-19/`)
-- The Play/Pause button is at the bottom of the screen, you can drag the bottom slider to seek. The timeline in timeseries plots are synced with the slider.
-- The Timeseries List sidebar has several dropdowns, the fields each show the field name and value, synced with the timeline (will show N/A until the time of the first message in that field is reached).
-- There is a search bar for the timeseries list, you can search for structs or fields, or both by separating with a "/"
-- You can drag and drop any numeric/boolean field from the timeseries list into a timeseries panel.
-- You can create more panels with the split buttons (buttons with two rectangles, either horizontal or vertical). You can resize the panels by dragging the grip in between any panel.
-- You can load and save layouts with the corresponding buttons. Layouts will save all tabs, panels, titles, timeseries, etc.
-
-## Layouts
-
-If you create a layout that's useful for others, consider upstreaming it.
-
-## Plot Interaction Controls
-
-- **Left click and drag within the plot area** to pan X
-  - Left click and drag on an axis to pan an individual axis (disabled for Y-axis)
-- **Scroll in the plot area** to zoom in X axes, Y-axis is autofit
-  - Scroll on an axis to zoom an individual axis
-- **Right click and drag** to select data and zoom into the selected data
-  - Left click while box selecting to cancel the selection
-- **Double left click** to fit all visible data
-  - Double left click on an axis to fit the individual axis (disabled for Y-axis, always autofit)
-- **Double right click** to open the plot context menu
-- **Click legend label icons** to show/hide plot items
diff --git a/tools/jotpluggler/assets/pause.png b/tools/jotpluggler/assets/pause.png
deleted file mode 100644
index 8040099831..0000000000
--- a/tools/jotpluggler/assets/pause.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3ea96d8193eb9067a5efdc5d88a3099730ecafa40efcd09d7402bb3efd723603
-size 2305
diff --git a/tools/jotpluggler/assets/play.png b/tools/jotpluggler/assets/play.png
deleted file mode 100644
index b1556cf0ab..0000000000
--- a/tools/jotpluggler/assets/play.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:53097ac5403b725ff1841dfa186ea770b4bb3714205824bde36ec3c2a0fb5dba
-size 2758
diff --git a/tools/jotpluggler/assets/plus.png b/tools/jotpluggler/assets/plus.png
deleted file mode 100644
index 6f8388b24d..0000000000
--- a/tools/jotpluggler/assets/plus.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:248b71eafd1b42b0861da92114da3d625221cd88121fff01e0514bf3d79ff3b1
-size 1364
diff --git a/tools/jotpluggler/assets/split_h.png b/tools/jotpluggler/assets/split_h.png
deleted file mode 100644
index 4fd88806e1..0000000000
--- a/tools/jotpluggler/assets/split_h.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:54dd035ff898d881509fa686c402a61af8ef5fb408b92414722da01f773b0d33
-size 2900
diff --git a/tools/jotpluggler/assets/split_v.png b/tools/jotpluggler/assets/split_v.png
deleted file mode 100644
index 752e62a4ae..0000000000
--- a/tools/jotpluggler/assets/split_v.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:adbd4e5df1f58694dca9dde46d1d95b4e7471684e42e6bca9f41ea5d346e67c5
-size 3669
diff --git a/tools/jotpluggler/assets/x.png b/tools/jotpluggler/assets/x.png
deleted file mode 100644
index 3b2eabd447..0000000000
--- a/tools/jotpluggler/assets/x.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a6d9c90cb0dd906e0b15e1f7f3fd9f0dfad3c3b0b34eeed7a7882768dc5f3961
-size 2053
diff --git a/tools/jotpluggler/data.py b/tools/jotpluggler/data.py
deleted file mode 100644
index 756b87bd20..0000000000
--- a/tools/jotpluggler/data.py
+++ /dev/null
@@ -1,360 +0,0 @@
-import numpy as np
-import threading
-import multiprocessing
-import bisect
-from collections import defaultdict
-from tqdm import tqdm
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.test.process_replay.migration import migrate_all
-from openpilot.tools.lib.logreader import _LogFileReader, LogReader
-
-
-def flatten_dict(d: dict, sep: str = "/", prefix: str | None = None) -> dict:
-  result = {}
-  stack: list[tuple] = [(d, prefix)]
-
-  while stack:
-    obj, current_prefix = stack.pop()
-
-    if isinstance(obj, dict):
-      for key, val in obj.items():
-        new_prefix = key if current_prefix is None else f"{current_prefix}{sep}{key}"
-        if isinstance(val, (dict, list)):
-          stack.append((val, new_prefix))
-        else:
-          result[new_prefix] = val
-    elif isinstance(obj, list):
-      for i, item in enumerate(obj):
-        new_prefix = f"{current_prefix}{sep}{i}"
-        if isinstance(item, (dict, list)):
-          stack.append((item, new_prefix))
-        else:
-          result[new_prefix] = item
-    else:
-      if current_prefix is not None:
-        result[current_prefix] = obj
-  return result
-
-
-def extract_field_types(schema, prefix, field_types_dict):
-  stack = [(schema, prefix)]
-
-  while stack:
-    current_schema, current_prefix = stack.pop()
-
-    for field in current_schema.fields_list:
-      field_name = field.proto.name
-      field_path = f"{current_prefix}/{field_name}"
-      field_proto = field.proto
-      field_which = field_proto.which()
-
-      field_type = field_proto.slot.type.which() if field_which == 'slot' else field_which
-      field_types_dict[field_path] = field_type
-
-      if field_which == 'slot':
-        slot_type = field_proto.slot.type
-        type_which = slot_type.which()
-
-        if type_which == 'list':
-          element_type = slot_type.list.elementType.which()
-          list_path = f"{field_path}/*"
-          field_types_dict[list_path] = element_type
-
-          if element_type == 'struct':
-            stack.append((field.schema.elementType, list_path))
-
-        elif type_which == 'struct':
-          stack.append((field.schema, field_path))
-
-      elif field_which == 'group':
-        stack.append((field.schema, field_path))
-
-
-def _convert_to_optimal_dtype(values_list, capnp_type):
-  dtype_mapping = {
-    'bool': np.bool_, 'int8': np.int8, 'int16': np.int16, 'int32': np.int32, 'int64': np.int64,
-    'uint8': np.uint8, 'uint16': np.uint16, 'uint32': np.uint32, 'uint64': np.uint64,
-    'float32': np.float32, 'float64': np.float64, 'text': object, 'data': object,
-    'enum': object, 'anyPointer': object,
-  }
-
-  target_dtype = dtype_mapping.get(capnp_type, object)
-  return np.array(values_list, dtype=target_dtype)
-
-
-def _match_field_type(field_path, field_types):
-  if field_path in field_types:
-    return field_types[field_path]
-
-  path_parts = field_path.split('/')
-  template_parts = [p if not p.isdigit() else '*' for p in path_parts]
-  template_path = '/'.join(template_parts)
-  return field_types.get(template_path)
-
-
-def _get_field_times_values(segment, field_name):
-  if field_name not in segment:
-    return None, None
-
-  field_data = segment[field_name]
-  segment_times = segment['t']
-
-  if field_data['sparse']:
-    if len(field_data['t_index']) == 0:
-      return None, None
-    return segment_times[field_data['t_index']], field_data['values']
-  else:
-    return segment_times, field_data['values']
-
-
-def msgs_to_time_series(msgs):
-  """Extract scalar fields and return (time_series_data, start_time, end_time)."""
-  collected_data = defaultdict(lambda: {'timestamps': [], 'columns': defaultdict(list), 'sparse_fields': set()})
-  field_types = {}
-  extracted_schemas = set()
-  min_time = max_time = None
-
-  for msg in msgs:
-    typ = msg.which()
-    timestamp = msg.logMonoTime * 1e-9
-    if typ != 'initData':
-      if min_time is None:
-        min_time = timestamp
-      max_time = timestamp
-
-    sub_msg = getattr(msg, typ)
-    if not hasattr(sub_msg, 'to_dict'):
-      continue
-
-    if hasattr(sub_msg, 'schema') and typ not in extracted_schemas:
-      extract_field_types(sub_msg.schema, typ, field_types)
-      extracted_schemas.add(typ)
-
-    try:
-      msg_dict = sub_msg.to_dict(verbose=True)
-    except Exception as e:
-      cloudlog.warning(f"Failed to convert sub_msg.to_dict() for message of type: {typ}: {e}")
-      continue
-
-    flat_dict = flatten_dict(msg_dict)
-    flat_dict['_valid'] = msg.valid
-    field_types[f"{typ}/_valid"] = 'bool'
-
-    type_data = collected_data[typ]
-    columns, sparse_fields = type_data['columns'], type_data['sparse_fields']
-    known_fields = set(columns.keys())
-    missing_fields = known_fields - flat_dict.keys()
-
-    for field, value in flat_dict.items():
-      if field not in known_fields and type_data['timestamps']:
-        sparse_fields.add(field)
-      columns[field].append(value)
-      if value is None:
-        sparse_fields.add(field)
-
-    for field in missing_fields:
-      columns[field].append(None)
-      sparse_fields.add(field)
-
-    type_data['timestamps'].append(timestamp)
-
-  final_result = {}
-  for typ, data in collected_data.items():
-    if not data['timestamps']:
-      continue
-
-    typ_result = {'t': np.array(data['timestamps'], dtype=np.float64)}
-    sparse_fields = data['sparse_fields']
-
-    for field_name, values in data['columns'].items():
-      if len(values) < len(data['timestamps']):
-        values = [None] * (len(data['timestamps']) - len(values)) + values
-        sparse_fields.add(field_name)
-
-      capnp_type = _match_field_type(f"{typ}/{field_name}", field_types)
-
-      if field_name in sparse_fields:  # extract non-None values and their indices
-        non_none_indices = []
-        non_none_values = []
-        for i, value in enumerate(values):
-          if value is not None:
-            non_none_indices.append(i)
-            non_none_values.append(value)
-
-        if non_none_values: # check if indices > uint16 max, currently would require a 1000+ Hz signal since indices are within segments
-          assert max(non_none_indices) <= 65535, f"Sparse field {typ}/{field_name} has timestamp indices exceeding uint16 max. Max: {max(non_none_indices)}"
-
-        typ_result[field_name] = {
-          'values': _convert_to_optimal_dtype(non_none_values, capnp_type),
-          'sparse': True,
-          't_index': np.array(non_none_indices, dtype=np.uint16),
-        }
-      else:  # dense representation
-        typ_result[field_name] = {'values': _convert_to_optimal_dtype(values, capnp_type), 'sparse': False}
-
-    final_result[typ] = typ_result
-
-  return final_result, min_time or 0.0, max_time or 0.0
-
-
-def _process_segment(segment_identifier: str):
-  try:
-    lr = _LogFileReader(segment_identifier, sort_by_time=True)
-    migrated_msgs = migrate_all(lr)
-    return msgs_to_time_series(migrated_msgs)
-  except Exception as e:
-    cloudlog.warning(f"Warning: Failed to process segment {segment_identifier}: {e}")
-    return {}, 0.0, 0.0
-
-
-class DataManager:
-  def __init__(self):
-    self._segments = []
-    self._segment_starts = []
-    self._start_time = 0.0
-    self._duration = 0.0
-    self._paths = set()
-    self._observers = []
-    self._loading = False
-    self._lock = threading.RLock()
-
-  def load_route(self, route: str) -> None:
-    if self._loading:
-      return
-    self._reset()
-    threading.Thread(target=self._load_async, args=(route,), daemon=True).start()
-
-  def get_timeseries(self, path: str):
-    with self._lock:
-      msg_type, field = path.split('/', 1)
-      times, values = [], []
-
-      for segment in self._segments:
-        if msg_type in segment:
-          field_times, field_values = _get_field_times_values(segment[msg_type], field)
-          if field_times is not None:
-            times.append(field_times)
-            values.append(field_values)
-
-      if not times:
-        return np.array([]), np.array([])
-
-      combined_times = np.concatenate(times) - self._start_time
-
-      if len(values) > 1:
-        first_dtype = values[0].dtype
-        if all(arr.dtype == first_dtype for arr in values):  # check if all arrays have compatible dtypes
-          combined_values = np.concatenate(values)
-        else:
-          combined_values = np.concatenate([arr.astype(object) for arr in values])
-      else:
-        combined_values = values[0] if values else np.array([])
-
-      return combined_times, combined_values
-
-  def get_value_at(self, path: str, time: float):
-    with self._lock:
-      MAX_LOOKBACK = 5.0  # seconds
-      absolute_time = self._start_time + time
-      message_type, field = path.split('/', 1)
-      current_index = bisect.bisect_right(self._segment_starts, absolute_time) - 1
-      for index in (current_index, current_index - 1):
-        if not 0 <= index < len(self._segments):
-          continue
-        segment = self._segments[index].get(message_type)
-        if not segment:
-          continue
-        times, values = _get_field_times_values(segment, field)
-        if times is None or len(times) == 0 or (index != current_index and absolute_time - times[-1] > MAX_LOOKBACK):
-          continue
-        position = np.searchsorted(times, absolute_time, 'right') - 1
-        if position >= 0 and absolute_time - times[position] <= MAX_LOOKBACK:
-          return values[position]
-      return None
-
-  def get_all_paths(self):
-    with self._lock:
-      return sorted(self._paths)
-
-  def get_duration(self):
-    with self._lock:
-      return self._duration
-
-  def is_plottable(self, path: str):
-    _, values = self.get_timeseries(path)
-    if len(values) == 0:
-      return False
-    return np.issubdtype(values.dtype, np.number) or np.issubdtype(values.dtype, np.bool_)
-
-  def add_observer(self, callback):
-    with self._lock:
-      self._observers.append(callback)
-
-  def remove_observer(self, callback):
-    with self._lock:
-      if callback in self._observers:
-        self._observers.remove(callback)
-
-  def _reset(self):
-    with self._lock:
-      self._loading = True
-      self._segments.clear()
-      self._segment_starts.clear()
-      self._paths.clear()
-      self._start_time = self._duration = 0.0
-      observers = self._observers.copy()
-
-    for callback in observers:
-      callback({'reset': True})
-
-  def _load_async(self, route: str):
-    try:
-      lr = LogReader(route, sort_by_time=True)
-      if not lr.logreader_identifiers:
-        cloudlog.warning(f"Warning: No log segments found for route: {route}")
-        return
-
-      total_segments = len(lr.logreader_identifiers)
-      with self._lock:
-        observers = self._observers.copy()
-      for callback in observers:
-        callback({'metadata_loaded': True, 'total_segments': total_segments})
-
-      num_processes = max(1, multiprocessing.cpu_count() // 2)
-      with multiprocessing.Pool(processes=num_processes) as pool, tqdm(total=len(lr.logreader_identifiers), desc="Processing Segments") as pbar:
-        for segment_result, start_time, end_time in pool.imap(_process_segment, lr.logreader_identifiers):
-          pbar.update(1)
-          if segment_result:
-            self._add_segment(segment_result, start_time, end_time)
-    except Exception:
-      cloudlog.exception(f"Error loading route {route}:")
-    finally:
-      self._finalize_loading()
-
-  def _add_segment(self, segment_data: dict, start_time: float, end_time: float):
-    with self._lock:
-      self._segments.append(segment_data)
-      self._segment_starts.append(start_time)
-
-      if len(self._segments) == 1:
-        self._start_time = start_time
-      self._duration = end_time - self._start_time
-
-      for msg_type, data in segment_data.items():
-        for field_name in data.keys():
-          if field_name != 't':
-            self._paths.add(f"{msg_type}/{field_name}")
-
-      observers = self._observers.copy()
-
-    for callback in observers:
-      callback({'segment_added': True, 'duration': self._duration, 'segment_count': len(self._segments)})
-
-  def _finalize_loading(self):
-    with self._lock:
-      self._loading = False
-      observers = self._observers.copy()
-      duration = self._duration
-
-    for callback in observers:
-      callback({'loading_complete': True, 'duration': duration})
diff --git a/tools/jotpluggler/datatree.py b/tools/jotpluggler/datatree.py
deleted file mode 100644
index 4f3219dc1b..0000000000
--- a/tools/jotpluggler/datatree.py
+++ /dev/null
@@ -1,315 +0,0 @@
-import os
-import re
-import threading
-import numpy as np
-import dearpygui.dearpygui as dpg
-
-
-class DataTreeNode:
-  def __init__(self, name: str, full_path: str = "", parent=None):
-    self.name = name
-    self.full_path = full_path
-    self.parent = parent
-    self.children: dict[str, DataTreeNode] = {}
-    self.filtered_children: dict[str, DataTreeNode] = {}
-    self.created_children: dict[str, DataTreeNode] = {}
-    self.is_leaf = False
-    self.is_plottable: bool | None = None
-    self.ui_created = False
-    self.children_ui_created = False
-    self.ui_tag: str | None = None
-
-
-class DataTree:
-  MAX_NODES_PER_FRAME = 50
-
-  def __init__(self, data_manager, playback_manager):
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.current_search = ""
-    self.data_tree = DataTreeNode(name="root")
-    self._build_queue: dict[str, tuple[DataTreeNode, DataTreeNode, str | int]] = {} # full_path -> (node, parent, before_tag)
-    self._current_created_paths: set[str] = set()
-    self._current_filtered_paths: set[str] = set()
-    self._path_to_node: dict[str, DataTreeNode] = {}  # full_path -> node
-    self._expanded_tags: set[str] = set()
-    self._item_handlers: dict[str, str] = {}  # ui_tag -> handler_tag
-    self._char_width = None
-    self._queued_search = None
-    self._new_data = False
-    self._ui_lock = threading.RLock()
-    self._handlers_to_delete = []
-    self.data_manager.add_observer(self._on_data_loaded)
-
-  def create_ui(self, parent_tag: str):
-    with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1):
-      dpg.add_text("Timeseries List")
-      dpg.add_separator()
-      dpg.add_input_text(tag="search_input", width=-1, hint="Search fields...", callback=self.search_data)
-      dpg.add_separator()
-      with dpg.child_window(border=False, width=-1, height=-1):
-        with dpg.group(tag="data_tree_container"):
-          pass
-
-  def _on_data_loaded(self, data: dict):
-    with self._ui_lock:
-      if data.get('segment_added') or data.get('reset'):
-        self._new_data = True
-
-  def update_frame(self, font):
-    if self._handlers_to_delete:  # we need to do everything in main thread, frame callbacks are flaky
-      dpg.render_dearpygui_frame()  # wait a frame to ensure queued callbacks are done
-      with self._ui_lock:
-        for handler in self._handlers_to_delete:
-          dpg.delete_item(handler)
-        self._handlers_to_delete.clear()
-
-    with self._ui_lock:
-      if self._char_width is None:
-        if size := dpg.get_text_size(" ", font=font):
-          self._char_width = size[0] / 2 # we scale font 2x and downscale to fix hidpi bug
-
-      if self._new_data:
-        self._process_path_change()
-        self._new_data = False
-        return
-
-      if self._queued_search is not None:
-        self.current_search = self._queued_search
-        self._process_path_change()
-        self._queued_search = None
-        return
-
-      nodes_processed = 0
-      while self._build_queue and nodes_processed < self.MAX_NODES_PER_FRAME:
-        child_node, parent, before_tag = self._build_queue.pop(next(iter(self._build_queue)))
-        parent_tag = "data_tree_container" if parent.name == "root" else parent.ui_tag
-        if not child_node.ui_created:
-          if child_node.is_leaf:
-            self._create_leaf_ui(child_node, parent_tag, before_tag)
-          else:
-            self._create_tree_node_ui(child_node, parent_tag, before_tag)
-        parent.created_children[child_node.name] = parent.children[child_node.name]
-        self._current_created_paths.add(child_node.full_path)
-        nodes_processed += 1
-
-  def _process_path_change(self):
-    self._build_queue.clear()
-    search_term = self.current_search.strip().lower()
-    all_paths = set(self.data_manager.get_all_paths())
-    new_filtered_leafs = {path for path in all_paths if self._should_show_path(path, search_term)}
-    new_filtered_paths = set(new_filtered_leafs)
-    for path in new_filtered_leafs:
-      parts = path.split('/')
-      for i in range(1, len(parts)):
-        prefix = '/'.join(parts[:i])
-        new_filtered_paths.add(prefix)
-    created_paths_to_remove = self._current_created_paths - new_filtered_paths
-    filtered_paths_to_remove = self._current_filtered_paths - new_filtered_leafs
-
-    if created_paths_to_remove or filtered_paths_to_remove:
-      self._remove_paths_from_tree(created_paths_to_remove, filtered_paths_to_remove)
-      self._apply_expansion_to_tree(self.data_tree, search_term)
-
-    paths_to_add = new_filtered_leafs - self._current_created_paths
-    if paths_to_add:
-      self._add_paths_to_tree(paths_to_add)
-      self._apply_expansion_to_tree(self.data_tree, search_term)
-    self._current_filtered_paths = new_filtered_paths
-
-  def _remove_paths_from_tree(self, created_paths_to_remove, filtered_paths_to_remove):
-    for path in sorted(created_paths_to_remove, reverse=True):
-      current_node = self._path_to_node[path]
-
-      if len(current_node.created_children) == 0:
-        self._current_created_paths.remove(current_node.full_path)
-        if item_handler_tag := self._item_handlers.get(current_node.ui_tag):
-          dpg.configure_item(item_handler_tag, show=False)
-          self._handlers_to_delete.append(item_handler_tag)
-          del self._item_handlers[current_node.ui_tag]
-        dpg.delete_item(current_node.ui_tag)
-        current_node.ui_created = False
-        current_node.ui_tag = None
-        current_node.children_ui_created = False
-        del current_node.parent.created_children[current_node.name]
-        del current_node.parent.filtered_children[current_node.name]
-
-    for path in filtered_paths_to_remove:
-      parts = path.split('/')
-      current_node = self._path_to_node[path]
-
-      part_array_index = -1
-      while len(current_node.filtered_children) == 0 and part_array_index >= -len(parts):
-        current_node = current_node.parent
-        if parts[part_array_index] in current_node.filtered_children:
-          del current_node.filtered_children[parts[part_array_index]]
-        part_array_index -= 1
-
-  def _add_paths_to_tree(self, paths):
-    parent_nodes_to_recheck = set()
-    for path in sorted(paths):
-      parts = path.split('/')
-      current_node = self.data_tree
-      current_path_prefix = ""
-
-      for i, part in enumerate(parts):
-        current_path_prefix = f"{current_path_prefix}/{part}" if current_path_prefix else part
-        if i < len(parts):
-          parent_nodes_to_recheck.add(current_node)  # for incremental changes from new data
-        if part not in current_node.children:
-          current_node.children[part] = DataTreeNode(name=part, full_path=current_path_prefix, parent=current_node)
-          self._path_to_node[current_path_prefix] = current_node.children[part]
-        current_node.filtered_children[part] = current_node.children[part]
-        current_node = current_node.children[part]
-
-      if not current_node.is_leaf:
-        current_node.is_leaf = True
-
-    for p_node in parent_nodes_to_recheck:
-      p_node.children_ui_created = False
-      self._request_children_build(p_node)
-
-  def _get_node_label_and_expand(self, node: DataTreeNode, search_term: str):
-    label = f"{node.name} ({len(node.filtered_children)} fields)"
-    expand = len(search_term) > 0 and any(search_term in path for path in self._get_descendant_paths(node))
-    if expand and node.parent and len(node.parent.filtered_children) > 100 and len(node.filtered_children) > 2:
-      label += " (+)"  # symbol for large lists which aren't fully expanded for performance (only affects procLog rn)
-      expand = False
-    return label, expand
-
-  def _apply_expansion_to_tree(self, node: DataTreeNode, search_term: str):
-    if node.ui_created and not node.is_leaf and node.ui_tag and dpg.does_item_exist(node.ui_tag):
-      label, expand = self._get_node_label_and_expand(node, search_term)
-      if expand:
-        self._expanded_tags.add(node.ui_tag)
-        dpg.set_value(node.ui_tag, expand)
-      elif node.ui_tag in self._expanded_tags:  # not expanded and was expanded
-        self._expanded_tags.remove(node.ui_tag)
-        dpg.set_value(node.ui_tag, expand)
-        dpg.delete_item(node.ui_tag, children_only=True)  # delete children (not visible since collapsed)
-        self._reset_ui_state_recursive(node)
-        node.children_ui_created = False
-      dpg.set_item_label(node.ui_tag, label)
-    for child in node.created_children.values():
-      self._apply_expansion_to_tree(child, search_term)
-
-  def _reset_ui_state_recursive(self, node: DataTreeNode):
-    for child in node.created_children.values():
-      if child.ui_tag is not None:
-        if item_handler_tag := self._item_handlers.get(child.ui_tag):
-          self._handlers_to_delete.append(item_handler_tag)
-          dpg.configure_item(item_handler_tag, show=False)
-          del self._item_handlers[child.ui_tag]
-        self._reset_ui_state_recursive(child)
-        child.ui_created = False
-        child.ui_tag = None
-        child.children_ui_created = False
-        self._current_created_paths.remove(child.full_path)
-    node.created_children.clear()
-
-  def search_data(self):
-    with self._ui_lock:
-      self._queued_search = dpg.get_value("search_input")
-
-  def _create_tree_node_ui(self, node: DataTreeNode, parent_tag: str, before: str | int):
-    node.ui_tag = f"tree_{node.full_path}"
-    search_term = self.current_search.strip().lower()
-    label, expand = self._get_node_label_and_expand(node, search_term)
-    if expand:
-      self._expanded_tags.add(node.ui_tag)
-    elif node.ui_tag in self._expanded_tags:
-      self._expanded_tags.remove(node.ui_tag)
-
-    with dpg.tree_node(
-      label=label, parent=parent_tag, tag=node.ui_tag, default_open=expand, open_on_arrow=True, open_on_double_click=True, before=before, delay_search=True
-    ):
-      with dpg.item_handler_registry() as handler_tag:
-        dpg.add_item_toggled_open_handler(callback=lambda s, a, u: self._request_children_build(node))
-        dpg.add_item_visible_handler(callback=lambda s, a, u: self._request_children_build(node))
-      dpg.bind_item_handler_registry(node.ui_tag, handler_tag)
-      self._item_handlers[node.ui_tag] = handler_tag
-    node.ui_created = True
-
-  def _create_leaf_ui(self, node: DataTreeNode, parent_tag: str, before: str | int):
-    node.ui_tag = f"leaf_{node.full_path}"
-    with dpg.group(parent=parent_tag, tag=node.ui_tag, before=before, delay_search=True):
-      with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp, delay_search=True):
-        dpg.add_table_column(init_width_or_weight=0.5)
-        dpg.add_table_column(init_width_or_weight=0.5)
-        with dpg.table_row():
-          dpg.add_text(node.name)
-          dpg.add_text("N/A", tag=f"value_{node.full_path}")
-
-    if node.is_plottable is None:
-      node.is_plottable = self.data_manager.is_plottable(node.full_path)
-    if node.is_plottable:
-      with dpg.drag_payload(parent=node.ui_tag, drag_data=node.full_path, payload_type="TIMESERIES_PAYLOAD"):
-        dpg.add_text(f"Plot: {node.full_path}")
-
-    with dpg.item_handler_registry() as handler_tag:
-      dpg.add_item_visible_handler(callback=self._on_item_visible, user_data=node.full_path)
-    dpg.bind_item_handler_registry(node.ui_tag, handler_tag)
-    self._item_handlers[node.ui_tag] = handler_tag
-    node.ui_created = True
-
-  def _on_item_visible(self, sender, app_data, user_data):
-    with self._ui_lock:
-      path = user_data
-      value_tag = f"value_{path}"
-      if not dpg.does_item_exist(value_tag):
-        return
-      value_column_width = dpg.get_item_rect_size(f"leaf_{path}")[0] // 2
-      value = self.data_manager.get_value_at(path, self.playback_manager.current_time_s)
-      if value is not None:
-        formatted_value = self.format_and_truncate(value, value_column_width, self._char_width)
-        dpg.set_value(value_tag, formatted_value)
-      else:
-        dpg.set_value(value_tag, "N/A")
-
-  def _request_children_build(self, node: DataTreeNode):
-    with self._ui_lock:
-      if not node.children_ui_created and (node.name == "root" or (node.ui_tag is not None and dpg.get_value(node.ui_tag))):  # check root or node expanded
-        sorted_children = sorted(node.filtered_children.values(), key=self._natural_sort_key)
-        next_existing: list[int | str] = [0] * len(sorted_children)
-        current_before_tag: int | str = 0
-
-        for i in range(len(sorted_children) - 1, -1, -1):  # calculate "before_tag" for correct ordering when incrementally building tree
-          child = sorted_children[i]
-          next_existing[i] = current_before_tag
-          if child.ui_created:
-            candidate_tag = f"leaf_{child.full_path}" if child.is_leaf else f"tree_{child.full_path}"
-            if dpg.does_item_exist(candidate_tag):
-              current_before_tag = candidate_tag
-
-        for i, child_node in enumerate(sorted_children):
-          if not child_node.ui_created:
-            before_tag = next_existing[i]
-            self._build_queue[child_node.full_path] = (child_node, node, before_tag)
-        node.children_ui_created = True
-
-  def _should_show_path(self, path: str, search_term: str) -> bool:
-    if 'DEPRECATED' in path and not os.environ.get('SHOW_DEPRECATED'):
-      return False
-    return not search_term or search_term in path.lower()
-
-  def _natural_sort_key(self, node: DataTreeNode):
-    node_type_key = node.is_leaf
-    parts = [int(p) if p.isdigit() else p.lower() for p in re.split(r'(\d+)', node.name) if p]
-    return (node_type_key, parts)
-
-  def _get_descendant_paths(self, node: DataTreeNode):
-    for child_name, child_node in node.filtered_children.items():
-      child_name_lower = child_name.lower()
-      if child_node.is_leaf:
-        yield child_name_lower
-      else:
-        for path in self._get_descendant_paths(child_node):
-          yield f"{child_name_lower}/{path}"
-
-  @staticmethod
-  def format_and_truncate(value, available_width: float, char_width: float) -> str:
-    s = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value)
-    max_chars = int(available_width / char_width)
-    if len(s) > max_chars:
-      return s[: max(0, max_chars - 3)] + "..."
-    return s
diff --git a/tools/jotpluggler/layout.py b/tools/jotpluggler/layout.py
deleted file mode 100644
index 13fbee54e2..0000000000
--- a/tools/jotpluggler/layout.py
+++ /dev/null
@@ -1,477 +0,0 @@
-import dearpygui.dearpygui as dpg
-from openpilot.tools.jotpluggler.data import DataManager
-from openpilot.tools.jotpluggler.views import TimeSeriesPanel
-
-GRIP_SIZE = 4
-MIN_PANE_SIZE = 60
-
-class LayoutManager:
-  def __init__(self, data_manager, playback_manager, worker_manager, scale: float = 1.0):
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.worker_manager = worker_manager
-    self.scale = scale
-    self.container_tag = "plot_layout_container"
-    self.tab_bar_tag = "tab_bar_container"
-    self.tab_content_tag = "tab_content_area"
-
-    self.active_tab = 0
-    initial_panel_layout = PanelLayoutManager(data_manager, playback_manager, worker_manager, scale)
-    self.tabs: dict = {0: {"name": "Tab 1", "panel_layout": initial_panel_layout}}
-    self._next_tab_id = self.active_tab + 1
-
-  def to_dict(self) -> dict:
-    return {
-      "tabs": {
-        str(tab_id): {
-          "name": tab_data["name"],
-          "panel_layout": tab_data["panel_layout"].to_dict()
-        }
-        for tab_id, tab_data in self.tabs.items()
-      }
-    }
-
-  def clear_and_load_from_dict(self, data: dict):
-    tab_ids_to_close = list(self.tabs.keys())
-    for tab_id in tab_ids_to_close:
-      self.close_tab(tab_id, force=True)
-
-    for tab_id_str, tab_data in data["tabs"].items():
-      tab_id = int(tab_id_str)
-      panel_layout = PanelLayoutManager.load_from_dict(
-        tab_data["panel_layout"], self.data_manager, self.playback_manager,
-        self.worker_manager, self.scale
-      )
-      self.tabs[tab_id] = {
-        "name": tab_data["name"],
-        "panel_layout": panel_layout
-      }
-
-    self.active_tab = min(self.tabs.keys()) if self.tabs else 0
-    self._next_tab_id = max(self.tabs.keys()) + 1 if self.tabs else 1
-
-  def create_ui(self, parent_tag: str):
-    if dpg.does_item_exist(self.container_tag):
-      dpg.delete_item(self.container_tag)
-
-    with dpg.child_window(tag=self.container_tag, parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True, no_scroll_with_mouse=True):
-      self._create_tab_bar()
-      self._create_tab_content()
-    dpg.bind_item_theme(self.tab_bar_tag, "tab_bar_theme")
-
-  def _create_tab_bar(self):
-    text_size = int(13 * self.scale)
-    with dpg.child_window(tag=self.tab_bar_tag, parent=self.container_tag, height=(text_size + 8), border=False, horizontal_scrollbar=True):
-      with dpg.group(horizontal=True, tag="tab_bar_group"):
-        for tab_id, tab_data in self.tabs.items():
-          self._create_tab_ui(tab_id, tab_data["name"])
-        dpg.add_image_button(texture_tag="plus_texture", callback=self.add_tab, width=text_size, height=text_size, tag="add_tab_button")
-    dpg.bind_item_theme("add_tab_button", "inactive_tab_theme")
-
-  def _create_tab_ui(self, tab_id: int, tab_name: str):
-    text_size = int(13 * self.scale)
-    tab_width = int(140 * self.scale)
-    with dpg.child_window(width=tab_width, height=-1, border=False, no_scrollbar=True, tag=f"tab_window_{tab_id}", parent="tab_bar_group"):
-      with dpg.group(horizontal=True, tag=f"tab_group_{tab_id}"):
-        dpg.add_input_text(
-          default_value=tab_name, width=tab_width - text_size - 16, callback=lambda s, v, u: self.rename_tab(u, v), user_data=tab_id, tag=f"tab_input_{tab_id}"
-        )
-        dpg.add_image_button(
-          texture_tag="x_texture", callback=lambda s, a, u: self.close_tab(u), user_data=tab_id, width=text_size, height=text_size, tag=f"tab_close_{tab_id}"
-        )
-      with dpg.item_handler_registry(tag=f"tab_handler_{tab_id}"):
-        dpg.add_item_clicked_handler(callback=lambda s, a, u: self.switch_tab(u), user_data=tab_id)
-      dpg.bind_item_handler_registry(f"tab_group_{tab_id}", f"tab_handler_{tab_id}")
-
-    theme_tag = "active_tab_theme" if tab_id == self.active_tab else "inactive_tab_theme"
-    dpg.bind_item_theme(f"tab_window_{tab_id}", theme_tag)
-
-  def _create_tab_content(self):
-    with dpg.child_window(tag=self.tab_content_tag, parent=self.container_tag, border=False, width=-1, height=-1, no_scrollbar=True, no_scroll_with_mouse=True):
-      if self.active_tab in self.tabs:
-        active_panel_layout = self.tabs[self.active_tab]["panel_layout"]
-        active_panel_layout.create_ui()
-
-  def add_tab(self):
-    new_panel_layout = PanelLayoutManager(self.data_manager, self.playback_manager, self.worker_manager, self.scale)
-    new_tab = {"name": f"Tab {self._next_tab_id + 1}", "panel_layout": new_panel_layout}
-    self.tabs[self._next_tab_id] = new_tab
-    self._create_tab_ui(self._next_tab_id, new_tab["name"])
-    dpg.move_item("add_tab_button", parent="tab_bar_group")  # move plus button to end
-    self.switch_tab(self._next_tab_id)
-    self._next_tab_id += 1
-
-  def close_tab(self, tab_id: int, force = False):
-    if len(self.tabs) <= 1 and not force:
-      return  # don't allow closing the last tab
-
-    tab_to_close = self.tabs[tab_id]
-    tab_to_close["panel_layout"].destroy_ui()
-    for suffix in ["window", "group", "input", "close", "handler"]:
-      tag = f"tab_{suffix}_{tab_id}"
-      if dpg.does_item_exist(tag):
-        dpg.delete_item(tag)
-    del self.tabs[tab_id]
-
-    if self.active_tab == tab_id and self.tabs: # switch to another tab if we closed the active one
-      self.active_tab = next(iter(self.tabs.keys()))
-      self._switch_tab_content()
-      dpg.bind_item_theme(f"tab_window_{self.active_tab}", "active_tab_theme")
-
-  def switch_tab(self, tab_id: int):
-    if tab_id == self.active_tab or tab_id not in self.tabs:
-      return
-
-    current_panel_layout = self.tabs[self.active_tab]["panel_layout"]
-    current_panel_layout.destroy_ui()
-    dpg.bind_item_theme(f"tab_window_{self.active_tab}", "inactive_tab_theme")  # deactivate old tab
-    self.active_tab = tab_id
-    dpg.bind_item_theme(f"tab_window_{tab_id}", "active_tab_theme")  # activate new tab
-    self._switch_tab_content()
-
-  def _switch_tab_content(self):
-    dpg.delete_item(self.tab_content_tag, children_only=True)
-    active_panel_layout = self.tabs[self.active_tab]["panel_layout"]
-    active_panel_layout.create_ui()
-    active_panel_layout.update_all_panels()
-
-  def rename_tab(self, tab_id: int, new_name: str):
-    if tab_id in self.tabs:
-      self.tabs[tab_id]["name"] = new_name
-
-  def update_all_panels(self):
-    self.tabs[self.active_tab]["panel_layout"].update_all_panels()
-
-  def on_viewport_resize(self):
-    self.tabs[self.active_tab]["panel_layout"].on_viewport_resize()
-
-class PanelLayoutManager:
-  def __init__(self, data_manager: DataManager, playback_manager, worker_manager, scale: float = 1.0):
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.worker_manager = worker_manager
-    self.scale = scale
-    self.active_panels: list = []
-    self.parent_tag = "tab_content_area"
-    self._queue_resize = False
-    self._created_handler_tags: set[str] = set()
-
-    self.grip_size = int(GRIP_SIZE * self.scale)
-    self.min_pane_size = int(MIN_PANE_SIZE * self.scale)
-
-    initial_panel = TimeSeriesPanel(data_manager, playback_manager, worker_manager)
-    self.layout: dict = {"type": "panel", "panel": initial_panel}
-
-  def to_dict(self) -> dict:
-    return self._layout_to_dict(self.layout)
-
-  def _layout_to_dict(self, layout: dict) -> dict:
-    if layout["type"] == "panel":
-      return {
-        "type": "panel",
-        "panel": layout["panel"].to_dict()
-      }
-    else:  # split
-      return {
-        "type": "split",
-        "orientation": layout["orientation"],
-        "proportions": layout["proportions"],
-        "children": [self._layout_to_dict(child) for child in layout["children"]]
-      }
-
-  @classmethod
-  def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager, scale: float = 1.0):
-    manager = cls(data_manager, playback_manager, worker_manager, scale)
-    manager.layout = manager._dict_to_layout(data)
-    return manager
-
-  def _dict_to_layout(self, data: dict) -> dict:
-    if data["type"] == "panel":
-      panel_data = data["panel"]
-      if panel_data["type"] == "timeseries":
-        panel = TimeSeriesPanel.load_from_dict(
-          panel_data, self.data_manager, self.playback_manager, self.worker_manager
-        )
-        return {"type": "panel", "panel": panel}
-      else:
-        # Handle future panel types here or make a general mapping
-        raise ValueError(f"Unknown panel type: {panel_data['type']}")
-    else:  # split
-      return {
-        "type": "split",
-        "orientation": data["orientation"],
-        "proportions": data["proportions"],
-        "children": [self._dict_to_layout(child) for child in data["children"]]
-      }
-
-  def create_ui(self):
-    self.active_panels.clear()
-    if dpg.does_item_exist(self.parent_tag):
-      dpg.delete_item(self.parent_tag, children_only=True)
-    self._cleanup_all_handlers()
-
-    container_width, container_height = dpg.get_item_rect_size(self.parent_tag)
-    if container_width == 0 and container_height == 0:
-      self._queue_resize = True
-    self._create_ui_recursive(self.layout, self.parent_tag, [], container_width, container_height)
-
-  def destroy_ui(self):
-    self._cleanup_ui_recursive(self.layout, [])
-    self._cleanup_all_handlers()
-    self.active_panels.clear()
-
-  def _cleanup_all_handlers(self):
-    for handler_tag in list(self._created_handler_tags):
-      if dpg.does_item_exist(handler_tag):
-        dpg.delete_item(handler_tag)
-    self._created_handler_tags.clear()
-
-  def _create_ui_recursive(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int):
-    if layout["type"] == "panel":
-      self._create_panel_ui(layout, parent_tag, path, width, height)
-    else:
-      self._create_split_ui(layout, parent_tag, path, width, height)
-
-  def _create_panel_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int):
-    panel_tag = self._path_to_tag(path, "panel")
-    panel = layout["panel"]
-    self.active_panels.append(panel)
-    text_size = int(13 * self.scale)
-    bar_height = (text_size + 24) if width < int(329 * self.scale + 64) else (text_size + 8)  # adjust height to allow for scrollbar
-
-    with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True):
-      with dpg.group(horizontal=True):
-        with dpg.child_window(tag=panel_tag, width=-(text_size + 16), height=bar_height, horizontal_scrollbar=True, no_scroll_with_mouse=True, border=False):
-          with dpg.group(horizontal=True):
-            # if you change the widths make sure to change the sum of widths (currently 329 * scale)
-            dpg.add_input_text(default_value=panel.title, width=int(150 * self.scale), callback=lambda s, v: setattr(panel, "title", v))
-            dpg.add_combo(items=["Time Series"], default_value="Time Series", width=int(100 * self.scale))
-            dpg.add_button(label="Clear", callback=lambda: self.clear_panel(panel), width=int(40 * self.scale))
-            dpg.add_image_button(texture_tag="split_h_texture", callback=lambda: self.split_panel(path, 0), width=text_size, height=text_size)
-            dpg.add_image_button(texture_tag="split_v_texture", callback=lambda: self.split_panel(path, 1), width=text_size, height=text_size)
-        dpg.add_image_button(texture_tag="x_texture", callback=lambda: self.delete_panel(path), width=text_size, height=text_size)
-
-      dpg.add_separator()
-
-      content_tag = self._path_to_tag(path, "content")
-      with dpg.child_window(tag=content_tag, border=False, height=-1, width=-1, no_scrollbar=True):
-        panel.create_ui(content_tag)
-
-  def _create_split_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int):
-    split_tag = self._path_to_tag(path, "split")
-    orientation, _, pane_sizes = self._get_split_geometry(layout, (width, height))
-
-    with dpg.group(tag=split_tag, parent=parent_tag, horizontal=orientation == 0):
-      for i, child_layout in enumerate(layout["children"]):
-        child_path = path + [i]
-        container_tag = self._path_to_tag(child_path, "container")
-        pane_width, pane_height = [(pane_sizes[i], -1), (-1, pane_sizes[i])][orientation]  # fill 2nd dim up to the border
-        with dpg.child_window(tag=container_tag, width=pane_width, height=pane_height, border=False, no_scrollbar=True):
-          child_width, child_height = [(pane_sizes[i], height), (width, pane_sizes[i])][orientation]
-          self._create_ui_recursive(child_layout, container_tag, child_path, child_width, child_height)
-        if i < len(layout["children"]) - 1:
-          self._create_grip(split_tag, path, i, orientation)
-
-  def clear_panel(self, panel):
-    panel.clear()
-
-  def delete_panel(self, panel_path: list[int]):
-    if not panel_path:  # Root deletion
-      old_panel = self.layout["panel"]
-      old_panel.destroy_ui()
-      self.active_panels.remove(old_panel)
-      new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager)
-      self.layout = {"type": "panel", "panel": new_panel}
-      self._rebuild_ui_at_path([])
-      return
-
-    parent, child_index = self._get_parent_and_index(panel_path)
-    layout_to_delete = parent["children"][child_index]
-    self._cleanup_ui_recursive(layout_to_delete, panel_path)
-
-    parent["children"].pop(child_index)
-    parent["proportions"].pop(child_index)
-
-    if len(parent["children"]) == 1:  # remove parent and collapse
-      remaining_child = parent["children"][0]
-      if len(panel_path) == 1:  # parent is at root level - promote remaining child to root
-        self.layout = remaining_child
-        self._rebuild_ui_at_path([])
-      else:  # replace parent with remaining child in grandparent
-        grandparent_path = panel_path[:-2]
-        parent_index = panel_path[-2]
-        self._replace_layout_at_path(grandparent_path + [parent_index], remaining_child)
-        self._rebuild_ui_at_path(grandparent_path + [parent_index])
-    else:  # redistribute proportions
-      equal_prop = 1.0 / len(parent["children"])
-      parent["proportions"] = [equal_prop] * len(parent["children"])
-      self._rebuild_ui_at_path(panel_path[:-1])
-
-  def split_panel(self, panel_path: list[int], orientation: int):
-    current_layout = self._get_layout_at_path(panel_path)
-    existing_panel = current_layout["panel"]
-    new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager)
-    parent, child_index = self._get_parent_and_index(panel_path)
-
-    if parent is None:  # Root split
-      self.layout = {
-        "type": "split",
-        "orientation": orientation,
-        "children": [{"type": "panel", "panel": existing_panel}, {"type": "panel", "panel": new_panel}],
-        "proportions": [0.5, 0.5],
-      }
-      self._rebuild_ui_at_path([])
-    elif parent["type"] == "split" and parent["orientation"] == orientation:  # Same orientation - insert into existing split
-      parent["children"].insert(child_index + 1, {"type": "panel", "panel": new_panel})
-      parent["proportions"] = [1.0 / len(parent["children"])] * len(parent["children"])
-      self._rebuild_ui_at_path(panel_path[:-1])
-    else:  # Different orientation - create new split level
-      new_split = {"type": "split", "orientation": orientation, "children": [current_layout, {"type": "panel", "panel": new_panel}], "proportions": [0.5, 0.5]}
-      self._replace_layout_at_path(panel_path, new_split)
-      self._rebuild_ui_at_path(panel_path)
-
-  def _rebuild_ui_at_path(self, path: list[int]):
-    layout = self._get_layout_at_path(path)
-    if path:
-      container_tag = self._path_to_tag(path, "container")
-    else:  # Root update
-      container_tag = self.parent_tag
-
-    self._cleanup_ui_recursive(layout, path)
-    dpg.delete_item(container_tag, children_only=True)
-    width, height = dpg.get_item_rect_size(container_tag)
-    self._create_ui_recursive(layout, container_tag, path, width, height)
-
-  def _cleanup_ui_recursive(self, layout: dict, path: list[int]):
-    if layout["type"] == "panel":
-      panel = layout["panel"]
-      panel.destroy_ui()
-      if panel in self.active_panels:
-        self.active_panels.remove(panel)
-    else:
-      for i in range(len(layout["children"]) - 1):
-        handler_tag = f"{self._path_to_tag(path, f'grip_{i}')}_handler"
-        if dpg.does_item_exist(handler_tag):
-          dpg.delete_item(handler_tag)
-        self._created_handler_tags.discard(handler_tag)
-
-      for i, child in enumerate(layout["children"]):
-        self._cleanup_ui_recursive(child, path + [i])
-
-  def update_all_panels(self):
-    if self._queue_resize:
-      if (size := dpg.get_item_rect_size(self.parent_tag)) != [0, 0]:
-        self._queue_resize = False
-        self._resize_splits_recursive(self.layout, [], *size)
-    for panel in self.active_panels:
-      panel.update()
-
-  def on_viewport_resize(self):
-    self._resize_splits_recursive(self.layout, [])
-
-  def _resize_splits_recursive(self, layout: dict, path: list[int], width: int | None = None, height: int | None = None):
-    if layout["type"] == "split":
-      split_tag = self._path_to_tag(path, "split")
-      if dpg.does_item_exist(split_tag):
-        available_sizes = (width, height) if width and height else dpg.get_item_rect_size(dpg.get_item_parent(split_tag))
-        orientation, _, pane_sizes = self._get_split_geometry(layout, available_sizes)
-        size_properties = ("width", "height")
-
-        for i, child_layout in enumerate(layout["children"]):
-          child_path = path + [i]
-          container_tag = self._path_to_tag(child_path, "container")
-          if dpg.does_item_exist(container_tag):
-            dpg.configure_item(container_tag, **{size_properties[orientation]: pane_sizes[i]})
-            child_width, child_height = [(pane_sizes[i], available_sizes[1]), (available_sizes[0], pane_sizes[i])][orientation]
-            self._resize_splits_recursive(child_layout, child_path, child_width, child_height)
-    else:  # leaf node/panel - adjust bar height to allow for scrollbar
-      panel_tag = self._path_to_tag(path, "panel")
-      if width is not None and width < int(329 * self.scale + 64):  # scaled widths of the elements in top bar + fixed 8 padding on left and right of each item
-        dpg.configure_item(panel_tag, height=(int(13 * self.scale) + 24))
-      else:
-        dpg.configure_item(panel_tag, height=(int(13 * self.scale) + 8))
-
-  def _get_split_geometry(self, layout: dict, available_size: tuple[int, int]) -> tuple[int, int, list[int]]:
-    orientation = layout["orientation"]
-    num_grips = len(layout["children"]) - 1
-    usable_size = max(self.min_pane_size, available_size[orientation] - (num_grips * (self.grip_size + 8 * (2 - orientation))))  # approximate, scaling is weird
-    pane_sizes = [max(self.min_pane_size, int(usable_size * prop)) for prop in layout["proportions"]]
-    return orientation, usable_size, pane_sizes
-
-  def _get_layout_at_path(self, path: list[int]) -> dict:
-    current = self.layout
-    for index in path:
-      current = current["children"][index]
-    return current
-
-  def _get_parent_and_index(self, path: list[int]) -> tuple:
-    return (None, -1) if not path else (self._get_layout_at_path(path[:-1]), path[-1])
-
-  def _replace_layout_at_path(self, path: list[int], new_layout: dict):
-    if not path:
-      self.layout = new_layout
-    else:
-      parent, index = self._get_parent_and_index(path)
-      parent["children"][index] = new_layout
-
-  def _path_to_tag(self, path: list[int], prefix: str = "") -> str:
-    path_str = "_".join(map(str, path)) if path else "root"
-    return f"{prefix}_{path_str}" if prefix else path_str
-
-  def _create_grip(self, parent_tag: str, path: list[int], grip_index: int, orientation: int):
-    grip_tag = self._path_to_tag(path, f"grip_{grip_index}")
-    handler_tag = f"{grip_tag}_handler"
-    width, height = [(self.grip_size, -1), (-1, self.grip_size)][orientation]
-
-    with dpg.child_window(tag=grip_tag, parent=parent_tag, width=width, height=height, no_scrollbar=True, border=False):
-      button_tag = dpg.add_button(label="", width=-1, height=-1)
-
-    with dpg.item_handler_registry(tag=handler_tag):
-      user_data = (path, grip_index, orientation)
-      dpg.add_item_active_handler(callback=self._on_grip_drag, user_data=user_data)
-      dpg.add_item_deactivated_handler(callback=self._on_grip_end, user_data=user_data)
-    dpg.bind_item_handler_registry(button_tag, handler_tag)
-    self._created_handler_tags.add(handler_tag)
-
-  def _on_grip_drag(self, sender, app_data, user_data):
-    path, grip_index, orientation = user_data
-    layout = self._get_layout_at_path(path)
-
-    if "_drag_data" not in layout:
-      layout["_drag_data"] = {"initial_proportions": layout["proportions"][:], "start_mouse": dpg.get_mouse_pos(local=False)[orientation]}
-      return
-
-    drag_data = layout["_drag_data"]
-    split_tag = self._path_to_tag(path, "split")
-    if not dpg.does_item_exist(split_tag):
-      return
-
-    _, usable_size, _ = self._get_split_geometry(layout, dpg.get_item_rect_size(split_tag))
-    current_coord = dpg.get_mouse_pos(local=False)[orientation]
-    delta = current_coord - drag_data["start_mouse"]
-    delta_prop = delta / usable_size
-
-    left_idx = grip_index
-    right_idx = left_idx + 1
-    initial = drag_data["initial_proportions"]
-    min_prop = self.min_pane_size / usable_size
-
-    new_left = max(min_prop, initial[left_idx] + delta_prop)
-    new_right = max(min_prop, initial[right_idx] - delta_prop)
-
-    total_available = initial[left_idx] + initial[right_idx]
-    if new_left + new_right > total_available:
-      if new_left > new_right:
-        new_left = total_available - new_right
-      else:
-        new_right = total_available - new_left
-
-    layout["proportions"] = initial[:]
-    layout["proportions"][left_idx] = new_left
-    layout["proportions"][right_idx] = new_right
-
-    self._resize_splits_recursive(layout, path)
-
-  def _on_grip_end(self, sender, app_data, user_data):
-    path, _, _ = user_data
-    self._get_layout_at_path(path).pop("_drag_data", None)
diff --git a/tools/jotpluggler/layouts/torque-controller.yaml b/tools/jotpluggler/layouts/torque-controller.yaml
deleted file mode 100644
index 5503be9e64..0000000000
--- a/tools/jotpluggler/layouts/torque-controller.yaml
+++ /dev/null
@@ -1,128 +0,0 @@
-tabs:
-  '0':
-    name: Lateral Plan Conformance
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: desired vs actual
-          series_paths:
-          - controlsState/lateralControlState/torqueState/desiredLateralAccel
-          - controlsState/lateralControlState/torqueState/actualLateralAccel
-      - type: panel
-        panel:
-          type: timeseries
-          title: ff vs output
-          series_paths:
-          - controlsState/lateralControlState/torqueState/f
-          - carState/steeringPressed
-          - carControl/actuators/torque
-      - type: panel
-        panel:
-          type: timeseries
-          title: vehicle speed
-          series_paths:
-          - carState/vEgo
-  '1':
-    name: Actuator Performance
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: calc vs learned latAccelFactor
-          series_paths:
-          - liveTorqueParameters/latAccelFactorFiltered
-          - liveTorqueParameters/latAccelFactorRaw
-          - carParams/lateralTuning/torque/latAccelFactor
-      - type: panel
-        panel:
-          type: timeseries
-          title: learned latAccelOffset
-          series_paths:
-          - liveTorqueParameters/latAccelOffsetRaw
-          - liveTorqueParameters/latAccelOffsetFiltered
-      - type: panel
-        panel:
-          type: timeseries
-          title: calc vs learned friction
-          series_paths:
-          - liveTorqueParameters/frictionCoefficientFiltered
-          - liveTorqueParameters/frictionCoefficientRaw
-          - carParams/lateralTuning/torque/friction
-  '2':
-    name: Vehicle Dynamics
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: initial vs learned steerRatio
-          series_paths:
-          - carParams/steerRatio
-          - liveParameters/steerRatio
-      - type: panel
-        panel:
-          type: timeseries
-          title: initial vs learned tireStiffnessFactor
-          series_paths:
-          - carParams/tireStiffnessFactor
-          - liveParameters/stiffnessFactor
-      - type: panel
-        panel:
-          type: timeseries
-          title: live steering angle offsets
-          series_paths:
-          - liveParameters/angleOffsetDeg
-          - liveParameters/angleOffsetAverageDeg
-  '3':
-    name: Controller PIF Terms
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: ff vs output
-          series_paths:
-          - carControl/actuators/torque
-          - controlsState/lateralControlState/torqueState/f
-          - carState/steeringPressed
-      - type: panel
-        panel:
-          type: timeseries
-          title: PIF terms
-          series_paths:
-          - controlsState/lateralControlState/torqueState/f
-          - controlsState/lateralControlState/torqueState/p
-          - controlsState/lateralControlState/torqueState/i
-      - type: panel
-        panel:
-          type: timeseries
-          title: road roll angle
-          series_paths:
-          - liveParameters/roll
diff --git a/tools/jotpluggler/pluggle.py b/tools/jotpluggler/pluggle.py
deleted file mode 100755
index 6fb8d5049b..0000000000
--- a/tools/jotpluggler/pluggle.py
+++ /dev/null
@@ -1,370 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import pyautogui
-import subprocess
-import dearpygui.dearpygui as dpg
-import multiprocessing
-import uuid
-import signal
-import yaml
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.basedir import BASEDIR
-from openpilot.tools.jotpluggler.data import DataManager
-from openpilot.tools.jotpluggler.datatree import DataTree
-from openpilot.tools.jotpluggler.layout import LayoutManager
-
-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
-
-
-class WorkerManager:
-  def __init__(self, max_workers=None):
-    self.pool = multiprocessing.Pool(max_workers or min(4, multiprocessing.cpu_count()), initializer=WorkerManager.worker_initializer)
-    self.active_tasks = {}
-
-  def submit_task(self, func, args_list, callback=None, task_id=None):
-    task_id = task_id or str(uuid.uuid4())
-
-    if task_id in self.active_tasks:
-      try:
-        self.active_tasks[task_id].terminate()
-      except Exception:
-        pass
-
-    def handle_success(result):
-      self.active_tasks.pop(task_id, None)
-      if callback:
-        try:
-          callback(result)
-        except Exception as e:
-          print(f"Callback for task {task_id} failed: {e}")
-
-    def handle_error(error):
-      self.active_tasks.pop(task_id, None)
-      print(f"Task {task_id} failed: {error}")
-
-    async_result = self.pool.starmap_async(func, args_list, callback=handle_success, error_callback=handle_error)
-    self.active_tasks[task_id] = async_result
-    return task_id
-
-  @staticmethod
-  def worker_initializer():
-    signal.signal(signal.SIGINT, signal.SIG_IGN)
-
-  def shutdown(self):
-    for task in self.active_tasks.values():
-      try:
-        task.terminate()
-      except Exception:
-        pass
-    self.pool.terminate()
-    self.pool.join()
-
-
-class PlaybackManager:
-  def __init__(self):
-    self.is_playing = False
-    self.current_time_s = 0.0
-    self.duration_s = 0.0
-    self.num_segments = 0
-
-    self.x_axis_bounds = (0.0, 0.0)  # (min_time, max_time)
-    self.x_axis_observers = []  # callbacks for x-axis changes
-    self._updating_x_axis = False
-
-  def set_route_duration(self, duration: float):
-    self.duration_s = duration
-    self.seek(min(self.current_time_s, duration))
-
-  def toggle_play_pause(self):
-    if not self.is_playing and self.current_time_s >= self.duration_s:
-      self.seek(0.0)
-    self.is_playing = not self.is_playing
-    texture_tag = "pause_texture" if self.is_playing else "play_texture"
-    dpg.configure_item("play_pause_button", texture_tag=texture_tag)
-
-  def seek(self, time_s: float):
-    self.current_time_s = max(0.0, min(time_s, self.duration_s))
-
-  def update_time(self, delta_t: float):
-    if self.is_playing:
-      self.current_time_s = min(self.current_time_s + delta_t, self.duration_s)
-      if self.current_time_s >= self.duration_s:
-        self.is_playing = False
-        dpg.configure_item("play_pause_button", texture_tag="play_texture")
-    return self.current_time_s
-
-  def set_x_axis_bounds(self, min_time: float, max_time: float, source_panel=None):
-    if self._updating_x_axis:
-      return
-
-    new_bounds = (min_time, max_time)
-    if new_bounds == self.x_axis_bounds:
-      return
-
-    self.x_axis_bounds = new_bounds
-    self._updating_x_axis = True  # prevent recursive updates
-
-    try:
-      for callback in self.x_axis_observers:
-        try:
-          callback(min_time, max_time, source_panel)
-        except Exception as e:
-          print(f"Error in x-axis sync callback: {e}")
-    finally:
-      self._updating_x_axis = False
-
-  def add_x_axis_observer(self, callback):
-    if callback not in self.x_axis_observers:
-      self.x_axis_observers.append(callback)
-
-  def remove_x_axis_observer(self, callback):
-    if callback in self.x_axis_observers:
-      self.x_axis_observers.remove(callback)
-
-class MainController:
-  def __init__(self, scale: float = 1.0):
-    self.scale = scale
-    self.data_manager = DataManager()
-    self.playback_manager = PlaybackManager()
-    self.worker_manager = WorkerManager()
-    self._create_global_themes()
-    self.data_tree = DataTree(self.data_manager, self.playback_manager)
-    self.layout_manager = LayoutManager(self.data_manager, self.playback_manager, self.worker_manager, scale=self.scale)
-    self.data_manager.add_observer(self.on_data_loaded)
-    self._total_segments = 0
-
-  def _create_global_themes(self):
-    with dpg.theme(tag="line_theme"):
-      with dpg.theme_component(dpg.mvLineSeries):
-        scaled_thickness = max(1.0, self.scale)
-        dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)
-
-    with dpg.theme(tag="timeline_theme"):
-      with dpg.theme_component(dpg.mvInfLineSeries):
-        scaled_thickness = max(1.0, self.scale)
-        dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)
-        dpg.add_theme_color(dpg.mvPlotCol_Line, (255, 0, 0, 128), category=dpg.mvThemeCat_Plots)
-
-    for tag, color in (("active_tab_theme", (37, 37, 38, 255)), ("inactive_tab_theme", (70, 70, 75, 255))):
-      with dpg.theme(tag=tag):
-        for cmp, target in ((dpg.mvChildWindow, dpg.mvThemeCol_ChildBg), (dpg.mvInputText, dpg.mvThemeCol_FrameBg), (dpg.mvImageButton, dpg.mvThemeCol_Button)):
-          with dpg.theme_component(cmp):
-            dpg.add_theme_color(target, color)
-
-    with dpg.theme(tag="tab_bar_theme"):
-      with dpg.theme_component(dpg.mvChildWindow):
-        dpg.add_theme_color(dpg.mvThemeCol_ChildBg, (51, 51, 55, 255))
-
-  def on_data_loaded(self, data: dict):
-    duration = data.get('duration', 0.0)
-    self.playback_manager.set_route_duration(duration)
-
-    if data.get('metadata_loaded'):
-      self.playback_manager.num_segments = data.get('total_segments', 0)
-      self._total_segments = data.get('total_segments', 0)
-      dpg.set_value("load_status", f"Loading... 0/{self._total_segments} segments processed")
-    elif data.get('reset'):
-      self.playback_manager.current_time_s = 0.0
-      self.playback_manager.duration_s = 0.0
-      self.playback_manager.is_playing = False
-      self._total_segments = 0
-      dpg.set_value("load_status", "Loading...")
-      dpg.set_value("timeline_slider", 0.0)
-      dpg.configure_item("timeline_slider", max_value=0.0)
-      dpg.configure_item("play_pause_button", texture_tag="play_texture")
-      dpg.configure_item("load_button", enabled=True)
-    elif data.get('loading_complete'):
-      num_paths = len(self.data_manager.get_all_paths())
-      dpg.set_value("load_status", f"Loaded {num_paths} data paths")
-      dpg.configure_item("load_button", enabled=True)
-    elif data.get('segment_added'):
-      segment_count = data.get('segment_count', 0)
-      dpg.set_value("load_status", f"Loading... {segment_count}/{self._total_segments} segments processed")
-
-    dpg.configure_item("timeline_slider", max_value=duration)
-
-  def save_layout_to_yaml(self, filepath: str):
-    layout_dict = self.layout_manager.to_dict()
-    with open(filepath, 'w') as f:
-      yaml.dump(layout_dict, f, default_flow_style=False, sort_keys=False)
-
-  def load_layout_from_yaml(self, filepath: str):
-    with open(filepath) as f:
-      layout_dict = yaml.safe_load(f)
-    self.layout_manager.clear_and_load_from_dict(layout_dict)
-    self.layout_manager.create_ui("main_plot_area")
-
-  def save_layout_dialog(self):
-    if dpg.does_item_exist("save_layout_dialog"):
-      dpg.delete_item("save_layout_dialog")
-    with dpg.file_dialog(
-      callback=self._save_layout_callback, tag="save_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
-      default_filename="layout", default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
-    ):
-      dpg.add_file_extension(".yaml")
-
-  def load_layout_dialog(self):
-    if dpg.does_item_exist("load_layout_dialog"):
-      dpg.delete_item("load_layout_dialog")
-    with dpg.file_dialog(
-      callback=self._load_layout_callback, tag="load_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
-      default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
-    ):
-      dpg.add_file_extension(".yaml")
-
-  def _save_layout_callback(self, sender, app_data):
-    filepath = app_data['file_path_name']
-    try:
-      self.save_layout_to_yaml(filepath)
-      dpg.set_value("load_status", f"Layout saved to {os.path.basename(filepath)}")
-    except Exception:
-      dpg.set_value("load_status", "Error saving layout")
-      cloudlog.exception(f"Error saving layout to {filepath}")
-    dpg.delete_item("save_layout_dialog")
-
-  def _load_layout_callback(self, sender, app_data):
-    filepath = app_data['file_path_name']
-    try:
-      self.load_layout_from_yaml(filepath)
-      dpg.set_value("load_status", f"Layout loaded from {os.path.basename(filepath)}")
-    except Exception:
-      dpg.set_value("load_status", "Error loading layout")
-      cloudlog.exception(f"Error loading layout from {filepath}:")
-    dpg.delete_item("load_layout_dialog")
-
-  def setup_ui(self):
-    with dpg.texture_registry():
-      script_dir = os.path.dirname(os.path.realpath(__file__))
-      for image in ["play", "pause", "x", "split_h", "split_v", "plus"]:
-        texture = dpg.load_image(os.path.join(script_dir, "assets", f"{image}.png"))
-        dpg.add_static_texture(width=texture[0], height=texture[1], default_value=texture[3], tag=f"{image}_texture")
-
-    with dpg.window(tag="Primary Window"):
-      with dpg.group(horizontal=True):
-        # Left panel - Data tree
-        with dpg.child_window(label="Sidebar", width=int(300 * self.scale), tag="sidebar_window", border=True, resizable_x=True):
-          with dpg.group(horizontal=True):
-            dpg.add_input_text(tag="route_input", width=int(-75 * self.scale), hint="Enter route name...")
-            dpg.add_button(label="Load", callback=self.load_route, tag="load_button", width=-1)
-          dpg.add_text("Ready to load route", tag="load_status")
-          dpg.add_separator()
-
-          with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp):
-            dpg.add_table_column(init_width_or_weight=0.5)
-            dpg.add_table_column(init_width_or_weight=0.5)
-            with dpg.table_row():
-              dpg.add_button(label="Save Layout", callback=self.save_layout_dialog, width=-1)
-              dpg.add_button(label="Load Layout", callback=self.load_layout_dialog, width=-1)
-          dpg.add_separator()
-
-          self.data_tree.create_ui("sidebar_window")
-
-        # Right panel - Plots and timeline
-        with dpg.group(tag="right_panel"):
-          with dpg.child_window(label="Plot Window", border=True, height=int(-(32 + 13 * self.scale)), tag="main_plot_area"):
-            self.layout_manager.create_ui("main_plot_area")
-
-          with dpg.child_window(label="Timeline", border=True):
-            with dpg.table(header_row=False):
-              btn_size = int(13 * self.scale)
-              dpg.add_table_column(width_fixed=True, init_width_or_weight=(btn_size + 8))  # Play button
-              dpg.add_table_column(width_stretch=True)  # Timeline slider
-              dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale))  # FPS counter
-              with dpg.table_row():
-                dpg.add_image_button(texture_tag="play_texture", tag="play_pause_button", callback=self.toggle_play_pause, width=btn_size, height=btn_size)
-                dpg.add_slider_float(tag="timeline_slider", default_value=0.0, label="", width=-1, callback=self.timeline_drag)
-                dpg.add_text("", tag="fps_counter")
-            with dpg.item_handler_registry(tag="plot_resize_handler"):
-              dpg.add_item_resize_handler(callback=self.on_plot_resize)
-            dpg.bind_item_handler_registry("right_panel", "plot_resize_handler")
-
-    dpg.set_primary_window("Primary Window", True)
-
-  def on_plot_resize(self, sender, app_data, user_data):
-    self.layout_manager.on_viewport_resize()
-
-  def load_route(self):
-    route_name = dpg.get_value("route_input").strip()
-    if route_name:
-      dpg.set_value("load_status", "Loading route...")
-      dpg.configure_item("load_button", enabled=False)
-      self.data_manager.load_route(route_name)
-
-  def toggle_play_pause(self, sender):
-    self.playback_manager.toggle_play_pause()
-
-  def timeline_drag(self, sender, app_data):
-    self.playback_manager.seek(app_data)
-
-  def update_frame(self, font):
-    self.data_tree.update_frame(font)
-
-    new_time = self.playback_manager.update_time(dpg.get_delta_time())
-    if not dpg.is_item_active("timeline_slider"):
-      dpg.set_value("timeline_slider", new_time)
-
-    self.layout_manager.update_all_panels()
-
-    dpg.set_value("fps_counter", f"{dpg.get_frame_rate():.1f} FPS")
-
-  def shutdown(self):
-    self.worker_manager.shutdown()
-
-
-def main(route_to_load=None, layout_to_load=None):
-  dpg.create_context()
-
-  # TODO: find better way of calculating display scaling
-  try:
-    w, h = next(tuple(map(int, l.split()[0].split('x'))) for l in subprocess.check_output(['xrandr']).decode().split('\n') if '*' in l)  # actual resolution
-    scale = pyautogui.size()[0] / w  # scaled resolution
-  except Exception:
-    scale = 1
-
-  with dpg.font_registry():
-    default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf"), int(13 * scale * 2)) # 2x then scale for hidpi
-  dpg.bind_font(default_font)
-  dpg.set_global_font_scale(0.5)
-
-  viewport_width, viewport_height = int(1200 * scale), int(800 * scale)
-  mouse_x, mouse_y = pyautogui.position()  # TODO: find better way of creating the window where the user is (default dpg behavior annoying on multiple displays)
-  dpg.create_viewport(
-    title='JotPluggler', width=viewport_width, height=viewport_height, x_pos=mouse_x - viewport_width // 2, y_pos=mouse_y - viewport_height // 2
-  )
-  dpg.setup_dearpygui()
-
-  controller = MainController(scale=scale)
-  controller.setup_ui()
-
-  if layout_to_load:
-    try:
-      controller.load_layout_from_yaml(layout_to_load)
-      print(f"Loaded layout from {layout_to_load}")
-    except Exception as e:
-      print(f"Failed to load layout from {layout_to_load}: {e}")
-      cloudlog.exception(f"Error loading layout from {layout_to_load}")
-
-  if route_to_load:
-    dpg.set_value("route_input", route_to_load)
-    controller.load_route()
-
-  dpg.show_viewport()
-
-  # Main loop
-  try:
-    while dpg.is_dearpygui_running():
-      controller.update_frame(default_font)
-      dpg.render_dearpygui_frame()
-  finally:
-    controller.shutdown()
-    dpg.destroy_context()
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="A tool for visualizing openpilot logs.")
-  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--layout", type=str, help="Path to YAML layout file to load on startup")
-  parser.add_argument("route", nargs='?', default=None, help="Optional route name to load on startup.")
-  args = parser.parse_args()
-  route = DEMO_ROUTE if args.demo else args.route
-  main(route_to_load=route, layout_to_load=args.layout)
diff --git a/tools/jotpluggler/views.py b/tools/jotpluggler/views.py
deleted file mode 100644
index cd723d161e..0000000000
--- a/tools/jotpluggler/views.py
+++ /dev/null
@@ -1,294 +0,0 @@
-import uuid
-import threading
-import numpy as np
-from collections import deque
-import dearpygui.dearpygui as dpg
-from abc import ABC, abstractmethod
-
-
-class ViewPanel(ABC):
-  """Abstract base class for all view panels that can be displayed in a plot container"""
-
-  def __init__(self, panel_id: str | None = None):
-    self.panel_id = panel_id or str(uuid.uuid4())
-    self.title = "Untitled Panel"
-
-  @abstractmethod
-  def clear(self):
-    pass
-
-  @abstractmethod
-  def create_ui(self, parent_tag: str):
-    pass
-
-  @abstractmethod
-  def destroy_ui(self):
-    pass
-
-  @abstractmethod
-  def get_panel_type(self) -> str:
-    pass
-
-  @abstractmethod
-  def update(self):
-    pass
-
-  @abstractmethod
-  def to_dict(self) -> dict:
-    pass
-
-  @classmethod
-  @abstractmethod
-  def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager):
-    pass
-
-
-class TimeSeriesPanel(ViewPanel):
-  def __init__(self, data_manager, playback_manager, worker_manager, panel_id: str | None = None):
-    super().__init__(panel_id)
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.worker_manager = worker_manager
-    self.title = "Time Series Plot"
-    self.plot_tag = f"plot_{self.panel_id}"
-    self.x_axis_tag = f"{self.plot_tag}_x_axis"
-    self.y_axis_tag = f"{self.plot_tag}_y_axis"
-    self.timeline_indicator_tag = f"{self.plot_tag}_timeline"
-    self._ui_created = False
-    self._series_data: dict[str, tuple[np.ndarray, np.ndarray]] = {}
-    self._last_plot_duration = 0
-    self._update_lock = threading.RLock()
-    self._results_deque: deque[tuple[str, list, list]] = deque()
-    self._new_data = False
-    self._last_x_limits = (0.0, 0.0)
-    self._queued_x_sync: tuple | None = None
-    self._queued_reallow_x_zoom = False
-    self._total_segments = self.playback_manager.num_segments
-
-  def to_dict(self) -> dict:
-    return {
-      "type": "timeseries",
-      "title": self.title,
-      "series_paths": list(self._series_data.keys())
-    }
-
-  @classmethod
-  def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager):
-    panel = cls(data_manager, playback_manager, worker_manager)
-    panel.title = data.get("title", "Time Series Plot")
-    panel._series_data = {path: (np.array([]), np.array([])) for path in data.get("series_paths", [])}
-    return panel
-
-  def create_ui(self, parent_tag: str):
-    self.data_manager.add_observer(self.on_data_loaded)
-    self.playback_manager.add_x_axis_observer(self._on_x_axis_sync)
-    with dpg.plot(height=-1, width=-1, tag=self.plot_tag, parent=parent_tag, drop_callback=self._on_series_drop, payload_type="TIMESERIES_PAYLOAD"):
-      dpg.add_plot_legend()
-      dpg.add_plot_axis(dpg.mvXAxis, no_label=True, tag=self.x_axis_tag)
-      dpg.add_plot_axis(dpg.mvYAxis, no_label=True, tag=self.y_axis_tag)
-      timeline_series_tag = dpg.add_inf_line_series(x=[0], label="Timeline", parent=self.y_axis_tag, tag=self.timeline_indicator_tag)
-      dpg.bind_item_theme(timeline_series_tag, "timeline_theme")
-
-    self._new_data = True
-    self._queued_x_sync = self.playback_manager.x_axis_bounds
-    self._ui_created = True
-
-  def update(self):
-    with self._update_lock:
-      if not self._ui_created:
-        return
-
-      if self._queued_x_sync:
-        min_time, max_time = self._queued_x_sync
-        self._queued_x_sync = None
-        dpg.set_axis_limits(self.x_axis_tag, min_time, max_time)
-        self._last_x_limits = (min_time, max_time)
-        self._fit_y_axis(min_time, max_time)
-        self._queued_reallow_x_zoom = True # must wait a frame before allowing user changes so that axis limits take effect
-        return
-
-      if self._queued_reallow_x_zoom:
-        self._queued_reallow_x_zoom = False
-        if tuple(dpg.get_axis_limits(self.x_axis_tag)) == self._last_x_limits:
-          dpg.set_axis_limits_auto(self.x_axis_tag)
-        else:
-          self._queued_x_sync = self._last_x_limits # retry, likely too early
-          return
-
-      if self._new_data:  # handle new data in main thread
-        self._new_data = False
-        if self._total_segments > 0:
-          dpg.set_axis_limits_constraints(self.x_axis_tag, -10, self._total_segments * 60 + 10)
-        self._fit_y_axis(*dpg.get_axis_limits(self.x_axis_tag))
-        for series_path in list(self._series_data.keys()):
-          self.add_series(series_path, update=True)
-
-      current_limits = dpg.get_axis_limits(self.x_axis_tag)
-      # downsample if plot zoom changed significantly
-      plot_duration = current_limits[1] - current_limits[0]
-      if plot_duration > self._last_plot_duration * 2 or plot_duration < self._last_plot_duration * 0.5:
-        self._downsample_all_series(plot_duration)
-      # sync x-axis if changed by user
-      if self._last_x_limits != current_limits:
-        self.playback_manager.set_x_axis_bounds(current_limits[0], current_limits[1], source_panel=self)
-        self._last_x_limits = current_limits
-        self._fit_y_axis(current_limits[0], current_limits[1])
-
-      while self._results_deque:  # handle downsampled results in main thread
-        results = self._results_deque.popleft()
-        for series_path, downsampled_time, downsampled_values in results:
-          series_tag = f"series_{self.panel_id}_{series_path}"
-          if dpg.does_item_exist(series_tag):
-            dpg.set_value(series_tag, (downsampled_time, downsampled_values.astype(float)))
-
-      # update timeline
-      current_time_s = self.playback_manager.current_time_s
-      dpg.set_value(self.timeline_indicator_tag, [[current_time_s], [0]])
-
-      # update timeseries legend label
-      for series_path, (time_array, value_array) in self._series_data.items():
-        position = np.searchsorted(time_array, current_time_s, side='right') - 1
-        if position >= 0 and (current_time_s - time_array[position]) <= 1.0:
-          value = value_array[position]
-          formatted_value = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value)
-          series_tag = f"series_{self.panel_id}_{series_path}"
-          if dpg.does_item_exist(series_tag):
-            dpg.configure_item(series_tag, label=f"{series_path}: {formatted_value}")
-
-  def _on_x_axis_sync(self, min_time: float, max_time: float, source_panel):
-    with self._update_lock:
-      if source_panel != self:
-        self._queued_x_sync = (min_time, max_time)
-
-  def _fit_y_axis(self, x_min: float, x_max: float):
-    if not self._series_data:
-      dpg.set_axis_limits(self.y_axis_tag, -1, 1)
-      return
-
-    global_min = float('inf')
-    global_max = float('-inf')
-    found_data = False
-
-    for time_array, value_array in self._series_data.values():
-      if len(time_array) == 0:
-        continue
-      start_idx, end_idx = np.searchsorted(time_array, [x_min, x_max])
-      end_idx = min(end_idx, len(time_array) - 1)
-      if start_idx <= end_idx:
-        y_slice = value_array[start_idx:end_idx + 1]
-        series_min, series_max = np.min(y_slice), np.max(y_slice)
-        global_min = min(global_min, series_min)
-        global_max = max(global_max, series_max)
-        found_data = True
-
-    if not found_data:
-      dpg.set_axis_limits(self.y_axis_tag, -1, 1)
-      return
-
-    if global_min == global_max:
-      padding = max(abs(global_min) * 0.1, 1.0)
-      y_min, y_max = global_min - padding, global_max + padding
-    else:
-      range_size = global_max - global_min
-      padding = range_size * 0.1
-      y_min, y_max = global_min - padding, global_max + padding
-
-    dpg.set_axis_limits(self.y_axis_tag, y_min, y_max)
-
-  def _downsample_all_series(self, plot_duration):
-    plot_width = dpg.get_item_rect_size(self.plot_tag)[0]
-    if plot_width <= 0 or plot_duration <= 0:
-      return
-
-    self._last_plot_duration = plot_duration
-    target_points_per_second = plot_width / plot_duration
-    work_items = []
-    for series_path, (time_array, value_array) in self._series_data.items():
-      if len(time_array) == 0:
-        continue
-      series_duration = time_array[-1] - time_array[0] if len(time_array) > 1 else 1
-      points_per_second = len(time_array) / series_duration
-      if points_per_second > target_points_per_second * 2:
-        target_points = max(int(target_points_per_second * series_duration), plot_width)
-        work_items.append((series_path, time_array, value_array, target_points))
-      elif dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"):
-        dpg.set_value(f"series_{self.panel_id}_{series_path}", (time_array, value_array.astype(float)))
-
-    if work_items:
-      self.worker_manager.submit_task(
-        TimeSeriesPanel._downsample_worker, work_items, callback=lambda results: self._results_deque.append(results), task_id=f"downsample_{self.panel_id}"
-      )
-
-  def add_series(self, series_path: str, update: bool = False):
-    with self._update_lock:
-      if update or series_path not in self._series_data:
-        self._series_data[series_path] = self.data_manager.get_timeseries(series_path)
-
-      time_array, value_array = self._series_data[series_path]
-      series_tag = f"series_{self.panel_id}_{series_path}"
-      if dpg.does_item_exist(series_tag):
-        dpg.set_value(series_tag, (time_array, value_array.astype(float)))
-      else:
-        line_series_tag = dpg.add_line_series(x=time_array, y=value_array.astype(float), label=series_path, parent=self.y_axis_tag, tag=series_tag)
-        dpg.bind_item_theme(line_series_tag, "line_theme")
-      self._fit_y_axis(*dpg.get_axis_limits(self.x_axis_tag))
-      plot_duration = dpg.get_axis_limits(self.x_axis_tag)[1] - dpg.get_axis_limits(self.x_axis_tag)[0]
-      self._downsample_all_series(plot_duration)
-
-  def destroy_ui(self):
-    with self._update_lock:
-      self.data_manager.remove_observer(self.on_data_loaded)
-      self.playback_manager.remove_x_axis_observer(self._on_x_axis_sync)
-      if dpg.does_item_exist(self.plot_tag):
-        dpg.delete_item(self.plot_tag)
-      self._ui_created = False
-
-  def get_panel_type(self) -> str:
-    return "timeseries"
-
-  def clear(self):
-    with self._update_lock:
-      for series_path in list(self._series_data.keys()):
-        self.remove_series(series_path)
-
-  def remove_series(self, series_path: str):
-    with self._update_lock:
-      if series_path in self._series_data:
-        if dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"):
-          dpg.delete_item(f"series_{self.panel_id}_{series_path}")
-        del self._series_data[series_path]
-
-  def on_data_loaded(self, data: dict):
-    with self._update_lock:
-      self._new_data = True
-      if data.get('metadata_loaded'):
-        self._total_segments = data.get('total_segments', 0)
-        limits = (-10, self._total_segments * 60 + 10)
-        self._queued_x_sync = limits
-
-  def _on_series_drop(self, sender, app_data, user_data):
-    self.add_series(app_data)
-
-  @staticmethod
-  def _downsample_worker(series_path, time_array, value_array, target_points):
-    if len(time_array) <= target_points:
-      return series_path, time_array, value_array
-
-    step = len(time_array) / target_points
-    indices = []
-
-    for i in range(target_points):
-      start_idx = int(i * step)
-      end_idx = int((i + 1) * step)
-      if start_idx == end_idx:
-        indices.append(start_idx)
-      else:
-        bucket_values = value_array[start_idx:end_idx]
-        min_idx = start_idx + np.argmin(bucket_values)
-        max_idx = start_idx + np.argmax(bucket_values)
-        if min_idx != max_idx:
-          indices.extend([min(min_idx, max_idx), max(min_idx, max_idx)])
-        else:
-          indices.append(min_idx)
-    indices = sorted(set(indices))
-    return series_path, time_array[indices], value_array[indices]
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
deleted file mode 100755
index ae8a1974ac..0000000000
--- a/tools/mac_setup.sh
+++ /dev/null
@@ -1,81 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT="$(cd $DIR/../ && pwd)"
-ARCH=$(uname -m)
-
-# homebrew update is slow
-export HOMEBREW_NO_AUTO_UPDATE=1
-
-if [[ $SHELL == "/bin/zsh" ]]; then
-  RC_FILE="$HOME/.zshrc"
-elif [[ $SHELL == "/bin/bash" ]]; then
-  RC_FILE="$HOME/.bash_profile"
-fi
-
-# Install brew if required
-if [[ $(command -v brew) == "" ]]; then
-  echo "Installing Homebrew"
-  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-  echo "[ ] installed brew t=$SECONDS"
-
-  # make brew available now
-  if [[ $ARCH == "x86_64" ]]; then
-    echo 'eval "$(/usr/local/bin/brew shellenv)"' >> $RC_FILE
-    eval "$(/usr/local/bin/brew shellenv)"
-  else
-    echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
-    eval "$(/opt/homebrew/bin/brew shellenv)"
-  fi
-else
-    brew up
-fi
-
-brew bundle --file=$DIR/Brewfile
-
-echo "[ ] finished brew install t=$SECONDS"
-
-BREW_PREFIX=$(brew --prefix)
-
-# archive backend tools for pip dependencies
-export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/zlib/lib"
-export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/bzip2/lib"
-export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/zlib/include"
-export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/bzip2/include"
-
-# pycurl curl/openssl backend dependencies
-export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/openssl@3/lib"
-export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/openssl@3/include"
-export PYCURL_CURL_CONFIG=/usr/bin/curl-config
-export PYCURL_SSL_LIBRARY=openssl
-
-# install python dependencies
-$DIR/install_python_dependencies.sh
-echo "[ ] installed python dependencies t=$SECONDS"
-
-# brew does not link qt5 by default
-# check if qt5 can be linked, if not, prompt the user to link it
-QT_BIN_LOCATION="$(command -v lupdate || :)"
-if [ -n "$QT_BIN_LOCATION" ]; then
-  # if qt6 is linked, prompt the user to unlink it and link the right version
-  QT_BIN_VERSION="$(lupdate -version | awk '{print $NF}')"
-  if [[ ! "$QT_BIN_VERSION" =~ 5\.[0-9]+\.[0-9]+ ]]; then
-    echo
-    echo "lupdate/lrelease available at PATH is $QT_BIN_VERSION"
-    if [[ "$QT_BIN_LOCATION" == "$(brew --prefix)/"* ]]; then
-      echo "Run the following command to link qt5:"
-      echo "brew unlink qt@6 && brew link qt@5"
-    else
-      echo "Remove conflicting qt entries from PATH and run the following command to link qt5:"
-      echo "brew link qt@5"
-    fi
-  fi
-else
-  brew link qt@5
-fi
-
-echo
-echo "----   OPENPILOT SETUP DONE   ----"
-echo "Open a new shell or configure your active shell env by running:"
-echo "source $RC_FILE"
diff --git a/tools/op.sh b/tools/op.sh
index 8c41926e0c..3d7d17a76b 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -19,24 +19,24 @@ RC_FILE="${HOME}/.$(basename ${SHELL})rc"
 if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
   RC_FILE="$HOME/.bash_profile"
 fi
-function op_install() {
-  echo "Installing op system-wide..."
-  CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
-  grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
-  echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
-}
 
-function loge() {
-  if [[ -f "$LOG_FILE" ]]; then
-    # error type
-    echo "$1" >> $LOG_FILE
-    # error log
-    echo "$2" >> $LOG_FILE
-  fi
+function retry() {
+  local attempts=$1
+  shift
+  for i in $(seq 1 "$attempts"); do
+    if "$@"; then
+      return 0
+    fi
+    if [ "$i" -lt "$attempts" ]; then
+      echo "  Attempt $i/$attempts failed, retrying in 5s..."
+      sleep 5
+    fi
+  done
+  return 1
 }
 
 function op_run_command() {
-  CMD="$@"
+  CMD="$*"
 
   echo -e "${BOLD}Running command →${NC} $CMD │"
   for ((i=0; i<$((19 + ${#CMD})); i++)); do
@@ -45,7 +45,7 @@ function op_run_command() {
   echo -e "┘\n"
 
   if [[ -z "$DRY" ]]; then
-    eval "$CMD"
+    "$@"
   fi
 }
 
@@ -62,7 +62,8 @@ function op_get_openpilot_dir() {
   done
 
   # Fallback to hardcoded directories if not found
-  for dir in "$HOME/openpilot" "/data/openpilot"; do
+  SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+  for dir in "$(readlink -f "$SCRIPT_DIR/../..")" "$HOME/openpilot" "/data/openpilot"; do
     if [[ -f "$dir/launch_openpilot.sh" ]]; then
       OPENPILOT_ROOT="$dir"
       return 0
@@ -86,7 +87,6 @@ function op_check_openpilot_dir() {
     echo -e " ↳ [${GREEN}✔${NC}] openpilot found."
     return 0
   fi
-
   echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
   echo "       inside the openpilot directory or specify one with the"
   echo "       --dir option!"
@@ -103,7 +103,7 @@ function op_check_git() {
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/dmonitoring_model.onnx) == "data" ]]; then
+  if [[ $(file -b $OPENPILOT_ROOT/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx) == "data" ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
   else
     echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
@@ -132,13 +132,11 @@ function op_check_os() {
           ;;
         * )
           echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
-          loge "ERROR_INCOMPATIBLE_UBUNTU" "$VERSION_CODENAME"
           return 1
           ;;
       esac
     else
       echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
-      loge "ERROR_UNKNOWN_UBUNTU"
       return 1
     fi
 
@@ -146,34 +144,10 @@ function op_check_os() {
     echo -e " ↳ [${GREEN}✔${NC}] macOS detected."
   else
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
-    loge "ERROR_UNKNOWN_OS" "$OSTYPE"
     return 1
   fi
 }
 
-function op_check_python() {
-  echo "Checking for compatible python version..."
-  REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml)
-  INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
-
-  if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
-    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
-    loge "ERROR_PYTHON_NOT_FOUND"
-    return 1
-  else
-    LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($4, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }')
-    UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($6, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }')
-    VERSION=$(echo $INSTALLED_PYTHON_VERSION | awk '{ split($2, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }')
-    if [[ $VERSION -ge LB && $VERSION -lt UB ]]; then
-      echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
-    else
-      echo -e " ↳ [${RED}✗${NC}] You need a python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!"
-      loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION"
-      return 1
-    fi
-  fi
-}
-
 function op_check_venv() {
   echo "Checking for venv..."
   if [[ -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then
@@ -198,8 +172,6 @@ function op_before_cmd() {
 
   op_activate_venv
 
-  result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
-
   if [[ -z $VERBOSE ]]; then
     echo -e "${BOLD}Checking system →${NC} [${GREEN}✔${NC}]"
   else
@@ -208,42 +180,50 @@ function op_before_cmd() {
 }
 
 function op_setup() {
+  echo "Installing op system-wide..."
+  OP_SH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh"
+  CMD=$(cat <<EOF
+alias op='$OP_SH "\$@"'
+_op_completions() { [ "\$COMP_CWORD" -eq 1 ] && COMPREPLY=(\$(compgen -W "\$(awk '/shift 1; op_/{print \$1}' $OP_SH)" -- "\${COMP_WORDS[1]}")); }
+[ -n "\$BASH_VERSION" ] && complete -F _op_completions -o default op
+EOF
+)
+  grep -q "alias op=" "$RC_FILE" 2>/dev/null || printf '\n%s\n' "$CMD" >> "$RC_FILE"
+  echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
+
   op_get_openpilot_dir
   cd $OPENPILOT_ROOT
 
   op_check_openpilot_dir
   op_check_os
 
-  echo "Installing dependencies..."
-  st="$(date +%s)"
-  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-    SETUP_SCRIPT="tools/ubuntu_setup.sh"
-  elif [[ "$OSTYPE" == "darwin"* ]]; then
-    SETUP_SCRIPT="tools/mac_setup.sh"
-  fi
-  if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
-    echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
-    loge "ERROR_DEPENDENCIES_INSTALLATION"
-    return 1
-  fi
-  et="$(date +%s)"
-  echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds."
-
+  # Submodules must be present before uv sync: pyproject path sources
+  # (pandacan, opendbc, msgq, ...) live in the submodule checkouts.
   echo "Getting git submodules..."
   st="$(date +%s)"
-  if ! git submodule update --jobs 4 --init --recursive; then
+  if ! retry 3 git submodule update --jobs 4 --init --recursive; then
     echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
-    loge "ERROR_GIT_SUBMODULES"
     return 1
   fi
   et="$(date +%s)"
   echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds."
 
+  echo "Installing dependencies..."
+  st="$(date +%s)"
+  SETUP_SCRIPT="tools/setup_dependencies.sh"
+  if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
+    echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
+    return 1
+  fi
+  et="$(date +%s)"
+  echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds."
+
+  op_activate_venv
+
   echo "Pulling git lfs files..."
   st="$(date +%s)"
-  if ! git lfs pull; then
+  if ! retry 3 git lfs pull; then
     echo -e " ↳ [${RED}✗${NC}] Pulling git lfs files failed!"
-    loge "ERROR_GIT_LFS"
     return 1
   fi
   et="$(date +%s)"
@@ -254,7 +234,7 @@ function op_setup() {
 
 function op_auth() {
   op_before_cmd
-  op_run_command tools/lib/auth.py "$@"
+  op_run_command openpilot/tools/lib/auth.py "$@"
 }
 
 function op_activate_venv() {
@@ -262,6 +242,11 @@ function op_activate_venv() {
   set +e
   source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
   set -e
+
+  # persist venv on PATH across GitHub Actions steps
+  if [ -n "$GITHUB_PATH" ]; then
+    echo "$OPENPILOT_ROOT/.venv/bin" >> "$GITHUB_PATH"
+  fi
 }
 
 function op_venv() {
@@ -292,6 +277,19 @@ function op_ssh() {
   op_run_command tools/scripts/ssh.py "$@"
 }
 
+function op_script() {
+  op_before_cmd
+
+  case $1 in
+    som-debug )  op_run_command panda/scripts/som_debug.sh "${@:2}" ;;
+    * )
+      echo -e "Unknown script '$1'. Available scripts:"
+      echo -e "  ${BOLD}som-debug${NC}    SOM serial debug console via panda"
+      return 1
+      ;;
+  esac
+}
+
 function op_check() {
   VERBOSE=1
   op_before_cmd
@@ -300,7 +298,7 @@ function op_check() {
 
 function op_esim() {
   op_before_cmd
-  op_run_command system/hardware/esim.py "$@"
+  op_run_command openpilot/common/esim/esim.py "$@"
 }
 
 function op_build() {
@@ -309,47 +307,72 @@ function op_build() {
   cd "$CDIR"
   if [[ -f "/AGNOS" ]]; then
     # needed on AGNOS to not run out of memory
-    op_run_command system/manager/build.py
+    op_run_command openpilot/system/manager/build.py
   else
-    # scons is fine on PC
-    op_run_command scons $@
+    op_run_command scons -u "$@"
   fi
 }
 
 function op_juggle() {
   op_before_cmd
-  op_run_command tools/plotjuggler/juggle.py $@
+  op_run_command openpilot/tools/plotjuggler/juggle.py "$@"
 }
 
 function op_lint() {
   op_before_cmd
-  op_run_command scripts/lint/lint.sh $@
+  op_run_command scripts/lint/lint.sh "$@"
 }
 
 function op_test() {
   op_before_cmd
-  op_run_command pytest $@
+  op_run_command tools/test_runner.py "$@"
 }
 
 function op_replay() {
   op_before_cmd
-  op_run_command tools/replay/replay $@
+  op_run_command openpilot/tools/replay/replay "$@"
 }
 
 function op_cabana() {
   op_before_cmd
-  op_run_command tools/cabana/cabana $@
+  op_run_command openpilot/tools/cabana/cabana "$@"
 }
 
 function op_sim() {
   op_before_cmd
-  op_run_command exec tools/sim/run_bridge.py &
-  op_run_command exec tools/sim/launch_openpilot.sh
+  op_run_command exec openpilot/tools/sim/run_bridge.py &
+  op_run_command exec openpilot/tools/sim/launch_openpilot.sh
 }
 
 function op_clip() {
   op_before_cmd
-  op_run_command tools/clip/run.py $@
+  op_run_command openpilot/tools/clip/run.py "$@"
+}
+
+function op_check_agnos_update() {
+  if [[ ! -f "/AGNOS" ]]; then
+    return 0
+  fi
+
+  local choice current_version target_version
+  current_version="$(< /VERSION)"
+  target_version="$(unset AGNOS_VERSION; source "$OPENPILOT_ROOT/launch_env.sh"; echo "$AGNOS_VERSION")"
+
+  if [[ "$current_version" == "$target_version" ]]; then
+    return 0
+  fi
+
+  echo -e "${BOLD}AGNOS update available:${NC} $current_version → $target_version"
+  if read -r -p "Install it now? [y/N] " choice && [[ "$choice" =~ ^[Yy]$ ]]; then
+    op_run_command "$OPENPILOT_ROOT/openpilot/common/hardware/comma/agnos.py" --swap \
+      "$OPENPILOT_ROOT/openpilot/common/hardware/comma/agnos.json"
+
+    if read -r -p "Reboot now to apply the update? [y/N] " choice && [[ "$choice" =~ ^[Yy]$ ]]; then
+      op_run_command sudo reboot
+    else
+      echo "Reboot before starting openpilot to apply the AGNOS update."
+    fi
+  fi
 }
 
 function op_switch() {
@@ -376,11 +399,17 @@ function op_switch() {
   git submodule update --init --recursive
   git submodule foreach git reset --hard
   git submodule foreach git clean -df
+
+  # remove openpilot update flag if present
+  rm -f .overlay_init
+
+  op_check_agnos_update
 }
 
 function op_start() {
   if [[ -f "/AGNOS" ]]; then
     op_before_cmd
+    op_check_agnos_update
     op_run_command sudo systemctl restart comma $@
   fi
 }
@@ -404,12 +433,11 @@ function op_default() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
   echo -e "  ${BOLD}auth${NC}         Authenticate yourself for API use"
-  echo -e "  ${BOLD}check${NC}        Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}check${NC}        Check the development environment (git, os) to start using openpilot"
   echo -e "  ${BOLD}esim${NC}         Manage eSIM profiles on your comma device"
   echo -e "  ${BOLD}venv${NC}         Activate the python virtual environment"
-  echo -e "  ${BOLD}setup${NC}        Install openpilot dependencies"
+  echo -e "  ${BOLD}setup${NC}        Install the 'op' tool and openpilot dependencies"
   echo -e "  ${BOLD}build${NC}        Run the openpilot build system in the current working directory"
-  echo -e "  ${BOLD}install${NC}      Install the 'op' tool system wide"
   echo -e "  ${BOLD}switch${NC}       Switch to a different git branch with a clean slate (nukes any changes)"
   echo -e "  ${BOLD}start${NC}        Starts (or restarts) openpilot"
   echo -e "  ${BOLD}stop${NC}         Stops openpilot"
@@ -422,11 +450,14 @@ function op_default() {
   echo -e "  ${BOLD}adb${NC}          Run adb shell"
   echo -e "  ${BOLD}ssh${NC}          comma prime SSH helper"
   echo ""
+  echo -e "${BOLD}${UNDERLINE}Commands [Scripts]:${NC}"
+  echo -e "  ${BOLD}script${NC}       Run a script (e.g. op script som-debug)"
+  echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
   echo -e "  ${BOLD}sim${NC}          Run openpilot in a simulator"
   echo -e "  ${BOLD}lint${NC}         Run the linter"
   echo -e "  ${BOLD}post-commit${NC}  Install the linter as a post-commit hook"
-  echo -e "  ${BOLD}test${NC}         Run all unit tests from pytest"
+  echo -e "  ${BOLD}test${NC}         Run all unit tests"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
@@ -455,7 +486,6 @@ function _op() {
     -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
-    -l | --log )       shift 1; LOG_FILE="$1" ; shift 1 ;;
   esac
 
   # parse Commands
@@ -473,7 +503,6 @@ function _op() {
     replay )        shift 1; op_replay "$@" ;;
     clip )          shift 1; op_clip "$@" ;;
     sim )           shift 1; op_sim "$@" ;;
-    install )       shift 1; op_install "$@" ;;
     switch )        shift 1; op_switch "$@" ;;
     start )         shift 1; op_start "$@" ;;
     stop )          shift 1; op_stop "$@" ;;
@@ -481,8 +510,9 @@ function _op() {
     post-commit )   shift 1; op_install_post_commit "$@" ;;
     adb )           shift 1; op_adb "$@" ;;
     ssh )           shift 1; op_ssh "$@" ;;
+    script )        shift 1; op_script "$@" ;;
     * ) op_default "$@" ;;
   esac
 }
 
-_op $@
+_op "$@"
diff --git a/tools/plotjuggler/.gitignore b/tools/plotjuggler/.gitignore
deleted file mode 100644
index 45559d0b09..0000000000
--- a/tools/plotjuggler/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-bin/
-bin
-*.rlog
diff --git a/tools/profiling/clpeak/no_print.patch b/tools/profiling/clpeak/no_print.patch
deleted file mode 100644
index 44a5efd10f..0000000000
--- a/tools/profiling/clpeak/no_print.patch
+++ /dev/null
@@ -1,39 +0,0 @@
-diff --git a/src/logger.cpp b/src/logger.cpp
-index a63c6dd..a1d9860 100644
---- a/src/logger.cpp
-+++ b/src/logger.cpp
-@@ -24,34 +24,22 @@ logger::~logger()
- 
- void logger::print(string str)
- {
--  cout << str;
--  cout.flush();
- }
- 
- void logger::print(double val)
- {
--  cout << setprecision(2) << fixed;
--  cout << val;
--  cout.flush();
- }
- 
- void logger::print(float val)
- {
--  cout << setprecision(2) << fixed;
--  cout << val;
--  cout.flush();
- }
- 
- void logger::print(int val)
- {
--  cout << val;
--  cout.flush();
- }
- 
- void logger::print(unsigned int val)
- {
--  cout << val;
--  cout.flush();
- }
- 
- void logger::xmlOpenTag(string tag)
diff --git a/release/README.md b/tools/release/README.md
similarity index 82%
rename from release/README.md
rename to tools/release/README.md
index 7aeea9fe4a..862836bf90 100644
--- a/release/README.md
+++ b/tools/release/README.md
@@ -11,8 +11,8 @@
   - [ ] push the new branch
 - [ ] push to staging:
   - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
-  - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
-- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+  - [ ] run `BRANCH=devel-staging tools/release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
+- [ ] bump version on master: `openpilot/common/version.h` and `RELEASES.md`
 - [ ] post on Discord, tag `@release crew`
 
 ### Go to release
diff --git a/release/build_release.sh b/tools/release/build_release.sh
similarity index 56%
rename from release/build_release.sh
rename to tools/release/build_release.sh
index 9bd4c81f6d..3711cd582c 100755
--- a/release/build_release.sh
+++ b/tools/release/build_release.sh
@@ -16,6 +16,8 @@ if [ -z "$RELEASE_BRANCH" ]; then
   exit 1
 fi
 
+BUILD_BRANCH=release-mici-staging
+
 
 # set git identity
 source $DIR/identity.sh
@@ -26,12 +28,12 @@ mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
 git remote add origin git@github.com:commaai/openpilot.git
-git checkout --orphan $RELEASE_BRANCH
+git checkout --orphan $BUILD_BRANCH
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(./release/release_files.py) $BUILD_DIR/
+cp -pR --parents $(./tools/release/release_files.py) $BUILD_DIR/
 
 # in the directory
 cd $BUILD_DIR
@@ -39,21 +41,22 @@ cd $BUILD_DIR
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
-VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
+VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
 
-# Build
-export PYTHONPATH="$BUILD_DIR"
-scons -j$(nproc) --minimal
+# Build and test before launch_chffrplus.sh creates the on-device package
+# symlinks. SConstruct uses the same package roots for build subprocesses.
+export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
+scons
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw
-  CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons panda/
 else
   # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
-  scons -j$(nproc) panda/
+  scons panda/
 fi
 
 # Ensure no submodules in release
@@ -71,17 +74,16 @@ find . -name '*.os' -delete
 find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
-rm -rf .sconsign.dblite Jenkinsfile release/
-rm selfdrive/modeld/models/driving_vision.onnx
-rm selfdrive/modeld/models/driving_policy.onnx
-rm sunnypilot/modeld*/models/supercombo.onnx
+rm -rf .sconsign.dblite Jenkinsfile tools/release/
+rm -f openpilot/selfdrive/modeld/models/*.onnx*
+rm -f openpilot/sunnypilot/modeld*/models/*.onnx*
 
-find third_party/ -name '*x86*' -exec rm -r {} +
-find third_party/ -name '*Darwin*' -exec rm -r {} +
+find openpilot/third_party/ -name '*x86*' -exec rm -r {} +
+find openpilot/third_party/ -name '*Darwin*' -exec rm -r {} +
 
 
 # Restore third_party
-git checkout third_party/
+git checkout openpilot/third_party/
 
 # Mark as prebuilt release
 touch prebuilt
@@ -92,12 +94,14 @@ git commit --amend -m "openpilot v$VERSION"
 
 # Run tests
 cd $BUILD_DIR
-RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
-#pytest selfdrive/car/tests/test_car_interfaces.py
+RELEASE=1 ./openpilot/selfdrive/test/test_onroad.py
+#tools/test_runner.py openpilot/selfdrive/car/tests/test_car_interfaces.py
 
-if [ ! -z "$RELEASE_BRANCH" ]; then
-  echo "[-] pushing release T=$SECONDS"
-  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
-fi
+echo "[-] pushing release T=$SECONDS"
+REFS=()
+for branch in ${RELEASE_BRANCH//,/ }; do
+  REFS+=("$BUILD_BRANCH:$branch")
+done
+git push -f origin "${REFS[@]}"
 
 echo "[-] done T=$SECONDS"
diff --git a/release/build_stripped.sh b/tools/release/build_stripped.sh
similarity index 87%
rename from release/build_stripped.sh
rename to tools/release/build_stripped.sh
index df5b2a3dd6..b5092b15a7 100755
--- a/release/build_stripped.sh
+++ b/tools/release/build_stripped.sh
@@ -38,18 +38,20 @@ git submodule foreach --recursive git clean -xdff
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
+./tools/release/release_files.py | xargs -d '\n' cp -pR --parents -t "$TARGET_DIR"
 
 # in the directory
 cd $TARGET_DIR
 rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
+find openpilot/selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./openpilot/common/file_chunker.py {} \;
+
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/openpilot/sunnypilot/common/version.h | awk -F\" '{print $2}')
 
 echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
diff --git a/release/check-dirty.sh b/tools/release/check-dirty.sh
similarity index 100%
rename from release/check-dirty.sh
rename to tools/release/check-dirty.sh
diff --git a/release/check-submodules.sh b/tools/release/check-submodules.sh
similarity index 100%
rename from release/check-submodules.sh
rename to tools/release/check-submodules.sh
diff --git a/release/identity.sh b/tools/release/identity.sh
similarity index 100%
rename from release/identity.sh
rename to tools/release/identity.sh
diff --git a/release/pack.py b/tools/release/pack.py
similarity index 82%
rename from release/pack.py
rename to tools/release/pack.py
index 92ff68fe76..f29ea034db 100755
--- a/release/pack.py
+++ b/tools/release/pack.py
@@ -11,13 +11,14 @@ from pathlib import Path
 from openpilot.common.basedir import BASEDIR
 
 
-DIRS = ['cereal', 'openpilot']
-EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo']
+DIRS = ['openpilot']
+EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
+EXCLUDE = ['openpilot/selfdrive/assets/training']
 INTERPRETER = '/usr/bin/env python3'
 
 
 def copy(src, dest):
-  if any(src.endswith(ext) for ext in EXTS):
+  if any(src.endswith(ext) for ext in EXTS) and not any(exc in src for exc in EXCLUDE):
     shutil.copy2(src, dest, follow_symlinks=True)
 
 
@@ -28,6 +29,8 @@ if __name__ == '__main__':
   parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'")
   args = parser.parse_args()
 
+  print('WARNING: copying all files! make sure to run scons and git tree is clean')
+
   if not args.output:
     args.output = args.module
 
diff --git a/release/release_files.py b/tools/release/release_files.py
similarity index 83%
rename from release/release_files.py
rename to tools/release/release_files.py
index 0b9e034bf1..54e92f5ff3 100755
--- a/release/release_files.py
+++ b/tools/release/release_files.py
@@ -4,7 +4,7 @@ import re
 from pathlib import Path
 
 HERE = os.path.abspath(os.path.dirname(__file__))
-ROOT = HERE + "/.."
+ROOT = os.path.abspath(os.path.join(HERE, "../.."))
 
 blacklist = [
   ".git/",
@@ -12,6 +12,9 @@ blacklist = [
 
   "matlab.*.md",
 
+  # skip big model for now
+  "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx",
+
   # no LFS or submodules in release
   ".lfsconfig",
   ".gitattributes",
diff --git a/tools/replay/api.cc b/tools/replay/api.cc
deleted file mode 100644
index 49923913de..0000000000
--- a/tools/replay/api.cc
+++ /dev/null
@@ -1,164 +0,0 @@
-
-#include "tools/replay/api.h"
-
-#include <openssl/pem.h>
-#include <openssl/rsa.h>
-#include <openssl/evp.h>
-#include <openssl/sha.h>
-
-#include <cassert>
-#include <chrono>
-#include <iostream>
-
-#include "common/params.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-
-#include "sunnypilot/common/version.h"
-
-namespace CommaApi2 {
-
-// Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
-static const std::string base64url_chars =
-    "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-    "abcdefghijklmnopqrstuvwxyz"
-    "0123456789-_";
-
-std::string base64url_encode(const std::string &in) {
-  std::string out;
-  int val = 0, valb = -6;
-  for (unsigned char c : in) {
-    val = (val << 8) + c;
-    valb += 8;
-    while (valb >= 0) {
-      out.push_back(base64url_chars[(val >> valb) & 0x3F]);
-      valb -= 6;
-    }
-  }
-  if (valb > -6) {
-    out.push_back(base64url_chars[((val << 8) >> (valb + 8)) & 0x3F]);
-  }
-
-  return out;
-}
-
-EVP_PKEY *get_rsa_private_key() {
-  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> rsa_private(nullptr, EVP_PKEY_free);
-  if (!rsa_private) {
-    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
-    if (!fp) {
-      std::cerr << "No RSA private key found, please run manager.py or registration.py" << std::endl;
-      return nullptr;
-    }
-    rsa_private.reset(PEM_read_PrivateKey(fp, NULL, NULL, NULL));
-    fclose(fp);
-  }
-  return rsa_private.get();
-}
-
-std::string rsa_sign(const std::string &data) {
-  EVP_PKEY *private_key = get_rsa_private_key();
-  if (!private_key) return {};
-
-  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
-  assert(mdctx != nullptr);
-
-  std::vector<uint8_t> sig(EVP_PKEY_size(private_key));
-  uint32_t sig_len;
-
-  EVP_SignInit(mdctx, EVP_sha256());
-  EVP_SignUpdate(mdctx, data.data(), data.size());
-  int ret = EVP_SignFinal(mdctx, sig.data(), &sig_len, private_key);
-
-  EVP_MD_CTX_free(mdctx);
-
-  assert(ret == 1);
-  assert(sig.size() == sig_len);
-  return std::string(sig.begin(), sig.begin() + sig_len);
-}
-
-std::string create_jwt(const json11::Json &extra, int exp_time) {
-  int now = std::chrono::seconds(std::time(nullptr)).count();
-  std::string dongle_id = Params().get("DongleId");
-
-  // Create header and payload
-  json11::Json header = json11::Json::object{{"alg", "RS256"}};
-  auto payload = json11::Json::object{
-      {"identity", dongle_id},
-      {"iat", now},
-      {"nbf", now},
-      {"exp", now + exp_time},
-  };
-  // Merge extra payload
-  for (const auto &item : extra.object_items()) {
-    payload[item.first] = item.second;
-  }
-
-  // JWT construction
-  std::string jwt = base64url_encode(header.dump()) + '.' +
-                    base64url_encode(json11::Json(payload).dump());
-
-  // Hash and sign
-  std::string hash(SHA256_DIGEST_LENGTH, '\0');
-  SHA256((uint8_t *)jwt.data(), jwt.size(), (uint8_t *)hash.data());
-  std::string signature = rsa_sign(hash);
-
-  return jwt + "." + base64url_encode(signature);
-}
-
-std::string create_token(bool use_jwt, const json11::Json &payloads, int expiry) {
-  if (use_jwt) {
-    return create_jwt(payloads, expiry);
-  }
-
-  std::string token_json = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
-  std::string err;
-  auto json = json11::Json::parse(token_json, err);
-  if (!err.empty()) {
-    std::cerr << "Error parsing auth.json " << err << std::endl;
-    return "";
-  }
-  return json["access_token"].string_value();
-}
-
-std::string httpGet(const std::string &url, long *response_code) {
-  CURL *curl = curl_easy_init();
-  assert(curl);
-
-  std::string readBuffer;
-  const std::string token = CommaApi2::create_token(!Hardware::PC());
-
-  // Set up the lambda for the write callback
-  // The '+' makes the lambda non-capturing, allowing it to be used as a C function pointer
-  auto writeCallback = +[](char *contents, size_t size, size_t nmemb, std::string *userp) ->size_t{
-    size_t totalSize = size * nmemb;
-    userp->append((char *)contents, totalSize);
-    return totalSize;
-  };
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writeCallback);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer);
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
-
-  // Handle headers
-  struct curl_slist *headers = nullptr;
-  headers = curl_slist_append(headers, "User-Agent: openpilot-" SUNNYPILOT_VERSION);
-  if (!token.empty()) {
-    headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
-  }
-  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
-
-  CURLcode res = curl_easy_perform(curl);
-
-  if (response_code) {
-    curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, response_code);
-  }
-
-  curl_slist_free_all(headers);
-  curl_easy_cleanup(curl);
-
-  return res == CURLE_OK ? readBuffer : std::string{};
-}
-
-}  // namespace CommaApi
diff --git a/tools/replay/api.h b/tools/replay/api.h
deleted file mode 100644
index dff59c0659..0000000000
--- a/tools/replay/api.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include <curl/curl.h>
-#include <string>
-
-#include "common/util.h"
-#include "third_party/json11/json11.hpp"
-
-namespace CommaApi2 {
-
-const std::string BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
-std::string create_token(bool use_jwt, const json11::Json& payloads = {}, int expiry = 3600);
-std::string httpGet(const std::string &url, long *response_code = nullptr);
-
-}  // namespace CommaApi2
diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc
deleted file mode 100644
index cb13775a34..0000000000
--- a/tools/replay/filereader.cc
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "tools/replay/filereader.h"
-
-#include <fstream>
-
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "tools/replay/util.h"
-
-std::string cacheFilePath(const std::string &url) {
-  static std::string cache_path = [] {
-    const std::string comma_cache = Path::download_cache_root();
-    util::create_directories(comma_cache, 0755);
-    return comma_cache.back() == '/' ? comma_cache : comma_cache + "/";
-  }();
-
-  return cache_path + sha256(getUrlWithoutQuery(url));
-}
-
-std::string FileReader::read(const std::string &file, std::atomic<bool> *abort) {
-  const bool is_remote = (file.find("https://") == 0) || (file.find("http://") == 0);
-  const std::string local_file = is_remote ? cacheFilePath(file) : file;
-  std::string result;
-
-  if ((!is_remote || cache_to_local_) && util::file_exists(local_file)) {
-    result = util::read_file(local_file);
-  } else if (is_remote) {
-    result = download(file, abort);
-    if (cache_to_local_ && !result.empty()) {
-      std::ofstream fs(local_file, std::ios::binary | std::ios::out);
-      fs.write(result.data(), result.size());
-    }
-  }
-  return result;
-}
-
-std::string FileReader::download(const std::string &url, std::atomic<bool> *abort) {
-  for (int i = 0; i <= max_retries_ && !(abort && *abort); ++i) {
-    if (i > 0) {
-      rWarning("download failed, retrying %d", i);
-      util::sleep_for(3000);
-    }
-
-    std::string result = httpGet(url, chunk_size_, abort);
-    if (!result.empty()) {
-      return result;
-    }
-  }
-  return {};
-}
diff --git a/tools/replay/filereader.h b/tools/replay/filereader.h
deleted file mode 100644
index 34aa91e858..0000000000
--- a/tools/replay/filereader.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include <atomic>
-#include <string>
-
-class FileReader {
-public:
-  FileReader(bool cache_to_local, size_t chunk_size = 0, int retries = 3)
-      : cache_to_local_(cache_to_local), chunk_size_(chunk_size), max_retries_(retries) {}
-  virtual ~FileReader() {}
-  std::string read(const std::string &file, std::atomic<bool> *abort = nullptr);
-
-private:
-  std::string download(const std::string &url, std::atomic<bool> *abort);
-  size_t chunk_size_;
-  int max_retries_;
-  bool cache_to_local_;
-};
-
-std::string cacheFilePath(const std::string &url);
diff --git a/tools/replay/qcom_decoder.h b/tools/replay/qcom_decoder.h
deleted file mode 100644
index 1d7522cc70..0000000000
--- a/tools/replay/qcom_decoder.h
+++ /dev/null
@@ -1,88 +0,0 @@
-#pragma once
-
-#include <linux/videodev2.h>
-#include <poll.h>
-
-#include "msgq/visionipc/visionbuf.h"
-
-extern "C" {
-  #include <libavcodec/avcodec.h>
-  #include <libavformat/avformat.h>
-}
-
-#define V4L2_EVENT_MSM_VIDC_START (V4L2_EVENT_PRIVATE_START + 0x00001000)
-#define V4L2_EVENT_MSM_VIDC_FLUSH_DONE (V4L2_EVENT_MSM_VIDC_START + 1)
-#define V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT (V4L2_EVENT_MSM_VIDC_START + 3)
-#define V4L2_CID_MPEG_MSM_VIDC_BASE 0x00992000
-#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE (V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
-#define V4L2_QCOM_CMD_FLUSH_CAPTURE (1 << 1)
-#define V4L2_QCOM_CMD_FLUSH (4)
-
-#define VIDEO_DEVICE "/dev/video32"
-#define OUTPUT_BUFFER_COUNT 	8
-#define CAPTURE_BUFFER_COUNT 	8
-#define FPS 									20
-
-
-class MsmVidc {
-public:
-  MsmVidc() = default;
-  ~MsmVidc();
-
-  bool init(const char* dev, size_t width, size_t height, uint64_t codec);
-  VisionBuf* decodeFrame(AVPacket* pkt, VisionBuf* buf);
-
-  AVFormatContext* avctx = nullptr;
-  int fd = 0;
-
-private:
-  bool initialized = false;
-  bool reconfigure_pending = false;
-  bool frame_ready = false;
-
-  VisionBuf* current_output_buf = nullptr;
-  VisionBuf out_buf;                          // Single input buffer
-  VisionBuf cap_bufs[CAPTURE_BUFFER_COUNT];   // Capture (output) buffers
-
-  size_t w = 1928, h = 1208;
-  size_t cap_height = 0, cap_width = 0;
-
-  int cap_buf_size = 0;
-  int out_buf_size = 0;
-
-  size_t cap_plane_off[CAPTURE_BUFFER_COUNT] = {0};
-  size_t cap_plane_stride[CAPTURE_BUFFER_COUNT] = {0};
-  bool cap_buf_flag[CAPTURE_BUFFER_COUNT] = {false};
-
-  size_t out_buf_off[OUTPUT_BUFFER_COUNT] = {0};
-  void* out_buf_addr[OUTPUT_BUFFER_COUNT] = {0};
-  bool out_buf_flag[OUTPUT_BUFFER_COUNT] = {false};
-  const int out_buf_cnt = OUTPUT_BUFFER_COUNT;
-
-  const int subscriptions[2] = {
-    V4L2_EVENT_MSM_VIDC_FLUSH_DONE,
-    V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT
-  };
-
-  enum { EV_VIDEO, EV_COUNT };
-  struct pollfd pfd[EV_COUNT] = {0};
-  int ev[EV_COUNT] = {-1};
-  int nfds = 0;
-
-  VisionBuf* processEvents();
-  bool setupOutput();
-  bool subscribeEvents();
-  bool setPlaneFormat(v4l2_buf_type type, uint32_t fourcc);
-  bool setFPS(uint32_t fps);
-  bool restartCapture();
-  bool queueCaptureBuffer(int i);
-  bool queueOutputBuffer(int i, size_t size);
-  bool setDBP();
-  bool setupPolling();
-  bool sendPacket(int buf_index, AVPacket* pkt);
-  int getBufferUnlocked();
-  VisionBuf* handleCapture();
-  bool handleOutput();
-  bool handleEvent();
-};
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
deleted file mode 100644
index aed3de59a8..0000000000
--- a/tools/replay/tests/test_replay.cc
+++ /dev/null
@@ -1,17 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
-#include "tools/replay/replay.h"
-
-const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
-
-TEST_CASE("LogReader") {
-  SECTION("corrupt log") {
-    FileReader reader(true);
-    std::string corrupt_content = reader.read(TEST_RLOG_URL);
-    corrupt_content.resize(corrupt_content.length() / 2);
-    corrupt_content = decompressBZ2(corrupt_content);
-    LogReader log;
-    REQUIRE(log.load(corrupt_content.data(), corrupt_content.size()));
-    REQUIRE(log.events.size() > 0);
-  }
-}
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
deleted file mode 100644
index 481564322e..0000000000
--- a/tools/replay/util.cc
+++ /dev/null
@@ -1,436 +0,0 @@
-#include "tools/replay/util.h"
-
-#include <bzlib.h>
-#include <curl/curl.h>
-#include <openssl/sha.h>
-
-#include <cassert>
-#include <algorithm>
-#include <cmath>
-#include <cstdarg>
-#include <cstring>
-#include <fstream>
-#include <iostream>
-#include <map>
-#include <mutex>
-#include <numeric>
-#include <utility>
-#include <zstd.h>
-
-#include "common/timing.h"
-#include "common/util.h"
-
-ReplayMessageHandler message_handler = nullptr;
-void installMessageHandler(ReplayMessageHandler handler) { message_handler = handler; }
-
-void logMessage(ReplyMsgType type, const char *fmt, ...) {
-  static std::mutex lock;
-  std::lock_guard lk(lock);
-
-  char *msg_buf = nullptr;
-  va_list args;
-  va_start(args, fmt);
-  int ret = vasprintf(&msg_buf, fmt, args);
-  va_end(args);
-  if (ret <= 0 || !msg_buf) return;
-
-  if (message_handler) {
-    message_handler(type, msg_buf);
-  } else {
-    if (type == ReplyMsgType::Debug) {
-      std::cout << "\033[38;5;248m" << msg_buf << "\033[00m" << std::endl;
-    } else if (type == ReplyMsgType::Warning) {
-      std::cout << "\033[38;5;227m" << msg_buf << "\033[00m" << std::endl;
-    } else if (type == ReplyMsgType::Critical) {
-      std::cout << "\033[38;5;196m" << msg_buf << "\033[00m" << std::endl;
-    } else {
-      std::cout << msg_buf << std::endl;
-    }
-  }
-
-  free(msg_buf);
-}
-
-namespace {
-
-struct CURLGlobalInitializer {
-  CURLGlobalInitializer() { curl_global_init(CURL_GLOBAL_DEFAULT); }
-  ~CURLGlobalInitializer() { curl_global_cleanup(); }
-};
-
-static CURLGlobalInitializer curl_initializer;
-
-template <class T>
-struct MultiPartWriter {
-  T *buf;
-  size_t *total_written;
-  size_t offset;
-  size_t end;
-
-  size_t write(char *data, size_t size, size_t count) {
-    size_t bytes = size * count;
-    if ((offset + bytes) > end) return 0;
-
-    if constexpr (std::is_same<T, std::string>::value) {
-      memcpy(buf->data() + offset, data, bytes);
-    } else if constexpr (std::is_same<T, std::ofstream>::value) {
-      buf->seekp(offset);
-      buf->write(data, bytes);
-    }
-
-    offset += bytes;
-    *total_written += bytes;
-    return bytes;
-  }
-};
-
-template <class T>
-size_t write_cb(char *data, size_t size, size_t count, void *userp) {
-  auto w = (MultiPartWriter<T> *)userp;
-  return w->write(data, size, count);
-}
-
-size_t dumy_write_cb(char *data, size_t size, size_t count, void *userp) { return size * count; }
-
-struct DownloadStats {
-  void installDownloadProgressHandler(DownloadProgressHandler handler) {
-    std::lock_guard lk(lock);
-    download_progress_handler = handler;
-  }
-
-  void add(const std::string &url, uint64_t total_bytes) {
-    std::lock_guard lk(lock);
-    items[url] = {0, total_bytes};
-  }
-
-  void remove(const std::string &url) {
-    std::lock_guard lk(lock);
-    items.erase(url);
-  }
-
-  void update(const std::string &url, uint64_t downloaded, bool success = true) {
-    std::lock_guard lk(lock);
-    items[url].first = downloaded;
-
-    auto stat = std::accumulate(items.begin(), items.end(), std::pair<int, int>{}, [=](auto &a, auto &b){
-      return std::pair{a.first + b.second.first, a.second + b.second.second};
-    });
-    double tm = millis_since_boot();
-    if (download_progress_handler && ((tm - prev_tm) > 500 || !success || stat.first >= stat.second)) {
-      download_progress_handler(stat.first, stat.second, success);
-      prev_tm = tm;
-    }
-  }
-
-  std::mutex lock;
-  std::map<std::string, std::pair<uint64_t, uint64_t>> items;
-  double prev_tm = 0;
-  DownloadProgressHandler download_progress_handler = nullptr;
-};
-
-static DownloadStats download_stats;
-
-} // namespace
-
-void installDownloadProgressHandler(DownloadProgressHandler handler) {
-  download_stats.installDownloadProgressHandler(handler);
-}
-
-std::string formattedDataSize(size_t size) {
-  if (size < 1024) {
-    return std::to_string(size) + " B";
-  } else if (size < 1024 * 1024) {
-    return util::string_format("%.2f KB", (float)size / 1024);
-  } else {
-    return util::string_format("%.2f MB", (float)size / (1024 * 1024));
-  }
-}
-
-size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort) {
-  CURL *curl = curl_easy_init();
-  if (!curl) return -1;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, dumy_write_cb);
-  curl_easy_setopt(curl, CURLOPT_HEADER, 1);
-  curl_easy_setopt(curl, CURLOPT_NOBODY, 1);
-  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
-
-  CURLM *cm = curl_multi_init();
-  curl_multi_add_handle(cm, curl);
-  int still_running = 1;
-  while (still_running > 0 && !(abort && *abort)) {
-    CURLMcode mc = curl_multi_perform(cm, &still_running);
-    if (mc != CURLM_OK) break;
-    if (still_running > 0) {
-      curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
-    }
-  }
-
-  double content_length = -1;
-  curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-  curl_multi_remove_handle(cm, curl);
-  curl_easy_cleanup(curl);
-  curl_multi_cleanup(cm);
-  return content_length > 0 ? (size_t)content_length : 0;
-}
-
-std::string getUrlWithoutQuery(const std::string &url) {
-  size_t idx = url.find("?");
-  return (idx == std::string::npos ? url : url.substr(0, idx));
-}
-
-template <class T>
-bool httpDownload(const std::string &url, T &buf, size_t chunk_size, size_t content_length, std::atomic<bool> *abort) {
-  download_stats.add(url, content_length);
-
-  int parts = 1;
-  if (chunk_size > 0 && content_length > 10 * 1024 * 1024) {
-    parts = std::nearbyint(content_length / (float)chunk_size);
-    parts = std::clamp(parts, 1, 5);
-  }
-
-  CURLM *cm = curl_multi_init();
-  size_t written = 0;
-  std::map<CURL *, MultiPartWriter<T>> writers;
-  const int part_size = content_length / parts;
-  for (int i = 0; i < parts; ++i) {
-    CURL *eh = curl_easy_init();
-    writers[eh] = {
-        .buf = &buf,
-        .total_written = &written,
-        .offset = (size_t)(i * part_size),
-        .end = i == parts - 1 ? content_length : (i + 1) * part_size,
-    };
-    curl_easy_setopt(eh, CURLOPT_WRITEFUNCTION, write_cb<T>);
-    curl_easy_setopt(eh, CURLOPT_WRITEDATA, (void *)(&writers[eh]));
-    curl_easy_setopt(eh, CURLOPT_URL, url.c_str());
-    curl_easy_setopt(eh, CURLOPT_RANGE, util::string_format("%d-%d", writers[eh].offset, writers[eh].end - 1).c_str());
-    curl_easy_setopt(eh, CURLOPT_HTTPGET, 1);
-    curl_easy_setopt(eh, CURLOPT_NOSIGNAL, 1);
-    curl_easy_setopt(eh, CURLOPT_FOLLOWLOCATION, 1);
-
-    curl_multi_add_handle(cm, eh);
-  }
-
-  int still_running = 1;
-  size_t prev_written = 0;
-  while (still_running > 0 && !(abort && *abort)) {
-    CURLMcode mc = curl_multi_perform(cm, &still_running);
-    if (mc != CURLM_OK) {
-      break;
-    }
-    if (still_running > 0) {
-      curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
-    }
-
-    if (((written - prev_written) / (double)content_length) >= 0.01) {
-      download_stats.update(url, written);
-      prev_written = written;
-    }
-  }
-
-  CURLMsg *msg;
-  int msgs_left = -1;
-  int complete = 0;
-  while ((msg = curl_multi_info_read(cm, &msgs_left)) && !(abort && *abort)) {
-    if (msg->msg == CURLMSG_DONE) {
-      if (msg->data.result == CURLE_OK) {
-        long res_status = 0;
-        curl_easy_getinfo(msg->easy_handle, CURLINFO_RESPONSE_CODE, &res_status);
-        if (res_status == 206) {
-          complete++;
-        } else {
-          rWarning("Download failed: http error code: %d", res_status);
-        }
-      } else {
-        rWarning("Download failed: connection failure: %d",  msg->data.result);
-      }
-    }
-  }
-
-  bool success = complete == parts;
-  download_stats.update(url, written, success);
-  download_stats.remove(url);
-
-  for (const auto &[e, w] : writers) {
-    curl_multi_remove_handle(cm, e);
-    curl_easy_cleanup(e);
-  }
-  curl_multi_cleanup(cm);
-
-  return success;
-}
-
-std::string httpGet(const std::string &url, size_t chunk_size, std::atomic<bool> *abort) {
-  size_t size = getRemoteFileSize(url, abort);
-  if (size == 0) return {};
-
-  std::string result(size, '\0');
-  return httpDownload(url, result, chunk_size, size, abort) ? result : "";
-}
-
-bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size, std::atomic<bool> *abort) {
-  size_t size = getRemoteFileSize(url, abort);
-  if (size == 0) return false;
-
-  std::ofstream of(file, std::ios::binary | std::ios::out);
-  of.seekp(size - 1).write("\0", 1);
-  return httpDownload(url, of, chunk_size, size, abort);
-}
-
-std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort) {
-  return decompressBZ2((std::byte *)in.data(), in.size(), abort);
-}
-
-std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort) {
-  if (in_size == 0) return {};
-
-  bz_stream strm = {};
-  int bzerror = BZ2_bzDecompressInit(&strm, 0, 0);
-  assert(bzerror == BZ_OK);
-
-  strm.next_in = (char *)in;
-  strm.avail_in = in_size;
-  std::string out(in_size * 5, '\0');
-  do {
-    strm.next_out = (char *)(&out[strm.total_out_lo32]);
-    strm.avail_out = out.size() - strm.total_out_lo32;
-
-    const char *prev_write_pos = strm.next_out;
-    bzerror = BZ2_bzDecompress(&strm);
-    if (bzerror == BZ_OK && prev_write_pos == strm.next_out) {
-      // content is corrupt
-      bzerror = BZ_STREAM_END;
-      rWarning("decompressBZ2 error: content is corrupt");
-      break;
-    }
-
-    if (bzerror == BZ_OK && strm.avail_in > 0 && strm.avail_out == 0) {
-      out.resize(out.size() * 2);
-    }
-  } while (bzerror == BZ_OK && !(abort && *abort));
-
-  BZ2_bzDecompressEnd(&strm);
-  if (bzerror == BZ_STREAM_END && !(abort && *abort)) {
-    out.resize(strm.total_out_lo32);
-    out.shrink_to_fit();
-    return out;
-  }
-  return {};
-}
-
-std::string decompressZST(const std::string &in, std::atomic<bool> *abort) {
-  return decompressZST((std::byte *)in.data(), in.size(), abort);
-}
-
-std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort) {
-  ZSTD_DCtx *dctx = ZSTD_createDCtx();
-  assert(dctx != nullptr);
-
-  // Initialize input and output buffers
-  ZSTD_inBuffer input = {in, in_size, 0};
-
-  // Estimate and reserve memory for decompressed data
-  size_t estimatedDecompressedSize = ZSTD_getFrameContentSize(in, in_size);
-  if (estimatedDecompressedSize == ZSTD_CONTENTSIZE_ERROR || estimatedDecompressedSize == ZSTD_CONTENTSIZE_UNKNOWN) {
-    estimatedDecompressedSize = in_size * 2;  // Use a fallback size
-  }
-
-  std::string decompressedData;
-  decompressedData.reserve(estimatedDecompressedSize);
-
-  const size_t bufferSize = ZSTD_DStreamOutSize();  // Recommended output buffer size
-  std::string outputBuffer(bufferSize, '\0');
-
-  while (input.pos < input.size && !(abort && *abort)) {
-    ZSTD_outBuffer output = {outputBuffer.data(), bufferSize, 0};
-
-    size_t result = ZSTD_decompressStream(dctx, &output, &input);
-    if (ZSTD_isError(result)) {
-      rWarning("decompressZST error: content is corrupt");
-      break;
-    }
-
-    decompressedData.append(outputBuffer.data(), output.pos);
-  }
-
-  ZSTD_freeDCtx(dctx);
-  if (!(abort && *abort)) {
-    decompressedData.shrink_to_fit();
-    return decompressedData;
-  }
-  return {};
-}
-
-void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &interrupt_requested) {
-  struct timespec req, rem;
-  req.tv_sec = nanoseconds / 1000000000;
-  req.tv_nsec = nanoseconds % 1000000000;
-  while (!interrupt_requested) {
-#ifdef __APPLE__
-    int ret = nanosleep(&req, &rem);
-    if (ret == 0 || errno != EINTR)
-      break;
-#else
-    int ret = clock_nanosleep(CLOCK_MONOTONIC, 0, &req, &rem);
-    if (ret == 0 || ret != EINTR)
-      break;
-#endif
-    // Retry sleep if interrupted by a signal
-    req = rem;
-  }
-}
-
-std::string sha256(const std::string &str) {
-  unsigned char hash[SHA256_DIGEST_LENGTH];
-  SHA256_CTX sha256;
-  SHA256_Init(&sha256);
-  SHA256_Update(&sha256, str.c_str(), str.size());
-  SHA256_Final(hash, &sha256);
-  return util::hexdump(hash, SHA256_DIGEST_LENGTH);
-}
-
-std::vector<std::string> split(std::string_view source, char delimiter) {
-  std::vector<std::string> fields;
-  size_t last = 0;
-  for (size_t i = 0; i < source.length(); ++i) {
-    if (source[i] == delimiter) {
-      fields.emplace_back(source.substr(last, i - last));
-      last = i + 1;
-    }
-  }
-  fields.emplace_back(source.substr(last));
-  return fields;
-}
-
-std::string extractFileName(const std::string &file) {
-  size_t queryPos = file.find_first_of("?");
-  std::string path = (queryPos != std::string::npos) ? file.substr(0, queryPos) : file;
-  size_t lastSlash = path.find_last_of("/\\");
-  return (lastSlash != std::string::npos) ? path.substr(lastSlash + 1) : path;
-}
-
-// MonotonicBuffer
-
-void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) {
-  assert(bytes > 0);
-  void *p = std::align(alignment, bytes, current_buf, available);
-  if (p == nullptr) {
-    available = next_buffer_size = std::max(next_buffer_size, bytes);
-    current_buf = buffers.emplace_back(std::aligned_alloc(alignment, next_buffer_size));
-    next_buffer_size *= growth_factor;
-    p = current_buf;
-  }
-
-  current_buf = (char *)current_buf + bytes;
-  available -= bytes;
-  return p;
-}
-
-MonotonicBuffer::~MonotonicBuffer() {
-  for (auto buf : buffers) {
-    free(buf);
-  }
-}
diff --git a/docs/glossary.toml b/tools/scripts/__init__.py
similarity index 100%
rename from docs/glossary.toml
rename to tools/scripts/__init__.py
diff --git a/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh
index ad65693722..c584a72f2b 100755
--- a/tools/scripts/adb_ssh.sh
+++ b/tools/scripts/adb_ssh.sh
@@ -2,8 +2,10 @@
 set -euo pipefail
 
 # Forward all openpilot service ports
-mapfile -t SERVICE_PORTS < <(python3 - <<'PY'
-from cereal.services import SERVICE_LIST
+while IFS=' ' read -r name port; do
+  adb forward "tcp:${port}" "tcp:${port}" > /dev/null
+done < <(python3 - <<'PY'
+from openpilot.cereal.services import SERVICE_LIST
 
 FNV_PRIME = 0x100000001b3
 FNV_OFFSET_BASIS = 0xcbf29ce484222325
@@ -29,14 +31,12 @@ for name, port in sorted(ports):
 PY
 )
 
-for entry in "${SERVICE_PORTS[@]}"; do
-  name="${entry% *}"
-  port="${entry##* }"
-  adb forward "tcp:${port}" "tcp:${port}" > /dev/null
+# Forward SSH port, finding a free local port if 2222 is taken.
+SSH_PORT=2222
+while ss -tln | grep -q ":${SSH_PORT} "; do
+  SSH_PORT=$((SSH_PORT + 1))
 done
-
-# Forward SSH port first for interactive shell access.
-adb forward tcp:2222 tcp:22
+adb forward tcp:${SSH_PORT} tcp:22
 
 # SSH!
-ssh comma@localhost -p 2222 "$@"
+ssh comma@localhost -p ${SSH_PORT} "$@"
diff --git a/selfdrive/debug/can_print_changes.py b/tools/scripts/car/can_print_changes.py
similarity index 97%
rename from selfdrive/debug/can_print_changes.py
rename to tools/scripts/car/can_print_changes.py
index 97d60b2b05..e466cd2968 100755
--- a/selfdrive/debug/can_print_changes.py
+++ b/tools/scripts/car/can_print_changes.py
@@ -4,8 +4,8 @@ import binascii
 import time
 from collections import defaultdict
 
-import cereal.messaging as messaging
-from openpilot.selfdrive.debug.can_table import can_table
+import openpilot.cereal.messaging as messaging
+from tools.scripts.car.can_table import can_table
 from openpilot.tools.lib.logreader import LogIterable, LogReader
 
 RED = '\033[91m'
diff --git a/selfdrive/debug/can_printer.py b/tools/scripts/car/can_printer.py
similarity index 97%
rename from selfdrive/debug/can_printer.py
rename to tools/scripts/car/can_printer.py
index f2ed6730d3..85f129f795 100755
--- a/selfdrive/debug/can_printer.py
+++ b/tools/scripts/car/can_printer.py
@@ -4,7 +4,7 @@ import binascii
 import time
 from collections import defaultdict
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 
 def can_printer(bus, max_msg, addr, ascii_decode):
diff --git a/selfdrive/debug/can_table.py b/tools/scripts/car/can_table.py
similarity index 96%
rename from selfdrive/debug/can_table.py
rename to tools/scripts/car/can_table.py
index 11d070e708..e2d9874fec 100755
--- a/selfdrive/debug/can_table.py
+++ b/tools/scripts/car/can_table.py
@@ -2,7 +2,7 @@
 import argparse
 import pandas as pd
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 
 def can_table(dat):
diff --git a/selfdrive/debug/car/clear_dtc.py b/tools/scripts/car/clear_dtc.py
similarity index 100%
rename from selfdrive/debug/car/clear_dtc.py
rename to tools/scripts/car/clear_dtc.py
diff --git a/selfdrive/debug/car/disable_ecu.py b/tools/scripts/car/disable_ecu.py
similarity index 91%
rename from selfdrive/debug/car/disable_ecu.py
rename to tools/scripts/car/disable_ecu.py
index 14d0cbb9cf..884b86896b 100755
--- a/selfdrive/debug/car/disable_ecu.py
+++ b/tools/scripts/car/disable_ecu.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import time
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.card import can_comm_callbacks
 
diff --git a/selfdrive/debug/car/ecu_addrs.py b/tools/scripts/car/ecu_addrs.py
similarity index 89%
rename from selfdrive/debug/car/ecu_addrs.py
rename to tools/scripts/car/ecu_addrs.py
index 584c930ebf..0dfce880b0 100755
--- a/selfdrive/debug/car/ecu_addrs.py
+++ b/tools/scripts/car/ecu_addrs.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import time
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.carlog import carlog
 from opendbc.car.ecu_addrs import get_all_ecu_addrs
 from openpilot.common.params import Params
@@ -26,9 +26,9 @@ if __name__ == "__main__":
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
+  params.put_bool("IsOffroad", True, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
+  params.put_bool("IsOffroad", False, block=True)
 
   obd_callback(params)(not args.no_obd)
 
diff --git a/selfdrive/debug/car/fw_versions.py b/tools/scripts/car/fw_versions.py
similarity index 89%
rename from selfdrive/debug/car/fw_versions.py
rename to tools/scripts/car/fw_versions.py
index 6ae10d2fb2..e68447d69e 100755
--- a/selfdrive/debug/car/fw_versions.py
+++ b/tools/scripts/car/fw_versions.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 import time
 import argparse
-import cereal.messaging as messaging
-from cereal import car
+import openpilot.cereal.messaging as messaging
+from opendbc.car.structs import car
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
 from opendbc.car.vin import get_vin
@@ -30,9 +30,9 @@ if __name__ == "__main__":
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False)
+  params.put_bool("IsOffroad", True, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True)
+  params.put_bool("IsOffroad", False, block=True)
   set_obd_multiplexing = obd_callback(params)
 
   extra: Any = None
@@ -45,8 +45,6 @@ if __name__ == "__main__":
       extra[(Ecu.unknown, 0x750, i)] = []
     extra = {"any": {"debug": extra}}
 
-  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
-
   t = time.monotonic()
   print("Getting vin...")
   set_obd_multiplexing(True)
@@ -56,7 +54,7 @@ if __name__ == "__main__":
   print()
 
   t = time.monotonic()
-  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
   print()
diff --git a/selfdrive/debug/car/hyundai_enable_radar_points.py b/tools/scripts/car/hyundai_enable_radar_points.py
similarity index 99%
rename from selfdrive/debug/car/hyundai_enable_radar_points.py
rename to tools/scripts/car/hyundai_enable_radar_points.py
index 1cab7b0270..5fbd13f2b0 100755
--- a/selfdrive/debug/car/hyundai_enable_radar_points.py
+++ b/tools/scripts/car/hyundai_enable_radar_points.py
@@ -15,7 +15,6 @@ import sys
 import argparse
 from typing import NamedTuple
 from subprocess import check_output, CalledProcessError
-
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
 from opendbc.car.structs import CarParams
diff --git a/selfdrive/debug/max_lat_accel.py b/tools/scripts/car/max_lat_accel.py
similarity index 98%
rename from selfdrive/debug/max_lat_accel.py
rename to tools/scripts/car/max_lat_accel.py
index dc44e8ac40..b76b3302cc 100755
--- a/selfdrive/debug/max_lat_accel.py
+++ b/tools/scripts/car/max_lat_accel.py
@@ -62,8 +62,8 @@ def find_events(lr: LogReader, extrapolate: bool = False, qlog: bool = False) ->
     elif msg.which() == 'controlsState':
       curvature = msg.controlsState.curvature
 
-    elif msg.which() == 'liveParameters':
-      roll = msg.liveParameters.roll
+    elif msg.which() == 'vehicleParameters':
+      roll = msg.vehicleParameters.roll
 
     if lat_active > min_lat_active and steering_unpressed > min_steering_unpressed and requesting_max > min_requesting_max:
       # TODO: record max lat accel at the end of the event, need to use the past lat accel as overriding can happen before we detect it
diff --git a/selfdrive/debug/measure_torque_time_to_max.py b/tools/scripts/car/measure_torque_time_to_max.py
similarity index 95%
rename from selfdrive/debug/measure_torque_time_to_max.py
rename to tools/scripts/car/measure_torque_time_to_max.py
index e99aeae464..df41e5738e 100755
--- a/selfdrive/debug/measure_torque_time_to_max.py
+++ b/tools/scripts/car/measure_torque_time_to_max.py
@@ -6,8 +6,8 @@ import struct
 from collections import deque
 from statistics import mean
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 
 if __name__ == "__main__":
 
diff --git a/selfdrive/debug/read_dtc_status.py b/tools/scripts/car/read_dtc_status.py
similarity index 100%
rename from selfdrive/debug/read_dtc_status.py
rename to tools/scripts/car/read_dtc_status.py
diff --git a/selfdrive/debug/car/toyota_eps_factor.py b/tools/scripts/car/toyota_eps_factor.py
similarity index 100%
rename from selfdrive/debug/car/toyota_eps_factor.py
rename to tools/scripts/car/toyota_eps_factor.py
diff --git a/selfdrive/debug/car/vin.py b/tools/scripts/car/vin.py
similarity index 94%
rename from selfdrive/debug/car/vin.py
rename to tools/scripts/car/vin.py
index 9b1d6528cc..732d3d3f4a 100755
--- a/selfdrive/debug/car/vin.py
+++ b/tools/scripts/car/vin.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import time
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.carlog import carlog
 from opendbc.car.vin import get_vin
 from openpilot.selfdrive.car.card import can_comm_callbacks
diff --git a/selfdrive/debug/car/vw_mqb_config.py b/tools/scripts/car/vw_mqb_config.py
similarity index 100%
rename from selfdrive/debug/car/vw_mqb_config.py
rename to tools/scripts/car/vw_mqb_config.py
diff --git a/selfdrive/debug/count_events.py b/tools/scripts/count_events.py
similarity index 97%
rename from selfdrive/debug/count_events.py
rename to tools/scripts/count_events.py
index 76e02d414e..a7e71210ac 100755
--- a/selfdrive/debug/count_events.py
+++ b/tools/scripts/count_events.py
@@ -6,7 +6,7 @@ from collections import Counter
 from pprint import pprint
 from typing import cast
 
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 
diff --git a/selfdrive/debug/cycle_alerts.py b/tools/scripts/cycle_alerts.py
similarity index 87%
rename from selfdrive/debug/cycle_alerts.py
rename to tools/scripts/cycle_alerts.py
index 00fa33ac63..f78dfe1090 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/tools/scripts/cycle_alerts.py
@@ -2,8 +2,9 @@
 import time
 import random
 
-from cereal import car, log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
 from opendbc.car.honda.interface import CarInterface
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.selfdrived.events import ET, Events
@@ -30,9 +31,9 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.accFaulted, ET.IMMEDIATE_DISABLE),
 
     # DM sequence
-    (EventName.preDriverDistracted, ET.WARNING),
-    (EventName.promptDriverDistracted, ET.WARNING),
-    (EventName.driverDistracted, ET.WARNING),
+    (EventName.driverDistracted1, ET.WARNING),
+    (EventName.driverDistracted2, ET.WARNING),
+    (EventName.driverDistracted3, ET.WARNING),
   ]
 
   # debug alerts
@@ -49,12 +50,12 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.cameraFrameRate, ET.PERMANENT),
   ]
 
-  cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
+  cameras = ['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']
 
   CS = car.CarState.new_message()
   CP = CarInterface.get_non_essential_params("HONDA_CIVIC")
-  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
-                            'driverMonitoringState', 'longitudinalPlan', 'livePose',
+  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'narrowRoadCameraState', 'modelV2', 'extrinsicsCalibration',
+                            'driverMonitoringState', 'longitudinalPlan', 'deviceMotion',
                             'managerState'] + cameras)
 
   pm = messaging.PubMaster(['selfdriveState', 'pandaStates', 'deviceState'])
@@ -86,7 +87,7 @@ def cycle_alerts(duration=200, is_metric=False):
         procs[i].shouldBeRunning = True
       sm['managerState'].processes = procs
 
-      sm['liveCalibration'].rpyCalib = [-1 * random.random() for _ in range(random.randint(0, 3))]
+      sm['extrinsicsCalibration'].rpyCalib = [-1 * random.random() for _ in range(random.randint(0, 3))]
 
       for s in sm.data.keys():
         prob = 0.3 if s in cameras else 0.08
diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/tools/scripts/debug_fw_fingerprinting_offline.py
similarity index 97%
rename from selfdrive/debug/debug_fw_fingerprinting_offline.py
rename to tools/scripts/debug_fw_fingerprinting_offline.py
index d841e91053..b33817e944 100755
--- a/selfdrive/debug/debug_fw_fingerprinting_offline.py
+++ b/tools/scripts/debug_fw_fingerprinting_offline.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import argparse
-
 from opendbc.car import uds
 from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
@@ -44,7 +43,7 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
   parser.add_argument('route', nargs='?', help='Route name, live if not specified')
   parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
-  parser.add_argument('--rxoffset', default='')
+  parser.add_argument('--rxoffset', default='0x8')
   args = parser.parse_args()
 
   addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
diff --git a/tools/scripts/devsync.py b/tools/scripts/devsync.py
new file mode 100755
index 0000000000..98312dd545
--- /dev/null
+++ b/tools/scripts/devsync.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+import argparse
+import shlex
+import subprocess
+import threading
+import time
+
+from watchdog.events import FileSystemEventHandler
+from watchdog.observers import Observer
+
+from openpilot.common.basedir import BASEDIR
+
+
+def build_rsync_cmd(args) -> list[str]:
+  ssh = [
+    "ssh",
+    "-o", "ControlMaster=auto",
+    "-o", f"ControlPath=/tmp/devsync-{args.ip}.ctl",
+    "-o", "ControlPersist=10m",
+    "-o", "StrictHostKeyChecking=accept-new",
+  ]
+  if args.identity:
+    ssh += ["-i", args.identity]
+
+  return [
+    "rsync", "-az",
+    "--files-from=-", "--from0",
+    "-e", " ".join(shlex.quote(p) for p in ssh),
+    "--out-format=%n",
+    BASEDIR + "/", f"comma@{args.ip}:{args.remote}/",
+  ]
+
+
+def git_tracked_files() -> bytes:
+  return subprocess.check_output(
+    ["git", "-C", BASEDIR, "ls-files", "--recurse-submodules", "-z"]
+  )
+
+
+class Handler(FileSystemEventHandler):
+  def __init__(self, sync_fn):
+    self.dirty = threading.Event()
+    self.sync_fn = sync_fn
+
+  def on_any_event(self, event):
+    if not event.is_directory:
+      self.dirty.set()
+
+  def run(self):
+    while True:
+      time.sleep(1)
+      if self.dirty.is_set():
+        self.dirty.clear()
+        self.sync_fn()
+
+
+def main():
+  p = argparse.ArgumentParser()
+  p.add_argument("ip", help="device IP / hostname")
+  p.add_argument("--remote", default="/data/openpilot", help="remote path on device")
+  p.add_argument("-i", "--identity", default=None, help="ssh identity file")
+  args = p.parse_args()
+
+  print(f"[devsync] watching {BASEDIR}")
+  print(f"[devsync] target   comma@{args.ip}:{args.remote}")
+
+  def run_sync():
+    file_list = git_tracked_files()
+    cmd = build_rsync_cmd(args)
+    t0 = time.monotonic()
+    r = subprocess.run(cmd, input=file_list, capture_output=True)
+    dt = time.monotonic() - t0
+    if r.returncode:
+      print(f"[devsync] ERR rc={r.returncode} in {dt:.2f}s")
+      return
+    files = [ln for ln in r.stdout.decode().splitlines() if ln.strip()]
+    msg = f"{len(files)} files: {', '.join(files)}" if files else "no changes"
+    print(f"[devsync] {dt:.2f}s · {msg}")
+
+  run_sync()
+
+  handler = Handler(run_sync)
+  obs = Observer()
+  obs.schedule(handler, BASEDIR, recursive=True)
+  obs.start()
+  handler.run()
+
+
+if __name__ == "__main__":
+  try:
+    main()
+  except KeyboardInterrupt:
+    print("\n[devsync] stopping")
diff --git a/selfdrive/debug/dump.py b/tools/scripts/dump.py
similarity index 93%
rename from selfdrive/debug/dump.py
rename to tools/scripts/dump.py
index 78cf51e3db..e4f5495f9b 100755
--- a/selfdrive/debug/dump.py
+++ b/tools/scripts/dump.py
@@ -4,8 +4,8 @@ import argparse
 import json
 import codecs
 
-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.tools.lib.live_logreader import raw_live_logreader
 
 
@@ -25,7 +25,7 @@ def hexdump(msg):
 
 if __name__ == "__main__":
 
-  parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')
+  parser = argparse.ArgumentParser(description='Dump communication sockets. See openpilot/cereal/services.py for a complete list of available sockets.')
   parser.add_argument('--pipe', action='store_true')
   parser.add_argument('--raw', action='store_true')
   parser.add_argument('--json', action='store_true')
diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
deleted file mode 100755
index 77bf48f946..0000000000
--- a/tools/scripts/fetch_image_from_route.py
+++ /dev/null
@@ -1,43 +0,0 @@
-#!/usr/bin/env python3
-import sys
-
-if len(sys.argv) < 4:
-  print(f"{sys.argv[0]} <route> <segment> <frame number> [front|wide|driver]")
-  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500 driver')
-  exit(0)
-
-cameras = {
-  "front": "cameras",
-  "wide": "ecameras",
-  "driver": "dcameras"
-}
-
-import requests
-from PIL import Image
-from openpilot.tools.lib.auth_config import get_token
-from openpilot.tools.lib.framereader import FrameReader
-
-jwt = get_token()
-
-route = sys.argv[1]
-segment = int(sys.argv[2])
-frame = int(sys.argv[3])
-camera = cameras[sys.argv[4]] if len(sys.argv) > 4 and sys.argv[4] in cameras else "cameras"
-
-url = f'https://api.commadotai.com/v1/route/{route}/files'
-r = requests.get(url, headers={"Authorization": f"JWT {jwt}"}, timeout=10)
-assert r.status_code == 200
-print("got api response")
-
-segments = r.json()[camera]
-if segment >= len(segments):
-  raise Exception(f"segment {segment} not found, got {len(segments)} segments")
-
-fr = FrameReader(segments[segment])
-if frame >= fr.frame_count:
-  raise Exception("frame {frame} not found, got {fr.frame_count} frames")
-
-im = Image.fromarray(fr.get(frame))
-fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
-im.save(fn)
-print(f"saved {fn}")
diff --git a/selfdrive/debug/filter_log_message.py b/tools/scripts/filter_log_message.py
similarity index 77%
rename from selfdrive/debug/filter_log_message.py
rename to tools/scripts/filter_log_message.py
index 9cbab0b41f..1ec0333169 100755
--- a/selfdrive/debug/filter_log_message.py
+++ b/tools/scripts/filter_log_message.py
@@ -2,7 +2,7 @@
 import argparse
 import json
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.tools.lib.logreader import LogReader
 
 LEVELS = {
@@ -13,7 +13,7 @@ LEVELS = {
   "CRITICAL": 50,
 }
 
-ANDROID_LOG_SOURCE = {
+OPERATING_SYSTEM_LOG_SOURCE = {
   0: "MAIN",
   1: "RADIO",
   2: "EVENTS",
@@ -34,8 +34,8 @@ def print_logmessage(t, msg, min_level):
     print(f"[{t / 1e9:.6f}] decode error: {msg}")
 
 
-def print_androidlog(t, msg):
-  source = ANDROID_LOG_SOURCE[msg.id]
+def print_operating_system_log(t, msg):
+  source = msg.tag or OPERATING_SYSTEM_LOG_SOURCE.get(msg.id, "SYSTEM")
   try:
     m = json.loads(msg.message)['MESSAGE']
   except Exception:
@@ -65,15 +65,15 @@ if __name__ == "__main__":
           print_logmessage(m.logMonoTime-st, m.logMessage, min_level)
         elif m.which() == 'errorLogMessage':
           print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level)
-        elif m.which() == 'androidLog':
-          print_androidlog(m.logMonoTime-st, m.androidLog)
+        elif m.which() == 'operatingSystemLog':
+          print_operating_system_log(m.logMonoTime-st, m.operatingSystemLog)
   else:
-    sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
+    sm = messaging.SubMaster(['logMessage', 'operatingSystemLog'], addr=args.addr)
     while True:
       sm.update()
 
       if sm.updated['logMessage']:
         print_logmessage(sm.logMonoTime['logMessage'], sm['logMessage'], min_level)
 
-      if sm.updated['androidLog']:
-        print_androidlog(sm.logMonoTime['androidLog'], sm['androidLog'])
+      if sm.updated['operatingSystemLog']:
+        print_operating_system_log(sm.logMonoTime['operatingSystemLog'], sm['operatingSystemLog'])
diff --git a/selfdrive/debug/fingerprint_from_route.py b/tools/scripts/fingerprint_from_route.py
similarity index 100%
rename from selfdrive/debug/fingerprint_from_route.py
rename to tools/scripts/fingerprint_from_route.py
diff --git a/selfdrive/debug/fuzz_fw_fingerprint.py b/tools/scripts/fuzz_fw_fingerprint.py
similarity index 99%
rename from selfdrive/debug/fuzz_fw_fingerprint.py
rename to tools/scripts/fuzz_fw_fingerprint.py
index b4276c0c1a..5b0ba9cfd0 100755
--- a/selfdrive/debug/fuzz_fw_fingerprint.py
+++ b/tools/scripts/fuzz_fw_fingerprint.py
@@ -3,7 +3,6 @@ import random
 from collections import defaultdict
 
 from tqdm import tqdm
-
 from opendbc.car.fw_versions import match_fw_to_car_fuzzy
 from opendbc.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
 from opendbc.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
diff --git a/selfdrive/debug/get_fingerprint.py b/tools/scripts/get_fingerprint.py
similarity index 91%
rename from selfdrive/debug/get_fingerprint.py
rename to tools/scripts/get_fingerprint.py
index 75c3d5579f..1e5e8eca5a 100755
--- a/selfdrive/debug/get_fingerprint.py
+++ b/tools/scripts/get_fingerprint.py
@@ -4,13 +4,13 @@
 
 # Instructions:
 # - connect to a Panda
-# - run selfdrive/pandad/pandad
+# - run openpilot/selfdrive/pandad/pandad
 # - launching this script
 #   Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
 # - since some messages are published at low frequency, keep this script running for at least 30s,
 #   until all messages are received at least once
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 logcan = messaging.sub_sock('can')
 msgs = {}
diff --git a/selfdrive/debug/live_cpu_and_temp.py b/tools/scripts/live_cpu_and_temp.py
similarity index 98%
rename from selfdrive/debug/live_cpu_and_temp.py
rename to tools/scripts/live_cpu_and_temp.py
index ee0524ec9d..484207d0fe 100755
--- a/selfdrive/debug/live_cpu_and_temp.py
+++ b/tools/scripts/live_cpu_and_temp.py
@@ -4,7 +4,7 @@ import numpy as np
 import capnp
 from collections import defaultdict
 
-from cereal.messaging import SubMaster
+from openpilot.cereal.messaging import SubMaster
 
 def cputime_total(ct):
   return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
diff --git a/tools/scripts/mem_usage.py b/tools/scripts/mem_usage.py
new file mode 100755
index 0000000000..9b13a56ce2
--- /dev/null
+++ b/tools/scripts/mem_usage.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
+
+from openpilot.selfdrive.test.mem_usage import DEMO_ROUTE, print_report
+from openpilot.tools.lib.logreader import LogReader
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Analyze memory usage from route logs")
+  parser.add_argument("route", nargs="?", default=None, help="route ID or local rlog path")
+  parser.add_argument("--demo", action="store_true", help=f"use demo route ({DEMO_ROUTE})")
+  args = parser.parse_args()
+
+  if args.demo:
+    route = DEMO_ROUTE
+  elif args.route:
+    route = args.route
+  else:
+    parser.error("provide a route or use --demo")
+
+  print(f"Reading logs from: {route}")
+
+  proc_logs = []
+  device_states = []
+  for msg in LogReader(route):
+    if msg.which() == 'procLog':
+      proc_logs.append(msg)
+    elif msg.which() == 'deviceState':
+      device_states.append(msg)
+
+  print_report(proc_logs, device_states)
diff --git a/selfdrive/debug/print_flags.py b/tools/scripts/print_flags.py
similarity index 100%
rename from selfdrive/debug/print_flags.py
rename to tools/scripts/print_flags.py
diff --git a/tools/profiling/clpeak/.gitignore b/tools/scripts/profiling/clpeak/.gitignore
similarity index 100%
rename from tools/profiling/clpeak/.gitignore
rename to tools/scripts/profiling/clpeak/.gitignore
diff --git a/tools/profiling/clpeak/build.sh b/tools/scripts/profiling/clpeak/build.sh
similarity index 100%
rename from tools/profiling/clpeak/build.sh
rename to tools/scripts/profiling/clpeak/build.sh
diff --git a/tools/profiling/clpeak/run_continuously.patch b/tools/scripts/profiling/clpeak/run_continuously.patch
similarity index 100%
rename from tools/profiling/clpeak/run_continuously.patch
rename to tools/scripts/profiling/clpeak/run_continuously.patch
diff --git a/tools/profiling/ftrace.sh b/tools/scripts/profiling/ftrace.sh
similarity index 100%
rename from tools/profiling/ftrace.sh
rename to tools/scripts/profiling/ftrace.sh
diff --git a/tools/profiling/palanteer/.gitignore b/tools/scripts/profiling/palanteer/.gitignore
similarity index 100%
rename from tools/profiling/palanteer/.gitignore
rename to tools/scripts/profiling/palanteer/.gitignore
diff --git a/tools/profiling/palanteer/setup.sh b/tools/scripts/profiling/palanteer/setup.sh
similarity index 100%
rename from tools/profiling/palanteer/setup.sh
rename to tools/scripts/profiling/palanteer/setup.sh
diff --git a/tools/profiling/perfetto/.gitignore b/tools/scripts/profiling/perfetto/.gitignore
similarity index 100%
rename from tools/profiling/perfetto/.gitignore
rename to tools/scripts/profiling/perfetto/.gitignore
diff --git a/tools/profiling/perfetto/build.sh b/tools/scripts/profiling/perfetto/build.sh
similarity index 100%
rename from tools/profiling/perfetto/build.sh
rename to tools/scripts/profiling/perfetto/build.sh
diff --git a/tools/profiling/perfetto/copy.sh b/tools/scripts/profiling/perfetto/copy.sh
similarity index 100%
rename from tools/profiling/perfetto/copy.sh
rename to tools/scripts/profiling/perfetto/copy.sh
diff --git a/tools/profiling/perfetto/record.sh b/tools/scripts/profiling/perfetto/record.sh
similarity index 100%
rename from tools/profiling/perfetto/record.sh
rename to tools/scripts/profiling/perfetto/record.sh
diff --git a/tools/profiling/perfetto/server.sh b/tools/scripts/profiling/perfetto/server.sh
similarity index 100%
rename from tools/profiling/perfetto/server.sh
rename to tools/scripts/profiling/perfetto/server.sh
diff --git a/tools/profiling/perfetto/traces.sh b/tools/scripts/profiling/perfetto/traces.sh
similarity index 100%
rename from tools/profiling/perfetto/traces.sh
rename to tools/scripts/profiling/perfetto/traces.sh
diff --git a/tools/profiling/py-spy/profile.sh b/tools/scripts/profiling/py-spy/profile.sh
similarity index 100%
rename from tools/profiling/py-spy/profile.sh
rename to tools/scripts/profiling/py-spy/profile.sh
diff --git a/tools/profiling/snapdragon/.gitignore b/tools/scripts/profiling/snapdragon/.gitignore
similarity index 100%
rename from tools/profiling/snapdragon/.gitignore
rename to tools/scripts/profiling/snapdragon/.gitignore
diff --git a/tools/profiling/snapdragon/README.md b/tools/scripts/profiling/snapdragon/README.md
similarity index 77%
rename from tools/profiling/snapdragon/README.md
rename to tools/scripts/profiling/snapdragon/README.md
index f56ca182a7..383d83ba9b 100644
--- a/tools/profiling/snapdragon/README.md
+++ b/tools/scripts/profiling/snapdragon/README.md
@@ -4,10 +4,10 @@ snapdragon profiler
 
 * download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
   * choose v2021.5 (verified working with 24.04 dev environment)
-* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
+* unzip to openpilot/selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
 * run ```./setup-profiler.sh```
 * run ```./setup-agnos.sh```
-* run ```selfdrive/debug/adb.sh``` on device
+* run ```openpilot/selfdrive/debug/adb.sh``` on device
 * run the ```adb connect xxx``` command that was given to you on local pc
 * cd to SnapdragonProfiler and run ```./run_sdp.sh```
 * connect to device -> choose device you just setup
diff --git a/tools/profiling/snapdragon/setup-agnos.sh b/tools/scripts/profiling/snapdragon/setup-agnos.sh
similarity index 100%
rename from tools/profiling/snapdragon/setup-agnos.sh
rename to tools/scripts/profiling/snapdragon/setup-agnos.sh
diff --git a/tools/profiling/snapdragon/setup-profiler.sh b/tools/scripts/profiling/snapdragon/setup-profiler.sh
similarity index 100%
rename from tools/profiling/snapdragon/setup-profiler.sh
rename to tools/scripts/profiling/snapdragon/setup-profiler.sh
diff --git a/tools/profiling/watch-irqs.sh b/tools/scripts/profiling/watch-irqs.sh
similarity index 100%
rename from tools/profiling/watch-irqs.sh
rename to tools/scripts/profiling/watch-irqs.sh
diff --git a/selfdrive/debug/qlog_size.py b/tools/scripts/qlog_size.py
similarity index 98%
rename from selfdrive/debug/qlog_size.py
rename to tools/scripts/qlog_size.py
index 2b54cfeebf..46ef4b8be0 100755
--- a/selfdrive/debug/qlog_size.py
+++ b/tools/scripts/qlog_size.py
@@ -5,7 +5,7 @@ from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
diff --git a/selfdrive/debug/run_process_on_route.py b/tools/scripts/run_process_on_route.py
similarity index 100%
rename from selfdrive/debug/run_process_on_route.py
rename to tools/scripts/run_process_on_route.py
diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py
deleted file mode 100755
index b5354a7831..0000000000
--- a/tools/scripts/save_ubloxraw_stream.py
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import sys
-from openpilot.common.basedir import BASEDIR
-from openpilot.tools.lib.logreader import LogReader
-
-os.environ['BASEDIR'] = BASEDIR
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-      description="Unlogging and save to file",
-      formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("route", type=(lambda x: x.replace("#", "|")), nargs="?",
-                      help="The route whose messages will be published.")
-  parser.add_argument("--out_path", nargs='?', default='/data/ubloxRaw.stream',
-                      help="Output pickle file path")
-  return parser
-
-
-def main():
-  args = get_arg_parser().parse_args(sys.argv[1:])
-
-  lr = LogReader(args.route)
-
-  with open(args.out_path, 'wb') as f:
-    try:
-      done = False
-      i = 0
-      while not done:
-        msg = next(lr)
-        if not msg:
-          break
-        smsg = msg.as_builder()
-        typ = smsg.which()
-        if typ == 'ubloxRaw':
-          f.write(smsg.to_bytes())
-          i += 1
-    except StopIteration:
-      print('All done')
-  print(f'Writed {i} msgs')
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/debug/set_car_params.py b/tools/scripts/set_car_params.py
similarity index 88%
rename from selfdrive/debug/set_car_params.py
rename to tools/scripts/set_car_params.py
index aec30b4d74..3864de0838 100755
--- a/selfdrive/debug/set_car_params.py
+++ b/tools/scripts/set_car_params.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import sys
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader
@@ -19,4 +19,4 @@ if __name__ == "__main__":
 
   cp_bytes = CP.to_bytes()
   for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
-    Params().put(p, cp_bytes)
+    Params().put(p, cp_bytes, block=True)
diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
index 45dc0aa977..e599dd3c5d 100755
--- a/tools/scripts/setup_ssh_keys.py
+++ b/tools/scripts/setup_ssh_keys.py
@@ -15,9 +15,9 @@ if __name__ == "__main__":
 
   if keys.status_code == 200:
     params = Params()
-    params.put_bool("SshEnabled", True)
-    params.put("GithubSshKeys", keys.text)
-    params.put("GithubUsername", username)
+    params.put_bool("SshEnabled", True, block=True)
+    params.put("GithubSshKeys", keys.text, block=True)
+    params.put("GithubUsername", username, block=True)
     print("Set up ssh keys successfully")
   else:
     print("Error getting public keys from github")
diff --git a/tools/scripts/ssh.py b/tools/scripts/ssh.py
index e454afb691..2d8ff46604 100755
--- a/tools/scripts/ssh.py
+++ b/tools/scripts/ssh.py
@@ -14,7 +14,7 @@ if __name__ == "__main__":
   parser.add_argument("device", help="device name or dongle id")
   parser.add_argument("--host", help="ssh jump server host", default="ssh.comma.ai")
   parser.add_argument("--port", help="ssh jump server port", default=22, type=int)
-  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "system/hardware/tici/id_rsa"))
+  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "openpilot/common/hardware/comma/id_rsa"))
   parser.add_argument("--debug", help="enable debug output", action="store_true")
   args = parser.parse_args()
 
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/tools/scripts/test_fw_query_on_routes.py
similarity index 99%
rename from selfdrive/debug/test_fw_query_on_routes.py
rename to tools/scripts/test_fw_query_on_routes.py
index ab539e4feb..33e1aa39ba 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/tools/scripts/test_fw_query_on_routes.py
@@ -12,7 +12,6 @@ from openpilot.tools.lib.logreader import LogReader, ReadMode
 from openpilot.tools.lib.route import SegmentRange
 
 
-NO_API = "NO_API" in os.environ
 SUPPORTED_BRANDS = VERSIONS.keys()
 SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
 UNKNOWN_BRAND = "unknown"
@@ -178,4 +177,3 @@ if __name__ == "__main__":
   print(f"Correct fuzzy matches:        {good_fuzzy}")
   print(f"Wrong fuzzy matches:          {wrong_fuzzy}")
   print()
-
diff --git a/selfdrive/debug/uiview.py b/tools/scripts/uiview.py
similarity index 79%
rename from selfdrive/debug/uiview.py
rename to tools/scripts/uiview.py
index ad3ccea036..f28ba3b2ec 100755
--- a/selfdrive/debug/uiview.py
+++ b/tools/scripts/uiview.py
@@ -1,18 +1,17 @@
 #!/usr/bin/env python3
 import time
 
-from cereal import car, log, messaging
+from openpilot.cereal import log, messaging
+from opendbc.car.structs import car
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes, is_snpe_model, is_tinygrad_model, is_stock_model
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.manager.process_config import managed_processes, is_tinygrad_model, is_stock_model
+from openpilot.common.hardware import HARDWARE
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
   params = Params()
-  params.put("CarParams", CP.to_bytes())
+  params.put("CarParams", CP.to_bytes(), block=True)
 
-  if use_snpe_modeld := is_snpe_model(False, params, CP):
-    print("Using SNPE modeld")
   if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
     print("Using TinyGrad modeld")
   if use_stock_modeld := is_stock_model(False, params, CP):
@@ -21,7 +20,7 @@ if __name__ == "__main__":
   HARDWARE.set_power_save(False)
 
   procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
-  procs += ["modeld_snpe" if use_snpe_modeld else "modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
+  procs += ["modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
   for p in procs:
     managed_processes[p].start()
 
diff --git a/tools/scripts/watch_timings.py b/tools/scripts/watch_timings.py
new file mode 100755
index 0000000000..0df9db2033
--- /dev/null
+++ b/tools/scripts/watch_timings.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+import argparse
+import datetime
+import time
+from collections import deque
+from dataclasses import dataclass, field
+
+import numpy as np
+
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
+
+
+@dataclass
+class ServiceTiming:
+  times: list[float] = field(default_factory=list)
+  window: deque[float] = field(default_factory=lambda: deque(maxlen=100))
+  valids: deque[bool] = field(default_factory=lambda: deque(maxlen=100))
+  lag_events: list[tuple[float, float]] = field(default_factory=list)
+
+  def add(self, mono_time: float, valid: bool, expected_interval: float | None, lag_threshold: float) -> None:
+    if self.times:
+      dt = mono_time - self.times[-1]
+      self.window.append(dt)
+      if expected_interval is not None and dt > lag_threshold * expected_interval:
+        self.lag_events.append((mono_time, dt))
+
+    self.times.append(mono_time)
+    self.valids.append(valid)
+
+  def intervals(self, latest_only: bool) -> np.ndarray:
+    if latest_only:
+      return np.array(self.window)
+    return np.diff(self.times)
+
+
+def format_row(name: str, timing: ServiceTiming, latest_only: bool) -> str:
+  dts = timing.intervals(latest_only)
+  if len(dts) == 0:
+    return f"{name:25} waiting for messages"
+
+  mean = np.mean(dts)
+  hz = 1.0 / mean if mean > 0 else 0.0
+  valid = all(timing.valids) if timing.valids else False
+  return f"{name:25} {hz:8.2f}Hz {mean * 1e3:8.2f}ms {np.std(dts) * 1e3:8.2f}ms {np.max(dts) * 1e3:8.2f}ms {np.min(dts) * 1e3:8.2f}ms valid={valid}"
+
+
+def print_lag_events(name: str, timing: ServiceTiming, printed_lags: dict[str, int]) -> None:
+  start = printed_lags.get(name, 0)
+  for mono_time, dt in timing.lag_events[start:]:
+    print(f"{mono_time:.3f} {name} lag {dt:.3f}s", flush=True)
+  printed_lags[name] = len(timing.lag_events)
+
+
+def monitor_services(socket_names: list[str], print_interval: float, lag_threshold: float, lag_only: bool) -> None:
+  sockets = {name: messaging.sub_sock(name, conflate=False) for name in socket_names}
+  timings = {name: ServiceTiming() for name in socket_names}
+  printed_lags: dict[str, int] = {}
+
+  start_time = time.monotonic()
+  last_print = start_time
+
+  try:
+    while True:
+      for name, sock in sockets.items():
+        for msg in messaging.drain_sock(sock):
+          expected_interval = 1.0 / SERVICE_LIST[name].frequency if name in SERVICE_LIST else None
+          timings[name].add(msg.logMonoTime / 1e9, msg.valid, expected_interval, lag_threshold)
+
+      now = time.monotonic()
+      if now - last_print < print_interval:
+        time.sleep(0.01)
+        continue
+
+      if not lag_only:
+        print(flush=True)
+        print(f"{'service':25} {'freq':>10} {'mean':>10} {'std':>10} {'max':>10} {'min':>10} valid", flush=True)
+        for name in socket_names:
+          print(format_row(name, timings[name], latest_only=True), flush=True)
+
+      for name in socket_names:
+        print_lag_events(name, timings[name], printed_lags)
+
+      last_print = now
+  except KeyboardInterrupt:
+    print("\n", flush=True)
+    print("=" * 5, "timing summary", "=" * 5, flush=True)
+    print(f"{'service':25} {'freq':>10} {'mean':>10} {'std':>10} {'max':>10} {'min':>10} valid", flush=True)
+    for name in socket_names:
+      print(format_row(name, timings[name], latest_only=False), flush=True)
+    print("=" * 5, datetime.timedelta(seconds=time.monotonic() - start_time), "=" * 5, flush=True)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Check live service timing, frequency, validity, and lag")
+  parser.add_argument("socket", nargs="*", default=["carState"], help="service/socket name")
+  parser.add_argument("--lag-threshold", type=float, default=10.0, help="report intervals above this multiple of the expected service interval")
+  parser.add_argument("--lag-only", action="store_true", help="only print lag events")
+  parser.add_argument("--print-interval", type=float, default=1.0, help="seconds between table updates")
+  args = parser.parse_args()
+
+  monitor_services(args.socket, args.print_interval, args.lag_threshold, args.lag_only)
diff --git a/tools/setup.sh b/tools/setup.sh
index fd7efcee90..ced451ab11 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -33,37 +33,11 @@ cat << 'EOF'
 EOF
 }
 
-function sentry_send_event() {
-  SENTRY_KEY=dd0cba62ba0ac07ff9f388f8f1e6a7f4
-  SENTRY_URL=https://sentry.io/api/4507726145781760/store/
-
-  EVENT=$1
-  EVENT_TYPE=${2:-$EVENT}
-  EVENT_LOG=${3:-"NA"}
-
-  PLATFORM=$(uname -s)
-  ARCH=$(uname -m)
-  SYSTEM=$(uname -a)
-  if [[ $PLATFORM == "Darwin" ]]; then
-    OS="macos"
-  elif [[ $PLATFORM == "Linux" ]]; then
-    OS="linux"
+function check_platform() {
+  if [[ -f /AGNOS ]]; then
+    echo -e "[${RED}✗${NC}] This installer is for PCs only. The environment is pre-configured in AGNOS."
+    return 1
   fi
-
-  if [[ $ARCH == armv8* ]] || [[ $ARCH == arm64* ]] || [[ $ARCH == aarch64* ]]; then
-    ARCH="aarch64"
-  elif [[ $ARCH == "x86_64" ]] || [[ $ARCH == i686* ]]; then
-    ARCH="x86"
-  fi
-
-  PYTHON_VERSION=$(echo $(python3 --version 2> /dev/null || echo "NA"))
-  BRANCH=$(echo $(git -C $OPENPILOT_ROOT rev-parse --abbrev-ref HEAD 2> /dev/null || echo "NA"))
-  COMMIT=$(echo $(git -C $OPENPILOT_ROOT rev-parse HEAD 2> /dev/null || echo "NA"))
-
-  curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\", \"system\" : \"$SYSTEM\" }  }" \
-    -H 'Content-Type: application/json' \
-    -H "X-Sentry-Auth: Sentry sentry_version=7, sentry_key=$SENTRY_KEY, sentry_client=op_setup/0.1" \
-    $SENTRY_URL 2> /dev/null
 }
 
 function check_stdin() {
@@ -131,7 +105,6 @@ function check_git() {
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
     echo -e " ↳ [${RED}✗${NC}] git not found on your system, can't continue!"
-    sentry_send_event "SETUP_FAILURE" "ERROR_GIT_NOT_FOUND"
     return 1
   else
     echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
@@ -150,27 +123,16 @@ function git_clone() {
   fi
 
   echo -e " ↳ [${RED}✗${NC}] failed to clone openpilot!"
-  sentry_send_event "SETUP_FAILURE" "ERROR_GIT_CLONE"
   return 1
 }
 
 function install_with_op() {
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/tools/op.sh install
   $OPENPILOT_ROOT/tools/op.sh post-commit
 
-  LOG_FILE=$(mktemp)
-
-  if ! $OPENPILOT_ROOT/tools/op.sh --log $LOG_FILE setup; then
+  if ! $OPENPILOT_ROOT/tools/op.sh setup; then
     echo -e "\n[${RED}✗${NC}] failed to install openpilot!"
-
-    ERROR_TYPE="$(cat "$LOG_FILE" | sed '1p;d')"
-    ERROR_LOG="$(cat "$LOG_FILE" | sed '2p;d')"
-    sentry_send_event "SETUP_FAILURE" "$ERROR_TYPE" "$ERROR_LOG" || true
-
     return 1
-  else
-    sentry_send_event "SETUP_SUCCESS" || true
   fi
 
   echo -e "\n----------------------------------------------------------------------"
@@ -180,6 +142,7 @@ function install_with_op() {
 }
 
 show_motd
+check_platform
 check_stdin
 ask_dir
 check_dir
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
new file mode 100755
index 0000000000..5ad833a5ca
--- /dev/null
+++ b/tools/setup_dependencies.sh
@@ -0,0 +1,142 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ROOT="$(git -C "$DIR" rev-parse --show-toplevel)"
+
+function retry() {
+  local attempts=$1
+  shift
+  for i in $(seq 1 "$attempts"); do
+    if "$@"; then
+      return 0
+    fi
+    if [ "$i" -lt "$attempts" ]; then
+      echo "  Attempt $i/$attempts failed, retrying in 5s..."
+      sleep 5
+    fi
+  done
+  return 1
+}
+
+function install_linux_deps() {
+  SUDO=""
+
+  if [[ ! $(id -u) -eq 0 ]]; then
+    if [[ -z $(which sudo) ]]; then
+      echo "Please install sudo or run as root"
+      exit 1
+    fi
+    SUDO="sudo"
+  fi
+
+  local missing_linux_deps=0
+  for cmd in gcc g++ make curl curl-config git; do
+    if ! command -v "$cmd" > /dev/null 2>&1; then
+      missing_linux_deps=1
+      break
+    fi
+  done
+
+  # ------------------------------------------------
+  # dependencies should never be added to this list.
+  # these are only for inflating bare docker images
+  # to their desktop equivalents.
+  # ------------------------------------------------
+  if [[ "$missing_linux_deps" -eq 0 ]]; then
+    # the native package managers are slow, so skip if we can
+    echo "[ ] system packages already installed t=$SECONDS"
+  elif command -v apt-get > /dev/null 2>&1; then
+    $SUDO apt-get update
+    $SUDO apt-get install -y --no-install-recommends ca-certificates build-essential curl libcurl4-openssl-dev locales git xclip wl-clipboard
+  elif command -v dnf > /dev/null 2>&1; then
+    $SUDO dnf install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
+  elif command -v yum > /dev/null 2>&1; then
+    $SUDO yum install -y ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-langpack-en git
+  elif command -v pacman > /dev/null 2>&1; then
+    $SUDO pacman -Syu --noconfirm --needed base-devel ca-certificates curl git
+  elif command -v zypper > /dev/null 2>&1; then
+    $SUDO zypper --non-interactive refresh
+    $SUDO zypper --non-interactive install ca-certificates gcc gcc-c++ make curl libcurl-devel glibc-locale git
+  elif command -v apk > /dev/null 2>&1; then
+    $SUDO apk add --no-cache ca-certificates build-base curl curl-dev musl-locales git
+  elif command -v xbps-install > /dev/null 2>&1; then
+    $SUDO xbps-install -Syu base-devel ca-certificates curl git libcurl-devel glibc-locales
+  else
+    echo "Unsupported Linux distribution. Supported package managers: apt-get, dnf, yum, pacman, zypper, apk, xbps-install."
+    exit 1
+  fi
+
+  if [[ -d "/etc/udev/rules.d/" ]]; then
+    $SUDO tee /etc/udev/rules.d/11-openpilot.rules > /dev/null <<-EOF
+	# Panda Jungle devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
+
+	# Panda devices
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
+	SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
+
+	# comma devices over ADB
+	SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
+	EOF
+
+    # delete the old ones
+    $SUDO rm -f /etc/udev/rules.d/11-panda.rules /etc/udev/rules.d/12-panda_jungle.rules /etc/udev/rules.d/50-comma-adb.rules
+
+    $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
+  fi
+}
+
+function install_python_deps() {
+  # Increase the pip timeout to handle TimeoutError
+  export PIP_DEFAULT_TIMEOUT=200
+
+  cd "$ROOT"
+
+  if ! command -v "uv" > /dev/null 2>&1; then
+    echo "installing uv..."
+    # TODO: outer retry can be removed once https://github.com/axodotdev/cargo-dist/pull/2311 is merged
+    retry 3 sh -c 'curl --retry 5 --retry-delay 5 --retry-all-errors -LsSf https://astral.sh/uv/install.sh | UV_GITHUB_TOKEN="${GITHUB_TOKEN:-}" sh'
+    UV_BIN="$HOME/.local/bin"
+    PATH="$UV_BIN:$PATH"
+  fi
+
+  echo "updating uv..."
+  # ok to fail, can also fail due to installing with brew
+  uv self update || true
+
+  echo "installing python packages..."
+  uv sync --frozen --all-extras
+  source .venv/bin/activate
+}
+
+# --- Main ---
+
+if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+  install_linux_deps
+  echo "[ ] installed system dependencies t=$SECONDS"
+elif [[ "$OSTYPE" == "darwin"* ]]; then
+  if [[ $SHELL == "/bin/zsh" ]]; then
+    RC_FILE="$HOME/.zshrc"
+  elif [[ $SHELL == "/bin/bash" ]]; then
+    RC_FILE="$HOME/.bash_profile"
+  fi
+fi
+
+if [ -f "$ROOT/pyproject.toml" ]; then
+  install_python_deps
+  echo "[ ] installed python dependencies t=$SECONDS"
+fi
+
+if [[ "$OSTYPE" == "darwin"* ]] && [[ -n "${RC_FILE:-}" ]]; then
+  echo
+  echo "----   OPENPILOT SETUP DONE   ----"
+  echo "Open a new shell or configure your active shell env by running:"
+  echo "source $RC_FILE"
+fi
diff --git a/tools/sim/tests/conftest.py b/tools/sim/tests/conftest.py
deleted file mode 100644
index ddf6635276..0000000000
--- a/tools/sim/tests/conftest.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import pytest
-
-def pytest_addoption(parser):
-  parser.addoption("--test_duration", action="store", default=60, type=int, help="Seconds to run metadrive drive")
-
-@pytest.fixture
-def test_duration(request):
-  return request.config.getoption("--test_duration")
diff --git a/tools/test_runner.py b/tools/test_runner.py
new file mode 100755
index 0000000000..1979ce01e4
--- /dev/null
+++ b/tools/test_runner.py
@@ -0,0 +1,309 @@
+#!/usr/bin/env python3
+import argparse
+from collections import Counter
+from concurrent.futures import as_completed, ProcessPoolExecutor
+from itertools import batched
+import math
+import os
+from pathlib import Path
+import sys
+import tempfile
+import time
+import traceback
+import unittest
+import warnings
+
+ROOT = Path(__file__).resolve().parents[1]
+IGNORED = (
+  ROOT / "openpilot/selfdrive/test/process_replay/test_processes.py",
+  ROOT / "openpilot/tools/sim",
+)
+FAILURES = {"failed", "error", "xpassed"}
+STATUS_MARKS = {
+  "passed": (".", 32),
+  "skipped": ("s", 33),
+  "xfailed": ("x", 36),
+  "failed": ("F", 31),
+  "error": ("E", 31),
+  "xpassed": ("X", 31),
+}
+
+
+def paint(text, code):
+  if sys.stdout.isatty() and "NO_COLOR" not in os.environ:
+    return f"\033[{code}m{text}\033[0m"
+  return text
+
+
+class Capture:
+  def __init__(self, enabled):
+    self.enabled = enabled
+
+  def start(self):
+    if not self.enabled:
+      return
+    for stream in (sys.stdout, sys.stderr):
+      stream.flush()
+    self.files = [tempfile.TemporaryFile() for _ in range(2)]
+    self.saved = [os.dup(fd) for fd in (1, 2)]
+    for fd, file in enumerate(self.files, 1):
+      os.dup2(file.fileno(), fd)
+
+  def stop(self, keep=True):
+    if not self.enabled:
+      return "", ""
+    for stream in (sys.stdout, sys.stderr):
+      stream.flush()
+    for fd, saved in enumerate(self.saved, 1):
+      os.dup2(saved, fd)
+      os.close(saved)
+    output = []
+    for file in self.files:
+      if keep:
+        file.seek(0)
+        output.append(file.read().decode(errors="replace"))
+      file.close()
+    return output if keep else ("", "")
+
+
+def make_record(test_id, status="passed", detail=""):
+  return {"id": test_id, "status": status, "detail": detail, "time": 0.0, "stdout": "", "stderr": ""}
+
+
+class Result(unittest.TestResult):
+  def __init__(self, capture_output):
+    super().__init__()
+    self.records = []
+    self.current = None
+    self.capture = Capture(capture_output)
+
+  def startTest(self, test):
+    self.current = make_record(test.id())
+    self.started = time.monotonic()
+    self.capture.start()
+
+  def stopTest(self, test):
+    self.current["time"] = time.monotonic() - self.started
+    keep = self.current["status"] in FAILURES
+    stdout, stderr = self.capture.stop(keep)
+    if keep:
+      self.current["stdout"] = stdout
+      self.current["stderr"] = stderr
+    self.records.append(self.current)
+    self.current = None
+
+  def mark(self, test, status, detail=""):
+    if self.current is None:  # setUpClass/setUpModule can fail before a test starts
+      self.records.append(make_record(test.id(), status, detail))
+      return
+    if self.current["status"] not in FAILURES or status == "error":
+      self.current["status"] = status
+    if detail:
+      self.current["detail"] += ("\n\n" if self.current["detail"] else "") + detail
+
+  def addFailure(self, test, err):
+    self.mark(test, "failed", self._exc_info_to_string(err, test))
+
+  def addError(self, test, err):
+    self.mark(test, "error", self._exc_info_to_string(err, test))
+
+  def addSkip(self, test, reason):
+    self.mark(test, "skipped")
+
+  def addExpectedFailure(self, test, err):
+    self.mark(test, "xfailed")
+
+  def addUnexpectedSuccess(self, test):
+    self.mark(test, "xpassed", "Test was expected to fail, but passed.")
+
+  def addSubTest(self, test, subtest, err):
+    if err:
+      status = "failed" if issubclass(err[0], test.failureException) else "error"
+      self.mark(test, status, f"{subtest}\n{self._exc_info_to_string(err, test)}")
+
+
+def flatten(suite):
+  for test in suite:
+    if isinstance(test, unittest.TestSuite):
+      yield from flatten(test)
+    else:
+      yield test
+
+
+def module_name(path):
+  return ".".join(path.resolve().relative_to(ROOT).with_suffix("").parts)
+
+
+def collect(targets, keyword):
+  use_ignores = not targets
+  targets = targets or ["openpilot"]
+  loader = unittest.TestLoader()
+  tests = []
+  errors = []
+  names = []
+  for target in targets:
+    path_text, *nodes = target.split("::")
+    path = Path(path_text)
+    try:
+      if path.is_dir():
+        files = sorted(path.rglob("test_*.py"))
+        if use_ignores:
+          files = [f for f in files if not any(f.resolve().is_relative_to(i) for i in IGNORED)]
+        names.extend(module_name(file) for file in files)
+      elif path.is_file():
+        names.append(".".join((module_name(path), *nodes)))
+      elif "/" in path_text or path_text.endswith(".py"):
+        errors.append(f"{target}: file or directory not found")
+      else:
+        names.append(target.replace("::", "."))
+    except (OSError, ValueError) as e:
+      errors.append(str(e))
+  for name in dict.fromkeys(names):
+    before = len(loader.errors)
+    try:
+      suite = loader.loadTestsFromName(name)
+    except Exception:
+      errors.append(f"Failed to collect {name}\n{traceback.format_exc()}")
+      continue
+    errors.extend(loader.errors[before:])
+    for test in flatten(suite):
+      cls = type(test)
+      if cls.__name__ == "_FailedTest":
+        continue
+      if getattr(cls, "__unittest_skip_why__", "") == "parameterized base class":
+        continue
+      if not keyword or keyword.lower() in test.id().lower():
+        tests.append(test)
+  return list({test.id(): test for test in tests}.values()), errors
+
+
+def make_batches(tests, workers):
+  fixture_groups = {}
+  parallel = []
+  for test in tests:
+    cls = type(test)
+    module = sys.modules[cls.__module__]
+    if hasattr(module, "setUpModule") or hasattr(module, "tearDownModule"):
+      key = cls.__module__
+    elif "setUpClass" in cls.__dict__ or "tearDownClass" in cls.__dict__:
+      key = f"{cls.__module__}.{cls.__qualname__}"
+    else:
+      parallel.append(test.id())
+      continue
+    fixture_groups.setdefault(key, []).append(test.id())
+  size = max(1, math.ceil(len(tests) / (workers * 4)))
+  batches = list(fixture_groups.values())
+  batches.extend(list(batch) for batch in batched(parallel, size))
+  return sorted(batches, key=len, reverse=True)
+
+
+def run_batch(test_ids, capture_output):
+  result = Result(capture_output)
+  outside = Capture(capture_output)
+  os.chdir(ROOT)
+  outside.start()
+  try:
+    unittest.TestLoader().loadTestsFromNames(test_ids).run(result)
+  finally:
+    stdout, stderr = outside.stop()
+  failures = [item for item in result.records if item["status"] in FAILURES]
+  if failures:  # attach class/module fixture output to the first related failure
+    failures[0]["stdout"] = stdout + failures[0]["stdout"]
+    failures[0]["stderr"] = stderr + failures[0]["stderr"]
+  return result.records
+
+
+def run_parallel(batches, workers, warning_action, capture_output):
+  with ProcessPoolExecutor(max_workers=workers, initializer=warnings.simplefilter, initargs=(warning_action,)) as pool:
+    futures = {pool.submit(run_batch, batch, capture_output): batch for batch in batches}
+    for future in as_completed(futures):
+      try:
+        yield future.result()
+      except Exception:
+        yield [make_record(futures[future][0], "error", traceback.format_exc())]
+
+
+def report(records, errors, duration_count, elapsed):
+  width = min(100, os.get_terminal_size().columns if sys.stdout.isatty() else 80)
+  for index, error in enumerate(errors, 1):
+    print(paint(f"\n{'=' * 8} COLLECTION ERROR {index} {'=' * 8}", 31))
+    print(error.rstrip())
+  for item in sorted((r for r in records if r["status"] in FAILURES), key=lambda r: r["id"]):
+    heading = f" {item['status'].upper()} {item['id']} "
+    print(paint(f"\n{heading:=^{width}}", 31))
+    if item["detail"]:
+      print(item["detail"].rstrip())
+    for stream in ("stdout", "stderr"):
+      if item[stream]:
+        print(paint(f"\n--- captured {stream} ---", 33))
+        print(item[stream].rstrip())
+  timed = sorted((r for r in records if r["time"]), key=lambda r: r["time"], reverse=True)
+  if duration_count:
+    timed = timed[:duration_count]
+  if timed:
+    print(paint("\nslowest tests", 36))
+    for item in timed:
+      print(f"{item['time']:8.2f}s  {item['id']}")
+  counts = Counter(item["status"] for item in records)
+  parts = [f"{counts[name]} {name}" for name in STATUS_MARKS if counts[name]]
+  if errors:
+    parts.append(f"{len(errors)} collection error{'s' if len(errors) != 1 else ''}")
+  failed = bool(errors) or any(counts[name] for name in FAILURES)
+  print(paint(f"\n{', '.join(parts) or 'no tests ran'} in {elapsed:.2f}s", 31 if failed else 32))
+  if failed:
+    return 1
+  if records:
+    return 0
+  return 5
+
+
+def main():
+  parser = argparse.ArgumentParser(description=__doc__)
+  parser.add_argument("targets", nargs="*", help="files, directories, dotted IDs, or path.py::Class::test")
+  parser.add_argument("-j", "--jobs", type=int, default=os.cpu_count() or 1, help="workers (default: available CPUs)")
+  parser.add_argument("-k", metavar="TEXT", help="only run test IDs containing TEXT")
+  parser.add_argument("-s", "--no-capture", action="store_true", help="show test output live")
+  parser.add_argument("-v", "--verbose", action="store_true", help="show every test")
+  parser.add_argument("--durations", type=int, default=10, metavar="N", help="show N slowest tests; 0 shows all")
+  parser.add_argument("-W", "--warnings", choices=("error", "default", "always", "ignore"), default="error")
+  args = parser.parse_args()
+
+  capture_output = not args.no_capture
+  os.chdir(ROOT)
+  warnings.simplefilter(args.warnings)
+  started = time.monotonic()
+  tests, errors = collect(args.targets, args.k)
+  batches = make_batches(tests, args.jobs)
+  workers = min(args.jobs, len(batches))
+  summary = f"collected {len(tests)} test{'s' if len(tests) != 1 else ''} in {time.monotonic() - started:.2f}s "
+  summary += f"• {workers} worker{'s' if workers != 1 else ''}"
+  print(summary)
+  records = []
+  column = 0
+  try:
+    if workers < 2:
+      streams = (run_batch(batch, capture_output) for batch in batches)
+    else:
+      streams = run_parallel(batches, workers, args.warnings, capture_output)
+    for batch in streams:
+      records.extend(batch)
+      for item in batch:
+        mark, code = STATUS_MARKS[item["status"]]
+        if args.verbose:
+          print(f"{paint(mark, code)} {item['id']} {item['time']:.2f}s")
+        else:
+          print(paint(mark, code), end="", flush=True)
+          column += 1
+          if column == 80:
+            print()
+            column = 0
+  except KeyboardInterrupt:
+    print(paint("\ninterrupted", 31))
+    return 2
+  if column:
+    print()
+  return report(records, errors, args.durations, time.monotonic() - started)
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
deleted file mode 100755
index be4cfb68fa..0000000000
--- a/tools/ubuntu_setup.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-# NOTE: this is used in a docker build, so do not run any scripts here.
-
-"$DIR"/install_ubuntu_dependencies.sh
-"$DIR"/install_python_dependencies.sh
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
deleted file mode 100644
index 67ad2cc8cb..0000000000
--- a/tools/webcam/README.md
+++ /dev/null
@@ -1,35 +0,0 @@
-# Run openpilot with webcam on PC
-
-What's needed:
-- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) or macOS
-- GPU (recommended)
-- One USB webcam, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615, NexiGo N60)
-- [Car harness](https://comma.ai/shop/products/comma-car-harness)
-- [panda](https://comma.ai/shop/panda)
-- USB-A to USB-A cable to connect panda to your computer
-
-## Setup openpilot
-- Follow [this readme](../README.md) to install and build the requirements
-- Install OpenCL Driver (Ubuntu)
-```
-sudo apt install pocl-opencl-icd
-```
-
-## Connect the hardware
-- Connect the camera first
-- Connect your computer to panda
-
-## GO
-```
-USE_WEBCAM=1 system/manager/manager.py
-```
-- Start the car, then the UI should show the road webcam's view
-- Adjust and secure the webcam
-- Finish calibration and engage!
-
-## Specify Cameras
-
-Use the `ROAD_CAM` (default 0) and optional `DRIVER_CAM`, `WIDE_CAM` environment variables to specify which camera is which (ie. `ROAD_CAM=1` uses `/dev/video1`, on Ubuntu, for the road camera):
-```
-USE_WEBCAM=1 ROAD_CAM=1 system/manager/manager.py
-```
diff --git a/uv.lock b/uv.lock
index 782c20849c..a86cd55d30 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2,225 +2,95 @@ version = 1
 revision = 3
 requires-python = ">=3.12.3, <3.13"
 
-[[package]]
-name = "aiohappyeyeballs"
-version = "2.6.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/26/30/f84a107a9c4331c14b2b586036f40965c128aa4fee4dda5d3d51cb14ad54/aiohappyeyeballs-2.6.1.tar.gz", hash = "sha256:c3f9d0113123803ccadfdf3f0faa505bc78e6a72d1cc4806cbd719826e943558", size = 22760, upload-time = "2025-03-12T01:42:48.764Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/0f/15/5bf3b99495fb160b63f95972b81750f18f7f4e02ad051373b669d17d44f2/aiohappyeyeballs-2.6.1-py3-none-any.whl", hash = "sha256:f349ba8f4b75cb25c99c5c2d84e997e485204d2902a9597802b0371f09331fb8", size = 15265, upload-time = "2025-03-12T01:42:47.083Z" },
-]
+[manifest]
+overrides = [{ name = "opendbc", editable = "opendbc_repo" }]
 
 [[package]]
-name = "aiohttp"
-version = "3.13.3"
+name = "anyio"
+version = "4.14.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "aiohappyeyeballs" },
-    { name = "aiosignal" },
-    { name = "attrs" },
-    { name = "frozenlist" },
-    { name = "multidict" },
-    { name = "propcache" },
-    { name = "yarl" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/50/42/32cf8e7704ceb4481406eb87161349abb46a57fee3f008ba9cb610968646/aiohttp-3.13.3.tar.gz", hash = "sha256:a949eee43d3782f2daae4f4a2819b2cb9b0c5d3b7f7a927067cc84dafdbb9f88", size = 7844556, upload-time = "2026-01-03T17:33:05.204Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/a0/be/4fc11f202955a69e0db803a12a062b8379c970c7c84f4882b6da17337cc1/aiohttp-3.13.3-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:b903a4dfee7d347e2d87697d0713be59e0b87925be030c9178c5faa58ea58d5c", size = 739732, upload-time = "2026-01-03T17:30:14.23Z" },
-    { url = "https://files.pythonhosted.org/packages/97/2c/621d5b851f94fa0bb7430d6089b3aa970a9d9b75196bc93bb624b0db237a/aiohttp-3.13.3-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:a45530014d7a1e09f4a55f4f43097ba0fd155089372e105e4bff4ca76cb1b168", size = 494293, upload-time = "2026-01-03T17:30:15.96Z" },
-    { url = "https://files.pythonhosted.org/packages/5d/43/4be01406b78e1be8320bb8316dc9c42dbab553d281c40364e0f862d5661c/aiohttp-3.13.3-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:27234ef6d85c914f9efeb77ff616dbf4ad2380be0cda40b4db086ffc7ddd1b7d", size = 493533, upload-time = "2026-01-03T17:30:17.431Z" },
-    { url = "https://files.pythonhosted.org/packages/8d/a8/5a35dc56a06a2c90d4742cbf35294396907027f80eea696637945a106f25/aiohttp-3.13.3-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d32764c6c9aafb7fb55366a224756387cd50bfa720f32b88e0e6fa45b27dcf29", size = 1737839, upload-time = "2026-01-03T17:30:19.422Z" },
-    { url = "https://files.pythonhosted.org/packages/bf/62/4b9eeb331da56530bf2e198a297e5303e1c1ebdceeb00fe9b568a65c5a0c/aiohttp-3.13.3-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:b1a6102b4d3ebc07dad44fbf07b45bb600300f15b552ddf1851b5390202ea2e3", size = 1703932, upload-time = "2026-01-03T17:30:21.756Z" },
-    { url = "https://files.pythonhosted.org/packages/7c/f6/af16887b5d419e6a367095994c0b1332d154f647e7dc2bd50e61876e8e3d/aiohttp-3.13.3-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:c014c7ea7fb775dd015b2d3137378b7be0249a448a1612268b5a90c2d81de04d", size = 1771906, upload-time = "2026-01-03T17:30:23.932Z" },
-    { url = "https://files.pythonhosted.org/packages/ce/83/397c634b1bcc24292fa1e0c7822800f9f6569e32934bdeef09dae7992dfb/aiohttp-3.13.3-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:2b8d8ddba8f95ba17582226f80e2de99c7a7948e66490ef8d947e272a93e9463", size = 1871020, upload-time = "2026-01-03T17:30:26Z" },
-    { url = "https://files.pythonhosted.org/packages/86/f6/a62cbbf13f0ac80a70f71b1672feba90fdb21fd7abd8dbf25c0105fb6fa3/aiohttp-3.13.3-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9ae8dd55c8e6c4257eae3a20fd2c8f41edaea5992ed67156642493b8daf3cecc", size = 1755181, upload-time = "2026-01-03T17:30:27.554Z" },
-    { url = "https://files.pythonhosted.org/packages/0a/87/20a35ad487efdd3fba93d5843efdfaa62d2f1479eaafa7453398a44faf13/aiohttp-3.13.3-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:01ad2529d4b5035578f5081606a465f3b814c542882804e2e8cda61adf5c71bf", size = 1561794, upload-time = "2026-01-03T17:30:29.254Z" },
-    { url = "https://files.pythonhosted.org/packages/de/95/8fd69a66682012f6716e1bc09ef8a1a2a91922c5725cb904689f112309c4/aiohttp-3.13.3-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:bb4f7475e359992b580559e008c598091c45b5088f28614e855e42d39c2f1033", size = 1697900, upload-time = "2026-01-03T17:30:31.033Z" },
-    { url = "https://files.pythonhosted.org/packages/e5/66/7b94b3b5ba70e955ff597672dad1691333080e37f50280178967aff68657/aiohttp-3.13.3-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:c19b90316ad3b24c69cd78d5c9b4f3aa4497643685901185b65166293d36a00f", size = 1728239, upload-time = "2026-01-03T17:30:32.703Z" },
-    { url = "https://files.pythonhosted.org/packages/47/71/6f72f77f9f7d74719692ab65a2a0252584bf8d5f301e2ecb4c0da734530a/aiohttp-3.13.3-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:96d604498a7c782cb15a51c406acaea70d8c027ee6b90c569baa6e7b93073679", size = 1740527, upload-time = "2026-01-03T17:30:34.695Z" },
-    { url = "https://files.pythonhosted.org/packages/fa/b4/75ec16cbbd5c01bdaf4a05b19e103e78d7ce1ef7c80867eb0ace42ff4488/aiohttp-3.13.3-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:084911a532763e9d3dd95adf78a78f4096cd5f58cdc18e6fdbc1b58417a45423", size = 1554489, upload-time = "2026-01-03T17:30:36.864Z" },
-    { url = "https://files.pythonhosted.org/packages/52/8f/bc518c0eea29f8406dcf7ed1f96c9b48e3bc3995a96159b3fc11f9e08321/aiohttp-3.13.3-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:7a4a94eb787e606d0a09404b9c38c113d3b099d508021faa615d70a0131907ce", size = 1767852, upload-time = "2026-01-03T17:30:39.433Z" },
-    { url = "https://files.pythonhosted.org/packages/9d/f2/a07a75173124f31f11ea6f863dc44e6f09afe2bca45dd4e64979490deab1/aiohttp-3.13.3-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:87797e645d9d8e222e04160ee32aa06bc5c163e8499f24db719e7852ec23093a", size = 1722379, upload-time = "2026-01-03T17:30:41.081Z" },
-    { url = "https://files.pythonhosted.org/packages/3c/4a/1a3fee7c21350cac78e5c5cef711bac1b94feca07399f3d406972e2d8fcd/aiohttp-3.13.3-cp312-cp312-win32.whl", hash = "sha256:b04be762396457bef43f3597c991e192ee7da460a4953d7e647ee4b1c28e7046", size = 428253, upload-time = "2026-01-03T17:30:42.644Z" },
-    { url = "https://files.pythonhosted.org/packages/d9/b7/76175c7cb4eb73d91ad63c34e29fc4f77c9386bba4a65b53ba8e05ee3c39/aiohttp-3.13.3-cp312-cp312-win_amd64.whl", hash = "sha256:e3531d63d3bdfa7e3ac5e9b27b2dd7ec9df3206a98e0b3445fa906f233264c57", size = 455407, upload-time = "2026-01-03T17:30:44.195Z" },
-]
-
-[[package]]
-name = "aioice"
-version = "0.10.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "dnspython" },
-    { name = "ifaddr" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/67/04/df7286233f468e19e9bedff023b6b246182f0b2ccb04ceeb69b2994021c6/aioice-0.10.2.tar.gz", hash = "sha256:bf236c6829ee33c8e540535d31cd5a066b531cb56de2be94c46be76d68b1a806", size = 44307, upload-time = "2025-11-28T15:56:48.836Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c7/e3/0d23b1f930c17d371ce1ec36ee529f22fd19ebc2a07fe3418e3d1d884ce2/aioice-0.10.2-py3-none-any.whl", hash = "sha256:14911c15ab12d096dd14d372ebb4aecbb7420b52c9b76fdfcf54375dec17fcbf", size = 24875, upload-time = "2025-11-28T15:56:47.847Z" },
-]
-
-[[package]]
-name = "aiortc"
-version = "1.10.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "aioice" },
-    { name = "av" },
-    { name = "cffi" },
-    { name = "cryptography" },
-    { name = "google-crc32c" },
-    { name = "pyee" },
-    { name = "pylibsrtp" },
-    { name = "pyopenssl" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/8a/f8/408e092748521889c9d33dddcef920afd9891cf6db4615ba6b6bfe114ff8/aiortc-1.10.1.tar.gz", hash = "sha256:64926ad86bde20c1a4dacb7c3a164e57b522606b70febe261fada4acf79641b5", size = 1179406, upload-time = "2025-02-02T17:36:38.684Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/0a/6b/74547a30d1ddcc81f905ef4ff7fcc2c89b7482cb2045688f2aaa4fa918aa/aiortc-1.10.1-cp39-abi3-macosx_10_9_x86_64.whl", hash = "sha256:3bef536f38394b518aefae9dbf9cdd08f39e4c425f316f9692f0d8dc724810bd", size = 1218457, upload-time = "2025-02-02T17:36:23.172Z" },
-    { url = "https://files.pythonhosted.org/packages/46/92/b4ccf39cd18e366ace2a11dc7d98ed55967b4b325707386b5788149db15e/aiortc-1.10.1-cp39-abi3-macosx_11_0_arm64.whl", hash = "sha256:8842c02e38513d9432ef22982572833487bb015f23348fa10a690616dbf55143", size = 898855, upload-time = "2025-02-02T17:36:25.9Z" },
-    { url = "https://files.pythonhosted.org/packages/a4/e9/2676de48b493787d8b03129713e6bb2dfbacca2a565090f2a89cbad71f96/aiortc-1.10.1-cp39-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:954a420de01c0bf6b07a0c58b662029b1c4204ddbd8f5c4162bbdebd43f882b1", size = 1750403, upload-time = "2025-02-02T17:36:28.446Z" },
-    { url = "https://files.pythonhosted.org/packages/c3/9d/ab6d09183cdaf5df060923d9bd5c9ed5fb1802661d9401dba35f3c85a57b/aiortc-1.10.1-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e7c0d46fb30307a9d7deb4b7d66f0b0e73b77a7221b063fb6dc78821a5d2aa1e", size = 1867886, upload-time = "2025-02-02T17:36:30.209Z" },
-    { url = "https://files.pythonhosted.org/packages/c2/71/0b5666e6b965dbd9a7f331aa827a6c3ab3eb4d582fefb686a7f4227b7954/aiortc-1.10.1-cp39-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:89582f6923046f79f15d9045f432bc78191eacc95f6bed18714e86ec935188d9", size = 1893709, upload-time = "2025-02-02T17:36:32.342Z" },
-    { url = "https://files.pythonhosted.org/packages/9d/0a/8c0c78fad79ef595a0ed6e2ab413900e6bd0eac65fc5c31c9d8736bff909/aiortc-1.10.1-cp39-abi3-win32.whl", hash = "sha256:d1cbe87f740b33ffaa8e905f21092773e74916be338b64b81c8b79af4c3847eb", size = 923265, upload-time = "2025-02-02T17:36:34.685Z" },
-    { url = "https://files.pythonhosted.org/packages/73/12/a27dd588a4988021da88cb4d338d8ee65ac097afc14e9193ab0be4a48790/aiortc-1.10.1-cp39-abi3-win_amd64.whl", hash = "sha256:c9a5a0b23f8a77540068faec8837fa0a65b0396c20f09116bdb874b75e0b6abe", size = 1009488, upload-time = "2025-02-02T17:36:36.317Z" },
-]
-
-[[package]]
-name = "aiosignal"
-version = "1.4.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "frozenlist" },
+    { name = "idna" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/61/62/06741b579156360248d1ec624842ad0edf697050bbaf7c3e46394e106ad1/aiosignal-1.4.0.tar.gz", hash = "sha256:f47eecd9468083c2029cc99945502cb7708b082c232f9aca65da147157b251c7", size = 25007, upload-time = "2025-07-03T22:54:43.528Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/61/cc/a381afa6efea9f496eff839d4a6a1aed3bfafc7b3ab4b0d1b243a12573dd/anyio-4.14.2.tar.gz", hash = "sha256:cfa139f3ed1a23ee8f88a145ddb5ac7605b8bbfd8592baacd7ce3d8bb4313c7f", size = 260176, upload-time = "2026-07-12T20:29:07.082Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/fb/76/641ae371508676492379f16e2fa48f4e2c11741bd63c48be4b12a6b09cba/aiosignal-1.4.0-py3-none-any.whl", hash = "sha256:053243f8b92b990551949e63930a839ff0cf0b0ebbe0597b0f3fb19e1a0fe82e", size = 7490, upload-time = "2025-07-03T22:54:42.156Z" },
-]
-
-[[package]]
-name = "attrs"
-version = "25.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/6b/5c/685e6633917e101e5dcb62b9dd76946cbb57c26e133bae9e0cd36033c0a9/attrs-25.4.0.tar.gz", hash = "sha256:16d5969b87f0859ef33a48b35d55ac1be6e42ae49d5e853b597db70c35c57e11", size = 934251, upload-time = "2025-10-06T13:54:44.725Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/3a/2a/7cc015f5b9f5db42b7d48157e23356022889fc354a2813c15934b7cb5c0e/attrs-25.4.0-py3-none-any.whl", hash = "sha256:adcf7e2a1fb3b36ac48d97835bb6d8ade15b8dcce26aba8bf1d14847b57a3373", size = 67615, upload-time = "2025-10-06T13:54:43.17Z" },
-]
-
-[[package]]
-name = "av"
-version = "13.1.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/0c/9d/486d31e76784cc0ad943f420c5e05867263b32b37e2f4b0f7f22fdc1ca3a/av-13.1.0.tar.gz", hash = "sha256:d3da736c55847d8596eb8c26c60e036f193001db3bc5c10da8665622d906c17e", size = 3957908, upload-time = "2024-10-06T04:54:57.507Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/9b/aa/4bdd8ce59173574fc6e0c282c71ee6f96fca82643d97bf172bc4cb5a5674/av-13.1.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:261dbc3f4b55f4f8f3375b10b2258fca7f2ab7a6365c01bc65e77a0d5327a195", size = 24268674, upload-time = "2024-10-06T04:53:11.251Z" },
-    { url = "https://files.pythonhosted.org/packages/17/b4/b267dd5bad99eed49ec6731827c6bcb5ab03864bf732a7ebb81e3df79911/av-13.1.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:83d259ef86b9054eb914bc7c6a7f6092a6d75cb939295e70ee979cfd92a67b99", size = 19475617, upload-time = "2024-10-06T04:53:13.832Z" },
-    { url = "https://files.pythonhosted.org/packages/68/32/4209e51f54d7b54a1feb576d309c671ed1ff437b54fcc4ec68c239199e0a/av-13.1.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f3b4d3ca159eceab97e3c0fb08fe756520fb95508417f76e48198fda2a5b0806", size = 32468873, upload-time = "2024-10-06T04:53:17.639Z" },
-    { url = "https://files.pythonhosted.org/packages/b6/d8/c174da5f06b24f3c9e36f91fd02a7411c39da9ce792c17964260d4be675e/av-13.1.0-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:40e8f757e373b73a2dc4640852a00cce4a4a92ef19b2e642a96d6994cd1fffbf", size = 31818484, upload-time = "2024-10-06T04:53:21.509Z" },
-    { url = "https://files.pythonhosted.org/packages/7f/22/0dd8d1d5cad415772bb707d16aea8b81cf75d340d11d3668eea43468c730/av-13.1.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d8aaec2c0bfd024359db3821d679009d4e637e1bee0321d20f61c54ed6b20f41", size = 34398652, upload-time = "2024-10-06T04:53:25.798Z" },
-    { url = "https://files.pythonhosted.org/packages/7b/ff/48fa68888b8d5bae36d915556ff18f9e5fdc6b5ff5ae23dc4904c9713168/av-13.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:5ea0deab0e6a739cb742fba2a3983d8102f7516a3cdf3c46669f3cac0ed1f351", size = 25781343, upload-time = "2024-10-06T04:53:29.577Z" },
-]
-
-[[package]]
-name = "casadi"
-version = "3.7.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/92/62/1e98662024915ecb09c6894c26a3f497f4afa66570af3f53db4651fc45f1/casadi-3.7.2.tar.gz", hash = "sha256:b4d7bd8acdc4180306903ae1c9eddaf41be2a3ae2fa7154c57174ae64acdc60d", size = 6053600, upload-time = "2025-09-10T10:05:49.521Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/65/c8/689d085447b1966f42bdb8aa4fbebef49a09697dbee32ab02a865c17ac1b/casadi-3.7.2-cp312-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:309ea41a69c9230390d349b0dd899c6a19504d1904c0756bef463e47fb5c8f9a", size = 47116756, upload-time = "2025-09-10T07:53:00.931Z" },
-    { url = "https://files.pythonhosted.org/packages/1e/c0/3c4704394a6fd4dfb2123a4fd71ba64a001f340670a3eba45be7a19ac736/casadi-3.7.2-cp312-none-macosx_11_0_arm64.whl", hash = "sha256:6033381234db810b2247d16c6352e679a009ec4365d04008fc768866e011ed58", size = 42293718, upload-time = "2025-09-10T08:07:16.415Z" },
-    { url = "https://files.pythonhosted.org/packages/f3/24/4cf05469ddf8544da5e92f359f96d716a97e7482999f085a632bc4ef344a/casadi-3.7.2-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:732f2804d0766454bb75596339e4f2da6662ffb669621da0f630ed4af9e83d6a", size = 47276175, upload-time = "2025-09-10T08:08:09.29Z" },
-    { url = "https://files.pythonhosted.org/packages/82/08/b5f57fea03128efd5c860673b6ac44776352e6c1af862b8177f4c503fffe/casadi-3.7.2-cp312-none-manylinux2014_i686.whl", hash = "sha256:cf17298ff0c162735bdf9bf72b765c636ae732130604017a3b52e26e35402857", size = 72430454, upload-time = "2025-09-10T08:09:10.781Z" },
-    { url = "https://files.pythonhosted.org/packages/24/ab/d7233c915b12c005655437c6c4cf0ae46cbbb2b20d743cb5e4881ad3104a/casadi-3.7.2-cp312-none-manylinux2014_x86_64.whl", hash = "sha256:cde616930fa1440ad66f1850670399423edd37354eed9b12e74b3817b98d1187", size = 75568903, upload-time = "2025-09-10T08:10:07.108Z" },
-    { url = "https://files.pythonhosted.org/packages/3e/b9/5b984124f539656efdf079f3d8f09d73667808ec8d0546e6bce6dc60ade6/casadi-3.7.2-cp312-none-win_amd64.whl", hash = "sha256:81d677d2b020c1307c1eb25eae15686e5de199bb066828c3eaabdfaaaf457ffd", size = 50991347, upload-time = "2025-09-10T08:10:46.629Z" },
+    { url = "https://files.pythonhosted.org/packages/da/35/f2287558c17e29fafc8ef3daf819bb9834061cfa43bff8014f7df7f63bdc/anyio-4.14.2-py3-none-any.whl", hash = "sha256:9f505dda5ac9f0c8309b5e8bd445a8c2bf7246f3ce950121e45ea15bc41d1494", size = 125813, upload-time = "2026-07-12T20:29:05.763Z" },
 ]
 
 [[package]]
 name = "certifi"
-version = "2026.1.4"
+version = "2026.7.22"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e0/2d/a891ca51311197f6ad14a7ef42e2399f36cf2f9bd44752b3dc4eab60fdc5/certifi-2026.1.4.tar.gz", hash = "sha256:ac726dd470482006e014ad384921ed6438c457018f4b3d204aea4281258b2120", size = 154268, upload-time = "2026-01-04T02:42:41.825Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/a3/c2/24167ea9858356b47a87a50d39908bfdb72ceeefe0041586e704e5376b3a/certifi-2026.7.22.tar.gz", hash = "sha256:741e2c3b351ddf169a738da9f2c048608ff7f2c5cc02f1ebc6b118bb090d5d55", size = 138112, upload-time = "2026-07-22T03:35:12.644Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/e6/ad/3cc14f097111b4de0040c83a525973216457bbeeb63739ef1ed275c1c021/certifi-2026.1.4-py3-none-any.whl", hash = "sha256:9943707519e4add1115f44c2bc244f782c0249876bf51b6599fee1ffbedd685c", size = 152900, upload-time = "2026-01-04T02:42:40.15Z" },
+    { url = "https://files.pythonhosted.org/packages/0b/a7/71ac2cff56fec219ed242bb11b8efb69fcc4bec75db06fb7bfe35de520e6/certifi-2026.7.22-py3-none-any.whl", hash = "sha256:62f22742b58a1a33014a2b6b706588a8d7e2a88ae7bd1a6ebe8c992928483775", size = 136983, upload-time = "2026-07-22T03:35:11.276Z" },
 ]
 
 [[package]]
 name = "cffi"
-version = "2.0.0"
+version = "2.1.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "pycparser", marker = "implementation_name != 'PyPy'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/eb/56/b1ba7935a17738ae8453301356628e8147c79dbb825bcbc73dc7401f9846/cffi-2.0.0.tar.gz", hash = "sha256:44d1b5909021139fe36001ae048dbdde8214afa20200eda0f64c068cac5d5529", size = 523588, upload-time = "2025-09-08T23:24:04.541Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/9e/ef/008a1939e372c06329a3fce4279c02f328488f3526744906eeec3da7ad5f/cffi-2.1.1.tar.gz", hash = "sha256:dd31f52ea1086513bb9df30f8fcee9b8918323ae067a3d5b78bc826a000712be", size = 530807, upload-time = "2026-08-03T21:21:18.939Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ea/47/4f61023ea636104d4f16ab488e268b93008c3d0bb76893b1b31db1f96802/cffi-2.0.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:6d02d6655b0e54f54c4ef0b94eb6be0607b70853c45ce98bd278dc7de718be5d", size = 185271, upload-time = "2025-09-08T23:22:44.795Z" },
-    { url = "https://files.pythonhosted.org/packages/df/a2/781b623f57358e360d62cdd7a8c681f074a71d445418a776eef0aadb4ab4/cffi-2.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:8eca2a813c1cb7ad4fb74d368c2ffbbb4789d377ee5bb8df98373c2cc0dee76c", size = 181048, upload-time = "2025-09-08T23:22:45.938Z" },
-    { url = "https://files.pythonhosted.org/packages/ff/df/a4f0fbd47331ceeba3d37c2e51e9dfc9722498becbeec2bd8bc856c9538a/cffi-2.0.0-cp312-cp312-manylinux1_i686.manylinux2014_i686.manylinux_2_17_i686.manylinux_2_5_i686.whl", hash = "sha256:21d1152871b019407d8ac3985f6775c079416c282e431a4da6afe7aefd2bccbe", size = 212529, upload-time = "2025-09-08T23:22:47.349Z" },
-    { url = "https://files.pythonhosted.org/packages/d5/72/12b5f8d3865bf0f87cf1404d8c374e7487dcf097a1c91c436e72e6badd83/cffi-2.0.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:b21e08af67b8a103c71a250401c78d5e0893beff75e28c53c98f4de42f774062", size = 220097, upload-time = "2025-09-08T23:22:48.677Z" },
-    { url = "https://files.pythonhosted.org/packages/c2/95/7a135d52a50dfa7c882ab0ac17e8dc11cec9d55d2c18dda414c051c5e69e/cffi-2.0.0-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.whl", hash = "sha256:1e3a615586f05fc4065a8b22b8152f0c1b00cdbc60596d187c2a74f9e3036e4e", size = 207983, upload-time = "2025-09-08T23:22:50.06Z" },
-    { url = "https://files.pythonhosted.org/packages/3a/c8/15cb9ada8895957ea171c62dc78ff3e99159ee7adb13c0123c001a2546c1/cffi-2.0.0-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.whl", hash = "sha256:81afed14892743bbe14dacb9e36d9e0e504cd204e0b165062c488942b9718037", size = 206519, upload-time = "2025-09-08T23:22:51.364Z" },
-    { url = "https://files.pythonhosted.org/packages/78/2d/7fa73dfa841b5ac06c7b8855cfc18622132e365f5b81d02230333ff26e9e/cffi-2.0.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:3e17ed538242334bf70832644a32a7aae3d83b57567f9fd60a26257e992b79ba", size = 219572, upload-time = "2025-09-08T23:22:52.902Z" },
-    { url = "https://files.pythonhosted.org/packages/07/e0/267e57e387b4ca276b90f0434ff88b2c2241ad72b16d31836adddfd6031b/cffi-2.0.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:3925dd22fa2b7699ed2617149842d2e6adde22b262fcbfada50e3d195e4b3a94", size = 222963, upload-time = "2025-09-08T23:22:54.518Z" },
-    { url = "https://files.pythonhosted.org/packages/b6/75/1f2747525e06f53efbd878f4d03bac5b859cbc11c633d0fb81432d98a795/cffi-2.0.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2c8f814d84194c9ea681642fd164267891702542f028a15fc97d4674b6206187", size = 221361, upload-time = "2025-09-08T23:22:55.867Z" },
-    { url = "https://files.pythonhosted.org/packages/7b/2b/2b6435f76bfeb6bbf055596976da087377ede68df465419d192acf00c437/cffi-2.0.0-cp312-cp312-win32.whl", hash = "sha256:da902562c3e9c550df360bfa53c035b2f241fed6d9aef119048073680ace4a18", size = 172932, upload-time = "2025-09-08T23:22:57.188Z" },
-    { url = "https://files.pythonhosted.org/packages/f8/ed/13bd4418627013bec4ed6e54283b1959cf6db888048c7cf4b4c3b5b36002/cffi-2.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:da68248800ad6320861f129cd9c1bf96ca849a2771a59e0344e88681905916f5", size = 183557, upload-time = "2025-09-08T23:22:58.351Z" },
-    { url = "https://files.pythonhosted.org/packages/95/31/9f7f93ad2f8eff1dbc1c3656d7ca5bfd8fb52c9d786b4dcf19b2d02217fa/cffi-2.0.0-cp312-cp312-win_arm64.whl", hash = "sha256:4671d9dd5ec934cb9a73e7ee9676f9362aba54f7f34910956b84d727b0d73fb6", size = 177762, upload-time = "2025-09-08T23:22:59.668Z" },
+    { url = "https://files.pythonhosted.org/packages/10/69/43965eccfdead3b9220015fd1320e117be8c6ed01a62ffab76eeb752f5d5/cffi-2.1.1-cp312-cp312-macosx_10_15_x86_64.whl", hash = "sha256:c8c69575568085ba0b1b10c0249d779a214aea6f6522e949a0fc9fb0fcb449d0", size = 184821, upload-time = "2026-08-03T21:19:44.887Z" },
+    { url = "https://files.pythonhosted.org/packages/54/7d/16e5a096677b5e313ca80cd5e5170efa3ea44624a82bb111925522da64b1/cffi-2.1.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:f81b3b8f3d4e343550fa4baa0e479bba9f2d29ce9c2e9b51d1ce1718d7442fcf", size = 184719, upload-time = "2026-08-03T21:19:46.129Z" },
+    { url = "https://files.pythonhosted.org/packages/56/e6/8941622732edec876dd17d0453dce07317ae96db34f2ec1436c9d3785986/cffi-2.1.1-cp312-cp312-manylinux1_i686.manylinux2014_i686.manylinux_2_17_i686.manylinux_2_5_i686.whl", hash = "sha256:811bd1e21d32de12efca32393a0ab3f5133b54fce9bd44b8bd77ab07da14bf6a", size = 214799, upload-time = "2026-08-03T21:19:47.218Z" },
+    { url = "https://files.pythonhosted.org/packages/44/de/f98430906df1545ffde0d543dd124a7a439bc2cd32b36b9c53f805df7333/cffi-2.1.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:68e62fe11f30d5ca8289242866f0a5291402d8529ca2178ab8afc5c9694ae890", size = 222389, upload-time = "2026-08-03T21:19:48.331Z" },
+    { url = "https://files.pythonhosted.org/packages/6a/5b/717f1526b9957b34456313c31645c5b82b8fb5c3fe9e4752999be7128bfc/cffi-2.1.1-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.whl", hash = "sha256:4a7c934f7360e8cd64fe9efadcbd10c7c6364f531e432b9a4bf5ccbc9e0e8b50", size = 210249, upload-time = "2026-08-03T21:19:49.543Z" },
+    { url = "https://files.pythonhosted.org/packages/64/b3/f8aa4f3e34986c7e4ec45072d1b1b9dd295b6b18007b45518d79726dd725/cffi-2.1.1-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.whl", hash = "sha256:3143d81e29e1e20a9ce10901ec369012947876596f75a222235965f2b7ae832e", size = 208775, upload-time = "2026-08-03T21:19:50.918Z" },
+    { url = "https://files.pythonhosted.org/packages/b1/db/dceb9dd5b231e1da801793f8acc9f3c52a7e1afe40bb1aae37e02b0faad5/cffi-2.1.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:c1453022f490d2459a11819d83ad1d586e9ff65a12ac3e705ffebd46d3685dcf", size = 221822, upload-time = "2026-08-03T21:19:52.054Z" },
+    { url = "https://files.pythonhosted.org/packages/a0/d2/6cd24ae3be000a634109c247d1475d62e5616d0dc78c82770942ec384248/cffi-2.1.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:208f941bb9d18e768138677f0a6d2ce01f590df56043dda1df1535ac57c88517", size = 225232, upload-time = "2026-08-03T21:19:53.109Z" },
+    { url = "https://files.pythonhosted.org/packages/cb/52/3fa190537004dd7f0ab860a6dc7c0175b8667f68d1e618a46f5498d30250/cffi-2.1.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:210019b6c7cf07f081b4c54635c8cf744377001350e29cc0f81c4377b4797735", size = 223597, upload-time = "2026-08-03T21:19:54.515Z" },
+    { url = "https://files.pythonhosted.org/packages/80/fb/0bb75b7039588c074b37ae99f40d9bfddf990ecb2fbc346ebccd2e56b9be/cffi-2.1.1-cp312-cp312-win32.whl", hash = "sha256:046bfc24911b37851ee1b51aab8bffe713d89c68c6a057b09484ce9fd5f69b4e", size = 175292, upload-time = "2026-08-03T21:19:55.566Z" },
+    { url = "https://files.pythonhosted.org/packages/d9/79/615cc094e2fb508cade7de88d3b4f6c4ec2bab695c97bce9153dc65aadf5/cffi-2.1.1-cp312-cp312-win_amd64.whl", hash = "sha256:f53e442b08449d42821fa4a4fba000095af9f62742a500f978a9f557ec44339a", size = 185919, upload-time = "2026-08-03T21:19:56.89Z" },
+    { url = "https://files.pythonhosted.org/packages/70/c6/d0ea84713fe46b243a436a18fcd47d639732747e21635c8a27191b06dc30/cffi-2.1.1-cp312-cp312-win_arm64.whl", hash = "sha256:7bde5e4cc5c10140859842b9d383af292b22639a4dffb725314baf45968cef80", size = 180093, upload-time = "2026-08-03T21:19:58.155Z" },
 ]
 
 [[package]]
 name = "charset-normalizer"
-version = "3.4.4"
+version = "3.4.9"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/13/69/33ddede1939fdd074bce5434295f38fae7136463422fe4fd3e0e89b98062/charset_normalizer-3.4.4.tar.gz", hash = "sha256:94537985111c35f28720e43603b8e7b43a6ecfb2ce1d3058bbe955b73404e21a", size = 129418, upload-time = "2025-10-14T04:42:32.879Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/bd/2a/23f34ec9d04624958e137efdc394888716353190e75f25dd22c7a2c7a8aa/charset_normalizer-3.4.9.tar.gz", hash = "sha256:673611bbd43f0810bec0b0f028ddeaaa501190339cac411f347ac76917c3ae7b", size = 152439, upload-time = "2026-07-07T14:34:58.454Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f3/85/1637cd4af66fa687396e757dec650f28025f2a2f5a5531a3208dc0ec43f2/charset_normalizer-3.4.4-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:0a98e6759f854bd25a58a73fa88833fba3b7c491169f86ce1180c948ab3fd394", size = 208425, upload-time = "2025-10-14T04:40:53.353Z" },
-    { url = "https://files.pythonhosted.org/packages/9d/6a/04130023fef2a0d9c62d0bae2649b69f7b7d8d24ea5536feef50551029df/charset_normalizer-3.4.4-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:b5b290ccc2a263e8d185130284f8501e3e36c5e02750fc6b6bdeb2e9e96f1e25", size = 148162, upload-time = "2025-10-14T04:40:54.558Z" },
-    { url = "https://files.pythonhosted.org/packages/78/29/62328d79aa60da22c9e0b9a66539feae06ca0f5a4171ac4f7dc285b83688/charset_normalizer-3.4.4-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:74bb723680f9f7a6234dcf67aea57e708ec1fbdf5699fb91dfd6f511b0a320ef", size = 144558, upload-time = "2025-10-14T04:40:55.677Z" },
-    { url = "https://files.pythonhosted.org/packages/86/bb/b32194a4bf15b88403537c2e120b817c61cd4ecffa9b6876e941c3ee38fe/charset_normalizer-3.4.4-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:f1e34719c6ed0b92f418c7c780480b26b5d9c50349e9a9af7d76bf757530350d", size = 161497, upload-time = "2025-10-14T04:40:57.217Z" },
-    { url = "https://files.pythonhosted.org/packages/19/89/a54c82b253d5b9b111dc74aca196ba5ccfcca8242d0fb64146d4d3183ff1/charset_normalizer-3.4.4-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:2437418e20515acec67d86e12bf70056a33abdacb5cb1655042f6538d6b085a8", size = 159240, upload-time = "2025-10-14T04:40:58.358Z" },
-    { url = "https://files.pythonhosted.org/packages/c0/10/d20b513afe03acc89ec33948320a5544d31f21b05368436d580dec4e234d/charset_normalizer-3.4.4-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:11d694519d7f29d6cd09f6ac70028dba10f92f6cdd059096db198c283794ac86", size = 153471, upload-time = "2025-10-14T04:40:59.468Z" },
-    { url = "https://files.pythonhosted.org/packages/61/fa/fbf177b55bdd727010f9c0a3c49eefa1d10f960e5f09d1d887bf93c2e698/charset_normalizer-3.4.4-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:ac1c4a689edcc530fc9d9aa11f5774b9e2f33f9a0c6a57864e90908f5208d30a", size = 150864, upload-time = "2025-10-14T04:41:00.623Z" },
-    { url = "https://files.pythonhosted.org/packages/05/12/9fbc6a4d39c0198adeebbde20b619790e9236557ca59fc40e0e3cebe6f40/charset_normalizer-3.4.4-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:21d142cc6c0ec30d2efee5068ca36c128a30b0f2c53c1c07bd78cb6bc1d3be5f", size = 150647, upload-time = "2025-10-14T04:41:01.754Z" },
-    { url = "https://files.pythonhosted.org/packages/ad/1f/6a9a593d52e3e8c5d2b167daf8c6b968808efb57ef4c210acb907c365bc4/charset_normalizer-3.4.4-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:5dbe56a36425d26d6cfb40ce79c314a2e4dd6211d51d6d2191c00bed34f354cc", size = 145110, upload-time = "2025-10-14T04:41:03.231Z" },
-    { url = "https://files.pythonhosted.org/packages/30/42/9a52c609e72471b0fc54386dc63c3781a387bb4fe61c20231a4ebcd58bdd/charset_normalizer-3.4.4-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:5bfbb1b9acf3334612667b61bd3002196fe2a1eb4dd74d247e0f2a4d50ec9bbf", size = 162839, upload-time = "2025-10-14T04:41:04.715Z" },
-    { url = "https://files.pythonhosted.org/packages/c4/5b/c0682bbf9f11597073052628ddd38344a3d673fda35a36773f7d19344b23/charset_normalizer-3.4.4-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:d055ec1e26e441f6187acf818b73564e6e6282709e9bcb5b63f5b23068356a15", size = 150667, upload-time = "2025-10-14T04:41:05.827Z" },
-    { url = "https://files.pythonhosted.org/packages/e4/24/a41afeab6f990cf2daf6cb8c67419b63b48cf518e4f56022230840c9bfb2/charset_normalizer-3.4.4-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:af2d8c67d8e573d6de5bc30cdb27e9b95e49115cd9baad5ddbd1a6207aaa82a9", size = 160535, upload-time = "2025-10-14T04:41:06.938Z" },
-    { url = "https://files.pythonhosted.org/packages/2a/e5/6a4ce77ed243c4a50a1fecca6aaaab419628c818a49434be428fe24c9957/charset_normalizer-3.4.4-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:780236ac706e66881f3b7f2f32dfe90507a09e67d1d454c762cf642e6e1586e0", size = 154816, upload-time = "2025-10-14T04:41:08.101Z" },
-    { url = "https://files.pythonhosted.org/packages/a8/ef/89297262b8092b312d29cdb2517cb1237e51db8ecef2e9af5edbe7b683b1/charset_normalizer-3.4.4-cp312-cp312-win32.whl", hash = "sha256:5833d2c39d8896e4e19b689ffc198f08ea58116bee26dea51e362ecc7cd3ed26", size = 99694, upload-time = "2025-10-14T04:41:09.23Z" },
-    { url = "https://files.pythonhosted.org/packages/3d/2d/1e5ed9dd3b3803994c155cd9aacb60c82c331bad84daf75bcb9c91b3295e/charset_normalizer-3.4.4-cp312-cp312-win_amd64.whl", hash = "sha256:a79cfe37875f822425b89a82333404539ae63dbdddf97f84dcbc3d339aae9525", size = 107131, upload-time = "2025-10-14T04:41:10.467Z" },
-    { url = "https://files.pythonhosted.org/packages/d0/d9/0ed4c7098a861482a7b6a95603edce4c0d9db2311af23da1fb2b75ec26fc/charset_normalizer-3.4.4-cp312-cp312-win_arm64.whl", hash = "sha256:376bec83a63b8021bb5c8ea75e21c4ccb86e7e45ca4eb81146091b56599b80c3", size = 100390, upload-time = "2025-10-14T04:41:11.915Z" },
-    { url = "https://files.pythonhosted.org/packages/0a/4c/925909008ed5a988ccbb72dcc897407e5d6d3bd72410d69e051fc0c14647/charset_normalizer-3.4.4-py3-none-any.whl", hash = "sha256:7a32c560861a02ff789ad905a2fe94e3f840803362c84fecf1851cb4cf3dc37f", size = 53402, upload-time = "2025-10-14T04:42:31.76Z" },
+    { url = "https://files.pythonhosted.org/packages/70/4a/ecbd131485c07fcdfad54e28946d513e3da22ef3b4bd854dcafae54ec739/charset_normalizer-3.4.9-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:45b0cc4e3556cd875e09102988d1ab8356c998b596c9fced84547c8138b487a0", size = 319300, upload-time = "2026-07-07T14:33:15.666Z" },
+    { url = "https://files.pythonhosted.org/packages/ec/96/5d9364e3342d69f3a045e1777bc47c85c383e6e9466d561b33fdb419d1f9/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:9b2aff1c7b3884512b9512c3eaadd9bab39fb45042ffaaa1dd08ff2b9f8109d9", size = 215802, upload-time = "2026-07-07T14:33:17.031Z" },
+    { url = "https://files.pythonhosted.org/packages/4b/4c/5361f9aa7f2cb58d94f2ab831b3d493f69efb1d239654b4744e3c09527cb/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:9104ed0bd76a429d46f9ec0dbc9b08ad1d2dcdf2b00a5a0daa1c145329b35b44", size = 237171, upload-time = "2026-07-07T14:33:18.576Z" },
+    { url = "https://files.pythonhosted.org/packages/50/78/ce342ca4ff30b2eb49fe6d9578df85974f90c67d294113e94efdd9664cbd/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:7b86a2b16095d250c6f58b3d9b2eee6f4147754344f3dab0922f7c9bf7d226c9", size = 233075, upload-time = "2026-07-07T14:33:20.084Z" },
+    { url = "https://files.pythonhosted.org/packages/01/c4/4fa4c8b3097a11f3c5f09a35b72ed6855fb1d332469504962ab7bafcc702/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:5e226f6218febc71f6c1fc2fafb91c226f75bdc1d8fb12d66823716e891608fd", size = 224256, upload-time = "2026-07-07T14:33:21.747Z" },
+    { url = "https://files.pythonhosted.org/packages/87/3a/ad914516df7e358a81aae018caa5e0470ba827fa6d763b1d2e87d920a5f6/charset_normalizer-3.4.9-cp312-cp312-manylinux_2_31_armv7l.whl", hash = "sha256:90c44bc373b7687f6948b693cceaea1348ae0975d7474746559494468e3c1d84", size = 208784, upload-time = "2026-07-07T14:33:23.313Z" },
+    { url = "https://files.pythonhosted.org/packages/d7/74/3c12f9755717dfe5c5c87da63f35d765fa0c00382ec26bf23f7fae34f2ba/charset_normalizer-3.4.9-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:9cdef90ae47919cae358d8ab15797a800ed41da7aba5d72419fb510729e2ed4b", size = 219928, upload-time = "2026-07-07T14:33:24.814Z" },
+    { url = "https://files.pythonhosted.org/packages/33/9a/895095b83e7907abd6d3d99aad3a38ad0d9686cc186cb0c94c24320fe63e/charset_normalizer-3.4.9-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:60f44ade2cf573dad7a277e6f8ca9a51a21dda572b13bd7d8539bb3cd5dbedde", size = 218489, upload-time = "2026-07-07T14:33:26.42Z" },
+    { url = "https://files.pythonhosted.org/packages/a1/34/ef5c05f412f42520d7709b7d3784d19640839eb7366ded1755511585429f/charset_normalizer-3.4.9-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:a1786910334ed46ab1dd73222f2cd1e05c2c3bb39f6dddb4f8b36fc382058a39", size = 210267, upload-time = "2026-07-07T14:33:27.952Z" },
+    { url = "https://files.pythonhosted.org/packages/83/dc/9b29fa4412b318bf3bfea985c35d67eb55e04b59a7c3f2237168b0e0be6f/charset_normalizer-3.4.9-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:03d07803992c6c7bbc976327f34b18b6160327fc81cb82c9d504720ac0be3b62", size = 226030, upload-time = "2026-07-07T14:33:29.397Z" },
+    { url = "https://files.pythonhosted.org/packages/0e/42/6dbc00b8cd16011691203e33570fa42ed5746599a2e878112d16eab403a3/charset_normalizer-3.4.9-cp312-cp312-win32.whl", hash = "sha256:78841cccf1af7b40f6f716338d50c0902dbe88d9f800b3c973b7a9a0a693a642", size = 151185, upload-time = "2026-07-07T14:33:30.781Z" },
+    { url = "https://files.pythonhosted.org/packages/80/cc/f920afd1a23c58ccd53c1d36085a71893a4737ff5e66e0371efab6809850/charset_normalizer-3.4.9-cp312-cp312-win_amd64.whl", hash = "sha256:4b3dac63058cc36820b0dd072f89898604e2d39686fe05321729d00d8ac185a0", size = 162557, upload-time = "2026-07-07T14:33:32.176Z" },
+    { url = "https://files.pythonhosted.org/packages/f0/e6/0386d43a261ff4e4b30c5857af7df877254b46bec7b9d1b74b6bf969a90b/charset_normalizer-3.4.9-cp312-cp312-win_arm64.whl", hash = "sha256:78fa18e436a1a0e58dbd7e02fc4473f3f32cceb12df9dfca542d075961c307d2", size = 152665, upload-time = "2026-07-07T14:33:33.711Z" },
+    { url = "https://files.pythonhosted.org/packages/98/2b/f97f1c193fb855c345d678f5077d6926034db0722df74c8f057020e05a25/charset_normalizer-3.4.9-py3-none-any.whl", hash = "sha256:68e5f26a1ad57ded6d1cfb85331d1c1a195314756471d97758c48498bb4dcdf5", size = 64538, upload-time = "2026-07-07T14:34:56.993Z" },
 ]
 
 [[package]]
 name = "click"
-version = "8.3.1"
+version = "8.4.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/3d/fa/656b739db8587d7b5dfa22e22ed02566950fbfbcdc20311993483657a5c0/click-8.3.1.tar.gz", hash = "sha256:12ff4785d337a1bb490bb7e9c2b1ee5da3112e94a8622f26a6c77f5d2fc6842a", size = 295065, upload-time = "2025-11-15T20:45:42.706Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/76/d4/81420972a676e8ffea40450d8c8c92943e7218a78fe9b64359836cc9876b/click-8.4.2.tar.gz", hash = "sha256:9a6cea6e60b17ebe0a44c5cc636d94f09bd66142c1cd7d8b4cd731c4917a15f6", size = 338000, upload-time = "2026-06-24T17:45:15.148Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/98/78/01c019cdb5d6498122777c1a43056ebb3ebfeef2076d9d026bfe15583b2b/click-8.3.1-py3-none-any.whl", hash = "sha256:981153a64e25f12d547d3426c367a4857371575ee7ad18df2a6183ab0545b2a6", size = 108274, upload-time = "2025-11-15T20:45:41.139Z" },
-]
-
-[[package]]
-name = "cloudpickle"
-version = "3.1.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/27/fb/576f067976d320f5f0114a8d9fa1215425441bb35627b1993e5afd8111e5/cloudpickle-3.1.2.tar.gz", hash = "sha256:7fda9eb655c9c230dab534f1983763de5835249750e85fbcef43aaa30a9a2414", size = 22330, upload-time = "2025-11-03T09:25:26.604Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/88/39/799be3f2f0f38cc727ee3b4f1445fe6d5e4133064ec2e4115069418a5bb6/cloudpickle-3.1.2-py3-none-any.whl", hash = "sha256:9acb47f6afd73f60dc1df93bb801b472f05ff42fa6c84167d25cb206be1fbf4a", size = 22228, upload-time = "2025-11-03T09:25:25.534Z" },
+    { url = "https://files.pythonhosted.org/packages/fb/e2/79c688af8b210d232694e31e59da9f6ec747bae31c3f5946e4e9b98860d5/click-8.4.2-py3-none-any.whl", hash = "sha256:e6f9f66136c816745b9d65817da91d61d957fb16e02e4dcd0552553c5a197b76", size = 119243, upload-time = "2026-06-24T17:45:13.73Z" },
 ]
 
 [[package]]
 name = "codespell"
-version = "2.4.1"
+version = "2.4.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/15/e0/709453393c0ea77d007d907dd436b3ee262e28b30995ea1aa36c6ffbccaf/codespell-2.4.1.tar.gz", hash = "sha256:299fcdcb09d23e81e35a671bbe746d5ad7e8385972e65dbb833a2eaac33c01e5", size = 344740, upload-time = "2025-01-28T18:52:39.411Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/80/19/45e941380f69c042b43423513d201e6592346f992394347f5e7174c31407/codespell-2.4.3.tar.gz", hash = "sha256:cbe085e331227b37bb86ef8bddd08dc768c704ee9a07ca869852c093fa2793e2", size = 352773, upload-time = "2026-07-15T11:51:54.159Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/20/01/b394922252051e97aab231d416c86da3d8a6d781eeadcdca1082867de64e/codespell-2.4.1-py3-none-any.whl", hash = "sha256:3dadafa67df7e4a3dbf51e0d7315061b80d265f9552ebd699b3dd6834b47e425", size = 344501, upload-time = "2025-01-28T18:52:37.057Z" },
+    { url = "https://files.pythonhosted.org/packages/8b/bf/bdb951d34eb169140b546f44be9ec4525d1acefb9eb5572071f5492b19fc/codespell-2.4.3-py3-none-any.whl", hash = "sha256:af2505b335e8573dbd2d384d1c4ef498f4006f4ba2d6fceca01e55b91f52628a", size = 340736, upload-time = "2026-07-15T11:51:52.925Z" },
 ]
 
 [[package]]
@@ -232,6 +102,150 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d1/d6/3965ed04c63042e047cb6a3e6ed1a63a35087b6a609aa3a15ed8ac56c221/colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6", size = 25335, upload-time = "2022-10-25T02:36:20.889Z" },
 ]
 
+[[package]]
+name = "comma-deps-acados"
+version = "0.2.2.post98"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "numpy" },
+]
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/3d/13/1190aed06e91a9f9024b16fb44a4184842e56ac39dbaec8e6aea83cb1d7e/comma_deps_acados-0.2.2.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:64c002e0d6170c7bdec300159bbbe07cf3e05fa54ae5890fe736190fc3543fe7", size = 10635996, upload-time = "2026-07-23T17:01:04.136Z" },
+    { url = "https://files.pythonhosted.org/packages/d6/24/a16888f692e2a2759b656847b7e6ca2dbbca666e64e1372e3e158d25e29f/comma_deps_acados-0.2.2.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:356ce6020430eb5b53d637bf870c27b10ad8599c9ade0abd2c520c3e00143410", size = 11657744, upload-time = "2026-07-23T17:01:08.618Z" },
+    { url = "https://files.pythonhosted.org/packages/73/9d/24377b731093e015a44fff043dd7ea5b77b0de62acf48b5a0e7d5a662a15/comma_deps_acados-0.2.2.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:e55ac429d848415930a0b82ab100a310e1848b48cdbaa8dda574b561b43c50d0", size = 13124767, upload-time = "2026-07-23T17:01:13.091Z" },
+]
+
+[[package]]
+name = "comma-deps-bootstrap-icons"
+version = "1.10.5.0.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/aa/69/da1a72b8b7783b0caf9a54b27c7124bad11768b8bce2c656ef3b700ab831/comma_deps_bootstrap_icons-1.10.5.0.post98-py3-none-any.whl", hash = "sha256:cabaeecea398eb867b96a6c653c6078691a437c0eff2364530194a218d94cb99", size = 385998, upload-time = "2026-07-23T17:01:17.476Z" },
+]
+
+[[package]]
+name = "comma-deps-capnproto"
+version = "1.0.1.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/ca/83/d3e6346a31491be1d378e4585f37a7979eb772018616abfa74fb27750f1e/comma_deps_capnproto-1.0.1.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:9f4d08682df92411b360bec855cb6475990313cd0ecd8ed5c6ee02befb9db913", size = 2407343, upload-time = "2026-07-23T17:01:21.247Z" },
+    { url = "https://files.pythonhosted.org/packages/b0/8b/6f2a29d50ed4c8741dbf0a34ab109899268d09753518cd693e881bbf1a9d/comma_deps_capnproto-1.0.1.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:6cdf838a8d415ac71e1f52306624ab3ab6f27777f6ce89c0059c4129ea7b7f62", size = 2506355, upload-time = "2026-07-23T17:01:25.254Z" },
+    { url = "https://files.pythonhosted.org/packages/08/24/e91f2203d62e4db9de7dae06dd0cdefb1e000d8b3ba0bde48367be7e5b63/comma_deps_capnproto-1.0.1.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:3d95993c9aff0c89e39ca965e995021dd3dccdfc3d5d85152916cf4bf651b7ec", size = 2590764, upload-time = "2026-07-23T17:01:29.062Z" },
+]
+
+[[package]]
+name = "comma-deps-eigen"
+version = "3.4.0.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/3e/2f/89011c71976da6e1c3d7be315afa3d86ff25deeada1ad2319ac6be0e18ea/comma_deps_eigen-3.4.0.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:bd182634cf4fa537e7815238d3135e6e89be5826421a495be92258c6c388b527", size = 2275893, upload-time = "2026-07-23T17:01:44.622Z" },
+    { url = "https://files.pythonhosted.org/packages/2c/61/fcd4ad536c51437ee73ac255f3b8a23fb5f21bb1f96e834d8036c3bbcf08/comma_deps_eigen-3.4.0.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:250c15f6217c37736a2f54298d01f6e32f6e977faa87cc358de67ea3d121725e", size = 2275896, upload-time = "2026-07-23T17:01:48.397Z" },
+    { url = "https://files.pythonhosted.org/packages/d3/a2/2b7633fe5a5a2914900933393c315e9bd86e8fb7bbbe328d3a220eaf2027/comma_deps_eigen-3.4.0.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:dee9eb6c6c7e58201d7a36611857b7b3f3ba70f888ee07493fef2ea41d0d2cae", size = 2275898, upload-time = "2026-07-23T17:01:52.179Z" },
+]
+
+[[package]]
+name = "comma-deps-ffmpeg"
+version = "7.1.0.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/20/59/4899ac0fa54905f43e237fff122008d6c591918b41e36880eeb18cd6279c/comma_deps_ffmpeg-7.1.0.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:7816c5adc9c6a7462209ccf1d023c42d7e38a4eee47aa2f43d45dfc8320063f8", size = 7326312, upload-time = "2026-07-23T17:01:55.975Z" },
+    { url = "https://files.pythonhosted.org/packages/29/cb/6e047c19c39977c5ae322ad698b91d8d9fce43314cb86563de91bb161982/comma_deps_ffmpeg-7.1.0.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:45ad401b4058e3f7efb8d6841e1f187e8c265e942e56e7fb01db1ba9096e6b78", size = 4437675, upload-time = "2026-07-23T17:01:59.971Z" },
+    { url = "https://files.pythonhosted.org/packages/76/3d/cda4b19fa5a7b26921a518143c94fd3632030a34b157cab6d6f10f2c86bc/comma_deps_ffmpeg-7.1.0.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:9e7034739d45a45254c4200a555d343b22ce117429bebc2de2c1b05f050bfc8c", size = 4681499, upload-time = "2026-07-23T17:02:03.963Z" },
+]
+
+[[package]]
+name = "comma-deps-gcc-arm-none-eabi"
+version = "13.2.1.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/0e/e5/a4cd9faa80bf419c6a7052c99dfe565c283a5c966e90ce35b1b4040b24b8/comma_deps_gcc_arm_none_eabi-13.2.1.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:d0e6991b845636ab19e46199bc5cb9dd056611bc6b93c6bca4f2bb5002783533", size = 15238810, upload-time = "2026-07-23T17:02:08.588Z" },
+    { url = "https://files.pythonhosted.org/packages/5b/81/690ce48945aecf58e475cb728a8d2f6c034493afd87b5b0381a85dd324b4/comma_deps_gcc_arm_none_eabi-13.2.1.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:41fef00d033e0f6c12e1748829d95e53942826e0085f57d918351b2de69530d7", size = 17367240, upload-time = "2026-07-23T17:02:13.637Z" },
+    { url = "https://files.pythonhosted.org/packages/41/a9/6af914145bd5c9ce3468a95500558bdc0a438f69700daedd37535945294e/comma_deps_gcc_arm_none_eabi-13.2.1.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:ed3630aac06b3a1db78ba5a29a33b900a51dd1c0b37f86cbfe3c1591993178f8", size = 16941137, upload-time = "2026-07-23T17:02:18.976Z" },
+]
+
+[[package]]
+name = "comma-deps-git-lfs"
+version = "3.6.1.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/79/27/ecfda511eb334822d9bc464ec2d9b74d3c553784811a885baba34a27eaf6/comma_deps_git_lfs-3.6.1.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:259b1f4859bb3ab20fdcc012be0a9868a3649e1087d5cec07eaade7adea44c78", size = 4685104, upload-time = "2026-07-23T17:02:23.67Z" },
+    { url = "https://files.pythonhosted.org/packages/00/a5/9631b4a676279b353f82d4e2da62eb567c70fff628133a62d7f70fbf5924/comma_deps_git_lfs-3.6.1.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:60d39254138b2c7c3f15cc512c14504c11881e79885492321e1ffc3ecb840f93", size = 4485276, upload-time = "2026-07-23T17:02:27.751Z" },
+    { url = "https://files.pythonhosted.org/packages/09/5a/7ef6bc209d8ec15c40b1f988345e2e59c535a215284366916422ba0d0c30/comma_deps_git_lfs-3.6.1.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:9586057ca9c6e77e9068128f3e96f0ca03db29a757414b1b251bab4ca31ee6b8", size = 4889582, upload-time = "2026-07-23T17:02:31.454Z" },
+]
+
+[[package]]
+name = "comma-deps-imgui"
+version = "1.92.7.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/f4/e4/b9f4b68973bfd529314c28fcd87cb2f52b5dc7d9fdeb3be2d3d15b7cea25/comma_deps_imgui-1.92.7.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:6fddf76138b1e54fe33e9f5ea3cbcb650f92fef8fbcf7e5080800ea851d68b98", size = 1688011, upload-time = "2026-07-23T17:02:35.416Z" },
+    { url = "https://files.pythonhosted.org/packages/7f/46/92030abf6e42e9813f144d10bcf541b39a246c5ca2d63d049478deac650b/comma_deps_imgui-1.92.7.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:9f7eed0f759e59afcf289967edb3d94c48a38fe97527f2909dbbc70a850dc2cc", size = 2522785, upload-time = "2026-07-23T17:02:39.092Z" },
+    { url = "https://files.pythonhosted.org/packages/7d/57/d41e76559a553565413976695fb63a768d3446d12eccc9e736a12b53e662/comma_deps_imgui-1.92.7.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:07eeb105cce73ec3b27789501c78dcd059d75e736a99f1953358ef5097e7036f", size = 2655476, upload-time = "2026-07-23T17:02:42.925Z" },
+]
+
+[[package]]
+name = "comma-deps-json11"
+version = "20170411.0.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/c1/f4/50411c9134a8347831a72f90318b7b7d91ce566e63575b8a4a821be50ca4/comma_deps_json11-20170411.0.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:20d666897062487e4cd93b8e4eb9c53ecabf706864be8d8cbb60a56f0113c452", size = 34034, upload-time = "2026-07-23T17:02:46.595Z" },
+    { url = "https://files.pythonhosted.org/packages/1f/54/0c87fae682ee52e6aec371336ac980921ad34cedabb69e576cc9f83c40a7/comma_deps_json11-20170411.0.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:9b4a03909609b832dc99b06503fb8c77419399a99e0db982d4c3f51f1563aa73", size = 41848, upload-time = "2026-07-23T17:02:50.039Z" },
+    { url = "https://files.pythonhosted.org/packages/7b/71/dd100992e13f2c7a01f68eebcd1e3cf43f1d169e4b80b0577f330e5f5c12/comma_deps_json11-20170411.0.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:1da9030908f3a6631a0a254f493c382ba061c2e8ddb280a30d64430af29f4638", size = 42602, upload-time = "2026-07-23T17:02:53.233Z" },
+]
+
+[[package]]
+name = "comma-deps-libusb"
+version = "1.0.29.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/47/fb/f7d342a8f785fc1c0fd5d6883e1a5a7d424a1899b888f78f9091f4b98049/comma_deps_libusb-1.0.29.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:a10b82a946c33c23152cee3e330ce76d398ddce1f38fea62e33773bef8f56164", size = 102339, upload-time = "2026-07-23T17:02:56.567Z" },
+    { url = "https://files.pythonhosted.org/packages/b7/fe/1b21692cc03078219a3946aae56086a109168a4b4dcfba3a22ce1cd01064/comma_deps_libusb-1.0.29.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:39567eeef6170ece389526780f90c3b75cbcfdf427f648f6b1539c203f7387a8", size = 94431, upload-time = "2026-07-23T17:03:00.01Z" },
+    { url = "https://files.pythonhosted.org/packages/49/d2/d93aac76b94ae87f7a37ce88f2e7e1184e19e67d10c068c1aac209075450/comma_deps_libusb-1.0.29.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:5e5b86be94b4a355c6be933ed21586d01b1d7ba597298dafd33b871a1ae66416", size = 93462, upload-time = "2026-07-23T17:03:03.218Z" },
+]
+
+[[package]]
+name = "comma-deps-ncurses"
+version = "6.5.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/d0/d4/03e62b2a0be92ad420653ff1cf4396de9840c4c59cdc6e000ea5614f7744/comma_deps_ncurses-6.5.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:22ade1596deb18538d4bf59708aa2747c28c2e0e7048f13f5bfce3e5588f7417", size = 264921, upload-time = "2026-07-23T17:03:06.576Z" },
+    { url = "https://files.pythonhosted.org/packages/1a/ab/295b428ef473dbe0d7088ff02daf5ba17b924f3b915ac69a8a9c45a6eb2b/comma_deps_ncurses-6.5.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:6724d3e8c1f2e59d2475f7588d86494bcc4001e993fd7dff4c91ecb046edc97f", size = 260844, upload-time = "2026-07-23T17:03:10.329Z" },
+    { url = "https://files.pythonhosted.org/packages/cd/db/75afb33eaa86425d9bee68153f6141be2645cf5699b2cab5a7cbf7a36099/comma_deps_ncurses-6.5.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:d85e70e98f4b0a969d63a4a61a1a5b85db3c648ea58422401b55f386813f7d12", size = 248352, upload-time = "2026-07-23T17:03:13.786Z" },
+]
+
+[[package]]
+name = "comma-deps-raylib"
+version = "6.0.0.1.post98"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "cffi" },
+]
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/9c/21/59509b2758e3612c63336df5534ea3b36e472e06c18a50f0b96c32e8e3e0/comma_deps_raylib-6.0.0.1.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:838a6115f508ee4ca0e4c84975c0892d67c10f94b11dd2bc0e023ad65138d010", size = 2004199, upload-time = "2026-07-23T17:03:17.648Z" },
+    { url = "https://files.pythonhosted.org/packages/c2/f5/84e135ac611a6dfe8b95ff989097c200770907907afba78455d4c863981e/comma_deps_raylib-6.0.0.1.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:9347fe18799c209dd1af746a44a94433bae69d4644de10e11dcc307aecd87fb1", size = 7203023, upload-time = "2026-07-23T17:03:21.525Z" },
+    { url = "https://files.pythonhosted.org/packages/fe/1b/ae0959dac622f7169de230ec98c6555870ae0ad4f61e7b8d32922fa960ed/comma_deps_raylib-6.0.0.1.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:f9fd393fbaf1f16d7785be0b2252ef3b14a953c93d89296ed9a67bc7063de882", size = 5055448, upload-time = "2026-07-23T17:03:25.737Z" },
+]
+
+[[package]]
+name = "comma-deps-zeromq"
+version = "4.3.5.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/12/b7/b0070e091dae4be2cecccfb2921167b568d0e7bb9ea600b5814603e0590f/comma_deps_zeromq-4.3.5.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:0ecde97133d657024bf99ac7302130905a131dabedbc8425b6666b2058ce6acb", size = 815150, upload-time = "2026-07-23T17:03:29.517Z" },
+    { url = "https://files.pythonhosted.org/packages/2f/9a/d6a381b079516eca1b8a86aa3e972e550a48ff2f069ccc722b118ab53d60/comma_deps_zeromq-4.3.5.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:110a628ea440ea75707ad29fd90341d300414b0092137b1d43e8f19d100cf2fa", size = 833389, upload-time = "2026-07-23T17:03:33.25Z" },
+    { url = "https://files.pythonhosted.org/packages/af/d7/504649efc8dbe8ce4c0cbec085178d1c3298f6950bd4bbca1683a90c49ed/comma_deps_zeromq-4.3.5.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:cd16a515f00f5fb679c2883970c2e7f446ad84e65d7fcf045d325952f9cc3607", size = 798894, upload-time = "2026-07-23T17:03:36.788Z" },
+]
+
+[[package]]
+name = "comma-deps-zstd"
+version = "1.5.6.post98"
+source = { registry = "https://pypi.org/simple" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/ef/66/fd1098b4514e759d85e19d604d446ecec1f67e2f452df9e280d01a2449f7/comma_deps_zstd-1.5.6.post98-py3-none-macosx_11_0_arm64.whl", hash = "sha256:2b6acdd50e71ec67a1426423cda5116a7cb43900dd2e4fca2cbcbb7d588be171", size = 1065140, upload-time = "2026-07-23T17:03:40.465Z" },
+    { url = "https://files.pythonhosted.org/packages/0c/ba/1d61aae97577bbf13c9c02e7e69d4c9391947d8d0d09ca4ad78f2e3d0faa/comma_deps_zstd-1.5.6.post98-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:04825faf902754a0945ebac374d01d676b7e5f98a68e460452319de509b369f3", size = 1006145, upload-time = "2026-07-23T17:03:44.144Z" },
+    { url = "https://files.pythonhosted.org/packages/a9/22/94d164407b579090eb3aceeeb63fbd8c540f6972a11e5b72fe3ca3139333/comma_deps_zstd-1.5.6.post98-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:316200a52c9ac1aeb6b22030480ffebaa1d91756c18a3f3cf216368a5fb35bfd", size = 1030359, upload-time = "2026-07-23T17:03:47.999Z" },
+]
+
 [[package]]
 name = "contourpy"
 version = "1.3.3"
@@ -256,71 +270,63 @@ wheels = [
 
 [[package]]
 name = "coverage"
-version = "7.13.4"
+version = "7.15.4"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/24/56/95b7e30fa389756cb56630faa728da46a27b8c6eb46f9d557c68fff12b65/coverage-7.13.4.tar.gz", hash = "sha256:e5c8f6ed1e61a8b2dcdf31eb0b9bbf0130750ca79c1c49eb898e2ad86f5ccc91", size = 827239, upload-time = "2026-02-09T12:59:03.86Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/be/c3/4f2195f512fb172aa425a8803a874b2baa9ba7f80ff7b6080998761fc701/coverage-7.15.4.tar.gz", hash = "sha256:0548198fff07ccf4faf469520bce1c2eceb1ce3e62891921138dec10907f9d00", size = 936952, upload-time = "2026-08-06T13:50:24.442Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/d1/81/4ce2fdd909c5a0ed1f6dedb88aa57ab79b6d1fbd9b588c1ac7ef45659566/coverage-7.13.4-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:02231499b08dabbe2b96612993e5fc34217cdae907a51b906ac7fca8027a4459", size = 219449, upload-time = "2026-02-09T12:56:54.889Z" },
-    { url = "https://files.pythonhosted.org/packages/5d/96/5238b1efc5922ddbdc9b0db9243152c09777804fb7c02ad1741eb18a11c0/coverage-7.13.4-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40aa8808140e55dc022b15d8aa7f651b6b3d68b365ea0398f1441e0b04d859c3", size = 219810, upload-time = "2026-02-09T12:56:56.33Z" },
-    { url = "https://files.pythonhosted.org/packages/78/72/2f372b726d433c9c35e56377cf1d513b4c16fe51841060d826b95caacec1/coverage-7.13.4-cp312-cp312-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:5b856a8ccf749480024ff3bd7310adaef57bf31fd17e1bfc404b7940b6986634", size = 251308, upload-time = "2026-02-09T12:56:57.858Z" },
-    { url = "https://files.pythonhosted.org/packages/5d/a0/2ea570925524ef4e00bb6c82649f5682a77fac5ab910a65c9284de422600/coverage-7.13.4-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:2c048ea43875fbf8b45d476ad79f179809c590ec7b79e2035c662e7afa3192e3", size = 254052, upload-time = "2026-02-09T12:56:59.754Z" },
-    { url = "https://files.pythonhosted.org/packages/e8/ac/45dc2e19a1939098d783c846e130b8f862fbb50d09e0af663988f2f21973/coverage-7.13.4-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:b7b38448866e83176e28086674fe7368ab8590e4610fb662b44e345b86d63ffa", size = 255165, upload-time = "2026-02-09T12:57:01.287Z" },
-    { url = "https://files.pythonhosted.org/packages/2d/4d/26d236ff35abc3b5e63540d3386e4c3b192168c1d96da5cb2f43c640970f/coverage-7.13.4-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:de6defc1c9badbf8b9e67ae90fd00519186d6ab64e5cc5f3d21359c2a9b2c1d3", size = 257432, upload-time = "2026-02-09T12:57:02.637Z" },
-    { url = "https://files.pythonhosted.org/packages/ec/55/14a966c757d1348b2e19caf699415a2a4c4f7feaa4bbc6326a51f5c7dd1b/coverage-7.13.4-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:7eda778067ad7ffccd23ecffce537dface96212576a07924cbf0d8799d2ded5a", size = 251716, upload-time = "2026-02-09T12:57:04.056Z" },
-    { url = "https://files.pythonhosted.org/packages/77/33/50116647905837c66d28b2af1321b845d5f5d19be9655cb84d4a0ea806b4/coverage-7.13.4-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:e87f6c587c3f34356c3759f0420693e35e7eb0e2e41e4c011cb6ec6ecbbf1db7", size = 253089, upload-time = "2026-02-09T12:57:05.503Z" },
-    { url = "https://files.pythonhosted.org/packages/c2/b4/8efb11a46e3665d92635a56e4f2d4529de6d33f2cb38afd47d779d15fc99/coverage-7.13.4-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:8248977c2e33aecb2ced42fef99f2d319e9904a36e55a8a68b69207fb7e43edc", size = 251232, upload-time = "2026-02-09T12:57:06.879Z" },
-    { url = "https://files.pythonhosted.org/packages/51/24/8cd73dd399b812cc76bb0ac260e671c4163093441847ffe058ac9fda1e32/coverage-7.13.4-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:25381386e80ae727608e662474db537d4df1ecd42379b5ba33c84633a2b36d47", size = 255299, upload-time = "2026-02-09T12:57:08.245Z" },
-    { url = "https://files.pythonhosted.org/packages/03/94/0a4b12f1d0e029ce1ccc1c800944a9984cbe7d678e470bb6d3c6bc38a0da/coverage-7.13.4-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:ee756f00726693e5ba94d6df2bdfd64d4852d23b09bb0bc700e3b30e6f333985", size = 250796, upload-time = "2026-02-09T12:57:10.142Z" },
-    { url = "https://files.pythonhosted.org/packages/73/44/6002fbf88f6698ca034360ce474c406be6d5a985b3fdb3401128031eef6b/coverage-7.13.4-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:fdfc1e28e7c7cdce44985b3043bc13bbd9c747520f94a4d7164af8260b3d91f0", size = 252673, upload-time = "2026-02-09T12:57:12.197Z" },
-    { url = "https://files.pythonhosted.org/packages/de/c6/a0279f7c00e786be75a749a5674e6fa267bcbd8209cd10c9a450c655dfa7/coverage-7.13.4-cp312-cp312-win32.whl", hash = "sha256:01d4cbc3c283a17fc1e42d614a119f7f438eabb593391283adca8dc86eff1246", size = 221990, upload-time = "2026-02-09T12:57:14.085Z" },
-    { url = "https://files.pythonhosted.org/packages/77/4e/c0a25a425fcf5557d9abd18419c95b63922e897bc86c1f327f155ef234a9/coverage-7.13.4-cp312-cp312-win_amd64.whl", hash = "sha256:9401ebc7ef522f01d01d45532c68c5ac40fb27113019b6b7d8b208f6e9baa126", size = 222800, upload-time = "2026-02-09T12:57:15.944Z" },
-    { url = "https://files.pythonhosted.org/packages/47/ac/92da44ad9a6f4e3a7debd178949d6f3769bedca33830ce9b1dcdab589a37/coverage-7.13.4-cp312-cp312-win_arm64.whl", hash = "sha256:b1ec7b6b6e93255f952e27ab58fbc68dcc468844b16ecbee881aeb29b6ab4d8d", size = 221415, upload-time = "2026-02-09T12:57:17.497Z" },
-    { url = "https://files.pythonhosted.org/packages/0d/4a/331fe2caf6799d591109bb9c08083080f6de90a823695d412a935622abb2/coverage-7.13.4-py3-none-any.whl", hash = "sha256:1af1641e57cf7ba1bd67d677c9abdbcd6cc2ab7da3bca7fa1e2b7e50e65f2ad0", size = 211242, upload-time = "2026-02-09T12:59:02.032Z" },
-]
-
-[[package]]
-name = "crcmod-plus"
-version = "2.3.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/0b/0c/71733bbaf38e9f1eaecfdf7f8e350993f3dcac208a5297c41503ae66e513/crcmod_plus-2.3.1.tar.gz", hash = "sha256:732ffe3c3ce3ef9b272e1827d8fb894590c4d6ff553f2a2b41ae30f4f94b0f5d", size = 22319, upload-time = "2025-10-10T22:14:21.691Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/47/e0/2dad2e6f0cd4914b4144496d9785780ec820e200816c080df785cfa34da6/crcmod_plus-2.3.1-cp311-abi3-macosx_10_9_universal2.whl", hash = "sha256:b7e35e0f7d93d7571c2c9c3d6760e456999ea4c1eae5ead6acac247b5a79e469", size = 23279, upload-time = "2025-10-10T22:13:47.281Z" },
-    { url = "https://files.pythonhosted.org/packages/66/76/53c0b65b9679b903f98fc54efa32b0e5a19634712a45200c7a80674aa6f5/crcmod_plus-2.3.1-cp311-abi3-macosx_10_9_x86_64.whl", hash = "sha256:6853243120db84677b94b625112116f0ef69cd581741d20de58dce4c34242654", size = 20185, upload-time = "2025-10-10T22:13:48.06Z" },
-    { url = "https://files.pythonhosted.org/packages/98/79/2b4dc9bb26394873d7699737124408b5106264ae33053fdec600e9a9fa65/crcmod_plus-2.3.1-cp311-abi3-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:17735bc4e944d552ea18c8609fc6d08a5e64ee9b29cc216ba4d623754029cc3a", size = 26999, upload-time = "2025-10-10T22:13:48.854Z" },
-    { url = "https://files.pythonhosted.org/packages/bb/e8/f5d66778b5a1bff915807016561a02b5cebf6b3840fb8a2be40bbb0c8575/crcmod_plus-2.3.1-cp311-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:8ac755040a2a35f43ab331978c48a9acb4ff64b425f282a296be467a410f00c3", size = 27536, upload-time = "2025-10-10T22:13:49.956Z" },
-    { url = "https://files.pythonhosted.org/packages/f3/2c/0113ad30cadad40c22eef08c0f2618f2446dd282f02268fecbcfc9fda3c1/crcmod_plus-2.3.1-cp311-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:7bdcfb838ca093ca673a3bbb37f62d1e5ec7182e00cc5ee2d00759f9f9f8ab11", size = 27385, upload-time = "2025-10-10T22:13:50.765Z" },
-    { url = "https://files.pythonhosted.org/packages/8e/ba/501ef1b02119402cf1a31c01eb2cb8399660bca863c2f4dd3dc060220284/crcmod_plus-2.3.1-cp311-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:9166bc3c9b5e7b07b4e6854cac392b4a451b31d58d3950e48c140ab7b5d05394", size = 27135, upload-time = "2025-10-10T22:13:51.889Z" },
-    { url = "https://files.pythonhosted.org/packages/49/90/d4556c9db69c83e726c5b88da3d656fdaac7d60c4d27b43cb939bed80069/crcmod_plus-2.3.1-cp311-abi3-win32.whl", hash = "sha256:cb99b694cce5c862560cf332a8b5e793620e28f0de3726995608bbd6f9b6e09a", size = 22384, upload-time = "2025-10-10T22:13:53.016Z" },
-    { url = "https://files.pythonhosted.org/packages/4d/7e/57bb97a8c7b4e19900744f58b67dc83bc9c83aaac670deeede9fb3bfab6a/crcmod_plus-2.3.1-cp311-abi3-win_amd64.whl", hash = "sha256:82b0f7e968c430c5a80fe0fc59e75cb54f2e84df2ed0cee5a3ff9cadfbf8a220", size = 22912, upload-time = "2025-10-10T22:13:53.849Z" },
+    { url = "https://files.pythonhosted.org/packages/1d/48/bc8d4ba7b37551a767bd863f15b3f80182b271c2f55975356f5f7dbe94c2/coverage-7.15.4-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:d4fedd1f7f428f9fe83b1ead5e7cc87a43427be31aadafbac3ac0636dc7abb22", size = 222543, upload-time = "2026-08-06T13:47:37.562Z" },
+    { url = "https://files.pythonhosted.org/packages/20/dd/88d6f83f1fffc974a3691a34a97951c5b12df7512a6782c5963883cbc058/coverage-7.15.4-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:37e2f0cdf58e2e1fed4e4d5a8f8786ae2f7eb80b478016876667dc4a01d60a97", size = 222905, upload-time = "2026-08-06T13:47:38.927Z" },
+    { url = "https://files.pythonhosted.org/packages/bd/5c/54ee0d4748585bb0acab9891cd8d92f2d3593165b4e59fc9de113bfb3140/coverage-7.15.4-cp312-cp312-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:fb55d0e70bb15f2e81477613627286581414693d74ac7963c93a790dd453ca9d", size = 254407, upload-time = "2026-08-06T13:47:40.488Z" },
+    { url = "https://files.pythonhosted.org/packages/8c/3f/f0642a372f494bd0d7dad3b497083b910194a5f1c88be2c94fef707c3b59/coverage-7.15.4-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:899b9da30f3c6c336566e3707495bb23e8302d39d862f01fa78c48b99b9437e2", size = 257145, upload-time = "2026-08-06T13:47:41.931Z" },
+    { url = "https://files.pythonhosted.org/packages/71/17/8b46d0ed68251016002ec972c8fc0119961a765d0984cafb8bf317c43758/coverage-7.15.4-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d15715e8c46552827e5e4f30a35575a2dbcad14454cf3284c54483946bd16931", size = 258257, upload-time = "2026-08-06T13:47:43.527Z" },
+    { url = "https://files.pythonhosted.org/packages/30/b8/8498a0e72d0adbe15477dd07463d2b3bb2c9f6a4815e8589e50939e2c3ae/coverage-7.15.4-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:002a438859f7b430bc99afeaf01a6d187dad1d0dc907b64cdeffc632a5db8fd8", size = 260517, upload-time = "2026-08-06T13:47:45.121Z" },
+    { url = "https://files.pythonhosted.org/packages/41/e1/7dce19c3bdb1e3dd63e769508216500edad81bd5f69a26d724e32aceaf78/coverage-7.15.4-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:e4193a04b518f7968f3099755f5509ee7cccc6dc2b92a6b14841934d22e222c9", size = 254785, upload-time = "2026-08-06T13:47:46.541Z" },
+    { url = "https://files.pythonhosted.org/packages/dd/b1/e1494703c675a2561723cd9b89f45c9168782c31280c611b1f767851e57c/coverage-7.15.4-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:e98dcc55d572b38e69d117da7e8e8efb8500f1f5eaf81ecd460a63220790b839", size = 256176, upload-time = "2026-08-06T13:47:48.155Z" },
+    { url = "https://files.pythonhosted.org/packages/73/76/a5629d270fb638a43a4b10466f51e2f49d532c1aa4da2913cbbb150bbe0a/coverage-7.15.4-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:af6c538498ce66c10d3fd541c2a8d5b03da5850355add34e6cba564210cb9e72", size = 254321, upload-time = "2026-08-06T13:47:49.757Z" },
+    { url = "https://files.pythonhosted.org/packages/ff/4f/9c44447218435d5766b911534f9d798144a5560f85e9a54ebe5f3f5d19f9/coverage-7.15.4-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:1d10025d96ea89fc2f73714dbc4cbd433fe012c1ac9e23f895d7728b238b6e52", size = 258390, upload-time = "2026-08-06T13:47:51.248Z" },
+    { url = "https://files.pythonhosted.org/packages/de/36/c1e127616fb3fa18a9ff71e76c417f2fd7424332a4870015ac224ef4c039/coverage-7.15.4-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:d802e1947603162ded419bff83ac7489820355d2b856dfb09206574e3a37ac0c", size = 253894, upload-time = "2026-08-06T13:47:52.816Z" },
+    { url = "https://files.pythonhosted.org/packages/e9/b9/fdb92c8ae7a8bb9b850cc253b7b3b9c8526f68130002048b5671cd510d09/coverage-7.15.4-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:c2de40895718f91951b86712b4c5b694acaf9a0a49be13874896f599a1eed3f4", size = 255763, upload-time = "2026-08-06T13:47:54.296Z" },
+    { url = "https://files.pythonhosted.org/packages/6f/c0/a7d51b2587c7bdb76e71b0896d2565bf7d60436b5122fc83e511adb1f7cd/coverage-7.15.4-cp312-cp312-win32.whl", hash = "sha256:5c3431b2161279b7db5c2a1aa58ae02e5cb8c3c42d93a5094be3f5537bd5b11b", size = 224597, upload-time = "2026-08-06T13:47:56.074Z" },
+    { url = "https://files.pythonhosted.org/packages/49/b9/5c5f80cc55f5acaaca6dee677626bfcec8c87204a7809b438b08e84f4571/coverage-7.15.4-cp312-cp312-win_amd64.whl", hash = "sha256:6befeab5fb2b51c958ca4ac6c5d141a1e8240f4f76e46350f1911963deda49cd", size = 225135, upload-time = "2026-08-06T13:47:57.52Z" },
+    { url = "https://files.pythonhosted.org/packages/47/e4/2a4561f89ff6bf7c925c287d0f2cce8bdf139c3a33735c87e3203401cf94/coverage-7.15.4-cp312-cp312-win_arm64.whl", hash = "sha256:67bc345491ab55b837277d76f5775d057e8c7f1ac44d890d8c2c82adde258c6f", size = 224515, upload-time = "2026-08-06T13:47:58.977Z" },
+    { url = "https://files.pythonhosted.org/packages/b4/d9/e70c286c979378f061d8266e279b686ab0b0b688e1fe0af864684f23a77d/coverage-7.15.4-py3-none-any.whl", hash = "sha256:964730a1e9de9c0cf11be6a1a3c79ce419c34882842abd256086ba4698705e84", size = 214332, upload-time = "2026-08-06T13:50:22.192Z" },
 ]
 
 [[package]]
 name = "cryptography"
-version = "43.0.3"
+version = "50.0.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cffi", marker = "platform_python_implementation != 'PyPy'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/0d/05/07b55d1fa21ac18c3a8c79f764e2514e6f6a9698f1be44994f5adf0d29db/cryptography-43.0.3.tar.gz", hash = "sha256:315b9001266a492a6ff443b61238f956b214dbec9910a081ba5b6646a055a805", size = 686989, upload-time = "2024-10-18T15:58:32.918Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/de/41/6cbdcf9142d00fe82836fbb51e503e58088575cf7a0fe1dbff6695bf0840/cryptography-50.0.0.tar.gz", hash = "sha256:eeac2acb5a20ed25e0ad6d1df9891a520b78b404266b6d11778f25d5d691a6c9", size = 880201, upload-time = "2026-07-31T14:25:10.11Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/1f/f3/01fdf26701a26f4b4dbc337a26883ad5bccaa6f1bbbdd29cd89e22f18a1c/cryptography-43.0.3-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:bf7a1932ac4176486eab36a19ed4c0492da5d97123f1406cf15e41b05e787d2e", size = 6225303, upload-time = "2024-10-18T15:57:36.753Z" },
-    { url = "https://files.pythonhosted.org/packages/a3/01/4896f3d1b392025d4fcbecf40fdea92d3df8662123f6835d0af828d148fd/cryptography-43.0.3-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:63efa177ff54aec6e1c0aefaa1a241232dcd37413835a9b674b6e3f0ae2bfd3e", size = 3760905, upload-time = "2024-10-18T15:57:39.166Z" },
-    { url = "https://files.pythonhosted.org/packages/0a/be/f9a1f673f0ed4b7f6c643164e513dbad28dd4f2dcdf5715004f172ef24b6/cryptography-43.0.3-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7e1ce50266f4f70bf41a2c6dc4358afadae90e2a1e5342d3c08883df1675374f", size = 3977271, upload-time = "2024-10-18T15:57:41.227Z" },
-    { url = "https://files.pythonhosted.org/packages/4e/49/80c3a7b5514d1b416d7350830e8c422a4d667b6d9b16a9392ebfd4a5388a/cryptography-43.0.3-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:443c4a81bb10daed9a8f334365fe52542771f25aedaf889fd323a853ce7377d6", size = 3746606, upload-time = "2024-10-18T15:57:42.903Z" },
-    { url = "https://files.pythonhosted.org/packages/0e/16/a28ddf78ac6e7e3f25ebcef69ab15c2c6be5ff9743dd0709a69a4f968472/cryptography-43.0.3-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:74f57f24754fe349223792466a709f8e0c093205ff0dca557af51072ff47ab18", size = 3986484, upload-time = "2024-10-18T15:57:45.434Z" },
-    { url = "https://files.pythonhosted.org/packages/01/f5/69ae8da70c19864a32b0315049866c4d411cce423ec169993d0434218762/cryptography-43.0.3-cp37-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:9762ea51a8fc2a88b70cf2995e5675b38d93bf36bd67d91721c309df184f49bd", size = 3852131, upload-time = "2024-10-18T15:57:47.267Z" },
-    { url = "https://files.pythonhosted.org/packages/fd/db/e74911d95c040f9afd3612b1f732e52b3e517cb80de8bf183be0b7d413c6/cryptography-43.0.3-cp37-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:81ef806b1fef6b06dcebad789f988d3b37ccaee225695cf3e07648eee0fc6b73", size = 4075647, upload-time = "2024-10-18T15:57:49.684Z" },
-    { url = "https://files.pythonhosted.org/packages/56/48/7b6b190f1462818b324e674fa20d1d5ef3e24f2328675b9b16189cbf0b3c/cryptography-43.0.3-cp37-abi3-win32.whl", hash = "sha256:cbeb489927bd7af4aa98d4b261af9a5bc025bd87f0e3547e11584be9e9427be2", size = 2623873, upload-time = "2024-10-18T15:57:51.822Z" },
-    { url = "https://files.pythonhosted.org/packages/eb/b1/0ebff61a004f7f89e7b65ca95f2f2375679d43d0290672f7713ee3162aff/cryptography-43.0.3-cp37-abi3-win_amd64.whl", hash = "sha256:f46304d6f0c6ab8e52770addfa2fc41e6629495548862279641972b6215451cd", size = 3068039, upload-time = "2024-10-18T15:57:54.426Z" },
-    { url = "https://files.pythonhosted.org/packages/30/d5/c8b32c047e2e81dd172138f772e81d852c51f0f2ad2ae8a24f1122e9e9a7/cryptography-43.0.3-cp39-abi3-macosx_10_9_universal2.whl", hash = "sha256:8ac43ae87929a5982f5948ceda07001ee5e83227fd69cf55b109144938d96984", size = 6222984, upload-time = "2024-10-18T15:57:56.174Z" },
-    { url = "https://files.pythonhosted.org/packages/2f/78/55356eb9075d0be6e81b59f45c7b48df87f76a20e73893872170471f3ee8/cryptography-43.0.3-cp39-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:846da004a5804145a5f441b8530b4bf35afbf7da70f82409f151695b127213d5", size = 3762968, upload-time = "2024-10-18T15:57:58.206Z" },
-    { url = "https://files.pythonhosted.org/packages/2a/2c/488776a3dc843f95f86d2f957ca0fc3407d0242b50bede7fad1e339be03f/cryptography-43.0.3-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0f996e7268af62598f2fc1204afa98a3b5712313a55c4c9d434aef49cadc91d4", size = 3977754, upload-time = "2024-10-18T15:58:00.683Z" },
-    { url = "https://files.pythonhosted.org/packages/7c/04/2345ca92f7a22f601a9c62961741ef7dd0127c39f7310dffa0041c80f16f/cryptography-43.0.3-cp39-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:f7b178f11ed3664fd0e995a47ed2b5ff0a12d893e41dd0494f406d1cf555cab7", size = 3749458, upload-time = "2024-10-18T15:58:02.225Z" },
-    { url = "https://files.pythonhosted.org/packages/ac/25/e715fa0bc24ac2114ed69da33adf451a38abb6f3f24ec207908112e9ba53/cryptography-43.0.3-cp39-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:c2e6fc39c4ab499049df3bdf567f768a723a5e8464816e8f009f121a5a9f4405", size = 3988220, upload-time = "2024-10-18T15:58:04.331Z" },
-    { url = "https://files.pythonhosted.org/packages/21/ce/b9c9ff56c7164d8e2edfb6c9305045fbc0df4508ccfdb13ee66eb8c95b0e/cryptography-43.0.3-cp39-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:e1be4655c7ef6e1bbe6b5d0403526601323420bcf414598955968c9ef3eb7d16", size = 3853898, upload-time = "2024-10-18T15:58:06.113Z" },
-    { url = "https://files.pythonhosted.org/packages/2a/33/b3682992ab2e9476b9c81fff22f02c8b0a1e6e1d49ee1750a67d85fd7ed2/cryptography-43.0.3-cp39-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:df6b6c6d742395dd77a23ea3728ab62f98379eff8fb61be2744d4679ab678f73", size = 4076592, upload-time = "2024-10-18T15:58:08.673Z" },
-    { url = "https://files.pythonhosted.org/packages/81/1e/ffcc41b3cebd64ca90b28fd58141c5f68c83d48563c88333ab660e002cd3/cryptography-43.0.3-cp39-abi3-win32.whl", hash = "sha256:d56e96520b1020449bbace2b78b603442e7e378a9b3bd68de65c782db1507995", size = 2623145, upload-time = "2024-10-18T15:58:10.264Z" },
-    { url = "https://files.pythonhosted.org/packages/87/5c/3dab83cc4aba1f4b0e733e3f0c3e7d4386440d660ba5b1e3ff995feb734d/cryptography-43.0.3-cp39-abi3-win_amd64.whl", hash = "sha256:0c580952eef9bf68c4747774cde7ec1d85a6e61de97281f2dba83c7d2c806362", size = 3068026, upload-time = "2024-10-18T15:58:11.916Z" },
+    { url = "https://files.pythonhosted.org/packages/c5/5c/59086b4aac5e879d38ddbcf74e4be7ade89cebc3eb199a55da998c3bb46a/cryptography-50.0.0-cp311-abi3-macosx_11_0_arm64.whl", hash = "sha256:031e2d5dd4bb9caa3ca9c82e5a197fd8ae680232cee62603d1a813f3f07e3d03", size = 4001252, upload-time = "2026-07-31T14:23:33.331Z" },
+    { url = "https://files.pythonhosted.org/packages/57/ef/8f2df13c7216bcad3e1c74e07f6e193d93e998e114f524a53877c9af27ad/cryptography-50.0.0-cp311-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:fd9192b7b70c573d7f214eb1ae35e00d359f6f5e4b27c7e21e30de1fc6204645", size = 4719554, upload-time = "2026-07-31T14:23:35.611Z" },
+    { url = "https://files.pythonhosted.org/packages/d9/41/029086c34d91052fc3b88bcc8056f709a7c915c7a23b235a54eb800b1c97/cryptography-50.0.0-cp311-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:06a32a980526a6ab9a4b9bf8f7385800791e2bb960903cb6b530e4817509a3b7", size = 4702130, upload-time = "2026-07-31T14:23:37.635Z" },
+    { url = "https://files.pythonhosted.org/packages/7d/ff/b6ce0954962e7f7b969f850a883744197bb3910bdfd7b6da162eab7d9f68/cryptography-50.0.0-cp311-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:a1b30560f2acc95aa8b2e06e716a13dbfc97314747b80d9707e307f77b40d6b3", size = 4725244, upload-time = "2026-07-31T14:23:39.471Z" },
+    { url = "https://files.pythonhosted.org/packages/06/1e/63a1027cb7fec360a182208e1b7767d5aa1fe57be3d6aa856e69a321edc0/cryptography-50.0.0-cp311-abi3-manylinux_2_28_ppc64le.whl", hash = "sha256:8d89f3976b10b4ce31118de72329025f70d2c6ead14a8217c5514dd2c6d5a78f", size = 5342265, upload-time = "2026-07-31T14:23:41.286Z" },
+    { url = "https://files.pythonhosted.org/packages/6b/72/a1116d683a6d7ece94590013882515de087edf9ef0e6292aae615a44df73/cryptography-50.0.0-cp311-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:b42a28c1844fd9de8f3f7d540e36b66f3a9c83fceac7170ebc7a6a19edd9dcae", size = 4734609, upload-time = "2026-07-31T14:23:43.139Z" },
+    { url = "https://files.pythonhosted.org/packages/15/37/36a9c479bbe49acea2636c7fd3360d20f7b7e079c300352011c44850b181/cryptography-50.0.0-cp311-abi3-manylinux_2_31_armv7l.whl", hash = "sha256:900131fafd8aead39ac7dd3a7e833be754c17a95cfd91221636949fe4eb0aa8a", size = 4356517, upload-time = "2026-07-31T14:23:44.939Z" },
+    { url = "https://files.pythonhosted.org/packages/32/98/8a151d64367204cbc63ec65d37502f1d9c53cf4bfc6ec3c532614dbec60d/cryptography-50.0.0-cp311-abi3-manylinux_2_34_aarch64.whl", hash = "sha256:07949c449a1abcf60d1ee6e88956d89404c7df3c8258f46589e912988e551987", size = 4724529, upload-time = "2026-07-31T14:23:46.93Z" },
+    { url = "https://files.pythonhosted.org/packages/22/f6/ec13b470172126464a86bf54d2294a46d29837fc51ba3e45d4047946fb5e/cryptography-50.0.0-cp311-abi3-manylinux_2_34_ppc64le.whl", hash = "sha256:f89831ef99dd7dd169ab06d63a831adb9e20a87aac6d380266bbda5823349169", size = 5299852, upload-time = "2026-07-31T14:23:48.851Z" },
+    { url = "https://files.pythonhosted.org/packages/da/3a/f05e32c99d440c9bb891ea0e36c9091891e36be5a9a87ab2ee6ea20729f6/cryptography-50.0.0-cp311-abi3-manylinux_2_34_x86_64.whl", hash = "sha256:82148ec5bddac30b51a5b3c1945075f896fa022cb93f8e4a01e9f6ee95292c5f", size = 4734462, upload-time = "2026-07-31T14:23:50.861Z" },
+    { url = "https://files.pythonhosted.org/packages/ca/dc/bd72b26be8953f80625f63151efd38eee71c76ca6cf591c08ff34615a79e/cryptography-50.0.0-cp311-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:1489e263a8048bb8b6a8bac662eb2d402ea5d2b7b4699b72f385f1e2772db105", size = 4852708, upload-time = "2026-07-31T14:23:52.715Z" },
+    { url = "https://files.pythonhosted.org/packages/27/20/c930314a2ab476d15dec966ec87e2e9637bb02b06106b12c0396c57bb603/cryptography-50.0.0-cp311-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:7cec5b856506da6defb290f30c9ee687d5f5e8cb0bd3f6459dde43b0b4fa40ef", size = 5004179, upload-time = "2026-07-31T14:23:54.887Z" },
+    { url = "https://files.pythonhosted.org/packages/32/2e/c9db68a0c4bfa28e310707527c0ee3a2bd254104d2e02e68f368e197aa4c/cryptography-50.0.0-cp311-abi3-win_amd64.whl", hash = "sha256:bd1c592e4d5974f0d08d4888e432157adba757c66da0246918e43677fafa2d30", size = 3840395, upload-time = "2026-07-31T14:23:56.677Z" },
+    { url = "https://files.pythonhosted.org/packages/03/37/73d005be173aff344af30e9fd2a576575cb2391a7101d9cd3842e1fa8cce/cryptography-50.0.0-cp39-abi3-macosx_11_0_arm64.whl", hash = "sha256:ccdc4a71a4dabae05de219404f9f4abc38e3b58422177ff93d0da05967dafa07", size = 4036009, upload-time = "2026-07-31T14:24:24.122Z" },
+    { url = "https://files.pythonhosted.org/packages/ff/c6/7a6202a534e32103a285b7834a120869557fe198d51d7cfe59754c8bda9c/cryptography-50.0.0-cp39-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:910e1d2668e7de9648f2bcee30e180db2a6b15c30f887d7c4c93ddf96e3992e3", size = 4745252, upload-time = "2026-07-31T14:24:26.118Z" },
+    { url = "https://files.pythonhosted.org/packages/85/4f/0fa8c2f4428198f15d9ff8d63400e27afbf94ce833f6108da1eb3753f945/cryptography-50.0.0-cp39-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:a91296cb61e8df6f86d0c19cc4068228da256bf59bf86049fbd821084565327f", size = 4728939, upload-time = "2026-07-31T14:24:27.994Z" },
+    { url = "https://files.pythonhosted.org/packages/d1/63/54dd723490ba2dc09b299682c10b38db38f159728bcaae8c591b8af2f22d/cryptography-50.0.0-cp39-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:e722f16708d854fe924790e051061f6704a472c3bac347b6fd88033ea8dd0dc5", size = 4748483, upload-time = "2026-07-31T14:24:30.254Z" },
+    { url = "https://files.pythonhosted.org/packages/1d/dd/7c77d26285cc7f6991efce64a0f5b4f9383bfa5dd8c5033003eaf7db4cdb/cryptography-50.0.0-cp39-abi3-manylinux_2_28_ppc64le.whl", hash = "sha256:d764dcf130c428ef66786f866dd750f53182bc608813489915e9fc106bb0c82f", size = 5367599, upload-time = "2026-07-31T14:24:32.457Z" },
+    { url = "https://files.pythonhosted.org/packages/46/c9/f60aed34c013f317f92817b6c171c2d22a78270fa41109bd4b08af26b194/cryptography-50.0.0-cp39-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:105110f43a471dbd0060b9c9516cb8a6a79233631a04cc2ba16f28323ac6e025", size = 4762647, upload-time = "2026-07-31T14:24:34.599Z" },
+    { url = "https://files.pythonhosted.org/packages/be/f3/f9a0173b139372c3a48ed98154b45cc6b9de17c789d5ab552e621c293609/cryptography-50.0.0-cp39-abi3-manylinux_2_31_armv7l.whl", hash = "sha256:828743d939e9629bc267b8e2d08d8bb67cd4319c771a33d4b18b22dd8fb7440a", size = 4385197, upload-time = "2026-07-31T14:24:36.647Z" },
+    { url = "https://files.pythonhosted.org/packages/d8/36/83bb81f6e569bc38e1e4a7bc80f29b46bb9601920bc455fc8e888f5d5742/cryptography-50.0.0-cp39-abi3-manylinux_2_34_aarch64.whl", hash = "sha256:2a8183b489dc1f7f80f135780fadc1108f14b31b8a40411c7a5b17425f65f28b", size = 4748095, upload-time = "2026-07-31T14:24:39.493Z" },
+    { url = "https://files.pythonhosted.org/packages/6b/16/d3008eff98c764979865834c3d386d4fd041b5f52e7f34fc29ac1a5eb515/cryptography-50.0.0-cp39-abi3-manylinux_2_34_ppc64le.whl", hash = "sha256:6e7d61120573a7f2cd94cc095f9e81f6967c61ccdf194285aa143ecec8e0b708", size = 5325948, upload-time = "2026-07-31T14:24:41.556Z" },
+    { url = "https://files.pythonhosted.org/packages/9c/f8/d97f9603efda3888187bfdb893f26c41be4735c10631d05d284ee6b047c4/cryptography-50.0.0-cp39-abi3-manylinux_2_34_x86_64.whl", hash = "sha256:37fdb0d0111f1e2ff07139dfb79f1b49531f8e213c46f1163dd7642979b58c47", size = 4762400, upload-time = "2026-07-31T14:24:43.636Z" },
+    { url = "https://files.pythonhosted.org/packages/64/a2/4615c8f7d81a00b1d6e6afe19f694e1543582349fb5f4076f6cb5dc36485/cryptography-50.0.0-cp39-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:c87f62a3d3b9888ed0fdde100ec06aa61ca9cd44bad9057d1dff9a516b5f5bb9", size = 4878208, upload-time = "2026-07-31T14:24:45.522Z" },
+    { url = "https://files.pythonhosted.org/packages/d2/1a/efcfb02f91407149a0dacffffab791f7e19bf6385f63b3666dc8b5e5c9c8/cryptography-50.0.0-cp39-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:65c2c3add92b45fd0709db8594536aea39c2a67af0e27ffcf049c498501140b7", size = 5037050, upload-time = "2026-07-31T14:24:47.697Z" },
+    { url = "https://files.pythonhosted.org/packages/57/30/4a22984d4f1bdfb8c054f07a92bc176b97a3134cc1d6c4b3bffb1f3688b4/cryptography-50.0.0-cp39-abi3-win_amd64.whl", hash = "sha256:d24fead1d4d076e1bfb006dcec392074a3cd8d7b4fc8a595aa64073b2b7a96ba", size = 3874135, upload-time = "2026-07-31T14:24:50.085Z" },
 ]
 
 [[package]]
@@ -334,214 +340,159 @@ wheels = [
 
 [[package]]
 name = "cython"
-version = "3.2.4"
+version = "3.2.9"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/91/85/7574c9cd44b69a27210444b6650f6477f56c75fee1b70d7672d3e4166167/cython-3.2.4.tar.gz", hash = "sha256:84226ecd313b233da27dc2eb3601b4f222b8209c3a7216d8733b031da1dc64e6", size = 3280291, upload-time = "2026-01-04T14:14:14.473Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/f6/de/db48b8870e766cfea809986cc50c1e986c663a9ab7bafd0ac1a2512c4a26/cython-3.2.9.tar.gz", hash = "sha256:d249c9022ab13286b17bd66f30609e800c5f95efeecb06168990c7a66cecde6c", size = 3293493, upload-time = "2026-07-24T06:21:21.867Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/91/4d/1eb0c7c196a136b1926f4d7f0492a96c6fabd604d77e6cd43b56a3a16d83/cython-3.2.4-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:64d7f71be3dd6d6d4a4c575bb3a4674ea06d1e1e5e4cd1b9882a2bc40ed3c4c9", size = 2970064, upload-time = "2026-01-04T14:15:08.567Z" },
-    { url = "https://files.pythonhosted.org/packages/03/1c/46e34b08bea19a1cdd1e938a4c123e6299241074642db9d81983cef95e9f/cython-3.2.4-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:869487ea41d004f8b92171f42271fbfadb1ec03bede3158705d16cd570d6b891", size = 3226757, upload-time = "2026-01-04T14:15:10.812Z" },
-    { url = "https://files.pythonhosted.org/packages/12/33/3298a44d201c45bcf0d769659725ae70e9c6c42adf8032f6d89c8241098d/cython-3.2.4-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:55b6c44cd30821f0b25220ceba6fe636ede48981d2a41b9bbfe3c7902ce44ea7", size = 3388969, upload-time = "2026-01-04T14:15:12.45Z" },
-    { url = "https://files.pythonhosted.org/packages/bb/f3/4275cd3ea0a4cf4606f9b92e7f8766478192010b95a7f516d1b7cf22cb10/cython-3.2.4-cp312-cp312-win_amd64.whl", hash = "sha256:767b143704bdd08a563153448955935844e53b852e54afdc552b43902ed1e235", size = 2756457, upload-time = "2026-01-04T14:15:14.67Z" },
-    { url = "https://files.pythonhosted.org/packages/0a/8b/fd393f0923c82be4ec0db712fffb2ff0a7a131707b842c99bf24b549274d/cython-3.2.4-cp39-abi3-macosx_10_9_x86_64.whl", hash = "sha256:36bf3f5eb56d5281aafabecbaa6ed288bc11db87547bba4e1e52943ae6961ccf", size = 2875622, upload-time = "2026-01-04T14:15:39.749Z" },
-    { url = "https://files.pythonhosted.org/packages/73/48/48530d9b9d64ec11dbe0dd3178a5fe1e0b27977c1054ecffb82be81e9b6a/cython-3.2.4-cp39-abi3-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:6d5267f22b6451eb1e2e1b88f6f78a2c9c8733a6ddefd4520d3968d26b824581", size = 3210669, upload-time = "2026-01-04T14:15:41.911Z" },
-    { url = "https://files.pythonhosted.org/packages/5e/91/4865fbfef1f6bb4f21d79c46104a53d1a3fa4348286237e15eafb26e0828/cython-3.2.4-cp39-abi3-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:3b6e58f73a69230218d5381817850ce6d0da5bb7e87eb7d528c7027cbba40b06", size = 2856835, upload-time = "2026-01-04T14:15:43.815Z" },
-    { url = "https://files.pythonhosted.org/packages/fa/39/60317957dbef179572398253f29d28f75f94ab82d6d39ea3237fb6c89268/cython-3.2.4-cp39-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:e71efb20048358a6b8ec604a0532961c50c067b5e63e345e2e359fff72feaee8", size = 2994408, upload-time = "2026-01-04T14:15:45.422Z" },
-    { url = "https://files.pythonhosted.org/packages/8d/30/7c24d9292650db4abebce98abc9b49c820d40fa7c87921c0a84c32f4efe7/cython-3.2.4-cp39-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:28b1e363b024c4b8dcf52ff68125e635cb9cb4b0ba997d628f25e32543a71103", size = 2891478, upload-time = "2026-01-04T14:15:47.394Z" },
-    { url = "https://files.pythonhosted.org/packages/86/70/03dc3c962cde9da37a93cca8360e576f904d5f9beecfc9d70b1f820d2e5f/cython-3.2.4-cp39-abi3-musllinux_1_2_i686.whl", hash = "sha256:31a90b4a2c47bb6d56baeb926948348ec968e932c1ae2c53239164e3e8880ccf", size = 3225663, upload-time = "2026-01-04T14:15:49.446Z" },
-    { url = "https://files.pythonhosted.org/packages/b1/97/10b50c38313c37b1300325e2e53f48ea9a2c078a85c0c9572057135e31d5/cython-3.2.4-cp39-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:e65e4773021f8dc8532010b4fbebe782c77f9a0817e93886e518c93bd6a44e9d", size = 3115628, upload-time = "2026-01-04T14:15:51.323Z" },
-    { url = "https://files.pythonhosted.org/packages/8f/b1/d6a353c9b147848122a0db370863601fdf56de2d983b5c4a6a11e6ee3cd7/cython-3.2.4-cp39-abi3-win32.whl", hash = "sha256:2b1f12c0e4798293d2754e73cd6f35fa5bbdf072bdc14bc6fc442c059ef2d290", size = 2437463, upload-time = "2026-01-04T14:15:53.787Z" },
-    { url = "https://files.pythonhosted.org/packages/2d/d8/319a1263b9c33b71343adfd407e5daffd453daef47ebc7b642820a8b68ed/cython-3.2.4-cp39-abi3-win_arm64.whl", hash = "sha256:3b8e62049afef9da931d55de82d8f46c9a147313b69d5ff6af6e9121d545ce7a", size = 2442754, upload-time = "2026-01-04T14:15:55.382Z" },
-    { url = "https://files.pythonhosted.org/packages/ff/fa/d3c15189f7c52aaefbaea76fb012119b04b9013f4bf446cb4eb4c26c4e6b/cython-3.2.4-py3-none-any.whl", hash = "sha256:732fc93bc33ae4b14f6afaca663b916c2fdd5dcbfad7114e17fb2434eeaea45c", size = 1257078, upload-time = "2026-01-04T14:14:12.373Z" },
+    { url = "https://files.pythonhosted.org/packages/fd/37/c74d842306c8fe381c415b37460d5e3086a820fac72b8ff5cb48513ccfcd/cython-3.2.9-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:114b2dee0fa1daa48a59574d848da0ff1b6bdb725a755e9b92fad14962e1ff8d", size = 3009571, upload-time = "2026-07-24T06:21:52.534Z" },
+    { url = "https://files.pythonhosted.org/packages/15/c0/f7c42b161edd585e3ae556fd62a2c72cd80a6ed527a9907f0c5c6fb060de/cython-3.2.9-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:a5cd9c5f138cb052130b40ad3b6976d2180c35348410995812678f4636bd8f94", size = 3183562, upload-time = "2026-07-24T06:21:54.62Z" },
+    { url = "https://files.pythonhosted.org/packages/56/1b/c04520ac7f3157aa12a69b632c16261170dac9fab6c48608cc004b8f1b17/cython-3.2.9-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:23e80bc885c599e72072e18d0746df82d394b73100c1e153cda7359e6e59fe09", size = 3354811, upload-time = "2026-07-24T06:21:56.72Z" },
+    { url = "https://files.pythonhosted.org/packages/0b/b5/4ce33235a25b19fcd51dc639f0f403b783a3b7f9b1934eade0d993fbe029/cython-3.2.9-cp312-cp312-win_amd64.whl", hash = "sha256:4b1fd5a9c03f72a18618668a8e90d569442ed742f910e3ad003dcc9348e9598b", size = 2778077, upload-time = "2026-07-24T06:21:58.7Z" },
+    { url = "https://files.pythonhosted.org/packages/0a/4a/342312c5fe021c8e0c386e1915d138e0902c48ae179b0374ab04773a8831/cython-3.2.9-cp39-abi3-macosx_10_9_x86_64.whl", hash = "sha256:944dc8747f640b3527649c566a5fc75ee0c15e80642ea2fdae4fe6378e1a9d4a", size = 2899729, upload-time = "2026-07-24T06:22:24.877Z" },
+    { url = "https://files.pythonhosted.org/packages/f0/62/ea919ee426cb4d435ec8155e1ee6bcbb46b20d8f070527191b59769d4e7f/cython-3.2.9-cp39-abi3-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:4b871ad97dd7fb1cbf56f6238c54423febd310afc1d9d9bc70c69c89b7ce57fc", size = 3226650, upload-time = "2026-07-24T06:22:26.947Z" },
+    { url = "https://files.pythonhosted.org/packages/18/02/057b4f63e2ced8c3cf217c4e9fb544bfe48145f493347c7ca3f51607526c/cython-3.2.9-cp39-abi3-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:e9b6ebc6c74b4318eaa4e51e520dc8b95ebc7b262953c3ecb24131104681f14e", size = 2881919, upload-time = "2026-07-24T06:22:29.318Z" },
+    { url = "https://files.pythonhosted.org/packages/64/e4/e158793ee3de7e4417ba17e7ff1015d6e2cf557cb485ad270b2446c9d1c7/cython-3.2.9-cp39-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:92989da161a7d18a7ad4baebc49289b2b77556d5a94916f90140ba26aecf6892", size = 3004702, upload-time = "2026-07-24T06:22:31.535Z" },
+    { url = "https://files.pythonhosted.org/packages/f9/c0/d5bbbd743ab4feddb24a7e823b34c3ec4ebab91ff503d16743a4e7ce106b/cython-3.2.9-cp39-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:e75ec625d8f8781ced690b7a2f5c2d138067711cf24bb8fb68c872c30c2fefe5", size = 2902695, upload-time = "2026-07-24T06:22:33.525Z" },
+    { url = "https://files.pythonhosted.org/packages/d6/2f/80850817395985259f135baa510d9186d3a325df81cd1862060bba977029/cython-3.2.9-cp39-abi3-musllinux_1_2_i686.whl", hash = "sha256:2b1756ddc3bc0cd4341a515fc420c3e25e13c249f5537159b3fb0bff8d19e55c", size = 3241554, upload-time = "2026-07-24T06:22:35.667Z" },
+    { url = "https://files.pythonhosted.org/packages/4c/ce/6be776814f6cb81751f3da737ed537385738148e1ea99f89fb4637799198/cython-3.2.9-cp39-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:7d41baea51ea00f9237f75af498577827493bca5e9b45bbd4e351543727e589a", size = 3124337, upload-time = "2026-07-24T06:22:37.868Z" },
+    { url = "https://files.pythonhosted.org/packages/e2/48/27c948cbbfe6050994e67a497ae530955dcda7e79084319321c49969e0fd/cython-3.2.9-cp39-abi3-win32.whl", hash = "sha256:61d4abbf84f77c8d19361d05d9f51d65d8d95e74f736eae55fa1aed8a1430469", size = 2435609, upload-time = "2026-07-24T06:22:40.005Z" },
+    { url = "https://files.pythonhosted.org/packages/17/ef/cf0e1bd7542296f1752be63b027f90271448d8c8062eac66d8e44a79b883/cython-3.2.9-cp39-abi3-win_arm64.whl", hash = "sha256:57a6a78d14f7dd7d6062d9bca694e2a8c1c14113b6ceceea076abcd1161fdc5a", size = 2458025, upload-time = "2026-07-24T06:22:41.973Z" },
+    { url = "https://files.pythonhosted.org/packages/00/ec/e61deec9bcfbb0e1b36f8b5ba75cb44644419b4bfd0fdd666bffd21d9579/cython-3.2.9-py3-none-any.whl", hash = "sha256:a2b0e87f6b80790c929308ca0831d686f7a180feab684fe8cd4a4380bd96aaca", size = 1259272, upload-time = "2026-07-24T06:21:18.95Z" },
 ]
 
 [[package]]
-name = "dearpygui"
-version = "2.1.1"
+name = "deepmerge"
+version = "2.1.0"
 source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/2a/78/6e9e20106224083cfb817d2d3c26e80e72258d617b616721a169b87081e0/deepmerge-2.1.0.tar.gz", hash = "sha256:07ca7a7b8935df596c512fa8161877c0487ac61f691c07766e7d71d2b23bdd2f", size = 21449, upload-time = "2026-06-22T05:46:07.669Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/79/41/2146e8d03d28b5a66d5282beb26ffd9ab68a729a29d31e2fe91809271bf5/dearpygui-2.1.1-cp312-cp312-macosx_10_6_x86_64.whl", hash = "sha256:238aea7b4be7376f564dae8edd563b280ec1483a03786022969938507691e017", size = 2101529, upload-time = "2025-11-14T14:47:39.646Z" },
-    { url = "https://files.pythonhosted.org/packages/b0/c5/fcc37ef834fe225241aa4f18d77aaa2903134f283077978d65a901c624c6/dearpygui-2.1.1-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:c27ca6ecd4913555b717f3bb341c0b6a27d6c9fdc9932f0b3c31ae2ef893ae35", size = 1895555, upload-time = "2025-11-14T14:47:48.149Z" },
-    { url = "https://files.pythonhosted.org/packages/74/66/19f454ba02d5f03a847cc1dfee4a849cd2307d97add5ba26fecdca318adb/dearpygui-2.1.1-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:8c071e9c165d89217bdcdaf769c6069252fcaee50bf369489add524107932273", size = 2641509, upload-time = "2025-11-14T14:47:54.581Z" },
-    { url = "https://files.pythonhosted.org/packages/5e/58/d01538556103d544a5a5b4cbcb00646ff92d8a97f0a6283a56bede4307c8/dearpygui-2.1.1-cp312-cp312-win_amd64.whl", hash = "sha256:9f2291313d2035f8a4108e13f60d8c1a0e7c19af7554a7739a3fd15b3d5af8f7", size = 1808971, upload-time = "2025-11-14T14:47:28.15Z" },
-]
-
-[[package]]
-name = "dictdiffer"
-version = "0.9.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/61/7b/35cbccb7effc5d7e40f4c55e2b79399e1853041997fcda15c9ff160abba0/dictdiffer-0.9.0.tar.gz", hash = "sha256:17bacf5fbfe613ccf1b6d512bd766e6b21fb798822a133aa86098b8ac9997578", size = 31513, upload-time = "2021-07-22T13:24:29.276Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/47/ef/4cb333825d10317a36a1154341ba37e6e9c087bac99c1990ef07ffdb376f/dictdiffer-0.9.0-py2.py3-none-any.whl", hash = "sha256:442bfc693cfcadaf46674575d2eba1c53b42f5e404218ca2c2ff549f2df56595", size = 16754, upload-time = "2021-07-22T13:24:26.783Z" },
-]
-
-[[package]]
-name = "dnspython"
-version = "2.8.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/8c/8b/57666417c0f90f08bcafa776861060426765fdb422eb10212086fb811d26/dnspython-2.8.0.tar.gz", hash = "sha256:181d3c6996452cb1189c4046c61599b84a5a86e099562ffde77d26984ff26d0f", size = 368251, upload-time = "2025-09-07T18:58:00.022Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ba/5a/18ad964b0086c6e62e2e7500f7edc89e3faa45033c71c1893d34eed2b2de/dnspython-2.8.0-py3-none-any.whl", hash = "sha256:01d9bbc4a2d76bf0db7c1f729812ded6d912bd318d3b1cf81d30c0f845dbf3af", size = 331094, upload-time = "2025-09-07T18:57:58.071Z" },
-]
-
-[[package]]
-name = "ewmhlib"
-version = "0.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "python-xlib", marker = "sys_platform == 'linux'" },
-    { name = "typing-extensions" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2f/3a/46ca34abf0725a754bc44ef474ad34aedcc3ea23b052d97b18b76715a6a9/EWMHlib-0.2-py3-none-any.whl", hash = "sha256:f5b07d8cfd4c7734462ee744c32d490f2f3233fa7ab354240069344208d2f6f5", size = 46657, upload-time = "2024-04-17T08:15:56.338Z" },
-]
-
-[[package]]
-name = "execnet"
-version = "2.1.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/bf/89/780e11f9588d9e7128a3f87788354c7946a9cbb1401ad38a48c4db9a4f07/execnet-2.1.2.tar.gz", hash = "sha256:63d83bfdd9a23e35b9c6a3261412324f964c2ec8dcd8d3c6916ee9373e0befcd", size = 166622, upload-time = "2025-11-12T09:56:37.75Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ab/84/02fc1827e8cdded4aa65baef11296a9bbe595c474f0d6d758af082d849fd/execnet-2.1.2-py3-none-any.whl", hash = "sha256:67fba928dd5a544b783f6056f449e5e3931a5c378b128bc18501f7ea79e296ec", size = 40708, upload-time = "2025-11-12T09:56:36.333Z" },
-]
-
-[[package]]
-name = "farama-notifications"
-version = "0.0.4"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2e/2c/8384832b7a6b1fd6ba95bbdcae26e7137bb3eedc955c42fd5cdcc086cfbf/Farama-Notifications-0.0.4.tar.gz", hash = "sha256:13fceff2d14314cf80703c8266462ebf3733c7d165336eee998fc58e545efd18", size = 2131, upload-time = "2023-02-27T18:28:41.047Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/05/2c/ffc08c54c05cdce6fbed2aeebc46348dbe180c6d2c541c7af7ba0aa5f5f8/Farama_Notifications-0.0.4-py3-none-any.whl", hash = "sha256:14de931035a41961f7c056361dc7f980762a143d05791ef5794a751a2caf05ae", size = 2511, upload-time = "2023-02-27T18:28:39.447Z" },
+    { url = "https://files.pythonhosted.org/packages/51/25/2a75b47cb057b1e164c604fb81ab690a6cdb5e2260ce651194eae90f64a3/deepmerge-2.1.0-py3-none-any.whl", hash = "sha256:8f148339a91d680a75ecb74ade235d9e759a93df373a0b04e9d31c8666cfeb75", size = 14345, upload-time = "2026-06-22T05:46:06.742Z" },
 ]
 
 [[package]]
 name = "filelock"
-version = "3.24.2"
+version = "3.32.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/02/a8/dae62680be63cbb3ff87cfa2f51cf766269514ea5488479d42fec5aa6f3a/filelock-3.24.2.tar.gz", hash = "sha256:c22803117490f156e59fafce621f0550a7a853e2bbf4f87f112b11d469b6c81b", size = 37601, upload-time = "2026-02-16T02:50:45.614Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/f6/57/3ba6e6cb097f85b855b00163d169f35365f44277df044dcf96d55b8f62a3/filelock-3.32.2.tar.gz", hash = "sha256:c33351e1f49cae33414acbc6d56784e6ecee82514ec90795da1161fc4836b5b8", size = 217172, upload-time = "2026-07-29T22:46:04.895Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/e7/04/a94ebfb4eaaa08db56725a40de2887e95de4e8641b9e902c311bfa00aa39/filelock-3.24.2-py3-none-any.whl", hash = "sha256:667d7dc0b7d1e1064dd5f8f8e80bdac157a6482e8d2e02cd16fd3b6b33bd6556", size = 24152, upload-time = "2026-02-16T02:50:44Z" },
+    { url = "https://files.pythonhosted.org/packages/c1/e8/72f8cef9fdfeffe06213fe8508039396ee48daa0e3259457ed766173bfd6/filelock-3.32.2-py3-none-any.whl", hash = "sha256:87dd94cf281e586d135fa51132b8e3d9a598b316e90377a288663c9321036c82", size = 98830, upload-time = "2026-07-29T22:46:03.52Z" },
 ]
 
 [[package]]
 name = "fonttools"
-version = "4.61.1"
+version = "4.63.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ec/ca/cf17b88a8df95691275a3d77dc0a5ad9907f328ae53acbe6795da1b2f5ed/fonttools-4.61.1.tar.gz", hash = "sha256:6675329885c44657f826ef01d9e4fb33b9158e9d93c537d84ad8399539bc6f69", size = 3565756, upload-time = "2025-12-12T17:31:24.246Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/84/69/c97f2c18e0db87d2c7b15da1974dace76ae938f1cfa22e2727a648b7ed43/fonttools-4.63.0.tar.gz", hash = "sha256:caeb583deeb5168e694b65cda8b4ee62abedfa66cf88488734466f2366b9c4e0", size = 3597189, upload-time = "2026-05-14T12:04:30.958Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/6f/16/7decaa24a1bd3a70c607b2e29f0adc6159f36a7e40eaba59846414765fd4/fonttools-4.61.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:f3cb4a569029b9f291f88aafc927dd53683757e640081ca8c412781ea144565e", size = 2851593, upload-time = "2025-12-12T17:30:04.225Z" },
-    { url = "https://files.pythonhosted.org/packages/94/98/3c4cb97c64713a8cf499b3245c3bf9a2b8fd16a3e375feff2aed78f96259/fonttools-4.61.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:41a7170d042e8c0024703ed13b71893519a1a6d6e18e933e3ec7507a2c26a4b2", size = 2400231, upload-time = "2025-12-12T17:30:06.47Z" },
-    { url = "https://files.pythonhosted.org/packages/b7/37/82dbef0f6342eb01f54bca073ac1498433d6ce71e50c3c3282b655733b31/fonttools-4.61.1-cp312-cp312-manylinux1_x86_64.manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:10d88e55330e092940584774ee5e8a6971b01fc2f4d3466a1d6c158230880796", size = 4954103, upload-time = "2025-12-12T17:30:08.432Z" },
-    { url = "https://files.pythonhosted.org/packages/6c/44/f3aeac0fa98e7ad527f479e161aca6c3a1e47bb6996b053d45226fe37bf2/fonttools-4.61.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:15acc09befd16a0fb8a8f62bc147e1a82817542d72184acca9ce6e0aeda9fa6d", size = 5004295, upload-time = "2025-12-12T17:30:10.56Z" },
-    { url = "https://files.pythonhosted.org/packages/14/e8/7424ced75473983b964d09f6747fa09f054a6d656f60e9ac9324cf40c743/fonttools-4.61.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:e6bcdf33aec38d16508ce61fd81838f24c83c90a1d1b8c68982857038673d6b8", size = 4944109, upload-time = "2025-12-12T17:30:12.874Z" },
-    { url = "https://files.pythonhosted.org/packages/c8/8b/6391b257fa3d0b553d73e778f953a2f0154292a7a7a085e2374b111e5410/fonttools-4.61.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:5fade934607a523614726119164ff621e8c30e8fa1ffffbbd358662056ba69f0", size = 5093598, upload-time = "2025-12-12T17:30:15.79Z" },
-    { url = "https://files.pythonhosted.org/packages/d9/71/fd2ea96cdc512d92da5678a1c98c267ddd4d8c5130b76d0f7a80f9a9fde8/fonttools-4.61.1-cp312-cp312-win32.whl", hash = "sha256:75da8f28eff26defba42c52986de97b22106cb8f26515b7c22443ebc9c2d3261", size = 2269060, upload-time = "2025-12-12T17:30:18.058Z" },
-    { url = "https://files.pythonhosted.org/packages/80/3b/a3e81b71aed5a688e89dfe0e2694b26b78c7d7f39a5ffd8a7d75f54a12a8/fonttools-4.61.1-cp312-cp312-win_amd64.whl", hash = "sha256:497c31ce314219888c0e2fce5ad9178ca83fe5230b01a5006726cdf3ac9f24d9", size = 2319078, upload-time = "2025-12-12T17:30:22.862Z" },
-    { url = "https://files.pythonhosted.org/packages/c7/4e/ce75a57ff3aebf6fc1f4e9d508b8e5810618a33d900ad6c19eb30b290b97/fonttools-4.61.1-py3-none-any.whl", hash = "sha256:17d2bf5d541add43822bcf0c43d7d847b160c9bb01d15d5007d84e2217aaa371", size = 1148996, upload-time = "2025-12-12T17:31:21.03Z" },
+    { url = "https://files.pythonhosted.org/packages/08/ef/b3c6b9b5be2f82416d73fe2ed2e96e2793cd80e7510bd6a17ca79cdd88ec/fonttools-4.63.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:37dd23e621e3b0aef1baa70a303b80aaf38449632cfc8fd2a55fb285bbccfc02", size = 2881131, upload-time = "2026-05-14T12:03:13.386Z" },
+    { url = "https://files.pythonhosted.org/packages/44/a0/c815bea63117fa63e4e1c01f8a1110d2112fa003f838e6467094ec2432ce/fonttools-4.63.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:a9faff9e0c1f76f9fd55899d2ce785832efebab37eb8ae13995853aef178bef0", size = 2426704, upload-time = "2026-05-14T12:03:15.801Z" },
+    { url = "https://files.pythonhosted.org/packages/44/04/0b91d8e916e92ad1fac9e4624760baf0fd5ff2ead614c2f68fb21373f03f/fonttools-4.63.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:ef3048ef05dbb552b89817713d9cac912e00d0fde4a3105c00d29e52e10c89af", size = 5044298, upload-time = "2026-05-14T12:03:18.085Z" },
+    { url = "https://files.pythonhosted.org/packages/77/c7/2342da9830e3e9d4870305ca5d2091d2a83284f2953079b7bdd3b5e029d8/fonttools-4.63.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:58dc6bb86a78d782f00f9190ca02c119cf5bbe2807536e361e18d42019f877d8", size = 4999800, upload-time = "2026-05-14T12:03:20.161Z" },
+    { url = "https://files.pythonhosted.org/packages/e6/6d/67fe16c48d7ce050979b33f47e0d28a318f02da030602e944c34f7a16ef3/fonttools-4.63.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:ee08ebfa58f6e1aeff5697ab9582105bb620008c1caafb681e4c557e7483027b", size = 4982666, upload-time = "2026-05-14T12:03:22.87Z" },
+    { url = "https://files.pythonhosted.org/packages/f2/00/3bbab338c07c71fa56269953845e92c951a61457bbbb0f1022551ea266d9/fonttools-4.63.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:27fdc65af8da6f88b9c6121c47a464cbe359fcfff7ff6fc2d37a1f395d755b78", size = 5133598, upload-time = "2026-05-14T12:03:25.168Z" },
+    { url = "https://files.pythonhosted.org/packages/62/f2/aa27c7f98db5b064883dadcc5283947e81e034de42e22a33675878d98b54/fonttools-4.63.0-cp312-cp312-win32.whl", hash = "sha256:af2fd1664d00a397d75f806985ddb36282091c2131a73a6485c23b4a34722263", size = 2292575, upload-time = "2026-05-14T12:03:27.496Z" },
+    { url = "https://files.pythonhosted.org/packages/87/36/cccb9bc2a6ab63d1b2980374f0dca72ce95ae267c9b4cfe77455bb70d0d4/fonttools-4.63.0-cp312-cp312-win_amd64.whl", hash = "sha256:59ac449f8cca9b4ffa08d2e7bbadad87ce710d69d1eda5c3c1ce579baa987272", size = 2343211, upload-time = "2026-05-14T12:03:30.057Z" },
+    { url = "https://files.pythonhosted.org/packages/2c/47/c99d5268f354002ce80f8d029cd9d7d872969da1de8b93d32de4dc56d6f4/fonttools-4.63.0-py3-none-any.whl", hash = "sha256:445af2eab030a16b9171ea8bdda7ebf7d96bda2df88ee182a464252f6e05e20d", size = 1164562, upload-time = "2026-05-14T12:04:29.092Z" },
 ]
 
 [[package]]
-name = "frozenlist"
-version = "1.8.0"
+name = "fsspec"
+version = "2026.7.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2d/f5/c831fac6cc817d26fd54c7eaccd04ef7e0288806943f7cc5bbf69f3ac1f0/frozenlist-1.8.0.tar.gz", hash = "sha256:3ede829ed8d842f6cd48fc7081d7a41001a56f1f38603f9d49bf3020d59a31ad", size = 45875, upload-time = "2025-10-06T05:38:17.865Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/00/78/f34251dadb8f3921264a1d9b8946f5e542014ee2614b285261b4e40e6775/fsspec-2026.7.0.tar.gz", hash = "sha256:c803c40f4cf860b49dea58ee3e1c33cb9c790520e233537e1340049f89b82a88", size = 317040, upload-time = "2026-07-28T16:34:51.052Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/69/29/948b9aa87e75820a38650af445d2ef2b6b8a6fab1a23b6bb9e4ef0be2d59/frozenlist-1.8.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:78f7b9e5d6f2fdb88cdde9440dc147259b62b9d3b019924def9f6478be254ac1", size = 87782, upload-time = "2025-10-06T05:36:06.649Z" },
-    { url = "https://files.pythonhosted.org/packages/64/80/4f6e318ee2a7c0750ed724fa33a4bdf1eacdc5a39a7a24e818a773cd91af/frozenlist-1.8.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:229bf37d2e4acdaf808fd3f06e854a4a7a3661e871b10dc1f8f1896a3b05f18b", size = 50594, upload-time = "2025-10-06T05:36:07.69Z" },
-    { url = "https://files.pythonhosted.org/packages/2b/94/5c8a2b50a496b11dd519f4a24cb5496cf125681dd99e94c604ccdea9419a/frozenlist-1.8.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:f833670942247a14eafbb675458b4e61c82e002a148f49e68257b79296e865c4", size = 50448, upload-time = "2025-10-06T05:36:08.78Z" },
-    { url = "https://files.pythonhosted.org/packages/6a/bd/d91c5e39f490a49df14320f4e8c80161cfcce09f1e2cde1edd16a551abb3/frozenlist-1.8.0-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:494a5952b1c597ba44e0e78113a7266e656b9794eec897b19ead706bd7074383", size = 242411, upload-time = "2025-10-06T05:36:09.801Z" },
-    { url = "https://files.pythonhosted.org/packages/8f/83/f61505a05109ef3293dfb1ff594d13d64a2324ac3482be2cedc2be818256/frozenlist-1.8.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:96f423a119f4777a4a056b66ce11527366a8bb92f54e541ade21f2374433f6d4", size = 243014, upload-time = "2025-10-06T05:36:11.394Z" },
-    { url = "https://files.pythonhosted.org/packages/d8/cb/cb6c7b0f7d4023ddda30cf56b8b17494eb3a79e3fda666bf735f63118b35/frozenlist-1.8.0-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:3462dd9475af2025c31cc61be6652dfa25cbfb56cbbf52f4ccfe029f38decaf8", size = 234909, upload-time = "2025-10-06T05:36:12.598Z" },
-    { url = "https://files.pythonhosted.org/packages/31/c5/cd7a1f3b8b34af009fb17d4123c5a778b44ae2804e3ad6b86204255f9ec5/frozenlist-1.8.0-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:c4c800524c9cd9bac5166cd6f55285957fcfc907db323e193f2afcd4d9abd69b", size = 250049, upload-time = "2025-10-06T05:36:14.065Z" },
-    { url = "https://files.pythonhosted.org/packages/c0/01/2f95d3b416c584a1e7f0e1d6d31998c4a795f7544069ee2e0962a4b60740/frozenlist-1.8.0-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:d6a5df73acd3399d893dafc71663ad22534b5aa4f94e8a2fabfe856c3c1b6a52", size = 256485, upload-time = "2025-10-06T05:36:15.39Z" },
-    { url = "https://files.pythonhosted.org/packages/ce/03/024bf7720b3abaebcff6d0793d73c154237b85bdf67b7ed55e5e9596dc9a/frozenlist-1.8.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:405e8fe955c2280ce66428b3ca55e12b3c4e9c336fb2103a4937e891c69a4a29", size = 237619, upload-time = "2025-10-06T05:36:16.558Z" },
-    { url = "https://files.pythonhosted.org/packages/69/fa/f8abdfe7d76b731f5d8bd217827cf6764d4f1d9763407e42717b4bed50a0/frozenlist-1.8.0-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:908bd3f6439f2fef9e85031b59fd4f1297af54415fb60e4254a95f75b3cab3f3", size = 250320, upload-time = "2025-10-06T05:36:17.821Z" },
-    { url = "https://files.pythonhosted.org/packages/f5/3c/b051329f718b463b22613e269ad72138cc256c540f78a6de89452803a47d/frozenlist-1.8.0-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:294e487f9ec720bd8ffcebc99d575f7eff3568a08a253d1ee1a0378754b74143", size = 246820, upload-time = "2025-10-06T05:36:19.046Z" },
-    { url = "https://files.pythonhosted.org/packages/0f/ae/58282e8f98e444b3f4dd42448ff36fa38bef29e40d40f330b22e7108f565/frozenlist-1.8.0-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:74c51543498289c0c43656701be6b077f4b265868fa7f8a8859c197006efb608", size = 250518, upload-time = "2025-10-06T05:36:20.763Z" },
-    { url = "https://files.pythonhosted.org/packages/8f/96/007e5944694d66123183845a106547a15944fbbb7154788cbf7272789536/frozenlist-1.8.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:776f352e8329135506a1d6bf16ac3f87bc25b28e765949282dcc627af36123aa", size = 239096, upload-time = "2025-10-06T05:36:22.129Z" },
-    { url = "https://files.pythonhosted.org/packages/66/bb/852b9d6db2fa40be96f29c0d1205c306288f0684df8fd26ca1951d461a56/frozenlist-1.8.0-cp312-cp312-win32.whl", hash = "sha256:433403ae80709741ce34038da08511d4a77062aa924baf411ef73d1146e74faf", size = 39985, upload-time = "2025-10-06T05:36:23.661Z" },
-    { url = "https://files.pythonhosted.org/packages/b8/af/38e51a553dd66eb064cdf193841f16f077585d4d28394c2fa6235cb41765/frozenlist-1.8.0-cp312-cp312-win_amd64.whl", hash = "sha256:34187385b08f866104f0c0617404c8eb08165ab1272e884abc89c112e9c00746", size = 44591, upload-time = "2025-10-06T05:36:24.958Z" },
-    { url = "https://files.pythonhosted.org/packages/a7/06/1dc65480ab147339fecc70797e9c2f69d9cea9cf38934ce08df070fdb9cb/frozenlist-1.8.0-cp312-cp312-win_arm64.whl", hash = "sha256:fe3c58d2f5db5fbd18c2987cba06d51b0529f52bc3a6cdc33d3f4eab725104bd", size = 40102, upload-time = "2025-10-06T05:36:26.333Z" },
-    { url = "https://files.pythonhosted.org/packages/9a/9a/e35b4a917281c0b8419d4207f4334c8e8c5dbf4f3f5f9ada73958d937dcc/frozenlist-1.8.0-py3-none-any.whl", hash = "sha256:0c18a16eab41e82c295618a77502e17b195883241c563b00f0aa5106fc4eaa0d", size = 13409, upload-time = "2025-10-06T05:38:16.721Z" },
+    { url = "https://files.pythonhosted.org/packages/fd/3c/6a2bf344106328fd04963664a60b9bb6496fc25df8e962fcdc1367285fb9/fsspec-2026.7.0-py3-none-any.whl", hash = "sha256:b57ddbafedfaef7018c1ecab32aa200a9d7ca26b77965f64e48b70061249d279", size = 206583, upload-time = "2026-07-28T16:34:49.538Z" },
 ]
 
 [[package]]
-name = "ghp-import"
-version = "2.1.0"
+name = "h11"
+version = "0.16.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/01/ee/02a2c011bdab74c6fb3c75474d40b3052059d95df7e73351460c8588d963/h11-0.16.0.tar.gz", hash = "sha256:4e35b956cf45792e4caa5885e69fba00bdbc6ffafbfa020300e549b208ee5ff1", size = 101250, upload-time = "2025-04-24T03:35:25.427Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/04/4b/29cac41a4d98d144bf5f6d33995617b185d14b22401f75ca86f384e87ff1/h11-0.16.0-py3-none-any.whl", hash = "sha256:63cf8bbe7522de3bf65932fda1d9c2772064ffb3dae62d55932da54b31cb6c86", size = 37515, upload-time = "2025-04-24T03:35:24.344Z" },
+]
+
+[[package]]
+name = "hf-xet"
+version = "1.6.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/1b/ab/522a2ab67f27971a9d48ca666d4fca85ef7d5282d142e31fd087e27b1bbe/hf_xet-1.6.0.tar.gz", hash = "sha256:2e58454a340b3556dfa4972d5451aff4fba8dd42a236600ba1a1d2b1514f0fef", size = 920527, upload-time = "2026-08-03T22:33:13.243Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/a2/50/7afa2c9c787405864fc47a0d1bbc02c62e9101947ed43c1f43899fc7d91d/hf_xet-1.6.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:633dc0cd71d32da58ab8c03ad38e2fac452c15c2b0a2866ebf6ededfe0a5061d", size = 4071729, upload-time = "2026-08-03T22:33:00.721Z" },
+    { url = "https://files.pythonhosted.org/packages/4b/69/55b8dcf636142ae660fec1869fcac14c4da2e8412e14d6eee1523be77e9f/hf_xet-1.6.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:f0906082d9932ae0c0057fa194041c22b4e2cdb46b2592ef3b91f020d62a081a", size = 3876287, upload-time = "2026-08-03T22:33:02.251Z" },
+    { url = "https://files.pythonhosted.org/packages/67/4e/a28359bf1c1ecf11eba22123168c138698f7cb576ac678f5a2e16cd5da08/hf_xet-1.6.0-cp38-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:d62671bb130879cef0ee4c9ebe47a14af6c66ec53e6d84dc15936e5ffdfac82f", size = 4464663, upload-time = "2026-08-03T22:33:03.802Z" },
+    { url = "https://files.pythonhosted.org/packages/9a/69/1f0cbc2fb22ae6082d094f743d1b8945a3f36f6089cb95f42b7ee348cda7/hf_xet-1.6.0-cp38-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:0e6e21fa3cdfcdcd76748564bf593870a5e013f47d97cf10aed63aa222cff5b7", size = 4262538, upload-time = "2026-08-03T22:33:05.287Z" },
+    { url = "https://files.pythonhosted.org/packages/d1/3a/4f4f2301ade26e404462d3336fa11f7958d914cabbabdd6e03c3c5d5658c/hf_xet-1.6.0-cp38-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:4fc74352a17015bd0ee90038bc9efe38db894cde45f268b6712b04fce8cd0acb", size = 4460520, upload-time = "2026-08-03T22:33:06.81Z" },
+    { url = "https://files.pythonhosted.org/packages/ab/5f/311725e2a905534dfee2dcb5b08414f249147f1f12252bfc2bd24caa075c/hf_xet-1.6.0-cp38-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:8fb4f71cba6129110c3374a33f919001ff130488fc23553698e34cc1c2a1198c", size = 4675937, upload-time = "2026-08-03T22:33:08.616Z" },
+    { url = "https://files.pythonhosted.org/packages/98/b7/8c59a66d15205024662f1d66968136f13893f96df1ddc5087e2e281fc95f/hf_xet-1.6.0-cp38-abi3-win_amd64.whl", hash = "sha256:fb4fadde1b2b70bf4c0c14a6dccbe7194b1c28947fefd5bbe3fed9d940676c3b", size = 4033128, upload-time = "2026-08-03T22:33:10.171Z" },
+    { url = "https://files.pythonhosted.org/packages/73/63/ca511b6f802f28cf3489b280fe77475bcca8de85e81a6299d7916b5b5555/hf_xet-1.6.0-cp38-abi3-win_arm64.whl", hash = "sha256:3dc3e35441ba395006af5aaacc40ef2e603c51ef46c3530b9156185f00935ea3", size = 3859359, upload-time = "2026-08-03T22:33:11.725Z" },
+]
+
+[[package]]
+name = "httpcore"
+version = "1.0.9"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "python-dateutil" },
+    { name = "certifi" },
+    { name = "h11" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/d9/29/d40217cbe2f6b1359e00c6c307bb3fc876ba74068cbab3dde77f03ca0dc4/ghp-import-2.1.0.tar.gz", hash = "sha256:9c535c4c61193c2df8871222567d7fd7e5014d835f97dc7b7439069e2413d343", size = 10943, upload-time = "2022-05-02T15:47:16.11Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/06/94/82699a10bca87a5556c9c59b5963f2d039dbd239f25bc2a63907a05a14cb/httpcore-1.0.9.tar.gz", hash = "sha256:6e34463af53fd2ab5d807f399a9b45ea31c3dfa2276f15a2c3f00afff6e176e8", size = 85484, upload-time = "2025-04-24T22:06:22.219Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f7/ec/67fbef5d497f86283db54c22eec6f6140243aae73265799baaaa19cd17fb/ghp_import-2.1.0-py3-none-any.whl", hash = "sha256:8337dd7b50877f163d4c0289bc1f1c7f127550241988d568c1db512c4324a619", size = 11034, upload-time = "2022-05-02T15:47:14.552Z" },
+    { url = "https://files.pythonhosted.org/packages/7e/f5/f66802a942d491edb555dd61e3a9961140fd64c90bce1eafd741609d334d/httpcore-1.0.9-py3-none-any.whl", hash = "sha256:2d400746a40668fc9dec9810239072b40b4484b640a8c38fd654a024c7a1bf55", size = 78784, upload-time = "2025-04-24T22:06:20.566Z" },
 ]
 
 [[package]]
-name = "google-crc32c"
-version = "1.8.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/03/41/4b9c02f99e4c5fb477122cd5437403b552873f014616ac1d19ac8221a58d/google_crc32c-1.8.0.tar.gz", hash = "sha256:a428e25fb7691024de47fecfbff7ff957214da51eddded0da0ae0e0f03a2cf79", size = 14192, upload-time = "2025-12-16T00:35:25.142Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e9/5f/7307325b1198b59324c0fa9807cafb551afb65e831699f2ce211ad5c8240/google_crc32c-1.8.0-cp312-cp312-macosx_12_0_arm64.whl", hash = "sha256:4b8286b659c1335172e39563ab0a768b8015e88e08329fa5321f774275fc3113", size = 31300, upload-time = "2025-12-16T00:21:56.723Z" },
-    { url = "https://files.pythonhosted.org/packages/21/8e/58c0d5d86e2220e6a37befe7e6a94dd2f6006044b1a33edf1ff6d9f7e319/google_crc32c-1.8.0-cp312-cp312-macosx_12_0_x86_64.whl", hash = "sha256:2a3dc3318507de089c5384cc74d54318401410f82aa65b2d9cdde9d297aca7cb", size = 30867, upload-time = "2025-12-16T00:38:31.302Z" },
-    { url = "https://files.pythonhosted.org/packages/ce/a9/a780cc66f86335a6019f557a8aaca8fbb970728f0efd2430d15ff1beae0e/google_crc32c-1.8.0-cp312-cp312-manylinux1_x86_64.manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:14f87e04d613dfa218d6135e81b78272c3b904e2a7053b841481b38a7d901411", size = 33364, upload-time = "2025-12-16T00:40:22.96Z" },
-    { url = "https://files.pythonhosted.org/packages/21/3f/3457ea803db0198c9aaca2dd373750972ce28a26f00544b6b85088811939/google_crc32c-1.8.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:cb5c869c2923d56cb0c8e6bcdd73c009c36ae39b652dbe46a05eb4ef0ad01454", size = 33740, upload-time = "2025-12-16T00:40:23.96Z" },
-    { url = "https://files.pythonhosted.org/packages/df/c0/87c2073e0c72515bb8733d4eef7b21548e8d189f094b5dad20b0ecaf64f6/google_crc32c-1.8.0-cp312-cp312-win_amd64.whl", hash = "sha256:3cc0c8912038065eafa603b238abf252e204accab2a704c63b9e14837a854962", size = 34437, upload-time = "2025-12-16T00:35:21.395Z" },
-]
-
-[[package]]
-name = "gymnasium"
-version = "1.2.3"
+name = "httpx"
+version = "0.28.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cloudpickle" },
-    { name = "farama-notifications" },
-    { name = "numpy" },
+    { name = "anyio" },
+    { name = "certifi" },
+    { name = "httpcore" },
+    { name = "idna" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/b1/df/48c586a5fe32a0f01324ee087459e112ebb7224f646c0b5023f5e79e9956/httpx-0.28.1.tar.gz", hash = "sha256:75e98c5f16b0f35b567856f597f06ff2270a374470a5c2392242528e3e3e42fc", size = 141406, upload-time = "2024-12-06T15:37:23.222Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/2a/39/e50c7c3a983047577ee07d2a9e53faf5a69493943ec3f6a384bdc792deb2/httpx-0.28.1-py3-none-any.whl", hash = "sha256:d909fcccc110f8c7faf814ca82a9a4d816bc5a6dbfea25d6591d6985b8ba59ad", size = 73517, upload-time = "2024-12-06T15:37:21.509Z" },
+]
+
+[[package]]
+name = "huggingface-hub"
+version = "1.27.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "click" },
+    { name = "filelock" },
+    { name = "fsspec" },
+    { name = "hf-xet", marker = "platform_machine == 'AMD64' or platform_machine == 'aarch64' or platform_machine == 'amd64' or platform_machine == 'arm64' or platform_machine == 'x86_64'" },
+    { name = "httpx" },
+    { name = "packaging" },
+    { name = "pyyaml" },
+    { name = "tqdm" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/76/59/653a9417d98ed3e29ef9734ba52c3495f6c6823b8d5c0c75369f25111708/gymnasium-1.2.3.tar.gz", hash = "sha256:2b2cb5b5fbbbdf3afb9f38ca952cc48aa6aa3e26561400d940747fda3ad42509", size = 829230, upload-time = "2025-12-18T16:51:10.234Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/3e/9b/ddf3d02a8681f1b9ce52fda03d755dad6b74c4f8172304c4c8d2975450f9/huggingface_hub-1.27.0.tar.gz", hash = "sha256:c1fed40ea82a6b41b477f5243546549b792ae0a93abcea608cff66089bf8f8df", size = 942668, upload-time = "2026-08-07T12:48:05.161Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/56/d3/ea5f088e3638dbab12e5c20d6559d5b3bdaeaa1f2af74e526e6815836285/gymnasium-1.2.3-py3-none-any.whl", hash = "sha256:e6314bba8f549c7fdcc8677f7cd786b64908af6e79b57ddaa5ce1825bffb5373", size = 952113, upload-time = "2025-12-18T16:51:08.445Z" },
-]
-
-[[package]]
-name = "hypothesis"
-version = "6.47.5"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "attrs" },
-    { name = "sortedcontainers" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/45/f2/f77da8271b1abb630cb2090ead2f5aa4acc9639d632e8e68187f52527e4b/hypothesis-6.47.5.tar.gz", hash = "sha256:e0c1e253fc97e7ecdb9e2bbff2cf815d8739e0d1d3d093d67c3af5bb6a7211b0", size = 326641, upload-time = "2022-06-25T20:58:48.926Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d3/a7/389bbaade2cbbb2534cb2715986041ed01c6d792152c527e71f7f68e93b5/hypothesis-6.47.5-py3-none-any.whl", hash = "sha256:87049b781ee11ec1c7948565b889ab02e428a1e32d427ab4de8fdb3649242d06", size = 387311, upload-time = "2022-06-25T20:58:45.281Z" },
+    { url = "https://files.pythonhosted.org/packages/de/d8/95b735e183957c1f26d94c52977f09d466d55119cbbc1558ea4975e4c216/huggingface_hub-1.27.0-py3-none-any.whl", hash = "sha256:7df6827c2f956c60fbaa64646e979e566db76f619dd0a9729dfb8c5a3eb4f68d", size = 784926, upload-time = "2026-08-07T12:48:02.905Z" },
 ]
 
 [[package]]
 name = "idna"
-version = "3.11"
+version = "3.18"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/6f/6d/0703ccc57f3a7233505399edb88de3cbd678da106337b9fcde432b65ed60/idna-3.11.tar.gz", hash = "sha256:795dafcc9c04ed0c1fb032c2aa73654d8e8c5023a7df64a53f39190ada629902", size = 194582, upload-time = "2025-10-12T14:55:20.501Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/cd/63/9496c57188a2ee585e0f1db071d75089a11e98aa86eb99d9d7618fc1edce/idna-3.18.tar.gz", hash = "sha256:ffb385a7e039654cef1ab9ef32c6fafe283c0c0467bba1d9029738ce4a14a848", size = 196711, upload-time = "2026-06-02T14:34:07.794Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/0e/61/66938bbb5fc52dbdf84594873d5b51fb1f7c7794e9c0f5bd885f30bc507b/idna-3.11-py3-none-any.whl", hash = "sha256:771a87f49d9defaf64091e6e6fe9c18d4833f140bd19464795bc32d966ca37ea", size = 71008, upload-time = "2025-10-12T14:55:18.883Z" },
+    { url = "https://files.pythonhosted.org/packages/1e/5e/d4e9f1a599fb8e573b7b87160658329fbf28d19eac2718f51fc3def3aa5a/idna-3.18-py3-none-any.whl", hash = "sha256:7f952cbe720b688055e3f87de14f5c3e5fdaa8bc3928985c4077ca689de849a2", size = 65455, upload-time = "2026-06-02T14:34:06.319Z" },
 ]
 
 [[package]]
-name = "ifaddr"
-version = "0.2.0"
+name = "importlib-resources"
+version = "7.1.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e8/ac/fb4c578f4a3256561548cd825646680edcadb9440f3f68add95ade1eb791/ifaddr-0.2.0.tar.gz", hash = "sha256:cc0cbfcaabf765d44595825fb96a99bb12c79716b73b44330ea38ee2b0c4aed4", size = 10485, upload-time = "2022-06-15T21:40:27.561Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/e4/06/b56dfa750b44e86157093bc8fca0ab81dccbf5260510de4eaf1cb69b5b99/importlib_resources-7.1.0.tar.gz", hash = "sha256:0722d4c6212489c530f2a145a34c0a7a3b4721bc96a15fada5930e2a0b760708", size = 44985, upload-time = "2026-04-12T16:36:09.232Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/9c/1f/19ebc343cc71a7ffa78f17018535adc5cbdd87afb31d7c34874680148b32/ifaddr-0.2.0-py3-none-any.whl", hash = "sha256:085e0305cfe6f16ab12d72e2024030f5d52674afad6911bb1eee207177b8a748", size = 12314, upload-time = "2022-06-15T21:40:25.756Z" },
-]
-
-[[package]]
-name = "iniconfig"
-version = "2.3.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/72/34/14ca021ce8e5dfedc35312d08ba8bf51fdd999c576889fc2c24cb97f4f10/iniconfig-2.3.0.tar.gz", hash = "sha256:c76315c77db068650d49c5b56314774a7804df16fee4402c1f19d6d15d8c4730", size = 20503, upload-time = "2025-10-18T21:55:43.219Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/cb/b1/3846dd7f199d53cb17f49cba7e651e9ce294d8497c8c150530ed11865bb8/iniconfig-2.3.0-py3-none-any.whl", hash = "sha256:f631c04d2c48c52b84d0d0549c99ff3859c98df65b3101406327ecc7d53fbf12", size = 7484, upload-time = "2025-10-18T21:55:41.639Z" },
+    { url = "https://files.pythonhosted.org/packages/8a/db/55a262f3606bebcae07cc14095338471ad7c0bbcaa37707e6f0ee49725b7/importlib_resources-7.1.0-py3-none-any.whl", hash = "sha256:1bd7b48b4088eddb2cd16382150bb515af0bd2c70128194392725f82ad2c96a1", size = 37232, upload-time = "2026-04-12T16:36:08.219Z" },
 ]
 
 [[package]]
@@ -575,99 +526,81 @@ wheels = [
 ]
 
 [[package]]
-name = "json-rpc"
-version = "1.15.0"
+name = "kiwisolver"
+version = "1.5.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/6d/9e/59f4a5b7855ced7346ebf40a2e9a8942863f644378d956f68bcef2c88b90/json-rpc-1.15.0.tar.gz", hash = "sha256:e6441d56c1dcd54241c937d0a2dcd193bdf0bdc539b5316524713f554b7f85b9", size = 28854, upload-time = "2023-06-11T09:45:49.078Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/d0/67/9c61eccb13f0bdca9307614e782fec49ffdde0f7a2314935d489fa93cd9c/kiwisolver-1.5.0.tar.gz", hash = "sha256:d4193f3d9dc3f6f79aaed0e5637f45d98850ebf01f7ca20e69457f3e8946b66a", size = 103482, upload-time = "2026-03-09T13:15:53.382Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/94/9e/820c4b086ad01ba7d77369fb8b11470a01fac9b4977f02e18659cf378b6b/json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf", size = 39450, upload-time = "2023-06-11T09:45:47.136Z" },
+    { url = "https://files.pythonhosted.org/packages/4d/b2/818b74ebea34dabe6d0c51cb1c572e046730e64844da6ed646d5298c40ce/kiwisolver-1.5.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:4e9750bc21b886308024f8a54ccb9a2cc38ac9fa813bf4348434e3d54f337ff9", size = 123158, upload-time = "2026-03-09T13:13:23.127Z" },
+    { url = "https://files.pythonhosted.org/packages/bf/d9/405320f8077e8e1c5c4bd6adc45e1e6edf6d727b6da7f2e2533cf58bff71/kiwisolver-1.5.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:72ec46b7eba5b395e0a7b63025490d3214c11013f4aacb4f5e8d6c3041829588", size = 66388, upload-time = "2026-03-09T13:13:24.765Z" },
+    { url = "https://files.pythonhosted.org/packages/99/9f/795fedf35634f746151ca8839d05681ceb6287fbed6cc1c9bf235f7887c2/kiwisolver-1.5.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:ed3a984b31da7481b103f68776f7128a89ef26ed40f4dc41a2223cda7fb24819", size = 64068, upload-time = "2026-03-09T13:13:25.878Z" },
+    { url = "https://files.pythonhosted.org/packages/c4/13/680c54afe3e65767bed7ec1a15571e1a2f1257128733851ade24abcefbcc/kiwisolver-1.5.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:bb5136fb5352d3f422df33f0c879a1b0c204004324150cc3b5e3c4f310c9049f", size = 1477934, upload-time = "2026-03-09T13:13:27.166Z" },
+    { url = "https://files.pythonhosted.org/packages/c8/2f/cebfcdb60fd6a9b0f6b47a9337198bcbad6fbe15e68189b7011fd914911f/kiwisolver-1.5.0-cp312-cp312-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:b2af221f268f5af85e776a73d62b0845fc8baf8ef0abfae79d29c77d0e776aaf", size = 1278537, upload-time = "2026-03-09T13:13:28.707Z" },
+    { url = "https://files.pythonhosted.org/packages/f2/0d/9b782923aada3fafb1d6b84e13121954515c669b18af0c26e7d21f579855/kiwisolver-1.5.0-cp312-cp312-manylinux_2_24_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:b0f172dc8ffaccb8522d7c5d899de00133f2f1ca7b0a49b7da98e901de87bf2d", size = 1296685, upload-time = "2026-03-09T13:13:30.528Z" },
+    { url = "https://files.pythonhosted.org/packages/27/70/83241b6634b04fe44e892688d5208332bde130f38e610c0418f9ede47ded/kiwisolver-1.5.0-cp312-cp312-manylinux_2_24_s390x.manylinux_2_28_s390x.whl", hash = "sha256:6ab8ba9152203feec73758dad83af9a0bbe05001eb4639e547207c40cfb52083", size = 1346024, upload-time = "2026-03-09T13:13:32.818Z" },
+    { url = "https://files.pythonhosted.org/packages/e4/db/30ed226fb271ae1a6431fc0fe0edffb2efe23cadb01e798caeb9f2ceae8f/kiwisolver-1.5.0-cp312-cp312-manylinux_2_39_riscv64.whl", hash = "sha256:cdee07c4d7f6d72008d3f73b9bf027f4e11550224c7c50d8df1ae4a37c1402a6", size = 987241, upload-time = "2026-03-09T13:13:34.435Z" },
+    { url = "https://files.pythonhosted.org/packages/ec/bd/c314595208e4c9587652d50959ead9e461995389664e490f4dce7ff0f782/kiwisolver-1.5.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:7c60d3c9b06fb23bd9c6139281ccbdc384297579ae037f08ae90c69f6845c0b1", size = 2227742, upload-time = "2026-03-09T13:13:36.4Z" },
+    { url = "https://files.pythonhosted.org/packages/c1/43/0499cec932d935229b5543d073c2b87c9c22846aab48881e9d8d6e742a2d/kiwisolver-1.5.0-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:e315e5ec90d88e140f57696ff85b484ff68bb311e36f2c414aa4286293e6dee0", size = 2323966, upload-time = "2026-03-09T13:13:38.204Z" },
+    { url = "https://files.pythonhosted.org/packages/3d/6f/79b0d760907965acfd9d61826a3d41f8f093c538f55cd2633d3f0db269f6/kiwisolver-1.5.0-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:1465387ac63576c3e125e5337a6892b9e99e0627d52317f3ca79e6930d889d15", size = 1977417, upload-time = "2026-03-09T13:13:39.966Z" },
+    { url = "https://files.pythonhosted.org/packages/ab/31/01d0537c41cb75a551a438c3c7a80d0c60d60b81f694dac83dd436aec0d0/kiwisolver-1.5.0-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:530a3fd64c87cffa844d4b6b9768774763d9caa299e9b75d8eca6a4423b31314", size = 2491238, upload-time = "2026-03-09T13:13:41.698Z" },
+    { url = "https://files.pythonhosted.org/packages/e4/34/8aefdd0be9cfd00a44509251ba864f5caf2991e36772e61c408007e7f417/kiwisolver-1.5.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:1d9daea4ea6b9be74fe2f01f7fbade8d6ffab263e781274cffca0dba9be9eec9", size = 2294947, upload-time = "2026-03-09T13:13:43.343Z" },
+    { url = "https://files.pythonhosted.org/packages/ad/cf/0348374369ca588f8fe9c338fae49fa4e16eeb10ffb3d012f23a54578a9e/kiwisolver-1.5.0-cp312-cp312-win_amd64.whl", hash = "sha256:f18c2d9782259a6dc132fdc7a63c168cbc74b35284b6d75c673958982a378384", size = 73569, upload-time = "2026-03-09T13:13:45.792Z" },
+    { url = "https://files.pythonhosted.org/packages/28/26/192b26196e2316e2bd29deef67e37cdf9870d9af8e085e521afff0fed526/kiwisolver-1.5.0-cp312-cp312-win_arm64.whl", hash = "sha256:f7c7553b13f69c1b29a5bde08ddc6d9d0c8bfb84f9ed01c30db25944aeb852a7", size = 64997, upload-time = "2026-03-09T13:13:46.878Z" },
+    { url = "https://files.pythonhosted.org/packages/1c/fa/2910df836372d8761bb6eff7d8bdcb1613b5c2e03f260efe7abe34d388a7/kiwisolver-1.5.0-graalpy312-graalpy250_312_native-macosx_10_13_x86_64.whl", hash = "sha256:5ae8e62c147495b01a0f4765c878e9bfdf843412446a247e28df59936e99e797", size = 130262, upload-time = "2026-03-09T13:15:35.629Z" },
+    { url = "https://files.pythonhosted.org/packages/0f/41/c5f71f9f00aabcc71fee8b7475e3f64747282580c2fe748961ba29b18385/kiwisolver-1.5.0-graalpy312-graalpy250_312_native-macosx_11_0_arm64.whl", hash = "sha256:f6764a4ccab3078db14a632420930f6186058750df066b8ea2a7106df91d3203", size = 138036, upload-time = "2026-03-09T13:15:36.894Z" },
+    { url = "https://files.pythonhosted.org/packages/fa/06/7399a607f434119c6e1fdc8ec89a8d51ccccadf3341dee4ead6bd14caaf5/kiwisolver-1.5.0-graalpy312-graalpy250_312_native-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:c31c13da98624f957b0fb1b5bae5383b2333c2c3f6793d9825dd5ce79b525cb7", size = 194295, upload-time = "2026-03-09T13:15:38.22Z" },
+    { url = "https://files.pythonhosted.org/packages/b5/91/53255615acd2a1eaca307ede3c90eb550bae9c94581f8c00081b6b1c8f44/kiwisolver-1.5.0-graalpy312-graalpy250_312_native-win_amd64.whl", hash = "sha256:1f1489f769582498610e015a8ef2d36f28f505ab3096d0e16b4858a9ec214f57", size = 75987, upload-time = "2026-03-09T13:15:39.65Z" },
 ]
 
 [[package]]
-name = "kiwisolver"
-version = "1.4.9"
+name = "libdatachannel-py"
+version = "2026.1.0.dev2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/5c/3c/85844f1b0feb11ee581ac23fe5fce65cd049a200c1446708cc1b7f922875/kiwisolver-1.4.9.tar.gz", hash = "sha256:c3b22c26c6fd6811b0ae8363b95ca8ce4ea3c202d3d0975b2914310ceb1bcc4d", size = 97564, upload-time = "2025-08-10T21:27:49.279Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/86/c9/13573a747838aeb1c76e3267620daa054f4152444d1f3d1a2324b78255b5/kiwisolver-1.4.9-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:ac5a486ac389dddcc5bef4f365b6ae3ffff2c433324fb38dd35e3fab7c957999", size = 123686, upload-time = "2025-08-10T21:26:10.034Z" },
-    { url = "https://files.pythonhosted.org/packages/51/ea/2ecf727927f103ffd1739271ca19c424d0e65ea473fbaeea1c014aea93f6/kiwisolver-1.4.9-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:f2ba92255faa7309d06fe44c3a4a97efe1c8d640c2a79a5ef728b685762a6fd2", size = 66460, upload-time = "2025-08-10T21:26:11.083Z" },
-    { url = "https://files.pythonhosted.org/packages/5b/5a/51f5464373ce2aeb5194508298a508b6f21d3867f499556263c64c621914/kiwisolver-1.4.9-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:4a2899935e724dd1074cb568ce7ac0dce28b2cd6ab539c8e001a8578eb106d14", size = 64952, upload-time = "2025-08-10T21:26:12.058Z" },
-    { url = "https://files.pythonhosted.org/packages/70/90/6d240beb0f24b74371762873e9b7f499f1e02166a2d9c5801f4dbf8fa12e/kiwisolver-1.4.9-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:f6008a4919fdbc0b0097089f67a1eb55d950ed7e90ce2cc3e640abadd2757a04", size = 1474756, upload-time = "2025-08-10T21:26:13.096Z" },
-    { url = "https://files.pythonhosted.org/packages/12/42/f36816eaf465220f683fb711efdd1bbf7a7005a2473d0e4ed421389bd26c/kiwisolver-1.4.9-cp312-cp312-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:67bb8b474b4181770f926f7b7d2f8c0248cbcb78b660fdd41a47054b28d2a752", size = 1276404, upload-time = "2025-08-10T21:26:14.457Z" },
-    { url = "https://files.pythonhosted.org/packages/2e/64/bc2de94800adc830c476dce44e9b40fd0809cddeef1fde9fcf0f73da301f/kiwisolver-1.4.9-cp312-cp312-manylinux_2_24_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:2327a4a30d3ee07d2fbe2e7933e8a37c591663b96ce42a00bc67461a87d7df77", size = 1294410, upload-time = "2025-08-10T21:26:15.73Z" },
-    { url = "https://files.pythonhosted.org/packages/5f/42/2dc82330a70aa8e55b6d395b11018045e58d0bb00834502bf11509f79091/kiwisolver-1.4.9-cp312-cp312-manylinux_2_24_s390x.manylinux_2_28_s390x.whl", hash = "sha256:7a08b491ec91b1d5053ac177afe5290adacf1f0f6307d771ccac5de30592d198", size = 1343631, upload-time = "2025-08-10T21:26:17.045Z" },
-    { url = "https://files.pythonhosted.org/packages/22/fd/f4c67a6ed1aab149ec5a8a401c323cee7a1cbe364381bb6c9c0d564e0e20/kiwisolver-1.4.9-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:d8fc5c867c22b828001b6a38d2eaeb88160bf5783c6cb4a5e440efc981ce286d", size = 2224963, upload-time = "2025-08-10T21:26:18.737Z" },
-    { url = "https://files.pythonhosted.org/packages/45/aa/76720bd4cb3713314677d9ec94dcc21ced3f1baf4830adde5bb9b2430a5f/kiwisolver-1.4.9-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:3b3115b2581ea35bb6d1f24a4c90af37e5d9b49dcff267eeed14c3893c5b86ab", size = 2321295, upload-time = "2025-08-10T21:26:20.11Z" },
-    { url = "https://files.pythonhosted.org/packages/80/19/d3ec0d9ab711242f56ae0dc2fc5d70e298bb4a1f9dfab44c027668c673a1/kiwisolver-1.4.9-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:858e4c22fb075920b96a291928cb7dea5644e94c0ee4fcd5af7e865655e4ccf2", size = 2487987, upload-time = "2025-08-10T21:26:21.49Z" },
-    { url = "https://files.pythonhosted.org/packages/39/e9/61e4813b2c97e86b6fdbd4dd824bf72d28bcd8d4849b8084a357bc0dd64d/kiwisolver-1.4.9-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:ed0fecd28cc62c54b262e3736f8bb2512d8dcfdc2bcf08be5f47f96bf405b145", size = 2291817, upload-time = "2025-08-10T21:26:22.812Z" },
-    { url = "https://files.pythonhosted.org/packages/a0/41/85d82b0291db7504da3c2defe35c9a8a5c9803a730f297bd823d11d5fb77/kiwisolver-1.4.9-cp312-cp312-win_amd64.whl", hash = "sha256:f68208a520c3d86ea51acf688a3e3002615a7f0238002cccc17affecc86a8a54", size = 73895, upload-time = "2025-08-10T21:26:24.37Z" },
-    { url = "https://files.pythonhosted.org/packages/e2/92/5f3068cf15ee5cb624a0c7596e67e2a0bb2adee33f71c379054a491d07da/kiwisolver-1.4.9-cp312-cp312-win_arm64.whl", hash = "sha256:2c1a4f57df73965f3f14df20b80ee29e6a7930a57d2d9e8491a25f676e197c60", size = 64992, upload-time = "2025-08-10T21:26:25.732Z" },
+    { url = "https://files.pythonhosted.org/packages/46/2f/68e8306327ddef4b2133d2efb163cb05b319759ce8bd50b8b32dcd03dd95/libdatachannel_py-2026.1.0.dev2-cp312-cp312-macosx_15_0_arm64.whl", hash = "sha256:6607fa1439e1b5bfceecd387c433470c9d45e439c3c06fa064f5c4669ad7e582", size = 1213155, upload-time = "2026-05-19T03:37:12.796Z" },
+    { url = "https://files.pythonhosted.org/packages/fc/e3/10aed36ffaf1744795322aae612db777991575b72a9f04e2c677c2c022bf/libdatachannel_py-2026.1.0.dev2-cp312-cp312-macosx_26_0_arm64.whl", hash = "sha256:a060b1250f57d1fccb36e3a6b36ac8f4fd34926a6b51c564e787e8b7206458aa", size = 1224706, upload-time = "2026-05-19T03:37:12.679Z" },
+    { url = "https://files.pythonhosted.org/packages/09/a9/103fc647a8f9c721ab140fe8d2f8dbd90817e917ca763c4eb0f843fe247e/libdatachannel_py-2026.1.0.dev2-cp312-cp312-manylinux_2_35_aarch64.whl", hash = "sha256:0b8aa3be2fa3654ea24f882756d6599e847de866a44f7a291c60994548a2debb", size = 1638879, upload-time = "2026-05-19T03:37:18.138Z" },
+    { url = "https://files.pythonhosted.org/packages/09/a8/0dc7d3fe80fc247ec165dbd455bc2a1a307ef65702a43e24473202c2bf42/libdatachannel_py-2026.1.0.dev2-cp312-cp312-manylinux_2_35_x86_64.whl", hash = "sha256:339a79fcbc8c6caf91c620f6e4a0f1b8ccb6a941a966d10a3135c980ae4651a6", size = 1718006, upload-time = "2026-05-19T03:37:11.891Z" },
+    { url = "https://files.pythonhosted.org/packages/6d/86/30904a8753e9db60d8c3cf8efda09585fc68f2004d3d7aa2910c93a8eed5/libdatachannel_py-2026.1.0.dev2-cp312-cp312-manylinux_2_38_aarch64.whl", hash = "sha256:b9f476cb065b50856ab2e53bf774ccca9c6a66454b7ce903aaf6dfcdef2a4482", size = 1643757, upload-time = "2026-05-19T03:37:12.207Z" },
+    { url = "https://files.pythonhosted.org/packages/d7/9d/1e10131396d28e84a8088a63c14978cc215f6677dc85acdd96b6068f0664/libdatachannel_py-2026.1.0.dev2-cp312-cp312-manylinux_2_38_x86_64.whl", hash = "sha256:1f31db7347549edcd69fcc1ecb8b31e7183894808ccf9387afc49a4d68debaae", size = 1751748, upload-time = "2026-05-19T03:37:06.98Z" },
+]
+
+[[package]]
+name = "libusb-package"
+version = "1.0.30.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "importlib-resources" },
+]
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/42/a8/8b3d5dae7340880d556f9f866874b9674b2e3a22fee1e2b96f1ab0feae36/libusb_package-1.0.30.0-py3-none-macosx_10_9_x86_64.whl", hash = "sha256:2b98784bac3bedda7e95bb5039dd0eded84b02f36110e4d5d607375366c61090", size = 69516, upload-time = "2026-06-30T07:41:02.451Z" },
+    { url = "https://files.pythonhosted.org/packages/52/6f/26de4e9f858ab50e87931f0be268f3c1bbfce33e8584add60da857632142/libusb_package-1.0.30.0-py3-none-macosx_11_0_arm64.whl", hash = "sha256:4ad25f8d254bbbdd234446d5580b24d62d59bb0e690d8090457dac347f044437", size = 65700, upload-time = "2026-06-30T07:41:03.557Z" },
+    { url = "https://files.pythonhosted.org/packages/11/12/9ba8fa91dc95b1cbfa4a68207d4048b08b900fd3686fa72b99846608de01/libusb_package-1.0.30.0-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:c71b5f8c65b286425c02c7d624eee1fd7f08bfb1dfa492ddc20e27f06fee3829", size = 76166, upload-time = "2026-06-30T07:41:04.462Z" },
+    { url = "https://files.pythonhosted.org/packages/6f/e1/a7c83535749332825f02d6693868f8ee9ae99c4104e60a483773bb652c0e/libusb_package-1.0.30.0-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:f502ad5a0527b8c0431de817662325c88a1bba2cc334173665b04ad168d7b6d3", size = 76159, upload-time = "2026-06-30T07:41:05.543Z" },
+    { url = "https://files.pythonhosted.org/packages/de/56/a1fb1726fc96a8ee3bd0e04e5e505500f022dd310dd348ecebf5cdae7a60/libusb_package-1.0.30.0-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:7a2a1c82f6ef85d9920cbe2898aa6927d4c487744ef9f20b0d7d6d95705095bb", size = 77162, upload-time = "2026-06-30T07:41:06.581Z" },
+    { url = "https://files.pythonhosted.org/packages/7b/03/264cefc51275ecb047194c4973bc40b3b278566a64bbe6e74f86bf1e0afc/libusb_package-1.0.30.0-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:2ee5ef8ac6f08402b4e8334f7404850316bdd26037c9a97f2a7456ee9a5d1550", size = 76676, upload-time = "2026-06-30T07:41:07.505Z" },
+    { url = "https://files.pythonhosted.org/packages/e5/95/d166eeefe0d9dd5833d5724a97b023ec380c3a2d364040ec0485fd57703c/libusb_package-1.0.30.0-py3-none-win32.whl", hash = "sha256:79728146e1f01e525786900b2ccd8298a8eca53cd94b37fb0885e56aa6f9d60a", size = 78769, upload-time = "2026-06-30T07:41:08.432Z" },
+    { url = "https://files.pythonhosted.org/packages/60/4a/ff49bd77f33af05ca26fee29d601beb1e19ca791bb86efece82a3833885c/libusb_package-1.0.30.0-py3-none-win_amd64.whl", hash = "sha256:90808da724c8939a333d931d0c7226372ca5fefd98e2f2f3ef79fd918aa37522", size = 90711, upload-time = "2026-06-30T07:41:09.318Z" },
 ]
 
 [[package]]
 name = "libusb1"
-version = "3.3.1"
+version = "3.4.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a2/7f/c59ad56d1bca8fa4321d1bb77ba4687775751a4deceec14943a44da18ca0/libusb1-3.3.1.tar.gz", hash = "sha256:3951d360f2daf0e0eacf839e15d2d1d2f4f5e7830231eb3188eeffef2dd17bad", size = 107600, upload-time = "2025-03-24T05:36:47.834Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/89/35/f9d2a990d092d647b47540cd229e1d68432c0f51183484ca189612a4824c/libusb1-3.4.0.tar.gz", hash = "sha256:9cf5638506d54f21bf36550d97ea63189111a23c4d8078f630103a2052135f45", size = 91206, upload-time = "2026-05-16T20:59:19.315Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/10/f7/4577cfc55c9520ecab5563173e83235382ac7980c8c2c08d6c9f7ef9e615/libusb1-3.3.1-py3-none-any.whl", hash = "sha256:808c9362299dcee01651aa87e71e9d681ccedb27fc4dbd70aaf14e245fb855f1", size = 67243, upload-time = "2025-03-24T05:36:42.312Z" },
-    { url = "https://files.pythonhosted.org/packages/6a/60/d3fd4831c601f063a16fc59f465ef4c1108247b07fbff371a982bd1bac45/libusb1-3.3.1-py3-none-win32.whl", hash = "sha256:0ef69825173ce74af34444754c081cc324233edc6acc405658b3ad784833e076", size = 129576, upload-time = "2025-03-24T05:36:45.202Z" },
-    { url = "https://files.pythonhosted.org/packages/94/6d/344a164d32d65d503ffe9201cd74cf13a020099dc446554d1e50b07f167b/libusb1-3.3.1-py3-none-win_amd64.whl", hash = "sha256:6e21b772d80d6487fbb55d3d2141218536db302da82f1983754e96c72781c102", size = 141080, upload-time = "2025-03-24T05:36:46.594Z" },
-]
-
-[[package]]
-name = "lxml"
-version = "6.0.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/aa/88/262177de60548e5a2bfc46ad28232c9e9cbde697bd94132aeb80364675cb/lxml-6.0.2.tar.gz", hash = "sha256:cd79f3367bd74b317dda655dc8fcfa304d9eb6e4fb06b7168c5cf27f96e0cd62", size = 4073426, upload-time = "2025-09-22T04:04:59.287Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f3/c8/8ff2bc6b920c84355146cd1ab7d181bc543b89241cfb1ebee824a7c81457/lxml-6.0.2-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a59f5448ba2ceccd06995c95ea59a7674a10de0810f2ce90c9006f3cbc044456", size = 8661887, upload-time = "2025-09-22T04:01:17.265Z" },
-    { url = "https://files.pythonhosted.org/packages/37/6f/9aae1008083bb501ef63284220ce81638332f9ccbfa53765b2b7502203cf/lxml-6.0.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:e8113639f3296706fbac34a30813929e29247718e88173ad849f57ca59754924", size = 4667818, upload-time = "2025-09-22T04:01:19.688Z" },
-    { url = "https://files.pythonhosted.org/packages/f1/ca/31fb37f99f37f1536c133476674c10b577e409c0a624384147653e38baf2/lxml-6.0.2-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:a8bef9b9825fa8bc816a6e641bb67219489229ebc648be422af695f6e7a4fa7f", size = 4950807, upload-time = "2025-09-22T04:01:21.487Z" },
-    { url = "https://files.pythonhosted.org/packages/da/87/f6cb9442e4bada8aab5ae7e1046264f62fdbeaa6e3f6211b93f4c0dd97f1/lxml-6.0.2-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:65ea18d710fd14e0186c2f973dc60bb52039a275f82d3c44a0e42b43440ea534", size = 5109179, upload-time = "2025-09-22T04:01:23.32Z" },
-    { url = "https://files.pythonhosted.org/packages/c8/20/a7760713e65888db79bbae4f6146a6ae5c04e4a204a3c48896c408cd6ed2/lxml-6.0.2-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:c371aa98126a0d4c739ca93ceffa0fd7a5d732e3ac66a46e74339acd4d334564", size = 5023044, upload-time = "2025-09-22T04:01:25.118Z" },
-    { url = "https://files.pythonhosted.org/packages/a2/b0/7e64e0460fcb36471899f75831509098f3fd7cd02a3833ac517433cb4f8f/lxml-6.0.2-cp312-cp312-manylinux_2_26_i686.manylinux_2_28_i686.whl", hash = "sha256:700efd30c0fa1a3581d80a748157397559396090a51d306ea59a70020223d16f", size = 5359685, upload-time = "2025-09-22T04:01:27.398Z" },
-    { url = "https://files.pythonhosted.org/packages/b9/e1/e5df362e9ca4e2f48ed6411bd4b3a0ae737cc842e96877f5bf9428055ab4/lxml-6.0.2-cp312-cp312-manylinux_2_26_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:c33e66d44fe60e72397b487ee92e01da0d09ba2d66df8eae42d77b6d06e5eba0", size = 5654127, upload-time = "2025-09-22T04:01:29.629Z" },
-    { url = "https://files.pythonhosted.org/packages/c6/d1/232b3309a02d60f11e71857778bfcd4acbdb86c07db8260caf7d008b08f8/lxml-6.0.2-cp312-cp312-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:90a345bbeaf9d0587a3aaffb7006aa39ccb6ff0e96a57286c0cb2fd1520ea192", size = 5253958, upload-time = "2025-09-22T04:01:31.535Z" },
-    { url = "https://files.pythonhosted.org/packages/35/35/d955a070994725c4f7d80583a96cab9c107c57a125b20bb5f708fe941011/lxml-6.0.2-cp312-cp312-manylinux_2_31_armv7l.whl", hash = "sha256:064fdadaf7a21af3ed1dcaa106b854077fbeada827c18f72aec9346847cd65d0", size = 4711541, upload-time = "2025-09-22T04:01:33.801Z" },
-    { url = "https://files.pythonhosted.org/packages/1e/be/667d17363b38a78c4bd63cfd4b4632029fd68d2c2dc81f25ce9eb5224dd5/lxml-6.0.2-cp312-cp312-manylinux_2_38_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:fbc74f42c3525ac4ffa4b89cbdd00057b6196bcefe8bce794abd42d33a018092", size = 5267426, upload-time = "2025-09-22T04:01:35.639Z" },
-    { url = "https://files.pythonhosted.org/packages/ea/47/62c70aa4a1c26569bc958c9ca86af2bb4e1f614e8c04fb2989833874f7ae/lxml-6.0.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:6ddff43f702905a4e32bc24f3f2e2edfe0f8fde3277d481bffb709a4cced7a1f", size = 5064917, upload-time = "2025-09-22T04:01:37.448Z" },
-    { url = "https://files.pythonhosted.org/packages/bd/55/6ceddaca353ebd0f1908ef712c597f8570cc9c58130dbb89903198e441fd/lxml-6.0.2-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:6da5185951d72e6f5352166e3da7b0dc27aa70bd1090b0eb3f7f7212b53f1bb8", size = 4788795, upload-time = "2025-09-22T04:01:39.165Z" },
-    { url = "https://files.pythonhosted.org/packages/cf/e8/fd63e15da5e3fd4c2146f8bbb3c14e94ab850589beab88e547b2dbce22e1/lxml-6.0.2-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:57a86e1ebb4020a38d295c04fc79603c7899e0df71588043eb218722dabc087f", size = 5676759, upload-time = "2025-09-22T04:01:41.506Z" },
-    { url = "https://files.pythonhosted.org/packages/76/47/b3ec58dc5c374697f5ba37412cd2728f427d056315d124dd4b61da381877/lxml-6.0.2-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:2047d8234fe735ab77802ce5f2297e410ff40f5238aec569ad7c8e163d7b19a6", size = 5255666, upload-time = "2025-09-22T04:01:43.363Z" },
-    { url = "https://files.pythonhosted.org/packages/19/93/03ba725df4c3d72afd9596eef4a37a837ce8e4806010569bedfcd2cb68fd/lxml-6.0.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:6f91fd2b2ea15a6800c8e24418c0775a1694eefc011392da73bc6cef2623b322", size = 5277989, upload-time = "2025-09-22T04:01:45.215Z" },
-    { url = "https://files.pythonhosted.org/packages/c6/80/c06de80bfce881d0ad738576f243911fccf992687ae09fd80b734712b39c/lxml-6.0.2-cp312-cp312-win32.whl", hash = "sha256:3ae2ce7d6fedfb3414a2b6c5e20b249c4c607f72cb8d2bb7cc9c6ec7c6f4e849", size = 3611456, upload-time = "2025-09-22T04:01:48.243Z" },
-    { url = "https://files.pythonhosted.org/packages/f7/d7/0cdfb6c3e30893463fb3d1e52bc5f5f99684a03c29a0b6b605cfae879cd5/lxml-6.0.2-cp312-cp312-win_amd64.whl", hash = "sha256:72c87e5ee4e58a8354fb9c7c84cbf95a1c8236c127a5d1b7683f04bed8361e1f", size = 4011793, upload-time = "2025-09-22T04:01:50.042Z" },
-    { url = "https://files.pythonhosted.org/packages/ea/7b/93c73c67db235931527301ed3785f849c78991e2e34f3fd9a6663ffda4c5/lxml-6.0.2-cp312-cp312-win_arm64.whl", hash = "sha256:61cb10eeb95570153e0c0e554f58df92ecf5109f75eacad4a95baa709e26c3d6", size = 3672836, upload-time = "2025-09-22T04:01:52.145Z" },
-]
-
-[[package]]
-name = "mapbox-earcut"
-version = "2.0.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/bc/7b/bbf6b00488662be5d2eb7a188222c264b6f713bac10dc4a77bf37a4cb4b6/mapbox_earcut-2.0.0.tar.gz", hash = "sha256:81eab6b86cf99551deb698b98e3f7502c57900e5c479df15e1bdaf1a57f0f9d6", size = 39934, upload-time = "2025-11-16T18:41:27.251Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8d/93/846804029d955c3c841d8efff77c2b0e8d9aab057d3a077dc8e3f88b5ea4/mapbox_earcut-2.0.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:db55ce18e698bc9d90914ee7d4f8c3e4d23827456ece7c5d7a1ec91e90c7122b", size = 55623, upload-time = "2025-11-16T18:40:32.113Z" },
-    { url = "https://files.pythonhosted.org/packages/d3/f6/cc9ece104bc3876b350dba6fef7f34fb7b20ecc028d2cdbdbecb436b1ed1/mapbox_earcut-2.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:01dd6099d16123baf582a11b2bd1d59ce848498cf0cdca3812fd1f8b20ff33b7", size = 52028, upload-time = "2025-11-16T18:40:33.516Z" },
-    { url = "https://files.pythonhosted.org/packages/88/6e/230da4aabcc56c99e9bddb4c43ce7d4ba3609c0caf2d316fb26535d7c60c/mapbox_earcut-2.0.0-cp312-cp312-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:2d5a098aae26a52282bc981a38e7bf6b889d2ea7442f2cd1903d2ba842f4ff07", size = 56351, upload-time = "2025-11-16T18:40:35.217Z" },
-    { url = "https://files.pythonhosted.org/packages/1a/f7/5cdd3752526e91d91336c7263af7767b291d21e63c89d7190a60051f0f87/mapbox_earcut-2.0.0-cp312-cp312-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:de35f241d0b9110ad9260f295acedd9d7cc0d7acfe30d36b1b3ee8419c2caba1", size = 59209, upload-time = "2025-11-16T18:40:36.634Z" },
-    { url = "https://files.pythonhosted.org/packages/7b/a2/b7781416cb93b37b95d0444e03f87184de8815e57ff202ce4105fa921325/mapbox_earcut-2.0.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:6cb63ab85e2e430c350f93e75c13f8b91cb8c8a045f3cd714c390b69a720368a", size = 152316, upload-time = "2025-11-16T18:40:38.147Z" },
-    { url = "https://files.pythonhosted.org/packages/c1/74/396338e3d345e4e36fb23a0380921098b6a95ce7fb19c4777f4185a5974e/mapbox_earcut-2.0.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:fb3c9f069fc3795306db87f8139f70c4f047532f897a3de05f54dc1faebc97f6", size = 157268, upload-time = "2025-11-16T18:40:39.753Z" },
-    { url = "https://files.pythonhosted.org/packages/56/2c/66fd137ea86c508f6cd7247f7f6e2d1dabffc9f0e9ccf14c71406b197af1/mapbox_earcut-2.0.0-cp312-cp312-win32.whl", hash = "sha256:eb290e6676217707ed238dd55e07b0a8ca3ab928f6a27c4afefb2ff3af08d7cb", size = 51226, upload-time = "2025-11-16T18:40:41.018Z" },
-    { url = "https://files.pythonhosted.org/packages/b8/84/7b78e37b0c2109243c0dad7d9ba9774b02fcee228bf61cf727a5aa1702e2/mapbox_earcut-2.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:5ef5b3319a43375272ad2cad9333ed16e569b5102e32a4241451358897e6f6ee", size = 56417, upload-time = "2025-11-16T18:40:42.173Z" },
-    { url = "https://files.pythonhosted.org/packages/75/7f/cd7195aa27c1c8f2b9d38025a5a8663f32cd01c07b648a54b1308ab26c15/mapbox_earcut-2.0.0-cp312-cp312-win_arm64.whl", hash = "sha256:a4a3706feb5cc8c782d8f68bb0110c8d551304043f680a87a54b0651a2c208c3", size = 50111, upload-time = "2025-11-16T18:40:43.334Z" },
+    { url = "https://files.pythonhosted.org/packages/d4/64/d4b59444e4d3b6979aa5eb58840634465a24b41a9ab03dcf8434c9b89551/libusb1-3.4.0-py3-none-any.whl", hash = "sha256:e83d034e44c3efe1c4599c6281d34bca50a38c12cab3b7b6217d583161a01ffd", size = 67373, upload-time = "2026-05-16T20:59:13.142Z" },
+    { url = "https://files.pythonhosted.org/packages/7e/55/a838a4278fac4ee49bf670ddc59d621999a1cb2a3188fb13a23609ea4f06/libusb1-3.4.0-py3-none-win32.whl", hash = "sha256:0a1aa1416034690eb9dc9a895eda0fef44d853bca1053eb1de50a5906684846d", size = 129704, upload-time = "2026-05-16T20:59:15.243Z" },
+    { url = "https://files.pythonhosted.org/packages/5f/08/02aecf6dad627534a5835244ece14d7f187ef430354d9b8551199934d059/libusb1-3.4.0-py3-none-win_amd64.whl", hash = "sha256:b7dcc1f324a895af6aac708bc5513a17373f97349cc2ab8a277519c788bd18ca", size = 141212, upload-time = "2026-05-16T20:59:17.286Z" },
 ]
 
 [[package]]
 name = "markdown"
-version = "3.10.2"
+version = "3.10.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2b/f4/69fa6ed85ae003c2378ffa8f6d2e3234662abd02c10d216c0ba96081a238/markdown-3.10.2.tar.gz", hash = "sha256:994d51325d25ad8aa7ce4ebaec003febcce822c3f8c911e3b17c52f7f589f950", size = 368805, upload-time = "2026-02-09T14:57:26.942Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/29/6f/da4c6aea59b3001f2e8c0ec7497475aadaf3b021c10cab5b2858f0f32b26/markdown-3.10.3.tar.gz", hash = "sha256:3589362618f743188b4d955b874402bc814f4f83f544dc207719f4baa7d9c45f", size = 372596, upload-time = "2026-07-30T19:05:29.005Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/de/1f/77fa3081e4f66ca3576c896ae5d31c3002ac6607f9747d2e3aa49227e464/markdown-3.10.2-py3-none-any.whl", hash = "sha256:e91464b71ae3ee7afd3017d9f358ef0baf158fd9a298db92f1d4761133824c36", size = 108180, upload-time = "2026-02-09T14:57:25.787Z" },
+    { url = "https://files.pythonhosted.org/packages/64/69/4a5af2bc115a9a33fefe51709749de8262be3f9ba063d1753a837cdbc49c/markdown-3.10.3-py3-none-any.whl", hash = "sha256:fa6c92a00a4a3c98b22728c64a935ae1928250ae65058a6ded814d2cc29a4cea", size = 110757, upload-time = "2026-07-30T19:05:27.883Z" },
 ]
 
 [[package]]
@@ -691,7 +624,7 @@ wheels = [
 
 [[package]]
 name = "matplotlib"
-version = "3.10.8"
+version = "3.11.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "contourpy" },
@@ -704,145 +637,17 @@ dependencies = [
     { name = "pyparsing" },
     { name = "python-dateutil" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/8a/76/d3c6e3a13fe484ebe7718d14e269c9569c4eb0020a968a327acb3b9a8fe6/matplotlib-3.10.8.tar.gz", hash = "sha256:2299372c19d56bcd35cf05a2738308758d32b9eaed2371898d8f5bd33f084aa3", size = 34806269, upload-time = "2025-12-10T22:56:51.155Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/49/64/f9a391af28f518b11ad45a8a712353c94a0aefce09d3703200e5c54b610a/matplotlib-3.11.1.tar.gz", hash = "sha256:69647db5746941c793d6e445a4cd349323ffb87d9cc958c2ad84a659b4832d30", size = 32612045, upload-time = "2026-07-18T03:39:46.63Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/9e/67/f997cdcbb514012eb0d10cd2b4b332667997fb5ebe26b8d41d04962fa0e6/matplotlib-3.10.8-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:64fcc24778ca0404ce0cb7b6b77ae1f4c7231cdd60e6778f999ee05cbd581b9a", size = 8260453, upload-time = "2025-12-10T22:55:30.709Z" },
-    { url = "https://files.pythonhosted.org/packages/7e/65/07d5f5c7f7c994f12c768708bd2e17a4f01a2b0f44a1c9eccad872433e2e/matplotlib-3.10.8-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:b9a5ca4ac220a0cdd1ba6bcba3608547117d30468fefce49bb26f55c1a3d5c58", size = 8148321, upload-time = "2025-12-10T22:55:33.265Z" },
-    { url = "https://files.pythonhosted.org/packages/3e/f3/c5195b1ae57ef85339fd7285dfb603b22c8b4e79114bae5f4f0fcf688677/matplotlib-3.10.8-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:3ab4aabc72de4ff77b3ec33a6d78a68227bf1123465887f9905ba79184a1cc04", size = 8716944, upload-time = "2025-12-10T22:55:34.922Z" },
-    { url = "https://files.pythonhosted.org/packages/00/f9/7638f5cc82ec8a7aa005de48622eecc3ed7c9854b96ba15bd76b7fd27574/matplotlib-3.10.8-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:24d50994d8c5816ddc35411e50a86ab05f575e2530c02752e02538122613371f", size = 9550099, upload-time = "2025-12-10T22:55:36.789Z" },
-    { url = "https://files.pythonhosted.org/packages/57/61/78cd5920d35b29fd2a0fe894de8adf672ff52939d2e9b43cb83cd5ce1bc7/matplotlib-3.10.8-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:99eefd13c0dc3b3c1b4d561c1169e65fe47aab7b8158754d7c084088e2329466", size = 9613040, upload-time = "2025-12-10T22:55:38.715Z" },
-    { url = "https://files.pythonhosted.org/packages/30/4e/c10f171b6e2f44d9e3a2b96efa38b1677439d79c99357600a62cc1e9594e/matplotlib-3.10.8-cp312-cp312-win_amd64.whl", hash = "sha256:dd80ecb295460a5d9d260df63c43f4afbdd832d725a531f008dad1664f458adf", size = 8142717, upload-time = "2025-12-10T22:55:41.103Z" },
-    { url = "https://files.pythonhosted.org/packages/f1/76/934db220026b5fef85f45d51a738b91dea7d70207581063cd9bd8fafcf74/matplotlib-3.10.8-cp312-cp312-win_arm64.whl", hash = "sha256:3c624e43ed56313651bc18a47f838b60d7b8032ed348911c54906b130b20071b", size = 8012751, upload-time = "2025-12-10T22:55:42.684Z" },
+    { url = "https://files.pythonhosted.org/packages/f2/6c/7ef7ebcb2bd9739b2b66b18b076e077f44bb46fdbe28ca0506edb3c62c79/matplotlib-3.11.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:e15ef41507f3d525f46154ac9e3ae785dacde9f20e593a25de8986267892ef74", size = 9453849, upload-time = "2026-07-18T03:38:19.593Z" },
+    { url = "https://files.pythonhosted.org/packages/eb/f8/6d0c312c8d9738e7d9677f09fe5c986b3239e651a7b73a2deb38b65e4a71/matplotlib-3.11.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:21a67b961a6d597bca54fae826cd20695ba4a6e4d05424a08da6e13e3176fd6b", size = 9283113, upload-time = "2026-07-18T03:38:21.95Z" },
+    { url = "https://files.pythonhosted.org/packages/c9/cf/b4ad2cc81b6672ea29ea04e64e350a9f9b493b0908ccd884c67eeff8f7b2/matplotlib-3.11.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:ba8f811b8ddfac493734d6af0b2dff96919d0c28ca0d641858dab4262777c6ea", size = 10035615, upload-time = "2026-07-18T03:38:24.315Z" },
+    { url = "https://files.pythonhosted.org/packages/88/90/4e10e033d9b66589d8ed98b84c95cdbb57033d57c1f41339d7393dbd2f2e/matplotlib-3.11.1-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:c52f7ad20ef476806ed212380b1d54d20310c8b86bdc2c9a68b51f0024a44472", size = 10842559, upload-time = "2026-07-18T03:38:26.285Z" },
+    { url = "https://files.pythonhosted.org/packages/88/eb/799612d0f8cd3e816a10fec59329fca52cd2353264df80378dfc541ae855/matplotlib-3.11.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:8b14eb22961fe865efb0e4ff167e333e428908b00115a8d800ccb65ee108e481", size = 10927532, upload-time = "2026-07-18T03:38:28.532Z" },
+    { url = "https://files.pythonhosted.org/packages/88/89/56649bbaa2fd12e20f3be03dbcc135b0c8676d88bac17977599e3eb442a0/matplotlib-3.11.1-cp312-cp312-win_amd64.whl", hash = "sha256:88a2a27dd9691ae448dfae4b26f59036be90c3c28757edd3553a29559d00859f", size = 9333886, upload-time = "2026-07-18T03:38:30.477Z" },
+    { url = "https://files.pythonhosted.org/packages/c1/11/4d124efbbad677b7b7552f6f85a3bd432d4232f95400cea98fcd2ae36ef3/matplotlib-3.11.1-cp312-cp312-win_arm64.whl", hash = "sha256:480194afceca4df2f137c2721227d3cba67121fbf4397b69cee7f83714b0a58a", size = 9007545, upload-time = "2026-07-18T03:38:32.833Z" },
 ]
 
-[[package]]
-name = "mergedeep"
-version = "1.3.4"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/3a/41/580bb4006e3ed0361b8151a01d324fb03f420815446c7def45d02f74c270/mergedeep-1.3.4.tar.gz", hash = "sha256:0096d52e9dad9939c3d975a774666af186eda617e6ca84df4c94dec30004f2a8", size = 4661, upload-time = "2021-02-05T18:55:30.623Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2c/19/04f9b178c2d8a15b076c8b5140708fa6ffc5601fb6f1e975537072df5b2a/mergedeep-1.3.4-py3-none-any.whl", hash = "sha256:70775750742b25c0d8f36c55aed03d24c3384d17c951b3175d898bd778ef0307", size = 6354, upload-time = "2021-02-05T18:55:29.583Z" },
-]
-
-[[package]]
-name = "metadrive-simulator"
-version = "0.4.2.4"
-source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" }
-dependencies = [
-    { name = "filelock" },
-    { name = "gymnasium" },
-    { name = "lxml" },
-    { name = "matplotlib" },
-    { name = "numpy" },
-    { name = "opencv-python-headless" },
-    { name = "panda3d" },
-    { name = "panda3d-gltf" },
-    { name = "pillow" },
-    { name = "progressbar" },
-    { name = "psutil" },
-    { name = "pygments" },
-    { name = "requests" },
-    { name = "shapely" },
-    { name = "tqdm" },
-    { name = "yapf" },
-]
-wheels = [
-    { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:d0afaf3b005e35e14b929d5491d2d5b64562d0c1cd5093ba969fb63908670dd4" },
-]
-
-[package.metadata]
-requires-dist = [
-    { name = "cuda-python", marker = "extra == 'cuda'", specifier = "==12.0.0" },
-    { name = "filelock" },
-    { name = "glfw", marker = "extra == 'cuda'" },
-    { name = "gym", marker = "extra == 'gym'", specifier = ">=0.19.0,<=0.26.0" },
-    { name = "gymnasium", specifier = ">=0.28" },
-    { name = "lxml" },
-    { name = "matplotlib" },
-    { name = "numpy", specifier = ">=1.21.6" },
-    { name = "opencv-python-headless" },
-    { name = "panda3d", specifier = "==1.10.14" },
-    { name = "panda3d-gltf", specifier = "==0.13" },
-    { name = "pillow" },
-    { name = "progressbar" },
-    { name = "psutil" },
-    { name = "pygments" },
-    { name = "pyopengl", marker = "extra == 'cuda'", specifier = "==3.1.6" },
-    { name = "pyopengl-accelerate", marker = "extra == 'cuda'", specifier = "==3.1.6" },
-    { name = "pyrr", marker = "extra == 'cuda'", specifier = "==0.10.3" },
-    { name = "requests" },
-    { name = "shapely" },
-    { name = "tqdm" },
-    { name = "yapf" },
-    { name = "zmq", marker = "extra == 'ros'" },
-]
-provides-extras = ["cuda", "gym", "ros"]
-
-[[package]]
-name = "mkdocs"
-version = "1.6.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "click" },
-    { name = "colorama", marker = "sys_platform == 'win32'" },
-    { name = "ghp-import" },
-    { name = "jinja2" },
-    { name = "markdown" },
-    { name = "markupsafe" },
-    { name = "mergedeep" },
-    { name = "mkdocs-get-deps" },
-    { name = "packaging" },
-    { name = "pathspec" },
-    { name = "pyyaml" },
-    { name = "pyyaml-env-tag" },
-    { name = "watchdog" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/bc/c6/bbd4f061bd16b378247f12953ffcb04786a618ce5e904b8c5a01a0309061/mkdocs-1.6.1.tar.gz", hash = "sha256:7b432f01d928c084353ab39c57282f29f92136665bdd6abf7c1ec8d822ef86f2", size = 3889159, upload-time = "2024-08-30T12:24:06.899Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/22/5b/dbc6a8cddc9cfa9c4971d59fb12bb8d42e161b7e7f8cc89e49137c5b279c/mkdocs-1.6.1-py3-none-any.whl", hash = "sha256:db91759624d1647f3f34aa0c3f327dd2601beae39a366d6e064c03468d35c20e", size = 3864451, upload-time = "2024-08-30T12:24:05.054Z" },
-]
-
-[[package]]
-name = "mkdocs-get-deps"
-version = "0.2.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "mergedeep" },
-    { name = "platformdirs" },
-    { name = "pyyaml" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/98/f5/ed29cd50067784976f25ed0ed6fcd3c2ce9eb90650aa3b2796ddf7b6870b/mkdocs_get_deps-0.2.0.tar.gz", hash = "sha256:162b3d129c7fad9b19abfdcb9c1458a651628e4b1dea628ac68790fb3061c60c", size = 10239, upload-time = "2023-11-20T17:51:09.981Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/9f/d4/029f984e8d3f3b6b726bd33cafc473b75e9e44c0f7e80a5b29abc466bdea/mkdocs_get_deps-0.2.0-py3-none-any.whl", hash = "sha256:2bf11d0b133e77a0dd036abeeb06dec8775e46efa526dc70667d8863eefc6134", size = 9521, upload-time = "2023-11-20T17:51:08.587Z" },
-]
-
-[[package]]
-name = "ml-dtypes"
-version = "0.5.4"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0e/4a/c27b42ed9b1c7d13d9ba8b6905dece787d6259152f2309338aed29b2447b/ml_dtypes-0.5.4.tar.gz", hash = "sha256:8ab06a50fb9bf9666dd0fe5dfb4676fa2b0ac0f31ecff72a6c3af8e22c063453", size = 692314, upload-time = "2025-11-17T22:32:31.031Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/a8/b8/3c70881695e056f8a32f8b941126cf78775d9a4d7feba8abcb52cb7b04f2/ml_dtypes-0.5.4-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a174837a64f5b16cab6f368171a1a03a27936b31699d167684073ff1c4237dac", size = 676927, upload-time = "2025-11-17T22:31:48.182Z" },
-    { url = "https://files.pythonhosted.org/packages/54/0f/428ef6881782e5ebb7eca459689448c0394fa0a80bea3aa9262cba5445ea/ml_dtypes-0.5.4-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:a7f7c643e8b1320fd958bf098aa7ecf70623a42ec5154e3be3be673f4c34d900", size = 5028464, upload-time = "2025-11-17T22:31:50.135Z" },
-    { url = "https://files.pythonhosted.org/packages/3a/cb/28ce52eb94390dda42599c98ea0204d74799e4d8047a0eb559b6fd648056/ml_dtypes-0.5.4-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9ad459e99793fa6e13bd5b7e6792c8f9190b4e5a1b45c63aba14a4d0a7f1d5ff", size = 5009002, upload-time = "2025-11-17T22:31:52.001Z" },
-    { url = "https://files.pythonhosted.org/packages/f5/f0/0cfadd537c5470378b1b32bd859cf2824972174b51b873c9d95cfd7475a5/ml_dtypes-0.5.4-cp312-cp312-win_amd64.whl", hash = "sha256:c1a953995cccb9e25a4ae19e34316671e4e2edaebe4cf538229b1fc7109087b7", size = 212222, upload-time = "2025-11-17T22:31:53.742Z" },
-    { url = "https://files.pythonhosted.org/packages/16/2e/9acc86985bfad8f2c2d30291b27cd2bb4c74cea08695bd540906ed744249/ml_dtypes-0.5.4-cp312-cp312-win_arm64.whl", hash = "sha256:9bad06436568442575beb2d03389aa7456c690a5b05892c471215bfd8cf39460", size = 160793, upload-time = "2025-11-17T22:31:55.358Z" },
-]
-
-[[package]]
-name = "mouseinfo"
-version = "0.1.3"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyperclip" },
-    { name = "python3-xlib", marker = "sys_platform == 'linux'" },
-    { name = "rubicon-objc", marker = "sys_platform == 'darwin'" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/28/fa/b2ba8229b9381e8f6381c1dcae6f4159a7f72349e414ed19cfbbd1817173/MouseInfo-0.1.3.tar.gz", hash = "sha256:2c62fb8885062b8e520a3cce0a297c657adcc08c60952eb05bc8256ef6f7f6e7", size = 10850, upload-time = "2020-03-27T21:20:10.136Z" }
-
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -853,87 +658,79 @@ wheels = [
 ]
 
 [[package]]
-name = "multidict"
-version = "6.7.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1a/c2/c2d94cbe6ac1753f3fc980da97b3d930efe1da3af3c9f5125354436c073d/multidict-6.7.1.tar.gz", hash = "sha256:ec6652a1bee61c53a3e5776b6049172c53b6aaba34f18c9ad04f82712bac623d", size = 102010, upload-time = "2026-01-26T02:46:45.979Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8d/9c/f20e0e2cf80e4b2e4b1c365bf5fe104ee633c751a724246262db8f1a0b13/multidict-6.7.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a90f75c956e32891a4eda3639ce6dd86e87105271f43d43442a3aedf3cddf172", size = 76893, upload-time = "2026-01-26T02:43:52.754Z" },
-    { url = "https://files.pythonhosted.org/packages/fe/cf/18ef143a81610136d3da8193da9d80bfe1cb548a1e2d1c775f26b23d024a/multidict-6.7.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:3fccb473e87eaa1382689053e4a4618e7ba7b9b9b8d6adf2027ee474597128cd", size = 45456, upload-time = "2026-01-26T02:43:53.893Z" },
-    { url = "https://files.pythonhosted.org/packages/a9/65/1caac9d4cd32e8433908683446eebc953e82d22b03d10d41a5f0fefe991b/multidict-6.7.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:b0fa96985700739c4c7853a43c0b3e169360d6855780021bfc6d0f1ce7c123e7", size = 43872, upload-time = "2026-01-26T02:43:55.041Z" },
-    { url = "https://files.pythonhosted.org/packages/cf/3b/d6bd75dc4f3ff7c73766e04e705b00ed6dbbaccf670d9e05a12b006f5a21/multidict-6.7.1-cp312-cp312-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:cb2a55f408c3043e42b40cc8eecd575afa27b7e0b956dfb190de0f8499a57a53", size = 251018, upload-time = "2026-01-26T02:43:56.198Z" },
-    { url = "https://files.pythonhosted.org/packages/fd/80/c959c5933adedb9ac15152e4067c702a808ea183a8b64cf8f31af8ad3155/multidict-6.7.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:eb0ce7b2a32d09892b3dd6cc44877a0d02a33241fafca5f25c8b6b62374f8b75", size = 258883, upload-time = "2026-01-26T02:43:57.499Z" },
-    { url = "https://files.pythonhosted.org/packages/86/85/7ed40adafea3d4f1c8b916e3b5cc3a8e07dfcdcb9cd72800f4ed3ca1b387/multidict-6.7.1-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:c3a32d23520ee37bf327d1e1a656fec76a2edd5c038bf43eddfa0572ec49c60b", size = 242413, upload-time = "2026-01-26T02:43:58.755Z" },
-    { url = "https://files.pythonhosted.org/packages/d2/57/b8565ff533e48595503c785f8361ff9a4fde4d67de25c207cd0ba3befd03/multidict-6.7.1-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:9c90fed18bffc0189ba814749fdcc102b536e83a9f738a9003e569acd540a733", size = 268404, upload-time = "2026-01-26T02:44:00.216Z" },
-    { url = "https://files.pythonhosted.org/packages/e0/50/9810c5c29350f7258180dfdcb2e52783a0632862eb334c4896ac717cebcb/multidict-6.7.1-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:da62917e6076f512daccfbbde27f46fed1c98fee202f0559adec8ee0de67f71a", size = 269456, upload-time = "2026-01-26T02:44:02.202Z" },
-    { url = "https://files.pythonhosted.org/packages/f3/8d/5e5be3ced1d12966fefb5c4ea3b2a5b480afcea36406559442c6e31d4a48/multidict-6.7.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:bfde23ef6ed9db7eaee6c37dcec08524cb43903c60b285b172b6c094711b3961", size = 256322, upload-time = "2026-01-26T02:44:03.56Z" },
-    { url = "https://files.pythonhosted.org/packages/31/6e/d8a26d81ac166a5592782d208dd90dfdc0a7a218adaa52b45a672b46c122/multidict-6.7.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:3758692429e4e32f1ba0df23219cd0b4fc0a52f476726fff9337d1a57676a582", size = 253955, upload-time = "2026-01-26T02:44:04.845Z" },
-    { url = "https://files.pythonhosted.org/packages/59/4c/7c672c8aad41534ba619bcd4ade7a0dc87ed6b8b5c06149b85d3dd03f0cd/multidict-6.7.1-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:398c1478926eca669f2fd6a5856b6de9c0acf23a2cb59a14c0ba5844fa38077e", size = 251254, upload-time = "2026-01-26T02:44:06.133Z" },
-    { url = "https://files.pythonhosted.org/packages/7b/bd/84c24de512cbafbdbc39439f74e967f19570ce7924e3007174a29c348916/multidict-6.7.1-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:c102791b1c4f3ab36ce4101154549105a53dc828f016356b3e3bcae2e3a039d3", size = 252059, upload-time = "2026-01-26T02:44:07.518Z" },
-    { url = "https://files.pythonhosted.org/packages/fa/ba/f5449385510825b73d01c2d4087bf6d2fccc20a2d42ac34df93191d3dd03/multidict-6.7.1-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:a088b62bd733e2ad12c50dad01b7d0166c30287c166e137433d3b410add807a6", size = 263588, upload-time = "2026-01-26T02:44:09.382Z" },
-    { url = "https://files.pythonhosted.org/packages/d7/11/afc7c677f68f75c84a69fe37184f0f82fce13ce4b92f49f3db280b7e92b3/multidict-6.7.1-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:3d51ff4785d58d3f6c91bdbffcb5e1f7ddfda557727043aa20d20ec4f65e324a", size = 259642, upload-time = "2026-01-26T02:44:10.73Z" },
-    { url = "https://files.pythonhosted.org/packages/2b/17/ebb9644da78c4ab36403739e0e6e0e30ebb135b9caf3440825001a0bddcb/multidict-6.7.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:fc5907494fccf3e7d3f94f95c91d6336b092b5fc83811720fae5e2765890dfba", size = 251377, upload-time = "2026-01-26T02:44:12.042Z" },
-    { url = "https://files.pythonhosted.org/packages/ca/a4/840f5b97339e27846c46307f2530a2805d9d537d8b8bd416af031cad7fa0/multidict-6.7.1-cp312-cp312-win32.whl", hash = "sha256:28ca5ce2fd9716631133d0e9a9b9a745ad7f60bac2bccafb56aa380fc0b6c511", size = 41887, upload-time = "2026-01-26T02:44:14.245Z" },
-    { url = "https://files.pythonhosted.org/packages/80/31/0b2517913687895f5904325c2069d6a3b78f66cc641a86a2baf75a05dcbb/multidict-6.7.1-cp312-cp312-win_amd64.whl", hash = "sha256:fcee94dfbd638784645b066074b338bc9cc155d4b4bffa4adce1615c5a426c19", size = 46053, upload-time = "2026-01-26T02:44:15.371Z" },
-    { url = "https://files.pythonhosted.org/packages/0c/5b/aba28e4ee4006ae4c7df8d327d31025d760ffa992ea23812a601d226e682/multidict-6.7.1-cp312-cp312-win_arm64.whl", hash = "sha256:ba0a9fb644d0c1a2194cf7ffb043bd852cea63a57f66fbd33959f7dae18517bf", size = 43307, upload-time = "2026-01-26T02:44:16.852Z" },
-    { url = "https://files.pythonhosted.org/packages/81/08/7036c080d7117f28a4af526d794aab6a84463126db031b007717c1a6676e/multidict-6.7.1-py3-none-any.whl", hash = "sha256:55d97cc6dae627efa6a6e548885712d4864b81110ac76fa4e534c03819fa4a56", size = 12319, upload-time = "2026-01-26T02:46:44.004Z" },
+name = "msgq"
+version = "0.0.1"
+source = { editable = "msgq_repo" }
+
+[package.metadata]
+requires-dist = [
+    { name = "codespell", marker = "extra == 'dev'" },
+    { name = "cppcheck", marker = "extra == 'dev'" },
+    { name = "cpplint", marker = "extra == 'dev'" },
+    { name = "cython", marker = "extra == 'dev'" },
+    { name = "lefthook", marker = "extra == 'dev'" },
+    { name = "ruff", marker = "extra == 'dev'" },
+    { name = "scons", marker = "extra == 'dev'" },
+    { name = "setuptools", marker = "extra == 'dev'" },
+    { name = "ty", marker = "extra == 'dev'" },
 ]
+provides-extras = ["dev"]
 
 [[package]]
 name = "numpy"
-version = "2.4.2"
+version = "2.5.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/57/fd/0005efbd0af48e55eb3c7208af93f2862d4b1a56cd78e84309a2d959208d/numpy-2.4.2.tar.gz", hash = "sha256:659a6107e31a83c4e33f763942275fd278b21d095094044eb35569e86a21ddae", size = 20723651, upload-time = "2026-01-31T23:13:10.135Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/9a/80/db0b4559e57ec36362bedbb05530a87fafbcb6067708c946967a41d449e7/numpy-2.5.2.tar.gz", hash = "sha256:d482d171c406ae88c5b19cad3b6a1c4c5209f886ab74bc44c2c865c23f52d860", size = 20773161, upload-time = "2026-08-09T13:48:27.962Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/51/6e/6f394c9c77668153e14d4da83bcc247beb5952f6ead7699a1a2992613bea/numpy-2.4.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:21982668592194c609de53ba4933a7471880ccbaadcc52352694a59ecc860b3a", size = 16667963, upload-time = "2026-01-31T23:10:52.147Z" },
-    { url = "https://files.pythonhosted.org/packages/1f/f8/55483431f2b2fd015ae6ed4fe62288823ce908437ed49db5a03d15151678/numpy-2.4.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40397bda92382fcec844066efb11f13e1c9a3e2a8e8f318fb72ed8b6db9f60f1", size = 14693571, upload-time = "2026-01-31T23:10:54.789Z" },
-    { url = "https://files.pythonhosted.org/packages/2f/20/18026832b1845cdc82248208dd929ca14c9d8f2bac391f67440707fff27c/numpy-2.4.2-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:b3a24467af63c67829bfaa61eecf18d5432d4f11992688537be59ecd6ad32f5e", size = 5203469, upload-time = "2026-01-31T23:10:57.343Z" },
-    { url = "https://files.pythonhosted.org/packages/7d/33/2eb97c8a77daaba34eaa3fa7241a14ac5f51c46a6bd5911361b644c4a1e2/numpy-2.4.2-cp312-cp312-macosx_14_0_x86_64.whl", hash = "sha256:805cc8de9fd6e7a22da5aed858e0ab16be5a4db6c873dde1d7451c541553aa27", size = 6550820, upload-time = "2026-01-31T23:10:59.429Z" },
-    { url = "https://files.pythonhosted.org/packages/b1/91/b97fdfd12dc75b02c44e26c6638241cc004d4079a0321a69c62f51470c4c/numpy-2.4.2-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:6d82351358ffbcdcd7b686b90742a9b86632d6c1c051016484fa0b326a0a1548", size = 15663067, upload-time = "2026-01-31T23:11:01.291Z" },
-    { url = "https://files.pythonhosted.org/packages/f5/c6/a18e59f3f0b8071cc85cbc8d80cd02d68aa9710170b2553a117203d46936/numpy-2.4.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9e35d3e0144137d9fdae62912e869136164534d64a169f86438bc9561b6ad49f", size = 16619782, upload-time = "2026-01-31T23:11:03.669Z" },
-    { url = "https://files.pythonhosted.org/packages/b7/83/9751502164601a79e18847309f5ceec0b1446d7b6aa12305759b72cf98b2/numpy-2.4.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:adb6ed2ad29b9e15321d167d152ee909ec73395901b70936f029c3bc6d7f4460", size = 17013128, upload-time = "2026-01-31T23:11:05.913Z" },
-    { url = "https://files.pythonhosted.org/packages/61/c4/c4066322256ec740acc1c8923a10047818691d2f8aec254798f3dd90f5f2/numpy-2.4.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:8906e71fd8afcb76580404e2a950caef2685df3d2a57fe82a86ac8d33cc007ba", size = 18345324, upload-time = "2026-01-31T23:11:08.248Z" },
-    { url = "https://files.pythonhosted.org/packages/ab/af/6157aa6da728fa4525a755bfad486ae7e3f76d4c1864138003eb84328497/numpy-2.4.2-cp312-cp312-win32.whl", hash = "sha256:ec055f6dae239a6299cace477b479cca2fc125c5675482daf1dd886933a1076f", size = 5960282, upload-time = "2026-01-31T23:11:10.497Z" },
-    { url = "https://files.pythonhosted.org/packages/92/0f/7ceaaeaacb40567071e94dbf2c9480c0ae453d5bb4f52bea3892c39dc83c/numpy-2.4.2-cp312-cp312-win_amd64.whl", hash = "sha256:209fae046e62d0ce6435fcfe3b1a10537e858249b3d9b05829e2a05218296a85", size = 12314210, upload-time = "2026-01-31T23:11:12.176Z" },
-    { url = "https://files.pythonhosted.org/packages/2f/a3/56c5c604fae6dd40fa2ed3040d005fca97e91bd320d232ac9931d77ba13c/numpy-2.4.2-cp312-cp312-win_arm64.whl", hash = "sha256:fbde1b0c6e81d56f5dccd95dd4a711d9b95df1ae4009a60887e56b27e8d903fa", size = 10220171, upload-time = "2026-01-31T23:11:14.684Z" },
+    { url = "https://files.pythonhosted.org/packages/69/72/dccb0aaf40972777283303919f613964227266d0c13adebb79ac124f1c3e/numpy-2.5.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:14e373cfc6387177e8409dac3c7159be8eb05cd77096cd7c950268b86f62831c", size = 16891693, upload-time = "2026-08-09T13:44:51.702Z" },
+    { url = "https://files.pythonhosted.org/packages/60/2e/b5aee50a1f74ac815cf8331812cb8251e29024025de462e0c047641c614c/numpy-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:4bbd96c833ecc8cc069ce518078fc8c60cb9cbfb0fea5b7a803ad65035596d03", size = 11903109, upload-time = "2026-08-09T13:44:55.501Z" },
+    { url = "https://files.pythonhosted.org/packages/f3/f4/29e78102a80601cf034d4e9767022cffeca2c3b4c926e1754572ca95593d/numpy-2.5.2-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:6e8172ddfcf5cf74b811d372b570b83c60bd2de87a6fbfbebdadb4a9bd9c6cbb", size = 5350202, upload-time = "2026-08-09T13:44:58.401Z" },
+    { url = "https://files.pythonhosted.org/packages/11/4b/dcd3b7eadaf4035d2c7a4289d232523a6964f602598ef7674e4bd7291f93/numpy-2.5.2-cp312-cp312-macosx_14_0_x86_64.whl", hash = "sha256:65f188481f1669e26f62b701e8205d19e460fa4a9b52a1414ba382330e4a3414", size = 6687736, upload-time = "2026-08-09T13:45:00.813Z" },
+    { url = "https://files.pythonhosted.org/packages/e5/21/4947e0e9d6c9fc2e2ff15b8949049ee44f63adb9cacc729ab8793f97e712/numpy-2.5.2-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:8ee9c4eeb8454b3660a8b53493563c3e121c2fc94fbd72b848ef814ed7b676a9", size = 15612696, upload-time = "2026-08-09T13:45:04.151Z" },
+    { url = "https://files.pythonhosted.org/packages/3a/5f/62d28cf019460c7f1394105b4d49d9911a9c444cb77ab0bd95a204c5a6de/numpy-2.5.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:3cdec01fa790a186d430433fdd4d4ffb70eed6f0eeb4bf05c8dbe2dce0a9bcb8", size = 16722264, upload-time = "2026-08-09T13:45:07.714Z" },
+    { url = "https://files.pythonhosted.org/packages/14/25/3f0be4c1b9fdf5dd5e708a6806978564d7c46a055c000496309ff2a2f8af/numpy-2.5.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:7999d4ddb0c4025018373fd787510d46e04c769467af22869707b3c1cfd459ab", size = 16974396, upload-time = "2026-08-09T13:45:11.316Z" },
+    { url = "https://files.pythonhosted.org/packages/22/72/6262cbdeeb45da9d971e40715f579d791603ba8ec0b5e2db1ac55454421d/numpy-2.5.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:c1f017dc0875c9209d219f97feceb7d54c2661bb243deb4114478e1295808af7", size = 18476044, upload-time = "2026-08-09T13:45:14.869Z" },
+    { url = "https://files.pythonhosted.org/packages/36/33/29208b8b075bde62d26a81d14b358c42b0f69b6cabd98d4ff97f37f22b05/numpy-2.5.2-cp312-cp312-win32.whl", hash = "sha256:d6a48072864e3324e194a8fbb3c657bcc5b5c869dbc64c9537b1d5c862572c0a", size = 6072817, upload-time = "2026-08-09T13:45:17.867Z" },
+    { url = "https://files.pythonhosted.org/packages/7f/b9/87fea2769fe1c47c1b5b01d8310772c9d1a85d485de7cf386ef7a3332b02/numpy-2.5.2-cp312-cp312-win_amd64.whl", hash = "sha256:28ac63476ec7651484215ee7fa15a1f78b57c14621f01e392afe17b9a1390ce4", size = 12464674, upload-time = "2026-08-09T13:45:20.734Z" },
+    { url = "https://files.pythonhosted.org/packages/14/52/032b97e00461ab0809bbe4c588b035620e5a14b8cdee47ecddefc7b17d33/numpy-2.5.2-cp312-cp312-win_arm64.whl", hash = "sha256:27650bb0e7140fa3d37b9923b4803645e0b125d190f326eecfd3f4dad8e8ade1", size = 10397131, upload-time = "2026-08-09T13:45:23.73Z" },
 ]
 
 [[package]]
-name = "onnx"
-version = "1.20.1"
-source = { registry = "https://pypi.org/simple" }
+name = "opendbc"
+version = "0.3.1"
+source = { editable = "opendbc_repo" }
 dependencies = [
-    { name = "ml-dtypes" },
     { name = "numpy" },
-    { name = "protobuf" },
-    { name = "typing-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/3b/8a/335c03a8683a88a32f9a6bb98899ea6df241a41df64b37b9696772414794/onnx-1.20.1.tar.gz", hash = "sha256:ded16de1df563d51fbc1ad885f2a426f814039d8b5f4feb77febe09c0295ad67", size = 12048980, upload-time = "2026-01-10T01:40:03.043Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/7c/4c/4b17e82f91ab9aa07ff595771e935ca73547b035030dc5f5a76e63fbfea9/onnx-1.20.1-cp312-abi3-macosx_12_0_universal2.whl", hash = "sha256:1d923bb4f0ce1b24c6859222a7e6b2f123e7bfe7623683662805f2e7b9e95af2", size = 17903547, upload-time = "2026-01-10T01:39:31.015Z" },
-    { url = "https://files.pythonhosted.org/packages/64/5e/1bfa100a9cb3f2d3d5f2f05f52f7e60323b0e20bb0abace1ae64dbc88f25/onnx-1.20.1-cp312-abi3-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:ddc0b7d8b5a94627dc86c533d5e415af94cbfd103019a582669dad1f56d30281", size = 17412021, upload-time = "2026-01-10T01:39:33.885Z" },
-    { url = "https://files.pythonhosted.org/packages/fb/71/d3fec0dcf9a7a99e7368112d9c765154e81da70fcba1e3121131a45c245b/onnx-1.20.1-cp312-abi3-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9336b6b8e6efcf5c490a845f6afd7e041c89a56199aeda384ed7d58fb953b080", size = 17510450, upload-time = "2026-01-10T01:39:36.589Z" },
-    { url = "https://files.pythonhosted.org/packages/74/a7/edce1403e05a46e59b502fae8e3350ceeac5841f8e8f1561e98562ed9b09/onnx-1.20.1-cp312-abi3-win32.whl", hash = "sha256:564c35a94811979808ab5800d9eb4f3f32c12daedba7e33ed0845f7c61ef2431", size = 16238216, upload-time = "2026-01-10T01:39:39.46Z" },
-    { url = "https://files.pythonhosted.org/packages/8b/c7/8690c81200ae652ac550c1df52f89d7795e6cc941f3cb38c9ef821419e80/onnx-1.20.1-cp312-abi3-win_amd64.whl", hash = "sha256:9fe7f9a633979d50984b94bda8ceb7807403f59a341d09d19342dc544d0ca1d5", size = 16389207, upload-time = "2026-01-10T01:39:41.955Z" },
-    { url = "https://files.pythonhosted.org/packages/01/a0/4fb0e6d36eaf079af366b2c1f68bafe92df6db963e2295da84388af64abc/onnx-1.20.1-cp312-abi3-win_arm64.whl", hash = "sha256:21d747348b1c8207406fa2f3e12b82f53e0d5bb3958bcd0288bd27d3cb6ebb00", size = 16344155, upload-time = "2026-01-10T01:39:45.536Z" },
+    { name = "pycapnp" },
+    { name = "pycryptodome" },
+    { name = "tqdm" },
 ]
 
-[[package]]
-name = "opencv-python-headless"
-version = "4.13.0.92"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
+[package.metadata]
+requires-dist = [
+    { name = "cffi", marker = "extra == 'testing'" },
+    { name = "codespell", marker = "extra == 'testing'" },
+    { name = "cpplint", marker = "extra == 'testing'" },
+    { name = "gcovr", marker = "extra == 'testing'" },
+    { name = "inputs", marker = "extra == 'examples'" },
+    { name = "lefthook", marker = "extra == 'testing'" },
     { name = "numpy" },
+    { name = "pycapnp" },
+    { name = "pycryptodome" },
+    { name = "ruff", marker = "extra == 'testing'" },
+    { name = "tqdm" },
+    { name = "tree-sitter", marker = "extra == 'testing'" },
+    { name = "tree-sitter-c", marker = "extra == 'testing'" },
+    { name = "ty", marker = "extra == 'testing'" },
+    { name = "unittest-parallel", marker = "extra == 'testing'" },
+    { name = "zstandard", marker = "extra == 'testing'" },
 ]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/79/42/2310883be3b8826ac58c3f2787b9358a2d46923d61f88fedf930bc59c60c/opencv_python_headless-4.13.0.92-cp37-abi3-macosx_13_0_arm64.whl", hash = "sha256:1a7d040ac656c11b8c38677cc8cccdc149f98535089dbe5b081e80a4e5903209", size = 46247192, upload-time = "2026-02-05T07:01:35.187Z" },
-    { url = "https://files.pythonhosted.org/packages/2d/1e/6f9e38005a6f7f22af785df42a43139d0e20f169eb5787ce8be37ee7fcc9/opencv_python_headless-4.13.0.92-cp37-abi3-macosx_14_0_x86_64.whl", hash = "sha256:3e0a6f0a37994ec6ce5f59e936be21d5d6384a4556f2d2da9c2f9c5dc948394c", size = 32568914, upload-time = "2026-02-05T07:01:51.989Z" },
-    { url = "https://files.pythonhosted.org/packages/21/76/9417a6aef9def70e467a5bf560579f816148a4c658b7d525581b356eda9e/opencv_python_headless-4.13.0.92-cp37-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:5c8cfc8e87ed452b5cecb9419473ee5560a989859fe1d10d1ce11ae87b09a2cb", size = 33703709, upload-time = "2026-02-05T10:24:46.469Z" },
-    { url = "https://files.pythonhosted.org/packages/92/ce/bd17ff5772938267fd49716e94ca24f616ff4cb1ff4c6be13085108037be/opencv_python_headless-4.13.0.92-cp37-abi3-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:0525a3d2c0b46c611e2130b5fdebc94cf404845d8fa64d2f3a3b679572a5bd22", size = 56016764, upload-time = "2026-02-05T10:26:48.904Z" },
-    { url = "https://files.pythonhosted.org/packages/8f/b4/b7bcbf7c874665825a8c8e1097e93ea25d1f1d210a3e20d4451d01da30aa/opencv_python_headless-4.13.0.92-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:eb60e36b237b1ebd40a912da5384b348df8ed534f6f644d8e0b4f103e272ba7d", size = 35010236, upload-time = "2026-02-05T10:28:11.031Z" },
-    { url = "https://files.pythonhosted.org/packages/4b/33/b5db29a6c00eb8f50708110d8d453747ca125c8b805bc437b289dbdcc057/opencv_python_headless-4.13.0.92-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:0bd48544f77c68b2941392fcdf9bcd2b9cdf00e98cb8c29b2455d194763cf99e", size = 60391106, upload-time = "2026-02-05T10:30:14.236Z" },
-    { url = "https://files.pythonhosted.org/packages/fb/c3/52cfea47cd33e53e8c0fbd6e7c800b457245c1fda7d61660b4ffe9596a7f/opencv_python_headless-4.13.0.92-cp37-abi3-win32.whl", hash = "sha256:a7cf08e5b191f4ebb530791acc0825a7986e0d0dee2a3c491184bd8599848a4b", size = 30812232, upload-time = "2026-02-05T07:02:29.594Z" },
-    { url = "https://files.pythonhosted.org/packages/4a/90/b338326131ccb2aaa3c2c85d00f41822c0050139a4bfe723cfd95455bd2d/opencv_python_headless-4.13.0.92-cp37-abi3-win_amd64.whl", hash = "sha256:77a82fe35ddcec0f62c15f2ba8a12ecc2ed4207c17b0902c7a3151ae29f37fb6", size = 40070414, upload-time = "2026-02-05T07:02:26.448Z" },
+provides-extras = ["testing", "examples"]
+
+[package.metadata.requires-dev]
+testing = [
+    { name = "comma-car-segments", url = "https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl" },
+    { name = "cppcheck", git = "https://github.com/commaai/dependencies.git?subdirectory=cppcheck&rev=release-cppcheck" },
 ]
 
 [[package]]
@@ -941,343 +738,170 @@ name = "openpilot"
 version = "0.1.0"
 source = { editable = "." }
 dependencies = [
-    { name = "aiohttp" },
-    { name = "aiortc" },
-    { name = "casadi" },
-    { name = "cffi" },
-    { name = "crcmod-plus" },
-    { name = "cython" },
+    { name = "comma-deps-acados" },
+    { name = "comma-deps-capnproto" },
+    { name = "comma-deps-ffmpeg" },
+    { name = "comma-deps-gcc-arm-none-eabi" },
+    { name = "comma-deps-git-lfs" },
+    { name = "comma-deps-json11" },
+    { name = "comma-deps-raylib" },
+    { name = "comma-deps-zeromq" },
+    { name = "comma-deps-zstd" },
     { name = "inputs" },
     { name = "jeepney" },
-    { name = "json-rpc" },
-    { name = "libusb1" },
-    { name = "mapbox-earcut" },
     { name = "numpy" },
-    { name = "onnx" },
-    { name = "psutil" },
-    { name = "pyaudio" },
     { name = "pycapnp" },
-    { name = "pycryptodome" },
-    { name = "pyjwt" },
-    { name = "pyopenssl" },
-    { name = "pyserial" },
+    { name = "pyjwt", extra = ["crypto"] },
     { name = "pyzmq" },
-    { name = "qrcode" },
-    { name = "raylib" },
     { name = "requests" },
     { name = "scons" },
     { name = "sentry-sdk" },
     { name = "setproctitle" },
-    { name = "setuptools" },
     { name = "sounddevice" },
-    { name = "spidev", marker = "sys_platform == 'linux'" },
-    { name = "sympy" },
     { name = "tqdm" },
     { name = "websocket-client" },
-    { name = "xattr" },
     { name = "zstandard" },
 ]
 
 [package.optional-dependencies]
 dev = [
-    { name = "av" },
-    { name = "dictdiffer" },
-    { name = "matplotlib" },
-    { name = "opencv-python-headless" },
-    { name = "parameterized" },
-    { name = "pyautogui" },
-    { name = "pywinctl" },
+    { name = "huggingface-hub" },
 ]
 docs = [
-    { name = "jinja2" },
-    { name = "mkdocs" },
+    { name = "zensical" },
+]
+submodules = [
+    { name = "msgq" },
+    { name = "opendbc" },
+    { name = "pandacan" },
+    { name = "rednose" },
+    { name = "teleoprtc" },
+    { name = "tinygrad" },
 ]
 testing = [
     { name = "codespell" },
     { name = "coverage" },
-    { name = "hypothesis" },
-    { name = "pre-commit-hooks" },
-    { name = "pytest" },
-    { name = "pytest-asyncio" },
-    { name = "pytest-cpp" },
-    { name = "pytest-mock" },
-    { name = "pytest-subtests" },
-    { name = "pytest-timeout" },
-    { name = "pytest-xdist" },
     { name = "ruff" },
     { name = "ty" },
 ]
 tools = [
-    { name = "dearpygui", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
-    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
+    { name = "comma-deps-bootstrap-icons" },
+    { name = "comma-deps-imgui" },
+    { name = "comma-deps-libusb" },
+    { name = "comma-deps-ncurses" },
+    { name = "matplotlib" },
+]
+
+[package.dev-dependencies]
+standalone = [
+    { name = "openpilot", extra = ["submodules"] },
 ]
 
 [package.metadata]
 requires-dist = [
-    { name = "aiohttp" },
-    { name = "aiortc" },
-    { name = "av", marker = "extra == 'dev'" },
-    { name = "casadi", specifier = ">=3.6.6" },
-    { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
+    { name = "comma-deps-acados" },
+    { name = "comma-deps-bootstrap-icons", marker = "extra == 'tools'" },
+    { name = "comma-deps-capnproto" },
+    { name = "comma-deps-ffmpeg" },
+    { name = "comma-deps-gcc-arm-none-eabi" },
+    { name = "comma-deps-git-lfs" },
+    { name = "comma-deps-imgui", marker = "extra == 'tools'" },
+    { name = "comma-deps-json11" },
+    { name = "comma-deps-libusb", marker = "extra == 'tools'" },
+    { name = "comma-deps-ncurses", marker = "extra == 'tools'" },
+    { name = "comma-deps-raylib" },
+    { name = "comma-deps-zeromq" },
+    { name = "comma-deps-zstd" },
     { name = "coverage", marker = "extra == 'testing'" },
-    { name = "crcmod-plus" },
-    { name = "cython" },
-    { name = "dearpygui", marker = "(platform_machine != 'aarch64' and extra == 'tools') or (sys_platform != 'linux' and extra == 'tools')", specifier = ">=2.1.0" },
-    { name = "dictdiffer", marker = "extra == 'dev'" },
-    { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
+    { name = "huggingface-hub", marker = "extra == 'dev'" },
     { name = "inputs" },
     { name = "jeepney" },
-    { name = "jinja2", marker = "extra == 'docs'" },
-    { name = "json-rpc" },
-    { name = "libusb1" },
-    { name = "mapbox-earcut" },
-    { name = "matplotlib", marker = "extra == 'dev'" },
-    { name = "metadrive-simulator", marker = "platform_machine != 'aarch64' and extra == 'tools'", url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" },
-    { name = "mkdocs", marker = "extra == 'docs'" },
+    { name = "matplotlib", marker = "extra == 'tools'" },
+    { name = "msgq", marker = "extra == 'submodules'", editable = "msgq_repo" },
     { name = "numpy", specifier = ">=2.0" },
-    { name = "onnx", specifier = ">=1.14.0" },
-    { name = "opencv-python-headless", marker = "extra == 'dev'" },
-    { name = "parameterized", marker = "extra == 'dev'", specifier = ">=0.8,<0.9" },
-    { name = "pre-commit-hooks", marker = "extra == 'testing'" },
-    { name = "psutil" },
-    { name = "pyaudio" },
-    { name = "pyautogui", marker = "extra == 'dev'" },
+    { name = "opendbc", marker = "extra == 'submodules'", editable = "opendbc_repo" },
+    { name = "pandacan", marker = "extra == 'submodules'", editable = "panda" },
     { name = "pycapnp", specifier = "==2.1.0" },
-    { name = "pycryptodome" },
-    { name = "pyjwt" },
-    { name = "pyopenssl", specifier = "<24.3.0" },
-    { name = "pyserial" },
-    { name = "pytest", marker = "extra == 'testing'" },
-    { name = "pytest-asyncio", marker = "extra == 'testing'" },
-    { name = "pytest-cpp", marker = "extra == 'testing'" },
-    { name = "pytest-mock", marker = "extra == 'testing'" },
-    { name = "pytest-subtests", marker = "extra == 'testing'" },
-    { name = "pytest-timeout", marker = "extra == 'testing'" },
-    { name = "pytest-xdist", marker = "extra == 'testing'", git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da" },
-    { name = "pywinctl", marker = "extra == 'dev'" },
+    { name = "pyjwt", extras = ["crypto"] },
     { name = "pyzmq" },
-    { name = "qrcode" },
-    { name = "raylib", specifier = ">5.5.0.3" },
+    { name = "rednose", marker = "extra == 'submodules'", editable = "rednose_repo" },
     { name = "requests" },
     { name = "ruff", marker = "extra == 'testing'" },
     { name = "scons" },
     { name = "sentry-sdk" },
     { name = "setproctitle" },
-    { name = "setuptools" },
     { name = "sounddevice" },
-    { name = "spidev", marker = "sys_platform == 'linux'" },
-    { name = "sympy" },
+    { name = "teleoprtc", marker = "extra == 'submodules'", editable = "teleoprtc_repo" },
+    { name = "tinygrad", marker = "extra == 'submodules'", editable = "tinygrad_repo" },
     { name = "tqdm" },
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
-    { name = "xattr" },
+    { name = "zensical", marker = "extra == 'docs'" },
     { name = "zstandard" },
 ]
-provides-extras = ["docs", "testing", "dev", "tools"]
+provides-extras = ["docs", "dev", "testing", "tools", "submodules"]
+
+[package.metadata.requires-dev]
+standalone = [{ name = "openpilot", extras = ["submodules"] }]
 
 [[package]]
 name = "packaging"
-version = "26.0"
+version = "26.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/65/ee/299d360cdc32edc7d2cf530f3accf79c4fca01e96ffc950d8a52213bd8e4/packaging-26.0.tar.gz", hash = "sha256:00243ae351a257117b6a241061796684b084ed1c516a08c48a3f7e147a9d80b4", size = 143416, upload-time = "2026-01-21T20:50:39.064Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/7d/fa/3944b40b07da9ce895c0e6303a5ab7d53da063554f534556b134a54d6093/packaging-26.3.tar.gz", hash = "sha256:94edc256424af38762eb31306eed28beb9f0efc50a8837492c9d6fd6004aed79", size = 313412, upload-time = "2026-08-04T18:15:28.737Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b7/b9/c538f279a4e237a006a2c98387d081e9eb060d203d8ed34467cc0f0b9b53/packaging-26.0-py3-none-any.whl", hash = "sha256:b36f1fef9334a5588b4166f8bcd26a14e521f2b55e6b9de3aaa80d3ff7a37529", size = 74366, upload-time = "2026-01-21T20:50:37.788Z" },
+    { url = "https://files.pythonhosted.org/packages/63/34/ba1c580383c9eada3711951fef0795c80b829a078d72188184bcab9dd527/packaging-26.3-py3-none-any.whl", hash = "sha256:d7193f7c8e4e93f444fde0262bf90af30e16fa0ad0ad44cb553c87339b23cd1c", size = 129956, upload-time = "2026-08-04T18:15:27.159Z" },
 ]
 
 [[package]]
-name = "panda3d"
-version = "1.10.14"
-source = { registry = "https://pypi.org/simple" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/5a/d4/90e98993b1a3f3c9fae83267f8c51186e676a8c1365c4180dfc65cd7ba62/panda3d-1.10.14-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1bfbcee77779f12ecce6a3d5a856e573b25d6343f8c4b107e814d9702e70a65d", size = 67839196, upload-time = "2024-01-08T19:01:00.417Z" },
-    { url = "https://files.pythonhosted.org/packages/dc/e5/862821575073863ce49cc57b8349b47cb25ce11feae0e419b3d023ac1a69/panda3d-1.10.14-cp312-cp312-macosx_11_0_universal2.whl", hash = "sha256:bc6540c5559d7e14a8992eff7de0157b7c42406b7ba221941ed224289496841c", size = 119271341, upload-time = "2024-01-08T19:01:09.455Z" },
-    { url = "https://files.pythonhosted.org/packages/f4/20/f16d91805777825e530037177d9075c83da7384f12b778b133e3164a31f3/panda3d-1.10.14-cp312-cp312-manylinux2014_aarch64.whl", hash = "sha256:143daab1ce6bedcba711ea3f6cab0ebe5082f22c5f43e7178fadd2dd01209da7", size = 47604077, upload-time = "2024-05-28T20:25:37.118Z" },
-    { url = "https://files.pythonhosted.org/packages/11/69/806dcdbaee3e8deee1956abeea0d3d3e504315d2e9814de82a44809a8617/panda3d-1.10.14-cp312-cp312-manylinux2014_x86_64.whl", hash = "sha256:3c4399a286a142de7ff86f9356d7e526bbbd38892d7f7d39fecb5c33064972bc", size = 55539594, upload-time = "2024-01-08T19:01:15.979Z" },
-    { url = "https://files.pythonhosted.org/packages/ad/25/005de5e2b6d0acd546f8b3f2b547cd29e308cdd04a397f0ea68046e26571/panda3d-1.10.14-cp312-cp312-win32.whl", hash = "sha256:e92e0dd907e2af33085a2c31ca2263dc8023b1b7bc70ce1b9fbc84631e130e51", size = 53479813, upload-time = "2024-01-08T19:01:20.923Z" },
-    { url = "https://files.pythonhosted.org/packages/74/bb/cb57563855da994614a33f57bd5691fbcd69f12e5ccddd30d387d0be287f/panda3d-1.10.14-cp312-cp312-win_amd64.whl", hash = "sha256:a5f2defd822d38848f8ae1956115adcb6cc7f464f03a67e73681cc72df125ef4", size = 64893222, upload-time = "2024-01-08T19:01:26.347Z" },
-]
-
-[[package]]
-name = "panda3d-gltf"
-version = "0.13"
-source = { registry = "https://pypi.org/simple" }
+name = "pandacan"
+version = "0.0.10"
+source = { editable = "panda" }
 dependencies = [
-    { name = "panda3d" },
-    { name = "panda3d-simplepbr" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573, upload-time = "2021-05-21T05:46:32.738Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/70/94/98ed1f81ca0f5daf6de80533805cc1e98ac162abe4e3e1d382caa7ba5c3c/panda3d_gltf-0.13-py3-none-any.whl", hash = "sha256:02d1a980f447bb1895ff4b48c667f289ba78f07a28ef308d8839b665a621efe2", size = 25568, upload-time = "2021-05-21T05:46:31.28Z" },
+    { name = "libusb-package" },
+    { name = "libusb1" },
+    { name = "opendbc" },
+    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]
 
-[[package]]
-name = "panda3d-simplepbr"
-version = "0.13.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "panda3d" },
-    { name = "typing-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0d/be/c4d1ded04c22b357277cf6e6a44c1ab4abb285a700bd1991460460e05b99/panda3d_simplepbr-0.13.1.tar.gz", hash = "sha256:c83766d7c8f47499f365a07fe1dff078fc8b3054c2689bdc8dceabddfe7f1a35", size = 6216055, upload-time = "2025-03-30T16:57:41.087Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/11/5d/3744c6550dddf933785a37cdd4a9921fe13284e6d115b5a2637fe390f158/panda3d_simplepbr-0.13.1-py3-none-any.whl", hash = "sha256:cda41cb57cff035b851646956cfbdcc408bee42511dabd4f2d7bd4fbf48c57a9", size = 2457097, upload-time = "2025-03-30T16:57:39.729Z" },
-]
-
-[[package]]
-name = "parameterized"
-version = "0.8.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c6/23/2288f308d238b4f261c039cafcd650435d624de97c6ffc903f06ea8af50f/parameterized-0.8.1.tar.gz", hash = "sha256:41bbff37d6186430f77f900d777e5bb6a24928a1c46fb1de692f8b52b8833b5c", size = 23936, upload-time = "2021-01-09T20:35:18.235Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/31/13/fe468c8c7400a8eca204e6e160a29bf7dcd45a76e20f1c030f3eaa690d93/parameterized-0.8.1-py2.py3-none-any.whl", hash = "sha256:9cbb0b69a03e8695d68b3399a8a5825200976536fe1cb79db60ed6a4c8c9efe9", size = 26354, upload-time = "2021-01-09T20:35:16.307Z" },
-]
-
-[[package]]
-name = "pathspec"
-version = "1.0.4"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/fa/36/e27608899f9b8d4dff0617b2d9ab17ca5608956ca44461ac14ac48b44015/pathspec-1.0.4.tar.gz", hash = "sha256:0210e2ae8a21a9137c0d470578cb0e595af87edaa6ebf12ff176f14a02e0e645", size = 131200, upload-time = "2026-01-27T03:59:46.938Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ef/3c/2c197d226f9ea224a9ab8d197933f9da0ae0aac5b6e0f884e2b8d9c8e9f7/pathspec-1.0.4-py3-none-any.whl", hash = "sha256:fb6ae2fd4e7c921a165808a552060e722767cfa526f99ca5156ed2ce45a5c723", size = 55206, upload-time = "2026-01-27T03:59:45.137Z" },
+[package.metadata]
+requires-dist = [
+    { name = "cffi", marker = "extra == 'dev'" },
+    { name = "cppcheck", marker = "extra == 'dev'", git = "https://github.com/commaai/dependencies.git?subdirectory=cppcheck&rev=release-cppcheck" },
+    { name = "flaky", marker = "extra == 'dev'" },
+    { name = "gcc-arm-none-eabi", marker = "extra == 'dev'", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi" },
+    { name = "libusb-package" },
+    { name = "libusb1" },
+    { name = "opendbc", git = "https://github.com/sunnypilot/opendbc.git?rev=master" },
+    { name = "pytest", marker = "extra == 'dev'" },
+    { name = "pytest-mock", marker = "extra == 'dev'" },
+    { name = "pytest-timeout", marker = "extra == 'dev'" },
+    { name = "pytest-xdist", marker = "extra == 'dev'" },
+    { name = "ruff", marker = "extra == 'dev'" },
+    { name = "scons", marker = "extra == 'dev'" },
+    { name = "setuptools", marker = "extra == 'dev'" },
+    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]
+provides-extras = ["dev"]
 
 [[package]]
 name = "pillow"
-version = "12.1.1"
+version = "12.3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1f/42/5c74462b4fd957fcd7b13b04fb3205ff8349236ea74c7c375766d6c82288/pillow-12.1.1.tar.gz", hash = "sha256:9ad8fa5937ab05218e2b6a4cff30295ad35afd2f83ac592e68c0d871bb0fdbc4", size = 46980264, upload-time = "2026-02-11T04:23:07.146Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/1c/3d/bb7fca845737cf9d7dbde16ed1843984665ff2e0a518f5db43e77ec540b9/pillow-12.3.0.tar.gz", hash = "sha256:3b8182a766685eaa002637e28b4ec8d6b18819a0c71f579bf0dbaa5830297cce", size = 47025035, upload-time = "2026-07-01T11:56:38.965Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/07/d3/8df65da0d4df36b094351dce696f2989bec731d4f10e743b1c5f4da4d3bf/pillow-12.1.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:ab323b787d6e18b3d91a72fc99b1a2c28651e4358749842b8f8dfacd28ef2052", size = 5262803, upload-time = "2026-02-11T04:20:47.653Z" },
-    { url = "https://files.pythonhosted.org/packages/d6/71/5026395b290ff404b836e636f51d7297e6c83beceaa87c592718747e670f/pillow-12.1.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:adebb5bee0f0af4909c30db0d890c773d1a92ffe83da908e2e9e720f8edf3984", size = 4657601, upload-time = "2026-02-11T04:20:49.328Z" },
-    { url = "https://files.pythonhosted.org/packages/b1/2e/1001613d941c67442f745aff0f7cc66dd8df9a9c084eb497e6a543ee6f7e/pillow-12.1.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:bb66b7cc26f50977108790e2456b7921e773f23db5630261102233eb355a3b79", size = 6234995, upload-time = "2026-02-11T04:20:51.032Z" },
-    { url = "https://files.pythonhosted.org/packages/07/26/246ab11455b2549b9233dbd44d358d033a2f780fa9007b61a913c5b2d24e/pillow-12.1.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:aee2810642b2898bb187ced9b349e95d2a7272930796e022efaf12e99dccd293", size = 8045012, upload-time = "2026-02-11T04:20:52.882Z" },
-    { url = "https://files.pythonhosted.org/packages/b2/8b/07587069c27be7535ac1fe33874e32de118fbd34e2a73b7f83436a88368c/pillow-12.1.1-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:a0b1cd6232e2b618adcc54d9882e4e662a089d5768cd188f7c245b4c8c44a397", size = 6349638, upload-time = "2026-02-11T04:20:54.444Z" },
-    { url = "https://files.pythonhosted.org/packages/ff/79/6df7b2ee763d619cda2fb4fea498e5f79d984dae304d45a8999b80d6cf5c/pillow-12.1.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:7aac39bcf8d4770d089588a2e1dd111cbaa42df5a94be3114222057d68336bd0", size = 7041540, upload-time = "2026-02-11T04:20:55.97Z" },
-    { url = "https://files.pythonhosted.org/packages/2c/5e/2ba19e7e7236d7529f4d873bdaf317a318896bac289abebd4bb00ef247f0/pillow-12.1.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:ab174cd7d29a62dd139c44bf74b698039328f45cb03b4596c43473a46656b2f3", size = 6462613, upload-time = "2026-02-11T04:20:57.542Z" },
-    { url = "https://files.pythonhosted.org/packages/03/03/31216ec124bb5c3dacd74ce8efff4cc7f52643653bad4825f8f08c697743/pillow-12.1.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:339ffdcb7cbeaa08221cd401d517d4b1fe7a9ed5d400e4a8039719238620ca35", size = 7166745, upload-time = "2026-02-11T04:20:59.196Z" },
-    { url = "https://files.pythonhosted.org/packages/1f/e7/7c4552d80052337eb28653b617eafdef39adfb137c49dd7e831b8dc13bc5/pillow-12.1.1-cp312-cp312-win32.whl", hash = "sha256:5d1f9575a12bed9e9eedd9a4972834b08c97a352bd17955ccdebfeca5913fa0a", size = 6328823, upload-time = "2026-02-11T04:21:01.385Z" },
-    { url = "https://files.pythonhosted.org/packages/3d/17/688626d192d7261bbbf98846fc98995726bddc2c945344b65bec3a29d731/pillow-12.1.1-cp312-cp312-win_amd64.whl", hash = "sha256:21329ec8c96c6e979cd0dfd29406c40c1d52521a90544463057d2aaa937d66a6", size = 7033367, upload-time = "2026-02-11T04:21:03.536Z" },
-    { url = "https://files.pythonhosted.org/packages/ed/fe/a0ef1f73f939b0eca03ee2c108d0043a87468664770612602c63266a43c4/pillow-12.1.1-cp312-cp312-win_arm64.whl", hash = "sha256:af9a332e572978f0218686636610555ae3defd1633597be015ed50289a03c523", size = 2453811, upload-time = "2026-02-11T04:21:05.116Z" },
+    { url = "https://files.pythonhosted.org/packages/37/bf/fb3ebff8ddcb76aac5a01389251bbbb9519922a9b520d8247c1ca864a25d/pillow-12.3.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:ba09209fbe443b4acccebe845d8a138b89a8f4fbaeedd44953490b5315d5e965", size = 5345969, upload-time = "2026-07-01T11:54:06.397Z" },
+    { url = "https://files.pythonhosted.org/packages/d8/66/9a386a92561f402389a4fc70c18838bf6d35eb5eb5c6850b4b2dc64f5048/pillow-12.3.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:ffd0c5368496f41b0944be820fcb7a838aa6e623d250b01acf2643939c3f99d7", size = 4780323, upload-time = "2026-07-01T11:54:09.351Z" },
+    { url = "https://files.pythonhosted.org/packages/25/27/ac8f99618ffd3dde21db0f4d4b1d2ab00c0880595bfd17df103f7f39fd0c/pillow-12.3.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:d9c7f76c0673154f044e9d78c8655fb4213f6ca31a836df48b40fe5d187717b9", size = 6266838, upload-time = "2026-07-01T11:54:11.71Z" },
+    { url = "https://files.pythonhosted.org/packages/84/21/a35af28dcc61f37ed850a2d64c65c701321dfbf25085e469d5559360cbbf/pillow-12.3.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:78cb2c6865a35ab8ff8b75fd122f6033b92a62c82801110e48ddd6c936a45d91", size = 6940830, upload-time = "2026-07-01T11:54:13.732Z" },
+    { url = "https://files.pythonhosted.org/packages/eb/51/8b08617af3ad95e33ce6d7dd2c99ed6c8298f7fb131636303956be022e25/pillow-12.3.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:e491916b378fba47242221bb9ead245211b70d504f495d105d17b14a24b4907c", size = 6344383, upload-time = "2026-07-01T11:54:15.756Z" },
+    { url = "https://files.pythonhosted.org/packages/1d/72/cf78ac9780bb93c28328f408973845a309d4d145041665f734572ced1b52/pillow-12.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:0dd2064cbc55aaec028ef5fbb60fa47bb6c3e7918e07ff17935284b227a9d2df", size = 7052934, upload-time = "2026-07-01T11:54:17.721Z" },
+    { url = "https://files.pythonhosted.org/packages/20/20/25e0f4dc178a6bc0696793720055519a0de89e7661dae886992decbd2f81/pillow-12.3.0-cp312-cp312-win32.whl", hash = "sha256:dbce0b29841537a2fa4a214c2bbf14de3587c9680caa9b4e217568472490b28f", size = 6472684, upload-time = "2026-07-01T11:54:19.839Z" },
+    { url = "https://files.pythonhosted.org/packages/45/89/da2f7971a317f83d807fdd4065c0af40208e59e692cc43d315a71a0e96d1/pillow-12.3.0-cp312-cp312-win_amd64.whl", hash = "sha256:a2b55dd6b2a4c4b7d87ffa56bdb33fdc5fdb9a462173861a7bc097f17d91cb09", size = 7227137, upload-time = "2026-07-01T11:54:22.025Z" },
+    { url = "https://files.pythonhosted.org/packages/de/47/4845a0a6c0dbf1db8456bd9fc791f13c5ced7ced20606d08a0aacfd25b49/pillow-12.3.0-cp312-cp312-win_arm64.whl", hash = "sha256:331b624368d4f1d069149002f25f44bc61c8919ce8ddb3c45bdad8f6e2d89510", size = 2568267, upload-time = "2026-07-01T11:54:24.051Z" },
 ]
 
-[[package]]
-name = "platformdirs"
-version = "4.9.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1b/04/fea538adf7dbbd6d186f551d595961e564a3b6715bdf276b477460858672/platformdirs-4.9.2.tar.gz", hash = "sha256:9a33809944b9db043ad67ca0db94b14bf452cc6aeaac46a88ea55b26e2e9d291", size = 28394, upload-time = "2026-02-16T03:56:10.574Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/48/31/05e764397056194206169869b50cf2fee4dbbbc71b344705b9c0d878d4d8/platformdirs-4.9.2-py3-none-any.whl", hash = "sha256:9170634f126f8efdae22fb58ae8a0eaa86f38365bc57897a6c4f781d1f5875bd", size = 21168, upload-time = "2026-02-16T03:56:08.891Z" },
-]
-
-[[package]]
-name = "pluggy"
-version = "1.6.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f9/e2/3e91f31a7d2b083fe6ef3fa267035b518369d9511ffab804f839851d2779/pluggy-1.6.0.tar.gz", hash = "sha256:7dcc130b76258d33b90f61b658791dede3486c3e6bfb003ee5c9bfb396dd22f3", size = 69412, upload-time = "2025-05-15T12:30:07.975Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/54/20/4d324d65cc6d9205fabedc306948156824eb9f0ee1633355a8f7ec5c66bf/pluggy-1.6.0-py3-none-any.whl", hash = "sha256:e920276dd6813095e9377c0bc5566d94c932c33b27a3e3945d8389c374dd4746", size = 20538, upload-time = "2025-05-15T12:30:06.134Z" },
-]
-
-[[package]]
-name = "pre-commit-hooks"
-version = "6.0.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "ruamel-yaml" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/36/4d/93e63e48f8fd16d6c1e4cef5dabadcade4d1325c7fd6f29f075a4d2284f3/pre_commit_hooks-6.0.0.tar.gz", hash = "sha256:76d8370c006f5026cdd638a397a678d26dda735a3c88137e05885a020f824034", size = 28293, upload-time = "2025-08-09T19:25:04.6Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/12/46/eba9be9daa403fa94854ce16a458c29df9a01c6c047931c3d8be6016cd9a/pre_commit_hooks-6.0.0-py2.py3-none-any.whl", hash = "sha256:76161b76d321d2f8ee2a8e0b84c30ee8443e01376121fd1c90851e33e3bd7ee2", size = 41338, upload-time = "2025-08-09T19:25:03.513Z" },
-]
-
-[[package]]
-name = "progressbar"
-version = "2.5"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a3/a6/b8e451f6cff1c99b4747a2f7235aa904d2d49e8e1464e0b798272aa84358/progressbar-2.5.tar.gz", hash = "sha256:5d81cb529da2e223b53962afd6c8ca0f05c6670e40309a7219eacc36af9b6c63", size = 10046, upload-time = "2018-06-29T02:32:00.222Z" }
-
-[[package]]
-name = "propcache"
-version = "0.4.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/9e/da/e9fc233cf63743258bff22b3dfa7ea5baef7b5bc324af47a0ad89b8ffc6f/propcache-0.4.1.tar.gz", hash = "sha256:f48107a8c637e80362555f37ecf49abe20370e557cc4ab374f04ec4423c97c3d", size = 46442, upload-time = "2025-10-08T19:49:02.291Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/a2/0f/f17b1b2b221d5ca28b4b876e8bb046ac40466513960646bda8e1853cdfa2/propcache-0.4.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:e153e9cd40cc8945138822807139367f256f89c6810c2634a4f6902b52d3b4e2", size = 80061, upload-time = "2025-10-08T19:46:46.075Z" },
-    { url = "https://files.pythonhosted.org/packages/76/47/8ccf75935f51448ba9a16a71b783eb7ef6b9ee60f5d14c7f8a8a79fbeed7/propcache-0.4.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:cd547953428f7abb73c5ad82cbb32109566204260d98e41e5dfdc682eb7f8403", size = 46037, upload-time = "2025-10-08T19:46:47.23Z" },
-    { url = "https://files.pythonhosted.org/packages/0a/b6/5c9a0e42df4d00bfb4a3cbbe5cf9f54260300c88a0e9af1f47ca5ce17ac0/propcache-0.4.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:f048da1b4f243fc44f205dfd320933a951b8d89e0afd4c7cacc762a8b9165207", size = 47324, upload-time = "2025-10-08T19:46:48.384Z" },
-    { url = "https://files.pythonhosted.org/packages/9e/d3/6c7ee328b39a81ee877c962469f1e795f9db87f925251efeb0545e0020d0/propcache-0.4.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:ec17c65562a827bba85e3872ead335f95405ea1674860d96483a02f5c698fa72", size = 225505, upload-time = "2025-10-08T19:46:50.055Z" },
-    { url = "https://files.pythonhosted.org/packages/01/5d/1c53f4563490b1d06a684742cc6076ef944bc6457df6051b7d1a877c057b/propcache-0.4.1-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:405aac25c6394ef275dee4c709be43745d36674b223ba4eb7144bf4d691b7367", size = 230242, upload-time = "2025-10-08T19:46:51.815Z" },
-    { url = "https://files.pythonhosted.org/packages/20/e1/ce4620633b0e2422207c3cb774a0ee61cac13abc6217763a7b9e2e3f4a12/propcache-0.4.1-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:0013cb6f8dde4b2a2f66903b8ba740bdfe378c943c4377a200551ceb27f379e4", size = 238474, upload-time = "2025-10-08T19:46:53.208Z" },
-    { url = "https://files.pythonhosted.org/packages/46/4b/3aae6835b8e5f44ea6a68348ad90f78134047b503765087be2f9912140ea/propcache-0.4.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:15932ab57837c3368b024473a525e25d316d8353016e7cc0e5ba9eb343fbb1cf", size = 221575, upload-time = "2025-10-08T19:46:54.511Z" },
-    { url = "https://files.pythonhosted.org/packages/6e/a5/8a5e8678bcc9d3a1a15b9a29165640d64762d424a16af543f00629c87338/propcache-0.4.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:031dce78b9dc099f4c29785d9cf5577a3faf9ebf74ecbd3c856a7b92768c3df3", size = 216736, upload-time = "2025-10-08T19:46:56.212Z" },
-    { url = "https://files.pythonhosted.org/packages/f1/63/b7b215eddeac83ca1c6b934f89d09a625aa9ee4ba158338854c87210cc36/propcache-0.4.1-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:ab08df6c9a035bee56e31af99be621526bd237bea9f32def431c656b29e41778", size = 213019, upload-time = "2025-10-08T19:46:57.595Z" },
-    { url = "https://files.pythonhosted.org/packages/57/74/f580099a58c8af587cac7ba19ee7cb418506342fbbe2d4a4401661cca886/propcache-0.4.1-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:4d7af63f9f93fe593afbf104c21b3b15868efb2c21d07d8732c0c4287e66b6a6", size = 220376, upload-time = "2025-10-08T19:46:59.067Z" },
-    { url = "https://files.pythonhosted.org/packages/c4/ee/542f1313aff7eaf19c2bb758c5d0560d2683dac001a1c96d0774af799843/propcache-0.4.1-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:cfc27c945f422e8b5071b6e93169679e4eb5bf73bbcbf1ba3ae3a83d2f78ebd9", size = 226988, upload-time = "2025-10-08T19:47:00.544Z" },
-    { url = "https://files.pythonhosted.org/packages/8f/18/9c6b015dd9c6930f6ce2229e1f02fb35298b847f2087ea2b436a5bfa7287/propcache-0.4.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:35c3277624a080cc6ec6f847cbbbb5b49affa3598c4535a0a4682a697aaa5c75", size = 215615, upload-time = "2025-10-08T19:47:01.968Z" },
-    { url = "https://files.pythonhosted.org/packages/80/9e/e7b85720b98c45a45e1fca6a177024934dc9bc5f4d5dd04207f216fc33ed/propcache-0.4.1-cp312-cp312-win32.whl", hash = "sha256:671538c2262dadb5ba6395e26c1731e1d52534bfe9ae56d0b5573ce539266aa8", size = 38066, upload-time = "2025-10-08T19:47:03.503Z" },
-    { url = "https://files.pythonhosted.org/packages/54/09/d19cff2a5aaac632ec8fc03737b223597b1e347416934c1b3a7df079784c/propcache-0.4.1-cp312-cp312-win_amd64.whl", hash = "sha256:cb2d222e72399fcf5890d1d5cc1060857b9b236adff2792ff48ca2dfd46c81db", size = 41655, upload-time = "2025-10-08T19:47:04.973Z" },
-    { url = "https://files.pythonhosted.org/packages/68/ab/6b5c191bb5de08036a8c697b265d4ca76148efb10fa162f14af14fb5f076/propcache-0.4.1-cp312-cp312-win_arm64.whl", hash = "sha256:204483131fb222bdaaeeea9f9e6c6ed0cac32731f75dfc1d4a567fc1926477c1", size = 37789, upload-time = "2025-10-08T19:47:06.077Z" },
-    { url = "https://files.pythonhosted.org/packages/5b/5a/bc7b4a4ef808fa59a816c17b20c4bef6884daebbdf627ff2a161da67da19/propcache-0.4.1-py3-none-any.whl", hash = "sha256:af2a6052aeb6cf17d3e46ee169099044fd8224cbaf75c76a2ef596e8163e2237", size = 13305, upload-time = "2025-10-08T19:49:00.792Z" },
-]
-
-[[package]]
-name = "protobuf"
-version = "6.33.5"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ba/25/7c72c307aafc96fa87062aa6291d9f7c94836e43214d43722e86037aac02/protobuf-6.33.5.tar.gz", hash = "sha256:6ddcac2a081f8b7b9642c09406bc6a4290128fce5f471cddd165960bb9119e5c", size = 444465, upload-time = "2026-01-29T21:51:33.494Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b1/79/af92d0a8369732b027e6d6084251dd8e782c685c72da161bd4a2e00fbabb/protobuf-6.33.5-cp310-abi3-win32.whl", hash = "sha256:d71b040839446bac0f4d162e758bea99c8251161dae9d0983a3b88dee345153b", size = 425769, upload-time = "2026-01-29T21:51:21.751Z" },
-    { url = "https://files.pythonhosted.org/packages/55/75/bb9bc917d10e9ee13dee8607eb9ab963b7cf8be607c46e7862c748aa2af7/protobuf-6.33.5-cp310-abi3-win_amd64.whl", hash = "sha256:3093804752167bcab3998bec9f1048baae6e29505adaf1afd14a37bddede533c", size = 437118, upload-time = "2026-01-29T21:51:24.022Z" },
-    { url = "https://files.pythonhosted.org/packages/a2/6b/e48dfc1191bc5b52950246275bf4089773e91cb5ba3592621723cdddca62/protobuf-6.33.5-cp39-abi3-macosx_10_9_universal2.whl", hash = "sha256:a5cb85982d95d906df1e2210e58f8e4f1e3cdc088e52c921a041f9c9a0386de5", size = 427766, upload-time = "2026-01-29T21:51:25.413Z" },
-    { url = "https://files.pythonhosted.org/packages/4e/b1/c79468184310de09d75095ed1314b839eb2f72df71097db9d1404a1b2717/protobuf-6.33.5-cp39-abi3-manylinux2014_aarch64.whl", hash = "sha256:9b71e0281f36f179d00cbcb119cb19dec4d14a81393e5ea220f64b286173e190", size = 324638, upload-time = "2026-01-29T21:51:26.423Z" },
-    { url = "https://files.pythonhosted.org/packages/c5/f5/65d838092fd01c44d16037953fd4c2cc851e783de9b8f02b27ec4ffd906f/protobuf-6.33.5-cp39-abi3-manylinux2014_s390x.whl", hash = "sha256:8afa18e1d6d20af15b417e728e9f60f3aa108ee76f23c3b2c07a2c3b546d3afd", size = 339411, upload-time = "2026-01-29T21:51:27.446Z" },
-    { url = "https://files.pythonhosted.org/packages/9b/53/a9443aa3ca9ba8724fdfa02dd1887c1bcd8e89556b715cfbacca6b63dbec/protobuf-6.33.5-cp39-abi3-manylinux2014_x86_64.whl", hash = "sha256:cbf16ba3350fb7b889fca858fb215967792dc125b35c7976ca4818bee3521cf0", size = 323465, upload-time = "2026-01-29T21:51:28.925Z" },
-    { url = "https://files.pythonhosted.org/packages/57/bf/2086963c69bdac3d7cff1cc7ff79b8ce5ea0bec6797a017e1be338a46248/protobuf-6.33.5-py3-none-any.whl", hash = "sha256:69915a973dd0f60f31a08b8318b73eab2bd6a392c79184b3612226b0a3f8ec02", size = 170687, upload-time = "2026-01-29T21:51:32.557Z" },
-]
-
-[[package]]
-name = "psutil"
-version = "7.2.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/aa/c6/d1ddf4abb55e93cebc4f2ed8b5d6dbad109ecb8d63748dd2b20ab5e57ebe/psutil-7.2.2.tar.gz", hash = "sha256:0746f5f8d406af344fd547f1c8daa5f5c33dbc293bb8d6a16d80b4bb88f59372", size = 493740, upload-time = "2026-01-28T18:14:54.428Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e7/36/5ee6e05c9bd427237b11b3937ad82bb8ad2752d72c6969314590dd0c2f6e/psutil-7.2.2-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ed0cace939114f62738d808fdcecd4c869222507e266e574799e9c0faa17d486", size = 129090, upload-time = "2026-01-28T18:15:22.168Z" },
-    { url = "https://files.pythonhosted.org/packages/80/c4/f5af4c1ca8c1eeb2e92ccca14ce8effdeec651d5ab6053c589b074eda6e1/psutil-7.2.2-cp36-abi3-macosx_11_0_arm64.whl", hash = "sha256:1a7b04c10f32cc88ab39cbf606e117fd74721c831c98a27dc04578deb0c16979", size = 129859, upload-time = "2026-01-28T18:15:23.795Z" },
-    { url = "https://files.pythonhosted.org/packages/b5/70/5d8df3b09e25bce090399cf48e452d25c935ab72dad19406c77f4e828045/psutil-7.2.2-cp36-abi3-manylinux2010_x86_64.manylinux_2_12_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:076a2d2f923fd4821644f5ba89f059523da90dc9014e85f8e45a5774ca5bc6f9", size = 155560, upload-time = "2026-01-28T18:15:25.976Z" },
-    { url = "https://files.pythonhosted.org/packages/63/65/37648c0c158dc222aba51c089eb3bdfa238e621674dc42d48706e639204f/psutil-7.2.2-cp36-abi3-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:b0726cecd84f9474419d67252add4ac0cd9811b04d61123054b9fb6f57df6e9e", size = 156997, upload-time = "2026-01-28T18:15:27.794Z" },
-    { url = "https://files.pythonhosted.org/packages/8e/13/125093eadae863ce03c6ffdbae9929430d116a246ef69866dad94da3bfbc/psutil-7.2.2-cp36-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:fd04ef36b4a6d599bbdb225dd1d3f51e00105f6d48a28f006da7f9822f2606d8", size = 148972, upload-time = "2026-01-28T18:15:29.342Z" },
-    { url = "https://files.pythonhosted.org/packages/04/78/0acd37ca84ce3ddffaa92ef0f571e073faa6d8ff1f0559ab1272188ea2be/psutil-7.2.2-cp36-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:b58fabe35e80b264a4e3bb23e6b96f9e45a3df7fb7eed419ac0e5947c61e47cc", size = 148266, upload-time = "2026-01-28T18:15:31.597Z" },
-    { url = "https://files.pythonhosted.org/packages/b4/90/e2159492b5426be0c1fef7acba807a03511f97c5f86b3caeda6ad92351a7/psutil-7.2.2-cp37-abi3-win_amd64.whl", hash = "sha256:eb7e81434c8d223ec4a219b5fc1c47d0417b12be7ea866e24fb5ad6e84b3d988", size = 137737, upload-time = "2026-01-28T18:15:33.849Z" },
-    { url = "https://files.pythonhosted.org/packages/8c/c7/7bb2e321574b10df20cbde462a94e2b71d05f9bbda251ef27d104668306a/psutil-7.2.2-cp37-abi3-win_arm64.whl", hash = "sha256:8c233660f575a5a89e6d4cb65d9f938126312bca76d8fe087b947b3a1aaac9ee", size = 134617, upload-time = "2026-01-28T18:15:36.514Z" },
-]
-
-[[package]]
-name = "pyaudio"
-version = "0.2.14"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/26/1d/8878c7752febb0f6716a7e1a52cb92ac98871c5aa522cba181878091607c/PyAudio-0.2.14.tar.gz", hash = "sha256:78dfff3879b4994d1f4fc6485646a57755c6ee3c19647a491f790a0895bd2f87", size = 47066, upload-time = "2023-11-07T07:11:48.806Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8d/45/8d2b76e8f6db783f9326c1305f3f816d4a12c8eda5edc6a2e1d03c097c3b/PyAudio-0.2.14-cp312-cp312-win32.whl", hash = "sha256:5fce4bcdd2e0e8c063d835dbe2860dac46437506af509353c7f8114d4bacbd5b", size = 144750, upload-time = "2023-11-07T07:11:40.142Z" },
-    { url = "https://files.pythonhosted.org/packages/b0/6a/d25812e5f79f06285767ec607b39149d02aa3b31d50c2269768f48768930/PyAudio-0.2.14-cp312-cp312-win_amd64.whl", hash = "sha256:12f2f1ba04e06ff95d80700a78967897a489c05e093e3bffa05a84ed9c0a7fa3", size = 164126, upload-time = "2023-11-07T07:11:41.539Z" },
-]
-
-[[package]]
-name = "pyautogui"
-version = "0.9.54"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "mouseinfo" },
-    { name = "pygetwindow" },
-    { name = "pymsgbox" },
-    { name = "pyobjc-core", marker = "sys_platform == 'darwin'" },
-    { name = "pyobjc-framework-quartz", marker = "sys_platform == 'darwin'" },
-    { name = "pyscreeze" },
-    { name = "python3-xlib", marker = "sys_platform == 'linux'" },
-    { name = "pytweening" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/65/ff/cdae0a8c2118a0de74b6cf4cbcdcaf8fd25857e6c3f205ce4b1794b27814/PyAutoGUI-0.9.54.tar.gz", hash = "sha256:dd1d29e8fd118941cb193f74df57e5c6ff8e9253b99c7b04f39cfc69f3ae04b2", size = 61236, upload-time = "2023-05-24T20:11:32.972Z" }
-
 [[package]]
 name = "pycapnp"
 version = "2.1.0"
@@ -1326,2413 +950,40 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/18/3d/f9441a0d798bf2b1e645adc3265e55706aead1255ccdad3856dbdcffec14/pycryptodome-3.23.0-cp37-abi3-win_arm64.whl", hash = "sha256:11eeeb6917903876f134b56ba11abe95c0b0fd5e3330def218083c7d98bbcb3c", size = 1703675, upload-time = "2025-05-17T17:21:13.146Z" },
 ]
 
-[[package]]
-name = "pyee"
-version = "13.0.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "typing-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/8b/04/e7c1fe4dc78a6fdbfd6c337b1c3732ff543b8a397683ab38378447baa331/pyee-13.0.1.tar.gz", hash = "sha256:0b931f7c14535667ed4c7e0d531716368715e860b988770fc7eb8578d1f67fc8", size = 31655, upload-time = "2026-02-14T21:12:28.044Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/a0/c4/b4d4827c93ef43c01f599ef31453ccc1c132b353284fc6c87d535c233129/pyee-13.0.1-py3-none-any.whl", hash = "sha256:af2f8fede4171ef667dfded53f96e2ed0d6e6bd7ee3bb46437f77e3b57689228", size = 15659, upload-time = "2026-02-14T21:12:26.263Z" },
-]
-
-[[package]]
-name = "pygetwindow"
-version = "0.0.9"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyrect" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e1/70/c7a4f46dbf06048c6d57d9489b8e0f9c4c3d36b7479f03c5ca97eaa2541d/PyGetWindow-0.0.9.tar.gz", hash = "sha256:17894355e7d2b305cd832d717708384017c1698a90ce24f6f7fbf0242dd0a688", size = 9699, upload-time = "2020-10-04T02:12:50.806Z" }
-
 [[package]]
 name = "pygments"
-version = "2.19.2"
+version = "2.20.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/b0/77/a5b8c569bf593b0140bde72ea885a803b82086995367bf2037de0159d924/pygments-2.19.2.tar.gz", hash = "sha256:636cb2477cec7f8952536970bc533bc43743542f70392ae026374600add5b887", size = 4968631, upload-time = "2025-06-21T13:39:12.283Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/c3/b2/bc9c9196916376152d655522fdcebac55e66de6603a76a02bca1b6414f6c/pygments-2.20.0.tar.gz", hash = "sha256:6757cd03768053ff99f3039c1a36d6c0aa0b263438fcab17520b30a303a82b5f", size = 4955991, upload-time = "2026-03-29T13:29:33.898Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c7/21/705964c7812476f378728bdf590ca4b771ec72385c533964653c68e86bdc/pygments-2.19.2-py3-none-any.whl", hash = "sha256:86540386c03d588bb81d44bc3928634ff26449851e99741617ecb9037ee5ec0b", size = 1225217, upload-time = "2025-06-21T13:39:07.939Z" },
+    { url = "https://files.pythonhosted.org/packages/f4/7e/a72dd26f3b0f4f2bf1dd8923c85f7ceb43172af56d63c7383eb62b332364/pygments-2.20.0-py3-none-any.whl", hash = "sha256:81a9e26dd42fd28a23a2d169d86d7ac03b46e2f8b59ed4698fb4785f946d0176", size = 1231151, upload-time = "2026-03-29T13:29:30.038Z" },
 ]
 
 [[package]]
 name = "pyjwt"
-version = "2.11.0"
+version = "2.13.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/5c/5a/b46fa56bf322901eee5b0454a34343cdbdae202cd421775a8ee4e42fd519/pyjwt-2.11.0.tar.gz", hash = "sha256:35f95c1f0fbe5d5ba6e43f00271c275f7a1a4db1dab27bf708073b75318ea623", size = 98019, upload-time = "2026-01-30T19:59:55.694Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/3b/81/58d0ac84e1ef3a3843791d6954d94c0b33d526c75eeb1efbce9d0a4c4077/pyjwt-2.13.0.tar.gz", hash = "sha256:41571c89ca91598c79e8ef18a2d07367d4810fbbd6f637794879baf1b7703423", size = 107515, upload-time = "2026-05-21T19:54:36.618Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/6f/01/c26ce75ba460d5cd503da9e13b21a33804d38c2165dec7b716d06b13010c/pyjwt-2.11.0-py3-none-any.whl", hash = "sha256:94a6bde30eb5c8e04fee991062b534071fd1439ef58d2adc9ccb823e7bcd0469", size = 28224, upload-time = "2026-01-30T19:59:54.539Z" },
+    { url = "https://files.pythonhosted.org/packages/a3/5e/ecf12fdb62546d64385c158514e9b2b671f7832108ef2ecd2020ce0af2d1/pyjwt-2.13.0-py3-none-any.whl", hash = "sha256:66adcc2aff09b3f1bbd95fc1e1577df8ac8723c978552fd43304c8a290ac5728", size = 31274, upload-time = "2026-05-21T19:54:35.362Z" },
 ]
 
-[[package]]
-name = "pylibsrtp"
-version = "1.0.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "cffi" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0d/a6/6e532bec974aaecbf9fe4e12538489fb1c28456e65088a50f305aeab9f89/pylibsrtp-1.0.0.tar.gz", hash = "sha256:b39dff075b263a8ded5377f2490c60d2af452c9f06c4d061c7a2b640612b34d4", size = 10858, upload-time = "2025-10-13T16:12:31.552Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/aa/af/89e61a62fa3567f1b7883feb4d19e19564066c2fcd41c37e08d317b51881/pylibsrtp-1.0.0-cp310-abi3-macosx_10_9_x86_64.whl", hash = "sha256:822c30ea9e759b333dc1f56ceac778707c51546e97eb874de98d7d378c000122", size = 1865017, upload-time = "2025-10-13T16:12:15.62Z" },
-    { url = "https://files.pythonhosted.org/packages/8d/0e/8d215484a9877adcf2459a8b28165fc89668b034565277fd55d666edd247/pylibsrtp-1.0.0-cp310-abi3-macosx_11_0_arm64.whl", hash = "sha256:aaad74e5c8cbc1c32056c3767fea494c1e62b3aea2c908eda2a1051389fdad76", size = 2182739, upload-time = "2025-10-13T16:12:17.121Z" },
-    { url = "https://files.pythonhosted.org/packages/57/3f/76a841978877ae13eac0d4af412c13bbd5d83b3df2c1f5f2175f2e0f68e5/pylibsrtp-1.0.0-cp310-abi3-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:9209b86e662ebbd17c8a9e8549ba57eca92a3e87fb5ba8c0e27b8c43cd08a767", size = 2732922, upload-time = "2025-10-13T16:12:18.348Z" },
-    { url = "https://files.pythonhosted.org/packages/0e/14/cf5d2a98a66fdfe258f6b036cda570f704a644fa861d7883a34bc359501e/pylibsrtp-1.0.0-cp310-abi3-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:293c9f2ac21a2bd689c477603a1aa235d85cf252160e6715f0101e42a43cbedc", size = 2434534, upload-time = "2025-10-13T16:12:20.074Z" },
-    { url = "https://files.pythonhosted.org/packages/bd/08/a3f6e86c04562f7dce6717cd2206a0f84ca85c5e38121d998e0e330194c3/pylibsrtp-1.0.0-cp310-abi3-manylinux_2_28_i686.whl", hash = "sha256:81fb8879c2e522021a7cbd3f4bda1b37c192e1af939dfda3ff95b4723b329663", size = 2345818, upload-time = "2025-10-13T16:12:21.439Z" },
-    { url = "https://files.pythonhosted.org/packages/8e/d5/130c2b5b4b51df5631684069c6f0a6761c59d096a33d21503ac207cf0e47/pylibsrtp-1.0.0-cp310-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:4ddb562e443cf2e557ea2dfaeef0d7e6b90e96dd38eb079b4ab2c8e34a79f50b", size = 2774490, upload-time = "2025-10-13T16:12:22.659Z" },
-    { url = "https://files.pythonhosted.org/packages/91/e3/715a453bfee3bea92a243888ad359094a7727cc6d393f21281320fe7798c/pylibsrtp-1.0.0-cp310-abi3-musllinux_1_2_i686.whl", hash = "sha256:f02e616c9dfab2b03b32d8cc7b748f9d91814c0211086f987629a60f05f6e2cc", size = 2372603, upload-time = "2025-10-13T16:12:24.036Z" },
-    { url = "https://files.pythonhosted.org/packages/e3/56/52fa74294254e1f53a4ff170ee2006e57886cf4bb3db46a02b4f09e1d99f/pylibsrtp-1.0.0-cp310-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:c134fa09e7b80a5b7fed626230c5bc257fd771bd6978e754343e7a61d96bc7e6", size = 2451269, upload-time = "2025-10-13T16:12:25.475Z" },
-    { url = "https://files.pythonhosted.org/packages/1e/51/2e9b34f484cbdd3bac999bf1f48b696d7389433e900639089e8fc4e0da0d/pylibsrtp-1.0.0-cp310-abi3-win32.whl", hash = "sha256:bae377c3b402b17b9bbfbfe2534c2edba17aa13bea4c64ce440caacbe0858b55", size = 1247503, upload-time = "2025-10-13T16:12:27.39Z" },
-    { url = "https://files.pythonhosted.org/packages/c3/70/43db21af194580aba2d9a6d4c7bd8c1a6e887fa52cd810b88f89096ecad2/pylibsrtp-1.0.0-cp310-abi3-win_amd64.whl", hash = "sha256:8d6527c4a78a39a8d397f8862a8b7cdad4701ee866faf9de4ab8c70be61fd34d", size = 1601659, upload-time = "2025-10-13T16:12:29.037Z" },
-    { url = "https://files.pythonhosted.org/packages/8e/ec/6e02b2561d056ea5b33046e3cad21238e6a9097b97d6ccc0fbe52b50c858/pylibsrtp-1.0.0-cp310-abi3-win_arm64.whl", hash = "sha256:2696bdb2180d53ac55d0eb7b58048a2aa30cd4836dd2ca683669889137a94d2a", size = 1159246, upload-time = "2025-10-13T16:12:30.285Z" },
-]
-
-[[package]]
-name = "pymonctl"
-version = "0.92"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
-    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
-    { name = "python-xlib", marker = "sys_platform == 'linux'" },
-    { name = "pywin32", marker = "sys_platform == 'win32'" },
-    { name = "typing-extensions" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2d/13/076a20da28b82be281f7e43e16d9da0f545090f5d14b2125699232b9feba/PyMonCtl-0.92-py3-none-any.whl", hash = "sha256:2495d8dab78f9a7dbce37e74543e60b8bd404a35c3108935697dda7768611b5a", size = 45945, upload-time = "2024-04-22T10:07:09.566Z" },
-]
-
-[[package]]
-name = "pymsgbox"
-version = "2.0.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ae/6a/e80da7594ee598a776972d09e2813df2b06b3bc29218f440631dfa7c78a8/pymsgbox-2.0.1.tar.gz", hash = "sha256:98d055c49a511dcc10fa08c3043e7102d468f5e4b3a83c6d3c61df722c7d798d", size = 20768, upload-time = "2025-09-09T00:38:56.863Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/6f/3e/08c8cac81b2b2f7502746e6b9c8e5b0ec6432cd882c605560fc409aaf087/pymsgbox-2.0.1-py3-none-any.whl", hash = "sha256:5de8ec19bca2ca7e6c09d39c817c83f17c75cee80275235f43a9931db699f73b", size = 9994, upload-time = "2025-09-09T00:38:55.672Z" },
-]
-
-[[package]]
-name = "pyobjc"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-accessibility", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-addressbook" },
-    { name = "pyobjc-framework-adservices", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-adsupport", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-applescriptkit" },
-    { name = "pyobjc-framework-applescriptobjc", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-applicationservices" },
-    { name = "pyobjc-framework-apptrackingtransparency", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-arkit", marker = "platform_release >= '25.0'" },
-    { name = "pyobjc-framework-audiovideobridging", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-authenticationservices", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-automaticassessmentconfiguration", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-automator" },
-    { name = "pyobjc-framework-avfoundation", marker = "platform_release >= '11.0'" },
-    { name = "pyobjc-framework-avkit", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-avrouting", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-backgroundassets", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-browserenginekit", marker = "platform_release >= '23.4'" },
-    { name = "pyobjc-framework-businesschat", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-calendarstore", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-callkit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-carbon" },
-    { name = "pyobjc-framework-cfnetwork" },
-    { name = "pyobjc-framework-cinematic", marker = "platform_release >= '23.0'" },
-    { name = "pyobjc-framework-classkit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-cloudkit", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-collaboration", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-colorsync", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-compositorservices", marker = "platform_release >= '25.0'" },
-    { name = "pyobjc-framework-contacts", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-contactsui", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-coreaudio" },
-    { name = "pyobjc-framework-coreaudiokit" },
-    { name = "pyobjc-framework-corebluetooth", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-coredata" },
-    { name = "pyobjc-framework-corehaptics", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-corelocation", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-coremedia", marker = "platform_release >= '11.0'" },
-    { name = "pyobjc-framework-coremediaio", marker = "platform_release >= '11.0'" },
-    { name = "pyobjc-framework-coremidi" },
-    { name = "pyobjc-framework-coreml", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-coremotion", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-coreservices" },
-    { name = "pyobjc-framework-corespotlight", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-coretext" },
-    { name = "pyobjc-framework-corewlan", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-cryptotokenkit", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-datadetection", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-devicecheck", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-devicediscoveryextension", marker = "platform_release >= '24.0'" },
-    { name = "pyobjc-framework-dictionaryservices", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-discrecording" },
-    { name = "pyobjc-framework-discrecordingui" },
-    { name = "pyobjc-framework-diskarbitration" },
-    { name = "pyobjc-framework-dvdplayback" },
-    { name = "pyobjc-framework-eventkit", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-exceptionhandling" },
-    { name = "pyobjc-framework-executionpolicy", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-extensionkit", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-externalaccessory", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-fileprovider", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-fileproviderui", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-findersync", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-fsevents", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-fskit", marker = "platform_release >= '24.4'" },
-    { name = "pyobjc-framework-gamecenter", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-gamecontroller", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-gamekit", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-gameplaykit", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-gamesave", marker = "platform_release >= '25.0'" },
-    { name = "pyobjc-framework-healthkit", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-imagecapturecore", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-inputmethodkit", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-installerplugins" },
-    { name = "pyobjc-framework-instantmessage", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-intents", marker = "platform_release >= '16.0'" },
-    { name = "pyobjc-framework-intentsui", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-iobluetooth" },
-    { name = "pyobjc-framework-iobluetoothui" },
-    { name = "pyobjc-framework-iosurface", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-ituneslibrary", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-kernelmanagement", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-latentsemanticmapping" },
-    { name = "pyobjc-framework-launchservices" },
-    { name = "pyobjc-framework-libdispatch", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-libxpc", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-linkpresentation", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-localauthentication", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-localauthenticationembeddedui", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-mailkit", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-mapkit", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-mediaaccessibility", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-mediaextension", marker = "platform_release >= '24.0'" },
-    { name = "pyobjc-framework-medialibrary", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-mediaplayer", marker = "platform_release >= '16.0'" },
-    { name = "pyobjc-framework-mediatoolbox", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-metal", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-metalfx", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-metalkit", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-metalperformanceshaders", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-metalperformanceshadersgraph", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-metrickit", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-mlcompute", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-modelio", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-multipeerconnectivity", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-naturallanguage", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-netfs", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-network", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-networkextension", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-notificationcenter", marker = "platform_release >= '14.0'" },
-    { name = "pyobjc-framework-opendirectory", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-osakit" },
-    { name = "pyobjc-framework-oslog", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-passkit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-pencilkit", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-phase", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-photos", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-photosui", marker = "platform_release >= '15.0'" },
-    { name = "pyobjc-framework-preferencepanes" },
-    { name = "pyobjc-framework-pushkit", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-quartz" },
-    { name = "pyobjc-framework-quicklookthumbnailing", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-replaykit", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-safariservices", marker = "platform_release >= '16.0'" },
-    { name = "pyobjc-framework-safetykit", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-scenekit", marker = "platform_release >= '11.0'" },
-    { name = "pyobjc-framework-screencapturekit", marker = "platform_release >= '21.4'" },
-    { name = "pyobjc-framework-screensaver" },
-    { name = "pyobjc-framework-screentime", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-scriptingbridge", marker = "platform_release >= '9.0'" },
-    { name = "pyobjc-framework-searchkit" },
-    { name = "pyobjc-framework-security" },
-    { name = "pyobjc-framework-securityfoundation" },
-    { name = "pyobjc-framework-securityinterface" },
-    { name = "pyobjc-framework-securityui", marker = "platform_release >= '24.4'" },
-    { name = "pyobjc-framework-sensitivecontentanalysis", marker = "platform_release >= '23.0'" },
-    { name = "pyobjc-framework-servicemanagement", marker = "platform_release >= '10.0'" },
-    { name = "pyobjc-framework-sharedwithyou", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-sharedwithyoucore", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-shazamkit", marker = "platform_release >= '21.0'" },
-    { name = "pyobjc-framework-social", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-soundanalysis", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-speech", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-spritekit", marker = "platform_release >= '13.0'" },
-    { name = "pyobjc-framework-storekit", marker = "platform_release >= '11.0'" },
-    { name = "pyobjc-framework-symbols", marker = "platform_release >= '23.0'" },
-    { name = "pyobjc-framework-syncservices" },
-    { name = "pyobjc-framework-systemconfiguration" },
-    { name = "pyobjc-framework-systemextensions", marker = "platform_release >= '19.0'" },
-    { name = "pyobjc-framework-threadnetwork", marker = "platform_release >= '22.0'" },
-    { name = "pyobjc-framework-uniformtypeidentifiers", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-usernotifications", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-usernotificationsui", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-videosubscriberaccount", marker = "platform_release >= '18.0'" },
-    { name = "pyobjc-framework-videotoolbox", marker = "platform_release >= '12.0'" },
-    { name = "pyobjc-framework-virtualization", marker = "platform_release >= '20.0'" },
-    { name = "pyobjc-framework-vision", marker = "platform_release >= '17.0'" },
-    { name = "pyobjc-framework-webkit" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/17/06/d77639ba166cc09aed2d32ae204811b47bc5d40e035cdc9bff7fff72ec5f/pyobjc-12.1.tar.gz", hash = "sha256:686d6db3eb3182fac9846b8ce3eedf4c7d2680b21b8b8d6e6df054a17e92a12d", size = 11345, upload-time = "2025-11-14T10:07:28.155Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ef/00/1085de7b73abf37ec27ad59f7a1d7a406e6e6da45720bced2e198fdf1ddf/pyobjc-12.1-py3-none-any.whl", hash = "sha256:6f8c36cf87b1159d2ca1aa387ffc3efcd51cc3da13ef47c65f45e6d9fbccc729", size = 4226, upload-time = "2025-11-14T09:30:25.185Z" },
-]
-
-[[package]]
-name = "pyobjc-core"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/b8/b6/d5612eb40be4fd5ef88c259339e6313f46ba67577a95d86c3470b951fce0/pyobjc_core-12.1.tar.gz", hash = "sha256:2bb3903f5387f72422145e1466b3ac3f7f0ef2e9960afa9bcd8961c5cbf8bd21", size = 1000532, upload-time = "2025-11-14T10:08:28.292Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/64/5a/6b15e499de73050f4a2c88fff664ae154307d25dc04da8fb38998a428358/pyobjc_core-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:818bcc6723561f207e5b5453efe9703f34bc8781d11ce9b8be286bb415eb4962", size = 678335, upload-time = "2025-11-14T09:32:20.107Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-accessibility"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/2d/87/8ca40428d05a668fecc638f2f47dba86054dbdc35351d247f039749de955/pyobjc_framework_accessibility-12.1.tar.gz", hash = "sha256:5ff362c3425edc242d49deec11f5f3e26e565cefb6a2872eda59ab7362149772", size = 29800, upload-time = "2025-11-14T10:08:31.949Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/cc/95/9ea0d1c16316b4b5babf4b0515e9a133ac64269d3ec031f15ee9c7c2a8c1/pyobjc_framework_accessibility-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:537691a0b28fedb8385cd093df069a6e5d7e027629671fc47b50210404eca20b", size = 11335, upload-time = "2025-11-14T09:35:30.81Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-accounts"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/65/10/f6fe336c7624d6753c1f6edac102310ce4434d49b548c479e8e6420d4024/pyobjc_framework_accounts-12.1.tar.gz", hash = "sha256:76d62c5e7b831eb8f4c9ca6abaf79d9ed961dfffe24d89a041fb1de97fe56a3e", size = 15202, upload-time = "2025-11-14T10:08:33.995Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ac/70/5f9214250f92fbe2e07f35778875d2771d612f313af2a0e4bacba80af28e/pyobjc_framework_accounts-12.1-py2.py3-none-any.whl", hash = "sha256:e1544ad11a2f889a7aaed649188d0e76d58595a27eec07ca663847a7adb21ae5", size = 5104, upload-time = "2025-11-14T09:35:40.246Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-addressbook"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/18/28/0404af2a1c6fa8fd266df26fb6196a8f3fb500d6fe3dab94701949247bea/pyobjc_framework_addressbook-12.1.tar.gz", hash = "sha256:c48b740cf981103cef1743d0804a226d86481fcb839bd84b80e9a586187e8000", size = 44359, upload-time = "2025-11-14T10:08:37.687Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b6/33/da709c69cbb60df9522cd614d5c23c15b649b72e5d62fed1048e75c70e7b/pyobjc_framework_addressbook-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:7893dd784322f4674299fb3ca40cb03385e5eddb78defd38f08c0b730813b56c", size = 12894, upload-time = "2025-11-14T09:35:47.498Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-adservices"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/19/04/1c3d3e0a1ac981664f30b33407dcdf8956046ecde6abc88832cf2aa535f4/pyobjc_framework_adservices-12.1.tar.gz", hash = "sha256:7a31fc8d5c6fd58f012db87c89ba581361fc905114bfb912e0a3a87475c02183", size = 11793, upload-time = "2025-11-14T10:08:39.56Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ad/13/f7796469b25f50750299c4b0e95dc2f75c7c7fc4c93ef2c644f947f10529/pyobjc_framework_adservices-12.1-py2.py3-none-any.whl", hash = "sha256:9ca3c55e35b2abb3149a0bce5de9a1f7e8ee4f8642036910ca8586ab2e161538", size = 3492, upload-time = "2025-11-14T09:35:57.344Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-adsupport"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/43/77/f26a2e9994d4df32e9b3680c8014e350b0f1c78d7673b3eba9de2e04816f/pyobjc_framework_adsupport-12.1.tar.gz", hash = "sha256:9a68480e76de567c339dca29a8c739d6d7b5cad30e1cd585ff6e49ec2fc283dd", size = 11645, upload-time = "2025-11-14T10:08:41.439Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/cd/1a/3e90d5a09953bde7b60946cd09cca1411aed05dea855cb88cb9e944c7006/pyobjc_framework_adsupport-12.1-py2.py3-none-any.whl", hash = "sha256:97dcd8799dd61f047bb2eb788bbde81f86e95241b5e5173a3a61cfc05b5598b1", size = 3401, upload-time = "2025-11-14T09:35:59.039Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-applescriptkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/cd/f1/e0c07b2a9eb98f1a2050f153d287a52a92f873eeddb41b74c52c144d8767/pyobjc_framework_applescriptkit-12.1.tar.gz", hash = "sha256:cb09f88cf0ad9753dedc02720065818f854b50e33eb4194f0ea34de6d7a3eb33", size = 11451, upload-time = "2025-11-14T10:08:43.328Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/3b/70/6c399c6ebc37a4e48acf63967e0a916878aedfe420531f6d739215184c0c/pyobjc_framework_applescriptkit-12.1-py2.py3-none-any.whl", hash = "sha256:b955fc017b524027f635d92a8a45a5fd9fbae898f3e03de16ecd94aa4c4db987", size = 4352, upload-time = "2025-11-14T09:36:00.705Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-applescriptobjc"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/c0/4b/e4d1592207cbe17355e01828bdd11dd58f31356108f6a49f5e0484a5df50/pyobjc_framework_applescriptobjc-12.1.tar.gz", hash = "sha256:dce080ed07409b0dda2fee75d559bd312ea1ef0243a4338606440f282a6a0f5f", size = 11588, upload-time = "2025-11-14T10:08:45.037Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/3e/5f/9ce6706399706930eb29c5308037109c30cfb36f943a6df66fdf38cc842a/pyobjc_framework_applescriptobjc-12.1-py2.py3-none-any.whl", hash = "sha256:79068f982cc22471712ce808c0a8fd5deea11258fc8d8c61968a84b1962a3d10", size = 4454, upload-time = "2025-11-14T09:36:02.276Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-applicationservices"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coretext" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/be/6a/d4e613c8e926a5744fc47a9e9fea08384a510dc4f27d844f7ad7a2d793bd/pyobjc_framework_applicationservices-12.1.tar.gz", hash = "sha256:c06abb74f119bc27aeb41bf1aef8102c0ae1288aec1ac8665ea186a067a8945b", size = 103247, upload-time = "2025-11-14T10:08:52.18Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/37/a7/55fa88def5c02732c4b747606ff1cbce6e1f890734bbd00f5596b21eaa02/pyobjc_framework_applicationservices-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:c8f6e2fb3b3e9214ab4864ef04eee18f592b46a986c86ea0113448b310520532", size = 32835, upload-time = "2025-11-14T09:36:11.855Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-apptrackingtransparency"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0d/de/f24348982ecab0cb13067c348fc5fbc882c60d704ca290bada9a2b3e594b/pyobjc_framework_apptrackingtransparency-12.1.tar.gz", hash = "sha256:e25bf4e4dfa2d929993ee8e852b28fdf332fa6cde0a33328fdc3b2f502fa50ec", size = 12407, upload-time = "2025-11-14T10:08:54.118Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/19/b2/90120b93ecfb099b6af21696c26356ad0f2182bdef72b6cba28aa6472ca6/pyobjc_framework_apptrackingtransparency-12.1-py2.py3-none-any.whl", hash = "sha256:23a98ade55495f2f992ecf62c3cbd8f648cbd68ba5539c3f795bf66de82e37ca", size = 3879, upload-time = "2025-11-14T09:36:26.425Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-arkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/c9/8b/843fe08e696bca8e7fc129344965ab6280f8336f64f01ba0a8862d219c3f/pyobjc_framework_arkit-12.1.tar.gz", hash = "sha256:0c5c6b702926179700b68ba29b8247464c3b609fd002a07a3308e72cfa953adf", size = 35814, upload-time = "2025-11-14T10:08:57.55Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/21/1e/64c55b409243b3eb9abc7a99e7b27ad4e16b9e74bc4b507fb7e7b81fd41a/pyobjc_framework_arkit-12.1-py2.py3-none-any.whl", hash = "sha256:f6d39e28d858ee03f052d6780a552247e682204382dbc090f1d3192fa1b21493", size = 8302, upload-time = "2025-11-14T09:36:28.127Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-audiovideobridging"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/9f/51/f81581e7a3c5cb6c9254c6f1e1ee1d614930493761dec491b5b0d49544b9/pyobjc_framework_audiovideobridging-12.1.tar.gz", hash = "sha256:6230ace6bec1f38e8a727c35d054a7be54e039b3053f98e6dd8d08d6baee2625", size = 38457, upload-time = "2025-11-14T10:09:01.122Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f3/8e/a28badfcc6c731696e3d3a8a83927bd844d992f9152f903c2fee355702ca/pyobjc_framework_audiovideobridging-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:010021502649e2cca4e999a7c09358d48c6b0ed83530bbc0b85bba6834340e4b", size = 11052, upload-time = "2025-11-14T09:36:34.475Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-authenticationservices"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/6c/18/86218de3bf67fc1d810065f353d9df70c740de567ebee8550d476cb23862/pyobjc_framework_authenticationservices-12.1.tar.gz", hash = "sha256:cef71faeae2559f5c0ff9a81c9ceea1c81108e2f4ec7de52a98c269feff7a4b6", size = 58683, upload-time = "2025-11-14T10:09:06.003Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f1/1d/e9f296fe1ee9a074ff6c45ce9eb109fc3b45696de000f373265c8e42fd47/pyobjc_framework_authenticationservices-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:6fd5ce10fe5359cbbfe03eb12cab3e01992b32ab65653c579b00ac93cf674985", size = 20738, upload-time = "2025-11-14T09:36:51.094Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-automaticassessmentconfiguration"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e4/24/080afe8189c47c4bb3daa191ccfd962400ca31a67c14b0f7c2d002c2e249/pyobjc_framework_automaticassessmentconfiguration-12.1.tar.gz", hash = "sha256:2b732c02d9097682ca16e48f5d3b10056b740bc091e217ee4d5715194c8970b1", size = 21895, upload-time = "2025-11-14T10:09:08.779Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f2/b2/fbec3d649bf275d7a9604e5f56015be02ef8dcf002f4ae4d760436b8e222/pyobjc_framework_automaticassessmentconfiguration-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:c2e22ea67d7e6d6a84d968169f83d92b59857a49ab12132de07345adbfea8a62", size = 9332, upload-time = "2025-11-14T09:37:07.083Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-automator"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/7e/08/362bf6ac2bba393c46cf56078d4578b692b56857c385e47690637a72f0dd/pyobjc_framework_automator-12.1.tar.gz", hash = "sha256:7491a99347bb30da3a3f744052a03434ee29bee3e2ae520576f7e796740e4ba7", size = 186068, upload-time = "2025-11-14T10:09:20.82Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e3/36/2e8c36ddf20d501f9d344ed694e39021190faffc44b596f3a430bf437174/pyobjc_framework_automator-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:4df9aec77f0fbca66cd3534d1b8398fe6f3e3c2748c0fc12fec2546c7f2e3ffd", size = 10034, upload-time = "2025-11-14T09:37:20.293Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-avfoundation"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coreaudio" },
-    { name = "pyobjc-framework-coremedia" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/cd/42/c026ab308edc2ed5582d8b4b93da6b15d1b6557c0086914a4aabedd1f032/pyobjc_framework_avfoundation-12.1.tar.gz", hash = "sha256:eda0bb60be380f9ba2344600c4231dd58a3efafa99fdc65d3673ecfbb83f6fcb", size = 310047, upload-time = "2025-11-14T10:09:40.069Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/a6/00/ca471e5dd33f040f69320832e45415d00440260bf7f8221a9df4c4662659/pyobjc_framework_avfoundation-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:bf634f89265b4d93126153200d885b6de4859ed6b3bc65e69ff75540bc398406", size = 83375, upload-time = "2025-11-14T09:37:47.262Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-avkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/34/a9/e44db1a1f26e2882c140f1d502d508b1f240af9048909dcf1e1a687375b4/pyobjc_framework_avkit-12.1.tar.gz", hash = "sha256:a5c0ddb0cb700f9b09c8afeca2c58952d554139e9bb078236d2355b1fddfb588", size = 28473, upload-time = "2025-11-14T10:09:43.105Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/75/34/e77b18f7ed0bd707afd388702e910bdf2d0acee39d1139e8619c916d3eb4/pyobjc_framework_avkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:eef2c0a51465de025a4509db05ef18ca2b678bb00ee0a8fbad7fd470edfd58f9", size = 11613, upload-time = "2025-11-14T09:38:19.78Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-avrouting"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/6e/83/15bf6c28ec100dae7f92d37c9e117b3b4ee6b4873db062833e16f1cfd6c4/pyobjc_framework_avrouting-12.1.tar.gz", hash = "sha256:6a6c5e583d14f6501df530a9d0559a32269a821fc8140e3646015f097155cd1c", size = 20031, upload-time = "2025-11-14T10:09:45.701Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/68/54/fa24f666525c1332a11b2de959c9877b0fe08f00f29ecf96964b24246c13/pyobjc_framework_avrouting-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:4c0fb0d3d260527320377a70c87688ca5e4a208b09fddcae2b4257d7fe9b1e18", size = 8450, upload-time = "2025-11-14T09:38:34.941Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-backgroundassets"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/34/d1/e917fba82790495152fd3508c5053827658881cf7e9887ba60def5e3f221/pyobjc_framework_backgroundassets-12.1.tar.gz", hash = "sha256:8da34df9ae4519c360c429415477fdaf3fbba5addbc647b3340b8783454eb419", size = 26210, upload-time = "2025-11-14T10:09:48.792Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/de/34/bbba61f0e8ecb0fe0da7aa2c9ea15f7cb0dca2fb2914fcdcd77b782b5c11/pyobjc_framework_backgroundassets-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:2c11cb98650c1a4bc68eeb4b040541ba96613434c5957e98e9bb363413b23c91", size = 10786, upload-time = "2025-11-14T09:38:48.341Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-browserenginekit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coreaudio" },
-    { name = "pyobjc-framework-coremedia" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/5d/b9/39f9de1730e6f8e73be0e4f0c6087cd9439cbe11645b8052d22e1fb8e69b/pyobjc_framework_browserenginekit-12.1.tar.gz", hash = "sha256:6a1a34a155778ab55ab5f463e885f2a3b4680231264e1fe078e62ddeccce49ed", size = 29120, upload-time = "2025-11-14T10:09:51.582Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/46/e0/8d2cebbfcfd6aacb805ae0ae7ba931f6a39140540b2e1e96719e7be28359/pyobjc_framework_browserenginekit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:d15766bb841b081447015c9626e2a766febfe651f487893d29c5d72bef976b94", size = 11545, upload-time = "2025-11-14T09:39:00.988Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-businesschat"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/4d/da/bc09b6ed19e9ea38ecca9387c291ca11fa680a8132d82b27030f82551c23/pyobjc_framework_businesschat-12.1.tar.gz", hash = "sha256:f6fa3a8369a1a51363e1757530128741d9d09ed90692a1d6777a4c0fbad25868", size = 12055, upload-time = "2025-11-14T10:09:53.436Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/53/88/4c727424b05efa33ed7f6c45e40333e5a8a8dc5bb238e34695addd68463b/pyobjc_framework_businesschat-12.1-py2.py3-none-any.whl", hash = "sha256:f66ce741507b324de3c301d72ba0cfa6aaf7093d7235972332807645c118cc29", size = 3474, upload-time = "2025-11-14T09:39:10.771Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-calendarstore"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/88/41/ae955d1c44dcc18b5b9df45c679e9a08311a0f853b9d981bca760cf1eef2/pyobjc_framework_calendarstore-12.1.tar.gz", hash = "sha256:f9a798d560a3c99ad4c0d2af68767bc5695d8b1aabef04d8377861cd1d6d1670", size = 52272, upload-time = "2025-11-14T10:09:58.48Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/fa/70/f68aebdb7d3fa2dec2e9da9e9cdaa76d370de326a495917dbcde7bb7711e/pyobjc_framework_calendarstore-12.1-py2.py3-none-any.whl", hash = "sha256:18533e0fcbcdd29ee5884dfbd30606710f65df9b688bf47daee1438ee22e50cc", size = 5285, upload-time = "2025-11-14T09:39:12.473Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-callkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/1a/c0/1859d4532d39254df085309aff55b85323576f00a883626325af40da4653/pyobjc_framework_callkit-12.1.tar.gz", hash = "sha256:fd6dc9688b785aab360139d683be56f0844bf68bf5e45d0eb770cb68221083cc", size = 29171, upload-time = "2025-11-14T10:10:01.336Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2e/b7/b3a498b14751b4be6af5272c9be9ded718aa850ebf769b052c7d610a142a/pyobjc_framework_callkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:12adc0ace464a057f8908187698e1d417c6c53619797a69d096f4329bffb1089", size = 11334, upload-time = "2025-11-14T09:39:18.622Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-carbon"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0c/0f/9ab8e518a4e5ac4a1e2fdde38a054c32aef82787ff7f30927345c18b7765/pyobjc_framework_carbon-12.1.tar.gz", hash = "sha256:57a72807db252d5746caccc46da4bd20ff8ea9e82109af9f72735579645ff4f0", size = 37293, upload-time = "2025-11-14T10:10:04.464Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/a4/9e/91853c8f98b9d5bccf464113908620c94cc12c2a3e4625f3ce172e3ea4bc/pyobjc_framework_carbon-12.1-py2.py3-none-any.whl", hash = "sha256:f8b719b3c7c5cf1d61ac7c45a8a70b5e5e5a83fa02f5194c2a48a7e81a3d1b7f", size = 4625, upload-time = "2025-11-14T09:39:27.937Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-cfnetwork"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/d2/6a/f5f0f191956e187db85312cbffcc41bf863670d121b9190b4a35f0d36403/pyobjc_framework_cfnetwork-12.1.tar.gz", hash = "sha256:2d16e820f2d43522c793f55833fda89888139d7a84ca5758548ba1f3a325a88d", size = 44383, upload-time = "2025-11-14T10:10:08.428Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f9/0b/28034e63f3a25b30ede814469c3f57d44268cbced19664c84a8664200f9d/pyobjc_framework_cfnetwork-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:92760da248c757085fc39bce4388a0f6f0b67540e51edf60a92ad60ca907d071", size = 19135, upload-time = "2025-11-14T09:39:36.382Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-cinematic"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-avfoundation" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coremedia" },
-    { name = "pyobjc-framework-metal" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/67/4e/f4cc7f9f7f66df0290c90fe445f1ff5aa514c6634f5203fe049161053716/pyobjc_framework_cinematic-12.1.tar.gz", hash = "sha256:795068c30447548c0e8614e9c432d4b288b13d5614622ef2f9e3246132329b06", size = 21215, upload-time = "2025-11-14T10:10:10.795Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c9/a0/cd85c827ce5535c08d936e5723c16ee49f7ff633f2e9881f4f58bf83e4ce/pyobjc_framework_cinematic-12.1-py2.py3-none-any.whl", hash = "sha256:c003543bb6908379680a93dfd77a44228686b86c118cf3bc930f60241d0cd141", size = 5031, upload-time = "2025-11-14T09:39:49.003Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-classkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/ac/ef/67815278023b344a79c7e95f748f647245d6f5305136fc80615254ad447c/pyobjc_framework_classkit-12.1.tar.gz", hash = "sha256:8d1e9dd75c3d14938ff533d88b72bca2d34918e4461f418ea323bfb2498473b4", size = 26298, upload-time = "2025-11-14T10:10:13.406Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/87/5e/cf43c647af872499fc8e80cc6ac6e9ad77d9c77861dc2e62bdd9b01473ce/pyobjc_framework_classkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:c027a3cd9be5fee3f605589118b8b278297c384a271f224c1a98b224e0c087e6", size = 8877, upload-time = "2025-11-14T09:39:54.979Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-cloudkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-accounts" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coredata" },
-    { name = "pyobjc-framework-corelocation" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/2d/09/762ee4f3ae8568b8e0e5392c705bc4aa1929aa454646c124ca470f1bf9fc/pyobjc_framework_cloudkit-12.1.tar.gz", hash = "sha256:1dddd38e60863f88adb3d1d37d3b4ccb9cbff48c4ef02ab50e36fa40c2379d2f", size = 53730, upload-time = "2025-11-14T10:10:17.831Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/35/71/cbef7179bf1a594558ea27f1e5ad18f5c17ef71a8a24192aae16127bc849/pyobjc_framework_cloudkit-12.1-py2.py3-none-any.whl", hash = "sha256:875e37bf1a2ce3d05c2492692650104f2d908b56b71a0aedf6620bc517c6c9ca", size = 11090, upload-time = "2025-11-14T09:40:04.207Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-cocoa"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/02/a3/16ca9a15e77c061a9250afbae2eae26f2e1579eb8ca9462ae2d2c71e1169/pyobjc_framework_cocoa-12.1.tar.gz", hash = "sha256:5556c87db95711b985d5efdaaf01c917ddd41d148b1e52a0c66b1a2e2c5c1640", size = 2772191, upload-time = "2025-11-14T10:13:02.069Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/95/bf/ee4f27ec3920d5c6fc63c63e797c5b2cc4e20fe439217085d01ea5b63856/pyobjc_framework_cocoa-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:547c182837214b7ec4796dac5aee3aa25abc665757b75d7f44f83c994bcb0858", size = 384590, upload-time = "2025-11-14T09:41:17.336Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-collaboration"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/64/21/77fe64b39eae98412de1a0d33e9c735aa9949d53fff6b2d81403572b410b/pyobjc_framework_collaboration-12.1.tar.gz", hash = "sha256:2afa264d3233fc0a03a56789c6fefe655ffd81a2da4ba1dc79ea0c45931ad47b", size = 14299, upload-time = "2025-11-14T10:13:04.631Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2a/66/1507de01f1e2b309f8e11553a52769e4e2e9939ed770b5b560ef5bc27bc1/pyobjc_framework_collaboration-12.1-py2.py3-none-any.whl", hash = "sha256:182d6e6080833b97f9bef61738ae7bacb509714538f0d7281e5f0814c804b315", size = 4907, upload-time = "2025-11-14T09:42:55.781Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-colorsync"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/c0/b4/706e4cc9db25b400201fc90f3edfaa1ab2d51b400b19437b043a68532078/pyobjc_framework_colorsync-12.1.tar.gz", hash = "sha256:d69dab7df01245a8c1bd536b9231c97993a5d1a2765d77692ce40ebbe6c1b8e9", size = 25269, upload-time = "2025-11-14T10:13:07.522Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e8/e1/82e45c712f43905ee1e6d585180764e8fa6b6f1377feb872f9f03c8c1fb8/pyobjc_framework_colorsync-12.1-py2.py3-none-any.whl", hash = "sha256:41e08d5b9a7af4b380c9adab24c7ff59dfd607b3073ae466693a3e791d8ffdc9", size = 6020, upload-time = "2025-11-14T09:42:57.504Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-compositorservices"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-metal" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/54/c5/0ba31d7af7e464b7f7ece8c2bd09112bdb0b7260848402e79ba6aacc622c/pyobjc_framework_compositorservices-12.1.tar.gz", hash = "sha256:028e357bbee7fbd3723339a321bbe14e6da5a772708a661a13eea5f17c89e4ab", size = 23292, upload-time = "2025-11-14T10:13:10.392Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f9/34/5a2de8d531dbb88023898e0b5d2ce8edee14751af6c70e6103f6aa31a669/pyobjc_framework_compositorservices-12.1-py2.py3-none-any.whl", hash = "sha256:9ef22d4eacd492e13099b9b8936db892cdbbef1e3d23c3484e0ed749f83c4984", size = 5910, upload-time = "2025-11-14T09:42:59.154Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-contacts"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/4b/a0/ce0542d211d4ea02f5cbcf72ee0a16b66b0d477a4ba5c32e00117703f2f0/pyobjc_framework_contacts-12.1.tar.gz", hash = "sha256:89bca3c5cf31404b714abaa1673577e1aaad6f2ef49d4141c6dbcc0643a789ad", size = 42378, upload-time = "2025-11-14T10:13:14.203Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/32/c8/2c4638c0d06447886a34070eebb9ba57407d4dd5f0fcb7ab642568272b88/pyobjc_framework_contacts-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:2e5ce33b686eb9c0a39351938a756442ea8dea88f6ae2f16bff5494a8569c687", size = 12165, upload-time = "2025-11-14T09:43:05.119Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-contactsui"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-contacts" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/cd/0c/7bb7f898456a81d88d06a1084a42e374519d2e40a668a872b69b11f8c1f9/pyobjc_framework_contactsui-12.1.tar.gz", hash = "sha256:aaeca7c9e0c9c4e224d73636f9a558f9368c2c7422155a41fd4d7a13613a77c1", size = 18769, upload-time = "2025-11-14T10:13:16.301Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f3/ab/319aa52dfe6f836f4dc542282c2c13996222d4f5c9ea7ff8f391b12dac83/pyobjc_framework_contactsui-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:057f40d2f6eb1b169a300675ec75cc7a747cddcbcee8ece133e652a7086c5ab5", size = 7888, upload-time = "2025-11-14T09:43:18.502Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coreaudio"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/84/d1/0b884c5564ab952ff5daa949128c64815300556019c1bba0cf2ca752a1a0/pyobjc_framework_coreaudio-12.1.tar.gz", hash = "sha256:a9e72925fcc1795430496ce0bffd4ddaa92c22460a10308a7283ade830089fe1", size = 75077, upload-time = "2025-11-14T10:13:22.345Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/a9/48/05b5192122e23140cf583eac99ccc5bf615591d6ff76483ba986c38ee750/pyobjc_framework_coreaudio-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a5ad6309779663f846ab36fe6c49647e470b7e08473c3e48b4f004017bdb68a4", size = 36908, upload-time = "2025-11-14T09:43:36.108Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coreaudiokit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coreaudio" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/41/1c/5c7e39b9361d4eec99b9115b593edd9825388acd594cb3b4519f8f1ac12c/pyobjc_framework_coreaudiokit-12.1.tar.gz", hash = "sha256:b83624f8de3068ab2ca279f786be0804da5cf904ff9979d96007b69ef4869e1e", size = 20137, upload-time = "2025-11-14T10:13:24.611Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/19/d7/f171c04c6496afeaad2ab658b0c810682c8407127edc94d4b3f3b90c2bb1/pyobjc_framework_coreaudiokit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:97d5dd857e73d5b597cfc980972b021314b760e2f5bdde7bbba0334fbf404722", size = 7273, upload-time = "2025-11-14T09:43:55.411Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-corebluetooth"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/4b/25/d21d6cb3fd249c2c2aa96ee54279f40876a0c93e7161b3304bf21cbd0bfe/pyobjc_framework_corebluetooth-12.1.tar.gz", hash = "sha256:8060c1466d90bbb9100741a1091bb79975d9ba43911c9841599879fc45c2bbe0", size = 33157, upload-time = "2025-11-14T10:13:28.064Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2a/56/01fef62a479cdd6ff9ee40b6e062a205408ff386ce5ba56d7e14a71fcf73/pyobjc_framework_corebluetooth-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:fe72c9732ee6c5c793b9543f08c1f5bdd98cd95dfc9d96efd5708ec9d6eeb213", size = 13209, upload-time = "2025-11-14T09:44:08.203Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coredata"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/3e/c5/8cd46cd4f1b7cf88bdeed3848f830ea9cdcc4e55cd0287a968a2838033fb/pyobjc_framework_coredata-12.1.tar.gz", hash = "sha256:1e47d3c5e51fdc87a90da62b97cae1bc49931a2bb064db1305827028e1fc0ffa", size = 124348, upload-time = "2025-11-14T10:13:36.435Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/a3/29/fe24dc81e0f154805534923a56fe572c3b296092f086cf5a239fccc2d46a/pyobjc_framework_coredata-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a3ee3581ca23ead0b152257e98622fe0bf7e7948f30a62a25a17cafe28fe015e", size = 16409, upload-time = "2025-11-14T09:44:23.582Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-corehaptics"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/3a/2f/74a3da79d9188b05dd4be4428a819ea6992d4dfaedf7d629027cf1f57bfc/pyobjc_framework_corehaptics-12.1.tar.gz", hash = "sha256:521dd2986c8a4266d583dd9ed9ae42053b11ae7d3aa89bf53fbee88307d8db10", size = 22164, upload-time = "2025-11-14T10:13:38.941Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/25/f4/f469d6a9cac7c195f3d08fa65f94c32dd1dcf97a54b481be648fb3a7a5f3/pyobjc_framework_corehaptics-12.1-py2.py3-none-any.whl", hash = "sha256:a3b07d36ddf5c86a9cdaa411ab53d09553d26ea04fc7d4f82d21a84f0fc05fc0", size = 5382, upload-time = "2025-11-14T09:44:34.725Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-corelocation"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/cc/79/b75885e0d75397dc2fe1ed9ca80be2b64c18b817f5fb924277cb1bf7b163/pyobjc_framework_corelocation-12.1.tar.gz", hash = "sha256:3674e9353f949d91dde6230ad68f6d5748a7f0424751e08a2c09d06050d66231", size = 53511, upload-time = "2025-11-14T10:13:43.384Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/71/57/1b670890fbf650f1a00afe5ee897ea3856a4a1417c2304c633ee2e978ed0/pyobjc_framework_corelocation-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:8c35ad29a062fea7d417fd8997a9309660ba7963f2847c004e670efbe6bb5b00", size = 12721, upload-time = "2025-11-14T09:44:41.185Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coremedia"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/da/7d/5ad600ff7aedfef8ba8f51b11d9aaacdf247b870bd14045d6e6f232e3df9/pyobjc_framework_coremedia-12.1.tar.gz", hash = "sha256:166c66a9c01e7a70103f3ca44c571431d124b9070612ef63a1511a4e6d9d84a7", size = 89566, upload-time = "2025-11-14T10:13:49.788Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c8/ae/f773cdc33c34a3f9ce6db829dbf72661b65c28ea9efaec8940364185b977/pyobjc_framework_coremedia-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:161a627f5c8cd30a5ebb935189f740e21e6cd94871a9afd463efdb5d51e255fa", size = 29396, upload-time = "2025-11-14T09:44:57.563Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coremediaio"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/08/8e/23baee53ccd6c011c965cff62eb55638b4088c3df27d2bf05004105d6190/pyobjc_framework_coremediaio-12.1.tar.gz", hash = "sha256:880b313b28f00b27775d630174d09e0b53d1cdbadb74216618c9dd5b3eb6806a", size = 51100, upload-time = "2025-11-14T10:13:54.277Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d4/0c/9425c53c9a8c26e468e065ba12ef076bab20197ff7c82052a6dddd46d42b/pyobjc_framework_coremediaio-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:1108f8a278928fbca465f95123ea4a56456bd6571c1dc8b91793e6c61d624517", size = 17277, upload-time = "2025-11-14T09:45:17.457Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coremidi"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/75/96/2d583060a71a73c8a7e6d92f2a02675621b63c1f489f2639e020fae34792/pyobjc_framework_coremidi-12.1.tar.gz", hash = "sha256:3c6f1fd03997c3b0f20ab8545126b1ce5f0cddcc1587dffacad876c161da8c54", size = 55587, upload-time = "2025-11-14T10:13:58.903Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e3/2d/99520f6f1685e4cad816e55cbf6d85f8ce6ea908107950e2d37dc17219d8/pyobjc_framework_coremidi-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:e84ffc1de59691c04201b0872e184fe55b5589f3a14876bd14460f3b5f3cd109", size = 24317, upload-time = "2025-11-14T09:45:34.92Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coreml"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/30/2d/baa9ea02cbb1c200683cb7273b69b4bee5070e86f2060b77e6a27c2a9d7e/pyobjc_framework_coreml-12.1.tar.gz", hash = "sha256:0d1a4216891a18775c9e0170d908714c18e4f53f9dc79fb0f5263b2aa81609ba", size = 40465, upload-time = "2025-11-14T10:14:02.265Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/bb/39/4defef0deb25c5d7e3b7826d301e71ac5b54ef901b7dac4db1adc00f172d/pyobjc_framework_coreml-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:10dc8e8db53d7631ebc712cad146e3a9a9a443f4e1a037e844149a24c3c42669", size = 11356, upload-time = "2025-11-14T09:45:52.271Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coremotion"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/2c/eb/abef7d405670cf9c844befc2330a46ee59f6ff7bac6f199bf249561a2ca6/pyobjc_framework_coremotion-12.1.tar.gz", hash = "sha256:8e1b094d34084cc8cf07bedc0630b4ee7f32b0215011f79c9e3cd09d205a27c7", size = 33851, upload-time = "2025-11-14T10:14:05.619Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/bc/75/89fa4aab818aeca21ac0a60b7ceb89a9e685df0ddd3828d36a6f84a0cff0/pyobjc_framework_coremotion-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a77908ab83c422030f913a2a761d196359ab47f6d1e7c76f21de2c6c05ea2f5f", size = 10406, upload-time = "2025-11-14T09:46:05.076Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coreservices"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-fsevents" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/4c/b3/52338a3ff41713f7d7bccaf63bef4ba4a8f2ce0c7eaff39a3629d022a79a/pyobjc_framework_coreservices-12.1.tar.gz", hash = "sha256:fc6a9f18fc6da64c166fe95f2defeb7ac8a9836b3b03bb6a891d36035260dbaa", size = 366150, upload-time = "2025-11-14T10:14:28.133Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/61/6c/33984caaf497fc5a6f86350d7ca4fac8abeb2bc33203edc96955a21e8c05/pyobjc_framework_coreservices-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:8751dc2edcb7cfa248bf8a274c4d6493e8d53ef28a843827a4fc9a0a8b04b8be", size = 30206, upload-time = "2025-11-14T09:46:22.732Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-corespotlight"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/99/d0/88ca73b0cf23847af463334989dd8f98e44f801b811e7e1d8a5627ec20b4/pyobjc_framework_corespotlight-12.1.tar.gz", hash = "sha256:57add47380cd0bbb9793f50a4a4b435a90d4ebd2a33698e058cb353ddfb0d068", size = 38002, upload-time = "2025-11-14T10:14:31.948Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f6/3b/d3031eddff8029859de6d92b1f741625b1c233748889141a6a5a89b96f0e/pyobjc_framework_corespotlight-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:bfcea64ab3250e2886d202b8731be3817b5ac0c8c9f43e77d0d5a0b6602e71a7", size = 9996, upload-time = "2025-11-14T09:46:47.157Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-coretext"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/29/da/682c9c92a39f713bd3c56e7375fa8f1b10ad558ecb075258ab6f1cdd4a6d/pyobjc_framework_coretext-12.1.tar.gz", hash = "sha256:e0adb717738fae395dc645c9e8a10bb5f6a4277e73cba8fa2a57f3b518e71da5", size = 90124, upload-time = "2025-11-14T10:14:38.596Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/cd/0f/ddf45bf0e3ba4fbdc7772de4728fd97ffc34a0b5a15e1ab1115b202fe4ae/pyobjc_framework_coretext-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:d246fa654bdbf43bae3969887d58f0b336c29b795ad55a54eb76397d0e62b93c", size = 30108, upload-time = "2025-11-14T09:47:04.228Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-corewlan"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/88/71/739a5d023566b506b3fd3d2412983faa95a8c16226c0dcd0f67a9294a342/pyobjc_framework_corewlan-12.1.tar.gz", hash = "sha256:a9d82ec71ef61f37e1d611caf51a4203f3dbd8caf827e98128a1afaa0fd2feb5", size = 32417, upload-time = "2025-11-14T10:14:41.921Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/4e/31/3e9cf2c0ac3c979062958eae7a275b602515c9c76fd30680e1ee0fea82ae/pyobjc_framework_corewlan-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:5cba04c0550fc777767cd3a5471e4ed837406ab182d7d5c273bc5ce6ea237bfe", size = 9958, upload-time = "2025-11-14T09:47:22.474Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-cryptotokenkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/6b/7c/d03ff4f74054578577296f33bc669fce16c7827eb1a553bb372b5aab30ca/pyobjc_framework_cryptotokenkit-12.1.tar.gz", hash = "sha256:c95116b4b7a41bf5b54aff823a4ef6f4d9da4d0441996d6d2c115026a42d82f5", size = 32716, upload-time = "2025-11-14T10:14:45.024Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/0f/c7/aecba253cf21303b2c9f3ce03fc0e987523609d7839ea8e0a688ae816c96/pyobjc_framework_cryptotokenkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:ef51a86c1d0125fabdfad0b3efa51098fb03660d8dad2787d82e8b71c9f189de", size = 12633, upload-time = "2025-11-14T09:47:35.707Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-datadetection"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/db/97/9b03832695ec4d3008e6150ddfdc581b0fda559d9709a98b62815581259a/pyobjc_framework_datadetection-12.1.tar.gz", hash = "sha256:95539e46d3bc970ce890aa4a97515db10b2690597c5dd362996794572e5d5de0", size = 12323, upload-time = "2025-11-14T10:14:46.769Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/70/1c/5d2f941501e84da8fef8ef3fd378b5c083f063f083f97dd3e8a07f0404b3/pyobjc_framework_datadetection-12.1-py2.py3-none-any.whl", hash = "sha256:4dc8e1d386d655b44b2681a4a2341fb2fc9addbf3dda14cb1553cd22be6a5387", size = 3497, upload-time = "2025-11-14T09:47:45.826Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-devicecheck"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/cd/af/c676107c40d51f55d0a42043865d7246db821d01241b518ea1d3b3ef1394/pyobjc_framework_devicecheck-12.1.tar.gz", hash = "sha256:567e85fc1f567b3fe64ac1cdc323d989509331f64ee54fbcbde2001aec5adbdb", size = 12885, upload-time = "2025-11-14T10:14:48.804Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c5/d8/1f1b13fa4775b6474c9ad0f4b823953eaeb6c11bd6f03fa8479429b36577/pyobjc_framework_devicecheck-12.1-py2.py3-none-any.whl", hash = "sha256:ffd58148bdef4a1ee8548b243861b7d97a686e73808ca0efac5bef3c430e4a15", size = 3684, upload-time = "2025-11-14T09:47:47.25Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-devicediscoveryextension"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/91/b0/e6e2ed6a7f4b689746818000a003ff7ab9c10945df66398ae8d323ae9579/pyobjc_framework_devicediscoveryextension-12.1.tar.gz", hash = "sha256:60e12445fad97ff1f83472255c943685a8f3a9d95b3126d887cfe769b7261044", size = 14718, upload-time = "2025-11-14T10:14:50.723Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/7e/0c/005fe8db1e19135f493a3de8c8d38031e1ad2d626de4ef89f282acf4aff7/pyobjc_framework_devicediscoveryextension-12.1-py2.py3-none-any.whl", hash = "sha256:d6d6b606d27d4d88efc0bed4727c375e749149b360290c3ad2afc52337739a1b", size = 4321, upload-time = "2025-11-14T09:47:48.78Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-dictionaryservices"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-coreservices" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/7a/c0/daf03cdaf6d4e04e0cf164db358378c07facd21e4e3f8622505d72573e2c/pyobjc_framework_dictionaryservices-12.1.tar.gz", hash = "sha256:354158f3c55d66681fa903c7b3cb05a435b717fa78d0cef44d258d61156454a7", size = 10573, upload-time = "2025-11-14T10:14:53.961Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e7/13/ab308e934146cfd54691ddad87e572cd1edb6659d795903c4c75904e2d7d/pyobjc_framework_dictionaryservices-12.1-py2.py3-none-any.whl", hash = "sha256:578854eec17fa473ac17ab30050a7bbb2ab69f17c5c49b673695254c3e88ad4b", size = 3930, upload-time = "2025-11-14T09:47:50.782Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-discrecording"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/c4/87/8bd4544793bfcdf507174abddd02b1f077b48fab0004b3db9a63142ce7e9/pyobjc_framework_discrecording-12.1.tar.gz", hash = "sha256:6defc8ea97fb33b4d43870c673710c04c3dc48be30cdf78ba28191a922094990", size = 55607, upload-time = "2025-11-14T10:14:58.276Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c8/70/14a5aa348a5eba16e8773bb56698575cf114aa55aa303037b7000fc53959/pyobjc_framework_discrecording-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:865f1551e58459da6073360afc8f2cc452472c676ba83dcaa9b0c44e7775e4b5", size = 14566, upload-time = "2025-11-14T09:47:57.503Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-discrecordingui"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-discrecording" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/30/63/8667f5bb1ecb556add04e86b278cb358dc1f2f03862705cae6f09097464c/pyobjc_framework_discrecordingui-12.1.tar.gz", hash = "sha256:6793d4a1a7f3219d063f39d87f1d4ebbbb3347e35d09194a193cfe16cba718a8", size = 16450, upload-time = "2025-11-14T10:15:00.254Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f2/4e/76016130c27b98943c5758a05beab3ba1bc9349ee881e1dfc509ea954233/pyobjc_framework_discrecordingui-12.1-py2.py3-none-any.whl", hash = "sha256:6544ef99cad3dee95716c83cb207088768b6ecd3de178f7e1b17df5997689dfd", size = 4702, upload-time = "2025-11-14T09:48:08.01Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-diskarbitration"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/3a/42/f75fcabec1a0033e4c5235cc8225773f610321d565b63bf982c10c6bbee4/pyobjc_framework_diskarbitration-12.1.tar.gz", hash = "sha256:6703bc5a09b38a720c9ffca356b58f7e99fa76fc988c9ec4d87112344e63dfc2", size = 17121, upload-time = "2025-11-14T10:15:02.223Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/48/65/c1f54c47af17cb6b923eab85e95f22396c52f90ee8f5b387acffad9a99ea/pyobjc_framework_diskarbitration-12.1-py2.py3-none-any.whl", hash = "sha256:54caf3079fe4ae5ac14466a9b68923ee260a1a88a8290686b4a2015ba14c2db6", size = 4877, upload-time = "2025-11-14T09:48:09.945Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-dvdplayback"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/cf/dd/7859a58e8dd336c77f83feb76d502e9623c394ea09322e29a03f5bc04d32/pyobjc_framework_dvdplayback-12.1.tar.gz", hash = "sha256:279345d4b5fb2c47dd8e5c2fd289e644b6648b74f5c25079805eeb61bfc4a9cd", size = 32332, upload-time = "2025-11-14T10:15:05.257Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/29/7d/22c07c28fab1f15f0d364806e39a6ca63c737c645fe7e98e157878b5998c/pyobjc_framework_dvdplayback-12.1-py2.py3-none-any.whl", hash = "sha256:af911cc222272a55b46a1a02a46a355279aecfd8132231d8d1b279e252b8ad4c", size = 8243, upload-time = "2025-11-14T09:48:11.824Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-eventkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/b6/42/4ec97e641fdcf30896fe76476181622954cb017117b1429f634d24816711/pyobjc_framework_eventkit-12.1.tar.gz", hash = "sha256:7c1882be2f444b1d0f71e9a0cd1e9c04ad98e0261292ab741fc9de0b8bbbbae9", size = 28538, upload-time = "2025-11-14T10:15:07.878Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f4/35/142f43227627d6324993869d354b9e57eb1e88c4e229e2271592254daf25/pyobjc_framework_eventkit-12.1-py2.py3-none-any.whl", hash = "sha256:3d2d36d5bd9e0a13887a6ac7cdd36675985ebe2a9cb3cdf8cec0725670c92c60", size = 6820, upload-time = "2025-11-14T09:48:14.035Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-exceptionhandling"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/f1/17/5c9d4164f7ccf6b9100be0ad597a7857395dd58ea492cba4f0e9c0b77049/pyobjc_framework_exceptionhandling-12.1.tar.gz", hash = "sha256:7f0719eeea6695197fce0e7042342daa462683dc466eb6a442aad897032ab00d", size = 16694, upload-time = "2025-11-14T10:15:10.173Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/0b/ad/8e05acf3635f20ea7d878be30d58a484c8b901a8552c501feb7893472f86/pyobjc_framework_exceptionhandling-12.1-py2.py3-none-any.whl", hash = "sha256:2f1eae14cf0162e53a0888d9ffe63f047501fe583a23cdc9c966e89f48cf4713", size = 7113, upload-time = "2025-11-14T09:48:15.685Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-executionpolicy"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/95/11/db765e76e7b00e1521d7bb3a61ae49b59e7573ac108da174720e5d96b61b/pyobjc_framework_executionpolicy-12.1.tar.gz", hash = "sha256:682866589365cd01d3a724d8a2781794b5cba1e152411a58825ea52d7b972941", size = 12594, upload-time = "2025-11-14T10:15:12.077Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/51/2c/f10352398f10f244401ab8f53cabd127dc3f5dbbfc8de83464661d716671/pyobjc_framework_executionpolicy-12.1-py2.py3-none-any.whl", hash = "sha256:c3a9eca3bd143cf202787dd5e3f40d954c198f18a5e0b8b3e2fcdd317bf33a52", size = 3739, upload-time = "2025-11-14T09:48:17.35Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-extensionkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/9a/d4/e9b1f74d29ad9dea3d60468d59b80e14ed3a19f9f7a25afcbc10d29c8a1e/pyobjc_framework_extensionkit-12.1.tar.gz", hash = "sha256:773987353e8aba04223dbba3149253db944abfb090c35318b3a770195b75da6d", size = 18694, upload-time = "2025-11-14T10:15:14.104Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/9c/d9/8064dad6114a489e5439cc20d9fb0dd64cfc406d875b4a3c87015b3f6266/pyobjc_framework_extensionkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:7e01d705c7ac6d080ae34a81db6d9b81875eabefa63fd6eafbfa30f676dd780b", size = 7932, upload-time = "2025-11-14T09:48:23.653Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-externalaccessory"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/8e/35/86c097ae2fdf912c61c1276e80f3e090a3fc898c75effdf51d86afec456b/pyobjc_framework_externalaccessory-12.1.tar.gz", hash = "sha256:079f770a115d517a6ab87db1b8a62ca6cdf6c35ae65f45eecc21b491e78776c0", size = 20958, upload-time = "2025-11-14T10:15:16.419Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ec/52/984034396089766b6e5ff3be0f93470e721c420fa9d1076398557532234f/pyobjc_framework_externalaccessory-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:dedbf7a09375ac19668156c1417bd7829565b164a246b714e225b9cbb6a351ad", size = 8932, upload-time = "2025-11-14T09:48:37.393Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-fileprovider"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/cc/9a/724b1fae5709f8860f06a6a2a46de568f9bb8bdb2e2aae45b4e010368f51/pyobjc_framework_fileprovider-12.1.tar.gz", hash = "sha256:45034e0d00ae153c991aa01cb1fd41874650a30093e77ba73401dcce5534c8ad", size = 43071, upload-time = "2025-11-14T10:15:19.989Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2c/f5/56f0751a2988b2caca89d6800c8f29246828d1a7498bb676ef1ab28000b7/pyobjc_framework_fileprovider-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:89b140ea8369512ddf4164b007cbe35b4d97d1dcb8affa12a7264c0ab8d56e45", size = 21003, upload-time = "2025-11-14T09:48:53.128Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-fileproviderui"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-fileprovider" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/50/00/234f9b93f75255845df81d9d5ea20cb83ecb5c0a4e59147168b622dd0b9d/pyobjc_framework_fileproviderui-12.1.tar.gz", hash = "sha256:15296429d9db0955abc3242b2920b7a810509a85118dbc185f3ac8234e5a6165", size = 12437, upload-time = "2025-11-14T10:15:22.044Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e8/65/cc4397511bd0af91993d6302a2aed205296a9ad626146eefdfc8a9624219/pyobjc_framework_fileproviderui-12.1-py2.py3-none-any.whl", hash = "sha256:521a914055089e28631018bd78df4c4f7416e98b4150f861d4a5bc97d5b1ffe4", size = 3715, upload-time = "2025-11-14T09:49:04.213Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-findersync"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e4/63/c8da472e0910238a905bc48620e005a1b8ae7921701408ca13e5fb0bfb4b/pyobjc_framework_findersync-12.1.tar.gz", hash = "sha256:c513104cef0013c233bf8655b527df665ce6f840c8bc0b3781e996933d4dcfa6", size = 13507, upload-time = "2025-11-14T10:15:24.161Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/6a/9f/ec7f393e3e2fd11cbdf930d884a0ba81078bdb61920b3cba4f264de8b446/pyobjc_framework_findersync-12.1-py2.py3-none-any.whl", hash = "sha256:e07abeca52c486cf14927f617afc27afa7a3828b99fab3ad02355105fb29203e", size = 4889, upload-time = "2025-11-14T09:49:05.763Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-fsevents"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/43/17/21f45d2bca2efc72b975f2dfeae7a163dbeabb1236c1f188578403fd4f09/pyobjc_framework_fsevents-12.1.tar.gz", hash = "sha256:a22350e2aa789dec59b62da869c1b494a429f8c618854b1383d6473f4c065a02", size = 26487, upload-time = "2025-11-14T10:15:26.796Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2d/e3/2c5eeea390c0b053e2d73b223af3ec87a3e99a8106e8d3ee79942edb0822/pyobjc_framework_fsevents-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a2949358513fd7bc622fb362b5c4af4fc24fc6307320070ca410885e5e13d975", size = 13141, upload-time = "2025-11-14T09:49:11.947Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-fskit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/a1/55/d00246d6e6d9756e129e1d94bc131c99eece2daa84b2696f6442b8a22177/pyobjc_framework_fskit-12.1.tar.gz", hash = "sha256:ec54e941cdb0b7d800616c06ca76a93685bd7119b8aa6eb4e7a3ee27658fc7ba", size = 42372, upload-time = "2025-11-14T10:15:30.411Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/6d/a9/0c47469fe80fa14bc698bb0a5b772b44283cc3aca0f67e7f70ab45e09b24/pyobjc_framework_fskit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:50972897adea86508cfee33ec4c23aa91dede97e9da1640ea2fe74702b065be1", size = 20250, upload-time = "2025-11-14T09:49:28.065Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-gamecenter"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/d2/f8/b5fd86f6b722d4259228922e125b50e0a6975120a1c4d957e990fb84e42c/pyobjc_framework_gamecenter-12.1.tar.gz", hash = "sha256:de4118f14c9cf93eb0316d49da410faded3609ce9cd63425e9ef878cebb7ea72", size = 31473, upload-time = "2025-11-14T10:15:33.38Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/16/ee/b496cc4248c5b901e159d6d9a437da9b86a3105fc3999a66744ba2b2c884/pyobjc_framework_gamecenter-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:e8d6d10b868be7c00c2d5a0944cc79315945735dcf17eaa3fec1a7986d26be9b", size = 18868, upload-time = "2025-11-14T09:49:44.767Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-gamecontroller"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/21/14/353bb1fe448cd833839fd199ab26426c0248088753e63c22fe19dc07530f/pyobjc_framework_gamecontroller-12.1.tar.gz", hash = "sha256:64ed3cc4844b67f1faeb540c7cc8d512c84f70b3a4bafdb33d4663a2b2a2b1d8", size = 54554, upload-time = "2025-11-14T10:15:37.591Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/06/28/9f03d0ef7c78340441f78b19fb2d2c952af04a240da5ed30c7cf2d0d0f4e/pyobjc_framework_gamecontroller-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:878aa6590c1510e91bfc8710d6c880e7a8f3656a7b7b6f4f3af487a6f677ccd5", size = 20949, upload-time = "2025-11-14T09:50:01.608Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-gamekit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/52/7b/d625c0937557f7e2e64200fdbeb867d2f6f86b2f148b8d6bfe085e32d872/pyobjc_framework_gamekit-12.1.tar.gz", hash = "sha256:014d032c3484093f1409f8f631ba8a0fd2ff7a3ae23fd9d14235340889854c16", size = 63833, upload-time = "2025-11-14T10:15:42.842Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c4/05/1c49e1030dc9f2812fa8049442158be76c32f271075f4571f94e4389ea86/pyobjc_framework_gamekit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:2eee796d5781157f2c5684f7ef4c2a7ace9d9b408a26a9e7e92e8adf5a3f63d7", size = 22493, upload-time = "2025-11-14T09:50:19.129Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-gameplaykit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-spritekit" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e2/11/c310bbc2526f95cce662cc1f1359bb11e2458eab0689737b4850d0f6acb7/pyobjc_framework_gameplaykit-12.1.tar.gz", hash = "sha256:935ebd806d802888969357946245d35a304c530c86f1ffe584e2cf21f0a608a8", size = 41511, upload-time = "2025-11-14T10:15:46.529Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/35/1f/e5fe404f92ec0f9c8c37b00d6cb3ba96ee396c7f91b0a41a39b64bfc2743/pyobjc_framework_gameplaykit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:309b0d7479f702830c9be92dbe5855ac2557a9d23f05f063caf9d9fdb85ff5f0", size = 13150, upload-time = "2025-11-14T09:50:36.884Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-gamesave"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/1b/1f/8d05585c844535e75dbc242dd6bdfecfc613d074dcb700362d1c908fb403/pyobjc_framework_gamesave-12.1.tar.gz", hash = "sha256:eb731c97aa644e78a87838ed56d0e5bdbaae125bdc8854a7772394877312cc2e", size = 12654, upload-time = "2025-11-14T10:15:48.344Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/59/ec/93d48cb048a1b35cea559cc9261b07f0d410078b3af029121302faa410d0/pyobjc_framework_gamesave-12.1-py2.py3-none-any.whl", hash = "sha256:432e69f8404be9290d42c89caba241a3156ed52013947978ac54f0f032a14ffd", size = 3689, upload-time = "2025-11-14T09:50:47.263Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-healthkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/af/67/436630d00ba1028ea33cc9df2fc28e081481433e5075600f2ea1ff00f45e/pyobjc_framework_healthkit-12.1.tar.gz", hash = "sha256:29c5e5de54b41080b7a4b0207698ac6f600dcb9149becc9c6b3a69957e200e5c", size = 91802, upload-time = "2025-11-14T10:15:54.661Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/65/87/bb1c438de51c4fa733a99ce4d3301e585f14d7efd94031a97707c0be2b46/pyobjc_framework_healthkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:15b6fc958ff5de42888b18dffdec839cb36d2dd8b82076ed2f21a51db5271109", size = 20799, upload-time = "2025-11-14T09:50:54.531Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-imagecapturecore"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/6d/a1/39347381fc7d3cd5ab942d86af347b25c73f0ddf6f5227d8b4d8f5328016/pyobjc_framework_imagecapturecore-12.1.tar.gz", hash = "sha256:c4776c59f4db57727389d17e1ffd9c567b854b8db52198b3ccc11281711074e5", size = 46397, upload-time = "2025-11-14T10:15:58.541Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/50/13/632957b284dec3743d73fb30dbdf03793b3cf1b4c62e61e6484d870f3879/pyobjc_framework_imagecapturecore-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a2777e17ff71fb5a327a897e48c5c7b5a561723a80f990d26e6ed5a1b8748816", size = 16012, upload-time = "2025-11-14T09:51:12.058Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-inputmethodkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/5d/b8/d33dd8b7306029bbbd80525bf833fc547e6a223c494bf69a534487283a28/pyobjc_framework_inputmethodkit-12.1.tar.gz", hash = "sha256:f63b6fe2fa7f1412eae63baea1e120e7865e3b68ccfb7d8b0a4aadb309f2b278", size = 23054, upload-time = "2025-11-14T10:16:01.464Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/01/c2/59bea66405784b25f5d4e821467ba534a0b92dfc98e07257c971e2a8ed73/pyobjc_framework_inputmethodkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:0b7d813d46a060572fc0c14ef832e4fe538ebf64e5cab80ee955191792ce0110", size = 9506, upload-time = "2025-11-14T09:51:26.924Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-installerplugins"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e7/60/ca4ab04eafa388a97a521db7d60a812e2f81a3c21c2372587872e6b074f9/pyobjc_framework_installerplugins-12.1.tar.gz", hash = "sha256:1329a193bd2e92a2320a981a9a421a9b99749bade3e5914358923e94fe995795", size = 25277, upload-time = "2025-11-14T10:16:04.379Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/99/1f/31dca45db3342882a628aa1b27707a283d4dc7ef558fddd2533175a0661a/pyobjc_framework_installerplugins-12.1-py2.py3-none-any.whl", hash = "sha256:d2201c81b05bdbe0abf0af25db58dc230802573463bea322f8b2863e37b511d5", size = 4813, upload-time = "2025-11-14T09:51:37.836Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-instantmessage"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/d4/67/66754e0d26320ba24a33608ca94d3f38e60ee6b2d2e094cb6269b346fdd4/pyobjc_framework_instantmessage-12.1.tar.gz", hash = "sha256:f453118d5693dc3c94554791bd2aaafe32a8b03b0e3d8ec3934b44b7fdd1f7e7", size = 31217, upload-time = "2025-11-14T10:16:07.693Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c1/38/6ae95b5c87d887c075bd5f4f7cca3d21dafd0a77cfdde870e87ca17579eb/pyobjc_framework_instantmessage-12.1-py2.py3-none-any.whl", hash = "sha256:cd91d38e8f356afd726b6ea8c235699316ea90edfd3472965c251efbf4150bc9", size = 5436, upload-time = "2025-11-14T09:51:39.557Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-intents"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/f1/a1/3bab6139e94b97eca098e1562f5d6840e3ff10ea1f7fd704a17111a97d5b/pyobjc_framework_intents-12.1.tar.gz", hash = "sha256:bd688c3ab34a18412f56e459e9dae29e1f4152d3c2048fcacdef5fc49dfb9765", size = 132262, upload-time = "2025-11-14T10:16:16.428Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/7a/90/e9489492ae90b4c1ffd02c1221c0432b8768d475787e7887f79032c2487a/pyobjc_framework_intents-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:0ea9f3e79bf4baf6c7b0fd2d2797184ed51a372bf7f32974b4424f9bd067ef50", size = 32156, upload-time = "2025-11-14T09:51:49.438Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-intentsui"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-intents" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/19/cf/f0e385b9cfbf153d68efe8d19e5ae672b59acbbfc1f9b58faaefc5ec8c9e/pyobjc_framework_intentsui-12.1.tar.gz", hash = "sha256:16bdf4b7b91c0d1ec9d5513a1182861f1b5b7af95d4f4218ff7cf03032d57f99", size = 19784, upload-time = "2025-11-14T10:16:18.716Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f1/17/06812542a9028f5b2dcce56f52f25633c08b638faacd43bad862aad1b41d/pyobjc_framework_intentsui-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:cb894fcc4c9ea613a424dcf6fb48142d51174559b82cfdafac8cb47555c842cf", size = 8983, upload-time = "2025-11-14T09:52:07.667Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-iobluetooth"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e4/aa/ca3944bbdfead4201b4ae6b51510942c5a7d8e5e2dc3139a071c74061fdf/pyobjc_framework_iobluetooth-12.1.tar.gz", hash = "sha256:8a434118812f4c01dfc64339d41fe8229516864a59d2803e9094ee4cbe2b7edd", size = 155241, upload-time = "2025-11-14T10:16:28.896Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/0b/b6/933b56afb5e84c3c35c074c9e30d7b701c6038989d4867867bdaa7ab618b/pyobjc_framework_iobluetooth-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:111a6e54be9e9dcf77fa2bf84fdac09fae339aa33087d8647ea7ffbd34765d4c", size = 40439, upload-time = "2025-11-14T09:52:26.071Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-iobluetoothui"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-iobluetooth" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/8f/39/31d9a4e8565a4b1ec0a9ad81480dc0879f3df28799eae3bc22d1dd53705d/pyobjc_framework_iobluetoothui-12.1.tar.gz", hash = "sha256:81f8158bdfb2966a574b6988eb346114d6a4c277300c8c0a978c272018184e6f", size = 16495, upload-time = "2025-11-14T10:16:31.212Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e3/c9/69aeda0cdb5d25d30dc4596a1c5b464fc81b5c0c4e28efc54b7e11bde51c/pyobjc_framework_iobluetoothui-12.1-py2.py3-none-any.whl", hash = "sha256:a6d8ab98efa3029130577a57ee96b183c35c39b0f1c53a7534f8838260fab993", size = 4045, upload-time = "2025-11-14T09:52:42.201Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-iosurface"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/07/61/0f12ad67a72d434e1c84b229ec760b5be71f53671ee9018593961c8bfeb7/pyobjc_framework_iosurface-12.1.tar.gz", hash = "sha256:4b9d0c66431aa296f3ca7c4f84c00dc5fc961194830ad7682fdbbc358fa0db55", size = 17690, upload-time = "2025-11-14T10:16:33.282Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/88/ad/793d98a7ed9b775dc8cce54144cdab0df1808a1960ee017e46189291a8f3/pyobjc_framework_iosurface-12.1-py2.py3-none-any.whl", hash = "sha256:e784e248397cfebef4655d2c0025766d3eaa4a70474e363d084fc5ce2a4f2a3f", size = 4902, upload-time = "2025-11-14T09:52:43.899Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-ituneslibrary"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/f5/46/d9bcec88675bf4ee887b9707bd245e2a793e7cb916cf310f286741d54b1f/pyobjc_framework_ituneslibrary-12.1.tar.gz", hash = "sha256:7f3aa76c4d05f6fa6015056b88986cacbda107c3f29520dd35ef0936c7367a6e", size = 23730, upload-time = "2025-11-14T10:16:36.127Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/de/92/b598694a1713ee46f45c4bfb1a0425082253cbd2b1caf9f8fd50f292b017/pyobjc_framework_ituneslibrary-12.1-py2.py3-none-any.whl", hash = "sha256:fb678d7c3ff14c81672e09c015e25880dac278aa819971f4d5f75d46465932ef", size = 5205, upload-time = "2025-11-14T09:52:45.733Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-kernelmanagement"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0a/7e/ecbac119866e8ac2cce700d7a48a4297946412ac7cbc243a7084a6582fb1/pyobjc_framework_kernelmanagement-12.1.tar.gz", hash = "sha256:488062893ac2074e0c8178667bf864a21f7909c11111de2f6a10d9bc579df59d", size = 11773, upload-time = "2025-11-14T10:16:38.216Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/94/32/04325a20f39d88d6d712437e536961a9e6a4ec19f204f241de6ed54d1d84/pyobjc_framework_kernelmanagement-12.1-py2.py3-none-any.whl", hash = "sha256:926381bfbfbc985c3e6dfcb7004af21bb16ff66ecbc08912b925989a705944ff", size = 3704, upload-time = "2025-11-14T09:52:47.268Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-latentsemanticmapping"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/88/3c/b621dac54ae8e77ac25ee75dd93e310e2d6e0faaf15b8da13513258d6657/pyobjc_framework_latentsemanticmapping-12.1.tar.gz", hash = "sha256:f0b1fa823313eefecbf1539b4ed4b32461534b7a35826c2cd9f6024411dc9284", size = 15526, upload-time = "2025-11-14T10:16:40.149Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/29/8e/74a7eb29b545f294485cd3cf70557b4a35616555fe63021edbb3e0ea4c20/pyobjc_framework_latentsemanticmapping-12.1-py2.py3-none-any.whl", hash = "sha256:7d760213b42bc8b1bc1472e1873c0f78ee80f987225978837b1fecdceddbdbf4", size = 5471, upload-time = "2025-11-14T09:52:48.939Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-launchservices"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-coreservices" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/37/d0/24673625922b0ad21546be5cf49e5ec1afaa4553ae92f222adacdc915907/pyobjc_framework_launchservices-12.1.tar.gz", hash = "sha256:4d2d34c9bd6fb7f77566155b539a2c70283d1f0326e1695da234a93ef48352dc", size = 20470, upload-time = "2025-11-14T10:16:42.499Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/08/af/9a0aebaab4c15632dc8fcb3669c68fa541a3278d99541d9c5f966fbc0909/pyobjc_framework_launchservices-12.1-py2.py3-none-any.whl", hash = "sha256:e63e78fceeed4d4dc807f9dabd5cf90407e4f552fab6a0d75a8d0af63094ad3c", size = 3905, upload-time = "2025-11-14T09:52:50.71Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-libdispatch"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/26/e8/75b6b9b3c88b37723c237e5a7600384ea2d84874548671139db02e76652b/pyobjc_framework_libdispatch-12.1.tar.gz", hash = "sha256:4035535b4fae1b5e976f3e0e38b6e3442ffea1b8aa178d0ca89faa9b8ecdea41", size = 38277, upload-time = "2025-11-14T10:16:46.235Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/83/6f/96e15c7b2f7b51fc53252216cd0bed0c3541bc0f0aeb32756fefd31bed7d/pyobjc_framework_libdispatch-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:0e9570d7a9a3136f54b0b834683bf3f206acd5df0e421c30f8fd4f8b9b556789", size = 15650, upload-time = "2025-11-14T09:52:59.284Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-libxpc"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/16/e4/364db7dc26f235e3d7eaab2f92057f460b39800bffdec3128f113388ac9f/pyobjc_framework_libxpc-12.1.tar.gz", hash = "sha256:e46363a735f3ecc9a2f91637750623f90ee74f9938a4e7c833e01233174af44d", size = 35186, upload-time = "2025-11-14T10:16:49.503Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/82/7f/fdec72430f90921b154517a6f9bbeefa7bacfb16b91320742eb16a5955c5/pyobjc_framework_libxpc-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:ba93e91e9ca79603dd265382e9f80e9bd32309cd09c8ac3e6489fc5b233676c8", size = 19730, upload-time = "2025-11-14T09:53:17.113Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-linkpresentation"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e3/58/c0c5919d883485ccdb6dccd8ecfe50271d2f6e6ab7c9b624789235ccec5a/pyobjc_framework_linkpresentation-12.1.tar.gz", hash = "sha256:84df6779591bb93217aa8bd82c10e16643441678547d2d73ba895475a02ade94", size = 13330, upload-time = "2025-11-14T10:16:52.169Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ad/51/226eb45f196f3bf93374713571aae6c8a4760389e1d9435c4a4cc3f38ea4/pyobjc_framework_linkpresentation-12.1-py2.py3-none-any.whl", hash = "sha256:853a84c7b525b77b114a7a8d798aef83f528ed3a6803bda12184fe5af4e79a47", size = 3865, upload-time = "2025-11-14T09:53:28.386Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-localauthentication"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-security" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/8d/0e/7e5d9a58bb3d5b79a75d925557ef68084171526191b1c0929a887a553d4f/pyobjc_framework_localauthentication-12.1.tar.gz", hash = "sha256:2284f587d8e1206166e4495b33f420c1de486c36c28c4921d09eec858a699d05", size = 29947, upload-time = "2025-11-14T10:16:54.923Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/05/93/91761ad4e5fa1c3ec25819865d1ccfbee033987147087bff4fcce67a4dc4/pyobjc_framework_localauthentication-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:3af1acd287d830cc7f912f46cde0dab054952bde0adaf66c8e8524311a68d279", size = 10773, upload-time = "2025-11-14T09:53:34.074Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-localauthenticationembeddedui"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-localauthentication" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/31/20/83ab4180e29b9a4a44d735c7f88909296c6adbe6250e8e00a156aff753e1/pyobjc_framework_localauthenticationembeddedui-12.1.tar.gz", hash = "sha256:a15ec44bf2769c872e86c6b550b6dd4f58d4eda40ad9ff00272a67d279d1d4e9", size = 13611, upload-time = "2025-11-14T10:16:57.145Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/30/7d/0d46639c7a26b6af928ab4c822cd28b733791e02ac28cc84c3014bcf7dc7/pyobjc_framework_localauthenticationembeddedui-12.1-py2.py3-none-any.whl", hash = "sha256:a7ce7b56346597b9f4768be61938cbc8fc5b1292137225b6c7f631b9cde97cd7", size = 3991, upload-time = "2025-11-14T09:53:42.958Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-mailkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/2a/98/3d9028620c1cd32ff4fb031155aba3b5511e980cdd114dd51383be9cb51b/pyobjc_framework_mailkit-12.1.tar.gz", hash = "sha256:d5574b7259baec17096410efcaacf5d45c7bb5f893d4c25cbb7072369799b652", size = 20996, upload-time = "2025-11-14T10:16:59.449Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/70/8d/3c968b736a3a8bd9d8e870b39b1c772a013eea1b81b89fc4efad9021a6cb/pyobjc_framework_mailkit-12.1-py2.py3-none-any.whl", hash = "sha256:536ac0c4ea3560364cd159a6512c3c18a744a12e4e0883c07df0f8a2ff21e3fe", size = 4871, upload-time = "2025-11-14T09:53:44.697Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-mapkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-corelocation" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/36/bb/2a668203c20e509a648c35e803d79d0c7f7816dacba74eb5ad8acb186790/pyobjc_framework_mapkit-12.1.tar.gz", hash = "sha256:dbc32dc48e821aaa9b4294402c240adbc1c6834e658a07677b7c19b7990533c5", size = 63520, upload-time = "2025-11-14T10:17:04.221Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/11/00/a3de41cdf3e6cd7a144e38999fe1ea9777ad19e19d863f2da862e7affe7b/pyobjc_framework_mapkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:84ad7766271c114bdc423e4e2ff5433e5fc6771a3338b5f8e4b54d0340775800", size = 22518, upload-time = "2025-11-14T09:53:52.727Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-mediaaccessibility"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e0/10/dc1007e56944ed2e981e69e7b2fed2b2202c79b0d5b742b29b1081d1cbdd/pyobjc_framework_mediaaccessibility-12.1.tar.gz", hash = "sha256:cc4e3b1d45e84133d240318d53424eff55968f5c6873c2c53267598853445a3f", size = 16325, upload-time = "2025-11-14T10:17:07.454Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/a2/0c/7fb5462561f59d739192c6d02ba0fd36ad7841efac5a8398a85a030ef7fc/pyobjc_framework_mediaaccessibility-12.1-py2.py3-none-any.whl", hash = "sha256:2ff8845c97dd52b0e5cf53990291e6d77c8a73a7aac0e9235d62d9a4256916d1", size = 4800, upload-time = "2025-11-14T09:54:05.04Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-mediaextension"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-avfoundation" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coremedia" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/d6/aa/1e8015711df1cdb5e4a0aa0ed4721409d39971ae6e1e71915e3ab72423a3/pyobjc_framework_mediaextension-12.1.tar.gz", hash = "sha256:44409d63cc7d74e5724a68e3f9252cb62fd0fd3ccf0ca94c6a33e5c990149953", size = 39425, upload-time = "2025-11-14T10:17:11.486Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2b/ed/99038bcf72ec68e452709af10a087c1377c2d595ba4e66d7a2b0775145d2/pyobjc_framework_mediaextension-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:442bc3a759efb5c154cb75d643a5e182297093533fcdd1c24be6f64f68b93371", size = 38973, upload-time = "2025-11-14T09:54:16.701Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-medialibrary"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/34/e9/848ebd02456f8fdb41b42298ec585bfed5899dbd30306ea5b0a7e4c4b341/pyobjc_framework_medialibrary-12.1.tar.gz", hash = "sha256:690dcca09b62511df18f58e8566cb33d9652aae09fe63a83f594bd018b5edfcd", size = 15995, upload-time = "2025-11-14T10:17:15.45Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c2/cd/eeaf8585a343fda5b8cf3b8f144c872d1057c845202098b9441a39b76cb0/pyobjc_framework_medialibrary-12.1-py2.py3-none-any.whl", hash = "sha256:1f03ad6802a5c6e19ee3208b065689d3ec79defe1052cb80e00f54e1eff5f2a0", size = 4361, upload-time = "2025-11-14T09:54:32.259Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-mediaplayer"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-avfoundation" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e9/f0/851f6f47e11acbd62d5f5dcb8274afc969135e30018591f75bf3cbf6417f/pyobjc_framework_mediaplayer-12.1.tar.gz", hash = "sha256:5ef3f669bdf837d87cdb5a486ec34831542360d14bcba099c7c2e0383380794c", size = 35402, upload-time = "2025-11-14T10:17:18.97Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/58/c0/038ee3efd286c0fbc89c1e0cb688f4670ed0e5803aa36e739e79ffc91331/pyobjc_framework_mediaplayer-12.1-py2.py3-none-any.whl", hash = "sha256:85d9baec131807bfdf0f4c24d4b943e83cce806ab31c95c7e19c78e3fb7eefc8", size = 7120, upload-time = "2025-11-14T09:54:33.901Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-mediatoolbox"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/a3/71/be5879380a161f98212a336b432256f307d1dcbaaaeb8ec988aea2ada2cd/pyobjc_framework_mediatoolbox-12.1.tar.gz", hash = "sha256:385b48746a5f08756ee87afc14037e552954c427ed5745d7ece31a21a7bad5ab", size = 22305, upload-time = "2025-11-14T10:17:22.501Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/9c/94/d5ee221f2afbc64b2a7074efe25387cd8700e8116518904b28091ea6ad74/pyobjc_framework_mediatoolbox-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:d7bcfeeff3fbf7e9e556ecafd8eaed2411df15c52baf134efa7480494e6faf6d", size = 12818, upload-time = "2025-11-14T09:54:41.251Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-metal"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e7/06/a84f7eb8561d5631954b9458cfca04b690b80b5b85ce70642bc89335f52a/pyobjc_framework_metal-12.1.tar.gz", hash = "sha256:bb554877d5ee2bf3f340ad88e8fe1b85baab7b5ec4bd6ae0f4f7604147e3eae7", size = 181847, upload-time = "2025-11-14T10:17:34.157Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d0/48/9286d06e1b14c11b65d3fea1555edc0061d9ebe11898dff8a14089e3a4c9/pyobjc_framework_metal-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:38ab566b5a2979a43e13593d3eb12000a45e574576fe76996a5e1eb75ad7ac78", size = 75841, upload-time = "2025-11-14T09:55:06.801Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-metalfx"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-metal" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/f1/09/ce5c74565677fde66de3b9d35389066b19e5d1bfef9d9a4ad80f0c858c0c/pyobjc_framework_metalfx-12.1.tar.gz", hash = "sha256:1551b686fb80083a97879ce0331bdb1d4c9b94557570b7ecc35ebf40ff65c90b", size = 29470, upload-time = "2025-11-14T10:17:37.16Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2a/0b/508e3af499694f4eec74cc3ab0530e38db76e43a27db9ecb98c50c68f5f9/pyobjc_framework_metalfx-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a4418ae5c2eb77ec00695fa720a547638dc252dfd77ecb6feb88f713f5a948fd", size = 15062, upload-time = "2025-11-14T09:55:37.352Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-metalkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-metal" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/14/15/5091147aae12d4011a788b93971c3376aaaf9bf32aa935a2c9a06a71e18b/pyobjc_framework_metalkit-12.1.tar.gz", hash = "sha256:14cc5c256f0e3471b412a5b3582cb2a0d36d3d57401a8aa09e433252d1c34824", size = 25473, upload-time = "2025-11-14T10:17:39.721Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/bf/c0/c8b5b060895cd51493afe3f09909b7e34893b1161cf4d93bc8e3cd306129/pyobjc_framework_metalkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:1c4869076571d94788fe539fabfdd568a5c8e340936c7726d2551196640bd152", size = 8755, upload-time = "2025-11-14T09:55:51.683Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-metalperformanceshaders"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-metal" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/c5/68/58da38e54aa0d8c19f0d3084d8c84e92d54cc8c9254041f07119d86aa073/pyobjc_framework_metalperformanceshaders-12.1.tar.gz", hash = "sha256:b198e755b95a1de1525e63c3b14327ae93ef1d88359e6be1ce554a3493755b50", size = 137301, upload-time = "2025-11-14T10:17:49.554Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/62/84/d505496fca9341e0cb11258ace7640cd986fe3e831f8b4749035e9f82109/pyobjc_framework_metalperformanceshaders-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:c00e786c352b3ff5d86cf0cf3a830dc9f6fc32a03ae1a7539d20d11324adb2e8", size = 33242, upload-time = "2025-11-14T09:56:09.354Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-metalperformanceshadersgraph"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-metalperformanceshaders" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/a7/56/7ad0cd085532f7bdea9a8d4e9a2dfde376d26dd21e5eabdf1a366040eff8/pyobjc_framework_metalperformanceshadersgraph-12.1.tar.gz", hash = "sha256:b8fd017b47698037d7b172d41bed7a4835f4c4f2a288235819d200005f89ee35", size = 42992, upload-time = "2025-11-14T10:17:53.502Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e2/c9/5e7fd0d4bc9bdf7b442f36e020677c721ba9b4c1dc1fa3180085f22a4ef9/pyobjc_framework_metalperformanceshadersgraph-12.1-py2.py3-none-any.whl", hash = "sha256:85a1c7a6114ada05c7924b3235a1a98c45359410d148097488f15aee5ebb6ab9", size = 6481, upload-time = "2025-11-14T09:56:23.66Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-metrickit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/ba/13/5576ddfbc0b174810a49171e2dbe610bdafd3b701011c6ecd9b3a461de8a/pyobjc_framework_metrickit-12.1.tar.gz", hash = "sha256:77841daf6b36ba0c19df88545fd910c0516acf279e6b7b4fa0a712a046eaa9f1", size = 27627, upload-time = "2025-11-14T10:17:56.353Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b7/04/8da5126e47306438c99750f1dfed430d7cc388f6b7f420ae748f3060ab96/pyobjc_framework_metrickit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:3ec96e9ec7dc37fbce57dae277f0d89c66ffe1c3fa2feaca1b7125f8b2b29d87", size = 8120, upload-time = "2025-11-14T09:56:28.73Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-mlcompute"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/00/69/15f8ce96c14383aa783c8e4bc1e6d936a489343bb197b8e71abb3ddc1cb8/pyobjc_framework_mlcompute-12.1.tar.gz", hash = "sha256:3281db120273dcc56e97becffd5cedf9c62042788289f7be6ea067a863164f1e", size = 40698, upload-time = "2025-11-14T10:17:59.792Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ac/f7/4614b9ccd0151795e328b9ed881fbcbb13e577a8ec4ae3507edb1a462731/pyobjc_framework_mlcompute-12.1-py2.py3-none-any.whl", hash = "sha256:4f0fc19551d710a03dfc4c7129299897544ff8ea76db6c7539ecc2f9b2571bde", size = 6744, upload-time = "2025-11-14T09:56:36.973Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-modelio"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/b4/11/32c358111b623b4a0af9e90470b198fffc068b45acac74e1ba711aee7199/pyobjc_framework_modelio-12.1.tar.gz", hash = "sha256:d041d7bca7c2a4526344d3e593347225b7a2e51a499b3aa548895ba516d1bdbb", size = 66482, upload-time = "2025-11-14T10:18:04.92Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f6/0e/b8331100f0d658ecb3e87e75c108e2ae8ac7c78b521fd5ad0205b60a2584/pyobjc_framework_modelio-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:68d971917c289fdddf69094c74915d2ccb746b42b150e0bdc16d8161e6164022", size = 20193, upload-time = "2025-11-14T09:56:44.296Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-multipeerconnectivity"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/87/35/0d0bb6881004cb238cfd7bf74f4b2e42601a1accdf27b2189ec61cf3a2dc/pyobjc_framework_multipeerconnectivity-12.1.tar.gz", hash = "sha256:7123f734b7174cacbe92a51a62b4645cc9033f6b462ff945b504b62e1b9e6c1c", size = 22816, upload-time = "2025-11-14T10:18:07.363Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/33/8d/0646ff7db36942829f0e84be18ba44bc5cd96d6a81651f8e7dc0974821c1/pyobjc_framework_multipeerconnectivity-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:1c3bd254a16debed321debf4858f9c9b7d41572ddf1058a4bacf6a5bcfedeeff", size = 12001, upload-time = "2025-11-14T09:57:01.027Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-naturallanguage"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/8a/d1/c81c0cdbb198d498edc9bc5fbb17e79b796450c17bb7541adbf502f9ad65/pyobjc_framework_naturallanguage-12.1.tar.gz", hash = "sha256:cb27a1e1e5b2913d308c49fcd2fd04ab5ea87cb60cac4a576a91ebf6a50e52f6", size = 23524, upload-time = "2025-11-14T10:18:09.883Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ec/d8/715a11111f76c80769cb267a19ecf2a4ac76152a6410debb5a4790422256/pyobjc_framework_naturallanguage-12.1-py2.py3-none-any.whl", hash = "sha256:a02ef383ec88948ca28f03ab8995523726b3bc75c49f593b5c89c218bcbce7ce", size = 5320, upload-time = "2025-11-14T09:57:10.294Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-netfs"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/46/68/4bf0e5b8cc0780cf7acf0aec54def58c8bcf8d733db0bd38f5a264d1af06/pyobjc_framework_netfs-12.1.tar.gz", hash = "sha256:e8d0c25f41d7d9ced1aa2483238d0a80536df21f4b588640a72e1bdb87e75c1e", size = 14799, upload-time = "2025-11-14T10:18:11.85Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/7e/6b/8c2f223879edd3e3f030d0a9c9ba812775519c6d0c257e3e7255785ca6e7/pyobjc_framework_netfs-12.1-py2.py3-none-any.whl", hash = "sha256:0021f8b141e693d3821524c170e9c645090eb320e80c2935ddb978a6e8b8da81", size = 4163, upload-time = "2025-11-14T09:57:11.845Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-network"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/38/13/a71270a1b0a9ec979e68b8ec84b0f960e908b17b51cb3cac246a74d52b6b/pyobjc_framework_network-12.1.tar.gz", hash = "sha256:dbf736ff84d1caa41224e86ff84d34b4e9eb6918ae4e373a44d3cb597648a16a", size = 56990, upload-time = "2025-11-14T10:18:16.714Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/9d/ef/a53f04f43e93932817f2ea71689dcc8afe3b908d631c21d11ec30c7b2e87/pyobjc_framework_network-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:5e53aad64eae2933fe12d49185d66aca62fb817abf8a46f86b01e436ce1b79e4", size = 19613, upload-time = "2025-11-14T09:57:19.571Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-networkextension"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/bf/3e/ac51dbb2efa16903e6af01f3c1f5a854c558661a7a5375c3e8767ac668e8/pyobjc_framework_networkextension-12.1.tar.gz", hash = "sha256:36abc339a7f214ab6a05cb2384a9df912f247163710741e118662bd049acfa2e", size = 62796, upload-time = "2025-11-14T10:18:21.769Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f6/14/4934b10ade5ad0518001bfc25260d926816b9c7d08d85ef45e8a61fdef1b/pyobjc_framework_networkextension-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:adc9baacfc532944d67018e381c7645f66a9fa0064939a5a841476d81422cdcc", size = 14376, upload-time = "2025-11-14T09:57:36.132Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-notificationcenter"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/c6/12/ae0fe82fb1e02365c9fe9531c9de46322f7af09e3659882212c6bf24d75e/pyobjc_framework_notificationcenter-12.1.tar.gz", hash = "sha256:2d09f5ab9dc39770bae4fa0c7cfe961e6c440c8fc465191d403633dccc941094", size = 21282, upload-time = "2025-11-14T10:18:24.51Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d8/05/3168637dd425257df5693c2ceafecf92d2e6833c0aaa6594d894a528d797/pyobjc_framework_notificationcenter-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:82a735bd63f315f0a56abd206373917b7d09a0ae35fd99f1639a0fac4c525c0a", size = 9895, upload-time = "2025-11-14T09:57:51.151Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-opendirectory"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/5b/11/bc2f71d3077b3bd078dccad5c0c5c57ec807fefe3d90c97b97dd0ed3d04b/pyobjc_framework_opendirectory-12.1.tar.gz", hash = "sha256:2c63ce5dd179828ef2d8f9e3961da3bfa971a57db07a6c34eedc296548a928bb", size = 61049, upload-time = "2025-11-14T10:18:29.336Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d6/e7/3c2dece9c5b28af28a44d72a27b35ea5ffac31fed7cbd8d696ea75dc4a81/pyobjc_framework_opendirectory-12.1-py2.py3-none-any.whl", hash = "sha256:b5b5a5cf3cc2fb25147b16b79f046b90e3982bf3ded1b210a993d8cfdba737c4", size = 11845, upload-time = "2025-11-14T09:58:00.175Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-osakit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/cb/b9/bf52c555c75a83aa45782122432fa06066bb76469047f13d06fb31e585c4/pyobjc_framework_osakit-12.1.tar.gz", hash = "sha256:36ea6acf03483dc1e4344a0cce7250a9656f44277d12bc265fa86d4cbde01f23", size = 17102, upload-time = "2025-11-14T10:18:31.354Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/99/10/30a15d7b23e6fcfa63d41ca4c7356c39ff81300249de89c3ff28216a9790/pyobjc_framework_osakit-12.1-py2.py3-none-any.whl", hash = "sha256:c49165336856fd75113d2e264a98c6deb235f1bd033eae48f661d4d832d85e6b", size = 4162, upload-time = "2025-11-14T09:58:01.953Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-oslog"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coremedia" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/12/42/805c9b4ac6ad25deb4215989d8fc41533d01e07ffd23f31b65620bade546/pyobjc_framework_oslog-12.1.tar.gz", hash = "sha256:d0ec6f4e3d1689d5e4341bc1130c6f24cb4ad619939f6c14d11a7e80c0ac4553", size = 21193, upload-time = "2025-11-14T10:18:33.645Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ee/60/0b742347d484068e9d6867cd95dedd1810c790b6aca45f6ef1d0f089f1f5/pyobjc_framework_oslog-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:072a41d36fcf780a070f13ac2569f8bafbb5ae4792fab4136b1a4d602dd9f5b4", size = 7813, upload-time = "2025-11-14T09:58:07.768Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-passkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/6c/d4/2afb59fb0f99eb2f03888850887e536f1ef64b303fd756283679471a5189/pyobjc_framework_passkit-12.1.tar.gz", hash = "sha256:d8c27c352e86a3549bf696504e6b25af5f2134b173d9dd60d66c6d3da53bb078", size = 53835, upload-time = "2025-11-14T10:18:37.906Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d8/dc/9cb27e8b7b00649af5e802815ffa8928bd8a619f2984a1bea7dabd28f741/pyobjc_framework_passkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:7e95a484ec529dbf1d44f5f7f1406502a77bda733511e117856e3dca9fa29c5c", size = 14102, upload-time = "2025-11-14T09:58:20.903Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-pencilkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/7e/43/859068016bcbe7d80597d5c579de0b84b0da62c5c55cdf9cc940e9f9c0f8/pyobjc_framework_pencilkit-12.1.tar.gz", hash = "sha256:d404982d1f7a474369f3e7fea3fbd6290326143fa4138d64b6753005a6263dc4", size = 17664, upload-time = "2025-11-14T10:18:40.045Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e8/26/daf47dcfced8f7326218dced5c68ed2f3b522ec113329218ce1305809535/pyobjc_framework_pencilkit-12.1-py2.py3-none-any.whl", hash = "sha256:33b88e5ed15724a12fd8bf27a68614b654ff739d227e81161298bc0d03acca4f", size = 4206, upload-time = "2025-11-14T09:58:30.814Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-phase"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-avfoundation" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/96/51/3b25eaf7ca85f38ceef892fdf066b7faa0fec716f35ea928c6ffec6ae311/pyobjc_framework_phase-12.1.tar.gz", hash = "sha256:3a69005c572f6fd777276a835115eb8359a33673d4a87e754209f99583534475", size = 32730, upload-time = "2025-11-14T10:18:43.102Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ae/9f/1ae45db731e8d6dd3e0b408c3accd0cf3236849e671f95c7c8cf95687240/pyobjc_framework_phase-12.1-py2.py3-none-any.whl", hash = "sha256:99a1c1efc6644f5312cce3693117d4e4482538f65ad08fe59e41e2579b67ab17", size = 6902, upload-time = "2025-11-14T09:58:32.436Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-photos"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/b8/53/f8a3dc7f711034d2283e289cd966fb7486028ea132a24260290ff32d3525/pyobjc_framework_photos-12.1.tar.gz", hash = "sha256:adb68aaa29e186832d3c36a0b60b0592a834e24c5263e9d78c956b2b77dce563", size = 47034, upload-time = "2025-11-14T10:18:47.27Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/13/38/e6f25aec46a1a9d0a310795606cc43f9823d41c3e152114b814b597835a8/pyobjc_framework_photos-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:eda8a584a851506a1ebbb2ee8de2cb1ed9e3431e6a642ef6a9543e32117d17b9", size = 12358, upload-time = "2025-11-14T09:58:38.131Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-photosui"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/40/a5/14c538828ed1a420e047388aedc4a2d7d9292030d81bf6b1ced2ec27b6e9/pyobjc_framework_photosui-12.1.tar.gz", hash = "sha256:9141234bb9d17687f1e8b66303158eccdd45132341fbe5e892174910035f029a", size = 29886, upload-time = "2025-11-14T10:18:50.238Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/16/a2/b5afca8039b1a659a2a979bb1bdbdddfdf9b1d2724a2cc4633dca2573d5f/pyobjc_framework_photosui-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:713e3bb25feb5ea891e67260c2c0769cab44a7f11b252023bfcf9f8c29dd1206", size = 11714, upload-time = "2025-11-14T09:58:53.674Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-preferencepanes"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/90/bc/e87df041d4f7f6b7721bf7996fa02aa0255939fb0fac0ecb294229765f92/pyobjc_framework_preferencepanes-12.1.tar.gz", hash = "sha256:b2a02f9049f136bdeca7642b3307637b190850e5853b74b5c372bc7d88ef9744", size = 24543, upload-time = "2025-11-14T10:18:53.259Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/36/7b/8ceec1ab0446224d685e243e2770c5a5c92285bcab0b9324dbe7a893ae5a/pyobjc_framework_preferencepanes-12.1-py2.py3-none-any.whl", hash = "sha256:1b3af9db9e0cfed8db28c260b2cf9a22c15fda5f0ff4c26157b17f99a0e29bbf", size = 4797, upload-time = "2025-11-14T09:59:03.998Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-pushkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/a9/45/de756b62709add6d0615f86e48291ee2bee40223e7dde7bbe68a952593f0/pyobjc_framework_pushkit-12.1.tar.gz", hash = "sha256:829a2fc8f4780e75fc2a41217290ee0ff92d4ade43c42def4d7e5af436d8ae82", size = 19465, upload-time = "2025-11-14T10:18:57.727Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b9/01/74cf1dd0764c590de05dc1e87d168031e424f834721940b7bb02c67fe821/pyobjc_framework_pushkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:7bdf472a55ac65154e03f54ae0bcad64c4cf45e9b1acba62f15107f2bc994d69", size = 8177, upload-time = "2025-11-14T09:59:11.155Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-quartz"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/94/18/cc59f3d4355c9456fc945eae7fe8797003c4da99212dd531ad1b0de8a0c6/pyobjc_framework_quartz-12.1.tar.gz", hash = "sha256:27f782f3513ac88ec9b6c82d9767eef95a5cf4175ce88a1e5a65875fee799608", size = 3159099, upload-time = "2025-11-14T10:21:24.31Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e9/9b/780f057e5962f690f23fdff1083a4cfda5a96d5b4d3bb49505cac4f624f2/pyobjc_framework_quartz-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:7730cdce46c7e985535b5a42c31381af4aa6556e5642dc55b5e6597595e57a16", size = 218798, upload-time = "2025-11-14T10:00:01.236Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-quicklookthumbnailing"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/97/1a/b90539500e9a27c2049c388d85a824fc0704009b11e33b05009f52a6dc67/pyobjc_framework_quicklookthumbnailing-12.1.tar.gz", hash = "sha256:4f7e09e873e9bda236dce6e2f238cab571baeb75eca2e0bc0961d5fcd85f3c8f", size = 14790, upload-time = "2025-11-14T10:21:26.442Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/1e/22/7bd07b5b44bf8540514a9f24bc46da68812c1fd6c63bb2d3496e5ea44bf0/pyobjc_framework_quicklookthumbnailing-12.1-py2.py3-none-any.whl", hash = "sha256:5efe50b0318188b3a4147681788b47fce64709f6fe0e1b5d020e408ef40ab08e", size = 4234, upload-time = "2025-11-14T10:01:02.209Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-replaykit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/35/f8/b92af879734d91c1726227e7a03b9e68ab8d9d2bb1716d1a5c29254087f2/pyobjc_framework_replaykit-12.1.tar.gz", hash = "sha256:95801fd35c329d7302b2541f2754e6574bf36547ab869fbbf41e408dfa07268a", size = 23312, upload-time = "2025-11-14T10:21:29.18Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/6b/fc/c68d2111b2655148d88574959d3d8b21d3a003573013301d4d2a7254c1af/pyobjc_framework_replaykit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:b0528c2a6188440fdc2017f0924c0a0f15d0a2f6aa295f1d1c2d6b3894c22f1d", size = 10120, upload-time = "2025-11-14T10:01:08.397Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-safariservices"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/3e/4b/8f896bafbdbfa180a5ba1e21a6f5dc63150c09cba69d85f68708e02866ae/pyobjc_framework_safariservices-12.1.tar.gz", hash = "sha256:6a56f71c1e692bca1f48fe7c40e4c5a41e148b4e3c6cfb185fd80a4d4a951897", size = 25165, upload-time = "2025-11-14T10:21:32.041Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/67/3a/8c525562fd782c88bc44e8c07fc2c073919f98dead08fffd50f280ef1afa/pyobjc_framework_safariservices-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:b475abc82504fc1c0801096a639562d6a6d37370193e8e4a406de9199a7cea13", size = 7281, upload-time = "2025-11-14T10:01:21.238Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-safetykit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/f4/bf/ad6bf60ceb61614c9c9f5758190971e9b90c45b1c7a244e45db64138b6c2/pyobjc_framework_safetykit-12.1.tar.gz", hash = "sha256:0cd4850659fb9b5632fd8ad21f2de6863e8303ff0d51c5cc9c0034aac5db08d8", size = 20086, upload-time = "2025-11-14T10:21:34.212Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b7/0c/08a20fb7516405186c0fe7299530edd4aa22c24f73290198312447f26c8c/pyobjc_framework_safetykit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:e4977f7069a23252053d1a42b1a053aefc19b85c960a5214b05daf3c037a6f16", size = 8550, upload-time = "2025-11-14T10:01:32.885Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-scenekit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/94/8c/1f4005cf0cb68f84dd98b93bbc0974ee7851bb33d976791c85e042dc2278/pyobjc_framework_scenekit-12.1.tar.gz", hash = "sha256:1bd5b866f31fd829f26feac52e807ed942254fd248115c7c742cfad41d949426", size = 101212, upload-time = "2025-11-14T10:21:41.265Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d2/f1/4986bd96e0ba0f60bff482a6b135b9d6db65d56578d535751f18f88190f0/pyobjc_framework_scenekit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:40aea10098893f0b06191f1e79d7b25e12e36a9265549d324238bdb25c7e6df0", size = 33597, upload-time = "2025-11-14T10:01:51.297Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-screencapturekit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coremedia" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/2d/7f/73458db1361d2cb408f43821a1e3819318a0f81885f833d78d93bdc698e0/pyobjc_framework_screencapturekit-12.1.tar.gz", hash = "sha256:50992c6128b35ab45d9e336f0993ddd112f58b8c8c8f0892a9cb42d61bd1f4c9", size = 32573, upload-time = "2025-11-14T10:21:44.497Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/05/a8/533acdbf26e0a908ff640d3a445481f3c948682ca887be6711b5fcf82682/pyobjc_framework_screencapturekit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:27df138ce2dfa9d4aae5106d4877e9ed694b5a174643c058f1c48678ffc7001a", size = 11504, upload-time = "2025-11-14T10:02:11.36Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-screensaver"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/7d/99/7cfbce880cea61253a44eed594dce66c2b2fbf29e37eaedcd40cffa949e9/pyobjc_framework_screensaver-12.1.tar.gz", hash = "sha256:c4ca111317c5a3883b7eace0a9e7dd72bc6ffaa2ca954bdec918c3ab7c65c96f", size = 22229, upload-time = "2025-11-14T10:21:47.299Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/5a/a4/2481711f2e9557b90bac74fa8bf821162cf7b65835732ae560fd52e9037e/pyobjc_framework_screensaver-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a3c90c2299eac6d01add81427ae2f90d7724f15d676261e838d7a7750f812322", size = 8422, upload-time = "2025-11-14T10:02:24.49Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-screentime"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/10/11/ba18f905321895715dac3cae2071c2789745ae13605b283b8114b41e0459/pyobjc_framework_screentime-12.1.tar.gz", hash = "sha256:583de46b365543bbbcf27cd70eedd375d397441d64a2cf43c65286fd9c91af55", size = 13413, upload-time = "2025-11-14T10:21:49.17Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/27/06/904174de6170e11b53673cc5844e5f13394eeeed486e0bcdf5288c1b0853/pyobjc_framework_screentime-12.1-py2.py3-none-any.whl", hash = "sha256:d34a068ec8ba2704987fcd05c37c9a9392de61d92933e6e71c8e4eaa4dfce029", size = 3963, upload-time = "2025-11-14T10:02:32.577Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-scriptingbridge"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0c/cb/adc0a09e8c4755c2281bd12803a87f36e0832a8fc853a2d663433dbb72ce/pyobjc_framework_scriptingbridge-12.1.tar.gz", hash = "sha256:0e90f866a7e6a8aeaf723d04c826657dd528c8c1b91e7a605f8bb947c74ad082", size = 20339, upload-time = "2025-11-14T10:21:51.769Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/51/46/e0b07d2b3ff9effb8b1179a6cc681a953d3dfbf0eb8b1d6a0e54cef2e922/pyobjc_framework_scriptingbridge-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:8083cd68c559c55a3787b2e74fc983c8665e5078571475aaeabf4f34add36b62", size = 8356, upload-time = "2025-11-14T10:02:38.559Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-searchkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-coreservices" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/6e/60/a38523198430e14fdef21ebe62a93c43aedd08f1f3a07ea3d96d9997db5d/pyobjc_framework_searchkit-12.1.tar.gz", hash = "sha256:ddd94131dabbbc2d7c3f17db3da87c1a712c431310eef16f07187771e7e85226", size = 30942, upload-time = "2025-11-14T10:21:55.483Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/72/46/4f9cd3011f47b43b21b2924ab3770303c3f0a4d16f05550d38c5fcb42e78/pyobjc_framework_searchkit-12.1-py2.py3-none-any.whl", hash = "sha256:844ce62b7296b19da8db7dedd539d07f7b3fb3bb8b029c261f7bcf0e01a97758", size = 3733, upload-time = "2025-11-14T10:02:47.026Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-security"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/80/aa/796e09a3e3d5cee32ebeebb7dcf421b48ea86e28c387924608a05e3f668b/pyobjc_framework_security-12.1.tar.gz", hash = "sha256:7fecb982bd2f7c4354513faf90ba4c53c190b7e88167984c2d0da99741de6da9", size = 168044, upload-time = "2025-11-14T10:22:06.334Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/76/66/5160c0f938fc0515fe8d9af146aac1b093f7ef285ce797fedae161b6c0e8/pyobjc_framework_security-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:ab42e55f5b782332be5442750fcd9637ee33247d57c7b1d5801bc0e24ee13278", size = 41280, upload-time = "2025-11-14T10:02:58.097Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-securityfoundation"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-security" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/57/d5/c2b77e83c1585ba43e5f00c917273ba4bf7ed548c1b691f6766eb0418d52/pyobjc_framework_securityfoundation-12.1.tar.gz", hash = "sha256:1f39f4b3db6e3bd3a420aaf4923228b88e48c90692cf3612b0f6f1573302a75d", size = 12669, upload-time = "2025-11-14T10:22:09.256Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/93/1e/349fb71a413b37b1b41e712c7ca180df82144478f8a9a59497d66d0f2ea2/pyobjc_framework_securityfoundation-12.1-py2.py3-none-any.whl", hash = "sha256:579cf23e63434226f78ffe0afb8426e971009588e4ad812c478d47dfd558201c", size = 3792, upload-time = "2025-11-14T10:03:14.459Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-securityinterface"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-security" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/f9/64/bf5b5d82655112a2314422ee649f1e1e73d4381afa87e1651ce7e8444694/pyobjc_framework_securityinterface-12.1.tar.gz", hash = "sha256:deef11ad03be8d9ff77db6e7ac40f6b641ee2d72eaafcf91040537942472e88b", size = 25552, upload-time = "2025-11-14T10:22:12.098Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/59/3e/17889a6de03dc813606bb97887dc2c4c2d4e7c8f266bc439548bae756e90/pyobjc_framework_securityinterface-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:5cb5e79a73ea17663ebd29e350401162d93e42343da7d96c77efb38ae64ff01f", size = 10783, upload-time = "2025-11-14T10:03:20.202Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-securityui"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-security" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/83/3f/d870305f5dec58cd02966ca06ac29b69fb045d8b46dfb64e2da31f295345/pyobjc_framework_securityui-12.1.tar.gz", hash = "sha256:f1435fed85edc57533c334a4efc8032170424b759da184cb7a7a950ceea0e0b6", size = 12184, upload-time = "2025-11-14T10:22:14.323Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/36/7f/eff9ffdd34511cc95a60e5bd62f1cfbcbcec1a5012ef1168161506628c87/pyobjc_framework_securityui-12.1-py2.py3-none-any.whl", hash = "sha256:3e988b83c9a2bb0393207eaa030fc023a8708a975ac5b8ea0508cdafc2b60705", size = 3594, upload-time = "2025-11-14T10:03:29.628Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-sensitivecontentanalysis"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/e7/ce/17bf31753e14cb4d64fffaaba2377453c4977c2c5d3cf2ff0a3db30026c7/pyobjc_framework_sensitivecontentanalysis-12.1.tar.gz", hash = "sha256:2c615ac10e93eb547b32b214cd45092056bee0e79696426fd09978dc3e670f25", size = 13745, upload-time = "2025-11-14T10:22:16.447Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/95/23/c99568a0d4e38bd8337d52e4ae25a0b0bd540577f2e06f3430c951d73209/pyobjc_framework_sensitivecontentanalysis-12.1-py2.py3-none-any.whl", hash = "sha256:faf19d32d4599ac2b18fb1ccdc3e33b2b242bdf34c02e69978bd62d3643ad068", size = 4230, upload-time = "2025-11-14T10:03:31.26Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-servicemanagement"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/31/d0/b26c83ae96ab55013df5fedf89337d4d62311b56ce3f520fc7597d223d82/pyobjc_framework_servicemanagement-12.1.tar.gz", hash = "sha256:08120981749a698033a1d7a6ab99dbbe412c5c0d40f2b4154014b52113511c1d", size = 14585, upload-time = "2025-11-14T10:22:18.735Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ee/5d/1009c32189f9cb26da0124b4a60640ed26dd8ad453810594f0cbfab0ff70/pyobjc_framework_servicemanagement-12.1-py2.py3-none-any.whl", hash = "sha256:9a2941f16eeb71e55e1cd94f50197f91520778c7f48ad896761f5e78725cc08f", size = 5357, upload-time = "2025-11-14T10:03:32.928Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-sharedwithyou"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-sharedwithyoucore" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0f/8b/8ab209a143c11575a857e2111acc5427fb4986b84708b21324cbcbf5591b/pyobjc_framework_sharedwithyou-12.1.tar.gz", hash = "sha256:167d84794a48f408ee51f885210c616fda1ec4bff3dd8617a4b5547f61b05caf", size = 24791, upload-time = "2025-11-14T10:22:21.248Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ec/ee/e5113ce985a480d13a0fa3d41a242c8068dc09b3c13210557cf5cc6a544a/pyobjc_framework_sharedwithyou-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:a99a6ebc6b6de7bc8663b1f07332fab9560b984a57ce344dc5703f25258f258d", size = 8763, upload-time = "2025-11-14T10:03:38.467Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-sharedwithyoucore"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/55/ef/84059c5774fd5435551ab7ab40b51271cfb9997b0d21f491c6b429fe57a8/pyobjc_framework_sharedwithyoucore-12.1.tar.gz", hash = "sha256:0813149eeb755d718b146ec9365eb4ca3262b6af9ff9ba7db2f7b6f4fd104518", size = 22350, upload-time = "2025-11-14T10:22:23.611Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/dd/0e/0c2b0591ebc72d437dccca7a1e7164c5f11dde2189d4f4c707a132bab740/pyobjc_framework_sharedwithyoucore-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:ed928266ae9d577ff73de72a03bebc66a751918eb59ca660a9eca157392f17be", size = 8530, upload-time = "2025-11-14T10:03:50.839Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-shazamkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/ed/2c/8d82c5066cc376de68ad8c1454b7c722c7a62215e5c2f9dac5b33a6c3d42/pyobjc_framework_shazamkit-12.1.tar.gz", hash = "sha256:71db2addd016874639a224ed32b2000b858802b0370c595a283cce27f76883fe", size = 22518, upload-time = "2025-11-14T10:22:25.996Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/04/5e/7d60d8e7b036b20d0e94cd7c4563e7414653344482e85fbc7facffabc95f/pyobjc_framework_shazamkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:e184dd0f61a604b1cfcf44418eb95b943e7b8f536058a29e4b81acadd27a9420", size = 8577, upload-time = "2025-11-14T10:04:04.182Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-social"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/31/21/afc6f37dfdd2cafcba0227e15240b5b0f1f4ad57621aeefda2985ac9560e/pyobjc_framework_social-12.1.tar.gz", hash = "sha256:1963db6939e92ae40dd9d68852e8f88111cbfd37a83a9fdbc9a0c08993ca7e60", size = 13184, upload-time = "2025-11-14T10:22:28.048Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f6/fb/090867e332d49a1e492e4b8972ac6034d1c7d17cf39f546077f35be58c46/pyobjc_framework_social-12.1-py2.py3-none-any.whl", hash = "sha256:2f3b36ba5769503b1bc945f85fd7b255d42d7f6e417d78567507816502ff2b44", size = 4462, upload-time = "2025-11-14T10:04:14.578Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-soundanalysis"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/6b/d6/5039b61edc310083425f87ce2363304d3a87617e941c1d07968c63b5638d/pyobjc_framework_soundanalysis-12.1.tar.gz", hash = "sha256:e2deead8b9a1c4513dbdcf703b21650dcb234b60a32d08afcec4895582b040b1", size = 14804, upload-time = "2025-11-14T10:22:29.998Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/53/d3/8df5183d52d20d459225d3f5d24f55e01b8cd9fe587ed972e3f20dd18709/pyobjc_framework_soundanalysis-12.1-py2.py3-none-any.whl", hash = "sha256:8b2029ab48c1a9772f247f0aea995e8c3ff4706909002a9c1551722769343a52", size = 4188, upload-time = "2025-11-14T10:04:16.12Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-speech"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/8d/3d/194cf19fe7a56c2be5dfc28f42b3b597a62ebb1e1f52a7dd9c55b917ac6c/pyobjc_framework_speech-12.1.tar.gz", hash = "sha256:2a2a546ba6c52d5dd35ddcfee3fd9226a428043d1719597e8701851a6566afdd", size = 25218, upload-time = "2025-11-14T10:22:32.505Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f9/1b/224cb98c9c32a6d5e68072f89d26444095be54c6f461efe4fefe9d1330a5/pyobjc_framework_speech-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:cae4b88ef9563157a6c9e66b37778fc4022ee44dd1a2a53081c2adbb69698945", size = 9254, upload-time = "2025-11-14T10:04:21.361Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-spritekit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/b6/78/d683ebe0afb49f46d2d21d38c870646e7cb3c2e83251f264e79d357b1b74/pyobjc_framework_spritekit-12.1.tar.gz", hash = "sha256:a851f4ef5aa65cc9e08008644a528e83cb31021a1c0f17ebfce4de343764d403", size = 64470, upload-time = "2025-11-14T10:22:37.569Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/3b/38/97c3b6c3437e3e9267fb4e1cd86e0da4eff07e0abe7cd6923644d2dfc878/pyobjc_framework_spritekit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:1649e57c25145795d04bb6a1ec44c20ef7cf0af7c60a9f6f5bc7998dd269db1e", size = 17802, upload-time = "2025-11-14T10:04:35.346Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-storekit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/00/87/8a66a145feb026819775d44975c71c1c64df4e5e9ea20338f01456a61208/pyobjc_framework_storekit-12.1.tar.gz", hash = "sha256:818452e67e937a10b5c8451758274faa44ad5d4329df0fa85735115fb0608da9", size = 34574, upload-time = "2025-11-14T10:22:40.73Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8a/9f/938985e506de0cc3a543e44e1f9990e9e2fb8980b8f3bcfc8f7921d09061/pyobjc_framework_storekit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:9fe2d65a2b644bb6b4fdd3002292cba153560917de3dd6cf969431fa32d21dd0", size = 12819, upload-time = "2025-11-14T10:04:50.945Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-symbols"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/9a/ce/a48819eb8524fa2dc11fb3dd40bb9c4dcad0596fe538f5004923396c2c6c/pyobjc_framework_symbols-12.1.tar.gz", hash = "sha256:7d8e999b8a59c97d38d1d343b6253b1b7d04bf50b665700957d89c8ac43b9110", size = 12782, upload-time = "2025-11-14T10:22:42.609Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/f0/ea/6e9af9c750d68109ac54fbffb5463e33a7b54ffe8b9901a5b6b603b7884b/pyobjc_framework_symbols-12.1-py2.py3-none-any.whl", hash = "sha256:c72eecbc25f6bfcd39c733067276270057c5aca684be20fdc56def645f2b6446", size = 3331, upload-time = "2025-11-14T10:05:01.333Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-syncservices"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coredata" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/21/91/6d03a988831ddb0fb001b13573560e9a5bcccde575b99350f98fe56a2dd4/pyobjc_framework_syncservices-12.1.tar.gz", hash = "sha256:6a213e93d9ce15128810987e4c5de8c73cfab1564ac8d273e6b437a49965e976", size = 31032, upload-time = "2025-11-14T10:22:45.902Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/54/ac/a83cdd120e279ee905e9085afda90992159ed30c6a728b2c56fa2d36b6ea/pyobjc_framework_syncservices-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:0cd629bea95692aad2d26196657cde2fbadedae252c7846964228661a600b900", size = 13411, upload-time = "2025-11-14T10:05:07.741Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-systemconfiguration"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/90/7d/50848df8e1c6b5e13967dee9fb91d3391fe1f2399d2d0797d2fc5edb32ba/pyobjc_framework_systemconfiguration-12.1.tar.gz", hash = "sha256:90fe04aa059876a21626931c71eaff742a27c79798a46347fd053d7008ec496e", size = 59158, upload-time = "2025-11-14T10:22:53.056Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d3/d3/bb935c3d4bae9e6ce4a52638e30eea7039c480dd96bc4f0777c9fabda21b/pyobjc_framework_systemconfiguration-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:0e5bb9103d39483964431db7125195c59001b7bff2961869cfe157b4c861e52d", size = 21578, upload-time = "2025-11-14T10:05:25.572Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-systemextensions"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/12/01/8a706cd3f7dfcb9a5017831f2e6f9e5538298e90052db3bb8163230cbc4f/pyobjc_framework_systemextensions-12.1.tar.gz", hash = "sha256:243e043e2daee4b5c46cd90af5fff46b34596aac25011bab8ba8a37099685eeb", size = 20701, upload-time = "2025-11-14T10:22:58.257Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/0a/cc/a42883d6ad0ae257a7fa62660b4dd13be15f8fa657922f9a5b6697f26e28/pyobjc_framework_systemextensions-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:01fac4f8d88c0956d9fc714d24811cd070e67200ba811904317d91e849e38233", size = 9166, upload-time = "2025-11-14T10:05:41.479Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-threadnetwork"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/62/7e/f1816c3461e4121186f2f7750c58af083d1826bbd73f72728da3edcf4915/pyobjc_framework_threadnetwork-12.1.tar.gz", hash = "sha256:e071eedb41bfc1b205111deb54783ec5a035ccd6929e6e0076336107fdd046ee", size = 12788, upload-time = "2025-11-14T10:23:00.329Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/4f/b8/94b37dd353302c051a76f1a698cf55b5ad50ca061db7f0f332aa9e195766/pyobjc_framework_threadnetwork-12.1-py2.py3-none-any.whl", hash = "sha256:07d937748fc54199f5ec04d5a408e8691a870481c11b641785c2adc279dd8e4b", size = 3771, upload-time = "2025-11-14T10:05:49.899Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-uniformtypeidentifiers"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/65/b8/dd9d2a94509a6c16d965a7b0155e78edf520056313a80f0cd352413f0d0b/pyobjc_framework_uniformtypeidentifiers-12.1.tar.gz", hash = "sha256:64510a6df78336579e9c39b873cfcd03371c4b4be2cec8af75a8a3d07dff607d", size = 17030, upload-time = "2025-11-14T10:23:02.222Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/4e/5f/1f10f5275b06d213c9897850f1fca9c881c741c1f9190cea6db982b71824/pyobjc_framework_uniformtypeidentifiers-12.1-py2.py3-none-any.whl", hash = "sha256:ec5411e39152304d2a7e0e426c3058fa37a00860af64e164794e0bcffee813f2", size = 4901, upload-time = "2025-11-14T10:05:51.532Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-usernotifications"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/90/cd/e0253072f221fa89a42fe53f1a2650cc9bf415eb94ae455235bd010ee12e/pyobjc_framework_usernotifications-12.1.tar.gz", hash = "sha256:019ccdf2d400f9a428769df7dba4ea97c02453372bc5f8b75ce7ae54dfe130f9", size = 29749, upload-time = "2025-11-14T10:23:05.364Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/61/ad/c95053a475246464cba686e16269b0973821601910d1947d088b855a8dac/pyobjc_framework_usernotifications-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:412afb2bf5fe0049f9c4e732e81a8a35d5ebf97c30a5a6abd276259d020c82ac", size = 9644, upload-time = "2025-11-14T10:05:56.801Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-usernotificationsui"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-usernotifications" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/0e/03/73e29fd5e5973cb3800c9d56107c1062547ef7524cbcc757c3cbbd5465c6/pyobjc_framework_usernotificationsui-12.1.tar.gz", hash = "sha256:51381c97c7344099377870e49ed0871fea85ba50efe50ab05ccffc06b43ec02e", size = 13125, upload-time = "2025-11-14T10:23:07.259Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/23/c8/52ac8a879079c1fbf25de8335ff506f7db87ff61e64838b20426f817f5d5/pyobjc_framework_usernotificationsui-12.1-py2.py3-none-any.whl", hash = "sha256:11af59dc5abfcb72c08769ab4d7ca32a628527a8ba341786431a0d2dacf31605", size = 3933, upload-time = "2025-11-14T10:06:05.478Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-videosubscriberaccount"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/10/f8/27927a9c125c622656ee5aada4596ccb8e5679da0260742360f193df6dcf/pyobjc_framework_videosubscriberaccount-12.1.tar.gz", hash = "sha256:750459fa88220ab83416f769f2d5d210a1f77b8938fa4d119aad0002fc32846b", size = 18793, upload-time = "2025-11-14T10:23:09.33Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/41/ca/e2f982916267508c1594f1e50d27bf223a24f55a5e175ab7d7822a00997c/pyobjc_framework_videosubscriberaccount-12.1-py2.py3-none-any.whl", hash = "sha256:381a5e8a3016676e52b88e38b706559fa09391d33474d8a8a52f20a883104a7b", size = 4825, upload-time = "2025-11-14T10:06:07.027Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-videotoolbox"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coremedia" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/b3/5f/6995ee40dc0d1a3460ee183f696e5254c0ad14a25b5bc5fd9bd7266c077b/pyobjc_framework_videotoolbox-12.1.tar.gz", hash = "sha256:7adc8670f3b94b086aed6e86c3199b388892edab4f02933c2e2d9b1657561bef", size = 57825, upload-time = "2025-11-14T10:23:13.825Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/94/a5/91c6c95416f41c412c2079950527cb746c0712ec319c51a6c728c8d6b231/pyobjc_framework_videotoolbox-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:eb6ce6837344ee319122066c16ada4beb913e7bfd62188a8d14b1ecbb5a89234", size = 18908, upload-time = "2025-11-14T10:06:14.087Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-virtualization"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/3b/6a/9d110b5521d9b898fad10928818c9f55d66a4af9ac097426c65a9878b095/pyobjc_framework_virtualization-12.1.tar.gz", hash = "sha256:e96afd8e801e92c6863da0921e40a3b68f724804f888bce43791330658abdb0f", size = 40682, upload-time = "2025-11-14T10:23:17.456Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c6/f2/0da47e91f3f8eeda9a8b4bb0d3a0c54a18925009e99b66a8226b9e06ce1e/pyobjc_framework_virtualization-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:7d5724b38e64b39ab5ec3b45993afa29fc88b307d99ee2c7a1c0fd770e9b4b21", size = 13131, upload-time = "2025-11-14T10:06:29.337Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-vision"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-    { name = "pyobjc-framework-coreml" },
-    { name = "pyobjc-framework-quartz" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/c2/5a/08bb3e278f870443d226c141af14205ff41c0274da1e053b72b11dfc9fb2/pyobjc_framework_vision-12.1.tar.gz", hash = "sha256:a30959100e85dcede3a786c544e621ad6eb65ff6abf85721f805822b8c5fe9b0", size = 59538, upload-time = "2025-11-14T10:23:21.979Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/3a/5a/23502935b3fc877d7573e743fc3e6c28748f33a45c43851d503bde52cde7/pyobjc_framework_vision-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:6b3211d84f3a12aad0cde752cfd43a80d0218960ac9e6b46b141c730e7d655bd", size = 16625, upload-time = "2025-11-14T10:06:44.422Z" },
-]
-
-[[package]]
-name = "pyobjc-framework-webkit"
-version = "12.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyobjc-core" },
-    { name = "pyobjc-framework-cocoa" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/14/10/110a50e8e6670765d25190ca7f7bfeecc47ec4a8c018cb928f4f82c56e04/pyobjc_framework_webkit-12.1.tar.gz", hash = "sha256:97a54dd05ab5266bd4f614e41add517ae62cdd5a30328eabb06792474b37d82a", size = 284531, upload-time = "2025-11-14T10:23:40.287Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/db/67/64920c8d201a7fc27962f467c636c4e763b43845baba2e091a50a97a5d52/pyobjc_framework_webkit-12.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:af2c7197447638b92aafbe4847c063b6dd5e1ed83b44d3ce7e71e4c9b042ab5a", size = 50084, upload-time = "2025-11-14T10:07:05.868Z" },
-]
-
-[[package]]
-name = "pyopenssl"
-version = "24.2.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
+[package.optional-dependencies]
+crypto = [
     { name = "cryptography" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/5d/70/ff56a63248562e77c0c8ee4aefc3224258f1856977e0c1472672b62dadb8/pyopenssl-24.2.1.tar.gz", hash = "sha256:4247f0dbe3748d560dcbb2ff3ea01af0f9a1a001ef5f7c4c647956ed8cbf0e95", size = 184323, upload-time = "2024-07-20T17:26:31.252Z" }
+
+[[package]]
+name = "pymdown-extensions"
+version = "11.0.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "markdown" },
+    { name = "pyyaml" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/21/a9/5f0c535ba3b08fe09270c16808e053a968868242ecbd5676d4e3a488bf28/pymdown_extensions-11.0.1.tar.gz", hash = "sha256:dd2905ae6fc5b75582fafb139a1266ffc754705efa902aa50067fa7ff4f94ec0", size = 857113, upload-time = "2026-07-02T17:59:22.955Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/d9/dd/e0aa7ebef5168c75b772eda64978c597a9129b46be17779054652a7999e4/pyOpenSSL-24.2.1-py3-none-any.whl", hash = "sha256:967d5719b12b243588573f39b0c677637145c7a1ffedcd495a487e58177fbb8d", size = 58390, upload-time = "2024-07-20T17:26:29.057Z" },
+    { url = "https://files.pythonhosted.org/packages/d6/54/da572c98c0b77626a91b5d3b89f0231d8bff5125c225420908632f8b342d/pymdown_extensions-11.0.1-py3-none-any.whl", hash = "sha256:db3943a62bab7e03af1364f0c4083e64b91fb097675a4b6cceccfbe9a77e5eb2", size = 269455, upload-time = "2026-07-02T17:59:21.271Z" },
 ]
 
 [[package]]
@@ -3744,123 +995,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/10/bd/c038d7cc38edc1aa5bf91ab8068b63d4308c66c4c8bb3cbba7dfbc049f9c/pyparsing-3.3.2-py3-none-any.whl", hash = "sha256:850ba148bd908d7e2411587e247a1e4f0327839c40e2e5e6d05a007ecc69911d", size = 122781, upload-time = "2026-01-21T03:57:55.912Z" },
 ]
 
-[[package]]
-name = "pyperclip"
-version = "1.11.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e8/52/d87eba7cb129b81563019d1679026e7a112ef76855d6159d24754dbd2a51/pyperclip-1.11.0.tar.gz", hash = "sha256:244035963e4428530d9e3a6101a1ef97209c6825edab1567beac148ccc1db1b6", size = 12185, upload-time = "2025-09-26T14:40:37.245Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/df/80/fc9d01d5ed37ba4c42ca2b55b4339ae6e200b456be3a1aaddf4a9fa99b8c/pyperclip-1.11.0-py3-none-any.whl", hash = "sha256:299403e9ff44581cb9ba2ffeed69c7aa96a008622ad0c46cb575ca75b5b84273", size = 11063, upload-time = "2025-09-26T14:40:36.069Z" },
-]
-
-[[package]]
-name = "pyrect"
-version = "0.2.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/cb/04/2ba023d5f771b645f7be0c281cdacdcd939fe13d1deb331fc5ed1a6b3a98/PyRect-0.2.0.tar.gz", hash = "sha256:f65155f6df9b929b67caffbd57c0947c5ae5449d3b580d178074bffb47a09b78", size = 17219, upload-time = "2022-03-16T04:45:52.36Z" }
-
-[[package]]
-name = "pyscreeze"
-version = "1.0.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ee/f0/cb456ac4f1a73723d5b866933b7986f02bacea27516629c00f8e7da94c2d/pyscreeze-1.0.1.tar.gz", hash = "sha256:cf1662710f1b46aa5ff229ee23f367da9e20af4a78e6e365bee973cad0ead4be", size = 27826, upload-time = "2024-08-20T23:03:07.291Z" }
-
-[[package]]
-name = "pyserial"
-version = "3.5"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1e/7d/ae3f0a63f41e4d2f6cb66a5b57197850f919f59e558159a4dd3a818f5082/pyserial-3.5.tar.gz", hash = "sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb", size = 159125, upload-time = "2020-11-23T03:59:15.045Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/07/bc/587a445451b253b285629263eb51c2d8e9bcea4fc97826266d186f96f558/pyserial-3.5-py2.py3-none-any.whl", hash = "sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0", size = 90585, upload-time = "2020-11-23T03:59:13.41Z" },
-]
-
-[[package]]
-name = "pytest"
-version = "9.0.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "colorama", marker = "sys_platform == 'win32'" },
-    { name = "iniconfig" },
-    { name = "packaging" },
-    { name = "pluggy" },
-    { name = "pygments" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/d1/db/7ef3487e0fb0049ddb5ce41d3a49c235bf9ad299b6a25d5780a89f19230f/pytest-9.0.2.tar.gz", hash = "sha256:75186651a92bd89611d1d9fc20f0b4345fd827c41ccd5c299a868a05d70edf11", size = 1568901, upload-time = "2025-12-06T21:30:51.014Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/3b/ab/b3226f0bd7cdcf710fbede2b3548584366da3b19b5021e74f5bde2a8fa3f/pytest-9.0.2-py3-none-any.whl", hash = "sha256:711ffd45bf766d5264d487b917733b453d917afd2b0ad65223959f59089f875b", size = 374801, upload-time = "2025-12-06T21:30:49.154Z" },
-]
-
-[[package]]
-name = "pytest-asyncio"
-version = "1.3.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pytest" },
-    { name = "typing-extensions" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/90/2c/8af215c0f776415f3590cac4f9086ccefd6fd463befeae41cd4d3f193e5a/pytest_asyncio-1.3.0.tar.gz", hash = "sha256:d7f52f36d231b80ee124cd216ffb19369aa168fc10095013c6b014a34d3ee9e5", size = 50087, upload-time = "2025-11-10T16:07:47.256Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e5/35/f8b19922b6a25bc0880171a2f1a003eaeb93657475193ab516fd87cac9da/pytest_asyncio-1.3.0-py3-none-any.whl", hash = "sha256:611e26147c7f77640e6d0a92a38ed17c3e9848063698d5c93d5aa7aa11cebff5", size = 15075, upload-time = "2025-11-10T16:07:45.537Z" },
-]
-
-[[package]]
-name = "pytest-cpp"
-version = "2.6.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pytest" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/cf/a1/c2679d7ff2da20a0f89c7820ae2739cde739eac9b43c192531117b31b5f4/pytest_cpp-2.6.0.tar.gz", hash = "sha256:c2f49d3c038539ac84786a94d852e4f4619c34c95979c2bc69c20b3bdf051d85", size = 465490, upload-time = "2024-09-18T00:08:08.251Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2a/44/dc2f5d53165264ae5831f361fe7723c45da05718a97015b2eddc452cf503/pytest_cpp-2.6.0-py3-none-any.whl", hash = "sha256:b33de94609450feea2fba9efff3558b8ac8f1fdf40a99e263b395d4798b911bb", size = 15074, upload-time = "2024-09-18T00:08:06.415Z" },
-]
-
-[[package]]
-name = "pytest-mock"
-version = "3.15.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pytest" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/68/14/eb014d26be205d38ad5ad20d9a80f7d201472e08167f0bb4361e251084a9/pytest_mock-3.15.1.tar.gz", hash = "sha256:1849a238f6f396da19762269de72cb1814ab44416fa73a8686deac10b0d87a0f", size = 34036, upload-time = "2025-09-16T16:37:27.081Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/5a/cc/06253936f4a7fa2e0f48dfe6d851d9c56df896a9ab09ac019d70b760619c/pytest_mock-3.15.1-py3-none-any.whl", hash = "sha256:0a25e2eb88fe5168d535041d09a4529a188176ae608a6d249ee65abc0949630d", size = 10095, upload-time = "2025-09-16T16:37:25.734Z" },
-]
-
-[[package]]
-name = "pytest-subtests"
-version = "0.15.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "attrs" },
-    { name = "pytest" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/bb/d9/20097971a8d315e011e055d512fa120fd6be3bdb8f4b3aa3e3c6bf77bebc/pytest_subtests-0.15.0.tar.gz", hash = "sha256:cb495bde05551b784b8f0b8adfaa27edb4131469a27c339b80fd8d6ba33f887c", size = 18525, upload-time = "2025-10-20T16:26:18.358Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/23/64/bba465299b37448b4c1b84c7a04178399ac22d47b3dc5db1874fe55a2bd3/pytest_subtests-0.15.0-py3-none-any.whl", hash = "sha256:da2d0ce348e1f8d831d5a40d81e3aeac439fec50bd5251cbb7791402696a9493", size = 9185, upload-time = "2025-10-20T16:26:17.239Z" },
-]
-
-[[package]]
-name = "pytest-timeout"
-version = "2.4.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pytest" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/ac/82/4c9ecabab13363e72d880f2fb504c5f750433b2b6f16e99f4ec21ada284c/pytest_timeout-2.4.0.tar.gz", hash = "sha256:7e68e90b01f9eff71332b25001f85c75495fc4e3a836701876183c4bcfd0540a", size = 17973, upload-time = "2025-05-05T19:44:34.99Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/fa/b6/3127540ecdf1464a00e5a01ee60a1b09175f6913f0644ac748494d9c4b21/pytest_timeout-2.4.0-py3-none-any.whl", hash = "sha256:c42667e5cdadb151aeb5b26d114aff6bdf5a907f176a007a30b940d3d865b5c2", size = 14382, upload-time = "2025-05-05T19:44:33.502Z" },
-]
-
-[[package]]
-name = "pytest-xdist"
-version = "3.7.1.dev24+g2b4372bd6"
-source = { git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da#2b4372bd62699fb412c4fe2f95bf9f01bd2018da" }
-dependencies = [
-    { name = "execnet" },
-    { name = "pytest" },
-]
-
 [[package]]
 name = "python-dateutil"
 version = "2.9.0.post0"
@@ -3873,72 +1007,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ec/57/56b9bcc3c9c6a792fcbaf139543cee77261f3651ca9da0c93f5c1221264b/python_dateutil-2.9.0.post0-py2.py3-none-any.whl", hash = "sha256:a8b2bc7bffae282281c8140a97d3aa9c14da0b136dfe83f850eea9a5f7470427", size = 229892, upload-time = "2024-03-01T18:36:18.57Z" },
 ]
 
-[[package]]
-name = "python-xlib"
-version = "0.33"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "six" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/86/f5/8c0653e5bb54e0cbdfe27bf32d41f27bc4e12faa8742778c17f2a71be2c0/python-xlib-0.33.tar.gz", hash = "sha256:55af7906a2c75ce6cb280a584776080602444f75815a7aff4d287bb2d7018b32", size = 269068, upload-time = "2022-12-25T18:53:00.824Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/fc/b8/ff33610932e0ee81ae7f1269c890f697d56ff74b9f5b2ee5d9b7fa2c5355/python_xlib-0.33-py2.py3-none-any.whl", hash = "sha256:c3534038d42e0df2f1392a1b30a15a4ff5fdc2b86cfa94f072bf11b10a164398", size = 182185, upload-time = "2022-12-25T18:52:58.662Z" },
-]
-
-[[package]]
-name = "python3-xlib"
-version = "0.15"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ef/c6/2c5999de3bb1533521f1101e8fe56fd9c266732f4d48011c7c69b29d12ae/python3-xlib-0.15.tar.gz", hash = "sha256:dc4245f3ae4aa5949c1d112ee4723901ade37a96721ba9645f2bfa56e5b383f8", size = 132828, upload-time = "2014-05-31T12:28:59.603Z" }
-
-[[package]]
-name = "pytweening"
-version = "1.2.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/79/0c/c16bc93ac2755bac0066a8ecbd2a2931a1735a6fffd99a2b9681c7e83e90/pytweening-1.2.0.tar.gz", hash = "sha256:243318b7736698066c5f362ec5c2b6434ecf4297c3c8e7caa8abfe6af4cac71b", size = 171241, upload-time = "2024-02-20T03:37:56.809Z" }
-
-[[package]]
-name = "pywin32"
-version = "311"
-source = { registry = "https://pypi.org/simple" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/e7/ab/01ea1943d4eba0f850c3c61e78e8dd59757ff815ff3ccd0a84de5f541f42/pywin32-311-cp312-cp312-win32.whl", hash = "sha256:750ec6e621af2b948540032557b10a2d43b0cee2ae9758c54154d711cc852d31", size = 8706543, upload-time = "2025-07-14T20:13:20.765Z" },
-    { url = "https://files.pythonhosted.org/packages/d1/a8/a0e8d07d4d051ec7502cd58b291ec98dcc0c3fff027caad0470b72cfcc2f/pywin32-311-cp312-cp312-win_amd64.whl", hash = "sha256:b8c095edad5c211ff31c05223658e71bf7116daa0ecf3ad85f3201ea3190d067", size = 9495040, upload-time = "2025-07-14T20:13:22.543Z" },
-    { url = "https://files.pythonhosted.org/packages/ba/3a/2ae996277b4b50f17d61f0603efd8253cb2d79cc7ae159468007b586396d/pywin32-311-cp312-cp312-win_arm64.whl", hash = "sha256:e286f46a9a39c4a18b319c28f59b61de793654af2f395c102b4f819e584b5852", size = 8710102, upload-time = "2025-07-14T20:13:24.682Z" },
-]
-
-[[package]]
-name = "pywinbox"
-version = "0.7"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
-    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
-    { name = "python-xlib", marker = "sys_platform == 'linux'" },
-    { name = "pywin32", marker = "sys_platform == 'win32'" },
-    { name = "typing-extensions" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b1/37/d59397221e15d2a7f38afaa4e8e6b8c244d818044f7daa0bdc5988df0a69/PyWinBox-0.7-py3-none-any.whl", hash = "sha256:8b2506a8dd7afa0a910b368762adfac885274132ef9151b0c81b0d2c6ffd6f83", size = 12274, upload-time = "2024-04-17T10:10:31.899Z" },
-]
-
-[[package]]
-name = "pywinctl"
-version = "0.4.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "ewmhlib", marker = "sys_platform == 'linux'" },
-    { name = "pymonctl" },
-    { name = "pyobjc", marker = "sys_platform == 'darwin'" },
-    { name = "python-xlib", marker = "sys_platform == 'linux'" },
-    { name = "pywin32", marker = "sys_platform == 'win32'" },
-    { name = "pywinbox" },
-    { name = "typing-extensions" },
-]
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/be/33/8e4f632210b28fc9e998a9ab990e7ed97ecd2800cc50038e3800e1d85dbe/PyWinCtl-0.4.1-py3-none-any.whl", hash = "sha256:4d875e22969e1c6239d8c73156193630aaab876366167b8d97716f956384b089", size = 63158, upload-time = "2024-09-23T08:33:39.881Z" },
-]
-
 [[package]]
 name = "pyyaml"
 version = "6.0.3"
@@ -3957,18 +1025,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/1a/08/67bd04656199bbb51dbed1439b7f27601dfb576fb864099c7ef0c3e55531/pyyaml-6.0.3-cp312-cp312-win_arm64.whl", hash = "sha256:64386e5e707d03a7e172c0701abfb7e10f0fb753ee1d773128192742712a98fd", size = 140344, upload-time = "2025-09-25T21:32:22.617Z" },
 ]
 
-[[package]]
-name = "pyyaml-env-tag"
-version = "1.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "pyyaml" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/eb/2e/79c822141bfd05a853236b504869ebc6b70159afc570e1d5a20641782eaa/pyyaml_env_tag-1.1.tar.gz", hash = "sha256:2eb38b75a2d21ee0475d6d97ec19c63287a7e140231e4214969d0eac923cd7ff", size = 5737, upload-time = "2025-05-13T15:24:01.64Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/04/11/432f32f8097b03e3cd5fe57e88efb685d964e2e5178a48ed61e841f7fdce/pyyaml_env_tag-1.1-py3-none-any.whl", hash = "sha256:17109e1a528561e32f026364712fee1264bc2ea6715120891174ed1b980d2e04", size = 4722, upload-time = "2025-05-13T15:23:59.629Z" },
-]
-
 [[package]]
 name = "pyzmq"
 version = "27.1.0"
@@ -3991,38 +1047,37 @@ wheels = [
 ]
 
 [[package]]
-name = "qrcode"
-version = "8.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "colorama", marker = "sys_platform == 'win32'" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/8f/b2/7fc2931bfae0af02d5f53b174e9cf701adbb35f39d69c2af63d4a39f81a9/qrcode-8.2.tar.gz", hash = "sha256:35c3f2a4172b33136ab9f6b3ef1c00260dd2f66f858f24d88418a015f446506c", size = 43317, upload-time = "2025-05-01T15:44:24.726Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/dd/b8/d2d6d731733f51684bbf76bf34dab3b70a9148e8f2cef2bb544fccec681a/qrcode-8.2-py3-none-any.whl", hash = "sha256:16e64e0716c14960108e85d853062c9e8bba5ca8252c0b4d0231b9df4060ff4f", size = 45986, upload-time = "2025-05-01T15:44:22.781Z" },
-]
-
-[[package]]
-name = "raylib"
-version = "5.5.0.4"
-source = { registry = "https://pypi.org/simple" }
+name = "rednose"
+version = "0.0.1"
+source = { editable = "rednose_repo" }
 dependencies = [
     { name = "cffi" },
+    { name = "comma-deps-eigen" },
+    { name = "cython" },
+    { name = "numpy" },
+    { name = "scons" },
+    { name = "setuptools" },
+    { name = "sympy" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/7c/4b/858958762c075c54058ee3b0771838fd505ca908871e6a0397b01086e526/raylib-5.5.0.4.tar.gz", hash = "sha256:996506e8a533cd7a6a3ef6c44ec11f9d6936698f2c394a991af8022be33079a0", size = 184413, upload-time = "2025-12-11T15:32:12.465Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/95/21/9117d7013997a65f6d51c6f56145b2c583eeba8f7c1af71a60776eaae9b9/raylib-5.5.0.4-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:31f64f71e42fed10e8f3629028c9f5700906e0e573b915cfc2244d7a3f3b2ed9", size = 1635486, upload-time = "2025-12-11T15:27:31.05Z" },
-    { url = "https://files.pythonhosted.org/packages/1c/a3/e55039c8f49856c5a194f2b81f27ca6ba2d5900024f09435587e177bfaf2/raylib-5.5.0.4-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:80bfa053e765d47a9f58d59e321a999184b5a5190e369dd015c12fcfd08d6217", size = 1554132, upload-time = "2025-12-11T15:27:33.291Z" },
-    { url = "https://files.pythonhosted.org/packages/58/1c/86bee75ecaa577214da16b374f8de70b45885452703f622c63e06baa0b8e/raylib-5.5.0.4-cp312-cp312-manylinux2010_i686.manylinux_2_12_i686.whl", hash = "sha256:033240c61c1a1fc06fecff747a183671431a4ce63a0c8aafec59217845f86888", size = 2039888, upload-time = "2025-12-11T15:27:36.059Z" },
-    { url = "https://files.pythonhosted.org/packages/fb/f9/00763899bb8a178a927b5dda90aca692c80ff6cec5f51e6fee88db3f45c2/raylib-5.5.0.4-cp312-cp312-manylinux2014_aarch64.whl", hash = "sha256:ba87ca50c5748cab75de37a991b7f3f836ce500efbb2d737a923a5f464169088", size = 2198926, upload-time = "2025-12-11T18:50:08.813Z" },
-    { url = "https://files.pythonhosted.org/packages/6b/e9/0123385e369904335985ebd59157f7a10c89c3a706dffcf6dace863a1fa2/raylib-5.5.0.4-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:788830bc371ce067c4930ff46a1b6eca0c9cf27bac88f81b035e4b73cc6bf197", size = 2205629, upload-time = "2025-12-11T15:27:39.491Z" },
-    { url = "https://files.pythonhosted.org/packages/5c/fa/c25087b39d2db2d833a52b4056ae62db74e64b4be677f816e0b368e65453/raylib-5.5.0.4-cp312-cp312-win32.whl", hash = "sha256:e09f395035484337776c90e6c9955c5876b988db7e13168dcadb6ed11974f8ee", size = 1457266, upload-time = "2025-12-11T15:27:43.798Z" },
-    { url = "https://files.pythonhosted.org/packages/2c/66/a307e61c953ace906ba68ba1174ed8f1e90e68d5fc3e3af9fb7dc46d68d1/raylib-5.5.0.4-cp312-cp312-win_amd64.whl", hash = "sha256:553043a050a31f2ef072f26d3a70373f838a04733f7c5b26a4e9ee3f8caf06ec", size = 1708354, upload-time = "2025-12-11T15:27:45.979Z" },
+
+[package.metadata]
+requires-dist = [
+    { name = "cffi" },
+    { name = "comma-deps-eigen" },
+    { name = "cython" },
+    { name = "numpy" },
+    { name = "ruff", marker = "extra == 'dev'" },
+    { name = "scipy", marker = "extra == 'dev'" },
+    { name = "scons" },
+    { name = "setuptools" },
+    { name = "sympy" },
+    { name = "ty", marker = "extra == 'dev'" },
 ]
+provides-extras = ["dev"]
 
 [[package]]
 name = "requests"
-version = "2.32.5"
+version = "2.34.2"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
@@ -4030,52 +1085,34 @@ dependencies = [
     { name = "idna" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/c9/74/b3ff8e6c8446842c3f5c837e9c3dfcfe2018ea6ecef224c710c85ef728f4/requests-2.32.5.tar.gz", hash = "sha256:dbba0bac56e100853db0ea71b82b4dfd5fe2bf6d3754a8893c3af500cec7d7cf", size = 134517, upload-time = "2025-08-18T20:46:02.573Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/ac/c3/e2a2b89f2d3e2179abd6d00ebd70bff6273f37fb3e0cc209f48b39d00cbf/requests-2.34.2.tar.gz", hash = "sha256:f288924cae4e29463698d6d60bc6a4da69c89185ad1e0bcc4104f584e960b9ed", size = 142856, upload-time = "2026-05-14T19:25:27.735Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/1e/db/4254e3eabe8020b458f1a747140d32277ec7a271daf1d235b70dc0b4e6e3/requests-2.32.5-py3-none-any.whl", hash = "sha256:2462f94637a34fd532264295e186976db0f5d453d1cdd31473c85a6a161affb6", size = 64738, upload-time = "2025-08-18T20:46:00.542Z" },
-]
-
-[[package]]
-name = "ruamel-yaml"
-version = "0.19.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c7/3b/ebda527b56beb90cb7652cb1c7e4f91f48649fbcd8d2eb2fb6e77cd3329b/ruamel_yaml-0.19.1.tar.gz", hash = "sha256:53eb66cd27849eff968ebf8f0bf61f46cdac2da1d1f3576dd4ccee9b25c31993", size = 142709, upload-time = "2026-01-02T16:50:31.84Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b8/0c/51f6841f1d84f404f92463fc2b1ba0da357ca1e3db6b7fbda26956c3b82a/ruamel_yaml-0.19.1-py3-none-any.whl", hash = "sha256:27592957fedf6e0b62f281e96effd28043345e0e66001f97683aa9a40c667c93", size = 118102, upload-time = "2026-01-02T16:50:29.201Z" },
-]
-
-[[package]]
-name = "rubicon-objc"
-version = "0.5.3"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/4f/d2/d39ecd205661a5c14c90dbd92a722a203848a3621785c9783716341de427/rubicon_objc-0.5.3.tar.gz", hash = "sha256:74c25920c5951a05db9d3a1aac31d23816ec7dacc841a5b124d911b99ea71b9a", size = 171512, upload-time = "2025-12-03T03:51:10.264Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/93/ab/e834c01138c272fb2e37d2f3c7cba708bc694dbc7b3f03b743f29ceb92d5/rubicon_objc-0.5.3-py3-none-any.whl", hash = "sha256:31dedcda9be38435f5ec067906e1eea5d0ddb790330e98a22e94ff424758b415", size = 64414, upload-time = "2025-12-03T03:51:09.082Z" },
+    { url = "https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl", hash = "sha256:2a0d60c172f83ac6ab31e4554906c0f3b3588d37b5cb939b1c061f4907e278e0", size = 73075, upload-time = "2026-05-14T19:25:26.443Z" },
 ]
 
 [[package]]
 name = "ruff"
-version = "0.15.1"
+version = "0.16.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/04/dc/4e6ac71b511b141cf626357a3946679abeba4cf67bc7cc5a17920f31e10d/ruff-0.15.1.tar.gz", hash = "sha256:c590fe13fb57c97141ae975c03a1aedb3d3156030cabd740d6ff0b0d601e203f", size = 4540855, upload-time = "2026-02-12T23:09:09.998Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/73/e1/4508a569211b35599016e84ba65c1a992b7a4004b4b6c4bea02a851cba1b/ruff-0.16.2.tar.gz", hash = "sha256:c3d7828d12e8927a6fc65fe38e2c2541b9e762d360a1786d752cb1b8883b3c9c", size = 4885811, upload-time = "2026-08-07T13:31:01.432Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/23/bf/e6e4324238c17f9d9120a9d60aa99a7daaa21204c07fcd84e2ef03bb5fd1/ruff-0.15.1-py3-none-linux_armv6l.whl", hash = "sha256:b101ed7cf4615bda6ffe65bdb59f964e9f4a0d3f85cbf0e54f0ab76d7b90228a", size = 10367819, upload-time = "2026-02-12T23:09:03.598Z" },
-    { url = "https://files.pythonhosted.org/packages/b3/ea/c8f89d32e7912269d38c58f3649e453ac32c528f93bb7f4219258be2e7ed/ruff-0.15.1-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:939c995e9277e63ea632cc8d3fae17aa758526f49a9a850d2e7e758bfef46602", size = 10798618, upload-time = "2026-02-12T23:09:22.928Z" },
-    { url = "https://files.pythonhosted.org/packages/5e/0f/1d0d88bc862624247d82c20c10d4c0f6bb2f346559d8af281674cf327f15/ruff-0.15.1-py3-none-macosx_11_0_arm64.whl", hash = "sha256:1d83466455fdefe60b8d9c8df81d3c1bbb2115cede53549d3b522ce2bc703899", size = 10148518, upload-time = "2026-02-12T23:08:58.339Z" },
-    { url = "https://files.pythonhosted.org/packages/f5/c8/291c49cefaa4a9248e986256df2ade7add79388fe179e0691be06fae6f37/ruff-0.15.1-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a9457e3c3291024866222b96108ab2d8265b477e5b1534c7ddb1810904858d16", size = 10518811, upload-time = "2026-02-12T23:09:31.865Z" },
-    { url = "https://files.pythonhosted.org/packages/c3/1a/f5707440e5ae43ffa5365cac8bbb91e9665f4a883f560893829cf16a606b/ruff-0.15.1-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:92c92b003e9d4f7fbd33b1867bb15a1b785b1735069108dfc23821ba045b29bc", size = 10196169, upload-time = "2026-02-12T23:09:17.306Z" },
-    { url = "https://files.pythonhosted.org/packages/2a/ff/26ddc8c4da04c8fd3ee65a89c9fb99eaa5c30394269d424461467be2271f/ruff-0.15.1-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1fe5c41ab43e3a06778844c586251eb5a510f67125427625f9eb2b9526535779", size = 10990491, upload-time = "2026-02-12T23:09:25.503Z" },
-    { url = "https://files.pythonhosted.org/packages/fc/00/50920cb385b89413f7cdb4bb9bc8fc59c1b0f30028d8bccc294189a54955/ruff-0.15.1-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:66a6dd6df4d80dc382c6484f8ce1bcceb55c32e9f27a8b94c32f6c7331bf14fb", size = 11843280, upload-time = "2026-02-12T23:09:19.88Z" },
-    { url = "https://files.pythonhosted.org/packages/5d/6d/2f5cad8380caf5632a15460c323ae326f1e1a2b5b90a6ee7519017a017ca/ruff-0.15.1-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:6a4a42cbb8af0bda9bcd7606b064d7c0bc311a88d141d02f78920be6acb5aa83", size = 11274336, upload-time = "2026-02-12T23:09:14.907Z" },
-    { url = "https://files.pythonhosted.org/packages/a3/1d/5f56cae1d6c40b8a318513599b35ea4b075d7dc1cd1d04449578c29d1d75/ruff-0.15.1-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4ab064052c31dddada35079901592dfba2e05f5b1e43af3954aafcbc1096a5b2", size = 11137288, upload-time = "2026-02-12T23:09:07.475Z" },
-    { url = "https://files.pythonhosted.org/packages/cd/20/6f8d7d8f768c93b0382b33b9306b3b999918816da46537d5a61635514635/ruff-0.15.1-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:5631c940fe9fe91f817a4c2ea4e81f47bee3ca4aa646134a24374f3c19ad9454", size = 11070681, upload-time = "2026-02-12T23:08:55.43Z" },
-    { url = "https://files.pythonhosted.org/packages/9a/67/d640ac76069f64cdea59dba02af2e00b1fa30e2103c7f8d049c0cff4cafd/ruff-0.15.1-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:68138a4ba184b4691ccdc39f7795c66b3c68160c586519e7e8444cf5a53e1b4c", size = 10486401, upload-time = "2026-02-12T23:09:27.927Z" },
-    { url = "https://files.pythonhosted.org/packages/65/3d/e1429f64a3ff89297497916b88c32a5cc88eeca7e9c787072d0e7f1d3e1e/ruff-0.15.1-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:518f9af03bfc33c03bdb4cb63fabc935341bb7f54af500f92ac309ecfbba6330", size = 10197452, upload-time = "2026-02-12T23:09:12.147Z" },
-    { url = "https://files.pythonhosted.org/packages/78/83/e2c3bade17dad63bf1e1c2ffaf11490603b760be149e1419b07049b36ef2/ruff-0.15.1-py3-none-musllinux_1_2_i686.whl", hash = "sha256:da79f4d6a826caaea95de0237a67e33b81e6ec2e25fc7e1993a4015dffca7c61", size = 10693900, upload-time = "2026-02-12T23:09:34.418Z" },
-    { url = "https://files.pythonhosted.org/packages/a1/27/fdc0e11a813e6338e0706e8b39bb7a1d61ea5b36873b351acee7e524a72a/ruff-0.15.1-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:3dd86dccb83cd7d4dcfac303ffc277e6048600dfc22e38158afa208e8bf94a1f", size = 11227302, upload-time = "2026-02-12T23:09:36.536Z" },
-    { url = "https://files.pythonhosted.org/packages/f6/58/ac864a75067dcbd3b95be5ab4eb2b601d7fbc3d3d736a27e391a4f92a5c1/ruff-0.15.1-py3-none-win32.whl", hash = "sha256:660975d9cb49b5d5278b12b03bb9951d554543a90b74ed5d366b20e2c57c2098", size = 10462555, upload-time = "2026-02-12T23:09:29.899Z" },
-    { url = "https://files.pythonhosted.org/packages/e0/5e/d4ccc8a27ecdb78116feac4935dfc39d1304536f4296168f91ed3ec00cd2/ruff-0.15.1-py3-none-win_amd64.whl", hash = "sha256:c820fef9dd5d4172a6570e5721704a96c6679b80cf7be41659ed439653f62336", size = 11599956, upload-time = "2026-02-12T23:09:01.157Z" },
-    { url = "https://files.pythonhosted.org/packages/2a/07/5bda6a85b220c64c65686bc85bd0bbb23b29c62b3a9f9433fa55f17cda93/ruff-0.15.1-py3-none-win_arm64.whl", hash = "sha256:5ff7d5f0f88567850f45081fac8f4ec212be8d0b963e385c3f7d0d2eb4899416", size = 10874604, upload-time = "2026-02-12T23:09:05.515Z" },
+    { url = "https://files.pythonhosted.org/packages/14/57/db19951540f98859c956b50bdb4d31089b4d91e9f15e2968e7d5193806d5/ruff-0.16.2-py3-none-linux_armv6l.whl", hash = "sha256:3c8de4cf2181f01d57946d87d777aa52916976fc09942aed89938fab5e013318", size = 10847925, upload-time = "2026-08-07T13:30:14.468Z" },
+    { url = "https://files.pythonhosted.org/packages/13/5a/995fe85a8470d3e391ac0f7fa8054bb454eaf33ee138196d6172ed1079c0/ruff-0.16.2-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:9a48cc05c6fbc811ca81b5d7ba95375affea6582d1b8024e455e41afbbf55344", size = 11072662, upload-time = "2026-08-07T13:30:18.143Z" },
+    { url = "https://files.pythonhosted.org/packages/32/53/370d767c61c71a971a4ace36703a7ecd8c393956349a7325d7fab2b56827/ruff-0.16.2-py3-none-macosx_11_0_arm64.whl", hash = "sha256:a2c0d14fcbb26c91f0f867a6dc9bd71bbc30b1b6151829c884f23faeab2e5700", size = 10566771, upload-time = "2026-08-07T13:30:20.899Z" },
+    { url = "https://files.pythonhosted.org/packages/85/d6/9d96948caf5a632be62d62202d5ec914d6856f204fd79eb036e5915e79ea/ruff-0.16.2-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:335c621622c4650330be50842561c6586ac6971bb8ab5407fe34dcc9efb16bbe", size = 10975825, upload-time = "2026-08-07T13:30:23.517Z" },
+    { url = "https://files.pythonhosted.org/packages/3b/92/ea87129b3414acb0b5770563779c51804d37ac67675c7ba35447ddb14773/ruff-0.16.2-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:20e66910f2c37cc753f9ef6580c914a621b80c4fa3549d3e3521e29d0f5bfc3f", size = 10649437, upload-time = "2026-08-07T13:30:26.097Z" },
+    { url = "https://files.pythonhosted.org/packages/ac/43/f8f291dcd4af5bb7872b74fdfa41a7cd7c856ca1d4069670971cf1b9f5cb/ruff-0.16.2-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c7e36fbfba65510548156902bcf1350a979a958ce0347ce0f90d73894036b39f", size = 11446761, upload-time = "2026-08-07T13:30:28.752Z" },
+    { url = "https://files.pythonhosted.org/packages/71/4a/ef991fb2fcf516ab71f0808adcdd8da5e18c8cde447f4ceaf5f47a5132a5/ruff-0.16.2-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f0eab35f80df8f134aae5d1630e751901321d317cc8e50dc39e36fa3ed34cd12", size = 12336364, upload-time = "2026-08-07T13:30:31.468Z" },
+    { url = "https://files.pythonhosted.org/packages/f3/24/f615e74f307e6ca0e56a482872477b856c70d530aa356abfb6dfe5ca8a80/ruff-0.16.2-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:40ea8c0594feb894e89c8c61ab9c103d38b0ea72dfde6c594107147ca31b1140", size = 11630720, upload-time = "2026-08-07T13:30:34.426Z" },
+    { url = "https://files.pythonhosted.org/packages/c5/d3/8ef50149e8412a77f7ab409efdef0e2b23803707a3863da4fc64cb23d459/ruff-0.16.2-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ab3d62dde0b19facdd632008cc4827fc28ada7736c6bd35ab6f1050f0bfed53f", size = 11466130, upload-time = "2026-08-07T13:30:36.958Z" },
+    { url = "https://files.pythonhosted.org/packages/dd/a7/a19334985c4dea8c381981fa252cd854c7ee52dc4b1686dc16f4a911c702/ruff-0.16.2-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:e43e1f5b8388da9eca1b9e88328d47a5cec794633ccf6f7484ac2dd15eee92c0", size = 11523634, upload-time = "2026-08-07T13:30:39.822Z" },
+    { url = "https://files.pythonhosted.org/packages/6e/6c/96d192b0e742412ceda08c0a50f9669b253dde9fd6a60ea1a10c9fa79a63/ruff-0.16.2-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:c24788a980581e1d7ea3a0cbe4344c4fbeb0a6a9b1f4713aa46bb104f8294690", size = 10949807, upload-time = "2026-08-07T13:30:42.745Z" },
+    { url = "https://files.pythonhosted.org/packages/fa/51/e26599ceca11e79ee255c7df515995561edf87e9ca1893284e44d98f5a86/ruff-0.16.2-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:81806b08329130005dd4a8a8394a0c9da8c6f4cafb16ba438d2a2ee6a18bedf1", size = 10646891, upload-time = "2026-08-07T13:30:45.522Z" },
+    { url = "https://files.pythonhosted.org/packages/68/01/800c4b1f97bc8d7c6029e06b1f20473a3cf1e13c4933d8f3342add83fc55/ruff-0.16.2-py3-none-musllinux_1_2_i686.whl", hash = "sha256:4ce4e02bad779bef557f541a1b31f20d6abeae1cc05ed1b1ac019d4ffd1044c8", size = 11162063, upload-time = "2026-08-07T13:30:48.131Z" },
+    { url = "https://files.pythonhosted.org/packages/e4/d0/1477ea50fc5a0d4b0b71d1d63d50770bdd794d90b43e37a7618e63ec9894/ruff-0.16.2-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:e0422abdf70070255fc4073ce9dfc814cc03db577013761ddd09bc1e4a9a4fbd", size = 11556038, upload-time = "2026-08-07T13:30:50.686Z" },
+    { url = "https://files.pythonhosted.org/packages/b8/76/a7776f32048d991e16d4fa8ff91790b877342d3596cc3ed04acdbf1aaedc/ruff-0.16.2-py3-none-win32.whl", hash = "sha256:bf3a63d78fb39f4bf5ac8ae52051c5520505301abe19ba4e204c453b3f09bb0b", size = 10872850, upload-time = "2026-08-07T13:30:53.471Z" },
+    { url = "https://files.pythonhosted.org/packages/00/0d/929c800d920e61397d82a01b60bffc68da3052c17d31de59efaad2e4ed75/ruff-0.16.2-py3-none-win_amd64.whl", hash = "sha256:bcabe2f6d0fc7819f1431793005af4e4de7371927d037345bf941252b195b9fa", size = 12023338, upload-time = "2026-08-07T13:30:56.193Z" },
+    { url = "https://files.pythonhosted.org/packages/5b/6c/93e26c22c5f78ff87363e07da49c84955affbeb1098bd1936bf3b3f293bf/ruff-0.16.2-py3-none-win_arm64.whl", hash = "sha256:d614e95cedf38a2053fd351c55b103ba30d017d61688fdbfd40ee0412852a99f", size = 11374065, upload-time = "2026-08-07T13:30:58.775Z" },
 ]
 
 [[package]]
@@ -4089,15 +1126,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.52.0"
+version = "2.67.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/59/eb/1b497650eb564701f9a7b8a95c51b2abe9347ed2c0b290ba78f027ebe4ea/sentry_sdk-2.52.0.tar.gz", hash = "sha256:fa0bec872cfec0302970b2996825723d67390cdd5f0229fb9efed93bd5384899", size = 410273, upload-time = "2026-02-04T15:03:54.706Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/ad/8a/b2eec40df8a67bf073e244d29001d04ee365d163bc4f15efdfce35f53090/sentry_sdk-2.67.1.tar.gz", hash = "sha256:f263d8c9aa4137750640de8fb0ed5404df6bb564e20e4b59cb16a6eeba18d4ed", size = 990599, upload-time = "2026-08-10T13:05:55.892Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ca/63/2c6daf59d86b1c30600bff679d039f57fd1932af82c43c0bde1cbc55e8d4/sentry_sdk-2.52.0-py2.py3-none-any.whl", hash = "sha256:931c8f86169fc6f2752cb5c4e6480f0d516112e78750c312e081ababecbaf2ed", size = 435547, upload-time = "2026-02-04T15:03:51.567Z" },
+    { url = "https://files.pythonhosted.org/packages/34/e2/70692eba662037cddf93391cbbf98297159f3038612e9b9a8129e16feb7a/sentry_sdk-2.67.1-py3-none-any.whl", hash = "sha256:a66bfbce1cd8a93c51c369d642ad85b46253ea7a6f7938141315b83e2823cda5", size = 515591, upload-time = "2026-08-10T13:05:54.213Z" },
 ]
 
 [[package]]
@@ -4120,30 +1157,11 @@ wheels = [
 
 [[package]]
 name = "setuptools"
-version = "82.0.0"
+version = "84.0.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/82/f3/748f4d6f65d1756b9ae577f329c951cda23fb900e4de9f70900ced962085/setuptools-82.0.0.tar.gz", hash = "sha256:22e0a2d69474c6ae4feb01951cb69d515ed23728cf96d05513d36e42b62b37cb", size = 1144893, upload-time = "2026-02-08T15:08:40.206Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/6d/44/f5da03a8ef95d369145c5bb53050e7877c9f3d312e128605fd9504829143/setuptools-84.0.0.tar.gz", hash = "sha256:f4695c21257f0d9b537ec2692c941d02ee143b7cc1276941349a546573b2ef73", size = 1168449, upload-time = "2026-08-08T18:27:58.365Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/e1/c6/76dc613121b793286a3f91621d7b75a2b493e0390ddca50f11993eadf192/setuptools-82.0.0-py3-none-any.whl", hash = "sha256:70b18734b607bd1da571d097d236cfcfacaf01de45717d59e6e04b96877532e0", size = 1003468, upload-time = "2026-02-08T15:08:38.723Z" },
-]
-
-[[package]]
-name = "shapely"
-version = "2.1.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "numpy" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/4d/bc/0989043118a27cccb4e906a46b7565ce36ca7b57f5a18b78f4f1b0f72d9d/shapely-2.1.2.tar.gz", hash = "sha256:2ed4ecb28320a433db18a5bf029986aa8afcfd740745e78847e330d5d94922a9", size = 315489, upload-time = "2025-09-24T13:51:41.432Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/24/c0/f3b6453cf2dfa99adc0ba6675f9aaff9e526d2224cbd7ff9c1a879238693/shapely-2.1.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:fe2533caae6a91a543dec62e8360fe86ffcdc42a7c55f9dfd0128a977a896b94", size = 1833550, upload-time = "2025-09-24T13:50:30.019Z" },
-    { url = "https://files.pythonhosted.org/packages/86/07/59dee0bc4b913b7ab59ab1086225baca5b8f19865e6101db9ebb7243e132/shapely-2.1.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:ba4d1333cc0bc94381d6d4308d2e4e008e0bd128bdcff5573199742ee3634359", size = 1643556, upload-time = "2025-09-24T13:50:32.291Z" },
-    { url = "https://files.pythonhosted.org/packages/26/29/a5397e75b435b9895cd53e165083faed5d12fd9626eadec15a83a2411f0f/shapely-2.1.2-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:0bd308103340030feef6c111d3eb98d50dc13feea33affc8a6f9fa549e9458a3", size = 2988308, upload-time = "2025-09-24T13:50:33.862Z" },
-    { url = "https://files.pythonhosted.org/packages/b9/37/e781683abac55dde9771e086b790e554811a71ed0b2b8a1e789b7430dd44/shapely-2.1.2-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:1e7d4d7ad262a48bb44277ca12c7c78cb1b0f56b32c10734ec9a1d30c0b0c54b", size = 3099844, upload-time = "2025-09-24T13:50:35.459Z" },
-    { url = "https://files.pythonhosted.org/packages/d8/f3/9876b64d4a5a321b9dc482c92bb6f061f2fa42131cba643c699f39317cb9/shapely-2.1.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:e9eddfe513096a71896441a7c37db72da0687b34752c4e193577a145c71736fc", size = 3988842, upload-time = "2025-09-24T13:50:37.478Z" },
-    { url = "https://files.pythonhosted.org/packages/d1/a0/704c7292f7014c7e74ec84eddb7b109e1fbae74a16deae9c1504b1d15565/shapely-2.1.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:980c777c612514c0cf99bc8a9de6d286f5e186dcaf9091252fcd444e5638193d", size = 4152714, upload-time = "2025-09-24T13:50:39.9Z" },
-    { url = "https://files.pythonhosted.org/packages/53/46/319c9dc788884ad0785242543cdffac0e6530e4d0deb6c4862bc4143dcf3/shapely-2.1.2-cp312-cp312-win32.whl", hash = "sha256:9111274b88e4d7b54a95218e243282709b330ef52b7b86bc6aaf4f805306f454", size = 1542745, upload-time = "2025-09-24T13:50:41.414Z" },
-    { url = "https://files.pythonhosted.org/packages/ec/bf/cb6c1c505cb31e818e900b9312d514f381fbfa5c4363edfce0fcc4f8c1a4/shapely-2.1.2-cp312-cp312-win_amd64.whl", hash = "sha256:743044b4cfb34f9a67205cee9279feaf60ba7d02e69febc2afc609047cb49179", size = 1722861, upload-time = "2025-09-24T13:50:43.35Z" },
+    { url = "https://files.pythonhosted.org/packages/95/9c/c510029fc6ef33a6275cd2c5d3cecd6613dfd6aa401d57c54f1c18852ccf/setuptools-84.0.0-py3-none-any.whl", hash = "sha256:51a52592b3b99e102b609654876bd65f19f999935166d1352678931132b0c670", size = 818216, upload-time = "2026-08-08T18:27:56.719Z" },
 ]
 
 [[package]]
@@ -4155,15 +1173,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/b7/ce/149a00dd41f10bc29e5921b496af8b574d8413afcd5e30dfa0ed46c2cc5e/six-1.17.0-py2.py3-none-any.whl", hash = "sha256:4721f391ed90541fddacab5acf947aa0d3dc7d27b2e1e8eda2be8970586c3274", size = 11050, upload-time = "2024-12-04T17:35:26.475Z" },
 ]
 
-[[package]]
-name = "sortedcontainers"
-version = "2.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e8/c4/ba2f8066cceb6f23394729afe52f3bf7adec04bf9ed2c820b39e19299111/sortedcontainers-2.4.0.tar.gz", hash = "sha256:25caa5a06cc30b6b83d11423433f65d1f9d76c4c6a0c90e3379eaa43b9bfdb88", size = 30594, upload-time = "2021-05-16T22:03:42.897Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/32/46/9cb0e58b2deb7f82b84065f37f3bffeb12413f947f9388e4cac22c4621ce/sortedcontainers-2.4.0-py2.py3-none-any.whl", hash = "sha256:a163dcaede0f1c021485e957a39245190e74249897e2ae4b2aa38595db237ee0", size = 29575, upload-time = "2021-05-16T22:03:41.177Z" },
-]
-
 [[package]]
 name = "sounddevice"
 version = "0.5.5"
@@ -4198,79 +1207,154 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/a2/09/77d55d46fd61b4a135c444fc97158ef34a095e5681d0a6c10b75bf356191/sympy-1.14.0-py3-none-any.whl", hash = "sha256:e091cc3e99d2141a0ba2847328f5479b05d94a6635cb96148ccb3f34671bd8f5", size = 6299353, upload-time = "2025-04-27T18:04:59.103Z" },
 ]
 
+[[package]]
+name = "teleoprtc"
+version = "1.0.1"
+source = { editable = "teleoprtc_repo" }
+dependencies = [
+    { name = "libdatachannel-py" },
+]
+
+[package.metadata]
+requires-dist = [
+    { name = "libdatachannel-py", specifier = ">=2026.1.0.dev2" },
+    { name = "parameterized", marker = "extra == 'dev'", specifier = ">=0.8" },
+    { name = "pre-commit", marker = "extra == 'dev'" },
+    { name = "pytest", marker = "extra == 'dev'" },
+    { name = "pytest-asyncio", marker = "extra == 'dev'" },
+    { name = "pytest-xdist", marker = "extra == 'dev'" },
+]
+provides-extras = ["dev"]
+
+[[package]]
+name = "tinygrad"
+version = "0.13.0"
+source = { editable = "tinygrad_repo" }
+
+[package.metadata]
+requires-dist = [
+    { name = "black", marker = "extra == 'docs'" },
+    { name = "blobfile", marker = "extra == 'testing'" },
+    { name = "boto3", marker = "extra == 'testing'" },
+    { name = "bottle", marker = "extra == 'testing'" },
+    { name = "capstone", marker = "extra == 'testing-unit'" },
+    { name = "gguf", marker = "extra == 'testing-unit'", specifier = ">=0.18" },
+    { name = "hypothesis", marker = "extra == 'testing-minimal'", specifier = ">=6.148.9" },
+    { name = "influxdb3-python", marker = "extra == 'testing'" },
+    { name = "librosa", marker = "extra == 'testing'" },
+    { name = "markdown-callouts", marker = "extra == 'docs'" },
+    { name = "markdown-exec", extras = ["ansi"], marker = "extra == 'docs'" },
+    { name = "mkdocs", marker = "extra == 'docs'" },
+    { name = "mkdocs-material", marker = "extra == 'docs'" },
+    { name = "mkdocstrings", extras = ["python"], marker = "extra == 'docs'" },
+    { name = "mypy", marker = "extra == 'linting'", specifier = "==1.19.1" },
+    { name = "networkx", marker = "extra == 'testing'" },
+    { name = "nibabel", marker = "extra == 'testing'" },
+    { name = "numba", marker = "extra == 'testing'", specifier = ">=0.55" },
+    { name = "numpy", marker = "extra == 'docs'" },
+    { name = "numpy", marker = "extra == 'linting'" },
+    { name = "numpy", marker = "extra == 'testing-minimal'" },
+    { name = "onnx", marker = "extra == 'testing'", specifier = "==1.19.0" },
+    { name = "onnx2torch", marker = "extra == 'testing'" },
+    { name = "onnxruntime", marker = "extra == 'testing'" },
+    { name = "openai", marker = "extra == 'testing-unit'" },
+    { name = "opencv-python", marker = "extra == 'testing'" },
+    { name = "pandas", marker = "extra == 'testing'" },
+    { name = "pillow", marker = "extra == 'testing'" },
+    { name = "pre-commit", marker = "extra == 'linting'" },
+    { name = "pycocotools", marker = "extra == 'testing'" },
+    { name = "pylint", marker = "extra == 'linting'" },
+    { name = "pytest", marker = "extra == 'testing-minimal'" },
+    { name = "pytest-split", marker = "extra == 'testing-minimal'" },
+    { name = "pytest-timeout", marker = "extra == 'testing-minimal'" },
+    { name = "pytest-xdist", marker = "extra == 'testing-minimal'" },
+    { name = "ruff", marker = "extra == 'linting'", specifier = "==0.14.10" },
+    { name = "safetensors", marker = "extra == 'testing-unit'" },
+    { name = "sentencepiece", marker = "extra == 'testing'" },
+    { name = "tabulate", marker = "extra == 'testing-unit'" },
+    { name = "tiktoken", marker = "extra == 'testing'" },
+    { name = "tinygrad", extras = ["testing-minimal"], marker = "extra == 'testing-unit'" },
+    { name = "tinygrad", extras = ["testing-unit"], marker = "extra == 'testing'" },
+    { name = "torch", marker = "extra == 'testing-minimal'", specifier = "==2.9.1" },
+    { name = "tqdm", marker = "extra == 'testing-unit'" },
+    { name = "transformers", marker = "extra == 'testing'" },
+    { name = "typeguard", marker = "extra == 'linting'" },
+    { name = "typing-extensions", marker = "extra == 'linting'" },
+    { name = "z3-solver", marker = "extra == 'testing-minimal'", specifier = "<4.15.4" },
+]
+provides-extras = ["linting", "testing-minimal", "testing-unit", "testing", "docs"]
+
+[[package]]
+name = "tomli"
+version = "2.4.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/22/de/48c59722572767841493b26183a0d1cc411d54fd759c5607c4590b6563a6/tomli-2.4.1.tar.gz", hash = "sha256:7c7e1a961a0b2f2472c1ac5b69affa0ae1132c39adcb67aba98568702b9cc23f", size = 17543, upload-time = "2026-03-25T20:22:03.828Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/c1/ba/42f134a3fe2b370f555f44b1d72feebb94debcab01676bf918d0cb70e9aa/tomli-2.4.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:c742f741d58a28940ce01d58f0ab2ea3ced8b12402f162f4d534dfe18ba1cd6a", size = 155924, upload-time = "2026-03-25T20:21:21.626Z" },
+    { url = "https://files.pythonhosted.org/packages/dc/c7/62d7a17c26487ade21c5422b646110f2162f1fcc95980ef7f63e73c68f14/tomli-2.4.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:7f86fd587c4ed9dd76f318225e7d9b29cfc5a9d43de44e5754db8d1128487085", size = 150018, upload-time = "2026-03-25T20:21:23.002Z" },
+    { url = "https://files.pythonhosted.org/packages/5c/05/79d13d7c15f13bdef410bdd49a6485b1c37d28968314eabee452c22a7fda/tomli-2.4.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:ff18e6a727ee0ab0388507b89d1bc6a22b138d1e2fa56d1ad494586d61d2eae9", size = 244948, upload-time = "2026-03-25T20:21:24.04Z" },
+    { url = "https://files.pythonhosted.org/packages/10/90/d62ce007a1c80d0b2c93e02cab211224756240884751b94ca72df8a875ca/tomli-2.4.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:136443dbd7e1dee43c68ac2694fde36b2849865fa258d39bf822c10e8068eac5", size = 253341, upload-time = "2026-03-25T20:21:25.177Z" },
+    { url = "https://files.pythonhosted.org/packages/1a/7e/caf6496d60152ad4ed09282c1885cca4eea150bfd007da84aea07bcc0a3e/tomli-2.4.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:5e262d41726bc187e69af7825504c933b6794dc3fbd5945e41a79bb14c31f585", size = 248159, upload-time = "2026-03-25T20:21:26.364Z" },
+    { url = "https://files.pythonhosted.org/packages/99/e7/c6f69c3120de34bbd882c6fba7975f3d7a746e9218e56ab46a1bc4b42552/tomli-2.4.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:5cb41aa38891e073ee49d55fbc7839cfdb2bc0e600add13874d048c94aadddd1", size = 253290, upload-time = "2026-03-25T20:21:27.46Z" },
+    { url = "https://files.pythonhosted.org/packages/d6/2f/4a3c322f22c5c66c4b836ec58211641a4067364f5dcdd7b974b4c5da300c/tomli-2.4.1-cp312-cp312-win32.whl", hash = "sha256:da25dc3563bff5965356133435b757a795a17b17d01dbc0f42fb32447ddfd917", size = 98141, upload-time = "2026-03-25T20:21:28.492Z" },
+    { url = "https://files.pythonhosted.org/packages/24/22/4daacd05391b92c55759d55eaee21e1dfaea86ce5c571f10083360adf534/tomli-2.4.1-cp312-cp312-win_amd64.whl", hash = "sha256:52c8ef851d9a240f11a88c003eacb03c31fc1c9c4ec64a99a0f922b93874fda9", size = 108847, upload-time = "2026-03-25T20:21:29.386Z" },
+    { url = "https://files.pythonhosted.org/packages/68/fd/70e768887666ddd9e9f5d85129e84910f2db2796f9096aa02b721a53098d/tomli-2.4.1-cp312-cp312-win_arm64.whl", hash = "sha256:f758f1b9299d059cc3f6546ae2af89670cb1c4d48ea29c3cacc4fe7de3058257", size = 95088, upload-time = "2026-03-25T20:21:30.677Z" },
+    { url = "https://files.pythonhosted.org/packages/7b/61/cceae43728b7de99d9b847560c262873a1f6c98202171fd5ed62640b494b/tomli-2.4.1-py3-none-any.whl", hash = "sha256:0d85819802132122da43cb86656f8d1f8c6587d54ae7dcaf30e90533028b49fe", size = 14583, upload-time = "2026-03-25T20:22:03.012Z" },
+]
+
 [[package]]
 name = "tqdm"
-version = "4.67.3"
+version = "4.70.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/09/a9/6ba95a270c6f1fbcd8dac228323f2777d886cb206987444e4bce66338dd4/tqdm-4.67.3.tar.gz", hash = "sha256:7d825f03f89244ef73f1d4ce193cb1774a8179fd96f31d7e1dcde62092b960bb", size = 169598, upload-time = "2026-02-03T17:35:53.048Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/21/3b/6c24bec5be5e743ffd99576daa5cc077722fc7d5bbc00bd133fa0c698dc6/tqdm-4.70.0.tar.gz", hash = "sha256:55b0b0dbd97462d06ebee91e4dac24ed4d4702be82b24f07e6c1d27e08cea220", size = 795438, upload-time = "2026-07-27T11:33:15.271Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/16/e1/3079a9ff9b8e11b846c6ac5c8b5bfb7ff225eee721825310c91b3b50304f/tqdm-4.67.3-py3-none-any.whl", hash = "sha256:ee1e4c0e59148062281c49d80b25b67771a127c85fc9676d3be5f243206826bf", size = 78374, upload-time = "2026-02-03T17:35:50.982Z" },
+    { url = "https://files.pythonhosted.org/packages/f9/1c/01bfd571a64e7f270e6bab5e33777debe0edc56759233ce84f27dec92d14/tqdm-4.70.0-py3-none-any.whl", hash = "sha256:7f585706bfddbdebf89daac705b2dfcc16890130727d3197ca62c732b4310953", size = 80184, upload-time = "2026-07-27T11:33:13.167Z" },
 ]
 
 [[package]]
 name = "ty"
-version = "0.0.17"
+version = "0.0.69"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/66/c3/41ae6346443eedb65b96761abfab890a48ce2aa5a8a27af69c5c5d99064d/ty-0.0.17.tar.gz", hash = "sha256:847ed6c120913e280bf9b54d8eaa7a1049708acb8824ad234e71498e8ad09f97", size = 5167209, upload-time = "2026-02-13T13:26:36.835Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/8e/5b/7a618632dfe9373b7df572ecd7a08c8f799d772fbc317da82dd3aa363207/ty-0.0.69.tar.gz", hash = "sha256:b65106e9ff24fa76e25e1142fb09c85244e815c40450e3021d2bf652c231bb43", size = 6565094, upload-time = "2026-08-06T10:04:25.667Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c0/01/0ef15c22a1c54b0f728ceff3f62d478dbf8b0dcf8ff7b80b954f79584f3e/ty-0.0.17-py3-none-linux_armv6l.whl", hash = "sha256:64a9a16555cc8867d35c2647c2f1afbd3cae55f68fd95283a574d1bb04fe93e0", size = 10192793, upload-time = "2026-02-13T13:27:13.943Z" },
-    { url = "https://files.pythonhosted.org/packages/0f/2c/f4c322d9cded56edc016b1092c14b95cf58c8a33b4787316ea752bb9418e/ty-0.0.17-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:eb2dbd8acd5c5a55f4af0d479523e7c7265a88542efe73ed3d696eb1ba7b6454", size = 10051977, upload-time = "2026-02-13T13:26:57.741Z" },
-    { url = "https://files.pythonhosted.org/packages/4c/a5/43746c1ff81e784f5fc303afc61fe5bcd85d0fcf3ef65cb2cef78c7486c7/ty-0.0.17-py3-none-macosx_11_0_arm64.whl", hash = "sha256:f18f5fd927bc628deb9ea2df40f06b5f79c5ccf355db732025a3e8e7152801f6", size = 9564639, upload-time = "2026-02-13T13:26:42.781Z" },
-    { url = "https://files.pythonhosted.org/packages/d6/b8/280b04e14a9c0474af574f929fba2398b5e1c123c1e7735893b4cd73d13c/ty-0.0.17-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5383814d1d7a5cc53b3b07661856bab04bb2aac7a677c8d33c55169acdaa83df", size = 10061204, upload-time = "2026-02-13T13:27:00.152Z" },
-    { url = "https://files.pythonhosted.org/packages/2a/d7/493e1607d8dfe48288d8a768a2adc38ee27ef50e57f0af41ff273987cda0/ty-0.0.17-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:9c20423b8744b484f93e7bf2ef8a9724bca2657873593f9f41d08bd9f83444c9", size = 10013116, upload-time = "2026-02-13T13:26:34.543Z" },
-    { url = "https://files.pythonhosted.org/packages/80/ef/22f3ed401520afac90dbdf1f9b8b7755d85b0d5c35c1cb35cf5bd11b59c2/ty-0.0.17-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e6f5b1aba97db9af86517b911674b02f5bc310750485dc47603a105bd0e83ddd", size = 10533623, upload-time = "2026-02-13T13:26:31.449Z" },
-    { url = "https://files.pythonhosted.org/packages/75/ce/744b15279a11ac7138832e3a55595706b4a8a209c9f878e3ab8e571d9032/ty-0.0.17-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:488bce1a9bea80b851a97cd34c4d2ffcd69593d6c3f54a72ae02e5c6e47f3d0c", size = 11069750, upload-time = "2026-02-13T13:26:48.638Z" },
-    { url = "https://files.pythonhosted.org/packages/f2/be/1133c91f15a0e00d466c24f80df486d630d95d1b2af63296941f7473812f/ty-0.0.17-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:8df66b91ec84239420985ec215e7f7549bfda2ac036a3b3c065f119d1c06825a", size = 10870862, upload-time = "2026-02-13T13:26:54.715Z" },
-    { url = "https://files.pythonhosted.org/packages/3e/4a/a2ed209ef215b62b2d3246e07e833081e07d913adf7e0448fc204be443d6/ty-0.0.17-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:002139e807c53002790dfefe6e2f45ab0e04012e76db3d7c8286f96ec121af8f", size = 10628118, upload-time = "2026-02-13T13:26:45.439Z" },
-    { url = "https://files.pythonhosted.org/packages/b3/0c/87476004cb5228e9719b98afffad82c3ef1f84334bde8527bcacba7b18cb/ty-0.0.17-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:6c4e01f05ce82e5d489ab3900ca0899a56c4ccb52659453780c83e5b19e2b64c", size = 10038185, upload-time = "2026-02-13T13:27:02.693Z" },
-    { url = "https://files.pythonhosted.org/packages/46/4b/98f0b3ba9aef53c1f0305519536967a4aa793a69ed72677b0a625c5313ac/ty-0.0.17-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:2b226dd1e99c0d2152d218c7e440150d1a47ce3c431871f0efa073bbf899e881", size = 10047644, upload-time = "2026-02-13T13:27:05.474Z" },
-    { url = "https://files.pythonhosted.org/packages/93/e0/06737bb80aa1a9103b8651d2eb691a7e53f1ed54111152be25f4a02745db/ty-0.0.17-py3-none-musllinux_1_2_i686.whl", hash = "sha256:8b11f1da7859e0ad69e84b3c5ef9a7b055ceed376a432fad44231bdfc48061c2", size = 10231140, upload-time = "2026-02-13T13:27:10.844Z" },
-    { url = "https://files.pythonhosted.org/packages/7c/79/e2a606bd8852383ba9abfdd578f4a227bd18504145381a10a5f886b4e751/ty-0.0.17-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:c04e196809ff570559054d3e011425fd7c04161529eb551b3625654e5f2434cb", size = 10718344, upload-time = "2026-02-13T13:26:51.66Z" },
-    { url = "https://files.pythonhosted.org/packages/c5/2d/2663984ac11de6d78f74432b8b14ba64d170b45194312852b7543cf7fd56/ty-0.0.17-py3-none-win32.whl", hash = "sha256:305b6ed150b2740d00a817b193373d21f0767e10f94ac47abfc3b2e5a5aec809", size = 9672932, upload-time = "2026-02-13T13:27:08.522Z" },
-    { url = "https://files.pythonhosted.org/packages/de/b5/39be78f30b31ee9f5a585969930c7248354db90494ff5e3d0756560fb731/ty-0.0.17-py3-none-win_amd64.whl", hash = "sha256:531828267527aee7a63e972f54e5eee21d9281b72baf18e5c2850c6b862add83", size = 10542138, upload-time = "2026-02-13T13:27:17.084Z" },
-    { url = "https://files.pythonhosted.org/packages/40/b7/f875c729c5d0079640c75bad2c7e5d43edc90f16ba242f28a11966df8f65/ty-0.0.17-py3-none-win_arm64.whl", hash = "sha256:de9810234c0c8d75073457e10a84825b9cd72e6629826b7f01c7a0b266ae25b1", size = 10023068, upload-time = "2026-02-13T13:26:39.637Z" },
+    { url = "https://files.pythonhosted.org/packages/06/60/6534092f4d2c15e2491807edd609c2e50d527c1fed957acf40b9f110b64a/ty-0.0.69-py3-none-linux_armv6l.whl", hash = "sha256:98bfd383b273540829af673e7f98b9c1c4bcc8547d12a1a3806cd0bec7f0e087", size = 12364185, upload-time = "2026-08-06T10:03:47.137Z" },
+    { url = "https://files.pythonhosted.org/packages/34/2b/5c29689bd4f74c2e3394d983d85e4011b629f2ce3730c9442553b8554bf8/ty-0.0.69-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:964621ddd05771660017c51b4e74078d861d9fc863c21ef2a500db1ab62c9ccf", size = 12042510, upload-time = "2026-08-06T10:03:49.481Z" },
+    { url = "https://files.pythonhosted.org/packages/09/46/fa085bde4d23516d7ef14b24736fc5dd7dc498f60f52b3d077e59ffdea20/ty-0.0.69-py3-none-macosx_11_0_arm64.whl", hash = "sha256:3ffea4048dd0da4c9c97393b4be0901098a9065b06fa81be2477cbde65d8a151", size = 11549397, upload-time = "2026-08-06T10:03:51.747Z" },
+    { url = "https://files.pythonhosted.org/packages/25/cc/97b9efb2061dcab6fef1e94a4ad99df0bb45bd2cc15d4f5794c787ee0552/ty-0.0.69-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a8684d4a70aadd1eab0f41bdba835e3288ef49db8402a8e6ca81bab52ed5d610", size = 12115567, upload-time = "2026-08-06T10:03:53.79Z" },
+    { url = "https://files.pythonhosted.org/packages/e0/c1/a5e0404965093835f3e62544e661784ec0aa8ef0b006ed50af50b19c107e/ty-0.0.69-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:afaaba240ab4122e2069a796836d10be81b4ddb053ae268b3dff962a0b4ca5c7", size = 12149770, upload-time = "2026-08-06T10:03:55.993Z" },
+    { url = "https://files.pythonhosted.org/packages/e2/39/8cad6b205a4abe8a044ca0c84aea71e8ccda29b07a75a5f090e310605580/ty-0.0.69-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:11ea63ef07d4e33aeb1a775cf5f2c736b3ed22fa6f8b1b608591612c36795044", size = 12941278, upload-time = "2026-08-06T10:03:58.324Z" },
+    { url = "https://files.pythonhosted.org/packages/d6/8b/8766d96b732c2a060d70dc8ccafcc4d6a54109a2a95f1deb0705de88892b/ty-0.0.69-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:cb3730b1268e92a2907d7aea3afe8dd1b360ae65862f0557080cf479d481b424", size = 13426509, upload-time = "2026-08-06T10:04:00.621Z" },
+    { url = "https://files.pythonhosted.org/packages/02/1f/e991b2cde953ea5b94d6a9a4c45c87937bd916bc09235f764407bf471c0a/ty-0.0.69-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a544ff57a752ef186ed40b5a2f44c17402af4cdefeb74a311ca02ebd57c4fca0", size = 13106582, upload-time = "2026-08-06T10:04:02.818Z" },
+    { url = "https://files.pythonhosted.org/packages/ea/bb/73538f1b99e3558fd9db87b98698426f0f60fc8666da0b1efd0e70e275eb/ty-0.0.69-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:87ed2cbca20caddfdf8e3e14d213ce91b67e75feed78900f4aaf3ef884954028", size = 12708931, upload-time = "2026-08-06T10:04:05.233Z" },
+    { url = "https://files.pythonhosted.org/packages/87/cd/484a5208d74c4ad1155933906295ccdce9aa81a257d8df2ab9e41bd60133/ty-0.0.69-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:2684efcbce5b6fe45045faf610b377b50781b6d2aa7e61ea23ecf5b3d2bce421", size = 12985322, upload-time = "2026-08-06T10:04:07.587Z" },
+    { url = "https://files.pythonhosted.org/packages/6e/81/b75003f0d4da9ab3bc8fd4f4802f836cb9921ff7e70f460604f7b769a0b5/ty-0.0.69-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:da9aeb26fdac1d2214937542b59e0d4d1ba94ec7a3f45444f33c846de1eb1d63", size = 12063910, upload-time = "2026-08-06T10:04:09.835Z" },
+    { url = "https://files.pythonhosted.org/packages/8a/76/088469f547ef63dceefc4a75826aedee5014f9371dc5171cde931896a82c/ty-0.0.69-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:00e7677cd14ede381f705f71104ea7b8ea0ce217a8634e19a89781953de0e9ad", size = 12166823, upload-time = "2026-08-06T10:04:12.114Z" },
+    { url = "https://files.pythonhosted.org/packages/0a/c9/ce88a0bec0d46d8ae180b99c6ec014866fecc4cba1727b5feec8877b2765/ty-0.0.69-py3-none-musllinux_1_2_i686.whl", hash = "sha256:d91965eb799649833d0d6042db09cd03d15289125245337cc46a2606effb7bda", size = 12483136, upload-time = "2026-08-06T10:04:14.33Z" },
+    { url = "https://files.pythonhosted.org/packages/63/9e/6fae0ff225a0012642cf72c077e20f8f448c0a80771bc3360e8178fe2f32/ty-0.0.69-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:1f03359cd8e5c412aa0c181118fa9b9061a4dddaedbb61bac0a424fb0814d402", size = 12799025, upload-time = "2026-08-06T10:04:16.445Z" },
+    { url = "https://files.pythonhosted.org/packages/e4/43/78a658d18b2a4ccf35b053392f2213bf12e3c63b2abea512d3b6751d1f4c/ty-0.0.69-py3-none-win32.whl", hash = "sha256:ec460e01586b1eb91894c4a8403bee3e045a47e7a4ada943cc27ce8e348e88cf", size = 11787774, upload-time = "2026-08-06T10:04:18.622Z" },
+    { url = "https://files.pythonhosted.org/packages/3a/5e/88db1f674403f2b81316a853a44a81ed220621fa96f8f7ae586fb6ca7513/ty-0.0.69-py3-none-win_amd64.whl", hash = "sha256:18976ca26a4e28fc3249477f79a695d5502e670803f2e080d89ac905baef3c6e", size = 12864038, upload-time = "2026-08-06T10:04:20.748Z" },
+    { url = "https://files.pythonhosted.org/packages/4d/7b/6fc6efd00c69103d70f2bdbe824343089cd70b17b3079170057d3e5a3ac0/ty-0.0.69-py3-none-win_arm64.whl", hash = "sha256:7d4ca3bb74d91cb9947ba3f3b4cb131ad6a2b3ecc76d34040c4ec6092d2e411d", size = 12196693, upload-time = "2026-08-06T10:04:22.902Z" },
 ]
 
 [[package]]
 name = "typing-extensions"
-version = "4.15.0"
+version = "4.16.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/72/94/1a15dd82efb362ac84269196e94cf00f187f7ed21c242792a923cdb1c61f/typing_extensions-4.15.0.tar.gz", hash = "sha256:0cea48d173cc12fa28ecabc3b837ea3cf6f38c6d1136f85cbaaf598984861466", size = 109391, upload-time = "2025-08-25T13:49:26.313Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/f6/cc/6253133b5bb138fc3306cebfbda2c520f545d36b5be2c7255cc528bb45d6/typing_extensions-4.16.0.tar.gz", hash = "sha256:dc983d19a509c94dba722ee6abd33940f7c05a89e243c47e907eb4db6f1a43e5", size = 113555, upload-time = "2026-07-02T08:40:05.92Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/18/67/36e9267722cc04a6b9f15c7f3441c2363321a3ea07da7ae0c0707beb2a9c/typing_extensions-4.15.0-py3-none-any.whl", hash = "sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548", size = 44614, upload-time = "2025-08-25T13:49:24.86Z" },
+    { url = "https://files.pythonhosted.org/packages/49/d3/b8441a820a491ddfc024b0b0cf0393375b75ea13866d9c66727e54c2fc80/typing_extensions-4.16.0-py3-none-any.whl", hash = "sha256:481caa481374e813c1b176ada14e97f1f67a4539ce9cfeb3f350d78d6370c2e8", size = 45571, upload-time = "2026-07-02T08:40:04.659Z" },
 ]
 
 [[package]]
 name = "urllib3"
-version = "2.6.3"
+version = "2.7.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c7/24/5f1b3bdffd70275f6661c76461e25f024d5a38a46f04aaca912426a2b1d3/urllib3-2.6.3.tar.gz", hash = "sha256:1b62b6884944a57dbe321509ab94fd4d3b307075e0c2eae991ac71ee15ad38ed", size = 435556, upload-time = "2026-01-07T16:24:43.925Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/53/0c/06f8b233b8fd13b9e5ee11424ef85419ba0d8ba0b3138bf360be2ff56953/urllib3-2.7.0.tar.gz", hash = "sha256:231e0ec3b63ceb14667c67be60f2f2c40a518cb38b03af60abc813da26505f4c", size = 433602, upload-time = "2026-05-07T16:13:18.596Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/39/08/aaaad47bc4e9dc8c725e68f9d04865dbcb2052843ff09c97b08904852d84/urllib3-2.6.3-py3-none-any.whl", hash = "sha256:bf272323e553dfb2e87d9bfd225ca7b0f467b919d7bbd355436d3fd37cb0acd4", size = 131584, upload-time = "2026-01-07T16:24:42.685Z" },
-]
-
-[[package]]
-name = "watchdog"
-version = "6.0.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/db/7d/7f3d619e951c88ed75c6037b246ddcf2d322812ee8ea189be89511721d54/watchdog-6.0.0.tar.gz", hash = "sha256:9ddf7c82fda3ae8e24decda1338ede66e1c99883db93711d8fb941eaa2d8c282", size = 131220, upload-time = "2024-11-01T14:07:13.037Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/39/ea/3930d07dafc9e286ed356a679aa02d777c06e9bfd1164fa7c19c288a5483/watchdog-6.0.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:bdd4e6f14b8b18c334febb9c4425a878a2ac20efd1e0b231978e7b150f92a948", size = 96471, upload-time = "2024-11-01T14:06:37.745Z" },
-    { url = "https://files.pythonhosted.org/packages/12/87/48361531f70b1f87928b045df868a9fd4e253d9ae087fa4cf3f7113be363/watchdog-6.0.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:c7c15dda13c4eb00d6fb6fc508b3c0ed88b9d5d374056b239c4ad1611125c860", size = 88449, upload-time = "2024-11-01T14:06:39.748Z" },
-    { url = "https://files.pythonhosted.org/packages/5b/7e/8f322f5e600812e6f9a31b75d242631068ca8f4ef0582dd3ae6e72daecc8/watchdog-6.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:6f10cb2d5902447c7d0da897e2c6768bca89174d0c6e1e30abec5421af97a5b0", size = 89054, upload-time = "2024-11-01T14:06:41.009Z" },
-    { url = "https://files.pythonhosted.org/packages/a9/c7/ca4bf3e518cb57a686b2feb4f55a1892fd9a3dd13f470fca14e00f80ea36/watchdog-6.0.0-py3-none-manylinux2014_aarch64.whl", hash = "sha256:7607498efa04a3542ae3e05e64da8202e58159aa1fa4acddf7678d34a35d4f13", size = 79079, upload-time = "2024-11-01T14:06:59.472Z" },
-    { url = "https://files.pythonhosted.org/packages/5c/51/d46dc9332f9a647593c947b4b88e2381c8dfc0942d15b8edc0310fa4abb1/watchdog-6.0.0-py3-none-manylinux2014_armv7l.whl", hash = "sha256:9041567ee8953024c83343288ccc458fd0a2d811d6a0fd68c4c22609e3490379", size = 79078, upload-time = "2024-11-01T14:07:01.431Z" },
-    { url = "https://files.pythonhosted.org/packages/d4/57/04edbf5e169cd318d5f07b4766fee38e825d64b6913ca157ca32d1a42267/watchdog-6.0.0-py3-none-manylinux2014_i686.whl", hash = "sha256:82dc3e3143c7e38ec49d61af98d6558288c415eac98486a5c581726e0737c00e", size = 79076, upload-time = "2024-11-01T14:07:02.568Z" },
-    { url = "https://files.pythonhosted.org/packages/ab/cc/da8422b300e13cb187d2203f20b9253e91058aaf7db65b74142013478e66/watchdog-6.0.0-py3-none-manylinux2014_ppc64.whl", hash = "sha256:212ac9b8bf1161dc91bd09c048048a95ca3a4c4f5e5d4a7d1b1a7d5752a7f96f", size = 79077, upload-time = "2024-11-01T14:07:03.893Z" },
-    { url = "https://files.pythonhosted.org/packages/2c/3b/b8964e04ae1a025c44ba8e4291f86e97fac443bca31de8bd98d3263d2fcf/watchdog-6.0.0-py3-none-manylinux2014_ppc64le.whl", hash = "sha256:e3df4cbb9a450c6d49318f6d14f4bbc80d763fa587ba46ec86f99f9e6876bb26", size = 79078, upload-time = "2024-11-01T14:07:05.189Z" },
-    { url = "https://files.pythonhosted.org/packages/62/ae/a696eb424bedff7407801c257d4b1afda455fe40821a2be430e173660e81/watchdog-6.0.0-py3-none-manylinux2014_s390x.whl", hash = "sha256:2cce7cfc2008eb51feb6aab51251fd79b85d9894e98ba847408f662b3395ca3c", size = 79077, upload-time = "2024-11-01T14:07:06.376Z" },
-    { url = "https://files.pythonhosted.org/packages/b5/e8/dbf020b4d98251a9860752a094d09a65e1b436ad181faf929983f697048f/watchdog-6.0.0-py3-none-manylinux2014_x86_64.whl", hash = "sha256:20ffe5b202af80ab4266dcd3e91aae72bf2da48c0d33bdb15c66658e685e94e2", size = 79078, upload-time = "2024-11-01T14:07:07.547Z" },
-    { url = "https://files.pythonhosted.org/packages/07/f6/d0e5b343768e8bcb4cda79f0f2f55051bf26177ecd5651f84c07567461cf/watchdog-6.0.0-py3-none-win32.whl", hash = "sha256:07df1fdd701c5d4c8e55ef6cf55b8f0120fe1aef7ef39a1c6fc6bc2e606d517a", size = 79065, upload-time = "2024-11-01T14:07:09.525Z" },
-    { url = "https://files.pythonhosted.org/packages/db/d9/c495884c6e548fce18a8f40568ff120bc3a4b7b99813081c8ac0c936fa64/watchdog-6.0.0-py3-none-win_amd64.whl", hash = "sha256:cbafb470cf848d93b5d013e2ecb245d4aa1c8fd0504e863ccefa32445359d680", size = 79070, upload-time = "2024-11-01T14:07:10.686Z" },
-    { url = "https://files.pythonhosted.org/packages/33/e8/e40370e6d74ddba47f002a32919d91310d6074130fe4e17dabcafc15cbf1/watchdog-6.0.0-py3-none-win_ia64.whl", hash = "sha256:a1914259fa9e1454315171103c6a30961236f508b9b623eae470268bbcc6a22f", size = 79067, upload-time = "2024-11-01T14:07:11.845Z" },
+    { url = "https://files.pythonhosted.org/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl", hash = "sha256:9fb4c81ebbb1ce9531cce37674bbc6f1360472bc18ca9a553ede278ef7276897", size = 131087, upload-time = "2026-05-07T16:13:17.151Z" },
 ]
 
 [[package]]
@@ -4283,63 +1367,33 @@ wheels = [
 ]
 
 [[package]]
-name = "xattr"
-version = "1.3.0"
+name = "zensical"
+version = "0.0.54"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cffi" },
+    { name = "click" },
+    { name = "deepmerge" },
+    { name = "jinja2" },
+    { name = "markdown" },
+    { name = "pygments" },
+    { name = "pymdown-extensions" },
+    { name = "pyyaml" },
+    { name = "tomli" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/08/d5/25f7b19af3a2cb4000cac4f9e5525a40bec79f4f5d0ac9b517c0544586a0/xattr-1.3.0.tar.gz", hash = "sha256:30439fabd7de0787b27e9a6e1d569c5959854cb322f64ce7380fedbfa5035036", size = 17148, upload-time = "2025-10-13T22:16:47.353Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/75/7e/343a78c0c9da1954d2f0a4d47ca778baac48bb18c6b9c0c6260e7974976e/zensical-0.0.54.tar.gz", hash = "sha256:4de205dbb323d0a443e2ebf3fef77e93e3c1493c34a58d205e7f3631dd7745af", size = 3992024, upload-time = "2026-08-13T16:04:49.297Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/bf/78/00bdc9290066173e53e1e734d8d8e1a84a6faa9c66aee9df81e4d9aeec1c/xattr-1.3.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:dd4e63614722d183e81842cb237fd1cc978d43384166f9fe22368bfcb187ebe5", size = 23476, upload-time = "2025-10-13T22:16:06.942Z" },
-    { url = "https://files.pythonhosted.org/packages/53/16/5243722294eb982514fa7b6b87a29dfb7b29b8e5e1486500c5babaf6e4b3/xattr-1.3.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:995843ef374af73e3370b0c107319611f3cdcdb6d151d629449efecad36be4c4", size = 18556, upload-time = "2025-10-13T22:16:08.209Z" },
-    { url = "https://files.pythonhosted.org/packages/d6/5c/d7ab0e547bea885b55f097206459bd612cefb652c5fc1f747130cbc0d42c/xattr-1.3.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:fa23a25220e29d956cedf75746e3df6cc824cc1553326d6516479967c540e386", size = 18869, upload-time = "2025-10-13T22:16:10.319Z" },
-    { url = "https://files.pythonhosted.org/packages/98/25/25cc7d64f07de644b7e9057842227adf61017e5bcfe59a79df79f768874c/xattr-1.3.0-cp312-cp312-manylinux1_x86_64.manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:b4345387087fffcd28f709eb45aae113d911e1a1f4f0f70d46b43ba81e69ccdd", size = 38797, upload-time = "2025-10-13T22:16:11.624Z" },
-    { url = "https://files.pythonhosted.org/packages/a9/24/cc350bcdbed006dfcc6ade0ac817693b8b3d4b2787f20e427fd0697042e4/xattr-1.3.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:fe92bb05eb849ab468fe13e942be0f8d7123f15d074f3aba5223fad0c4b484de", size = 38956, upload-time = "2025-10-13T22:16:13.121Z" },
-    { url = "https://files.pythonhosted.org/packages/9b/b2/9416317ac89e2ed759a861857cda0d5e284c3691e6f460d36cc2bd5ce4d1/xattr-1.3.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:6c42ef5bdac3febbe28d3db14d3a8a159d84ba5daca2b13deae6f9f1fc0d4092", size = 38214, upload-time = "2025-10-13T22:16:14.389Z" },
-    { url = "https://files.pythonhosted.org/packages/38/63/188f7cb41ab35d795558325d5cc8ab552171d5498cfb178fd14409651e18/xattr-1.3.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2aaa5d66af6523332189108f34e966ca120ff816dfa077ca34b31e6263f8a236", size = 37754, upload-time = "2025-10-13T22:16:15.306Z" },
-]
-
-[[package]]
-name = "yapf"
-version = "0.43.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "platformdirs" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907, upload-time = "2024-11-14T00:11:41.584Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/37/81/6acd6601f61e31cfb8729d3da6d5df966f80f374b78eff83760714487338/yapf-0.43.0-py3-none-any.whl", hash = "sha256:224faffbc39c428cb095818cf6ef5511fdab6f7430a10783fdfb292ccf2852ca", size = 256158, upload-time = "2024-11-14T00:11:39.37Z" },
-]
-
-[[package]]
-name = "yarl"
-version = "1.22.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "idna" },
-    { name = "multidict" },
-    { name = "propcache" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/57/63/0c6ebca57330cd313f6102b16dd57ffaf3ec4c83403dcb45dbd15c6f3ea1/yarl-1.22.0.tar.gz", hash = "sha256:bebf8557577d4401ba8bd9ff33906f1376c877aa78d1fe216ad01b4d6745af71", size = 187169, upload-time = "2025-10-06T14:12:55.963Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/75/ff/46736024fee3429b80a165a732e38e5d5a238721e634ab41b040d49f8738/yarl-1.22.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:e340382d1afa5d32b892b3ff062436d592ec3d692aeea3bef3a5cfe11bbf8c6f", size = 142000, upload-time = "2025-10-06T14:09:44.631Z" },
-    { url = "https://files.pythonhosted.org/packages/5a/9a/b312ed670df903145598914770eb12de1bac44599549b3360acc96878df8/yarl-1.22.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:f1e09112a2c31ffe8d80be1b0988fa6a18c5d5cad92a9ffbb1c04c91bfe52ad2", size = 94338, upload-time = "2025-10-06T14:09:46.372Z" },
-    { url = "https://files.pythonhosted.org/packages/ba/f5/0601483296f09c3c65e303d60c070a5c19fcdbc72daa061e96170785bc7d/yarl-1.22.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:939fe60db294c786f6b7c2d2e121576628468f65453d86b0fe36cb52f987bd74", size = 94909, upload-time = "2025-10-06T14:09:48.648Z" },
-    { url = "https://files.pythonhosted.org/packages/60/41/9a1fe0b73dbcefce72e46cf149b0e0a67612d60bfc90fb59c2b2efdfbd86/yarl-1.22.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:e1651bf8e0398574646744c1885a41198eba53dc8a9312b954073f845c90a8df", size = 372940, upload-time = "2025-10-06T14:09:50.089Z" },
-    { url = "https://files.pythonhosted.org/packages/17/7a/795cb6dfee561961c30b800f0ed616b923a2ec6258b5def2a00bf8231334/yarl-1.22.0-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:b8a0588521a26bf92a57a1705b77b8b59044cdceccac7151bd8d229e66b8dedb", size = 345825, upload-time = "2025-10-06T14:09:52.142Z" },
-    { url = "https://files.pythonhosted.org/packages/d7/93/a58f4d596d2be2ae7bab1a5846c4d270b894958845753b2c606d666744d3/yarl-1.22.0-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:42188e6a615c1a75bcaa6e150c3fe8f3e8680471a6b10150c5f7e83f47cc34d2", size = 386705, upload-time = "2025-10-06T14:09:54.128Z" },
-    { url = "https://files.pythonhosted.org/packages/61/92/682279d0e099d0e14d7fd2e176bd04f48de1484f56546a3e1313cd6c8e7c/yarl-1.22.0-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:f6d2cb59377d99718913ad9a151030d6f83ef420a2b8f521d94609ecc106ee82", size = 396518, upload-time = "2025-10-06T14:09:55.762Z" },
-    { url = "https://files.pythonhosted.org/packages/db/0f/0d52c98b8a885aeda831224b78f3be7ec2e1aa4a62091f9f9188c3c65b56/yarl-1.22.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:50678a3b71c751d58d7908edc96d332af328839eea883bb554a43f539101277a", size = 377267, upload-time = "2025-10-06T14:09:57.958Z" },
-    { url = "https://files.pythonhosted.org/packages/22/42/d2685e35908cbeaa6532c1fc73e89e7f2efb5d8a7df3959ea8e37177c5a3/yarl-1.22.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:1e8fbaa7cec507aa24ea27a01456e8dd4b6fab829059b69844bd348f2d467124", size = 365797, upload-time = "2025-10-06T14:09:59.527Z" },
-    { url = "https://files.pythonhosted.org/packages/a2/83/cf8c7bcc6355631762f7d8bdab920ad09b82efa6b722999dfb05afa6cfac/yarl-1.22.0-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:433885ab5431bc3d3d4f2f9bd15bfa1614c522b0f1405d62c4f926ccd69d04fa", size = 365535, upload-time = "2025-10-06T14:10:01.139Z" },
-    { url = "https://files.pythonhosted.org/packages/25/e1/5302ff9b28f0c59cac913b91fe3f16c59a033887e57ce9ca5d41a3a94737/yarl-1.22.0-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:b790b39c7e9a4192dc2e201a282109ed2985a1ddbd5ac08dc56d0e121400a8f7", size = 382324, upload-time = "2025-10-06T14:10:02.756Z" },
-    { url = "https://files.pythonhosted.org/packages/bf/cd/4617eb60f032f19ae3a688dc990d8f0d89ee0ea378b61cac81ede3e52fae/yarl-1.22.0-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:31f0b53913220599446872d757257be5898019c85e7971599065bc55065dc99d", size = 383803, upload-time = "2025-10-06T14:10:04.552Z" },
-    { url = "https://files.pythonhosted.org/packages/59/65/afc6e62bb506a319ea67b694551dab4a7e6fb7bf604e9bd9f3e11d575fec/yarl-1.22.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:a49370e8f711daec68d09b821a34e1167792ee2d24d405cbc2387be4f158b520", size = 374220, upload-time = "2025-10-06T14:10:06.489Z" },
-    { url = "https://files.pythonhosted.org/packages/e7/3d/68bf18d50dc674b942daec86a9ba922d3113d8399b0e52b9897530442da2/yarl-1.22.0-cp312-cp312-win32.whl", hash = "sha256:70dfd4f241c04bd9239d53b17f11e6ab672b9f1420364af63e8531198e3f5fe8", size = 81589, upload-time = "2025-10-06T14:10:09.254Z" },
-    { url = "https://files.pythonhosted.org/packages/c8/9a/6ad1a9b37c2f72874f93e691b2e7ecb6137fb2b899983125db4204e47575/yarl-1.22.0-cp312-cp312-win_amd64.whl", hash = "sha256:8884d8b332a5e9b88e23f60bb166890009429391864c685e17bd73a9eda9105c", size = 87213, upload-time = "2025-10-06T14:10:11.369Z" },
-    { url = "https://files.pythonhosted.org/packages/44/c5/c21b562d1680a77634d748e30c653c3ca918beb35555cff24986fff54598/yarl-1.22.0-cp312-cp312-win_arm64.whl", hash = "sha256:ea70f61a47f3cc93bdf8b2f368ed359ef02a01ca6393916bc8ff877427181e74", size = 81330, upload-time = "2025-10-06T14:10:13.112Z" },
-    { url = "https://files.pythonhosted.org/packages/73/ae/b48f95715333080afb75a4504487cbe142cae1268afc482d06692d605ae6/yarl-1.22.0-py3-none-any.whl", hash = "sha256:1380560bdba02b6b6c90de54133c81c9f2a453dee9912fe58c1dcced1edb7cff", size = 46814, upload-time = "2025-10-06T14:12:53.872Z" },
+    { url = "https://files.pythonhosted.org/packages/8b/cf/13e887c303fd5c786c09f83362382a42d10292fca633a95067de6a6591a3/zensical-0.0.54-cp310-abi3-macosx_10_12_x86_64.whl", hash = "sha256:f7177a3b6647e4ee47864ab02e5141f9e923dd57b9fa96e5dc5da4228daff505", size = 12893082, upload-time = "2026-08-13T16:04:17.337Z" },
+    { url = "https://files.pythonhosted.org/packages/82/ee/7fe1418fa31bc120cf9eb0fbce9e021c40752206ce993a7bc652c011f890/zensical-0.0.54-cp310-abi3-macosx_11_0_arm64.whl", hash = "sha256:7b23c3b0c720885891b220c3e562074d93eb940314823d91875c6246976bd9b2", size = 12778626, upload-time = "2026-08-13T16:04:19.906Z" },
+    { url = "https://files.pythonhosted.org/packages/61/b8/0420115270c1a22a2d4a1598f89dadc4e933eb7aa85539b72f3532acc5b6/zensical-0.0.54-cp310-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1c012eb0ec20fda5794e90b4906b7401c77b712e2acc7f9f65026935368539da", size = 13225462, upload-time = "2026-08-13T16:04:22.663Z" },
+    { url = "https://files.pythonhosted.org/packages/8d/48/0dfdd3e00fb3b807de702383ef5f4e9cf0d2791fee0e8a56f39bd590f16b/zensical-0.0.54-cp310-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:f0e851d26ba4f7397db3b3532e534c0572a9826bbd451ee0a00e649c030dcb38", size = 13158184, upload-time = "2026-08-13T16:04:24.958Z" },
+    { url = "https://files.pythonhosted.org/packages/b1/2c/f1fb1f5387108b206f985cdb394bbdc730557cc339e63067ded9b3565263/zensical-0.0.54-cp310-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a48583da6f485e2373845d4332882c9e9d504302dbd2731c589543584df5b087", size = 13536772, upload-time = "2026-08-13T16:04:27.373Z" },
+    { url = "https://files.pythonhosted.org/packages/a3/97/3224b3dd5d76cebddf9725ae871a5a6a8f2de177be59d802232d00073d8b/zensical-0.0.54-cp310-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:da7781a906623fb7bc278cc874ec6f80691c8753b90fbdf90a451abb046ae204", size = 13191901, upload-time = "2026-08-13T16:04:30.295Z" },
+    { url = "https://files.pythonhosted.org/packages/b2/00/b1f55530c8df4331e1f209ec605816a578142f124b5f8078a9d984514d63/zensical-0.0.54-cp310-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:75aff1c01f6104dd0e79d08c87bd595da13db3e1f6da55fc9933ebff3e94fdd5", size = 13402956, upload-time = "2026-08-13T16:04:32.899Z" },
+    { url = "https://files.pythonhosted.org/packages/c7/6e/58df496c2742600df3a2f273ba52b8ced1ce357340b825af9f1bb0f2042e/zensical-0.0.54-cp310-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:1469c5d551a0ea2d0fcf922046a263d2afcff5f03ce3bb443e286970d04ff9f2", size = 13431462, upload-time = "2026-08-13T16:04:35.518Z" },
+    { url = "https://files.pythonhosted.org/packages/5b/85/70ae775db7865be2434bc39e9b4ff1c7988978d796a7ff9d49294e7410c7/zensical-0.0.54-cp310-abi3-musllinux_1_2_i686.whl", hash = "sha256:31c354f98b3374b9bcab65278a278dbec66125c997f7f1a5ee9501f413b87b9c", size = 13587289, upload-time = "2026-08-13T16:04:37.954Z" },
+    { url = "https://files.pythonhosted.org/packages/0f/ca/05e6b3e04323810bbf4da9240b8b710740fac82ec01659b14c86e44aa88e/zensical-0.0.54-cp310-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:85ef75654e7845aa65f1392af771771566f33faac452a2aed004ba367454f812", size = 13534594, upload-time = "2026-08-13T16:04:41.006Z" },
+    { url = "https://files.pythonhosted.org/packages/14/70/be34910c13632f85911f505bd9a4d1bb53d46c8498d20ebb18570bbe4b7b/zensical-0.0.54-cp310-abi3-win32.whl", hash = "sha256:b56c80a8cd234666afb917fb1ed8467104f6857b1acabd66f60ef1b8a0daa66f", size = 12448180, upload-time = "2026-08-13T16:04:43.486Z" },
+    { url = "https://files.pythonhosted.org/packages/a1/c6/a965265946555023dc0e159a41038502190882669d177dfa59b1dd3d580b/zensical-0.0.54-cp310-abi3-win_amd64.whl", hash = "sha256:f5a602986c4123a349cfd075c8d494096a2a2db74422169d65f8092872e48dfa", size = 12712264, upload-time = "2026-08-13T16:04:46.155Z" },
 ]
 
 [[package]]